Fix viam-server, move lifecycle to expander, etc

Author: JessamyT

docs/operate/get-started/other-hardware/_index.md

@@ -51,10 +51,25 @@ For C++ module examples, see the [C++ examples directory on GitHub](https://gith
 {{% /alert %}}
 
 {{< expand "How and where do modules run?" >}}
-Modules run on your machine, alongside [`viam-server`](/operate/reference/viam-server/) as separate processes, communicating with `viam-server` over UNIX sockets.
-
-When a module initializes, it registers its {{< glossary_tooltip term_id="model" text="model or models" >}} and associated [APIs](/dev/reference/apis/) with `viam-server`, making the new model available for use.
-`viam-server` manages the [dependencies](/operate/reference/viam-server/#dependency-management), [start-up](/operate/reference/viam-server/#start-up), [reconfiguration](/operate/reference/viam-server/#reconfiguration), [data management](/data-ai/capture-data/capture-sync/), and [shutdown](/operate/reference/viam-server/#shutdown) behavior of your modular resource.
+Modules run on your machine, alongside `viam-server` as separate processes, communicating with `viam-server` over UNIX sockets.
+
+[`viam-server` manages](/operate/reference/viam-server/) the dependencies, start-up, reconfiguration, [data management](/data-ai/capture-data/capture-sync/), and shutdown behavior of your modular resource.
+
+The lifecycle of a module and the resources it provides is as follows:
+
+1. `viam-server` starts, and if it is connected to the internet, it checks for configuration updates.
+1. `viam-server` starts any configured modules.
+1. When a module initializes, it registers its model or models and associated [APIs](/dev/reference/apis/) with `viam-server`, making the models available for use.
+1. For each modular resource configured on the machine, `viam-server` uses the resource's `validate` function and the `depends_on` field in the resource configuration to determine the dependencies of the resource.
+1. If a dependency is not already running, `viam-server` starts it before starting the resource.
+   If a dependency is not found or fails to start, `viam-server` will not start the resource that depends on it.
+1. `viam-server` builds the resource based on its resource configuration.
+1. If configuration fails due to a validation failure or an exception thrown by the reconfigure function, `viam-server` attempts to reconfigure the resource.
+1. The modular resource is ready to use.
+1. If at any point the user changes the configuration of the machine, `viam-server` reconfigures the affected resources within 15 seconds.
+1. If a resource crashes, `viam-server` attempts to rebuild it.
+1. When `viam-server` shuts down, it attempts to stop all running modules.
+   If a module fails to shut down within 90 seconds, `viam-server` will forcefully kill it after 15 seconds.
 
 For microcontrollers, you must flash a [firmware build that includes the Micro-RDK](/operate/get-started/other-hardware/micro-module/) and one or more modules onto your device.
 {{< /expand >}}
@@ -134,7 +149,7 @@ Authenticate your CLI session with Viam using one of the following options:
 | Language | The language for the module. |
 | Visibility | Choose `Private` to share only with your organization, or `Public` to share publicly with all organizations. If you are testing, choose `Private`. |
 | Namespace/Organization ID | In the [Viam app](https://app.viam.com), navigate to your organization settings through the menu in upper right corner of the page. Find the **Public namespace** (or create one if you haven't already) and copy that string. If you use the organization ID, you must still create a public namespace first. |
-| Resource to add to the module (API) | The [component API](/dev/reference/apis/#component-apis) your module will implement. |
+| Resource to add to the module (API) | The [component API](/dev/reference/apis/#component-apis) your module will implement. See [How to design your module](#how-to-design-your-module) for more information. |
 | Model name | Name your component model based on what it supports, for example, if it supports a model of ultrasonic sensor called "XYZ Sensor 1234" you could call your model `xyz_1234` or similar. Must be all-lowercase and use only alphanumeric characters (`a-z` and `0-9`), hyphens (`-`), and underscores (`_`). |
 | Enable cloud build | If you select `Yes` (recommended) and push the generated files (including the <file>.github</file> folder) and create a release of the format `vX.X.X`, the module will build and upload to the Viam registry and be available for all Viam-supported architectures without you needing to build for each architecture. `Yes` also makes it easier to [upload](#upload-your-module) using PyInstaller by creating a build entrypoint script. You can select `No` if you will always build the module yourself before uploading it. |
 | Register module | Select `Yes` unless you are creating a local-only module for testing purposes and do not intend to upload it. Registering a module makes its name and metadata appear in the Viam app registry page; uploading the actual code that powers the module is a separate step. If you decline to register the module at this point, you can run [`viam module create`](/dev/tools/cli/#module) to register it later. |

docs/operate/get-started/other-hardware/dependencies.md

@@ -7,33 +7,12 @@ type: "docs"
 description: "Handle dependencies in your custom modular resource."
 ---
 
-If you are authoring a module, this page will help you understand how to handle dependencies in your modular resources.
-
-## The lifecycle of a module
-
-An instance of a module runs as a separate process from `viam-server`.
-`viam-server` manages the lifecycle of the module, communicating with it over UNIX sockets.
-The lifecycle of a module and the resources it provides is as follows:
-
-1. `viam-server` starts, and if it is connected to the internet, it checks for configuration updates.
-1. `viam-server` starts any configured modules.
-1. For each modular resource configured on the machine, `viam-server` uses the resource's `validate` function and the `depends_on` field in the resource configuration to determine the dependencies of the resource.
-1. If a dependency is not already running, `viam-server` starts it before starting the resource.
-1. `viam-server` builds the resource based on its configuration.
-1. If the configuration fails, `viam-server` attempts to reconfigure the resource.
-1. The modular resource is ready to use.
-1. If at any point the user changes the configuration of the machine, `viam-server` reconfigures the affected resources.
-1. If a resource crashes, `viam-server` attempts to rebuild it.
-1. When `viam-server` shuts down, it attempts to stop all running modules.
-
-## What are dependencies?
-
 Dependencies are other {{< glossary_tooltip term_id="resource" text="resources" >}} that your modular resource needs to access in order to function.
 For example, a vision service might depend on a camera component, meaning that the camera is a dependency of that vision service.
 
-When `viam-server` builds all the resources on a machine, it builds the dependencies first.
+When [`viam-server` builds all the resources on a machine](/operate/get-started/other-hardware/#how-and-where-do-modules-run), it builds the dependencies first.
 
-### Implicit versus explicit dependencies
+## Implicit versus explicit dependencies
 
 - **Implicit dependencies** require users to configure a named attribute (for example `"left-motor": "motor1"`).
 
@@ -68,7 +47,8 @@ For example, you cannot call `Camera.from_robot()` to get a camera resource.
 
 Instead, you must access dependencies by writing your module code as follows:
 
-### Use implicit dependencies
+{{< tabs >}}
+{{% tab name="Use implicit dependencies" %}}
 
 {{< tabs >}}
 {{% tab name="Python" %}}
@@ -205,7 +185,8 @@ If you need to maintain the state of your resource, see [(Optional) Create and e
 {{% /tab %}}
 {{< /tabs >}}
 
-### Use explicit dependencies
+{{% /tab %}}
+{{% tab name="Use explicit dependencies" %}}
 
 {{< tabs >}}
 {{% tab name="Python" %}}
@@ -244,8 +225,13 @@ func (cfg *Config) Validate(path string) ([]string, error) {
 {{% /tab %}}
 {{< /tabs >}}
 
+{{% /tab %}}
+{{< /tabs >}}
+
 {{% hiddencontent %}}
 There is not currently an SDK method to access configuration attributes of dependencies in Python or Go, but in Python it is possible to use `get_robot_part` to return information including the whole configuration of a machine part, and then access the configuration attributes of the dependency from there.
 {{% /hiddencontent %}}
 
 ## Configure your module's dependencies more easily with a discovery service
+
+If your module requires dependencies, you can make it easier for users to configure them by writing a [discovery service](/operate/reference/services/discovery/) as one model within your module.

docs/operate/reference/viam-server/_index.md

@@ -37,7 +37,7 @@ Overall, `viam-server` manages:
 
 ## Dependency management
 
-`viam-server` handles dependency management between resources.
+`viam-server` handles [dependency](/operate/get-started/other-hardware/dependencies/) management between resources.
 
 ## Start-up
 
@@ -50,7 +50,7 @@ After start-up, `viam-server` manages:
 - the running services, and
 - the {{< glossary_tooltip term_id="module" text="modules" >}} that provide the {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}}.
 
-### Reconfiguration
+## Reconfiguration
 
 When you or your collaborators change the configuration of a machine in the Viam app, `viam-server` automatically synchronizes the configuration to your machine and updates the running resources within 15 seconds.
 This means you can add, modify, and remove a modular resource instance from a running machine.
@@ -67,7 +67,7 @@ If you want to force a reconfiguration of a resource, you can click the **Disabl
 Alternatively, if you are having issues with a module, try the **Restart module** button in the module menu.
 {{% /hiddencontent %}}
 
-### Maintenance window
+## Maintenance window
 
 There are a few updates that may make your machine temporarily unavailable:
 
@@ -108,7 +108,7 @@ maintenance : {
 | `sensor_name` | string | **Required** | The full name of the sensor that provides the information if it is safe to update a machine's configuration. For example `rdk:component:sensor/sensor1`. |
 | `maintenance_allowed_key` | string | **Required** | The key of the key value pair for the reading returned by the sensor. |
 
-### Logging
+## Logging
 
 Log messages appear under the [**LOGS** tab](/manage/troubleshoot/troubleshoot/#check-logs) for a machine.
 
@@ -191,7 +191,7 @@ If log configurations are applied at a resource level using the `log_configurati
 
 {{% /expand%}}
 
-#### Disable log deduplication
+### Disable log deduplication
 
 By default, `viam-server` deduplicates log messages that are deemed noisy.
 A log is deemed noisy if it has been output 3 times in the past 10 seconds.
@@ -220,7 +220,7 @@ To disable log deduplication, set `disable_log_deduplication` in your machine's
 
 {{% /expand%}}
 
-#### Delete machine logs
+### Delete machine logs
 
 You cannot delete machine logs.
 If your machine has generated a large amount of logs and you are concerned about the cost, you can:
@@ -230,7 +230,7 @@ If your machine has generated a large amount of logs and you are concerned about
 
 If you delete a machine you will not be charged for the remainder of the 30 days until logs from that machine are deleted.
 
-#### Debugging
+### Debugging
 
 You can enable debug level logs in two ways:
 
@@ -246,7 +246,7 @@ You can enable debug level logs in two ways:
 
 Enabling debug level logs will take precedence over all logging configuration set using the `log` field on a machine or the `log_configuration` field on a resource.
 
-### Shutdown
+## Shutdown
 
 During machine shutdown, `viam-server` handles modular resource instances similarly to built-in resource instances - it signals them for shutdown in topological (dependency) order.