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[RSDK-9754] Remove webcam discovery logic #4720

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[RSDK-9754] Remove webcam discovery logic #4720

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85 changes: 0 additions & 85 deletions components/camera/videosource/webcam.go
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@ import (
"fmt"
"image"
"path/filepath"
"strings"
"sync"
"time"

Expand All @@ -20,7 +19,6 @@ import (
"github.com/pion/mediadevices/pkg/prop"
"github.com/pkg/errors"
"go.uber.org/multierr"
pb "go.viam.com/api/component/camera/v1"
goutils "go.viam.com/utils"

"go.viam.com/rdk/components/camera"
Expand All @@ -39,101 +37,18 @@ var intrinsics []byte

var data map[string]transform.PinholeCameraIntrinsics

// getVideoDrivers is a helper callback passed to the registered Discover func to get all video drivers.
func getVideoDrivers() []driver.Driver {
return driver.GetManager().Query(driver.FilterVideoRecorder())
}

func init() {
resource.RegisterComponent(
camera.API,
ModelWebcam,
resource.Registration[camera.Camera, *WebcamConfig]{
Constructor: NewWebcam,
Discover: func(ctx context.Context, logger logging.Logger, extra map[string]interface{}) (interface{}, error) {
return Discover(ctx, getVideoDrivers, logger)
},
})
if err := json.Unmarshal(intrinsics, &data); err != nil {
logging.Global().Errorw("cannot parse intrinsics json", "error", err)
}
}

// getProperties is a helper func for webcam discovery that returns the Media properties of a specific driver.
// It is NOT related to the GetProperties camera proto API.
func getProperties(d driver.Driver) (_ []prop.Media, err error) {
// Need to open driver to get properties
if d.Status() == driver.StateClosed {
errOpen := d.Open()
if errOpen != nil {
return nil, errOpen
}
defer func() {
if errClose := d.Close(); errClose != nil {
err = errClose
}
}()
}
return d.Properties(), err
}

// Discover webcam attributes.
func Discover(ctx context.Context, getDrivers func() []driver.Driver, logger logging.Logger) (*pb.Webcams, error) {
mediadevicescamera.Initialize()
var webcams []*pb.Webcam
drivers := getDrivers()
for _, d := range drivers {
driverInfo := d.Info()

props, err := getProperties(d)
if len(props) == 0 {
logger.CDebugw(ctx, "no properties detected for driver, skipping discovery...", "driver", driverInfo.Label)
continue
} else if err != nil {
logger.CDebugw(ctx, "cannot access driver properties, skipping discovery...", "driver", driverInfo.Label, "error", err)
continue
}

if d.Status() == driver.StateRunning {
logger.CDebugw(ctx, "driver is in use, skipping discovery...", "driver", driverInfo.Label)
continue
}

labelParts := strings.Split(driverInfo.Label, mediadevicescamera.LabelSeparator)
label := labelParts[0]

name, id := func() (string, string) {
nameParts := strings.Split(driverInfo.Name, mediadevicescamera.LabelSeparator)
if len(nameParts) > 1 {
return nameParts[0], nameParts[1]
}
// fallback to the label if the name does not have an any additional parts to use.
return nameParts[0], label
}()

wc := &pb.Webcam{
Name: name,
Id: id,
Label: label,
Status: string(d.Status()),
Properties: make([]*pb.Property, 0, len(d.Properties())),
}

for _, prop := range props {
pbProp := &pb.Property{
WidthPx: int32(prop.Video.Width),
HeightPx: int32(prop.Video.Height),
FrameRate: prop.Video.FrameRate,
FrameFormat: string(prop.Video.FrameFormat),
}
wc.Properties = append(wc.Properties, pbProp)
}
webcams = append(webcams, wc)
}

return &pb.Webcams{Webcams: webcams}, nil
}

// WebcamConfig is the native config attribute struct for webcams.
type WebcamConfig struct {
CameraParameters *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
Expand Down
41 changes: 0 additions & 41 deletions components/camera/videosource/webcam_e2e_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -27,47 +27,6 @@ func findWebcam(t *testing.T, webcams []*pb.Webcam, name string) *pb.Webcam {
return nil
}

func TestWebcamDiscovery(t *testing.T) {
logger := logging.NewTestLogger(t)

reg, ok := resource.LookupRegistration(camera.API, videosource.ModelWebcam)
test.That(t, ok, test.ShouldBeTrue)

ctx := context.Background()
discoveries, err := reg.Discover(ctx, logger)
test.That(t, err, test.ShouldBeNil)

webcams, ok := discoveries.(*pb.Webcams)
test.That(t, ok, test.ShouldBeTrue)
webcamsLen := len(webcams.Webcams)

// Video capture and overlay minor numbers range == [0, 63]
// Start from the end of the range to avoid conflicts with other devices
// Source: https://www.kernel.org/doc/html/v4.9/media/uapi/v4l/diff-v4l.html
config, err := vcamera.Builder(logger).
NewCamera(62, "Lo Res Webcam", vcamera.Resolution{Width: 640, Height: 480}).
NewCamera(63, "Hi Res Webcam", vcamera.Resolution{Width: 1280, Height: 720}).
Stream()

test.That(t, err, test.ShouldBeNil)
defer config.Shutdown()

discoveries, err = reg.Discover(ctx, logger)
test.That(t, err, test.ShouldBeNil)

webcams, ok = discoveries.(*pb.Webcams)
test.That(t, ok, test.ShouldBeTrue)
test.That(t, len(webcams.Webcams), test.ShouldEqual, webcamsLen+2)

webcam := findWebcam(t, webcams.Webcams, "Hi Res Webcam")
test.That(t, webcam.Properties[0].WidthPx, test.ShouldEqual, 1280)
test.That(t, webcam.Properties[0].HeightPx, test.ShouldEqual, 720)

webcam = findWebcam(t, webcams.Webcams, "Lo Res Webcam")
test.That(t, webcam.Properties[0].WidthPx, test.ShouldEqual, 640)
test.That(t, webcam.Properties[0].HeightPx, test.ShouldEqual, 480)
}

func newWebcamConfig(name, path string) resource.Config {
conf := resource.NewEmptyConfig(
resource.NewName(camera.API, name),
Expand Down
47 changes: 0 additions & 47 deletions components/camera/videosource/webcam_test.go
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Original file line number Diff line number Diff line change
@@ -1,60 +1,13 @@
package videosource_test

import (
"context"
"testing"

"github.com/pion/mediadevices/pkg/driver"
"github.com/pion/mediadevices/pkg/prop"
"go.viam.com/test"

"go.viam.com/rdk/components/camera/videosource"
"go.viam.com/rdk/logging"
)

// fakeDriver is a driver has a label and media properties.
type fakeDriver struct {
label string
props []prop.Media
}

func (d *fakeDriver) Open() error { return nil }
func (d *fakeDriver) Properties() []prop.Media { return d.props }
func (d *fakeDriver) ID() string { return d.label }
func (d *fakeDriver) Info() driver.Info { return driver.Info{Label: d.label} }
func (d *fakeDriver) Status() driver.State { return "some state" }
func (d *fakeDriver) Close() error { return nil }

func newFakeDriver(label string, props []prop.Media) driver.Driver {
return &fakeDriver{label: label, props: props}
}

func testGetDrivers() []driver.Driver {
props := prop.Media{
Video: prop.Video{Width: 320, Height: 240, FrameFormat: "some format", FrameRate: 30.0},
}
withProps := newFakeDriver("some label", []prop.Media{props})
withoutProps := newFakeDriver("another label", []prop.Media{})
return []driver.Driver{withProps, withoutProps}
}

func TestDiscoveryWebcam(t *testing.T) {
logger := logging.NewTestLogger(t)
resp, err := videosource.Discover(context.Background(), testGetDrivers, logger)

test.That(t, err, test.ShouldBeNil)
test.That(t, resp.Webcams, test.ShouldHaveLength, 1)
test.That(t, resp.Webcams[0].Label, test.ShouldResemble, "some label")
test.That(t, resp.Webcams[0].Status, test.ShouldResemble, "some state")

respProps := resp.Webcams[0].Properties
test.That(t, respProps, test.ShouldHaveLength, 1)
test.That(t, respProps[0].WidthPx, test.ShouldResemble, int32(320))
test.That(t, respProps[0].HeightPx, test.ShouldResemble, int32(240))
test.That(t, respProps[0].FrameFormat, test.ShouldResemble, "some format")
test.That(t, respProps[0].FrameRate, test.ShouldResemble, float32(30))
}

func TestWebcamValidation(t *testing.T) {
webCfg := &videosource.WebcamConfig{
Width: 1280,
Expand Down
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