RSDK-2672: tests using Incremental/Single encoder should use construc…

…tor, not initialization (#2647)

components/encoder/incremental/incremental_encoder.go

@@ -49,9 +49,8 @@ type Encoder struct {
 	encBName  string
 
 	logger golog.Logger
-	// TODO(RSDK-2672): This is exposed for tests and should be unexported with
-	// the constructor being used instead.
-	CancelCtx               context.Context
+
+	cancelCtx               context.Context
 	cancelFunc              func()
 	activeBackgroundWorkers sync.WaitGroup
 }
@@ -98,7 +97,7 @@ func NewIncrementalEncoder(
 	e := &Encoder{
 		Named:        conf.ResourceName().AsNamed(),
 		logger:       logger,
-		CancelCtx:    cancelCtx,
+		cancelCtx:    cancelCtx,
 		cancelFunc:   cancelFunc,
 		position:     0,
 		positionType: encoder.PositionTypeTicks,
@@ -154,7 +153,7 @@ func (e *Encoder) Reconfigure(
 	}
 	utils.UncheckedError(e.Close(ctx))
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
-	e.CancelCtx = cancelCtx
+	e.cancelCtx = cancelCtx
 	e.cancelFunc = cancelFunc
 
 	e.mu.Lock()
@@ -239,15 +238,15 @@ func (e *Encoder) Start(ctx context.Context) {
 			// statement guarantees that we'll return if we're supposed to, regardless of whether
 			// there's data in the other channels.
 			select {
-			case <-e.CancelCtx.Done():
+			case <-e.cancelCtx.Done():
 				return
 			default:
 			}
 
 			var tick board.Tick
 
 			select {
-			case <-e.CancelCtx.Done():
+			case <-e.cancelCtx.Done():
 				return
 			case tick = <-chanA:
 				aLevel = 0

components/encoder/single/single_encoder.go

@@ -67,9 +67,8 @@ type Encoder struct {
 
 	positionType encoder.PositionType
 	logger       golog.Logger
-	// TODO(RSDK-2672): This is exposed for tests and should be unexported with
-	// the constructor being used instead.
-	CancelCtx               context.Context
+
+	cancelCtx               context.Context
 	cancelFunc              func()
 	activeBackgroundWorkers sync.WaitGroup
 }
@@ -119,7 +118,7 @@ func NewSingleEncoder(
 	e := &Encoder{
 		Named:        conf.ResourceName().AsNamed(),
 		logger:       logger,
-		CancelCtx:    cancelCtx,
+		cancelCtx:    cancelCtx,
 		cancelFunc:   cancelFunc,
 		position:     0,
 		positionType: encoder.PositionTypeTicks,
@@ -164,7 +163,7 @@ func (e *Encoder) Reconfigure(
 	}
 	utils.UncheckedError(e.Close(ctx))
 	cancelCtx, cancelFunc := context.WithCancel(context.Background())
-	e.CancelCtx = cancelCtx
+	e.cancelCtx = cancelCtx
 	e.cancelFunc = cancelFunc
 
 	e.mu.Lock()
@@ -189,13 +188,13 @@ func (e *Encoder) Start(ctx context.Context) {
 		defer e.I.RemoveCallback(encoderChannel)
 		for {
 			select {
-			case <-e.CancelCtx.Done():
+			case <-e.cancelCtx.Done():
 				return
 			default:
 			}
 
 			select {
-			case <-e.CancelCtx.Done():
+			case <-e.cancelCtx.Done():
 				return
 			case <-encoderChannel:
 			}