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[RSDK-10284]: MLModelService: don't check for name if there is only 1 expected tensor, return error if expected tensors not present #394

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Merged
merged 10 commits into from
Mar 27, 2025
Merged

[RSDK-10284]: MLModelService: don't check for name if there is only 1 expected tensor, return error if expected tensors not present #394

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c6352fe
dont do metadata check
bhaney Mar 26, 2025
3c586c1
Merge branch 'main' into make-mlmodel-server-less-restrictive
bhaney Mar 26, 2025
ad72349
makes single tensor exception, and adds error
bhaney Mar 27, 2025
117a1f1
linter
bhaney Mar 27, 2025
dd0e8c2
add type check in 1 input case too
bhaney Mar 27, 2025
c03fc15
bug fix
bhaney Mar 27, 2025
23e0930
undo the bad linting
bhaney Mar 27, 2025
439f8b2
header and comment
bhaney Mar 27, 2025
4943664
linting
bhaney Mar 27, 2025
f2cae06
small tweak
bhaney Mar 27, 2025
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3 changes: 1 addition & 2 deletions src/viam/sdk/services/private/discovery_client.cpp
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@@ -1,5 +1,3 @@
#include <viam/sdk/services/private/discovery_client.hpp>

#include <viam/api/service/discovery/v1/discovery.grpc.pb.h>
#include <viam/api/service/discovery/v1/discovery.pb.h>

Expand All @@ -8,6 +6,7 @@
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/services/discovery.hpp>
#include <viam/sdk/services/private/discovery_client.hpp>

namespace viam {
namespace sdk {
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3 changes: 1 addition & 2 deletions src/viam/sdk/services/private/discovery_server.cpp
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@@ -1,9 +1,8 @@
#include <viam/sdk/services/private/discovery_client.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/utils.hpp>
#include <viam/sdk/services/private/discovery_client.hpp>
#include <viam/sdk/services/private/discovery_server.hpp>

namespace viam {
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6 changes: 2 additions & 4 deletions src/viam/sdk/services/private/generic_client.cpp
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@@ -1,15 +1,13 @@
#include <viam/sdk/services/private/generic_client.hpp>

#include <utility>

#include <viam/api/common/v1/common.pb.h>
#include <viam/api/service/generic/v1/generic.grpc.pb.h>

#include <utility>
#include <viam/sdk/common/client_helper.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/config/resource.hpp>
#include <viam/sdk/robot/client.hpp>
#include <viam/sdk/services/private/generic_client.hpp>

namespace viam {
namespace sdk {
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3 changes: 1 addition & 2 deletions src/viam/sdk/services/private/generic_server.cpp
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@@ -1,8 +1,7 @@
#include <viam/sdk/services/private/generic_server.hpp>

#include <viam/sdk/common/private/service_helper.hpp>
#include <viam/sdk/rpc/server.hpp>
#include <viam/sdk/services/generic.hpp>
#include <viam/sdk/services/private/generic_server.hpp>

namespace viam {
namespace sdk {
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7 changes: 2 additions & 5 deletions src/viam/sdk/services/private/mlmodel.cpp
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Expand Up @@ -12,17 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <viam/sdk/services/private/mlmodel.hpp>

#include <boost/variant/get.hpp>
#include <memory>
#include <stack>
#include <stdexcept>
#include <type_traits>
#include <utility>

#include <boost/variant/get.hpp>

#include <viam/sdk/common/exception.hpp>
#include <viam/sdk/services/private/mlmodel.hpp>

namespace viam {
namespace sdk {
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6 changes: 2 additions & 4 deletions src/viam/sdk/services/private/mlmodel_client.cpp
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Expand Up @@ -12,14 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <viam/sdk/services/private/mlmodel_client.hpp>

#include <grpcpp/channel.h>

#include <viam/sdk/common/client_helper.hpp>
#include <viam/sdk/services/private/mlmodel.hpp>

#include <viam/sdk/common/exception.hpp>
#include <viam/sdk/services/private/mlmodel.hpp>
#include <viam/sdk/services/private/mlmodel_client.hpp>

// As of proto version 27 (full version number 5.27) Arena::CreateMessage is deprecated in favor of
// Arena::Create. We use this macro to accomodate earlier supported versions of proto where
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51 changes: 37 additions & 14 deletions src/viam/sdk/services/private/mlmodel_server.cpp
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Expand Up @@ -12,12 +12,11 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <viam/sdk/services/private/mlmodel_server.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>
#include <viam/sdk/services/private/mlmodel_server.hpp>
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@acmorrow acmorrow Mar 27, 2025

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It looks like maybe your editor got a little aggressive in its formatting opinions, here and in other files. Can you put back the header ordering? It actually is intentional the way it is, with the associated header coming first in its own group (helps ensure the header is standalone).

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@bhaney bhaney Mar 27, 2025

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undid the bad linting

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@acmorrow acmorrow Mar 27, 2025

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This one should go back up as well.

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@bhaney bhaney Mar 27, 2025

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done


namespace viam {
namespace sdk {
Expand All @@ -38,17 +37,13 @@ ::grpc::Status MLModelServiceServer::Infer(

const auto md = mlms->metadata({});
MLModelService::named_tensor_views inputs;
for (const auto& input : md.inputs) {
const auto where = request->input_tensors().tensors().find(input.name);
if (where == request->input_tensors().tensors().end()) {
// Ignore any inputs for which we don't have metadata, since
// we can't validate the type info.
//
// TODO: Should this be an error? For now we just don't decode
// those tensors.
continue;
}
auto tensor = mlmodel::make_sdk_tensor_from_api_tensor(where->second);

// Check if there's only one input tensor and metadata only expects one, too
if (request->input_tensors().tensors().size() == 1 && md.inputs.size() == 1) {
// Special case: just one tensor, add it without name check
const MLModelService::tensor_info input = md.inputs[0];
const auto& tensor_pair = *request->input_tensors().tensors().begin();
auto tensor = mlmodel::make_sdk_tensor_from_api_tensor(tensor_pair.second);
const auto tensor_type = MLModelService::tensor_info::tensor_views_to_data_type(tensor);
if (tensor_type != input.data_type) {
std::ostringstream message;
Expand All @@ -58,7 +53,35 @@ ::grpc::Status MLModelServiceServer::Infer(
<< static_cast<ut>(tensor_type);
return helper.fail(::grpc::INVALID_ARGUMENT, message.str().c_str());
}
inputs.emplace(std::move(input.name), std::move(tensor));
inputs.emplace(tensor_pair.first, std::move(tensor));
} else {
// Normal case: multiple tensors, do metadata checks
for (const auto& input : md.inputs) {
const auto where = request->input_tensors().tensors().find(input.name);
if (where == request->input_tensors().tensors().end()) {
// Ignore any inputs for which we don't have metadata, since
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@acmorrow acmorrow Mar 27, 2025

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Comment is stale.

// we can't validate the type info.
// if the input vector of the expected name is not found, return an error
std::ostringstream message;
message << "Expected tensor input `" << input.name
<< "` was not found; if you believe you have this tensor under a "
"different name, rename it to the expected tensor name";
return helper.fail(::grpc::INVALID_ARGUMENT, message.str().c_str());
}
auto tensor = mlmodel::make_sdk_tensor_from_api_tensor(where->second);
const auto tensor_type =
MLModelService::tensor_info::tensor_views_to_data_type(tensor);
if (tensor_type != input.data_type) {
std::ostringstream message;
using ut = std::underlying_type<MLModelService::tensor_info::data_types>::type;
message << "Tensor input `" << input.name
<< "` was the wrong type; expected type "
<< static_cast<ut>(input.data_type) << " but got type "
<< static_cast<ut>(tensor_type);
return helper.fail(::grpc::INVALID_ARGUMENT, message.str().c_str());
}
inputs.emplace(std::move(input.name), std::move(tensor));
}
}

const auto outputs = mlms->infer(inputs, helper.getExtra());
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7 changes: 2 additions & 5 deletions src/viam/sdk/services/private/motion_client.cpp
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@@ -1,9 +1,5 @@
#include <viam/sdk/services/private/motion_client.hpp>

#include <math.h>

#include <grpcpp/support/status.h>

#include <math.h>
#include <viam/api/service/motion/v1/motion.grpc.pb.h>
#include <viam/api/service/motion/v1/motion.pb.h>

Expand All @@ -12,6 +8,7 @@
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/services/motion.hpp>
#include <viam/sdk/services/private/motion_client.hpp>

namespace viam {
namespace sdk {
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3 changes: 1 addition & 2 deletions src/viam/sdk/services/private/motion_server.cpp
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@@ -1,7 +1,6 @@
#include <memory>

#include <grpcpp/support/status.h>

#include <memory>
#include <viam/sdk/common/exception.hpp>
#include <viam/sdk/common/pose.hpp>
#include <viam/sdk/common/private/repeated_ptr_convert.hpp>
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7 changes: 2 additions & 5 deletions src/viam/sdk/services/private/navigation_client.cpp
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@@ -1,9 +1,5 @@
#include <viam/sdk/services/private/navigation_client.hpp>

#include <math.h>

#include <grpcpp/support/status.h>

#include <math.h>
#include <viam/api/service/navigation/v1/navigation.grpc.pb.h>
#include <viam/api/service/navigation/v1/navigation.pb.h>

Expand All @@ -12,6 +8,7 @@
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/common/utils.hpp>
#include <viam/sdk/services/navigation.hpp>
#include <viam/sdk/services/private/navigation_client.hpp>

namespace viam {
namespace sdk {
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3 changes: 1 addition & 2 deletions src/viam/sdk/services/private/navigation_server.cpp
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@@ -1,7 +1,6 @@
#include <memory>

#include <grpcpp/support/status.h>

#include <memory>
#include <viam/sdk/common/pose.hpp>
#include <viam/sdk/common/private/repeated_ptr_convert.hpp>
#include <viam/sdk/common/private/service_helper.hpp>
Expand Down