[RSDK-7392] vision service client (#196)

lib/src/resource/base.dart

@@ -55,6 +55,7 @@ class Subtype {
 abstract class Resource {
   abstract String name;
 
+  /// Send/Receive arbitrary commands to the [Resource]
   Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) {
     throw UnimplementedError();
   }

lib/src/services/vision.dart

@@ -0,0 +1,79 @@
+import 'package:fixnum/fixnum.dart';
+import 'package:grpc/grpc_connection_interface.dart';
+
+import '../../protos/common/common.dart';
+import '../../protos/service/vision.dart';
+import '../media/image.dart';
+import '../resource/base.dart';
+import '../utils.dart';
+
+class VisionClient implements ResourceRPCClient {
+  final String name;
+
+  @override
+  ClientChannelBase channel;
+
+  @override
+  VisionServiceClient get client => VisionServiceClient(channel);
+
+  VisionClient(this.name, this.channel);
+
+  /// Get a list of [Detection]s from the camera named [cameraName].
+  Future<List<Detection>> detectionsFromCamera(String cameraName, {Map<String, dynamic>? extra}) async {
+    final request = GetDetectionsFromCameraRequest(name: name, cameraName: cameraName, extra: extra?.toStruct());
+    final response = await client.getDetectionsFromCamera(request);
+    return response.detections;
+  }
+
+  /// Get a list of [Detection]s from the provided [image].
+  Future<List<Detection>> detections(ViamImage image, {Map<String, dynamic>? extra}) async {
+    final request = GetDetectionsRequest(
+        name: name,
+        image: image.raw,
+        width: Int64(image.image?.width ?? 0),
+        height: Int64(image.image?.height ?? 0),
+        mimeType: image.mimeType.name,
+        extra: extra?.toStruct());
+    final response = await client.getDetections(request);
+    return response.detections;
+  }
+
+  /// Get a list of [Classification]s from the camera named [cameraName].
+  /// The maximum number of [Classification]s returned is [count].
+  Future<List<Classification>> classificationsFromCamera(String cameraName, int count, {Map<String, dynamic>? extra}) async {
+    final request = GetClassificationsFromCameraRequest(name: name, cameraName: cameraName, n: count, extra: extra?.toStruct());
+    final response = await client.getClassificationsFromCamera(request);
+    return response.classifications;
+  }
+
+  /// Get a list of [Classification]s from the provided [image].
+  /// The maximum number of [Classification]s returned is [count].
+  Future<List<Classification>> classifications(ViamImage image, int count, {Map<String, dynamic>? extra}) async {
+    final request = GetClassificationsRequest(
+        name: name,
+        image: image.raw,
+        width: image.image?.width,
+        height: image.image?.height,
+        mimeType: image.mimeType.name,
+        n: count,
+        extra: extra?.toStruct());
+    final response = await client.getClassifications(request);
+    return response.classifications;
+  }
+
+  /// Get a list of [PointCloudObject]s from the camera named [cameraName].
+  Future<List<PointCloudObject>> objectPointClouds(String cameraName, {Map<String, dynamic>? extra}) async {
+    final request = GetObjectPointCloudsRequest(name: name, cameraName: cameraName, mimeType: MimeType.pcd.name, extra: extra?.toStruct());
+    final response = await client.getObjectPointClouds(request);
+    return response.objects;
+  }
+
+  /// Send/Receive arbitrary commands to the Resource
+  Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
+    final request = DoCommandRequest()
+      ..name = name
+      ..command = command.toStruct();
+    final response = await client.doCommand(request);
+    return response.result.toMap();
+  }
+}

lib/viam_sdk.dart

@@ -49,5 +49,8 @@ export 'src/robot/client.dart';
 /// RPC
 export 'src/rpc/dial.dart';
 
+/// Services
+export 'src/services/vision.dart';
+
 /// Misc
 export 'src/viam_sdk.dart';

pubspec.yaml

@@ -10,7 +10,7 @@ environment:
 dependencies:
   flutter:
     sdk: flutter
-  flutter_webrtc: ^0.9.47
+  flutter_webrtc: ^0.10.3
   grpc: ^3.2.3
   protobuf: ^3.0.0
   image: ^4.0.16

test/unit_test/app/app_client_test.dart

@@ -13,7 +13,7 @@ void main() {
   late MockAppServiceClient serviceClient;
   late AppClient appClient;
 
-  setUp(() async {
+  setUp(() {
     serviceClient = MockAppServiceClient();
     appClient = AppClient(serviceClient);
   });

test/unit_test/mocks/service_clients_mocks.dart

@@ -4,12 +4,14 @@ import 'package:viam_sdk/src/gen/app/data/v1/data.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/app/v1/app.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/provisioning/v1/provisioning.pbgrpc.dart';
 import 'package:viam_sdk/src/gen/robot/v1/robot.pbgrpc.dart';
+import 'package:viam_sdk/src/gen/service/vision/v1/vision.pbgrpc.dart';
 
 @GenerateNiceMocks([
   MockSpec<ClientChannelBase>(),
   MockSpec<RobotServiceClient>(),
   MockSpec<AppServiceClient>(),
   MockSpec<DataServiceClient>(),
   MockSpec<ProvisioningServiceClient>(),
+  MockSpec<VisionServiceClient>(),
 ])
 void main() {}