RSDK-10579: Robot client update (#425)

Author: lia-viam

src/viam/sdk/common/client_helper.cpp

@@ -23,6 +23,8 @@ bool isStatusCancelled(int status) noexcept {
     return status == ::grpc::StatusCode::CANCELLED;
 }
 
+void set_name(...) {}  // NOLINT(cert-dcl50-cpp)
+
 }  // namespace client_helper_details
 
 ClientContext::ClientContext() : wrapped_context_(std::make_unique<GrpcClientContext>()) {

src/viam/sdk/common/client_helper.hpp

@@ -15,6 +15,19 @@ namespace client_helper_details {
 // Helper function to test equality of status with grpc::StatusCode::CANCELLED.
 bool isStatusCancelled(int status) noexcept;
 
+// Set the mutable name of a request to the client name.
+// This function only participates in overload resolution if the request has a mutable_name method.
+template <typename RequestType,
+          typename ClientType,
+          typename = decltype(&RequestType::mutable_name)>
+void set_name(RequestType* req, const ClientType* client) {
+    *req->mutable_name() = client->name();
+}
+
+// No-op version of set_name above. This overload is only selected if the request type does not have
+// a mutable_name field.
+void set_name(...);
+
 }  // namespace client_helper_details
 
 // the authority on a grpc::ClientContext is sometimes set to an invalid uri on mac, causing
@@ -96,7 +109,7 @@ class ClientHelper {
 
     template <typename ResponseHandlerCallable, typename ErrorHandlerCallable>
     auto invoke(ResponseHandlerCallable&& rhc, ErrorHandlerCallable&& ehc) {
-        *request_.mutable_name() = client_->name();
+        client_helper_details::set_name(&request_, client_);
         ClientContext ctx;
 
         if (debug_key_ != "") {

src/viam/sdk/log/logging.cpp

@@ -133,11 +133,15 @@ void LogManager::init_logging() {
     console_sink_ = boost::make_shared<
         boost::log::sinks::synchronous_sink<boost::log::sinks::text_ostream_backend>>(backend);
 
-    console_sink_->set_filter(Filter{this});
+    boost::log::core::get()->add_sink(console_sink_);
+
     console_sink_->set_formatter(fmt);
+    enable_console_logging();
+}
 
-    boost::log::core::get()->add_sink(console_sink_);
-    VIAM_SDK_LOG(debug) << "Initialized console logging";
+void LogManager::enable_console_logging() {
+    console_sink_->set_filter(Filter{this});
+    VIAM_SDK_LOG(debug) << "Console logging enabled";
 }
 
 void LogManager::disable_console_logging() {

src/viam/sdk/log/logging.hpp

@@ -113,6 +113,7 @@ class LogManager {
     LogManager& operator=(LogManager&&) = delete;
 
     void init_logging();
+    void enable_console_logging();
     void disable_console_logging();
 
     LogSource sdk_logger_;