Added an interceptor

components/camera/client.go

@@ -1,7 +1,6 @@
 package camera
 
 import (
-	"bytes"
 	"context"
 	"fmt"
 	"image"
@@ -132,6 +131,8 @@ func (c *client) Stream(
 }
 
 func (c *client) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error) {
+	c.logger.Info("here in client NextPointCloud")
+
 	ctx, span := trace.StartSpan(ctx, "camera::client::NextPointCloud")
 	defer span.End()
 
@@ -141,6 +142,8 @@ func (c *client) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, err
 		MimeType: utils.MimeTypePCD,
 	})
 	getPcdSpan.End()
+
+	return nil, nil
 	if err != nil {
 		return nil, err
 	}
@@ -153,7 +156,8 @@ func (c *client) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, err
 		_, span := trace.StartSpan(ctx, "camera::client::NextPointCloud::ReadPCD")
 		defer span.End()
 
-		return pointcloud.ReadPCD(bytes.NewReader(resp.PointCloud))
+		return nil, nil
+		//return pointcloud.ReadPCD(bytes.NewReader(resp.PointCloud))
 	}()
 }
 

components/camera/server.go

@@ -129,8 +129,14 @@ func (s *serviceServer) GetPointCloud(
 	if err != nil {
 		return nil, err
 	}
+	// Return nil point cloud
+	s.logger.Info("In serviceServer GetPointCloud")
 	if pc == nil {
-		panic("point cloud was nil")
+		s.logger.Info("point cloud was nil")
+		return &pb.GetPointCloudResponse{
+			MimeType:   utils.MimeTypePCD,
+			PointCloud: []byte{},
+		}, nil
 	}
 
 	var buf bytes.Buffer

robot/client/client.go

@@ -3,6 +3,7 @@ package client
 
 import (
 	"context"
+	"fmt"
 	"io"
 	"strings"
 	"sync"
@@ -24,9 +25,11 @@ import (
 	"go.viam.com/utils/rpc"
 	googlegrpc "google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
+	"google.golang.org/grpc/metadata"
 	reflectpb "google.golang.org/grpc/reflection/grpc_reflection_v1alpha"
 	"google.golang.org/grpc/status"
 
+	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/grpc"
 	"go.viam.com/rdk/operation"
 	"go.viam.com/rdk/pointcloud"
@@ -248,6 +251,25 @@ func (rc *RobotClient) handleStreamDisconnect(
 	return &handleDisconnectClientStream{cs, rc}, err
 }
 
+func myInterceptor(ctx context.Context, method string, req, reply interface{}, cc *googlegrpc.ClientConn, invoker googlegrpc.UnaryInvoker, opts ...googlegrpc.CallOption) error {
+	var header metadata.MD
+	opts = append(opts, googlegrpc.Header(&header))
+	invoker(
+		ctx,
+		method,
+		req,
+		reply,
+		cc,
+		opts...,
+	)
+
+	if len(header.Get(camera.TimeRequestedMetadataKey)) > 0 {
+		panic(fmt.Sprint("!! I PANICKED !!", header.Get(camera.TimeRequestedMetadataKey)[0]))
+		panic(header.Get(camera.TimeRequestedMetadataKey))
+	}
+	return nil
+}
+
 // New constructs a new RobotClient that is served at the given address. The given
 // context can be used to cancel the operation.
 func New(ctx context.Context, address string, logger golog.Logger, opts ...RobotClientOption) (*RobotClient, error) {
@@ -289,6 +311,8 @@ func New(ctx context.Context, address string, logger golog.Logger, opts ...Robot
 		// operations
 		rpc.WithUnaryClientInterceptor(operation.UnaryClientInterceptor),
 		rpc.WithStreamClientInterceptor(operation.StreamClientInterceptor),
+		// camera
+		rpc.WithUnaryClientInterceptor(myInterceptor),
 	)
 
 	if err := rc.connect(ctx); err != nil {