camera (#17)

core/sdk/src/main/java/com/viam/sdk/core/component/camera/Camera.java

@@ -0,0 +1,84 @@
+package com.viam.sdk.core.component.camera;
+
+import com.google.protobuf.Struct;
+import com.viam.common.v1.Common;
+import com.viam.component.camera.v1.Camera.Format;
+import com.viam.component.camera.v1.Camera.Image;
+import com.viam.sdk.core.component.Component;
+import com.viam.sdk.core.resource.Resource;
+import com.viam.sdk.core.resource.Subtype;
+import com.viam.sdk.core.robot.RobotClient;
+import java.util.List;
+import java.util.Map.Entry;
+import java.util.Optional;
+
+/**
+ * MovementSensor reports information about the robot's direction, position, and speed
+ */
+public abstract class Camera extends Component {
+
+  public static final Subtype SUBTYPE = new Subtype(
+      Subtype.NAMESPACE_RDK,
+      Subtype.RESOURCE_TYPE_COMPONENT,
+      "camera");
+
+  public Camera(final String name) {
+    super(SUBTYPE, named(name));
+  }
+
+  /**
+   * Get the ResourceName of the component
+   *
+   * @param name the name of the component
+   * @return the component's ResourceName
+   */
+  public static Common.ResourceName named(final String name) {
+    return Resource.named(SUBTYPE, name);
+  }
+
+  /**
+   * Get the component with the provided name from the provided robot.
+   *
+   * @param robot the RobotClient
+   * @param name  the name of the component
+   * @return the component
+   */
+  public static Camera fromRobot(final RobotClient robot, final String name) {
+    return robot.getResource(Camera.class, named(name));
+  }
+
+  public abstract Image getImage(final Format format,
+      final Optional<Struct> extra);
+
+  public abstract Entry<List<Image>, Common.ResponseMetadata> getImages();
+
+  static Format mimeToFormat(final String mimeType) {
+    switch (mimeType) {
+      case "image/jpeg":
+        return Format.FORMAT_JPEG;
+      case "image/png":
+        return Format.FORMAT_PNG;
+      case "image/vnd.viam.rgba":
+        return Format.FORMAT_RAW_RGBA;
+      case "image/vnd.viam.dep":
+        return Format.FORMAT_RAW_DEPTH;
+      default:
+        return Format.FORMAT_UNSPECIFIED;
+    }
+  }
+
+  static String formatToMime(final Format format) {
+    switch (format) {
+      case FORMAT_JPEG:
+        return "image/jpeg";
+      case FORMAT_PNG:
+        return "image/png";
+      case FORMAT_RAW_RGBA:
+        return "image/vnd.viam.rgba";
+      case FORMAT_RAW_DEPTH:
+        return "image/vnd.viam.dep";
+      default:
+        return "unknown";
+    }
+  }
+}

core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCClient.java

@@ -0,0 +1,78 @@
+package com.viam.sdk.core.component.camera;
+
+import com.google.protobuf.Struct;
+import com.google.protobuf.Value;
+import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.GetGeometriesRequest;
+import com.viam.common.v1.Common.ResponseMetadata;
+import com.viam.component.camera.v1.Camera.Format;
+import com.viam.component.camera.v1.Camera.GetImageRequest;
+import com.viam.component.camera.v1.Camera.GetImageResponse;
+import com.viam.component.camera.v1.Camera.GetImagesRequest;
+import com.viam.component.camera.v1.Camera.GetImagesResponse;
+import com.viam.component.camera.v1.Camera.Image;
+import com.viam.component.camera.v1.CameraServiceGrpc;
+import com.viam.sdk.core.rpc.Channel;
+import java.util.AbstractMap.SimpleEntry;
+import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.Optional;
+
+/**
+ * gRPC Client for a Camera component
+ */
+public class CameraRPCClient extends com.viam.sdk.core.component.camera.Camera {
+
+  private final CameraServiceGrpc.CameraServiceBlockingStub client;
+
+  public CameraRPCClient(final String name, final Channel chan) {
+    super(name);
+    final CameraServiceGrpc.CameraServiceBlockingStub client = CameraServiceGrpc.newBlockingStub(
+        chan);
+    if (chan.getCallCredentials().isPresent()) {
+      this.client = client.withCallCredentials(chan.getCallCredentials().get());
+    } else {
+      this.client = client;
+    }
+  }
+
+  @Override
+  public Struct doCommand(final Map<String, Value> command) {
+    return client.doCommand(Common.DoCommandRequest.newBuilder().
+        setName(getName().getName()).
+        setCommand(Struct.newBuilder().putAllFields(command).build()).
+        build()).getResult();
+  }
+
+  @Override
+  public List<Common.Geometry> getGeometries(final Optional<Struct> extra) {
+    final GetGeometriesRequest.Builder builder = Common.GetGeometriesRequest.newBuilder().
+        setName(getName().getName());
+    extra.ifPresent(builder::setExtra);
+    return client.getGeometries(builder.build()).getGeometriesList();
+  }
+
+  @Override
+  public Image getImage(final Format format,
+      Optional<Struct> extra) {
+    final GetImageRequest.Builder builder = GetImageRequest.newBuilder().
+        setName(getName().getName()).
+        setMimeType(Camera.formatToMime(format));
+    extra.ifPresent(builder::setExtra);
+    final GetImageResponse resp = client.getImage(builder.build());
+    final Image.Builder imgBuilder = Image.newBuilder().
+        setSourceName(getName().getName()).
+        setImage(resp.getImage());
+
+    return imgBuilder.setFormat(Camera.mimeToFormat(resp.getMimeType())).build();
+  }
+
+  @Override
+  public Entry<List<Image>, ResponseMetadata> getImages() {
+    final GetImagesRequest.Builder builder = GetImagesRequest.newBuilder().
+        setName(getName().getName());
+    final GetImagesResponse resp = client.getImages(builder.build());
+    return new SimpleEntry<>(resp.getImagesList(), resp.getResponseMetadata());
+  }
+}

core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCService.java

@@ -0,0 +1,89 @@
+package com.viam.sdk.core.component.camera;
+
+import com.google.protobuf.Struct;
+import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.Geometry;
+import com.viam.common.v1.Common.GetGeometriesResponse;
+import com.viam.common.v1.Common.ResponseMetadata;
+import com.viam.component.camera.v1.Camera.GetImageRequest;
+import com.viam.component.camera.v1.Camera.GetImageResponse;
+import com.viam.component.camera.v1.Camera.GetImagesRequest;
+import com.viam.component.camera.v1.Camera.GetImagesResponse;
+import com.viam.component.camera.v1.Camera.Image;
+import com.viam.component.camera.v1.CameraServiceGrpc;
+import com.viam.sdk.core.resource.ResourceManager;
+import com.viam.sdk.core.resource.ResourceRPCService;
+import io.grpc.stub.StreamObserver;
+import java.util.List;
+import java.util.Map.Entry;
+import java.util.Optional;
+
+/**
+ * gRPC Service for a Camera component
+ */
+public class CameraRPCService extends
+    CameraServiceGrpc.CameraServiceImplBase implements
+    ResourceRPCService<Camera> {
+
+  private final ResourceManager manager;
+
+  public CameraRPCService(final ResourceManager manager) {
+    this.manager = manager;
+  }
+
+  @Override
+  public void doCommand(Common.DoCommandRequest request,
+      StreamObserver<Common.DoCommandResponse> responseObserver) {
+    final Camera camera = getResource(
+        Camera.named(request.getName()));
+    final Struct result = camera.doCommand(request.getCommand().getFieldsMap());
+    responseObserver.onNext(Common.DoCommandResponse.newBuilder().setResult(result).build());
+    responseObserver.onCompleted();
+  }
+
+  @Override
+  public void getGeometries(Common.GetGeometriesRequest request,
+      StreamObserver<Common.GetGeometriesResponse> responseObserver) {
+    final Camera camera = getResource(
+        Camera.named(request.getName()));
+    final List<Geometry> result = camera.getGeometries(Optional.of(request.getExtra()));
+    responseObserver.onNext(GetGeometriesResponse.newBuilder().addAllGeometries(result).build());
+    responseObserver.onCompleted();
+  }
+
+  @Override
+  public void getImage(GetImageRequest request,
+      StreamObserver<GetImageResponse> responseObserver) {
+    final Camera camera = getResource(
+        Camera.named(request.getName()));
+    final Image result = camera.getImage(Camera.mimeToFormat(request.getMimeType()),
+        Optional.of(request.getExtra()));
+
+    responseObserver.onNext(
+        GetImageResponse.newBuilder().setImage(result.getImage())
+            .setMimeType(Camera.formatToMime(result.getFormat())).build());
+    responseObserver.onCompleted();
+  }
+
+  @Override
+  public void getImages(GetImagesRequest request,
+      StreamObserver<GetImagesResponse> responseObserver) {
+    final Camera camera = getResource(
+        Camera.named(request.getName()));
+    final Entry<List<Image>, ResponseMetadata> result = camera.getImages();
+    responseObserver.onNext(
+        GetImagesResponse.newBuilder().addAllImages(result.getKey())
+            .setResponseMetadata(result.getValue()).build());
+    responseObserver.onCompleted();
+  }
+
+  @Override
+  public Class<Camera> getResourceClass() {
+    return Camera.class;
+  }
+
+  @Override
+  public ResourceManager getManager() {
+    return manager;
+  }
+}

core/sdk/src/main/java/com/viam/sdk/core/resource/ResourceManager.java

@@ -2,10 +2,14 @@
 
 import com.viam.common.v1.Common;
 import com.viam.common.v1.Common.ResourceName;
+import com.viam.component.camera.v1.CameraServiceGrpc;
 import com.viam.component.generic.v1.GenericServiceGrpc;
 import com.viam.component.gripper.v1.GripperServiceGrpc;
 import com.viam.component.movementsensor.v1.MovementSensorServiceGrpc;
 import com.viam.component.sensor.v1.SensorServiceGrpc;
+import com.viam.sdk.core.component.camera.Camera;
+import com.viam.sdk.core.component.camera.CameraRPCClient;
+import com.viam.sdk.core.component.camera.CameraRPCService;
 import com.viam.sdk.core.component.generic.Generic;
 import com.viam.sdk.core.component.generic.GenericRPCClient;
 import com.viam.sdk.core.component.generic.GenericRPCService;
@@ -173,6 +177,12 @@ public synchronized void close() {
         SensorRPCService::new,
         SensorRPCClient::new
     ));
+    Registry.registerSubtype(new ResourceRegistration<>(
+        Camera.SUBTYPE,
+        CameraServiceGrpc.SERVICE_NAME,
+        CameraRPCService::new,
+        CameraRPCClient::new
+    ));
     Registry.registerSubtype(new ResourceRegistration<>(
         Sensors.SUBTYPE,
         SensorsServiceGrpc.SERVICE_NAME,

java/services/mlmodel/build.gradle

@@ -8,11 +8,9 @@ ext.pomDisplayName = "Viam Java SDK - MLModel Service"
 
 dependencies {
     api project(':core:services:viam-core-sdk-mlmodel-service')
-    implementation "ai.djl:core:0.26.0"
+    implementation "ai.djl:api:0.26.0"
     runtimeOnly "ai.djl.pytorch:pytorch-engine:0.26.0"
-    runtimeOnly "ai.djl.pytorch:pytorch-native-auto:0.26.0"
     runtimeOnly "ai.djl.onnxruntime:onnxruntime-engine:0.26.0"
-    runtimeOnly "ai.djl.onnxruntime:onnxruntime-native-auto:0.26.0"
 }
 
 java {