build: replace with tools directory

More decoupled, easier to maintain.

.cloudbuild/review.yaml

@@ -0,0 +1,9 @@
+steps:
+  - name: gcr.io/einride/cloud-builder
+    args: ["/cloud-builder/git-init.sh"]
+    env:
+      - REPO_NAME=$REPO_NAME
+      - COMMIT_SHA=$COMMIT_SHA
+
+  - name: gcr.io/einride/cloud-builder
+    args: ["make"]

.cloudbuild/rules.mk

@@ -0,0 +1,15 @@
+gcp_project := einride
+github_org := einride
+repo_name := $(shell basename -s .git $(shell git config --get remote.origin.url))
+git_root := $(shell git rev-parse --show-toplevel)
+cloudbuild_root := $(shell realpath --relative-to $(git_root) $(dir $(lastword $(MAKEFILE_LIST))))
+
+.PHONY: gcloud-builds-triggers-create
+gcloud-builds-triggers-create:
+	gcloud beta builds triggers create github \
+		--project=$(gcp_project) \
+		--repo-owner=$(github_org) \
+		--repo-name=$(repo_name) \
+		--pull-request-pattern='.*' \
+		--description='$(repo_name)-review' \
+		--build-config='$(cloudbuild_root)/review.yaml'

.gitignore

@@ -1,4 +1,3 @@
-vendor
 .idea
-.gobincache
 test/mocks
+tools/*/*/

.golangci.yml

@@ -0,0 +1,20 @@
+run:
+  timeout: 5m
+  skip-dirs:
+    - gen
+
+linters:
+  enable-all: true
+  disable:
+    - dupl # allow duplication
+    - funlen # allow long functions
+    - gomnd # allow some magic numbers
+    - wsl # unwanted amount of whitespace
+    - godox # allow TODOs
+    - interfacer # deprecated by the author for having too many false positives
+    - gocognit # allow higher cognitive complexity
+    - testpackage # unwanted convention
+    - nestif # allow deep nesting
+    - unparam # allow constant parameters
+    - goerr113 # allow "dynamic" errors
+    - gofumpt # TODO: enable when whitespace diff issue is fixed

Makefile

@@ -1,62 +1,34 @@
 # all: run a complete build
 .PHONY: all
 all: \
-	circleci-config-validate \
 	go-generate \
 	go-review \
 	go-test \
 	go-lint \
 	go-mod-tidy \
-	git-verify-submodules \
 	git-verify-nodiff
 
-# clean: remove generated build files
-.PHONY: clean
-clean:
-	rm -rf build
-
-.PHONY: build
-build:
-	@git submodule update --init --recursive $@
-
-include build/rules.mk
-build/rules.mk: build
-	@# included in submodule: build
+include tools/git-verify-nodiff/rules.mk
+include tools/golangci-lint/rules.mk
+include tools/goreview/rules.mk
+include tools/xtools/rules.mk
 
 # go-mod-tidy: update go modules
 .PHONY: go-mod-tidy
 go-mod-tidy:
 	go mod tidy -v
 
-# go-lint: lint Go files
-.PHONY: go-lint
-go-lint: $(GOLANGCI_LINT)
-	# dupl: disabled due to the testdata in spherical_point_cloud_test
-	$(GOLANGCI_LINT) run --enable-all --disable=dupl
-
 # go-test: run Go test suite
 .PHONY: go-test
 go-test:
 	go test -race -cover ./...
 
-# go-review: run goreview linter
-.PHONY: go-review
-go-review: $(GOREVIEW)
-	$(GOREVIEW) -c 1 ./...
-
-# circleci-config-validate: validate CircleCI config
-.PHONY: circleci-config-validate
-circleci-config-validate: $(CIRCLECI)
-	$(CIRCLECI) config validate
-
 # go-generate: generate Go code
 .PHONY: go-generate
 go-generate: returnmode_string.go productid_string.go
 
-returnmode_string.go: returnmode.go $(GOBIN)
-	$(GOBIN) -m -run golang.org/x/tools/cmd/stringer \
-		-type ReturnMode -trimprefix ReturnMode -output $@ $<
+returnmode_string.go: returnmode.go $(stringer)
+	$(stringer) -type ReturnMode -trimprefix ReturnMode -output $@ $<
 
 productid_string.go: productid.go $(GOBIN)
-	$(GOBIN) -m -run golang.org/x/tools/cmd/stringer \
-		-type ProductID -trimprefix ProductID -output $@ $<
+	$(stringer) -type ProductID -trimprefix ProductID -output $@ $<

go.mod

@@ -1,12 +1,11 @@
 module github.com/einride/vlp16-go
 
-go 1.12
+go 1.14
 
 require (
-	github.com/einride/unit v1.6.0
-	github.com/stretchr/testify v1.3.0
+	github.com/einride/unit v1.7.2
 	golang.org/x/net v0.0.0-20190909003024-a7b16738d86b
 	golang.org/x/sync v0.0.0-20190423024810-112230192c58
 	golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a
-	golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522
+	gotest.tools/v3 v3.0.2
 )

go.sum

@@ -1,15 +1,12 @@
-github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-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/einride/unit v1.6.0 h1:V5vGFpNfGkFDPPhOduQhI4JSzePdDeHNI6NXyE7EFNo=
-github.com/einride/unit v1.6.0/go.mod h1:VkeEoz/WVqQktnRS0c+Fn82+cgzbXaCxwrVAuku9RmI=
-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/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
-github.com/stretchr/testify v1.3.0 h1:TivCn/peBQ7UY8ooIcPgZFpTNSz0Q2U6UrFlUfqbe0Q=
-github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
+github.com/einride/unit v1.7.2 h1:eZCZ4aktp31wDvVtmVSi2w3htKS92dBCntjJgH75/Uc=
+github.com/einride/unit v1.7.2/go.mod h1:vaWT5fip7jxzNdDZsk62lYuoUNjXzP8hl08NNKAHBqk=
+github.com/google/go-cmp v0.3.0 h1:crn/baboCvb5fXaQ0IJ1SGTsTVrWpDsCWC8EGETZijY=
+github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
+github.com/pkg/errors v0.8.1 h1:iURUrRGxPUNPdy5/HRSm+Yj6okJ6UtLINN0Q9M4+h3I=
+github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
+github.com/spf13/pflag v1.0.3/go.mod h1:DYY7MBk1bdzusC3SYhjObp+wFpr4gzcvqqNjLnInEg4=
 golang.org/x/crypto v0.0.0-20190308221718-c2843e01d9a2/go.mod h1:djNgcEr1/C05ACkg1iLfiJU5Ep61QUkGW8qpdssI0+w=
-golang.org/x/net v0.0.0-20190620200207-3b0461eec859 h1:R/3boaszxrf1GEUWTVDzSKVwLmSJpwZ1yqXm8j0v2QI=
+golang.org/x/net v0.0.0-20190311183353-d8887717615a/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20190909003024-a7b16738d86b h1:XfVGCX+0T4WOStkaOsJRllbsiImhB2jgVBGc9L0lPGc=
 golang.org/x/net v0.0.0-20190909003024-a7b16738d86b/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
@@ -18,7 +15,8 @@ golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJ
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a h1:1BGLXjeY4akVXGgbC9HugT3Jv3hCI0z56oJR5vAMgBU=
 golang.org/x/sys v0.0.0-20190215142949-d0b11bdaac8a/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
+golang.org/x/tools v0.0.0-20190624222133-a101b041ded4/go.mod h1:/rFqwRUd4F7ZHNgwSSTFct+R/Kf4OFW1sUzUTQQTgfc=
 golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a h1:mEQZbbaBjWyLNy0tmZmgEuQAR8XOQ3hL8GYi3J/NG64=
 golang.org/x/tools v0.0.0-20190729092621-ff9f1409240a/go.mod h1:jcCCGcm9btYwXyDqrUWc6MKQKKGJCWEQ3AfLSRIbEuI=
-golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522 h1:bhOzK9QyoD0ogCnFro1m2mz41+Ib0oOhfJnBp5MR4K4=
-golang.org/x/xerrors v0.0.0-20190513163551-3ee3066db522/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+gotest.tools/v3 v3.0.2 h1:kG1BFyqVHuQoVQiR1bWGnfz/fmHvvuiSPIV7rvl360E=
+gotest.tools/v3 v3.0.2/go.mod h1:3SzNCllyD9/Y+b5r9JIKQ474KzkZyqLqEfYqMsX94Bk=

packet.go

@@ -2,8 +2,7 @@ package vlp16
 
 import (
 	"encoding/binary"
-
-	"golang.org/x/xerrors"
+	"fmt"
 )
 
 const (
@@ -61,7 +60,7 @@ const (
 	indexOfProductIDInPacket  = indexOfReturnModeInPacket + lengthOfReturnMode
 )
 
-// compile-time assertion on structure of packet
+// compile-time assertion on structure of packet.
 var _ [1206]struct{} = [lengthOfPacket]struct{}{}
 
 // flag is the magic value of the flag field.
@@ -71,7 +70,7 @@ const flag = 0xeeff
 func (p *Packet) Validate() error {
 	for i := range p.Blocks {
 		if p.Blocks[i].Flag != flag {
-			return xerrors.Errorf("validate packet: invalid flag %#x in block %v", p.Blocks[i].Flag, i)
+			return fmt.Errorf("validate packet: invalid flag %#x in block %v", p.Blocks[i].Flag, i)
 		}
 	}
 	return nil

packet_test.go

@@ -4,7 +4,7 @@ import (
 	"testing"
 	"time"
 
-	"github.com/stretchr/testify/require"
+	"gotest.tools/v3/assert"
 )
 
 func TestPacket_Unmarshal_TestData(t *testing.T) {
@@ -17,14 +17,14 @@ func TestPacket_Unmarshal_TestData(t *testing.T) {
 		var packet Packet
 		packet.unmarshal(&data)
 		numPackets++
-		require.Equal(t, ReturnModeStrongest, packet.ReturnMode)
-		require.Equal(t, ProductIDVLP16, packet.ProductID)
-		require.True(t,
+		assert.Equal(t, ReturnModeStrongest, packet.ReturnMode)
+		assert.Equal(t, ProductIDVLP16, packet.ProductID)
+		assert.Assert(t,
 			time.Duration(packet.Timestamp)*time.Microsecond <= time.Hour,
 			"timestamp should be <= number of microseconds in an hour",
 		)
 	}
-	require.Equal(t, 1000, numPackets)
+	assert.Equal(t, 1000, numPackets)
 }
 
 func BenchmarkPacket_Unmarshal_Example(b *testing.B) {
@@ -38,5 +38,5 @@ func BenchmarkPacket_Unmarshal_Example(b *testing.B) {
 func TestPacket_Unmarshal_Example(t *testing.T) {
 	actual := &Packet{}
 	actual.unmarshal(exampleData())
-	require.Equal(t, examplePacket(), actual)
+	assert.DeepEqual(t, examplePacket(), actual)
 }

pointcloud_test.go

@@ -1,9 +1,10 @@
 package vlp16
 
 import (
+	"math"
 	"testing"
 
-	"github.com/stretchr/testify/require"
+	"gotest.tools/v3/assert"
 )
 
 func TestSphericalPointCloud_UnmarshalExamplePacket(t *testing.T) {
@@ -14,16 +15,16 @@ func TestSphericalPointCloud_UnmarshalExamplePacket(t *testing.T) {
 
 func requirePointCloudEqual(t *testing.T, p *PointCloud, pc *PointCloud) {
 	const delta = 1e-5
-	require.Equal(t, p.TimeSinceTopOfHour, pc.TimeSinceTopOfHour)
+	assert.Equal(t, p.TimeSinceTopOfHour, pc.TimeSinceTopOfHour)
 	for i := range p.Azimuths {
-		require.InDelta(t, p.Azimuths[i].Radians(), pc.Azimuths[i].Radians(), delta)
+		assert.Assert(t, math.Abs(p.Azimuths[i].Radians()-pc.Azimuths[i].Radians()) < delta)
 	}
 	for i := range p.Points {
-		require.InDelta(t, p.Points[i].Distance.Metres(), pc.Points[i].Distance.Metres(), delta)
-		require.Equal(t, p.Points[i].Column, pc.Points[i].Column)
-		require.Equal(t, p.Points[i].Row, pc.Points[i].Row)
-		require.Equal(t, p.Points[i].Reflectivity, pc.Points[i].Reflectivity)
-		require.Equal(t, p.Points[i].IsLastReflection, pc.Points[i].IsLastReflection)
+		assert.Assert(t, math.Abs(p.Points[i].Distance.Metres()-pc.Points[i].Distance.Metres()) < delta)
+		assert.Equal(t, p.Points[i].Column, pc.Points[i].Column)
+		assert.Equal(t, p.Points[i].Row, pc.Points[i].Row)
+		assert.Equal(t, p.Points[i].Reflectivity, pc.Points[i].Reflectivity)
+		assert.Equal(t, p.Points[i].IsLastReflection, pc.Points[i].IsLastReflection)
 	}
 }
 
@@ -47,7 +48,7 @@ func TestInterpolateAzimuth(t *testing.T) {
 					} else {
 						testBool = newAzimuth > azimuth
 					}
-					require.True(t, testBool)
+					assert.Assert(t, testBool)
 				}
 			}
 		}

receiver.go

@@ -2,10 +2,10 @@ package vlp16
 
 import (
 	"context"
+	"fmt"
 	"net"
 
 	"golang.org/x/net/ipv4"
-	"golang.org/x/xerrors"
 )
 
 // ListenUDP listens for VLP-16 UDP packets on the specified address.
@@ -17,11 +17,11 @@ func ListenUDP(ctx context.Context, addr string, receiverOpts ...ReceiverOption)
 	var listenConfig net.ListenConfig
 	packetConn, err := listenConfig.ListenPacket(ctx, "udp4", addr)
 	if err != nil {
-		return nil, xerrors.Errorf("VLP-16: listen UDP: %w", err)
+		return nil, fmt.Errorf("VLP-16: listen UDP: %w", err)
 	}
 	udpConn := packetConn.(*net.UDPConn)
 	if err := udpConn.SetReadBuffer(opts.bufferSizeBytes); err != nil {
-		return nil, xerrors.Errorf("VLP-16: listen UDP: %w", err)
+		return nil, fmt.Errorf("VLP-16: listen UDP: %w", err)
 	}
 	conn := ipv4.NewPacketConn(udpConn)
 	c := &Receiver{conn: conn}
@@ -54,11 +54,11 @@ func (c *Receiver) Receive(ctx context.Context) error {
 		c.currMessageIndex = 0
 		deadline, _ := ctx.Deadline()
 		if err := c.conn.SetReadDeadline(deadline); err != nil {
-			return xerrors.Errorf("VLP-16 receiver: %w", err)
+			return fmt.Errorf("VLP-16 receiver: %w", err)
 		}
 		n, err := c.conn.ReadBatch(c.messages, 0)
 		if err != nil {
-			return xerrors.Errorf("VLP-16 receiver: %w", err)
+			return fmt.Errorf("VLP-16 receiver: %w", err)
 		}
 		c.messageBufSize = n
 	}
@@ -90,7 +90,7 @@ func (c *Receiver) PointCloud() *PointCloud {
 // Close the client's underlying UDP connection.
 func (c *Receiver) Close() error {
 	if err := c.conn.Close(); err != nil {
-		return xerrors.Errorf("VLP-16 receiver: close: %w", err)
+		return fmt.Errorf("VLP-16 receiver: close: %w", err)
 	}
 	return nil
 }

receiver_test.go

@@ -6,9 +6,9 @@ import (
 	"testing"
 	"time"
 
-	"github.com/stretchr/testify/require"
 	"golang.org/x/net/nettest"
 	"golang.org/x/sync/errgroup"
+	"gotest.tools/v3/assert"
 )
 
 func TestClient_Receive(t *testing.T) {
@@ -17,28 +17,28 @@ func TestClient_Receive(t *testing.T) {
 	defer cancel()
 	addr := getFreeAddress(t)
 	rx, err := ListenUDP(ctx, addr)
-	require.NoError(t, err)
+	assert.NilError(t, err)
 	var g errgroup.Group
 	g.Go(func() error {
 		return rx.Receive(ctx)
 	})
 	conn, err := net.Dial("udp4", addr)
-	require.NoError(t, err)
+	assert.NilError(t, err)
 	_, err = conn.Write(exampleData()[:])
-	require.NoError(t, err)
-	require.NoError(t, conn.Close())
-	require.NoError(t, g.Wait())
-	require.Equal(t, exampleData()[:], rx.RawPacket())
-	require.Equal(t, examplePacket(), rx.Packet())
+	assert.NilError(t, err)
+	assert.NilError(t, conn.Close())
+	assert.NilError(t, g.Wait())
+	assert.DeepEqual(t, exampleData()[:], rx.RawPacket())
+	assert.DeepEqual(t, examplePacket(), rx.Packet())
 	requirePointCloudEqual(t, examplePointCloud(), rx.PointCloud())
 }
 
 func getFreeAddress(t *testing.T) string {
 	t.Helper()
 	l, err := nettest.NewLocalPacketListener("udp4")
-	require.NoError(t, err)
+	assert.NilError(t, err)
 	defer func() {
-		require.NoError(t, l.Close())
+		assert.NilError(t, l.Close())
 	}()
 	return l.LocalAddr().String()
 }