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Improve "That would break autonomy" logic for realsense #37

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Merged
Gold872 merged 3 commits into from
Aug 13, 2025
Merged

Improve "That would break autonomy" logic for realsense #37

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58ecd61
Improve realsense autonomy interference logic
Gold872 Jun 1, 2025
e89bb2c
Merge branch 'main' into realsense-interference-fix
Gold872 Aug 13, 2025
b82be35
Merge branch 'main' into realsense-interference-fix
Gold872 Aug 13, 2025
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18 changes: 13 additions & 5 deletions lib/src/isolates/realsense.dart
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,18 @@ import "package:video/utils.dart";
import "package:video/video.dart";

extension on CameraDetails {
bool get interferesWithAutonomy => hasResolutionHeight()
|| hasResolutionWidth()
|| hasFps()
|| hasStatus();
bool interferesWithAutonomy(CameraDetails current) {
if (hasResolutionWidth() && resolutionWidth != current.resolutionWidth) {
return true;
}
if (hasResolutionHeight() && resolutionHeight != current.resolutionHeight) {
return true;
}
if (hasFps() && fps != current.fps) {
return true;
}
return false;
}
}

/// An isolate to read RGB, depth, and colorized frames from the RealSense.
Expand All @@ -33,7 +41,7 @@ class RealSenseIsolate extends CameraIsolate {
void onData(VideoCommand data) {
if (data.details.status == CameraStatus.CAMERA_DISABLED) {
stop();
} else if (data.details.interferesWithAutonomy) {
} else if (data.details.interferesWithAutonomy(details)) {
sendLog(LogLevel.error, "That would break autonomy");
} else {
super.onData(data);
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