remove should_close_channel

Author: lia-viam

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: 751cbe31638d43a9bfb6162cd2352e67
-    digest: shake256:87f55470d9d124e2d1dedfe0231221f4ed7efbc55bc5268917c678e2d9b9c41573a7f9a557f6d8539044524d9fc5ca8fbb7db05eb81379d168285d76b57eb8a4
+    commit: 61b203b9a9164be9a834f58c37be6f62
+    digest: shake256:e619113001d6e284ee8a92b1561e5d4ea89a47b28bf0410815cb2fa23914df8be9f1a6a98dcf069f5bc2d829a2cfb1ac614863be45cd4f8a5ad8606c5f200224

src/viam/sdk/robot/client.cpp

@@ -116,14 +116,12 @@ void RobotClient::connect_logging() {
 }
 
 RobotClient::~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";
-        }
+    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";
     }
 }
 
@@ -256,7 +254,6 @@ 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 {
@@ -307,7 +304,6 @@ 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;
 };
@@ -318,7 +314,6 @@ 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

@@ -32,10 +32,6 @@ 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
@@ -88,8 +84,6 @@ 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;
@@ -171,7 +165,6 @@ 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

@@ -55,9 +55,6 @@ 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) {