RSDK-10435: Dial direct

src/viam/api/CMakeLists.txt

@@ -228,6 +228,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.h
     ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.pb.h
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.pb.cc
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.grpc.pb.h
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.h
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.h
@@ -361,6 +365,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.cc
     ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.grpc.pb.cc
+    ${PROTO_GEN_DIR}/proto/rpc/v1/auth.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/http.pb.cc
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -425,6 +431,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/servo/v1/servo.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/proto/rpc/v1/auth.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/proto/rpc/v1/auth.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/annotations.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/http.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/httpbody.pb.h

src/viam/examples/camera/example_camera.cpp

@@ -28,8 +28,8 @@ int main() try {
     // dial_options.credentials = credentials;
 
     // This is for an example. Care should be taken before exercising this option in production.
-    dial_options.set_allow_insecure_downgrade(
-        (credentials.type().empty() && credentials.payload().empty()));
+    dial_options.allow_insecure_downgrade =
+        (credentials.type().empty() && credentials.payload().empty());
 
     // Set the refresh interval of the robot (in seconds) (0 = auto refresh) and the dial
     // options

src/viam/examples/dial/example_dial.cpp

@@ -25,11 +25,9 @@ int main() {
     DialOptions dial_options;
     std::string type = "<your authentication type>";
     std::string payload = "<your authentication payload>";
-    Credentials credentials(type, payload);
-    dial_options.set_credentials(credentials);
-    boost::optional<DialOptions> opts(dial_options);
+    dial_options.credentials = Credentials(type, payload);
     std::string address(uri);
-    Options options(1, opts);
+    Options options(1, dial_options);
 
     // connect to robot, ensure we can refresh it
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -27,28 +27,30 @@ int main(int argc, char* argv[]) {
         "uri", po::value<std::string>(), "URI of robot")(
         "entity", po::value<std::string>(), "api key ID")(
         "api-key", po::value<std::string>(), "api key secret");
+
     po::variables_map vm;
     po::store(po::parse_command_line(argc, argv, desc), vm);
+
     if (vm.count("help")) {
         std::cout << desc << std::endl;
         return 0;
     }
-    boost::optional<DialOptions> opts;
+
+    DialOptions opts;
+
     if (vm.count("entity") && vm.count("api-key")) {
-        DialOptions dial_options;
-        dial_options.set_entity(vm["entity"].as<std::string>());
+        opts.auth_entity = vm["entity"].as<std::string>();
         Credentials credentials("api-key", vm["api-key"].as<std::string>());
-        dial_options.set_credentials(credentials);
-        opts = dial_options;
+        opts.credentials = credentials;
     }
-    Options options(1, opts);
 
     // connect to robot, ensure we can refresh it
     std::shared_ptr<RobotClient> robot =
-        RobotClient::at_address(vm["uri"].as<std::string>(), options);
+        RobotClient::at_address(vm["uri"].as<std::string>(), Options(1, opts));
 
     // ensure we can query resources
     std::vector<Name> resource_names = robot->resource_names();
+
     VIAM_SDK_LOG(info) << "Resources:";
     for (const Name& resource : resource_names) {
         VIAM_SDK_LOG(info) << resource;

src/viam/examples/mlmodel/example_audio_classification_client.cpp

@@ -243,8 +243,8 @@ int main(int argc, char* argv[]) try {
         // secret. Please see other examples for more details on
         // connecting to robots with the C++ SDK.
         viam::sdk::DialOptions dial_options;
-        dial_options.set_entity(opt_api_key_id.get());
-        dial_options.set_credentials(viam::sdk::Credentials("api-key", opt_api_key.get()));
+        dial_options.auth_entity = opt_api_key_id.get();
+        dial_options.credentials = viam::sdk::Credentials("api-key", opt_api_key.get());
 
         auto robot =
             vsdk::RobotClient::at_address(opt_robot_host.get(), {0, {std::move(dial_options)}});

src/viam/examples/modules/complex/client.cpp

@@ -28,7 +28,7 @@ int main() {
 
     const char* uri = "http://localhost:8080/";  // replace with your URI if connecting securely
     DialOptions dial_options;
-    dial_options.set_allow_insecure_downgrade(true);  // set to false if connecting securely
+    dial_options.allow_insecure_downgrade = true;  // set to false if connecting securely
 
     // Uncomment and fill out your credentials details if connecting securely
     // std::string type = "<your authentication type>";

src/viam/examples/modules/simple/client.cpp

@@ -18,7 +18,7 @@ int main() {
 
     const char* uri = "http://localhost:8080/";  // replace with your URI if connecting securely
     DialOptions dial_options;
-    dial_options.set_allow_insecure_downgrade(true);  // set to false if connecting securely
+    dial_options.allow_insecure_downgrade = true;  // set to false if connecting securely
 
     // Uncomment and fill out your credentials details if connecting securely
     // std::string type = "<your authentication type>";

src/viam/examples/motor/example_motor.cpp

@@ -41,8 +41,8 @@ int main() try {
     // dial_options.credentials = credentials;
 
     // This is for an example. Care should be taken before exercising this option in production.
-    dial_options.set_allow_insecure_downgrade(
-        (credentials.type().empty() && credentials.payload().empty()));
+    dial_options.allow_insecure_downgrade =
+        (credentials.type().empty() && credentials.payload().empty());
 
     // Set the refresh interval of the robot (in seconds) (0 = auto refresh) and the dial
     // options

src/viam/sdk/common/client_helper.cpp

@@ -5,6 +5,7 @@
 #include <grpcpp/client_context.h>
 #include <grpcpp/support/status.h>
 
+#include <viam/sdk/common/private/instance.hpp>
 #include <viam/sdk/common/private/version_metadata.hpp>
 #include <viam/sdk/log/logging.hpp>
 
@@ -30,6 +31,12 @@ void set_name(...) {}  // NOLINT(cert-dcl50-cpp)
 ClientContext::ClientContext() : wrapped_context_(std::make_unique<GrpcClientContext>()) {
     set_client_ctx_authority_();
     add_viam_client_version_();
+
+    const std::string& token =
+        Instance::current(Instance::Creation::open_existing).impl_->direct_dial_token;
+    if (!token.empty()) {
+        wrapped_context_->AddMetadata("authorization", "Bearer " + token);
+    }
 }
 
 ClientContext::~ClientContext() = default;

src/viam/sdk/common/instance.hpp

@@ -29,6 +29,8 @@ class Instance {
    private:
     friend class Registry;
     friend class LogManager;
+    friend class ViamChannel;
+    friend class ClientContext;
 
     struct Impl;
     std::unique_ptr<Impl> impl_;

src/viam/sdk/common/private/instance.hpp

@@ -10,6 +10,11 @@ namespace sdk {
 struct Instance::Impl {
     Registry registry;
     LogManager log_mgr;
+
+    // When dialing directly to gpc (no rust-utils/webrtc) there is global state in the form of a
+    // bearer token that needs to be added as metadata to every client call. This variable stores
+    // the auth token; see client_helper.cpp and dial.cpp for access.
+    std::string direct_dial_token;
 };
 
 }  // namespace sdk

src/viam/sdk/module/service.cpp

@@ -254,13 +254,12 @@ ModuleService::ModuleService(int argc,
 }
 
 ModuleService::~ModuleService() {
-    // TODO(RSDK-5509): Run registered cleanup functions here.
-    VIAM_SDK_LOG(info) << "Shutting down gracefully.";
+    VIAM_SDK_LOG(info) << "Shutting down gracefully.\n";
     server_->shutdown();
 
     if (parent_) {
         try {
-            parent_->close();
+            parent_.reset();
         } catch (const std::exception& exc) {
             VIAM_SDK_LOG(error) << exc.what();
         }

src/viam/sdk/module/service.hpp

@@ -68,7 +68,7 @@ class ModuleService {
 
     std::unique_ptr<Module> module_;
 
-    std::shared_ptr<RobotClient> parent_;
+    std::unique_ptr<RobotClient> parent_;
     std::string parent_addr_;
 
     std::unique_ptr<Server> server_;

src/viam/sdk/robot/client.cpp

@@ -270,9 +270,9 @@ void RobotClient::log(const std::string& name,
     }
 }
 
-std::shared_ptr<RobotClient> RobotClient::with_channel(ViamChannel channel,
+std::unique_ptr<RobotClient> RobotClient::with_channel(ViamChannel channel,
                                                        const Options& options) {
-    auto robot = std::make_shared<RobotClient>(std::move(channel));
+    auto robot = std::make_unique<RobotClient>(std::move(channel));
     robot->refresh_interval_ = std::chrono::seconds{options.refresh_interval()};
     robot->should_refresh_ = (robot->refresh_interval_ > std::chrono::seconds{0});
     if (robot->should_refresh_) {
@@ -283,7 +283,7 @@ std::shared_ptr<RobotClient> RobotClient::with_channel(ViamChannel channel,
     return robot;
 };
 
-std::shared_ptr<RobotClient> RobotClient::at_address(const std::string& address,
+std::unique_ptr<RobotClient> RobotClient::at_address(const std::string& address,
                                                      const Options& options) {
     const char* uri = address.c_str();
     auto robot =
@@ -292,7 +292,7 @@ std::shared_ptr<RobotClient> RobotClient::at_address(const std::string& address,
     return robot;
 };
 
-std::shared_ptr<RobotClient> RobotClient::at_local_socket(const std::string& address,
+std::unique_ptr<RobotClient> RobotClient::at_local_socket(const std::string& address,
                                                           const Options& options) {
     const std::string addr = "unix://" + address;
     auto robot = RobotClient::with_channel(

src/viam/sdk/robot/client.hpp

@@ -91,21 +91,21 @@ class RobotClient {
     /// @brief Create a robot client connected to the robot at the provided address.
     /// @param address The address of the robot (IP address, URI, URL, etc.)
     /// @param options Options for connecting and refreshing.
-    static std::shared_ptr<RobotClient> at_address(const std::string& address,
+    static std::unique_ptr<RobotClient> at_address(const std::string& address,
                                                    const Options& options);
 
     /// @brief Creates a robot client connected to the robot at the provided local socket.
     /// @param address The local socket of the robot (a .sock file, etc.).
     /// @param options Options for connecting and refreshing.
     /// Creates a direct connection to the robot using the `unix://` scheme.
     /// Only useful for connecting to robots across Unix sockets.
-    static std::shared_ptr<RobotClient> at_local_socket(const std::string& address,
+    static std::unique_ptr<RobotClient> at_local_socket(const std::string& address,
                                                         const Options& options);
 
     /// @brief Creates a robot client connected to the provided channel.
     /// @param channel The channel to connect with.
     /// @param options Options for connecting and refreshing.
-    static std::shared_ptr<RobotClient> with_channel(ViamChannel channel, const Options& options);
+    static std::unique_ptr<RobotClient> with_channel(ViamChannel channel, const Options& options);
 
     std::vector<Name> resource_names() const;