Peripherals: Fix missing include

Co-authored-by: Erki <erki@skullnet.me>
Reviewed-on: #4

.clang-format

@@ -17,7 +17,7 @@ AlwaysBreakAfterReturnType: None
 AlwaysBreakTemplateDeclarations: Yes
 BreakBeforeBraces: Custom
 BraceWrapping:
-  AfterCaseLabel: false
+  AfterCaseLabel: true
   AfterClass: true
   AfterControlStatement: Always
   AfterEnum: true
@@ -25,8 +25,8 @@ BraceWrapping:
   AfterNamespace: true
   AfterUnion: true
   AfterStruct: true
-  BeforeCatch: false
+  BeforeCatch: true
-  BeforeElse: false
+  BeforeElse: true
   IndentBraces: false
   SplitEmptyFunction: false
   SplitEmptyRecord: true

.drone.yml

@@ -1,29 +0,0 @@
-kind: pipeline
-type: docker
-name: default
-
-steps:
-  - name: build and test
-    pull: never
-    image: erki/cpp-ubuntu:latest
-    commands:
-      - mkdir -p build
-      - cd build
-      - conan install .. --build=missing
-      - cmake .. -G "Ninja" -DCMAKE_BUILD_TYPE=Release -DWITH_TESTS=ON
-      - ninja
-      - ctest . --output-on-failure
-  - name: notify
-    image: plugins/matrix
-    settings:
-      homeserver:
-        from_secret: matrix_homeserver
-      roomid:
-        from_secret: matrix_roomid
-      username:
-        from_secret: matrix_username
-      password:
-        from_secret: matrix_password
-    when:
-      status:
-      - failure

.gitea/workflows/ci.yml

@@ -0,0 +1,41 @@
+name: CI & Unit Tests
+run-name: CI & Unit Tests
+on: [push, pull_request]
+
+jobs:
+  Unit-Tests:
+    runs-on: fedora-cpp
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Configure build
+        working-directory: ${{runner.workspace}}
+        run: |
+          cmake . -B${{runner.workspace}}/build \
+                -G"Ninja" \
+                -DCMAKE_BUILD_TYPE=Release \
+                -DSKULLC_WITH_TESTS=ON
+      
+      - name: Build tests + lib
+        working-directory: ${{runner.workspace}}/build
+        run: ninja
+
+      - name: Run tests
+        working-directory: ${{runner.workspace}}/build
+        run: ctest . --output-on-failure
+  Docs:
+      runs-on: fedora-cpp
+      steps:
+        - uses: actions/checkout@v3
+
+        - name: Configure build
+          working-directory: ${{runner.workspace}}
+          run: |
+            cmake . -B${{runner.workspace}}/build \
+                -G"Ninja" \
+                -DCMAKE_BUILD_TYPE=Release \
+                -DSKULLC_WITH_DOCS=ON
+
+        - name: Build docs
+          working-directory: ${{runner.workspace}}/build
+          run: ninja Sphinx

CMakeLists.txt

@@ -1,22 +1,22 @@
 cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
 
-set(version 0.1.0)
+set(SKULLC_VERSION 0.1.0)
 
 project(skullc
-        VERSION ${version}
+        VERSION ${SKULLC_VERSION}
         LANGUAGES
             C
             CXX
 )
 
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_BINARY_DIR})
+#list(APPEND CMAKE_MODULE_PATH ${CMAKE_BINARY_DIR})
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/)
 
-set(CMAKE_CXX_STANDARD 17)
+option(SKULLC_WITH_TESTS "Enable unit testing." OFF)
-list(APPEND CMAKE_CXX_FLAGS "-Wall -Wextra")
+option(SKULLC_WITH_HAL "Enable the compiling and deployment of the HAL dependent sections." OFF)
-
+option(SKULLC_USE_HAL_ST "Enable the ST HAl when SKULLC_WITH_HAL is enabled." OFF)
-option(WITH_TESTS "Enable unit testing." OFF)
+option(SKULLC_USE_HAL_ESP "Enable the ESP HAL when SKULLC_WITH_HAL is enabled." OFF)
-option(WITH_HAL "Enable the compiling and deployment of the HAL dependent sections." OFF)
+option(SKULLC_WITH_DOCS "Enable documentation building." OFF)
 
 include(skullc-install)
 
@@ -24,11 +24,15 @@ add_subdirectory(Peripherals)
 add_subdirectory(Utility)
 add_subdirectory(Messaging)
 
-if(WITH_TESTS)
+if(SKULLC_WITH_TESTS)
     enable_testing()
     add_subdirectory(Tests)
 endif()
 
+if(SKULLC_WITH_DOCS)
+    add_subdirectory(Docs)
+endif()
+
 ## Install
 
 configure_file(skullc-config.cmake

Docs/CMakeLists.txt

@@ -0,0 +1,53 @@
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+file(GLOB_RECURSE SKULLC_PUBLIC_HEADERS
+        ${PROJECT_SOURCE_DIR}/Messaging/Inc/*
+        ${PROJECT_SOURCE_DIR}/Threads/Inc/*
+        ${PROJECT_SOURCE_DIR}/Utility/Inc/*
+        ${PROJECT_SOURCE_DIR}/Peripherals/Inc/*
+)
+
+set(DOXYGEN_INPUT_DIRS "${PROJECT_SOURCE_DIR}/Messaging/Inc ${PROJECT_SOURCE_DIR}/Threads/Inc ${PROJECT_SOURCE_DIR}/Utility/Inc ${PROJECT_SOURCE_DIR}/Peripherals/Inc")
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/docs/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR}) #Doxygen won't create this for us
+add_custom_command(OUTPUT ${DOXYGEN_INDEX_FILE}
+        DEPENDS ${SKULLC_PUBLIC_HEADERS}
+        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+        MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+        COMMENT "Generating docs"
+)
+
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+file(GLOB SPHINX_RST_FILES ${SPHINX_SOURCE}/*.rst)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(OUTPUT ${SPHINX_INDEX_FILE}
+        COMMAND
+        ${SPHINX_EXECUTABLE} -b html
+        # Tell Breathe where to find the Doxygen output
+        -Dbreathe_projects.SkullCPeripheralsLibrary=${DOXYGEN_OUTPUT_DIR}/xml
+        ${SPHINX_SOURCE} ${SPHINX_BUILD}
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        DEPENDS
+        # Other docs files you want to track should go here (or in some variable)
+        ${SPHINX_RST_FILES}
+        ${DOXYGEN_INDEX_FILE}
+        MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+        COMMENT "Generating documentation with Sphinx")
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})

Docs/Doxyfile.in

@@ -0,0 +1,11 @@
+// Every other setting ends up being default.
+
+GENERATE_XML = YES
+GENERATE_HTML = YES
+
+JAVADOC_AUTOBRIEF = YES
+
+INPUT = @DOXYGEN_INPUT_DIRS@
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"

Docs/conf.py

@@ -0,0 +1,31 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = 'SkullC Peripherals Library'
+copyright = '2023, Rusted Skull'
+author = 'Rusted Skull'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [ "breathe" ]
+
+templates_path = ['_templates']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = 'classic'
+html_static_path = ['_static']
+
+# -- Breathe Configuration"
+breathe_default_project = "SkullCPeripheralsLibrary"
+

Docs/index.rst

@@ -0,0 +1,23 @@
+.. SkullC Peripherals Library documentation master file, created by
+   sphinx-quickstart on Thu Dec 28 23:16:21 2023.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Welcome to SkullC Peripherals Library's documentation!
+======================================================
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   utility
+   peripherals
+   threads
+   messaging
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

Docs/messaging.rst

@@ -0,0 +1,17 @@
+
+Messaging Library
+=================
+
+A small Packet and Parser implementation for framing random message structures on the wire.
+
+Use the :cpp:struct:`Packet` to copy in various data. Then send the serialized version of the packet
+onto the wire.
+
+:cpp:class:`Messaging::Parser` will help you put bytes coming in from the wire into coherent packets, and will serve you
+these packets as you're ready for them.
+
+.. doxygennamespace:: Messaging
+   :project: SkullCPeripheralsLibrary
+   :content-only:
+   :members:
+   :undoc-members:

Docs/peripherals.rst

@@ -0,0 +1,9 @@
+
+Peripherals Library
+=================
+
+.. doxygennamespace:: Peripherals
+   :project: SkullCPeripheralsLibrary
+   :content-only:
+   :members:
+   :undoc-members:

Docs/threads.rst

@@ -0,0 +1,9 @@
+
+Threads Library
+=================
+
+.. doxygennamespace:: Threads
+   :project: SkullCPeripheralsLibrary
+   :content-only:
+   :members:
+   :undoc-members:

Docs/utility.rst

@@ -0,0 +1,9 @@
+
+Utility Library
+=================
+
+.. doxygennamespace:: Utility
+   :project: SkullCPeripheralsLibrary
+   :content-only:
+   :members:
+   :undoc-members:

Messaging/CMakeLists.txt

@@ -10,4 +10,4 @@ target_include_directories(messaging
         $<INSTALL_INTERFACE:include>
 )
 
-skullc_install_packages(skullc messaging ${version})
+skullc_install_packages(skullc messaging ${SKULLC_VERSION})

Peripherals/CMakeLists.txt

@@ -11,4 +11,4 @@ target_include_directories(peripherals
 )
 
 ## INSTALL
-skullc_install_packages(skullc peripherals ${version})
+skullc_install_packages(skullc peripherals ${SKULLC_VERSION})

Peripherals/Inc/peripherals_button.hpp

@@ -42,19 +42,24 @@ public:
     const bool is_pressed = sw.read();
     ButtonPress new_state = ButtonPress::NOT_PRESSED;
 
+    const std::uint32_t time_held = hal::getMillis() - time_pressed_down_;
+
     if (is_pressed && !was_pressed_)
     {
       time_pressed_down_ = hal::getMillis();
-    } else if (!is_pressed && was_pressed_)
+    }
+    else if (!is_pressed && was_pressed_)
     {
-      const std::uint32_t time_held = hal::getMillis() - time_pressed_down_;
+      if (time_held > TIMEOUT_SHORT_PRESS && time_held <= TIMEOUT_LONG_PRESS)
-      if (time_held > TIMEOUT_LONG_PRESS)
-        new_state = ButtonPress::LONG_PRESS;
-      else if (time_held > TIMEOUT_SHORT_PRESS)
         new_state = ButtonPress::SHORT_PRESS;
 
       time_pressed_down_ = 0;
     }
+    else if (is_pressed && was_pressed_)
+    {
+      if (current_state_ == ButtonPress::NOT_PRESSED && time_held > TIMEOUT_LONG_PRESS)
+        new_state = ButtonPress::LONG_PRESS;
+    }
 
     was_pressed_ = is_pressed;
     current_state_ = new_state;

Peripherals/Inc/peripherals_hal_concepts.hpp

@@ -0,0 +1,37 @@
+//
+// Created by erki on 11/02/24.
+//
+
+#pragma once
+
+#include <array>
+#include <concepts>
+#include <cstdint>
+
+namespace Peripherals::Hal
+{
+
+template<typename T>
+concept Gpio = requires (T t, const T ct) {
+  t.set(true);
+  t.toggle();
+  { ct.read() } -> std::same_as<bool>;
+};
+
+template<typename T>
+concept SerialInterface = requires (T t, std::uint8_t* data, const std::uint32_t len) {
+  { t.transmit(data, len) } -> std::same_as<bool>;
+  { t.transmit(std::array<std::uint8_t, 10>{}) } -> std::same_as<bool>;
+  { t.receive(data, len) } -> std::same_as<bool>;
+  { t.receive(std::array<std::uint8_t, 10>{}) } -> std::same_as<bool>;
+};
+
+template<typename T, typename RegName>
+concept RegisterInterface = requires (T t, RegName reg, std::uint8_t* data, const std::uint32_t len) {
+  t.writerRegister(reg, std::uint8_t{});
+  t.writeRegisterMultibyte(reg, data, len);
+  { t.readRegister(reg, std::uint32_t{}) } -> std::same_as<std::uint8_t>;
+  t.readRegisterMultibyte(reg, data, len, std::uint32_t{});
+};
+
+}

Peripherals/Inc/peripherals_hal_esp.hpp

@@ -0,0 +1,51 @@
+//
+// Created by erki on 11/02/24.
+//
+
+#pragma once
+
+#ifdef SKULLC_USE_HAL_ESP
+
+#include <peripherals_hal_concepts.hpp>
+
+#include <driver/gpio.h>
+
+namespace Peripherals::Hal::Esp
+{
+
+struct Gpio
+{
+  gpio_num_t gpio;
+  const bool inverted = false;
+
+  Gpio() = delete;
+  explicit Gpio(gpio_num_t gpio, const bool inverted)
+    : gpio(gpio), inverted(inverted)
+  { }
+
+  void set(const bool& state)
+  {
+    gpio_set_level(gpio, inverted ? !state : state);
+  }
+
+  void toggle() { gpio_set_level(gpio, !gpio_get_level(gpio)); }
+
+  bool read() const
+  {
+    return inverted ? !bool(gpio_get_level(gpio)) : bool(gpio_get_level(gpio));
+  }
+};
+
+static_assert(Peripherals::Hal::Gpio<Gpio>);
+
+#define CREATE_GPIO(name) \
+  Peripherals::Hal::Esp::Gpio{name, false}
+
+#define CREATE_INV_GPIO(name) \
+  Peripherals::Hal::Esp::Gpio{name, true}
+
+}
+
+#else
+# warning "ESP HAL included without SKULLC_USE_HAL_ESP being defined."
+#endif /* SKULLC_USE_HAL_ESP */

Peripherals/Inc/peripherals_hal_st.hpp

@@ -8,9 +8,9 @@
 #ifndef SKULLC_PERIPHERALS_HAL_ST_HPP_
 #define SKULLC_PERIPHERALS_HAL_ST_HPP_
 
-#include <main.h>
+#ifdef SKULLC_USE_HAL_ST
 
-#include "peripherals_utility.hpp"
+#include <main.h>
 
 #include <array>
 
@@ -96,9 +96,15 @@ struct Gpio
 };
 
 #define CREATE_GPIO(name)               \
-  Peripherals::Hal::St::Gpio { name##_GPIO_Port, name##_Pin, false }
+  Peripherals::Hal::St::Gpio            \
+  {                                     \
+    name##_GPIO_Port, name##_Pin, false \
+  }
 #define CREATE_INV_GPIO(name)          \
-  Peripherals::Hal::St::Gpio { name##_GPIO_Port, name##_Pin, true }
+  Peripherals::Hal::St::Gpio           \
+  {                                    \
+    name##_GPIO_Port, name##_Pin, true \
+  }
 
 #endif// HAL_GPIO_MODULE_ENABLED
 
@@ -262,10 +268,30 @@ struct SpiRegisters
 
 #ifdef HAL_UART_MODULE_ENABLED
 
+namespace _Details
+{
+
+/**
+ * @hack: Temporary workarounds to make the HAL compile for FW1.27. ST made it so that only UART libraries
+ * are const-correct. The others remain unconst. So these wrappers will exist until we're no longer partially
+ * const-correct.
+ */
+inline HAL_StatusTypeDef uartTransmit(UART_HandleTypeDef* huart, std::uint8_t* data, const std::uint16_t size, const std::uint32_t timeout)
+{
+  return HAL_UART_Transmit(huart, data, size, timeout);
+}
+
+inline HAL_StatusTypeDef uartTransmitDma(UART_HandleTypeDef* huart, std::uint8_t* data, const std::uint16_t size)
+{
+  return HAL_UART_Transmit_DMA(huart, data, size);
+}
+
+}// namespace _Details
+
 using UartInterface =
-        SerialInterface<UART_HandleTypeDef, HAL_UART_Transmit, HAL_UART_Receive>;
+        SerialInterface<UART_HandleTypeDef, _Details::uartTransmit, HAL_UART_Receive>;
 using UartInterfaceDMA =
-        SerialInterfaceAsync<UART_HandleTypeDef, HAL_UART_Transmit_DMA,
+        SerialInterfaceAsync<UART_HandleTypeDef, _Details::uartTransmitDma,
                              HAL_UART_Receive_DMA>;
 
 #endif// HAL_UART_MODULE_ENABLED
@@ -319,4 +345,8 @@ struct ItmSerialInterface
 }// namespace Hal
 }// namespace Peripherals
 
+#else
+# warning "ESP HAL included without SKULLC_USE_HAL_ESP being defined."
+#endif /* SKULLC_USE_HAL_ST */
+
 #endif /* SKULLC_PERIPHERALS_HAL_ST_HPP_ */

Peripherals/Inc/peripherals_imu_icm.hpp

@@ -12,7 +12,6 @@
 #include <limits>
 
 #include "peripherals_imu.hpp"
-#include "peripherals_utility.hpp"
 
 namespace Peripherals
 {

Peripherals/Inc/peripherals_motors.hpp

@@ -54,7 +54,8 @@ public:
     {
       left_.forward.setCompare(left);
       left_.backward.setCompare(0);
-    } else
+    }
+    else
     {
       left_.forward.setCompare(0);
       left_.backward.setCompare(-1 * left);
@@ -64,7 +65,8 @@ public:
     {
       right_.forward.setCompare(right);
       right_.backward.setCompare(0);
-    } else
+    }
+    else
     {
       right_.forward.setCompare(0);
       right_.backward.setCompare(-1 * right);

Peripherals/Inc/peripherals_utility.hpp

@@ -1,72 +0,0 @@
-/*
- * peripherals_utility.hpp
- *
- *  Created on: Feb 24, 2021
- *      Author: erki
- */
-
-#ifndef SKULLC_PERIPHERALS_UTILITY_HPP_
-#define SKULLC_PERIPHERALS_UTILITY_HPP_
-
-#include <cstdint>
-#include <cstring>
-#include <type_traits>
-
-namespace Peripherals
-{
-
-#define SKULLC_CONCAT_IMPL(x, y) x##y
-#define SKULLC_CONCAT(x, y) SKULLC_CONCAT_IMPL(x, y)
-#define SKULLC_TAG struct SKULLC_CONCAT(SkullCTag_, __COUNTER__)
-
-template<typename T>
-constexpr const T& clamp(const T& v, const T& lo, const T& hi)
-{
-  if (v > hi)
-    return hi;
-  else if (v < lo)
-    return lo;
-  else
-    return v;
-}
-
-template<typename T, std::size_t N>
-T byteToTypeBE(const std::uint8_t a[N])
-{
-  T t(0);
-
-  for (std::size_t i = 0; i < N; i++)
-  {
-    t |= a[i] << (i * 8);
-  }
-
-  return t;
-}
-
-template<typename T, std::size_t N>
-T byteToTypeLE(const std::uint8_t a[N])
-{
-  T t(0);
-
-  for (std::size_t i = N; i >= 0; i--)
-  {
-    t |= a[i] << ((i - 1) * 8);
-  }
-
-  return t;
-}
-
-template<typename T>
-constexpr T zeroInitialized()
-{
-  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
-
-  T t;
-  std::memset(&t, 0, sizeof(T));
-
-  return t;
-}
-
-}// namespace Peripherals
-
-#endif /* SKULLC_PERIPHERALS_UTILITY_HPP_ */

Tests/CMakeLists.txt

@@ -1,10 +1,16 @@
 cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
 
-option(TESTS_WITH_SANITIZERS "Enable sanitizers for tests." ON)
+option(SKULLC_TESTS_WITH_SANITIZERS "Enable sanitizers for tests." ON)
 
-find_package(Catch2 REQUIRED)
+include(FetchContent)
 
-if(TESTS_WITH_SANITIZERS)
+FetchContent_Declare(Catch2
+    GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+    GIT_TAG        v2.13.8
+)
+FetchContent_MakeAvailable(Catch2)
+
+if(SKULLC_TESTS_WITH_SANITIZERS)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address -fsanitize=undefined -fno-sanitize-recover")
     set(CMAKE_LINKER_FLAGS "${CMAKE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address -fsanitize=undefined -fno-sanitize-recover")
 endif()
@@ -18,7 +24,14 @@ add_executable(tests
     rand.cpp
     fixedpoint.cpp
     pixelbuffer.cpp
-    pixelbuffer_effects.cpp function.cpp)
+    pixelbuffer_effects.cpp
+    function.cpp
+    assert_ndebug.cpp
+    assert.cpp
+    enum_helpers.cpp
+    bytes.cpp
+    filters.cpp
+)
 
 target_link_libraries(tests
     PUBLIC
@@ -28,6 +41,12 @@ target_link_libraries(tests
         Catch2::Catch2
 )
 
+set_target_properties(tests
+    PROPERTIES
+        CXX_STANDARD 17
+)
+
+list(APPEND CMAKE_MODULE_PATH ${catch2_SOURCE_DIR}/contrib)
 include(CTest)
 include(Catch)
 catch_discover_tests(tests)

Tests/assert.cpp

@@ -0,0 +1,68 @@
+//
+// Created by erki on 29.06.22.
+//
+
+#include <catch2/catch.hpp>
+
+#ifdef NDEBUG
+#undef NDEBUG
+#define NDEBUG_WAS_SET
+#endif
+
+#include "utility_assert.hpp"
+
+#ifdef NDEBUG_WAS_SET
+#define NDEBUG
+#endif
+
+namespace
+{
+
+bool assert_flag = false;
+
+void assertCallback(const char*, const char*, const int)
+{
+  assert_flag = true;
+}
+
+}// namespace
+
+TEST_CASE("Assert debug without NDEBUG gets triggered if check is false.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  SKULLC_ASSERT_DEBUG(false);
+
+  CHECK(assert_flag == true);
+}
+
+TEST_CASE("Assert debug without NDEBUG doesn't get triggered if check is true.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  SKULLC_ASSERT_DEBUG(true);
+
+  CHECK(assert_flag == false);
+}
+
+TEST_CASE("Assert safe without NDEBUG gets triggered if check is false.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  SKULLC_ASSERT_SAFE(false);
+
+  CHECK(assert_flag == true);
+}
+
+TEST_CASE("Assert safe without NDEBUG doesn't get triggered if check is true.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  SKULLC_ASSERT_SAFE(true);
+
+  CHECK(assert_flag == false);
+}

Tests/assert_ndebug.cpp

@@ -0,0 +1,62 @@
+//
+// Created by erki on 29.06.22.
+//
+
+#include <catch2/catch.hpp>
+
+#ifndef NDEBUG
+#define NDEBUG
+#define NDEBUG_WAS_NOT_DEFINED
+#endif
+
+#include "utility_assert.hpp"
+
+#ifdef NDEBUG_WAS_NOT_DEFINED
+#undef NDEBUG
+#endif
+
+namespace
+{
+
+bool assert_flag = false;
+
+void assertCallback(const char*, const char*, const int)
+{
+  assert_flag = true;
+}
+
+}// namespace
+
+TEST_CASE("Assert debug with NDEBUG is a null-opt.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  int check_number = 0;
+  SKULLC_ASSERT_DEBUG(check_number++ == 0);
+
+  CHECK(check_number == 0);
+  CHECK(assert_flag == false);
+}
+
+TEST_CASE("Assert safe with NDEBUG gets triggered if check is false.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  int check_number = 0;
+  SKULLC_ASSERT_SAFE(check_number++ == 1);
+
+  CHECK(check_number == 1);
+  CHECK(assert_flag == true);
+}
+
+TEST_CASE("Assert safe with NDEBUG doesn't get triggered if check is true.", "[utility],[assert]")
+{
+  assert_flag = false;
+  Utility::Assert::setHandler(assertCallback);
+
+  SKULLC_ASSERT_SAFE(true);
+
+  CHECK(assert_flag == false);
+}

Tests/button.cpp

@@ -109,7 +109,6 @@ TEST_CASE("Button reads presses properly.", "[peripherals],[button]")
   SECTION("Long press is identified properly.")
   {
     HAL::millis = Button::TIMEOUT_LONG_PRESS + 2;
-    Gpio::set = false;
 
     button.update();
 
@@ -121,6 +120,16 @@ TEST_CASE("Button reads presses properly.", "[peripherals],[button]")
       button.update();
 
       REQUIRE(button.getState() == Peripherals::ButtonPress::NOT_PRESSED);
+
+      SECTION("Releasing keeps NOT_PRESSED state.")
+      {
+        HAL::millis += 1;
+        Gpio::set = false;
+
+        button.update();
+
+        REQUIRE(button.getState() == Peripherals::ButtonPress::NOT_PRESSED);
+      }
     }
   }
 }

Tests/bytes.cpp

@@ -0,0 +1,68 @@
+//
+// Created by erki on 10/12/22.
+//
+
+#include <catch2/catch.hpp>
+
+#include "utility_bytes.hpp"
+
+TEST_CASE("zeroInitialized creates an appropriate struct.")
+{
+  struct TestStruct
+  {
+    int a;
+    char b;
+    int c;
+  };
+
+  SECTION("Return by value variant returns a struct where all members are 0.")
+  {
+    const TestStruct test = Utility::zeroInitialized<TestStruct>();
+    REQUIRE(test.a == 0);
+    REQUIRE(test.b == 0);
+    REQUIRE(test.c == 0);
+  }
+
+  SECTION("Pass by reference variant initializes the struct to all 0's.")
+  {
+    TestStruct test;
+    Utility::zeroInitialized(test);
+
+    REQUIRE(test.a == 0);
+    REQUIRE(test.b == 0);
+    REQUIRE(test.c == 0);
+  }
+
+  SECTION("Pass by pointer variant initializes the struct to all 0's.")
+  {
+    TestStruct test;
+    Utility::zeroInitialized(&test);
+
+    REQUIRE(test.a == 0);
+    REQUIRE(test.b == 0);
+    REQUIRE(test.c == 0);
+  }
+}
+
+TEST_CASE("arrayToType constructs a type appropriately.")
+{
+  const std::uint32_t initial_value = 0x12345678;
+
+  SECTION("Using C-arrays the operation works appropriately.")
+  {
+    std::uint8_t raw_data[4] = {0};
+    std::memcpy(raw_data, &initial_value, 4);
+
+    const std::uint32_t output = Utility::arrayToType<std::uint32_t, 4>(raw_data);
+    REQUIRE(output == initial_value);
+  }
+
+  SECTION("Using C-arrays the operation works appropriately.")
+  {
+    std::array<std::uint8_t, 4> raw_data = {0, 0, 0, 0};
+    std::memcpy(raw_data.data(), &initial_value, 4);
+
+    const std::uint32_t output = Utility::arrayToType<std::uint32_t>(raw_data);
+    REQUIRE(output == initial_value);
+  }
+}

Tests/enum_helpers.cpp

@@ -0,0 +1,41 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#include <catch2/catch.hpp>
+
+#include "utility_enum_helpers.hpp"
+
+namespace
+{
+
+enum class TestEnum : unsigned
+{
+  FLAG_0 = 1,
+  FLAG_1 = 2,
+  FLAG_2 = 4
+};
+
+SKULLC_ENUM_DECLARE_BITFLAG_OPERATORS(TestEnum)
+
+}// namespace
+
+TEST_CASE("OR operator works as expected.", "[utility],[enum_helpers]")
+{
+  const TestEnum a = TestEnum::FLAG_0;
+  const TestEnum b = TestEnum::FLAG_1;
+
+  const TestEnum sum = a | b;
+  CHECK(unsigned(sum) == 3u);
+}
+
+TEST_CASE("AND operator works as expected.", "[utility],[enum_helpers]")
+{
+  const TestEnum a = TestEnum::FLAG_0 | TestEnum::FLAG_1;
+
+  const TestEnum masked_1 = a & TestEnum::FLAG_0;
+  CHECK(masked_1 == TestEnum::FLAG_0);
+
+  const TestEnum masked_2 = a & TestEnum::FLAG_2;
+  CHECK(masked_2 != TestEnum::FLAG_2);
+}

Tests/filters.cpp

@@ -0,0 +1,191 @@
+//
+// Created by erki on 12/11/22.
+//
+
+#include <catch2/catch.hpp>
+
+#include "utility_filters.hpp"
+
+TEST_CASE("LowPassFilter works as expected.")
+{
+  const int threshold = 50;
+  Utility::LowPassFilter<int> filter{threshold};
+
+  SECTION("Initial value is 0.")
+  {
+    REQUIRE(filter.currentValue() == 0);
+  }
+
+  SECTION("Passing a number higher than threshold gets filtered.")
+  {
+    filter.update(60);
+    REQUIRE(filter.currentValue() == 0);
+
+    SECTION("Filter updates state as expected.")
+    {
+      filter.update(40);
+      REQUIRE(filter.currentValue() == 40);
+    }
+  }
+
+  SECTION("Passing a number lower than threshold passes filter.")
+  {
+    filter.update(40);
+    REQUIRE(filter.currentValue() == 40);
+
+    SECTION("Filter retains state as expected.")
+    {
+      filter.update(60);
+      REQUIRE(filter.currentValue() == 40);
+    }
+  }
+}
+
+TEST_CASE("HighPassFilter works as expected.")
+{
+  const int threshold = 50;
+  Utility::HighPassFilter<int> filter{threshold};
+
+  SECTION("Initial value is 0.")
+  {
+    REQUIRE(filter.currentValue() == 0);
+  }
+
+  SECTION("Passing a number higher than threshold passes filter.")
+  {
+    filter.update(60);
+    REQUIRE(filter.currentValue() == 60);
+
+    SECTION("Filter retains state as expected.")
+    {
+      filter.update(40);
+      REQUIRE(filter.currentValue() == 60);
+    }
+  }
+
+  SECTION("Passing a number lower than threshold gets filtered.")
+  {
+    filter.update(40);
+    REQUIRE(filter.currentValue() == 0);
+
+    SECTION("Filter updates state as expected.")
+    {
+      filter.update(60);
+      REQUIRE(filter.currentValue() == 60);
+    }
+  }
+}
+
+TEST_CASE("Two filters can be linked together.")
+{
+  const int threshold_low = 40;
+  const int threshold_high = 50;
+
+  Utility::LowPassFilter<int> low_pass{threshold_high};
+  Utility::HighPassFilter<int> high_pass{threshold_low};
+
+  high_pass.assignPrecedingFilter(low_pass);
+
+  SECTION("Initial value is 0.")
+  {
+    REQUIRE(high_pass.currentValue() == 0);
+  }
+
+  SECTION("Values outside of band are filtered out.")
+  {
+    high_pass.update(30);
+    REQUIRE(high_pass.currentValue() == 0);
+
+    high_pass.update(60);
+    REQUIRE(high_pass.currentValue() == 0);
+
+    SECTION("Filter updates with in-band value.")
+    {
+      high_pass.update(45);
+      REQUIRE(high_pass.currentValue() == 45);
+    }
+  }
+
+  SECTION("Values inside of band are passed through.")
+  {
+    high_pass.update(44);
+    REQUIRE(high_pass.currentValue() == 44);
+
+    high_pass.update(46);
+    REQUIRE(high_pass.currentValue() == 46);
+
+    SECTION("Out of band values are filtered out.")
+    {
+      high_pass.update(30);
+      REQUIRE(high_pass.currentValue() == 46);
+
+      high_pass.update(60);
+      REQUIRE(high_pass.currentValue() == 46);
+    }
+  }
+
+  SECTION("Decoupling filters works as expected.")
+  {
+    high_pass.update(60);
+    REQUIRE(high_pass.currentValue() == 0);
+
+    high_pass.clearPrecedingFilter();
+    high_pass.update(60);
+    REQUIRE(high_pass.currentValue() == 60);
+
+    high_pass.update(30);
+    REQUIRE(high_pass.currentValue() == 60);
+  }
+}
+
+TEST_CASE("Median filter works as expected.")
+{
+  Utility::MedianFilter<int, 5> filter;
+
+  SECTION("Initial value is 0.")
+  {
+    REQUIRE(filter.currentValue() == 0);
+  }
+
+  SECTION("The median is filtered appropriately.")
+  {
+    std::array<int, 5> data = {5, 1, 4, 3, 2};
+    std::array<int, 5> expected_median = {0, 0, 1, 3, 3};
+    for (int i = 0; i < 5; i++)
+    {
+      const int x = data[i];
+      filter.update(x);
+      REQUIRE(filter.currentValue() == expected_median[i]);
+    }
+  }
+}
+
+TEST_CASE("Rolling average filter works as expected.")
+{
+  Utility::RollingAverageFilter<int> filter{5};
+
+  SECTION("Initial value is 0.")
+  {
+    REQUIRE(filter.currentValue() == 0);
+  }
+
+  SECTION("Value below step size is filtered out for int filter.")
+  {
+    filter.update(4);
+    REQUIRE(filter.currentValue() == 0);
+  }
+
+  SECTION("Value is updated appropriately.")
+  {
+    filter.update(20);
+    REQUIRE(filter.currentValue() == 20 / 5);
+
+    SECTION("Saturation is reached appropriately")
+    {
+      for (int i = 0; i < 5 * 2 - 1; i++)
+        filter.update(20);
+
+      REQUIRE(filter.currentValue() == 20);
+    }
+  }
+}

Tests/function.cpp

@@ -5,6 +5,7 @@
 #include <catch2/catch.hpp>
 
 #include <utility_function.hpp>
+#include <utility_tag.hpp>
 
 TEST_CASE("Function calls function appropriately.", "[utility],[function]")
 {
@@ -38,6 +39,26 @@ TEST_CASE("Function passes arguments appropriately.", "[utility],[function]")
   REQUIRE(bool_to_set == true);
 }
 
+TEST_CASE("Function works with toStaticFunction.", "[utility],[function]")
+{
+  static int int_to_set = 0;
+  static bool bool_to_set = false;
+
+  auto func_to_call = [](const int i, const bool b) {
+    int_to_set = i;
+    bool_to_set = b;
+  };
+
+  Utility::Function<void(int, bool)> function(func_to_call);
+  using signature = void (*)(int, bool);
+
+  signature func_pointer = function.toStaticFunction<SKULLC_TAG>();
+  func_pointer(10, true);
+
+  REQUIRE(int_to_set == 10);
+  REQUIRE(bool_to_set == true);
+}
+
 TEST_CASE("FunctionOwned calls function appropriately.", "[utility],[function]")
 {
   struct S
@@ -82,3 +103,29 @@ TEST_CASE("FunctionOwned passes arguments appropriately.", "[utility],[function]
   REQUIRE(subject.int_to_set == 10);
   REQUIRE(subject.bool_to_set == false);
 }
+
+TEST_CASE("FunctionOwned works with toStaticFunction.", "[utility],[function]")
+{
+  struct S
+  {
+    int int_to_set = 0;
+    bool bool_to_set = true;
+
+    void toCall(const int i, const bool b)
+    {
+      int_to_set = i;
+      bool_to_set = b;
+    }
+  };
+
+  S subject;
+
+  Utility::FunctionOwned<S, void(int, bool)> function(subject, &S::toCall);
+  using signature = void (*)(int, bool);
+
+  signature func_pointer = function.toStaticFunction<SKULLC_TAG>();
+  func_pointer(10, true);
+
+  REQUIRE(subject.int_to_set == 10);
+  REQUIRE(subject.bool_to_set == true);
+}

Threads/Inc/threads_actor.hpp

@@ -15,15 +15,15 @@
 #include <type_traits>
 #include <variant>
 
-#include "threads_primitivethread.hpp"
+#include <threads_actor_thread.hpp>
-#include "threads_signal.hpp"
+#include <threads_iactor.hpp>
-#include "threads_timer.hpp"
+#include <threads_signal.hpp>
 
 namespace Threads
 {
 
 template<typename CRTP, typename... Ts>
-class Actor
+class Actor : public IActor
 {
 public:
   using value_type = std::variant<Ts...>;
@@ -31,14 +31,11 @@ public:
   static_assert(std::is_default_constructible_v<value_type>, "Ts must be default constructible.");
   static_assert(std::is_trivially_copyable_v<value_type>, "Ts must be trivially copyable.");
 
-  Actor(const std::uint32_t queue_size, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+  Actor() : IActor(sizeof(value_type)),
-      : thread_(&Actor<CRTP, Ts...>::threadHandler_, this, name, priority, stack_size),
+            signal_(this)
-        msg_queue_(xQueueCreate(queue_size, sizeof(value_type))), signal_(this)
+  {}
-  {
-    assert(msg_queue_);
-  }
 
-  virtual ~Actor() {}
+  ~Actor() override {}
 
   template<typename T>
   struct Signal : Signallable<T>
@@ -59,17 +56,13 @@ public:
     void emit(const T& data) override
     {
       parent::value_type to_send = data;
-      xQueueSend(q_->msg_queue_, &to_send, 0);
+      q_->dispatchEvent(to_send);
     }
 
     BaseType_t emitFromIsr(const T& data) override
     {
       parent::value_type to_send = data;
-      BaseType_t was_awoken = pdFALSE;
+      return q_->dispatchEventFromIsr(to_send);
-
-      xQueueSendFromISR(q_->msg_queue_, &to_send, &was_awoken);
-
-      return was_awoken;
     }
 
   private:
@@ -97,13 +90,12 @@ public:
     return &signal_;
   }
 
-protected:
+  void dispatchSignal(const char* data) final
-  virtual void init() = 0;
+  {
+    dispatchImpl_(data);
+  }
 
 private:
-  PrimitiveThread thread_;
-  QueueHandle_t msg_queue_;
-
   struct Visitor_
   {
     using parent = Actor<CRTP, Ts...>;
@@ -121,113 +113,15 @@ private:
     }
   };
 
-  void operator()()
+  void dispatchImpl_(const char* data)
   {
-    init();
+    const value_type* signal_data = reinterpret_cast<const value_type*>(data);
-
+    std::visit(Visitor_{this}, *signal_data);
-    value_type data{};
-
-    while (true)
-    {
-      const BaseType_t got = xQueueReceive(msg_queue_, &data, portMAX_DELAY);
-
-      if (got == pdTRUE)
-      {
-        std::visit(Visitor_{this}, data);
-      }
-    }
-  }
-
-  static void threadHandler_(void* d)
-  {
-    auto* dd = static_cast<Actor<CRTP, Ts...>*>(d);
-    (*dd)();
   }
 
   Signal<value_type> signal_;
 };
 
-template<typename CRTP>
-class Actor<CRTP, void>
-{
-public:
-  using value_type = void;
-
-  Actor(const std::uint32_t queue_size, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
-      : thread_([](void* d) {
-          auto* dd = static_cast<Actor<CRTP, value_type>*>(d);
-          (*dd)();
-        },
-                this, name, priority, stack_size),
-        msg_queue_(xQueueCreate(queue_size, sizeof(int))), signal_(*this)
-  {
-    assert(msg_queue_);
-  }
-
-  virtual ~Actor() {}
-
-  Signallable<value_type>* getSignal()
-  {
-    return &signal_;
-  }
-
-protected:
-  virtual void init() = 0;
-
-private:
-  PrimitiveThread thread_;
-  QueueHandle_t msg_queue_;
-
-  void operator()()
-  {
-    init();
-
-    int data;
-
-    while (true)
-    {
-      const BaseType_t got = xQueueReceive(msg_queue_, &data, portMAX_DELAY);
-
-      if (got == pdTRUE)
-      {
-        auto* crtp = static_cast<CRTP*>(this);
-        crtp->onSignal();
-      }
-    }
-  }
-
-  friend struct Signal_;
-
-  struct Signal_ : Signallable<value_type>
-  {
-    using parent = Actor<CRTP, void>;
-    parent& q;
-
-    explicit Signal_(parent& q)
-        : q(q)
-    {}
-
-    void emit() override
-    {
-      const int data = 0;
-
-      xQueueSend(q.msg_queue_, &data, 0);
-    }
-
-    BaseType_t emitFromIsr() override
-    {
-      const int data = 0;
-
-      BaseType_t was_awoken = pdFALSE;
-      xQueueSendFromISR(q.msg_queue_, &data, &was_awoken);
-
-      return was_awoken;
-    }
-  };
-
-  Signal_ signal_;
-};
-
 }// namespace Threads
 
 

Threads/Inc/threads_actor_thread.hpp

@@ -0,0 +1,50 @@
+/*
+ * threads_actor_thread.hpp
+ *
+ *  Created on: Nov 13, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_ACTOR_THREAD_HPP_
+#define SKULLC_THREADS_ACTOR_THREAD_HPP_
+
+#include <array>
+#include <cstdint>
+
+#include <freertos_os2.h>
+#include <queue.h>
+
+#include <threads_thread.hpp>
+
+namespace Threads
+{
+
+class IActor;
+
+class ActorThread : public Thread<ActorThread>
+{
+public:
+  ActorThread(const std::size_t queue_length, const char* name, const osPriority_t priority, const std::uint32_t stack_size);
+
+  void operator()();
+
+private:
+  void init_();
+  void doMessageLoop_();
+
+  friend class IActor;
+  std::size_t acceptActor_(IActor* actor);
+
+  std::size_t queue_length_;
+  std::size_t queue_item_length_ = 0;
+
+  QueueHandle_t queue_ = nullptr;
+  char* rx_buffer_ = nullptr;
+  char* tx_buffer_ = nullptr;
+  std::array<IActor*, 32> actors_;
+};
+
+}// namespace Threads
+
+
+#endif /* SKULLC_THREADS_ACTOR_THREAD_HPP_ */

Threads/Inc/threads_exclusivesignal.hpp

@@ -65,7 +65,8 @@ public:
     if (!notified)
     {
       return std::nullopt;
-    } else
+    }
+    else
     {
       return current_value_;
     }
@@ -78,7 +79,8 @@ public:
     if (!waiting_thread_)
     {
       return false;
-    } else
+    }
+    else
     {
       return waiting_thread_->notify(0, eNoAction);
     }
@@ -91,7 +93,8 @@ public:
     if (!waiting_thread_)
     {
       return {false, pdFALSE};
-    } else
+    }
+    else
     {
       auto const [discard, was_notified] = waiting_thread_->notifyFromIsr(0, eNoAction);
       (void) discard;
@@ -158,7 +161,8 @@ struct ExclusiveSignal<void> : public Signallable<void>
     if (!waiting_thread_)
     {
       return pdFALSE;
-    } else
+    }
+    else
     {
       auto const [discard, was_notified] = waiting_thread_->notifyFromIsr(0, eNoAction);
       (void) discard;

Threads/Inc/threads_iactor.hpp

@@ -0,0 +1,68 @@
+/*
+ * threads_iactor.hpp
+ *
+ *  Created on: Nov 14, 2021
+ *      Author: erki
+ */
+
+#ifndef SKULLC_THREADS_IACTOR_HPP_
+#define SKULLC_THREADS_IACTOR_HPP_
+
+#include <cstdint>
+
+#include <freertos_os2.h>
+
+namespace Threads
+{
+
+class ActorThread;
+
+class IActor
+{
+public:
+  IActor(const std::size_t signal_size)
+      : signal_size_(signal_size)
+  {}
+
+  virtual ~IActor() {}
+
+  virtual void init() = 0;
+  virtual void dispatchSignal(const char* data) = 0;
+
+  void moveToThread(ActorThread* thread);
+
+  std::size_t actorIndex() const
+  {
+    return actor_index_;
+  }
+
+  std::size_t signalSize() const
+  {
+    return signal_size_;
+  }
+
+protected:
+  template<typename T>
+  void dispatchEvent(const T& data)
+  {
+    dispatchEventImpl_(&data, sizeof(T));
+  }
+
+  template<typename T>
+  BaseType_t dispatchEventFromIsr(const T& data)
+  {
+    return dispatchEventFromIsrImpl_(&data, sizeof(T));
+  }
+
+private:
+  ActorThread* parent_thread_ = nullptr;
+  std::size_t actor_index_ = 0;
+  std::size_t signal_size_;
+
+  void dispatchEventImpl_(const void* data, const std::size_t data_size);
+  BaseType_t dispatchEventFromIsrImpl_(const void* data, const std::size_t data_size);
+};
+
+}// namespace Threads
+
+#endif /* SKULLC_THREADS_IACTOR_HPP_ */

Threads/Inc/threads_primitivethread.hpp

@@ -11,9 +11,9 @@
 #include <cmsis_os.h>
 #include <freertos_os2.h>
 
+#include <cstdint>
 #include <tuple>
 #include <type_traits>
-#include <cstdint>
 
 namespace Threads
 {

Threads/Src/threads_actor_thread.cpp

@@ -0,0 +1,110 @@
+/*
+ * threads_actor_thread.cpp
+ *
+ *  Created on: Nov 13, 2021
+ *      Author: erki
+ */
+
+
+#include "threads_actor_thread.hpp"
+
+#include <algorithm>
+#include <cassert>
+#include <cstring>
+
+#include <threads_iactor.hpp>
+
+namespace
+{
+
+struct SignalMessage
+{
+  std::size_t actor_index;
+  const char* data;
+
+  static SignalMessage fromData(char* data)
+  {
+    SignalMessage message;
+    std::memcpy(&message.actor_index, data, sizeof(message.actor_index));
+    message.data = data + sizeof(message.actor_index);
+
+    return message;
+  }
+};
+
+}// namespace
+
+namespace Threads
+{
+
+ActorThread::ActorThread(const std::size_t queue_length, const char* name, const osPriority_t priority, const std::uint32_t stack_size)
+    : Thread<ActorThread>(name, priority, stack_size), queue_length_(queue_length), queue_(nullptr)
+{
+  actors_.fill(nullptr);
+}
+
+void ActorThread::operator()()
+{
+  init_();
+
+  osThreadYield();
+
+  while (true)
+  {
+    doMessageLoop_();
+
+    osThreadYield();
+  }
+}
+
+void ActorThread::init_()
+{
+  for (IActor* actor : actors_)
+  {
+    if (actor != nullptr)
+    {
+      queue_item_length_ = std::max(queue_item_length_, actor->signalSize());
+
+      actor->init();
+    }
+  }
+
+  queue_ = xQueueCreate(queue_length_, queue_item_length_ + sizeof(std::size_t));
+  assert(queue_ != nullptr);
+
+  rx_buffer_ = new char[queue_item_length_ + sizeof(std::size_t)];
+  tx_buffer_ = new char[queue_item_length_ + sizeof(std::size_t)];
+}
+
+void ActorThread::doMessageLoop_()
+{
+  const BaseType_t has_data = xQueueReceive(queue_, rx_buffer_, portMAX_DELAY);
+
+  if (has_data == pdTRUE)
+  {
+    const SignalMessage message = SignalMessage::fromData(rx_buffer_);
+    assert(message.actor_index <= actors_.size());
+
+    IActor* actor = actors_[message.actor_index];
+    assert(actor != nullptr);
+
+    actor->dispatchSignal(message.data);
+  }
+}
+
+std::size_t ActorThread::acceptActor_(IActor* actor)
+{
+  for (auto it = actors_.begin(); it != actors_.end(); ++it)
+  {
+    if (*it == nullptr)
+    {
+      *it = actor;
+      return std::distance(actors_.begin(), it);
+    }
+  }
+
+  assert(false);
+  return -1;
+}
+
+}// namespace Threads

Threads/Src/threads_iactor.cpp

@@ -0,0 +1,55 @@
+/*
+ * threads_iactor.cpp
+ *
+ *  Created on: Nov 14, 2021
+ *      Author: erki
+ */
+
+
+#include "threads_iactor.hpp"
+
+#include <cstring>
+
+#include <queue.h>
+
+#include "threads_actor_thread.hpp"
+
+namespace Threads
+{
+
+void IActor::moveToThread(ActorThread* thread)
+{
+  actor_index_ = thread->acceptActor_(this);
+  parent_thread_ = thread;
+}
+
+void IActor::dispatchEventImpl_(const void* data, const std::size_t data_size)
+{
+  taskENTER_CRITICAL();
+
+  std::memcpy(parent_thread_->tx_buffer_, &actor_index_, sizeof(std::size_t));
+  char* data_dest = parent_thread_->tx_buffer_ + sizeof(std::size_t);
+  std::memcpy(data_dest, data, data_size);
+
+  xQueueSend(parent_thread_->queue_, parent_thread_->tx_buffer_, 0);
+
+  taskEXIT_CRITICAL();
+}
+
+BaseType_t IActor::dispatchEventFromIsrImpl_(const void* data, const std::size_t data_size)
+{
+  const auto isr_data = taskENTER_CRITICAL_FROM_ISR();
+
+  std::memcpy(parent_thread_->tx_buffer_, &actor_index_, sizeof(std::size_t));
+  char* data_dest = parent_thread_->tx_buffer_ + sizeof(std::size_t);
+  std::memcpy(data_dest, data, data_size);
+
+  BaseType_t task_awoken = pdFALSE;
+  xQueueSendFromISR(parent_thread_->queue_, parent_thread_->tx_buffer_, &task_awoken);
+
+  taskEXIT_CRITICAL_FROM_ISR(isr_data);
+
+  return task_awoken;
+}
+
+}// namespace Threads

Threads/Src/threads_primitivethread.cpp

@@ -7,7 +7,7 @@
 
 #include "threads_primitivethread.hpp"
 
-#include "peripherals_utility.hpp"
+#include "utility_bytes.hpp"
 
 #include <limits>
 
@@ -101,14 +101,14 @@ PrimitiveThread::PrimitiveThread(osThreadFunc_t function, void* runner_data, con
 
 
 PrimitiveThread::PrimitiveThread(TaskHandle_t threadHandle)
-    : thread_id(static_cast<osThreadId_t>(threadHandle)), attributes(Peripherals::zeroInitialized<osThreadAttr_t>())
+    : thread_id(static_cast<osThreadId_t>(threadHandle)), attributes(Utility::zeroInitialized<osThreadAttr_t>())
 {
   assert(thread_id != nullptr);
 }
 
 osThreadAttr_t PrimitiveThread::constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size)
 {
-  auto attrs = Peripherals::zeroInitialized<osThreadAttr_t>();
+  auto attrs = Utility::zeroInitialized<osThreadAttr_t>();
 
   attrs.name = name;
   attrs.priority = priority;

Utility/CMakeLists.txt

@@ -1,13 +1,9 @@
 cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
 
-#if(WITH_HAL)
-#    set(additional_sources
-#            )
-#endif()
-
 add_library(utility STATIC
         Src/utility_logging.cpp
         Src/utility_rand.cpp
+        Src/utility_assert.cpp
         ${additional_sources}
 )
 
@@ -18,5 +14,9 @@ target_include_directories(utility
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Inc>
         $<INSTALL_INTERFACE:include>
 )
+set_target_properties(utility
+    PROPERTIES
+        CXX_STANDARD 17
+)
 
-skullc_install_packages(skullc utility ${version})
+skullc_install_packages(skullc utility ${SKULLC_VERSION})

Utility/Inc/utility_assert.hpp

@@ -0,0 +1,33 @@
+//
+// Created by erki on 29.06.22.
+//
+
+#ifndef SKULLC_UTILITY_ASSERT_HPP_
+#define SKULLC_UTILITY_ASSERT_HPP_
+
+namespace Utility::Assert::Detail
+{
+
+void assertImpl(const char* expression, const char* file, const int line);
+
+}
+
+#ifndef NDEBUG
+#define SKULLC_ASSERT_DEBUG(e) (!(e) ? Utility::Assert::Detail::assertImpl(#e, __FILE__, __LINE__) : ((void) 0))
+#else
+#define SKULLC_ASSERT_DEBUG(e)
+#endif
+
+#define SKULLC_ASSERT_SAFE(e) (!(e) ? Utility::Assert::Detail::assertImpl(#e, __FILE__, __LINE__) : ((void) 0))
+
+namespace Utility::Assert
+{
+
+using assert_cb = void (*)(const char* expression, const char* file, const int line);
+
+void setHandler(assert_cb callback);
+assert_cb getHandler();
+
+}// namespace Utility::Assert
+
+#endif// SKULLC_UTILITY_ASSERT_HPP_

Utility/Inc/utility_bytes.hpp

@@ -0,0 +1,69 @@
+//
+// Created by erki on 10/12/22.
+//
+
+#ifndef SKULLC_UTILITY_BYTES_HPP_
+#define SKULLC_UTILITY_BYTES_HPP_
+
+#include <array>
+#include <cstdint>
+#include <cstring>
+#include <type_traits>
+
+namespace Utility
+{
+
+template<typename T, std::size_t N>
+T arrayToType(const std::uint8_t raw[N])
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+  static_assert(sizeof(T) == N, "The raw data array is not the same size as T.");
+
+  T t;
+  std::memcpy(&t, raw, sizeof(T));
+
+  return t;
+}
+
+template<typename T, std::size_t N>
+T arrayToType(const std::array<std::uint8_t, N> raw)
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+  static_assert(sizeof(T) == N, "The raw data array is not the same size as T.");
+
+  T t;
+  std::memcpy(&t, raw.data(), sizeof(T));
+
+  return t;
+}
+
+template<typename T>
+constexpr T zeroInitialized()
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+
+  T t;
+  std::memset(&t, 0, sizeof(T));
+
+  return t;
+}
+
+template<typename T>
+void zeroInitialized(T& t)
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+
+  std::memset(&t, 0, sizeof(T));
+}
+
+template<typename T>
+void zeroInitialized(T* t)
+{
+  static_assert(std::is_trivially_default_constructible<T>::value, "Struct is not trivially default constructible.");
+
+  std::memset(t, 0, sizeof(T));
+}
+
+}// namespace Utility
+
+#endif//SKULLC_UTILITY_BYTES_HPP_

Utility/Inc/utility_enum_helpers.hpp

@@ -0,0 +1,22 @@
+//
+// Created by erki on 15.07.22.
+//
+
+#ifndef SKULLC_UTILITY_ENUM_HELPERS_HPP_
+#define SKULLC_UTILITY_ENUM_HELPERS_HPP_
+
+#include <type_traits>
+
+#define SKULLC_ENUM_DECLARE_BITFLAG_OPERATORS(E)                      \
+  inline E operator|(const E& lhs, const E& rhs)                      \
+  {                                                                   \
+    using T = std::underlying_type_t<E>;                              \
+    return static_cast<E>(static_cast<T>(lhs) | static_cast<T>(rhs)); \
+  }                                                                   \
+  inline E operator&(const E& lhs, const E& rhs)                      \
+  {                                                                   \
+    using T = std::underlying_type_t<E>;                              \
+    return static_cast<E>(static_cast<T>(lhs) & static_cast<T>(rhs)); \
+  }
+
+#endif//SKULLC_UTILITY_ENUM_HELPERS_HPP_

Utility/Inc/utility_filters.hpp

@@ -0,0 +1,124 @@
+//
+// Created by erki on 12/11/22.
+//
+
+#ifndef SKULLC_UTILITY_FILTERS_HPP_
+#define SKULLC_UTILITY_FILTERS_HPP_
+
+#include <algorithm>
+#include <array>
+
+#include "utility_ifilter.hpp"
+
+namespace Utility
+{
+
+template<typename T>
+class RollingAverageFilter : public IFilter<T>
+{
+public:
+  RollingAverageFilter() = delete;
+  explicit RollingAverageFilter(const std::size_t step)
+      : step_size_(step)
+  {}
+
+  T currentValue() const override
+  {
+    return value_;
+  }
+
+protected:
+  void updateImpl_(const T& data) override
+  {
+    value_ -= value_ / step_size_;
+    value_ += data / step_size_;
+  }
+
+private:
+  std::size_t step_size_;
+  T value_ = 0;
+};
+
+template<typename T, std::size_t N>
+class MedianFilter : public IFilter<T>
+{
+public:
+  MedianFilter()
+  {
+    data_sequence_.fill(T(0));
+  }
+
+  T currentValue() const override
+  {
+    auto sorted = data_sequence_;
+    std::sort(sorted.begin(), sorted.end());
+
+    return sorted[N / 2];
+  }
+
+protected:
+  void updateImpl_(const T& data) override
+  {
+    std::move(data_sequence_.begin() + 1, data_sequence_.end(), data_sequence_.begin());
+    data_sequence_[N - 1] = data;
+  }
+
+private:
+  std::array<T, N> data_sequence_;
+};
+
+template<typename T>
+class LowPassFilter : public IFilter<T>
+{
+public:
+  LowPassFilter() = delete;
+  explicit LowPassFilter(const T threshold)
+      : threshold_(threshold)
+  {}
+
+  T currentValue() const override
+  {
+    return value_;
+  }
+
+protected:
+  void updateImpl_(const T& data) override
+  {
+    if (data < threshold_)
+      value_ = data;
+  }
+
+private:
+  T threshold_;
+  T value_ = 0;
+};
+
+template<typename T>
+class HighPassFilter : public IFilter<T>
+{
+public:
+  HighPassFilter() = delete;
+  explicit HighPassFilter(const T threshold)
+      : threshold_(threshold)
+  {}
+
+  T currentValue() const override
+  {
+    return value_;
+  }
+
+protected:
+  void updateImpl_(const T& data) override
+  {
+    if (data > threshold_)
+      value_ = data;
+  }
+
+private:
+  T threshold_;
+  T value_ = 0;
+};
+
+}// namespace Utility
+
+#endif//SKULLC_UTILITY_FILTERS_HPP_

Utility/Inc/utility_function.hpp

@@ -8,6 +8,8 @@
 #ifndef SKULLC_UTILITY_FUNCTION_HPP_
 #define SKULLC_UTILITY_FUNCTION_HPP_
 
+#include <utility_assert.hpp>
+
 namespace Utility
 {
 
@@ -19,11 +21,19 @@ class IFunction<R(Args...)>
 {
 public:
   using result_type = R;
+  using static_signature = R (*)(Args...);
 
   virtual ~IFunction()
   {}
 
   virtual result_type operator()(Args... args) = 0;
+
+  template<typename Tag>
+  static_signature toStaticFunction()
+  {
+    static decltype(this) h = this;
+    return +[](Args... args) { (*h)(args...); };
+  }
 };
 
 template<class>
@@ -41,7 +51,7 @@ public:
   explicit Function(signature callable)
       : callable_(callable)
   {
-    assert(callable_);
+    SKULLC_ASSERT_DEBUG(callable_);
   }
 
   ~Function() override
@@ -73,7 +83,7 @@ public:
   explicit FunctionOwned(source& src, signature callable)
       : src_(&src), callable_(callable)
   {
-    assert(callable_);
+    SKULLC_ASSERT_DEBUG(callable_);
   }
 
   ~FunctionOwned() override

Utility/Inc/utility_ifilter.hpp

@@ -0,0 +1,49 @@
+//
+// Created by erki on 12/11/22.
+//
+
+#ifndef SKULLC_UTILITY_IFILTER_HPP_
+#define SKULLC_UTILITY_IFILTER_HPP_
+
+namespace Utility
+{
+
+template<typename T>
+class IFilter
+{
+public:
+  virtual ~IFilter() = default;
+
+  void assignPrecedingFilter(IFilter<T>& filter)
+  {
+    preceding_filter_ = &filter;
+  }
+
+  void clearPrecedingFilter()
+  {
+    preceding_filter_ = nullptr;
+  }
+
+  void update(T data)
+  {
+    if (preceding_filter_)
+    {
+      preceding_filter_->update(data);
+      data = preceding_filter_->currentValue();
+    }
+
+    updateImpl_(data);
+  }
+
+  virtual T currentValue() const = 0;
+
+protected:
+  virtual void updateImpl_(const T& data) = 0;
+
+private:
+  IFilter<T>* preceding_filter_ = nullptr;
+};
+
+}// namespace Utility
+
+#endif//SKULLC_UTILITY_IFILTER_HPP_

Utility/Inc/utility_pixelbuffer.hpp

@@ -158,15 +158,18 @@ public:
     if (dx == 0 && dy == 0)
     {
       at(start) = color;
-    } else if (dx == 0)
+    }
+    else if (dx == 0)
     {
       for (; y < y_(stop); y++)
         at({x, y}) = color;
-    } else if (dy == 0)
+    }
+    else if (dy == 0)
     {
       for (; x < x_(stop); x++)
         at({x, y}) = color;
-    } else
+    }
+    else
     {
       // Bresenham's algorithm.
       std::int32_t p = 2 * dy - dx;
@@ -179,7 +182,8 @@ public:
         {
           y++;
           p = p + 2 * dy - 2 * dx;
-        } else
+        }
+        else
         {
           p = p + 2 * dy;
         }
@@ -217,7 +221,8 @@ public:
       {
         y--;
         d = d + 4 * (x - y) + 10;
-      } else
+      }
+      else
       {
         d = d + 4 * x + 6;
       }

Utility/Inc/utility_ringbuffer.hpp

@@ -68,7 +68,8 @@ public:
       if (naive < _arr_end)
       {
         return iterator(naive, _arr_begin, _arr_end);
-      } else
+      }
+      else
       {
         const pointer remainder = pointer(naive - _arr_end);
         return iterator(_arr_begin + difference_type(remainder), _arr_begin,
@@ -82,7 +83,8 @@ public:
       if (naive >= _arr_begin)
       {
         return iterator(naive, _arr_begin, _arr_end);
-      } else
+      }
+      else
       {
         const pointer remainder = pointer(_arr_begin - naive);
         return iterator(_arr_end - difference_type(remainder), _arr_begin,
@@ -202,7 +204,8 @@ public:
     if (distance > 0)
     {
       return distance;
-    } else
+    }
+    else
     {
       return head_ - tail_ + 1;
     }

Utility/Inc/utility_staticpointer.hpp

@@ -8,8 +8,11 @@
 #ifndef SKULLC_UTILITY_STATICPOINTER_HPP_
 #define SKULLC_UTILITY_STATICPOINTER_HPP_
 
+#include <new>
 #include <utility>
 
+#include <utility_assert.hpp>
+
 namespace Utility
 {
 
@@ -57,6 +60,18 @@ struct StaticPointer
     return initialized_;
   }
 
+  value_type* get()
+  {
+    SKULLC_ASSERT_DEBUG(initialized_);
+    return reinterpret_cast<value_type*>(storage);
+  }
+
+  const value_type* get() const
+  {
+    SKULLC_ASSERT_DEBUG(initialized_);
+    return reinterpret_cast<const value_type*>(storage);
+  }
+
 private:
   bool initialized_ = false;
 };

Utility/Inc/utility_tag.hpp

@@ -0,0 +1,12 @@
+//
+// Created by erki on 26.06.22.
+//
+
+#ifndef SKULLC_UTILITY_TAG_HPP_
+#define SKULLC_UTILITY_TAG_HPP_
+
+#define SKULLC_CONCAT_IMPL(x, y) x##y
+#define SKULLC_CONCAT(x, y) SKULLC_CONCAT_IMPL(x, y)
+#define SKULLC_TAG struct SKULLC_CONCAT(SkullCTag_, __COUNTER__)
+
+#endif// SKULLC_UTILITY_TAG_HPP_

Utility/Src/utility_assert.cpp

@@ -0,0 +1,42 @@
+//
+// Created by erki on 29.06.22.
+//
+
+#include "utility_assert.hpp"
+
+#include <exception>
+
+namespace
+{
+
+Utility::Assert::assert_cb INSTALLED_HANDLER = nullptr;
+
+}
+
+namespace Utility::Assert
+{
+
+namespace Detail
+{
+
+void assertImpl(const char* expression, const char* file, const int line)
+{
+  if (INSTALLED_HANDLER)
+    INSTALLED_HANDLER(expression, file, line);
+  else
+    std::terminate();
+}
+
+}// namespace Detail
+
+void setHandler(assert_cb callback)
+{
+  INSTALLED_HANDLER = callback;
+}
+
+assert_cb getHandler()
+{
+  return INSTALLED_HANDLER;
+}
+
+}// namespace Utility::Assert

cmake/FindSphinx.cmake

@@ -0,0 +1,11 @@
+#Look for an executable called sphinx-build
+find_program(SPHINX_EXECUTABLE
+        NAMES sphinx-build
+        DOC "Path to sphinx-build executable")
+
+include(FindPackageHandleStandardArgs)
+
+#Handle standard arguments to find_package like REQUIRED and QUIET
+find_package_handle_standard_args(Sphinx
+        "Failed to find sphinx-build executable"
+        SPHINX_EXECUTABLE)

conanfile.txt

@@ -1,5 +0,0 @@
-[requires]
-catch2/[>=2.0.0,<3.0.0]
-
-[generators]
-cmake_find_package