RSDK-3303 - first cut camera server side (#30)

Author: clintpurser

lib/src/components/camera/service.dart

@@ -0,0 +1,61 @@
+import 'package:grpc/grpc.dart';
+import 'package:viam_sdk/src/gen/google/api/httpbody.pb.dart';
+
+import '../../gen/common/v1/common.pb.dart';
+import '../../gen/component/camera/v1/camera.pbgrpc.dart';
+import '../../media/image.dart';
+import '../../resource/manager.dart';
+import '../../utils.dart';
+import 'camera.dart';
+
+class CameraService extends CameraServiceBase {
+  final ResourceManager _manager;
+
+  CameraService(this._manager);
+
+  Camera _fromManager(String name) {
+    try {
+      return _manager.getResource(Camera.getResourceName(name));
+    } catch (e) {
+      throw (GrpcError.notFound(e.toString()));
+    }
+  }
+
+  @override
+  Future<DoCommandResponse> doCommand(ServiceCall call, DoCommandRequest request) async {
+    final camera = _fromManager(request.name);
+    final result = await camera.doCommand(request.command.toMap());
+    return DoCommandResponse(result: result.toStruct());
+  }
+
+  @override
+  Future<GetImageResponse> getImage(ServiceCall call, GetImageRequest request) async {
+    final camera = _fromManager(request.name);
+    final image = await camera.image(mimeType: MimeType.fromString(request.mimeType));
+    return GetImageResponse(mimeType: image.mimeType.toString(), image: image.raw);
+  }
+
+  @override
+  Future<GetPointCloudResponse> getPointCloud(ServiceCall call, GetPointCloudRequest request) async {
+    final camera = _fromManager(request.name);
+    final image = await camera.pointCloud();
+    return GetPointCloudResponse(mimeType: image.mimeType.toString(), pointCloud: image.raw);
+  }
+
+  @override
+  Future<GetPropertiesResponse> getProperties(ServiceCall call, GetPropertiesRequest request) async {
+    final camera = _fromManager(request.name);
+    final properties = await camera.properties();
+    return GetPropertiesResponse(
+        supportsPcd: properties.supportsPcd,
+        intrinsicParameters: properties.intrinsicParameters,
+        distortionParameters: properties.distortionParameters);
+  }
+
+  @override
+  Future<HttpBody> renderFrame(ServiceCall call, RenderFrameRequest request) async {
+    final camera = _fromManager(request.name);
+    final image = await camera.image(mimeType: MimeType.fromString(request.mimeType));
+    return HttpBody(data: image.raw, contentType: image.mimeType.toString());
+  }
+}