build(go, deps): switch to Go 1.21 and update modules

.circleci/config.yml

@@ -14,7 +14,7 @@ version: 2
 jobs:
   "test_core_and_drivers_with_coverage":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -31,7 +31,7 @@ jobs:
 
   "test_platforms":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -45,7 +45,7 @@ jobs:
   
   "check_examples":
     docker:
-      - image: cimg/go:1.20
+      - image: cimg/go:1.21
     steps:
       - checkout
       - run:
@@ -61,7 +61,7 @@ jobs:
 
   "fmt_check_examples":
     docker:
-      - image: golangci/golangci-lint:v1.56.1
+      - image: golangci/golangci-lint:v1.61.0
     steps:
       - checkout
       - run:

.github/workflows/golangci-lint.yml

@@ -15,34 +15,29 @@ jobs:
     name: lint
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - uses: actions/setup-go@v4
+      - uses: actions/checkout@v4
+      - uses: actions/setup-go@v5
         with:
-          go-version: '1.20'
+          go-version: '1.21'
           cache: false
       - name: golangci-lint
-        uses: golangci/golangci-lint-action@v3
+        uses: golangci/golangci-lint-action@v6
         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: v1.56.1
+          version: v1.61.0
 
           # Optional: working directory, useful for monorepos
           # working-directory: v2
 
           # Optional: golangci-lint command line arguments.
           # mostly there is no problem locally, but on server: "could not import C (cgo preprocessing failed) (typecheck)"
           # and the digispark adaptor can not be build since switch to linter version 1.54.2
-          args: --skip-files="platforms/digispark/littleWire.go,platforms/digispark/digispark_adaptor.go"
+          args: --exclude-files="platforms/digispark/digispark_adaptor.go"
+          #args: --exclude-files="platforms/digispark/littleWire.go,platforms/digispark/digispark_adaptor.go"
 
           # Optional: show only new issues if it's a pull request. The default value is `false`.
           # only-new-issues: true
 
           # Optional: if set to true then the all caching functionality will be complete disabled,
           #           takes precedence over all other caching options.
           # skip-cache: true
-
-          # Optional: if set to true then the action don't cache or restore ~/go/pkg.
-          # skip-pkg-cache: true
-
-          # Optional: if set to true then the action don't cache or restore ~/.cache/go-build.
-          # skip-build-cache: true

.golangci.yml

@@ -22,49 +22,45 @@ run:
   # By default, it isn't set.
   modules-download-mode: readonly
 
+issues:
   # Enables skipping of directories:
   # - vendor$, third_party$, testdata$, examples$, Godeps$, builtin$
   # Default: true
-  skip-dirs-use-default: false
+  exclude-dirs-use-default: false
 
-  # note: examples will be currently omitted by the build tag
-  skip-dirs:
-    - platforms/opencv
+  # note: folders/files can not be excluded from "typecheck" anymore since v1.61.0
 
 linters:
   # currently active linters:
   #
-  # INFO [lintersdb] Active 64 linters: [asasalint asciicheck bidichk bodyclose containedctx contextcheck decorder depguard dogsled dupword durationcheck
-  # errcheck errchkjson errorlint exportloopref forcetypeassert gci gocheckcompilerdirectives gochecknoinits gochecksumtype gocritic gofmt gofumpt goimports
-  # gomoddirectives gomodguard goprintffuncname gosec gosimple govet grouper inamedparam ineffassign lll makezero mirror misspell musttag nakedret nilerr nilnil
-  # noctx nolintlint nonamedreturns nosprintfhostport perfsprint prealloc predeclared protogetter reassign revive sloglint staticcheck tagalign tenv
-  # testableexamples testifylint thelper tparallel unconvert unparam unused usestdlibvars wastedassign]
+  # INFO [lintersdb] Active 67 linters: [asasalint asciicheck bidichk bodyclose canonicalheader containedctx
+  # contextcheck decorder depguard dogsled dupword durationcheck errcheck errchkjson errorlint fatcontext
+  # forcetypeassert gci gocheckcompilerdirectives gochecknoinits gochecksumtype gocritic gofmt gofumpt goimports
+  # gomoddirectives gomodguard goprintffuncname gosec gosimple govet grouper inamedparam ineffassign lll makezero
+  # mirror misspell mnd musttag nakedret nilerr nilnil noctx nolintlint nonamedreturns nosprintfhostport perfsprint
+  # prealloc predeclared protogetter reassign revive sloglint spancheck staticcheck tagalign tenv testableexamples
+  # testifylint thelper tparallel unconvert unparam unused usestdlibvars 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
   disable:
-    # deprecated
-    - deadcode # deprecated
-    - exhaustivestruct # deprecated
-    - golint # deprecated
-    - ifshort # deprecated
-    - interfacer # deprecated
-    - maligned # deprecated
-    - nosnakecase # deprecated
-    - scopelint # deprecated
-    - structcheck # deprecated
-    - varcheck # deprecated
+    # deprecated: none
+    - gomnd # The linter has been renamed. Replaced by mnd.
+    # not used for this go version
+    - copyloopvar # the Go version (1.21) of your project is lower than Go 1.22
+    - intrange # the Go version (1.21) of your project is lower than Go 1.22
+    - exportloopref # Since Go1.22 (loopvar) this linter is no longer relevant. Replaced by copyloopvar
     # not used for any reason
+    - err113 # not used (we allow error creation at return statement)
     - 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)
     - gosmopolitan # not needed (report i18n/l10n anti-patterns)
     - importas # not needed (there is no alias rule at the moment)
     - ireturn # not used (we allow return interfaces)
@@ -86,9 +82,9 @@ linters:
     - goconst # useful (reduce bugs)
     - gocyclo # useful with some tweeks (better understandable code)
     - goheader # useful, if we introduce a common header (e.g. for copyright)
-    - gomnd # useful with some exclusions for existing code (e.g. mavlink.go)
     - interfacebloat # useful with some exclusions at usage of external packages
     - maintidx # useful with some tweeks (better understandable code), maybe use instead "gocyclo", "gocognit" , "cyclop"
+    - mnd # useful with some exclusions for existing code (e.g. mavlink.go)
     - nestif # useful (reduce bugs, simplify code, better understandable code)
     - nlreturn # more common style, but could become annoying
     - stylecheck # useful with some tweaking (e.g. underscores in names should be allowed - we use it for constants retrieved from C/C++)

Makefile

@@ -12,7 +12,7 @@ including_except := $(shell go list ./... | grep -v platforms/opencv)
 
 # Run tests on nearly all directories without test cache, with race detection
 test_race:
-	go test -failfast -count=1 -race $(including_except)
+	go test -failfast -count=1 -race $(including_except) -tags libusb
 
 # Run tests on nearly all directories without test cache
 test:

api/basic_auth.go

@@ -22,6 +22,7 @@ func BasicAuth(username, password string) http.HandlerFunc {
 }
 
 func secureCompare(given string, actual string) bool {
+	//nolint:gosec // TODO: fix later
 	if subtle.ConstantTimeEq(int32(len(given)), int32(len(actual))) == 1 {
 		return subtle.ConstantTimeCompare([]byte(given), []byte(actual)) == 1
 	}

drivers/aio/temperature_sensor_driver.go

@@ -86,7 +86,7 @@ func TemperatureSensorNtcScaler(
 		if input < 0 {
 			input = 0
 		}
-		rTherm := temperaturSensorGetResistance(uint(input), vRef, rOhm, reverse)
+		rTherm := temperaturSensorGetResistance(uint(input), vRef, rOhm, reverse) //nolint:gosec // checked before
 		temp := ntc.getTemp(rTherm)
 		return temp
 	})

drivers/ble/microbit/io_pin_driver.go

@@ -72,7 +72,7 @@ func (d *IOPinDriver) ReadPinADConfig() (int, error) {
 	}
 	var result byte
 	for i := 0; i < 4; i++ {
-		result |= c[i] << uint(i)
+		result |= c[i] << uint(i) //nolint:gosec // ok here
 	}
 
 	d.adMask = int(result)
@@ -83,6 +83,7 @@ func (d *IOPinDriver) ReadPinADConfig() (int, error) {
 func (d *IOPinDriver) WritePinADConfig(config int) error {
 	d.adMask = config
 	data := &bytes.Buffer{}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(data, binary.LittleEndian, uint32(config)); err != nil {
 		return err
 	}
@@ -99,7 +100,7 @@ func (d *IOPinDriver) ReadPinIOConfig() (int, error) {
 
 	var result byte
 	for i := 0; i < 4; i++ {
-		result |= c[i] << uint(i)
+		result |= c[i] << uint(i) //nolint:gosec // ok here
 	}
 
 	d.ioMask = int(result)
@@ -110,6 +111,7 @@ func (d *IOPinDriver) ReadPinIOConfig() (int, error) {
 func (d *IOPinDriver) WritePinIOConfig(config int) error {
 	d.ioMask = config
 	data := &bytes.Buffer{}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(data, binary.LittleEndian, uint32(config)); err != nil {
 		return err
 	}
@@ -179,6 +181,7 @@ func (d *IOPinDriver) AnalogRead(pin string) (int, error) {
 }
 
 func (d *IOPinDriver) ensureDigital(pin int) error {
+	//nolint:gosec // TODO: fix later
 	if bit.IsSet(d.adMask, uint8(pin)) {
 		return d.WritePinADConfig(bit.Clear(d.adMask, uint8(pin)))
 	}
@@ -187,6 +190,7 @@ func (d *IOPinDriver) ensureDigital(pin int) error {
 }
 
 func (d *IOPinDriver) ensureAnalog(pin int) error {
+	//nolint:gosec // TODO: fix later
 	if !bit.IsSet(d.adMask, uint8(pin)) {
 		return d.WritePinADConfig(bit.Set(d.adMask, uint8(pin)))
 	}
@@ -195,6 +199,7 @@ func (d *IOPinDriver) ensureAnalog(pin int) error {
 }
 
 func (d *IOPinDriver) ensureInput(pin int) error {
+	//nolint:gosec // TODO: fix later
 	if !bit.IsSet(d.ioMask, uint8(pin)) {
 		return d.WritePinIOConfig(bit.Set(d.ioMask, uint8(pin)))
 	}
@@ -203,8 +208,9 @@ func (d *IOPinDriver) ensureInput(pin int) error {
 }
 
 func (d *IOPinDriver) ensureOutput(pin int) error {
+	//nolint:gosec // TODO: fix later
 	if bit.IsSet(d.ioMask, uint8(pin)) {
-		return d.WritePinIOConfig(bit.Clear(d.ioMask, uint8(pin)))
+		return d.WritePinIOConfig(bit.Clear(d.ioMask, uint8(pin))) //nolint:gosec // TODO: fix later
 	}
 
 	return nil

drivers/ble/parrot/minidrone_driver.go

@@ -394,6 +394,7 @@ func (d *MinidroneDriver) generatePcmd() *bytes.Buffer {
 	if err := binary.Write(cmd, binary.LittleEndian, int8(2)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(d.stepsfa0a)); err != nil {
 		panic(err)
 	}
@@ -409,18 +410,23 @@ func (d *MinidroneDriver) generatePcmd() *bytes.Buffer {
 	if err := binary.Write(cmd, binary.LittleEndian, int8(0)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(pcmd.Flag)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(pcmd.Roll)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(pcmd.Pitch)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(pcmd.Yaw)); err != nil {
 		panic(err)
 	}
+	//nolint:gosec // TODO: fix later
 	if err := binary.Write(cmd, binary.LittleEndian, int8(pcmd.Gaz)); err != nil {
 		panic(err)
 	}

drivers/ble/sphero/sphero_ollie_driver.go

@@ -143,6 +143,7 @@ func (d *OllieDriver) SetRGB(r uint8, g uint8, b uint8) {
 
 // Roll tells the Ollie to roll
 func (d *OllieDriver) Roll(speed uint8, heading uint16) {
+	//nolint:gosec // TODO: fix later
 	d.sendCraftPacket([]uint8{speed, uint8(heading >> 8), uint8(heading & 0xFF), 0x01}, 0x02, 0x30)
 }
 
@@ -353,13 +354,13 @@ func (d *OllieDriver) handleLocatorDetected(data []uint8) {
 	var x, y int16
 
 	if ux > 32255 {
-		x = int16(ux - 65535)
+		x = int16(ux - 65535) //nolint:gosec // ok here
 	} else {
 		x = int16(ux)
 	}
 
 	if uy > 32255 {
-		y = int16(uy - 65535)
+		y = int16(uy - 65535) //nolint:gosec // ok here
 	} else {
 		y = int16(uy)
 	}
@@ -424,7 +425,7 @@ func (d *OllieDriver) sendCraftPacket(body []uint8, did byte, cid byte) {
 
 func (d *OllieDriver) craftPacket(body []uint8, did byte, cid byte) *packet {
 	dlen := len(body) + 1
-	hdr := []uint8{0xFF, 0xFF, did, cid, d.seq, uint8(dlen)}
+	hdr := []uint8{0xFF, 0xFF, did, cid, d.seq, uint8(dlen)} //nolint:gosec // TODO: fix later
 	buf := append(hdr, body...)
 
 	packet := &packet{

drivers/common/mfrc522/mfrc522_pcd.go

@@ -172,6 +172,7 @@ func (d *MFRC522Common) communicateWithPICC(command uint8, sendData []byte, back
 	}
 
 	// TODO: this is not used at the moment (propagation of IRQ pin)
+	//nolint:gosec // TODO: fix later
 	if err := d.writeByteData(regComIEn, uint8(irqEn|comIEnRegIRqInv)); err != nil {
 		return err
 	}
@@ -337,10 +338,11 @@ func (d *MFRC522Common) readFifo(backData []byte) (uint8, error) {
 	if err != nil {
 		return 0, err
 	}
+	//nolint:gosec // TODO: fix later
 	if n > uint8(len(backData)) {
 		return 0, fmt.Errorf("more data in FIFO (%d) than expected (%d)", n, len(backData))
 	}
-
+	//nolint:gosec // TODO: fix later
 	if n < uint8(len(backData)) {
 		return 0, fmt.Errorf("less data in FIFO (%d) than expected (%d)", n, len(backData))
 	}

drivers/common/mfrc522/mfrc522_pcd_test.go

@@ -20,7 +20,7 @@ func (c *busConnMock) ReadByteData(reg uint8) (uint8, error) {
 
 	switch reg {
 	case regFIFOLevel:
-		return uint8(len(c.simFifo)), nil
+		return uint8(len(c.simFifo)), nil //nolint:gosec // ok for test
 	case regFIFOData:
 		c.fifoIdx++
 		return c.simFifo[c.fifoIdx-1], nil

drivers/common/mfrc522/mfrc522_picc.go

@@ -336,7 +336,7 @@ func (d *MFRC522Common) piccActivate() ([]byte, error) {
 			bcc = bcc ^ v
 		}
 		if bcc != backData[4] {
-			return nil, fmt.Errorf(fmt.Sprintf("BCC mismatch, expected %02x actual %02x", bcc, backData[4]))
+			return nil, fmt.Errorf("BCC mismatch, expected %02x actual %02x", bcc, backData[4])
 		}
 
 		if backData[0] == piccCascadeTag {

drivers/common/spherocommon/spherocommon.go

@@ -29,5 +29,5 @@ func CalculateChecksum(buf []byte) byte {
 	for i := range buf {
 		calculatedChecksum += uint16(buf[i])
 	}
-	return uint8(^(calculatedChecksum % 256))
+	return uint8(^(calculatedChecksum % 256)) //nolint:gosec // TODO: fix later
 }

drivers/gpio/hcsr04_driver_test.go

@@ -1,6 +1,7 @@
 package gpio
 
 import (
+	"errors"
 	"fmt"
 	"strings"
 	"sync"
@@ -132,7 +133,7 @@ func TestHCSR04MeasureDistance(t *testing.T) {
 				oldVal = val
 				var err error
 				if tc.simulateWriteErr != "" {
-					err = fmt.Errorf(tc.simulateWriteErr)
+					err = errors.New(tc.simulateWriteErr)
 				}
 				return err
 			}

drivers/gpio/stepper_driver.go

@@ -308,6 +308,7 @@ func (d *StepperDriver) stepAsynch(stepsToMove float64) error {
 	// t [min] = steps [st] / (steps_per_revolution [st/u] * speed [u/min]) or
 	// t [min] = steps [st] * delay_per_step [min/st], use safety factor 2 and a small offset of 100 ms
 	// prepare this timeout outside of stop function to prevent data race with stepsLeft
+	//nolint:gosec // TODO: fix later
 	stopTimeout := time.Duration(2*stepsLeft)*d.getDelayPerStep() + 100*time.Millisecond
 	endlessMovement := false
 

drivers/i2c/adafruit1109_driver.go

@@ -281,7 +281,7 @@ func adafruit1109ParseID(id string) adafruit1109PortPin {
 	items := strings.Split(id, "_")
 	io := uint8(0)
 	if io64, err := strconv.ParseUint(items[1], 10, 32); err == nil {
-		io = uint8(io64)
+		io = uint8(io64) //nolint:gosec // TODO: fix later
 	}
 	return adafruit1109PortPin{port: items[0], pin: io}
 }