[Infra] Reorganize all files

- Employ new directory structure
- Move some stuff around

Topic: directory-reorg
Relative:
Reviewers:

.gitignore

@@ -31,4 +31,7 @@
 *.out
 *.app
 
-build/
+build/
+
+# Bazel files
+bazel-*

CMakeLists.txt

@@ -1,34 +1,63 @@
-cmake_minimum_required(VERSION 3.8)
-
-set(This MAINS)
-set(BINARY ${CMAKE_PROJECT_NAME})
-
-project(${This} C CXX)
-
-set(CMAKE_C_STANDARD 99)
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(BUILD_GMOCK ON)
-
-# enable Werror
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror")
-
-enable_testing()
-
-# add the googletest subdirectory, located in the lib folder tree that is one level above this one
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/libs/googletest ${CMAKE_CURRENT_BINARY_DIR}/googletest)
-
-# set the HEADERS as everything in the inc folder, as well as test *.hpp files
-file(GLOB HEADERS "inc/*.hpp")
-
-# set the SOURCES as everything in the src folder
-file(GLOB SOURCES "src/*.cpp")
-
-# add_executable(${BINARY}_run ${SOURCES})
-add_library(${This} STATIC ${SOURCES} ${HEADERS})
-
-add_subdirectory(test)
-
-# To find the tests, this is rquired
-include_directories(inc)
-include_directories(src)
+cmake_minimum_required(VERSION 3.14)
+
+set(This tests)
+
+set(BINARY ${CMAKE_PROJECT_NAME})
+
+project(${This} C CXX)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+set(BUILD_GMOCK ON)
+
+#enable Werror, Wextra, Wall, pedantic, and pedantic-errors
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wextra -Wall")
+
+# enable testing
+enable_testing()
+
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/libs/googletest ${CMAKE_CURRENT_BINARY_DIR}/googletest)
+
+# Glob recurse the headers inside hal/
+file(GLOB_RECURSE HAL_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/hal/*.hpp)
+
+# Glob recurse the headers inside hwbridge/
+file(GLOB_RECURSE HWBRIDGE_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/hwbridge/*.hpp)
+
+# Glob recurse the headers inside control_loop/
+file(GLOB_RECURSE CONTROL_LOOP_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/control_loop/*.hpp)
+# Glob recurse the sources inside control_loop/
+file(GLOB_RECURSE CONTROL_LOOP_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/control_loop/*.cpp)
+
+# Glob recurse the headers inside utils/
+file(GLOB_RECURSE UTILS_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/util/*.hpp)
+# Glob recurse the sources inside utils/
+file(GLOB_RECURSE UTILS_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/util/*.cpp)
+
+# Add a compiler definition -DUNITTEST to the compiler
+add_definitions(-DUNIT_TEST)
+
+# Glob recurse the headers inside test/
+file(GLOB_RECURSE TEST_HEADERS ${CMAKE_CURRENT_SOURCE_DIR}/test/*.hpp)
+# Glob recurse the sources inside test/
+file(GLOB_RECURSE TEST_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp)
+
+# Include the headers in the above paths and also do so recursively as there is a hierarchy
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/hal)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/hwbridge/3phase)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/hwbridge/h_bridge)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/control_loop)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/control_loop/brushed)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/control_loop/bldc)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/control_loop/stepper)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/util/pid)
+
+# Mocks
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/test/mocks)
+
+# Add an executable with the above sources
+add_executable(${This} ${CONTROL_LOOP_SOURCES} ${UTILS_SOURCES} ${TEST_SOURCES})
+
+# Link the executable with the GoogleTest libraries
+target_link_libraries(${This} PUBLIC gtest gtest_main gmock)

src/brushless_6step_control_loop.cpp → control_loop/bldc/brushless_6step_control_loop.cpp

@@ -2,8 +2,6 @@
 
 #include <math.h>
 
-#include "param_service.hpp"
-
 namespace control_loop {
 
 Brushless6StepControlLoop::Brushless6StepControlLoopState Brushless6StepControlLoop::get_desired_state(utime_t current_time_us,

inc/brushless_6step_control_loop.hpp → control_loop/bldc/brushless_6step_control_loop.hpp

@@ -35,7 +35,7 @@ class Brushless6StepControlLoop : public ControlLoop {
             CommutationSignal u;
             CommutationSignal v;
             CommutationSignal w;
-        };
+        } phase_commutation_signals;
     } commutation_step_t;
 
     static constexpr uint8_t num_commutation_steps = 6;

src/brushed_control_loop.cpp → control_loop/brushed/brushed_control_loop.cpp

@@ -1,7 +1,5 @@
 #include "brushed_control_loop.hpp"
 
-#include "param_service.hpp"
-
 namespace control_loop {
 
 BrushedControlLoop::BrushedControlLoop() {}

src/stepper_control_loop.cpp → control_loop/stepper/stepper_control_loop.cpp

@@ -1,7 +1,6 @@
 #include "stepper_control_loop.hpp"
 
 #include "math.h"
-#include "param_service.hpp"
 
 namespace control_loop {
 

scripts/test.sh

@@ -2,6 +2,9 @@
 
 set -exo pipefail
 
+# make a build directory if it doesn't exist
+mkdir -p build
+
 # Change to the build directory
 cd build
 
@@ -25,5 +28,5 @@ then
 else
   # If no argument is specified, build and run the tests
   cmake .. -DCMAKE_BUILD_TYPE=Debug -G "Unix Makefiles"
-    make all && ./test/tests
+    make all && ./tests
 fi

test/CMakeLists.txt

@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-
-set(This tests)
-
-# set the test sources to everything in this folder that is cpp
-file(GLOB SOURCES "*.cpp")
-# add the main project sources in ../src to the test sources
-file(GLOB MAIN_SOURCES "../src/*.cpp")
-
-# include the headers from the main project, which is located at "../inc/"
-include_directories(../inc)
-include_directories((../test/))
-
-add_test(
-    NAME ${This}
-    COMMAND ${This}
-)
-
-# add compiler definition for UNIT_TEST
-add_definitions(-DUNIT_TEST)
-
-add_executable(${This} ${SOURCES} ${MAIN_SOURCES})
-target_link_libraries(${This} PUBLIC gtest_main gtest gmock)

test/brushed_control_loop_test.cpp

@@ -3,7 +3,6 @@
 #include "brushed_control_loop.hpp"
 
 #include "gmock/gmock.h"
-#include "param_service.hpp"
 
 namespace control_loop {
 

test/brushless_6step_control_loop_test.cpp

@@ -3,7 +3,6 @@
 #include "mock_bridge_3phase.hpp"
 #include "mock_hal_adc.hpp"
 #include "mock_hal_clock.hpp"
-#include "param_service.hpp"
 
 namespace control_loop {
 using namespace ::testing;

test/brushless_foc_control_loop_test.cpp

@@ -8,7 +8,6 @@
 #include "mock_hal_adc.hpp"
 #include "mock_hal_clock.hpp"
 #include "mock_hal_timer.hpp"
-#include "param_service.hpp"
 
 namespace control_loop {
 using namespace ::testing;