RSDK-9780 - Tunneling over grpc #4745
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works better working checkpoint update go mod another checkpoint cleanup fix go mod fix parse refactor minor refactor move tunnel example, final set of changes move log location some fixes doc
viambot
added
the
safe to test
cheukt
commented
Jan 24, 2025
| cancel() | ||
| // We do close the connection to unblock the reader/sender loop, which is not clean | ||
| // but there isn't a cleaner way to exit from the reader/sender loop. | ||
| err = conn.Close() |
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I don't like that I have to close the connection here in order for reader.Read in ReaderSenderLoop to exit, but not sure if there are better options here.
cheukt
commented
Jan 24, 2025
| @@ -1190,6 +1192,64 @@ func (rc *RobotClient) Version(ctx context.Context) (robot.VersionResponse, erro | |||
| return mVersion, nil | |||
| } | |||
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| // Tunnel tunnels data to/from the read writer from/to the destination port on the server. This | |||
| // function will close the connection passed in as part of cleanup. | |||
| func (rc *RobotClient) Tunnel(ctx context.Context, conn net.Conn, dest int) error { | |||
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I may add this to the Robot interface, but since this is only useful in the client and doesn't touch the Robot in anyway, I'm inclined to keep it out for now
viambot
added
safe to test
viambot
added
safe to test
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still working on a small test for the helpers, but wanted to get some feedback early
I was able to run a server on windows and use remote desktop with no issues.
Also able to share both reader/sender and receiver/writer loops in the client/server implementations.
corresponding API PR at viamrobotics/api#623