RSDK-863: Add implicit depends_on for services

etc/configs/fake.json

@@ -128,11 +128,7 @@
                 },
                 "movement_sensor": "movement_sensor1",
                 "base": "base1"
-            },
-            "depends_on": [
-                "base1",
-                "movement_sensor1"
-            ]
+            }
         }
     ]
 }

services/baseremotecontrol/builtin/builtin.go

@@ -11,6 +11,7 @@ import (
 	"github.com/golang/geo/r3"
 	"github.com/mitchellh/mapstructure"
 	"github.com/pkg/errors"
+	vutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/base"
 	"go.viam.com/rdk/components/input"
@@ -66,6 +67,22 @@ type Config struct {
 	MaxLinearVelocity   float64 `json:"max_linear_mm_per_sec,omitempty"`
 }
 
+// Validate creates the list of implicit dependencies.
+func (config *Config) Validate(path string) ([]string, error) {
+	var deps []string
+	if config.InputControllerName == "" {
+		return nil, vutils.NewConfigValidationFieldRequiredError(path, "input_controller")
+	}
+	deps = append(deps, config.InputControllerName)
+
+	if config.BaseName == "" {
+		return nil, vutils.NewConfigValidationFieldRequiredError(path, "base")
+	}
+	deps = append(deps, config.BaseName)
+
+	return deps, nil
+}
+
 // builtIn is the structure of the remote service.
 type builtIn struct {
 	base            base.Base
@@ -80,7 +97,12 @@ type builtIn struct {
 }
 
 // NewDefault returns a new remote control service for the given robot.
-func NewBuiltIn(ctx context.Context, deps registry.Dependencies, config config.Service, logger golog.Logger) (baseremotecontrol.Service, error) {
+func NewBuiltIn(
+	ctx context.Context,
+	deps registry.Dependencies,
+	config config.Service,
+	logger golog.Logger,
+) (baseremotecontrol.Service, error) {
 	svcConfig, ok := config.ConvertedAttributes.(*Config)
 	if !ok {
 		return nil, utils.NewUnexpectedTypeError(svcConfig, config.ConvertedAttributes)

services/baseremotecontrol/builtin/builtin_test.go

@@ -28,6 +28,10 @@ func TestBaseRemoteControl(t *testing.T) {
 		ControlModeName:     "",
 	}
 
+	depNames, err := cfg.Validate("")
+	test.That(t, err, test.ShouldBeNil)
+	test.That(t, utils.NewStringSet(depNames...), test.ShouldResemble, utils.NewStringSet("baseTest", "inputTest"))
+
 	fakeController := &inject.InputController{}
 	fakeBase := &fakebase.Base{}
 

services/navigation/builtin/builtin.go

@@ -59,6 +59,23 @@ type Config struct {
 	MMPerSecDefault    float64                `json:"mm_per_sec"`
 }
 
+// Validate creates the list of implicit dependencies.
+func (config *Config) Validate(path string) ([]string, error) {
+	var deps []string
+
+	if config.BaseName == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "base")
+	}
+	deps = append(deps, config.BaseName)
+
+	if config.MovementSensorName == "" {
+		return nil, utils.NewConfigValidationFieldRequiredError(path, "movement_sensor")
+	}
+	deps = append(deps, config.MovementSensorName)
+
+	return deps, nil
+}
+
 // NewBuiltIn returns a new navigation service for the given robot.
 func NewBuiltIn(ctx context.Context, deps registry.Dependencies, config config.Service, logger golog.Logger) (navigation.Service, error) {
 	svcConfig, ok := config.ConvertedAttributes.(*Config)

web/frontend/cypress/data/test_robot_config.json

@@ -111,8 +111,7 @@
                 },
                 "movement_sensor": "test_movement",
                 "base": "test_base"
-            },
-            "depends_on":["test_movement","test_base"]
+            }
         }
     ]
-}
+}