Revert "CR@cheukt: try using WaitForAssertion"

This reverts commit f4628a8.

robot/impl/local_robot_test.go

@@ -20,7 +20,6 @@ import (
 	"github.com/golang/geo/r3"
 	"go.mongodb.org/mongo-driver/bson/primitive"
 	"go.uber.org/zap"
-
 	// registers all components.
 	commonpb "go.viam.com/api/common/v1"
 	armpb "go.viam.com/api/component/arm/v1"
@@ -3558,45 +3557,38 @@ func TestMachineStatus(t *testing.T) {
 				Components: []resource.Config{newMockConfig("m", 300, false, "1s")},
 			})
 		}()
+		// sleep for a short amount of time to allow the machine to receive a new
+		// revision. this sleep should be shorter than the resource update duration
+		// defined above so that updated resource is still in a "configuring" state.
+		time.Sleep(time.Millisecond * 100)
 
-		// poll machine status during reconfiguration until the following state is
-		// detected:
-		//
-		// - config revision is updated to rev2
-		// - mock component "m" has state "configuring" and still has revision rev1
-		// - all other components are ready and have revisions updated to rev2
-		testutils.WaitForAssertion(
-			t,
-			func(tb testing.TB) {
-				// get status while reconfiguring
-				mStatus, err := lr.MachineStatus(ctx)
-				test.That(t, err, test.ShouldBeNil)
-				test.That(t, mStatus.Config.Revision, test.ShouldEqual, rev2)
-
-				// the component whose config changed should be the only component in a
-				// "configuring" state and associated with the original revision.
-				filterConfiguring := rtestutils.FilterByStatus(t, mStatus.Resources, resource.NodeStateConfiguring)
-				expectedConfiguring := []resource.Status{
-					{
-						Name:     mockNamed("m"),
-						State:    resource.NodeStateConfiguring,
-						Revision: rev1,
-					},
-				}
-				rtestutils.VerifySameResourceStatuses(t, filterConfiguring, expectedConfiguring)
+		// get status while reconfiguring
+		mStatus, err := lr.MachineStatus(ctx)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, mStatus.Config.Revision, test.ShouldEqual, rev2)
 
-				// all other components should be in the "ready" state and associated with the
-				// new revision.
-				filterReady := rtestutils.FilterByStatus(t, mStatus.Resources, resource.NodeStateReady)
-				expectedReady := getExpectedDefaultStatuses(rev2)
-				rtestutils.VerifySameResourceStatuses(t, filterReady, expectedReady)
+		// the component whose config changed should be the only component in a
+		// "configuring" state and associated with the original revision.
+		filterConfiguring := rtestutils.FilterByStatus(t, mStatus.Resources, resource.NodeStateConfiguring)
+		expectedConfiguring := []resource.Status{
+			{
+				Name:     mockNamed("m"),
+				State:    resource.NodeStateConfiguring,
+				Revision: rev1,
 			},
-		)
+		}
+		rtestutils.VerifySameResourceStatuses(t, filterConfiguring, expectedConfiguring)
+
+		// all other components should be in the "ready" state and associated with the
+		// new revision.
+		filterReady := rtestutils.FilterByStatus(t, mStatus.Resources, resource.NodeStateReady)
+		expectedReady := getExpectedDefaultStatuses(rev2)
+		rtestutils.VerifySameResourceStatuses(t, filterReady, expectedReady)
 
 		wg.Wait()
 
 		// get status after reconfigure finishes
-		mStatus, err := lr.MachineStatus(ctx)
+		mStatus, err = lr.MachineStatus(ctx)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, mStatus.Config.Revision, test.ShouldEqual, rev2)