basic entrypoint test

Author: benjirewis

robot/impl/local_robot_test.go

@@ -4013,72 +4013,3 @@ func TestRemovingOfflineRemotes(t *testing.T) {
 	cancelReconfig()
 	wg.Wait()
 }
-
-// Tests that machine state properly reports initializing and running.
-
-
-//ctx := context.Background()
-
-// completeComponentConstruction := make(chan struct{}, 1)
-
-//// Register a `foo` component whose construction completion can be delayed,
-//// and defer its deregistration.
-// resource.RegisterComponent(generic.API, fooModel, resource.Registration[resource.Resource,
-// resource.NoNativeConfig]{
-//Constructor: func(
-//ctx context.Context,
-//deps resource.Dependencies,
-//conf resource.Config,
-//logger logging.Logger,
-//) (resource.Resource, error) {
-//// Delay completion of constructor until `completeComponentConstruction` is closed.
-//<-completeComponentConstruction
-
-// return &fooComponent{
-//Named:  conf.ResourceName().AsNamed(),
-//logger: logger,
-// }, nil
-//},
-//})
-//defer func() {
-//resource.Deregister(generic.API, fooModel)
-//}()
-
-// cfg := &config.Config{
-//Components: []resource.Config{
-//{
-//Name:  "foo",
-//API:   generic.API,
-//Model: fooModel,
-// },
-//},
-//}
-//r := setupLocalRobot(t, ctx, cfg, logger)
-
-//// Assert that robot reports a state of "initializing" until `foo` completes construction.
-// machineStatus, err := r.MachineStatus(ctx)
-// test.That(t, err, test.ShouldBeNil)
-//test.That(t, machineStatus, test.ShouldNotBeNil)
-//test.That(t, machineStatus.State, test.ShouldEqual, robot.StateInitializing)
-
-// close(completeComponentConstruction)
-
-//// Assert that robot reports a state of "running" after `foo` completes
-//// construction.
-// machineStatus, err = r.MachineStatus(ctx)
-// test.That(t, err, test.ShouldBeNil)
-//test.That(t, machineStatus, test.ShouldNotBeNil)
-//test.That(t, machineStatus.State, test.ShouldEqual, robot.StateRunning)
-
-//// Reconfigure robot to replace `foo` with idential `bar` component (should build
-//// immediately, as `completeComponentConstruction` has already been closed.)
-// cfg.Components[0].Name = "bar"
-// r.Reconfigure(ctx, cfg)
-
-//// Assert that robot continues to report a state of "running" even after further
-//// reconfiguration.
-// machineStatus, err = r.MachineStatus(ctx)
-// test.That(t, err, test.ShouldBeNil)
-//test.That(t, machineStatus, test.ShouldNotBeNil)
-//test.That(t, machineStatus.State, test.ShouldEqual, robot.StateRunning)
-//}

web/server/entrypoint_test.go

@@ -27,6 +27,7 @@ import (
 	"go.viam.com/rdk/config"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
+	"go.viam.com/rdk/robot"
 	_ "go.viam.com/rdk/services/register"
 	"go.viam.com/rdk/testutils"
 	"go.viam.com/rdk/testutils/robottestutils"
@@ -192,3 +193,53 @@ func isExpectedShutdownError(err error, testLogger logging.Logger) bool {
 	testLogger.Errorw("Unexpected shutdown error", "err", err)
 	return false
 }
+
+// Tests that machine state properly reports initializing or running.
+func TestMachineState(t *testing.T) {
+	if runtime.GOARCH == "arm" {
+		t.Skip("skipping on 32-bit ARM, subprocess build warnings cause failure")
+	}
+
+	logger, logObserver := logging.NewObservedTestLogger(t)
+
+	cfgFilename := utils.ResolveFile("/etc/configs/fake.json")
+	cfg, err := config.Read(context.Background(), cfgFilename, logger)
+	test.That(t, err, test.ShouldBeNil)
+
+	var port int
+	var success bool
+	var server pexec.ManagedProcess
+	for portTryNum := 0; portTryNum < 10; portTryNum++ {
+		p, err := goutils.TryReserveRandomPort()
+		port = p
+		test.That(t, err, test.ShouldBeNil)
+
+		cfg.Network.BindAddress = fmt.Sprintf(":%d", port)
+		cfgFilename, err = robottestutils.MakeTempConfig(t, cfg, logger)
+		test.That(t, err, test.ShouldBeNil)
+
+		server = robottestutils.ServerAsSeparateProcess(t, cfgFilename, logger)
+		err = server.Start(context.Background())
+		test.That(t, err, test.ShouldBeNil)
+
+		if success = robottestutils.WaitForServing(logObserver, port); success {
+			defer func() {
+				test.That(t, server.Stop(), test.ShouldBeNil)
+			}()
+			break
+		}
+		logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
+		server.Stop()
+		continue
+	}
+	test.That(t, success, test.ShouldBeTrue)
+
+	addr := "localhost:" + strconv.Itoa(port)
+	rc := robottestutils.NewRobotClient(t, logger, addr, time.Second)
+
+	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})
+}