update linter settings (viamrobotics#385)

.artifact/tree.json

@@ -50003,6 +50003,72 @@
       }
     }
   },
+  "preprocessing": {
+    "align-test-1615760748.both.gz": {
+      "hash": "a4b99c91c6bc68b734499799c05367e7",
+      "size": 909570
+    },
+    "align-test-1615761783.both.gz": {
+      "hash": "4d68902ed4ee155b4abcc0ff9ae3a800",
+      "size": 1036966
+    },
+    "align-test-1615761793.both.gz": {
+      "hash": "d4a8814121f88435e12e678f54377797",
+      "size": 1025703
+    },
+    "chess1.both.gz": {
+      "hash": "68685fe5b1899a5874df4092de0be4e1",
+      "size": 981318
+    },
+    "chess2.both.gz": {
+      "hash": "6d4e08f5f954f725d8a07f129600c39f",
+      "size": 978001
+    },
+    "chess3.both.gz": {
+      "hash": "9a5ba64331d22f7b454beb585b6bebf1",
+      "size": 1036462
+    },
+    "gripper-big1.both.gz": {
+      "hash": "e09120e237eb6010ec4f9c9248abbbc0",
+      "size": 1237456
+    }
+  },
+  "transform": {
+    "align-test-1615761793.both.gz": {
+        "hash": "d4a8814121f88435e12e678f54377797",
+        "size": 1025703
+    },
+    "homography": {
+      "align-test-1615760748.both.gz": {
+        "hash": "a4b99c91c6bc68b734499799c05367e7",
+        "size": 909570
+      },
+      "align-test-1615761783.both.gz": {
+        "hash": "4d68902ed4ee155b4abcc0ff9ae3a800",
+        "size": 1036966
+      },
+      "align-test-1615761793.both.gz": {
+        "hash": "d4a8814121f88435e12e678f54377797",
+        "size": 1025703
+      },
+      "chess1.both.gz": {
+        "hash": "68685fe5b1899a5874df4092de0be4e1",
+        "size": 981318
+      },
+      "chess2.both.gz": {
+        "hash": "6d4e08f5f954f725d8a07f129600c39f",
+        "size": 978001
+      },
+      "chess3.both.gz": {
+        "hash": "9a5ba64331d22f7b454beb585b6bebf1",
+        "size": 1036462
+      },
+      "gripper-big1.both.gz": {
+        "hash": "e09120e237eb6010ec4f9c9248abbbc0",
+        "size": 1237456
+      }
+    }
+  },
   "transforms": {
     "intrinsics_helper.csv": {
       "hash": "43db58ae2f7be23438fa63e875a938d6",

.github/workflows/test.yml

@@ -33,23 +33,19 @@ jobs:
       run: |
         sudo -u testbot bash -lc 'make setup'
 
-    - name: Verify no uncommitted changes from "make build goformat"
+    - name: Verify no uncommitted changes from "make build lint"
       run: |
         git init
         git add .
         chown -R testbot .
-        sudo -u testbot bash -lc 'make build goformat'
+        sudo -u testbot bash -lc 'make build lint'
         GEN_DIFF=$(git diff)
         if [ -n "$GEN_DIFF" ]; then
-            echo '"make build goformat" resulted in changes not in git' 1>&2
+            echo '"make build lint" resulted in changes not in git' 1>&2
             git status
             exit 1
         fi
 
-    - name: Lint
-      run: |
-        sudo -u testbot bash -lc 'make lint'
-
     - name: Test
       env:
         ARTIFACT_GOOGLE_APPLICATION_CREDENTIALS: ${{ secrets.ARTIFACT_GOOGLE_APPLICATION_CREDENTIALS }}

Makefile

@@ -21,11 +21,6 @@ SERVER_DEB_VER = 0.5
 binsetup:
 	mkdir -p ${BIN_OUTPUT_PATH}
 
-goformat:
-	go install golang.org/x/tools/cmd/goimports
-	gofmt -s -w .
-	`go env GOPATH`/bin/goimports -w -local=go.viam.com/rdk `go list -f '{{.Dir}}' ./... | grep -Ev "proto"`
-
 setup:
 	bash etc/setup.sh
 
@@ -43,17 +38,13 @@ buf:
 	buf generate
 	buf generate --template ./etc/buf.web.gen.yaml buf.build/googleapis/googleapis
 	buf generate --template ./etc/buf.web.gen.yaml buf.build/erdaniels/gostream
-	go install golang.org/x/tools/cmd/goimports
-	`go env GOPATH`/bin/goimports -w -local=go.viam.com/rdk proto
 
-lint: goformat
+lint:
 	buf lint
 	go install github.com/edaniels/golinters/cmd/combined
 	go install github.com/golangci/golangci-lint/cmd/golangci-lint
-	go install github.com/polyfloyd/go-errorlint
 	go list -f '{{.Dir}}' ./... | grep -v gen | grep -v proto | xargs go vet -vettool=`go env GOPATH`/bin/combined
-	go list -f '{{.Dir}}' ./... | grep -v gen | grep -v proto | xargs `go env GOPATH`/bin/go-errorlint -errorf
-	go list -f '{{.Dir}}' ./... | grep -v gen | grep -v proto | xargs go run github.com/golangci/golangci-lint/cmd/golangci-lint run -v --config=./etc/.golangci.yaml
+	go list -f '{{.Dir}}' ./... | grep -v gen | grep -v proto | xargs go run github.com/golangci/golangci-lint/cmd/golangci-lint run -v --fix --config=./etc/.golangci.yaml
 
 cover:
 	./etc/test.sh cover

action/action.go

@@ -18,8 +18,7 @@ var actionRegistry = map[string]Action{}
 
 // RegisterAction associates a name to an action.
 func RegisterAction(name string, action Action) {
-	_, old := actionRegistry[name]
-	if old {
+	if _, old := actionRegistry[name]; old {
 		panic(errors.Errorf("trying to register 2 actions with the same name (%s)", name))
 	}
 	actionRegistry[name] = action

action/drive.go

@@ -5,10 +5,8 @@ import (
 	"fmt"
 	"time"
 
-	"github.com/pkg/errors"
-
 	"github.com/edaniels/gostream"
-
+	"github.com/pkg/errors"
 	"go.viam.com/utils"
 	"go.viam.com/utils/artifact"
 
@@ -31,7 +29,6 @@ func RandomWalk(ctx context.Context, theRobot robot.Robot) {
 	defer cancelFunc()
 	for {
 		err := randomWalkIncrement(ctx, theRobot)
-
 		if err != nil {
 			theRobot.Logger().Debugf("error doing random walk, trying again: %s", err)
 			if !utils.SelectContextOrWait(ctx, 2*time.Second) {
@@ -43,7 +40,6 @@ func RandomWalk(ctx context.Context, theRobot robot.Robot) {
 }
 
 func randomWalkIncrement(ctx context.Context, theRobot robot.Robot) error {
-
 	base, camera, err := setup(theRobot)
 	if err != nil {
 		return err

action/util.go

@@ -4,15 +4,14 @@ import (
 	"fmt"
 	"image"
 
-	"go.viam.com/rdk/rimage"
-	"go.viam.com/rdk/utils"
-
 	"github.com/edaniels/golog"
 	"github.com/fogleman/gg"
+
+	"go.viam.com/rdk/rimage"
+	"go.viam.com/rdk/utils"
 )
 
 func roverWalk(pc *rimage.ImageWithDepth, debug bool, logger golog.Logger) (image.Image, int) {
-
 	var dc *gg.Context
 	if debug {
 		dc = gg.NewContextForImage(image.NewRGBA(pc.Color.Bounds()))
@@ -76,7 +75,6 @@ func roverWalk(pc *rimage.ImageWithDepth, debug bool, logger golog.Logger) (imag
 
 			return nil
 		})
-
 	if err != nil {
 		panic(err)
 	}

action/util_test.go

@@ -5,15 +5,14 @@ import (
 	"strings"
 	"testing"
 
-	"go.viam.com/rdk/rimage"
-	"go.viam.com/rdk/vision/segmentation"
-
 	"github.com/edaniels/golog"
 	"go.viam.com/test"
+
+	"go.viam.com/rdk/rimage"
+	"go.viam.com/rdk/vision/segmentation"
 )
 
-type MyDebug struct {
-}
+type MyDebug struct{}
 
 func (ddd MyDebug) Process(
 	t *testing.T,
@@ -22,6 +21,7 @@ func (ddd MyDebug) Process(
 	img image.Image,
 	logger golog.Logger,
 ) error {
+	t.Helper()
 	dm, err := rimage.ParseDepthMap(strings.Replace(fn, ".png", ".dat.gz", 1))
 	if err != nil {
 		return err
@@ -46,11 +46,9 @@ func TestAutoDrive1(t *testing.T) {
 	d := rimage.NewMultipleImageTestDebugger(t, "minirover2/autodrive", "*.png", false)
 	err := d.Process(t, MyDebug{})
 	test.That(t, err, test.ShouldBeNil)
-
 }
 
-type ChargeDebug struct {
-}
+type ChargeDebug struct{}
 
 func (cd ChargeDebug) Process(
 	t *testing.T,
@@ -59,6 +57,7 @@ func (cd ChargeDebug) Process(
 	img image.Image,
 	logger golog.Logger,
 ) error {
+	t.Helper()
 	iwd := rimage.ConvertToImageWithDepth(img).Rotate(180)
 	pCtx.GotDebugImage(iwd, "rotated")
 
@@ -79,5 +78,4 @@ func TestCharge1(t *testing.T) {
 	d := rimage.NewMultipleImageTestDebugger(t, "minirover2/charging2", "*.both.gz", false)
 	err := d.Process(t, ChargeDebug{})
 	test.That(t, err, test.ShouldBeNil)
-
 }

action/verify_main_test.go

@@ -6,7 +6,7 @@ import (
 	testutilsext "go.viam.com/utils/testutils/ext"
 )
 
-// TestMain is used to control the execution of all tests run within this package (including _test packages)
+// TestMain is used to control the execution of all tests run within this package (including _test packages).
 func TestMain(m *testing.M) {
 	testutilsext.VerifyTestMain(m)
 }

base/base_test.go

@@ -5,11 +5,10 @@ import (
 	"testing"
 
 	"github.com/pkg/errors"
+	"go.viam.com/test"
 
 	"go.viam.com/rdk/base"
 	"go.viam.com/rdk/testutils/inject"
-
-	"go.viam.com/test"
 )
 
 func TestDoMove(t *testing.T) {

base/compass.go

@@ -6,7 +6,6 @@ import (
 	"time"
 
 	"github.com/edaniels/golog"
-
 	goutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/sensor/compass"

base/compass_test.go

@@ -5,9 +5,8 @@ import (
 	"math"
 	"testing"
 
-	"github.com/pkg/errors"
-
 	"github.com/edaniels/golog"
+	"github.com/pkg/errors"
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/base"
@@ -25,7 +24,7 @@ func TestAugmentReduce(t *testing.T) {
 	comp := &inject.Compass{}
 	aug := base.AugmentWithCompass(dev, comp, logger)
 	test.That(t, aug, test.ShouldNotEqual, dev)
-	var baseDev *base.Base = nil
+	var baseDev *base.Base
 	test.That(t, aug, test.ShouldImplement, baseDev)
 
 	test.That(t, base.Reduce(aug), test.ShouldEqual, dev)

base/impl/verify_main_test.go

@@ -6,7 +6,7 @@ import (
 	testutilsext "go.viam.com/utils/testutils/ext"
 )
 
-// TestMain is used to control the execution of all tests run within this package (including _test packages)
+// TestMain is used to control the execution of all tests run within this package (including _test packages).
 func TestMain(m *testing.M) {
 	testutilsext.VerifyTestMain(m)
 }

base/impl/wheeled_base.go

@@ -1,3 +1,4 @@
+// Package baseimpl implements some bases, like a wheeled base.
 package baseimpl
 
 import (
@@ -6,18 +7,16 @@ import (
 	"math"
 	"time"
 
+	"github.com/edaniels/golog"
 	"github.com/pkg/errors"
-
+	"go.uber.org/multierr"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/base"
 	"go.viam.com/rdk/component/motor"
 	"go.viam.com/rdk/config"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/robot"
-
-	"github.com/edaniels/golog"
-	"go.uber.org/multierr"
 )
 
 func init() {
@@ -36,7 +35,6 @@ type wheeledBase struct {
 }
 
 func (base *wheeledBase) Spin(ctx context.Context, angleDeg float64, degsPerSec float64, block bool) error {
-
 	// Spin math
 	rpm, revolutions := base.spinMath(angleDeg, degsPerSec)
 
@@ -112,7 +110,7 @@ func (base *wheeledBase) MoveArc(ctx context.Context, distanceMillis int, millis
 	return base.WaitForMotorsToStop(ctx)
 }
 
-// returns rpm, revolutions for spin motion
+// returns rpm, revolutions for spin motion.
 func (base *wheeledBase) spinMath(angleDeg float64, degsPerSec float64) (float64, float64) {
 	wheelTravel := base.spinSlipFactor * float64(base.widthMillis) * math.Pi * angleDeg / 360.0
 	revolutions := wheelTravel / float64(base.wheelCircumferenceMillis)
@@ -166,7 +164,6 @@ func (base *wheeledBase) arcMath(distanceMillis int, millisPerSec float64, angle
 }
 
 func (base *wheeledBase) straightDistanceToMotorInfo(distanceMillis int, millisPerSec float64) (float64, float64) {
-
 	rotations := float64(distanceMillis) / float64(base.wheelCircumferenceMillis)
 
 	rotationsPerSec := millisPerSec / float64(base.wheelCircumferenceMillis)
@@ -215,8 +212,8 @@ func (base *wheeledBase) Stop(ctx context.Context) error {
 	return err
 }
 
-func (base *wheeledBase) Close() error {
-	return base.Stop(context.Background())
+func (base *wheeledBase) Close(ctx context.Context) error {
+	return base.Stop(ctx)
 }
 
 func (base *wheeledBase) WidthMillis(ctx context.Context) (int, error) {
@@ -266,7 +263,6 @@ func CreateFourWheelBase(ctx context.Context, r robot.Robot, config config.Compo
 
 // CreateWheeledBase returns a new wheeled base defined by the given config.
 func CreateWheeledBase(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (base.Base, error) {
-
 	base := &wheeledBase{
 		widthMillis:              config.Attributes.Int("widthMillis", 0),
 		wheelCircumferenceMillis: config.Attributes.Int("wheelCircumferenceMillis", 0),