Rename collectors to match current method names

components/arm/arm.go

@@ -53,7 +53,7 @@ func init() {
 	}, newEndPositionCollector)
 	data.RegisterCollector(data.MethodMetadata{
 		Subtype:    SubtypeName,
-		MethodName: getJointPositions.String(),
+		MethodName: jointPositions.String(),
 	}, newJointPositionsCollector)
 }
 

components/arm/collectors.go

@@ -12,15 +12,15 @@ type method int64
 
 const (
 	endPosition method = iota
-	getJointPositions
+	jointPositions
 )
 
 func (m method) String() string {
 	switch m {
 	case endPosition:
-		return "GetEndPosition"
-	case getJointPositions:
-		return "GetJointPositions"
+		return "EndPosition"
+	case jointPositions:
+		return "JointPositions"
 	}
 	return "Unknown"
 }
@@ -50,7 +50,7 @@ func newJointPositionsCollector(resource interface{}, params data.CollectorParam
 	cFunc := data.CaptureFunc(func(ctx context.Context, _ map[string]*anypb.Any) (interface{}, error) {
 		v, err := arm.JointPositions(ctx, nil)
 		if err != nil {
-			return nil, data.FailedToReadErr(params.ComponentName, getJointPositions.String(), err)
+			return nil, data.FailedToReadErr(params.ComponentName, jointPositions.String(), err)
 		}
 		return v, nil
 	})

components/camera/camera.go

@@ -53,8 +53,8 @@ func init() {
 	}, newNextPointCloudCollector)
 	data.RegisterCollector(data.MethodMetadata{
 		Subtype:    SubtypeName,
-		MethodName: next.String(),
-	}, newNextCollector)
+		MethodName: readImage.String(),
+	}, newReadImageCollector)
 }
 
 // SubtypeName is a constant that identifies the camera resource subtype string.

components/camera/collectors.go

@@ -19,15 +19,15 @@ type method int64
 
 const (
 	nextPointCloud method = iota
-	next           method = iota
+	readImage      method = iota
 )
 
 func (m method) String() string {
 	switch m {
 	case nextPointCloud:
 		return "NextPointCloud"
-	case next:
-		return "Next"
+	case readImage:
+		return "ReadImage"
 	}
 	return "Unknown"
 }
@@ -61,7 +61,7 @@ func newNextPointCloudCollector(resource interface{}, params data.CollectorParam
 	return data.NewCollector(cFunc, params)
 }
 
-func newNextCollector(resource interface{}, params data.CollectorParams) (data.Collector, error) {
+func newReadImageCollector(resource interface{}, params data.CollectorParams) (data.Collector, error) {
 	camera, err := assertCamera(resource)
 	if err != nil {
 		return nil, err
@@ -78,12 +78,12 @@ func newNextCollector(resource interface{}, params data.CollectorParams) (data.C
 	}
 
 	cFunc := data.CaptureFunc(func(ctx context.Context, _ map[string]*anypb.Any) (interface{}, error) {
-		_, span := trace.StartSpan(ctx, "camera::data::collector::CaptureFunc::Next")
+		_, span := trace.StartSpan(ctx, "camera::data::collector::CaptureFunc::ReadImage")
 		defer span.End()
 
 		img, release, err := ReadImage(ctx, camera)
 		if err != nil {
-			return nil, data.FailedToReadErr(params.ComponentName, next.String(), err)
+			return nil, data.FailedToReadErr(params.ComponentName, readImage.String(), err)
 		}
 		defer func() {
 			if release != nil {

components/gantry/collectors.go

@@ -18,9 +18,9 @@ const (
 func (m method) String() string {
 	switch m {
 	case position:
-		return "GetPosition"
+		return "Position"
 	case lengths:
-		return "GetLengths"
+		return "Lengths"
 	}
 	return "Unknown"
 }

components/motor/collectors.go

@@ -18,7 +18,7 @@ const (
 func (m method) String() string {
 	switch m {
 	case position:
-		return "GetPosition"
+		return "Position"
 	case isPowered:
 		return "IsPowered"
 	}

data/collector.go

@@ -14,7 +14,7 @@ import (
 	"github.com/matttproud/golang_protobuf_extensions/pbutil"
 	"github.com/pkg/errors"
 	"go.opencensus.io/trace"
-	"go.viam.com/api/app/datasync/v1"
+	v1 "go.viam.com/api/app/datasync/v1"
 	"go.viam.com/utils"
 	"google.golang.org/protobuf/types/known/anypb"
 	"google.golang.org/protobuf/types/known/timestamppb"

services/datamanager/builtin/builtin_test.go

@@ -52,7 +52,7 @@ var (
 
 	syncIntervalMins   = 0.0041 // 250ms
 	captureDir         = "/tmp/capture"
-	armDir             = captureDir + "/arm/arm1/GetEndPosition"
+	armDir             = captureDir + "/arm/arm1/EndPosition"
 	emptyFileBytesSize = 30 // size of leading metadata message
 )
 
@@ -166,7 +166,7 @@ func TestNewDataManager(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	// Check that a collector wrote to file.
-	armDir := captureDir + "/arm/arm1/GetEndPosition"
+	armDir := captureDir + "/arm/arm1/EndPosition"
 	filesInArmDir, err := readDir(t, armDir)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(filesInArmDir), test.ShouldEqual, 1)
@@ -216,7 +216,7 @@ func TestCaptureDisabled(t *testing.T) {
 	time.Sleep(captureWaitTime)
 
 	// Verify that the collector wrote to its file.
-	armDir := captureDir + "/arm/arm1/GetEndPosition"
+	armDir := captureDir + "/arm/arm1/EndPosition"
 	filesInArmDir, err := readDir(t, armDir)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(filesInArmDir), test.ShouldEqual, 1)
@@ -263,15 +263,15 @@ func TestNewRemoteDataManager(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	// Verify that the local and remote collectors wrote to their files.
-	localArmDir := captureDir + "/arm/localArm/GetEndPosition"
+	localArmDir := captureDir + "/arm/localArm/EndPosition"
 	filesInLocalArmDir, err := readDir(t, localArmDir)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(filesInLocalArmDir), test.ShouldEqual, 1)
 	info, err := filesInLocalArmDir[0].Info()
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, info.Size(), test.ShouldBeGreaterThan, 0)
 
-	remoteArmDir := captureDir + "/arm/remoteArm/GetEndPosition"
+	remoteArmDir := captureDir + "/arm/remoteArm/EndPosition"
 	filesInRemoteArmDir, err := readDir(t, remoteArmDir)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(filesInRemoteArmDir), test.ShouldEqual, 1)
@@ -623,7 +623,7 @@ func TestScheduledSync(t *testing.T) {
 
 	// Make the captureDir where we're logging data for our arm.
 	captureDir := "/tmp/capture"
-	armDir := captureDir + "/arm/arm1/GetEndPosition"
+	armDir := captureDir + "/arm/arm1/EndPosition"
 
 	// Clear the capture dir after we're done.
 	defer resetFolder(t, armDir)
@@ -674,7 +674,7 @@ func TestManualAndScheduledSync(t *testing.T) {
 
 	// Make the captureDir where we're logging data for our arm.
 	captureDir := "/tmp/capture"
-	armDir := captureDir + "/arm/arm1/GetEndPosition"
+	armDir := captureDir + "/arm/arm1/EndPosition"
 	defer resetFolder(t, armDir)
 
 	// Initialize the data manager and update it with our config.
@@ -783,7 +783,7 @@ func TestAdditionalParamsInConfig(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	time.Sleep(captureWaitTime)
 
-	filesInCamDir, err := readDir(t, captureDir+"/camera/c1/Next")
+	filesInCamDir, err := readDir(t, captureDir+"/camera/c1/ReadImage")
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, len(filesInCamDir), test.ShouldEqual, 1)
 	info, err := filesInCamDir[0].Info()

services/datamanager/data/fake_robot_with_data_manager.json

@@ -14,7 +14,7 @@
                     "attributes": {
                         "capture_methods": [
                             {
-                                "method": "GetEndPosition",
+                                "method": "EndPosition",
                                 "capture_frequency_hz": 100,
                                 "tags": [
                                     "a",

services/datamanager/data/fake_robot_with_remote_and_data_manager.json

@@ -14,7 +14,7 @@
                     "attributes": {
                         "capture_methods": [
                             {
-                                "method": "GetEndPosition",
+                                "method": "EndPosition",
                                 "capture_frequency_hz": 100,
                                 "tags": [
                                     "a",
@@ -49,7 +49,7 @@
                         "capture_methods": [
                             {
                                 "name": "rdk:component:arm/remoteArm",
-                                "method": "GetEndPosition",
+                                "method": "EndPosition",
                                 "capture_frequency_hz": 100
                             }
                         ]

services/datamanager/data/robot_with_cam_capture.json

@@ -10,7 +10,7 @@
                     "attributes": {
                         "capture_methods": [
                             {
-                                "method": "Next",
+                                "method": "ReadImage",
                                 "capture_frequency_hz": 100,
                                 "additional_params": {
                                     "mime_type": "image/jpeg"

services/datamanager/datacapture/data_capture_file_test.go

@@ -28,7 +28,7 @@ func TestBuildCaptureMetadata(t *testing.T) {
 			componentType:    "arm",
 			componentName:    "arm1",
 			componentModel:   "eva",
-			method:           "GetEndPosition",
+			method:           "EndPosition",
 			additionalParams: make(map[string]string),
 			dataType:         v1.DataType_DATA_TYPE_TABULAR_SENSOR,
 			fileExtension:    ".dat",