RSDK-4567 Bring gostream into rdk (viamrobotics#3000)

.canon.yaml

@@ -1,18 +1,20 @@
 # This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
 viam-rdk:
     default: true
-    image_amd64: ghcr.io/viamrobotics/canon:amd64-cache
-    image_arm64: ghcr.io/viamrobotics/canon:arm64-cache
-    minimum_date: 2023-04-20T00:00:00.0Z
+    image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+    image_arm: ghcr.io/viamrobotics/rdk-devenv:armhf-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
     update_interval: 168h0m0s
     user: testbot
     group: testbot
     persistent: true
 
 viam-rdk-antique:
-    image_amd64: ghcr.io/viamrobotics/antique:amd64-cache
-    image_arm64: ghcr.io/viamrobotics/antique:arm64-cache
-    minimum_date: 2023-04-20T00:00:00.0Z
+    image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache
+    image_arm: ghcr.io/viamrobotics/antique2:armhf-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
     update_interval: 168h0m0s
     user: testbot
     group: testbot

.github/workflows/test.yml

@@ -139,7 +139,7 @@ jobs:
           --platform linux/arm/v7 \
           -v `pwd`:/rdk \
           ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-          sudo -Hu testbot bash -lc 'cd /rdk && go test -v -tags=no_tflite ./...'
+          sudo -Hu testbot bash -lc 'cd /rdk && go list -tags=no_tflite ./... | grep -v mmal | xargs go test -v -tags=no_tflite'
 
   test_pi:
     name: Test Raspberry Pi Code

Makefile

@@ -21,8 +21,12 @@ setup:
 
 build: build-web build-go
 
+# Ignore mmal.
+# Omit test-only packages: that is, packages that have no source files.
+# 	This is done by default if `go build` uses a wildcard, for example, `go build ./...`. Here, we replicate that
+# 	behavior. See https://github.com/golang/go/blob/fa4f951026f697bc042422d95a0806dcbab7ddd0/src/cmd/go/internal/work/build.go#L734
 build-go:
-	go build ./...
+	go list -f '{{if or .CgoFiles .GoFiles}} {{.Dir}} {{end}}' ./... | grep -v mmal | xargs go build
 
 GOOS ?= $(shell go env GOOS)
 GOARCH ?= $(shell go env GOARCH)
@@ -61,8 +65,8 @@ lint: lint-go lint-web
 
 lint-go: tool-install
 	go mod tidy
-	export pkgs="`go list -f '{{.Dir}}' ./... | grep -v /proto/`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined
-	GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml
+	export pkgs="`go list -f '{{.Dir}}' ./... | grep -v -e /proto/ -e mmal`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined
+	export GOC=50 pkgs=`go list -f '{{.Dir}}' ./... | grep -v mmal` && echo "$$pkgs" | xargs $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml
 
 lint-web: check-web
 	npm run lint --prefix web/frontend

components/audioinput/audio_input.go

@@ -6,9 +6,9 @@ import (
 	"errors"
 
 	"github.com/pion/mediadevices/pkg/prop"
-	"github.com/viamrobotics/gostream"
 	pb "go.viam.com/api/component/audioinput/v1"
 
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/robot"
 )

components/audioinput/client.go

@@ -9,11 +9,11 @@ import (
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pion/mediadevices/pkg/wave"
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	pb "go.viam.com/api/component/audioinput/v1"
 	"go.viam.com/utils"
 	"go.viam.com/utils/rpc"
 
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/protoutils"
 	"go.viam.com/rdk/resource"

components/audioinput/client_test.go

@@ -8,11 +8,11 @@ import (
 
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pion/mediadevices/pkg/wave"
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 	"go.viam.com/utils/rpc"
 
 	"go.viam.com/rdk/components/audioinput"
+	"go.viam.com/rdk/gostream"
 	viamgrpc "go.viam.com/rdk/grpc"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"

components/audioinput/fake/audio_input.go

@@ -13,10 +13,10 @@ import (
 
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pion/mediadevices/pkg/wave"
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/audioinput"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 )

components/audioinput/microphone/microphone.go

@@ -11,9 +11,9 @@ import (
 	"regexp"
 
 	"github.com/pion/mediadevices"
-	"github.com/viamrobotics/gostream"
 
 	"go.viam.com/rdk/components/audioinput"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 )

components/camera/align/extrinsics.go

@@ -7,12 +7,12 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	"go.uber.org/multierr"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"

components/camera/align/homography.go

@@ -6,12 +6,12 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	"go.uber.org/multierr"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"

components/camera/align/join.go

@@ -8,12 +8,12 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	"go.uber.org/multierr"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"

components/camera/camera.go

@@ -11,13 +11,13 @@ import (
 
 	"github.com/pion/mediadevices/pkg/prop"
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	"go.uber.org/multierr"
 	pb "go.viam.com/api/component/camera/v1"
 	viamutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"

components/camera/camera_test.go

@@ -6,11 +6,11 @@ import (
 	"testing"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 	"go.viam.com/utils/artifact"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"

components/camera/client.go

@@ -8,13 +8,13 @@ import (
 	"sync"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	pb "go.viam.com/api/component/camera/v1"
 	goutils "go.viam.com/utils"
 	"go.viam.com/utils/rpc"
 
 	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/protoutils"

components/camera/client_test.go

@@ -11,13 +11,13 @@ import (
 	"testing"
 	"time"
 
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 	"go.viam.com/utils/rpc"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/metadata"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	viamgrpc "go.viam.com/rdk/grpc"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"

components/camera/ffmpeg/ffmpeg.go

@@ -12,12 +12,12 @@ import (
 	"sync/atomic"
 
 	ffmpeg "github.com/u2takey/ffmpeg-go"
-	"github.com/viamrobotics/gostream"
 	"go.uber.org/zap"
 	"go.uber.org/zap/zapio"
 	viamutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"

components/camera/replaypcd/replaypcd.go

@@ -8,7 +8,6 @@ import (
 	"time"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	datapb "go.viam.com/api/app/data/v1"
 	goutils "go.viam.com/utils"
 	"go.viam.com/utils/rpc"
@@ -17,6 +16,7 @@ import (
 	"google.golang.org/protobuf/types/known/timestamppb"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/internal/cloud"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"

components/camera/rtsp/rtsp.go

@@ -16,11 +16,11 @@ import (
 	"github.com/aler9/gortsplib/v2/pkg/url"
 	"github.com/pion/rtp"
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.uber.org/multierr"
 	goutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"

components/camera/server.go

@@ -6,13 +6,13 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	commonpb "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/camera/v1"
 	"google.golang.org/genproto/googleapis/api/httpbody"
 
 	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/protoutils"

components/camera/server_test.go

@@ -10,11 +10,11 @@ import (
 	"testing"
 	"time"
 
-	"github.com/viamrobotics/gostream"
 	pb "go.viam.com/api/component/camera/v1"
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"

components/camera/transformpipeline/classifier.go

@@ -5,10 +5,10 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"
 	"go.viam.com/rdk/robot"

components/camera/transformpipeline/composed.go

@@ -5,10 +5,10 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"

components/camera/transformpipeline/composed_test.go

@@ -6,10 +6,10 @@ import (
 	"image/color"
 	"testing"
 
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/rimage"

components/camera/transformpipeline/depth_edges.go

@@ -5,10 +5,10 @@ import (
 	"image"
 
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/rimage/transform"

components/camera/transformpipeline/depth_edges_test.go

@@ -8,12 +8,12 @@ import (
 	"testing"
 
 	"github.com/pion/mediadevices/pkg/prop"
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 	"go.viam.com/utils/artifact"
 
 	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/components/camera/videosource"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/rimage/depthadapter"

components/camera/transformpipeline/detector.go

@@ -5,10 +5,10 @@ import (
 	"fmt"
 	"image"
 
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"
 	"go.viam.com/rdk/robot"

components/camera/transformpipeline/mods.go

@@ -7,11 +7,11 @@ import (
 
 	"github.com/disintegration/imaging"
 	"github.com/pkg/errors"
-	"github.com/viamrobotics/gostream"
 	"go.opencensus.io/trace"
 	"golang.org/x/image/draw"
 
 	"go.viam.com/rdk/components/camera"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/rimage/transform"

components/camera/transformpipeline/mods_test.go

@@ -6,12 +6,12 @@ import (
 	"testing"
 
 	"github.com/pion/mediadevices/pkg/prop"
-	"github.com/viamrobotics/gostream"
 	"go.viam.com/test"
 	"go.viam.com/utils/artifact"
 
 	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/components/camera/videosource"
+	"go.viam.com/rdk/gostream"
 	"go.viam.com/rdk/rimage"
 	"go.viam.com/rdk/utils"
 )