From e003d82d368a260abc33a406c741a04faacf5215 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 7 Jan 2025 11:22:20 -0500
Subject: [PATCH 1/5] refer to grpc status by pointer in grpc exception

---
 src/viam/sdk/common/client_helper.cpp         |  9 +++++--
 src/viam/sdk/common/client_helper.hpp         | 25 ++++++++-----------
 src/viam/sdk/common/exception.cpp             | 17 ++++++++-----
 src/viam/sdk/common/exception.hpp             | 17 +++++++++----
 .../sdk/components/private/board_client.cpp   |  4 +--
 .../sdk/services/private/mlmodel_client.cpp   |  2 +-
 6 files changed, 44 insertions(+), 30 deletions(-)

diff --git a/src/viam/sdk/common/client_helper.cpp b/src/viam/sdk/common/client_helper.cpp
index 1d98249b6..f59d56d9f 100644
--- a/src/viam/sdk/common/client_helper.cpp
+++ b/src/viam/sdk/common/client_helper.cpp
@@ -3,6 +3,7 @@
 #include <cstdlib>
 
 #include <grpcpp/client_context.h>
+#include <grpcpp/support/status.h>
 
 #include <boost/log/trivial.hpp>
 
@@ -13,12 +14,16 @@ namespace sdk {
 
 namespace client_helper_details {
 
-[[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status& status) noexcept {
+[[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status* status) noexcept {
     BOOST_LOG_TRIVIAL(fatal) << "ClientHelper error handler callback returned instead of throwing: "
-                             << status.error_message() << '(' << status.error_details() << ')';
+                             << status->error_message() << '(' << status->error_details() << ')';
     std::abort();
 }
 
+bool isStatusCancelled(int status) noexcept {
+    return status = ::grpc::StatusCode::CANCELLED;
+}
+
 }  // namespace client_helper_details
 
 ClientContext::ClientContext() : wrapped_context_(std::make_unique<GrpcClientContext>()) {
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index f4fb5406a..d572307b7 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -5,18 +5,15 @@
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 
-namespace grpc {
-
-class Status;
-
-}  // namespace grpc
-
 namespace viam {
 namespace sdk {
 
 namespace client_helper_details {
 
-[[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status&) noexcept;
+[[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status*) noexcept;
+
+// Helper function to test equality of status with grpc::StatusCode::CANCELLED.
+bool isStatusCancelled(int status) noexcept;
 
 }  // namespace client_helper_details
 
@@ -62,7 +59,7 @@ template <typename ClientType,
 class ClientHelper {
     static void default_rsc_(RequestType&) {}
     static void default_rhc_(const ResponseType&) {}
-    static void default_ehc_(const ::grpc::Status& status) {
+    static void default_ehc_(const ::grpc::Status* status) {
         throw GRPCException(status);
     }
 
@@ -111,8 +108,8 @@ class ClientHelper {
                 const_cast<const ResponseType&>(response_));
         }
 
-        std::forward<ErrorHandlerCallable>(ehc)(result);
-        client_helper_details::errorHandlerReturnedUnexpectedly(result);
+        std::forward<ErrorHandlerCallable>(ehc)(&result);
+        client_helper_details::errorHandlerReturnedUnexpectedly(&result);
     }
 
     // A version of invoke for gRPC calls returning `(stream ResponseType)`.
@@ -138,13 +135,13 @@ class ClientHelper {
 
         const auto result = reader->Finish();
 
-        if (result.ok() ||
-            (cancelled_by_handler && result.error_code() == ::grpc::StatusCode::CANCELLED)) {
+        if (result.ok() || (cancelled_by_handler &&
+                            client_helper_details::isStatusCancelled(result.error_code()))) {
             return;
         }
 
-        std::forward<ErrorHandlerCallable>(ehc)(result);
-        client_helper_details::errorHandlerReturnedUnexpectedly(result);
+        std::forward<ErrorHandlerCallable>(ehc)(&result);
+        client_helper_details::errorHandlerReturnedUnexpectedly(&result);
     }
 
    private:
diff --git a/src/viam/sdk/common/exception.cpp b/src/viam/sdk/common/exception.cpp
index f9832e122..3a76efde4 100644
--- a/src/viam/sdk/common/exception.cpp
+++ b/src/viam/sdk/common/exception.cpp
@@ -1,12 +1,14 @@
 #include <viam/sdk/common/exception.hpp>
 
+#include <grpcpp/support/status.h>
+
 namespace viam {
 namespace sdk {
 
 Exception::Exception(ErrorCondition condition, const std::string& what)
-    : std::runtime_error("viam::sdk::Exception: " + what), condition_(condition){};
+    : std::runtime_error("viam::sdk::Exception: " + what), condition_(condition) {};
 
-Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what){};
+Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what) {};
 
 Exception::~Exception() = default;
 
@@ -45,11 +47,14 @@ std::error_condition make_error_condition(ErrorCondition e) {
     return {static_cast<int>(e), errorCategory};
 }
 
-GRPCException::GRPCException(grpc::Status status)
-    : Exception(ErrorCondition::k_grpc, status.error_message()), status_(std::move(status)){};
+GRPCException::GRPCException(const grpc::Status* status)
+    : Exception(ErrorCondition::k_grpc, status->error_message()),
+      status_(std::make_unique<grpc::Status>(*status)) {}
+
+GRPCException::~GRPCException() = default;
 
-const grpc::Status& GRPCException::status() const noexcept {
-    return status_;
+const grpc::Status* GRPCException::status() const noexcept {
+    return status_.get();
 }
 
 }  // namespace sdk
diff --git a/src/viam/sdk/common/exception.hpp b/src/viam/sdk/common/exception.hpp
index c9ab11e3b..adfdc6ecd 100644
--- a/src/viam/sdk/common/exception.hpp
+++ b/src/viam/sdk/common/exception.hpp
@@ -2,11 +2,17 @@
 ///
 /// @brief Defines custom exceptions for the SDK.
 #pragma once
-#include <grpcpp/support/status.h>
+
+#include <memory>
 #include <stdexcept>
 #include <string>
+#include <system_error>
+
+namespace grpc {
+
+class Status;
 
-#include <viam/sdk/resource/resource_api.hpp>
+}  // namespace grpc
 
 namespace viam {
 namespace sdk {
@@ -49,12 +55,13 @@ class Exception : public std::runtime_error {
 /// @ingroup Exception
 class GRPCException : public Exception {
    public:
-    explicit GRPCException(grpc::Status status);
+    explicit GRPCException(const grpc::Status* status);
+    ~GRPCException();
 
-    const grpc::Status& status() const noexcept;
+    const grpc::Status* status() const noexcept;
 
    private:
-    grpc::Status status_;
+    std::unique_ptr<grpc::Status> status_;
 };
 
 }  // namespace sdk
diff --git a/src/viam/sdk/components/private/board_client.cpp b/src/viam/sdk/components/private/board_client.cpp
index 11af0428a..467be22fa 100644
--- a/src/viam/sdk/components/private/board_client.cpp
+++ b/src/viam/sdk/components/private/board_client.cpp
@@ -123,7 +123,7 @@ Board::analog_response BoardClient::read_analog(const std::string& analog_reader
 
     const grpc::Status status = stub_->ReadAnalogReader(ctx, request, &response);
     if (!status.ok()) {
-        throw GRPCException(status);
+        throw GRPCException(&status);
     }
     return Board::analog_response{
         response.value(), response.min_range(), response.max_range(), response.step_size()};
@@ -153,7 +153,7 @@ Board::digital_value BoardClient::read_digital_interrupt(const std::string& digi
 
     const grpc::Status status = stub_->GetDigitalInterruptValue(ctx, request, &response);
     if (!status.ok()) {
-        throw GRPCException(status);
+        throw GRPCException(&status);
     }
     return response.value();
 }
diff --git a/src/viam/sdk/services/private/mlmodel_client.cpp b/src/viam/sdk/services/private/mlmodel_client.cpp
index 2c98960dd..6792885df 100644
--- a/src/viam/sdk/services/private/mlmodel_client.cpp
+++ b/src/viam/sdk/services/private/mlmodel_client.cpp
@@ -71,7 +71,7 @@ std::shared_ptr<MLModelService::named_tensor_views> MLModelServiceClient::infer(
 
     const auto result = stub_->Infer(ctx, *req, resp);
     if (!result.ok()) {
-        throw GRPCException(result);
+        throw GRPCException(&result);
     }
 
     for (const auto& kv : resp->output_tensors().tensors()) {

From 546d78283c3d38f1b741d83f2ecdc59bb7310a0c Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 7 Jan 2025 12:30:01 -0500
Subject: [PATCH 2/5] make service_helper private

---
 src/viam/sdk/CMakeLists.txt                                | 3 +--
 src/viam/sdk/common/{ => private}/service_helper.cpp       | 2 +-
 src/viam/sdk/common/{ => private}/service_helper.hpp       | 0
 src/viam/sdk/components/private/arm_server.cpp             | 2 +-
 src/viam/sdk/components/private/base_server.cpp            | 2 +-
 src/viam/sdk/components/private/board_server.cpp           | 2 +-
 src/viam/sdk/components/private/camera_server.cpp          | 2 +-
 src/viam/sdk/components/private/encoder_server.cpp         | 2 +-
 src/viam/sdk/components/private/gantry_server.cpp          | 2 +-
 src/viam/sdk/components/private/generic_server.cpp         | 2 +-
 src/viam/sdk/components/private/gripper_server.cpp         | 2 +-
 src/viam/sdk/components/private/motor_server.cpp           | 2 +-
 src/viam/sdk/components/private/movement_sensor_server.cpp | 2 +-
 src/viam/sdk/components/private/pose_tracker_server.cpp    | 2 +-
 src/viam/sdk/components/private/power_sensor_server.cpp    | 2 +-
 src/viam/sdk/components/private/sensor_server.cpp          | 2 +-
 src/viam/sdk/components/private/servo_server.cpp           | 2 +-
 src/viam/sdk/services/private/generic_server.cpp           | 2 +-
 src/viam/sdk/services/private/mlmodel_server.cpp           | 2 +-
 src/viam/sdk/services/private/motion_server.cpp            | 2 +-
 src/viam/sdk/services/private/navigation_server.cpp        | 2 +-
 21 files changed, 20 insertions(+), 21 deletions(-)
 rename src/viam/sdk/common/{ => private}/service_helper.cpp (96%)
 rename src/viam/sdk/common/{ => private}/service_helper.hpp (100%)

diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index ad2bfe793..4c9acc36b 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -53,10 +53,10 @@ target_sources(viamsdk
     common/linear_algebra.cpp
     common/pose.cpp
     common/proto_value.cpp
-    common/service_helper.cpp
     common/utils.cpp
     common/version_metadata.cpp
     common/world_state.cpp
+    common/private/service_helper.cpp
     components/arm.cpp
     components/base.cpp
     components/board.cpp
@@ -147,7 +147,6 @@ target_sources(viamsdk
       ../../viam/sdk/common/pose.hpp
       ../../viam/sdk/common/proto_convert.hpp
       ../../viam/sdk/common/proto_value.hpp
-      ../../viam/sdk/common/service_helper.hpp
       ../../viam/sdk/common/utils.hpp
       ../../viam/sdk/common/version_metadata.hpp
       ../../viam/sdk/common/world_state.hpp
diff --git a/src/viam/sdk/common/service_helper.cpp b/src/viam/sdk/common/private/service_helper.cpp
similarity index 96%
rename from src/viam/sdk/common/service_helper.cpp
rename to src/viam/sdk/common/private/service_helper.cpp
index f8f6a29f0..eb0607050 100644
--- a/src/viam/sdk/common/service_helper.cpp
+++ b/src/viam/sdk/common/private/service_helper.cpp
@@ -1,4 +1,4 @@
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 
 #include <sstream>
 
diff --git a/src/viam/sdk/common/service_helper.hpp b/src/viam/sdk/common/private/service_helper.hpp
similarity index 100%
rename from src/viam/sdk/common/service_helper.hpp
rename to src/viam/sdk/common/private/service_helper.hpp
diff --git a/src/viam/sdk/components/private/arm_server.cpp b/src/viam/sdk/components/private/arm_server.cpp
index 505c2122c..7e1be85c9 100644
--- a/src/viam/sdk/components/private/arm_server.cpp
+++ b/src/viam/sdk/components/private/arm_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/arm_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 
 namespace viam {
 namespace sdk {
diff --git a/src/viam/sdk/components/private/base_server.cpp b/src/viam/sdk/components/private/base_server.cpp
index 722a1f9ae..2a2cdd130 100644
--- a/src/viam/sdk/components/private/base_server.cpp
+++ b/src/viam/sdk/components/private/base_server.cpp
@@ -3,7 +3,7 @@
 #include <viam/api/component/base/v1/base.pb.h>
 
 #include <viam/sdk/common/linear_algebra.hpp>
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/base.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/board_server.cpp b/src/viam/sdk/components/private/board_server.cpp
index 9b7338d65..c352b7589 100644
--- a/src/viam/sdk/components/private/board_server.cpp
+++ b/src/viam/sdk/components/private/board_server.cpp
@@ -1,7 +1,7 @@
 #include <viam/sdk/components/private/board_server.hpp>
 
 #include <viam/sdk/common/exception.hpp>
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp
index ab4b65179..c5d32b691 100644
--- a/src/viam/sdk/components/private/camera_server.cpp
+++ b/src/viam/sdk/components/private/camera_server.cpp
@@ -3,7 +3,7 @@
 #include <google/protobuf/util/time_util.h>
 #include <grpcpp/support/status.h>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/camera.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/encoder_server.cpp b/src/viam/sdk/components/private/encoder_server.cpp
index a85cbf157..14273cd2f 100644
--- a/src/viam/sdk/components/private/encoder_server.cpp
+++ b/src/viam/sdk/components/private/encoder_server.cpp
@@ -1,7 +1,7 @@
 #include <viam/sdk/components/private/encoder_server.hpp>
 
 #include <viam/sdk/common/exception.hpp>
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/encoder.hpp>
 #include <viam/sdk/components/private/encoder.hpp>
diff --git a/src/viam/sdk/components/private/gantry_server.cpp b/src/viam/sdk/components/private/gantry_server.cpp
index 124f6bcef..e0e59dde6 100644
--- a/src/viam/sdk/components/private/gantry_server.cpp
+++ b/src/viam/sdk/components/private/gantry_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/gantry_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 
 namespace viam {
 namespace sdk {
diff --git a/src/viam/sdk/components/private/generic_server.cpp b/src/viam/sdk/components/private/generic_server.cpp
index 75860c819..b226082ed 100644
--- a/src/viam/sdk/components/private/generic_server.cpp
+++ b/src/viam/sdk/components/private/generic_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/generic_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/components/generic.hpp>
 #include <viam/sdk/rpc/server.hpp>
 
diff --git a/src/viam/sdk/components/private/gripper_server.cpp b/src/viam/sdk/components/private/gripper_server.cpp
index 1675829af..3963c7fb4 100644
--- a/src/viam/sdk/components/private/gripper_server.cpp
+++ b/src/viam/sdk/components/private/gripper_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/gripper_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 
 namespace viam {
 namespace sdk {
diff --git a/src/viam/sdk/components/private/motor_server.cpp b/src/viam/sdk/components/private/motor_server.cpp
index 66f366fe6..7b7fd3a55 100644
--- a/src/viam/sdk/components/private/motor_server.cpp
+++ b/src/viam/sdk/components/private/motor_server.cpp
@@ -1,7 +1,7 @@
 #include <viam/sdk/components/private/motor_server.hpp>
 
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/proto_value.hpp>
-#include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/motor.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/movement_sensor_server.cpp b/src/viam/sdk/components/private/movement_sensor_server.cpp
index 7f48a61e5..a0317a4f6 100644
--- a/src/viam/sdk/components/private/movement_sensor_server.cpp
+++ b/src/viam/sdk/components/private/movement_sensor_server.cpp
@@ -1,7 +1,7 @@
 #include <viam/sdk/components/private/movement_sensor_server.hpp>
 
 #include <viam/sdk/common/linear_algebra.hpp>
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/movement_sensor.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/pose_tracker_server.cpp b/src/viam/sdk/components/private/pose_tracker_server.cpp
index 028acb775..4a7e5afdf 100644
--- a/src/viam/sdk/components/private/pose_tracker_server.cpp
+++ b/src/viam/sdk/components/private/pose_tracker_server.cpp
@@ -2,7 +2,7 @@
 
 #include <viam/api/component/posetracker/v1/pose_tracker.pb.h>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/pose_tracker.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/power_sensor_server.cpp b/src/viam/sdk/components/private/power_sensor_server.cpp
index 4d81f013e..e9f5ccc00 100644
--- a/src/viam/sdk/components/private/power_sensor_server.cpp
+++ b/src/viam/sdk/components/private/power_sensor_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/power_sensor_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/power_sensor.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/sensor_server.cpp b/src/viam/sdk/components/private/sensor_server.cpp
index 47301b040..2a8cd3755 100644
--- a/src/viam/sdk/components/private/sensor_server.cpp
+++ b/src/viam/sdk/components/private/sensor_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/sensor_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/sensor.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/components/private/servo_server.cpp b/src/viam/sdk/components/private/servo_server.cpp
index 831b57781..83f31ad60 100644
--- a/src/viam/sdk/components/private/servo_server.cpp
+++ b/src/viam/sdk/components/private/servo_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/components/private/servo_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/servo.hpp>
 #include <viam/sdk/config/resource.hpp>
diff --git a/src/viam/sdk/services/private/generic_server.cpp b/src/viam/sdk/services/private/generic_server.cpp
index efecfcbfd..846560964 100644
--- a/src/viam/sdk/services/private/generic_server.cpp
+++ b/src/viam/sdk/services/private/generic_server.cpp
@@ -1,6 +1,6 @@
 #include <viam/sdk/services/private/generic_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/rpc/server.hpp>
 #include <viam/sdk/services/generic.hpp>
 
diff --git a/src/viam/sdk/services/private/mlmodel_server.cpp b/src/viam/sdk/services/private/mlmodel_server.cpp
index 2e3d3c2c2..a19b1864a 100644
--- a/src/viam/sdk/services/private/mlmodel_server.cpp
+++ b/src/viam/sdk/services/private/mlmodel_server.cpp
@@ -14,7 +14,7 @@
 
 #include <viam/sdk/services/private/mlmodel_server.hpp>
 
-#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/rpc/server.hpp>
 #include <viam/sdk/services/mlmodel.hpp>
 #include <viam/sdk/services/private/mlmodel.hpp>
diff --git a/src/viam/sdk/services/private/motion_server.cpp b/src/viam/sdk/services/private/motion_server.cpp
index eee9360cf..ae09190ad 100644
--- a/src/viam/sdk/services/private/motion_server.cpp
+++ b/src/viam/sdk/services/private/motion_server.cpp
@@ -5,8 +5,8 @@
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/common/private/repeated_ptr_convert.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/proto_value.hpp>
-#include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/motion.hpp>
 #include <viam/sdk/services/private/motion_server.hpp>
diff --git a/src/viam/sdk/services/private/navigation_server.cpp b/src/viam/sdk/services/private/navigation_server.cpp
index d3764a3a0..75664b8c4 100644
--- a/src/viam/sdk/services/private/navigation_server.cpp
+++ b/src/viam/sdk/services/private/navigation_server.cpp
@@ -4,8 +4,8 @@
 
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/common/private/repeated_ptr_convert.hpp>
+#include <viam/sdk/common/private/service_helper.hpp>
 #include <viam/sdk/common/proto_value.hpp>
-#include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/motion.hpp>
 #include <viam/sdk/services/private/navigation_server.hpp>

From 1b67b11a46b93e5740ab11c0d5178f8abfc999cf Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 7 Jan 2025 12:47:35 -0500
Subject: [PATCH 3/5] use shared_ptr and make dtors override = default

---
 src/viam/sdk/common/exception.cpp | 6 +-----
 src/viam/sdk/common/exception.hpp | 7 ++++---
 2 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/src/viam/sdk/common/exception.cpp b/src/viam/sdk/common/exception.cpp
index 3a76efde4..eaf288041 100644
--- a/src/viam/sdk/common/exception.cpp
+++ b/src/viam/sdk/common/exception.cpp
@@ -10,8 +10,6 @@ Exception::Exception(ErrorCondition condition, const std::string& what)
 
 Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what) {};
 
-Exception::~Exception() = default;
-
 const std::error_condition& Exception::condition() const noexcept {
     return condition_;
 };
@@ -49,9 +47,7 @@ std::error_condition make_error_condition(ErrorCondition e) {
 
 GRPCException::GRPCException(const grpc::Status* status)
     : Exception(ErrorCondition::k_grpc, status->error_message()),
-      status_(std::make_unique<grpc::Status>(*status)) {}
-
-GRPCException::~GRPCException() = default;
+      status_(std::make_shared<grpc::Status>(*status)) {}
 
 const grpc::Status* GRPCException::status() const noexcept {
     return status_.get();
diff --git a/src/viam/sdk/common/exception.hpp b/src/viam/sdk/common/exception.hpp
index adfdc6ecd..c43c8fda7 100644
--- a/src/viam/sdk/common/exception.hpp
+++ b/src/viam/sdk/common/exception.hpp
@@ -42,7 +42,8 @@ class Exception : public std::runtime_error {
    public:
     explicit Exception(ErrorCondition condition, const std::string& what);
     explicit Exception(const std::string& what);
-    virtual ~Exception();
+
+    ~Exception() override = default;
 
     const std::error_condition& condition() const noexcept;
 
@@ -56,12 +57,12 @@ class Exception : public std::runtime_error {
 class GRPCException : public Exception {
    public:
     explicit GRPCException(const grpc::Status* status);
-    ~GRPCException();
+    ~GRPCException() override = default;
 
     const grpc::Status* status() const noexcept;
 
    private:
-    std::unique_ptr<grpc::Status> status_;
+    std::shared_ptr<grpc::Status> status_;
 };
 
 }  // namespace sdk

From 5723aa5061ccfadd5e29ea23925a88b47a2c8666 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 7 Jan 2025 12:51:17 -0500
Subject: [PATCH 4/5] remove semicolons for linter

---
 src/viam/sdk/common/exception.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/viam/sdk/common/exception.cpp b/src/viam/sdk/common/exception.cpp
index eaf288041..0ff9899e7 100644
--- a/src/viam/sdk/common/exception.cpp
+++ b/src/viam/sdk/common/exception.cpp
@@ -6,9 +6,9 @@ namespace viam {
 namespace sdk {
 
 Exception::Exception(ErrorCondition condition, const std::string& what)
-    : std::runtime_error("viam::sdk::Exception: " + what), condition_(condition) {};
+    : std::runtime_error("viam::sdk::Exception: " + what), condition_(condition) {}
 
-Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what) {};
+Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what) {}
 
 const std::error_condition& Exception::condition() const noexcept {
     return condition_;

From 8671c5baad90a70b52b50b73c05fdde45f794ca5 Mon Sep 17 00:00:00 2001
From: Lia Stratopoulos <167905060+lia-viam@users.noreply.github.com>
Date: Tue, 7 Jan 2025 13:27:10 -0500
Subject: [PATCH 5/5] fix equality typo

---
 src/viam/sdk/common/client_helper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/viam/sdk/common/client_helper.cpp b/src/viam/sdk/common/client_helper.cpp
index f59d56d9f..b05bb37fe 100644
--- a/src/viam/sdk/common/client_helper.cpp
+++ b/src/viam/sdk/common/client_helper.cpp
@@ -21,7 +21,7 @@ namespace client_helper_details {
 }
 
 bool isStatusCancelled(int status) noexcept {
-    return status = ::grpc::StatusCode::CANCELLED;
+    return status == ::grpc::StatusCode::CANCELLED;
 }
 
 }  // namespace client_helper_details