[RSDK-447] Opt-in to implicit dependencies for all components

components/arm/wrapper/wrapper.go

@@ -7,6 +7,7 @@ import (
 	"github.com/edaniels/golog"
 	commonpb "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/arm/v1"
+	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/components/generic"
@@ -27,6 +28,16 @@ type AttrConfig struct {
 	ArmName   string `json:"arm-name"`
 }
 
+// Validate ensures all parts of the config are valid.
+func (cfg *AttrConfig) Validate(path string) ([]string, error) {
+	var deps []string
+	if cfg.ArmName == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "arm-name")
+	}
+	deps = append(deps, cfg.ArmName)
+	return deps, nil
+}
+
 func init() {
 	registry.RegisterComponent(arm.Subtype, ModelName, registry.Component{
 		RobotConstructor: func(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (interface{}, error) {

components/base/wheeled/wheeled_base.go

@@ -22,6 +22,46 @@ import (
 	rdkutils "go.viam.com/rdk/utils"
 )
 
+// Config is how you configure a wheeled base.
+type Config struct {
+	WidthMM              int      `json:"width_mm"`
+	WheelCircumferenceMM int      `json:"wheel_circumference_mm"`
+	SpinSlipFactor       float64  `json:"spin_slip_factor,omitempty"`
+	Left                 []string `json:"left"`
+	Right                []string `json:"right"`
+}
+
+// Validate ensures all parts of the config are valid.
+func (config *Config) Validate(path string) ([]string, error) {
+	var deps []string
+
+	if config.WidthMM == 0 {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "width_mm")
+	}
+
+	if config.WheelCircumferenceMM == 0 {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "wheel_circumference_mm")
+	}
+
+	if len(config.Left) == 0 {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "left")
+	}
+	if len(config.Right) == 0 {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "right")
+	}
+
+	if len(config.Left) != len(config.Right) {
+		return nil, utils.NewConfigValidationError(path,
+			fmt.Errorf("left and right need to have the same number of motors, not %d vs %d",
+				len(config.Left), len(config.Right)))
+	}
+
+	deps = append(deps, config.Left...)
+	deps = append(deps, config.Right...)
+
+	return deps, nil
+}
+
 func init() {
 	wheeledBaseComp := registry.Component{
 		Constructor: func(
@@ -277,41 +317,6 @@ func (base *wheeledBase) Width(ctx context.Context) (int, error) {
 	return base.widthMm, nil
 }
 
-// Config is how you configure a wheeled base.
-type Config struct {
-	WidthMM              int      `json:"width_mm"`
-	WheelCircumferenceMM int      `json:"wheel_circumference_mm"`
-	SpinSlipFactor       float64  `json:"spin_slip_factor,omitempty"`
-	Left                 []string `json:"left"`
-	Right                []string `json:"right"`
-}
-
-// Validate ensures all parts of the config are valid.
-func (config *Config) Validate(path string) ([]string, error) {
-	var deps []string
-
-	if config.WidthMM == 0 {
-		return nil, errors.New("need a width_mm for a wheeled base")
-	}
-
-	if config.WheelCircumferenceMM == 0 {
-		return nil, errors.New("need a wheel_circumference_mm for a wheeled base")
-	}
-
-	if len(config.Left) == 0 || len(config.Right) == 0 {
-		return nil, errors.New("need left and right motors")
-	}
-
-	if len(config.Left) != len(config.Right) {
-		return nil, fmt.Errorf("left and right need to have the same number of motors, not %d vs %d", len(config.Left), len(config.Right))
-	}
-
-	deps = append(deps, config.Left...)
-	deps = append(deps, config.Right...)
-
-	return deps, nil
-}
-
 // CreateWheeledBase returns a new wheeled base defined by the given config.
 func CreateWheeledBase(
 	ctx context.Context,

components/base/wheeled/wheeled_base_test.go

@@ -323,22 +323,22 @@ func TestValidate(t *testing.T) {
 	cfg := &Config{}
 	deps, err := cfg.Validate("path")
 	test.That(t, deps, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, "need a width_mm for a wheeled base")
+	test.That(t, err.Error(), test.ShouldContainSubstring, "\"width_mm\" is required")
 
 	cfg.WidthMM = 100
 	deps, err = cfg.Validate("path")
 	test.That(t, deps, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, "need a wheel_circumference_mm for a wheeled base")
+	test.That(t, err.Error(), test.ShouldContainSubstring, "\"wheel_circumference_mm\" is required")
 
 	cfg.WheelCircumferenceMM = 1000
 	deps, err = cfg.Validate("path")
 	test.That(t, deps, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, "need left and right motors")
+	test.That(t, err.Error(), test.ShouldContainSubstring, "\"left\" is required")
 
 	cfg.Left = []string{"fl-m", "bl-m"}
 	deps, err = cfg.Validate("path")
 	test.That(t, deps, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, "need left and right motors")
+	test.That(t, err.Error(), test.ShouldContainSubstring, "\"right\" is required")
 
 	cfg.Right = []string{"fr-m"}
 	deps, err = cfg.Validate("path")

components/board/arduino/encoder.go

@@ -7,6 +7,7 @@ import (
 
 	"github.com/edaniels/golog"
 	"github.com/pkg/errors"
+	rdkutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/board"
 	"go.viam.com/rdk/components/encoder"
@@ -90,6 +91,16 @@ type EncoderConfig struct {
 	MotorName string      `json:"motor_name"`
 }
 
+// Validate ensures all parts of the config are valid.
+func (cfg *EncoderConfig) Validate(path string) ([]string, error) {
+	var deps []string
+	if cfg.BoardName == "" {
+		return nil, rdkutils.NewConfigValidationFieldRequiredError(path, "board")
+	}
+	deps = append(deps, cfg.BoardName)
+	return deps, nil
+}
+
 // TicksCount returns number of ticks since last zeroing.
 func (e *Encoder) TicksCount(ctx context.Context, extra map[string]interface{}) (int64, error) {
 	res, err := e.board.runCommand("motor-position " + e.name)

components/board/hat/pca9685/pca9685.go

@@ -27,6 +27,32 @@ var (
 	_ = board.GPIOPin(&gpioPin{})
 )
 
+// Config describes a PCA9685 board attached to some other board via I2C.
+type Config struct {
+	BoardName  string `json:"board_name"`
+	I2CName    string `json:"i2c_name"`
+	I2CAddress *int   `json:"i2c_address"`
+}
+
+// Validate ensures all parts of the config are valid.
+func (config *Config) Validate(path string) ([]string, error) {
+	var deps []string
+	if config.BoardName == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "board_name")
+	}
+	if config.I2CName == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "i2c_name")
+	}
+	if config.I2CAddress == nil {
+		config.I2CAddress = &defaultAddr
+	}
+	if *config.I2CAddress < 0 || *config.I2CAddress > 255 {
+		return nil, utils.NewConfigValidationError(path, errors.New("i2c_address must be an unsigned byte"))
+	}
+	deps = append(deps, config.BoardName)
+	return deps, nil
+}
+
 func init() {
 	registry.RegisterComponent(
 		board.Subtype,
@@ -68,30 +94,6 @@ func init() {
 		&Config{})
 }
 
-// Config describes a PCA9685 board attached to some other board via I2C.
-type Config struct {
-	BoardName  string `json:"board_name"`
-	I2CName    string `json:"i2c_name"`
-	I2CAddress *int   `json:"i2c_address"`
-}
-
-// Validate ensures all parts of the config are valid.
-func (config *Config) Validate(path string) error {
-	if config.BoardName == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "board_name")
-	}
-	if config.I2CName == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "i2c_name")
-	}
-	if config.I2CAddress == nil {
-		config.I2CAddress = &defaultAddr
-	}
-	if *config.I2CAddress < 0 || *config.I2CAddress > 255 {
-		return utils.NewConfigValidationError(path, errors.New("i2c_address must be an unsigned byte"))
-	}
-	return nil
-}
-
 // PCA9685 is a general purpose 16-channel 12-bit PWM controller.
 type PCA9685 struct {
 	generic.Unimplemented

components/camera/videosource/align.go

@@ -12,6 +12,7 @@ import (
 	"github.com/pkg/errors"
 	"go.opencensus.io/trace"
 	"go.uber.org/multierr"
+	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/config"
@@ -148,6 +149,19 @@ type alignAttrs struct {
 	Warp               interface{} `json:"warp,omitempty"`
 }
 
+func (cfg *alignAttrs) Validate(path string) ([]string, error) {
+	var deps []string
+	if cfg.Color == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "color_camera_name")
+	}
+	deps = append(deps, cfg.Color)
+	if cfg.Depth == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "depth_camera_name")
+	}
+	deps = append(deps, cfg.Depth)
+	return deps, nil
+}
+
 // alignColorDepth takes a color and depth image source and aligns them together.
 type alignColorDepth struct {
 	color, depth gostream.VideoStream

components/camera/videosource/join_pointcloud.go

@@ -11,6 +11,7 @@ import (
 	"github.com/golang/geo/r3"
 	"github.com/pkg/errors"
 	"go.opencensus.io/trace"
+	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/camera"
 	"go.viam.com/rdk/components/generic"
@@ -70,6 +71,16 @@ type JoinAttrs struct {
 	Closeness float64 `json:"closeness_mm"`
 }
 
+// Validate ensures all parts of the config are valid.
+func (cfg *JoinAttrs) Validate(path string) ([]string, error) {
+	var deps []string
+	if len(cfg.SourceCameras) == 0 {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "source_cameras")
+	}
+	deps = append(deps, cfg.SourceCameras...)
+	return deps, nil
+}
+
 type (
 	// MergeMethodType Defines which strategy is used for merging.
 	MergeMethodType string

components/gripper/softrobotics/gripper.go

@@ -32,24 +32,27 @@ type AttrConfig struct {
 }
 
 // Validate ensures all parts of the config are valid.
-func (cfg *AttrConfig) Validate(path string) error {
+func (cfg *AttrConfig) Validate(path string) ([]string, error) {
+	var deps []string
 	if cfg.Board == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "board")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "board")
 	}
 	if cfg.Open == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "open")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "open")
 	}
 	if cfg.Close == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "close")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "close")
 	}
 	if cfg.Power == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "power")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "power")
 	}
 
 	if cfg.AnalogReader != "psi" {
-		return utils.NewConfigValidationError(path, errors.Errorf("analog_reader %s on board must be created and called 'psi'", cfg.AnalogReader))
+		return nil, utils.NewConfigValidationError(path,
+			errors.Errorf("analog_reader %s on board must be created and called 'psi'", cfg.AnalogReader))
 	}
-	return nil
+	deps = append(deps, cfg.Board)
+	return deps, nil
 }
 
 func init() {

components/gripper/vgripper/v1/v1.go

@@ -37,15 +37,17 @@ type AttrConfig struct {
 }
 
 // Validate ensures all parts of the config are valid.
-func (config *AttrConfig) Validate(path string) error {
+func (config *AttrConfig) Validate(path string) ([]string, error) {
+	var deps []string
 	if config.Board == "" {
-		return utils.NewConfigValidationFieldRequiredError(path, "board")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "board")
 	}
 
 	if config.PressureLimit == 0 {
-		return utils.NewConfigValidationFieldRequiredError(path, "pressure_limit")
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "pressure_limit")
 	}
-	return nil
+	deps = append(deps, config.Board)
+	return deps, nil
 }
 
 func init() {

components/gripper/yahboom/dofbot.go

@@ -30,11 +30,13 @@ type AttrConfig struct {
 }
 
 // Validate ensures all parts of the config are valid.
-func (config *AttrConfig) Validate(path string) error {
+func (config *AttrConfig) Validate(path string) ([]string, error) {
+	var deps []string
 	if config.Arm == "" {
-		return gutils.NewConfigValidationFieldRequiredError(path, "arm")
+		return nil, gutils.NewConfigValidationFieldRequiredError(path, "arm")
 	}
-	return nil
+	deps = append(deps, config.Arm)
+	return deps, nil
 }
 
 func init() {

components/input/gpio/gpio.go

@@ -21,6 +21,26 @@ import (
 
 const modelName = "gpio"
 
+// Config is the overall config.
+type Config struct {
+	Board   string                  `json:"board"`
+	Buttons map[string]ButtonConfig `json:"buttons"`
+	Axes    map[string]AxisConfig   `json:"axes"`
+}
+
+// Validate ensures all parts of the config are valid.
+func (config *Config) Validate(path string) ([]string, error) {
+	var deps []string
+	if config.Board == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "board")
+	}
+	if len(config.Axes) == 0 && len(config.Buttons) == 0 {
+		return nil, utils.NewConfigValidationError(path, errors.New("buttons and axes cannot be both empty"))
+	}
+	deps = append(deps, config.Board)
+	return deps, nil
+}
+
 func init() {
 	registry.RegisterComponent(input.Subtype, modelName, registry.Component{Constructor: NewGPIOController})
 
@@ -72,13 +92,6 @@ func NewGPIOController(ctx context.Context, deps registry.Dependencies, config c
 	return &c, nil
 }
 
-// Config is the overall config.
-type Config struct {
-	Board   string                  `json:"board"`
-	Buttons map[string]ButtonConfig `json:"buttons"`
-	Axes    map[string]AxisConfig   `json:"axes"`
-}
-
 // AxisConfig is a subconfig for axes.
 type AxisConfig struct {
 	Control       input.Control `json:"control"`