RSDK-9294 - add extra to captureAll response (#4592)

Author: Rob1in

services/vision/client.go

@@ -293,6 +293,7 @@ func (c *client) CaptureAllFromCamera(
 	if err != nil {
 		return viscapture.VisCapture{}, err
 	}
+
 	var img image.Image
 	if resp.Image.Image != nil {
 		mimeType := utils.FormatToMimeType[resp.Image.GetFormat()]
@@ -302,11 +303,17 @@ func (c *client) CaptureAllFromCamera(
 		}
 	}
 
+	vcExtra := resp.Extra.AsMap()
+	if len(vcExtra) == 0 {
+		vcExtra = nil
+	}
+
 	capt := viscapture.VisCapture{
 		Image:           img,
 		Detections:      dets,
 		Classifications: class,
 		Objects:         objPCD,
+		Extra:           vcExtra,
 	}
 
 	return capt, nil

services/vision/client_test.go

@@ -56,6 +56,7 @@ func TestClient(t *testing.T) {
 		det1 := objectdetection.NewDetection(image.Rectangle{}, 0.5, "yes")
 		return viscapture.VisCapture{
 			Detections: []objectdetection.Detection{det1},
+			Extra:      extra,
 		}, nil
 	}
 	m := map[resource.Name]vision.Service{
@@ -142,15 +143,24 @@ func TestClient(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		opts := viscapture.CaptureOptions{
 			true,
-			true, true, true,
+			true,
+			true,
+			true,
 		}
-		capt, err := client.CaptureAllFromCamera(context.Background(), "", opts, map[string]interface{}{})
+		extra := map[string]interface{}{"foo": "captureAll"}
+		capt, err := client.CaptureAllFromCamera(context.Background(), "", opts, extra)
 		test.That(t, err, test.ShouldBeNil)
 
 		test.That(t, capt.Detections, test.ShouldHaveLength, 1)
 		test.That(t, capt.Detections[0].Label(), test.ShouldEqual, "yes")
 		test.That(t, capt.Detections[0].Score(), test.ShouldEqual, 0.5)
+		test.That(t, capt.Extra, test.ShouldResemble, extra)
 		test.That(t, client.Close(context.Background()), test.ShouldBeNil)
+
+		// test with 'nil' extra
+		capt, err = client.CaptureAllFromCamera(context.Background(), "", opts, nil)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, capt.Extra, test.ShouldBeNil) // not necessarily true
 		test.That(t, conn.Close(), test.ShouldBeNil)
 	})
 }

services/vision/server.go

@@ -9,9 +9,10 @@ import (
 	commonpb "go.viam.com/api/common/v1"
 	camerapb "go.viam.com/api/component/camera/v1"
 	pb "go.viam.com/api/service/vision/v1"
+	"go.viam.com/utils/protoutils"
 
 	"go.viam.com/rdk/pointcloud"
-	"go.viam.com/rdk/protoutils"
+	rprotoutils "go.viam.com/rdk/protoutils"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/utils"
@@ -239,6 +240,7 @@ func (server *serviceServer) CaptureAllFromCamera(
 		ReturnClassifications: req.ReturnClassifications,
 		ReturnObject:          req.ReturnObjectPointClouds,
 	}
+
 	capt, err := svc.CaptureAllFromCamera(ctx,
 		req.CameraName,
 		captOptions,
@@ -257,12 +259,16 @@ func (server *serviceServer) CaptureAllFromCamera(
 	if err != nil {
 		return nil, err
 	}
-
+	extraProto, err := protoutils.StructToStructPb(capt.Extra)
+	if err != nil {
+		return nil, err
+	}
 	return &pb.CaptureAllFromCameraResponse{
 		Image:           imgProto,
 		Detections:      detsToProto(capt.Detections),
 		Classifications: clasToProto(capt.Classifications),
 		Objects:         objProto,
+		Extra:           extraProto,
 	}, nil
 }
 
@@ -312,5 +318,5 @@ func (server *serviceServer) DoCommand(ctx context.Context,
 	if err != nil {
 		return nil, err
 	}
-	return protoutils.DoFromResourceServer(ctx, svc, req)
+	return rprotoutils.DoFromResourceServer(ctx, svc, req)
 }

services/vision/server_test.go

@@ -157,11 +157,6 @@ func TestServerCaptureAllFromCamera(t *testing.T) {
 	test.That(t, len(getDetectionsResp.GetDetections()), test.ShouldEqual, 1)
 	test.That(t, getDetectionsResp.GetDetections()[0].GetClassName(), test.ShouldEqual, "yes")
 
-	captureRequest := pb.CaptureAllFromCameraRequest{
-		Name:             testVisionServiceName,
-		ReturnDetections: true,
-	}
-
 	injectVS.CaptureAllFromCameraFunc = func(ctx context.Context,
 		cameraName string,
 		opts viscapture.CaptureOptions,
@@ -170,12 +165,32 @@ func TestServerCaptureAllFromCamera(t *testing.T) {
 		det1 := objectdetection.NewDetection(image.Rectangle{}, 0.5, "yes")
 		return viscapture.VisCapture{
 			Detections: []objectdetection.Detection{det1},
+			Extra:      extra,
 		}, nil
 	}
+
+	captureRequest := pb.CaptureAllFromCameraRequest{
+		Name:             testVisionServiceName,
+		ReturnDetections: true,
+		Extra:            ext,
+	}
+
 	captAllResp, err := server.CaptureAllFromCamera(context.Background(), &captureRequest)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(captAllResp.Detections), test.ShouldEqual, 1)
-	test.That(t, getDetectionsResp.Detections[0].GetClassName(), test.ShouldEqual, "yes")
+	test.That(t, captAllResp.Detections[0].GetClassName(), test.ShouldEqual, "yes")
+	test.That(t, captAllResp.Extra.AsMap(), test.ShouldResemble, map[string]interface{}{"foo": "GetDetections"})
+
+	captureRequest = pb.CaptureAllFromCameraRequest{
+		Name:             testVisionServiceName,
+		ReturnDetections: true,
+		Extra:            nil,
+	}
+	captAllResp, err = server.CaptureAllFromCamera(context.Background(), &captureRequest)
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, len(captAllResp.Detections), test.ShouldEqual, 1)
+	test.That(t, captAllResp.Detections[0].GetClassName(), test.ShouldEqual, "yes")
+	test.That(t, len(captAllResp.Extra.AsMap()), test.ShouldEqual, 0)
 
 	test.ShouldResemble(captAllResp.Detections, getDetectionsResp.Detections)
 }

vision/viscapture/viscapture.go

@@ -15,6 +15,7 @@ type VisCapture struct {
 	Detections      []objectdetection.Detection
 	Classifications classification.Classifications
 	Objects         []*vision.Object
+	Extra           map[string]interface{}
 }
 
 // CaptureOptions is a struct to configure CaptureAllFromCamera request.s.