undo commit

Author: lia-viam

src/viam/sdk/robot/client.cpp

@@ -116,12 +116,14 @@ void RobotClient::connect_logging() {
 }
 
 RobotClient::~RobotClient() {
-    try {
-        this->close();
-    } catch (const std::exception& e) {
-        VIAM_SDK_LOG(error) << "Received err while closing RobotClient: " << e.what();
-    } catch (...) {
-        VIAM_SDK_LOG(error) << "Received unknown err while closing RobotClient";
+    if (should_close_channel_) {
+        try {
+            this->close();
+        } catch (const std::exception& e) {
+            VIAM_SDK_LOG(error) << "Received err while closing RobotClient: " << e.what();
+        } catch (...) {
+            VIAM_SDK_LOG(error) << "Received unknown err while closing RobotClient";
+        }
     }
 }
 
@@ -254,6 +256,7 @@ void RobotClient::refresh_every() {
 
 RobotClient::RobotClient(ViamChannel channel)
     : viam_channel_(std::move(channel)),
+      should_close_channel_(false),
       impl_(std::make_unique<impl>(RobotService::NewStub(viam_channel_.channel()))) {}
 
 std::vector<Name> RobotClient::resource_names() const {
@@ -304,6 +307,7 @@ std::shared_ptr<RobotClient> RobotClient::at_address(const std::string& address,
     const char* uri = address.c_str();
     auto robot =
         RobotClient::with_channel(ViamChannel::dial_initial(uri, options.dial_options()), options);
+    robot->should_close_channel_ = true;
 
     return robot;
 };
@@ -314,6 +318,7 @@ std::shared_ptr<RobotClient> RobotClient::at_local_socket(const std::string& add
     auto robot = RobotClient::with_channel(
         ViamChannel(sdk::impl::create_viam_channel(addr, grpc::InsecureChannelCredentials())),
         options);
+    robot->should_close_channel_ = true;
 
     return robot;
 };

src/viam/sdk/robot/client.hpp

@@ -32,6 +32,10 @@ struct LogBackend;
 ///   - `RobotClient::at_address(...)`
 ///   - `RobotClient::with_channel(...)`
 /// @ingroup Robot
+///
+/// You must `close()` a robot when finished with it in order to release its resources.
+/// Robots creates via `at_address` will automatically close, but robots created via
+/// `with_channel` require a user call to `close()`.
 class RobotClient {
    public:
     /// @enum status
@@ -84,6 +88,8 @@ class RobotClient {
     /// @brief Creates a robot client connected to the provided channel.
     /// @param channel The channel to connect with.
     /// @param options Options for connecting and refreshing.
+    /// Connects directly to a pre-existing channel. A robot created this way must be
+    /// `close()`d manually.
     static std::shared_ptr<RobotClient> with_channel(ViamChannel channel, const Options& options);
 
     std::vector<Name> resource_names() const;
@@ -165,6 +171,7 @@ class RobotClient {
     unsigned int refresh_interval_;
 
     ViamChannel viam_channel_;
+    bool should_close_channel_;
 
     struct impl;
     std::unique_ptr<impl> impl_;

src/viam/sdk/tests/test_robot.cpp

@@ -55,6 +55,9 @@ void robot_client_to_mocks_pipeline(F&& test_case) {
     // Run the passed-in test case on the created stack and give access to the
     // created RobotClient and MockRobotService.
     std::forward<F>(test_case)(client, service);
+
+    // Shutdown Server afterward.
+    server->shutdown();
 }
 
 BOOST_AUTO_TEST_CASE(test_registering_resources) {