RSDK-1669 - Module wrapper (#28)

STYLEGUIDE.md

@@ -0,0 +1,7 @@
+## Viam CPP-SDK Style Guide 
+- general introduction, reference to google guide and C++ core guidelines
+
+### Deviation
+- exceptions
+
+

examples/CMakeLists.txt

@@ -14,3 +14,4 @@
 
 add_subdirectory(dial)
 add_subdirectory(echo)
+add_subdirectory(modules)

examples/dial/CMakeLists.txt

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 add_executable(example_dial
-  example_dial.cc
+  example_dial.cpp
 )
 
 target_link_libraries(example_dial

examples/dial/example_dial.cpp

@@ -0,0 +1,61 @@
+#include <common/v1/common.pb.h>
+#include <grpcpp/channel.h>
+#include <grpcpp/client_context.h>
+#include <grpcpp/grpcpp.h>
+#include <grpcpp/support/status.h>
+#include <robot/v1/robot.grpc.pb.h>
+#include <robot/v1/robot.pb.h>
+#include <unistd.h>
+
+#include <boost/optional.hpp>
+#include <cstddef>
+#include <functional>
+#include <iostream>
+#include <memory>
+#include <ostream>
+#include <string>
+#include <vector>
+
+#include "robot/client.hpp"
+#include "robot/service.hpp"
+#include "rpc/dial.hpp"
+
+using viam::robot::v1::Status;
+using Viam::SDK::Credentials;
+using Viam::SDK::Options;
+
+int main() {
+    const char* uri = "<your robot URI here>";
+    Viam::SDK::DialOptions dial_options = Viam::SDK::DialOptions();
+    std::string payload = "<your payload here>";
+    Credentials credentials(payload);
+    dial_options.credentials = credentials;
+    boost::optional<Viam::SDK::DialOptions> opts(dial_options);
+    std::string address(uri);
+    Options options = Options(1, opts);
+    std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);
+    robot->refresh();
+    std::vector<ResourceName>* resource_names = robot->resource_names();
+    ResourceName the_one_we_care_about = resource_names->at(0);
+    for (ResourceName resource : *resource_names) {
+        std::cout << "Resource name: " << resource.name() << resource.type() << resource.subtype()
+                  << std::endl;
+    }
+    std::vector<Status> status_plural = robot->get_status();
+    std::cout << "Status plural len " << status_plural.size() << std::endl;
+    for (Status s : status_plural) {
+        std::cout << " Status! " << s.name().subtype() << std::endl;
+    }
+
+    std::vector<ResourceName> just_one = std::vector<ResourceName>();
+    just_one.push_back(the_one_we_care_about);
+    std::vector<Status> status_singular = robot->get_status(just_one);
+    std::cout << "Status singular len " << status_singular.size() << std::endl;
+    for (Status s : status_singular) {
+        std::cout << " Status! " << s.name().subtype() << std::endl;
+    }
+
+    robot->close();
+    return 0;
+}
+

examples/echo/CMakeLists.txt

@@ -21,7 +21,7 @@ add_executable(example_echo
   ${PROTO_GEN_DIR}/gen/google/api/annotations.pb.cc
   ${PROTO_GEN_DIR}/gen/proto/rpc/examples/echo/v1/echo.pb.cc
   ${PROTO_GEN_DIR}/gen/proto/rpc/examples/echo/v1/echo.grpc.pb.cc
-  example_echo.cc
+  example_echo.cpp
 )
 
 if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)

examples/echo/example_echo.cc → examples/echo/example_echo.cpp

@@ -1,14 +1,13 @@
 #include <grpcpp/grpcpp.h>
+#include <proto/rpc/examples/echo/v1/echo.grpc.pb.h>
+#include <proto/rpc/examples/echo/v1/echo.pb.h>
 #include <unistd.h>
 
 #include <cstddef>
 #include <iostream>
 #include <ostream>
 #include <string>
 
-#include "proto/rpc/examples/echo/v1/echo.grpc.pb.h"
-#include "proto/rpc/examples/echo/v1/echo.pb.h"
-
 using grpc::Channel;
 using grpc::ClientContext;
 using grpc::Status;

examples/modules/CMakeLists.txt

@@ -0,0 +1,26 @@
+# Copyright 2023 Viam Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+add_executable(example_module
+  example_module.cpp
+)
+
+target_link_libraries(example_module
+  viamcpp
+)
+
+install(
+  TARGETS example_module
+  COMPONENT examples
+)

examples/modules/example_module.cpp

@@ -0,0 +1,85 @@
+#include <component/arm/v1/arm.grpc.pb.h>
+#include <component/generic/v1/generic.grpc.pb.h>
+#include <grpcpp/grpcpp.h>
+#include <grpcpp/server_context.h>
+#include <robot/v1/robot.pb.h>
+#include <service/slam/v1/slam.grpc.pb.h>
+#include <signal.h>
+
+#include <components/component_base.hpp>
+#include <iostream>
+#include <memory>
+#include <module/module.hpp>
+#include <module/service.hpp>
+#include <rpc/dial.hpp>
+#include <rpc/server.hpp>
+
+#include "components/generic.hpp"
+#include "config/resource.hpp"
+#include "registry/registry.hpp"
+#include "resource/resource.hpp"
+
+using viam::component::generic::v1::GenericService;
+
+class MyModule : public GenericService::Service, public ComponentBase {
+   public:
+    void signal_handler(int signum);
+    static int which;
+    int inner_which;
+    MyModule() {
+        inner_which = which;
+        which += 1;
+    };
+
+    MyModule(const MyModule&) = delete;
+    MyModule& operator=(const MyModule&) = delete;
+
+    ::grpc::Status DoCommand(::grpc::ServerContext* context,
+                             const ::viam::component::generic::v1::DoCommandRequest* request,
+                             ::viam::component::generic::v1::DoCommandResponse* response) override {
+        std::cout << "Received DoCommand request for MyModule number " << inner_which << std::endl;
+        for (auto& req : request->command().fields()) {
+            std::cout << "request key: " << req.first.c_str()
+                      << "\trequest value: " << req.second.SerializeAsString();
+        }
+        *response->mutable_result() = request->command();
+
+        return grpc::Status();
+    }
+};
+
+int MyModule::which = 0;
+std::shared_ptr<ModuleService_> my_mod;
+
+void signal_handler(int signum) {
+    my_mod->close();
+}
+
+int main(int argc, char** argv) {
+    if (argc != 2) {
+        throw "need socket path as command line argument";
+    }
+
+    // TODO(RSDK-1920) This is still causing non-graceful shutdown. Figure out why, and fix.
+    struct sigaction sig_handler;
+    sig_handler.sa_handler = signal_handler;
+    sigaction(SIGTERM, &sig_handler, nullptr);
+    sigemptyset(&sig_handler.sa_mask);
+    sig_handler.sa_flags = 0;
+
+    Subtype generic = Generic::subtype();
+    my_mod = std::make_shared<ModuleService_>(argv[1]);
+    Model m("acme", "demo", "printer");
+    std::shared_ptr<ComponentRegistration> cr = std::make_shared<ComponentRegistration>(
+        ComponentType("MyModule"), generic, m, [](std::string, std::shared_ptr<grpc::Channel>) {
+            return std::make_unique<MyModule>();
+        });
+
+    Registry::register_component(cr);
+    my_mod->add_model_from_registry(generic, m);
+
+    my_mod->start();
+    Server::start();
+    Server::wait();
+    return 0;
+};

examples/project/cmake/CMakeLists.txt

@@ -46,13 +46,16 @@ find_package(Threads REQUIRED)
 find_package(viam-cpp-sdk CONFIG REQUIRED COMPONENTS Lib)
 
 
-# Here we compile the `examle_dial.cc` source file into an executable,
-# but as part of a separate project rather than being built-in to the
-# SDK build.
+# Here we compile the `examle_dial.cpp` and `example_module.cpp` source
+# files into executables, but as parts of separate projects rather than
+# being built-in to the SDK build.
 add_executable(example_dial
-  ../../dial/example_dial.cc
+  ../../dial/example_dial.cpp
 )
 
+add_executable(example_module
+  ../../modules/example_module.cpp)
+
 # Declaring the link dependency on the viam-cpp-sdk::viamcpp library
 # will automatically wire up the required include paths and transitive
 # library dependencies.
@@ -66,3 +69,7 @@ add_executable(example_dial
 target_link_libraries(example_dial
   viam-cpp-sdk::viamcpp
 )
+
+target_link_libraries(example_module
+  viam-cpp-sdk::viamcpp
+)

examples/project/pkg-config/Makefile

@@ -4,10 +4,16 @@ CXXFLAGS = -std=c++14
 CXXFLAGS += `pkg-config --cflags viam-cpp-sdk-libviamcpp`
 LINKFLAGS = `pkg-config --libs viam-cpp-sdk-libviamcpp`
 
-all: example_dial
+all: example_dial example_module
 
-example_dial.o: ../../dial/example_dial.cc
+example_dial.o: ../../dial/example_dial.cpp
 	$(CXX) $(CXXFLAGS) -c -o $@ $^
 
 example_dial: example_dial.o
 	$(CXX) $(LINKFLAGS) -o $@ $^
+
+example_module.o: ../../modules/example_module.cpp
+	$(CXX) $(CXXFLAGS) -c -o $@ $^
+
+example_module: example_module.o
+	$(CXX) $(LINKFLAGS) -o $@ $^