[WORKFLOW] Updating go dependencies (#342)

.github/workflows/bump_dependencies.yml

@@ -27,6 +27,7 @@ jobs:
         sudo chown -R testbot .
         sudo -u testbot bash -lc 'go get go.viam.com/rdk'
         sudo -u testbot bash -lc 'go get go.viam.com/api'
+        sudo -u testbot bash -lc 'go mod tidy'
         GEN_DIFF=$(git status -s)
         
         if [ -n "$GEN_DIFF" ]; then
@@ -43,6 +44,7 @@ jobs:
           title: Automated Go Dependencies Update
           body: This is an auto-generated PR to update go dependencies. Please confirm tests are passing before merging.
           reviewers: JohnN193
+          draft: always-true
 
   slack-workflow-status:
       if: ${{ failure() }} 

Makefile

@@ -100,7 +100,7 @@ endif
 
 build: cartographer-module
 
-viam-cartographer/build/unit_tests: ensure-submodule-initialized grpc/buf
+viam-cartographer/build/unit_tests: ensure-submodule-initialized
 	cd viam-cartographer && cmake -B$(BUILD_DIR) -G Ninja ${EXTRA_CMAKE_FLAGS} && cmake --build $(BUILD_DIR)
 
 cartographer-module: viam-cartographer/build/unit_tests

cartofacade/capi.go

@@ -58,9 +58,9 @@ type CartoInterface interface {
 	start() error
 	stop() error
 	terminate() error
-	addLidarReading(string, s.TimedLidarReadingResponse) error
-	addIMUReading(string, s.TimedIMUReadingResponse) error
-	addOdometerReading(string, s.TimedOdometerReadingResponse) error
+	addLidarReading(lidar string, reading s.TimedLidarReadingResponse) error
+	addIMUReading(movementSensor string, reading s.TimedIMUReadingResponse) error
+	addOdometerReading(movementSensor string, reading s.TimedOdometerReadingResponse) error
 	position() (Position, error)
 	pointCloudMap() ([]byte, error)
 	internalState() ([]byte, error)

config/config_test.go

@@ -60,7 +60,8 @@ func TestValidate(t *testing.T) {
 		cfgService.Attributes[key] = true
 
 		_, err := newConfig(cfgService)
-		msg := fmt.Sprintf("1 error(s) decoding:\n\n* '%s' expected type 'string', got unconvertible type 'bool', value: 'true'", key)
+		msg := fmt.Sprintf("decoding failed due to the following error(s):\n\n'%s' expected type 'string'"+
+			", got unconvertible type 'bool', value: 'true'", key)
 		expE := newError(msg)
 		test.That(t, err, test.ShouldBeError, expE)
 

etc/golangci.yaml

@@ -35,6 +35,7 @@ linters:
     - maintidx
     - maligned
     - makezero
+    - mnd
     - musttag
     - nakedret
     - nestif
@@ -70,7 +71,9 @@ linters-settings:
     extra-rules: true
   gosec:
     excludes:
-      - G601
+      - G115 # TODO(go1.23): maybe reenable
+      - G301
+      - G306
   govet:
     enable-all: true
     disable:

postprocess/postprocess_test.go

@@ -3,7 +3,6 @@ package postprocess
 import (
 	"bytes"
 	"errors"
-	"fmt"
 	"image/color"
 	"math"
 	"testing"
@@ -52,13 +51,13 @@ func TestParseDoCommand(t *testing.T) {
 			err: errYNotFloat64,
 		},
 	} {
-		t.Run(fmt.Sprintf("%s for Add task", tc.msg), func(t *testing.T) {
+		t.Run(tc.msg+" for Add task", func(t *testing.T) {
 			task, err := ParseDoCommand(tc.cmd, Add)
 			test.That(t, err, test.ShouldBeError, tc.err)
 			test.That(t, task, test.ShouldResemble, Task{})
 		})
 
-		t.Run(fmt.Sprintf("%s for Remove task", tc.msg), func(t *testing.T) {
+		t.Run(tc.msg+" for Remove task", func(t *testing.T) {
 			task, err := ParseDoCommand(tc.cmd, Remove)
 			test.That(t, err, test.ShouldBeError, tc.err)
 			test.That(t, task, test.ShouldResemble, Task{})

sensorprocess/sensorprocess_test.go

@@ -3,7 +3,7 @@ package sensorprocess
 import (
 	"context"
 	"errors"
-	"fmt"
+	"strconv"
 	"strings"
 	"testing"
 	"time"
@@ -264,7 +264,7 @@ func TestStartOfflineSensorProcess(t *testing.T) {
 				cf.AddLidarReadingFunc = func(ctx context.Context, timeout time.Duration,
 					lidarName string, currentReading s.TimedLidarReadingResponse,
 				) error {
-					actualDataInsertions = append(actualDataInsertions, "lidar: "+fmt.Sprint(tt.lidarReadingTimeAddedMs[numLidarData-1]))
+					actualDataInsertions = append(actualDataInsertions, "lidar: "+strconv.Itoa(tt.lidarReadingTimeAddedMs[numLidarData-1]))
 					countAddedLidarData++
 					return nil
 				}
@@ -273,7 +273,7 @@ func TestStartOfflineSensorProcess(t *testing.T) {
 				cf.AddIMUReadingFunc = func(ctx context.Context, timeout time.Duration,
 					imuName string, currentReading s.TimedIMUReadingResponse,
 				) error {
-					actualDataInsertions = append(actualDataInsertions, "imu: "+fmt.Sprint(tt.msReadingTimeAddedMs[numMovementSensorData-1]))
+					actualDataInsertions = append(actualDataInsertions, "imu: "+strconv.Itoa(tt.msReadingTimeAddedMs[numMovementSensorData-1]))
 					countAddedIMUData++
 					return nil
 				}
@@ -282,7 +282,7 @@ func TestStartOfflineSensorProcess(t *testing.T) {
 				cf.AddOdometerReadingFunc = func(ctx context.Context, timeout time.Duration,
 					odometerName string, currentReading s.TimedOdometerReadingResponse,
 				) error {
-					actualDataInsertions = append(actualDataInsertions, "odometer: "+fmt.Sprint(tt.msReadingTimeAddedMs[numMovementSensorData-1]))
+					actualDataInsertions = append(actualDataInsertions, "odometer: "+strconv.Itoa(tt.msReadingTimeAddedMs[numMovementSensorData-1]))
 					countAddedOdometerData++
 					return nil
 				}

testhelper/integrationtesthelper.go

@@ -471,7 +471,7 @@ func integrationTimedMovementSensor(
 ) (s.TimedMovementSensor, error) {
 	// Return nil if movement sensor is not defined
 	if movementSensor["name"] == "" {
-		return nil, nil
+		return nil, errors.New("movement sensor is undefined")
 	}
 
 	// Check that the required amount of movement sensor data is present and
@@ -639,7 +639,7 @@ func mockLidarReadingsValid() error {
 	if len(files) < NumPointCloudFiles {
 		return errors.Errorf("expected at least %v lidar reading files for integration test", NumPointCloudFiles)
 	}
-	for i := 0; i < NumPointCloudFiles; i++ {
+	for i := range NumPointCloudFiles {
 		found := false
 		expectedFile := fmt.Sprintf("%d.pcd", i)
 		for _, file := range files {

viam-cartographer/CMakeLists.txt

@@ -8,17 +8,11 @@ if(DEFINED ENV{API_SOURCE_DIR})
 else()
   set(API_SOURCE_DIR ${PROJECT_SOURCE_DIR}/..)
 endif()
-set(GRPC_SRC_DIR ${API_SOURCE_DIR}/grpc/cpp/gen)
 
-if(NOT EXISTS ${GRPC_SRC_DIR})
-message(FATAL_ERROR
-  "RDK C++ gRPC gen files not found. Please specify the absolute path to your API_SOURCE_DIR e.g. 'export API_SOURCE_DIR=/home/user/api'"
-)
-endif()
+
 
 message("PROJECT SOURCE DIR: " ${PROJECT_SOURCE_DIR})
 message("API SOURCE DIR: " ${API_SOURCE_DIR})
-message("GRPC SOURCE DIR: " ${GRPC_SRC_DIR})
 
 
 # dependencies
@@ -52,20 +46,8 @@ list(APPEND ALL_LIBRARY_HDRS ${ALL_VIAM_HDRS})
 list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_SRCS})
 list(APPEND ALL_LIBRARY_SRCS ${ALL_VIAM_C_SRCS})
 
-# add grpc/API sources
-set(GRPC_SRCS
-  ${GRPC_SRC_DIR}/service/slam/v1/slam.grpc.pb.cc
-  ${GRPC_SRC_DIR}/service/slam/v1/slam.pb.cc
-  ${GRPC_SRC_DIR}/common/v1/common.grpc.pb.cc
-  ${GRPC_SRC_DIR}/common/v1/common.pb.cc
-  ${GRPC_SRC_DIR}/google/api/annotations.pb.cc
-  ${GRPC_SRC_DIR}/google/api/httpbody.pb.cc
-  ${GRPC_SRC_DIR}/google/api/http.pb.cc
-)
-
 # the viam-cartographer library
-add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS} ${GRPC_SRCS})
-target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${GRPC_SRC_DIR}>)
+add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
 target_link_libraries(${PROJECT_NAME} PUBLIC
   cartographer
   ${GRPCPP_LIBRARIES}

viam_cartographer_internal_test.go

@@ -56,7 +56,7 @@ func checkPositionOutputs(
 	pose, err := svc.Position(context.Background())
 	test.That(t, err, test.ShouldBeNil)
 	expectedPose := spatialmath.NewPose(
-		r3.Vector{X: inputPose.X, Y: inputPose.Y, Z: inputPose.Z},
+		r3.Vector{X: inputPose.GetX(), Y: inputPose.GetY(), Z: inputPose.GetZ()},
 		makeQuaternionFromGenericMap(inputQuat),
 	)
 	test.That(t, pose, test.ShouldResemble, expectedPose)