RSDK-3030 - Refactor registry

.github/workflows/docs.yml

@@ -17,10 +17,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v3
-      
+
       - name: install Doxygen
         uses: ssciwr/doxygen-install@v1
-        
+
       - name: create path
         run: mkdir -p etc/docs/api/current
 

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

@@ -37,10 +37,10 @@ int main() {
     std::string address(uri);
     Options options(1, opts);
 
-    // Register custom gizmo and summation API so robot client can access resources
+    // Register custom gizmo and summation clients so robot client can access resources
     // of that type from the server.
-    Registry::register_resource(API::get<Gizmo>(), Gizmo::resource_registration());
-    Registry::register_resource(API::get<Summation>(), Summation::resource_registration());
+    Registry::register_resource_client<GizmoClient>();
+    Registry::register_resource_client<SummationClient>();
 
     // Connect to robot.
     std::shared_ptr<RobotClient> robot = RobotClient::at_address(address, options);

src/viam/examples/modules/complex/gizmo/api.cpp

@@ -16,35 +16,6 @@
 using namespace viam::sdk;
 using namespace viam::component::gizmo::v1;
 
-/* GizmoRegistration methods */
-
-GizmoRegistration::GizmoRegistration(const google::protobuf::ServiceDescriptor* service_descriptor)
-    : ResourceRegistration(service_descriptor){};
-
-std::shared_ptr<ResourceServer> GizmoRegistration::create_resource_server(
-    std::shared_ptr<ResourceManager> manager, Server& server) {
-    auto gs = std::make_shared<GizmoServer>(std::move(manager));
-    server.register_service(gs.get());
-    return gs;
-};
-
-std::shared_ptr<Resource> GizmoRegistration::create_rpc_client(
-    std::string name, std::shared_ptr<grpc::Channel> chan) {
-    return std::make_shared<GizmoClient>(std::move(name), std::move(chan));
-};
-
-/* Gizmo methods */
-
-std::shared_ptr<ResourceRegistration> Gizmo::resource_registration() {
-    const google::protobuf::DescriptorPool* p = google::protobuf::DescriptorPool::generated_pool();
-    const google::protobuf::ServiceDescriptor* sd =
-        p->FindServiceByName(GizmoService::service_full_name());
-    if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the gizmo service");
-    }
-    return std::make_shared<GizmoRegistration>(sd);
-}
-
 API Gizmo::api() const {
     return API::get<Gizmo>();
 }
@@ -68,7 +39,7 @@ grpc::Status GizmoServer::DoOne(grpc::ServerContext* context,
                             "Called [Gizmo::DoOne] without a request");
     };
 
-    auto rg = ResourceServer::resource_manager()->resource(request->name());
+    auto rg = resource_manager()->resource(request->name());
     if (!rg) {
         return grpc::Status(grpc::UNKNOWN, "resource not found: " + request->name());
     }

src/viam/examples/modules/complex/gizmo/api.hpp

@@ -15,22 +15,9 @@
 using namespace viam::sdk;
 using namespace viam::component::gizmo::v1;
 
-// `GizmoRegistration` Defines a `ResourceRegistration` for the `Gizmo`
-// component.
-class GizmoRegistration : public ResourceRegistration {
-   public:
-    explicit GizmoRegistration(const google::protobuf::ServiceDescriptor* service_descriptor);
-    std::shared_ptr<ResourceServer> create_resource_server(std::shared_ptr<ResourceManager> manager,
-                                                           Server& server) override;
-    std::shared_ptr<Resource> create_rpc_client(std::string name,
-                                                std::shared_ptr<grpc::Channel> chan) override;
-};
-
 // `Gizmo` is a custom modular component.
 class Gizmo : public Component {
    public:
-    // methods shared across all components
-    static std::shared_ptr<ResourceRegistration> resource_registration();
     API api() const override;
 
     virtual bool do_one(std::string arg1) = 0;
@@ -53,6 +40,7 @@ struct API::traits<Gizmo> {
 // `GizmoClient` is the gRPC client implementation of a `Gizmo` component.
 class GizmoClient : public Gizmo {
    public:
+    using interface_type = Gizmo;
     GizmoClient(std::string name, std::shared_ptr<grpc::Channel> channel);
 
     bool do_one(std::string arg1) override;
@@ -70,6 +58,8 @@ class GizmoClient : public Gizmo {
 // `GizmoServer` is the gRPC server implementation of a `Gizmo` component.
 class GizmoServer : public ResourceServer, public GizmoService::Service {
    public:
+    using interface_type = Gizmo;
+    using service_type = GizmoService;
     explicit GizmoServer(std::shared_ptr<ResourceManager> manager);
 
     grpc::Status DoOne(grpc::ServerContext* context,

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

@@ -28,36 +28,29 @@
 using namespace viam::sdk;
 
 int main(int argc, char** argv) {
-    API base_api = API::get<Base>();
     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>();
+
     std::shared_ptr<ModelRegistration> mybase_mr = std::make_shared<ModelRegistration>(
-        base_api,
+        API::get<Base>(),
         mybase_model,
         [](Dependencies deps, ResourceConfig cfg) { return std::make_unique<MyBase>(deps, cfg); },
         MyBase::validate);
 
-    API gizmo_api = API::get<Gizmo>();
     Model mygizmo_model("viam", "gizmo", "mygizmo");
-    // Make sure to explicity register resources with custom APIs. Note that
-    // this must be done in `main` and not in resource implementation files due
-    // to order of static initialization.
-    Registry::register_resource(gizmo_api, Gizmo::resource_registration());
     std::shared_ptr<ModelRegistration> mygizmo_mr = std::make_shared<ModelRegistration>(
-        gizmo_api,
+        API::get<Gizmo>(),
         mygizmo_model,
         [](Dependencies deps, ResourceConfig cfg) { return std::make_unique<MyGizmo>(deps, cfg); },
         MyGizmo::validate);
 
-    API summation_api = API::get<Summation>();
     Model mysummation_model("viam", "summation", "mysummation");
-    // Make sure to explicity register resources with custom APIs. Note that
-    // this must be done in `main` and not in resource implementation files due
-    // to order of static initialization.
-    Registry::register_resource(summation_api, Summation::resource_registration());
 
     std::shared_ptr<ModelRegistration> mysummation_mr = std::make_shared<ModelRegistration>(
-        summation_api, mysummation_model, [](Dependencies deps, ResourceConfig cfg) {
+        API::get<Summation>(), mysummation_model, [](Dependencies deps, ResourceConfig cfg) {
             return std::make_unique<MySummation>(deps, cfg);
         });
 

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: a86849a25cc04f4dbe9b15ddddfbc488
-    digest: shake256:e19143328f8cbfe13fc226aeee5e63773ca494693a72740a7560664270039a380d94a1344234b88c7691311460df9a9b1c2982190d0a2612eae80368718e1943
+    commit: 7e6f6e774e29406da95bd61cdcdbc8bc
+    digest: shake256:fe43dd2265ea0c07d76bd925eeba612667cf4c948d2ce53d6e367e1b4b3cb5fa69a51e6acb1a6a50d32f894f054a35e6c0406f6808a483f2752e10c866ffbf73

src/viam/examples/modules/complex/summation/api.cpp

@@ -16,36 +16,6 @@
 using namespace viam::sdk;
 using namespace viam::service::summation::v1;
 
-/* SummationRegistration methods */
-
-SummationRegistration::SummationRegistration(
-    const google::protobuf::ServiceDescriptor* service_descriptor)
-    : ResourceRegistration(service_descriptor){};
-
-std::shared_ptr<ResourceServer> SummationRegistration::create_resource_server(
-    std::shared_ptr<ResourceManager> manager, Server& server) {
-    auto ss = std::make_shared<SummationServer>(std::move(manager));
-    server.register_service(ss.get());
-    return ss;
-};
-
-std::shared_ptr<Resource> SummationRegistration::create_rpc_client(
-    std::string name, std::shared_ptr<grpc::Channel> chan) {
-    return std::make_shared<SummationClient>(std::move(name), std::move(chan));
-};
-
-/* Summation methods */
-
-std::shared_ptr<ResourceRegistration> Summation::resource_registration() {
-    const google::protobuf::DescriptorPool* p = google::protobuf::DescriptorPool::generated_pool();
-    const google::protobuf::ServiceDescriptor* sd =
-        p->FindServiceByName(SummationService::service_full_name());
-    if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the summation service");
-    }
-    return std::make_shared<SummationRegistration>(sd);
-}
-
 API Summation::api() const {
     return API::get<Summation>();
 }

src/viam/examples/modules/complex/summation/api.hpp

@@ -17,22 +17,10 @@
 using namespace viam::sdk;
 using namespace viam::service::summation::v1;
 
-// `SummationRegistration` defines a `ResourceRegistration` for the `Summation`
-// service.
-class SummationRegistration : public ResourceRegistration {
-   public:
-    explicit SummationRegistration(const google::protobuf::ServiceDescriptor* service_descriptor);
-    std::shared_ptr<ResourceServer> create_resource_server(std::shared_ptr<ResourceManager> manager,
-                                                           Server& server) override;
-    std::shared_ptr<Resource> create_rpc_client(std::string name,
-                                                std::shared_ptr<grpc::Channel> chan) override;
-};
-
 // A `Summation` is a custom modular service.
 class Summation : public Service {
    public:
     // methods shared across all services
-    static std::shared_ptr<ResourceRegistration> resource_registration();
     API api() const override;
 
     virtual double sum(std::vector<double> numbers) = 0;
@@ -52,6 +40,7 @@ struct API::traits<Summation> {
 // service.
 class SummationClient : public Summation {
    public:
+    using interface_type = Summation;
     SummationClient(std::string name, std::shared_ptr<grpc::Channel> channel);
 
     double sum(std::vector<double> numbers) override;
@@ -66,6 +55,8 @@ class SummationClient : public Summation {
 // service.
 class SummationServer : public ResourceServer, public SummationService::Service {
    public:
+    using interface_type = Summation;
+    using service_type = SummationService;
     explicit SummationServer(std::shared_ptr<ResourceManager> manager);
 
     grpc::Status Sum(grpc::ServerContext* context,

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

@@ -26,8 +26,8 @@ using namespace viam::sdktests;
 
 struct RegisterGizmoAndSummationFixture {
     RegisterGizmoAndSummationFixture() {
-        Registry::register_resource(API::get<Gizmo>(), Gizmo::resource_registration());
-        Registry::register_resource(API::get<Summation>(), Summation::resource_registration());
+        Registry::register_resource<GizmoClient, GizmoServer>();
+        Registry::register_resource<SummationClient, SummationServer>();
     }
 
     // Test teardown is a noop;

src/viam/sdk/CMakeLists.txt

@@ -36,13 +36,6 @@ endif()
 
 target_sources(viamsdk
   PRIVATE
-    # TODO(RSDK-1742): we have to put `registry` up top here because we need the
-    # registry types to be defined first, before anything tries to init them.
-    # this obviously isn't great. it breaks up stylistic ordering and is brittle
-    # when we need to add updates. we should refactor to make this unnecessary.
-    # consider making all necessary runtime values a single `context` that has to
-    # be initialized within main before anything else happens?
-    registry/registry.cpp
     common/client_helper.cpp
     common/linear_algebra.cpp
     common/pose.cpp
@@ -87,6 +80,7 @@ target_sources(viamsdk
     module/service.cpp
     module/signal_manager.cpp
     referenceframe/frame.cpp
+    registry/registry.cpp
     resource/resource.cpp
     resource/resource_api.cpp
     resource/resource_manager.cpp

src/viam/sdk/common/utils.cpp

@@ -28,8 +28,8 @@ std::vector<ResourceName> resource_names_for_resource(const std::shared_ptr<Reso
     std::string resource_type;
     std::string resource_subtype;
     std::vector<ResourceName> resource_names;
-    for (auto& kv : Registry::registered_models()) {
-        const std::shared_ptr<ModelRegistration> reg = kv.second;
+    for (const auto& kv : Registry::registered_models()) {
+        const std::shared_ptr<const ModelRegistration> reg = kv.second;
         if (reg->api().to_string() == resource->api().to_string()) {
             resource_type = reg->api().resource_type();
             resource_subtype = reg->api().resource_subtype();

src/viam/sdk/components/base/base.cpp

@@ -6,39 +6,11 @@
 #include <viam/api/component/base/v1/base.pb.h>
 
 #include <viam/sdk/common/utils.hpp>
-#include <viam/sdk/components/base/client.hpp>
-#include <viam/sdk/components/base/server.hpp>
-#include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 
 namespace viam {
 namespace sdk {
 
-BaseRegistration::BaseRegistration(const google::protobuf::ServiceDescriptor* service_descriptor)
-    : ResourceRegistration(service_descriptor){};
-
-std::shared_ptr<ResourceServer> BaseRegistration::create_resource_server(
-    std::shared_ptr<ResourceManager> manager, Server& server) {
-    auto bs = std::make_shared<BaseServer>(manager);
-    server.register_service(bs.get());
-    return bs;
-};
-
-std::shared_ptr<Resource> BaseRegistration::create_rpc_client(std::string name,
-                                                              std::shared_ptr<grpc::Channel> chan) {
-    return std::make_shared<BaseClient>(std::move(name), std::move(chan));
-};
-
-std::shared_ptr<ResourceRegistration> Base::resource_registration() {
-    const google::protobuf::DescriptorPool* p = google::protobuf::DescriptorPool::generated_pool();
-    const google::protobuf::ServiceDescriptor* sd =
-        p->FindServiceByName(viam::component::base::v1::BaseService::service_full_name());
-    if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor for the base service");
-    }
-    return std::make_shared<BaseRegistration>(sd);
-}
-
 API Base::api() const {
     return API::get<Base>();
 }
@@ -68,15 +40,5 @@ bool operator==(const Base::properties& lhs, const Base::properties& rhs) {
 
 Base::Base(std::string name) : Component(std::move(name)){};
 
-namespace {
-bool init() {
-    Registry::register_resource(API::get<Base>(), Base::resource_registration());
-    return true;
-};
-
-// NOLINTNEXTLINE
-const bool inited = init();
-}  // namespace
-
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/components/base/base.hpp

@@ -11,27 +11,13 @@
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/config/resource.hpp>
-#include <viam/sdk/registry/registry.hpp>
-#include <viam/sdk/resource/resource_manager.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 
 namespace viam {
 namespace sdk {
 
 /// @defgroup Base Classes related to the Base component.
 
-/// @class BaseRegistration
-/// @brief Defines a `ResourceRegistration` for the `Base` component.
-/// @ingroup Base
-class BaseRegistration : public ResourceRegistration {
-   public:
-    explicit BaseRegistration(const google::protobuf::ServiceDescriptor* service_descriptor);
-    std::shared_ptr<ResourceServer> create_resource_server(std::shared_ptr<ResourceManager> manager,
-                                                           Server& server) override;
-    std::shared_ptr<Resource> create_rpc_client(std::string name,
-                                                std::shared_ptr<grpc::Channel> chan) override;
-};
-
 /// @class Base base.hpp "components/base/base.hpp"
 /// @brief A `Base` is the platform that the other parts of a mobile robot attach to.
 /// @ingroup Base
@@ -52,9 +38,6 @@ class Base : public Component, public Stoppable {
     friend std::ostream& operator<<(std::ostream& os, const properties& v);
     friend bool operator==(const properties& lhs, const properties& rhs);
 
-    // functions shared across all components
-    static std::shared_ptr<ResourceRegistration> resource_registration();
-
     /// @brief Move a robot's base in a straight line by a given distance. This method blocks
     /// until completed or cancelled
     /// @param distance_mm Desired travel distance in millimeters

src/viam/sdk/components/base/client.hpp

@@ -22,6 +22,7 @@ namespace sdk {
 /// @ingroup Base
 class BaseClient : public Base {
    public:
+    using interface_type = Base;
     BaseClient(std::string name, std::shared_ptr<grpc::Channel> channel);
     void move_straight(int64_t distance_mm, double mm_per_sec, const AttributeMap& extra) override;
     void spin(double angle_deg, double degs_per_sec, const AttributeMap& extra) override;