Merge pull request #717 from Coreyboy1820/current_sensor

✨ added current sensor + tests

Author: Khalil Estell

CMakeLists.txt

@@ -45,6 +45,7 @@ libhal_unit_test(SOURCES
   tests/g_force.test.cpp
   tests/lengths.test.cpp
   tests/angular_velocity_sensor.test.cpp
+  tests/current_sensor.test.cpp
   tests/main.test.cpp
 
   PACKAGES

conanfile.py

@@ -26,7 +26,7 @@
 
 class libhal_conan(ConanFile):
     name = "libhal"
-    version = "2.1.0"
+    version = "2.2.0"
     license = "Apache-2.0"
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://libhal.github.io/libhal"

include/libhal/current_sensor.hpp

@@ -0,0 +1,51 @@
+// Copyright 2023 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include "units.hpp"
+
+namespace hal {
+/**
+ * @brief current sensor hardware abstraction interface
+ *
+ */
+class current_sensor
+{
+public:
+  /**
+   * @brief current reading from the sensor
+   *
+   *
+   */
+  struct read_t
+  {
+    hal::ampere current = 0.0f;
+  };
+  /**
+   * @brief Reads the most up to date current from the sensor
+   *
+   * @return result<read_t> - current data
+   */
+  [[nodiscard]] result<read_t> read()
+  {
+    return driver_read();
+  }
+
+  virtual ~current_sensor() = default;
+
+private:
+  virtual hal::result<read_t> driver_read() = 0;
+};
+}  // namespace hal

tests/current_sensor.test.cpp

@@ -0,0 +1,58 @@
+// Copyright 2023 Google LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal/current_sensor.hpp>
+
+#include <boost/ut.hpp>
+
+namespace hal {
+namespace {
+class test_current_sensor : public hal::current_sensor
+{
+public:
+  bool m_return_error_status{ false };
+  ~test_current_sensor() override = default;
+
+private:
+  result<read_t> driver_read() override
+  {
+    if (m_return_error_status) {
+      return hal::new_error();
+    }
+    return read_t{};
+  }
+};
+}  // namespace
+
+void current_sensor_test()
+{
+  using namespace boost::ut;
+  "current sensor interface test"_test = []() {
+    test_current_sensor test;
+
+    auto result = test.read();
+
+    expect(bool{ result });
+  };
+  "current sensor errors test"_test = []() {
+    test_current_sensor test;
+    test.m_return_error_status = true;
+
+    auto result = test.read();
+
+    expect(!bool{ result });
+  };
+}
+
+}  // namespace hal

tests/main.test.cpp

@@ -31,6 +31,8 @@ extern void timer_test();
 extern void servo_test();
 extern void g_force_test();
 extern void lengths_test();
+extern void angular_velocity_sensor_test();
+extern void current_sensor_test();
 }  // namespace hal
 
 int main()
@@ -53,4 +55,6 @@ int main()
   hal::timer_test();
   hal::g_force_test();
   hal::lengths_test();
+  hal::angular_velocity_sensor_test();
+  hal::current_sensor_test();
 }