Periphery/dev

[ilumsden]

Adds the C++ wrapping for periphery (peripherycpp).

[robobenklein]

Although there are zero tests currently, https://github.com/utk-robotics-2017/rip/pull/36/commits/b06ac6228572ba8e27b4a7337ea4c642c7ebedf3 sets the blank to be tested. Once Doxygen comments are good, :+1: from me.

[ilumsden]

Just a note: Doxygen comments have been added to all the hpp files since the pull request was opened.

[xxAtrain223]

It would be nice if there was a periphery abstract class to provide a unified interface.

For example:

class Device
{
public:
    std::vector<uint8_t> readBytes() = 0;
    std::string readString() = 0;
    void write(std::vector<uint8_t> data) = 0;
    void write(std::string str) = 0;
    void close() = 0;
    ...
};

class Serial : public Device
{
public:
    void write(std::string str)
    {
        this->write(std::vector<uint8_t>(str.begin(), str.end()));
    }
    ...
};

class Mmio ; public Device
{
public:
    void write(std::string str)
    {
        this->write(0, std::vector<uint8_t>(str.begin(), str.end()));
    }
    ...
};

int main(int argc, char** argv)
{
    Device serial = Serial(/* Connection settings */);
    Device mmio = Mmio(/* Connection settings*/);

    serial.write("Hello");
    mmio.write("Hello");
}

[jptech]

For bookkeeping... resolves #28

[codecov[bot]]

Codecov Report

Merging #36 into dev will increase coverage by 8.32%. The diff coverage is 100%.

@@           Coverage Diff            @@
##              dev    #36      +/-   ##
========================================
+ Coverage   91.67%   100%   +8.32%     
========================================
  Files          69      1      -68     
  Lines        4361      3    -4358     
========================================
- Hits         3998      3    -3995     
+ Misses        363      0     -363

Impacted Files	Coverage Δ
core/utilities/peripherycpp/test/test_main.cpp	100% <100%> (ø)
core/motor_controllers/src/config.cpp
...ies/cmd_messenger/include/cmd_messenger/device.hpp
arduino_gen/test/test_constructor.cpp
arduino_gen/include/arduino_gen/setup.hpp
arduino_gen/src/xml_utils.cpp
core/motor_controllers/test/test_roboclaw.cpp
arduino_gen/src/loop.cpp
...lude/motor_controllers/roboclaw/pid_parameters.hpp
arduino_gen/include/arduino_gen/xml_element.hpp
... and 61 more

---

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[jptech]

Primary things to check/fix before merging:

• [x] Check if zero is the only success case (for switch/cases)
• [ ] Use make_outputs for CMake to copy files
• [x] Remove any remaining warnings (I think I have fixed at least most of them)
• [ ] Some sort of verification that this might work

[argvrutter]

Let's do some hardware testing today, make sure at the very least the most commonly used functions work for gpio, serial, & i2c.

[argvrutter]

    void I2c::transfer(std::vector< std::vector<uint8_t> > msg_data, std::vector<int> flags, size_t count)

Any reason why it's a vector of vectors instead of just one vector?

[ilumsden]

@solsane, there are two reasons why it's a vector of vectors. First, it allows the function to send multiple messages with one function call. Second, it allows each uint8_t vector (the message) to be accessed with the same index as the corresponding flag.