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Add frame_rate to flutter sdk #261

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Add frame_rate to flutter sdk #261

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e59dedd
changes to flutter sdk
jckras Sep 18, 2024
6fd87ef
final flutter changes
jckras Sep 18, 2024
ac5a2bf
formatting
jckras Sep 19, 2024
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6 changes: 5 additions & 1 deletion lib/src/components/camera/service.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -51,10 +51,14 @@ class CameraService extends CameraServiceBase {
Future<GetPropertiesResponse> getProperties(ServiceCall call, GetPropertiesRequest request) async {
final camera = _fromManager(request.name);
final properties = await camera.properties();
return GetPropertiesResponse()
final response = GetPropertiesResponse()
..supportsPcd = properties.supportsPcd
..intrinsicParameters = properties.intrinsicParameters
..distortionParameters = properties.distortionParameters;
if (properties.frameRate != 0) {
response.frameRate = properties.frameRate;
}
return response;
}

@override
Expand Down
72 changes: 66 additions & 6 deletions test/unit_test/components/camera_test.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -13,8 +13,9 @@ class FakeCamera extends Camera {

@override
String name;
bool setFrameRate;

FakeCamera(this.name);
FakeCamera(this.name, {this.setFrameRate = false});

@override
Future<Map<String, dynamic>> doCommand(Map<String, dynamic> command) async {
Expand All @@ -40,20 +41,26 @@ class FakeCamera extends Camera {

@override
Future<CameraProperties> properties() async {
return CameraProperties()
final properties = CameraProperties()
..supportsPcd = true
..intrinsicParameters = (IntrinsicParameters()..widthPx = 10)
..distortionParameters = (DistortionParameters()..model = 'test');
if (setFrameRate) {
properties.frameRate = 10.0;
}
return properties;
}
}

void main() {
group('Camera Tests', () {
const String name = 'camera';
late FakeCamera camera;
late FakeCamera frameRateCamera;

setUp(() {
camera = FakeCamera(name);
frameRateCamera = FakeCamera(name, setFrameRate: true);
});

test('image', () async {
Expand All @@ -76,10 +83,18 @@ void main() {
expect(actualPcd.raw, [0, 0, 0]);
});

test('properties', () async {
test('properties without frame rate', () async {
final actual = await camera.properties();
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 0);
});

test('properties with frame rate', () async {
final actual = await frameRateCamera.properties();
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 10.0);
});

test('doCommand', () async {
Expand All @@ -97,7 +112,7 @@ void main() {
const String name = 'camera';

setUp(() async {
camera = FakeCamera(name);
camera = FakeCamera(name, setFrameRate: false);
final port = generateTestingPortFromName(name);
final manager = ResourceManager();
manager.register(Camera.getResourceName(name), camera);
Expand Down Expand Up @@ -148,11 +163,12 @@ void main() {
expect(actualPcd.pointCloud, [0, 0, 0]);
});

test('properties', () async {
test('properties without frameRate', () async {
final client = CameraServiceClient(channel);
final actual = await client.getProperties(GetPropertiesRequest()..name = name);
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 0);
});

test('doCommand', () async {
Expand Down Expand Up @@ -187,11 +203,12 @@ void main() {
expect(actualPcd.raw, [0, 0, 0]);
});

test('properties', () async {
test('properties without frame rate', () async {
final client = CameraClient(name, channel);
final actual = await client.properties();
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 0.0);
});

test('doCommand', () async {
Expand All @@ -202,4 +219,47 @@ void main() {
});
});
});

group('Camera RPC Tests with frame rate', () {
late ClientChannel channel;
late FakeCamera camera;
late CameraService service;
late Server server;
const String name = 'camera';

setUp(() async {
camera = FakeCamera(name, setFrameRate: true);
final port = generateTestingPortFromName(name);
final manager = ResourceManager();
manager.register(Camera.getResourceName(name), camera);
service = CameraService(manager);
channel = ClientChannel('localhost', port: port, options: const ChannelOptions(credentials: ChannelCredentials.insecure()));
server = Server.create(services: [service]);
await server.serve(port: port);
});

tearDown(() async {
await channel.shutdown();
await server.shutdown();
});

group('Camera Service Tests', () {
test('properties with frameRate', () async {
final client = CameraServiceClient(channel);
final actual = await client.getProperties(GetPropertiesRequest()..name = name);
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 10.0);
});
});
group('Camera Client Tests', () {
test('properties with frameRate', () async {
final client = CameraClient(name, channel);
final actual = await client.properties();
expect(actual.distortionParameters.model, 'test');
expect(actual.intrinsicParameters.widthPx, 10);
expect(actual.frameRate, 10.0);
});
});
});
}
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