[RSDK-9702] - Do not return odd resolutions from GetStreamOptions Response

robot/web/stream/server.go

@@ -422,6 +422,13 @@ func validateSetStreamOptionsRequest(req *streampb.SetStreamOptionsRequest) (int
 				req.Name, req.Resolution.Width, req.Resolution.Height,
 			)
 	}
+	if req.Resolution.Width%2 != 0 || req.Resolution.Height%2 != 0 {
+		return optionsCommandUnknown,
+			fmt.Errorf(
+				"invalid resolution to resize stream %q: width (%d) and height (%d) must be even",
+				req.Name, req.Resolution.Width, req.Resolution.Height,
+			)
+	}
 	return optionsCommandResize, nil
 }
 
@@ -731,11 +738,18 @@ func GenerateResolutions(width, height int32, logger logging.Logger) []Resolutio
 	// original aspect ratio exactly if source dimensions are odd.
 	for i := 0; i < 4; i++ {
 		// Break if the next scaled resolution would be too small.
-		if width <= 1 || height <= 1 {
+		if width <= 2 || height <= 2 {
 			break
 		}
 		width /= 2
 		height /= 2
+		// Ensure width and height are even
+		if width%2 != 0 {
+			width--
+		}
+		if height%2 != 0 {
+			height--
+		}
 		resolutions = append(resolutions, Resolution{Width: width, Height: height})
 		logger.Debugf("scaled resolution %d: %dx%d", i, width, height)
 	}

robot/web/stream/stream_test.go

@@ -286,6 +286,27 @@ func TestGetStreamOptions(t *testing.T) {
 				Model:  true,
 			},
 		},
+		// Odd resolutions gets rounded to nearest even resolution
+		// 100x100 downscaled to 25*25 turns into 24*24
+		{
+			Name:  "fake-cam-4-0",
+			API:   resource.NewAPI("rdk", "component", "camera"),
+			Model: resource.DefaultModelFamily.WithModel("fake"),
+			ConvertedAttributes: &fake.Config{
+				Width:  100,
+				Height: 100,
+			},
+		},
+		{
+			Name:  "fake-cam-4-1",
+			API:   resource.NewAPI("rdk", "component", "camera"),
+			Model: resource.DefaultModelFamily.WithModel("fake"),
+			ConvertedAttributes: &fake.Config{
+				Width:  100,
+				Height: 100,
+				Model:  true,
+			},
+		},
 	}}
 
 	ctx, robot, addr, webSvc := setupRealRobot(t, origCfg, logger)
@@ -298,7 +319,7 @@ func TestGetStreamOptions(t *testing.T) {
 	livestreamClient := streampb.NewStreamServiceClient(conn)
 	listResp, err := livestreamClient.ListStreams(ctx, &streampb.ListStreamsRequest{})
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, len(listResp.Names), test.ShouldEqual, 8)
+	test.That(t, len(listResp.Names), test.ShouldEqual, 10)
 
 	streamOptionsResp, err := livestreamClient.GetStreamOptions(ctx, &streampb.GetStreamOptionsRequest{})
 	test.That(t, err, test.ShouldNotBeNil)
@@ -349,6 +370,8 @@ func TestGetStreamOptions(t *testing.T) {
 		"fake-cam-2-1": webstream.GenerateResolutions(1920, 1080, logger),
 		"fake-cam-3-0": webstream.GenerateResolutions(2, 2, logger),
 		"fake-cam-3-1": webstream.GenerateResolutions(2, 2, logger),
+		"fake-cam-4-0": webstream.GenerateResolutions(100, 100, logger),
+		"fake-cam-4-1": webstream.GenerateResolutions(100, 100, logger),
 	}
 
 	// Test each camera
@@ -431,6 +454,17 @@ func TestSetStreamOptions(t *testing.T) {
 		test.That(t, err.Error(), test.ShouldContainSubstring, "invalid resolution")
 	})
 
+	// Test setting stream options with an odd resolution
+	t.Run("SetStreamOptions with odd resolution", func(t *testing.T) {
+		setStreamOptionsResp, err := livestreamClient.SetStreamOptions(ctx, &streampb.SetStreamOptionsRequest{
+			Name:       "fake-cam-0-0",
+			Resolution: &streampb.Resolution{Width: 25, Height: 25},
+		})
+		test.That(t, err, test.ShouldNotBeNil)
+		test.That(t, setStreamOptionsResp, test.ShouldBeNil)
+		test.That(t, err.Error(), test.ShouldContainSubstring, "invalid resolution")
+	})
+
 	t.Run("AddStream creates video track", func(t *testing.T) {
 		res, err := livestreamClient.AddStream(ctx, &streampb.AddStreamRequest{
 			Name: "fake-cam-0-0",