revert and adapt examples

Author: lia-viam

src/viam/examples/camera/example_camera.cpp

@@ -3,6 +3,7 @@
 #include <unistd.h>
 #include <vector>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/components/camera.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/rpc/dial.hpp>
@@ -13,6 +14,11 @@ int main() {
     using std::endl;
     namespace vs = ::viam::sdk;
     try {
+        // Every Viam C++ SDK program must have one and only one Instance object which is created
+        // before
+        // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+        vs::Instance inst;
+
         // If you want to connect to a remote robot, this should be the url of the robot
         // Ex: xxx.xxx.viam.cloud
         std::string robot_address("localhost:8080");

src/viam/examples/dial/example_dial.cpp

@@ -9,13 +9,18 @@
 
 #include <boost/optional.hpp>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/components/generic.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 
 using namespace viam::sdk;
 
 int main() {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    Instance inst;
+
     const char* uri = "<your robot URI here>";
     DialOptions dial_options;
     std::string type = "<your authentication type>";

src/viam/examples/dial_api_key/example_dial_api_key.cpp

@@ -10,6 +10,7 @@
 #include <boost/optional.hpp>
 #include <boost/program_options.hpp>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/rpc/dial.hpp>
 
@@ -18,6 +19,10 @@ using namespace viam::sdk;
 namespace po = boost::program_options;
 
 int main(int argc, char* argv[]) {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    Instance inst;
+
     po::options_description desc("Allowed options");
     desc.add_options()("help", "List options and exit")(
         "uri", po::value<std::string>(), "URI of robot")(

src/viam/examples/mlmodel/example_audio_classification_client.cpp

@@ -29,6 +29,7 @@
 #include <boost/program_options.hpp>
 #include <boost/variant/get.hpp>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/services/mlmodel.hpp>
 
@@ -78,6 +79,10 @@ constexpr char kRobotConfigTemplate[] = R"(
 }  // namespace
 
 int main(int argc, char* argv[]) try {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    viam::sdk::Instance inst;
+
     // Build up our command line options. The example operates in two
     // modes. In the "--generate" mode, it takes command line
     // parameters needed to satisfy the interpolation points in the

src/viam/examples/modules/complex/client.cpp

@@ -11,6 +11,7 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/support/status.h>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/components/motor.hpp>
 #include <viam/sdk/robot/client.hpp>
 #include <viam/sdk/rpc/dial.hpp>
@@ -21,6 +22,10 @@
 using namespace viam::sdk;
 
 int main() {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    Instance inst;
+
     const char* uri = "http://localhost:8080/";  // replace with your URI if connecting securely
     DialOptions dial_options;
     dial_options.set_allow_insecure_downgrade(true);  // set to false if connecting securely

src/viam/examples/modules/complex/main.cpp

@@ -5,6 +5,7 @@
 #include <grpcpp/grpcpp.h>
 #include <grpcpp/server_context.h>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/components/base.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -24,11 +25,15 @@
 using namespace viam::sdk;
 
 int main(int argc, char** argv) {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    Instance inst;
+
     Model mybase_model("viam", "base", "mybase");
 
     // Make sure to explicity register resources with custom APIs.
-    Registry::get().register_resource_server<GizmoServer>();
-    Registry::get().register_resource_server<SummationServer>();
+    inst.registry()->register_resource_server<GizmoServer>();
+    inst.registry()->register_resource_server<SummationServer>();
 
     std::shared_ptr<ModelRegistration> mybase_mr = std::make_shared<ModelRegistration>(
         API::get<Base>(),

src/viam/examples/modules/complex/test_complex_module.cpp

@@ -24,8 +24,9 @@ using namespace viam::sdktests;
 
 struct RegisterGizmoAndSummationFixture {
     RegisterGizmoAndSummationFixture() {
-        Registry::get().register_resource<GizmoClient, GizmoServer>();
-        Registry::get().register_resource<SummationClient, SummationServer>();
+        auto* registry = Instance::current().registry();
+        registry->register_resource<GizmoClient, GizmoServer>();
+        registry->register_resource<SummationClient, SummationServer>();
     }
 
     // Test teardown is a noop;

src/viam/examples/modules/simple/client.cpp

@@ -2,6 +2,7 @@
 #include <memory>
 #include <string>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/sensor.hpp>
 #include <viam/sdk/robot/client.hpp>
@@ -10,6 +11,8 @@
 using namespace viam::sdk;
 
 int main() {
+    Instance inst;
+
     const char* uri = "http://localhost:8080/";  // replace with your URI if connecting securely
     DialOptions dial_options;
     dial_options.set_allow_insecure_downgrade(true);  // set to false if connecting securely

src/viam/examples/modules/simple/main.cpp

@@ -3,6 +3,7 @@
 #include <sstream>
 
 #include <viam/sdk/common/exception.hpp>
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/sensor.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -75,6 +76,8 @@ ProtoStruct MySensor::get_readings(const ProtoStruct&) {
 }
 
 int main(int argc, char** argv) try {
+    Instance inst;
+
     Model mysensor_model("viam", "sensor", "mysensor");
 
     std::shared_ptr<ModelRegistration> mr = std::make_shared<ModelRegistration>(

src/viam/examples/modules/tflite/main.cpp

@@ -23,6 +23,7 @@
 
 #include <tensorflow/lite/c/c_api.h>
 
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -723,6 +724,10 @@ class MLModelServiceTFLite : public vsdk::MLModelService,
 };
 
 int serve(const std::string& socket_path) try {
+    // Every Viam C++ SDK program must have one and only one Instance object which is created before
+    // any other C++ SDK objects and stays alive until all Viam C++ SDK objects are destroyed.
+    vsdk::Instance inst;
+
     // Create a new model registration for the service.
     auto module_registration = std::make_shared<vsdk::ModelRegistration>(
         // Identify that this resource offers the MLModelService API
@@ -737,10 +742,10 @@ int serve(const std::string& socket_path) try {
         });
 
     // Register the newly created registration with the Registry.
-    vsdk::Registry::register_model(module_registration);
+    inst.registry()->register_model(module_registration);
 
     // Construct the module service and tell it where to place the socket path.
-    auto module_service = std::make_shared<vsdk::ModuleService>(socket_path);
+    auto module_service = std::make_shared<vsdk::ModuleService>(socket_path, inst.registry());
 
     // Add the server as providing the API and model declared in the
     // registration.