.clang-format

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

Peripherals/Inc/peripherals_hal_st.hpp

@@ -10,6 +10,8 @@
 
 #include <main.h>
 
+#include "peripherals_utility.hpp"
+
 #include <array>
 
 #define USE_DELAY_US
@@ -93,16 +95,10 @@ struct Gpio
   bool read() const { return inverted ? !bool(HAL_GPIO_ReadPin(port, pin)) : bool(HAL_GPIO_ReadPin(port, pin)); }
 };
 
-#define CREATE_GPIO(name)               \
+#define CREATE_GPIO(name) \
-  Peripherals::Hal::St::Gpio            \
+  Peripherals::Hal::St::Gpio { name##_GPIO_Port, name##_Pin, false }
-  {                                     \
+#define CREATE_INV_GPIO(name) \
-    name##_GPIO_Port, name##_Pin, false \
+  Peripherals::Hal::St::Gpio { name##_GPIO_Port, name##_Pin, true }
-  }
-#define CREATE_INV_GPIO(name)          \
-  Peripherals::Hal::St::Gpio           \
-  {                                    \
-    name##_GPIO_Port, name##_Pin, true \
-  }
 
 #endif// HAL_GPIO_MODULE_ENABLED
 
@@ -274,17 +270,17 @@ namespace _Details
  * 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)
+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)
+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, _Details::uartTransmit, HAL_UART_Receive>;

Peripherals/Inc/peripherals_imu_icm.hpp

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

Peripherals/Inc/peripherals_motors.hpp

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

@@ -0,0 +1,68 @@
+/*
+ * 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
+{
+
+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

@@ -29,7 +29,6 @@ add_executable(tests
     assert_ndebug.cpp
     assert.cpp
     enum_helpers.cpp
-    bytes.cpp
 )
 
 target_link_libraries(tests

Tests/bytes.cpp

@@ -1,68 +0,0 @@
-//
-// 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);
-  }
-}

Threads/Inc/threads_exclusivesignal.hpp

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

@@ -7,7 +7,7 @@
 
 #include "threads_primitivethread.hpp"
 
-#include "utility_bytes.hpp"
+#include "peripherals_utility.hpp"
 
 #include <limits>
 
@@ -108,7 +108,7 @@ PrimitiveThread::PrimitiveThread(TaskHandle_t threadHandle)
 
 osThreadAttr_t PrimitiveThread::constructThreadAttrs_(const char* name, const osPriority_t priority, const std::uint32_t stack_size)
 {
-  auto attrs = Utility::zeroInitialized<osThreadAttr_t>();
+  auto attrs = Peripherals::zeroInitialized<osThreadAttr_t>();
 
   attrs.name = name;
   attrs.priority = priority;

Utility/Inc/utility_bytes.hpp

@@ -1,69 +0,0 @@
-//
-// 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_pixelbuffer.hpp

@@ -158,18 +158,15 @@ 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;
@@ -182,8 +179,7 @@ public:
         {
           y++;
           p = p + 2 * dy - 2 * dx;
-        }
+        } else
-        else
         {
           p = p + 2 * dy;
         }
@@ -221,8 +217,7 @@ public:
       {
         y--;
         d = d + 4 * (x - y) + 10;
-      }
+      } else
-      else
       {
         d = d + 4 * x + 6;
       }

Utility/Inc/utility_ringbuffer.hpp

@@ -68,8 +68,7 @@ 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,
@@ -83,8 +82,7 @@ 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,
@@ -204,8 +202,7 @@ public:
     if (distance > 0)
     {
       return distance;
-    }
+    } else
-    else
     {
       return head_ - tail_ + 1;
     }