[RSDK-9458] Remove 'Stream' from Camera interface I - cosmetic + test…

… changes (#4710)

components/camera/camera.go

@@ -107,17 +107,6 @@ type Camera interface {
 //
 // For more information, see the [Images method docs].
 //
-// Stream example:
-//
-//	myCamera, err := camera.FromRobot(machine, "my_camera")
-//
-//	// gets the stream from a camera
-//	stream, err := myCamera.Stream(context.Background())
-//
-//	// gets an image from the camera stream
-//	img, release, err := stream.Next(context.Background())
-//	defer release()
-//
 // NextPointCloud example:
 //
 //	myCamera, err := camera.FromRobot(machine, "my_camera")

components/camera/replaypcd/replaypcd_test.go

@@ -660,11 +660,6 @@ func TestReplayPCDUnimplementedFunctions(t *testing.T) {
 	replayCamera, _, serverClose, err := createNewReplayPCDCamera(ctx, t, replayCamCfg, true)
 	test.That(t, err, test.ShouldBeNil)
 
-	t.Run("Stream", func(t *testing.T) {
-		_, err := replayCamera.Stream(ctx, nil)
-		test.That(t, err.Error(), test.ShouldEqual, "Stream is unimplemented")
-	})
-
 	err = replayCamera.Close(ctx)
 	test.That(t, err, test.ShouldBeNil)
 

components/camera/server.go

@@ -32,7 +32,11 @@ type serviceServer struct {
 func NewRPCServiceServer(coll resource.APIResourceCollection[Camera]) interface{} {
 	logger := logging.NewLogger("camserver")
 	imgTypes := make(map[string]ImageType)
-	return &serviceServer{coll: coll, logger: logger, imgTypes: imgTypes}
+	return &serviceServer{
+		coll:     coll,
+		logger:   logger,
+		imgTypes: imgTypes,
+	}
 }
 
 // GetImage returns an image from a camera of the underlying robot. If a specific MIME type

components/camera/videosourcewrappers.go

@@ -18,6 +18,7 @@ import (
 	"go.viam.com/rdk/rimage/transform"
 )
 
+// FromVideoSource is DEPRECATED!!! Please implement cameras according to the camera.Camera interface.
 // FromVideoSource creates a Camera resource from a VideoSource.
 // Note: this strips away Reconfiguration and DoCommand abilities.
 // If needed, implement the Camera another way. For example, a webcam
@@ -79,6 +80,7 @@ func (vs *videoSource) Unsubscribe(ctx context.Context, id rtppassthrough.Subscr
 	return errors.New("Unsubscribe unimplemented")
 }
 
+// NewPinholeModelWithBrownConradyDistortion is DEPRECATED!!! Please implement cameras according to the camera.Camera interface.
 // NewPinholeModelWithBrownConradyDistortion creates a transform.PinholeCameraModel from
 // a *transform.PinholeCameraIntrinsics and a *transform.BrownConrady.
 // If *transform.BrownConrady is `nil`, transform.PinholeCameraModel.Distortion
@@ -95,6 +97,7 @@ func NewPinholeModelWithBrownConradyDistortion(pinholeCameraIntrinsics *transfor
 	return cameraModel
 }
 
+// NewVideoSourceFromReader is DEPRECATED!!! Please implement cameras according to the camera.Camera interface.
 // NewVideoSourceFromReader creates a VideoSource either with or without a projector. The stream type
 // argument is for detecting whether or not the resulting camera supports return
 // of pointcloud data in the absence of an implemented NextPointCloud function.
@@ -140,6 +143,7 @@ func NewVideoSourceFromReader(
 	}, nil
 }
 
+// WrapVideoSourceWithProjector is DEPRECATED!!! Please implement cameras according to the camera.Camera interface.
 // WrapVideoSourceWithProjector creates a Camera either with or without a projector. The stream type
 // argument is for detecting whether or not the resulting camera supports return
 // of pointcloud data in the absence of an implemented NextPointCloud function.

robot/web/stream/server.go

@@ -22,7 +22,7 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/robot"
-	streamCamera "go.viam.com/rdk/robot/web/stream/camera"
+	camerautils "go.viam.com/rdk/robot/web/stream/camera"
 	"go.viam.com/rdk/robot/web/stream/state"
 	rutils "go.viam.com/rdk/utils"
 )
@@ -170,7 +170,7 @@ func (server *Server) AddStream(ctx context.Context, req *streampb.AddStreamRequ
 	}
 
 	// return error if resource is neither a camera nor audioinput
-	_, isCamErr := streamCamera.Camera(server.robot, streamStateToAdd.Stream)
+	_, isCamErr := camerautils.Camera(server.robot, streamStateToAdd.Stream)
 	_, isAudioErr := audioinput.FromRobot(server.robot, resource.SDPTrackNameToShortName(streamStateToAdd.Stream.Name()))
 	if isCamErr != nil && isAudioErr != nil {
 		return nil, errors.Errorf("stream is neither a camera nor audioinput. streamName: %v", streamStateToAdd.Stream)
@@ -307,7 +307,7 @@ func (server *Server) RemoveStream(ctx context.Context, req *streampb.RemoveStre
 
 	shortName := resource.SDPTrackNameToShortName(streamToRemove.Stream.Name())
 	_, isAudioResourceErr := audioinput.FromRobot(server.robot, shortName)
-	_, isCameraResourceErr := streamCamera.Camera(server.robot, streamToRemove.Stream)
+	_, isCameraResourceErr := camerautils.Camera(server.robot, streamToRemove.Stream)
 
 	if isAudioResourceErr != nil && isCameraResourceErr != nil {
 		return &streampb.RemoveStreamResponse{}, nil

robot/web/stream/state/state.go

@@ -19,7 +19,7 @@ import (
 	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/robot"
-	streamCamera "go.viam.com/rdk/robot/web/stream/camera"
+	camerautils "go.viam.com/rdk/robot/web/stream/camera"
 )
 
 // ErrClosed indicates that the StreamState is already closed.
@@ -332,7 +332,7 @@ func (state *StreamState) tick() {
 }
 
 func (state *StreamState) streamH264Passthrough() error {
-	cam, err := streamCamera.Camera(state.robot, state.Stream)
+	cam, err := camerautils.Camera(state.robot, state.Stream)
 	if err != nil {
 		return err
 	}
@@ -393,7 +393,7 @@ func (state *StreamState) streamH264Passthrough() error {
 }
 
 func (state *StreamState) unsubscribeH264Passthrough(ctx context.Context, id rtppassthrough.SubscriptionID) error {
-	cam, err := streamCamera.Camera(state.robot, state.Stream)
+	cam, err := camerautils.Camera(state.robot, state.Stream)
 	if err != nil {
 		return err
 	}

testutils/inject/camera.go

@@ -7,7 +7,6 @@ import (
 
 	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/components/camera/rtppassthrough"
-	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"
@@ -21,14 +20,10 @@ type Camera struct {
 	DoFunc               func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
 	ImageFunc            func(ctx context.Context, mimeType string, extra map[string]interface{}) ([]byte, camera.ImageMetadata, error)
 	ImagesFunc           func(ctx context.Context) ([]camera.NamedImage, resource.ResponseMetadata, error)
-	StreamFunc           func(
-		ctx context.Context,
-		errHandlers ...gostream.ErrorHandler,
-	) (gostream.VideoStream, error)
-	NextPointCloudFunc func(ctx context.Context) (pointcloud.PointCloud, error)
-	ProjectorFunc      func(ctx context.Context) (transform.Projector, error)
-	PropertiesFunc     func(ctx context.Context) (camera.Properties, error)
-	CloseFunc          func(ctx context.Context) error
+	NextPointCloudFunc   func(ctx context.Context) (pointcloud.PointCloud, error)
+	ProjectorFunc        func(ctx context.Context) (transform.Projector, error)
+	PropertiesFunc       func(ctx context.Context) (camera.Properties, error)
+	CloseFunc            func(ctx context.Context) error
 }
 
 // NewCamera returns a new injected camera.
@@ -52,20 +47,6 @@ func (c *Camera) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, err
 	return nil, errors.New("NextPointCloud unimplemented")
 }
 
-// Stream calls the injected Stream or the real version.
-func (c *Camera) Stream(
-	ctx context.Context,
-	errHandlers ...gostream.ErrorHandler,
-) (gostream.VideoStream, error) {
-	if c.StreamFunc != nil {
-		return c.StreamFunc(ctx, errHandlers...)
-	}
-	if c.Camera != nil {
-		return c.Camera.Stream(ctx, errHandlers...)
-	}
-	return nil, errors.Wrap(ctx.Err(), "no stream function available")
-}
-
 // Image calls the injected Image or the real version.
 func (c *Camera) Image(ctx context.Context, mimeType string, extra map[string]interface{}) ([]byte, camera.ImageMetadata, error) {
 	if c.ImageFunc != nil {