bump rdk to v0.117.0 and update linter

.github/workflows/deploy.yml

@@ -7,7 +7,7 @@ jobs:
     publish:
       runs-on: ubuntu-latest
       steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: viamrobotics/build-action@v1
         with:
           version: ${{ github.ref_name }}

.github/workflows/test.yml

@@ -24,11 +24,11 @@ jobs:
 
     - name: Check out main branch code
       if: github.event_name != 'pull_request_target'
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         ref: ${{ github.event.pull_request.head.sha }}
 

Makefile

@@ -20,7 +20,6 @@ build-go:
 tool-install:
 	GOBIN=`pwd`/$(TOOL_BIN) go install \
 		github.com/edaniels/golinters/cmd/combined \
-		github.com/golangci/golangci-lint/cmd/golangci-lint \
 		github.com/AlekSi/gocov-xml \
 		github.com/axw/gocov/gocov \
 		gotest.tools/gotestsum \
@@ -29,10 +28,12 @@ tool-install:
 lint: lint-go
 	PATH=$(TOOL_BIN) actionlint
 
+GOVERSION = $(shell grep '^go ' go.mod | head -n1 | cut -d' ' -f2)
+
 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 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/golangci.yaml
+	GOTOOLCHAIN=go$(GOVERSION) GOGC=50 go run github.com/golangci/golangci-lint/cmd/golangci-lint@v1.64.8 run -v --fix --config=./etc/golangci.yaml
 
 test: test-go
 

cloudslam/cloudslam.go

@@ -111,27 +111,27 @@ func init() {
 }
 
 // Validate validates the config for cloudslam.
-func (cfg *Config) Validate(path string) ([]string, error) {
+func (cfg *Config) Validate(path string) ([]string, []string, error) {
 	// resource.NewConfigValidationFieldRequiredError(path, "i2c_bus")
 	if cfg.SLAMService == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "slam_service")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "slam_service")
 	}
 	if cfg.APIKey == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "api_key")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "api_key")
 	}
 	if cfg.APIKeyID == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "api_key_id")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "api_key_id")
 	}
 	if cfg.MachineID == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "machine_id")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "machine_id")
 	}
 	if cfg.LocationID == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "location_id")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "location_id")
 	}
 	if cfg.OrganizationID == "" {
-		return []string{}, resource.NewConfigValidationFieldRequiredError(path, "organization_id")
+		return []string{}, []string{}, resource.NewConfigValidationFieldRequiredError(path, "organization_id")
 	}
-	return []string{cfg.SLAMService}, nil
+	return []string{cfg.SLAMService}, []string{}, nil
 }
 
 func newSLAM(
@@ -144,7 +144,7 @@ func newSLAM(
 	if err != nil {
 		return nil, err
 	}
-	wrappedSLAM, err := slam.FromDependencies(deps, newConf.SLAMService)
+	wrappedSLAM, err := slam.FromProvider(deps, newConf.SLAMService)
 	if err != nil {
 		return nil, err
 	}
@@ -240,7 +240,8 @@ func (svc *cloudslamWrapper) initialize(mappingMode slam.MappingMode) error {
 	if err != nil {
 		return err
 	}
-	svc.activeJob.Store(&resp.SessionId)
+	sessionID := resp.GetSessionId()
+	svc.activeJob.Store(&sessionID)
 
 	svc.workers = goutils.NewBackgroundStoppableWorkers(svc.activeMappingSessionThread)
 	return nil
@@ -270,7 +271,8 @@ func (svc *cloudslamWrapper) activeMappingSessionThread(ctx context.Context) {
 		currPose := spatialmath.NewPoseFromProtobuf(resp.GetPose())
 
 		svc.lastPose.Store(&currPose)
-		svc.lastPointCloudURL.Store(&resp.MapUrl)
+		mapURL := resp.GetMapUrl()
+		svc.lastPointCloudURL.Store(&mapURL)
 	}
 }
 

cloudslam/thumbnail.go

@@ -8,6 +8,7 @@ import (
 	"io"
 	"math"
 	"path/filepath"
+	"strings"
 
 	"github.com/golang/geo/r3"
 	"github.com/montanaflynn/stats"
@@ -98,13 +99,15 @@ func (svc *cloudslamWrapper) uploadJpeg(
 		return "", errors.Wrap(err, "received error response while syncing thumbnail")
 	}
 
-	return res.GetFileId(), nil
+	// BinaryDataId is "org_id/location_id/file_id"; extract just the file_id for the thumbnail URL.
+	parts := strings.Split(res.GetBinaryDataId(), "/")
+	return parts[len(parts)-1], nil
 }
 
 // pcdToJpeg converts a pointcloud data into a jpeg image.
 func pcdToJpeg(pcd []byte) (*bytes.Buffer, error) {
 	ppRM := NewParallelProjectionOntoXYWithRobotMarker(nil)
-	pc, err := pointcloud.ReadPCD(bytes.NewBuffer(pcd))
+	pc, err := pointcloud.ReadPCD(bytes.NewBuffer(pcd), "")
 	if err != nil {
 		return nil, errors.Wrapf(err, "converting pcd to pointcloud")
 	}

etc/golangci.yaml

@@ -3,7 +3,6 @@ service:
 run:
   deadline: 900s
   modules-download-mode: readonly
-  skip-dirs-use-default: false
   tests: true
 linters:
   enable-all: true
@@ -64,7 +63,6 @@ linters-settings:
       - default
       - prefix(cloudslam-module)
   gofumpt:
-    lang-version: "1.21"
     extra-rules: true
   govet:
     enable-all: true