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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| package config | ||
|
|
||
| import ( | ||
| "context" | ||
| "os" | ||
| "path/filepath" | ||
| "time" | ||
|
|
||
| "github.com/edaniels/golog" | ||
| "github.com/pkg/errors" | ||
| "go.opencensus.io/trace" | ||
| pb "go.viam.com/api/service/slam/v1" | ||
| "google.golang.org/grpc" | ||
| "google.golang.org/grpc/credentials/insecure" | ||
| ) | ||
|
|
||
| // This increases the message size from 4MB to 32MB to match the RDK. | ||
| // This is necessary for transmitting large pointclouds. | ||
| var grpcMaxMessageSize = 32 * 1024 * 1024 | ||
|
|
||
| // SetupDirectories creates the data directory at the specified path along with | ||
| // its data, map, and config subdirectories. | ||
| func SetupDirectories(dataDirectory string, logger golog.Logger) error { | ||
| for _, directoryName := range [4]string{"", "data", "map", "config"} { | ||
| directoryPath := filepath.Join(dataDirectory, directoryName) | ||
| if _, err := os.Stat(directoryPath); err != nil { | ||
| // This error includes the directoryPath | ||
| logger.Warnf("setup directories: %v", err) | ||
| if err := os.Mkdir(directoryPath, os.ModePerm); err != nil { | ||
| return errors.Errorf("issue creating directory at %v: %v", directoryPath, err) | ||
| } | ||
| } | ||
| } | ||
| return nil | ||
| } | ||
|
|
||
| // SetupGRPCConnection uses the defined port to create a GRPC client for communicating with the SLAM algorithms. | ||
| func SetupGRPCConnection( | ||
| ctx context.Context, | ||
| port string, | ||
| dialMaxTimeoutSec int, | ||
| logger golog.Logger, | ||
| ) (pb.SLAMServiceClient, func() error, error) { | ||
| ctx, span := trace.StartSpan(ctx, "slam::SetupGRPCConnection") | ||
| defer span.End() | ||
| ctx, timeoutCancel := context.WithTimeout(ctx, time.Duration(dialMaxTimeoutSec)*time.Second) | ||
| defer timeoutCancel() | ||
| maxMsgSizeOption := grpc.WithDefaultCallOptions(grpc.MaxCallRecvMsgSize(grpcMaxMessageSize)) | ||
| // TODO: If we support running SLAM in the cloud, we need to pass credentials to this function | ||
| connLib, err := grpc.DialContext(ctx, port, grpc.WithTransportCredentials(insecure.NewCredentials()), grpc.WithBlock(), maxMsgSizeOption) | ||
| if err != nil { | ||
| logger.Errorw("error connecting to slam process", "error", err) | ||
| return nil, nil, err | ||
| } | ||
| return pb.NewSLAMServiceClient(connLib), connLib.Close, err | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| package config | ||
|
|
||
| import ( | ||
| "context" | ||
| "fmt" | ||
| "net" | ||
| "os" | ||
| "testing" | ||
|
|
||
| "github.com/edaniels/golog" | ||
| "github.com/pkg/errors" | ||
| "go.viam.com/test" | ||
| "google.golang.org/grpc" | ||
| ) | ||
|
|
||
| func setupTestGRPCServer(tb testing.TB) (*grpc.Server, int) { | ||
| listener, err := net.Listen("tcp", ":0") | ||
| test.That(tb, err, test.ShouldBeNil) | ||
| grpcServer := grpc.NewServer() | ||
| go grpcServer.Serve(listener) | ||
|
|
||
| return grpcServer, listener.Addr().(*net.TCPAddr).Port | ||
| } | ||
|
|
||
| func TestGRPCConnection(t *testing.T) { | ||
| logger := golog.NewTestLogger(t) | ||
| t.Run("Invalid grpc connection", func(t *testing.T) { | ||
| port := "invalid_unused_port:0" | ||
| _, _, err := SetupGRPCConnection(context.Background(), port, 1, logger) | ||
| test.That(t, err, test.ShouldBeError, errors.New("context deadline exceeded")) | ||
| }) | ||
| t.Run("Valid grpc connection", func(t *testing.T) { | ||
| // Setup grpc server and attempt to connect to that one | ||
| grpcServer, portNum := setupTestGRPCServer(t) | ||
| defer grpcServer.Stop() | ||
| port := fmt.Sprintf(":%d", portNum) | ||
| _, _, err := SetupGRPCConnection(context.Background(), port, 1, logger) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| }) | ||
| } | ||
|
|
||
| func TestSetupDirectories(t *testing.T) { | ||
| logger := golog.NewTestLogger(t) | ||
| t.Run("Valid directories", func(t *testing.T) { | ||
| tempDir, err := os.MkdirTemp("", "*") | ||
| defer os.RemoveAll(tempDir) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| err = SetupDirectories(tempDir, logger) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| // Ensure that all of the directories have been created | ||
| _, errData := os.Stat(tempDir + "/data") | ||
| test.That(t, errData, test.ShouldBeNil) | ||
| _, errMap := os.Stat(tempDir + "/map") | ||
| test.That(t, errMap, test.ShouldBeNil) | ||
| _, errConfig := os.Stat(tempDir + "/config") | ||
| test.That(t, errConfig, test.ShouldBeNil) | ||
| // Ensure that the tests work | ||
| _, errFoo := os.Stat(tempDir + "/foodir") | ||
| test.That(t, errFoo, test.ShouldBeError) | ||
| }) | ||
| t.Run("Invalid permissions", func(t *testing.T) { | ||
| tempDir, err := os.MkdirTemp("", "*") | ||
| test.That(t, err, test.ShouldBeNil) | ||
| defer os.RemoveAll(tempDir) | ||
| noPermsDir := tempDir + "/no_permissions" | ||
| // create a directory in the temp folder | ||
| // that doesn't have write permissions | ||
| // in rwx format: --- --- --- | ||
| err = os.Mkdir(noPermsDir, 0o000) | ||
| test.That(t, err, test.ShouldBeNil) | ||
| err = SetupDirectories(noPermsDir, logger) | ||
| test.That(t, fmt.Sprint(err), test.ShouldContainSubstring, "issue creating directory at") | ||
| }) | ||
| } |
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