Merge branch 'main' into robot-client-update

Author: lia-viam

src/viam/sdk/module/service.cpp

@@ -54,7 +54,7 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
     ModuleService& parent;
 
     // TODO(RSDK-6528) - to the extent possible, switch to using `server_helper`
-    ::grpc::Status AddResource(::grpc::ServerContext*,
+    ::grpc::Status AddResource(::grpc::ServerContext* ctx,
                                const ::viam::module::v1::AddResourceRequest* request,
                                ::viam::module::v1::AddResourceResponse*) override {
         const viam::app::v1::ComponentConfig& proto = request->config();
@@ -74,7 +74,7 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
             }
         };
         try {
-            parent.server_->add_resource(res);
+            parent.server_->add_resource(res, ctx->deadline());
         } catch (const std::exception& exc) {
             return grpc::Status(::grpc::INTERNAL, exc.what());
         }

src/viam/sdk/rpc/server.cpp

@@ -44,7 +44,21 @@ void Server::register_service(grpc::Service* service) {
     builder_->RegisterService(service);
 }
 
+namespace {
+bool deadline_exceeded(const std::chrono::system_clock::time_point& deadline) {
+    return deadline < std::chrono::system_clock::now();  // deadline is before now
+}
+}  // namespace
+
 void Server::add_resource(std::shared_ptr<Resource> resource) {
+    add_resource(std::move(resource), boost::none);
+}
+
+void Server::add_resource(std::shared_ptr<Resource> resource,
+                          boost::optional<std::chrono::system_clock::time_point> deadline) {
+    if (deadline && deadline_exceeded(*deadline)) {
+        throw Exception(ErrorCondition::k_general, "Deadline expired");
+    }
     auto api = resource->api();
     if (managed_servers_.find(api) == managed_servers_.end()) {
         std::ostringstream buffer;

src/viam/sdk/rpc/server.hpp

@@ -50,6 +50,14 @@ class Server {
     /// @throws `Exception` if a matching `ResourceServer` doesn't exist in the server.
     void add_resource(std::shared_ptr<Resource> resource);
 
+    /// @brief Adds a specific managed resource to the associated resource server
+    /// @param resource The resource to add
+    /// @param deadline Deadline after which to not add the resource
+    /// @throws `Exception` if a matching `ResourceServer` doesn't exist in the server.
+    /// @throws `Exception` if the deadline is not nil and has passed
+    void add_resource(std::shared_ptr<Resource> resource,
+                      boost::optional<std::chrono::system_clock::time_point> deadline);
+
     /// @brief Adds a listening port to the server.
     /// @param address The address to listen at.
     /// @param creds The server credentials; defaults to a insecure server credentials.