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[RSDK-1176] Allow request to single_server/dual_server for a lazy mim… #1691

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merged 1 commit into from
Dec 22, 2022
Merged

[RSDK-1176] Allow request to single_server/dual_server for a lazy mim… #1691

merged 1 commit into from
Dec 22, 2022

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tessavitabile
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@tessavitabile tessavitabile commented Dec 19, 2022 •
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…e type to return a different lazy mime type

https://viam.atlassian.net/browse/RSDK-1176

I tested that orbslam still runs correctly, and I can view the depth stream through the app.

Note that slam already checks that it gets the type it expects:

rdk/services/slam/builtin/builtin.go

Lines 808 to 810 in 1a72af4

if lazyImg.MIMEType() != rdkutils.MimeTypePNG {
return nil, nil, errors.Errorf("expected mime type %v, got %T", rdkutils.MimeTypePNG, img)
}

In testing my changes, I encountered this bug: https://viam.atlassian.net/browse/RSDK-1273

@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Dec 19, 2022
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 56% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 13% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 63% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% 0.00% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 65% 0.00% ➖
go.viam.com/rdk/components/camera/align 63% 0.00% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 77% 0.00% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% +0.33% ✅
go.viam.com/rdk/components/camera/videosource 51% +1.29% ➖
go.viam.com/rdk/components/encoder/fake 77% 0.00% ✅
go.viam.com/rdk/components/gantry 60% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 68% 0.00% ➖
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 77% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 63% -0.43% ➖
go.viam.com/rdk/components/motor/gpiostepper 57% +0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 68% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 75% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 77% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/complexmodule 0% 0.00% ❌
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/module 64% 0.00% ➖
go.viam.com/rdk/module/modmanager 79% 0.00% ✅
go.viam.com/rdk/motionplan 71% +11.71% ✅
go.viam.com/rdk/octree 98% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 71% -0.09% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 70% 0.00% ✅
go.viam.com/rdk/registry 89% 0.00% ✅
go.viam.com/rdk/resource 86% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 86% +0.95% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/server 59% 0.00% ➖
go.viam.com/rdk/robot/web 62% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 65% 0.00% ➖
go.viam.com/rdk/services/datamanager/builtin 80% 0.00% ✅
go.viam.com/rdk/services/datamanager/datacapture 21% 0.00% ❌
go.viam.com/rdk/services/datamanager/datasync 72% 0.00% ✅
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 53% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 72% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 83% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% -0.18% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 26% 0.00% ❌
Summary 66% (21059 / 31681) +0.75% ➖

kkufieta
kkufieta approved these changes Dec 21, 2022
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LGTM - can you add the link to the jira ticket in the description?

@tessavitabile
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Added the ticket link, sorry! I'll also ask about putting links in the PR title.

kharijarrett
kharijarrett approved these changes Dec 21, 2022
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This here LGTM! I would just say to make sure SLAM knows that it actually got a lazy PNG back but I'm sure y'all are on that.

@tessavitabile
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Thanks! Yes, we check that in slam.

@tessavitabile tessavitabile merged commit f1f3f6e into viamrobotics:main Dec 22, 2022
@tessavitabile tessavitabile deleted the RSDK-1176 branch December 22, 2022 14:19
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@kharijarrett kharijarrett kharijarrett approved these changes

@kkufieta kkufieta kkufieta approved these changes

@edaniels edaniels Awaiting requested review from edaniels

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@tessavitabile @kkufieta @kharijarrett @viambot