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RSDK-9327: Dynamically check safety_heartbeat_monitored RPC option to decide if Sessions should be used #5011

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Merged
merged 22 commits into from
Jun 11, 2025
Merged

RSDK-9327: Dynamically check safety_heartbeat_monitored RPC option to decide if Sessions should be used #5011

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fe524d4
add isSafetyHeartbeatMonitored to check at runtime for safety_heartbe…
aldenh-viam May 28, 2025
4e9aae5
Remove redundant exemptFromSession hardcoded map
aldenh-viam May 28, 2025
aff8f29
Update, simplify, and document TestClientSessionResume
aldenh-viam Jun 5, 2025
e46141c
Update, simplify, and document TestClientSessionExpiration
aldenh-viam Jun 5, 2025
b60513f
Update, simplify, and document TestClientSessionOptions
aldenh-viam Jun 5, 2025
f3006e4
add period (lint)
aldenh-viam Jun 5, 2025
2d4af06
fix import order (lint)
aldenh-viam Jun 5, 2025
a85a250
Revert "fix import order (lint)"
aldenh-viam Jun 5, 2025
ed062ad
fix import order (lint)
aldenh-viam Jun 5, 2025
ab1a816
Revert "fix import order (lint)"
aldenh-viam Jun 5, 2025
58def75
fix import order (lint)
aldenh-viam Jun 5, 2025
8e9638d
fix import order (lint)
aldenh-viam Jun 5, 2025
91f83c9
reorder imports
dgottlieb Jun 5, 2025
706ec0a
dynamically check for safety_heartbeat_monitored RPC option before pr…
aldenh-viam Jun 5, 2025
f799465
refactor: use shared IsSafetyHeartbeatMonitored from session_web
aldenh-viam Jun 5, 2025
4a097d0
fix import order (lint)
aldenh-viam Jun 5, 2025
d7727b7
update function name in debug stmt
aldenh-viam Jun 9, 2025
2e15a80
update doc
aldenh-viam Jun 9, 2025
8b2f790
remove copy of loop variables; no longer needed with Go 1.22
aldenh-viam Jun 9, 2025
20593a5
remove expected session panics; test ok instead
aldenh-viam Jun 9, 2025
078a024
remove unused SafetyMonitorResourceName
aldenh-viam Jun 9, 2025
892194b
speedup; don't use rich descriptors when regular suffices
aldenh-viam Jun 9, 2025
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18 changes: 3 additions & 15 deletions robot/client/client_session.go
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Original file line number Diff line number Diff line change
Expand Up @@ -14,26 +14,14 @@ import (
"google.golang.org/grpc/status"

"go.viam.com/rdk/resource"
"go.viam.com/rdk/robot"
"go.viam.com/rdk/session"
)

type ctxKey byte

const ctxKeyInSessionMDReq = ctxKey(iota)

var exemptFromSession = map[string]bool{
"/grpc.reflection.v1alpha.ServerReflection/ServerReflectionInfo": true,
"/proto.rpc.webrtc.v1.SignalingService/Call": true,
"/proto.rpc.webrtc.v1.SignalingService/CallUpdate": true,
"/proto.rpc.webrtc.v1.SignalingService/OptionalWebRTCConfig": true,
"/proto.rpc.v1.AuthService/Authenticate": true,
"/proto.rpc.v1.ExternalAuthService/AuthenticateTo": true,
"/viam.robot.v1.RobotService/ResourceNames": true,
"/viam.robot.v1.RobotService/ResourceRPCSubtypes": true,
"/viam.robot.v1.RobotService/StartSession": true,
"/viam.robot.v1.RobotService/SendSessionHeartbeat": true,
}

func (rc *RobotClient) sessionReset() {
rc.sessionMu.Lock()
rc.sessionsSupported = nil
Expand Down Expand Up @@ -102,7 +90,7 @@ func (rc *RobotClient) sessionMetadata(ctx context.Context, method string) (cont
return rc.sessionMetadataInner(ctx), nil
}
rc.sessionMu.RUnlock()

// upgrade lock
rc.sessionMu.Lock()
defer rc.sessionMu.Unlock()

Expand Down Expand Up @@ -166,7 +154,7 @@ func (rc *RobotClient) safetyMonitorFromHeaders(ctx context.Context, hdr metadat
}

func (rc *RobotClient) useSessionInRequest(ctx context.Context, method string) bool {
return !rc.sessionsDisabled && !exemptFromSession[method] && ctx.Value(ctxKeyInSessionMDReq) == nil
return !rc.sessionsDisabled && ctx.Value(ctxKeyInSessionMDReq) == nil && robot.IsSafetyHeartbeatMonitored(method)
}

func (rc *RobotClient) sessionUnaryClientInterceptor(
Expand Down
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