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module.go
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module.go
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package module
import (
"context"
"fmt"
"net"
"os"
"runtime"
"sync"
"time"
"github.com/edaniels/golog"
"github.com/fullstorydev/grpcurl"
"github.com/jhump/protoreflect/desc"
"github.com/jhump/protoreflect/grpcreflect"
"github.com/pkg/errors"
"go.uber.org/multierr"
"go.uber.org/zap"
pb "go.viam.com/api/module/v1"
robotpb "go.viam.com/api/robot/v1"
"go.viam.com/utils"
"go.viam.com/utils/rpc"
"google.golang.org/grpc"
reflectpb "google.golang.org/grpc/reflection/grpc_reflection_v1alpha"
"go.viam.com/rdk/config"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/robot/client"
rutils "go.viam.com/rdk/utils"
)
// CheckSocketAddressLength returns an error if the socket path is too long for the OS.
func CheckSocketAddressLength(addr string) error {
// maxSocketAddressLength is the length (-1 for null terminator) of the .sun_path field as used in kernel bind()/connect() syscalls.
maxSocketAddressLength := 103
if runtime.GOOS == "linux" {
maxSocketAddressLength = 107
}
if len(addr) > maxSocketAddressLength {
return errors.Errorf("module socket path exceeds OS limit of %d characters: %s", maxSocketAddressLength, addr)
}
return nil
}
// HandlerMap is the format for api->model pairs that the module will service.
// Ex: mymap["rdk:component:motor"] = ["acme:marine:thruster", "acme:marine:outboard"].
type HandlerMap map[resource.RPCAPI][]resource.Model
// ToProto converts the HandlerMap to a protobuf representation.
func (h HandlerMap) ToProto() *pb.HandlerMap {
pMap := &pb.HandlerMap{}
for s, models := range h {
subtype := &robotpb.ResourceRPCSubtype{
Subtype: protoutils.ResourceNameToProto(resource.Name{
API: s.API,
Name: "",
}),
ProtoService: s.ProtoSvcName,
}
handler := &pb.HandlerDefinition{Subtype: subtype}
for _, m := range models {
handler.Models = append(handler.Models, m.String())
}
pMap.Handlers = append(pMap.Handlers, handler)
}
return pMap
}
// NewHandlerMapFromProto converts protobuf to HandlerMap.
func NewHandlerMapFromProto(ctx context.Context, pMap *pb.HandlerMap, conn *grpc.ClientConn) (HandlerMap, error) {
hMap := make(HandlerMap)
refClient := grpcreflect.NewClientV1Alpha(ctx, reflectpb.NewServerReflectionClient(conn))
defer refClient.Reset()
reflSource := grpcurl.DescriptorSourceFromServer(ctx, refClient)
var errs error
for _, h := range pMap.GetHandlers() {
api := protoutils.ResourceNameFromProto(h.Subtype.Subtype).API
symDesc, err := reflSource.FindSymbol(h.Subtype.ProtoService)
if err != nil {
errs = multierr.Combine(errs, err)
if errors.Is(err, grpcurl.ErrReflectionNotSupported) {
return nil, errs
}
continue
}
svcDesc, ok := symDesc.(*desc.ServiceDescriptor)
if !ok {
return nil, errors.Errorf("expected descriptor to be service descriptor but got %T", symDesc)
}
rpcAPI := &resource.RPCAPI{
API: api,
Desc: svcDesc,
}
for _, m := range h.Models {
model, err := resource.NewModelFromString(m)
if err != nil {
return nil, err
}
hMap[*rpcAPI] = append(hMap[*rpcAPI], model)
}
}
return hMap, errs
}
// Module represents an external resource module that services components/services.
type Module struct {
parent *client.RobotClient
server rpc.Server
logger *zap.SugaredLogger
mu sync.Mutex
operations *operation.Manager
ready bool
addr string
parentAddr string
activeBackgroundWorkers sync.WaitGroup
handlers HandlerMap
collections map[resource.API]resource.APIResourceCollection[resource.Resource]
closeOnce sync.Once
pb.UnimplementedModuleServiceServer
}
// NewModule returns the basic module framework/structure.
func NewModule(ctx context.Context, address string, logger *zap.SugaredLogger) (*Module, error) {
// TODO(PRODUCT-343): session support likely means interceptors here
opMgr := operation.NewManager(logger)
unaries := []grpc.UnaryServerInterceptor{
opMgr.UnaryServerInterceptor,
}
streams := []grpc.StreamServerInterceptor{
opMgr.StreamServerInterceptor,
}
m := &Module{
logger: logger,
addr: address,
operations: opMgr,
server: NewServer(unaries, streams),
ready: true,
handlers: HandlerMap{},
collections: map[resource.API]resource.APIResourceCollection[resource.Resource]{},
}
if err := m.server.RegisterServiceServer(ctx, &pb.ModuleService_ServiceDesc, m); err != nil {
return nil, err
}
return m, nil
}
// NewModuleFromArgs directly parses the command line argument to get its address.
func NewModuleFromArgs(ctx context.Context, logger *zap.SugaredLogger) (*Module, error) {
if len(os.Args) < 2 {
return nil, errors.New("need socket path as command line argument")
}
return NewModule(ctx, os.Args[1], logger)
}
// NewLoggerFromArgs can be used to create a golog.Logger at "DebugLevel" if
// "--log-level=debug" is the third argument in os.Args and at "InfoLevel"
// otherwise. See config.Module.LogLevel documentation for more info on how
// to start modules with a "log-level" commandline argument.
func NewLoggerFromArgs(moduleName string) golog.Logger {
if len(os.Args) >= 3 && os.Args[2] == "--log-level=debug" {
return golog.NewDebugLogger(moduleName)
}
return golog.NewDevelopmentLogger(moduleName)
}
// Start starts the module service and grpc server.
func (m *Module) Start(ctx context.Context) error {
m.mu.Lock()
defer m.mu.Unlock()
var lis net.Listener
if err := MakeSelfOwnedFilesFunc(func() error {
var err error
lis, err = net.Listen("unix", m.addr)
if err != nil {
return errors.WithMessage(err, "failed to listen")
}
return nil
}); err != nil {
return err
}
m.activeBackgroundWorkers.Add(1)
utils.PanicCapturingGo(func() {
defer m.activeBackgroundWorkers.Done()
// Attempt to remove module's .sock file.
defer rutils.RemoveFileNoError(m.addr)
m.logger.Infof("server listening at %v", lis.Addr())
if err := m.server.Serve(lis); err != nil {
m.logger.Errorf("failed to serve: %v", err)
}
})
return nil
}
// Close shuts down the module and grpc server.
func (m *Module) Close(ctx context.Context) {
m.closeOnce.Do(func() {
m.mu.Lock()
parent := m.parent
m.mu.Unlock()
m.logger.Info("Shutting down gracefully.")
if parent != nil {
if err := parent.Close(ctx); err != nil {
m.logger.Error(err)
}
}
if err := m.server.Stop(); err != nil {
m.logger.Error(err)
}
m.activeBackgroundWorkers.Wait()
})
}
// GetParentResource returns a resource from the parent robot by name.
func (m *Module) GetParentResource(ctx context.Context, name resource.Name) (resource.Resource, error) {
if err := m.connectParent(ctx); err != nil {
return nil, err
}
// Refresh parent to ensure it has the most up-to-date resources before calling
// ResourceByName.
if err := m.parent.Refresh(ctx); err != nil {
return nil, err
}
return m.parent.ResourceByName(name)
}
func (m *Module) connectParent(ctx context.Context) error {
m.mu.Lock()
defer m.mu.Unlock()
if m.parent == nil {
if err := CheckSocketOwner(m.parentAddr); err != nil {
return err
}
// TODO(PRODUCT-343): add session support to modules
rc, err := client.New(ctx, "unix://"+m.parentAddr, m.logger, client.WithDisableSessions())
if err != nil {
return err
}
m.parent = rc
}
return nil
}
// SetReady can be set to false if the module is not ready (ex. waiting on hardware).
func (m *Module) SetReady(ready bool) {
m.mu.Lock()
defer m.mu.Unlock()
m.ready = ready
}
// Ready receives the parent address and reports api/model combos the module is ready to service.
func (m *Module) Ready(ctx context.Context, req *pb.ReadyRequest) (*pb.ReadyResponse, error) {
m.mu.Lock()
defer m.mu.Unlock()
m.parentAddr = req.GetParentAddress()
return &pb.ReadyResponse{
Ready: m.ready,
Handlermap: m.handlers.ToProto(),
}, nil
}
// AddResource receives the component/service configuration from the parent.
func (m *Module) AddResource(ctx context.Context, req *pb.AddResourceRequest) (*pb.AddResourceResponse, error) {
deps := make(resource.Dependencies)
for _, c := range req.Dependencies {
name, err := resource.NewFromString(c)
if err != nil {
return nil, err
}
c, err := m.GetParentResource(ctx, name)
if err != nil {
return nil, err
}
deps[name] = c
}
conf, err := config.ComponentConfigFromProto(req.Config)
if err != nil {
return nil, err
}
if err := addConvertedAttributes(conf); err != nil {
return nil, errors.Wrapf(err, "unable to convert attributes when adding resource")
}
resInfo, ok := resource.LookupRegistration(conf.API, conf.Model)
if !ok {
return nil, errors.Errorf("do not know how to construct %q", conf.API)
}
if resInfo.Constructor == nil {
return nil, errors.Errorf("invariant: no constructor for %q", conf.API)
}
res, err := resInfo.Constructor(ctx, deps, *conf, m.logger)
if err != nil {
return nil, err
}
m.mu.Lock()
defer m.mu.Unlock()
coll, ok := m.collections[conf.API]
if !ok {
return nil, errors.Errorf("module cannot service api: %s", conf.API)
}
return &pb.AddResourceResponse{}, coll.Add(conf.ResourceName(), res)
}
// ReconfigureResource receives the component/service configuration from the parent.
func (m *Module) ReconfigureResource(ctx context.Context, req *pb.ReconfigureResourceRequest) (*pb.ReconfigureResourceResponse, error) {
var res resource.Resource
deps := make(resource.Dependencies)
for _, c := range req.Dependencies {
name, err := resource.NewFromString(c)
if err != nil {
return nil, err
}
c, err := m.GetParentResource(ctx, name)
if err != nil {
return nil, err
}
deps[name] = c
}
// it is assumed the caller robot has handled model differences
conf, err := config.ComponentConfigFromProto(req.Config)
if err != nil {
return nil, err
}
if err := addConvertedAttributes(conf); err != nil {
return nil, errors.Wrapf(err, "unable to convert attributes when reconfiguring resource")
}
m.mu.Lock()
defer m.mu.Unlock()
coll, ok := m.collections[conf.API]
if !ok {
return nil, errors.Errorf("no rpc service for %+v", conf)
}
res, err = coll.Resource(conf.ResourceName().Name)
if err != nil {
return nil, err
}
reconfErr := res.Reconfigure(ctx, deps, *conf)
if reconfErr == nil {
return &pb.ReconfigureResourceResponse{}, nil
}
if !resource.IsMustRebuildError(reconfErr) {
return nil, err
}
m.logger.Debugw("rebuilding", "name", conf.ResourceName())
if err := res.Close(ctx); err != nil {
m.logger.Error(err)
}
resInfo, ok := resource.LookupRegistration(conf.API, conf.Model)
if !ok {
return nil, errors.Errorf("do not know how to construct %q", conf.API)
}
if resInfo.Constructor == nil {
return nil, errors.Errorf("invariant: no constructor for %q", conf.API)
}
newRes, err := resInfo.Constructor(ctx, deps, *conf, m.logger)
if err != nil {
return nil, err
}
return &pb.ReconfigureResourceResponse{}, coll.ReplaceOne(conf.ResourceName(), newRes)
}
// ValidateConfig receives the validation request for a resource from the parent.
func (m *Module) ValidateConfig(ctx context.Context,
req *pb.ValidateConfigRequest,
) (*pb.ValidateConfigResponse, error) {
c, err := config.ComponentConfigFromProto(req.Config)
if err != nil {
return nil, err
}
if err := addConvertedAttributes(c); err != nil {
return nil, errors.Wrapf(err, "unable to convert attributes for validation")
}
if c.ConvertedAttributes != nil {
implicitDeps, err := c.ConvertedAttributes.Validate(c.Name)
if err != nil {
return nil, errors.Wrapf(err, "error validating resource")
}
return &pb.ValidateConfigResponse{Dependencies: implicitDeps}, nil
}
// Resource configuration object does not implement Validate, but return an
// empty response and no error to maintain backward compatibility.
return &pb.ValidateConfigResponse{}, nil
}
// RemoveResource receives the request for resource removal.
func (m *Module) RemoveResource(ctx context.Context, req *pb.RemoveResourceRequest) (*pb.RemoveResourceResponse, error) {
slowWatcher, slowWatcherCancel := utils.SlowGoroutineWatcher(
30*time.Second, fmt.Sprintf("module resource %q is taking a while to remove", req.Name), m.logger)
defer func() {
slowWatcherCancel()
<-slowWatcher
}()
m.mu.Lock()
defer m.mu.Unlock()
name, err := resource.NewFromString(req.Name)
if err != nil {
return nil, err
}
coll, ok := m.collections[name.API]
if !ok {
return nil, errors.Errorf("no grpc service for %+v", name)
}
res, err := coll.Resource(name.Name)
if err != nil {
return nil, err
}
if err := res.Close(ctx); err != nil {
m.logger.Error(err)
}
return &pb.RemoveResourceResponse{}, coll.Remove(name)
}
// addAPIFromRegistry adds a preregistered API (rpc API) to the module's services.
func (m *Module) addAPIFromRegistry(ctx context.Context, api resource.API) error {
m.mu.Lock()
defer m.mu.Unlock()
_, ok := m.collections[api]
if ok {
return nil
}
apiInfo, ok := resource.LookupGenericAPIRegistration(api)
if !ok {
return errors.Errorf("invariant: registration does not exist for %q", api)
}
newColl := apiInfo.MakeEmptyCollection()
m.collections[api] = newColl
if !ok {
return nil
}
return apiInfo.RegisterRPCService(ctx, m.server, newColl)
}
// AddModelFromRegistry adds a preregistered component or service model to the module's services.
func (m *Module) AddModelFromRegistry(ctx context.Context, api resource.API, model resource.Model) error {
err := validateRegistered(api, model)
if err != nil {
return err
}
m.mu.Lock()
_, ok := m.collections[api]
m.mu.Unlock()
if !ok {
if err := m.addAPIFromRegistry(ctx, api); err != nil {
return err
}
}
apiInfo, ok := resource.LookupGenericAPIRegistration(api)
if !ok {
return errors.Errorf("invariant: registration does not exist for %q", api)
}
if apiInfo.ReflectRPCServiceDesc == nil {
m.logger.Errorf("rpc subtype %s doesn't contain a valid ReflectRPCServiceDesc", api)
}
rpcAPI := resource.RPCAPI{
API: api,
ProtoSvcName: apiInfo.RPCServiceDesc.ServiceName,
Desc: apiInfo.ReflectRPCServiceDesc,
}
m.mu.Lock()
defer m.mu.Unlock()
m.handlers[rpcAPI] = append(m.handlers[rpcAPI], model)
return nil
}
// OperationManager returns the operation manager for the module.
func (m *Module) OperationManager() *operation.Manager {
return m.operations
}
// addConvertedAttributesToConfig uses the MapAttributeConverter to fill in the
// ConvertedAttributes field from the Attributes.
func addConvertedAttributes(cfg *resource.Config) error {
// Try to find map converter for a resource.
reg, ok := resource.LookupRegistration(cfg.API, cfg.Model)
if !ok || reg.AttributeMapConverter == nil {
return nil
}
converted, err := reg.AttributeMapConverter(cfg.Attributes)
if err != nil {
return errors.Wrapf(err, "error converting attributes for resource")
}
cfg.ConvertedAttributes = converted
return nil
}
// validateRegistered returns an error if the passed-in api and model have not
// yet been registered.
func validateRegistered(api resource.API, model resource.Model) error {
resInfo, ok := resource.LookupRegistration(api, model)
if ok && resInfo.Constructor != nil {
return nil
}
return errors.Errorf("resource with API %s and model %s not yet registered", api, model)
}