wip

internal/testhelper/testhelper.go

@@ -134,7 +134,7 @@ const (
 func CreateTempFolderArchitecture(logger golog.Logger) (string, error) {
 	tmpDir, err := os.MkdirTemp("", "*")
 	if err != nil {
-		return "nil", err
+		return "", err
 	}
 	if err := vcConfig.SetupDirectories(tmpDir, logger); err != nil {
 		return "", err

viam-cartographer.go

@@ -167,9 +167,6 @@ func New(
 
 	// Set up the data directories
 	// TODO: Figure out how to not do this if v2 is enabled
-	if err := vcConfig.SetupDirectories(svcConfig.DataDirectory, logger); err != nil {
-		return nil, err
-	}
 
 	port, dataRateMsec, mapRateSec, useLiveData, deleteProcessedData, modularizationV2Enabled, err := vcConfig.GetOptionalParameters(
 		svcConfig,
@@ -178,10 +175,17 @@ func New(
 		defaultMapRateSec,
 		logger,
 	)
+
 	if err != nil {
 		return nil, err
 	}
 
+	if !modularizationV2Enabled {
+		if err := vcConfig.SetupDirectories(svcConfig.DataDirectory, logger); err != nil {
+			return nil, err
+		}
+	}
+
 	// Get the lidar for the Dim2D cartographer sub algorithm
 	lidar, err := dim2d.NewLidar(ctx, deps, svcConfig.Sensors, logger)
 	if err != nil {
@@ -335,8 +339,10 @@ func parseCartoAlgoConfig(configParams map[string]string, logger golog.Logger) (
 				return cartoAlgoCfg, err
 			}
 			cartoAlgoCfg.RotationWeight = fVal
+			// ignore mode as it is a special case
+		case "mode":
 		default:
-			logger.Warn("unused config param: %s: %s", k, val)
+			logger.Warnf("unused config param: %s: %s", k, val)
 		}
 	}
 	return cartoAlgoCfg, nil

viam-cartographer_internal_test.go

@@ -484,3 +484,4 @@ func TestParseCartoAlgoConfig(t *testing.T) {
 		test.That(t, cartoAlgoConfig, test.ShouldResemble, defaultCartoAlgoCfg)
 	})
 }
+