From 8de33fb981e1190f00d86e6f6535d1e864a32bd7 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 12 Jul 2024 16:31:39 -0400
Subject: [PATCH 01/56] added unit tests

---
 oceanprefilter/oceanprefilter_test.go | 248 ++++++++++++++++++++++++++
 1 file changed, 248 insertions(+)
 create mode 100644 oceanprefilter/oceanprefilter_test.go

diff --git a/oceanprefilter/oceanprefilter_test.go b/oceanprefilter/oceanprefilter_test.go
new file mode 100644
index 0000000..10e2861
--- /dev/null
+++ b/oceanprefilter/oceanprefilter_test.go
@@ -0,0 +1,248 @@
+package oceanprefilter
+
+import (
+	"context"
+	"image"
+	"image/color"
+	"sync/atomic"
+	"testing"
+	"unsafe"
+
+	"go.viam.com/rdk/services/vision"
+	"go.viam.com/rdk/vision/classification"
+	"go.viam.com/rdk/vision/viscapture"
+	"go.viam.com/test"
+)
+
+// MockImage creates a mock RGBA image for testing purposes.
+func MockImage(width, height int) *image.RGBA {
+	img := image.NewRGBA(image.Rect(0, 0, width, height))
+	// Fill the image with a solid color (e.g., white)
+	drawColor := color.RGBA{R: 255, G: 255, B: 255, A: 255}
+	for y := 0; y < height; y++ {
+		for x := 0; x < width; x++ {
+			img.Set(x, y, drawColor)
+		}
+	}
+	return img
+}
+
+func TestConfigValidate(t *testing.T) {
+	// Test case where camera name is empty
+	cfg := &Config{
+		CameraName: "",
+	}
+	path := "test_path"
+	dependencies, err := cfg.Validate(path)
+	test.That(t, dependencies, test.ShouldBeNil)
+	test.That(t, err.Error(), test.ShouldEqual, `expected "camera_name" attribute for object tracker "test_path"`)
+
+	// Test case where detector name is empty
+	cfg = &Config{
+		CameraName:   "camera1",
+		DetectorName: "",
+	}
+	path = "test_path"
+	dependencies, err = cfg.Validate(path)
+	test.That(t, dependencies, test.ShouldResemble, []string{"camera1"})
+	test.That(t, err, test.ShouldBeNil)
+
+	// Test case where both camera name and detector name are provided
+	cfg = &Config{
+		CameraName:   "camera1",
+		DetectorName: "detector1",
+	}
+	path = "test_path"
+	dependencies, err = cfg.Validate(path)
+	test.That(t, dependencies, test.ShouldResemble, []string{"camera1", "detector1"})
+	test.That(t, err, test.ShouldBeNil)
+}
+
+func TestClassificationsFromCamera(t *testing.T) {
+	pf := &prefilter{
+		camName:      "configuredCamera",
+		triggerFlag:  &atomic.Bool{},
+		cancelContext: context.Background(),
+	}
+	ctx := context.Background()
+	cameraName := "testCamera"
+
+	// Test case where camera name does not match
+	classifications, err := pf.ClassificationsFromCamera(ctx, cameraName, 1, nil)
+	test.That(t, classifications, test.ShouldBeNil)
+	test.That(t, err.Error(), test.ShouldEqual, "camera name given to method, testCamera is not the same as configured camera configuredCamera")
+
+	// Test case where context is done
+	cancelledCtx, cancel := context.WithCancel(ctx)
+	cancel()
+	classifications, err = pf.ClassificationsFromCamera(cancelledCtx, "configuredCamera", 1, nil)
+	test.That(t, classifications, test.ShouldBeNil)
+	test.That(t, err.Error(), test.ShouldEqual, "module might be configuring: context canceled")
+
+	// Test case where internal context is done
+	cancelledInternalCtx, internalCancel := context.WithCancel(ctx)
+	pf.cancelContext = cancelledInternalCtx
+	internalCancel()
+	classifications, err = pf.ClassificationsFromCamera(ctx, "configuredCamera", 1, nil)
+	test.That(t, classifications, test.ShouldBeNil)
+	test.That(t, err.Error(), test.ShouldEqual, "lost connection with background camera stream loop: context canceled")
+
+	// Test case where trigger flag is not set
+	pf.cancelContext = context.Background()
+	classifications, err = pf.ClassificationsFromCamera(ctx, "configuredCamera", 1, nil)
+	test.That(t, classifications, test.ShouldBeEmpty)
+	test.That(t, err, test.ShouldBeNil)
+
+	// Test case where trigger flag is set
+	pf.triggerFlag.Store(true)
+	classifications, err = pf.ClassificationsFromCamera(ctx, "configuredCamera", 1, nil)
+	expectedClassifications := classification.Classifications{
+		classification.NewClassification(1.0, "TRIGGER"),
+	}
+	test.That(t, classifications, test.ShouldResemble, expectedClassifications)
+	test.That(t, err, test.ShouldBeNil)
+}
+
+func TestClassifications(t *testing.T) {
+    pf := &prefilter{
+        triggerFlag:   &atomic.Bool{},
+        cancelContext: context.Background(),
+    }
+
+    ctx := context.Background()
+    img := image.NewRGBA(image.Rect(0, 0, 100, 100))
+
+    // Test case where context is canceled
+    cancelledCtx, cancel := context.WithCancel(ctx)
+    cancel()
+    classifications, err := pf.Classifications(cancelledCtx, img, 1, nil)
+    test.That(t, classifications, test.ShouldBeNil)
+    test.That(t, err.Error(), test.ShouldEqual, "module might be configuring: context canceled")
+
+    // Test case where internal context is canceled
+    cancelledInternalCtx, internalCancel := context.WithCancel(ctx)
+    pf.cancelContext = cancelledInternalCtx
+    internalCancel()
+    classifications, err = pf.Classifications(ctx, img, 1, nil)
+    test.That(t, classifications, test.ShouldBeNil)
+    test.That(t, err.Error(), test.ShouldEqual, "lost connection with background camera stream loop: context canceled")
+
+    // Test case where trigger flag is not set
+    pf.cancelContext = context.Background()
+    classifications, err = pf.Classifications(ctx, img, 1, nil)
+    test.That(t, classifications, test.ShouldBeEmpty)
+    test.That(t, err, test.ShouldBeNil)
+
+    // Test case where trigger flag is set
+    pf.triggerFlag.Store(true)
+    classifications, err = pf.Classifications(ctx, img, 1, nil)
+    expectedClassifications := classification.Classifications{
+        classification.NewClassification(1.0, "TRIGGER"),
+    }
+    test.That(t, classifications, test.ShouldResemble, expectedClassifications)
+    test.That(t, err, test.ShouldBeNil)
+}
+
+func TestGetProperties(t *testing.T) {
+    // Create a mock prefilter instance
+    pf := &prefilter{
+        properties: vision.Properties{
+            ClassificationSupported: true,
+            DetectionSupported:      false,
+            ObjectPCDsSupported:     false,
+        },
+    }
+
+    // Mock context and extra parameters
+    ctx := context.Background()
+    extra := map[string]interface{}{}
+
+    // Call the GetProperties method
+    properties, err := pf.GetProperties(ctx, extra)
+
+    // Assert the returned properties
+    test.That(t, properties, test.ShouldNotBeNil)
+    test.That(t, *properties, test.ShouldResemble, pf.properties)
+
+    // Assert no error returned
+    test.That(t, err, test.ShouldBeNil)
+}
+
+
+func TestCaptureAllFromCamera(t *testing.T) {
+    stubImage := image.NewRGBA(image.Rect(0, 0, 100, 100))
+    imgInterface := image.Image(stubImage) // Convert *image.RGBA to image.Image interface
+    imgPtr := unsafe.Pointer(&imgInterface)
+
+    // Mock image dimensions
+    mockWidth := 100
+    mockHeight := 100
+
+    // Create a mock image
+    mockImg := image.NewRGBA(image.Rect(0, 0, mockWidth, mockHeight))
+
+    pf := &prefilter{
+        camName:       "configuredCamera",
+        triggerFlag:   &atomic.Bool{},
+        cancelContext: context.Background(),
+    }
+
+    ctx := context.Background()
+
+    atomic.StorePointer((*unsafe.Pointer)(unsafe.Pointer(&pf.currImg)), unsafe.Pointer(&mockImg))
+
+    // Test case where context is canceled
+    cancelledCtx, cancel := context.WithCancel(ctx)
+    cancel()
+    capture, err := pf.CaptureAllFromCamera(cancelledCtx, "configuredCamera", viscapture.CaptureOptions{ReturnImage: true, ReturnClassifications: true}, nil)
+    test.That(t, capture.Image, test.ShouldBeEmpty)
+    test.That(t, capture.Classifications, test.ShouldBeEmpty)
+    test.That(t, err.Error(), test.ShouldEqual, "context canceled")
+
+    // Test case where internal context is canceled
+    cancelledInternalCtx, internalCancel := context.WithCancel(ctx)
+    pf.cancelContext = cancelledInternalCtx
+    internalCancel()
+    capture, err = pf.CaptureAllFromCamera(ctx, "configuredCamera", viscapture.CaptureOptions{ReturnImage: true, ReturnClassifications: true}, nil)
+    test.That(t, capture.Image, test.ShouldBeEmpty)
+    test.That(t, capture.Classifications, test.ShouldBeEmpty)
+    test.That(t, err.Error(), test.ShouldEqual, "context canceled")
+
+    // Test case where camera name does not match
+    pf.cancelContext = context.Background()
+    capture, err = pf.CaptureAllFromCamera(ctx, "incorrectCamera", viscapture.CaptureOptions{ReturnImage: true, ReturnClassifications: true}, nil)
+    test.That(t, capture.Image, test.ShouldBeEmpty)
+    test.That(t, capture.Classifications, test.ShouldBeEmpty)
+    test.That(t, err.Error(), test.ShouldEqual, "Camera name \"incorrectCamera\" given to CaptureAllFromCamera is not the same as configured camera \"configuredCamera\"")
+
+    // Test case where no image or classifications are requested
+    capture, err = pf.CaptureAllFromCamera(ctx, "configuredCamera", viscapture.CaptureOptions{}, nil)
+    test.That(t, capture.Image, test.ShouldBeEmpty)
+    test.That(t, capture.Classifications, test.ShouldBeEmpty)
+    test.That(t, err, test.ShouldBeNil)
+
+    // Test case where only image is requested
+    pf.triggerFlag.Store(true)
+    atomic.StorePointer((*unsafe.Pointer)(unsafe.Pointer(&pf.currImg)), imgPtr)
+    capture, err = pf.CaptureAllFromCamera(ctx, "configuredCamera", viscapture.CaptureOptions{ReturnImage: true}, nil)
+    test.That(t, capture.Image, test.ShouldResemble, stubImage)
+    test.That(t, capture.Classifications, test.ShouldBeEmpty)
+    test.That(t, err, test.ShouldBeNil)
+
+    // Test case where only classifications are requested
+    capture, err = pf.CaptureAllFromCamera(ctx, "configuredCamera", viscapture.CaptureOptions{ReturnClassifications: true}, nil)
+    expectedClassifications := viscapture.VisCapture{
+        Classifications: classification.Classifications{
+            classification.NewClassification(1.0, triggerClassName),
+        },
+    }
+    test.That(t, capture.Image, test.ShouldBeNil)
+    test.That(t, capture.Classifications, test.ShouldResemble, expectedClassifications.Classifications)
+    test.That(t, err, test.ShouldBeNil)
+
+    // Test case where both image and classifications are requested
+    capture, err = pf.CaptureAllFromCamera(ctx, "configuredCamera", viscapture.CaptureOptions{ReturnImage: true, ReturnClassifications: true}, nil)
+    test.That(t, capture.Image, test.ShouldResemble, stubImage)
+    test.That(t, capture.Classifications, test.ShouldResemble, expectedClassifications.Classifications)
+    test.That(t, err, test.ShouldBeNil)
+}

From e43ec36ad5bee115bf178692d8e20f7138d89927 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 12 Jul 2024 17:15:03 -0400
Subject: [PATCH 02/56] added linting action and fixed linting issues

---
 .github/workflows/golangci-lint.yml | 28 ++++++++++++++++
 Makefile                            |  4 +++
 go.mod                              |  2 +-
 go.sum                              |  2 ++
 oceanprefilter/histogram_compare.go | 51 -----------------------------
 oceanprefilter/ml_filtering.go      | 31 ------------------
 oceanprefilter/oceanprefilter.go    |  1 -
 7 files changed, 35 insertions(+), 84 deletions(-)
 create mode 100644 .github/workflows/golangci-lint.yml
 delete mode 100644 oceanprefilter/ml_filtering.go

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
new file mode 100644
index 0000000..3deda6f
--- /dev/null
+++ b/.github/workflows/golangci-lint.yml
@@ -0,0 +1,28 @@
+name: golangci-lint
+on:
+  push:
+    branches:
+      - main
+      - master
+  pull_request: 
+    branches: 
+      - main
+
+permissions:
+  contents: read
+  # Optional: allow read access to pull request. Use with `only-new-issues` option.
+  pull-requests: read
+
+jobs:
+  golangci:
+    name: lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-go@v5
+        with:
+          go-version: stable
+      - name: golangci-lint
+        uses: golangci/golangci-lint-action@v6
+        with:
+          version: v1.59
diff --git a/Makefile b/Makefile
index ea8135c..9b8e911 100644
--- a/Makefile
+++ b/Makefile
@@ -69,3 +69,7 @@ docker-amd64-ci: BUILD_PUSH = --push
 docker-amd64-ci:
 	$(BUILD_CMD)
 
+# Test target for running Go tests
+test:
+	go test ./oceanprefilter
+
diff --git a/go.mod b/go.mod
index 0bf5989..1c25288 100644
--- a/go.mod
+++ b/go.mod
@@ -6,7 +6,7 @@ require (
 	github.com/pkg/errors v0.9.1
 	go.viam.com/rdk v0.28.0
 	go.viam.com/utils v0.1.79
-	gocv.io/x/gocv v0.36.1
+	gocv.io/x/gocv v0.37.0
 )
 
 require (
diff --git a/go.sum b/go.sum
index c8c9a41..d38e1fb 100644
--- a/go.sum
+++ b/go.sum
@@ -1111,6 +1111,8 @@ go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
 gocv.io/x/gocv v0.36.1 h1:6XkEaPOk7h/umjy+MXgSEtSeCIgcPJhccUjrJFhjdTY=
 gocv.io/x/gocv v0.36.1/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
+gocv.io/x/gocv v0.37.0 h1:sISHvnApErjoJodz1Dxb8UAkFdITOB3vXGslbVu6Knk=
+gocv.io/x/gocv v0.37.0/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
 goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c=
 goji.io v2.0.2+incompatible/go.mod h1:sbqFwrtqZACxLBTQcdgVjFh54yGVCvwq8+w49MVMMIk=
 golang.org/x/arch v0.0.0-20210923205945-b76863e36670 h1:18EFjUmQOcUvxNYSkA6jO9VAiXCnxFY6NyDX0bHDmkU=
diff --git a/oceanprefilter/histogram_compare.go b/oceanprefilter/histogram_compare.go
index 46f6b47..7aedb94 100644
--- a/oceanprefilter/histogram_compare.go
+++ b/oceanprefilter/histogram_compare.go
@@ -3,7 +3,6 @@ package oceanprefilter
 import (
 	"fmt"
 	"image"
-	"image/draw"
 	"math"
 
 	"github.com/pkg/errors"
@@ -113,15 +112,6 @@ func histogramTrigger(oldHist, newHist Histogram, thresh float64) bool {
 	return trigger
 }
 
-func convertToFloat64(uint8Slice []uint8) []float64 {
-	float64Slice := make([]float64, len(uint8Slice))
-
-	for i, v := range uint8Slice {
-		float64Slice[i] = float64(v)
-	}
-	return float64Slice
-}
-
 func createGrayHistograms(pic image.Image) []Histogram {
 	hists := make([]Histogram, 0, 1)
 	img := toGray(pic)
@@ -136,47 +126,6 @@ func createGrayHistograms(pic image.Image) []Histogram {
 	return hists
 }
 
-func createColorHistograms(pic image.Image) []Histogram {
-	hists := make([]Histogram, 0, 3)
-	img := image.NewRGBA(pic.Bounds())
-	if rgbaImg, ok := pic.(*image.RGBA); ok {
-		img = rgbaImg
-	} else {
-		draw.Draw(img, pic.Bounds(), pic, pic.Bounds().Min, draw.Src)
-	}
-	rPix := []float64{}
-	gPix := []float64{}
-	bPix := []float64{}
-	for x := 0; x < img.Bounds().Dx(); x++ {
-		for y := 0; y < img.Bounds().Dy(); y++ {
-			c := img.RGBAAt(x, y)
-			rPix = append(rPix, float64(c.R))
-			gPix = append(gPix, float64(c.G))
-			bPix = append(bPix, float64(c.B))
-		}
-	}
-	hists = append(hists, Hist(32, 0, 256, rPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, gPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, bPix)) // 32 bin, 8 values in each bin in 255 total
-	return hists
-}
-
-// basicCompare compares two histograms and returns a measure of their difference
-func basicCompare(hist1, hist2 Histogram) float64 {
-	var sum float64
-	for i := range hist1.Buckets {
-		diff := hist1.Buckets[i].Count - hist2.Buckets[i].Count
-		if diff < 0 {
-			diff = -diff
-		}
-		sum += float64(diff)
-	}
-	// Normalize the difference based on the number of pixels
-	totalPixels := float64(hist1.Count + hist2.Count) // hist2 has the same number of pixels
-	score := sum / totalPixels
-	return score
-}
-
 // histogramToECDF converts a histogram to an empirical cumulative distribution function (ECDF)
 // Assumes histogram bins are evenly distributed over the data range
 func histogramToECDF(hist Histogram) []float64 {
diff --git a/oceanprefilter/ml_filtering.go b/oceanprefilter/ml_filtering.go
deleted file mode 100644
index dae99e2..0000000
--- a/oceanprefilter/ml_filtering.go
+++ /dev/null
@@ -1,31 +0,0 @@
-package oceanprefilter
-
-import (
-	"context"
-	"image"
-)
-
-func mlFilter(ctx context.Context, img image.Image, rc runConfig) (bool, error) {
-	// first try if the optional detection is present
-	if rc.detector == nil {
-		return false, nil
-	}
-	dets, _ := rc.detector.Detections(ctx, img, nil)
-	if dets == nil {
-		return false, nil
-	}
-	if rc.chosenLabels == nil {
-		if len(dets) != 0 {
-			return true, nil
-		}
-		return false, nil
-	}
-	for _, d := range dets {
-		if conf, ok := rc.chosenLabels[d.Label()]; ok {
-			if d.Score() >= conf {
-				return true, nil
-			}
-		}
-	}
-	return false, nil
-}
diff --git a/oceanprefilter/oceanprefilter.go b/oceanprefilter/oceanprefilter.go
index 0f51756..05c4252 100644
--- a/oceanprefilter/oceanprefilter.go
+++ b/oceanprefilter/oceanprefilter.go
@@ -91,7 +91,6 @@ type runConfig struct {
 	detector      vision.Service
 	chosenLabels  map[string]float64
 	frequency     float64
-	minConfidence float64
 	threshold     float64
 	excludedZone  *image.Rectangle
 	motionTrigger bool

From fe4a9ad1eba53e79dcee231c1fe3f8b8c43d90e0 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 12 Jul 2024 17:26:37 -0400
Subject: [PATCH 03/56] added a timeout to lint yml

---
 .github/workflows/golangci-lint.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 3deda6f..7be2c2e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,3 +26,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
+          timeout: 5m

From 0924387626b31ef0748a906b2190e8fb81ad6915 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 10:38:56 -0400
Subject: [PATCH 04/56] trying to fix timeout

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 7be2c2e..b7ff67e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,4 +26,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          timeout: 5m
+          args: --timeout 5m

From c43673ded04b7cbef85f44499690b7c84e83cecf Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 10:59:30 -0400
Subject: [PATCH 05/56] trying to fix lint github action

---
 .github/workflows/golangci-lint.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index b7ff67e..0381847 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -22,6 +22,8 @@ jobs:
       - uses: actions/setup-go@v5
         with:
           go-version: stable
+      - name: Set up pkg-config path
+        run: echo "PKG_CONFIG_PATH=/opt/homebrew/lib/pkgconfig:\$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 5ced2cc13c922f86b88d5c68066edf281523f275 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 11:06:31 -0400
Subject: [PATCH 06/56] trying to fix dependencies

---
 .github/workflows/golangci-lint.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 0381847..e859bdb 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -22,8 +22,12 @@ jobs:
       - uses: actions/setup-go@v5
         with:
           go-version: stable
+      - name: Install OpenCV dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libopencv-dev pkg-config
       - name: Set up pkg-config path
-        run: echo "PKG_CONFIG_PATH=/opt/homebrew/lib/pkgconfig:\$PKG_CONFIG_PATH" >> $GITHUB_ENV
+        run: echo "PKG_CONFIG_PATH=/usr/lib/pkgconfig:/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From af0ee9fceb1ca05ab60bc9be107b689498123b78 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 12:15:51 -0400
Subject: [PATCH 07/56] runnning linter on docker container

---
 .github/workflows/golangci-lint.yml | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index e859bdb..d2b1c24 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -17,17 +17,14 @@ jobs:
   golangci:
     name: lint
     runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+      options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-go@v5
         with:
           go-version: stable
-      - name: Install OpenCV dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y libopencv-dev pkg-config
-      - name: Set up pkg-config path
-        run: echo "PKG_CONFIG_PATH=/usr/lib/pkgconfig:/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From b27de392eaed3e616aa55efe84bb62d98a56d61a Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 12:20:33 -0400
Subject: [PATCH 08/56] running linter on docker container

---
 .github/workflows/golangci-lint.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index d2b1c24..6fc781e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,4 +1,8 @@
 name: golangci-lint
+
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+  
 on:
   push:
     branches:

From d62585fad2b86d32b8b4aa1f00403fe4b0315c81 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:17:59 -0400
Subject: [PATCH 09/56] trying to fix lint errors

---
 .github/workflows/golangci-lint.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 6fc781e..63bfe82 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -2,7 +2,7 @@ name: golangci-lint
 
 concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
-  
+
 on:
   push:
     branches:
@@ -19,8 +19,8 @@ permissions:
 
 jobs:
   golangci:
-    name: lint
-    runs-on: ubuntu-latest
+    name: lint for linux/arm64
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64

From 8d4e236339c6457fe36d6ced5b3d11257655a990 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:27:22 -0400
Subject: [PATCH 10/56] trying to fix go set up

---
 .github/workflows/golangci-lint.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 63bfe82..1622b26 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,11 +26,11 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-go@v5
+      # - uses: actions/setup-go@v5
         with:
           go-version: stable
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 5m
+          args: --timeout 10m

From 0c33128afbafc27ed66a0403c1e4b977cef024d1 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:27:28 -0400
Subject: [PATCH 11/56] trying to fix go set up

---
 .github/workflows/golangci-lint.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 1622b26..c9689f5 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -27,8 +27,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       # - uses: actions/setup-go@v5
-        with:
-          go-version: stable
+        # with:
+        #   go-version: stable
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 9f9718530bb1fdc2c814aeaf6a6b643ffafffe83 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:37:04 -0400
Subject: [PATCH 12/56] trying to fix VCS linting issue

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index c9689f5..0503337 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -33,4 +33,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 10m
+          args: --timeout 10m -buildvcs=false

From ca5737922eabef8129b1c5fe7ea3fe9df37c1a2f Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:53:38 -0400
Subject: [PATCH 13/56] trying to fix VCS linting issue pt 2

---
 .github/workflows/golangci-lint.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 0503337..62b2c8b 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,6 +26,8 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
+      with:
+        buildvcs: false
       # - uses: actions/setup-go@v5
         # with:
         #   go-version: stable

From 1ed25a17b3f1f92ba8e63d78c2b631bd86018fbe Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:54:03 -0400
Subject: [PATCH 14/56] trying to fix VCS linting issue pt 2

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 62b2c8b..52178de 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -35,4 +35,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 10m -buildvcs=false
+          args: --timeout 10m

From 09de4d4232a14b0623ac845ad19824e40fe8091d Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:01:27 -0400
Subject: [PATCH 15/56] trying to fix VCS linting issue pt 3

---
 .github/workflows/golangci-lint.yml | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 52178de..7811f93 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,11 +26,8 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-      with:
-        buildvcs: false
-      # - uses: actions/setup-go@v5
-        # with:
-        #   go-version: stable
+        with:
+          buildvcs: false
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From f49a1824b8aaeec6e16ef14c385d35060f8aeba5 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:16:25 -0400
Subject: [PATCH 16/56] trying to fix VCS linting issue pt 4

---
 .github/workflows/golangci-lint.yml | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 7811f93..4a2ff54 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,6 +1,6 @@
 name: golangci-lint
 
-concurrency: 
+concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
 
 on:
@@ -8,28 +8,26 @@ on:
     branches:
       - main
       - master
-  pull_request: 
-    branches: 
+  pull_request:
+    branches:
       - main
 
 permissions:
   contents: read
-  # Optional: allow read access to pull request. Use with `only-new-issues` option.
   pull-requests: read
 
 jobs:
   golangci:
     name: lint for linux/arm64
-    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+    runs-on: buildjet-2vcpu-ubuntu-2204-arm
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64
     steps:
-      - uses: actions/checkout@v4
-        with:
-          buildvcs: false
-      - name: golangci-lint
-        uses: golangci/golangci-lint-action@v6
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
-          version: v1.59
-          args: --timeout 10m
+          fetch-depth: 0  # Ensure full history is fetched for proper VCS operations
+      - name: Run golangci-lint
+        run: |
+          /github/home/golangci-lint-1.59.1-linux-arm64/golangci-lint run --timeout 10m

From d262feed08c69fff24a1c02c3fdbb8663ec01aa1 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:22:25 -0400
Subject: [PATCH 17/56] trying to fix VCS linting issue pt 5

---
 .github/workflows/golangci-lint.yml | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 4a2ff54..a7a9c57 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,6 +1,6 @@
 name: golangci-lint
 
-concurrency:
+concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
 
 on:
@@ -8,26 +8,32 @@ on:
     branches:
       - main
       - master
-  pull_request:
-    branches:
+  pull_request: 
+    branches: 
       - main
 
 permissions:
   contents: read
+  # Optional: allow read access to pull request. Use with `only-new-issues` option.
   pull-requests: read
 
 jobs:
   golangci:
     name: lint for linux/arm64
-    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
+      - uses: actions/checkout@v4
+        # with:
+        #   buildvcs: false
+      - name: Set up Go
+        uses: actions/setup-go@v2
+        with:
+          go-version: '1.15'
+      - name: golangci-lint
+        uses: golangci/golangci-lint-action@v6
         with:
-          fetch-depth: 0  # Ensure full history is fetched for proper VCS operations
-      - name: Run golangci-lint
-        run: |
-          /github/home/golangci-lint-1.59.1-linux-arm64/golangci-lint run --timeout 10m
+          version: v1.59
+          args: --timeout 10m

From 86fd3728bb9c4d864abdd3aa7f5e01bbfd73c068 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:25:35 -0400
Subject: [PATCH 18/56] trying to fix VCS linting issue pt 5

---
 .github/workflows/golangci-lint.yml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index a7a9c57..a269473 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,12 +26,11 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-        # with:
-        #   buildvcs: false
-      - name: Set up Go
-        uses: actions/setup-go@v2
         with:
-          go-version: '1.15'
+        buildvcs: false
+      - uses: actions/setup-go@v5
+        with:
+          go-version: 1.16
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From d9f732031d6dea5fc222072b764c5900841cd00e Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:28:12 -0400
Subject: [PATCH 19/56] trying to fix VCS linting issue pt 6

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index a269473..d4a6241 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -27,7 +27,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-        buildvcs: false
+          buildvcs: false
       - uses: actions/setup-go@v5
         with:
           go-version: 1.16

From ebd813611f7ed3a1b99c447ddd0276e876ec2c77 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:21:35 -0400
Subject: [PATCH 20/56] trying to fix VCS linting issue pt 7

---
 go.mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/go.mod b/go.mod
index 1c25288..fbcc7f0 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21.7
+go 1.21
 
 require (
 	github.com/pkg/errors v0.9.1

From 446da7ac99320630cd19cebd4761c8664d64074f Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:27:59 -0400
Subject: [PATCH 21/56] trying to fix VCS linting issue pt 8

---
 .github/workflows/golangci-lint.yml | 4 +++-
 go.mod                              | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index d4a6241..9e5b708 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -30,7 +30,9 @@ jobs:
           buildvcs: false
       - uses: actions/setup-go@v5
         with:
-          go-version: 1.16
+          go-version: 1.21.7
+      - name: Download Go dependencies
+        run: go mod download
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:
diff --git a/go.mod b/go.mod
index fbcc7f0..1c25288 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21
+go 1.21.7
 
 require (
 	github.com/pkg/errors v0.9.1

From 2cecd4b149a5cf505beb0731252c861c8235b93f Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:34:06 -0400
Subject: [PATCH 22/56] trying to fix VCS linting issue pt 9

---
 .github/workflows/golangci-lint.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 9e5b708..2ab7e67 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -30,9 +30,7 @@ jobs:
           buildvcs: false
       - uses: actions/setup-go@v5
         with:
-          go-version: 1.21.7
-      - name: Download Go dependencies
-        run: go mod download
+          go-version: 1.15
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 375360b6d76e9988f64e7e3f755eaa177d3e5c23 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:38:57 -0400
Subject: [PATCH 23/56] trying to fix VCS linting issue pt 10

---
 go.mod | 12 +++++++++++-
 go.sum | 44 +++++++++++++++++++++++++++++---------------
 2 files changed, 40 insertions(+), 16 deletions(-)

diff --git a/go.mod b/go.mod
index 1c25288..f56ac57 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,8 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21.7
+go 1.21
+
+toolchain go1.21.12
 
 require (
 	github.com/pkg/errors v0.9.1
@@ -45,6 +47,7 @@ require (
 	github.com/go-gl/mathgl v1.0.0 // indirect
 	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
 	github.com/go-pdf/fpdf v0.6.0 // indirect
+	github.com/go-playground/validator/v10 v10.14.0 // indirect
 	github.com/go-viper/mapstructure/v2 v2.0.0-alpha.1 // indirect
 	github.com/goccy/go-json v0.10.2 // indirect
 	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
@@ -54,6 +57,7 @@ require (
 	github.com/golang/protobuf v1.5.3 // indirect
 	github.com/golang/snappy v0.0.4 // indirect
 	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/flatbuffers v2.0.8+incompatible // indirect
 	github.com/google/go-cmp v0.5.9 // indirect
 	github.com/google/s2a-go v0.1.4 // indirect
 	github.com/google/uuid v1.6.0 // indirect
@@ -65,8 +69,11 @@ require (
 	github.com/improbable-eng/grpc-web v0.15.0 // indirect
 	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
 	github.com/jhump/protoreflect v1.15.1 // indirect
+	github.com/json-iterator/go v1.1.12 // indirect
 	github.com/kellydunn/golang-geo v0.7.0 // indirect
 	github.com/klauspost/compress v1.16.5 // indirect
+	github.com/klauspost/cpuid/v2 v2.2.4 // indirect
+	github.com/kr/pretty v0.3.1 // indirect
 	github.com/kylelemons/go-gypsy v1.0.0 // indirect
 	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
 	github.com/lestrrat-go/blackmagic v1.0.2 // indirect
@@ -104,11 +111,13 @@ require (
 	github.com/pion/webrtc/v3 v3.2.36 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/rivo/uniseg v0.4.4 // indirect
+	github.com/rogpeppe/go-internal v1.10.0 // indirect
 	github.com/rs/cors v1.9.0 // indirect
 	github.com/sergi/go-diff v1.3.1 // indirect
 	github.com/smartystreets/assertions v1.13.0 // indirect
 	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
 	github.com/stretchr/testify v1.9.0 // indirect
+	github.com/ugorji/go/codec v1.2.11 // indirect
 	github.com/viam-labs/go-libjpeg v0.3.1 // indirect
 	github.com/xdg-go/pbkdf2 v1.0.0 // indirect
 	github.com/xdg-go/scram v1.1.2 // indirect
@@ -126,6 +135,7 @@ require (
 	go.uber.org/zap v1.24.0 // indirect
 	go.viam.com/api v0.1.302 // indirect
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
+	golang.org/x/arch v0.3.0 // indirect
 	golang.org/x/crypto v0.23.0 // indirect
 	golang.org/x/exp v0.0.0-20230725012225-302865e7556b // indirect
 	golang.org/x/image v0.15.0 // indirect
diff --git a/go.sum b/go.sum
index d38e1fb..130906a 100644
--- a/go.sum
+++ b/go.sum
@@ -257,6 +257,8 @@ github.com/fullstorydev/grpcurl v1.6.0/go.mod h1:ZQ+ayqbKMJNhzLmbpCiurTVlaK2M/3n
 github.com/fullstorydev/grpcurl v1.8.6 h1:WylAwnPauJIofYSHqqMTC1eEfUIzqzevXyogBxnQquo=
 github.com/fullstorydev/grpcurl v1.8.6/go.mod h1:WhP7fRQdhxz2TkL97u+TCb505sxfH78W1usyoB3tepw=
 github.com/fzipp/gocyclo v0.3.1/go.mod h1:DJHO6AUmbdqj2ET4Z9iArSuwWgYDRryYt2wASxc7x3E=
+github.com/gabriel-vasile/mimetype v1.4.2 h1:w5qFW6JKBz9Y393Y4q372O9A7cUSequkh1Q7OhCmWKU=
+github.com/gabriel-vasile/mimetype v1.4.2/go.mod h1:zApsH/mKG4w07erKIaJPFiX0Tsq9BFQgN3qGY5GnNgA=
 github.com/gen2brain/malgo v0.11.21 h1:qsS4Dh6zhZgmvAW5CtKRxDjQzHbc2NJlBG9eE0tgS8w=
 github.com/gen2brain/malgo v0.11.21/go.mod h1:f9TtuN7DVrXMiV/yIceMeWpvanyVzJQMlBecJFVMxww=
 github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeMEF04=
@@ -303,12 +305,15 @@ github.com/go-ole/go-ole v1.2.4/go.mod h1:XCwSNxSkXRo4vlyPy93sltvi/qJq0jqQhjqQNI
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@@ -415,8 +420,8 @@ github.com/google/btree v0.0.0-20180813153112-4030bb1f1f0c/go.mod h1:lNA+9X1NB3Z
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@@ -562,8 +567,9 @@ github.com/json-iterator/go v1.1.6/go.mod h1:+SdeFBvtyEkXs7REEP0seUULqWtbJapLOCV
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@@ -588,16 +594,18 @@ github.com/klauspost/compress v1.11.7/go.mod h1:aoV0uJVorq1K+umq18yTdKaF57EivdYs
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@@ -609,8 +617,9 @@ github.com/kylelemons/go-gypsy v1.0.0/go.mod h1:chkXM0zjdpXOiqkCW1XcCHDfjfk14PH2
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@@ -707,8 +716,9 @@ github.com/modern-go/concurrent v0.0.0-20180228061459-e0a39a4cb421/go.mod h1:6dJ
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@@ -837,6 +847,7 @@ github.com/pion/turn/v2 v2.1.3 h1:pYxTVWG2gpC97opdRc5IGsQ1lJ9O/IlNhkzj7MMrGAA=
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@@ -898,6 +909,9 @@ github.com/rogpeppe/fastuuid v0.0.0-20150106093220-6724a57986af/go.mod h1:XWv6So
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@@ -1004,11 +1018,11 @@ github.com/u2takey/ffmpeg-go v0.4.1 h1:l5ClIwL3N2LaH1zF3xivb3kP2HW95eyG5xhHE1JdZ
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@@ -1109,14 +1123,13 @@ go.viam.com/utils v0.1.79 h1:rLxMPuJifGaDqQgGsfgzy60dMz6P44n5oEBbLEdggaM=
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@@ -1332,6 +1345,7 @@ golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20210809222454-d867a43fc93e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20211025201205-69cdffdb9359/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220520151302-bc2c85ada10a/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.0.0-20220704084225-05e143d24a9e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220908164124-27713097b956/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.1.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=

From 7bb45c3d98472cb239cc84a45cdbb2529232317c Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Tue, 16 Jul 2024 17:00:32 -0400
Subject: [PATCH 24/56] trying make lint

---
 .github/workflows/test.yml | 27 +++++++++++++++++++++++++++
 Makefile                   |  8 ++++++++
 go.mod                     |  2 +-
 3 files changed, 36 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/test.yml

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 0000000..4ce75cc
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,27 @@
+name: Run lint & unit tests
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build:
+    name: "Run unit tests"
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+    container:
+      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+      options: --platform linux/arm64
+
+    steps:
+    - uses: actions/checkout@v4
+
+
+
+    - name: Run lint
+      run: |
+        make lint
+
+    - name: Run unit tests
+      run: make test
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 9b8e911..5b411fa 100644
--- a/Makefile
+++ b/Makefile
@@ -73,3 +73,11 @@ docker-amd64-ci:
 test:
 	go test ./oceanprefilter
 
+
+# Docker image and container details
+DOCKER_IMAGE := ghcr.io/viamrobotics/ocean-prefilter:arm64
+
+# Lint rule
+lint:
+	golangci-lint run
+
diff --git a/go.mod b/go.mod
index f56ac57..a1363ce 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21
+go 1.21.7
 
 toolchain go1.21.12
 

From 223d65f223765a21dd13c5186f24cf543856b1da Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Wed, 17 Jul 2024 23:44:26 -0400
Subject: [PATCH 25/56] added golangci-lint to docker image

---
 etc/Dockerfile.debian.bookworm | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/etc/Dockerfile.debian.bookworm b/etc/Dockerfile.debian.bookworm
index 5a01f73..c2f21c5 100644
--- a/etc/Dockerfile.debian.bookworm
+++ b/etc/Dockerfile.debian.bookworm
@@ -125,4 +125,7 @@ RUN cd /root/opt/src && \
 # install appimage-builder
 RUN pip3 install --break-system-packages git+https://github.com/AppImageCrafters/appimage-builder.git@61c8ddde9ef44b85d7444bbe79d80b44a6a5576d
 
+# golangci-lint installation here
+RUN curl -sSfL https://raw.githubusercontent.com/golangci/golangci-lint/master/install.sh | sh -s -- -b /usr/local/bin v1.53.2
+
 ENV PATH="/usr/local/go/bin:${PATH}"

From 10f4ea0263d2bf762dccfc7ef2978265aa6726fb Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 12 Jul 2024 17:15:03 -0400
Subject: [PATCH 26/56] added linting action and fixed linting issues

---
 .github/workflows/golangci-lint.yml | 28 ++++++++++++++++
 Makefile                            |  4 +++
 go.mod                              |  2 +-
 go.sum                              |  2 ++
 oceanprefilter/histogram_compare.go | 51 -----------------------------
 oceanprefilter/ml_filtering.go      | 31 ------------------
 oceanprefilter/oceanprefilter.go    |  1 -
 7 files changed, 35 insertions(+), 84 deletions(-)
 create mode 100644 .github/workflows/golangci-lint.yml
 delete mode 100644 oceanprefilter/ml_filtering.go

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
new file mode 100644
index 0000000..3deda6f
--- /dev/null
+++ b/.github/workflows/golangci-lint.yml
@@ -0,0 +1,28 @@
+name: golangci-lint
+on:
+  push:
+    branches:
+      - main
+      - master
+  pull_request: 
+    branches: 
+      - main
+
+permissions:
+  contents: read
+  # Optional: allow read access to pull request. Use with `only-new-issues` option.
+  pull-requests: read
+
+jobs:
+  golangci:
+    name: lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-go@v5
+        with:
+          go-version: stable
+      - name: golangci-lint
+        uses: golangci/golangci-lint-action@v6
+        with:
+          version: v1.59
diff --git a/Makefile b/Makefile
index ea8135c..9b8e911 100644
--- a/Makefile
+++ b/Makefile
@@ -69,3 +69,7 @@ docker-amd64-ci: BUILD_PUSH = --push
 docker-amd64-ci:
 	$(BUILD_CMD)
 
+# Test target for running Go tests
+test:
+	go test ./oceanprefilter
+
diff --git a/go.mod b/go.mod
index 0bf5989..1c25288 100644
--- a/go.mod
+++ b/go.mod
@@ -6,7 +6,7 @@ require (
 	github.com/pkg/errors v0.9.1
 	go.viam.com/rdk v0.28.0
 	go.viam.com/utils v0.1.79
-	gocv.io/x/gocv v0.36.1
+	gocv.io/x/gocv v0.37.0
 )
 
 require (
diff --git a/go.sum b/go.sum
index c8c9a41..d38e1fb 100644
--- a/go.sum
+++ b/go.sum
@@ -1111,6 +1111,8 @@ go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
 gocv.io/x/gocv v0.36.1 h1:6XkEaPOk7h/umjy+MXgSEtSeCIgcPJhccUjrJFhjdTY=
 gocv.io/x/gocv v0.36.1/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
+gocv.io/x/gocv v0.37.0 h1:sISHvnApErjoJodz1Dxb8UAkFdITOB3vXGslbVu6Knk=
+gocv.io/x/gocv v0.37.0/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
 goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c=
 goji.io v2.0.2+incompatible/go.mod h1:sbqFwrtqZACxLBTQcdgVjFh54yGVCvwq8+w49MVMMIk=
 golang.org/x/arch v0.0.0-20210923205945-b76863e36670 h1:18EFjUmQOcUvxNYSkA6jO9VAiXCnxFY6NyDX0bHDmkU=
diff --git a/oceanprefilter/histogram_compare.go b/oceanprefilter/histogram_compare.go
index 46f6b47..7aedb94 100644
--- a/oceanprefilter/histogram_compare.go
+++ b/oceanprefilter/histogram_compare.go
@@ -3,7 +3,6 @@ package oceanprefilter
 import (
 	"fmt"
 	"image"
-	"image/draw"
 	"math"
 
 	"github.com/pkg/errors"
@@ -113,15 +112,6 @@ func histogramTrigger(oldHist, newHist Histogram, thresh float64) bool {
 	return trigger
 }
 
-func convertToFloat64(uint8Slice []uint8) []float64 {
-	float64Slice := make([]float64, len(uint8Slice))
-
-	for i, v := range uint8Slice {
-		float64Slice[i] = float64(v)
-	}
-	return float64Slice
-}
-
 func createGrayHistograms(pic image.Image) []Histogram {
 	hists := make([]Histogram, 0, 1)
 	img := toGray(pic)
@@ -136,47 +126,6 @@ func createGrayHistograms(pic image.Image) []Histogram {
 	return hists
 }
 
-func createColorHistograms(pic image.Image) []Histogram {
-	hists := make([]Histogram, 0, 3)
-	img := image.NewRGBA(pic.Bounds())
-	if rgbaImg, ok := pic.(*image.RGBA); ok {
-		img = rgbaImg
-	} else {
-		draw.Draw(img, pic.Bounds(), pic, pic.Bounds().Min, draw.Src)
-	}
-	rPix := []float64{}
-	gPix := []float64{}
-	bPix := []float64{}
-	for x := 0; x < img.Bounds().Dx(); x++ {
-		for y := 0; y < img.Bounds().Dy(); y++ {
-			c := img.RGBAAt(x, y)
-			rPix = append(rPix, float64(c.R))
-			gPix = append(gPix, float64(c.G))
-			bPix = append(bPix, float64(c.B))
-		}
-	}
-	hists = append(hists, Hist(32, 0, 256, rPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, gPix)) // 32 bin, 8 values in each bin in 255 total
-	hists = append(hists, Hist(32, 0, 256, bPix)) // 32 bin, 8 values in each bin in 255 total
-	return hists
-}
-
-// basicCompare compares two histograms and returns a measure of their difference
-func basicCompare(hist1, hist2 Histogram) float64 {
-	var sum float64
-	for i := range hist1.Buckets {
-		diff := hist1.Buckets[i].Count - hist2.Buckets[i].Count
-		if diff < 0 {
-			diff = -diff
-		}
-		sum += float64(diff)
-	}
-	// Normalize the difference based on the number of pixels
-	totalPixels := float64(hist1.Count + hist2.Count) // hist2 has the same number of pixels
-	score := sum / totalPixels
-	return score
-}
-
 // histogramToECDF converts a histogram to an empirical cumulative distribution function (ECDF)
 // Assumes histogram bins are evenly distributed over the data range
 func histogramToECDF(hist Histogram) []float64 {
diff --git a/oceanprefilter/ml_filtering.go b/oceanprefilter/ml_filtering.go
deleted file mode 100644
index dae99e2..0000000
--- a/oceanprefilter/ml_filtering.go
+++ /dev/null
@@ -1,31 +0,0 @@
-package oceanprefilter
-
-import (
-	"context"
-	"image"
-)
-
-func mlFilter(ctx context.Context, img image.Image, rc runConfig) (bool, error) {
-	// first try if the optional detection is present
-	if rc.detector == nil {
-		return false, nil
-	}
-	dets, _ := rc.detector.Detections(ctx, img, nil)
-	if dets == nil {
-		return false, nil
-	}
-	if rc.chosenLabels == nil {
-		if len(dets) != 0 {
-			return true, nil
-		}
-		return false, nil
-	}
-	for _, d := range dets {
-		if conf, ok := rc.chosenLabels[d.Label()]; ok {
-			if d.Score() >= conf {
-				return true, nil
-			}
-		}
-	}
-	return false, nil
-}
diff --git a/oceanprefilter/oceanprefilter.go b/oceanprefilter/oceanprefilter.go
index 0f51756..05c4252 100644
--- a/oceanprefilter/oceanprefilter.go
+++ b/oceanprefilter/oceanprefilter.go
@@ -91,7 +91,6 @@ type runConfig struct {
 	detector      vision.Service
 	chosenLabels  map[string]float64
 	frequency     float64
-	minConfidence float64
 	threshold     float64
 	excludedZone  *image.Rectangle
 	motionTrigger bool

From ac8e49c85b72208c4875ad7eb52d679c8db1df23 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 12 Jul 2024 17:26:37 -0400
Subject: [PATCH 27/56] added a timeout to lint yml

---
 .github/workflows/golangci-lint.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 3deda6f..7be2c2e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,3 +26,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
+          timeout: 5m

From 0747746e987ef021fe05a6068f0c9c8eec986644 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 10:38:56 -0400
Subject: [PATCH 28/56] trying to fix timeout

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 7be2c2e..b7ff67e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,4 +26,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          timeout: 5m
+          args: --timeout 5m

From 9e3f196769e1ef87da9ef9d6fc001d0ace3a223b Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 10:59:30 -0400
Subject: [PATCH 29/56] trying to fix lint github action

---
 .github/workflows/golangci-lint.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index b7ff67e..0381847 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -22,6 +22,8 @@ jobs:
       - uses: actions/setup-go@v5
         with:
           go-version: stable
+      - name: Set up pkg-config path
+        run: echo "PKG_CONFIG_PATH=/opt/homebrew/lib/pkgconfig:\$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 501a9fd49f4c87dbbe6e52b593dc7a87d219e27d Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 11:06:31 -0400
Subject: [PATCH 30/56] trying to fix dependencies

---
 .github/workflows/golangci-lint.yml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 0381847..e859bdb 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -22,8 +22,12 @@ jobs:
       - uses: actions/setup-go@v5
         with:
           go-version: stable
+      - name: Install OpenCV dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libopencv-dev pkg-config
       - name: Set up pkg-config path
-        run: echo "PKG_CONFIG_PATH=/opt/homebrew/lib/pkgconfig:\$PKG_CONFIG_PATH" >> $GITHUB_ENV
+        run: echo "PKG_CONFIG_PATH=/usr/lib/pkgconfig:/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From e4d49c3afbca3bef6f958b5e9b9f4445554d871e Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 12:15:51 -0400
Subject: [PATCH 31/56] runnning linter on docker container

---
 .github/workflows/golangci-lint.yml | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index e859bdb..d2b1c24 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -17,17 +17,14 @@ jobs:
   golangci:
     name: lint
     runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+      options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-go@v5
         with:
           go-version: stable
-      - name: Install OpenCV dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y libopencv-dev pkg-config
-      - name: Set up pkg-config path
-        run: echo "PKG_CONFIG_PATH=/usr/lib/pkgconfig:/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH" >> $GITHUB_ENV
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From f26b2264372981a0ed85bbabf5b54f251bd4e3a4 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 12:20:33 -0400
Subject: [PATCH 32/56] running linter on docker container

---
 .github/workflows/golangci-lint.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index d2b1c24..6fc781e 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,4 +1,8 @@
 name: golangci-lint
+
+concurrency: 
+  group: ${{ github.workflow }}-${{ github.ref }}
+  
 on:
   push:
     branches:

From 19f74db7fe4a7c7ba4636ec8722d2c0d60a40603 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:17:59 -0400
Subject: [PATCH 33/56] trying to fix lint errors

---
 .github/workflows/golangci-lint.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 6fc781e..63bfe82 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -2,7 +2,7 @@ name: golangci-lint
 
 concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
-  
+
 on:
   push:
     branches:
@@ -19,8 +19,8 @@ permissions:
 
 jobs:
   golangci:
-    name: lint
-    runs-on: ubuntu-latest
+    name: lint for linux/arm64
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64

From 5f63d2ae33d2a277d05793db3b64e5bbf47cf3af Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:27:22 -0400
Subject: [PATCH 34/56] trying to fix go set up

---
 .github/workflows/golangci-lint.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 63bfe82..1622b26 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,11 +26,11 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-go@v5
+      # - uses: actions/setup-go@v5
         with:
           go-version: stable
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 5m
+          args: --timeout 10m

From aaf8090206b04dc729f3debe8f5748ce1dc7ae46 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:27:28 -0400
Subject: [PATCH 35/56] trying to fix go set up

---
 .github/workflows/golangci-lint.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 1622b26..c9689f5 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -27,8 +27,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       # - uses: actions/setup-go@v5
-        with:
-          go-version: stable
+        # with:
+        #   go-version: stable
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 0867026a5e2bf64b8d6df7c8f00c3277edaebeca Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:37:04 -0400
Subject: [PATCH 36/56] trying to fix VCS linting issue

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index c9689f5..0503337 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -33,4 +33,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 10m
+          args: --timeout 10m -buildvcs=false

From dde6c56291e22314beaa8bbdd240d6aef7a11f88 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:53:38 -0400
Subject: [PATCH 37/56] trying to fix VCS linting issue pt 2

---
 .github/workflows/golangci-lint.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 0503337..62b2c8b 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,6 +26,8 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
+      with:
+        buildvcs: false
       # - uses: actions/setup-go@v5
         # with:
         #   go-version: stable

From 11b0771fa549a3827d095cf7ad60f10b14f0f6e9 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 14:54:03 -0400
Subject: [PATCH 38/56] trying to fix VCS linting issue pt 2

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 62b2c8b..52178de 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -35,4 +35,4 @@ jobs:
         uses: golangci/golangci-lint-action@v6
         with:
           version: v1.59
-          args: --timeout 10m -buildvcs=false
+          args: --timeout 10m

From 1da1dbf2804c4dd178264fc249ce04538914b4e6 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:01:27 -0400
Subject: [PATCH 39/56] trying to fix VCS linting issue pt 3

---
 .github/workflows/golangci-lint.yml | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 52178de..7811f93 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,11 +26,8 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-      with:
-        buildvcs: false
-      # - uses: actions/setup-go@v5
-        # with:
-        #   go-version: stable
+        with:
+          buildvcs: false
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 319c4af51a51fe55d90e8f77e353da30faef0976 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:16:25 -0400
Subject: [PATCH 40/56] trying to fix VCS linting issue pt 4

---
 .github/workflows/golangci-lint.yml | 22 ++++++++++------------
 1 file changed, 10 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 7811f93..4a2ff54 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,6 +1,6 @@
 name: golangci-lint
 
-concurrency: 
+concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
 
 on:
@@ -8,28 +8,26 @@ on:
     branches:
       - main
       - master
-  pull_request: 
-    branches: 
+  pull_request:
+    branches:
       - main
 
 permissions:
   contents: read
-  # Optional: allow read access to pull request. Use with `only-new-issues` option.
   pull-requests: read
 
 jobs:
   golangci:
     name: lint for linux/arm64
-    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+    runs-on: buildjet-2vcpu-ubuntu-2204-arm
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64
     steps:
-      - uses: actions/checkout@v4
-        with:
-          buildvcs: false
-      - name: golangci-lint
-        uses: golangci/golangci-lint-action@v6
+      - name: Checkout code
+        uses: actions/checkout@v4
         with:
-          version: v1.59
-          args: --timeout 10m
+          fetch-depth: 0  # Ensure full history is fetched for proper VCS operations
+      - name: Run golangci-lint
+        run: |
+          /github/home/golangci-lint-1.59.1-linux-arm64/golangci-lint run --timeout 10m

From d5ba46adf256741b272df4993b8d54a67e289203 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:22:25 -0400
Subject: [PATCH 41/56] trying to fix VCS linting issue pt 5

---
 .github/workflows/golangci-lint.yml | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 4a2ff54..a7a9c57 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,6 +1,6 @@
 name: golangci-lint
 
-concurrency:
+concurrency: 
   group: ${{ github.workflow }}-${{ github.ref }}
 
 on:
@@ -8,26 +8,32 @@ on:
     branches:
       - main
       - master
-  pull_request:
-    branches:
+  pull_request: 
+    branches: 
       - main
 
 permissions:
   contents: read
+  # Optional: allow read access to pull request. Use with `only-new-issues` option.
   pull-requests: read
 
 jobs:
   golangci:
     name: lint for linux/arm64
-    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
     container:
       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
       options: --platform linux/arm64
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
+      - uses: actions/checkout@v4
+        # with:
+        #   buildvcs: false
+      - name: Set up Go
+        uses: actions/setup-go@v2
+        with:
+          go-version: '1.15'
+      - name: golangci-lint
+        uses: golangci/golangci-lint-action@v6
         with:
-          fetch-depth: 0  # Ensure full history is fetched for proper VCS operations
-      - name: Run golangci-lint
-        run: |
-          /github/home/golangci-lint-1.59.1-linux-arm64/golangci-lint run --timeout 10m
+          version: v1.59
+          args: --timeout 10m

From 6801572d84c84c64df1af90d960f49c7d3f0e59f Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:25:35 -0400
Subject: [PATCH 42/56] trying to fix VCS linting issue pt 5

---
 .github/workflows/golangci-lint.yml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index a7a9c57..a269473 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -26,12 +26,11 @@ jobs:
       options: --platform linux/arm64
     steps:
       - uses: actions/checkout@v4
-        # with:
-        #   buildvcs: false
-      - name: Set up Go
-        uses: actions/setup-go@v2
         with:
-          go-version: '1.15'
+        buildvcs: false
+      - uses: actions/setup-go@v5
+        with:
+          go-version: 1.16
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 3a35714a5879faa83f0bb20d8f0ad75a0b01a4ef Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 15:28:12 -0400
Subject: [PATCH 43/56] trying to fix VCS linting issue pt 6

---
 .github/workflows/golangci-lint.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index a269473..d4a6241 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -27,7 +27,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
         with:
-        buildvcs: false
+          buildvcs: false
       - uses: actions/setup-go@v5
         with:
           go-version: 1.16

From 92d74d8f33d731d3860e0a0a14c88719a671de8a Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:21:35 -0400
Subject: [PATCH 44/56] trying to fix VCS linting issue pt 7

---
 go.mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/go.mod b/go.mod
index 1c25288..fbcc7f0 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21.7
+go 1.21
 
 require (
 	github.com/pkg/errors v0.9.1

From c95be9f85a1a426e208dbadc6e0ac50d7d4f618b Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:27:59 -0400
Subject: [PATCH 45/56] trying to fix VCS linting issue pt 8

---
 .github/workflows/golangci-lint.yml | 4 +++-
 go.mod                              | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index d4a6241..9e5b708 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -30,7 +30,9 @@ jobs:
           buildvcs: false
       - uses: actions/setup-go@v5
         with:
-          go-version: 1.16
+          go-version: 1.21.7
+      - name: Download Go dependencies
+        run: go mod download
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:
diff --git a/go.mod b/go.mod
index fbcc7f0..1c25288 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21
+go 1.21.7
 
 require (
 	github.com/pkg/errors v0.9.1

From a8f8d9504fa28383e60f4e1638568898e21bc920 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:34:06 -0400
Subject: [PATCH 46/56] trying to fix VCS linting issue pt 9

---
 .github/workflows/golangci-lint.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 9e5b708..2ab7e67 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -30,9 +30,7 @@ jobs:
           buildvcs: false
       - uses: actions/setup-go@v5
         with:
-          go-version: 1.21.7
-      - name: Download Go dependencies
-        run: go mod download
+          go-version: 1.15
       - name: golangci-lint
         uses: golangci/golangci-lint-action@v6
         with:

From 6feb479f57529a6f90aae7cec6628e0907df72fe Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Mon, 15 Jul 2024 16:38:57 -0400
Subject: [PATCH 47/56] trying to fix VCS linting issue pt 10

---
 go.mod | 12 +++++++++++-
 go.sum | 44 +++++++++++++++++++++++++++++---------------
 2 files changed, 40 insertions(+), 16 deletions(-)

diff --git a/go.mod b/go.mod
index 1c25288..f56ac57 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,8 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21.7
+go 1.21
+
+toolchain go1.21.12
 
 require (
 	github.com/pkg/errors v0.9.1
@@ -45,6 +47,7 @@ require (
 	github.com/go-gl/mathgl v1.0.0 // indirect
 	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
 	github.com/go-pdf/fpdf v0.6.0 // indirect
+	github.com/go-playground/validator/v10 v10.14.0 // indirect
 	github.com/go-viper/mapstructure/v2 v2.0.0-alpha.1 // indirect
 	github.com/goccy/go-json v0.10.2 // indirect
 	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
@@ -54,6 +57,7 @@ require (
 	github.com/golang/protobuf v1.5.3 // indirect
 	github.com/golang/snappy v0.0.4 // indirect
 	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/flatbuffers v2.0.8+incompatible // indirect
 	github.com/google/go-cmp v0.5.9 // indirect
 	github.com/google/s2a-go v0.1.4 // indirect
 	github.com/google/uuid v1.6.0 // indirect
@@ -65,8 +69,11 @@ require (
 	github.com/improbable-eng/grpc-web v0.15.0 // indirect
 	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
 	github.com/jhump/protoreflect v1.15.1 // indirect
+	github.com/json-iterator/go v1.1.12 // indirect
 	github.com/kellydunn/golang-geo v0.7.0 // indirect
 	github.com/klauspost/compress v1.16.5 // indirect
+	github.com/klauspost/cpuid/v2 v2.2.4 // indirect
+	github.com/kr/pretty v0.3.1 // indirect
 	github.com/kylelemons/go-gypsy v1.0.0 // indirect
 	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
 	github.com/lestrrat-go/blackmagic v1.0.2 // indirect
@@ -104,11 +111,13 @@ require (
 	github.com/pion/webrtc/v3 v3.2.36 // indirect
 	github.com/pmezard/go-difflib v1.0.0 // indirect
 	github.com/rivo/uniseg v0.4.4 // indirect
+	github.com/rogpeppe/go-internal v1.10.0 // indirect
 	github.com/rs/cors v1.9.0 // indirect
 	github.com/sergi/go-diff v1.3.1 // indirect
 	github.com/smartystreets/assertions v1.13.0 // indirect
 	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
 	github.com/stretchr/testify v1.9.0 // indirect
+	github.com/ugorji/go/codec v1.2.11 // indirect
 	github.com/viam-labs/go-libjpeg v0.3.1 // indirect
 	github.com/xdg-go/pbkdf2 v1.0.0 // indirect
 	github.com/xdg-go/scram v1.1.2 // indirect
@@ -126,6 +135,7 @@ require (
 	go.uber.org/zap v1.24.0 // indirect
 	go.viam.com/api v0.1.302 // indirect
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
+	golang.org/x/arch v0.3.0 // indirect
 	golang.org/x/crypto v0.23.0 // indirect
 	golang.org/x/exp v0.0.0-20230725012225-302865e7556b // indirect
 	golang.org/x/image v0.15.0 // indirect
diff --git a/go.sum b/go.sum
index d38e1fb..130906a 100644
--- a/go.sum
+++ b/go.sum
@@ -257,6 +257,8 @@ github.com/fullstorydev/grpcurl v1.6.0/go.mod h1:ZQ+ayqbKMJNhzLmbpCiurTVlaK2M/3n
 github.com/fullstorydev/grpcurl v1.8.6 h1:WylAwnPauJIofYSHqqMTC1eEfUIzqzevXyogBxnQquo=
 github.com/fullstorydev/grpcurl v1.8.6/go.mod h1:WhP7fRQdhxz2TkL97u+TCb505sxfH78W1usyoB3tepw=
 github.com/fzipp/gocyclo v0.3.1/go.mod h1:DJHO6AUmbdqj2ET4Z9iArSuwWgYDRryYt2wASxc7x3E=
+github.com/gabriel-vasile/mimetype v1.4.2 h1:w5qFW6JKBz9Y393Y4q372O9A7cUSequkh1Q7OhCmWKU=
+github.com/gabriel-vasile/mimetype v1.4.2/go.mod h1:zApsH/mKG4w07erKIaJPFiX0Tsq9BFQgN3qGY5GnNgA=
 github.com/gen2brain/malgo v0.11.21 h1:qsS4Dh6zhZgmvAW5CtKRxDjQzHbc2NJlBG9eE0tgS8w=
 github.com/gen2brain/malgo v0.11.21/go.mod h1:f9TtuN7DVrXMiV/yIceMeWpvanyVzJQMlBecJFVMxww=
 github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeMEF04=
@@ -303,12 +305,15 @@ github.com/go-ole/go-ole v1.2.4/go.mod h1:XCwSNxSkXRo4vlyPy93sltvi/qJq0jqQhjqQNI
 github.com/go-pdf/fpdf v0.6.0 h1:MlgtGIfsdMEEQJr2le6b/HNr1ZlQwxyWr77r2aj2U/8=
 github.com/go-pdf/fpdf v0.6.0/go.mod h1:HzcnA+A23uwogo0tp9yU+l3V+KXhiESpt1PMayhOh5M=
 github.com/go-playground/assert/v2 v2.0.1/go.mod h1:VDjEfimB/XKnb+ZQfWdccd7VUvScMdVu0Titje2rxJ4=
-github.com/go-playground/locales v0.13.0 h1:HyWk6mgj5qFqCT5fjGBuRArbVDfE4hi8+e8ceBS/t7Q=
 github.com/go-playground/locales v0.13.0/go.mod h1:taPMhCMXrRLJO55olJkUXHZBHCxTMfnGwq/HNwmWNS8=
-github.com/go-playground/universal-translator v0.17.0 h1:icxd5fm+REJzpZx7ZfpaD876Lmtgy7VtROAbHHXk8no=
+github.com/go-playground/locales v0.14.1 h1:EWaQ/wswjilfKLTECiXz7Rh+3BjFhfDFKv/oXslEjJA=
+github.com/go-playground/locales v0.14.1/go.mod h1:hxrqLVvrK65+Rwrd5Fc6F2O76J/NuW9t0sjnWqG1slY=
 github.com/go-playground/universal-translator v0.17.0/go.mod h1:UkSxE5sNxxRwHyU+Scu5vgOQjsIJAF8j9muTVoKLVtA=
-github.com/go-playground/validator/v10 v10.2.0 h1:KgJ0snyC2R9VXYN2rneOtQcw5aHQB1Vv0sFl1UcHBOY=
+github.com/go-playground/universal-translator v0.18.1 h1:Bcnm0ZwsGyWbCzImXv+pAJnYK9S473LQFuzCbDbfSFY=
+github.com/go-playground/universal-translator v0.18.1/go.mod h1:xekY+UJKNuX9WP91TpwSH2VMlDf28Uj24BCp08ZFTUY=
 github.com/go-playground/validator/v10 v10.2.0/go.mod h1:uOYAAleCW8F/7oMFd6aG0GOhaH6EGOAJShg8Id5JGkI=
+github.com/go-playground/validator/v10 v10.14.0 h1:vgvQWe3XCz3gIeFDm/HnTIbj6UGmg/+t63MyGU2n5js=
+github.com/go-playground/validator/v10 v10.14.0/go.mod h1:9iXMNT7sEkjXb0I+enO7QXmzG6QCsPWY4zveKFVRSyU=
 github.com/go-redis/redis v6.15.8+incompatible/go.mod h1:NAIEuMOZ/fxfXJIrKDQDz8wamY7mA7PouImQ2Jvg6kA=
 github.com/go-restruct/restruct v1.2.0-alpha.0.20210525045353-983b86fa188e h1:PIFVUcdZ9OADg9XAsN0I8OzUzmYXHU+2msP2X7ST/fo=
 github.com/go-restruct/restruct v1.2.0-alpha.0.20210525045353-983b86fa188e/go.mod h1:KqrpKpn4M8OLznErihXTGLlsXFGeLxHUrLRRI/1YjGk=
@@ -415,8 +420,8 @@ github.com/google/btree v0.0.0-20180813153112-4030bb1f1f0c/go.mod h1:lNA+9X1NB3Z
 github.com/google/btree v1.0.0/go.mod h1:lNA+9X1NB3Zf8V7Ke586lFgjr2dZNuvo3lPJSGZ5JPQ=
 github.com/google/certificate-transparency-go v1.0.21/go.mod h1:QeJfpSbVSfYc7RgB3gJFj9cbuQMMchQxrWXz8Ruopmg=
 github.com/google/certificate-transparency-go v1.1.1/go.mod h1:FDKqPvSXawb2ecErVRrD+nfy23RCzyl7eqVCEmlT1Zs=
-github.com/google/flatbuffers v2.0.6+incompatible h1:XHFReMv7nFFusa+CEokzWbzaYocKXI6C7hdU5Kgh9Lw=
-github.com/google/flatbuffers v2.0.6+incompatible/go.mod h1:1AeVuKshWv4vARoZatz6mlQ0JxURH0Kv5+zNeJKJCa8=
+github.com/google/flatbuffers v2.0.8+incompatible h1:ivUb1cGomAB101ZM1T0nOiWz9pSrTMoa9+EiY7igmkM=
+github.com/google/flatbuffers v2.0.8+incompatible/go.mod h1:1AeVuKshWv4vARoZatz6mlQ0JxURH0Kv5+zNeJKJCa8=
 github.com/google/go-cmp v0.2.0/go.mod h1:oXzfMopK8JAjlY9xF4vHSVASa0yLyX7SntLO5aqRK0M=
 github.com/google/go-cmp v0.3.0/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
 github.com/google/go-cmp v0.3.1/go.mod h1:8QqcDgzrUqlUb/G2PQTWiueGozuR1884gddMywk6iLU=
@@ -562,8 +567,9 @@ github.com/json-iterator/go v1.1.6/go.mod h1:+SdeFBvtyEkXs7REEP0seUULqWtbJapLOCV
 github.com/json-iterator/go v1.1.7/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
 github.com/json-iterator/go v1.1.8/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
 github.com/json-iterator/go v1.1.9/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
-github.com/json-iterator/go v1.1.10 h1:Kz6Cvnvv2wGdaG/V8yMvfkmNiXq9Ya2KUv4rouJJr68=
 github.com/json-iterator/go v1.1.10/go.mod h1:KdQUCv79m/52Kvf8AW2vK1V8akMuk1QjK/uOdHXbAo4=
+github.com/json-iterator/go v1.1.12 h1:PV8peI4a0ysnczrg+LtxykD8LfKY9ML6u2jnxaEnrnM=
+github.com/json-iterator/go v1.1.12/go.mod h1:e30LSqwooZae/UwlEbR2852Gd8hjQvJoHmT4TnhNGBo=
 github.com/jstemmer/go-junit-report v0.0.0-20190106144839-af01ea7f8024/go.mod h1:6v2b51hI/fHJwM22ozAgKL4VKDeJcHhJFhtBdhmNjmU=
 github.com/jstemmer/go-junit-report v0.9.1/go.mod h1:Brl9GWCQeLvo8nXZwPNNblvFj/XSXhF0NWZEnDohbsk=
 github.com/jtolds/gls v4.20.0+incompatible/go.mod h1:QJZ7F/aHp+rZTRtaJ1ow/lLfFfVYBRgL+9YlvaHOwJU=
@@ -588,16 +594,18 @@ github.com/klauspost/compress v1.11.7/go.mod h1:aoV0uJVorq1K+umq18yTdKaF57EivdYs
 github.com/klauspost/compress v1.13.6/go.mod h1:/3/Vjq9QcHkK5uEr5lBEmyoZ1iFhe47etQ6QUkpK6sk=
 github.com/klauspost/compress v1.16.5 h1:IFV2oUNUzZaz+XyusxpLzpzS8Pt5rh0Z16For/djlyI=
 github.com/klauspost/compress v1.16.5/go.mod h1:ntbaceVETuRiXiv4DpjP66DpAtAGkEQskQzEyD//IeE=
-github.com/klauspost/cpuid/v2 v2.0.9 h1:lgaqFMSdTdQYdZ04uHyN2d/eKdOMyi2YLSvlQIBFYa4=
 github.com/klauspost/cpuid/v2 v2.0.9/go.mod h1:FInQzS24/EEf25PyTYn52gqo7WaD8xa0213Md/qVLRg=
+github.com/klauspost/cpuid/v2 v2.2.4 h1:acbojRNwl3o09bUq+yDCtZFc1aiwaAAxtcn8YkZXnvk=
+github.com/klauspost/cpuid/v2 v2.2.4/go.mod h1:RVVoqg1df56z8g3pUjL/3lE5UfnlrJX8tyFgg4nqhuY=
 github.com/knz/go-libedit v1.10.1/go.mod h1:MZTVkCWyz0oBc7JOWP3wNAzd002ZbM/5hgShxwh4x8M=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.2/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/kr/fs v0.1.0/go.mod h1:FFnZGqtBN9Gxj7eW1uZ42v5BccTP0vu6NEaFoC2HwRg=
 github.com/kr/logfmt v0.0.0-20140226030751-b84e30acd515/go.mod h1:+0opPa2QZZtGFBFZlji/RkVcI2GknAs/DXo4wKdlNEc=
-github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI=
 github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo=
+github.com/kr/pretty v0.3.1 h1:flRD4NNwYAUpkphVc1HcthR4KEIFJ65n8Mw5qdRn3LE=
+github.com/kr/pretty v0.3.1/go.mod h1:hoEshYVHaxMs3cyo3Yncou5ZscifuDolrwPKZanG3xk=
 github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
 github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
 github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY=
@@ -609,8 +617,9 @@ github.com/kylelemons/go-gypsy v1.0.0/go.mod h1:chkXM0zjdpXOiqkCW1XcCHDfjfk14PH2
 github.com/kylelemons/godebug v1.1.0/go.mod h1:9/0rRGxNHcop5bhtWyNeEfOS8JIWk580+fNqagV/RAw=
 github.com/kyoh86/exportloopref v0.1.8/go.mod h1:1tUcJeiioIs7VWe5gcOObrux3lb66+sBqGZrRkMwPgg=
 github.com/ldez/gomoddirectives v0.2.1/go.mod h1:sGicqkRgBOg//JfpXwkB9Hj0X5RyJ7mlACM5B9f6Me4=
-github.com/leodido/go-urn v1.2.0 h1:hpXL4XnriNwQ/ABnpepYM/1vCLWNDfUNts8dX3xTG6Y=
 github.com/leodido/go-urn v1.2.0/go.mod h1:+8+nEpDfqqsY+g338gtMEUOtuK+4dEMhiQEgxpxOKII=
+github.com/leodido/go-urn v1.2.4 h1:XlAE/cm/ms7TE/VMVoduSpNBoyc2dOxHs5MZSwAN63Q=
+github.com/leodido/go-urn v1.2.4/go.mod h1:7ZrI8mTSeBSHl/UaRyKQW1qZeMgak41ANeCNaVckg+4=
 github.com/lestrrat-go/backoff/v2 v2.0.8 h1:oNb5E5isby2kiro9AgdHLv5N5tint1AnDVVf2E2un5A=
 github.com/lestrrat-go/backoff/v2 v2.0.8/go.mod h1:rHP/q/r9aT27n24JQLa7JhSQZCKBBOiM/uP402WwN8Y=
 github.com/lestrrat-go/blackmagic v1.0.2 h1:Cg2gVSc9h7sz9NOByczrbUvLopQmXrfFx//N+AkAr5k=
@@ -707,8 +716,9 @@ github.com/modern-go/concurrent v0.0.0-20180228061459-e0a39a4cb421/go.mod h1:6dJ
 github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd h1:TRLaZ9cD/w8PVh93nsPXa1VrQ6jlwL5oN8l14QlcNfg=
 github.com/modern-go/concurrent v0.0.0-20180306012644-bacd9c7ef1dd/go.mod h1:6dJC0mAP4ikYIbvyc7fijjWJddQyLn8Ig3JB5CqoB9Q=
 github.com/modern-go/reflect2 v0.0.0-20180701023420-4b7aa43c6742/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
-github.com/modern-go/reflect2 v1.0.1 h1:9f412s+6RmYXLWZSEzVVgPGK7C2PphHj5RJrvfx9AWI=
 github.com/modern-go/reflect2 v1.0.1/go.mod h1:bx2lNnkwVCuqBIxFjflWJWanXIb3RllmbCylyMrvgv0=
+github.com/modern-go/reflect2 v1.0.2 h1:xBagoLtFs94CBntxluKeaWgTMpvLxC4ur3nMaC9Gz0M=
+github.com/modern-go/reflect2 v1.0.2/go.mod h1:yWuevngMOJpCy52FWWMvUC8ws7m/LJsjYzDa0/r8luk=
 github.com/mohae/deepcopy v0.0.0-20170929034955-c48cc78d4826/go.mod h1:TaXosZuwdSHYgviHp1DAtfrULt5eUgsSMsZf+YrPgl8=
 github.com/montanaflynn/stats v0.0.0-20171201202039-1bf9dbcd8cbe/go.mod h1:wL8QJuTMNUDYhXwkmfOly8iTdp5TEcJFWZD2D7SIkUc=
 github.com/montanaflynn/stats v0.7.0 h1:r3y12KyNxj/Sb/iOE46ws+3mS1+MZca1wlHQFPsY/JU=
@@ -837,6 +847,7 @@ github.com/pion/turn/v2 v2.1.3 h1:pYxTVWG2gpC97opdRc5IGsQ1lJ9O/IlNhkzj7MMrGAA=
 github.com/pion/turn/v2 v2.1.3/go.mod h1:huEpByKKHix2/b9kmTAM3YoX6MKP+/D//0ClgUYR2fY=
 github.com/pion/webrtc/v3 v3.2.36 h1:RM/miAv0M4TrhhS7h2mcZXt44K68WmpVDkUOgz2l2l8=
 github.com/pion/webrtc/v3 v3.2.36/go.mod h1:wWQz1PuKNSNK4VrJJNpPN3vZmKEi4zA6i2ynaQOlxIU=
+github.com/pkg/diff v0.0.0-20210226163009-20ebb0f2a09e/go.mod h1:pJLUxLENpZxwdsKMEsNbx1VGcRFpLqf3715MtcvvzbA=
 github.com/pkg/errors v0.8.0/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pkg/errors v0.8.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
@@ -898,6 +909,9 @@ github.com/rogpeppe/fastuuid v0.0.0-20150106093220-6724a57986af/go.mod h1:XWv6So
 github.com/rogpeppe/fastuuid v1.2.0/go.mod h1:jVj6XXZzXRy/MSR5jhDC/2q6DgLz+nrA6LYCDYWNEvQ=
 github.com/rogpeppe/go-internal v1.3.0/go.mod h1:M8bDsm7K2OlrFYOpmOWEs/qY81heoFRclV5y23lUDJ4=
 github.com/rogpeppe/go-internal v1.6.2/go.mod h1:xXDCJY+GAPziupqXw64V24skbSoqbTEfhy4qGm1nDQc=
+github.com/rogpeppe/go-internal v1.9.0/go.mod h1:WtVeX8xhTBvf0smdhujwtBcq4Qrzq/fJaraNFVN+nFs=
+github.com/rogpeppe/go-internal v1.10.0 h1:TMyTOH3F/DB16zRVcYyreMH6GnZZrwQVAoYjRBZyWFQ=
+github.com/rogpeppe/go-internal v1.10.0/go.mod h1:UQnix2H7Ngw/k4C5ijL5+65zddjncjaFoBhdsK/akog=
 github.com/rs/cors v1.7.0/go.mod h1:gFx+x8UowdsKA9AchylcLynDq+nNFfI8FkUZdN/jGCU=
 github.com/rs/cors v1.9.0 h1:l9HGsTsHJcvW14Nk7J9KFz8bzeAWXn3CG6bgt7LsrAE=
 github.com/rs/cors v1.9.0/go.mod h1:XyqrcTp5zjWr1wsJ8PIRZssZ8b/WMcMf71DJnit4EMU=
@@ -1004,11 +1018,11 @@ github.com/u2takey/ffmpeg-go v0.4.1 h1:l5ClIwL3N2LaH1zF3xivb3kP2HW95eyG5xhHE1JdZ
 github.com/u2takey/ffmpeg-go v0.4.1/go.mod h1:ruZWkvC1FEiUNjmROowOAps3ZcWxEiOpFoHCvk97kGc=
 github.com/u2takey/go-utils v0.3.1 h1:TaQTgmEZZeDHQFYfd+AdUT1cT4QJgJn/XVPELhHw4ys=
 github.com/u2takey/go-utils v0.3.1/go.mod h1:6e+v5vEZ/6gu12w/DC2ixZdZtCrNokVxD0JUklcqdCs=
-github.com/ugorji/go v1.1.7 h1:/68gy2h+1mWMrwZFeD1kQialdSzAb432dtpeJ42ovdo=
 github.com/ugorji/go v1.1.7/go.mod h1:kZn38zHttfInRq0xu/PH0az30d+z6vm202qpg1oXVMw=
 github.com/ugorji/go/codec v0.0.0-20181204163529-d75b2dcb6bc8/go.mod h1:VFNgLljTbGfSG7qAOspJ7OScBnGdDN/yBr0sguwnwf0=
-github.com/ugorji/go/codec v1.1.7 h1:2SvQaVZ1ouYrrKKwoSk2pzd4A9evlKJb9oTL+OaLUSs=
 github.com/ugorji/go/codec v1.1.7/go.mod h1:Ax+UKWsSmolVDwsd+7N3ZtXu+yMGCf907BLYF3GoBXY=
+github.com/ugorji/go/codec v1.2.11 h1:BMaWp1Bb6fHwEtbplGBGJ498wD+LKlNSl25MjdZY4dU=
+github.com/ugorji/go/codec v1.2.11/go.mod h1:UNopzCgEMSXjBc6AOMqYvWC1ktqTAfzJZUZgYf6w6lg=
 github.com/ultraware/funlen v0.0.3/go.mod h1:Dp4UiAus7Wdb9KUZsYWZEWiRzGuM2kXM1lPbfaF6xhA=
 github.com/ultraware/whitespace v0.0.4/go.mod h1:aVMh/gQve5Maj9hQ/hg+F75lr/X5A89uZnzAmWSineA=
 github.com/urfave/cli v1.20.0/go.mod h1:70zkFmudgCuE/ngEzBv17Jvp/497gISqfk5gWijbERA=
@@ -1109,14 +1123,13 @@ go.viam.com/utils v0.1.79 h1:rLxMPuJifGaDqQgGsfgzy60dMz6P44n5oEBbLEdggaM=
 go.viam.com/utils v0.1.79/go.mod h1:3xcBBlLsRX2eWpWuQrFJ7UVxsgXwJg8Fx30Rt/kp52g=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p+YeDxmZWg141nRm7XC8IDmhz7lk5GpadO1Sg=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
-gocv.io/x/gocv v0.36.1 h1:6XkEaPOk7h/umjy+MXgSEtSeCIgcPJhccUjrJFhjdTY=
-gocv.io/x/gocv v0.36.1/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
 gocv.io/x/gocv v0.37.0 h1:sISHvnApErjoJodz1Dxb8UAkFdITOB3vXGslbVu6Knk=
 gocv.io/x/gocv v0.37.0/go.mod h1:lmS802zoQmnNvXETpmGriBqWrENPei2GxYx5KUxJsMA=
 goji.io v2.0.2+incompatible h1:uIssv/elbKRLznFUy3Xj4+2Mz/qKhek/9aZQDUMae7c=
 goji.io v2.0.2+incompatible/go.mod h1:sbqFwrtqZACxLBTQcdgVjFh54yGVCvwq8+w49MVMMIk=
-golang.org/x/arch v0.0.0-20210923205945-b76863e36670 h1:18EFjUmQOcUvxNYSkA6jO9VAiXCnxFY6NyDX0bHDmkU=
 golang.org/x/arch v0.0.0-20210923205945-b76863e36670/go.mod h1:5om86z9Hs0C8fWVUuoMHwpExlXzs5Tkyp9hOrfG7pp8=
+golang.org/x/arch v0.3.0 h1:02VY4/ZcO/gBOH6PUaoiptASxtXU10jazRCP865E97k=
+golang.org/x/arch v0.3.0/go.mod h1:5om86z9Hs0C8fWVUuoMHwpExlXzs5Tkyp9hOrfG7pp8=
 golang.org/x/crypto v0.0.0-20180501155221-613d6eafa307/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/crypto v0.0.0-20180904163835-0709b304e793/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
 golang.org/x/crypto v0.0.0-20181029021203-45a5f77698d3/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4=
@@ -1332,6 +1345,7 @@ golang.org/x/sys v0.0.0-20210615035016-665e8c7367d1/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20210809222454-d867a43fc93e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20211025201205-69cdffdb9359/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220520151302-bc2c85ada10a/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
+golang.org/x/sys v0.0.0-20220704084225-05e143d24a9e/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220722155257-8c9f86f7a55f/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.0.0-20220908164124-27713097b956/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.1.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=

From 8c59c2b238f00f61ae27b8358b0a33217e1d022f Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Tue, 16 Jul 2024 17:00:32 -0400
Subject: [PATCH 48/56] trying make lint

---
 .github/workflows/test.yml | 27 +++++++++++++++++++++++++++
 Makefile                   |  8 ++++++++
 go.mod                     |  2 +-
 3 files changed, 36 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/test.yml

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 0000000..4ce75cc
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,27 @@
+name: Run lint & unit tests
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build:
+    name: "Run unit tests"
+    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+    container:
+      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+      options: --platform linux/arm64
+
+    steps:
+    - uses: actions/checkout@v4
+
+
+
+    - name: Run lint
+      run: |
+        make lint
+
+    - name: Run unit tests
+      run: make test
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 9b8e911..5b411fa 100644
--- a/Makefile
+++ b/Makefile
@@ -73,3 +73,11 @@ docker-amd64-ci:
 test:
 	go test ./oceanprefilter
 
+
+# Docker image and container details
+DOCKER_IMAGE := ghcr.io/viamrobotics/ocean-prefilter:arm64
+
+# Lint rule
+lint:
+	golangci-lint run
+
diff --git a/go.mod b/go.mod
index f56ac57..a1363ce 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/viamrobotics/ocean-prefilter
 
-go 1.21
+go 1.21.7
 
 toolchain go1.21.12
 

From 4e6daa28a7925fc1816aaf85d665c979d5c20d18 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Thu, 18 Jul 2024 14:02:37 -0400
Subject: [PATCH 49/56] added timeout to lint

---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index 5b411fa..709cead 100644
--- a/Makefile
+++ b/Makefile
@@ -79,5 +79,5 @@ DOCKER_IMAGE := ghcr.io/viamrobotics/ocean-prefilter:arm64
 
 # Lint rule
 lint:
-	golangci-lint run
+	golangci-lint run --timeout 10m
 

From 50f9fad386619a0d4b1994e46f58a506e048998b Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Thu, 18 Jul 2024 14:32:07 -0400
Subject: [PATCH 50/56] trying to fix VCS error

---
 .github/workflows/golangci-lint.yml | 68 ++++++++++++++---------------
 Makefile                            |  3 +-
 2 files changed, 36 insertions(+), 35 deletions(-)

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
index 2ab7e67..5103bd1 100644
--- a/.github/workflows/golangci-lint.yml
+++ b/.github/workflows/golangci-lint.yml
@@ -1,38 +1,38 @@
-name: golangci-lint
+# name: golangci-lint
 
-concurrency: 
-  group: ${{ github.workflow }}-${{ github.ref }}
+# concurrency: 
+#   group: ${{ github.workflow }}-${{ github.ref }}
 
-on:
-  push:
-    branches:
-      - main
-      - master
-  pull_request: 
-    branches: 
-      - main
+# on:
+#   push:
+#     branches:
+#       - main
+#       - master
+#   pull_request: 
+#     branches: 
+#       - main
 
-permissions:
-  contents: read
-  # Optional: allow read access to pull request. Use with `only-new-issues` option.
-  pull-requests: read
+# permissions:
+#   contents: read
+#   # Optional: allow read access to pull request. Use with `only-new-issues` option.
+#   pull-requests: read
 
-jobs:
-  golangci:
-    name: lint for linux/arm64
-    runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
-    container:
-      image: ghcr.io/viamrobotics/ocean-prefilter:arm64
-      options: --platform linux/arm64
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          buildvcs: false
-      - uses: actions/setup-go@v5
-        with:
-          go-version: 1.15
-      - name: golangci-lint
-        uses: golangci/golangci-lint-action@v6
-        with:
-          version: v1.59
-          args: --timeout 10m
+# jobs:
+#   golangci:
+#     name: lint for linux/arm64
+#     runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
+#     container:
+#       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
+#       options: --platform linux/arm64
+#     steps:
+#       - uses: actions/checkout@v4
+#         with:
+#           buildvcs: false
+#       - uses: actions/setup-go@v5
+#         with:
+#           go-version: 1.15
+#       - name: golangci-lint
+#         uses: golangci/golangci-lint-action@v6
+#         with:
+#           version: v1.59
+#           args: --timeout 10m
diff --git a/Makefile b/Makefile
index 709cead..599fb2e 100644
--- a/Makefile
+++ b/Makefile
@@ -79,5 +79,6 @@ DOCKER_IMAGE := ghcr.io/viamrobotics/ocean-prefilter:arm64
 
 # Lint rule
 lint:
-	golangci-lint run --timeout 10m
+	GOFLAGS="-buildvcs=false" golangci-lint run --timeout 10m ./
+
 

From bbe55a2c5feaa3744c8746e740a50ffebab0a96b Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Thu, 18 Jul 2024 14:47:18 -0400
Subject: [PATCH 51/56] go mod tidy

---
 go.mod | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/go.mod b/go.mod
index a1363ce..0784476 100644
--- a/go.mod
+++ b/go.mod
@@ -7,6 +7,7 @@ toolchain go1.21.12
 require (
 	github.com/pkg/errors v0.9.1
 	go.viam.com/rdk v0.28.0
+	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.79
 	gocv.io/x/gocv v0.37.0
 )
@@ -134,7 +135,6 @@ require (
 	go.uber.org/multierr v1.11.0 // indirect
 	go.uber.org/zap v1.24.0 // indirect
 	go.viam.com/api v0.1.302 // indirect
-	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect
 	golang.org/x/arch v0.3.0 // indirect
 	golang.org/x/crypto v0.23.0 // indirect
 	golang.org/x/exp v0.0.0-20230725012225-302865e7556b // indirect

From 13a93abaf0343951d1e7ecd44d454284bcff7d51 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Thu, 18 Jul 2024 15:41:26 -0400
Subject: [PATCH 52/56] fixing go version

---
 .github/workflows/golangci-lint.yml | 38 -----------------------------
 .github/workflows/test.yml          |  5 ++++
 2 files changed, 5 insertions(+), 38 deletions(-)
 delete mode 100644 .github/workflows/golangci-lint.yml

diff --git a/.github/workflows/golangci-lint.yml b/.github/workflows/golangci-lint.yml
deleted file mode 100644
index 5103bd1..0000000
--- a/.github/workflows/golangci-lint.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-# name: golangci-lint
-
-# concurrency: 
-#   group: ${{ github.workflow }}-${{ github.ref }}
-
-# on:
-#   push:
-#     branches:
-#       - main
-#       - master
-#   pull_request: 
-#     branches: 
-#       - main
-
-# permissions:
-#   contents: read
-#   # Optional: allow read access to pull request. Use with `only-new-issues` option.
-#   pull-requests: read
-
-# jobs:
-#   golangci:
-#     name: lint for linux/arm64
-#     runs-on: [buildjet-2vcpu-ubuntu-2204-arm]
-#     container:
-#       image: ghcr.io/viamrobotics/ocean-prefilter:arm64
-#       options: --platform linux/arm64
-#     steps:
-#       - uses: actions/checkout@v4
-#         with:
-#           buildvcs: false
-#       - uses: actions/setup-go@v5
-#         with:
-#           go-version: 1.15
-#       - name: golangci-lint
-#         uses: golangci/golangci-lint-action@v6
-#         with:
-#           version: v1.59
-#           args: --timeout 10m
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 4ce75cc..a430208 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -17,6 +17,11 @@ jobs:
     steps:
     - uses: actions/checkout@v4
 
+    - name: Set up Go
+      uses: actions/setup-go@v4
+      with:
+        go-version: '1.21'
+
 
 
     - name: Run lint

From 361b606c3df29dd6a64986f394c537044f564555 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 19 Jul 2024 10:37:11 -0400
Subject: [PATCH 53/56] testing make lint

---
 Makefile | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Makefile b/Makefile
index 599fb2e..2ce6783 100644
--- a/Makefile
+++ b/Makefile
@@ -70,8 +70,8 @@ docker-amd64-ci:
 	$(BUILD_CMD)
 
 # Test target for running Go tests
-test:
-	go test ./oceanprefilter
+# test:
+# 	go test ./oceanprefilter
 
 
 # Docker image and container details

From c1ac4ccf5e52cfd37433c61e270b6e3a133d2841 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 19 Jul 2024 10:38:42 -0400
Subject: [PATCH 54/56] testing make lint without make test

---
 .github/workflows/test.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index a430208..d9cbd61 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -25,8 +25,7 @@ jobs:
 
 
     - name: Run lint
-      run: |
-        make lint
+      run: make lint
 
-    - name: Run unit tests
-      run: make test
\ No newline at end of file
+    # - name: Run unit tests
+    #   run: make test
\ No newline at end of file

From 75d59d845767c7483414dd98343840b11f674891 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 19 Jul 2024 12:19:08 -0400
Subject: [PATCH 55/56] adding make test back in

---
 .github/workflows/test.yml | 4 ++--
 Makefile                   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index d9cbd61..de651b9 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -27,5 +27,5 @@ jobs:
     - name: Run lint
       run: make lint
 
-    # - name: Run unit tests
-    #   run: make test
\ No newline at end of file
+    - name: Run unit tests
+      run: make test
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 2ce6783..599fb2e 100644
--- a/Makefile
+++ b/Makefile
@@ -70,8 +70,8 @@ docker-amd64-ci:
 	$(BUILD_CMD)
 
 # Test target for running Go tests
-# test:
-# 	go test ./oceanprefilter
+test:
+	go test ./oceanprefilter
 
 
 # Docker image and container details

From e6baa645c553de0f73483d32299632b795b61d08 Mon Sep 17 00:00:00 2001
From: dhritinaidu <dhritinaidu36@gmail.com>
Date: Fri, 19 Jul 2024 13:49:39 -0400
Subject: [PATCH 56/56] added path to make test

---
 Makefile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Makefile b/Makefile
index 599fb2e..2ccc85f 100644
--- a/Makefile
+++ b/Makefile
@@ -71,7 +71,7 @@ docker-amd64-ci:
 
 # Test target for running Go tests
 test:
-	go test ./oceanprefilter
+	LD_LIBRARY_PATH=/usr/local/lib:/usr/lib go test ./oceanprefilter
 
 
 # Docker image and container details