diff --git a/CLAUDE.md b/CLAUDE.md index ec4ce2f..dcc568c 100644 --- a/CLAUDE.md +++ b/CLAUDE.md @@ -591,3 +591,29 @@ calibration wizard. It is bundled into `module.tar.gz` and needs **Node ≥ 20** through `tolerateCondition`; a new read path must too. Since feetech-servo v0.7.1 *writes* also return nil on condition-only flags, nothing on main can infer "overloaded" from a write failure. +- **`MoveThroughJointPositionsStreamed` is time-scheduled and UNBOUNDED; the 5° gate is what + makes that safe.** Each point goes out on the `streamed` path (`Speed 0 / Acc 0`, one + `SetGoals` packet) at `start + p.Time`, via `servo.Clock` so tests never sleep. Before the + first point, `closeStreamStartGap` (`components/arm/streamed.go`) reads once and runs one + profiled `moveJoints` if any joint is > `streamStartGapDeg` away -- the same 5 as teleop's + `maxStreamStartGapDeg`, duplicated because components must not import services. ONLY the + first point is gated; a mid-stream jump or a schedule slip reaches the servos unbounded, and + `TestStreamedDoesNotGateAMidStreamJump` pins that so a later policy is a visible change. Late + points are WRITTEN, not dropped (no policy has been measured). `Constraints` are ignored. Both + arms receive batches with a `select` on `ctx.Done()` rather than `range batches`, because + `Stop`'s `opMgr.CancelRunning` blocks until the op returns and cancelling our ctx does not + close the channel (the server's recv goroutine watches the stream ctx). Requires rdk ≥ v1.1.0 + (the method is on `arm.Arm`); `FakeTransport.WriteCount` counts `SYNC_WRITE`s by start + address so tests can count goal writes -- `SetGoals` is a sync write at `RegAcceleration`. + A REMOTE caller is also validated by rdk's arm client against the model's static `DoF()` + limits (so101.json / URDF), point by point, and the stream is torn down client-side on a + violation -- before any point reaches the module's `clampPositions`, which clamps to the + CALIBRATED limits. Two different limit sets; in-process tests only ever see the second. +- **rdk ≥ v1.6.0's `Frame.Transform` does NOT bounds-check joints** (`OOBErrString` is dead + upstream). On the WRITE path that makes `so101.clampPositions` the only joint-limit + enforcement in this module -- do not "simplify it away" on the assumption that rdk rejects an + out-of-limit input; it composes the full chain and returns a pose with no error. On the READ + path `geometry.ComputeOOBPosition`'s clamp was a workaround for the OLD truncate-and-error + behaviour and is now lossy: `EndPosition` for a joint drooped past its limit reports the pose + AT the limit where an unclamped `Transform` would be correct. `oob_test.go` now pins only that + clamp; removing it is a deliberate small follow-up, not an accident to guard against. diff --git a/components/arm/arm.go b/components/arm/arm.go index aa691c8..0e3b80c 100644 --- a/components/arm/arm.go +++ b/components/arm/arm.go @@ -217,6 +217,9 @@ type so101 struct { // servosMoving, when non-nil, replaces the bus read behind anyServoMoving. Tests only. servosMoving func(context.Context) (bool, error) + // clock schedules streamed trajectory points. Zero value is the real clock; tests only. + clock servo.Clock + mu sync.RWMutex moveLock sync.Mutex isMoving atomic.Bool diff --git a/components/arm/oob_test.go b/components/arm/oob_test.go index 8d0f9ca..0f1cfb1 100644 --- a/components/arm/oob_test.go +++ b/components/arm/oob_test.go @@ -11,11 +11,10 @@ import ( "so_arm/internal/testfake" ) -// TestComputeOOBPositionFullChain guards against the rdk v0.123 regression where -// Frame.Transform early-returns at the first out-of-bounds joint, yielding a pose -// truncated at that joint (and every link downstream). geometry.ComputeOOBPosition must still -// compose the full chain for a joint driven past its calibrated limit -- otherwise -// EndPosition silently reports a wildly wrong TCP (the base-mount pose) with no error. +// TestComputeOOBPositionFullChain pins that ComputeOOBPosition clamps an out-of-range joint +// to its limit and composes the full chain. It began as a guard against rdk v0.123's +// Frame.Transform truncating the pose at the first out-of-bounds joint; rdk >= v1.6.0 +// composes the full chain itself, so the clamp is now the only behavior this adds. func TestComputeOOBPositionFullChain(t *testing.T) { for _, useURDF := range []bool{false, true} { name := "json" @@ -36,11 +35,6 @@ func TestComputeOOBPositionFullChain(t *testing.T) { // pose truncated at joint 0. base := []referenceframe.Input{0, 0.5, 0.3, 0.1, 0.1} - // Raw Transform surfaces the OOB error along with its truncated pose; the - // OOBErrString it carries is what previously got swallowed here. - _, err = model.Transform([]referenceframe.Input{limits[0].Max + 1.0, 0.5, 0.3, 0.1, 0.1}) - require.ErrorContains(t, err, referenceframe.OOBErrString) - // Drive joint 0 just past its max limit. overMax := make([]referenceframe.Input, 5) copy(overMax, base) diff --git a/components/arm/streamed.go b/components/arm/streamed.go new file mode 100644 index 0000000..5472a1a --- /dev/null +++ b/components/arm/streamed.go @@ -0,0 +1,149 @@ +package arm + +import ( + "context" + "fmt" + "time" + + "go.viam.com/rdk/components/arm" + + "so_arm/internal/servo" +) + +// streamStartGapDeg is how close the arm must already be to a stream's first point before +// it is written on the unbounded (Speed 0 / Acc 0) path. Same value as teleop's +// maxStreamStartGapDeg; not imported because components must not depend on services. +const streamStartGapDeg = 5.0 + +// streamSettleDwellMs bounds the dwell on a stream's last point. It exists only to get past +// the ~2ms it takes Moving to rise after a goal write, so WaitForServosToStop does not read +// the pre-write zero and return while the arm is still travelling. +const streamSettleDwellMs = 250 + +// MoveThroughJointPositionsStreamed writes each point as an unbounded goal at start + Time. +// The producer owns the timing: a late point is written immediately, never dropped, and +// Constraints are ignored. +// +// Only the FIRST point is gated. A large jump between consecutive points, or a schedule +// slip that lets the goal race ahead of the arm, reaches the servos unbounded; no policy +// for either has been measured yet -- see docs/arm.md, "Streaming trajectories". extra is +// accepted and ignored. +func (s *so101) MoveThroughJointPositionsStreamed( + ctx context.Context, + batches <-chan []arm.TrajectoryPoint, + responses chan<- arm.Response, + extra map[string]interface{}, +) error { + ctx, done := s.opMgr.New(ctx) + defer done() + + s.mu.Lock() + s.exitManualLocked("motion command received") + s.mu.Unlock() + + s.moveLock.Lock() + defer s.moveLock.Unlock() + + s.isMoving.Store(true) + defer s.isMoving.Store(false) + + s.mu.RLock() + speed := float64(s.defaultSpeed) + accel := float64(s.defaultAcc) + s.mu.RUnlock() + + var start, wall time.Time + var gate, maxLate time.Duration + var last []float64 + prev := time.Duration(-1) // no previous point yet + idx, late := 0, 0 + for { + // Not `range batches`: Stop cancels ctx but cannot close the channel, and + // CancelRunning blocks until this returns. + var batch []arm.TrajectoryPoint + var ok bool + select { + case <-ctx.Done(): + return ctx.Err() + case batch, ok = <-batches: + } + if !ok { + break + } + for _, p := range batch { + if err := servo.CheckTrajectoryTime(prev, p.Time); err != nil { + return err + } + clamped, _, err := s.clampPositions(p.Positions, true) + if err != nil { + return err + } + if idx == 0 { + wall = s.clock.Time() + if err := s.closeStreamStartGap(ctx, clamped, speed, accel); err != nil { + return err + } + start = s.clock.Time() + gate = start.Sub(wall) + } + due := start.Add(p.Time) + // >= 1ms, not > 0: point 0 is due at start and the clock is read again after it. + if behind := s.clock.Time().Sub(due); behind >= time.Millisecond { + late++ + maxLate = max(maxLate, behind) + } + if err := s.clock.WaitUntil(ctx, due); err != nil { + return err + } + if err := s.moveJointsUniform(ctx, clamped, speed, accel, true, false); err != nil { + return err + } + prev, idx, last = p.Time, idx+1, clamped + } + if len(batch) == 0 { + continue + } + select { + case responses <- arm.Response{}: + case <-ctx.Done(): + return ctx.Err() + } + } + if idx == 0 { + return nil + } + settleFrom := s.clock.Time() + // Dwell first: it consults Moving only from its second poll, which is what the paced path + // does to avoid ending a move on the pre-write zero. + lookahead := s.lookaheadDeg + if lookahead == 0 { + lookahead = servo.LookaheadDegFor(speed, accel) + } + _, err := s.dwellUntilNear(ctx, last, lookahead, speed, streamSettleDwellMs) + if err == nil { + err = s.controller.WaitForServosToStop(ctx, s.armServoIDs, servo.MaxMoveTimeoutMs) + } + now := s.clock.Time() + // One line per stream so a hardware run decomposes its wall time without a debugger. + s.logger.Infof("streamed %d points over %v: gate %v, late %d (max %v), settle %v, wall %v", + idx, prev, gate.Round(time.Millisecond), late, maxLate.Round(time.Millisecond), + now.Sub(settleFrom).Round(time.Millisecond), now.Sub(wall).Round(time.Millisecond)) + return err +} + +// closeStreamStartGap runs one blocking profiled move to `target` when any joint is more than +// streamStartGapDeg away. The streamed path removes every bound, so the FIRST point must not +// hand it a large position error. +func (s *so101) closeStreamStartGap(ctx context.Context, target []float64, speed, accel float64) error { + current, err := s.currentJoints(ctx) + if err != nil { + return fmt.Errorf("failed to read positions before a streamed trajectory: %w", err) + } + _, gapDeg := servo.JointTravelsDeg(current, target) + if gapDeg <= streamStartGapDeg { + return nil + } + s.logger.Debugf("streamed trajectory starts %.1f deg away; profiled move to its first point", gapDeg) + _, err = s.moveJoints(ctx, current, target, speed, accel, nil, true) + return err +} diff --git a/components/arm/streamed_test.go b/components/arm/streamed_test.go new file mode 100644 index 0000000..f59557f --- /dev/null +++ b/components/arm/streamed_test.go @@ -0,0 +1,273 @@ +package arm + +import ( + "context" + "errors" + "sync" + "testing" + "time" + + "github.com/hipsterbrown/feetech-servo/feetech" + "github.com/stretchr/testify/assert" + "github.com/stretchr/testify/require" + "go.viam.com/rdk/components/arm" + "go.viam.com/rdk/referenceframe" + + "go.viam.com/rdk/logging" + + "so_arm/internal/servo" + "so_arm/internal/testfake" +) + +var streamEpoch = time.Date(2026, 9, 4, 12, 0, 0, 0, time.UTC) + +// streamTestArm pins the clock to streamEpoch, makes every sleep return at once while +// recording its deadline, and parks the arm at `at` (radians) for the start gate. Both +// registers are seeded non-zero so "commanded 0" is distinguishable from "never written". +func streamTestArm(t *testing.T, ft *testfake.FakeTransport, at []float64) (*so101, func() []time.Time) { + t.Helper() + s := accelTestArm(t, ft) + s.readJoints = func(context.Context) ([]float64, error) { return at, nil } + var mu sync.Mutex + var deadlines []time.Time + s.clock = servo.Clock{ + Now: func() time.Time { return streamEpoch }, + SleepUntil: func(ctx context.Context, d time.Time) error { + mu.Lock() + deadlines = append(deadlines, d) + mu.Unlock() + return ctx.Err() + }, + } + for _, id := range s.armServoIDs { + ft.SetRegister(id, feetech.RegAcceleration.Address, []byte{0x7F}) + ft.SetRegister(id, feetech.RegGoalVelocity.Address, testfake.EncodeWordLE(1234)) + } + return s, func() []time.Time { + mu.Lock() + defer mu.Unlock() + return append([]time.Time(nil), deadlines...) + } +} + +func pt(at time.Duration, q float64) arm.TrajectoryPoint { + return arm.TrajectoryPoint{Time: at, Positions: []referenceframe.Input{q, q, q, q, q}} +} + +// runStream owns both channels the way the rdk server does: feeds batches in order, closes +// the input, drains acks. Returns the ack count and the call's error. +func runStream(ctx context.Context, s *so101, batches ...[]arm.TrajectoryPoint) (int, error) { + in := make(chan []arm.TrajectoryPoint) + out := make(chan arm.Response) + go func() { + defer close(in) + for _, b := range batches { + select { + case in <- b: + case <-ctx.Done(): + return + } + } + }() + acks := 0 + drained := make(chan struct{}) + go func() { + defer close(drained) + for range out { + acks++ + } + }() + err := s.MoveThroughJointPositionsStreamed(ctx, in, out, nil) + close(out) + <-drained + return acks, err +} + +func assertGoalWrites(t *testing.T, ft *testfake.FakeTransport, s *so101, want int, msgAndArgs ...interface{}) { + t.Helper() + for _, id := range s.armServoIDs { + assert.Equal(t, want, ft.WriteCount(id, feetech.RegAcceleration.Address), msgAndArgs...) + } +} + +func assertUnboundedRegisters(t *testing.T, s *so101) { + t.Helper() + for _, id := range s.armServoIDs { + acc, err := s.controller.ReadServoRegister(context.Background(), id, "acceleration") + require.NoError(t, err) + assert.Equal(t, byte(0), acc[0], "servo %d acceleration must be the UNLIMITED sentinel", id) + vel, err := s.controller.ReadServoRegister(context.Background(), id, "goal_velocity") + require.NoError(t, err) + assert.Equal(t, []byte{0, 0}, vel, "servo %d speed must be the MAXIMUM sentinel", id) + } +} + +var zeros = []float64{0, 0, 0, 0, 0} + +// Within the gate: one unbounded goal write per point, scheduled at now + Time, no reads. +func TestStreamedWritesOneUnboundedGoalPerPoint(t *testing.T) { + ft := testfake.NewFakeTransport() + s, deadlines := streamTestArm(t, ft, zeros) + + before := ft.PacketCount() + acks, err := runStream(context.Background(), s, + []arm.TrajectoryPoint{pt(0, 0.01), pt(10*time.Millisecond, 0.02), pt(20*time.Millisecond, 0.03)}) + moved := ft.PacketCount() - before + require.NoError(t, err) + + assert.Equal(t, 1, acks) + assertGoalWrites(t, ft, s, 3) + assertUnboundedRegisters(t, s) + // The gate read is the pinned seam. After the last point: one dwell poll (the seam reads + // the arm within the lookahead, so it exits at once) and one WaitForServosToStop poll. + assert.Equal(t, 3+2, moved, "three goal writes, the final dwell's Moving poll, the stop poll") + assert.Equal(t, []time.Time{ + streamEpoch, streamEpoch.Add(10 * time.Millisecond), streamEpoch.Add(20 * time.Millisecond), + }, deadlines()) +} + +// Outside the gate: exactly one profiled move (write + its stop poll) before the stream. +func TestStreamedGateProfilesALargeStartGap(t *testing.T) { + ft := testfake.NewFakeTransport() + s, deadlines := streamTestArm(t, ft, zeros) + + before := ft.PacketCount() + acks, err := runStream(context.Background(), s, []arm.TrajectoryPoint{pt(0, 0.3)}) // ~17 deg + moved := ft.PacketCount() - before + require.NoError(t, err) + + assert.Equal(t, 1, acks) + assertGoalWrites(t, ft, s, 2) + assertUnboundedRegisters(t, s) // the streamed write lands last + // The seam keeps reading the arm at zero, 17 deg from the last point, so the final dwell + // takes its stall-escape exit on the second poll: two Moving polls before the stop poll. + assert.Equal(t, 2+4, moved, "profiled write + its stop poll, streamed write + dwell (2) + stop poll") + assert.Equal(t, []time.Time{streamEpoch}, deadlines(), "the clock starts after the gate") +} + +// Only the first point is gated: a large jump between consecutive points is written +// unbounded, with no read in between. Deliberate and unmeasured -- see the method comment. +func TestStreamedDoesNotGateAMidStreamJump(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + + before := ft.PacketCount() + _, err := runStream(context.Background(), s, + []arm.TrajectoryPoint{pt(0, 0.01), pt(10*time.Millisecond, 1.0)}) // ~57 deg jump + require.NoError(t, err) + assertGoalWrites(t, ft, s, 2) + // Both writes go out back to back with no read between them; the three reads are the + // final dwell's two stall-escape polls (the seam reads 57 deg away) and the stop poll. + assert.Equal(t, 2+3, ft.PacketCount()-before, "two goal writes, then dwell (2) + stop poll; no gate read") +} + +func TestStreamedEmptyBatchesGetNoAckAndDoNotSkipTheGate(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + + acks, err := runStream(context.Background(), s, + []arm.TrajectoryPoint{}, + []arm.TrajectoryPoint{pt(0, 0.3)}, + []arm.TrajectoryPoint{}, + []arm.TrajectoryPoint{pt(10*time.Millisecond, 0.31), pt(20*time.Millisecond, 0.32)}) + require.NoError(t, err) + + assert.Equal(t, 2, acks, "one ack per NON-EMPTY batch") + assertGoalWrites(t, ft, s, 3+1, "gate still ran on the first point") +} + +func TestStreamedRejectsNonZeroFirstTime(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + + before := ft.PacketCount() + acks, err := runStream(context.Background(), s, []arm.TrajectoryPoint{pt(10*time.Millisecond, 0.01)}) + require.Error(t, err) + assert.Zero(t, acks) + assert.Zero(t, ft.PacketCount()-before, "rejected before anything reached the bus") +} + +func TestStreamedRejectsNonIncreasingTime(t *testing.T) { + for name, bad := range map[string]time.Duration{"equal": 10 * time.Millisecond, "earlier": 5 * time.Millisecond} { + t.Run(name, func(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + + _, err := runStream(context.Background(), s, + []arm.TrajectoryPoint{pt(0, 0.01), pt(10*time.Millisecond, 0.02), pt(bad, 0.03)}) + require.Error(t, err) + assertGoalWrites(t, ft, s, 2, "the two valid points were already on the bus") + }) + } +} + +func TestStreamedCancelMidStreamWritesNoFurtherGoal(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + ctx, cancel := context.WithCancel(context.Background()) + defer cancel() + sleeps := 0 + s.clock.SleepUntil = func(ctx context.Context, _ time.Time) error { + sleeps++ + if sleeps == 2 { + cancel() // the stream is cancelled while waiting for point 2 + } + return ctx.Err() + } + + _, err := runStream(ctx, s, + []arm.TrajectoryPoint{pt(0, 0.01), pt(10*time.Millisecond, 0.02), pt(20*time.Millisecond, 0.03)}) + assert.True(t, errors.Is(err, context.Canceled), "got %v", err) + assertGoalWrites(t, ft, s, 1) +} + +// Stop must end a stream even while it is parked waiting for its producer: opMgr.CancelRunning +// blocks until the op returns, and cancelling the op's ctx does not close `batches`. +func TestStreamedStopEndsAStreamParkedOnItsProducer(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + + in := make(chan []arm.TrajectoryPoint) // never fed + out := make(chan arm.Response) + errCh := make(chan error, 1) + go func() { errCh <- s.MoveThroughJointPositionsStreamed(context.Background(), in, out, nil) }() + + require.Eventually(t, s.opMgr.OpRunning, time.Second, time.Millisecond) + require.NoError(t, s.Stop(context.Background(), nil)) + + select { + case err := <-errCh: + assert.True(t, errors.Is(err, context.Canceled), "got %v", err) + case <-time.After(time.Second): + t.Fatal("Stop did not end the parked stream") + } + assertGoalWrites(t, ft, s, 0) +} + +// The per-stream summary counts points whose deadline had already passed when they were +// reached, so a hardware run can tell schedule slip from gate and settle time. +func TestStreamedSummaryCountsLatePoints(t *testing.T) { + ft := testfake.NewFakeTransport() + s, _ := streamTestArm(t, ft, zeros) + logger, logs := logging.NewObservedTestLogger(t) + s.logger = logger + // The clock reads streamEpoch through point 0's check, then jumps 25 ms ahead: point 0 is on + // time, point 1 (due +10 ms) is 15 ms late, point 2 (due +20 ms) is 5 ms late. + calls := 0 + s.clock.Now = func() time.Time { + calls++ + if calls <= 3 { + return streamEpoch + } + return streamEpoch.Add(25 * time.Millisecond) + } + + _, err := runStream(context.Background(), s, + []arm.TrajectoryPoint{pt(0, 0.01), pt(10*time.Millisecond, 0.02), pt(20*time.Millisecond, 0.03)}) + require.NoError(t, err) + + entries := logs.FilterMessageSnippet("streamed 3 points").All() + require.Len(t, entries, 1) + assert.Contains(t, entries[0].Message, "late 2 (max 15ms)") + assert.Contains(t, entries[0].Message, "gate 0s") +} diff --git a/components/simulated/simulated.go b/components/simulated/simulated.go index 383f273..29e0523 100644 --- a/components/simulated/simulated.go +++ b/components/simulated/simulated.go @@ -23,6 +23,7 @@ import ( "so_arm/internal/geometry" "so_arm/internal/planning" + "so_arm/internal/servo" ) // SO101SimulatedModel is the model triplet for the hardware-free simulated SO-101 arm. @@ -163,6 +164,9 @@ type simulatedSO101 struct { // newSimulatedSO101 and never mutated (resource.AlwaysRebuild), so it needs no mutex. goalCloud planning.GoalCloudConfig + // clock schedules streamed trajectory points. Zero value is the real clock; tests only. + clock servo.Clock + // lifetime management closed atomic.Bool cancelCtx context.Context @@ -364,6 +368,15 @@ func (s *simulatedSO101) MoveToPosition(ctx context.Context, pose spatialmath.Po func (s *simulatedSO101) MoveToJointPositions( ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}, ) error { + if err := s.startMove(ctx, positions, false); err != nil { + return err + } + return s.awaitOperation(ctx) +} + +// startMove validates positions and replaces the in-flight operation without waiting. With +// keepStop, an operation already stopped is not replaced: the caller reports the stop. +func (s *simulatedSO101) startMove(ctx context.Context, positions []referenceframe.Input, keepStop bool) error { if len(positions) != len(s.model.DoF()) { return fmt.Errorf("expected %d joint positions for the SO-101 arm, got %d", len(s.model.DoF()), len(positions)) @@ -376,10 +389,16 @@ func (s *simulatedSO101) MoveToJointPositions( copy(target, positions) s.mu.Lock() + defer s.mu.Unlock() + if keepStop && s.operation.stopped { + return errors.New("stopped before reaching target") + } s.operation = simOperation{targetInputs: target} - s.mu.Unlock() + return nil +} - // MoveToJointPositions blocks until the movement completes or is canceled. +// awaitOperation blocks until the in-flight operation completes, is stopped, or ctx ends. +func (s *simulatedSO101) awaitOperation(ctx context.Context) error { for { select { case <-ctx.Done(): diff --git a/components/simulated/simulated_test.go b/components/simulated/simulated_test.go index 2531aa7..6a68631 100644 --- a/components/simulated/simulated_test.go +++ b/components/simulated/simulated_test.go @@ -13,6 +13,7 @@ import ( "go.viam.com/rdk/referenceframe" "go.viam.com/rdk/resource" + "so_arm/internal/servo" "so_arm/internal/testfake" ) @@ -331,3 +332,119 @@ func TestSimulatedEEFrameMarker(t *testing.T) { require.NoError(t, err) assert.Len(t, onGeoms, 6) } + +// The stream re-targets the interpolator per point without waiting; the call returns only +// once the arm has converged on the LAST point. +func TestSimulatedStreamedFollowsPointsAndAcksPerBatch(t *testing.T) { + ctx := context.Background() + sim := newTestSimArm(t, 1.0) // 1 rad/s + defer func() { require.NoError(t, sim.Close(ctx)) }() + + epoch := time.Date(2026, 9, 4, 12, 0, 0, 0, time.UTC) + var deadlines []time.Time // written by the call goroutine; read only after it returns + sim.clock = servo.Clock{ + Now: func() time.Time { return epoch }, + SleepUntil: func(ctx context.Context, d time.Time) error { deadlines = append(deadlines, d); return ctx.Err() }, + } + p := func(at time.Duration, q float64) arm.TrajectoryPoint { + return arm.TrajectoryPoint{Time: at, Positions: []referenceframe.Input{q, 0, 0, 0, 0}} + } + + in := make(chan []arm.TrajectoryPoint) + out := make(chan arm.Response) + moveErr := make(chan error, 1) + go func() { moveErr <- sim.MoveThroughJointPositionsStreamed(ctx, in, out, nil) }() + + in <- []arm.TrajectoryPoint{p(0, 0.1), p(10*time.Millisecond, 0.2)} + <-out + in <- []arm.TrajectoryPoint{} // no ack + in <- []arm.TrajectoryPoint{p(20*time.Millisecond, 0.5)} + <-out + close(in) + + // Nothing moves until the simulated clock is pumped, and the call is still waiting. + inputs, err := sim.JointPositions(ctx, nil) + require.NoError(t, err) + assert.Equal(t, []referenceframe.Input{0, 0, 0, 0, 0}, inputs) + select { + case <-moveErr: + t.Fatal("returned before the arm arrived") + default: + } + + base := time.Time{} + sim.updateForTime(base.Add(250 * time.Millisecond)) + inputs, err = sim.JointPositions(ctx, nil) + require.NoError(t, err) + assert.InDeltaSlice(t, []float64{0.25, 0, 0, 0, 0}, inputs, 1e-9, "heading for the last point") + + sim.updateForTime(base.Add(500 * time.Millisecond)) + select { + case err := <-moveErr: + require.NoError(t, err) + case <-time.After(time.Second): + t.Fatal("did not return after converging on the last point") + } + inputs, err = sim.JointPositions(ctx, nil) + require.NoError(t, err) + assert.InDeltaSlice(t, []float64{0.5, 0, 0, 0, 0}, inputs, 1e-9) + assert.Equal(t, []time.Time{epoch, epoch.Add(10 * time.Millisecond), epoch.Add(20 * time.Millisecond)}, deadlines) +} + +func TestSimulatedStreamedRejectsNonZeroFirstTime(t *testing.T) { + ctx := context.Background() + sim := newTestSimArm(t, 1.0) + defer func() { require.NoError(t, sim.Close(ctx)) }() + + in := make(chan []arm.TrajectoryPoint) + out := make(chan arm.Response) + moveErr := make(chan error, 1) + go func() { moveErr <- sim.MoveThroughJointPositionsStreamed(ctx, in, out, nil) }() + + in <- []arm.TrajectoryPoint{{Time: 10 * time.Millisecond, Positions: []referenceframe.Input{0.1, 0, 0, 0, 0}}} + select { + case err := <-moveErr: + require.Error(t, err) + case <-time.After(time.Second): + t.Fatal("did not reject the first point") + } + moving, err := sim.IsMoving(ctx) + require.NoError(t, err) + assert.False(t, moving, "nothing was targeted") +} + +// Stop must end a stream between points, not be erased by the next re-target. +func TestSimulatedStreamedStopEndsTheStream(t *testing.T) { + ctx := context.Background() + sim := newTestSimArm(t, 1.0) + defer func() { require.NoError(t, sim.Close(ctx)) }() + sim.clock = servo.Clock{ + Now: func() time.Time { return time.Time{} }, + SleepUntil: func(ctx context.Context, _ time.Time) error { return ctx.Err() }, + } + p := func(at time.Duration, q float64) arm.TrajectoryPoint { + return arm.TrajectoryPoint{Time: at, Positions: []referenceframe.Input{q, 0, 0, 0, 0}} + } + + in := make(chan []arm.TrajectoryPoint) + out := make(chan arm.Response) + moveErr := make(chan error, 1) + go func() { moveErr <- sim.MoveThroughJointPositionsStreamed(ctx, in, out, nil) }() + + in <- []arm.TrajectoryPoint{p(0, 0.1)} + <-out + require.NoError(t, sim.Stop(ctx, nil)) + in <- []arm.TrajectoryPoint{p(10*time.Millisecond, 0.2)} // must not be applied + + select { + case err := <-moveErr: + require.ErrorContains(t, err, "stopped") + case <-time.After(time.Second): + t.Fatal("stream outlived Stop") + } + // The stopped target is the FIRST point, untouched by the second. + sim.mu.Lock() + target := append([]float64(nil), sim.operation.targetInputs...) + sim.mu.Unlock() + assert.InDelta(t, 0.1, target[0], 1e-9) +} diff --git a/components/simulated/streamed.go b/components/simulated/streamed.go new file mode 100644 index 0000000..b23143c --- /dev/null +++ b/components/simulated/streamed.go @@ -0,0 +1,65 @@ +package simulated + +import ( + "context" + "time" + + "go.viam.com/rdk/components/arm" + + "so_arm/internal/servo" +) + +// MoveThroughJointPositionsStreamed re-targets the interpolator at each point's scheduled +// time and returns once the arm has converged on the last one. Constraints are ignored. +// Batches are received with a select on ctx, not range: a cancelled ctx does not close the +// channel. +func (s *simulatedSO101) MoveThroughJointPositionsStreamed( + ctx context.Context, + batches <-chan []arm.TrajectoryPoint, + responses chan<- arm.Response, + _ map[string]interface{}, +) error { + var start time.Time + prev := time.Duration(-1) // no previous point yet + idx := 0 + for { + var batch []arm.TrajectoryPoint + var ok bool + select { + case <-ctx.Done(): + return ctx.Err() + case batch, ok = <-batches: + } + if !ok { + break + } + for _, p := range batch { + if err := servo.CheckTrajectoryTime(prev, p.Time); err != nil { + return err + } + if idx == 0 { + start = s.clock.Time() + } + if err := s.clock.WaitUntil(ctx, start.Add(p.Time)); err != nil { + return err + } + // A re-target must not erase a Stop that landed between points. + if err := s.startMove(ctx, p.Positions, idx > 0); err != nil { + return err + } + prev, idx = p.Time, idx+1 + } + if len(batch) == 0 { + continue + } + select { + case responses <- arm.Response{}: + case <-ctx.Done(): + return ctx.Err() + } + } + if idx == 0 { + return nil + } + return s.awaitOperation(ctx) +} diff --git a/docs/arm.md b/docs/arm.md index 088b424..af955e9 100644 --- a/docs/arm.md +++ b/docs/arm.md @@ -475,6 +475,19 @@ Each query costs a serial transaction (~1.3ms measured); polling it in a tight l Enforcing acceleration costs some speed, because the servos now ramp instead of jumping straight to full velocity. At the default of 500 °/s² a 20° move takes about 25% longer than before. Lowering the value costs more: at 100 °/s² the same move takes roughly twice as long again. +### Streaming trajectories (experimental) + +`MoveThroughJointPositionsStreamed` (rdk and viam-server ≥ 1.1.0) follows the **producer's** timing: each `TrajectoryPoint` is written as an unbounded goal (`Speed 0 / Acc 0`, one `SetGoals` packet) at `start + Time`, with no position read in the loop. It exists to measure time-scheduled streaming against [waypoint streams](#waypoint-streams); it is not a replacement for them. + +- `Time` must be `0` for the first point and strictly increasing; a violation fails the call. +- **5° start gate**: if any joint is more than 5° from the first point, one profiled move gets it there first, then the clock starts. Only the first point is gated; a large jump between later points reaches the servos unbounded. +- Late points are written, not dropped. `Constraints` and `extra` are ignored. One ack per non-empty batch. +- After the last point the arm dwells, then waits for the servos to stop, so the call returns once the arm has arrived. +- The move lock is held for the whole stream; `Stop()` ends it, even while waiting on the producer. +- rdk's arm client validates each point against the model's *static* joint limits before sending; the module clamps to the *calibrated* limits. A point inside the second but outside the first fails client-side. + +The simulated arm re-targets its interpolator at each point's time. One log line per stream reports gate, late points, settle and wall time. + ## Approach-axis orientation planning The SO-101 is a 5-DOF arm, so most six-DOF pose targets are unreachable exactly. Rather than discard orientation wholesale, `MoveToPosition` attaches a `referenceframe.PoseCloud` to the goal: a cone that constrains where the tool points (the approach axis), while **roll about that axis is free**. `orientation_tolerance_deg` sets the cone's half-angle; `position_tolerance_mm` sets the per-axis positional leeway, applied as a **box along the goal frame's axes, not a radius** — worst-case corner deviation is `sqrt(3)` times the value (~`1.73mm` at the default `1.0`). diff --git a/go.mod b/go.mod index bb69e22..c841053 100644 --- a/go.mod +++ b/go.mod @@ -1,6 +1,6 @@ module so_arm -go 1.25.9 +go 1.25.10 require ( github.com/golang/geo v0.0.0-20230421003525-6adc56603217 @@ -8,52 +8,58 @@ require ( github.com/pkg/errors v0.9.1 github.com/stretchr/testify v1.11.1 go.bug.st/serial v1.6.4 - go.viam.com/api v0.1.566 - go.viam.com/rdk v1.0.0 + go.viam.com/api v0.1.577 + go.viam.com/rdk v1.6.0 go.viam.com/test v1.2.4 - go.viam.com/utils v0.6.6 + go.viam.com/utils v0.10.1 google.golang.org/protobuf v1.36.11 ) require ( - cloud.google.com/go v0.115.1 // indirect - cloud.google.com/go/auth v0.9.3 // indirect - cloud.google.com/go/auth/oauth2adapt v0.2.4 // indirect + cel.dev/expr v0.25.2 // indirect + cloud.google.com/go v0.123.0 // indirect + cloud.google.com/go/auth v0.18.2 // indirect + cloud.google.com/go/auth/oauth2adapt v0.2.8 // indirect cloud.google.com/go/compute/metadata v0.9.0 // indirect - cloud.google.com/go/iam v1.2.0 // indirect - cloud.google.com/go/storage v1.43.0 // indirect + cloud.google.com/go/iam v1.5.3 // indirect + cloud.google.com/go/monitoring v1.24.3 // indirect + cloud.google.com/go/storage v1.61.3 // indirect codeberg.org/go-fonts/liberation v0.5.0 // indirect codeberg.org/go-latex/latex v0.1.0 // indirect codeberg.org/go-pdf/fpdf v0.10.0 // indirect git.sr.ht/~sbinet/gg v0.6.0 // indirect + github.com/GoogleCloudPlatform/opentelemetry-operations-go/detectors/gcp v1.32.0 // indirect + github.com/GoogleCloudPlatform/opentelemetry-operations-go/exporter/metric v0.55.0 // indirect + github.com/GoogleCloudPlatform/opentelemetry-operations-go/internal/resourcemapping v0.55.0 // indirect github.com/Microsoft/go-winio v0.6.2 // indirect github.com/a8m/envsubst v1.4.2 // indirect github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc // indirect - github.com/aws/aws-sdk-go-v2 v1.36.3 // indirect - github.com/aws/aws-sdk-go-v2/aws/protocol/eventstream v1.6.10 // indirect - github.com/aws/aws-sdk-go-v2/config v1.29.15 // indirect - github.com/aws/aws-sdk-go-v2/credentials v1.17.68 // indirect - github.com/aws/aws-sdk-go-v2/feature/ec2/imds v1.16.30 // indirect - github.com/aws/aws-sdk-go-v2/internal/configsources v1.3.34 // indirect - github.com/aws/aws-sdk-go-v2/internal/endpoints/v2 v2.6.34 // indirect - github.com/aws/aws-sdk-go-v2/internal/ini v1.8.3 // indirect - github.com/aws/aws-sdk-go-v2/internal/v4a v1.3.34 // indirect - github.com/aws/aws-sdk-go-v2/service/internal/accept-encoding v1.12.3 // indirect - github.com/aws/aws-sdk-go-v2/service/internal/checksum v1.7.2 // indirect - github.com/aws/aws-sdk-go-v2/service/internal/presigned-url v1.12.15 // indirect - github.com/aws/aws-sdk-go-v2/service/internal/s3shared v1.18.15 // indirect - github.com/aws/aws-sdk-go-v2/service/s3 v1.80.1 // indirect - github.com/aws/aws-sdk-go-v2/service/sso v1.25.3 // indirect - github.com/aws/aws-sdk-go-v2/service/ssooidc v1.30.1 // indirect - github.com/aws/aws-sdk-go-v2/service/sts v1.33.20 // indirect - github.com/aws/smithy-go v1.22.3 // indirect + github.com/aws/aws-sdk-go-v2 v1.41.4 // indirect + github.com/aws/aws-sdk-go-v2/aws/protocol/eventstream v1.7.7 // indirect + github.com/aws/aws-sdk-go-v2/config v1.32.12 // indirect + github.com/aws/aws-sdk-go-v2/credentials v1.19.12 // indirect + github.com/aws/aws-sdk-go-v2/feature/ec2/imds v1.18.20 // indirect + github.com/aws/aws-sdk-go-v2/internal/configsources v1.4.20 // indirect + github.com/aws/aws-sdk-go-v2/internal/endpoints/v2 v2.7.20 // indirect + github.com/aws/aws-sdk-go-v2/internal/ini v1.8.6 // indirect + github.com/aws/aws-sdk-go-v2/internal/v4a v1.4.21 // indirect + github.com/aws/aws-sdk-go-v2/service/internal/accept-encoding v1.13.7 // indirect + github.com/aws/aws-sdk-go-v2/service/internal/checksum v1.9.12 // indirect + github.com/aws/aws-sdk-go-v2/service/internal/presigned-url v1.13.20 // indirect + github.com/aws/aws-sdk-go-v2/service/internal/s3shared v1.19.20 // indirect + github.com/aws/aws-sdk-go-v2/service/s3 v1.97.1 // indirect + github.com/aws/aws-sdk-go-v2/service/signin v1.0.8 // indirect + github.com/aws/aws-sdk-go-v2/service/sso v1.30.13 // indirect + github.com/aws/aws-sdk-go-v2/service/ssooidc v1.35.17 // indirect + github.com/aws/aws-sdk-go-v2/service/sts v1.41.9 // indirect + github.com/aws/smithy-go v1.24.2 // indirect github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect github.com/benbjohnson/clock v1.3.5 // indirect github.com/bep/debounce v1.2.1 // indirect github.com/bgentry/go-netrc v0.0.0-20140422174119-9fd32a8b3d3d // indirect github.com/bluenviron/gortsplib/v4 v4.8.0 // indirect - github.com/bufbuild/protocompile v0.9.0 // indirect + github.com/bufbuild/protocompile v0.14.2-0.20260605203730-cd7c3c124e10 // indirect github.com/bytedance/sonic/loader v0.2.4 // indirect github.com/campoy/embedmd v1.0.0 // indirect github.com/cenkalti/backoff v2.2.1+incompatible // indirect @@ -63,18 +69,21 @@ require ( github.com/chewxy/hm v1.0.0 // indirect github.com/chewxy/math32 v1.0.8 // indirect github.com/clipperhouse/stringish v0.1.1 // indirect - github.com/clipperhouse/uax29/v2 v2.3.0 // indirect + github.com/clipperhouse/uax29/v2 v2.5.0 // indirect github.com/cloudwego/base64x v0.1.5 // indirect + github.com/cncf/xds/go v0.0.0-20260202195803-dba9d589def2 // indirect github.com/creack/goselect v0.1.2 // indirect - github.com/davecgh/go-spew v1.1.1 // indirect + github.com/davecgh/go-spew v1.1.2-0.20180830191138-d8f796af33cc // indirect github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect github.com/dgottlieb/smarty-assertions v1.2.6 // indirect github.com/disintegration/imaging v1.6.2 // indirect github.com/edaniels/golog v0.0.0-20250821172758-0d08e67686a9 // indirect github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect + github.com/envoyproxy/go-control-plane/envoy v1.37.0 // indirect + github.com/envoyproxy/protoc-gen-validate v1.3.3 // indirect github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect - github.com/felixge/httpsnoop v1.0.4 // indirect + github.com/felixge/httpsnoop v1.1.0 // indirect github.com/fogleman/gg v1.3.0 // indirect github.com/fsnotify/fsnotify v1.9.0 // indirect github.com/fullstorydev/grpcurl v1.8.6 // indirect @@ -93,22 +102,22 @@ require ( github.com/gonuts/binary v0.2.0 // indirect github.com/google/flatbuffers v2.0.6+incompatible // indirect github.com/google/go-cmp v0.7.0 // indirect - github.com/google/s2a-go v0.1.8 // indirect + github.com/google/s2a-go v0.1.9 // indirect github.com/google/uuid v1.6.0 // indirect - github.com/googleapis/enterprise-certificate-proxy v0.3.3 // indirect - github.com/googleapis/gax-go/v2 v2.13.0 // indirect + github.com/googleapis/enterprise-certificate-proxy v0.3.14 // indirect + github.com/googleapis/gax-go/v2 v2.17.0 // indirect github.com/gorilla/securecookie v1.1.2 // indirect github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect github.com/grpc-ecosystem/grpc-gateway/v2 v2.27.7 // indirect - github.com/hashicorp/aws-sdk-go-base/v2 v2.0.0-beta.65 // indirect + github.com/hashicorp/aws-sdk-go-base/v2 v2.0.0-beta.72 // indirect github.com/hashicorp/go-cleanhttp v0.5.2 // indirect - github.com/hashicorp/go-getter v1.8.3 // indirect - github.com/hashicorp/go-version v1.7.0 // indirect + github.com/hashicorp/go-getter v1.8.6 // indirect + github.com/hashicorp/go-version v1.8.0 // indirect github.com/improbable-eng/grpc-web v0.15.0 // indirect github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect github.com/jhump/protoreflect v1.15.6 // indirect github.com/kellydunn/golang-geo v0.7.0 // indirect - github.com/klauspost/compress v1.18.0 // indirect + github.com/klauspost/compress v1.18.6 // indirect github.com/klauspost/cpuid/v2 v2.2.11 // indirect github.com/kylelemons/go-gypsy v1.0.0 // indirect github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect @@ -119,7 +128,7 @@ require ( github.com/lestrrat-go/option v1.0.1 // indirect github.com/lib/pq v1.10.9 // indirect github.com/lmittmann/ppm v1.0.2 // indirect - github.com/lucasb-eyer/go-colorful v1.2.0 // indirect + github.com/lucasb-eyer/go-colorful v1.3.0 // indirect github.com/mattn/go-runewidth v0.0.19 // indirect github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect github.com/miekg/dns v1.1.53 // indirect @@ -128,6 +137,7 @@ require ( github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect github.com/muesli/kmeans v0.3.1 // indirect github.com/muhlemmer/gu v0.3.1 // indirect + github.com/petermattis/goid v0.0.0-20260330135022-df67b199bc81 // indirect github.com/pion/datachannel v1.5.10 // indirect github.com/pion/dtls/v2 v2.2.12 // indirect github.com/pion/interceptor v0.1.42 // indirect @@ -143,11 +153,13 @@ require ( github.com/pion/transport/v2 v2.2.10 // indirect github.com/pion/transport/v3 v3.1.1 // indirect github.com/pion/turn/v2 v2.1.6 // indirect - github.com/pmezard/go-difflib v1.0.0 // indirect + github.com/planetscale/vtprotobuf v0.6.1-0.20240319094008-0393e58bdf10 // indirect + github.com/pmezard/go-difflib v1.0.1-0.20181226105442-5d4384ee4fb2 // indirect github.com/rs/cors v1.11.1 // indirect github.com/samber/lo v1.51.0 // indirect github.com/sergi/go-diff v1.4.0 // indirect github.com/spf13/cast v1.5.0 // indirect + github.com/spiffe/go-spiffe/v2 v2.6.0 // indirect github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect github.com/twitchyliquid64/golang-asm v0.15.1 // indirect github.com/ulikunitz/xz v0.5.15 // indirect @@ -166,40 +178,42 @@ require ( github.com/zitadel/schema v1.3.1 // indirect github.com/ziutek/mymysql v1.5.4 // indirect go-hep.org/x/hep v0.32.1 // indirect - go.mongodb.org/mongo-driver v1.17.1 // indirect + go.mongodb.org/mongo-driver v1.17.7 // indirect go.opencensus.io v0.24.0 // indirect go.opentelemetry.io/auto/sdk v1.2.1 // indirect - go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0 // indirect - go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0 // indirect - go.opentelemetry.io/otel v1.43.0 // indirect + go.opentelemetry.io/contrib/detectors/gcp v1.43.0 // indirect + go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.63.0 // indirect + go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.69.0 // indirect + go.opentelemetry.io/otel v1.44.0 // indirect go.opentelemetry.io/otel/exporters/otlp/otlptrace v1.40.0 // indirect - go.opentelemetry.io/otel/metric v1.43.0 // indirect - go.opentelemetry.io/otel/sdk v1.43.0 // indirect - go.opentelemetry.io/otel/trace v1.43.0 // indirect + go.opentelemetry.io/otel/metric v1.44.0 // indirect + go.opentelemetry.io/otel/sdk v1.44.0 // indirect + go.opentelemetry.io/otel/sdk/metric v1.44.0 // indirect + go.opentelemetry.io/otel/trace v1.44.0 // indirect go.opentelemetry.io/proto/otlp v1.9.0 // indirect go.uber.org/goleak v1.3.0 // indirect go.uber.org/multierr v1.11.0 // indirect - go.uber.org/zap v1.27.0 // indirect + go.uber.org/zap v1.28.0 // indirect go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect - golang.org/x/crypto v0.47.0 // indirect - golang.org/x/exp v0.0.0-20251113190631-e25ba8c21ef6 // indirect - golang.org/x/image v0.25.0 // indirect - golang.org/x/mod v0.31.0 // indirect - golang.org/x/net v0.49.0 // indirect - golang.org/x/oauth2 v0.34.0 // indirect - golang.org/x/sync v0.19.0 // indirect - golang.org/x/sys v0.42.0 // indirect - golang.org/x/text v0.33.0 // indirect - golang.org/x/time v0.10.0 // indirect - golang.org/x/tools v0.40.0 // indirect + golang.org/x/crypto v0.53.0 // indirect + golang.org/x/exp v0.0.0-20260611194520-c48552f49976 // indirect + golang.org/x/image v0.41.0 // indirect + golang.org/x/mod v0.37.0 // indirect + golang.org/x/net v0.56.0 // indirect + golang.org/x/oauth2 v0.36.0 // indirect + golang.org/x/sync v0.21.0 // indirect + golang.org/x/sys v0.46.0 // indirect + golang.org/x/text v0.39.0 // indirect + golang.org/x/time v0.15.0 // indirect + golang.org/x/tools v0.47.0 // indirect golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect gonum.org/v1/gonum v0.17.0 // indirect gonum.org/v1/plot v0.15.2 // indirect - google.golang.org/api v0.196.0 // indirect - google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 // indirect - google.golang.org/genproto/googleapis/api v0.0.0-20260128011058-8636f8732409 // indirect - google.golang.org/genproto/googleapis/rpc v0.0.0-20260128011058-8636f8732409 // indirect - google.golang.org/grpc v1.80.0 // indirect + google.golang.org/api v0.271.0 // indirect + google.golang.org/genproto v0.0.0-20260128011058-8636f8732409 // indirect + google.golang.org/genproto/googleapis/api v0.0.0-20260610212136-7ab31c22f7ad // indirect + google.golang.org/genproto/googleapis/rpc v0.0.0-20260610212136-7ab31c22f7ad // indirect + google.golang.org/grpc v1.82.1 // indirect gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect gopkg.in/yaml.v3 v3.0.1 // indirect gorgonia.org/tensor v0.9.24 // indirect diff --git a/go.sum b/go.sum index 2df636d..de7eb42 100644 --- a/go.sum +++ b/go.sum @@ -1,3 +1,9 @@ +buf.build/gen/go/bufbuild/protodescriptor/protocolbuffers/go v1.36.11-20250109164928-1da0de137947.1 h1:HwzzCRS4ZrEm1++rzSDxHnO0DOjiT1b8I/24e8a4exY= +buf.build/gen/go/bufbuild/protodescriptor/protocolbuffers/go v1.36.11-20250109164928-1da0de137947.1/go.mod h1:8PRKXhgNes29Tjrnv8KdZzg3I1QceOkzibW1QK7EXv0= +buf.build/gen/go/bufbuild/protovalidate/protocolbuffers/go v1.36.11-20260709200747-435963d16310.1 h1:fXh8CsdNpjRr8R5vFdqtIxPt/Lno2IIJlYOdZBIZn0w= +buf.build/gen/go/bufbuild/protovalidate/protocolbuffers/go v1.36.11-20260709200747-435963d16310.1/go.mod h1:tvtbpgaVXZX4g6Pn+AnzFycuRK3MOz5HJfEGeEllXYM= +cel.dev/expr v0.25.2 h1:K6j46C81hXtZQfuX60cVWQFBJahKSE2gfRbNuvr5bFs= +cel.dev/expr v0.25.2/go.mod h1:hrXvqGP6G6gyx8UAHSHJ5RGk//1Oj5nXQ2NI02Nrsg4= cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= cloud.google.com/go v0.34.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw= cloud.google.com/go v0.38.0/go.mod h1:990N+gfupTy94rShfmMCWGDn0LpTmnzTp2qbd1dvSRU= @@ -9,37 +15,39 @@ cloud.google.com/go v0.50.0/go.mod h1:r9sluTvynVuxRIOHXQEHMFffphuXHOMZMycpNR5e6T cloud.google.com/go v0.52.0/go.mod h1:pXajvRH/6o3+F9jDHZWQ5PbGhn+o8w9qiu/CffaVdO4= cloud.google.com/go v0.53.0/go.mod h1:fp/UouUEsRkN6ryDKNW/Upv/JBKnv6WDthjR6+vze6M= cloud.google.com/go v0.56.0/go.mod h1:jr7tqZxxKOVYizybht9+26Z/gUq7tiRzu+ACVAMbKVk= -cloud.google.com/go v0.115.1 h1:Jo0SM9cQnSkYfp44+v+NQXHpcHqlnRJk2qxh6yvxxxQ= -cloud.google.com/go v0.115.1/go.mod h1:DuujITeaufu3gL68/lOFIirVNJwQeyf5UXyi+Wbgknc= -cloud.google.com/go/auth v0.9.3 h1:VOEUIAADkkLtyfr3BLa3R8Ed/j6w1jTBmARx+wb5w5U= -cloud.google.com/go/auth v0.9.3/go.mod h1:7z6VY+7h3KUdRov5F1i8NDP5ZzWKYmEPO842BgCsmTk= -cloud.google.com/go/auth/oauth2adapt v0.2.4 h1:0GWE/FUsXhf6C+jAkWgYm7X9tK8cuEIfy19DBn6B6bY= -cloud.google.com/go/auth/oauth2adapt v0.2.4/go.mod h1:jC/jOpwFP6JBxhB3P5Rr0a9HLMC/Pe3eaL4NmdvqPtc= +cloud.google.com/go v0.123.0 h1:2NAUJwPR47q+E35uaJeYoNhuNEM9kM8SjgRgdeOJUSE= +cloud.google.com/go v0.123.0/go.mod h1:xBoMV08QcqUGuPW65Qfm1o9Y4zKZBpGS+7bImXLTAZU= +cloud.google.com/go/auth v0.18.2 h1:+Nbt5Ev0xEqxlNjd6c+yYUeosQ5TtEUaNcN/3FozlaM= +cloud.google.com/go/auth v0.18.2/go.mod h1:xD+oY7gcahcu7G2SG2DsBerfFxgPAJz17zz2joOFF3M= +cloud.google.com/go/auth/oauth2adapt v0.2.8 h1:keo8NaayQZ6wimpNSmW5OPc283g65QNIiLpZnkHRbnc= +cloud.google.com/go/auth/oauth2adapt v0.2.8/go.mod h1:XQ9y31RkqZCcwJWNSx2Xvric3RrU88hAYYbjDWYDL+c= cloud.google.com/go/bigquery v1.0.1/go.mod h1:i/xbL2UlR5RvWAURpBYZTtm/cXjCha9lbfbpx4poX+o= cloud.google.com/go/bigquery v1.3.0/go.mod h1:PjpwJnslEMmckchkHFfq+HTD2DmtT67aNFKH1/VBDHE= cloud.google.com/go/bigquery v1.4.0/go.mod h1:S8dzgnTigyfTmLBfrtrhyYhwRxG72rYxvftPBK2Dvzc= cloud.google.com/go/compute/metadata v0.9.0 h1:pDUj4QMoPejqq20dK0Pg2N4yG9zIkYGdBtwLoEkH9Zs= cloud.google.com/go/compute/metadata v0.9.0/go.mod h1:E0bWwX5wTnLPedCKqk3pJmVgCBSM6qQI1yTBdEb3C10= -cloud.google.com/go/container v1.39.0 h1:Q1oW01ENxkkG3uf1oYoTmHPdvP+yhFCIuCJ4mk2RwkQ= -cloud.google.com/go/container v1.39.0/go.mod h1:gNgnvs1cRHXjYxrotVm+0nxDfZkqzBbXCffh5WtqieI= +cloud.google.com/go/container v1.45.0 h1:i1No5obpPxlIFLGHdUF6h2YjRR1qN9t/ZkA8KA5B//o= +cloud.google.com/go/container v1.45.0/go.mod h1:eB6jUfJLjne9VsTDGcH7mnj6JyZK+KOUIA6KZnYE/ds= cloud.google.com/go/datastore v1.0.0/go.mod h1:LXYbyblFSglQ5pkeyhO+Qmw7ukd3C+pD7TKLgZqpHYE= cloud.google.com/go/datastore v1.1.0/go.mod h1:umbIZjpQpHh4hmRpGhH4tLFup+FVzqBi1b3c64qFpCk= -cloud.google.com/go/iam v1.2.0 h1:kZKMKVNk/IsSSc/udOb83K0hL/Yh/Gcqpz+oAkoIFN8= -cloud.google.com/go/iam v1.2.0/go.mod h1:zITGuWgsLZxd8OwAlX+eMFgZDXzBm7icj1PVTYG766Q= -cloud.google.com/go/longrunning v0.6.0 h1:mM1ZmaNsQsnb+5n1DNPeL0KwQd9jQRqSqSDEkBZr+aI= -cloud.google.com/go/longrunning v0.6.0/go.mod h1:uHzSZqW89h7/pasCWNYdUpwGz3PcVWhrWupreVPYLts= -cloud.google.com/go/monitoring v1.21.0 h1:EMc0tB+d3lUewT2NzKC/hr8cSR9WsUieVywzIHetGro= -cloud.google.com/go/monitoring v1.21.0/go.mod h1:tuJ+KNDdJbetSsbSGTqnaBvbauS5kr3Q/koy3Up6r+4= +cloud.google.com/go/iam v1.5.3 h1:+vMINPiDF2ognBJ97ABAYYwRgsaqxPbQDlMnbHMjolc= +cloud.google.com/go/iam v1.5.3/go.mod h1:MR3v9oLkZCTlaqljW6Eb2d3HGDGK5/bDv93jhfISFvU= +cloud.google.com/go/logging v1.13.1 h1:O7LvmO0kGLaHY/gq8cV7T0dyp6zJhYAOtZPX4TF3QtY= +cloud.google.com/go/logging v1.13.1/go.mod h1:XAQkfkMBxQRjQek96WLPNze7vsOmay9H5PqfsNYDqvw= +cloud.google.com/go/longrunning v0.8.0 h1:LiKK77J3bx5gDLi4SMViHixjD2ohlkwBi+mKA7EhfW8= +cloud.google.com/go/longrunning v0.8.0/go.mod h1:UmErU2Onzi+fKDg2gR7dusz11Pe26aknR4kHmJJqIfk= +cloud.google.com/go/monitoring v1.24.3 h1:dde+gMNc0UhPZD1Azu6at2e79bfdztVDS5lvhOdsgaE= +cloud.google.com/go/monitoring v1.24.3/go.mod h1:nYP6W0tm3N9H/bOw8am7t62YTzZY+zUeQ+Bi6+2eonI= cloud.google.com/go/pubsub v1.0.1/go.mod h1:R0Gpsv3s54REJCy4fxDixWD93lHJMoZTyQ2kNxGRt3I= cloud.google.com/go/pubsub v1.1.0/go.mod h1:EwwdRX2sKPjnvnqCa270oGRyludottCI76h+R3AArQw= cloud.google.com/go/pubsub v1.2.0/go.mod h1:jhfEVHT8odbXTkndysNHCcx0awwzvfOlguIAii9o8iA= cloud.google.com/go/storage v1.0.0/go.mod h1:IhtSnM/ZTZV8YYJWCY8RULGVqBDmpoyjwiyrjsg+URw= cloud.google.com/go/storage v1.5.0/go.mod h1:tpKbwo567HUNpVclU5sGELwQWBDZ8gh0ZeosJ0Rtdos= cloud.google.com/go/storage v1.6.0/go.mod h1:N7U0C8pVQ/+NIKOBQyamJIeKQKkZ+mxpohlUTyfDhBk= -cloud.google.com/go/storage v1.43.0 h1:CcxnSohZwizt4LCzQHWvBf1/kvtHUn7gk9QERXPyXFs= -cloud.google.com/go/storage v1.43.0/go.mod h1:ajvxEa7WmZS1PxvKRq4bq0tFT3vMd502JwstCcYv0Q0= -cloud.google.com/go/trace v1.11.0 h1:UHX6cOJm45Zw/KIbqHe4kII8PupLt/V5tscZUkeiJVI= -cloud.google.com/go/trace v1.11.0/go.mod h1:Aiemdi52635dBR7o3zuc9lLjXo3BwGaChEjCa3tJNmM= +cloud.google.com/go/storage v1.61.3 h1:VS//ZfBuPGDvakfD9xyPW1RGF1Vy3BWUoVZXgW1KMOg= +cloud.google.com/go/storage v1.61.3/go.mod h1:JtqK8BBB7TWv0HVGHubtUdzYYrakOQIsMLffZ2Z/HWk= +cloud.google.com/go/trace v1.11.7 h1:kDNDX8JkaAG3R2nq1lIdkb7FCSi1rCmsEtKVsty7p+U= +cloud.google.com/go/trace v1.11.7/go.mod h1:TNn9d5V3fQVf6s4SCveVMIBS2LJUqo73GACmq/Tky0s= codeberg.org/go-fonts/dejavu v0.4.0 h1:2yn58Vkh4CFK3ipacWUAIE3XVBGNa0y1bc95Bmfx91I= codeberg.org/go-fonts/dejavu v0.4.0/go.mod h1:abni088lmhQJvso2Lsb7azCKzwkfcnttl6tL1UTWKzg= codeberg.org/go-fonts/latin-modern v0.4.0 h1:vkRCc1y3whKA7iL9Ep0fSGVuJfqjix0ica9UflHORO8= @@ -61,6 +69,14 @@ git.sr.ht/~sbinet/gg v0.6.0 h1:RIzgkizAk+9r7uPzf/VfbJHBMKUr0F5hRFxTUGMnt38= git.sr.ht/~sbinet/gg v0.6.0/go.mod h1:uucygbfC9wVPQIfrmwM2et0imr8L7KQWywX0xpFMm94= github.com/BurntSushi/toml v0.3.1/go.mod h1:xHWCNGjB5oqiDr8zfno3MHue2Ht5sIBksp03qcyfWMU= github.com/BurntSushi/xgb v0.0.0-20160522181843-27f122750802/go.mod h1:IVnqGOEym/WlBOVXweHU+Q+/VP0lqqI8lqeDx9IjBqo= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/detectors/gcp v1.32.0 h1:rIkQfkCOVKc1OiRCNcSDD8ml5RJlZbH/Xsq7lbpynwc= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/detectors/gcp v1.32.0/go.mod h1:RD2SsorTmYhF6HkTmDw7KmPYQk8OBYwTkuasChwv7R4= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/exporter/metric v0.55.0 h1:UnDZ/zFfG1JhH/DqxIZYU/1CUAlTUScoXD/LcM2Ykk8= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/exporter/metric v0.55.0/go.mod h1:IA1C1U7jO/ENqm/vhi7V9YYpBsp+IMyqNrEN94N7tVc= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/internal/cloudmock v0.55.0 h1:7t/qx5Ost0s0wbA/VDrByOooURhp+ikYwv20i9Y07TQ= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/internal/cloudmock v0.55.0/go.mod h1:vB2GH9GAYYJTO3mEn8oYwzEdhlayZIdQz6zdzgUIRvA= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/internal/resourcemapping v0.55.0 h1:0s6TxfCu2KHkkZPnBfsQ2y5qia0jl3MMrmBhu3nCOYk= +github.com/GoogleCloudPlatform/opentelemetry-operations-go/internal/resourcemapping v0.55.0/go.mod h1:Mf6O40IAyB9zR/1J8nGDDPirZQQPbYJni8Yisy7NTMc= github.com/Knetic/govaluate v3.0.1-0.20171022003610-9aa49832a739+incompatible/go.mod h1:r7JcOSlj0wfOMncg0iLm8Leh48TZaKVeNIfJntJ2wa0= github.com/Masterminds/semver v1.5.0 h1:H65muMkzWKEuNDnfl9d70GUjFniHKHRbFPGBuZ3QEww= github.com/Masterminds/semver/v3 v3.3.1 h1:QtNSWtVZ3nBfk8mAOu/B6v7FMJ+NHTIgUPi7rj+4nv4= @@ -96,42 +112,44 @@ github.com/aws/aws-sdk-go v1.27.0/go.mod h1:KmX6BPdI08NWTb3/sm4ZGu5ShLoqVDhKgpiN github.com/aws/aws-sdk-go v1.38.20 h1:QbzNx/tdfATbdKfubBpkt84OM6oBkxQZRw6+bW2GyeA= github.com/aws/aws-sdk-go v1.38.20/go.mod h1:hcU610XS61/+aQV88ixoOzUoG7v3b31pl2zKMmprdro= github.com/aws/aws-sdk-go-v2 v0.18.0/go.mod h1:JWVYvqSMppoMJC0x5wdwiImzgXTI9FuZwxzkQq9wy+g= -github.com/aws/aws-sdk-go-v2 v1.36.3 h1:mJoei2CxPutQVxaATCzDUjcZEjVRdpsiiXi2o38yqWM= -github.com/aws/aws-sdk-go-v2 v1.36.3/go.mod h1:LLXuLpgzEbD766Z5ECcRmi8AzSwfZItDtmABVkRLGzg= -github.com/aws/aws-sdk-go-v2/aws/protocol/eventstream v1.6.10 h1:zAybnyUQXIZ5mok5Jqwlf58/TFE7uvd3IAsa1aF9cXs= -github.com/aws/aws-sdk-go-v2/aws/protocol/eventstream v1.6.10/go.mod h1:qqvMj6gHLR/EXWZw4ZbqlPbQUyenf4h82UQUlKc+l14= -github.com/aws/aws-sdk-go-v2/config v1.29.15 h1:I5XjesVMpDZXZEZonVfjI12VNMrYa38LtLnw4NtY5Ss= -github.com/aws/aws-sdk-go-v2/config 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h1:McXfInJRrz4CZXVZOBLb0bTZqETkiAhM9Iw0y3An2Bg= +github.com/spiffe/go-spiffe/v2 v2.6.0 h1:l+DolpxNWYgruGQVV0xsfeya3CsC7m8iBzDnMpsbLuo= +github.com/spiffe/go-spiffe/v2 v2.6.0/go.mod h1:gm2SeUoMZEtpnzPNs2Csc0D/gX33k1xIx7lEzqblHEs= github.com/srikrsna/protoc-gen-gotag v0.6.2 h1:ULdarjI7FNUA6CNlLPIzSNvjdV2P4C2LSygPLvCVtfA= github.com/srikrsna/protoc-gen-gotag v0.6.2/go.mod h1:cplWV0ZNBhuF54gnj6rU9pLNrqjXf5vh65Xqa1Kjy+4= github.com/streadway/amqp v0.0.0-20190404075320-75d898a42a94/go.mod h1:AZpEONHx3DKn8O/DFsRAY58/XVQiIPMTMB1SddzLXVw= @@ -796,6 +829,8 @@ github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXl github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY= github.com/stretchr/testify v1.11.1 h1:7s2iGBzp5EwR7/aIZr8ao5+dra3wiQyKjjFuvgVKu7U= github.com/stretchr/testify v1.11.1/go.mod h1:wZwfW3scLgRK+23gO65QZefKpKQRnfz6sD981Nm4B6U= +github.com/tidwall/btree v1.8.1 h1:27ehoXvm5AG/g+1VxLS1SD3vRhp/H7LuEfwNvddEdmA= 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github.com/viamrobotics/evdev v0.1.3/go.mod h1:N6nuZmPz7HEIpM7esNWwLxbYzqWqLSZkfI/1Sccckqk= github.com/viamrobotics/ice/v2 v2.3.40 h1:H9r4ztsKkxWSn42R4fLvYlaPtpBys1Yj7/MERBtZY0k= @@ -863,8 +900,8 @@ go.bug.st/serial v1.6.4 h1:7FmqNPgVp3pu2Jz5PoPtbZ9jJO5gnEnZIvnI1lzve8A= go.bug.st/serial v1.6.4/go.mod h1:nofMJxTeNVny/m6+KaafC6vJGj3miwQZ6vW4BZUGJPI= go.etcd.io/bbolt v1.3.3/go.mod h1:IbVyRI1SCnLcuJnV2u8VeU0CEYM7e686BmAb1XKL+uU= go.etcd.io/etcd v0.0.0-20191023171146-3cf2f69b5738/go.mod h1:dnLIgRNXwCJa5e+c6mIZCrds/GIG4ncV9HhK5PX7jPg= -go.mongodb.org/mongo-driver v1.17.1 h1:Wic5cJIwJgSpBhe3lx3+/RybR5PiYRMpVFgO7cOHyIM= -go.mongodb.org/mongo-driver v1.17.1/go.mod h1:wwWm/+BuOddhcq3n68LKRmgk2wXzmF6s0SFOa0GINL4= +go.mongodb.org/mongo-driver v1.17.7 h1:a9w+U3Vt67eYzcfq3k/OAv284/uUUkL0uP75VE5rCOU= +go.mongodb.org/mongo-driver v1.17.7/go.mod h1:Hy04i7O2kC4RS06ZrhPRqj/u4DTYkFDAAccj+rVKqgQ= go.opencensus.io v0.20.1/go.mod h1:6WKK9ahsWS3RSO+PY9ZHZUfv2irvY6gN279GOPZjmmk= go.opencensus.io v0.20.2/go.mod h1:6WKK9ahsWS3RSO+PY9ZHZUfv2irvY6gN279GOPZjmmk= go.opencensus.io v0.21.0/go.mod h1:mSImk1erAIZhrmZN+AvHh14ztQfjbGwt4TtuofqLduU= @@ -875,24 +912,30 @@ go.opencensus.io v0.24.0 h1:y73uSU6J157QMP2kn2r30vwW1A2W2WFwSCGnAVxeaD0= go.opencensus.io v0.24.0/go.mod h1:vNK8G9p7aAivkbmorf4v+7Hgx+Zs0yY+0fOtgBfjQKo= go.opentelemetry.io/auto/sdk v1.2.1 h1:jXsnJ4Lmnqd11kwkBV2LgLoFMZKizbCi5fNZ/ipaZ64= go.opentelemetry.io/auto/sdk v1.2.1/go.mod h1:KRTj+aOaElaLi+wW1kO/DZRXwkF4C5xPbEe3ZiIhN7Y= -go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0 h1:r6I7RJCN86bpD/FQwedZ0vSixDpwuWREjW9oRMsmqDc= -go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0/go.mod h1:B9yO6b04uB80CzjedvewuqDhxJxi11s7/GtiGa8bAjI= -go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0 h1:TT4fX+nBOA/+LUkobKGW1ydGcn+G3vRw9+g5HwCphpk= -go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0/go.mod h1:L7UH0GbB0p47T4Rri3uHjbpCFYrVrwc1I25QhNPiGK8= -go.opentelemetry.io/otel v1.43.0 h1:mYIM03dnh5zfN7HautFE4ieIig9amkNANT+xcVxAj9I= -go.opentelemetry.io/otel v1.43.0/go.mod h1:JuG+u74mvjvcm8vj8pI5XiHy1zDeoCS2LB1spIq7Ay0= +go.opentelemetry.io/contrib/detectors/gcp v1.43.0 h1:62yY3dT7/ShwOxzA0RsKRgshBmfElKI4d/Myu2OxDFU= +go.opentelemetry.io/contrib/detectors/gcp v1.43.0/go.mod h1:RyaZMFY7yi1kAs45S6mbFGz8O8rqB0dTY14uzvG4LCs= +go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.63.0 h1:YH4g8lQroajqUwWbq/tr2QX1JFmEXaDLgG+ew9bLMWo= +go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.63.0/go.mod h1:fvPi2qXDqFs8M4B4fmJhE92TyQs9Ydjlg3RvfUp+NbQ= +go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.69.0 h1:8tvICD4vSTOOsNrsI4Ljf6C+6UKvpTEH5XY3JMoyPoo= +go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.69.0/go.mod h1:z9+yiacE0IHRqM4qFfkbt/JYlmYXgss8GY/jXoNuPJI= +go.opentelemetry.io/otel v1.44.0 h1:JjwHmHpA4iZ3wBxluu2fbbE7j4kqlE8jXyAyPXH7HqU= 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h1:S88dyqXjJkuBNLeMcVPRFXpRw2fuwdvfCGLEo89fDkw= -go.opentelemetry.io/otel/sdk/metric v1.43.0/go.mod h1:C/RJtwSEJ5hzTiUz5pXF1kILHStzb9zFlIEe85bhj6A= -go.opentelemetry.io/otel/trace v1.43.0 h1:BkNrHpup+4k4w+ZZ86CZoHHEkohws8AY+WTX09nk+3A= -go.opentelemetry.io/otel/trace v1.43.0/go.mod h1:/QJhyVBUUswCphDVxq+8mld+AvhXZLhe+8WVFxiFff0= +go.opentelemetry.io/otel/exporters/stdout/stdoutmetric v1.40.0 h1:ZrPRak/kS4xI3AVXy8F7pipuDXmDsrO8Lg+yQjBLjw0= +go.opentelemetry.io/otel/exporters/stdout/stdoutmetric v1.40.0/go.mod h1:3y6kQCWztq6hyW8Z9YxQDDm0Je9AJoFar2G0yDcmhRk= +go.opentelemetry.io/otel/metric v1.44.0 h1:1w0gILTcHdr3YI+ixLyjemwrVnsMURbTZFrSYCdDdmc= +go.opentelemetry.io/otel/metric v1.44.0/go.mod h1:8O7hanEPBNgEMmybD3s2VBKcgWOCsA6tzHBPODAiquo= +go.opentelemetry.io/otel/metric/x v0.66.0 h1:YkCrx1zLOChi9ZcZ6euupOcsgzbVlec7D/xoEU1+cTA= +go.opentelemetry.io/otel/metric/x v0.66.0/go.mod h1:d1+BDj9t96do0/1LoU1ayfCv79ZgNE41qbhBvnMOBZk= +go.opentelemetry.io/otel/sdk v1.44.0 h1:nHYwb9lK+fJPU/dnT6s7W7Z8itMWyqrnVfbheVYrZ58= +go.opentelemetry.io/otel/sdk v1.44.0/go.mod h1:Osuydd3Se74nqjAKxid74N5eC+jfEqfTegHRnq58oK0= +go.opentelemetry.io/otel/sdk/metric v1.44.0 h1:3LlKgI+VjbVsjNRFZJZAJ30WjXC5VkNRks6si09iEfI= +go.opentelemetry.io/otel/sdk/metric v1.44.0/go.mod h1:5B5pMARnXxKhltooO4xUuCBorl65a4EpnTalObqOigA= +go.opentelemetry.io/otel/trace v1.44.0 h1:jxF5CsGYCe74MCRx2X4g7WsY/VBKRqqpNvXlX/6gtIk= +go.opentelemetry.io/otel/trace v1.44.0/go.mod h1:oLl1jrMQAVo6v3GAggN+1VH9VIz9iUSvW53sW1Q8PIE= go.opentelemetry.io/proto/otlp v0.7.0/go.mod h1:PqfVotwruBrMGOCsRd/89rSnXhoiJIqeYNgFYFoEGnI= go.opentelemetry.io/proto/otlp v1.9.0 h1:l706jCMITVouPOqEnii2fIAuO3IVGBRPV5ICjceRb/A= go.opentelemetry.io/proto/otlp v1.9.0/go.mod h1:xE+Cx5E/eEHw+ISFkwPLwCZefwVjY+pqKg1qcK03+/4= @@ -914,16 +957,18 @@ go.uber.org/tools v0.0.0-20190618225709-2cfd321de3ee/go.mod h1:vJERXedbb3MVM5f9E go.uber.org/zap v1.10.0/go.mod h1:vwi/ZaCAaUcBkycHslxD9B2zi4UTXhF60s6SWpuDF0Q= go.uber.org/zap v1.13.0/go.mod h1:zwrFLgMcdUuIBviXEYEH1YKNaOBnKXsx2IPda5bBwHM= go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI= -go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8= -go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E= -go.viam.com/api v0.1.566 h1:o5nWDj6at04Y8nHGC7mZQDA6NIuGdPpwqhNLY+LQtfs= -go.viam.com/api v0.1.566/go.mod h1:nVe4WXrtc8aupJ8OWXSYx6KhCiOkr3VCbkwxD4D41xQ= -go.viam.com/rdk v1.0.0 h1:i7nTVaccN7N045xwNyYm3vBspuY+NzwT4PX9vLw7GxU= -go.viam.com/rdk v1.0.0/go.mod h1:1dl6guxr5j+Th2CsQNcIF5uNgVaFuIiKHZm1Cu5G7Bo= +go.uber.org/zap v1.28.0 h1:IZzaP1Fv73/T/pBMLk4VutPl36uNC+OSUh3JLG3FIjo= +go.uber.org/zap v1.28.0/go.mod h1:rDLpOi171uODNm/mxFcuYWxDsqWSAVkFdX4XojSKg/Q= +go.viam.com/api v0.1.577 h1:rQbb03z4KFNQRS5n3VVKPd2bnYVDQkjzHHozh6Xmt5Y= +go.viam.com/api v0.1.577/go.mod h1:4wA8A7g955PH03er3PNSJAi32bu3fpj9/kFp6AbrDNY= +go.viam.com/rdk v1.6.0 h1:MFPIKR8XCmFQs5QlWZXsO9pYK9RACowGFbxZT85HL2c= +go.viam.com/rdk v1.6.0/go.mod h1:DLLJCShEj9PpTNRknEKwqjoTE848xmu8514250P9Fho= go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug= go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI= -go.viam.com/utils v0.6.6 h1:1R+SpKz1McCAIC0JshgkfHy+uDu4okNmDq/AYl9m8iE= -go.viam.com/utils v0.6.6/go.mod h1:sAqzMj1M4weq/0HIqdfzrjCZ6zIzDhUemH8Tml1Hyag= +go.viam.com/utils v0.10.1 h1:O+ysq9uh99G/Ak+2qCvWQORYqjkcnz7yinutGyawRfE= +go.viam.com/utils v0.10.1/go.mod h1:xqyH9IYdJtT0FDS3fWblj45uuYoG95WaWEfMAjE5Yig= +go.yaml.in/yaml/v3 v3.0.4 h1:tfq32ie2Jv2UxXFdLJdh3jXuOzWiL1fo0bu/FbuKpbc= +go.yaml.in/yaml/v3 v3.0.4/go.mod h1:DhzuOOF2ATzADvBadXxruRBLzYTpT36CKvDb3+aBEFg= go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p+YeDxmZWg141nRm7XC8IDmhz7lk5GpadO1Sg= go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E= goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c= @@ -945,8 +990,8 @@ golang.org/x/crypto v0.12.0/go.mod h1:NF0Gs7EO5K4qLn+Ylc+fih8BSTeIjAP05siRnAh98y golang.org/x/crypto v0.18.0/go.mod h1:R0j02AL6hcrfOiy9T4ZYp/rcWeMxM3L6QYxlOuEG1mg= golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU= golang.org/x/crypto v0.21.0/go.mod h1:0BP7YvVV9gBbVKyeTG0Gyn+gZm94bibOW5BjDEYAOMs= -golang.org/x/crypto v0.47.0 h1:V6e3FRj+n4dbpw86FJ8Fv7XVOql7TEwpHapKoMJ/GO8= -golang.org/x/crypto v0.47.0/go.mod h1:ff3Y9VzzKbwSSEzWqJsJVBnWmRwRSHt/6Op5n9bQc4A= +golang.org/x/crypto v0.53.0 h1:QZ4Muo8THX6CizN2vPPd5fBGHyogrdK9fG4wLPFUsto= +golang.org/x/crypto v0.53.0/go.mod h1:DNLU434OwVakk9PzuwV8w62mAJpRJL3vsgcfp4Qnsio= golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190306152737-a1d7652674e8/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190510132918-efd6b22b2522/go.mod h1:ZjyILWgesfNpC6sMxTJOJm9Kp84zZh5NQWvqDGG3Qr8= @@ -958,15 +1003,15 @@ golang.org/x/exp v0.0.0-20200119233911-0405dc783f0a/go.mod h1:2RIsYlXP63K8oxa1u0 golang.org/x/exp v0.0.0-20200207192155-f17229e696bd/go.mod h1:J/WKrq2StrnmMY6+EHIKF9dgMWnmCNThgcyBT1FY9mM= golang.org/x/exp v0.0.0-20200224162631-6cc2880d07d6/go.mod h1:3jZMyOhIsHpP37uCMkUooju7aAi5cS1Q23tOzKc+0MU= golang.org/x/exp v0.0.0-20200331195152-e8c3332aa8e5/go.mod h1:4M0jN8W1tt0AVLNr8HDosyJCDCDuyL9N9+3m7wDWgKw= -golang.org/x/exp v0.0.0-20251113190631-e25ba8c21ef6 h1:zfMcR1Cs4KNuomFFgGefv5N0czO2XZpUbxGUy8i8ug0= -golang.org/x/exp v0.0.0-20251113190631-e25ba8c21ef6/go.mod h1:46edojNIoXTNOhySWIWdix628clX9ODXwPsQuG6hsK0= +golang.org/x/exp v0.0.0-20260611194520-c48552f49976 h1:X8Hz2ImujgbmetVuW+w2YkyZChE3cBpZi2P158rTG9M= +golang.org/x/exp v0.0.0-20260611194520-c48552f49976/go.mod h1:vnf4pv9iKZXY58sQE1L86zmNWJ4159e1RkcWiLCkeEY= golang.org/x/image v0.0.0-20190227222117-0694c2d4d067/go.mod h1:kZ7UVZpmo3dzQBMxlp+ypCbDeSB+sBbTgSJuh5dn5js= golang.org/x/image v0.0.0-20190321063152-3fc05d484e9f/go.mod h1:kZ7UVZpmo3dzQBMxlp+ypCbDeSB+sBbTgSJuh5dn5js= golang.org/x/image v0.0.0-20190802002840-cff245a6509b/go.mod h1:FeLwcggjj3mMvU+oOTbSwawSJRM1uh48EjtB4UJZlP0= golang.org/x/image v0.0.0-20191009234506-e7c1f5e7dbb8/go.mod h1:FeLwcggjj3mMvU+oOTbSwawSJRM1uh48EjtB4UJZlP0= golang.org/x/image v0.0.0-20200927104501-e162460cd6b5/go.mod h1:FeLwcggjj3mMvU+oOTbSwawSJRM1uh48EjtB4UJZlP0= -golang.org/x/image v0.25.0 h1:Y6uW6rH1y5y/LK1J8BPWZtr6yZ7hrsy6hFrXjgsc2fQ= -golang.org/x/image v0.25.0/go.mod h1:tCAmOEGthTtkalusGp1g3xa2gke8J6c2N565dTyl9Rs= +golang.org/x/image v0.41.0 h1:8wS72eGJMJaBxK6okTzd4WaXumUlTVlb753MlsSvTCo= +golang.org/x/image v0.41.0/go.mod h1:uIc348UZMSvS5Z65CVZ7iDPaNobNFEPeJ4kbqTOszmA= golang.org/x/lint v0.0.0-20181026193005-c67002cb31c3/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE= golang.org/x/lint v0.0.0-20190227174305-5b3e6a55c961/go.mod h1:wehouNa3lNwaWXcvxsM5YxQ5yQlVC4a0KAMCusXpPoU= golang.org/x/lint v0.0.0-20190301231843-5614ed5bae6f/go.mod h1:UVdnD1Gm6xHRNCYTkRU2/jEulfH38KcIWyp/GAMgvoE= @@ -987,8 +1032,8 @@ golang.org/x/mod v0.2.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.3.0/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4= golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= -golang.org/x/mod v0.31.0 h1:HaW9xtz0+kOcWKwli0ZXy79Ix+UW/vOfmWI5QVd2tgI= -golang.org/x/mod v0.31.0/go.mod h1:43JraMp9cGx1Rx3AqioxrbrhNsLl2l/iNAvuBkrezpg= +golang.org/x/mod v0.37.0 h1:vF1DjpVEshcIqoEaauuHebaLk1O1forxjxBaVn884JQ= +golang.org/x/mod v0.37.0/go.mod h1:m8S8VeM9r4dzDwjrKO0a1sZP3YjeMamRRlD+fmR2Q/0= golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= @@ -1029,15 +1074,15 @@ golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg= golang.org/x/net v0.14.0/go.mod h1:PpSgVXXLK0OxS0F31C1/tv6XNguvCrnXIDrFMspZIUI= golang.org/x/net v0.20.0/go.mod h1:z8BVo6PvndSri0LbOE3hAn0apkU+1YvI6E70E9jsnvY= golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44= -golang.org/x/net v0.49.0 h1:eeHFmOGUTtaaPSGNmjBKpbng9MulQsJURQUAfUwY++o= -golang.org/x/net v0.49.0/go.mod h1:/ysNB2EvaqvesRkuLAyjI1ycPZlQHM3q01F02UY/MV8= +golang.org/x/net v0.56.0 h1:Rw8j/hFzGvJUZwNBXnAtf5sVDVt+65SK2C7IxCxZt5o= +golang.org/x/net v0.56.0/go.mod h1:D3Ku6r+V6JROoZK144D2XfMHFcMq/0zSfLelVTCFKec= golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U= golang.org/x/oauth2 v0.0.0-20190226205417-e64efc72b421/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= golang.org/x/oauth2 v0.0.0-20190604053449-0f29369cfe45/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= golang.org/x/oauth2 v0.0.0-20191202225959-858c2ad4c8b6/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= golang.org/x/oauth2 v0.0.0-20200107190931-bf48bf16ab8d/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= -golang.org/x/oauth2 v0.34.0 h1:hqK/t4AKgbqWkdkcAeI8XLmbK+4m4G5YeQRrmiotGlw= -golang.org/x/oauth2 v0.34.0/go.mod h1:lzm5WQJQwKZ3nwavOZ3IS5Aulzxi68dUSgRHujetwEA= +golang.org/x/oauth2 v0.36.0 h1:peZ/1z27fi9hUOFCAZaHyrpWG5lwe0RJEEEeH0ThlIs= +golang.org/x/oauth2 v0.36.0/go.mod h1:YDBUJMTkDnJS+A4BP4eZBjCqtokkg1hODuPjwiGPO7Q= golang.org/x/sync v0.0.0-20180314180146-1d60e4601c6f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.0.0-20181108010431-42b317875d0f/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.0.0-20181221193216-37e7f081c4d4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= @@ -1049,8 +1094,8 @@ golang.org/x/sync v0.0.0-20200625203802-6e8e738ad208/go.mod h1:RxMgew5VJxzue5/jJ golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= -golang.org/x/sync v0.19.0 h1:vV+1eWNmZ5geRlYjzm2adRgW2/mcpevXNg50YZtPCE4= -golang.org/x/sync v0.19.0/go.mod h1:9KTHXmSnoGruLpwFjVSX0lNNA75CykiMECbovNTZqGI= +golang.org/x/sync v0.21.0 h1:HLII4xRRTtCRkxYp4HNFF0Js/Og6q2i++KXbg0gHCwM= +golang.org/x/sync v0.21.0/go.mod h1:9xrNwdLfx4jkKbNva9FpL6vEN7evnE43NNNJQ2LF3+0= golang.org/x/sys v0.0.0-20180823144017-11551d06cbcc/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= @@ -1105,8 +1150,8 @@ golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg= golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= -golang.org/x/sys v0.42.0 h1:omrd2nAlyT5ESRdCLYdm3+fMfNFE/+Rf4bDIQImRJeo= -golang.org/x/sys v0.42.0/go.mod h1:4GL1E5IUh+htKOUEOaiffhrAeqysfVGipDYzABqnCmw= +golang.org/x/sys v0.46.0 h1:noSf2Fq6F8DBgS+LysIkx7rIExoNHJsxOAtPp4rthXw= +golang.org/x/sys v0.46.0/go.mod h1:4GL1E5IUh+htKOUEOaiffhrAeqysfVGipDYzABqnCmw= golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo= golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8= golang.org/x/term v0.5.0/go.mod h1:jMB1sMXY+tzblOD4FWmEbocvup2/aLOaQEp7JmGp78k= @@ -1129,14 +1174,14 @@ golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8= golang.org/x/text v0.9.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8= golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE= golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= -golang.org/x/text v0.33.0 h1:B3njUFyqtHDUI5jMn1YIr5B0IE2U0qck04r6d4KPAxE= -golang.org/x/text v0.33.0/go.mod h1:LuMebE6+rBincTi9+xWTY8TztLzKHc/9C1uBCG27+q8= +golang.org/x/text v0.39.0 h1:UbZz4pLOvn600D6Oh6GGEI6VAmndrEBLv8/6BEXzyus= +golang.org/x/text v0.39.0/go.mod h1:3UwRclnC2g0TU9x8PZiyfOajCd1zaUNHF9cvqcQZ+ZM= golang.org/x/time v0.0.0-20180412165947-fbb02b2291d2/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20191024005414-555d28b269f0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= -golang.org/x/time v0.10.0 h1:3usCWA8tQn0L8+hFJQNgzpWbd89begxN66o1Ojdn5L4= -golang.org/x/time v0.10.0/go.mod h1:3BpzKBy/shNhVucY/MWOyx10tF3SFh9QdLuxbVysPQM= +golang.org/x/time v0.15.0 h1:bbrp8t3bGUeFOx08pvsMYRTCVSMk89u4tKbNOZbp88U= +golang.org/x/time v0.15.0/go.mod h1:Y4YMaQmXwGQZoFaVFk4YpCt4FLQMYKZe9oeV/f4MSno= golang.org/x/tools v0.0.0-20180221164845-07fd8470d635/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= golang.org/x/tools v0.0.0-20180828015842-6cd1fcedba52/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= @@ -1181,8 +1226,8 @@ golang.org/x/tools v0.0.0-20210106214847-113979e3529a/go.mod h1:emZCQorbCU4vsT4f golang.org/x/tools v0.1.0/go.mod h1:xkSsbof2nBLbhDlRMhhhyNLN/zl3eTqcnHD5viDpcZ0= golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc= golang.org/x/tools v0.6.0/go.mod h1:Xwgl3UAJ/d3gWutnCtw505GrjyAbvKui8lOU390QaIU= -golang.org/x/tools v0.40.0 h1:yLkxfA+Qnul4cs9QA3KnlFu0lVmd8JJfoq+E41uSutA= -golang.org/x/tools v0.40.0/go.mod h1:Ik/tzLRlbscWpqqMRjyWYDisX8bG13FrdXp3o4Sr9lc= +golang.org/x/tools v0.47.0 h1:7Kn5x/d1svx/PzryTsqeoZN4TZwqeH5pGWjefhLi/1Q= +golang.org/x/tools v0.47.0/go.mod h1:dFHnyTvFWY212G+h7ZY4Vsp/K3U4/7W9TyVaAul8uCA= golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= @@ -1204,8 +1249,8 @@ google.golang.org/api v0.15.0/go.mod h1:iLdEw5Ide6rF15KTC1Kkl0iskquN2gFfn9o9XIsb google.golang.org/api v0.17.0/go.mod h1:BwFmGc8tA3vsd7r/7kR8DY7iEEGSU04BFxCo5jP/sfE= google.golang.org/api v0.18.0/go.mod h1:BwFmGc8tA3vsd7r/7kR8DY7iEEGSU04BFxCo5jP/sfE= google.golang.org/api v0.20.0/go.mod h1:BwFmGc8tA3vsd7r/7kR8DY7iEEGSU04BFxCo5jP/sfE= -google.golang.org/api v0.196.0 h1:k/RafYqebaIJBO3+SMnfEGtFVlvp5vSgqTUF54UN/zg= -google.golang.org/api v0.196.0/go.mod h1:g9IL21uGkYgvQ5BZg6BAtoGJQIm8r6EgaAbpNey5wBE= +google.golang.org/api v0.271.0 h1:cIPN4qcUc61jlh7oXu6pwOQqbJW2GqYh5PS6rB2C/JY= +google.golang.org/api v0.271.0/go.mod h1:CGT29bhwkbF+i11qkRUJb2KMKqcJ1hdFceEIRd9u64Q= google.golang.org/appengine v1.1.0/go.mod h1:EbEs0AVv82hx2wNQdGPgUI5lhzA/G0D9YwlJXL52JkM= google.golang.org/appengine v1.2.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4= google.golang.org/appengine v1.4.0/go.mod h1:xpcJRLb0r/rnEns0DIKYYv+WjYCduHsrkT7/EB5XEv4= @@ -1236,12 +1281,12 @@ google.golang.org/genproto v0.0.0-20200513103714-09dca8ec2884/go.mod h1:55QSHmfG google.golang.org/genproto v0.0.0-20200526211855-cb27e3aa2013/go.mod h1:NbSheEEYHJ7i3ixzK3sjbqSGDJWnxyFXZblF3eUsNvo= google.golang.org/genproto v0.0.0-20200911024640-645f7a48b24f/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no= google.golang.org/genproto v0.0.0-20210126160654-44e461bb6506/go.mod h1:FWY/as6DDZQgahTzZj3fqbO1CbirC29ZNUFHwi0/+no= -google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 h1:BulPr26Jqjnd4eYDVe+YvyR7Yc2vJGkO5/0UxD0/jZU= -google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1/go.mod h1:hL97c3SYopEHblzpxRL4lSs523++l8DYxGM1FQiYmb4= -google.golang.org/genproto/googleapis/api v0.0.0-20260128011058-8636f8732409 h1:merA0rdPeUV3YIIfHHcH4qBkiQAc1nfCKSI7lB4cV2M= -google.golang.org/genproto/googleapis/api v0.0.0-20260128011058-8636f8732409/go.mod h1:fl8J1IvUjCilwZzQowmw2b7HQB2eAuYBabMXzWurF+I= -google.golang.org/genproto/googleapis/rpc v0.0.0-20260128011058-8636f8732409 h1:H86B94AW+VfJWDqFeEbBPhEtHzJwJfTbgE2lZa54ZAQ= -google.golang.org/genproto/googleapis/rpc v0.0.0-20260128011058-8636f8732409/go.mod h1:j9x/tPzZkyxcgEFkiKEEGxfvyumM01BEtsW8xzOahRQ= +google.golang.org/genproto v0.0.0-20260128011058-8636f8732409 h1:VQZ/yAbAtjkHgH80teYd2em3xtIkkHd7ZhqfH2N9CsM= +google.golang.org/genproto v0.0.0-20260128011058-8636f8732409/go.mod h1:rxKD3IEILWEu3P44seeNOAwZN4SaoKaQ/2eTg4mM6EM= +google.golang.org/genproto/googleapis/api v0.0.0-20260610212136-7ab31c22f7ad h1:3iLyITS/sySRwbUKoC7ogfj2Yr1Cjs0pfaRKj5U5HEw= +google.golang.org/genproto/googleapis/api v0.0.0-20260610212136-7ab31c22f7ad/go.mod h1:KdNqO+rCIWgFumrNBSEDlDNrkrQnpkax7Tv1WxNY8V4= +google.golang.org/genproto/googleapis/rpc v0.0.0-20260610212136-7ab31c22f7ad h1:45WmJvIV6C2+O/jjLkPUH+F3aOj/1miDoU2DD0+NWbg= +google.golang.org/genproto/googleapis/rpc v0.0.0-20260610212136-7ab31c22f7ad/go.mod h1:4Hqkh8ycfw05ld/3BWL7rJOSfebL2Q+DVDeRgYgxUU8= google.golang.org/grpc v1.17.0/go.mod h1:6QZJwpn2B+Zp71q/5VxRsJ6NXXVCE5NRUHRo+f3cWCs= google.golang.org/grpc v1.19.0/go.mod h1:mqu4LbDTu4XGKhr4mRzUsmM4RtVoemTSY81AxZiDr8c= google.golang.org/grpc v1.20.0/go.mod h1:chYK+tFQF0nDUGJgXMSgLCQk3phJEuONr2DCgLDdAQM= @@ -1262,8 +1307,8 @@ google.golang.org/grpc v1.33.1/go.mod h1:fr5YgcSWrqhRRxogOsw7RzIpsmvOZ6IcH4kBYTp google.golang.org/grpc v1.33.2/go.mod h1:JMHMWHQWaTccqQQlmk3MJZS+GWXOdAesneDmEnv2fbc= google.golang.org/grpc v1.36.0/go.mod h1:qjiiYl8FncCW8feJPdyg3v6XW24KsRHe+dy9BAGRRjU= google.golang.org/grpc v1.44.0/go.mod h1:k+4IHHFw41K8+bbowsex27ge2rCb65oeWqe4jJ590SU= -google.golang.org/grpc v1.80.0 h1:Xr6m2WmWZLETvUNvIUmeD5OAagMw3FiKmMlTdViWsHM= -google.golang.org/grpc v1.80.0/go.mod h1:ho/dLnxwi3EDJA4Zghp7k2Ec1+c2jqup0bFkw07bwF4= +google.golang.org/grpc v1.82.1 h1:NnAxzGRA0677vCa4BUkOAnO5+FfQqVl9iUXeD0IqcGE= +google.golang.org/grpc v1.82.1/go.mod h1:yzTZ1TB1Z3SG+LIYaI+WiE8D5+PZ3ArnrSp8zF3+/ZA= google.golang.org/grpc/cmd/protoc-gen-go-grpc v0.0.0-20200910201057-6591123024b3/go.mod h1:6Kw0yEErY5E/yWrBtf03jp27GLLJujG4z/JK95pnjjw= google.golang.org/protobuf v0.0.0-20200109180630-ec00e32a8dfd/go.mod h1:DFci5gLYBciE7Vtevhsrf46CRTquxDuWsQurQQe4oz8= google.golang.org/protobuf v0.0.0-20200221191635-4d8936d0db64/go.mod h1:kwYJMbMJ01Woi6D6+Kah6886xMZcty6N08ah7+eCXa0= @@ -1329,8 +1374,8 @@ nhooyr.io/websocket v1.8.7/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0 nullprogram.com/x/optparse v1.0.0/go.mod h1:KdyPE+Igbe0jQUrVfMqDMeJQIJZEuyV7pjYmp6pbG50= periph.io/x/conn/v3 v3.7.0 h1:f1EXLn4pkf7AEWwkol2gilCNZ0ElY+bxS4WE2PQXfrA= periph.io/x/conn/v3 v3.7.0/go.mod h1:ypY7UVxgDbP9PJGwFSVelRRagxyXYfttVh7hJZUHEhg= -periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db h1:8+HL7DJFofYRhGoK/UdwhzvQj3I2HrKLQ6dkOC66CZY= -periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db/go.mod h1:rzOLH+2g9bhc6pWZrkCrmytD4igwQ2vxFw6Wn6ZOlLY= +periph.io/x/host/v3 v3.8.1 h1:tuYdU3k5H0ezvhOFzOzQ+p32zoRtde+ap2QnuwbKoyA= +periph.io/x/host/v3 v3.8.1/go.mod h1:yFL76AesNHR68PboofSWYaQTKmvPXsQH2Apvp/ls/K4= rsc.io/binaryregexp v0.2.0/go.mod h1:qTv7/COck+e2FymRvadv62gMdZztPaShugOCi3I+8D8= rsc.io/pdf v0.1.1 h1:k1MczvYDUvJBe93bYd7wrZLLUEcLZAuF824/I4e5Xr4= rsc.io/pdf v0.1.1/go.mod h1:n8OzWcQ6Sp37PL01nO98y4iUCRdTGarVfzxY20ICaU4= diff --git a/internal/servo/trajectory.go b/internal/servo/trajectory.go new file mode 100644 index 0000000..4d26d4a --- /dev/null +++ b/internal/servo/trajectory.go @@ -0,0 +1,54 @@ +package servo + +import ( + "context" + "fmt" + "time" +) + +// CheckTrajectoryTime validates a point's Time against the previous point's: the first +// (prev < 0, i.e. none) must be at 0 and every later one strictly after its predecessor. +func CheckTrajectoryTime(prev, t time.Duration) error { + switch { + case prev < 0 && t != 0: + return fmt.Errorf("first trajectory point must have Time 0, got %v", t) + case prev >= 0 && t <= prev: + return fmt.Errorf("trajectory point Time %v must exceed the previous point's %v", t, prev) + } + return nil +} + +// Clock is the wall clock a streamed trajectory is scheduled against. The zero value is the +// real clock; tests substitute both funcs so no test sleeps trajectory time. +type Clock struct { + Now func() time.Time + SleepUntil func(context.Context, time.Time) error +} + +// Time returns the current instant. +func (c Clock) Time() time.Time { + if c.Now != nil { + return c.Now() + } + return time.Now() +} + +// WaitUntil blocks until t or ctx ends. A deadline already past returns immediately -- with +// ctx.Err(), so a cancelled stream still stops on a late point. +func (c Clock) WaitUntil(ctx context.Context, t time.Time) error { + if c.SleepUntil != nil { + return c.SleepUntil(ctx, t) + } + d := t.Sub(c.Time()) + if d <= 0 { + return ctx.Err() + } + timer := time.NewTimer(d) + defer timer.Stop() + select { + case <-ctx.Done(): + return ctx.Err() + case <-timer.C: + return nil + } +} diff --git a/internal/servo/trajectory_test.go b/internal/servo/trajectory_test.go new file mode 100644 index 0000000..fbf92b3 --- /dev/null +++ b/internal/servo/trajectory_test.go @@ -0,0 +1,67 @@ +package servo + +import ( + "context" + "testing" + "time" + + "github.com/stretchr/testify/assert" + "github.com/stretchr/testify/require" +) + +func TestCheckTrajectoryTime(t *testing.T) { + cases := []struct { + name string + prev, t time.Duration + wantErr bool + }{ + {"first at zero", -1, 0, false}, + {"first non-zero", -1, 10 * time.Millisecond, true}, + {"first negative", -1, -time.Millisecond, true}, + {"increasing", 10 * time.Millisecond, 20 * time.Millisecond, false}, + {"equal", 20 * time.Millisecond, 20 * time.Millisecond, true}, + {"decreasing", 20 * time.Millisecond, 5 * time.Millisecond, true}, + } + for _, tc := range cases { + t.Run(tc.name, func(t *testing.T) { + err := CheckTrajectoryTime(tc.prev, tc.t) + if tc.wantErr { + assert.Error(t, err) + } else { + assert.NoError(t, err) + } + }) + } +} + +func TestClockZeroValueIsTheRealClock(t *testing.T) { + var c Clock + before := time.Now() + assert.False(t, c.Time().Before(before)) + // A deadline already past returns at once, and reports nil on a live ctx. + require.NoError(t, c.WaitUntil(context.Background(), before)) + // The timer path, which production takes on every point. + require.NoError(t, c.WaitUntil(context.Background(), time.Now().Add(time.Millisecond))) +} + +func TestClockWaitUntilHonoursCancel(t *testing.T) { + var c Clock + ctx, cancel := context.WithCancel(context.Background()) + cancel() + err := c.WaitUntil(ctx, time.Now().Add(time.Hour)) + assert.ErrorIs(t, err, context.Canceled) + // Also on an already-past deadline: a cancelled stream must not slip a late point through. + assert.ErrorIs(t, c.WaitUntil(ctx, time.Now().Add(-time.Second)), context.Canceled) +} + +func TestClockSeamsOverrideBothHalves(t *testing.T) { + epoch := time.Date(2026, 9, 4, 12, 0, 0, 0, time.UTC) + var got time.Time + c := Clock{ + Now: func() time.Time { return epoch }, + SleepUntil: func(_ context.Context, d time.Time) error { got = d; return nil }, + } + assert.Equal(t, epoch, c.Time()) + require.NoError(t, c.WaitUntil(context.Background(), epoch.Add(time.Second))) + assert.Equal(t, epoch.Add(time.Second), got) +} diff --git a/internal/testfake/fake_transport.go b/internal/testfake/fake_transport.go index b203868..f954cc7 100644 --- a/internal/testfake/fake_transport.go +++ b/internal/testfake/fake_transport.go @@ -161,10 +161,15 @@ func (ft *FakeTransport) reply(req []byte) { } address, n := params[0], int(params[1]) for i := 2; i+1+n <= len(params); i += 1 + n { - regs, ok := ft.registers[int(params[i])] + id := int(params[i]) + regs, ok := ft.registers[id] if !ok { continue } + if _, ok := ft.regWrites[id]; !ok { + ft.regWrites[id] = map[byte]int{} + } + ft.regWrites[id][address]++ blob := params[i+1 : i+1+n] for off := 0; off < n; off++ { regs[address+byte(off)] = append([]byte(nil), blob[off:]...) @@ -228,8 +233,9 @@ func (ft *FakeTransport) PacketCount() int { return ft.writes } -// WriteCount reports WRITE packets landed on one register, so a test can assert a read-first -// guard skipped a redundant write -- the value alone cannot show that. +// WriteCount reports WRITE packets landed on one register -- plus SYNC_WRITE packets that +// STARTED at it -- so a test can count goal writes (SetGoals is a sync write at +// RegAcceleration) or assert a read-first guard skipped a redundant write. func (ft *FakeTransport) WriteCount(id int, address byte) int { ft.mu.Lock() defer ft.mu.Unlock() diff --git a/internal/testfake/fake_transport_test.go b/internal/testfake/fake_transport_test.go index 8aa45f6..26ef8f8 100644 --- a/internal/testfake/fake_transport_test.go +++ b/internal/testfake/fake_transport_test.go @@ -100,3 +100,21 @@ func TestFakeTransportReportsAConditionFlagWithValidData(t *testing.T) { _, err = bus.ReadRegister(context.Background(), 1, feetech.RegPresentPosition.Address, 2) require.NoError(t, err) } + +// SetGoals is a SYNC_WRITE starting at RegAcceleration, so a goal write must be countable +// per servo at that address the way an individual WRITE is. +func TestFakeTransportWriteCountCountsSyncWritesByStartAddress(t *testing.T) { + ft := NewFakeTransport() + bus, err := feetech.NewBus(feetech.BusConfig{Transport: ft, Timeout: 50 * time.Millisecond}) + require.NoError(t, err) + t.Cleanup(func() { _ = bus.Close() }) + + data := map[int][]byte{1: {0, 0, 8, 0, 0, 0, 0}, 2: {0, 0, 8, 0, 0, 0, 0}} + require.NoError(t, bus.SyncWrite(context.Background(), feetech.RegAcceleration.Address, 7, data)) + require.NoError(t, bus.SyncWrite(context.Background(), feetech.RegAcceleration.Address, 7, data)) + + assert.Equal(t, 2, ft.WriteCount(1, feetech.RegAcceleration.Address)) + assert.Equal(t, 2, ft.WriteCount(2, feetech.RegAcceleration.Address)) + assert.Zero(t, ft.WriteCount(3, feetech.RegAcceleration.Address), "servo 3 was not in the sync write") + assert.Zero(t, ft.WriteCount(1, feetech.RegGoalPosition.Address), "only the start address is keyed") +}