build(go, deps): switch to Go 1.21 and update modules

.circleci/config.yml

@@ -14,7 +14,7 @@ version: 2
 jobs:
   "test_core_and_drivers_with_coverage":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -31,7 +31,7 @@ jobs:
 
   "test_platforms":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -45,7 +45,7 @@ jobs:
   
   "check_examples":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -61,7 +61,7 @@ jobs:
 
   "fmt_check_examples":
     docker:
-      - image: golangci/golangci-lint:v1.56.1
+      - image: golangci/golangci-lint:v1.61.0
     steps:
       - checkout
       - run:

.github/workflows/golangci-lint.yml

@@ -18,13 +18,13 @@ jobs:
       - uses: actions/checkout@v3
       - uses: actions/setup-go@v4
         with:
-          go-version: '1.20'
+          go-version: '1.21'
           cache: false
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v3
         with:
           # Optional: version of golangci-lint to use in form of v1.2 or v1.2.3 or `latest` to use the latest version
-          version: v1.56.1
+          version: v1.61.0
 
           # Optional: working directory, useful for monorepos
           # working-directory: v2

.golangci.yml

@@ -22,6 +22,7 @@ run:
   # By default, it isn't set.
   modules-download-mode: readonly
 
+issues:
   # Enables skipping of directories:
   # - vendor$, third_party$, testdata$, examples$, Godeps$, builtin$
   # Default: true
@@ -34,37 +35,33 @@ run:
 linters:
   # currently active linters:
   #
-  # INFO [lintersdb] Active 64 linters: [asasalint asciicheck bidichk bodyclose containedctx contextcheck decorder depguard dogsled dupword durationcheck
-  # errcheck errchkjson errorlint exportloopref forcetypeassert gci gocheckcompilerdirectives gochecknoinits gochecksumtype gocritic gofmt gofumpt goimports
-  # gomoddirectives gomodguard goprintffuncname gosec gosimple govet grouper inamedparam ineffassign lll makezero mirror misspell musttag nakedret nilerr nilnil
-  # noctx nolintlint nonamedreturns nosprintfhostport perfsprint prealloc predeclared protogetter reassign revive sloglint staticcheck tagalign tenv
-  # testableexamples testifylint thelper tparallel unconvert unparam unused usestdlibvars wastedassign]
+  # INFO [lintersdb] Active 67 linters: [asasalint asciicheck bidichk bodyclose canonicalheader containedctx
+  # contextcheck decorder depguard dogsled dupword durationcheck errcheck errchkjson errorlint fatcontext
+  # forcetypeassert gci gocheckcompilerdirectives gochecknoinits gochecksumtype gocritic gofmt gofumpt goimports
+  # gomoddirectives gomodguard goprintffuncname gosec gosimple govet grouper inamedparam ineffassign lll makezero
+  # mirror misspell mnd musttag nakedret nilerr nilnil noctx nolintlint nonamedreturns nosprintfhostport perfsprint
+  # prealloc predeclared protogetter reassign revive sloglint spancheck staticcheck tagalign tenv testableexamples
+  # testifylint thelper tparallel unconvert unparam unused usestdlibvars wastedassign]
 
   enable-all: true
 
   # https://golangci-lint.run/usage/linters/#enabled-by-default
   # note: typecheck can not be disabled, it is used to check code compilation
   disable:
-    # deprecated
-    - deadcode # deprecated
-    - exhaustivestruct # deprecated
-    - golint # deprecated
-    - ifshort # deprecated
-    - interfacer # deprecated
-    - maligned # deprecated
-    - nosnakecase # deprecated
-    - scopelint # deprecated
-    - structcheck # deprecated
-    - varcheck # deprecated
+    # deprecated: none
+    # not used for this go version
+    - copyloopvar # the Go version (1.21) of your project is lower than Go 1.22
+    - intrange # the Go version (1.21) of your project is lower than Go 1.22
+    - exportloopref # Since Go1.22 (loopvar) this linter is no longer relevant. Replaced by copyloopvar
     # not used for any reason
+    - err113 # not used (we allow error creation at return statement)
     - execinquery # not needed (no sql)
     - exhaustive # not used (we allow incomplete usage of enum switch, e.g. with default case)
     - forbidigo # not used (we allow print statements)
     - ginkgolinter # not needed (enforces standards of using ginkgo and gomega)
     - gochecknoglobals # not used (we allow definition of unexposed variables at top level)
     - godot # not used (seems to be counting peas)
     - godox # not used (we have many TODOs, so not useful)
-    - goerr113 # not used (we allow error creation at return statement)
     - gosmopolitan # not needed (report i18n/l10n anti-patterns)
     - importas # not needed (there is no alias rule at the moment)
     - ireturn # not used (we allow return interfaces)

go.mod

@@ -1,25 +1,25 @@
 module gobot.io/x/gobot/v2
 
-go 1.20
+go 1.21
 
 require (
 	github.com/0xcafed00d/joystick v1.0.1
 	github.com/bmizerany/pat v0.0.0-20210406213842-e4b6760bdd6f
 	github.com/donovanhide/eventsource v0.0.0-20210830082556-c59027999da0
-	github.com/eclipse/paho.mqtt.golang v1.5.0
+	github.com/eclipse/paho.mqtt.golang v1.4.3
 	github.com/gofrs/uuid v4.4.0+incompatible
 	github.com/hashicorp/go-multierror v1.1.1
 	github.com/hybridgroup/go-ardrone v0.0.0-20140402002621-b9750d8d7b78
 	github.com/hybridgroup/mjpeg v0.0.0-20140228234708-4680f319790e
-	github.com/nats-io/nats.go v1.37.0
+	github.com/nats-io/nats.go v1.31.0
 	github.com/nsf/termbox-go v1.1.1
 	github.com/sigurn/crc8 v0.0.0-20220107193325-2243fe600f9f
-	github.com/stretchr/testify v1.9.0
-	github.com/warthog618/gpiod v0.8.3
-	go.bug.st/serial v1.6.2
-	gocv.io/x/gocv v0.39.0
-	golang.org/x/net v0.30.0
-	golang.org/x/sys v0.26.0
+	github.com/stretchr/testify v1.8.4
+	github.com/warthog618/gpiod v0.8.2
+	go.bug.st/serial v1.6.1
+	gocv.io/x/gocv v0.35.0
+	golang.org/x/net v0.19.0
+	golang.org/x/sys v0.16.0
 	periph.io/x/conn/v3 v3.7.0
 	periph.io/x/host/v3 v3.8.2
 	tinygo.org/x/bluetooth v0.8.0
@@ -31,18 +31,18 @@ require (
 	github.com/fatih/structs v1.1.0 // indirect
 	github.com/go-ole/go-ole v1.3.0 // indirect
 	github.com/godbus/dbus/v5 v5.1.0 // indirect
-	github.com/gorilla/websocket v1.5.3 // indirect
+	github.com/gorilla/websocket v1.5.1 // indirect
 	github.com/hashicorp/errwrap v1.1.0 // indirect
-	github.com/klauspost/compress v1.17.11 // indirect
+	github.com/klauspost/compress v1.17.4 // indirect
 	github.com/mattn/go-runewidth v0.0.9 // indirect
-	github.com/muka/go-bluetooth v0.0.0-20240701044517-04c4f09c514e // indirect
+	github.com/muka/go-bluetooth v0.0.0-20221213043340-85dc80edc4e1 // indirect
 	github.com/nats-io/nkeys v0.4.7 // indirect
 	github.com/nats-io/nuid v1.0.1 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
-	github.com/saltosystems/winrt-go v0.0.0-20240110120258-ad49e9790c38 // indirect
+	github.com/saltosystems/winrt-go v0.0.0-20231011131235-9071442c0c84 // indirect
 	github.com/sirupsen/logrus v1.9.3 // indirect
 	github.com/tinygo-org/cbgo v0.0.4 // indirect
-	golang.org/x/crypto v0.28.0 // indirect
-	golang.org/x/sync v0.8.0 // indirect
+	golang.org/x/crypto v0.17.0 // indirect
+	golang.org/x/sync v0.6.0 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 )

go.sum

@@ -9,8 +9,8 @@ github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/donovanhide/eventsource v0.0.0-20210830082556-c59027999da0 h1:C7t6eeMaEQVy6e8CarIhscYQlNmw5e3G36y7l7Y21Ao=
 github.com/donovanhide/eventsource v0.0.0-20210830082556-c59027999da0/go.mod h1:56wL82FO0bfMU5RvfXoIwSOP2ggqqxT+tAfNEIyxuHw=
-github.com/eclipse/paho.mqtt.golang v1.5.0 h1:EH+bUVJNgttidWFkLLVKaQPGmkTUfQQqjOsyvMGvD6o=
-github.com/eclipse/paho.mqtt.golang v1.5.0/go.mod h1:du/2qNQVqJf/Sqs4MEL77kR8QTqANF7XU7Fk0aOTAgk=
+github.com/eclipse/paho.mqtt.golang v1.4.3 h1:2kwcUGn8seMUfWndX0hGbvH8r7crgcJguQNCyp70xik=
+github.com/eclipse/paho.mqtt.golang v1.4.3/go.mod h1:CSYvoAlsMkhYOXh/oKyxa8EcBci6dVkLCbo5tTC1RIE=
 github.com/fatih/structs v1.1.0 h1:Q7juDM0QtcnhCpeyLGQKyg4TOIghuNXrkL32pHAUMxo=
 github.com/fatih/structs v1.1.0/go.mod h1:9NiDSp5zOcgEDl+j00MP/WkGVPOlPRLejGD8Ga6PJ7M=
 github.com/go-ole/go-ole v1.3.0 h1:Dt6ye7+vXGIKZ7Xtk4s6/xVdGDQynvom7xCFEdWr6uE=
@@ -21,8 +21,8 @@ github.com/godbus/dbus/v5 v5.1.0/go.mod h1:xhWf0FNVPg57R7Z0UbKHbJfkEywrmjJnf7w5x
 github.com/gofrs/uuid v4.4.0+incompatible h1:3qXRTX8/NbyulANqlc0lchS1gqAVxRgsuW1YrTJupqA=
 github.com/gofrs/uuid v4.4.0+incompatible/go.mod h1:b2aQJv3Z4Fp6yNu3cdSllBxTCLRxnplIgP/c0N/04lM=
 github.com/google/uuid v1.1.1/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
-github.com/gorilla/websocket v1.5.3 h1:saDtZ6Pbx/0u+bgYQ3q96pZgCzfhKXGPqt7kZ72aNNg=
-github.com/gorilla/websocket v1.5.3/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/adAjf1fMHhE=
+github.com/gorilla/websocket v1.5.1 h1:gmztn0JnHVt9JZquRuzLw3g4wouNVzKL15iLr/zn/QY=
+github.com/gorilla/websocket v1.5.1/go.mod h1:x3kM2JMyaluk02fnUJpQuwD2dCS5NDG2ZHL0uE0tcaY=
 github.com/hashicorp/errwrap v1.0.0/go.mod h1:YH+1FKiLXxHSkmPseP+kNlulaMuP3n2brvKWEqk/Jc4=
 github.com/hashicorp/errwrap v1.1.0 h1:OxrOeh75EUXMY8TBjag2fzXGZ40LB6IKw45YeGUDY2I=
 github.com/hashicorp/errwrap v1.1.0/go.mod h1:YH+1FKiLXxHSkmPseP+kNlulaMuP3n2brvKWEqk/Jc4=
@@ -32,19 +32,19 @@ github.com/hybridgroup/go-ardrone v0.0.0-20140402002621-b9750d8d7b78 h1:7of6LJZ4
 github.com/hybridgroup/go-ardrone v0.0.0-20140402002621-b9750d8d7b78/go.mod h1:YllNbhGM1UEcySxCv1BWK5lre7QLmJJ+O0ADUOo2nbc=
 github.com/hybridgroup/mjpeg v0.0.0-20140228234708-4680f319790e h1:xCcwD5FOXul+j1dn8xD16nbrhJkkum/Cn+jTd/u1LhY=
 github.com/hybridgroup/mjpeg v0.0.0-20140228234708-4680f319790e/go.mod h1:eagM805MRKrioHYuU7iKLUyFPVKqVV6um5DAvCkUtXs=
-github.com/klauspost/compress v1.17.11 h1:In6xLpyWOi1+C7tXUUWv2ot1QvBjxevKAaI6IXrJmUc=
-github.com/klauspost/compress v1.17.11/go.mod h1:pMDklpSncoRMuLFrf1W9Ss9KT+0rH90U12bZKk7uwG0=
+github.com/klauspost/compress v1.17.4 h1:Ej5ixsIri7BrIjBkRZLTo6ghwrEtHFk7ijlczPW4fZ4=
+github.com/klauspost/compress v1.17.4/go.mod h1:/dCuZOvVtNoHsyb+cuJD3itjs3NbnF6KH9zAO4BDxPM=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/mattn/go-runewidth v0.0.9 h1:Lm995f3rfxdpd6TSmuVCHVb/QhupuXlYr8sCI/QdE+0=
 github.com/mattn/go-runewidth v0.0.9/go.mod h1:H031xJmbD/WCDINGzjvQ9THkh0rPKHF+m2gUSrubnMI=
-github.com/muka/go-bluetooth v0.0.0-20240701044517-04c4f09c514e h1:1Sc4DqlgszKejMkjydCSq8zOKmF+hr8odAl5JoBZ+ec=
-github.com/muka/go-bluetooth v0.0.0-20240701044517-04c4f09c514e/go.mod h1:dMCjicU6vRBk34dqOmIZm0aod6gUwZXOXzBROqGous0=
-github.com/nats-io/nats.go v1.37.0 h1:07rauXbVnnJvv1gfIyghFEo6lUcYRY0WXc3x7x0vUxE=
-github.com/nats-io/nats.go v1.37.0/go.mod h1:Ubdu4Nh9exXdSz0RVWRFBbRfrbSxOYd26oF0wkWclB8=
+github.com/muka/go-bluetooth v0.0.0-20221213043340-85dc80edc4e1 h1:BuVRHr4HHJbk1DHyWkArJ7E8J/VA8ncCr/VLnQFazBo=
+github.com/muka/go-bluetooth v0.0.0-20221213043340-85dc80edc4e1/go.mod h1:dMCjicU6vRBk34dqOmIZm0aod6gUwZXOXzBROqGous0=
+github.com/nats-io/nats.go v1.31.0 h1:/WFBHEc/dOKBF6qf1TZhrdEfTmOZ5JzdJ+Y3m6Y/p7E=
+github.com/nats-io/nats.go v1.31.0/go.mod h1:di3Bm5MLsoB4Bx61CBTsxuarI36WbhAwOm8QrW39+i8=
 github.com/nats-io/nkeys v0.4.7 h1:RwNJbbIdYCoClSDNY7QVKZlyb/wfT6ugvFCiKy6vDvI=
 github.com/nats-io/nkeys v0.4.7/go.mod h1:kqXRgRDPlGy7nGaEDMuYzmiJCIAAWDK0IMBtDmGD0nc=
 github.com/nats-io/nuid v1.0.1 h1:5iA8DT8V7q8WK2EScv2padNa/rTESc1KdnPw4TC2paw=
@@ -53,13 +53,14 @@ github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e h1:fD57ERR4JtEqsWb
 github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e/go.mod h1:zD1mROLANZcx1PVRCS0qkT7pwLkGfwJo4zjcN/Tysno=
 github.com/nsf/termbox-go v1.1.1 h1:nksUPLCb73Q++DwbYUBEglYBRPZyoXJdrj5L+TkjyZY=
 github.com/nsf/termbox-go v1.1.1/go.mod h1:T0cTdVuOwf7pHQNtfhnEbzHbcNyCEcVU4YPpouCbVxo=
+github.com/pascaldekloe/goe v0.1.0/go.mod h1:lzWF7FIEvWOWxwDKqyGYQf6ZUaNfKdP144TG7ZOy1lc=
 github.com/paypal/gatt v0.0.0-20151011220935-4ae819d591cf/go.mod h1:+AwQL2mK3Pd3S+TUwg0tYQjid0q1txyNUJuuSmz8Kdk=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
 github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
-github.com/saltosystems/winrt-go v0.0.0-20240110120258-ad49e9790c38 h1:YcsdT0vhLMBWScwoO9FHZdjcFqjIWfQENMzq0PNxODs=
-github.com/saltosystems/winrt-go v0.0.0-20240110120258-ad49e9790c38/go.mod h1:CIltaIm7qaANUIvzr0Vmz71lmQMAIbGJ7cvgzX7FMfA=
+github.com/saltosystems/winrt-go v0.0.0-20231011131235-9071442c0c84 h1:LX7qSkrsG8fKKVubiUnqfGdi/yBBnVTBR13LkqXycog=
+github.com/saltosystems/winrt-go v0.0.0-20231011131235-9071442c0c84/go.mod h1:CIltaIm7qaANUIvzr0Vmz71lmQMAIbGJ7cvgzX7FMfA=
 github.com/sigurn/crc8 v0.0.0-20220107193325-2243fe600f9f h1:1R9KdKjCNSd7F8iGTxIpoID9prlYH8nuNYKt0XvweHA=
 github.com/sigurn/crc8 v0.0.0-20220107193325-2243fe600f9f/go.mod h1:vQhwQ4meQEDfahT5kd61wLAF5AAeh5ZPLVI4JJ/tYo8=
 github.com/sirupsen/logrus v1.5.0/go.mod h1:+F7Ogzej0PZc/94MaYx/nvG9jOFMD2osvC3s+Squfpo=
@@ -70,43 +71,44 @@ github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+
 github.com/stretchr/testify v1.2.2/go.mod h1:a8OnRcib4nhh0OaRAV+Yts87kKdq0PP7pXfy6kDkUVs=
 github.com/stretchr/testify v1.6.1/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
 github.com/stretchr/testify v1.7.0/go.mod h1:6Fq8oRcR53rry900zMqJjRRixrwX3KX962/h/Wwjteg=
-github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg=
-github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
+github.com/stretchr/testify v1.8.4 h1:CcVxjf3Q8PM0mHUKJCdn+eZZtm5yQwehR5yeSVQQcUk=
+github.com/stretchr/testify v1.8.4/go.mod h1:sz/lmYIOXD/1dqDmKjjqLyZ2RngseejIcXlSw2iwfAo=
 github.com/suapapa/go_eddystone v1.3.1/go.mod h1:bXC11TfJOS+3g3q/Uzd7FKd5g62STQEfeEIhcKe4Qy8=
 github.com/tinygo-org/cbgo v0.0.4 h1:3D76CRYbH03Rudi8sEgs/YO0x3JIMdyq8jlQtk/44fU=
 github.com/tinygo-org/cbgo v0.0.4/go.mod h1:7+HgWIHd4nbAz0ESjGlJ1/v9LDU1Ox8MGzP9mah/fLk=
 github.com/warthog618/go-gpiosim v0.1.0 h1:2rTMTcKUVZxpUuvRKsagnKAbKpd3Bwffp87xywEDVGI=
-github.com/warthog618/gpiod v0.8.3 h1:hGFm/zf5PUyXU2LBG4fiZyRnbSSiPEajuOtQzQ3vkLo=
-github.com/warthog618/gpiod v0.8.3/go.mod h1:YHsKSpTHebSDGnKNQKfQp9t/0JxQCyXyYtCF3F+78dc=
+github.com/warthog618/go-gpiosim v0.1.0/go.mod h1:Ngx/LYI5toxHr4E+Vm6vTgCnt0of0tktsSuMUEJ2wCI=
+github.com/warthog618/gpiod v0.8.2 h1:2HgQ9pNowPp7W77sXhX5ut5Tqq1WoS3t7bXYDxtYvxc=
+github.com/warthog618/gpiod v0.8.2/go.mod h1:O7BNpHjCn/4YS5yFVmoFZAlY1LuYuQ8vhPf0iy/qdi4=
 github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
-go.bug.st/serial v1.6.2 h1:kn9LRX3sdm+WxWKufMlIRndwGfPWsH1/9lCWXQCasq8=
-go.bug.st/serial v1.6.2/go.mod h1:UABfsluHAiaNI+La2iESysd9Vetq7VRdpxvjx7CmmOE=
-gocv.io/x/gocv v0.39.0 h1:vWHupDE22LebZW6id2mVeT767j1YS8WqGt+ZiV7XJXE=
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platforms/opencv/camera_driver.go

@@ -41,7 +41,7 @@ func NewCameraDriver(source interface{}) *CameraDriver {
 			default:
 				return errors.New("Unknown camera source")
 			}
-			return
+			return nil
 		},
 	}
 
@@ -72,7 +72,7 @@ func (c *CameraDriver) Start() error {
 			}
 		}
 	}()
-	return
+	return nil
 }
 
 // Halt stops camera driver

platforms/opencv/window_driver.go

@@ -39,11 +39,11 @@ func (w *WindowDriver) Connection() gobot.Connection { return nil }
 // Start starts window thread and driver
 func (w *WindowDriver) Start() error {
 	w.start(w)
-	return
+	return nil
 }
 
 // Halt returns true if camera is halted successfully
-func (w *WindowDriver) Halt() error { return }
+func (w *WindowDriver) Halt() error { return nil }
 
 // ShowImage displays image in window
 func (w *WindowDriver) ShowImage(img gocv.Mat) {