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Module service insulate #343

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a292d4e
use pimpl idiom for moduleservice impl
lia-viam Dec 18, 2024
04bace5
Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk into modu…
lia-viam Dec 18, 2024
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328 changes: 168 additions & 160 deletions src/viam/sdk/module/service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,185 +42,193 @@
namespace viam {
namespace sdk {

Dependencies ModuleService::get_dependencies_(
google::protobuf::RepeatedPtrField<std::string> const& proto,
std::string const& resource_name) {
Dependencies deps;
for (const auto& dep : proto) {
auto dep_name = Name::from_string(dep);
const std::shared_ptr<Resource> dep_resource = get_parent_resource_(dep_name);
if (!dep_resource) {
std::ostringstream buffer;
buffer << resource_name << ": Dependency "
<< "`" << dep_name << "` was not found during (re)configuration";
throw Exception(ErrorCondition::k_resource_not_found, buffer.str());
struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
ServiceImpl(ModuleService& p) : parent(p) {}

ModuleService& parent;

// TODO(RSDK-6528) - to the extent possible, switch to using `server_helper`
::grpc::Status AddResource(::grpc::ServerContext*,
const ::viam::module::v1::AddResourceRequest* request,
::viam::module::v1::AddResourceResponse*) override {
const viam::app::v1::ComponentConfig& proto = request->config();
const ResourceConfig cfg = v2::from_proto(proto);
const std::lock_guard<std::mutex> lock(parent.lock_);

std::shared_ptr<Resource> res;
const Dependencies deps = parent.get_dependencies_(request->dependencies(), cfg.name());
const std::shared_ptr<const ModelRegistration> reg =
Registry::lookup_model(cfg.api(), cfg.model());
if (reg) {
try {
res = reg->construct_resource(deps, cfg);
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}
};
try {
parent.server_->add_resource(res);
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}
deps.emplace(dep_name, dep_resource);
}
return deps;
}

std::shared_ptr<Resource> ModuleService::get_parent_resource_(const Name& name) {
if (!parent_) {
parent_ = RobotClient::at_local_socket(parent_addr_, {0, boost::none});
return grpc::Status();
}

return parent_->resource_by_name(name);
}
::grpc::Status ReconfigureResource(
::grpc::ServerContext*,
const ::viam::module::v1::ReconfigureResourceRequest* request,
::viam::module::v1::ReconfigureResourceResponse*) override {
const viam::app::v1::ComponentConfig& proto = request->config();
ResourceConfig cfg = v2::from_proto(proto);

// TODO(RSDK-6528) - to the extent possible, switch to using `server_helper`
::grpc::Status ModuleService::AddResource(::grpc::ServerContext*,
const ::viam::module::v1::AddResourceRequest* request,
::viam::module::v1::AddResourceResponse*) {
const viam::app::v1::ComponentConfig& proto = request->config();
const ResourceConfig cfg = v2::from_proto(proto);
const std::lock_guard<std::mutex> lock(lock_);
const Dependencies deps = parent.get_dependencies_(request->dependencies(), cfg.name());

std::shared_ptr<Resource> res;
const Dependencies deps = get_dependencies_(request->dependencies(), cfg.name());
const std::shared_ptr<const ModelRegistration> reg =
Registry::lookup_model(cfg.api(), cfg.model());
if (reg) {
auto resource_server = parent.server_->lookup_resource_server(cfg.api());
if (!resource_server) {
return grpc::Status(grpc::UNKNOWN,
"no rpc service for config: " + cfg.api().to_string());
}
auto manager = resource_server->resource_manager();

// see if our resource is reconfigurable. if it is, reconfigure
const std::shared_ptr<Resource> res = manager->resource(cfg.resource_name().name());
if (!res) {
return grpc::Status(grpc::UNKNOWN,
"unable to reconfigure resource " + cfg.resource_name().name() +
" as it doesn't exist.");
}
try {
res = reg->construct_resource(deps, cfg);
Reconfigurable::reconfigure_if_reconfigurable(res, deps, cfg);
return grpc::Status();
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}
};
try {
server_->add_resource(res);
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}

return grpc::Status();
};

::grpc::Status ModuleService::ReconfigureResource(
::grpc::ServerContext*,
const ::viam::module::v1::ReconfigureResourceRequest* request,
::viam::module::v1::ReconfigureResourceResponse*) {
const viam::app::v1::ComponentConfig& proto = request->config();
ResourceConfig cfg = v2::from_proto(proto);
// if the type isn't reconfigurable by default, replace it
try {
Stoppable::stop_if_stoppable(res);
} catch (const std::exception& err) {
BOOST_LOG_TRIVIAL(error) << "unable to stop resource: " << err.what();
}

const Dependencies deps = get_dependencies_(request->dependencies(), cfg.name());
const std::shared_ptr<const ModelRegistration> reg = Registry::lookup_model(cfg.name());
if (reg) {
try {
const std::shared_ptr<Resource> res = reg->construct_resource(deps, cfg);
manager->replace_one(cfg.resource_name(), res);
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}
}

auto resource_server = server_->lookup_resource_server(cfg.api());
if (!resource_server) {
return grpc::Status(grpc::UNKNOWN, "no rpc service for config: " + cfg.api().to_string());
}
auto manager = resource_server->resource_manager();

// see if our resource is reconfigurable. if it is, reconfigure
const std::shared_ptr<Resource> res = manager->resource(cfg.resource_name().name());
if (!res) {
return grpc::Status(grpc::UNKNOWN,
"unable to reconfigure resource " + cfg.resource_name().name() +
" as it doesn't exist.");
}
try {
Reconfigurable::reconfigure_if_reconfigurable(res, deps, cfg);
return grpc::Status();
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
}

// if the type isn't reconfigurable by default, replace it
try {
Stoppable::stop_if_stoppable(res);
} catch (const std::exception& err) {
BOOST_LOG_TRIVIAL(error) << "unable to stop resource: " << err.what();
}

const std::shared_ptr<const ModelRegistration> reg = Registry::lookup_model(cfg.name());
if (reg) {
::grpc::Status ValidateConfig(::grpc::ServerContext*,
const ::viam::module::v1::ValidateConfigRequest* request,
::viam::module::v1::ValidateConfigResponse* response) override {
const viam::app::v1::ComponentConfig& proto = request->config();
ResourceConfig cfg = v2::from_proto(proto);

const std::shared_ptr<const ModelRegistration> reg =
Registry::lookup_model(cfg.api(), cfg.model());
if (!reg) {
return grpc::Status(grpc::UNKNOWN,
"unable to validate resource " + cfg.resource_name().name() +
" as it hasn't been registered.");
}
try {
const std::shared_ptr<Resource> res = reg->construct_resource(deps, cfg);
manager->replace_one(cfg.resource_name(), res);
} catch (const std::exception& exc) {
return grpc::Status(::grpc::INTERNAL, exc.what());
const std::vector<std::string> implicit_deps = reg->validate(cfg);
for (const auto& dep : implicit_deps) {
response->add_dependencies(dep);
}
} catch (const std::exception& err) {
return grpc::Status(grpc::UNKNOWN,
"validation failure in resource " + cfg.name() + ": " + err.what());
}
return grpc::Status();
}

return grpc::Status();
};
::grpc::Status RemoveResource(::grpc::ServerContext*,
const ::viam::module::v1::RemoveResourceRequest* request,
::viam::module::v1::RemoveResourceResponse*) override {
auto name = Name::from_string(request->name());
auto resource_server = parent.server_->lookup_resource_server(name.api());
if (!resource_server) {
return grpc::Status(grpc::UNKNOWN, "no grpc service for " + name.api().to_string());
}
const std::shared_ptr<ResourceManager> manager = resource_server->resource_manager();
const std::shared_ptr<Resource> res = manager->resource(name.name());
if (!res) {
return grpc::Status(
grpc::UNKNOWN,
"unable to remove resource " + name.to_string() + " as it doesn't exist.");
}

::grpc::Status ModuleService::ValidateConfig(
::grpc::ServerContext*,
const ::viam::module::v1::ValidateConfigRequest* request,
::viam::module::v1::ValidateConfigResponse* response) {
const viam::app::v1::ComponentConfig& proto = request->config();
ResourceConfig cfg = v2::from_proto(proto);

const std::shared_ptr<const ModelRegistration> reg =
Registry::lookup_model(cfg.api(), cfg.model());
if (!reg) {
return grpc::Status(grpc::UNKNOWN,
"unable to validate resource " + cfg.resource_name().name() +
" as it hasn't been registered.");
}
try {
const std::vector<std::string> implicit_deps = reg->validate(cfg);
for (const auto& dep : implicit_deps) {
response->add_dependencies(dep);
try {
Stoppable::stop_if_stoppable(res);
} catch (const std::exception& err) {
BOOST_LOG_TRIVIAL(error) << "unable to stop resource: " << err.what();
}
} catch (const std::exception& err) {
return grpc::Status(grpc::UNKNOWN,
"validation failure in resource " + cfg.name() + ": " + err.what());
}
return grpc::Status();
};

::grpc::Status ModuleService::RemoveResource(
::grpc::ServerContext*,
const ::viam::module::v1::RemoveResourceRequest* request,
::viam::module::v1::RemoveResourceResponse*) {
auto name = Name::from_string(request->name());
auto resource_server = server_->lookup_resource_server(name.api());
if (!resource_server) {
return grpc::Status(grpc::UNKNOWN, "no grpc service for " + name.api().to_string());
manager->remove(name);
return grpc::Status();
}
const std::shared_ptr<ResourceManager> manager = resource_server->resource_manager();
const std::shared_ptr<Resource> res = manager->resource(name.name());
if (!res) {
return grpc::Status(
grpc::UNKNOWN,
"unable to remove resource " + name.to_string() + " as it doesn't exist.");

::grpc::Status Ready(::grpc::ServerContext*,
const ::viam::module::v1::ReadyRequest* request,
::viam::module::v1::ReadyResponse* response) override {
const std::lock_guard<std::mutex> lock(parent.lock_);
const viam::module::v1::HandlerMap hm = parent.module_->handles().to_proto();
*response->mutable_handlermap() = hm;
parent.parent_addr_ = request->parent_address();
response->set_ready(parent.module_->ready());
return grpc::Status();
}
};

try {
Stoppable::stop_if_stoppable(res);
} catch (const std::exception& err) {
BOOST_LOG_TRIVIAL(error) << "unable to stop resource: " << err.what();
Dependencies ModuleService::get_dependencies_(
google::protobuf::RepeatedPtrField<std::string> const& proto,
std::string const& resource_name) {
Dependencies deps;
for (const auto& dep : proto) {
auto dep_name = Name::from_string(dep);
const std::shared_ptr<Resource> dep_resource = get_parent_resource_(dep_name);
if (!dep_resource) {
std::ostringstream buffer;
buffer << resource_name << ": Dependency "
<< "`" << dep_name << "` was not found during (re)configuration";
throw Exception(ErrorCondition::k_resource_not_found, buffer.str());
}
deps.emplace(dep_name, dep_resource);
}
return deps;
}

manager->remove(name);
return grpc::Status();
};
std::shared_ptr<Resource> ModuleService::get_parent_resource_(const Name& name) {
if (!parent_) {
parent_ = RobotClient::at_local_socket(parent_addr_, {0, boost::none});
}

::grpc::Status ModuleService::Ready(::grpc::ServerContext*,
const ::viam::module::v1::ReadyRequest* request,
::viam::module::v1::ReadyResponse* response) {
const std::lock_guard<std::mutex> lock(lock_);
const viam::module::v1::HandlerMap hm = this->module_->handles().to_proto();
*response->mutable_handlermap() = hm;
parent_addr_ = request->parent_address();
response->set_ready(module_->ready());
return grpc::Status();
};
return parent_->resource_by_name(name);
}

ModuleService::ModuleService(std::string addr)
: module_(std::make_unique<Module>(std::move(addr))), server_(std::make_unique<Server>()) {}
: module_(std::make_unique<Module>(std::move(addr))), server_(std::make_unique<Server>()) {
impl_ = std::make_unique<ServiceImpl>(*this);
}

ModuleService::ModuleService(int argc,
char** argv,
const std::vector<std::shared_ptr<ModelRegistration>>& registrations) {
if (argc < 2) {
throw Exception(ErrorCondition::k_connection, "Need socket path as command line argument");
}
module_ = std::make_unique<Module>(argv[1]);
server_ = std::make_unique<Server>();
signal_manager_ = SignalManager();
const std::vector<std::shared_ptr<ModelRegistration>>& registrations)
: ModuleService([argc, argv] {
if (argc < 2) {
throw Exception(ErrorCondition::k_connection,
"Need socket path as command line argument");
}
return argv[1];
}()) {
set_logger_severity_from_args(argc, argv);

for (auto&& mr : registrations) {
Expand All @@ -229,13 +237,27 @@ ModuleService::ModuleService(int argc,
}
}

ModuleService::~ModuleService() {
// TODO(RSDK-5509): Run registered cleanup functions here.
BOOST_LOG_TRIVIAL(info) << "Shutting down gracefully.";
server_->shutdown();

if (parent_) {
try {
parent_->close();
} catch (const std::exception& exc) {
BOOST_LOG_TRIVIAL(error) << exc.what();
}
}
}

void ModuleService::serve() {
const mode_t old_mask = umask(0077);
const int sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
listen(sockfd, 10);
umask(old_mask);

server_->register_service(this);
server_->register_service(impl_.get());
const std::string address = "unix://" + module_->addr();
server_->add_listening_port(address);

Expand All @@ -249,20 +271,6 @@ void ModuleService::serve() {
signal_manager_.wait();
}

ModuleService::~ModuleService() {
// TODO(RSDK-5509): Run registered cleanup functions here.
BOOST_LOG_TRIVIAL(info) << "Shutting down gracefully.";
server_->shutdown();

if (parent_) {
try {
parent_->close();
} catch (const std::exception& exc) {
BOOST_LOG_TRIVIAL(error) << exc.what();
}
}
}

void ModuleService::add_model_from_registry_inlock_(API api,
Model model,
const std::lock_guard<std::mutex>&) {
Expand Down
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