RSDK-5194 - set client_ctx auth to a placeholder value (#164)

src/viam/examples/dial/example_dial.cpp

@@ -63,7 +63,11 @@ int main() {
 
     // ensure we can create clients to the robot
     auto gc = robot->resource_by_name<GenericClient>("generic1");
-    std::cout << "got generic client named " << gc->name() << std::endl;
+    if (gc) {
+        std::cout << "got generic client named " << gc->name() << std::endl;
+    }
+
+    robot->close();
 
     return EXIT_SUCCESS;
 }

src/viam/examples/modules/complex/gizmo/api.cpp

@@ -4,6 +4,7 @@
 
 #include <google/protobuf/descriptor.h>
 
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/rpc/server.hpp>
@@ -206,6 +207,7 @@ bool GizmoClient::do_one(std::string arg1) {
     DoOneResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);
@@ -221,6 +223,7 @@ bool GizmoClient::do_one(std::string arg1) {
 bool GizmoClient::do_one_client_stream(std::vector<std::string> arg1) {
     DoOneClientStreamResponse response;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     auto writer(stub_->DoOneClientStream(&ctx, &response));
     for (std::string arg : arg1) {
@@ -244,6 +247,7 @@ bool GizmoClient::do_one_client_stream(std::vector<std::string> arg1) {
 std::vector<bool> GizmoClient::do_one_server_stream(std::string arg1) {
     DoOneServerStreamRequest request;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);
@@ -264,6 +268,7 @@ std::vector<bool> GizmoClient::do_one_server_stream(std::string arg1) {
 
 std::vector<bool> GizmoClient::do_one_bidi_stream(std::vector<std::string> arg1) {
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     auto stream(stub_->DoOneBiDiStream(&ctx));
     for (std::string arg : arg1) {
@@ -296,6 +301,7 @@ std::string GizmoClient::do_two(bool arg1) {
     DoTwoResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_arg1(arg1);

src/viam/examples/modules/complex/summation/api.cpp

@@ -4,6 +4,7 @@
 
 #include <google/protobuf/descriptor.h>
 
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/rpc/server.hpp>
@@ -96,6 +97,7 @@ double SummationClient::sum(std::vector<double> numbers) {
     SumResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     for (double number : numbers) {

src/viam/sdk/common/utils.cpp

@@ -11,6 +11,7 @@
 #include <boost/optional/optional.hpp>
 #include <boost/variant/get.hpp>
 #include <boost/variant/variant.hpp>
+#include <grpcpp/client_context.h>
 
 #include <viam/api/common/v1/common.pb.h>
 
@@ -130,6 +131,10 @@ bool operator==(const response_metadata& lhs, const response_metadata& rhs) {
     return lhs.captured_at == rhs.captured_at;
 }
 
+void set_client_ctx_authority(grpc::ClientContext& ctx) {
+    ctx.set_authority("viam-placeholder");
+}
+
 bool from_dm_from_extra(const AttributeMap& extra) {
     if (!extra) {
         return false;

src/viam/sdk/common/utils.hpp

@@ -6,6 +6,7 @@
 #include <boost/optional/optional.hpp>
 #include <boost/variant/get.hpp>
 #include <boost/variant/variant.hpp>
+#include <grpcpp/client_context.h>
 
 #include <viam/api/common/v1/common.pb.h>
 
@@ -66,6 +67,13 @@ std::string bytes_to_string(std::vector<unsigned char> const& b);
 std::chrono::microseconds from_proto(const google::protobuf::Duration& proto);
 google::protobuf::Duration to_proto(const std::chrono::microseconds& duration);
 
+// the authority is sometimes set to an invalid uri on mac, causing `rust-utils` to fail
+// to process gRPC requests. Fortunately we don't particularly care what the authority is
+// set to within the ctx once a channel is built, so we can just set a placeholder value
+// to appease rust and continue to rely on the gRPC channel to process requests correctly.
+// For more details, see https://viam.atlassian.net/browse/RSDK-5194.
+void set_client_ctx_authority(grpc::ClientContext& ctx);
+
 /// @brief Set the boost trivial logger's severity depending on args.
 /// @param argc The number of args.
 /// @param argv The commandline arguments to parse.

src/viam/sdk/components/base/client.cpp

@@ -30,6 +30,7 @@ void BaseClient::move_straight(int64_t distance_mm, double mm_per_sec, const Att
     viam::component::base::v1::MoveStraightResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_distance_mm(distance_mm);
@@ -47,6 +48,7 @@ void BaseClient::spin(double angle_deg, double degs_per_sec, const AttributeMap&
     viam::component::base::v1::SpinResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_angle_deg(angle_deg);
@@ -66,6 +68,7 @@ void BaseClient::set_power(const Vector3& linear,
     viam::component::base::v1::SetPowerResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_linear() = Vector3::to_proto(linear);
@@ -85,6 +88,7 @@ void BaseClient::set_velocity(const Vector3& linear,
     viam::component::base::v1::SetVelocityResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_linear() = Vector3::to_proto(linear);
@@ -102,6 +106,7 @@ grpc::StatusCode BaseClient::stop(const AttributeMap& extra) {
     viam::component::base::v1::StopResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -118,6 +123,7 @@ bool BaseClient::is_moving() {
     viam::component::base::v1::IsMovingResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
 
@@ -132,6 +138,7 @@ std::vector<GeometryConfig> BaseClient::get_geometries(const AttributeMap& extra
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -144,6 +151,7 @@ Base::properties BaseClient::get_properties(const AttributeMap& extra) {
     component::base::v1::GetPropertiesRequest req;
     component::base::v1::GetPropertiesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -157,6 +165,7 @@ AttributeMap BaseClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;

src/viam/sdk/components/board/client.cpp

@@ -27,6 +27,7 @@ Board::status BoardClient::get_status(const AttributeMap& extra) {
     viam::component::board::v1::StatusResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -43,6 +44,7 @@ void BoardClient::set_gpio(const std::string& pin, bool high, const AttributeMap
     viam::component::board::v1::SetGPIOResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -59,6 +61,7 @@ bool BoardClient::get_gpio(const std::string& pin, const AttributeMap& extra) {
     viam::component::board::v1::GetGPIOResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -76,6 +79,7 @@ double BoardClient::get_pwm_duty_cycle(const std::string& pin, const AttributeMa
     viam::component::board::v1::PWMResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -95,6 +99,7 @@ void BoardClient::set_pwm_duty_cycle(const std::string& pin,
     viam::component::board::v1::SetPWMResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -112,6 +117,7 @@ uint64_t BoardClient::get_pwm_frequency(const std::string& pin, const AttributeM
     viam::component::board::v1::PWMFrequencyResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -131,6 +137,7 @@ void BoardClient::set_pwm_frequency(const std::string& pin,
     viam::component::board::v1::SetPWMFrequencyResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -148,6 +155,7 @@ AttributeMap BoardClient::do_command(const AttributeMap& command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;
@@ -166,6 +174,7 @@ Board::analog_value BoardClient::read_analog(const std::string& analog_reader_na
     viam::component::board::v1::ReadAnalogReaderResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     request.set_board_name(this->name());
     request.set_analog_reader_name(analog_reader_name);
@@ -184,6 +193,7 @@ Board::digital_value BoardClient::read_digital_interrupt(const std::string& digi
     viam::component::board::v1::GetDigitalInterruptValueResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     request.set_board_name(this->name());
     request.set_digital_interrupt_name(digital_interrupt_name);
@@ -203,6 +213,7 @@ void BoardClient::set_power_mode(power_mode power_mode,
     viam::component::board::v1::SetPowerModeResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -221,6 +232,7 @@ std::vector<GeometryConfig> BoardClient::get_geometries(const AttributeMap& extr
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);

src/viam/sdk/components/camera/client.cpp

@@ -25,6 +25,7 @@ AttributeMap CameraClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandRequest req;
     viam::common::v1::DoCommandResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *req.mutable_command() = proto_command;
@@ -37,6 +38,7 @@ Camera::raw_image CameraClient::get_image(std::string mime_type, const Attribute
     viam::component::camera::v1::GetImageRequest req;
     viam::component::camera::v1::GetImageResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     Camera::normalize_mime_type(mime_type);
 
@@ -52,6 +54,7 @@ Camera::image_collection CameraClient::get_images() {
     viam::component::camera::v1::GetImagesRequest req;
     viam::component::camera::v1::GetImagesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
 
@@ -64,6 +67,7 @@ Camera::point_cloud CameraClient::get_point_cloud(std::string mime_type,
     viam::component::camera::v1::GetPointCloudRequest req;
     viam::component::camera::v1::GetPointCloudResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_mime_type() = mime_type;
@@ -77,6 +81,7 @@ std::vector<GeometryConfig> CameraClient::get_geometries(const AttributeMap& ext
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -89,6 +94,7 @@ Camera::properties CameraClient::get_properties() {
     viam::component::camera::v1::GetPropertiesRequest req;
     viam::component::camera::v1::GetPropertiesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
 

src/viam/sdk/components/encoder/client.cpp

@@ -28,6 +28,7 @@ Encoder::position EncoderClient::get_position(const AttributeMap& extra,
     viam::component::encoder::v1::GetPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     request.set_position_type(to_proto(position_type));
@@ -45,6 +46,7 @@ void EncoderClient::reset_position(const AttributeMap& extra) {
     viam::component::encoder::v1::ResetPositionResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -60,6 +62,7 @@ Encoder::properties EncoderClient::get_properties(const AttributeMap& extra) {
     viam::component::encoder::v1::GetPropertiesResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *request.mutable_name() = this->name();
     *request.mutable_extra() = map_to_struct(extra);
@@ -75,6 +78,7 @@ std::vector<GeometryConfig> EncoderClient::get_geometries(const AttributeMap& ex
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();
     *req.mutable_extra() = map_to_struct(extra);
@@ -88,6 +92,7 @@ AttributeMap EncoderClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandResponse response;
 
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *request.mutable_command() = proto_command;

src/viam/sdk/components/generic/client.cpp

@@ -6,6 +6,7 @@
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
 #include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/robot/client.hpp>
 
@@ -21,6 +22,7 @@ AttributeMap GenericClient::do_command(AttributeMap command) {
     viam::common::v1::DoCommandRequest req;
     viam::common::v1::DoCommandResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     const google::protobuf::Struct proto_command = map_to_struct(command);
     *req.mutable_command() = proto_command;
@@ -32,6 +34,7 @@ std::vector<GeometryConfig> GenericClient::get_geometries() {
     viam::common::v1::GetGeometriesRequest req;
     viam::common::v1::GetGeometriesResponse resp;
     grpc::ClientContext ctx;
+    set_client_ctx_authority(ctx);
 
     *req.mutable_name() = this->name();