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RSDK-10579: Robot client update #425

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Merged
merged 15 commits into from
Apr 30, 2025
Merged

RSDK-10579: Robot client update #425

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e71af6e
remove should_close_channel
lia-viam Apr 28, 2025
8653759
generalize client helper to work with robot client
lia-viam Apr 28, 2025
1d4b1b6
use client helper for robot client methods
lia-viam Apr 28, 2025
881ea2a
factor out enable_console_logging
lia-viam Apr 28, 2025
68d7a9f
guard calls to impl and reconnect logging on close
lia-viam Apr 28, 2025
f1cd2f3
use repeated ptr conversions
lia-viam Apr 28, 2025
52eab57
thread pool does not get shared_ptr
lia-viam Apr 28, 2025
0f8c575
remove commented line
lia-viam Apr 28, 2025
fc95c99
silence clang tidy
lia-viam Apr 29, 2025
ae3bac7
Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk
lia-viam Apr 29, 2025
e6e489a
Merge branch 'main' into robot-client-update
lia-viam Apr 29, 2025
c89c7f4
doc comments
lia-viam Apr 29, 2025
0e2bb78
document refresh
lia-viam Apr 30, 2025
cf3a49f
replace threads with single thread
lia-viam Apr 30, 2025
da78755
Merge branch 'main' into robot-client-update
lia-viam Apr 30, 2025
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4 changes: 2 additions & 2 deletions src/viam/examples/modules/complex/proto/buf.lock
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Expand Up @@ -4,5 +4,5 @@ deps:
- remote: buf.build
owner: googleapis
repository: googleapis
commit: 751cbe31638d43a9bfb6162cd2352e67
digest: shake256:87f55470d9d124e2d1dedfe0231221f4ed7efbc55bc5268917c678e2d9b9c41573a7f9a557f6d8539044524d9fc5ca8fbb7db05eb81379d168285d76b57eb8a4
commit: 61b203b9a9164be9a834f58c37be6f62
digest: shake256:e619113001d6e284ee8a92b1561e5d4ea89a47b28bf0410815cb2fa23914df8be9f1a6a98dcf069f5bc2d829a2cfb1ac614863be45cd4f8a5ad8606c5f200224
2 changes: 2 additions & 0 deletions src/viam/sdk/common/client_helper.cpp
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Expand Up @@ -23,6 +23,8 @@ bool isStatusCancelled(int status) noexcept {
return status == ::grpc::StatusCode::CANCELLED;
}

void set_name(...) {}

} // namespace client_helper_details

ClientContext::ClientContext() : wrapped_context_(std::make_unique<GrpcClientContext>()) {
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15 changes: 14 additions & 1 deletion src/viam/sdk/common/client_helper.hpp
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Expand Up @@ -15,6 +15,19 @@ namespace client_helper_details {
// Helper function to test equality of status with grpc::StatusCode::CANCELLED.
bool isStatusCancelled(int status) noexcept;

// Set the mutable name of a request to the client name.
// This function only participates in overload resolution if the request has a mutable_name method.
template <typename RequestType,
typename ClientType,
typename = decltype(&RequestType::mutable_name)>
void set_name(RequestType* req, const ClientType* client) {
*req->mutable_name() = client->name();
}

// No-op version of set_name above. This overload is only selected if the request type does not have
// a mutable_name field.
void set_name(...);

} // namespace client_helper_details

// the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
Expand Down Expand Up @@ -96,7 +109,7 @@ class ClientHelper {

template <typename ResponseHandlerCallable, typename ErrorHandlerCallable>
auto invoke(ResponseHandlerCallable&& rhc, ErrorHandlerCallable&& ehc) {
*request_.mutable_name() = client_->name();
client_helper_details::set_name(&request_, client_);
ClientContext ctx;

if (debug_key_ != "") {
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10 changes: 7 additions & 3 deletions src/viam/sdk/log/logging.cpp
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Expand Up @@ -133,11 +133,15 @@ void LogManager::init_logging() {
console_sink_ = boost::make_shared<
boost::log::sinks::synchronous_sink<boost::log::sinks::text_ostream_backend>>(backend);

console_sink_->set_filter(Filter{this});
boost::log::core::get()->add_sink(console_sink_);

console_sink_->set_formatter(fmt);
enable_console_logging();
}

boost::log::core::get()->add_sink(console_sink_);
VIAM_SDK_LOG(debug) << "Initialized console logging";
void LogManager::enable_console_logging() {
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@acmorrow acmorrow Apr 29, 2025

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I didn't really follow the logging changes too closely, so apologies if this is covering old ground, but what are the safety / concurrency guarantees around enabling and disabling console logging? If I have many RobotClient's coming into and out of existence in multiple threads, does it work right? It looks like the RobotClient::impl destructor puts back console logging. Does that mean there can only be one RobotClient?

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@lia-viam lia-viam Apr 29, 2025

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It looks like the RobotClient::impl destructor puts back console logging.

That's right. It's a narrow window, and might all just happen with the } of main, but if someone destroys a RobotClient it's no longer sending logs to RDK, so we fall back to printing logs on the console. If we're running as a module, this will revert us back to the ugly \_ printing that was in effect before the logging PR

Does that mean there can only be one RobotClient?

Paraphrasing a discussion with @stuqdog , and I'm going to add a bunch of explanatory comments about this stuff. But basically the key is that non-default destruction in RobotClient::impl::~impl is wrapped in an if(log_sink) which...

  • only happens if RDK logging is enabled,
  • which only happens if RobotClient::connect_logging is called
  • which is a private method only accessible from ModuleService (the only place it gets called)
  • which is only getting called by us when RDK spins up an executable as a module

so under all these hypotheses, we can say that uniqueness and non-concurrency is guaranteed, and that the in-and-out-of-existence multiple threads thing can't happen in this case

console_sink_->set_filter(Filter{this});
VIAM_SDK_LOG(debug) << "Console logging enabled";
}

void LogManager::disable_console_logging() {
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1 change: 1 addition & 0 deletions src/viam/sdk/log/logging.hpp
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Expand Up @@ -113,6 +113,7 @@ class LogManager {
LogManager& operator=(LogManager&&) = delete;

void init_logging();
void enable_console_logging();
void disable_console_logging();

LogSource sdk_logger_;
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