RSDK-9890 - support extra in camera apis (#460)

Author: stuqdog

src/components/camera/camera.ts

@@ -1,3 +1,4 @@
+import type { Struct } from '@bufbuild/protobuf';
 import type {
   DistortionParameters,
   IntrinsicParameters,
@@ -31,18 +32,18 @@ export interface Camera extends Resource {
    * @param mimeType - A specific MIME type to request. This is not necessarily
    *   the same type that will be returned.
    */
-  getImage: (mimeType?: MimeType) => Promise<Uint8Array>;
+  getImage: (mimeType?: MimeType, extra?: Struct) => Promise<Uint8Array>;
 
   /**
    * Render a frame from a camera to an HTTP response.
    *
    * @param mimeType - A specific MIME type to request. This is not necessarily
    *   the same type that will be returned.
    */
-  renderFrame: (mimeType?: MimeType) => Promise<Blob>;
+  renderFrame: (mimeType?: MimeType, extra?: Struct) => Promise<Blob>;
 
   /** Return a point cloud from a camera. */
-  getPointCloud: () => Promise<Uint8Array>;
+  getPointCloud: (extra?: Struct) => Promise<Uint8Array>;
 
   /** Return the camera properties. */
   getProperties: () => Promise<Properties>;

src/components/camera/client.ts

@@ -1,4 +1,4 @@
-import type { JsonValue, Struct } from '@bufbuild/protobuf';
+import { type JsonValue, Struct } from '@bufbuild/protobuf';
 import type { CallOptions, PromiseClient } from '@connectrpc/connect';
 import { GetPropertiesRequest } from '../../gen/component/base/v1/base_pb';
 import { CameraService } from '../../gen/component/camera/v1/camera_connect';
@@ -31,10 +31,15 @@ export class CameraClient implements Camera {
     this.options = options;
   }
 
-  async getImage(mimeType: MimeType = '', callOptions = this.callOptions) {
+  async getImage(
+    mimeType: MimeType = '',
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new GetImageRequest({
       name: this.name,
       mimeType,
+      extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
@@ -43,10 +48,15 @@ export class CameraClient implements Camera {
     return resp.image;
   }
 
-  async renderFrame(mimeType: MimeType = '', callOptions = this.callOptions) {
+  async renderFrame(
+    mimeType: MimeType = '',
+    extra = {},
+    callOptions = this.callOptions
+  ) {
     const request = new RenderFrameRequest({
       name: this.name,
       mimeType,
+      extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);
@@ -55,10 +65,11 @@ export class CameraClient implements Camera {
     return new Blob([resp.data], { type: mimeType });
   }
 
-  async getPointCloud(callOptions = this.callOptions) {
+  async getPointCloud(extra = {}, callOptions = this.callOptions) {
     const request = new GetPointCloudRequest({
       name: this.name,
       mimeType: PointCloudPCD,
+      extra: Struct.fromJson(extra),
     });
 
     this.options.requestLogger?.(request);