client_helper.hpp

#pragma once
 
#include <viam/sdk/common/exception.hpp>
#include <viam/sdk/common/grpc_fwd.hpp>
#include <viam/sdk/common/private/utils.hpp>
#include <viam/sdk/common/proto_value.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
 
namespace client_helper_details {
 
[[noreturn]] void errorHandlerReturnedUnexpectedly(const ::grpc::Status*) noexcept;
 
// 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
// `rust-utils` to fail to process gRPC requests. This class provides a convenience wrapper around a
// grpc ClientContext that allows us to make any necessary modifications to authority or else where
// to avoid runtime issues.
// For more details, see https://viam.atlassian.net/browse/RSDK-5194.
class ClientContext {
   public:
    ClientContext();
    ClientContext(const ViamChannel& channel);
 
    ~ClientContext();
 
    void try_cancel();
 
    operator GrpcClientContext*();
    operator const GrpcClientContext*() const;
 
    void set_debug_key(const std::string& debug_key);
 
   private:
    void set_client_ctx_authority_();
    void add_viam_client_version_();
    std::unique_ptr<GrpcClientContext> wrapped_context_;
};
 
// Method type for a gRPC call that returns a response message type.
template <typename StubType, typename RequestType, typename ResponseType>
using SyncMethodType = ::grpc::Status (StubType::*)(GrpcClientContext*,
                                                    const RequestType&,
                                                    ResponseType*);
 
// Method type for a gRPC call that returns a stream of response message type.
template <typename StubType, typename RequestType, typename ResponseType>
using StreamingMethodType = std::unique_ptr<GrpcClientReaderInterface<ResponseType>> (StubType::*)(
    GrpcClientContext*, const RequestType&);
 
template <typename ClientType,
          typename StubType,
          typename RequestType,
          typename ResponseType,
          typename MethodType>
class ClientHelper {
    static void default_rsc_(RequestType&) {}
    static void default_rhc_(const ResponseType&) {}
    static void default_ehc_(const ::grpc::Status* status) {
        throw GRPCException(status);
    }
 
   public:
    explicit ClientHelper(ClientType* client, StubType* stub, MethodType pfn)
        : client_(client), stub_(stub), pfn_(pfn) {}
 
    ClientHelper& with(const ProtoStruct& extra) {
        return with(extra, default_rsc_);
    }
 
    template <typename RequestSetupCallable>
    ClientHelper& with(RequestSetupCallable&& rsc) {
        std::forward<RequestSetupCallable>(rsc)(request_);
        return *this;
    }
 
    template <typename RequestSetupCallable>
    ClientHelper& with(const ProtoStruct& extra, RequestSetupCallable&& rsc) {
        auto key = extra.find(impl::debug_map_key);
        if (key != extra.end()) {
            ProtoValue value = key->second;
            debug_key_ = *value.get<std::string>();
        }
 
        proto_convert_details::to_proto_impl<ProtoStruct>{}(extra, request_.mutable_extra());
        return with(std::forward<RequestSetupCallable>(rsc));
    }
 
    template <typename ResponseHandlerCallable = decltype(default_rhc_)>
    auto invoke(ResponseHandlerCallable&& rhc = default_rhc_) {
        return invoke(std::forward<ResponseHandlerCallable>(rhc), default_ehc_);
    }
 
    template <typename ResponseHandlerCallable, typename ErrorHandlerCallable>
    auto invoke(ResponseHandlerCallable&& rhc, ErrorHandlerCallable&& ehc) {
        client_helper_details::set_name(&request_, client_);
        ClientContext ctx(client_->channel());
 
        if (debug_key_ != "") {
            ctx.set_debug_key(debug_key_);
        }
        const auto result = (stub_->*pfn_)(ctx, request_, &response_);
        if (result.ok()) {
            return std::forward<ResponseHandlerCallable>(rhc)(
                const_cast<const ResponseType&>(response_));
        }
 
        std::forward<ErrorHandlerCallable>(ehc)(&result);
        client_helper_details::errorHandlerReturnedUnexpectedly(&result);
    }
 
    // A version of invoke for gRPC calls returning `(stream ResponseType)`.
    // ResponseHandlerCallable will be called for every response in the reader, and should return
    // false to indicate it is no longer interested in the stream.
    template <typename ResponseHandlerCallable,
              typename ErrorHandlerCallable = decltype(default_ehc_)>
    auto invoke_stream(ResponseHandlerCallable rhc, ErrorHandlerCallable&& ehc = default_ehc_) {
        *request_.mutable_name() = client_->name();
        ClientContext ctx(client_->channel());
 
        auto reader = (stub_->*pfn_)(ctx, request_);
 
        bool cancelled_by_handler = false;
 
        while (reader->Read(&response_)) {
            if (!rhc(response_)) {
                cancelled_by_handler = true;
                ctx.try_cancel();
                break;
            }
        }
 
        const auto result = reader->Finish();
 
        if (result.ok() || (cancelled_by_handler &&
                            client_helper_details::isStatusCancelled(result.error_code()))) {
            return;
        }
 
        std::forward<ErrorHandlerCallable>(ehc)(&result);
        client_helper_details::errorHandlerReturnedUnexpectedly(&result);
    }
 
   private:
    ClientType* client_;
    StubType* stub_;
    std::string debug_key_;
    MethodType pfn_;
    RequestType request_;
    ResponseType response_;
};
 
template <typename ClientType, typename StubType, typename RequestType, typename ResponseType>
auto make_client_helper(ClientType* client,
                        StubType& stub,
                        SyncMethodType<StubType, RequestType, ResponseType> method) {
    return ClientHelper<ClientType,
                        StubType,
                        RequestType,
                        ResponseType,
                        SyncMethodType<StubType, RequestType, ResponseType>>(client, &stub, method);
}
 
template <typename ClientType, typename StubType, typename RequestType, typename ResponseType>
auto make_client_helper(ClientType* client,
                        StubType& stub,
                        StreamingMethodType<StubType, RequestType, ResponseType> method) {
    return ClientHelper<ClientType,
                        StubType,
                        RequestType,
                        ResponseType,
                        StreamingMethodType<StubType, RequestType, ResponseType>>(
        client, &stub, method);
}
 
}  // namespace sdk
}  // namespace viam