Merge branch 'main' into fix/conan

Author: lia-viam

CMakeLists.txt

@@ -324,7 +324,11 @@ set(VIAMCPPSDK_XTL_VERSION_MINIMUM 0.7.2)
 set(VIAMCPPSDK_XTENSOR_VERSION_MINIMUM 0.24.3)
 
 # Time to find `BOOST`.
-find_package(Boost ${VIAMCPPSDK_BOOST_VERSION_MINIMUM} REQUIRED COMPONENTS headers log program_options)
+if (VIAMCPPSDK_BUILD_TESTS)
+  set(VIAMCPPSDK_BOOST_TEST "unit_test_framework")
+endif()
+
+find_package(Boost ${VIAMCPPSDK_BOOST_VERSION_MINIMUM} REQUIRED COMPONENTS headers log program_options ${VIAMCPPSDK_BOOST_TEST})
 
 # Time to find `protobuf` and `gRPC[++]`. Normally this would just be
 # something like `find_package(gRPC <version> CONFIG REQUIRED)`, and

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
@@ -37,8 +42,8 @@ int main() {
 
     // Register custom gizmo and summation clients so robot client can access resources
     // of that type from the server.
-    Registry::register_resource_client<GizmoClient>();
-    Registry::register_resource_client<SummationClient>();
+    Registry::get().register_resource_client<GizmoClient>();
+    Registry::get().register_resource_client<SummationClient>();
 
     // Connect to robot.
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);

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::register_resource_server<GizmoServer>();
-    Registry::register_resource_server<SummationServer>();
+    Registry::get().register_resource_server<GizmoServer>();
+    Registry::get().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::register_resource<GizmoClient, GizmoServer>();
-        Registry::register_resource<SummationClient, SummationServer>();
+        auto& registry = Registry::get();
+        registry.register_resource<GizmoClient, GizmoServer>();
+        registry.register_resource<SummationClient, SummationServer>();
     }
 
     // Test teardown is a noop;

src/viam/examples/modules/simple/README.md

@@ -1,10 +1,10 @@
 # VIAM Simple Module Example
-This example goes through how to create custom modular resources using Viam's C++ SDK, and how to connect it to a Robot.
+This example goes through how to create custom modular resources using Viam's C++ SDK, and how to connect it to a machine.
 
 This is a limited document. For a more in-depth understanding of modules, see the [documentation](https://docs.viam.com/registry/).
 
 ## Purpose
-Modular resources allow you to define custom components and services and add them to your robot. Viam ships with many component types, but you're not limited to only using those types -- you can create your own using modules.
+Modular resources allow you to define custom components and services and add them to your machine. Viam ships with many component types, but you're not limited to only using those types -- you can create your own using modules.
 
 For more information, see the [documentation](https://docs.viam.com/registry/). For a more complex example, take a look at the [complex module example](https://github.com/viamrobotics/viam-cpp-sdk/tree/main/src/viam/examples/modules/complex), which contains multiple new APIs and custom resource models.
 
@@ -17,12 +17,12 @@ The validator function can throw errors that are triggered due to errors in the
 
 The reconfiguration method reconfigures the resource based on the new configuration passed in.
 
-When simple_module is run, the main function creates and starts the module. Read further to learn how to connect this module to your robot.
+When simple_module is run, the main function creates and starts the module. Read further to learn how to connect this module to your machine.
 
 ## Configuring and using the module
-The `simple_module` binary generated after building is the entrypoint for this module. To connect this module with your robot, you must add this module's entrypoint to the robot's config. For example, this could be `/home/viam-cpp-sdk/build/install/bin/simple_module`. See the [documentation](https://docs.viam.com/registry/configure/#add-a-local-module) for more details.
+The `simple_module` binary generated after building is the entrypoint for this module. To connect this module with your machine, you must add this module's entrypoint to the machine's config. For example, this could be `/home/viam-cpp-sdk/build/install/bin/simple_module`. See the [documentation](https://docs.viam.com/registry/configure/#add-a-local-module) for more details.
 
-Once the module has been added to your robot, you will then need to add a component that uses the `viam:sensor:mysensor` model. See the [documentation](https://docs.viam.com/registry/configure/#add-a-local-modular-resource) for more details.
+Once the module has been added to your machine, you will then need to add a component that uses the `viam:sensor:mysensor` model. See the [documentation](https://docs.viam.com/registry/configure/#add-a-local-modular-resource) for more details.
 
 An example configuration for our sensor could look like this:
 ```json{

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 +11,10 @@
 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