APP-6222 upgrade to go 1.23 (#4401)

.github/workflows/cli.yml

@@ -29,9 +29,9 @@ jobs:
       with:
         ref: ${{ github.event.pull_request.head.sha }}
 
-    - uses: actions/setup-go@v4
+    - uses: actions/setup-go@v5
       with:
-        go-version: '1.21.x'
+        go-version-file: go.mod
 
     - name: build
       env:

.github/workflows/droid.yml

@@ -33,9 +33,9 @@ jobs:
       with:
         ref: ${{ github.event.pull_request.head.sha }}
 
-    - uses: actions/setup-go@v4
+    - uses: actions/setup-go@v5
       with:
-        go-version: '1.21'
+        go-version-file: go.mod
 
     - id: cache-ndk
       uses: actions/cache@v3

.github/workflows/full-static.yml

@@ -43,7 +43,7 @@ jobs:
     - uses: actions/setup-node@v4
     - uses: actions/setup-go@v5
       with:
-        go-version: '1.21'
+        go-version-file: go.mod
 
     - name: build js
       run: make build-web

.github/workflows/macos.yml

@@ -13,7 +13,7 @@ jobs:
         ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}
     - uses: actions/setup-go@v5
       with:
-        go-version: '1.21.x'
+        go-version-file: go.mod
     - name: brew
       run: |
         brew config

cli/archive.go

@@ -63,7 +63,7 @@ func createArchive(files []string, buf, stdout io.Writer) error {
 	}()
 
 	if stdout != nil {
-		fmt.Fprintf(stdout, "\rCompressing... %d%% (%d/%d files)", 0, 1, len(files)) // no newline
+		fmt.Fprintf(stdout, "\rCompressing... %d%% (%d/%d files)", 0, 1, len(files)) //nolint:errcheck // no newline
 	}
 	// Iterate over files and add them to the tar archive
 	for i, file := range files {
@@ -73,7 +73,7 @@ func createArchive(files []string, buf, stdout io.Writer) error {
 		}
 		if stdout != nil {
 			compressPercent := int(math.Ceil(100 * float64(i+1) / float64(len(files))))
-			fmt.Fprintf(stdout, "\rCompressing... %d%% (%d/%d files)", compressPercent, i+1, len(files)) // no newline
+			fmt.Fprintf(stdout, "\rCompressing... %d%% (%d/%d files)", compressPercent, i+1, len(files)) //nolint:errcheck // no newline
 		}
 	}
 	return nil

cli/client.go

@@ -1514,10 +1514,10 @@ func (c *viamClient) startRobotPartShell(
 			case outputData, ok := <-output:
 				if ok {
 					if outputData.Output != "" {
-						fmt.Fprint(c.c.App.Writer, outputData.Output) // no newline
+						fmt.Fprint(c.c.App.Writer, outputData.Output) //nolint:errcheck // no newline
 					}
 					if outputData.Error != "" {
-						fmt.Fprint(c.c.App.ErrWriter, outputData.Error) // no newline
+						fmt.Fprint(c.c.App.ErrWriter, outputData.Error) //nolint:errcheck // no newline
 					}
 					if outputData.EOF {
 						return

cli/data.go

@@ -110,7 +110,7 @@ func DataTagActionByFilter(c *cli.Context) error {
 }
 
 // DataTagActionByIds is the corresponding action for 'data tag'.
-func DataTagActionByIds(c *cli.Context) error {
+func DataTagActionByIds(c *cli.Context) error { //nolint:var-naming,revive
 	client, err := newViamClient(c)
 	if err != nil {
 		return err
@@ -561,7 +561,7 @@ func (c *viamClient) downloadBinary(dst string, id *datapb.BinaryID) error {
 	dataFile, err := os.Create(dataPath)
 	if err != nil {
 		debugf(c.c.App.Writer, c.c.Bool(debugFlag), "Failed creating file %s: %s", id.FileId, err)
-		return errors.Wrapf(err, fmt.Sprintf("could not create file for datum %s", datum.GetMetadata().GetId()))
+		return errors.Wrapf(err, fmt.Sprintf("could not create file for datum %s", datum.GetMetadata().GetId())) //nolint:govet
 	}
 	//nolint:gosec
 	if _, err := io.Copy(dataFile, r); err != nil {
@@ -627,7 +627,7 @@ func (c *viamClient) tabularData(dst string, filter *datapb.Filter, limit uint)
 	}
 	w := bufio.NewWriter(dataFile)
 
-	fmt.Fprintf(c.c.App.Writer, "Downloading..") // no newline
+	fmt.Fprintf(c.c.App.Writer, "Downloading..") //nolint:errcheck // no newline
 	var last string
 	mdIndexes := make(map[string]int)
 	mdIndex := 0
@@ -641,7 +641,7 @@ func (c *viamClient) tabularData(dst string, filter *datapb.Filter, limit uint)
 				},
 				CountOnly: false,
 			})
-			fmt.Fprintf(c.c.App.Writer, ".") // no newline
+			fmt.Fprintf(c.c.App.Writer, ".") //nolint:errcheck // no newline
 			if err == nil {
 				break
 			}
@@ -673,7 +673,7 @@ func (c *viamClient) tabularData(dst string, filter *datapb.Filter, limit uint)
 			//nolint:gosec
 			mdFile, err := os.Create(filepath.Join(dst, metadataDir, strconv.Itoa(mdIndex)+".json"))
 			if err != nil {
-				return errors.Wrapf(err, fmt.Sprintf("could not create metadata file for metadata index %d", mdIndex))
+				return errors.Wrapf(err, fmt.Sprintf("could not create metadata file for metadata index %d", mdIndex)) //nolint:govet
 			}
 			if _, err := mdFile.Write(mdJSONBytes); err != nil {
 				return errors.Wrapf(err, "could not write to metadata file %s", mdFile.Name())

cli/module_build.go

@@ -169,9 +169,9 @@ func (c *viamClient) moduleBuildListAction(cCtx *cli.Context) error {
 	// minwidth, tabwidth, padding int, padchar byte, flags uint
 	w := tabwriter.NewWriter(cCtx.App.Writer, 5, 4, 1, ' ', 0)
 	tableFormat := "%s\t%s\t%s\t%s\t%s\n"
-	fmt.Fprintf(w, tableFormat, "ID", "PLATFORM", "STATUS", "VERSION", "TIME")
+	fmt.Fprintf(w, tableFormat, "ID", "PLATFORM", "STATUS", "VERSION", "TIME") //nolint:errcheck
 	for _, job := range jobs.Jobs {
-		fmt.Fprintf(w,
+		fmt.Fprintf(w, //nolint:errcheck
 			tableFormat,
 			job.BuildId,
 			job.Platform,
@@ -359,7 +359,7 @@ func (c *viamClient) printModuleBuildLogs(buildID, platform string) error {
 			infof(c.c.App.Writer, log.BuildStep)
 			lastBuildStep = log.BuildStep
 		}
-		fmt.Fprint(c.c.App.Writer, log.Data) // data is already formatted with newlines
+		fmt.Fprint(c.c.App.Writer, log.Data) //nolint:errcheck // data is already formatted with newlines
 	}
 
 	return nil

cli/module_registry.go

@@ -900,7 +900,7 @@ func sendUploadRequests(ctx context.Context, moduleStream apppb.AppService_Uploa
 
 		// Simple progress reading until we have a proper tui library
 		uploadPercent := int(math.Ceil(100 * float64(uploadedBytes) / float64(fileSize)))
-		fmt.Fprintf(stdout, "\rUploading... %d%% (%d/%d bytes)", uploadPercent, uploadedBytes, fileSize) // no newline
+		fmt.Fprintf(stdout, "\rUploading... %d%% (%d/%d bytes)", uploadPercent, uploadedBytes, fileSize) //nolint:errcheck // no newline
 	}
 }
 

cli/print.go

@@ -23,7 +23,7 @@ const asciiViam = `
 
 // printf prints a message with no prefix.
 func printf(w io.Writer, format string, a ...interface{}) {
-	fmt.Fprintf(w, format+"\n", a...)
+	fmt.Fprintf(w, format+"\n", a...) //nolint:errcheck
 }
 
 // debugf prints a message prefixed with a bold grey "Debug: ".
@@ -34,7 +34,7 @@ func debugf(w io.Writer, debugMode bool, format string, a ...interface{}) {
 	if _, err := color.New(color.Bold, color.FgHiBlack).Fprint(w, "Debug: "); err != nil {
 		log.Fatal(err)
 	}
-	fmt.Fprintf(w, format+"\n", a...)
+	fmt.Fprintf(w, format+"\n", a...) //nolint:errcheck
 }
 
 // infof prints a message prefixed with a bold cyan "Info: ".
@@ -45,15 +45,15 @@ func infof(w io.Writer, format string, a ...interface{}) {
 	if _, err := color.New(color.Bold, color.FgCyan).Fprint(w, "Info: "); err != nil {
 		log.Fatal(err)
 	}
-	fmt.Fprintf(w, format+"\n", a...)
+	fmt.Fprintf(w, format+"\n", a...) //nolint:errcheck
 }
 
 // warningf prints a message prefixed with a bold yellow "Warning: ".
 func warningf(w io.Writer, format string, a ...interface{}) {
 	if _, err := color.New(color.Bold, color.FgYellow).Fprint(w, "Warning: "); err != nil {
 		log.Fatal(err)
 	}
-	fmt.Fprintf(w, format+"\n", a...)
+	fmt.Fprintf(w, format+"\n", a...) //nolint:errcheck
 }
 
 // Errorf prints a message prefixed with a bold red "Error: " prefix and exits with 1.
@@ -69,7 +69,7 @@ func Errorf(w io.Writer, format string, a ...interface{}) {
 		log.Fatal("Malformed error message:", toPrint)
 	}
 	upperR := unicode.ToUpper(r)
-	fmt.Fprintf(w, string(upperR)+toPrint[i:])
+	fmt.Fprintf(w, string(upperR)+toPrint[i:]) //nolint:errcheck,govet
 
 	os.Exit(1)
 }

components/camera/client.go

@@ -729,17 +729,17 @@ func (c *client) bufAndCBToString() string {
 	if len(c.runningStreams) == 0 {
 		return "len: 0"
 	}
-	strIds := []string{}
-	strIdsToCB := map[string]bufAndCB{}
+	strIDs := []string{}
+	strIDsToCB := map[string]bufAndCB{}
 	for id, cb := range c.runningStreams {
 		strID := id.String()
-		strIds = append(strIds, strID)
-		strIdsToCB[strID] = cb
+		strIDs = append(strIDs, strID)
+		strIDsToCB[strID] = cb
 	}
-	slices.Sort(strIds)
+	slices.Sort(strIDs)
 	ret := fmt.Sprintf("len: %d, ", len(c.runningStreams))
-	for _, strID := range strIds {
-		ret += fmt.Sprintf("%s: %v, ", strID, strIdsToCB[strID])
+	for _, strID := range strIDs {
+		ret += fmt.Sprintf("%s: %v, ", strID, strIDsToCB[strID])
 	}
 	return ret
 }

components/motor/dmc4000/dmc.go

@@ -434,9 +434,9 @@ func (m *Motor) posToSteps(pos float64) int32 {
 	goal := int32(pos * float64(m.TicksPerRotation))
 
 	// Hard limits from controller
-	if goal > 2147483647 {
+	if goal > 2147483647 { //nolint:staticcheck
 		goal = 2147483647
-	} else if goal < -2147483648 {
+	} else if goal < -2147483648 { //nolint:staticcheck
 		goal = -2147483648
 	}
 	return goal

components/motor/gpio/encoded.go

@@ -299,7 +299,7 @@ func (m *EncodedMotor) GoFor(ctx context.Context, rpm, revolutions float64, extr
 	return nil
 }
 
-func (m *EncodedMotor) goForInternal(rpm, goalPos, direction float64) error {
+func (m *EncodedMotor) goForInternal(rpm, goalPos, direction float64) error { //nolint:unparam
 	// cancel makeAdjustments if it already exists
 	if m.makeAdjustmentsDone != nil {
 		m.makeAdjustmentsDone()

control/trapezoid_velocity_profile.go

@@ -23,8 +23,8 @@ type trapezoidVelocityGenerator struct {
 	maxVel       float64
 	lastVelCmd   float64
 	trapDistance float64
-	kPP          float64 //nolint: revive
-	kPP0         float64 //nolint: revive
+	kPP          float64
+	kPP0         float64
 	vDec         float64
 	targetPos    float64
 	y            []*Signal

data/capture_file.go

@@ -67,7 +67,7 @@ func ReadCaptureFile(f *os.File) (*CaptureFile, error) {
 	md := &v1.DataCaptureMetadata{}
 	initOffset, err := pbutil.ReadDelimited(f, md)
 	if err != nil {
-		return nil, errors.Wrapf(err, fmt.Sprintf("failed to read DataCaptureMetadata from %s", f.Name()))
+		return nil, errors.Wrapf(err, fmt.Sprintf("failed to read DataCaptureMetadata from %s", f.Name())) //nolint:govet
 	}
 
 	ret := CaptureFile{

etc/.golangci.yaml

@@ -1,6 +1,7 @@
 service:
-  golangci-lint-version: 1.51.x
+  golangci-lint-version: 1.61.x
 run:
+  timeout: 10m
   deadline: 900s
   modules-download-mode: readonly
   skip-dirs-use-default: false
@@ -13,48 +14,50 @@ linters:
   enable-all: true
   disable:
     - asasalint
+    - canonicalheader
     - containedctx
     - contextcheck
+    - copyloopvar # TODO(go1.23): reenable in follow-up
     - cyclop
-    - deadcode
     - depguard
-    - exhaustivestruct
     - exhaustruct
+    - fatcontext # TODO(go1.23): reenable in follow-up
     - forcetypeassert
     - funlen
     - gocognit
     - godox
-    - goerr113
+    - err113
     - gochecknoglobals
     - gochecknoinits
     - gocyclo
     - gofmt
     - goimports
-    - golint
     - gomnd
-    - ifshort
     - importas
+    - inamedparam
     - interfacebloat
-    - interfacer
+    - intrange # TODO(go1.23): reenable in follow-up
     - ireturn
     - maintidx
-    - maligned
     - makezero
+    - mnd
     - musttag
     - nakedret
     - nestif
+    - nilnil # TODO(go1.23): low-pri to reenable
     - nlreturn
-    - nosnakecase
     - nonamedreturns
     - nosprintfhostport
     - paralleltest
+    - perfsprint
     - prealloc
-    - scopelint
-    - structcheck
+    - predeclared # TODO(go1.23): reenable in follow-up
+    - protogetter # TODO(go1.23): maybe reenable in the future but it's a big diff + buggy.
+    - spancheck # TODO(go1.23): reenable in follow-up
     - tagliatelle
+    - tenv # TODO(go1.23): reenable in follow-up
     - testpackage
     - thelper # false positives
-    - varcheck
     - varnamelen
     - wrapcheck
     - wsl
@@ -67,14 +70,17 @@ linters-settings:
       - default
       - prefix(go.viam.com/rdk)
   gofumpt:
-    lang-version: "1.21"
+    lang-version: "1.23"
     extra-rules: true
   govet:
     enable-all: true
     disable:
       - fieldalignment
       - shadow
       - composites
+  gosec:
+    excludes:
+      - G115 # TODO(go1.23): maybe reenable
   revive:
     # Unfortunately configuring a single rules disables all other rules, even
     # if we set `enable-all: true`

etc/setup.sh

@@ -160,7 +160,7 @@ do_brew(){
 	tap  "viamrobotics/brews"
 
 	# pinned
-	brew "go@1.21", link: true, conflicts_with: ["go"]
+	brew "go@1.23", link: true, conflicts_with: ["go"]
 	brew "node@18", link: true, conflicts_with: ["node"]
 
 	# unpinned
@@ -181,8 +181,8 @@ do_brew(){
 		exit 1
 	fi
 
-	# replace default go (currently 1.22, from canon build) with pinned go@1.21
-	brew link --overwrite go@1.21
+	# replace default go with pinned
+	brew link --overwrite go@1.23
 
 	# due to a missing bottle in homebrew, this has to be installed on its own
 	brew install upx