feat: use c++

.clang-format

@@ -0,0 +1,14 @@
+BasedOnStyle: LLVM
+IndentWidth: 4
+
+AccessModifierOffset: -4
+Language: Cpp
+
+DerivePointerAlignment: false
+PointerAlignment: Left
+
+AlignConsecutiveShortCaseStatements:
+  Enabled: true
+  AcrossEmptyLines: true
+  AcrossComments: true
+  AlignCaseColons: false

.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 +33,137 @@ 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...")
+
+  if(NOT TARGET STM32_Drivers)
+    message(FATAL_ERROR "STM32_Drivers source was not added, something is wrong!")
+  endif()
+  get_target_property(STM32_Drivers_Src STM32_Drivers SOURCES)
+
+  # Autodetect series
+  # STM32 includes a file of the form (depending on the series)
+  #   ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
+  # to sources, which we can use regex detection to get the series
+  string(REGEX MATCH "stm32([a-z0-9]+)\\.c" FOUND_MATCH "${STM32_Drivers_Src}")
+  if(FOUND_MATCH)
+    # We then can use use this `HAL_STM32_SERIES` in
+    # hal.h to automatically include the right hal file.
+    message(STATUS "Detected " ${CMAKE_MATCH_1} " series...")
+    target_compile_definitions(common_drivers PUBLIC PLATFORM_STM32_SERIES=${CMAKE_MATCH_1})
+  else()
+    message(FATAL_ERROR "Unable to autodetect STM32 series!")
+  endif()
+
+  # Autodetect RTOS
+  # Note that STM32's HAL files do have a USE_RTOS definition. However relying
+  # on it is not a good idea because it is not specified for public
+  # use. Therefore we use our own detection and compile definition here
+  if(TARGET FreeRTOS)
+    message(STATUS "Detected FreeRTOS...")
+    target_compile_definitions(common_drivers PUBLIC PLATFORM_USE_RTOS)
+  endif()
+
+  # Autodetect perhipherals
+  # What this basically does is conditionally include the i2c, qspi, spi, and uart
+  # files if and only if they are enabled in cubemx. 
+  #
+  # When cubemx enables the perhipherals, it adds something like this
+  #   ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
+  # to STM32_Drivers_Src. Therefore we can just iterate through it and find if the
+  # given drivers exist, and if they do, we can safely include our thin HAL abstraction
+  # for the driver.
+  set(PATTERNS
+    "_hal_i2c\\.c"
+    "_hal_qspi\\.c"
+    "_hal_spi\\.c"
+    "_hal_uart\\.c"
+  )
+  set(DEFINES
+    I2C
+    QSPI
+    SPI
+    UART
+  )
+  foreach(PATTERN DEFINE IN ZIP_LISTS PATTERNS DEFINES)
+    string(REGEX MATCH "${PATTERN}" FOUND_MATCH "${STM32_Drivers_Src}")
+    if(FOUND_MATCH)
+      message(STATUS "Adding " ${DEFINE} " to build...")
+      set_property(GLOBAL APPEND PROPERTY PERHIPHERALS "${DEFINE}")
+    endif()
+  endforeach()
+
+  # Add libaries
+  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...")
+  target_compile_definitions(common_drivers PUBLIC 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"
+)