Merge pull request #45 from forno/upgrade/1.4.0

Upgrade version 1.4.0

CMakeLists.txt

@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 2.8.12.1)
 project(ics3 C CXX)
 
 set(PROJECT_VER_MAJOR 1)
-set(PROJECT_VER_MINOR 3)
-set(PROJECT_VER_PATCH 2)
+set(PROJECT_VER_MINOR 4)
+set(PROJECT_VER_PATCH 0)
 set(PROJECT_VER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
 set(PROJECT_APIVER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")
 

README.md

@@ -8,7 +8,7 @@ that suport ICS3.0 or newer serial communication.
 ex)[KRS series servo moters produced by KONDO KAGAKU co., ltd.](http://kondo-robot.com/product-category/servomotor/krs)
 
 ## Caution
-1. This software require c++11 compiler. In ubuntu 14.04 or after version have compiler support c++11.
+1. This software require c++11 compiler. In ubuntu 14.04 or newer version have compiler support c++11.
 2. This software only support serial mode. You should lock the serial mode for never turn on PWM mode.
 3. Linux need serial device that mounted for use it. `script/setup.sh` will mount it to `/dev/ttyUSB0`.
 

include/core.h → include/core.hpp

@@ -43,14 +43,16 @@ class Core
   using Container = std::vector<value_type>;
   using IDContainerTx = std::array<value_type, 4>;
   using IDContainerRx = std::array<value_type, 5>;
+
   explicit Core(const std::string&, speed_t); // touch by only libics3
   ~Core() noexcept;
   Core(const Core&) = delete;
   Core& operator=(const Core&) = delete;
   Core(Core&&) noexcept;
   Core& operator=(Core&&) noexcept;
 
-  static std::shared_ptr<Core> getCore(const std::string&, speed_t);
+  static std::unique_ptr<Core> getCore(const std::string&, speed_t);
+
   void communicate(const Container&, Container&);
   void communicateID(const IDContainerTx&, IDContainerRx&);
 private:

include/ics3/angle.h → include/ics3/angle.hpp

@@ -27,17 +27,19 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef LIBICS3_ICS3_ANGLE_H
 #define LIBICS3_ICS3_ANGLE_H
 
-#include "ics3/check_invalid.h"
+#include "ics3/check_invalid.hpp"
 
 namespace ics
 {
 class ICS3;
+
 class Angle
 {
   friend ICS3; // for touch rawData
 public:
   using rawType = uint16_t;
   using type = double;
+
   static constexpr Angle newDegree(type = 0.0);
   static constexpr Angle newRadian(type = 0.0);
   static constexpr Angle newSameUnit(const Angle&, type = 0.0);
@@ -49,6 +51,7 @@ class Angle
 
   Angle(const Angle&) noexcept = default;
   Angle& operator=(const Angle&) noexcept;
+
   constexpr type get() const noexcept;
   constexpr operator type() const noexcept;
   void set(type);
@@ -57,6 +60,7 @@ class Angle
   void setRaw(rawType);
 private:
   constexpr Angle(type, type); // non explicit, user cannot touch this
+
   static constexpr rawType castToRaw(type, type) noexcept;
   static constexpr rawType checkValidAngle(rawType);
 
@@ -122,8 +126,8 @@ inline void Angle::setRaw(rawType raw)
 }
 
 constexpr Angle::Angle(type calibration, type angle)
-: rawData {checkValidAngle(castToRaw(calibration, angle))}, // throw std::out_of_range
-  rawCalibration {calibration}
+  : rawData {checkValidAngle(castToRaw(calibration, angle))}, // throw std::out_of_range
+    rawCalibration {calibration}
 {
 }
 

include/ics3/baudrate.h → include/ics3/baudrate.hpp

@@ -35,9 +35,11 @@ class Baudrate
 {
 public:
   using type = uint8_t;
+
   static constexpr Baudrate RATE115200() noexcept;
   //static constexpr Baudrate RATE625000() noexcept;
   //static constexpr Baudrate RATE1250000() noexcept;
+
   constexpr type get() const noexcept;
   constexpr operator type() const noexcept;
   constexpr speed_t getSpeed() const noexcept;
@@ -69,8 +71,8 @@ constexpr speed_t Baudrate::getSpeed() const noexcept
 }
 
 constexpr Baudrate::Baudrate(type romdata, speed_t baudrate) noexcept
-: romdata {romdata},
-  baudrate {baudrate}
+  : romdata {romdata},
+    baudrate {baudrate}
 {
 }
 }

include/ics3/eepparam.h → include/ics3/eepparam.hpp

@@ -29,8 +29,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <array>
 
-#include "ics3/baudrate.h"
-#include "ics3/check_invalid.h"
+#include "ics3/baudrate.hpp"
+#include "ics3/check_invalid.hpp"
 
 namespace ics
 {
@@ -41,6 +41,7 @@ class EepParam
   using TargetContainer = std::array<uint8_t, 64>;
   using size_type = TargetContainer::size_type;
   using ValidChecker = type (&)(type, type, type);
+
   enum Flag : type
   {
     REVERSE =   0x01,
@@ -86,6 +87,7 @@ class EepParam
       type,
       ValidChecker,
       type);
+
   static constexpr type checkValidRange(type, type, type);
   static constexpr type checkValidEvenRange(type, type, type);
   static constexpr type checkValidFlag(type, type, type);
@@ -237,18 +239,18 @@ inline void EepParam::write(TargetContainer& dest) const noexcept
 }
 
 constexpr EepParam::EepParam(
-    size_type offset,
-    size_type length,
-    type min,
-    type max,
-    ValidChecker setFunc,
-    type data)
-: offset(offset),
-  length(length),
-  min(min),
-  max(max),
-  setFunc(setFunc),
-  data(setFunc(data, min, max)) // throw std::invalid_argument, std::out_of_range
+      size_type offset,
+      size_type length,
+      type min,
+      type max,
+      ValidChecker setFunc,
+      type data)
+  : offset(offset),
+    length(length),
+    min(min),
+    max(max),
+    setFunc(setFunc),
+    data(setFunc(data, min, max)) // throw std::invalid_argument, std::out_of_range
 {
 }
 

include/ics3/eeprom.h → include/ics3/eeprom.hpp

@@ -29,7 +29,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <algorithm>
 
-#include "ics3/eepparam.h"
+#include "ics3/eepparam.hpp"
 
 namespace ics
 {
@@ -69,7 +69,7 @@ inline void EepRom::write(Iter&& dest) const
 }
 
 inline EepRom::EepRom(const Container& src)
-: data(src) // for Ubuntu14.04 compiler
+  : data(src) // for Ubuntu14.04 compiler
 {
 }
 }

include/ics3/ics

@@ -27,13 +27,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef LIBICS3_ICS3_ICS_H
 #define LIBICS3_ICS3_ICS_H
 
-#include "ics3/angle.h"
-#include "ics3/baudrate.h"
-#include "ics3/check_invalid.h"
-#include "ics3/eepparam.h"
-#include "ics3/eeprom.h"
-#include "ics3/ics3.h"
-#include "ics3/id.h"
-#include "ics3/parameter.h"
+#include "ics3/angle.hpp"
+#include "ics3/baudrate.hpp"
+#include "ics3/check_invalid.hpp"
+#include "ics3/eepparam.hpp"
+#include "ics3/eeprom.hpp"
+#include "ics3/ics3.hpp"
+#include "ics3/id.hpp"
+#include "ics3/parameter.hpp"
 
 #endif // LIBICS3_ICS3_ICS_H

include/ics3/ics3.h → include/ics3/ics3.hpp

@@ -30,21 +30,23 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <memory>
 #include <string>
 
-#include "ics3/angle.h"
-#include "ics3/baudrate.h"
+#include "ics3/angle.hpp"
+#include "ics3/baudrate.hpp"
 
 namespace ics
 {
 // Forward declaration
 class Core;
-class Parameter;
 class EepRom;
 class ID;
+class Parameter;
 
 class ICS3
 {
 public:
   explicit ICS3(const std::string&, const Baudrate& = Baudrate::RATE115200());
+  ~ICS3() noexcept;
+
   Angle move(const ID&, Angle);
   Angle free(const ID&, Angle = Angle::newRadian());
   Parameter get(const ID&, const Parameter&);
@@ -54,7 +56,7 @@ class ICS3
   ID getID();
   void setID(const ID&);
 private:
-  std::shared_ptr<Core> core;
+  std::unique_ptr<Core> core;
 };
 }
 

include/ics3/id.h → include/ics3/id.hpp

@@ -35,15 +35,17 @@ class ID
 {
 public:
   using type = uint8_t;
+
   constexpr ID(type); // ID is non explicit constructor because only do check limit
+
   constexpr type get() const noexcept;
   constexpr operator type() const noexcept;
 private:
   const type data;
 };
 
 constexpr ID::ID(type id)
-: data {id < 32 ? id : throw std::invalid_argument {"invalid ID: must be 0 <= id <= 31"}}
+  : data {id < 32 ? id : throw std::invalid_argument {"invalid ID: must be 0 <= id <= 31"}}
 {
 }
 

include/ics3/parameter.h → include/ics3/parameter.hpp

@@ -27,14 +27,15 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef LIBICS3_ICS3_PARAMETER_H
 #define LIBICS3_ICS3_PARAMETER_H
 
-#include "ics3/check_invalid.h"
+#include "ics3/check_invalid.hpp"
 
 namespace ics
 {
 class Parameter
 {
 public:
   using type = uint8_t;
+
   static constexpr Parameter stretch(type = 30);
   static constexpr Parameter speed(type = 127);
   static constexpr Parameter current(type = 63);
@@ -107,10 +108,10 @@ constexpr Parameter::type Parameter::getSubcommand() const noexcept
 }
 
 constexpr Parameter::Parameter(type sc, type min, type max, type defaultData)
-: sc {sc},
-  min {min},
-  max {max},
-  data {checkValidRange(defaultData, min, max)}
+  : sc {sc},
+    min {min},
+    max {max},
+    data {checkValidRange(defaultData, min, max)}
 {
 }
 }

src/core.cpp

@@ -31,11 +31,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <fcntl.h> // for open FLAGS
 #include <unistd.h> // for tty checks
 
-#include "core.h"
+#include "core.hpp"
+
+template<typename T, typename... Args>
+inline std::unique_ptr<T> make_unique(Args&&... args)
+{
+  return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
+}
 
 ics::Core::Core(const std::string& path, speed_t baudrate)
-: fd {open(path.c_str(), O_RDWR | O_NOCTTY)},
-  oldTio {}
+  : fd {open(path.c_str(), O_RDWR | O_NOCTTY)},
+    oldTio {}
 {
   if (fd < 0)
     throw std::runtime_error {"Cannot open deveice"};
@@ -64,8 +70,8 @@ ics::Core::~Core() noexcept
 }
 
 ics::Core::Core(Core&& rhs) noexcept
-: fd {rhs.fd},
-  oldTio(rhs.oldTio) // for Ubuntu14.04 compiler
+  : fd {rhs.fd},
+    oldTio(rhs.oldTio) // for Ubuntu14.04 compiler
 {
   rhs.fd = -1;
 }
@@ -81,16 +87,9 @@ ics::Core& ics::Core::operator=(Core&& rhs) noexcept
   return *this;
 }
 
-std::shared_ptr<ics::Core> ics::Core::getCore(const std::string& path, speed_t baudrate)
+std::unique_ptr<ics::Core> ics::Core::getCore(const std::string& path, speed_t baudrate)
 {
-  static std::unordered_map<std::string, std::weak_ptr<Core>> cache;
-  auto objPtr = cache[path].lock(); // try get
-//  for (const auto& data : cache) if (data.second.expired()) cache.erase(data.first); // clean cashe //FIXME error code
-  if (!objPtr) { // get failed
-    objPtr = std::make_shared<Core>(path, baudrate);
-    cache[path] = objPtr;
-  }
-  return objPtr;
+  return make_unique<Core>(path, baudrate);
 }
 
 void ics::Core::communicate(const Container& tx, Container& rx)

src/ics3.cpp

@@ -24,12 +24,12 @@ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
-#include "ics3/ics3.h"
+#include "ics3/ics3.hpp"
 
-#include "core.h"
-#include "ics3/eeprom.h"
-#include "ics3/id.h"
-#include "ics3/parameter.h"
+#include "core.hpp"
+#include "ics3/eeprom.hpp"
+#include "ics3/id.hpp"
+#include "ics3/parameter.hpp"
 
 static inline ics::Angle::rawType getReceiveAngle(const ics::Core::Container& rx) noexcept
 {
@@ -42,7 +42,11 @@ static inline ics::Core::value_type getCmd(const ics::Core::value_type head, con
 }
 
 ics::ICS3::ICS3(const std::string& path, const Baudrate& baudrate)
-: core {Core::getCore(path, baudrate.getSpeed())} // throw std::invalid_argument, std::runtime_error
+  : core {Core::getCore(path, baudrate.getSpeed())} // throw std::invalid_argument, std::runtime_error
+{
+}
+
+ics::ICS3::~ICS3() noexcept
 {
 }
 

test/integrate.cpp

@@ -140,7 +140,7 @@ TEST(AllTestInIntegrate, Parameter) {
 TEST(AllTestInIntegrate, ICS3) {
   constexpr auto path = "/dev/ttyUSB0";
   constexpr auto baudrate = ics::Baudrate::RATE115200();
-  constexpr ics::ID id {2};
+  constexpr ics::ID id {0};
   try {
     ics::ICS3 ics {path, baudrate};
     testIcsMove(ics, id);