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feat: make all hal::Can::Id functions constexpr and add static assert tests (#803)
* feat: make all hal::Can::Id functions constexpr and add static assert tests * chore: separate implementation from declaration * Update hal/interfaces/Can.hpp
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4 files changed

+104
-86
lines changed

4 files changed

+104
-86
lines changed

‎hal/interfaces/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -16,7 +16,6 @@ target_sources(hal.interfaces PRIVATE
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AsyncGpio.cpp
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AsyncGpio.hpp
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BackupRam.hpp
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Can.cpp
2019
Can.hpp
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CommunicationConfigurator.hpp
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DigitalToAnalogPin.hpp

‎hal/interfaces/Can.cpp‎

Lines changed: 0 additions & 38 deletions
This file was deleted.

‎hal/interfaces/Can.hpp‎

Lines changed: 55 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -3,42 +3,36 @@
33

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#include "infra/util/BoundedVector.hpp"
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#include "infra/util/Function.hpp"
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#include <cassert>
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#include <cstdint>
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namespace hal
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{
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class Can
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{
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public:
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class Id
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class [[nodiscard]] Id
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{
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public:
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static constexpr Id Create11BitId(uint32_t id)
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{
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return Can::Id(id);
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}
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static constexpr Id Create11BitId(uint32_t id);
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static constexpr Id Create29BitId(uint32_t id);
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21-
static constexpr Id Create29BitId(uint32_t id)
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{
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return Can::Id(id | indicator29Bit);
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}
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[[nodiscard]] constexpr bool Is11BitId() const;
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[[nodiscard]] constexpr bool Is29BitId() const;
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bool Is11BitId() const;
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bool Is29BitId() const;
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[[nodiscard]] constexpr uint32_t Get11BitId() const;
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[[nodiscard]] constexpr uint32_t Get29BitId() const;
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uint32_t Get11BitId() const;
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uint32_t Get29BitId() const;
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bool operator==(const Id& other) const;
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bool operator!=(const Id& other) const;
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[[nodiscard]] constexpr bool operator==(const Id& other) const;
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[[nodiscard]] constexpr bool operator!=(const Id& other) const;
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private:
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constexpr explicit Id(uint32_t id)
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: id(id)
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{}
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private:
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static const uint32_t indicator29Bit = static_cast<uint32_t>(1) << 31;
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static constexpr uint32_t indicator29Bit{ 1u << 31 };
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uint32_t id;
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};
@@ -56,6 +50,50 @@ namespace hal
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virtual void SendData(Id id, const Message& data, const infra::Function<void(bool success)>& actionOnCompletion) = 0;
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virtual void ReceiveData(const infra::Function<void(Id id, const Message& data)>& receivedAction) = 0;
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};
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//// Implementation ////
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constexpr Can::Id Can::Id::Create11BitId(uint32_t id)
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{
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return Can::Id(id);
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}
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constexpr Can::Id Can::Id::Create29BitId(uint32_t id)
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{
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return Can::Id(id | indicator29Bit);
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}
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constexpr bool Can::Id::Is11BitId() const
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{
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return (id & indicator29Bit) == 0;
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}
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constexpr bool Can::Id::Is29BitId() const
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{
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return !Is11BitId();
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}
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constexpr uint32_t Can::Id::Get11BitId() const
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{
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assert(Is11BitId());
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return id;
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}
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constexpr uint32_t Can::Id::Get29BitId() const
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{
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assert(Is29BitId());
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return id ^ indicator29Bit;
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}
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constexpr bool Can::Id::operator==(const Id& other) const
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{
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return id == other.id;
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}
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constexpr bool Can::Id::operator!=(const Id& other) const
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{
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return !(*this == other);
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}
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}
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#endif

‎hal/interfaces/test/TestCan.cpp‎

Lines changed: 49 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -1,46 +1,65 @@
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#include "hal/interfaces/Can.hpp"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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5+
static_assert(hal::Can::Id::Create11BitId(0).Is11BitId());
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static_assert(!hal::Can::Id::Create11BitId(0).Is29BitId());
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static_assert(hal::Can::Id::Create11BitId(0).Get11BitId() == 0);
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9+
static_assert(!hal::Can::Id::Create29BitId(0).Is11BitId());
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static_assert(hal::Can::Id::Create29BitId(0).Is29BitId());
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static_assert(hal::Can::Id::Create29BitId(0).Get29BitId() == 0);
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static_assert(hal::Can::Id::Create11BitId(0) == hal::Can::Id::Create11BitId(0));
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static_assert(hal::Can::Id::Create11BitId(0) != hal::Can::Id::Create11BitId(1));
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static_assert(hal::Can::Id::Create11BitId(0) != hal::Can::Id::Create29BitId(0));
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17+
static_assert(hal::Can::Id::Create29BitId(2) == hal::Can::Id::Create29BitId(2));
18+
static_assert(hal::Can::Id::Create29BitId(2) != hal::Can::Id::Create29BitId(1));
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static_assert(hal::Can::Id::Create29BitId(2) != hal::Can::Id::Create11BitId(2));
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TEST(CanTest, generate_11_bit_id)
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{
6-
auto id = hal::Can::Id::Create11BitId(0);
23+
const auto id = hal::Can::Id::Create11BitId(0);
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8-
EXPECT_TRUE(id.Is11BitId());
9-
EXPECT_EQ(0, id.Get11BitId());
25+
EXPECT_THAT(id.Is11BitId(), testing::IsTrue());
26+
EXPECT_THAT(id.Is29BitId(), testing::IsFalse());
27+
EXPECT_THAT(id.Get11BitId(), testing::Eq(0));
1028
}
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1230
TEST(CanTest, generate_29_bit_id)
1331
{
14-
auto id = hal::Can::Id::Create29BitId(0);
32+
const auto id = hal::Can::Id::Create29BitId(0);
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16-
EXPECT_TRUE(id.Is29BitId());
17-
EXPECT_EQ(0, id.Get29BitId());
34+
EXPECT_THAT(id.Is29BitId(), testing::IsTrue());
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EXPECT_THAT(id.Is11BitId(), testing::IsFalse());
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EXPECT_THAT(id.Get29BitId(), testing::Eq(0));
1837
}
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2039
TEST(CanTest, test_equality_mixed)
2140
{
22-
auto id11_0 = hal::Can::Id::Create11BitId(0);
23-
auto id11_1 = hal::Can::Id::Create11BitId(1);
24-
auto id29_0 = hal::Can::Id::Create29BitId(0);
25-
auto id29_1 = hal::Can::Id::Create29BitId(1);
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27-
EXPECT_TRUE(id11_0 == hal::Can::Id::Create11BitId(0));
28-
EXPECT_TRUE(id11_0 != id11_1);
29-
EXPECT_TRUE(id11_0 != id29_0);
30-
EXPECT_TRUE(id11_0 != id29_1);
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32-
EXPECT_TRUE(id11_1 != id11_0);
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EXPECT_TRUE(id11_1 == hal::Can::Id::Create11BitId(1));
34-
EXPECT_TRUE(id11_1 != id29_0);
35-
EXPECT_TRUE(id11_1 != id29_1);
36-
37-
EXPECT_TRUE(id29_0 != id11_0);
38-
EXPECT_TRUE(id29_0 != id11_1);
39-
EXPECT_TRUE(id29_0 == hal::Can::Id::Create29BitId(0));
40-
EXPECT_TRUE(id29_0 != id29_1);
41-
42-
EXPECT_TRUE(id29_1 != id11_0);
43-
EXPECT_TRUE(id29_1 != id11_1);
44-
EXPECT_TRUE(id29_1 != id29_0);
45-
EXPECT_TRUE(id29_1 == hal::Can::Id::Create29BitId(1));
41+
const auto id11_0 = hal::Can::Id::Create11BitId(0);
42+
const auto id11_1 = hal::Can::Id::Create11BitId(1);
43+
const auto id29_0 = hal::Can::Id::Create29BitId(0);
44+
const auto id29_1 = hal::Can::Id::Create29BitId(1);
45+
46+
EXPECT_THAT(id11_0, testing::Eq(hal::Can::Id::Create11BitId(0)));
47+
EXPECT_THAT(id11_0, testing::Ne(id11_1));
48+
EXPECT_THAT(id11_0, testing::Ne(id29_0));
49+
EXPECT_THAT(id11_0, testing::Ne(id29_1));
50+
51+
EXPECT_THAT(id11_1, testing::Ne(id11_0));
52+
EXPECT_THAT(id11_1, testing::Eq(hal::Can::Id::Create11BitId(1)));
53+
EXPECT_THAT(id11_1, testing::Ne(id29_0));
54+
EXPECT_THAT(id11_1, testing::Ne(id29_1));
55+
56+
EXPECT_THAT(id29_0, testing::Ne(id11_0));
57+
EXPECT_THAT(id29_0, testing::Ne(id11_1));
58+
EXPECT_THAT(id29_0, testing::Eq(hal::Can::Id::Create29BitId(0)));
59+
EXPECT_THAT(id29_0, testing::Ne(id29_1));
60+
61+
EXPECT_THAT(id29_1, testing::Ne(id11_0));
62+
EXPECT_THAT(id29_1, testing::Ne(id11_1));
63+
EXPECT_THAT(id29_1, testing::Ne(id29_0));
64+
EXPECT_THAT(id29_1, testing::Eq(hal::Can::Id::Create29BitId(1)));
4665
}

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