lint happy

postprocess/postprocess.go

@@ -35,8 +35,10 @@ const (
 	RemoveCommand = "postprocess_remove"
 	// UndoCommand can be used to undo last postprocessing step.
 	UndoCommand = "postprocess_undo"
-	// PathCommand can be used to specify a pcd that has already been postprocessed.
-	PathCommand = "postprocess_path"
+	// FileCommand can be used to specify a pcd that has already been postprocessed.
+	FileCommand = "postprocess_file"
+	// Path is the expected path of any postprocessed map.
+	Path = "/usr/local/share"
 )
 
 var (

viam_cartographer.go

@@ -6,6 +6,7 @@ import (
 	"bytes"
 	"context"
 	"os"
+	"path/filepath"
 	"strconv"
 	"sync"
 	"sync/atomic"
@@ -689,20 +690,21 @@ func (cartoSvc *CartographerService) DoCommand(ctx context.Context, req map[stri
 		return map[string]interface{}{postprocess.UndoCommand: SuccessMessage}, nil
 	}
 
-	if val, ok := req[postprocess.PathCommand]; ok {
-		path, ok := val.(string)
+	if val, ok := req[postprocess.FileCommand]; ok {
+		file, ok := val.(string)
 		if !ok {
 			return nil, ErrBadPostprocessingPath
 		}
 
-		//nolint:all
-		bytes, err := os.ReadFile(path)
+		fullPath := postprocess.Path + file
+		fullPath = filepath.Clean(fullPath)
+		bytes, err := os.ReadFile(fullPath)
 		if err != nil {
 			return nil, err
 		}
 		cartoSvc.postprocessedPointCloud = &bytes
 		cartoSvc.postprocessed.Store(true)
-		return map[string]interface{}{postprocess.PathCommand: SuccessMessage}, nil
+		return map[string]interface{}{postprocess.FileCommand: SuccessMessage}, nil
 	}
 
 	return nil, viamgrpc.UnimplementedError

viam_cartographer_test.go

@@ -466,22 +466,22 @@ func TestDoCommand(t *testing.T) {
 	t.Run(
 		"success if 'postprocess_path' is called correctly",
 		func(t *testing.T) {
-			path := artifact.MustPath("viam-cartographer/outputs/viam-office-02-22-3/pointcloud/pointcloud_1.pcd")
-			cmd := map[string]interface{}{postprocess.PathCommand: path}
+			file := artifact.MustPath("viam-cartographer/outputs/viam-office-02-22-3/pointcloud/pointcloud_1.pcd")
+			cmd := map[string]interface{}{postprocess.FileCommand: file}
 			resp, err := svc.DoCommand(context.Background(), cmd)
 			test.That(t, err, test.ShouldBeNil)
 			test.That(
 				t,
 				resp,
 				test.ShouldResemble,
-				map[string]interface{}{postprocess.PathCommand: viamcartographer.SuccessMessage},
+				map[string]interface{}{postprocess.FileCommand: viamcartographer.SuccessMessage},
 			)
 		})
 	t.Run(
 		"errors if 'postprocess_path' is called with incorrect format",
 		func(t *testing.T) {
-			point := map[string]interface{}{"X": float64(1), "Y": float64(1)}
-			cmd := map[string]interface{}{postprocess.PathCommand: point}
+			file := map[string]interface{}{"X": float64(1), "Y": float64(1)}
+			cmd := map[string]interface{}{postprocess.FileCommand: file}
 			resp, err := svc.DoCommand(context.Background(), cmd)
 			test.That(t, err.Error(), test.ShouldContainSubstring, viamcartographer.ErrBadPostprocessingPath.Error())
 			test.That(t, resp, test.ShouldBeNil)