reconfigure in goroutine and check for state running in client new

components/movementsensor/replay/replay_utils_test.go

@@ -46,8 +46,8 @@ type mockDataServiceServer struct {
 //
 //nolint:deprecated,staticcheck
 func (mDServer *mockDataServiceServer) TabularDataByFilter(ctx context.Context, req *datapb.TabularDataByFilterRequest,
+
 //nolint:deprecated,staticcheck
-) (*datapb.TabularDataByFilterResponse, error) {
 ) (*datapb.TabularDataByFilterResponse, error) {
 	filter := req.DataRequest.GetFilter()
 	last := req.DataRequest.GetLast()

robot/client/client.go

@@ -333,6 +333,31 @@ func New(ctx context.Context, address string, clientLogger logging.ZapCompatible
 		}, rc.activeBackgroundWorkers.Done)
 	}
 
+	// If running in a testing environment, wait for machine to report a state of
+	// running. We often establish connections in tests and expected resources to
+	// be immediately available once the web service has started; resources will
+	// not be available when the machine is still initializing.
+	//
+	// It is expected that golang SDK users will handle lack of resource
+	// availability due to the machine being in an initializing state themselves.
+	if testing.Testing() {
+		for {
+			if ctx.Err() != nil {
+				return nil, multierr.Combine(ctx.Err(), rc.conn.Close())
+			}
+
+			mStatus, err := rc.MachineStatus(ctx)
+			if err != nil {
+				return nil, multierr.Combine(err, rc.conn.Close())
+			}
+
+			if mStatus.State == robot.StateRunning {
+				break
+			}
+			time.Sleep(50 * time.Millisecond)
+		}
+	}
+
 	return rc, nil
 }
 

web/server/entrypoint.go

@@ -423,16 +423,11 @@ func (s *robotServer) serveWeb(ctx context.Context, cfg *config.Config) (err err
 		err = multierr.Combine(err, myRobot.Close(context.Background()))
 	}()
 
-	// Start web service with `minimalProcessedConfig`, then `Reconfigure` robot
-	// to have `fullProcessedConfig`.
+	// Create initial web options with `minimalProcessedConfig`.
 	options, err := s.createWebOptions(minimalProcessedConfig)
 	if err != nil {
 		return err
 	}
-	if err := web.RunWeb(ctx, myRobot, options, s.logger); err != nil {
-		return err
-	}
-	myRobot.Reconfigure(ctx, fullProcessedConfig)
 
 	// watch for and deliver changes to the robot
 	watcher, err := config.NewWatcher(ctx, cfg, s.logger.Sublogger("config"))
@@ -449,6 +444,10 @@ func (s *robotServer) serveWeb(ctx context.Context, cfg *config.Config) (err err
 	// config.
 	oldCfg := fullProcessedConfig
 	utils.ManagedGo(func() {
+		// Reconfigure robot to have full processed config before listening for any
+		// config changes.
+		myRobot.Reconfigure(ctx, fullProcessedConfig)
+
 		for {
 			select {
 			case <-ctx.Done():
@@ -508,7 +507,8 @@ func (s *robotServer) serveWeb(ctx context.Context, cfg *config.Config) (err err
 		<-onWatchDone
 	}()
 	defer cancel()
-	return nil
+
+	return web.RunWeb(ctx, myRobot, options, s.logger)
 }
 
 // dumpResourceRegistrations prints all builtin resource registrations as a json array

web/server/entrypoint_test.go

@@ -237,9 +237,10 @@ func TestMachineState(t *testing.T) {
 	addr := "localhost:" + strconv.Itoa(port)
 	rc := robottestutils.NewRobotClient(t, logger, addr, time.Second)
 
+	// NewRobotClient will wait for machine state to be running. Assert that this
+	// is still the case.
 	machineStatus, err := rc.MachineStatus(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, machineStatus, test.ShouldNotBeNil)
-	test.That(t, machineStatus.State, test.ShouldBeIn,
-		[]robot.MachineState{robot.StateInitializing, robot.StateRunning})
+	test.That(t, machineStatus.State, test.ShouldEqual, robot.StateRunning)
 }