[DATA-3338] fix-stability-of-vision-capture-all-from-camera-and-camera-get-images

[nicksanford]

Why:

1. the collectors for vision.CaptureAllFromCamera and camera.GetImages write the responses from those methods as tabular data. That results a go object being allocated for every pixle of the images in those method's responses. At high capture rates that results in heap fragmentation and viam-server crashing due to running out of memory. See https://viam.atlassian.net/browse/DATA-3191 for the tests that show that.
2. To fix that problem we need all binary collectors to write binary results. This requires allowing a binary capture file to contain multiple binary results (as that is what camera.GetImages returns).
3. We also needed to write annotations to capture files as that is what vision.CaptureAllFromCamera needs to describe what the ML model detected in the image.

Fixes:

• Fix stability of vision.CaptureAllFromCamera
• Fix stability of camera.GetImages
• GetImages capture files fail to sync if a single image is under the 256 kb capture file size limit

Changes:

1. Change signature of collectors from (ctx context.Context, _ map[string]*anypb.Any) (interface{}, error) to (ctx context.Context, _ map[string]*anypb.Any) (data.CaptureResult, error) see data/collector_types.go for more info
2. Change CaptureFuncs to determine the capture request and response time rather than data/collector.go
3. Change all tabular collectors to use data.NewTabularCaptureResult to create tabular capture results.
4. Update collector tests to assert on multiple sensor data values
5. Update data sync to accept binary capture files with multiple readings (as in the case of camera.GetImages)
6. Update data sync to handle both legacy camera.GetImages capture files and the new, more efficient ones
7. Update data sync to set both the datasyncpb.MimeType and the datasyncpb.UploadMetadata.FileExtension fields
8. Update data sync to move capture file to failed directory in cases where the capture file contains unrecoverable data (such as multiple capture types within a given capture file, or the capture file header type being something other than binary or tabular)

[dmhilly]

LGTM! Great work on this Nick 🎉🎉

[n0nick]

👍

[n0nick]

?

[n0nick]

should you use now instead of calling time.Now() for TimeReceived here? same for ts1 below

[nicksanford]

no b/c in general TimeRequested happens before TimeReceived. camera.GetImages is the only exception