handle cameras on GetProperties

go.mod

@@ -105,7 +105,7 @@ require (
 	go.uber.org/goleak v1.3.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.28.0
-	go.viam.com/api v0.1.590
+	go.viam.com/api v0.1.591-0.20261008175309-0947df106487
 	go.viam.com/test v1.2.4
 	go.viam.com/utils v0.13.2
 	goji.io v2.0.2+incompatible

go.sum

@@ -1218,8 +1218,8 @@ go.uber.org/zap v1.13.0/go.mod h1:zwrFLgMcdUuIBviXEYEH1YKNaOBnKXsx2IPda5bBwHM=
 go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.28.0 h1:IZzaP1Fv73/T/pBMLk4VutPl36uNC+OSUh3JLG3FIjo=
 go.uber.org/zap v1.28.0/go.mod h1:rDLpOi171uODNm/mxFcuYWxDsqWSAVkFdX4XojSKg/Q=
-go.viam.com/api v0.1.590 h1:GqRxbKFX3PkDNfc1PtyDay+KhU/GGc1q/8MTOFn3eQ8=
-go.viam.com/api v0.1.590/go.mod h1:KCJHm/hGRAa3kQlJNXMq6MipEpU1QhAe7/SutP/PHuc=
+go.viam.com/api v0.1.591-0.20261008175309-0947df106487 h1:b7HGE3kV+VFphGZPsEwmpjV3kqhRc7lAK62Bgd6FZ3Y=
+go.viam.com/api v0.1.591-0.20261008175309-0947df106487/go.mod h1:KCJHm/hGRAa3kQlJNXMq6MipEpU1QhAe7/SutP/PHuc=
 go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug=
 go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI=
 go.viam.com/utils v0.13.2 h1:P2z+Q5rvfUGf341DCD/VtUCJJU37yAR+kgsz+lcUyTU=

services/vision/client.go

@@ -316,6 +316,7 @@ func (c *client) GetProperties(ctx context.Context, extra map[string]interface{}
 		ObjectPCDsSupported:     resp.ObjectPointCloudsSupported,
 		DefaultCamera:           resp.DefaultCamera,
 		Detections3DSupported:   resp.Detections_3DSupported,
+		Cameras:                 resp.Cameras,
 	}, nil
 }
 

services/vision/client_test.go

@@ -50,7 +50,12 @@ func TestClient(t *testing.T) {
 		return []objectdetection.Detection{det1}, nil
 	}
 	srv.GetPropertiesFunc = func(ctx context.Context, extra map[string]interface{}) (*vision.Properties, error) {
-		return &vision.Properties{ClassificationSupported: false, DetectionSupported: true, ObjectPCDsSupported: false}, nil
+		return &vision.Properties{
+			ClassificationSupported: false,
+			DetectionSupported:      true,
+			ObjectPCDsSupported:     false,
+			Cameras:                 []string{"cam1", "cam2"},
+		}, nil
 	}
 
 	test.That(t, err, test.ShouldBeNil)
@@ -140,6 +145,7 @@ func TestClient(t *testing.T) {
 		test.That(t, props.ClassificationSupported, test.ShouldEqual, false)
 		test.That(t, props.DetectionSupported, test.ShouldEqual, true)
 		test.That(t, props.ObjectPCDsSupported, test.ShouldEqual, false)
+		test.That(t, props.Cameras, test.ShouldResemble, []string{"cam1", "cam2"})
 
 		test.That(t, client.Close(context.Background()), test.ShouldBeNil)
 		test.That(t, conn.Close(), test.ShouldBeNil)

services/vision/server.go

@@ -296,6 +296,7 @@ func (server *serviceServer) GetProperties(ctx context.Context,
 		ObjectPointCloudsSupported: props.ObjectPCDsSupported,
 		DefaultCamera:              props.DefaultCamera,
 		Detections_3DSupported:     props.Detections3DSupported,
+		Cameras:                    props.Cameras,
 	}
 	return out, nil
 }

services/vision/server_test.go

@@ -118,7 +118,12 @@ func TestServerGetProperties(t *testing.T) {
 	logger := logging.NewTestLogger(t)
 	injectVS := &inject.VisionService{}
 	injectVS.GetPropertiesFunc = func(ctx context.Context, extra map[string]interface{}) (*vision.Properties, error) {
-		return &vision.Properties{ClassificationSupported: false, DetectionSupported: true, ObjectPCDsSupported: false}, nil
+		return &vision.Properties{
+			ClassificationSupported: false,
+			DetectionSupported:      true,
+			ObjectPCDsSupported:     false,
+			Cameras:                 []string{"cam1", "cam2"},
+		}, nil
 	}
 	m := map[resource.Name]vision.Service{
 		visName1: injectVS,
@@ -139,6 +144,7 @@ func TestServerGetProperties(t *testing.T) {
 	test.That(t, resp.ClassificationsSupported, test.ShouldEqual, false)
 	test.That(t, resp.DetectionsSupported, test.ShouldEqual, true)
 	test.That(t, resp.ObjectPointCloudsSupported, test.ShouldEqual, false)
+	test.That(t, resp.Cameras, test.ShouldResemble, []string{"cam1", "cam2"})
 }
 
 func TestServerCaptureAllFromCamera(t *testing.T) {

services/vision/vision.go

@@ -279,4 +279,7 @@ type Properties struct {
 	ObjectPCDsSupported     bool
 	DefaultCamera           *string
 	Detections3DSupported   bool
+	// Cameras lists the cameras the vision service works with. If empty, the
+	// vision service works with any camera resource.
+	Cameras []string
 }