build(linters, format): go fmt and opinionated list of linters

.github/workflows/golangci-lint.yml

@@ -24,7 +24,7 @@ jobs:
         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: v1.52.2
+          version: v1.53.3
 
           # Optional: working directory, useful for monorepos
           # working-directory: v2

.golangci.yml

@@ -29,13 +29,118 @@ run:
     - platforms/opencv
 
 linters:
-  # Enable specific linter
+  # currently active linters:
+  #
+  #INFO [lintersdb] Active 35 linters: [asasalint asciicheck bidichk contextcheck decorder depguard durationcheck errcheck exportloopref
+  # gocheckcompilerdirectives gomoddirectives gomodguard goprintffuncname gosimple govet grouper importas ineffassign mirror musttag
+  # nilerr nilnil nolintlint nosprintfhostport prealloc reassign revive staticcheck tagalign tenv testableexamples tparallel typecheck unused 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
-  enable:
-    - nolintlint
+  disable:
+    # deprecated
+    - deadcode # deprecated
+    - exhaustivestruct # deprecated
+    - golint # deprecated
+    - ifshort # deprecated
+    - interfacer # deprecated
+    - maligned # deprecated
+    - nosnakecase # deprecated
+    - scopelint # deprecated
+    - structcheck # deprecated
+    - varcheck # deprecated
+    # not used for any reason
+    - 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)
+    - gofumpt # not used (we use "go fmt" or "gofmt" not gofumpt"
+    - gosmopolitan # not needed (report i18n/l10n anti-patterns)
+    - ireturn # not used (we allow return interfaces)
+    - loggercheck # not needed (relates to kitlog, klog, logr, zap)
+    - paralleltest # not used
+    - promlinter # not needed (prometheus metrics naming)
+    - rowserrcheck # not needed (sql related)
+    - sqlclosecheck # not needed (sql related)
+    - testpackage # not needed, we use the same name for test package to have access to unexposed items
+    - wrapcheck # not needed (we allow errors from interface methods)
+    - zerologlint # not needed (related to zerolog package)
+    # important to have
+    - gofmt # important to prevent "format tsunami" ("gofmt -s -w" missed), disabled due to "https://github.com/golangci/golangci-lint-action/issues/535"
+    - makezero # very important (find/reduce bugs, e.g. in robot_work_test.go)
+    - nakedret # very useful together with "nonamedreturns" (reduce bugs)
+    - nonamedreturns # very useful (reduce bugs)
+    - unconvert # very useful (reduce bugs, simplify code)
+    - unparam # very useful (reduce bugs, simplify code)
+    # useful for the future
+    - bodyclose # maybe useful (reduce bugs), exclusions for tests needed
+    - containedctx # useful (structs are not for context wrapping)
+    - cyclop # useful with some tweeks (better understandable code), see also gocyclo
+    - dogsled # useful with some tweeks (e.g. exclude tests)
+    - dupl # useful with some tweeks (reduce bugs and lines of code)
+    - dupword # useful with some tweeks, but not important
+    - errchkjson # useful (reduce bugs)
+    - errname # useful for common style
+    - errorlint # useful (reduce bugs), but suppress the "Use `%w` to format errors" check
+    - exhaustruct # useful with some exclusions for existing code (e.g. mavlink/common/common.go)
+    - forcetypeassert # useful (reduce bugs)
+    - funlen # useful with some tweeks (reduce bugs, simplify code, better understandable code)
+    - gci # useful (improve readability)
+    - gochecknoinits # useful (reduce bugs, simplify bug catching)
+    - gocognit # useful with some tweeks (better understandable code)
+    - goconst # useful (reduce bugs)
+    - gocritic # useful with some exclusions for existing code (e.g. mavlink/common/common.go)
+    - gocyclo # useful with some tweeks (better understandable code)
+    - goheader # useful, if we introduce a common header (e.g. for copyright)
+    - goimports # useful (common style), but not important
+    - gomnd # useful with some exclusions for existing code (e.g. mavlink.go)
+    - gosec # useful (security)
+    - interfacebloat # useful with some exclusions at usage of external packages
+    - lll # useful with some exclusions for existing code (e.g. mavlink/common/common.go)
+    - maintidx # useful with some tweeks (better understandable code), maybe use instead "gocyclo", "gocognit" , "cyclop"
+    - misspell # useful (better understandable code), but not important
+    - nestif # useful (reduce bugs, simplify code, better understandable code)
+    - nlreturn # more common style, but could become annoying
+    - noctx # maybe good (show used context explicit)
+    - predeclared # useful (reduce bugs)
+    - stylecheck # useful with some tweaking (e.g. underscores in names should be allowed - we use it for constants retrieved from C/C++)
+    - tagliatelle # maybe useful with some tweaking or excluding
+    - thelper # useful
+    - usestdlibvars # useful
+    - varnamelen # maybe useful with some tweaking, but many findings
+    - whitespace # more common style, but could become annoying
+    - wsl # more common style, but could become annoying
 
 linters-settings:
+  depguard:
+    # Rules to apply.
+    #
+    # Variables:
+    # - File Variables
+    #   you can still use and exclamation mark ! in front of a variable to say not to use it.
+    #   Example !$test will match any file that is not a go test file.
+    #
+    #   `$all` - matches all go files
+    #   `$test` - matches all go test files
+    #
+    # - Package Variables
+    #
+    #  `$gostd` - matches all of go's standard library (Pulled from `GOROOT`)
+    #
+    # Default: Only allow $gostd in all files.
+    rules:
+      main:
+        # Packages that are not allowed where the value is a suggestion.
+        deny:
+          - pkg: "github.com/pkg/errors"
+            desc: Should be replaced by standard lib errors package
+
   nolintlint:
     # Enable to require an explanation of nonzero length after each nolint directive.
     # Default: false

Makefile

@@ -56,12 +56,12 @@ version_check:
 
 # Check for bad code style and other issues
 fmt_check:
-	gofmt -l ./	
+	gofmt -l -s .
 	golangci-lint run -v
 
 # Fix bad code style (will only be executed, on version match)
 fmt_fix: version_check
-	go fmt ./...
+	gofmt -l -s -w .
 
 examples: $(EXAMPLES)
 

platforms/joystick/bin/scanner.go

@@ -1,4 +1,6 @@
+//go:build utils
 // +build utils
+
 //
 // Do not build by default.
 //

platforms/joystick/joystick_dualshock3.go

@@ -4,81 +4,81 @@ var dualshock3Config = joystickConfig{
 	Name: "Dualshock3 Controller",
 	GUID: "1111",
 	Axis: []pair{
-		pair{
+		{
 			Name: "left_x",
 			ID:   0,
 		},
-		pair{
+		{
 			Name: "left_y",
 			ID:   1,
 		},
-		pair{
+		{
 			Name: "right_x",
 			ID:   3,
 		},
-		pair{
+		{
 			Name: "right_y",
 			ID:   4,
 		},
 	},
 	Buttons: []pair{
-		pair{
+		{
 			Name: "square",
 			ID:   3,
 		},
-		pair{
+		{
 			Name: "triangle",
 			ID:   2,
 		},
-		pair{
+		{
 			Name: "circle",
 			ID:   1,
 		},
-		pair{
+		{
 			Name: "x",
 			ID:   0,
 		},
-		pair{
+		{
 			Name: "up",
 			ID:   13,
 		},
-		pair{
+		{
 			Name: "down",
 			ID:   14,
 		},
-		pair{
+		{
 			Name: "left",
 			ID:   15,
 		},
-		pair{
+		{
 			Name: "right",
 			ID:   16,
 		},
-		pair{
+		{
 			Name: "l1",
 			ID:   4,
 		},
 		{
 			Name: "l2",
 			ID:   6,
 		},
-		pair{
+		{
 			Name: "r1",
 			ID:   5,
 		},
-		pair{
+		{
 			Name: "r2",
 			ID:   7,
 		},
-		pair{
+		{
 			Name: "start",
 			ID:   9,
 		},
-		pair{
+		{
 			Name: "select",
 			ID:   8,
 		},
-		pair{
+		{
 			Name: "home",
 			ID:   10,
 		},

platforms/joystick/joystick_dualshock4.go

@@ -4,99 +4,99 @@ var dualshock4Config = joystickConfig{
 	Name: "Dualshock4 Controller",
 	GUID: "2222",
 	Axis: []pair{
-		pair{
+		{
 			Name: "left_x",
 			ID:   0,
 		},
-		pair{
+		{
 			Name: "left_y",
 			ID:   1,
 		},
-		pair{
+		{
 			Name: "right_x",
 			ID:   3,
 		},
-		pair{
+		{
 			Name: "right_y",
 			ID:   4,
 		},
-		pair{
+		{
 			Name: "l2",
 			ID:   2,
 		},
-		pair{
+		{
 			Name: "r2",
 			ID:   5,
 		},
 	},
 	Buttons: []pair{
-		pair{
+		{
 			Name: "square",
 			ID:   3,
 		},
-		pair{
+		{
 			Name: "triangle",
 			ID:   2,
 		},
-		pair{
+		{
 			Name: "circle",
 			ID:   1,
 		},
-		pair{
+		{
 			Name: "x",
 			ID:   0,
 		},
-		pair{
+		{
 			Name: "l1",
 			ID:   4,
 		},
-		pair{
+		{
 			Name: "l2",
 			ID:   6,
 		},
-		pair{
+		{
 			Name: "r1",
 			ID:   5,
 		},
-		pair{
+		{
 			Name: "r2",
 			ID:   7,
 		},
-		pair{
+		{
 			Name: "share",
 			ID:   8,
 		},
-		pair{
+		{
 			Name: "options",
 			ID:   9,
 		},
-		pair{
+		{
 			Name: "home",
 			ID:   10,
 		},
 	},
 	Hats: []hat{
-		hat{
+		{
 			Hat:  0,
 			Name: "down",
 			ID:   4,
 		},
-		hat{
+		{
 			Hat:  0,
 			Name: "up",
 			ID:   1,
 		},
-		hat{
+		{
 			Hat:  0,
 			Name: "left",
 			ID:   8,
 		},
-		hat{
+		{
 			Hat:  0,
 			Name: "right",
 			ID:   2,
 		},
-		hat{
+		{
 			Hat:  0,
 			Name: "released",
 			ID:   0,