lint

Author: dgottlieb

components/camera/client_test.go

@@ -623,7 +623,7 @@ func setupRealRobot(
 	t *testing.T,
 	robotConfig *config.Config,
 	logger logging.Logger,
-) (context.Context, robot.LocalRobot, string, web.Service) {
+) (context.Context, robot.LocalRobot, string, web.ServiceI) {
 	t.Helper()
 
 	ctx := context.Background()
@@ -648,7 +648,7 @@ func setupRealRobotWithOptions(
 	robotConfig *config.Config,
 	logger logging.Logger,
 	options weboptions.Options,
-) (context.Context, robot.LocalRobot, web.Service) {
+) (context.Context, robot.LocalRobot, web.ServiceI) {
 	t.Helper()
 
 	ctx := context.Background()

robot/impl/local_robot.go

@@ -83,7 +83,7 @@ type localRobot struct {
 	configRevisionMu sync.RWMutex
 
 	// internal services that are in the graph but we also hold onto
-	webSvc   *web.WebService
+	webSvc   *web.Service
 	frameSvc framesystem.Service
 
 	// map keyed by Module.Name. This is necessary to get the package manager to use a new folder

robot/web/graphviz_c.go

@@ -10,10 +10,11 @@ import (
 	"time"
 
 	"github.com/goccy/go-graphviz"
+
 	"go.viam.com/rdk/robot"
 )
 
-func (svc *WebService) handleVisualizeResourceGraph(w http.ResponseWriter, r *http.Request) {
+func (svc *Service) handleVisualizeResourceGraph(w http.ResponseWriter, r *http.Request) {
 	localRobot, isLocal := svc.r.(robot.LocalRobot)
 	if !isLocal {
 		return

robot/web/stream/stream_test.go

@@ -32,7 +32,7 @@ import (
 // streaming capabilities.
 //
 //nolint:lll
-func setupRealRobot(t *testing.T, robotConfig *config.Config, logger logging.Logger) (context.Context, robot.LocalRobot, string, web.Service) {
+func setupRealRobot(t *testing.T, robotConfig *config.Config, logger logging.Logger) (context.Context, robot.LocalRobot, string, web.ServiceI) {
 	t.Helper()
 
 	ctx := context.Background()

robot/web/web.go

@@ -59,7 +59,8 @@ var API = resource.APINamespaceRDKInternal.WithServiceType(SubtypeName)
 // InternalServiceName is used to refer to/depend on this service internally.
 var InternalServiceName = resource.NewName(API, "builtin")
 
-type WebService struct {
+// Service is can bind to a socket and will register gRPC handlers.
+type Service struct {
 	resource.Named
 
 	mu           sync.Mutex
@@ -81,8 +82,8 @@ type WebService struct {
 	counter *RequestCounters
 }
 
-// A Service controls the web server for a robot.
-type Service interface {
+// A ServiceI controls the web server for a robot.
+type ServiceI interface {
 	resource.Resource
 
 	// Start starts the web server
@@ -108,12 +109,13 @@ var internalWebServiceName = resource.NewName(
 	"builtin",
 )
 
-func (svc *WebService) Name() resource.Name {
+// Name returns a resource name object for the web service.
+func (svc *Service) Name() resource.Name {
 	return internalWebServiceName
 }
 
 // Start starts the web server, will return an error if server is already up.
-func (svc *WebService) Start(ctx context.Context, o weboptions.Options) error {
+func (svc *Service) Start(ctx context.Context, o weboptions.Options) error {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	if svc.isRunning {
@@ -163,21 +165,21 @@ func RunWebWithConfig(ctx context.Context, r robot.LocalRobot, cfg *config.Confi
 }
 
 // Address returns the address the service is listening on.
-func (svc *WebService) Address() string {
+func (svc *Service) Address() string {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	return svc.addr
 }
 
 // ModuleAddress returns the unix socket path the module server is listening on.
-func (svc *WebService) ModuleAddress() string {
+func (svc *Service) ModuleAddress() string {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	return svc.modAddr
 }
 
 // StartModule starts the grpc module server.
-func (svc *WebService) StartModule(ctx context.Context) error {
+func (svc *Service) StartModule(ctx context.Context) error {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	if svc.modServer != nil {
@@ -256,7 +258,7 @@ func (svc *WebService) StartModule(ctx context.Context) error {
 	return nil
 }
 
-func (svc *WebService) refreshResources() error {
+func (svc *Service) refreshResources() error {
 	resources := make(map[resource.Name]resource.Resource)
 	for _, name := range svc.r.ResourceNames() {
 		resource, err := svc.r.ResourceByName(name)
@@ -270,7 +272,7 @@ func (svc *WebService) refreshResources() error {
 
 // updateResources gets every existing resource on the robot's resource graph and updates ResourceAPICollection object
 // with the correct resources, include deleting ones which have been removed from the resource graph.
-func (svc *WebService) updateResources(resources map[resource.Name]resource.Resource) error {
+func (svc *Service) updateResources(resources map[resource.Name]resource.Resource) error {
 	groupedResources := make(map[resource.API]map[resource.Name]resource.Resource)
 	for n, v := range resources {
 		r, ok := groupedResources[n.API]
@@ -326,13 +328,13 @@ func (svc *WebService) updateResources(resources map[resource.Name]resource.Reso
 }
 
 // Stop stops the main web service prior to actually closing (it leaves the module server running.)
-func (svc *WebService) Stop() {
+func (svc *Service) Stop() {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	svc.stopWeb()
 }
 
-func (svc *WebService) stopWeb() {
+func (svc *Service) stopWeb() {
 	if svc.cancelFunc != nil {
 		svc.cancelFunc()
 	}
@@ -341,7 +343,7 @@ func (svc *WebService) stopWeb() {
 }
 
 // Close closes a webService via calls to its Cancel func.
-func (svc *WebService) Close(ctx context.Context) error {
+func (svc *Service) Close(ctx context.Context) error {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	svc.stopWeb()
@@ -355,7 +357,7 @@ func (svc *WebService) Close(ctx context.Context) error {
 
 // runWeb takes the given robot and options and runs the web server. This function will
 // block until the context is done.
-func (svc *WebService) runWeb(ctx context.Context, options weboptions.Options) (err error) {
+func (svc *Service) runWeb(ctx context.Context, options weboptions.Options) (err error) {
 	if options.Network.BindAddress != "" && options.Network.Listener != nil {
 		return errors.New("may only set one of network bind address or listener")
 	}
@@ -499,16 +501,23 @@ func (svc *WebService) runWeb(ctx context.Context, options weboptions.Options) (
 	return err
 }
 
-// Requests for resources are expected to be a gRPC object that includes a `GetName` method.
+// Namer is used to get a resource name from incoming requests for countingfor request. Requests for
+// resources are expected to be a gRPC object that includes a `GetName` method.
 type Namer interface {
 	GetName() string
 }
 
+// RequestCounters maps string keys to atomic ints that get bumped on every incoming gRPC request
+// for components.
 type RequestCounters struct {
 	counts sync.Map
 }
 
-func (mc *RequestCounters) UnaryInterceptor(ctx context.Context, req any, info *googlegrpc.UnaryServerInfo, handler googlegrpc.UnaryHandler) (resp any, err error) {
+// UnaryInterceptor returns an incoming server interceptor that will pull method information and
+// optionally resource information to bump the request counters.
+func (mc *RequestCounters) UnaryInterceptor(
+	ctx context.Context, req any, info *googlegrpc.UnaryServerInfo, handler googlegrpc.UnaryHandler,
+) (resp any, err error) {
 	// Handle `info.FullMethod` values such as:
 	// - `/viam.component.motor.v1.MotorService/IsMoving`
 	// - `/viam.robot.v1.RobotService/SendSessionHeartbeat`
@@ -538,6 +547,7 @@ func (mc *RequestCounters) UnaryInterceptor(ctx context.Context, req any, info *
 	return handler(ctx, req)
 }
 
+// Stats satisfies the ftdc.Statser interface and will return a copy of the counters.
 func (mc *RequestCounters) Stats() any {
 	ret := make(map[string]int64)
 	mc.counts.Range(func(key, value any) bool {
@@ -549,7 +559,7 @@ func (mc *RequestCounters) Stats() any {
 }
 
 // Initialize RPC Server options.
-func (svc *WebService) initRPCOptions(listenerTCPAddr *net.TCPAddr, options weboptions.Options) ([]rpc.ServerOption, error) {
+func (svc *Service) initRPCOptions(listenerTCPAddr *net.TCPAddr, options weboptions.Options) ([]rpc.ServerOption, error) {
 	hosts := options.GetHosts(listenerTCPAddr)
 
 	webrtcOptions := rpc.WebRTCServerOptions{
@@ -639,7 +649,7 @@ func (svc *WebService) initRPCOptions(listenerTCPAddr *net.TCPAddr, options webo
 }
 
 // Initialize authentication handler options.
-func (svc *WebService) initAuthHandlers(listenerTCPAddr *net.TCPAddr, options weboptions.Options) ([]rpc.ServerOption, error) {
+func (svc *Service) initAuthHandlers(listenerTCPAddr *net.TCPAddr, options weboptions.Options) ([]rpc.ServerOption, error) {
 	rpcOpts := []rpc.ServerOption{}
 
 	if options.Managed && len(options.Auth.Handlers) == 1 {
@@ -718,7 +728,7 @@ func (svc *WebService) initAuthHandlers(listenerTCPAddr *net.TCPAddr, options we
 }
 
 // Register every API resource grpc service here.
-func (svc *WebService) initAPIResourceCollections(ctx context.Context, mod bool) error {
+func (svc *Service) initAPIResourceCollections(ctx context.Context, mod bool) error {
 	// TODO (RSDK-144): only register necessary services
 	apiRegs := resource.RegisteredAPIs()
 	for s, rs := range apiRegs {
@@ -740,7 +750,7 @@ func (svc *WebService) initAPIResourceCollections(ctx context.Context, mod bool)
 }
 
 // Initialize HTTP server.
-func (svc *WebService) initHTTPServer(listenerTCPAddr *net.TCPAddr, options weboptions.Options) (*http.Server, error) {
+func (svc *Service) initHTTPServer(listenerTCPAddr *net.TCPAddr, options weboptions.Options) (*http.Server, error) {
 	mux := svc.initMux(options)
 
 	httpServer, err := utils.NewPossiblySecureHTTPServer(mux, utils.HTTPServerOptions{
@@ -757,7 +767,7 @@ func (svc *WebService) initHTTPServer(listenerTCPAddr *net.TCPAddr, options webo
 }
 
 // Initialize multiplexer between http handlers.
-func (svc *WebService) initMux(options weboptions.Options) *goji.Mux {
+func (svc *Service) initMux(options weboptions.Options) *goji.Mux {
 	mux := goji.NewMux()
 	// Note: used by viam-agent for health checks
 	mux.HandleFunc(pat.New("/"), func(w http.ResponseWriter, _ *http.Request) {
@@ -814,7 +824,7 @@ func (svc *WebService) initMux(options weboptions.Options) *goji.Mux {
 // It is invoked instead of returning the "unimplemented" gRPC error whenever a request is received for
 // an unregistered service or method. These method could be registered on a remote viam-server or a module server
 // so this handler will attempt to route the request to the correct next node in the chain.
-func (svc *WebService) foreignServiceHandler(srv interface{}, stream googlegrpc.ServerStream) error {
+func (svc *Service) foreignServiceHandler(srv interface{}, stream googlegrpc.ServerStream) error {
 	// method will be in the form of PackageName.ServiceName/MethodName
 	method, ok := googlegrpc.MethodFromServerStream(stream)
 	if !ok {
@@ -998,7 +1008,7 @@ type stats struct {
 }
 
 // Stats returns ftdc data on behalf of the rpcServer and other web services.
-func (svc *WebService) Stats() any {
+func (svc *Service) Stats() any {
 	// RSDK-9369: It's not ideal to block in `Stats`. But we don't today expect this to be
 	// problematic, and alternatives are more complex/expensive.
 	svc.mu.Lock()
@@ -1007,7 +1017,8 @@ func (svc *WebService) Stats() any {
 	return stats{RPCServer: svc.rpcServer.Stats()}
 }
 
-func (svc *WebService) RequestCounters() *RequestCounters {
+// RequestCounters returns the request counters for this web service.
+func (svc *Service) RequestCounters() *RequestCounters {
 	return svc.counter
 }
 
@@ -1020,7 +1031,7 @@ type RestartStatusResponse struct {
 }
 
 // Handles the `/restart_status` endpoint.
-func (svc *WebService) handleRestartStatus(w http.ResponseWriter, r *http.Request) {
+func (svc *Service) handleRestartStatus(w http.ResponseWriter, r *http.Request) {
 	localRobot, isLocal := svc.r.(robot.LocalRobot)
 	if !isLocal {
 		return

robot/web/web_c.go

@@ -18,12 +18,12 @@ import (
 )
 
 // New returns a new web service for the given robot.
-func New(r robot.Robot, logger logging.Logger, opts ...Option) *WebService {
+func New(r robot.Robot, logger logging.Logger, opts ...Option) *Service {
 	var wOpts options
 	for _, opt := range opts {
 		opt.apply(&wOpts)
 	}
-	webSvc := &WebService{
+	webSvc := &Service{
 		Named:        InternalServiceName.AsNamed(),
 		r:            r,
 		logger:       logger,
@@ -38,7 +38,7 @@ func New(r robot.Robot, logger logging.Logger, opts ...Option) *WebService {
 }
 
 // Reconfigure pulls resources and updates the stream server audio and video streams with the new resources.
-func (svc *WebService) Reconfigure(ctx context.Context, deps resource.Dependencies, _ resource.Config) error {
+func (svc *Service) Reconfigure(ctx context.Context, deps resource.Dependencies, _ resource.Config) error {
 	svc.mu.Lock()
 	defer svc.mu.Unlock()
 	if err := svc.updateResources(deps); err != nil {
@@ -50,13 +50,13 @@ func (svc *WebService) Reconfigure(ctx context.Context, deps resource.Dependenci
 	return svc.streamServer.AddNewStreams(svc.cancelCtx)
 }
 
-func (svc *WebService) closeStreamServer() {
+func (svc *Service) closeStreamServer() {
 	if err := svc.streamServer.Close(); err != nil {
 		svc.logger.Errorw("error closing stream server", "error", err)
 	}
 }
 
-func (svc *WebService) initStreamServer(ctx context.Context) error {
+func (svc *Service) initStreamServer(ctx context.Context) error {
 	// Check to make sure stream config option is set in the webservice.
 	var streamConfig gostream.StreamConfig
 	if svc.opts.streamConfig != nil {