Nemam pravo push do hlavniho masteru tak tedy takto ...

CMakeLists.txt

@@ -3,11 +3,12 @@ project(RoboUtils VERSION 0.1 LANGUAGES CXX)
 
 include(GNUInstallDirs)
 set(CMAKE_CXX_STANDARD 17)
-file(GLOB SOURCES src/*.cpp src/io/*.cpp src/comm/*.cpp)
+file(GLOB SOURCES src/*.cpp src/*/*.cpp)
 
-file(GLOB HEADERS include/*.h include/io/*.h include/comm/*.h include/chips/*.h)
+file(GLOB HEADERS include/*.h include/*/*.h)
 
 add_library(libroboutils ${SOURCES})
+add_compile_options(-Wall -Wextra -Werror -Wpedantic)
 
 target_include_directories(libroboutils PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>

README.md

@@ -2,44 +2,98 @@ RoboUtils
 =========
 C++ classes used for speeding up development of robots, suitable for Raspberry Pi hat KAMBot.
 
-Features classes for:
-* UDP
-* TCP
-* Thread safe variable access
-* Thread safe I2C (Linux only)
-* Measuring time
-* KAMBot periferies access
-* PID
-* Advanced logging with streams and logging over network
-
-## To be included
-* Drivers for KM2 stepper motor driver board with odometry calculations
-* PWM driver
-* Class for performing preprogrammed robot movement
+## Features classes for:
+
+### RoboUtils::IO namespace
+ * I2C thread-safe driver for RaspberryPi
+ * ADC using AD7997 chip
+ * GPIO using MCP23017 chip
+ * KM2 using KM2 motor controller board
+ * PWM using xxxx chip (currently not implemented)
+
+### RoboUtils::comm namespace
+ * UDP driver for transporting strings over network
+ * TCP driver (not reimplemented)
+
+### RoboUtils::util namespace
+ * Thread safe variable access
+ * Measuring time
+ * Convenient string to list manipulation utility (usable for NMEA parser)
+
+### RoboUtils namespace
+
+ * PID
+ * Advanced logging with streams and logging over network
+
+## What will be NEVER featured:
+
+ * The NMEA parser (part of student semestral project)
+ * The analog preprocessing of line
+ * The robot wheel kinematics (yep, the hell!)
+ * The robot controller for line following
+ * Yep, any part of code the students should develop in the labs in their way that will be examined
+
 
 ## Installation
 
-```
-git clone https://github.com/matoushybl/RoboUtils.git
+### Using global liborary
+
+```bash
+git clone https://student.robotika.ceitec.vutbr.cz/VYUKA/BPC-PRP/RoboUtils.git
 cd RoboUtils
 cmake . && make install
 ```
 
 In your project's `CMakeLists.txt`:
-```
-cmake_minimum_required(VERSION 3.7)
-project(MyCoolRobot)
 
+```cMake
 find_package(RoboUtils REQUIRED)
-set(CMAKE_CXX_STANDARD 14)
-SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 
-add_executable(MyCoolRobot main.cpp)
+add_executable(<appname> <... src/main.cpp etc ...>)
+
+target_link_libraries(<appname> libroboutils)
+```
+
+WARNING: Any future change in API of the lib will disturb all your projects you are using it. The devil who owns 
+library root will rule all your code.
+
 
-target_link_libraries(MyCoolRobot libroboutils)
+### Using specific branch in Your project (dependency hell issue)
+
+Use this in the case you want to maintain specific version of lib (ie you do not want future library changes to be 
+ported to your code) This is the case when the library API is changing and you need to maintain a lot of projects 
+that depends on it. The updating root library from previous example might be a nightmare.
+
+Assume you have project with `CMakeLists.txt` in root directory of you GITted project. Assume you have all sources 
+in `src` subdirectory and you want all libraries to be sourced from `lib` subdirectory (that is some standard style). 
+If you using different style, you need to update the example accordingly.
+
+Run this in git root of your project:
+
+```bash
+git submodule add https://student.robotika.ceitec.vutbr.cz/VYUKA/BPC-PRP/RoboUtils.git lib/RoboUtils
+```
+
+next, add following lines into your CMakeLists ()
+
+```CMake
+find_library(libroboutils lib/RoboUtils)
+
+add_subdirectory(lib/RoboUtils)
+add_executable(<appname> <... src/main.cpp etc ...>)
+
+target_link_libraries(<appname> PRIVATE libroboutils <... other libs ...>)
 ```
 
-## Contributors
-Ing. Frantisek Burian Ph.D.
+with this setup you will have fixed version of library unlike you update it by using ```git pull``` from the ```lib/RoboUtils``` 
+subdirectory. Any future changes to API of the lib will not disturb your project unlike you want to. You will be a god of your code.
+
+## Authors
+
+This library has been originally written by Matous Hybl [[email protected]](mailto:[email protected]) in 2020. We have very thanks for his work.
+
+Some parts has been later reimplemented by Frantisek Burian - bufran _at_ seznam.cz from 2022 for the sake of 
+demonstrating simple API design, and good programming skills for our BPC-UDP course on Brno university of Technology.  
+
+
 
-Matous Hybl [[email protected]](mailto:[email protected])

include/roboutils/Log.h

@@ -1,70 +1,54 @@
-#include <utility>
-
+#pragma once
 //
 // Created by Matous Hybl on 2018-10-12.
 //
 
-#ifndef FIRMWARE_LOG_H
-#define FIRMWARE_LOG_H
-
+#include <utility>
 #include <iostream>
 #include <string>
-#include "roboutils/comm/UDP.h"
+#include <functional>
+#include <sstream>
+
+#include <roboutils/comm/UDP.h>
 
 namespace RoboUtils {
-    using namespace std;
 
     class Log {
-    public:
-
-        Log(string level) {
-            this->level = std::move(level);
-        }
-
-        static Log error();
-
-        static Log warning();
+    private:
+        const char * level_{nullptr};
 
-        static Log info();
+        class LogLine : public std::stringstream {
+        public:
+            explicit LogLine(const Log & parent);
+            LogLine(LogLine &line);
+            ~LogLine() override;
+        };
 
-        static Log debug();
+    public:
+        static const Log error;
+        static const Log warning;
+        static const Log info;
+        static const Log debug;
 
-        static void setPath(string path);
+        static std::function<void(const std::string &)> writer;
 
-        static void setRemoteTarget(string address);
+        explicit constexpr Log(const char *level)
+           : level_(level)
+        {
+        }
 
         template<class T>
-        Log &operator<<(const T &value) {
-            buffer << value;
-
-            return *this;
+        LogLine operator<<(const T &value) const {
+            LogLine line(*this);
+            line << value;
+            return line;
         }
 
-        Log &operator<<(std::ostream &(*manipulator)(std::ostream &)) {
-            if (manipulator == static_cast<std::ostream &(*)(std::ostream &)>(std::flush) ||
-                manipulator == static_cast<std::ostream &(*)(std::ostream &)>(std::endl)) {
-                Log::log(level, buffer.str());
-
-                buffer.flush();
-            }
-
-            return *this;
+        LogLine line() const {
+            return LogLine(*this);
         }
 
-    private:
-        stringstream buffer;
-        string level;
-
-        static string path;
-        static string address;
-        static uint16_t port;
-        static COMM::UDP udp;
-
-        static void log(const string& level, const string& message);
-
-        static string time();
     };
-};
 
 
-#endif //FIRMWARE_LOG_H
+}

include/roboutils/PIDController.h

@@ -24,7 +24,7 @@ namespace RoboUtils {
         unsigned int sampleTimeMs = 0;
         float absoluteMaximumAction = 0;
     };
-};
+}
 
 
 #endif //FIRMWARE_PIDCONTROLLER_H

include/roboutils/chips/ad799x.h

@@ -180,18 +180,26 @@ namespace RoboUtils::Chips::Ad799X {
 
     namespace CONFIG {
 
-// generic for group A, C, D*
-#define AD799X_CONFIG_CH(ch)               (1 << ((ch)+4))
-#define AD799X_CONFIG_CH_ALL               (0xFF << 4)
-#define AD799X_CONFIG_FLTR                 (1 << 3)
-#define AD799X_CONFIG_ALERTPIN             (3 << 1)
-#define AD799X_CONFIG_ALERTPIN_DISABLED    (0 << 1)
-#define AD799X_CONFIG_ALERTPIN_BUSY        (1 << 1)
-#define AD799X_CONFIG_ALERTPIN_ALERT       (2 << 1)
-#define AD799X_CONFIG_ALERTPIN_RESET       (3 << 1)
-#define AD799X_CONFIG_ALERTPOL             (1 << 0)
-#define AD799X_CONFIG_ALERTPOL_LOW         (0 << 0)
-#define AD799X_CONFIG_ALERTPOL_HIGH        (1 << 0)
+        static constexpr uint16_t ToCh(int ch) {
+            return 1 << (ch + 4);
+        }
+
+        // generic for group A, C, D*
+        enum : uint16_t {
+            ALERTPOL = 1 << 0,
+            ALERTBUSY = 1 << 1,
+            ALERTEN = 1 << 2,
+            FLTR = 1 << 3,
+            CH1 = ToCh(0),
+            CH2 = ToCh(1),
+            CH3 = ToCh(2),
+            CH4 = ToCh(3),
+            CH5 = ToCh(4),
+            CH6 = ToCh(5),
+            CH7 = ToCh(6),
+            CH8 = ToCh(7),
+            CH = 0xFF << 4,
+        };
 
 // group B only
 #define AD7991_CONFIG_CH(ch)               (1 << ((ch)+4))

include/roboutils/chips/mcp23017.h

@@ -87,7 +87,7 @@ namespace RoboUtils::Chips::Mcp23017 {
         };
 
     }
-};
+}