CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
 
-set(SKULLC_VERSION 0.2.0)
+set(SKULLC_VERSION 0.1.0)
 
 project(skullc
         VERSION ${SKULLC_VERSION}
@@ -19,7 +19,6 @@ include(skullc-install)
 
 add_subdirectory(Peripherals)
 add_subdirectory(Utility)
-add_subdirectory(CppTick)
 add_subdirectory(Messaging)
 
 if(SKULLC_WITH_TESTS)

CppTick/CMakeLists.txt

@@ -1,26 +0,0 @@
-cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
-
-add_library(cpptick STATIC
-    Src/timer.cpp
-)
-
-add_library(skullc::cpptick ALIAS cpptick)
-
-target_include_directories(cpptick
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Inc>
-        $<INSTALL_INTERFACE:include>
-)
-
-set_target_properties(cpptick
-    PROPERTIES
-        CXX_STANDARD 20
-        CXX_STANDARD_REQUIRED TRUE
-)
-
-target_link_libraries(cpptick
-    PUBLIC
-        skullc::utility
-)
-
-skullc_install_packages(skullc cpptick ${SKULLC_VERSION})

CppTick/Inc/cpptick/argstore.hpp

@@ -1,118 +0,0 @@
-//
-// Created by erki on 24/10/23.
-//
-
-#pragma once
-
-#include <array>
-#include <cstring>
-#include <memory>
-#include <type_traits>
-
-namespace cpptick
-{
-
-template<typename T>
-concept TrivialClass = std::is_trivial_v<T> && std::is_trivially_destructible_v<T>;
-
-template<typename T>
-concept CopyableClass = !TrivialClass<T> && std::copy_constructible<T>;
-
-template<typename T>
-concept SlotArgument = TrivialClass<T> || CopyableClass<T>;
-
-struct ArgStorage
-{
-  std::array<char, sizeof(int) * 12> buffer;
-  std::array<char*, 12> pointer_buffer;
-  std::array<char*, 12>::iterator pointer_buffer_head;
-  std::size_t space_remaining;
-
-  ArgStorage() = default;
-  ArgStorage(const ArgStorage&) = default;
-  ArgStorage(ArgStorage&&) = default;
-
-  void reset()
-  {
-    space_remaining = buffer.size();
-    pointer_buffer_head = pointer_buffer.begin();
-    *pointer_buffer_head = buffer.data();
-  }
-
-  template<TrivialClass T>
-  void pushArg(T&& arg)
-  {
-    if (pointer_buffer_head == pointer_buffer.end() || space_remaining == 0)
-      std::exit(1);
-
-    void* memory_location = *pointer_buffer_head;
-
-    if (std::align(alignof(T), sizeof(T), memory_location, space_remaining) == nullptr)
-      std::exit(2);
-
-    std::memcpy(memory_location, &arg, sizeof(T));
-    pointer_buffer_head++;
-    if (pointer_buffer_head != pointer_buffer.end())
-    {
-      *pointer_buffer_head = (char*) memory_location + sizeof(T);
-      space_remaining -= sizeof(T);
-    }
-  }
-
-  template<CopyableClass T>
-  void pushArg(T&& arg)
-  {
-    if (pointer_buffer_head == pointer_buffer.end() || space_remaining == 0)
-      std::exit(1);
-
-    void* memory_location = *pointer_buffer_head;
-
-    if (std::align(alignof(T), sizeof(T), memory_location, space_remaining) == nullptr)
-      std::exit(2);
-
-    new (memory_location) T{arg};
-    pointer_buffer_head++;
-    if (pointer_buffer_head != pointer_buffer.end())
-    {
-      *pointer_buffer_head = (char*) memory_location + sizeof(T);
-      space_remaining -= sizeof(T);
-    }
-  }
-
-  template<TrivialClass T>
-  void cleanUp(const std::size_t)
-  {}
-
-  template<CopyableClass T>
-  void cleanUp(const std::size_t index)
-  {
-    T* item = reinterpret_cast<T*>(pointer_buffer[index]);
-    item->~T();
-  }
-
-  template<typename... Args, size_t... Is>
-  void cleanUp(std::index_sequence<Is...>)
-  {
-    (cleanUp<Args>(Is), ...);
-  }
-
-  template<typename... Args>
-  void cleanUp()
-  {
-    cleanUp<Args...>(std::make_index_sequence<sizeof...(Args)>{});
-  }
-
-  template<SlotArgument T>
-  T& at(const std::size_t idx)
-  {
-    return *((T*) pointer_buffer[idx]);
-  }
-
-  template<SlotArgument T>
-  const T& at(const std::size_t idx) const
-  {
-    return *((T*) pointer_buffer[idx]);
-  }
-};
-
-}// namespace cpptick

CppTick/Inc/cpptick/cpptick.hpp

@@ -1,10 +0,0 @@
-//
-// Created by erki on 24/10/23.
-//
-
-#pragma once
-
-#include "cpptick/argstore.hpp"
-#include "cpptick/scheduler.hpp"
-#include "cpptick/slot.hpp"
-#include "cpptick/timer.hpp"

CppTick/Inc/cpptick/scheduler.hpp

@@ -1,123 +0,0 @@
-//
-// Created by erki on 24/10/23.
-//
-
-#pragma once
-
-#include <algorithm>
-#include <array>
-#include <tuple>
-#include <utility_function.hpp>
-#include <utility_ringbuffer.hpp>
-
-#include "cpptick/argstore.hpp"
-#include "cpptick/timer.hpp"
-
-namespace cpptick
-{
-
-struct BaseScheduler
-{
-  using StoredCall = std::pair<Utility::IFunction<void(ArgStorage&)>*, ArgStorage>;
-  Utility::Ringbuffer<StoredCall, 12> stored_calls;
-
-  using StoredTimer = std::pair<std::uint32_t, Timer*>;
-  std::array<StoredTimer, 12> stored_timers;
-
-  BaseScheduler()
-  {
-    stored_timers.fill({-1u, nullptr});
-  }
-
-  virtual ~BaseScheduler() = default;
-
-  void tick()
-  {
-    if (auto start = stored_timers.begin();
-        start->first != -1u)
-    {
-      checkInvokeTimers();
-    }
-
-    if (!stored_calls.empty())
-    {
-      auto* f = stored_calls.begin()->first;
-      auto& args = stored_calls.begin()->second;
-      (*f)(args);
-      stored_calls.pop_front();
-    }
-  }
-
-  ArgStorage& storeCall(Utility::IFunction<void(ArgStorage&)>* call)
-  {
-    // @todo: handle overflow...
-
-    // still constructs double.
-    stored_calls.emplace_back(call, ArgStorage{});
-    auto& storage = stored_calls.back().second;
-    storage.reset();
-    return storage;
-  }
-
-  virtual void storeTimer(Timer* timer) = 0;
-  virtual void checkInvokeTimers() = 0;
-};
-
-template<typename HAL>
-struct Scheduler : BaseScheduler
-{
-  Scheduler() = default;
-
-  void storeTimer(Timer* timer) override
-  {
-    const std::uint32_t current_time = HAL::getMillis();
-    const std::uint32_t time_to_run = timer->expirationTime(current_time);
-
-    auto empty_slot = std::find_if(stored_timers.begin(), stored_timers.end(),
-                                   [](const StoredTimer& timer) -> bool {
-                                     return timer.first == -1u;
-                                   });
-
-    if (empty_slot == stored_timers.end())
-      return;
-
-    *empty_slot = {time_to_run, timer};
-    std::sort(stored_timers.begin(), stored_timers.end());
-  }
-
-  void checkInvokeTimers() override
-  {
-    const std::uint32_t current_time = HAL::getMillis();
-
-    bool timers_executed = false;
-    for (auto timer = stored_timers.begin(); timer->first != -1u; timer++)
-    {
-      if (timer->first <= current_time)
-      {
-        timers_executed = true;
-        storeCall(timer->second->getSlot());
-
-        if (timer->second->type == Timer::ONE_SHOT)
-        {
-          timer->first = -1u;
-          timer->second = nullptr;
-        }
-        else
-        {
-          timer->first = timer->second->expirationTime(current_time);
-        }
-      }
-      else
-      {
-        break;
-      }
-    }
-
-    if (timers_executed)
-    {
-      std::sort(stored_timers.begin(), stored_timers.end());
-    }
-  }
-};
-
-}// namespace cpptick

CppTick/Inc/cpptick/slot.hpp

@@ -1,105 +0,0 @@
-//
-// Created by erki on 12/09/23.
-//
-
-#pragma once
-
-#include <array>
-#include <cstring>
-#include <memory>
-
-#include <utility_function.hpp>
-#include <utility_ringbuffer.hpp>
-
-#include "cpptick/argstore.hpp"
-#include "cpptick/scheduler.hpp"
-
-namespace cpptick
-{
-
-template<typename>
-struct Slot;
-
-template<typename R, SlotArgument... Args>
-struct Slot<R(Args...)>
-{
-  std::array<Utility::IFunction<R(Args...)>*, 12> signals;
-  BaseScheduler* scheduler;
-
-  Utility::FunctionOwned<Slot<R(Args...)>, void(ArgStorage&)> invoke_ptr;
-
-  Slot() = delete;
-  explicit Slot(BaseScheduler* sched)
-      : scheduler(sched), invoke_ptr(*this, &Slot<R(Args...)>::callUp)
-  {
-    signals.fill(nullptr);
-  }
-
-  Slot(const Slot&) = delete;
-  Slot(Slot&&) = delete;
-  Slot& operator=(const Slot&) = delete;
-  Slot& operator=(Slot&&) = delete;
-
-  void connect(Utility::IFunction<R(Args...)>* signal)
-  {
-    for (auto*& callable : signals)
-    {
-      if (callable == nullptr)
-      {
-        callable = signal;
-        break;
-      }
-    }
-  }
-
-  Utility::IFunction<R(Args...)>* connect(R (*func)(Args...))
-  {
-    auto* f = new Utility::Function<R(Args...)>(func);
-
-    connect(f);
-
-    return f;
-  }
-
-  template<typename Source>
-  Utility::IFunction<R(Args...)>* connect(Source& src, R (Source::*func)(Args...))
-  {
-    auto* f = new Utility::FunctionOwned<Source, R(Args...)>(src, func);
-
-    connect(f);
-
-    return f;
-  }
-
-  template<size_t... Is>
-  void callUpFunction(Utility::IFunction<R(Args...)>* func, ArgStorage& args, std::index_sequence<Is...>)
-  {
-    (*func)(std::forward<Args>(args.at<Args>(Is))...);
-  }
-
-  void callUpFunction(Utility::IFunction<R(Args...)>* func, ArgStorage& args)
-  {
-    callUpFunction(func, args, std::make_index_sequence<sizeof...(Args)>{});
-  }
-
-  void callUp(ArgStorage& args)
-  {
-    for (auto* f : signals)
-    {
-      if (f)
-        callUpFunction(f, args);
-      else
-        break;
-    }
-
-    args.cleanUp<Args...>();
-  }
-
-  void invoke(Args... args)
-  {
-    ArgStorage& storage = scheduler->storeCall(&invoke_ptr);
-    (storage.pushArg(std::forward<Args>(args)), ...);
-  }
-};
-
-}// namespace cpptick

CppTick/Inc/cpptick/timer.hpp

@@ -1,68 +0,0 @@
-//
-// Created by erki on 24/10/23.
-//
-
-
-#pragma once
-
-#include <cstdint>
-
-#include <utility_function.hpp>
-
-#include "cpptick/argstore.hpp"
-
-namespace cpptick
-{
-
-struct BaseScheduler;
-
-struct Timer
-{
-  enum Type
-  {
-    ONE_SHOT,
-    PERIODIC
-  };
-
-  Timer(BaseScheduler* scheduler, const std::uint32_t timeout_ms, const Type type)
-      : scheduler_(scheduler), period_ms(timeout_ms), type(type)
-  {}
-
-  Timer() = delete;
-  Timer(const Timer&) = delete;
-  Timer(Timer&&) = delete;
-  Timer& operator=(const Timer&) = delete;
-  Timer& operator=(Timer&&) = delete;
-
-  void start();
-
-  template<typename T>
-  void setSlot(T& slot)
-  {
-    setSlot(&slot.invoke_ptr);
-  }
-
-  void setSlot(Utility::IFunction<void(ArgStorage&)>* slot)
-  {
-    slot_ = slot;
-  }
-
-  Utility::IFunction<void(ArgStorage&)>* getSlot()
-  {
-    return slot_;
-  }
-
-  std::uint32_t expirationTime(const std::uint32_t current_time) const
-  {
-    return period_ms + current_time;
-  }
-
-  std::uint32_t period_ms;
-  Type type;
-
-private:
-  BaseScheduler* scheduler_;
-  Utility::IFunction<void(ArgStorage&)>* slot_ = nullptr;
-};
-
-}// namespace cpptick

CppTick/Src/timer.cpp

@@ -1,17 +0,0 @@
-//
-// Created by erki on 24/10/23.
-//
-
-#include "cpptick/timer.hpp"
-
-#include "cpptick/scheduler.hpp"
-
-namespace cpptick
-{
-
-void Timer::start()
-{
-  scheduler_->storeTimer(this);
-}
-
-}// namespace cpptick

CppTick/cpptick-config.cmake.in

@@ -1,2 +0,0 @@
-include(${CMAKE_CURRENT_LIST_DIR}/skullc-cpptick-config-version.cmake)
-include(${CMAKE_CURRENT_LIST_DIR}/skullc-cpptick-targets.cmake)

Tests/CMakeLists.txt

@@ -31,8 +31,6 @@ add_executable(tests
     enum_helpers.cpp
     bytes.cpp
     filters.cpp
-    cpptick.cpp
-    notnull.cpp
 )
 
 target_link_libraries(tests
@@ -41,12 +39,11 @@ target_link_libraries(tests
         skullc::messaging
         skullc::peripherals
         Catch2::Catch2
-        skullc::cpptick
 )
 
 set_target_properties(tests
     PROPERTIES
-        CXX_STANDARD 20
+        CXX_STANDARD 17
 )
 
 list(APPEND CMAKE_MODULE_PATH ${catch2_SOURCE_DIR}/contrib)

Tests/cpptick.cpp

@@ -1,268 +0,0 @@
-//
-// Created by erki on 12/09/23.
-//
-
-#include <catch2/catch.hpp>
-
-#include "cpptick/cpptick.hpp"
-
-#include <chrono>
-#include <thread>
-
-using namespace std::chrono_literals;
-
-namespace
-{
-
-int callback_count = 0;
-
-void callbackByOne()
-{
-  callback_count += 1;
-}
-
-void callbackByN(int to_add)
-{
-  callback_count += to_add;
-}
-
-struct TestHal
-{
-  static std::uint32_t getMillis()
-  {
-    using std::chrono::duration_cast;
-    using std::chrono::milliseconds;
-    using std::chrono::system_clock;
-
-    return std::uint32_t(
-            duration_cast<milliseconds>(system_clock::now().time_since_epoch())
-                    .count());
-  }
-};
-
-}// namespace
-
-
-TEST_CASE("Slot calls function properly with void args.", "[cpptick]")
-{
-  cpptick::Scheduler<TestHal> scheduler;
-
-  cpptick::Slot<void()> slot(&scheduler);
-  auto* f = slot.connect(callbackByOne);
-
-  callback_count = 0;
-  REQUIRE(callback_count == 0);
-
-  SECTION("invoke() calls the slot appropriately.")
-  {
-    slot.invoke();
-    CHECK(callback_count == 0);
-
-    scheduler.tick();
-    CHECK(callback_count == 1);
-
-    SECTION("Second tick doesn't invoke the slot again.")
-    {
-      scheduler.tick();
-      CHECK(callback_count == 1);
-    }
-
-    SECTION("Second invoke() will call the slot again.")
-    {
-      slot.invoke();
-      scheduler.tick();
-      CHECK(callback_count == 2);
-    }
-  }
-
-  SECTION("Multiple calls queue properly.")
-  {
-    const int count = 3;
-    for (int i = 0; i < count; i++)
-    {
-      slot.invoke();
-    }
-
-    for (int i = 0; i < count; i++)
-    {
-      CHECK(callback_count == i);
-      scheduler.tick();
-      CHECK(callback_count == i + 1);
-    }
-  }
-
-  delete f;
-}
-
-TEST_CASE("Slot calls function properly with args.", "[cpptick]")
-{
-  cpptick::Scheduler<TestHal> scheduler;
-
-  cpptick::Slot<void(int)> slot(&scheduler);
-  auto* f = slot.connect(callbackByN);
-
-  callback_count = 0;
-  REQUIRE(callback_count == 0);
-
-  SECTION("invoke() passes argument appropriately.")
-  {
-    const int to_add = 5;
-    slot.invoke(to_add);
-    CHECK(callback_count == 0);
-
-    scheduler.tick();
-    CHECK(callback_count == to_add);
-  }
-
-  delete f;
-}
-
-TEST_CASE("Timer will be invoked.", "[cpptick]")
-{
-  cpptick::Scheduler<TestHal> scheduler;
-
-  cpptick::Slot<void()> slot(&scheduler);
-  auto* f = slot.connect(callbackByOne);
-
-  callback_count = 0;
-  REQUIRE(callback_count == 0);
-
-  cpptick::Timer timer(&scheduler, 100, cpptick::Timer::ONE_SHOT);
-  timer.setSlot(slot);
-
-  SECTION("Timer will be invoked after 100 milliseconds.")
-  {
-    timer.start();
-
-    scheduler.tick();
-    CHECK(callback_count == 0);
-
-    SECTION("Timer won't be executed prematurely.")
-    {
-      std::this_thread::sleep_for(80ms);
-      scheduler.tick();
-      CHECK(callback_count == 0);
-    }
-
-    SECTION("Time will be executed after period elapsed.")
-    {
-      std::this_thread::sleep_for(110ms);
-      scheduler.tick();
-      CHECK(callback_count == 1);
-
-      SECTION("Single shot timer isn't executed again.")
-      {
-        CHECK(callback_count == 1);
-
-        std::this_thread::sleep_for(110ms);
-        scheduler.tick();
-        CHECK(callback_count == 1);
-      }
-    }
-  }
-
-  SECTION("An unstarted timer does not run.")
-  {
-    scheduler.tick();
-    CHECK(callback_count == 0);
-
-    std::this_thread::sleep_for(110ms);
-    scheduler.tick();
-    CHECK(callback_count == 0);
-  }
-
-  delete f;
-}
-
-TEST_CASE("Periodic timers will be invoked repeatedly.", "[cpptick]")
-{
-  cpptick::Scheduler<TestHal> scheduler;
-
-  cpptick::Slot<void()> slot(&scheduler);
-  auto* f = slot.connect(callbackByOne);
-
-  callback_count = 0;
-  REQUIRE(callback_count == 0);
-
-  cpptick::Timer timer(&scheduler, 100, cpptick::Timer::PERIODIC);
-  timer.setSlot(slot);
-
-  SECTION("Timer will be invoked after 100 milliseconds.")
-  {
-    timer.start();
-
-    scheduler.tick();
-    CHECK(callback_count == 0);
-
-    SECTION("Timer won't be executed prematurely.")
-    {
-      std::this_thread::sleep_for(80ms);
-      scheduler.tick();
-      CHECK(callback_count == 0);
-    }
-
-    SECTION("Time will be executed after period elapsed.")
-    {
-      std::this_thread::sleep_for(110ms);
-      scheduler.tick();
-      CHECK(callback_count == 1);
-
-      SECTION("Periodic timer is executed again.")
-      {
-        CHECK(callback_count == 1);
-
-        std::this_thread::sleep_for(110ms);
-        scheduler.tick();
-        CHECK(callback_count == 2);
-      }
-    }
-  }
-
-  delete f;
-}
-
-TEST_CASE("Sequential timers operate appropriately.", "[cpptick]")
-{
-  cpptick::Scheduler<TestHal> scheduler;
-
-  cpptick::Slot<void()> slot_a(&scheduler);
-  auto* f = slot_a.connect(callbackByOne);
-
-  cpptick::Timer timer_a(&scheduler, 100, cpptick::Timer::PERIODIC);
-  timer_a.setSlot(slot_a);
-
-  auto callback_by_two = []() -> void {
-    callback_count += 2;
-  };
-  cpptick::Slot<void()> slot_b(&scheduler);
-  auto* ff = slot_b.connect(callback_by_two);
-
-  cpptick::Timer timer_b(&scheduler, 50, cpptick::Timer::ONE_SHOT);
-  timer_b.setSlot(slot_b);
-
-  callback_count = 0;
-  REQUIRE(callback_count == 0);
-
-  timer_a.start();
-  timer_b.start();
-
-  SECTION("Shorter timer is called first.", "[cpptick]")
-  {
-    std::this_thread::sleep_for(60ms);
-    scheduler.tick();
-    CHECK(callback_count == 2);
-
-    scheduler.tick();
-    CHECK(callback_count == 2);
-
-    SECTION("Longer timer is executed afterwards.", "[cpptick]")
-    {
-      std::this_thread::sleep_for(50ms);
-      scheduler.tick();
-      CHECK(callback_count == 3);
-    }
-  }
-
-  delete f;
-  delete ff;
-}

Tests/notnull.cpp

@@ -1,59 +0,0 @@
-//
-// Created by erki on 25/10/23.
-//
-
-#include <catch2/catch.hpp>
-
-#include <atomic>
-
-#ifdef NDEBUG
-#undef NDEBUG
-#define NDEBUG_WAS_DEFINED
-#endif
-
-#include "utility_assert.hpp"
-#include "utility_notnull.hpp"
-
-#ifdef NDEBUG_WAS_DEFINED
-#define NDEBUG
-#endif
-
-namespace
-{
-
-std::atomic<bool> assert_flag = false;
-
-void assertCallback(const char*, const char*, const int)
-{
-  assert_flag = true;
-}
-
-}// namespace
-
-TEST_CASE("Assert is tripped if nullptr passed.", "[utility],[notnull]")
-{
-  assert_flag = false;
-  Utility::Assert::setHandler(assertCallback);
-  REQUIRE(assert_flag == false);
-
-  auto call = [](Utility::NotNull<int> i) -> void {};
-
-  call(nullptr);
-  CHECK(assert_flag == true);
-}
-
-TEST_CASE("Assert is not tripped if valid pointer is passed.", "[utility],[notnull]")
-{
-  assert_flag = false;
-  Utility::Assert::setHandler(assertCallback);
-  REQUIRE(assert_flag == false);
-
-  auto call = [](Utility::NotNull<int> i) -> int {
-    return *i;
-  };
-
-  int a = 5;
-  const int test = call(&a);
-  CHECK(assert_flag == false);
-  CHECK(a == test);
-}

Utility/Inc/utility_notnull.hpp

@@ -1,51 +0,0 @@
-//
-// Created by erki on 25/10/23.
-//
-
-#pragma once
-
-#include "utility_assert.hpp"
-
-namespace Utility
-{
-
-template<typename T>
-struct NotNull
-{
-  NotNull(T* ptr)
-      : ptr_(ptr)
-  {
-    SKULLC_ASSERT_DEBUG(ptr_ != nullptr);
-  }
-
-  NotNull() = delete;
-  NotNull(const NotNull&) = delete;
-  NotNull(NotNull&&) = delete;
-  NotNull& operator=(const NotNull&) = delete;
-  NotNull& operator=(NotNull&&) = delete;
-
-  const T& operator*() const
-  {
-    return *ptr_;
-  }
-
-  T& operator*()
-  {
-    return *ptr_;
-  }
-
-  const T* operator->() const noexcept
-  {
-    return ptr_;
-  }
-
-  T* operator->() noexcept
-  {
-    return ptr_;
-  }
-
-private:
-  T* ptr_;
-};
-
-}// namespace Utility