RSDK-11067: remove resource on alwaysrebuild (viamrobotics#458)

Author: lia-viam

src/viam/sdk/module/service.cpp

@@ -83,7 +83,8 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
             } catch (const std::exception& exc) {
                 return grpc::Status(::grpc::INTERNAL, exc.what());
             }
-        };
+        }
+
         try {
             parent.server_->add_resource(res, ctx->deadline());
         } catch (const std::exception& exc) {
@@ -129,16 +130,18 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
         }
 
         const std::shared_ptr<const ModelRegistration> reg =
-            Registry::get().lookup_model(cfg.name());
+            Registry::get().lookup_model(cfg.api(), cfg.model());
 
-        // TODO RSDK-11067 new resource gets constructed while old one is still alive.
-        if (reg) {
-            try {
-                const std::shared_ptr<Resource> resource = reg->construct_resource(deps, cfg);
-                manager->replace_one(cfg.resource_name(), resource);
-            } catch (const std::exception& exc) {
-                return grpc::Status(::grpc::INTERNAL, exc.what());
-            }
+        if (!reg) {
+            return grpc::Status(::grpc::INTERNAL,
+                                "Unable to rebuild resource: model registration not found");
+        }
+
+        try {
+            std::shared_ptr<Resource> resource = reg->construct_resource(deps, cfg);
+            manager->replace_one(cfg.resource_name(), std::move(resource));
+        } catch (const std::exception& exc) {
+            return grpc::Status(::grpc::INTERNAL, exc.what());
         }
 
         return grpc::Status();

src/viam/sdk/resource/resource_manager.cpp

@@ -108,6 +108,7 @@ void ResourceManager::do_remove(const Name& name) {
             ErrorCondition::k_resource_not_found,
             "Attempted to remove resource " + name.to_string() + " but it didn't exist!");
     }
+
     resources_.erase(short_name);
 
     std::string const shortcut = get_shortcut_name(short_name);
@@ -135,8 +136,8 @@ void ResourceManager::remove(const Name& name) {
         do_remove(name);
     } catch (std::exception& exc) {
         VIAM_SDK_LOG(error) << "unable to remove resource: " << exc.what();
-    };
-};
+    }
+}
 
 void ResourceManager::replace_one(const Name& name, std::shared_ptr<Resource> resource) {
     const std::lock_guard<std::mutex> lock(lock_);