Tweaks to the interruptStream (viamrobotics#4259)

My original plan was to move this to using a `StoppableWorkers`, so that we definitely shut down the background goroutine when we call `closeStream()` (right now, it cancels the context and returns without waiting for the goroutine to actually stop). However, this is trickier than I realized: the context that is canceled is _not_ descended from the background context: it's passed in as an argument and might be canceled by something else! So, this PR is some preliminary cleanup without using a `StoppableWorkers` yet.

Thanks to Olivia for pointing out that we don't actually need to wait for the background goroutine to start up, and can return immediately without those syncing up.

Tried on an rpi5 with a modular board component and a modular ultrasonic sensor (so, streaming interrupts from one module to the RDK, and then streaming those same interrupts from the RDK to another module): everything works great!

Author: penguinland

components/board/client.go

@@ -204,14 +204,14 @@ func (c *client) StreamTicks(ctx context.Context, interrupts []DigitalInterrupt,
 		client: c,
 	}
 
-	c.mu.Lock()
-	c.interruptStreams = append(c.interruptStreams, stream)
-	c.mu.Unlock()
-
 	err = stream.startStream(ctx, interrupts, ch)
 	if err != nil {
 		return err
 	}
+
+	c.mu.Lock()
+	defer c.mu.Unlock()
+	c.interruptStreams = append(c.interruptStreams, stream)
 	return nil
 }
 

components/board/interrupt_stream.go

@@ -11,10 +11,8 @@ import (
 
 type interruptStream struct {
 	*client
-	streamCancel  context.CancelFunc
-	streamRunning bool
-	streamReady   chan bool
-	streamMu      sync.Mutex
+	streamCancel context.CancelFunc
+	streamMu     sync.Mutex
 
 	activeBackgroundWorkers sync.WaitGroup
 	extra                   *structpb.Struct
@@ -28,9 +26,6 @@ func (s *interruptStream) startStream(ctx context.Context, interrupts []DigitalI
 		return ctx.Err()
 	}
 
-	s.streamRunning = true
-	s.streamReady = make(chan bool)
-	s.activeBackgroundWorkers.Add(1)
 	ctx, cancel := context.WithCancel(ctx)
 	s.streamCancel = cancel
 
@@ -62,30 +57,15 @@ func (s *interruptStream) startStream(ctx context.Context, interrupts []DigitalI
 	// Create a background go routine to receive from the server stream.
 	// We rely on calling the Done function here rather than in close stream
 	// since managed go calls that function when the routine exits.
+	s.activeBackgroundWorkers.Add(1)
 	utils.ManagedGo(func() {
-		s.recieveFromStream(ctx, stream, ch)
+		s.receiveFromStream(ctx, stream, ch)
 	},
 		s.activeBackgroundWorkers.Done)
-
-	select {
-	case <-ctx.Done():
-		return ctx.Err()
-	case <-s.streamReady:
-		return nil
-	}
+	return nil
 }
 
-func (s *interruptStream) recieveFromStream(ctx context.Context, stream pb.BoardService_StreamTicksClient, ch chan Tick) {
-	defer func() {
-		s.streamMu.Lock()
-		defer s.streamMu.Unlock()
-		s.streamRunning = false
-	}()
-	// Close the stream ready channel so the above function returns.
-	if s.streamReady != nil {
-		close(s.streamReady)
-	}
-	s.streamReady = nil
+func (s *interruptStream) receiveFromStream(ctx context.Context, stream pb.BoardService_StreamTicksClient, ch chan Tick) {
 	defer s.closeStream()
 
 	// repeatly receive from the stream