Temporary working commit

.drone.yml

@@ -0,0 +1,28 @@
+kind: pipeline
+type: docker
+name: default
+
+steps:
+  - name: build and test
+    pull: never
+    image: erki/cpp-ubuntu:latest
+    commands:
+      - mkdir -p build
+      - cd build
+      - 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

@@ -1,41 +0,0 @@
-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

@@ -14,9 +14,6 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/)
 
 option(SKULLC_WITH_TESTS "Enable unit testing." OFF)
 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(SKULLC_USE_HAL_ESP "Enable the ESP HAL when SKULLC_WITH_HAL is enabled." OFF)
-option(SKULLC_WITH_DOCS "Enable documentation building." OFF)
 
 include(skullc-install)
 
@@ -29,10 +26,6 @@ if(SKULLC_WITH_TESTS)
     add_subdirectory(Tests)
 endif()
 
-if(SKULLC_WITH_DOCS)
-    add_subdirectory(Docs)
-endif()
-
 ## Install
 
 configure_file(skullc-config.cmake

Docs/CMakeLists.txt

@@ -1,53 +0,0 @@
-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

@@ -1,11 +0,0 @@
-// 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

@@ -1,31 +0,0 @@
-# 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

@@ -1,23 +0,0 @@
-.. 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

@@ -1,17 +0,0 @@
-
-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

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

Docs/threads.rst

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

Docs/utility.rst

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

Jenkinsfile

@@ -0,0 +1,50 @@
+pipeline {
+    agent {
+        label 'ubuntu'
+    }
+
+    stages {
+        stage("build && test") {
+            steps {
+                echo "Workspace: ${env.WORKSPACE}"
+                sh 'mkdir -p build'
+
+                dir("build") {
+                    sh 'ls'
+                    sh 'cmake .. -G "Ninja" -DCMAKE_BUILD_TYPE=Release -DSKULLC_WITH_TESTS=ON'
+                    sh 'ninja'
+                    sh 'ctest . -T test --output-on-failure --no-compress-output'
+                }
+            }
+        }
+    }
+
+    post {
+        always {
+            archiveArtifacts (
+                artifacts: 'build/Testing/**/*.xml',
+                fingerprint: true
+            )
+
+            // Process the CTest xml output with the xUnit plugin
+            xunit (
+                testTimeMargin: '3000',
+                thresholdMode: 1,
+                thresholds: [
+                skipped(failureThreshold: '0'),
+                failed(failureThreshold: '0')
+                ],
+            tools: [CTest(
+                pattern: 'build/Testing/**/*.xml',
+                deleteOutputFiles: true,
+                failIfNotNew: false,
+                skipNoTestFiles: true,
+                stopProcessingIfError: true
+                )]
+            )
+
+            // Clear the source and build dirs before next run
+            deleteDir()
+        }
+    }
+}

Peripherals/Inc/peripherals_hal_concepts.hpp

@@ -1,37 +0,0 @@
-//
-// 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

@@ -1,51 +0,0 @@
-//
-// 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

@@ -8,8 +8,6 @@
 #ifndef SKULLC_PERIPHERALS_HAL_ST_HPP_
 #define SKULLC_PERIPHERALS_HAL_ST_HPP_
 
-#ifdef SKULLC_USE_HAL_ST
-
 #include <main.h>
 
 #include <array>
@@ -345,8 +343,4 @@ 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

@@ -13,6 +13,8 @@
 
 #include "peripherals_imu.hpp"
 
+#include "utility_logging.hpp"
+
 namespace Peripherals
 {
 
@@ -43,10 +45,7 @@ public:
 
   ImuIcm() = delete;
   ImuIcm(const registers_handle& registers) : registers(registers)
-  {
-    bias_accel_.fill(0);
-    bias_gyro_.fill(0);
-  }
+  { }
 
   void setup() override
   {
@@ -71,13 +70,9 @@ public:
                                   // rate = 1KHz, temp filter = 42
     hal::delay(10);
 
-    const std::uint8_t new_gyro_conf = (std::uint32_t(scale_gyro_) << 3);
-    registers.writeRegister(Registers_::GYRO_CONFIG & Registers_::WRITE_MASK,
-                            new_gyro_conf);
+    setAccelerometerScale(scale_accel_);
 
-    const std::uint8_t new_accel_config = (std::uint32_t(scale_accel_) << 3);
-    registers.writeRegister(Registers_::ACCEL_CONFIG & Registers_::WRITE_MASK,
-                            new_accel_config);
+    setGyroscopeScale(scale_gyro_);
 
     // ACCEL_FCHOICE_B = 0, A_DLPF_CFG = 3 filter=44.8/61.5 rate=1KHz
     registers.writeRegister(Registers_::ACCEL_CONFIG2 & Registers_::WRITE_MASK,
@@ -99,27 +94,25 @@ public:
                             0);
     hal::delay(10);
 
-    registers.writeRegister(Registers_::INT_ENABLE & Registers_::WRITE_MASK, 1);
+    registers.writeRegister(Registers_::INT_ENABLE & Registers_::WRITE_MASK, 0);
     hal::delay(10);
   }
 
-  std::array<std::int16_t, 3>& gyroBias()
-  {
-    return bias_gyro_;
-  }
-
-  std::array<std::int16_t, 3>& accelBias()
-  {
-    return bias_accel_;
-  }
-
   void calibrate(const std::uint32_t samples) override
   {
-    std::array<std::int32_t, 3> avg_gyro;
-    std::array<std::int32_t, 3> avg_accel;
+	const auto prev_accel_scale = scale_accel_;
+	const auto prev_gyro_scale = scale_gyro_;
 
-    avg_gyro.fill(0);
-    avg_accel.fill(0);
+	setAccelerometerScale(AccelerometerScale::G2);
+	setGyroscopeScale(GyroScale::DPS_250);
+
+    std::array<std::int32_t, 3> avg_gyro = {0, 0, 0};
+    std::array<std::int32_t, 3> avg_accel = {0, 0, 0};
+    std::array<std::int32_t, 3> bias_gyro = {0, 0, 0};
+    std::array<std::int32_t, 3> bias_accel = {0, 0, 0};
+
+    [[maybe_unused]] const std::uint16_t gyro_sensitivity = 131;   // = 131 LSB/degrees/sec
+    const std::uint16_t accel_sensitivity = 16384; // = 16384 LSB/g
 
     for (std::uint32_t i = 0; i < samples; i++)
     {
@@ -138,11 +131,65 @@ public:
 
     for (std::uint32_t i = 0; i < 3; i++)
     {
-      bias_gyro_[i] = avg_gyro[i] / std::int32_t(samples);
-      bias_accel_[i] = avg_accel[i] / std::int32_t(samples);
+      bias_gyro[i] = avg_gyro[i] / std::int32_t(samples);
+      bias_accel[i] = avg_accel[i] / std::int32_t(samples);
     }
 
-    bias_accel_[2] -= accelerometerReadingToRaw(1);
+    if (bias_accel[2] > 0)
+    	bias_accel[2] -= accel_sensitivity;
+    else
+    	bias_accel[2] += accel_sensitivity;
+
+    std::array<std::uint8_t, 6> push_data;
+
+    // Construct the gyro biases for push to the hardware gyro bias registers,
+    // which are reset to zero upon device startup.
+    // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input
+    // format.
+    push_data[0] = (-bias_gyro[0]/4 >> 8) & 0xFF;
+    push_data[1] = (-bias_gyro[0]/4) & 0xFF;
+    push_data[2] = (-bias_gyro[1]/4 >> 8) & 0xFF;
+    push_data[3] = (-bias_gyro[1]/4) & 0xFF;
+    push_data[4] = (-bias_gyro[2]/4 >> 8) & 0xFF;
+    push_data[5] = (-bias_gyro[2]/4) & 0xFF;
+
+    registers.writeRegisterMultibyte(Registers_::XG_OFFSET_H & Registers_::WRITE_MASK,
+    		push_data.data(), push_data.size());
+
+    std::array<std::int32_t, 3> factory_values = {0, 0, 0};
+//    registers.readRegisterMultibyte(Registers_::XA_OFFSET_H | Registers_::READ_MASK,
+//    		push_data.data(), push_data.size());
+//    factory_values[0] = std::int32_t((std::int16_t(push_data[0]) << 8) | push_data[1]);
+//    factory_values[1] = std::int32_t((std::int16_t(push_data[2]) << 8) | push_data[3]);
+//    factory_values[2] = std::int32_t((std::int16_t(push_data[4]) << 8) | push_data[5]);
+
+    // Construct total accelerometer bias, including calculated average
+    // accelerometer bias from above
+    // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g
+    // (16 g full scale)
+    bias_accel[0] = factory_values[0] - (bias_accel[0] / 8);
+    bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
+    bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
+
+    push_data[0] = ((bias_accel[0] >> 8) & 0xFF);
+    push_data[1] = ((bias_accel[0]) & 0xFF) | (factory_values[0] & 0x1);
+    push_data[2] = ((bias_accel[1] >> 8) & 0xFF);
+    push_data[3] = ((bias_accel[1]) & 0xFF) | (factory_values[1] & 0x1);
+    push_data[4] = ((bias_accel[2] >> 8) & 0xFF);
+    push_data[5] = ((bias_accel[2]) & 0xFF) | (factory_values[2] & 0x1);
+
+    registers.writeRegisterMultibyte(Registers_::XA_OFFSET_H & Registers_::WRITE_MASK,
+			push_data.data(), push_data.size());
+
+   // __asm__("BKPT");
+
+	setAccelerometerScale(prev_accel_scale);
+	setGyroscopeScale(prev_gyro_scale);
+
+	SKULLC_LOG_DEBUG("ICM: Accelerometer bias: %d, %d, %d; accel total: %d, %d, %d.",
+			bias_accel[0], bias_accel[1], bias_accel[2],
+			avg_accel[0], avg_accel[1], avg_accel[2]);
+	// TODO: remove manual bias calculations. These are now done in hardware.
   }
 
   void setGyroscopeScale(const GyroScale scale)
@@ -226,12 +273,12 @@ public:
 
   float accelerometerRawToReading(const std::int16_t bit, const std::size_t axis) const
   {
-    return (float(bit - bias_accel_[axis]) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]) * 9.8f;
+    return (float(bit) * accel_fs_to_bit_constants_[std::uint32_t(scale_accel_)]) * 9.8f;
   }
 
   float gyroRawToReading(const std::int16_t bit, const std::size_t axis) const
   {
-    return float(bit - bias_gyro_[axis]) * gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
+    return float(bit) * gyro_fs_to_bit_constants_[std::uint32_t(scale_gyro_)];
   }
 
   std::uint8_t readProductId()
@@ -251,9 +298,6 @@ private:
           (250.0f / 32768.0f), (500.0f / 32768.0f), (1000.0f / 32768.0f),
           (2000.0f / 32768.0f)};
 
-  std::array<std::int16_t, 3> bias_gyro_;
-  std::array<std::int16_t, 3> bias_accel_;
-
   struct Registers_
   {
     static constexpr std::uint32_t ICM20689_ID = 0x98;

Tests/CMakeLists.txt

@@ -30,7 +30,6 @@ add_executable(tests
     assert.cpp
     enum_helpers.cpp
     bytes.cpp
-    filters.cpp
 )
 
 target_link_libraries(tests

Tests/filters.cpp

@@ -1,191 +0,0 @@
-//
-// 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);
-    }
-  }
-}

Utility/Inc/utility_filters.hpp

@@ -1,124 +0,0 @@
-//
-// 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_ifilter.hpp

@@ -1,49 +0,0 @@
-//
-// 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_

cmake/FindSphinx.cmake

@@ -1,11 +0,0 @@
-#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

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