✨ Ad inert drivers from -soft (#40)

CMakeLists.txt

@@ -16,6 +16,21 @@ cmake_minimum_required(VERSION 3.15)
 project(libhal-util LANGUAGES CXX)
 
 set(TEST_SOURCES_LIST
+  tests/inert_drivers/inert_accelerometer.test.cpp
+  tests/inert_drivers/inert_adc.test.cpp
+  tests/inert_drivers/inert_dac.test.cpp
+  tests/inert_drivers/inert_distance_sensor.test.cpp
+  tests/inert_drivers/inert_gyroscope.test.cpp
+  tests/inert_drivers/inert_input_pin.test.cpp
+  tests/inert_drivers/inert_interrupt_pin.test.cpp
+  tests/inert_drivers/inert_magnetometer.test.cpp
+  tests/inert_drivers/inert_motor.test.cpp
+  tests/inert_drivers/inert_pwm.test.cpp
+  tests/inert_drivers/inert_output_pin.test.cpp
+  tests/inert_drivers/inert_rotation_sensor.test.cpp
+  tests/inert_drivers/inert_steady_clock.test.cpp
+  tests/inert_drivers/inert_temperature_sensor.test.cpp
+  tests/inert_drivers/inert_timer.test.cpp
   tests/as_bytes.test.cpp
   tests/can.test.cpp
   tests/bit.test.cpp

conanfile.py

@@ -59,10 +59,10 @@ def validate(self):
     def build_requirements(self):
         self.tool_requires("cmake/3.27.1")
         self.tool_requires("libhal-cmake-util/[^4.1.0]")
-        self.test_requires("boost-ext-ut/1.1.9")
+        self.test_requires("boost-ext-ut/2.1.0")
 
     def requirements(self):
-        self.requires("libhal/[^4.4.0]", transitive_headers=True)
+        self.requires("libhal/[^4.7.0]", transitive_headers=True)
 
     def layout(self):
         cmake_layout(self)

include/libhal-util/atomic_spin_lock.hpp

@@ -19,7 +19,7 @@
 #include <libhal/lock.hpp>
 #include <libhal/steady_clock.hpp>
 
-namespace hal::soft {
+namespace hal {
 /**
  * @brief Atomic spin lock that implements hal::pollable_lock
  *
@@ -86,4 +86,4 @@ class timed_atomic_spin_lock : public hal::timed_lock
   hal::steady_clock* m_steady_clock;
   atomic_spin_lock m_atomic_spin_lock;
 };
-}  // namespace hal::soft
+}  // namespace hal

include/libhal-util/bit_bang_i2c.hpp

@@ -192,10 +192,3 @@ class bit_bang_i2c : public i2c
   float m_duty_cycle;
 };
 }  // namespace hal
-
-namespace hal {
-// This is here for backwards compatibility.
-// We made a mistake on the first review and accidentally put bit_bang_i2c in
-// the hal namespace.
-using hal::soft::bit_bang_i2c;
-}  // namespace hal

include/libhal-util/bit_bang_spi.hpp

@@ -19,7 +19,7 @@
 #include <libhal/spi.hpp>
 #include <libhal/steady_clock.hpp>
 
-namespace hal::soft {
+namespace hal {
 /**
  * @brief A bit bang implementation for spi.
  *
@@ -124,4 +124,4 @@ class bit_bang_spi : public spi
   delay_mode m_delay_mode;
 };
 
-}  // namespace hal::soft
+}  // namespace hal

include/libhal-util/inert_drivers/inert_accelerometer.hpp

@@ -0,0 +1,45 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <libhal/accelerometer.hpp>
+
+namespace hal {
+/**
+ * @brief Inert implementation of acceleration sensing hardware
+ *
+ */
+class inert_accelerometer : public hal::accelerometer
+{
+public:
+  /**
+   * @brief Create inert_accelerometer object
+   *
+   * @param p_values - what will be returned from the read function.
+   */
+  constexpr inert_accelerometer(read_t p_values)
+    : m_values(p_values)
+  {
+  }
+
+private:
+  read_t driver_read()
+  {
+    return m_values;
+  }
+
+  read_t m_values;
+};
+}  // namespace hal

include/libhal-util/inert_drivers/inert_adc.hpp

@@ -0,0 +1,48 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <libhal/adc.hpp>
+
+#include <algorithm>
+
+namespace hal {
+/**
+ * @brief Inert implementation of Analog to Digital Converter (ADC) hardware
+ *
+ */
+class inert_adc : public hal::adc
+{
+public:
+  /**
+   * @brief Create inert_adc object
+   *
+   * @param p_result - What will be returned from inert_adc's read function,
+   * clamped to -1.0f to 1.0f.
+   */
+  constexpr inert_adc(float p_result)
+    : m_result(std::clamp(p_result, -1.0f, 1.0f))
+  {
+  }
+
+private:
+  float driver_read()
+  {
+    return m_result;
+  }
+
+  float m_result;
+};
+}  // namespace hal

include/libhal-util/inert_drivers/inert_dac.hpp

@@ -0,0 +1,39 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <libhal/dac.hpp>
+
+namespace hal {
+/**
+ * @brief Inert implementation of Digital to Analog Converter (DAC) hardware
+ *
+ */
+class inert_dac : public hal::dac
+{
+public:
+  /**
+   * @brief Create inert_dac object
+   */
+  constexpr inert_dac()
+  {
+  }
+
+private:
+  void driver_write(float)
+  {
+  }
+};
+}  // namespace hal

include/libhal-util/inert_drivers/inert_distance_sensor.hpp

@@ -0,0 +1,45 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <libhal/distance_sensor.hpp>
+
+namespace hal {
+/**
+ * @brief Inert implementation of linear distance hardware
+ *
+ */
+class inert_distance_sensor : public hal::distance_sensor
+{
+public:
+  /**
+   * @brief Create inert_distance_sensor object
+   *
+   * @param p_result - what will be returned from the read function.
+   */
+  constexpr inert_distance_sensor(hal::meters p_result)
+    : m_result(p_result)
+  {
+  }
+
+private:
+  hal::meters driver_read()
+  {
+    return m_result;
+  }
+
+  hal::meters m_result;
+};
+}  // namespace hal

include/libhal-util/inert_drivers/inert_gyroscope.hpp

@@ -0,0 +1,45 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <libhal/gyroscope.hpp>
+
+namespace hal {
+/**
+ * @brief Inert implementation of angular velocity sensing hardware
+ *
+ */
+class inert_gyroscope : public hal::gyroscope
+{
+public:
+  /**
+   * @brief Create inert_gyroscope object
+   *
+   * @param p_result - what will be returned from the read function.
+   */
+  constexpr inert_gyroscope(read_t p_result)
+    : m_result(p_result)
+  {
+  }
+
+private:
+  read_t driver_read()
+  {
+    return m_result;
+  }
+
+  read_t m_result;
+};
+}  // namespace hal