feat: use c++

.github/workflows/ci.yml

@@ -14,28 +14,24 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v6
 
-      - name: Install Ruby
-        uses: ruby/setup-ruby@v1
-        with:
-          ruby-version: '4.0'
-
-      - name: Install Build Tools and Ceedling
+      - name: Install Build Tools
         run: |
           sudo apt-get update
-          sudo apt-get install -y gcc cmake ninja-build gcovr
-          gem install ceedling
+          sudo apt-get install -y gcc cmake ninja-build
+          pip install gcovr
 
-      - name: Fetch Dependencies
-        run: cmake -B build
+      - name: Configure cmake and run builds
+        run: |
+          cmake -B build -S .
+          cmake --build build
 
-      - name: Run Tests
-        run: ceedling gcov:all
+      - name: Run Tests and create coverage
+        run: |
+          cmake --build build --target test
+          cmake --build build --target coverage
 
-      - name: Upload Coverage
-        uses: actions/upload-artifact@v7
+      - name: Render Coverage Summary in CI
         if: always()
-        with:
-          name: code-coverage-report
-          path: build/ceedling/artifacts/gcov/gcovr/GcovCoverageResults.html
-          archive: false
-          retention-days: 7
+        run: |
+          echo "## Code Coverage Summary" >> $GITHUB_STEP_SUMMARY
+          gcovr -r . -e "tests/" -e "build/" --markdown >> $GITHUB_STEP_SUMMARY

CMakeLists.txt

@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 3.22)
-enable_language(C)
+project(CommonDrivers)
+enable_language(C CXX)
 
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 include(FetchContent)
@@ -13,14 +17,6 @@ FetchContent_Declare(bmi08
   GIT_TAG master
 )
 FetchContent_MakeAvailable(bmi08)
-add_library(bmi08 STATIC
-    ${bmi08_SOURCE_DIR}/bmi08a.c
-    ${bmi08_SOURCE_DIR}/bmi08g.c
-    ${bmi08_SOURCE_DIR}/bmi08xa.c
-    ${bmi08_SOURCE_DIR}/bmi088_mma.c
-    ${bmi08_SOURCE_DIR}/bmi088_anymotiona.c
-)
-target_include_directories(bmi08 PUBLIC ${bmi08_SOURCE_DIR})
 
 message(STATUS "Resolving bmp5 sensors api dependency...")
 FetchContent_Declare(bmp5
@@ -29,8 +25,6 @@ FetchContent_Declare(bmp5
   GIT_TAG master
 )
 FetchContent_MakeAvailable(bmp5)
-add_library(bmp5 STATIC ${bmp5_SOURCE_DIR}/bmp5.c)
-target_include_directories(bmp5 PUBLIC ${bmp5_SOURCE_DIR})
 
 message(STATUS "Resolving littlefs dependency...")
 FetchContent_Declare(littlefs
@@ -39,32 +33,79 @@ FetchContent_Declare(littlefs
   GIT_TAG master
 )
 FetchContent_MakeAvailable(littlefs)
-add_library(littlefs STATIC
-  ${littlefs_SOURCE_DIR}/lfs.c
-  ${littlefs_SOURCE_DIR}/lfs_util.c
-)
-target_include_directories(littlefs PUBLIC ${littlefs_SOURCE_DIR})
-
-message(STATUS "Dependencies resolved, now creating library...")
-add_library(common_drivers STATIC
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/flash.c"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/flash/gd5f1gq5xe.c"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/sensors/bmp581.c"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/sensors/bmi088.c"
-  "${CMAKE_CURRENT_SOURCE_DIR}/src/sensors/CD-PA1616S.c"
+
+message(STATUS "Resolving gtest dependency...")
+FetchContent_Declare(
+  googletest
+  GIT_REPOSITORY https://github.com/google/googletest.git
+  GIT_TAG v1.18.0
 )
-target_include_directories(common_drivers PUBLIC 
-  "${CMAKE_CURRENT_SOURCE_DIR}/include"
-  "${CMAKE_CURRENT_SOURCE_DIR}/include/flash"
-  "${CMAKE_CURRENT_SOURCE_DIR}/include/sensors"
+# For Windows: Prevent overriding the parent project's compiler/linker settings
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+message(STATUS "Resolving fff dependency...")
+FetchContent_Declare(
+  fff
+  GIT_REPOSITORY https://github.com/meekrosoft/fff.git
+  GIT_TAG master
 )
 
-message(STATUS "Linking libary to dependencies...")
-target_link_libraries(common_drivers PUBLIC bmi08 bmp5 littlefs)
+add_library(common_drivers STATIC)
+if(TARGET stm32cubemx)
+  message(STATUS "Compiling for target host (MCU), linking libraries...")
+
+  add_library(bmi08 STATIC
+    ${bmi08_SOURCE_DIR}/bmi08a.c
+    ${bmi08_SOURCE_DIR}/bmi08g.c
+    ${bmi08_SOURCE_DIR}/bmi08xa.c
+    ${bmi08_SOURCE_DIR}/bmi088_mma.c
+    ${bmi08_SOURCE_DIR}/bmi088_anymotiona.c
+  )
+  target_include_directories(bmi08 PUBLIC ${bmi08_SOURCE_DIR})
+
+  add_library(bmp5 STATIC ${bmp5_SOURCE_DIR}/bmp5.c)
+  target_include_directories(bmp5 PUBLIC ${bmp5_SOURCE_DIR})
+
+  add_library(littlefs STATIC
+    ${littlefs_SOURCE_DIR}/lfs.c
+    ${littlefs_SOURCE_DIR}/lfs_util.c
+  )
+  target_include_directories(littlefs PUBLIC ${littlefs_SOURCE_DIR})
+
+  message(STATUS "Linking dependencies to library...")
+  target_link_libraries(common_drivers PUBLIC bmi08 bmp5 littlefs)
 
-if(NOT TARGET stm32cubemx)
-  # Empty for now, will add stuff for tests later
-else()
   message(STATUS "Linking stm32 drivers to library....")
   target_link_libraries(common_drivers PUBLIC stm32cubemx)
+else()
+  enable_testing()
+  message(STATUS "Compiling for tests, linking gtest, fff, and mocks to library...")
+  FetchContent_MakeAvailable(googletest)
+  FetchContent_MakeAvailable(fff)
+
+  add_library(bmp5 INTERFACE)
+  target_include_directories(bmp5 INTERFACE ${bmp5_SOURCE_DIR})
+
+  add_library(littlefs INTERFACE)
+  target_include_directories(littlefs INTERFACE ${littlefs_SOURCE_DIR})
+
+  add_library(bmi08 INTERFACE)
+  target_include_directories(bmi08 INTERFACE ${bmi08_SOURCE_DIR})
+
+  message(STATUS "Linking mock dependencies to library...")
+  target_link_libraries(common_drivers PUBLIC bmp5 littlefs bmi08)
+
+  message(STATUS "Creating tests for library...")
+  add_compile_definitions(TEST)
+  add_subdirectory(tests)
 endif()
+
+message(STATUS "Adding source files and headers to library...")
+add_subdirectory(include)
+add_subdirectory(src)
+
+add_custom_target(coverage 
+  COMMAND mkdir -p coverage
+  COMMAND gcovr -r ${CMAKE_SOURCE_DIR} -e "${CMAKE_SOURCE_DIR}/tests/" -e "${CMAKE_BINARY_DIR}/" --html-details -o coverage/index.html .
+  WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+)

README.md

@@ -8,7 +8,7 @@ To write a sensor, you must initialize a struct of the form
 
 ```c
 struct sensor { 
-  bool (*read)(void*, struct packet*);
+  bool (*read)(void*, Packet*);
   void* ctx;
 };
 ```

include/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_include_directories(common_drivers PUBLIC
+  "."
+  "sensors"
+  "protocols"
+  "flash"
+)

include/flash/flash.h

@@ -0,0 +1,28 @@
+#ifndef FLASH_H
+#define FLASH_H
+
+#include "lfs.h"
+
+#include <stdint.h>
+
+namespace Platform {
+class Flash {
+protected:
+    bool is_ready = false;
+    struct lfs_config config;
+    lfs_t lfs;
+
+public:
+    virtual ~Flash() = default;
+    virtual bool init() = 0;
+    uint32_t mount();
+    uint32_t unmount();
+    uint32_t bootcount(bool update);
+    uint32_t open(lfs_file_t* file, const char* filename);
+    uint32_t close(lfs_file_t* file);
+    bool append(lfs_file_t* file, const uint8_t* bytes, size_t size);
+    bool ready() const { return is_ready; };
+};
+} // namespace Platform
+
+#endif

include/flash/gd5f1gq5xe.h

@@ -2,11 +2,21 @@
 #define GD5F1GQ5XE_H
 
 #include "flash.h"
-#include "defs.h"
+#include "hal.h"
+#include "protocol.h"
 
-#include <stddef.h>
 #include <stdbool.h>
+#include <stddef.h>
+
+namespace Platform {
+class GD5F1GQ5XE final : public Flash {
+private:
+    Protocol& protocol;
 
-bool gd5f1gq5xe_init(struct flash *flash, struct handle_spi *spi);
+public:
+    GD5F1GQ5XE(Protocol& protocol_);
+    bool init() override;
+};
+} // namespace Platform
 
 #endif

include/hal.h

@@ -0,0 +1,16 @@
+#ifndef HAL_H
+#define HAL_H
+
+#ifndef TEST
+#ifdef USE_STM32_H7XX
+#include "stm32h7xx_hal.h"
+#elif USE_STM32_L4XX
+#include "stm32l4xx_hal.h"
+#else
+#include "stm32f4xx_hal.h"
+#endif
+#else
+#define HAL_Delay(...) (0)
+#endif
+
+#endif

include/protocols/i2c.h

@@ -0,0 +1,30 @@
+#ifndef PROTOCOLS_I2C_H
+#define PROTOCOLS_I2C_H
+
+#include "protocol.h"
+
+/// I2C tends to be register and address heavy. This really isn't really used
+/// for command based sensors so the cmd buffer tends to just be the address
+/// of the register to read from instead.
+///
+/// The AddressSize gets directly converted to I2C's equivalent. Note that
+/// unlike qspi, I2C does not support addresses greater than two bytes.
+/// We use the `mem` equivalents of I2C because "most" sensors seem to
+/// to prefer the pattern of specifying an address to target, followed
+/// by a write or read. The `mem` I2C functions do this in one step instead
+/// of two. This contrasts with SPI where we are forced to do it in two.
+namespace Platform {
+class I2C final : public Protocol {
+private:
+    I2C_HandleTypeDef* handle;
+    const uint32_t address;
+
+public:
+    I2C(I2C_HandleTypeDef* handle_, uin32_t address_)
+        : Protocol{ProtocolType::I2C}, handle{handle_}, address{address_} {}
+    bool read(ConstSpan cmd, Span buffer, AddressSize size) override;
+    bool write(ConstSpan cmd, ConstSpan buffer, AddressSize size) override;
+};
+} // namespace Platform
+
+#endif