Pos extra (#336)

cartofacade/capi.go

@@ -77,8 +77,6 @@ type Position struct {
 	Imag float64
 	Jmag float64
 	Kmag float64
-
-	ComponentReference string
 }
 
 // LidarConfig represents the lidar configuration
@@ -93,10 +91,9 @@ const (
 
 // CartoConfig contains config values from app
 type CartoConfig struct {
-	Camera             string
-	MovementSensor     string
-	ComponentReference string
-	LidarConfig        LidarConfig
+	Camera         string
+	MovementSensor string
+	LidarConfig    LidarConfig
 
 	EnableMapping bool
 	ExistingMap   string
@@ -358,8 +355,6 @@ func getTestPositionResponse() C.viam_carto_get_position_response {
 
 	gpr.real = C.double(1100)
 
-	gpr.component_reference = goStringToBstring("C++ component reference")
-
 	return gpr
 }
 
@@ -440,8 +435,6 @@ func toPositionResponse(value C.viam_carto_get_position_response) Position {
 		Imag: float64(value.imag),
 		Jmag: float64(value.jmag),
 		Kmag: float64(value.kmag),
-
-		ComponentReference: bstringToGoString(value.component_reference),
 	}
 }
 
@@ -523,8 +516,6 @@ func toError(status C.int) error {
 		return errors.New("VIAM_CARTO_SLAM_MODE_INVALID")
 	case C.VIAM_CARTO_LIDAR_CONFIG_INVALID:
 		return errors.New("VIAM_CARTO_LIDAR_CONFIG_INVALID")
-	case C.VIAM_CARTO_COMPONENT_REFERENCE_INVALID:
-		return errors.New("VIAM_CARTO_COMPONENT_REFERENCE_INVALID")
 	case C.VIAM_CARTO_LUA_CONFIG_NOT_FOUND:
 		return errors.New("VIAM_CARTO_LUA_CONFIG_NOT_FOUND")
 	case C.VIAM_CARTO_INTERNAL_STATE_FILE_SYSTEM_ERROR:

cartofacade/capi_test.go

@@ -119,7 +119,6 @@ func TestPositionResponse(t *testing.T) {
 	gpr := getTestPositionResponse()
 	t.Run("position response properly converted between C and go", func(t *testing.T) {
 		holder := toPositionResponse(gpr)
-		test.That(t, holder.ComponentReference, test.ShouldEqual, "C++ component reference")
 
 		test.That(t, holder.X, test.ShouldEqual, 100)
 		test.That(t, holder.Y, test.ShouldEqual, 200)
@@ -215,7 +214,7 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		cfgBad := GetBadTestConfig()
 		vc, err = NewCarto(cfgBad, algoCfg, &pvcl)
 		// initialize viam_carto incorrectly
-		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_COMPONENT_REFERENCE_INVALID"))
+		test.That(t, err, test.ShouldResemble, errors.New("VIAM_CARTO_LIDAR_CONFIG_INVALID"))
 		test.That(t, vc, test.ShouldNotBeNil)
 
 		algoCfg = GetTestAlgoConfig(false)
@@ -342,7 +341,6 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		// test position zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		positionIsZero(t, position)
 
 		// test pointCloudMap now returns a non empty result
@@ -369,7 +367,6 @@ func TestCGoAPIWithoutMovementSensor(t *testing.T) {
 		// test position, is no longer zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, position.X, test.ShouldNotEqual, 0)
 		test.That(t, position.Y, test.ShouldNotEqual, 0)
 		test.That(t, position.Z, test.ShouldEqual, 0)
@@ -604,7 +601,6 @@ func TestCGoAPIWithMovementSensor(t *testing.T) {
 		// test position is not zeroed
 		position, err = vc.position()
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, position.ComponentReference, test.ShouldEqual, "my-lidar")
 		test.That(t, r3.Vector{X: position.X, Y: position.Y, Z: position.Z}, test.ShouldNotResemble, r3.Vector{X: 0, Y: 0, Z: 0})
 
 		// test pointCloudMap returns a non empty result

cartofacade/testhelpers.go

@@ -3,12 +3,11 @@ package cartofacade
 // GetTestConfig gets a sample config for testing purposes.
 func GetTestConfig(cameraName, movementSensorName, filename string, enableMapping bool) CartoConfig {
 	return CartoConfig{
-		Camera:             cameraName,
-		MovementSensor:     movementSensorName,
-		ComponentReference: "component",
-		LidarConfig:        TwoD,
-		EnableMapping:      enableMapping,
-		ExistingMap:        filename,
+		Camera:         cameraName,
+		MovementSensor: movementSensorName,
+		LidarConfig:    TwoD,
+		EnableMapping:  enableMapping,
+		ExistingMap:    filename,
 	}
 }
 

etc/golangci.yaml

@@ -12,12 +12,12 @@ linters:
     - contextcheck
     - cyclop
     - deadcode
+    - depguard
     - exhaustivestruct
     - exhaustruct
     - forcetypeassert
     - funlen
     - gocognit
-    - gocritic
     - godox
     - goerr113
     - gochecknoglobals
@@ -36,6 +36,7 @@ linters:
     - maligned
     - makezero
     - musttag
+    - nakedret
     - nestif
     - nlreturn
     - nosnakecase
@@ -60,8 +61,12 @@ linters-settings:
       - standard
       - default
       - prefix(github.com/viamrobotics/viam-cartographer)
+  gocritic:
+    enabled-tags:
+    disabled-checks:
+      - dupSubExpr
   gofumpt:
-    lang-version: "1.19"
+    lang-version: "1.21"
     extra-rules: true
   gosec:
     excludes:
@@ -71,6 +76,39 @@ linters-settings:
     disable:
       - fieldalignment
       - shadow
+      - composites
+  revive:
+    # Unfortunately configuring a single rules disables all other rules, even
+    # if we set `enable-all: true`
+    #
+    # To get around this, we include default rules:
+    # https://github.com/mgechev/revive/blob/master/defaults.toml
+    rules:
+      - name: blank-imports
+      - name: context-as-argument
+        disabled: false
+        arguments:
+          - allowTypesBefore: "testing.TB,*testing.T,*testing.B,*testing.F"
+      - name: context-keys-type
+      - name: dot-imports
+      - name: empty-block
+      - name: error-naming
+      - name: error-return
+      - name: error-strings
+      - name: errorf
+      - name: exported
+      - name: increment-decrement
+      - name: indent-error-flow
+      - name: package-comments
+      - name: range
+      - name: receiver-naming
+      - name: redefines-builtin-id
+      - name: superfluous-else
+      - name: time-naming
+      - name: unexported-return
+      - name: unreachable-code
+      - name: var-declaration
+      - name: var-naming
   lll:
     line-length: 140
 issues: