Move some boiler plate startup logic to nodeutil

This makes a controller that handles the startup for the node and pod
controller.
Later if we add an "api controller" it can also be added here.

This is just part of reducing some of the boiler plate code so it is
easier to get off of node-cli.

cmd/virtual-kubelet/internal/commands/root/root.go

@@ -199,40 +199,31 @@ func runRootCommand(ctx context.Context, s *provider.Store, c Opts) error {
 	}
 	defer cancelHTTP()
 
-	go func() {
-		if err := pc.Run(ctx, c.PodSyncWorkers); err != nil && errors.Cause(err) != context.Canceled {
-			log.G(ctx).Fatal(err)
-		}
-	}()
+	cm := nodeutil.NewControllerManager(nodeRunner, pc)
+	go cm.Run(ctx, c.PodSyncWorkers) // nolint:errcheck
 
-	if c.StartupTimeout > 0 {
-		ctx, cancel := context.WithTimeout(ctx, c.StartupTimeout)
-		log.G(ctx).Info("Waiting for pod controller / VK to be ready")
-		select {
-		case <-ctx.Done():
-			cancel()
-			return ctx.Err()
-		case <-pc.Ready():
-		}
+	defer func() {
+		log.G(ctx).Debug("Waiting for controllers to be done")
 		cancel()
-		if err := pc.Err(); err != nil {
-			return err
-		}
-	}
-
-	go func() {
-		if err := nodeRunner.Run(ctx); err != nil {
-			log.G(ctx).Fatal(err)
-		}
+		<-cm.Done()
 	}()
 
+	log.G(ctx).Info("Waiting for controller to be ready")
+	if err := cm.WaitReady(ctx, c.StartupTimeout); err != nil {
+		return err
+	}
+
 	setNodeReady(pNode)
 	if err := np.UpdateStatus(ctx, pNode); err != nil {
 		return errors.Wrap(err, "error marking the node as ready")
 	}
 	log.G(ctx).Info("Initialized")
 
-	<-ctx.Done()
+	select {
+	case <-ctx.Done():
+	case <-cm.Done():
+		return cm.Err()
+	}
 	return nil
 }