RSDK-9798 - ensure machine status is ready #831
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stuqdog
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Jan 28, 2025
stuqdog
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- Ensures machine status is ready when initially creating a robot client.
- Adds a background loop to the robot client that checks machine status, and takes the lock when status is initializing.
| async def GetMachineStatus(self, stream: Stream[GetMachineStatusRequest, GetMachineStatusResponse]) -> None: | ||
| request = await stream.recv_message() | ||
| assert request is not None | ||
| await stream.send_message(GetMachineStatusResponse(state=GetMachineStatusResponse.STATE_RUNNING)) |
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Wanted to flag this, for the purposes of the documentation tests we need the service to have a GetMachineStatus implementation. But, I'm leaving it fairly barebones (it just always returns that we're running) because the issue we're trying to fix is one that exposes itself when using RDK as a server specifically.
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Note that this should not be merged until we've had an opportunity to discuss with team netcode and ensure both teams are on the same page as to when and how to use |
| with self._lock: | ||
| await self._refresh_inner() | ||
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| async def _refresh_inner(self): |
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This has gone from being an important thing to a flyby. I still think that there's value abstractly in being able to call refresh from within a process that already has the lock so I'm leaving this, but I don't feel strongly and am happy to undo if others do.
