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RSDK-10305 resources should support close #387

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RSDK-10305 resources should support close #387

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3d9579c
close support
stuqdog Mar 21, 2025
2cac88c
close resource when rebuilding in module reconfigure
stuqdog Mar 21, 2025
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1 change: 1 addition & 0 deletions src/viam/sdk/module/service.cpp
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Expand Up @@ -115,6 +115,7 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
Registry::get().lookup_model(cfg.name());
if (reg) {
try {
res->close();
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@randhid per what you were discussing in slack, if we're trying to reconfigure a modular resource that doesn't implement reconfigure we will now 1) stop it if it's stoppable, 2) call its close method always, and then 3) rebuild it

const std::shared_ptr<Resource> res = reg->construct_resource(deps, cfg);
manager->replace_one(cfg.resource_name(), res);
} catch (const std::exception& exc) {
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3 changes: 3 additions & 0 deletions src/viam/sdk/resource/resource.cpp
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Expand Up @@ -26,5 +26,8 @@ Name Resource::get_resource_name() const {
return get_resource_name(kResource);
}

// default behavior is to just return
void Resource::close() {}
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@randhid this was the implementation detail I wanted to run by you. looking at golang, the default behavior for close is a no-op. is that desired here as well?

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Is it true that that is the default behaviour? Mind pointing me to where you are seeing that?

My experience is needing to opt-into the no-op behaviour by embedding a resource.TriviallyCloseable in my resource class, or opting into always rebuild behaviour by including resource.AlwaysRebuild, my understanding hwne having to implement go modules is to have to implement close using those two or a Close implementation, or it just won't build.

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Ahh no, I'm mistaken. The default is a no-op for the TriviallyCloseable specifically, you are correct!

by embedding a resource.TriviallyCloseable in my resource class, or opting into always rebuild behaviour by including resource.AlwaysRebuild

I think I'm a little confused by this, how does AlwaysRebuild affect the Close behavior? since a Resource needs to define Close and Close could certainly be called outside the context of a Reconfigure, doesn't including AlwaysRebuild still require us to define Close?

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I'm sorry I should have been clearer. I was trying to explain that there are two embeddings available from the resource package: TriviallyCloseable, which provides a no-op closer, and AlwaysRebuild, which forces a close and rebuild flow. You are correct - AlwaysRebuild requires you to implement a Close.


} // namespace sdk
} // namespace viam
3 changes: 3 additions & 0 deletions src/viam/sdk/resource/resource.hpp
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Expand Up @@ -25,6 +25,9 @@ class Resource {
/// @brief Return the resource's name.
virtual std::string name() const;

/// @brief Closes a resource
virtual void close();

private:
std::string name_;

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