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[APP-16062] Reapply Remove Reconfigure + Rebuild stale module-internal dependents when a dependency is re-added #5944

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[APP-16062] Reapply Remove Reconfigure + Rebuild stale module-internal dependents when a dependency is re-added #5944

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7cfe747
Reapply "RSDK-13354: Remove Resource Reconfigure, replace with rebuil…
danielbotros Apr 27, 2026
bfbb049
Rebuild stale module-internal dependents when a dependency is re-added
danielbotros Apr 27, 2026
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6 changes: 3 additions & 3 deletions components/arm/fake/fake.go
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ func NewArm(ctx context.Context, deps resource.Dependencies, conf resource.Confi
Named: conf.ResourceName().AsNamed(),
logger: logger,
}
if err := a.Reconfigure(ctx, deps, conf); err != nil {
if err := a.reconfigure(ctx, deps, conf); err != nil {
return nil, err
}
return a, nil
Expand Down Expand Up @@ -126,8 +126,8 @@ type Arm struct {
armModel string
}

// Reconfigure atomically reconfigures this arm in place based on the new config.
func (a *Arm) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
// reconfigure atomically reconfigures this arm in place based on the new config.
func (a *Arm) reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return err
Expand Down
73 changes: 1 addition & 72 deletions components/arm/fake/fake_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -13,77 +13,6 @@ import (
"go.viam.com/rdk/resource"
)

func TestReconfigure(t *testing.T) {
ctx := context.Background()
conf0 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{},
}

conf1 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ArmModel: xArm6Model,
},
}

conf2 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ModelFilePath: "zero_model.json",
},
}

conf3 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ModelFilePath: "DNE",
},
}

conf4 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ModelFilePath: "a.json",
ArmModel: ur5eModel,
},
}

a, err := NewArm(ctx, nil, conf0, logging.NewTestLogger(t))
test.That(t, err, test.ShouldBeNil)
fakeArm, _ := a.(*Arm)
test.That(t, fakeArm.armModel, test.ShouldResemble, "")

model, err := fakeArm.Kinematics(ctx)
test.That(t, err, test.ShouldBeNil)
test.That(t, fakeArm.joints, test.ShouldResemble, make([]referenceframe.Input, len(model.DoF())))
test.That(t, fakeArm.model, test.ShouldResemble, model)

test.That(t, fakeArm.Reconfigure(ctx, nil, conf1), test.ShouldBeNil)
model, err = fakeArm.Kinematics(ctx)
test.That(t, err, test.ShouldBeNil)
modelJoints := make([]referenceframe.Input, len(model.DoF()))
test.That(t, fakeArm.joints, test.ShouldResemble, modelJoints)
test.That(t, fakeArm.model, test.ShouldResemble, model)
test.That(t, fakeArm.armModel, test.ShouldResemble, xArm6Model)

err = fakeArm.Reconfigure(ctx, nil, conf2)
test.That(t, err, test.ShouldNotBeNil)
test.That(t, err.Error(), test.ShouldContainSubstring, "fake arm built with zero degrees-of-freedom")
test.That(t, fakeArm.joints, test.ShouldResemble, modelJoints)
test.That(t, fakeArm.model, test.ShouldResemble, model)

err = fakeArm.Reconfigure(ctx, nil, conf3)
test.That(t, err, test.ShouldNotBeNil)
test.That(t, err.Error(), test.ShouldContainSubstring, "only files")
test.That(t, fakeArm.joints, test.ShouldResemble, modelJoints)
test.That(t, fakeArm.model, test.ShouldResemble, model)

err = fakeArm.Reconfigure(ctx, nil, conf4)
test.That(t, err, test.ShouldNotBeNil)
test.That(t, err, test.ShouldResemble, errAttrCfgPopulation)
}

func TestJointPositions(t *testing.T) {
ctx := context.Background()
logger := logging.NewTestLogger(t)
Expand Down Expand Up @@ -137,7 +66,7 @@ func TestGet3DModels(t *testing.T) {
ArmModel: ur5eModel,
},
}
err = fakeArm.Reconfigure(ctx, nil, confWith3DModels)
err = fakeArm.reconfigure(ctx, nil, confWith3DModels)
test.That(t, err, test.ShouldBeNil)
models, err = fakeArm.Get3DModels(ctx, nil)
test.That(t, err, test.ShouldBeNil)
Expand Down
6 changes: 3 additions & 3 deletions components/arm/wrapper/wrapper.go
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Original file line number Diff line number Diff line change
Expand Up @@ -64,14 +64,14 @@ func NewWrapperArm(
logger: logger,
opMgr: operation.NewSingleOperationManager(),
}
if err := a.Reconfigure(ctx, deps, conf); err != nil {
if err := a.reconfigure(ctx, deps, conf); err != nil {
return nil, err
}
return a, nil
}

// Reconfigure atomically reconfigures this arm in place based on the new config.
func (wrapper *Arm) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
// reconfigure atomically reconfigures this arm in place based on the new config.
func (wrapper *Arm) reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return err
Expand Down
78 changes: 0 additions & 78 deletions components/arm/wrapper/wrapper_test.go
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This file was deleted.

4 changes: 2 additions & 2 deletions components/base/sensorcontrolled/sensorcontrolled.go
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Original file line number Diff line number Diff line change
Expand Up @@ -113,14 +113,14 @@ func createSensorBase(
opMgr: operation.NewSingleOperationManager(),
}

if err := sb.Reconfigure(ctx, deps, conf); err != nil {
if err := sb.reconfigure(ctx, deps, conf); err != nil {
return nil, err
}

return sb, nil
}

func (sb *sensorBase) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
func (sb *sensorBase) reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
newConf, err := resource.NativeConfig[*Config](conf)
sb.conf = newConf
if err != nil {
Expand Down
96 changes: 0 additions & 96 deletions components/base/sensorcontrolled/sensorcontrolled_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -251,102 +251,6 @@ func msDependencies(t *testing.T, msNames []string,
return deps, cfg
}

func TestReconfig(t *testing.T) {
ctx := context.Background()
logger := logging.NewTestLogger(t)

deps, cfg := msDependencies(t, []string{"orientation"})

b, err := createSensorBase(ctx, deps, cfg, logger)
test.That(t, err, test.ShouldBeNil)
sb, ok := b.(*sensorBase)
test.That(t, ok, test.ShouldBeTrue)
headingOri, headingSupported, err := sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingOri, test.ShouldEqual, orientationValue)
test.That(t, sb.controlFreq, test.ShouldEqual, defaultControlFreq)

deps, cfg = msDependencies(t, []string{"orientation1"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingOri, test.ShouldEqual, orientationValue)

deps, cfg = msDependencies(t, []string{"setvel1"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel1")

deps, _ = msDependencies(t, []string{"setvel2"})
// generate a config with a non default freq
cfg = sBaseTestConfig([]string{"setvel2"}, 100, typeLinVel, typeAngVel)
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel2")
headingNone, headingSupported, err := sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeFalse)
test.That(t, headingNone, test.ShouldEqual, 0)
test.That(t, sb.controlFreq, test.ShouldEqual, 100.0)

deps, cfg = msDependencies(t, []string{"orientation3", "setvel3", "Bad"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
headingOri, headingSupported, err = sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingOri, test.ShouldEqual, orientationValue)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel3")

deps, cfg = msDependencies(t, []string{"Bad", "orientation4", "setvel4", "orientation5", "setvel5"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
headingOri, headingSupported, err = sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingOri, test.ShouldEqual, orientationValue)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel4")

deps, cfg = msDependencies(t, []string{"Bad", "orientation6", "setvel6", "position1", "compass1"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
headingOri, headingSupported, err = sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingOri, test.ShouldEqual, orientationValue)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel6")
test.That(t, sb.position.Name().ShortName(), test.ShouldResemble, "position1")

deps, cfg = msDependencies(t, []string{"Bad", "setvel7", "position2", "compass2"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err, test.ShouldBeNil)
test.That(t, sb.velocities.Name().ShortName(), test.ShouldResemble, "setvel7")
test.That(t, sb.position.Name().ShortName(), test.ShouldResemble, "position2")
headingCompass, headingSupported, err := sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeTrue)
test.That(t, headingCompass, test.ShouldNotEqual, orientationValue)
test.That(t, headingCompass, test.ShouldEqual, -compassValue)

deps, cfg = msDependencies(t, []string{"Bad"})
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, sb.velocities, test.ShouldBeNil)
test.That(t, err, test.ShouldBeError, errNoGoodSensor)
headingBad, headingSupported, err := sb.headingFunc(context.Background())
test.That(t, err, test.ShouldBeNil)
test.That(t, headingSupported, test.ShouldBeFalse)
test.That(t, headingBad, test.ShouldEqual, 0)

deps, _ = msDependencies(t, []string{"setvel2"})
// generate a config with invalid pid types
cfg = sBaseTestConfig([]string{"setvel2"}, 100, wrongTypeLinVel, wrongTypeAngVel)
err = b.Reconfigure(ctx, deps, cfg)
test.That(t, err.Error(), test.ShouldContainSubstring, "type must be 'linear_velocity' or 'angular_velocity'")
test.That(t, b.Close(ctx), test.ShouldBeNil)
}

func TestSensorBaseWithVelocitiesSensor(t *testing.T) {
ctx := context.Background()
logger := logging.NewTestLogger(t)
Expand Down
6 changes: 3 additions & 3 deletions components/base/wheeled/wheeled_base.go
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Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,8 @@ type wheeledBase struct {
name string
}

// Reconfigure reconfigures the base atomically and in place.
func (wb *wheeledBase) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
// reconfigure reconfigures the base atomically and in place.
func (wb *wheeledBase) reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
wb.mu.Lock()
defer wb.mu.Unlock()

Expand Down Expand Up @@ -227,7 +227,7 @@ func createWheeledBase(
name: conf.Name,
}

if err := wb.Reconfigure(ctx, deps, conf); err != nil {
if err := wb.reconfigure(ctx, deps, conf); err != nil {
return nil, err
}

Expand Down
4 changes: 2 additions & 2 deletions components/base/wheeled/wheeled_base_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -407,7 +407,7 @@ func TestWheeledBaseReconfigure(t *testing.T) {
deps, _, err = newTestConf.Validate("path", resource.APITypeComponentName)
test.That(t, err, test.ShouldBeNil)
motorDeps = fakeMotorDependencies(t, deps)
test.That(t, wb.Reconfigure(ctx, motorDeps, newTestConf), test.ShouldBeNil)
test.That(t, wb.reconfigure(ctx, motorDeps, newTestConf), test.ShouldBeNil)

// Add a new motor to Left only to confirm that Reconfigure is impossible because cfg validation fails
newerTestCfg := newTestCfg()
Expand Down Expand Up @@ -435,7 +435,7 @@ func TestWheeledBaseReconfigure(t *testing.T) {
deps, _, err = newestTestCfg.Validate("path", resource.APITypeComponentName)
test.That(t, err, test.ShouldBeNil)
motorDeps = fakeMotorDependencies(t, deps)
test.That(t, wb.Reconfigure(ctx, motorDeps, newestTestCfg), test.ShouldBeNil)
test.That(t, wb.reconfigure(ctx, motorDeps, newestTestCfg), test.ShouldBeNil)
}

func TestValidate(t *testing.T) {
Expand Down
5 changes: 0 additions & 5 deletions components/board/fake/board.go
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Original file line number Diff line number Diff line change
Expand Up @@ -150,11 +150,6 @@ func (b *Board) processConfig(conf resource.Config) error {
return nil
}

// Reconfigure atomically reconfigures this board in place based on the new config.
func (b *Board) Reconfigure(ctx context.Context, deps resource.Dependencies, conf resource.Config) error {
return b.processConfig(conf)
}

// A Board provides dummy data from fake parts in order to implement a Board.
type Board struct {
resource.Named
Expand Down
6 changes: 3 additions & 3 deletions components/board/genericlinux/board.go
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Original file line number Diff line number Diff line change
Expand Up @@ -62,14 +62,14 @@ func NewBoard(
interrupts: map[string]*digitalInterrupt{},
}

if err := b.Reconfigure(ctx, nil, conf); err != nil {
if err := b.reconfigure(ctx, nil, conf); err != nil {
return nil, err
}
return b, nil
}

// Reconfigure reconfigures the board with interrupt pins, spi and i2c, and analogs.
func (b *Board) Reconfigure(
// reconfigure reconfigures the board with interrupt pins, spi and i2c, and analogs.
func (b *Board) reconfigure(
ctx context.Context,
_ resource.Dependencies,
conf resource.Config,
Expand Down
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