diff --git a/.gitignore b/.gitignore index 7766879..4a24823 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,6 @@ # Visual Studio Code files: .vscode + +# CMake build +build/* diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..d6ce80d --- /dev/null +++ b/.travis.yml @@ -0,0 +1,32 @@ +# Based on http://stackoverflow.com/a/41916657, https://github.com/Microsoft/GSL/blob/master/.travis.yml +branches: + only: + - master + +dist: trusty +sudo: required +language: cpp +compiler: gcc +addons: + apt: + sources: + - ubuntu-toolchain-r-test + packages: + - gcc-6 + - g++-6 + - gcc-6-multilib + - g++-6-multilib + - gcc-multilib + - cmake + +install: + - sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-6 50 + - sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 50 + - gcc --version && g++ --version && cmake --version + +before_script: + - mkdir build && cd build + - cmake -DTEST_MODE=TRUE .. && cmake --build . + +script: + - ctest --output-on-failure diff --git a/CMakeLists.txt b/CMakeLists.txt index 458e7a6..d4077fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,24 +1,70 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.2) -set(CMAKE_TOOLCHAIN_FILE "teensy-arm.toolchain.cmake") set(CMAKE_DISABLE_SOURCE_CHANGES ON) #set(CMAKE_VERBOSE_MAKEFILE TRUE) - -project(vive-diy-position-sensor) +set(CMAKE_CXX_STANDARD 14) set(SOURCE_FILES - main.cpp - setup.cpp - input_cmp.cpp - settings.cpp - data_decoder.cpp - geometry.cpp - mavlink.cpp - util.cpp + src/cycle_phase_classifier.cpp + src/data_frame_decoder.cpp + src/formatters.cpp + src/geometry.cpp + src/input.cpp + src/mavlink.cpp + src/pulse_processor.cpp + src/primitives/string_utils.cpp +) + +set(PLATFORM_SPECIFIC_SOURCE_FILES + src/main.cpp + src/settings.cpp + src/debug_node.cpp + src/input_cmp.cpp + src/led_state.cpp + src/outputs.cpp + src/platform.cpp + src/vive_sensors_pipeline.cpp + src/primitives/timestamp.cpp ) -add_executable(vive-diy-position-sensor "${SOURCE_FILES}") -add_firmware_targets(vive-diy-position-sensor) +set(TEST_SOURCE_FILES + test/main_test.cpp + test/platform_mocks.cpp + test/test_pulse_processor.cpp +) + +if (NOT TEST_MODE) + set(CMAKE_TOOLCHAIN_FILE "teensy-arm.toolchain.cmake") + + project(vive-diy-position-sensor) + + add_executable(vive-diy-position-sensor "${SOURCE_FILES}" "${PLATFORM_SPECIFIC_SOURCE_FILES}") + add_firmware_targets(vive-diy-position-sensor) + + import_cmsis_dsp_library(vive-diy-position-sensor) + import_arduino_library(vive-diy-position-sensor mavlink_v2) + +else() + project(vive-diy-position-sensor) + include(CTest) + + # Compile 32 bit code + add_compile_options("-m32") + link_libraries("-m32") + if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options("-Wno-deprecated-register" "-Wno-unknown-attributes") + endif() + + # Compile CMSIS as a library. + set(CMSIS_ROOT "${CMAKE_SOURCE_DIR}/libs/CMSIS/CMSIS" CACHE PATH "Path to the CMSIS root directory") + file(GLOB_RECURSE CMSIS_CORE_FILES "${CMSIS_ROOT}/DSP_Lib/Source/*_f32.c") + add_library(CMSIS "${CMSIS_CORE_FILES}" "${CMSIS_ROOT}/DSP_Lib/Source/CommonTables/arm_common_tables.c") + target_compile_definitions(CMSIS PUBLIC "-DARM_MATH_CM4") + link_libraries(CMSIS) -import_cmsis_dsp_library(vive-diy-position-sensor) -import_arduino_library(vive-diy-position-sensor mavlink_v2) + # We have only one test executable + add_definitions("-DNEW_H") # Don't include new.h header as it defines non-standard operator new(). + include_directories("libs/Catch" "libs/CMSIS/CMSIS/Include" "libs/cores/teensy3" "libs/mavlink_v2" "src") + add_executable(main-test "${TEST_SOURCE_FILES}" "${SOURCE_FILES}") + add_test(main-test main-test) +endif() diff --git a/build/.gitignore b/build/.gitignore deleted file mode 100644 index c7b025b..0000000 --- a/build/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -# This is a directory for in-source builds. -# Ignore everything. -* diff --git a/cmake-variants.json b/cmake-variants.json new file mode 100644 index 0000000..a817aac --- /dev/null +++ b/cmake-variants.json @@ -0,0 +1,26 @@ +{ + "buildType": { + "default$": "debug", + "description$": "the build type to use", + "debug": { + "oneWordSummary$": "Debug", + "description$": "Enable optimizations, include debug info", + "buildType": "Debug" + }, + "release": { + "oneWordSummary$": "Release", + "description$": "Enable optimizations, omit debug info", + "buildType": "Release" + }, + "test": { + "oneWordSummary$": "Test", + "description$": "Test the project", + "buildType": "Debug", + "settings": { + "TEST_MODE": "TRUE", + "CMAKE_C_COMPILER": "/usr/local/bin/gcc-6", + "CMAKE_CXX_COMPILER": "/usr/local/bin/g++-6" + } + } + } +} diff --git a/data_decoder.cpp b/data_decoder.cpp deleted file mode 100644 index 3312066..0000000 --- a/data_decoder.cpp +++ /dev/null @@ -1,98 +0,0 @@ -#include "main.h" - -// Frame is 33 bytes long, see description here: https://github.com/nairol/LighthouseRedox/blob/master/docs/Base%20Station.md -// To decode float16, we can use ARM specific __fp16 type. - -void initialize_decoders(input_data &d) { - // Initialize all decoders to middle value - for (int i = 0; i < num_big_pulses_in_cycle; i++) { - for (int j = 0; j < num_cycle_phases; j++) - d.decoders[i].bit_decoders[j] = {100 << 4, 10}; // Use 100 uS as middle value - it'll be corrected later. - } -} - -inline int decode_bit(bit_decoder &dec, int pulse_len) { - if (pulse_len == 0) - return -1; - - int delta_center = pulse_len - (dec.center_pulse_len >> 4); - bool high = delta_center > 0; - - int assumed_center = pulse_len - (high ? dec.delta_width : -dec.delta_width); - dec.center_pulse_len = (dec.center_pulse_len * 15 + (assumed_center << 4)) >> 4; - - // In future: auto-adjust delta_width as well - - if (abs(assumed_center - (dec.center_pulse_len >> 4)) < 5) { - return int(high); - } else { - return -1; // Not accurate - } -} - -inline void decode_and_write_bit(decoder &dec, uint32_t phase_id, uint32_t pulse_len) { - int bit = decode_bit(dec.bit_decoders[phase_id], int(pulse_len)); - - data_frame &frame = dec.data_frames[dec.write_data_frames_idx]; - if (bit == -1) { // Not decoded -> reset frame. - frame = {}; - return; - } - - if (frame.waiting_for_one) { - if (bit) - frame.waiting_for_one = false; - else - frame = {}; - return; - } - - // Searching for preamble (17 zeros). - if (frame.preamble_len != 17) { - if (bit) { - frame.preamble_len = 0; // high bit -> reset preamble - } else { - frame.preamble_len++; - if (frame.preamble_len == 17) { - frame.waiting_for_one = true; - frame.data_idx = -2; // 2 bytes for data len. - } - } - return; - } - - // Reading 8 bits into accumulator. - frame.accumulator = (frame.accumulator << 1) | bit; - frame.cur_bit_idx++; - if (frame.cur_bit_idx != 8) - return; - - if (frame.data_idx & 1) - frame.waiting_for_one = true; - - // Process & write accumulator - byte data_byte = (byte)frame.accumulator; - frame.accumulator = 0; - frame.cur_bit_idx = 0; - if (frame.data_idx < 0) - frame.data_len |= data_byte << ((2+frame.data_idx) * 8); - else - frame.data[frame.data_idx] = data_byte; - frame.data_idx++; - - if (frame.data_idx == (frame.data_len|1) + 2) { - // Received full frame - write it. - INC_CONSTRAINED(dec.write_data_frames_idx, num_data_frames); - dec.data_frames[dec.write_data_frames_idx] = {}; - } -} - -void extract_data_from_cycle(input_data &d, uint32_t first_pulse_len, uint32_t second_pulse_len, uint32_t id) { - if (id == 0) - initialize_decoders(d); - - uint32_t phase_id = id % 4; - - decode_and_write_bit(d.decoders[0], phase_id, first_pulse_len); - decode_and_write_bit(d.decoders[1], phase_id, second_pulse_len); -} diff --git a/geometry.cpp b/geometry.cpp deleted file mode 100644 index c39026c..0000000 --- a/geometry.cpp +++ /dev/null @@ -1,126 +0,0 @@ -#include "main.h" -#include "settings.h" - -static const int vec3d_size = 3; -typedef float vec3d[vec3d_size]; - -// NE angle = Angle(North - X axis). -static const float ne_angle = 110.0f / 360.0f * (float)M_PI; -static float ned_rotation[9] = { - // Convert Y up -> Z down; then rotate XY around Z clockwise and inverse X & Y - -cosf(ne_angle), 0.0f, sinf(ne_angle), - -sinf(ne_angle), 0.0f, -cosf(ne_angle), - 0.0f, -1.0f, 0.0f, -}; -static arm_matrix_instance_f32 ned_rotation_mat = {3, 3, ned_rotation}; - -bool intersect_lines(vec3d &orig1, vec3d &vec1, vec3d &orig2, vec3d &vec2, vec3d *res, float *dist); -void calc_ray_vec(BaseStationGeometry &bs, float angle1, float angle2, vec3d &res); - - -void calculate_3d_point(const uint32_t angle_lens[num_cycle_phases], float (*pos)[3], float *dist) { - // First 2 angles - x, y of station B; second 2 angles - x, y of station C. Center is 4000. 180 deg = 8333. - // Y - Up; X -> Z v - // Station ray is inverse Z axis. - - //Serial.printf("Angles: %4d %4d %4d %4d\n", angle_lens[0], angle_lens[1], angle_lens[2], angle_lens[3]); - float angles[num_cycle_phases]; - for (int i = 0; i < num_cycle_phases; i++) - angles[i] = float(int(angle_lens[i]) - angle_center_len) * (float)PI / cycle_period; - //Serial.printf("Angles: %.4f %.4f %.4f %.4f\n", angles[0], angles[1], angles[2], angles[3]); - - if (settings.base_station_count < 2) - return; - - vec3d ray1 = {}; - calc_ray_vec(settings.base_stations[0], angles[0], angles[1], ray1); - //Serial.printf("Ray1: %f %f %f\n", ray1[0], ray1[1], ray1[2]); - - vec3d ray2 = {}; - calc_ray_vec(settings.base_stations[1], angles[2], angles[3], ray2); - //Serial.printf("Ray2: %f %f %f\n", ray2[0], ray2[1], ray2[2]); - - intersect_lines(settings.base_stations[0].origin, ray1, settings.base_stations[1].origin, ray2, pos, dist); -} - -void convert_to_ned(const float pt[3], float (*ned)[3]) { - // Convert to NED. - arm_matrix_instance_f32 pt_mat = {3, 1, const_cast(pt)}; - arm_matrix_instance_f32 ned_mat = {3, 1, *ned}; - arm_mat_mult_f32(&ned_rotation_mat, &pt_mat, &ned_mat); -} - -void vec_cross_product(const vec3d &a, const vec3d &b, vec3d &res) { - res[0] = a[1]*b[2] - a[2]*b[1]; - res[1] = a[2]*b[0] - a[0]*b[2]; - res[2] = a[0]*b[1] - a[1]*b[0]; -} - -float vec_length(vec3d &vec) { - float pow, res; - - arm_power_f32(vec, vec3d_size, &pow); // returns sum of squares - arm_sqrt_f32(pow, &res); - - return res; -} - -void calc_ray_vec(BaseStationGeometry &bs, float angle1, float angle2, vec3d &res) { - vec3d a = {arm_cos_f32(angle1), 0, -arm_sin_f32(angle1)}; // Normal vector to X plane - vec3d b = {0, arm_cos_f32(angle2), arm_sin_f32(angle2)}; // Normal vector to Y plane - - vec3d ray = {}; - vec_cross_product(b, a, ray); // Intersection of two planes -> ray vector. - float len = vec_length(ray); - arm_scale_f32(ray, 1/len, ray, vec3d_size); // Normalize ray length. - - arm_matrix_instance_f32 source_rotation_matrix = {3, 3, bs.mat}; - arm_matrix_instance_f32 ray_vec = {3, 1, ray}; - arm_matrix_instance_f32 ray_rotated_vec = {3, 1, res}; - - arm_mat_mult_f32(&source_rotation_matrix, &ray_vec, &ray_rotated_vec); -} - - -bool intersect_lines(vec3d &orig1, vec3d &vec1, vec3d &orig2, vec3d &vec2, vec3d *res, float *dist) { - // Algoritm: http://geomalgorithms.com/a07-_distance.html#Distance-between-Lines - - vec3d w0 = {}; - arm_sub_f32(orig1, orig2, w0, vec3d_size); - - float a, b, c, d, e; - arm_dot_prod_f32(vec1, vec1, vec3d_size, &a); - arm_dot_prod_f32(vec1, vec2, vec3d_size, &b); - arm_dot_prod_f32(vec2, vec2, vec3d_size, &c); - arm_dot_prod_f32(vec1, w0, vec3d_size, &d); - arm_dot_prod_f32(vec2, w0, vec3d_size, &e); - - float denom = a * c - b * b; - if (fabs(denom) < 1e-5f) - return false; - - // Closest point to 2nd line on 1st line - float t1 = (b * e - c * d) / denom; - vec3d pt1 = {}; - arm_scale_f32(vec1, t1, pt1, vec3d_size); - arm_add_f32(pt1, orig1, pt1, vec3d_size); - - // Closest point to 1st line on 2nd line - float t2 = (a * e - b * d) / denom; - vec3d pt2 = {}; - arm_scale_f32(vec2, t2, pt2, vec3d_size); - arm_add_f32(pt2, orig2, pt2, vec3d_size); - - // Result is in the middle - vec3d tmp = {}; - arm_add_f32(pt1, pt2, tmp, vec3d_size); - arm_scale_f32(tmp, 0.5f, *res, vec3d_size); - - // Dist is distance between pt1 and pt2 - arm_sub_f32(pt1, pt2, tmp, vec3d_size); - *dist = vec_length(tmp); - - return true; -} - - diff --git a/input_cmp.cpp b/input_cmp.cpp deleted file mode 100644 index 745bc81..0000000 --- a/input_cmp.cpp +++ /dev/null @@ -1,232 +0,0 @@ -// -// Definition of 'Comparator' type input (kCMP). -// -// Teensy 3.2 has 3 comparator modules: CMP0, CMP1, and CMP2. Each of them can issue an interrupt when -// input pin voltage is crossing a threshold, both up and down. The threshold, called `cmp_threshold` in code, can be adjusted -// dynamically in 64 steps from 0V to 3.3V. This allows for more flexibility when dealing with analog sensors like the one -// described in this repo, but not really needed for commercial sensors. -// -// PROs: -// * Threshold can be dynamically adjusted. -// CONs: -// * Up to 3 sensors at the same time; Only particular pins are supported (see input_pin_variants below). -// * Timing is calculated in ISR, leading to potential jitter. -// -#include "main.h" -#include "settings.h" - -// Mapping of comparator inputs to teensy pins -struct ComparatorInputPin { - uint32_t cmp_num; // Comparator index (CMP0/CMP1/CMP2) - uint32_t cmp_input;// Input # for comparator (ie. 5 => CMP0_IN5) - uint32_t pin; // Teensy PIN -}; - -const static int num_input_pin_variants = 9; -const static ComparatorInputPin input_pin_variants[num_input_pin_variants] = { - {0, 0, 11}, // CMP0_IN0 = Pin 11 - {0, 1, 12}, // CMP0_IN1 = Pin 12 - {0, 2, 28}, // CMP0_IN2 = Pin 28 - {0, 3, 27}, // CMP0_IN3 = Pin 27 - {0, 4, 29}, // CMP0_IN4 = Pin 29 - {1, 0, 23}, // CMP1_IN0 = Pin 23 - {1, 1, 9}, // CMP1_IN1 = Pin 9 - {2, 0, 3}, // CMP2_IN0 = Pin 3 - {2, 1, 4}, // CMP2_IN1 = Pin 4 -}; - -// Port definitions for comparators -struct ComparatorPorts { - volatile uint8_t *cr0, *cr1, *fpr, *scr, *daccr, *muxcr; - int irq; -}; -const static ComparatorPorts comparator_port_defs[num_comparators] = { - {&CMP0_CR0, &CMP0_CR1, &CMP0_FPR, &CMP0_SCR, &CMP0_DACCR, &CMP0_MUXCR, IRQ_CMP0}, - {&CMP1_CR0, &CMP1_CR1, &CMP1_FPR, &CMP1_SCR, &CMP1_DACCR, &CMP1_MUXCR, IRQ_CMP1}, - {&CMP2_CR0, &CMP2_CR1, &CMP2_FPR, &CMP2_SCR, &CMP2_DACCR, &CMP2_MUXCR, IRQ_CMP2}, -}; - -// Dynamic data for each comparator. -struct ComparatorData { - bool is_active; - uint32_t rise_time; - const ComparatorPorts *ports; - int input_idx; - int cmp_threshold; - bool pulse_polarity; - ComparatorInputPin pin; -}; - -static ComparatorData comparator_data[num_comparators] = {}; -static ComparatorData *comparator_data_by_input_idx[max_num_inputs] = {}; - - -void setCmpThreshold(const ComparatorData *pCmp, uint32_t level) { // level = 0..63, from 0V to 3V3. - if (!pCmp->pulse_polarity) - level = 63 - level; - - // DAC Control: Enable; Reference=3v3 (Vin1=VREF_OUT=1V2; Vin2=VDD=3V3); Output select=0 - *pCmp->ports->daccr = CMP_DACCR_DACEN | CMP_DACCR_VRSEL | CMP_DACCR_VOSEL(level); -} - -inline ComparatorData *cmpDataFromInputIdx(uint32_t input_idx) { - ComparatorData *pCmp = comparator_data_by_input_idx[input_idx]; - if (!pCmp || !pCmp->is_active) - return NULL; - return pCmp; -} - -void changeCmpThreshold(uint32_t input_idx, int delta) { - if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) { - pCmp->cmp_threshold = (uint32_t)max(0, min(63, (int)pCmp->cmp_threshold + delta)); - setCmpThreshold(pCmp, pCmp->cmp_threshold); - } -} - -int getCmpLevel(uint32_t input_idx) { // Current signal level: 0 or 1 (basically, below or above threshold) - if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) - return *pCmp->ports->daccr & CMP_SCR_COUT; - else - return 0; -} - -int getCmpThreshold(uint32_t input_idx) { - if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) - return pCmp->cmp_threshold; - else - return 0; -} - -void dynamicThresholdAdjustment() { - // TODO. - /* - // 1. Comparator level dynamic adjustment. - __disable_irq(); - uint32_t crossings = d.crossings; d.crossings = 0; - uint32_t big_pulses = d.big_pulses; d.big_pulses = 0; - uint32_t small_pulses = d.small_pulses; d.small_pulses = 0; - //uint32_t fake_big_pulses = d.fake_big_pulses; d.fake_big_pulses = 0; - __enable_irq(); - - if (crossings > 100) { // Comparator level is at the background noise level. Try to increase it. - changeCmpThreshold(d, +3); - - } else if (crossings == 0) { // No crossings of comparator level => too high or too low. - if (getCmpLevel(d) == 1) { // Level is too low - changeCmpThreshold(d, +16); - } else { // Level is too high - changeCmpThreshold(d, -9); - } - } else { - - if (big_pulses <= 6) { - changeCmpThreshold(d, -4); - } else if (big_pulses > 10) { - changeCmpThreshold(d, +4); - } else if (small_pulses < 4) { - - // Fine tune - we need 4 small pulses. - changeCmpThreshold(d, -1); - } - } - */ -} - -void resetCmpAfterValidation() { - for (int i = 0; i < num_comparators; i++) - comparator_data[i] = {}; -} - -bool setupCmpInput(uint32_t input_idx, const InputDefinition &input_def, char *error_message, bool validation_mode) { - // Find comparator and input num for given pin. - uint32_t cmp_num, cmp_input; - int i = 0; - for (; i < num_input_pin_variants; i++) - if (input_pin_variants[i].pin == input_def.pin) { - cmp_num = input_pin_variants[i].cmp_num; - cmp_input = input_pin_variants[i].cmp_input; - break; - } - - if (i == num_input_pin_variants) { - sprintf(error_message, "Pin %lu is not supported for 'cmp' input type.\n", input_def.pin); - return false; - } - ComparatorData *pCmp = &comparator_data[cmp_num]; - if (pCmp->is_active) { - sprintf(error_message, "Can't use pin %lu for a 'cmp' input type: CMP%lu is already in use by pin %lu.\n", - input_def.pin, pCmp->pin.cmp_num, pCmp->pin.pin); - return false; - } - if (input_def.initial_cmp_threshold >= 64) { - sprintf(error_message, "Invalid threshold value for 'cmp' input type on pin %lu. Supported values: 0-63\n", input_def.pin); - return false; - } - pCmp->is_active = true; - pCmp->input_idx = input_idx; - pCmp->cmp_threshold = input_def.initial_cmp_threshold; - pCmp->pulse_polarity = input_def.pulse_polarity; - pCmp->ports = &comparator_port_defs[cmp_num]; - pCmp->rise_time = 0; - pCmp->pin = input_pin_variants[i]; - - if (validation_mode) - return true; - - comparator_data_by_input_idx[input_idx] = pCmp; - - NVIC_SET_PRIORITY(pCmp->ports->irq, 64); // very high prio (0 = highest priority, 128 = medium, 255 = lowest) - NVIC_ENABLE_IRQ(pCmp->ports->irq); - - SIM_SCGC4 |= SIM_SCGC4_CMP; // Enable clock for comparator - - // Filter disabled; Hysteresis level 0 (0=5mV; 1=10mV; 2=20mV; 3=30mV) - *pCmp->ports->cr0 = CMP_CR0_FILTER_CNT(0) | CMP_CR0_HYSTCTR(0); - - // Filter period - disabled - *pCmp->ports->fpr = 0; - - // Input/MUX Control - pinMode(input_def.pin, INPUT); - const static int ref_input = 7; // CMPn_IN7 (DAC Reference Voltage, which we control in setCmpThreshold()) - *pCmp->ports->muxcr = input_def.pulse_polarity - ? CMP_MUXCR_PSEL(cmp_input) | CMP_MUXCR_MSEL(ref_input) - : CMP_MUXCR_PSEL(ref_input) | CMP_MUXCR_MSEL(cmp_input); - - // Comparator ON; Sampling disabled; Windowing disabled; Power mode: High speed; Output Pin disabled; - *pCmp->ports->cr1 = CMP_CR1_PMODE | CMP_CR1_EN; - setCmpThreshold(pCmp, pCmp->cmp_threshold); - - delay(5); - - // Status & Control: DMA Off; Interrupt: both rising & falling; Reset current state. - *pCmp->ports->scr = CMP_SCR_IER | CMP_SCR_IEF | CMP_SCR_CFR | CMP_SCR_CFF; - return true; -} - - -inline void __attribute__((always_inline)) cmp_isr(int cmp_num, volatile uint8_t *scr) { - const uint32_t cmpState = *scr; - const uint32_t timestamp = micros(); - - ComparatorData *pCmp = &comparator_data[cmp_num]; - if (!pCmp->is_active) - return; - - if (pCmp->rise_time && (cmpState & CMP_SCR_CFF)) { // Falling edge registered - add_pulse(pCmp->input_idx, pCmp->rise_time, timestamp); - pCmp->rise_time = 0; - } - - const static uint32_t mask = CMP_SCR_CFR | CMP_SCR_COUT; - if ((cmpState & mask) == mask) { // Rising edge registered and state is now high - pCmp->rise_time = timestamp; - } - - // Clear flags, re-enable interrupts. - *scr = CMP_SCR_IER | CMP_SCR_IEF | CMP_SCR_CFR | CMP_SCR_CFF; -} - -void cmp0_isr() { cmp_isr(0, &CMP0_SCR); } -void cmp1_isr() { cmp_isr(1, &CMP1_SCR); } -void cmp2_isr() { cmp_isr(2, &CMP2_SCR); } diff --git a/libs/Catch/catch.hpp b/libs/Catch/catch.hpp new file mode 100644 index 0000000..2a09fd1 --- /dev/null +++ b/libs/Catch/catch.hpp @@ -0,0 +1,11069 @@ +/* + * Catch v1.7.2 + * Generated: 2017-02-13 15:57:33.350226 + * ---------------------------------------------------------- + * This file has been merged from multiple headers. Please don't edit it directly + * Copyright (c) 2012 Two Blue Cubes Ltd. All rights reserved. + * + * Distributed under the Boost Software License, Version 1.0. (See accompanying + * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) + */ +#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED +#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED + +#define TWOBLUECUBES_CATCH_HPP_INCLUDED + +#ifdef __clang__ +# pragma clang system_header +#elif defined __GNUC__ +# pragma GCC system_header +#endif + +// #included from: internal/catch_suppress_warnings.h + +#ifdef __clang__ +# ifdef __ICC // icpc defines the __clang__ macro +# pragma warning(push) +# pragma warning(disable: 161 1682) +# else // __ICC +# pragma clang diagnostic ignored "-Wglobal-constructors" +# pragma clang diagnostic ignored "-Wvariadic-macros" +# pragma clang diagnostic ignored "-Wc99-extensions" +# pragma clang diagnostic ignored "-Wunused-variable" +# pragma clang diagnostic push +# pragma clang diagnostic ignored "-Wpadded" +# pragma clang diagnostic ignored "-Wc++98-compat" +# pragma clang diagnostic ignored "-Wc++98-compat-pedantic" +# pragma clang diagnostic ignored "-Wswitch-enum" +# pragma clang diagnostic ignored "-Wcovered-switch-default" +# endif +#elif defined __GNUC__ +# pragma GCC diagnostic ignored "-Wvariadic-macros" +# pragma GCC diagnostic ignored "-Wunused-variable" +# pragma GCC diagnostic push +# pragma GCC diagnostic ignored "-Wpadded" +#endif +#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER) +# define CATCH_IMPL +#endif + +#ifdef CATCH_IMPL +# ifndef CLARA_CONFIG_MAIN +# define CLARA_CONFIG_MAIN_NOT_DEFINED +# define CLARA_CONFIG_MAIN +# endif +#endif + +// #included from: internal/catch_notimplemented_exception.h +#define TWOBLUECUBES_CATCH_NOTIMPLEMENTED_EXCEPTION_H_INCLUDED + +// #included from: catch_common.h +#define TWOBLUECUBES_CATCH_COMMON_H_INCLUDED + +// #included from: catch_compiler_capabilities.h +#define TWOBLUECUBES_CATCH_COMPILER_CAPABILITIES_HPP_INCLUDED + +// Detect a number of compiler features - mostly C++11/14 conformance - by compiler +// The following features are defined: +// +// CATCH_CONFIG_CPP11_NULLPTR : is nullptr supported? +// CATCH_CONFIG_CPP11_NOEXCEPT : is noexcept supported? +// CATCH_CONFIG_CPP11_GENERATED_METHODS : The delete and default keywords for compiler generated methods +// CATCH_CONFIG_CPP11_IS_ENUM : std::is_enum is supported? +// CATCH_CONFIG_CPP11_TUPLE : std::tuple is supported +// CATCH_CONFIG_CPP11_LONG_LONG : is long long supported? +// CATCH_CONFIG_CPP11_OVERRIDE : is override supported? +// CATCH_CONFIG_CPP11_UNIQUE_PTR : is unique_ptr supported (otherwise use auto_ptr) +// CATCH_CONFIG_CPP11_SHUFFLE : is std::shuffle supported? +// CATCH_CONFIG_CPP11_TYPE_TRAITS : are type_traits and enable_if supported? + +// CATCH_CONFIG_CPP11_OR_GREATER : Is C++11 supported? + +// CATCH_CONFIG_VARIADIC_MACROS : are variadic macros supported? +// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported? +// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported? +// **************** +// Note to maintainers: if new toggles are added please document them +// in configuration.md, too +// **************** + +// In general each macro has a _NO_ form +// (e.g. CATCH_CONFIG_CPP11_NO_NULLPTR) which disables the feature. +// Many features, at point of detection, define an _INTERNAL_ macro, so they +// can be combined, en-mass, with the _NO_ forms later. + +// All the C++11 features can be disabled with CATCH_CONFIG_NO_CPP11 + +#ifdef __cplusplus + +# if __cplusplus >= 201103L +# define CATCH_CPP11_OR_GREATER +# endif + +# if __cplusplus >= 201402L +# define CATCH_CPP14_OR_GREATER +# endif + +#endif + +#ifdef __clang__ + +# if __has_feature(cxx_nullptr) +# define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR +# endif + +# if __has_feature(cxx_noexcept) +# define CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT +# endif + +# if defined(CATCH_CPP11_OR_GREATER) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) +# endif + +#endif // __clang__ + +//////////////////////////////////////////////////////////////////////////////// +// Borland +#ifdef __BORLANDC__ + +#endif // __BORLANDC__ + +//////////////////////////////////////////////////////////////////////////////// +// EDG +#ifdef __EDG_VERSION__ + +#endif // __EDG_VERSION__ + +//////////////////////////////////////////////////////////////////////////////// +// Digital Mars +#ifdef __DMC__ + +#endif // __DMC__ + +//////////////////////////////////////////////////////////////////////////////// +// GCC +#ifdef __GNUC__ + +# if __GNUC__ == 4 && __GNUC_MINOR__ >= 6 && defined(__GXX_EXPERIMENTAL_CXX0X__) +# define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR +# endif + +# if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) && defined(CATCH_CPP11_OR_GREATER) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS _Pragma( "GCC diagnostic ignored \"-Wparentheses\"" ) +# endif + +// - otherwise more recent versions define __cplusplus >= 201103L +// and will get picked up below + +#endif // __GNUC__ + +//////////////////////////////////////////////////////////////////////////////// +// Visual C++ +#ifdef _MSC_VER + +#define CATCH_INTERNAL_CONFIG_WINDOWS_SEH + +#if (_MSC_VER >= 1600) +# define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR +# define CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR +#endif + +#if (_MSC_VER >= 1900 ) // (VC++ 13 (VS2015)) +#define CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT +#define CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +#define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE +#define CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS +#endif + +#endif // _MSC_VER + +//////////////////////////////////////////////////////////////////////////////// + +// Use variadic macros if the compiler supports them +#if ( defined _MSC_VER && _MSC_VER > 1400 && !defined __EDGE__) || \ + ( defined __WAVE__ && __WAVE_HAS_VARIADICS ) || \ + ( defined __GNUC__ && __GNUC__ >= 3 ) || \ + ( !defined __cplusplus && __STDC_VERSION__ >= 199901L || __cplusplus >= 201103L ) + +#define CATCH_INTERNAL_CONFIG_VARIADIC_MACROS + +#endif + +// Use __COUNTER__ if the compiler supports it +#if ( defined _MSC_VER && _MSC_VER >= 1300 ) || \ + ( defined __GNUC__ && __GNUC__ >= 4 && __GNUC_MINOR__ >= 3 ) || \ + ( defined __clang__ && __clang_major__ >= 3 ) + +#define CATCH_INTERNAL_CONFIG_COUNTER + +#endif + +//////////////////////////////////////////////////////////////////////////////// +// C++ language feature support + +// catch all support for C++11 +#if defined(CATCH_CPP11_OR_GREATER) + +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_NULLPTR) +# define CATCH_INTERNAL_CONFIG_CPP11_NULLPTR +# endif + +# ifndef CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT +# define CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT +# endif + +# ifndef CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +# define CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +# endif + +# ifndef CATCH_INTERNAL_CONFIG_CPP11_IS_ENUM +# define CATCH_INTERNAL_CONFIG_CPP11_IS_ENUM +# endif + +# ifndef CATCH_INTERNAL_CONFIG_CPP11_TUPLE +# define CATCH_INTERNAL_CONFIG_CPP11_TUPLE +# endif + +# ifndef CATCH_INTERNAL_CONFIG_VARIADIC_MACROS +# define CATCH_INTERNAL_CONFIG_VARIADIC_MACROS +# endif + +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_LONG_LONG) +# define CATCH_INTERNAL_CONFIG_CPP11_LONG_LONG +# endif + +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_OVERRIDE) +# define CATCH_INTERNAL_CONFIG_CPP11_OVERRIDE +# endif +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) +# define CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR +# endif +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) +# define CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE +# endif +# if !defined(CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS) +# define CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS +# endif + +#endif // __cplusplus >= 201103L + +// Now set the actual defines based on the above + anything the user has configured +#if defined(CATCH_INTERNAL_CONFIG_CPP11_NULLPTR) && !defined(CATCH_CONFIG_CPP11_NO_NULLPTR) && !defined(CATCH_CONFIG_CPP11_NULLPTR) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_NULLPTR +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_NOEXCEPT) && !defined(CATCH_CONFIG_CPP11_NO_NOEXCEPT) && !defined(CATCH_CONFIG_CPP11_NOEXCEPT) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_NOEXCEPT +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_GENERATED_METHODS) && !defined(CATCH_CONFIG_CPP11_NO_GENERATED_METHODS) && !defined(CATCH_CONFIG_CPP11_GENERATED_METHODS) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_GENERATED_METHODS +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_IS_ENUM) && !defined(CATCH_CONFIG_CPP11_NO_IS_ENUM) && !defined(CATCH_CONFIG_CPP11_IS_ENUM) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_IS_ENUM +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_TUPLE) && !defined(CATCH_CONFIG_CPP11_NO_TUPLE) && !defined(CATCH_CONFIG_CPP11_TUPLE) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_TUPLE +#endif +#if defined(CATCH_INTERNAL_CONFIG_VARIADIC_MACROS) && !defined(CATCH_CONFIG_NO_VARIADIC_MACROS) && !defined(CATCH_CONFIG_VARIADIC_MACROS) +# define CATCH_CONFIG_VARIADIC_MACROS +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_CPP11_NO_LONG_LONG) && !defined(CATCH_CONFIG_CPP11_LONG_LONG) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_LONG_LONG +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_CPP11_NO_OVERRIDE) && !defined(CATCH_CONFIG_CPP11_OVERRIDE) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_OVERRIDE +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_NO_UNIQUE_PTR) && !defined(CATCH_CONFIG_CPP11_UNIQUE_PTR) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_UNIQUE_PTR +#endif +// Use of __COUNTER__ is suppressed if __JETBRAINS_IDE__ is #defined (meaning we're being parsed by a JetBrains IDE for +// analytics) because, at time of writing, __COUNTER__ is not properly handled by it. +// This does not affect compilation +#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) && !defined(__JETBRAINS_IDE__) +# define CATCH_CONFIG_COUNTER +#endif +#if defined(CATCH_INTERNAL_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_NO_SHUFFLE) && !defined(CATCH_CONFIG_CPP11_SHUFFLE) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_SHUFFLE +#endif +# if defined(CATCH_INTERNAL_CONFIG_CPP11_TYPE_TRAITS) && !defined(CATCH_CONFIG_CPP11_NO_TYPE_TRAITS) && !defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) && !defined(CATCH_CONFIG_NO_CPP11) +# define CATCH_CONFIG_CPP11_TYPE_TRAITS +# endif +#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) +# define CATCH_CONFIG_WINDOWS_SEH +#endif + +#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) +# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS +#endif + +// noexcept support: +#if defined(CATCH_CONFIG_CPP11_NOEXCEPT) && !defined(CATCH_NOEXCEPT) +# define CATCH_NOEXCEPT noexcept +# define CATCH_NOEXCEPT_IS(x) noexcept(x) +#else +# define CATCH_NOEXCEPT throw() +# define CATCH_NOEXCEPT_IS(x) +#endif + +// nullptr support +#ifdef CATCH_CONFIG_CPP11_NULLPTR +# define CATCH_NULL nullptr +#else +# define CATCH_NULL NULL +#endif + +// override support +#ifdef CATCH_CONFIG_CPP11_OVERRIDE +# define CATCH_OVERRIDE override +#else +# define CATCH_OVERRIDE +#endif + +// unique_ptr support +#ifdef CATCH_CONFIG_CPP11_UNIQUE_PTR +# define CATCH_AUTO_PTR( T ) std::unique_ptr +#else +# define CATCH_AUTO_PTR( T ) std::auto_ptr +#endif + +#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line +#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) +#ifdef CATCH_CONFIG_COUNTER +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) +#else +# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) +#endif + +#define INTERNAL_CATCH_STRINGIFY2( expr ) #expr +#define INTERNAL_CATCH_STRINGIFY( expr ) INTERNAL_CATCH_STRINGIFY2( expr ) + +#include +#include + +namespace Catch { + + struct IConfig; + + struct CaseSensitive { enum Choice { + Yes, + No + }; }; + + class NonCopyable { +#ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + NonCopyable( NonCopyable const& ) = delete; + NonCopyable( NonCopyable && ) = delete; + NonCopyable& operator = ( NonCopyable const& ) = delete; + NonCopyable& operator = ( NonCopyable && ) = delete; +#else + NonCopyable( NonCopyable const& info ); + NonCopyable& operator = ( NonCopyable const& ); +#endif + + protected: + NonCopyable() {} + virtual ~NonCopyable(); + }; + + class SafeBool { + public: + typedef void (SafeBool::*type)() const; + + static type makeSafe( bool value ) { + return value ? &SafeBool::trueValue : 0; + } + private: + void trueValue() const {} + }; + + template + inline void deleteAll( ContainerT& container ) { + typename ContainerT::const_iterator it = container.begin(); + typename ContainerT::const_iterator itEnd = container.end(); + for(; it != itEnd; ++it ) + delete *it; + } + template + inline void deleteAllValues( AssociativeContainerT& container ) { + typename AssociativeContainerT::const_iterator it = container.begin(); + typename AssociativeContainerT::const_iterator itEnd = container.end(); + for(; it != itEnd; ++it ) + delete it->second; + } + + bool startsWith( std::string const& s, std::string const& prefix ); + bool startsWith( std::string const& s, char prefix ); + bool endsWith( std::string const& s, std::string const& suffix ); + bool endsWith( std::string const& s, char suffix ); + bool contains( std::string const& s, std::string const& infix ); + void toLowerInPlace( std::string& s ); + std::string toLower( std::string const& s ); + std::string trim( std::string const& str ); + bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ); + + struct pluralise { + pluralise( std::size_t count, std::string const& label ); + + friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ); + + std::size_t m_count; + std::string m_label; + }; + + struct SourceLineInfo { + + SourceLineInfo(); + SourceLineInfo( char const* _file, std::size_t _line ); +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + SourceLineInfo(SourceLineInfo const& other) = default; + SourceLineInfo( SourceLineInfo && ) = default; + SourceLineInfo& operator = ( SourceLineInfo const& ) = default; + SourceLineInfo& operator = ( SourceLineInfo && ) = default; +# endif + bool empty() const; + bool operator == ( SourceLineInfo const& other ) const; + bool operator < ( SourceLineInfo const& other ) const; + + char const* file; + std::size_t line; + }; + + std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); + + // This is just here to avoid compiler warnings with macro constants and boolean literals + inline bool isTrue( bool value ){ return value; } + inline bool alwaysTrue() { return true; } + inline bool alwaysFalse() { return false; } + + void throwLogicError( std::string const& message, SourceLineInfo const& locationInfo ); + + void seedRng( IConfig const& config ); + unsigned int rngSeed(); + + // Use this in variadic streaming macros to allow + // >> +StreamEndStop + // as well as + // >> stuff +StreamEndStop + struct StreamEndStop { + std::string operator+() { + return std::string(); + } + }; + template + T const& operator + ( T const& value, StreamEndStop ) { + return value; + } +} + +#define CATCH_INTERNAL_LINEINFO ::Catch::SourceLineInfo( __FILE__, static_cast( __LINE__ ) ) +#define CATCH_INTERNAL_ERROR( msg ) ::Catch::throwLogicError( msg, CATCH_INTERNAL_LINEINFO ); + +namespace Catch { + + class NotImplementedException : public std::exception + { + public: + NotImplementedException( SourceLineInfo const& lineInfo ); + NotImplementedException( NotImplementedException const& ) {} + + virtual ~NotImplementedException() CATCH_NOEXCEPT {} + + virtual const char* what() const CATCH_NOEXCEPT; + + private: + std::string m_what; + SourceLineInfo m_lineInfo; + }; + +} // end namespace Catch + +/////////////////////////////////////////////////////////////////////////////// +#define CATCH_NOT_IMPLEMENTED throw Catch::NotImplementedException( CATCH_INTERNAL_LINEINFO ) + +// #included from: internal/catch_context.h +#define TWOBLUECUBES_CATCH_CONTEXT_H_INCLUDED + +// #included from: catch_interfaces_generators.h +#define TWOBLUECUBES_CATCH_INTERFACES_GENERATORS_H_INCLUDED + +#include + +namespace Catch { + + struct IGeneratorInfo { + virtual ~IGeneratorInfo(); + virtual bool moveNext() = 0; + virtual std::size_t getCurrentIndex() const = 0; + }; + + struct IGeneratorsForTest { + virtual ~IGeneratorsForTest(); + + virtual IGeneratorInfo& getGeneratorInfo( std::string const& fileInfo, std::size_t size ) = 0; + virtual bool moveNext() = 0; + }; + + IGeneratorsForTest* createGeneratorsForTest(); + +} // end namespace Catch + +// #included from: catch_ptr.hpp +#define TWOBLUECUBES_CATCH_PTR_HPP_INCLUDED + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wpadded" +#endif + +namespace Catch { + + // An intrusive reference counting smart pointer. + // T must implement addRef() and release() methods + // typically implementing the IShared interface + template + class Ptr { + public: + Ptr() : m_p( CATCH_NULL ){} + Ptr( T* p ) : m_p( p ){ + if( m_p ) + m_p->addRef(); + } + Ptr( Ptr const& other ) : m_p( other.m_p ){ + if( m_p ) + m_p->addRef(); + } + ~Ptr(){ + if( m_p ) + m_p->release(); + } + void reset() { + if( m_p ) + m_p->release(); + m_p = CATCH_NULL; + } + Ptr& operator = ( T* p ){ + Ptr temp( p ); + swap( temp ); + return *this; + } + Ptr& operator = ( Ptr const& other ){ + Ptr temp( other ); + swap( temp ); + return *this; + } + void swap( Ptr& other ) { std::swap( m_p, other.m_p ); } + T* get() const{ return m_p; } + T& operator*() const { return *m_p; } + T* operator->() const { return m_p; } + bool operator !() const { return m_p == CATCH_NULL; } + operator SafeBool::type() const { return SafeBool::makeSafe( m_p != CATCH_NULL ); } + + private: + T* m_p; + }; + + struct IShared : NonCopyable { + virtual ~IShared(); + virtual void addRef() const = 0; + virtual void release() const = 0; + }; + + template + struct SharedImpl : T { + + SharedImpl() : m_rc( 0 ){} + + virtual void addRef() const { + ++m_rc; + } + virtual void release() const { + if( --m_rc == 0 ) + delete this; + } + + mutable unsigned int m_rc; + }; + +} // end namespace Catch + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + +namespace Catch { + + class TestCase; + class Stream; + struct IResultCapture; + struct IRunner; + struct IGeneratorsForTest; + struct IConfig; + + struct IContext + { + virtual ~IContext(); + + virtual IResultCapture* getResultCapture() = 0; + virtual IRunner* getRunner() = 0; + virtual size_t getGeneratorIndex( std::string const& fileInfo, size_t totalSize ) = 0; + virtual bool advanceGeneratorsForCurrentTest() = 0; + virtual Ptr getConfig() const = 0; + }; + + struct IMutableContext : IContext + { + virtual ~IMutableContext(); + virtual void setResultCapture( IResultCapture* resultCapture ) = 0; + virtual void setRunner( IRunner* runner ) = 0; + virtual void setConfig( Ptr const& config ) = 0; + }; + + IContext& getCurrentContext(); + IMutableContext& getCurrentMutableContext(); + void cleanUpContext(); + Stream createStream( std::string const& streamName ); + +} + +// #included from: internal/catch_test_registry.hpp +#define TWOBLUECUBES_CATCH_TEST_REGISTRY_HPP_INCLUDED + +// #included from: catch_interfaces_testcase.h +#define TWOBLUECUBES_CATCH_INTERFACES_TESTCASE_H_INCLUDED + +#include + +namespace Catch { + + class TestSpec; + + struct ITestCase : IShared { + virtual void invoke () const = 0; + protected: + virtual ~ITestCase(); + }; + + class TestCase; + struct IConfig; + + struct ITestCaseRegistry { + virtual ~ITestCaseRegistry(); + virtual std::vector const& getAllTests() const = 0; + virtual std::vector const& getAllTestsSorted( IConfig const& config ) const = 0; + }; + + bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ); + std::vector filterTests( std::vector const& testCases, TestSpec const& testSpec, IConfig const& config ); + std::vector const& getAllTestCasesSorted( IConfig const& config ); + +} + +namespace Catch { + +template +class MethodTestCase : public SharedImpl { + +public: + MethodTestCase( void (C::*method)() ) : m_method( method ) {} + + virtual void invoke() const { + C obj; + (obj.*m_method)(); + } + +private: + virtual ~MethodTestCase() {} + + void (C::*m_method)(); +}; + +typedef void(*TestFunction)(); + +struct NameAndDesc { + NameAndDesc( const char* _name = "", const char* _description= "" ) + : name( _name ), description( _description ) + {} + + const char* name; + const char* description; +}; + +void registerTestCase + ( ITestCase* testCase, + char const* className, + NameAndDesc const& nameAndDesc, + SourceLineInfo const& lineInfo ); + +struct AutoReg { + + AutoReg + ( TestFunction function, + SourceLineInfo const& lineInfo, + NameAndDesc const& nameAndDesc ); + + template + AutoReg + ( void (C::*method)(), + char const* className, + NameAndDesc const& nameAndDesc, + SourceLineInfo const& lineInfo ) { + + registerTestCase + ( new MethodTestCase( method ), + className, + nameAndDesc, + lineInfo ); + } + + ~AutoReg(); + +private: + AutoReg( AutoReg const& ); + void operator= ( AutoReg const& ); +}; + +void registerTestCaseFunction + ( TestFunction function, + SourceLineInfo const& lineInfo, + NameAndDesc const& nameAndDesc ); + +} // end namespace Catch + +#ifdef CATCH_CONFIG_VARIADIC_MACROS + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \ + static void TestName(); \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); }\ + static void TestName() + #define INTERNAL_CATCH_TESTCASE( ... ) \ + INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ ) + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); } + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\ + namespace{ \ + struct TestName : ClassName{ \ + void test(); \ + }; \ + Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestName::test, #ClassName, Catch::NameAndDesc( __VA_ARGS__ ), CATCH_INTERNAL_LINEINFO ); \ + } \ + void TestName::test() + #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \ + INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ ) + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \ + Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( __VA_ARGS__ ) ); + +#else + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_TESTCASE2( TestName, Name, Desc ) \ + static void TestName(); \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &TestName, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); }\ + static void TestName() + #define INTERNAL_CATCH_TESTCASE( Name, Desc ) \ + INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), Name, Desc ) + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, Name, Desc ) \ + namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( &QualifiedMethod, "&" #QualifiedMethod, Catch::NameAndDesc( Name, Desc ), CATCH_INTERNAL_LINEINFO ); } + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestCaseName, ClassName, TestName, Desc )\ + namespace{ \ + struct TestCaseName : ClassName{ \ + void test(); \ + }; \ + Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( &TestCaseName::test, #ClassName, Catch::NameAndDesc( TestName, Desc ), CATCH_INTERNAL_LINEINFO ); \ + } \ + void TestCaseName::test() + #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, TestName, Desc )\ + INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, TestName, Desc ) + + /////////////////////////////////////////////////////////////////////////////// + #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, Name, Desc ) \ + Catch::AutoReg( Function, CATCH_INTERNAL_LINEINFO, Catch::NameAndDesc( Name, Desc ) ); +#endif + +// #included from: internal/catch_capture.hpp +#define TWOBLUECUBES_CATCH_CAPTURE_HPP_INCLUDED + +// #included from: catch_result_builder.h +#define TWOBLUECUBES_CATCH_RESULT_BUILDER_H_INCLUDED + +// #included from: catch_result_type.h +#define TWOBLUECUBES_CATCH_RESULT_TYPE_H_INCLUDED + +namespace Catch { + + // ResultWas::OfType enum + struct ResultWas { enum OfType { + Unknown = -1, + Ok = 0, + Info = 1, + Warning = 2, + + FailureBit = 0x10, + + ExpressionFailed = FailureBit | 1, + ExplicitFailure = FailureBit | 2, + + Exception = 0x100 | FailureBit, + + ThrewException = Exception | 1, + DidntThrowException = Exception | 2, + + FatalErrorCondition = 0x200 | FailureBit + + }; }; + + inline bool isOk( ResultWas::OfType resultType ) { + return ( resultType & ResultWas::FailureBit ) == 0; + } + inline bool isJustInfo( int flags ) { + return flags == ResultWas::Info; + } + + // ResultDisposition::Flags enum + struct ResultDisposition { enum Flags { + Normal = 0x01, + + ContinueOnFailure = 0x02, // Failures fail test, but execution continues + FalseTest = 0x04, // Prefix expression with ! + SuppressFail = 0x08 // Failures are reported but do not fail the test + }; }; + + inline ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) { + return static_cast( static_cast( lhs ) | static_cast( rhs ) ); + } + + inline bool shouldContinueOnFailure( int flags ) { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; } + inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; } + inline bool shouldSuppressFailure( int flags ) { return ( flags & ResultDisposition::SuppressFail ) != 0; } + +} // end namespace Catch + +// #included from: catch_assertionresult.h +#define TWOBLUECUBES_CATCH_ASSERTIONRESULT_H_INCLUDED + +#include + +namespace Catch { + + struct STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison; + + struct DecomposedExpression + { + virtual ~DecomposedExpression() {} + virtual bool isBinaryExpression() const { + return false; + } + virtual void reconstructExpression( std::string& dest ) const = 0; + + // Only simple binary comparisons can be decomposed. + // If more complex check is required then wrap sub-expressions in parentheses. + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator + ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator - ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator * ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator / ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator % ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator && ( T const& ); + template STATIC_ASSERT_Expression_Too_Complex_Please_Rewrite_As_Binary_Comparison& operator || ( T const& ); + }; + + struct AssertionInfo + { + AssertionInfo() {} + AssertionInfo( std::string const& _macroName, + SourceLineInfo const& _lineInfo, + std::string const& _capturedExpression, + ResultDisposition::Flags _resultDisposition ); + + std::string macroName; + SourceLineInfo lineInfo; + std::string capturedExpression; + ResultDisposition::Flags resultDisposition; + }; + + struct AssertionResultData + { + AssertionResultData() : decomposedExpression( CATCH_NULL ) + , resultType( ResultWas::Unknown ) + , negated( false ) + , parenthesized( false ) {} + + void negate( bool parenthesize ) { + negated = !negated; + parenthesized = parenthesize; + if( resultType == ResultWas::Ok ) + resultType = ResultWas::ExpressionFailed; + else if( resultType == ResultWas::ExpressionFailed ) + resultType = ResultWas::Ok; + } + + std::string const& reconstructExpression() const { + if( decomposedExpression != CATCH_NULL ) { + decomposedExpression->reconstructExpression( reconstructedExpression ); + if( parenthesized ) { + reconstructedExpression.insert( 0, 1, '(' ); + reconstructedExpression.append( 1, ')' ); + } + if( negated ) { + reconstructedExpression.insert( 0, 1, '!' ); + } + decomposedExpression = CATCH_NULL; + } + return reconstructedExpression; + } + + mutable DecomposedExpression const* decomposedExpression; + mutable std::string reconstructedExpression; + std::string message; + ResultWas::OfType resultType; + bool negated; + bool parenthesized; + }; + + class AssertionResult { + public: + AssertionResult(); + AssertionResult( AssertionInfo const& info, AssertionResultData const& data ); + ~AssertionResult(); +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + AssertionResult( AssertionResult const& ) = default; + AssertionResult( AssertionResult && ) = default; + AssertionResult& operator = ( AssertionResult const& ) = default; + AssertionResult& operator = ( AssertionResult && ) = default; +# endif + + bool isOk() const; + bool succeeded() const; + ResultWas::OfType getResultType() const; + bool hasExpression() const; + bool hasMessage() const; + std::string getExpression() const; + std::string getExpressionInMacro() const; + bool hasExpandedExpression() const; + std::string getExpandedExpression() const; + std::string getMessage() const; + SourceLineInfo getSourceInfo() const; + std::string getTestMacroName() const; + void discardDecomposedExpression() const; + void expandDecomposedExpression() const; + + protected: + AssertionInfo m_info; + AssertionResultData m_resultData; + }; + +} // end namespace Catch + +// #included from: catch_matchers.hpp +#define TWOBLUECUBES_CATCH_MATCHERS_HPP_INCLUDED + +namespace Catch { +namespace Matchers { + namespace Impl { + + namespace Generic { + template class AllOf; + template class AnyOf; + template class Not; + } + + template + struct Matcher : SharedImpl + { + typedef ExpressionT ExpressionType; + + virtual ~Matcher() {} + virtual Ptr clone() const = 0; + virtual bool match( ExpressionT const& expr ) const = 0; + virtual std::string toString() const = 0; + + Generic::AllOf operator && ( Matcher const& other ) const; + Generic::AnyOf operator || ( Matcher const& other ) const; + Generic::Not operator ! () const; + }; + + template + struct MatcherImpl : Matcher { + + virtual Ptr > clone() const { + return Ptr >( new DerivedT( static_cast( *this ) ) ); + } + }; + + namespace Generic { + template + class Not : public MatcherImpl, ExpressionT> { + public: + explicit Not( Matcher const& matcher ) : m_matcher(matcher.clone()) {} + Not( Not const& other ) : m_matcher( other.m_matcher ) {} + + virtual bool match( ExpressionT const& expr ) const CATCH_OVERRIDE { + return !m_matcher->match( expr ); + } + + virtual std::string toString() const CATCH_OVERRIDE { + return "not " + m_matcher->toString(); + } + private: + Ptr< Matcher > m_matcher; + }; + + template + class AllOf : public MatcherImpl, ExpressionT> { + public: + + AllOf() {} + AllOf( AllOf const& other ) : m_matchers( other.m_matchers ) {} + + AllOf& add( Matcher const& matcher ) { + m_matchers.push_back( matcher.clone() ); + return *this; + } + virtual bool match( ExpressionT const& expr ) const + { + for( std::size_t i = 0; i < m_matchers.size(); ++i ) + if( !m_matchers[i]->match( expr ) ) + return false; + return true; + } + virtual std::string toString() const { + std::ostringstream oss; + oss << "( "; + for( std::size_t i = 0; i < m_matchers.size(); ++i ) { + if( i != 0 ) + oss << " and "; + oss << m_matchers[i]->toString(); + } + oss << " )"; + return oss.str(); + } + + AllOf operator && ( Matcher const& other ) const { + AllOf allOfExpr( *this ); + allOfExpr.add( other ); + return allOfExpr; + } + + private: + std::vector > > m_matchers; + }; + + template + class AnyOf : public MatcherImpl, ExpressionT> { + public: + + AnyOf() {} + AnyOf( AnyOf const& other ) : m_matchers( other.m_matchers ) {} + + AnyOf& add( Matcher const& matcher ) { + m_matchers.push_back( matcher.clone() ); + return *this; + } + virtual bool match( ExpressionT const& expr ) const + { + for( std::size_t i = 0; i < m_matchers.size(); ++i ) + if( m_matchers[i]->match( expr ) ) + return true; + return false; + } + virtual std::string toString() const { + std::ostringstream oss; + oss << "( "; + for( std::size_t i = 0; i < m_matchers.size(); ++i ) { + if( i != 0 ) + oss << " or "; + oss << m_matchers[i]->toString(); + } + oss << " )"; + return oss.str(); + } + + AnyOf operator || ( Matcher const& other ) const { + AnyOf anyOfExpr( *this ); + anyOfExpr.add( other ); + return anyOfExpr; + } + + private: + std::vector > > m_matchers; + }; + + } // namespace Generic + + template + Generic::AllOf Matcher::operator && ( Matcher const& other ) const { + Generic::AllOf allOfExpr; + allOfExpr.add( *this ); + allOfExpr.add( other ); + return allOfExpr; + } + + template + Generic::AnyOf Matcher::operator || ( Matcher const& other ) const { + Generic::AnyOf anyOfExpr; + anyOfExpr.add( *this ); + anyOfExpr.add( other ); + return anyOfExpr; + } + + template + Generic::Not Matcher::operator ! () const { + return Generic::Not( *this ); + } + + namespace StdString { + + inline std::string makeString( std::string const& str ) { return str; } + inline std::string makeString( const char* str ) { return str ? std::string( str ) : std::string(); } + + struct CasedString + { + CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity ) + : m_caseSensitivity( caseSensitivity ), + m_str( adjustString( str ) ) + {} + std::string adjustString( std::string const& str ) const { + return m_caseSensitivity == CaseSensitive::No + ? toLower( str ) + : str; + + } + std::string toStringSuffix() const + { + return m_caseSensitivity == CaseSensitive::No + ? " (case insensitive)" + : std::string(); + } + CaseSensitive::Choice m_caseSensitivity; + std::string m_str; + }; + + struct Equals : MatcherImpl { + Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) + : m_data( str, caseSensitivity ) + {} + Equals( Equals const& other ) : m_data( other.m_data ){} + + virtual ~Equals(); + + virtual bool match( std::string const& expr ) const { + return m_data.m_str == m_data.adjustString( expr );; + } + virtual std::string toString() const { + return "equals: \"" + m_data.m_str + '"' + m_data.toStringSuffix(); + } + + CasedString m_data; + }; + + struct Contains : MatcherImpl { + Contains( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) + : m_data( substr, caseSensitivity ){} + Contains( Contains const& other ) : m_data( other.m_data ){} + + virtual ~Contains(); + + virtual bool match( std::string const& expr ) const { + return m_data.adjustString( expr ).find( m_data.m_str ) != std::string::npos; + } + virtual std::string toString() const { + return "contains: \"" + m_data.m_str + '"' + m_data.toStringSuffix(); + } + + CasedString m_data; + }; + + struct StartsWith : MatcherImpl { + StartsWith( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) + : m_data( substr, caseSensitivity ){} + + StartsWith( StartsWith const& other ) : m_data( other.m_data ){} + + virtual ~StartsWith(); + + virtual bool match( std::string const& expr ) const { + return startsWith( m_data.adjustString( expr ), m_data.m_str ); + } + virtual std::string toString() const { + return "starts with: \"" + m_data.m_str + '"' + m_data.toStringSuffix(); + } + + CasedString m_data; + }; + + struct EndsWith : MatcherImpl { + EndsWith( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) + : m_data( substr, caseSensitivity ){} + EndsWith( EndsWith const& other ) : m_data( other.m_data ){} + + virtual ~EndsWith(); + + virtual bool match( std::string const& expr ) const { + return endsWith( m_data.adjustString( expr ), m_data.m_str ); + } + virtual std::string toString() const { + return "ends with: \"" + m_data.m_str + '"' + m_data.toStringSuffix(); + } + + CasedString m_data; + }; + } // namespace StdString + } // namespace Impl + + // The following functions create the actual matcher objects. + // This allows the types to be inferred + template + inline Impl::Generic::Not Not( Impl::Matcher const& m ) { + return Impl::Generic::Not( m ); + } + + template + inline Impl::Generic::AllOf AllOf( Impl::Matcher const& m1, + Impl::Matcher const& m2 ) { + return Impl::Generic::AllOf().add( m1 ).add( m2 ); + } + template + inline Impl::Generic::AllOf AllOf( Impl::Matcher const& m1, + Impl::Matcher const& m2, + Impl::Matcher const& m3 ) { + return Impl::Generic::AllOf().add( m1 ).add( m2 ).add( m3 ); + } + template + inline Impl::Generic::AnyOf AnyOf( Impl::Matcher const& m1, + Impl::Matcher const& m2 ) { + return Impl::Generic::AnyOf().add( m1 ).add( m2 ); + } + template + inline Impl::Generic::AnyOf AnyOf( Impl::Matcher const& m1, + Impl::Matcher const& m2, + Impl::Matcher const& m3 ) { + return Impl::Generic::AnyOf().add( m1 ).add( m2 ).add( m3 ); + } + + inline Impl::StdString::Equals Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { + return Impl::StdString::Equals( str, caseSensitivity ); + } + inline Impl::StdString::Equals Equals( const char* str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { + return Impl::StdString::Equals( Impl::StdString::makeString( str ), caseSensitivity ); + } + inline Impl::StdString::Contains Contains( std::string const& substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { + return Impl::StdString::Contains( substr, caseSensitivity ); + } + inline Impl::StdString::Contains Contains( const char* substr, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes ) { + return Impl::StdString::Contains( Impl::StdString::makeString( substr ), caseSensitivity ); + } + inline Impl::StdString::StartsWith StartsWith( std::string const& substr ) { + return Impl::StdString::StartsWith( substr ); + } + inline Impl::StdString::StartsWith StartsWith( const char* substr ) { + return Impl::StdString::StartsWith( Impl::StdString::makeString( substr ) ); + } + inline Impl::StdString::EndsWith EndsWith( std::string const& substr ) { + return Impl::StdString::EndsWith( substr ); + } + inline Impl::StdString::EndsWith EndsWith( const char* substr ) { + return Impl::StdString::EndsWith( Impl::StdString::makeString( substr ) ); + } + +} // namespace Matchers + +using namespace Matchers; + +} // namespace Catch + +namespace Catch { + + struct TestFailureException{}; + + template class ExpressionLhs; + + struct CopyableStream { + CopyableStream() {} + CopyableStream( CopyableStream const& other ) { + oss << other.oss.str(); + } + CopyableStream& operator=( CopyableStream const& other ) { + oss.str(std::string()); + oss << other.oss.str(); + return *this; + } + std::ostringstream oss; + }; + + class ResultBuilder : public DecomposedExpression { + public: + ResultBuilder( char const* macroName, + SourceLineInfo const& lineInfo, + char const* capturedExpression, + ResultDisposition::Flags resultDisposition, + char const* secondArg = "" ); + + template + ExpressionLhs operator <= ( T const& operand ); + ExpressionLhs operator <= ( bool value ); + + template + ResultBuilder& operator << ( T const& value ) { + m_stream.oss << value; + return *this; + } + + ResultBuilder& setResultType( ResultWas::OfType result ); + ResultBuilder& setResultType( bool result ); + + void endExpression( DecomposedExpression const& expr ); + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE; + + AssertionResult build() const; + AssertionResult build( DecomposedExpression const& expr ) const; + + void useActiveException( ResultDisposition::Flags resultDisposition = ResultDisposition::Normal ); + void captureResult( ResultWas::OfType resultType ); + void captureExpression(); + void captureExpectedException( std::string const& expectedMessage ); + void captureExpectedException( Matchers::Impl::Matcher const& matcher ); + void handleResult( AssertionResult const& result ); + void react(); + bool shouldDebugBreak() const; + bool allowThrows() const; + + template + void captureMatch( ArgT const& arg, MatcherT const& matcher, char const* matcherString ); + + private: + AssertionInfo m_assertionInfo; + AssertionResultData m_data; + CopyableStream m_stream; + + bool m_shouldDebugBreak; + bool m_shouldThrow; + }; + +} // namespace Catch + +// Include after due to circular dependency: +// #included from: catch_expression_lhs.hpp +#define TWOBLUECUBES_CATCH_EXPRESSION_LHS_HPP_INCLUDED + +// #included from: catch_evaluate.hpp +#define TWOBLUECUBES_CATCH_EVALUATE_HPP_INCLUDED + +#ifdef _MSC_VER +#pragma warning(push) +#pragma warning(disable:4389) // '==' : signed/unsigned mismatch +#endif + +#include + +namespace Catch { +namespace Internal { + + enum Operator { + IsEqualTo, + IsNotEqualTo, + IsLessThan, + IsGreaterThan, + IsLessThanOrEqualTo, + IsGreaterThanOrEqualTo + }; + + template struct OperatorTraits { static const char* getName(){ return "*error*"; } }; + template<> struct OperatorTraits { static const char* getName(){ return "=="; } }; + template<> struct OperatorTraits { static const char* getName(){ return "!="; } }; + template<> struct OperatorTraits { static const char* getName(){ return "<"; } }; + template<> struct OperatorTraits { static const char* getName(){ return ">"; } }; + template<> struct OperatorTraits { static const char* getName(){ return "<="; } }; + template<> struct OperatorTraits{ static const char* getName(){ return ">="; } }; + + template + inline T& opCast(T const& t) { return const_cast(t); } + +// nullptr_t support based on pull request #154 from Konstantin Baumann +#ifdef CATCH_CONFIG_CPP11_NULLPTR + inline std::nullptr_t opCast(std::nullptr_t) { return nullptr; } +#endif // CATCH_CONFIG_CPP11_NULLPTR + + // So the compare overloads can be operator agnostic we convey the operator as a template + // enum, which is used to specialise an Evaluator for doing the comparison. + template + class Evaluator{}; + + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs) { + return bool( opCast( lhs ) == opCast( rhs ) ); + } + }; + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs ) { + return bool( opCast( lhs ) != opCast( rhs ) ); + } + }; + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs ) { + return bool( opCast( lhs ) < opCast( rhs ) ); + } + }; + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs ) { + return bool( opCast( lhs ) > opCast( rhs ) ); + } + }; + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs ) { + return bool( opCast( lhs ) >= opCast( rhs ) ); + } + }; + template + struct Evaluator { + static bool evaluate( T1 const& lhs, T2 const& rhs ) { + return bool( opCast( lhs ) <= opCast( rhs ) ); + } + }; + + template + bool applyEvaluator( T1 const& lhs, T2 const& rhs ) { + return Evaluator::evaluate( lhs, rhs ); + } + + // This level of indirection allows us to specialise for integer types + // to avoid signed/ unsigned warnings + + // "base" overload + template + bool compare( T1 const& lhs, T2 const& rhs ) { + return Evaluator::evaluate( lhs, rhs ); + } + + // unsigned X to int + template bool compare( unsigned int lhs, int rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + template bool compare( unsigned long lhs, int rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + template bool compare( unsigned char lhs, int rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + + // unsigned X to long + template bool compare( unsigned int lhs, long rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + template bool compare( unsigned long lhs, long rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + template bool compare( unsigned char lhs, long rhs ) { + return applyEvaluator( lhs, static_cast( rhs ) ); + } + + // int to unsigned X + template bool compare( int lhs, unsigned int rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( int lhs, unsigned long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( int lhs, unsigned char rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + + // long to unsigned X + template bool compare( long lhs, unsigned int rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( long lhs, unsigned long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( long lhs, unsigned char rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + + // pointer to long (when comparing against NULL) + template bool compare( long lhs, T* rhs ) { + return Evaluator::evaluate( reinterpret_cast( lhs ), rhs ); + } + template bool compare( T* lhs, long rhs ) { + return Evaluator::evaluate( lhs, reinterpret_cast( rhs ) ); + } + + // pointer to int (when comparing against NULL) + template bool compare( int lhs, T* rhs ) { + return Evaluator::evaluate( reinterpret_cast( lhs ), rhs ); + } + template bool compare( T* lhs, int rhs ) { + return Evaluator::evaluate( lhs, reinterpret_cast( rhs ) ); + } + +#ifdef CATCH_CONFIG_CPP11_LONG_LONG + // long long to unsigned X + template bool compare( long long lhs, unsigned int rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( long long lhs, unsigned long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( long long lhs, unsigned long long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( long long lhs, unsigned char rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + + // unsigned long long to X + template bool compare( unsigned long long lhs, int rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( unsigned long long lhs, long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( unsigned long long lhs, long long rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + template bool compare( unsigned long long lhs, char rhs ) { + return applyEvaluator( static_cast( lhs ), rhs ); + } + + // pointer to long long (when comparing against NULL) + template bool compare( long long lhs, T* rhs ) { + return Evaluator::evaluate( reinterpret_cast( lhs ), rhs ); + } + template bool compare( T* lhs, long long rhs ) { + return Evaluator::evaluate( lhs, reinterpret_cast( rhs ) ); + } +#endif // CATCH_CONFIG_CPP11_LONG_LONG + +#ifdef CATCH_CONFIG_CPP11_NULLPTR + // pointer to nullptr_t (when comparing against nullptr) + template bool compare( std::nullptr_t, T* rhs ) { + return Evaluator::evaluate( nullptr, rhs ); + } + template bool compare( T* lhs, std::nullptr_t ) { + return Evaluator::evaluate( lhs, nullptr ); + } +#endif // CATCH_CONFIG_CPP11_NULLPTR + +} // end of namespace Internal +} // end of namespace Catch + +#ifdef _MSC_VER +#pragma warning(pop) +#endif + +// #included from: catch_tostring.h +#define TWOBLUECUBES_CATCH_TOSTRING_H_INCLUDED + +#include +#include +#include +#include +#include + +#ifdef __OBJC__ +// #included from: catch_objc_arc.hpp +#define TWOBLUECUBES_CATCH_OBJC_ARC_HPP_INCLUDED + +#import + +#ifdef __has_feature +#define CATCH_ARC_ENABLED __has_feature(objc_arc) +#else +#define CATCH_ARC_ENABLED 0 +#endif + +void arcSafeRelease( NSObject* obj ); +id performOptionalSelector( id obj, SEL sel ); + +#if !CATCH_ARC_ENABLED +inline void arcSafeRelease( NSObject* obj ) { + [obj release]; +} +inline id performOptionalSelector( id obj, SEL sel ) { + if( [obj respondsToSelector: sel] ) + return [obj performSelector: sel]; + return nil; +} +#define CATCH_UNSAFE_UNRETAINED +#define CATCH_ARC_STRONG +#else +inline void arcSafeRelease( NSObject* ){} +inline id performOptionalSelector( id obj, SEL sel ) { +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Warc-performSelector-leaks" +#endif + if( [obj respondsToSelector: sel] ) + return [obj performSelector: sel]; +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + return nil; +} +#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained +#define CATCH_ARC_STRONG __strong +#endif + +#endif + +#ifdef CATCH_CONFIG_CPP11_TUPLE +#include +#endif + +#ifdef CATCH_CONFIG_CPP11_IS_ENUM +#include +#endif + +namespace Catch { + +// Why we're here. +template +std::string toString( T const& value ); + +// Built in overloads + +std::string toString( std::string const& value ); +std::string toString( std::wstring const& value ); +std::string toString( const char* const value ); +std::string toString( char* const value ); +std::string toString( const wchar_t* const value ); +std::string toString( wchar_t* const value ); +std::string toString( int value ); +std::string toString( unsigned long value ); +std::string toString( unsigned int value ); +std::string toString( const double value ); +std::string toString( const float value ); +std::string toString( bool value ); +std::string toString( char value ); +std::string toString( signed char value ); +std::string toString( unsigned char value ); + +#ifdef CATCH_CONFIG_CPP11_LONG_LONG +std::string toString( long long value ); +std::string toString( unsigned long long value ); +#endif + +#ifdef CATCH_CONFIG_CPP11_NULLPTR +std::string toString( std::nullptr_t ); +#endif + +#ifdef __OBJC__ + std::string toString( NSString const * const& nsstring ); + std::string toString( NSString * CATCH_ARC_STRONG const& nsstring ); + std::string toString( NSObject* const& nsObject ); +#endif + +namespace Detail { + + extern const std::string unprintableString; + + struct BorgType { + template BorgType( T const& ); + }; + + struct TrueType { char sizer[1]; }; + struct FalseType { char sizer[2]; }; + + TrueType& testStreamable( std::ostream& ); + FalseType testStreamable( FalseType ); + + FalseType operator<<( std::ostream const&, BorgType const& ); + + template + struct IsStreamInsertable { + static std::ostream &s; + static T const&t; + enum { value = sizeof( testStreamable(s << t) ) == sizeof( TrueType ) }; + }; + +#if defined(CATCH_CONFIG_CPP11_IS_ENUM) + template::value + > + struct EnumStringMaker + { + static std::string convert( T const& ) { return unprintableString; } + }; + + template + struct EnumStringMaker + { + static std::string convert( T const& v ) + { + return ::Catch::toString( + static_cast::type>(v) + ); + } + }; +#endif + template + struct StringMakerBase { +#if defined(CATCH_CONFIG_CPP11_IS_ENUM) + template + static std::string convert( T const& v ) + { + return EnumStringMaker::convert( v ); + } +#else + template + static std::string convert( T const& ) { return unprintableString; } +#endif + }; + + template<> + struct StringMakerBase { + template + static std::string convert( T const& _value ) { + std::ostringstream oss; + oss << _value; + return oss.str(); + } + }; + + std::string rawMemoryToString( const void *object, std::size_t size ); + + template + inline std::string rawMemoryToString( const T& object ) { + return rawMemoryToString( &object, sizeof(object) ); + } + +} // end namespace Detail + +template +struct StringMaker : + Detail::StringMakerBase::value> {}; + +template +struct StringMaker { + template + static std::string convert( U* p ) { + if( !p ) + return "NULL"; + else + return Detail::rawMemoryToString( p ); + } +}; + +template +struct StringMaker { + static std::string convert( R C::* p ) { + if( !p ) + return "NULL"; + else + return Detail::rawMemoryToString( p ); + } +}; + +namespace Detail { + template + std::string rangeToString( InputIterator first, InputIterator last ); +} + +//template +//struct StringMaker > { +// static std::string convert( std::vector const& v ) { +// return Detail::rangeToString( v.begin(), v.end() ); +// } +//}; + +template +std::string toString( std::vector const& v ) { + return Detail::rangeToString( v.begin(), v.end() ); +} + +#ifdef CATCH_CONFIG_CPP11_TUPLE + +// toString for tuples +namespace TupleDetail { + template< + typename Tuple, + std::size_t N = 0, + bool = (N < std::tuple_size::value) + > + struct ElementPrinter { + static void print( const Tuple& tuple, std::ostream& os ) + { + os << ( N ? ", " : " " ) + << Catch::toString(std::get(tuple)); + ElementPrinter::print(tuple,os); + } + }; + + template< + typename Tuple, + std::size_t N + > + struct ElementPrinter { + static void print( const Tuple&, std::ostream& ) {} + }; + +} + +template +struct StringMaker> { + + static std::string convert( const std::tuple& tuple ) + { + std::ostringstream os; + os << '{'; + TupleDetail::ElementPrinter>::print( tuple, os ); + os << " }"; + return os.str(); + } +}; +#endif // CATCH_CONFIG_CPP11_TUPLE + +namespace Detail { + template + std::string makeString( T const& value ) { + return StringMaker::convert( value ); + } +} // end namespace Detail + +/// \brief converts any type to a string +/// +/// The default template forwards on to ostringstream - except when an +/// ostringstream overload does not exist - in which case it attempts to detect +/// that and writes {?}. +/// Overload (not specialise) this template for custom typs that you don't want +/// to provide an ostream overload for. +template +std::string toString( T const& value ) { + return StringMaker::convert( value ); +} + + namespace Detail { + template + std::string rangeToString( InputIterator first, InputIterator last ) { + std::ostringstream oss; + oss << "{ "; + if( first != last ) { + oss << Catch::toString( *first ); + for( ++first ; first != last ; ++first ) + oss << ", " << Catch::toString( *first ); + } + oss << " }"; + return oss.str(); + } +} + +} // end namespace Catch + +namespace Catch { + +template +class BinaryExpression; + +template +class MatchExpression; + +// Wraps the LHS of an expression and overloads comparison operators +// for also capturing those and RHS (if any) +template +class ExpressionLhs : public DecomposedExpression { +public: + ExpressionLhs( ResultBuilder& rb, T lhs ) : m_rb( rb ), m_lhs( lhs ), m_truthy(false) {} + + template + BinaryExpression + operator == ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + template + BinaryExpression + operator != ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + template + BinaryExpression + operator < ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + template + BinaryExpression + operator > ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + template + BinaryExpression + operator <= ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + template + BinaryExpression + operator >= ( RhsT const& rhs ) { + return captureExpression( rhs ); + } + + BinaryExpression operator == ( bool rhs ) { + return captureExpression( rhs ); + } + + BinaryExpression operator != ( bool rhs ) { + return captureExpression( rhs ); + } + + void endExpression() { + m_truthy = m_lhs ? true : false; + m_rb + .setResultType( m_truthy ) + .endExpression( *this ); + } + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + dest = Catch::toString( m_truthy ); + } + +private: + template + BinaryExpression captureExpression( RhsT& rhs ) const { + return BinaryExpression( m_rb, m_lhs, rhs ); + } + + template + BinaryExpression captureExpression( bool rhs ) const { + return BinaryExpression( m_rb, m_lhs, rhs ); + } + +private: + ResultBuilder& m_rb; + T m_lhs; + bool m_truthy; +}; + +template +class BinaryExpression : public DecomposedExpression { +public: + BinaryExpression( ResultBuilder& rb, LhsT lhs, RhsT rhs ) + : m_rb( rb ), m_lhs( lhs ), m_rhs( rhs ) {} + + void endExpression() const { + m_rb + .setResultType( Internal::compare( m_lhs, m_rhs ) ) + .endExpression( *this ); + } + + virtual bool isBinaryExpression() const CATCH_OVERRIDE { + return true; + } + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + std::string lhs = Catch::toString( m_lhs ); + std::string rhs = Catch::toString( m_rhs ); + char delim = lhs.size() + rhs.size() < 40 && + lhs.find('\n') == std::string::npos && + rhs.find('\n') == std::string::npos ? ' ' : '\n'; + dest.reserve( 7 + lhs.size() + rhs.size() ); + // 2 for spaces around operator + // 2 for operator + // 2 for parentheses (conditionally added later) + // 1 for negation (conditionally added later) + dest = lhs; + dest += delim; + dest += Internal::OperatorTraits::getName(); + dest += delim; + dest += rhs; + } + +private: + ResultBuilder& m_rb; + LhsT m_lhs; + RhsT m_rhs; +}; + +template +class MatchExpression : public DecomposedExpression { +public: + MatchExpression( ArgT arg, MatcherT matcher, char const* matcherString ) + : m_arg( arg ), m_matcher( matcher ), m_matcherString( matcherString ) {} + + virtual bool isBinaryExpression() const CATCH_OVERRIDE { + return true; + } + + virtual void reconstructExpression( std::string& dest ) const CATCH_OVERRIDE { + std::string matcherAsString = m_matcher.toString(); + dest = Catch::toString( m_arg ); + dest += ' '; + if( matcherAsString == Detail::unprintableString ) + dest += m_matcherString; + else + dest += matcherAsString; + } + +private: + ArgT m_arg; + MatcherT m_matcher; + char const* m_matcherString; +}; + +} // end namespace Catch + + +namespace Catch { + + template + inline ExpressionLhs ResultBuilder::operator <= ( T const& operand ) { + return ExpressionLhs( *this, operand ); + } + + inline ExpressionLhs ResultBuilder::operator <= ( bool value ) { + return ExpressionLhs( *this, value ); + } + + template + inline void ResultBuilder::captureMatch( ArgT const& arg, MatcherT const& matcher, + char const* matcherString ) { + MatchExpression expr( arg, matcher, matcherString ); + setResultType( matcher.match( arg ) ); + endExpression( expr ); + } + +} // namespace Catch + +// #included from: catch_message.h +#define TWOBLUECUBES_CATCH_MESSAGE_H_INCLUDED + +#include + +namespace Catch { + + struct MessageInfo { + MessageInfo( std::string const& _macroName, + SourceLineInfo const& _lineInfo, + ResultWas::OfType _type ); + + std::string macroName; + SourceLineInfo lineInfo; + ResultWas::OfType type; + std::string message; + unsigned int sequence; + + bool operator == ( MessageInfo const& other ) const { + return sequence == other.sequence; + } + bool operator < ( MessageInfo const& other ) const { + return sequence < other.sequence; + } + private: + static unsigned int globalCount; + }; + + struct MessageBuilder { + MessageBuilder( std::string const& macroName, + SourceLineInfo const& lineInfo, + ResultWas::OfType type ) + : m_info( macroName, lineInfo, type ) + {} + + template + MessageBuilder& operator << ( T const& value ) { + m_stream << value; + return *this; + } + + MessageInfo m_info; + std::ostringstream m_stream; + }; + + class ScopedMessage { + public: + ScopedMessage( MessageBuilder const& builder ); + ScopedMessage( ScopedMessage const& other ); + ~ScopedMessage(); + + MessageInfo m_info; + }; + +} // end namespace Catch + +// #included from: catch_interfaces_capture.h +#define TWOBLUECUBES_CATCH_INTERFACES_CAPTURE_H_INCLUDED + +#include + +namespace Catch { + + class TestCase; + class AssertionResult; + struct AssertionInfo; + struct SectionInfo; + struct SectionEndInfo; + struct MessageInfo; + class ScopedMessageBuilder; + struct Counts; + + struct IResultCapture { + + virtual ~IResultCapture(); + + virtual void assertionEnded( AssertionResult const& result ) = 0; + virtual bool sectionStarted( SectionInfo const& sectionInfo, + Counts& assertions ) = 0; + virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0; + virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0; + virtual void pushScopedMessage( MessageInfo const& message ) = 0; + virtual void popScopedMessage( MessageInfo const& message ) = 0; + + virtual std::string getCurrentTestName() const = 0; + virtual const AssertionResult* getLastResult() const = 0; + + virtual void handleFatalErrorCondition( std::string const& message ) = 0; + }; + + IResultCapture& getResultCapture(); +} + +// #included from: catch_debugger.h +#define TWOBLUECUBES_CATCH_DEBUGGER_H_INCLUDED + +// #included from: catch_platform.h +#define TWOBLUECUBES_CATCH_PLATFORM_H_INCLUDED + +#if defined(__MAC_OS_X_VERSION_MIN_REQUIRED) +# define CATCH_PLATFORM_MAC +#elif defined(__IPHONE_OS_VERSION_MIN_REQUIRED) +# define CATCH_PLATFORM_IPHONE +#elif defined(linux) || defined(__linux) || defined(__linux__) +# define CATCH_PLATFORM_LINUX +#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) +# define CATCH_PLATFORM_WINDOWS +# if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX) +# define CATCH_DEFINES_NOMINMAX +# endif +# if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN) +# define CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# endif +#endif + +#include + +namespace Catch{ + + bool isDebuggerActive(); + void writeToDebugConsole( std::string const& text ); +} + +#ifdef CATCH_PLATFORM_MAC + + // The following code snippet based on: + // http://cocoawithlove.com/2008/03/break-into-debugger.html + #if defined(__ppc64__) || defined(__ppc__) + #define CATCH_TRAP() \ + __asm__("li r0, 20\nsc\nnop\nli r0, 37\nli r4, 2\nsc\nnop\n" \ + : : : "memory","r0","r3","r4" ) + #else + #define CATCH_TRAP() __asm__("int $3\n" : : ) + #endif + +#elif defined(CATCH_PLATFORM_LINUX) + // If we can use inline assembler, do it because this allows us to break + // directly at the location of the failing check instead of breaking inside + // raise() called from it, i.e. one stack frame below. + #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64)) + #define CATCH_TRAP() asm volatile ("int $3") + #else // Fall back to the generic way. + #include + + #define CATCH_TRAP() raise(SIGTRAP) + #endif +#elif defined(_MSC_VER) + #define CATCH_TRAP() __debugbreak() +#elif defined(__MINGW32__) + extern "C" __declspec(dllimport) void __stdcall DebugBreak(); + #define CATCH_TRAP() DebugBreak() +#endif + +#ifdef CATCH_TRAP + #define CATCH_BREAK_INTO_DEBUGGER() if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } +#else + #define CATCH_BREAK_INTO_DEBUGGER() Catch::alwaysTrue(); +#endif + +// #included from: catch_interfaces_runner.h +#define TWOBLUECUBES_CATCH_INTERFACES_RUNNER_H_INCLUDED + +namespace Catch { + class TestCase; + + struct IRunner { + virtual ~IRunner(); + virtual bool aborting() const = 0; + }; +} + +// #included from: catch_type_traits.hpp +#define TWOBLUECUBES_CATCH_TYPE_TRAITS_HPP_INCLUDED + +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) +#include +#endif + +namespace Catch { + +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) + + template + using add_lvalue_reference = std::add_lvalue_reference; + + template + using add_const = std::add_const; + +#else + + template + struct add_const { + typedef const T type; + }; + + template + struct add_lvalue_reference { + typedef T& type; + }; + template + struct add_lvalue_reference { + typedef T& type; + }; + // No && overload, because that is C++11, in which case we have + // proper type_traits implementation from the standard library + +#endif + +} + +/////////////////////////////////////////////////////////////////////////////// +// In the event of a failure works out if the debugger needs to be invoked +// and/or an exception thrown and takes appropriate action. +// This needs to be done as a macro so the debugger will stop in the user +// source code rather than in Catch library code +#define INTERNAL_CATCH_REACT( resultBuilder ) \ + if( resultBuilder.shouldDebugBreak() ) CATCH_BREAK_INTO_DEBUGGER(); \ + resultBuilder.react(); + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition ); \ + try { \ + CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ + ( __catchResult <= expr ).endExpression(); \ + } \ + catch( ... ) { \ + __catchResult.useActiveException( resultDisposition ); \ + } \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::isTrue( false && static_cast( !!(expr) ) ) ) // expr here is never evaluated at runtime but it forces the compiler to give it a look + // The double negation silences MSVC's C4800 warning, the static_cast forces short-circuit evaluation if the type has overloaded &&. + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_IF( expr, resultDisposition, macroName ) \ + INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ); \ + if( Catch::getResultCapture().getLastResult()->succeeded() ) + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_ELSE( expr, resultDisposition, macroName ) \ + INTERNAL_CATCH_TEST( expr, resultDisposition, macroName ); \ + if( !Catch::getResultCapture().getLastResult()->succeeded() ) + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_NO_THROW( expr, resultDisposition, macroName ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition ); \ + try { \ + static_cast(expr); \ + __catchResult.captureResult( Catch::ResultWas::Ok ); \ + } \ + catch( ... ) { \ + __catchResult.useActiveException( resultDisposition ); \ + } \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_THROWS( expr, resultDisposition, matcher, macroName ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr, resultDisposition, #matcher ); \ + if( __catchResult.allowThrows() ) \ + try { \ + static_cast(expr); \ + __catchResult.captureResult( Catch::ResultWas::DidntThrowException ); \ + } \ + catch( ... ) { \ + __catchResult.captureExpectedException( matcher ); \ + } \ + else \ + __catchResult.captureResult( Catch::ResultWas::Ok ); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_THROWS_AS( expr, exceptionType, resultDisposition, macroName ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #expr ", " #exceptionType, resultDisposition ); \ + if( __catchResult.allowThrows() ) \ + try { \ + static_cast(expr); \ + __catchResult.captureResult( Catch::ResultWas::DidntThrowException ); \ + } \ + catch( Catch::add_const::type>::type ) { \ + __catchResult.captureResult( Catch::ResultWas::Ok ); \ + } \ + catch( ... ) { \ + __catchResult.useActiveException( resultDisposition ); \ + } \ + else \ + __catchResult.captureResult( Catch::ResultWas::Ok ); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) + +/////////////////////////////////////////////////////////////////////////////// +#ifdef CATCH_CONFIG_VARIADIC_MACROS + #define INTERNAL_CATCH_MSG( messageType, resultDisposition, macroName, ... ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, "", resultDisposition ); \ + __catchResult << __VA_ARGS__ + ::Catch::StreamEndStop(); \ + __catchResult.captureResult( messageType ); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) +#else + #define INTERNAL_CATCH_MSG( messageType, resultDisposition, macroName, log ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, "", resultDisposition ); \ + __catchResult << log + ::Catch::StreamEndStop(); \ + __catchResult.captureResult( messageType ); \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) +#endif + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_INFO( log, macroName ) \ + Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage ) = Catch::MessageBuilder( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log; + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CHECK_THAT( arg, matcher, resultDisposition, macroName ) \ + do { \ + Catch::ResultBuilder __catchResult( macroName, CATCH_INTERNAL_LINEINFO, #arg ", " #matcher, resultDisposition ); \ + try { \ + __catchResult.captureMatch( arg, matcher, #matcher ); \ + } catch( ... ) { \ + __catchResult.useActiveException( resultDisposition | Catch::ResultDisposition::ContinueOnFailure ); \ + } \ + INTERNAL_CATCH_REACT( __catchResult ) \ + } while( Catch::alwaysFalse() ) + +// #included from: internal/catch_section.h +#define TWOBLUECUBES_CATCH_SECTION_H_INCLUDED + +// #included from: catch_section_info.h +#define TWOBLUECUBES_CATCH_SECTION_INFO_H_INCLUDED + +// #included from: catch_totals.hpp +#define TWOBLUECUBES_CATCH_TOTALS_HPP_INCLUDED + +#include + +namespace Catch { + + struct Counts { + Counts() : passed( 0 ), failed( 0 ), failedButOk( 0 ) {} + + Counts operator - ( Counts const& other ) const { + Counts diff; + diff.passed = passed - other.passed; + diff.failed = failed - other.failed; + diff.failedButOk = failedButOk - other.failedButOk; + return diff; + } + Counts& operator += ( Counts const& other ) { + passed += other.passed; + failed += other.failed; + failedButOk += other.failedButOk; + return *this; + } + + std::size_t total() const { + return passed + failed + failedButOk; + } + bool allPassed() const { + return failed == 0 && failedButOk == 0; + } + bool allOk() const { + return failed == 0; + } + + std::size_t passed; + std::size_t failed; + std::size_t failedButOk; + }; + + struct Totals { + + Totals operator - ( Totals const& other ) const { + Totals diff; + diff.assertions = assertions - other.assertions; + diff.testCases = testCases - other.testCases; + return diff; + } + + Totals delta( Totals const& prevTotals ) const { + Totals diff = *this - prevTotals; + if( diff.assertions.failed > 0 ) + ++diff.testCases.failed; + else if( diff.assertions.failedButOk > 0 ) + ++diff.testCases.failedButOk; + else + ++diff.testCases.passed; + return diff; + } + + Totals& operator += ( Totals const& other ) { + assertions += other.assertions; + testCases += other.testCases; + return *this; + } + + Counts assertions; + Counts testCases; + }; +} + +#include + +namespace Catch { + + struct SectionInfo { + SectionInfo + ( SourceLineInfo const& _lineInfo, + std::string const& _name, + std::string const& _description = std::string() ); + + std::string name; + std::string description; + SourceLineInfo lineInfo; + }; + + struct SectionEndInfo { + SectionEndInfo( SectionInfo const& _sectionInfo, Counts const& _prevAssertions, double _durationInSeconds ) + : sectionInfo( _sectionInfo ), prevAssertions( _prevAssertions ), durationInSeconds( _durationInSeconds ) + {} + + SectionInfo sectionInfo; + Counts prevAssertions; + double durationInSeconds; + }; + +} // end namespace Catch + +// #included from: catch_timer.h +#define TWOBLUECUBES_CATCH_TIMER_H_INCLUDED + +#ifdef CATCH_PLATFORM_WINDOWS +typedef unsigned long long uint64_t; +#else +#include +#endif + +namespace Catch { + + class Timer { + public: + Timer() : m_ticks( 0 ) {} + void start(); + unsigned int getElapsedMicroseconds() const; + unsigned int getElapsedMilliseconds() const; + double getElapsedSeconds() const; + + private: + uint64_t m_ticks; + }; + +} // namespace Catch + +#include + +namespace Catch { + + class Section : NonCopyable { + public: + Section( SectionInfo const& info ); + ~Section(); + + // This indicates whether the section should be executed or not + operator bool() const; + + private: + SectionInfo m_info; + + std::string m_name; + Counts m_assertions; + bool m_sectionIncluded; + Timer m_timer; + }; + +} // end namespace Catch + +#ifdef CATCH_CONFIG_VARIADIC_MACROS + #define INTERNAL_CATCH_SECTION( ... ) \ + if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) +#else + #define INTERNAL_CATCH_SECTION( name, desc ) \ + if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, name, desc ) ) +#endif + +// #included from: internal/catch_generators.hpp +#define TWOBLUECUBES_CATCH_GENERATORS_HPP_INCLUDED + +#include +#include +#include +#include + +namespace Catch { + +template +struct IGenerator { + virtual ~IGenerator() {} + virtual T getValue( std::size_t index ) const = 0; + virtual std::size_t size () const = 0; +}; + +template +class BetweenGenerator : public IGenerator { +public: + BetweenGenerator( T from, T to ) : m_from( from ), m_to( to ){} + + virtual T getValue( std::size_t index ) const { + return m_from+static_cast( index ); + } + + virtual std::size_t size() const { + return static_cast( 1+m_to-m_from ); + } + +private: + + T m_from; + T m_to; +}; + +template +class ValuesGenerator : public IGenerator { +public: + ValuesGenerator(){} + + void add( T value ) { + m_values.push_back( value ); + } + + virtual T getValue( std::size_t index ) const { + return m_values[index]; + } + + virtual std::size_t size() const { + return m_values.size(); + } + +private: + std::vector m_values; +}; + +template +class CompositeGenerator { +public: + CompositeGenerator() : m_totalSize( 0 ) {} + + // *** Move semantics, similar to auto_ptr *** + CompositeGenerator( CompositeGenerator& other ) + : m_fileInfo( other.m_fileInfo ), + m_totalSize( 0 ) + { + move( other ); + } + + CompositeGenerator& setFileInfo( const char* fileInfo ) { + m_fileInfo = fileInfo; + return *this; + } + + ~CompositeGenerator() { + deleteAll( m_composed ); + } + + operator T () const { + size_t overallIndex = getCurrentContext().getGeneratorIndex( m_fileInfo, m_totalSize ); + + typename std::vector*>::const_iterator it = m_composed.begin(); + typename std::vector*>::const_iterator itEnd = m_composed.end(); + for( size_t index = 0; it != itEnd; ++it ) + { + const IGenerator* generator = *it; + if( overallIndex >= index && overallIndex < index + generator->size() ) + { + return generator->getValue( overallIndex-index ); + } + index += generator->size(); + } + CATCH_INTERNAL_ERROR( "Indexed past end of generated range" ); + return T(); // Suppress spurious "not all control paths return a value" warning in Visual Studio - if you know how to fix this please do so + } + + void add( const IGenerator* generator ) { + m_totalSize += generator->size(); + m_composed.push_back( generator ); + } + + CompositeGenerator& then( CompositeGenerator& other ) { + move( other ); + return *this; + } + + CompositeGenerator& then( T value ) { + ValuesGenerator* valuesGen = new ValuesGenerator(); + valuesGen->add( value ); + add( valuesGen ); + return *this; + } + +private: + + void move( CompositeGenerator& other ) { + std::copy( other.m_composed.begin(), other.m_composed.end(), std::back_inserter( m_composed ) ); + m_totalSize += other.m_totalSize; + other.m_composed.clear(); + } + + std::vector*> m_composed; + std::string m_fileInfo; + size_t m_totalSize; +}; + +namespace Generators +{ + template + CompositeGenerator between( T from, T to ) { + CompositeGenerator generators; + generators.add( new BetweenGenerator( from, to ) ); + return generators; + } + + template + CompositeGenerator values( T val1, T val2 ) { + CompositeGenerator generators; + ValuesGenerator* valuesGen = new ValuesGenerator(); + valuesGen->add( val1 ); + valuesGen->add( val2 ); + generators.add( valuesGen ); + return generators; + } + + template + CompositeGenerator values( T val1, T val2, T val3 ){ + CompositeGenerator generators; + ValuesGenerator* valuesGen = new ValuesGenerator(); + valuesGen->add( val1 ); + valuesGen->add( val2 ); + valuesGen->add( val3 ); + generators.add( valuesGen ); + return generators; + } + + template + CompositeGenerator values( T val1, T val2, T val3, T val4 ) { + CompositeGenerator generators; + ValuesGenerator* valuesGen = new ValuesGenerator(); + valuesGen->add( val1 ); + valuesGen->add( val2 ); + valuesGen->add( val3 ); + valuesGen->add( val4 ); + generators.add( valuesGen ); + return generators; + } + +} // end namespace Generators + +using namespace Generators; + +} // end namespace Catch + +#define INTERNAL_CATCH_LINESTR2( line ) #line +#define INTERNAL_CATCH_LINESTR( line ) INTERNAL_CATCH_LINESTR2( line ) + +#define INTERNAL_CATCH_GENERATE( expr ) expr.setFileInfo( __FILE__ "(" INTERNAL_CATCH_LINESTR( __LINE__ ) ")" ) + +// #included from: internal/catch_interfaces_exception.h +#define TWOBLUECUBES_CATCH_INTERFACES_EXCEPTION_H_INCLUDED + +#include +#include + +// #included from: catch_interfaces_registry_hub.h +#define TWOBLUECUBES_CATCH_INTERFACES_REGISTRY_HUB_H_INCLUDED + +#include + +namespace Catch { + + class TestCase; + struct ITestCaseRegistry; + struct IExceptionTranslatorRegistry; + struct IExceptionTranslator; + struct IReporterRegistry; + struct IReporterFactory; + + struct IRegistryHub { + virtual ~IRegistryHub(); + + virtual IReporterRegistry const& getReporterRegistry() const = 0; + virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0; + virtual IExceptionTranslatorRegistry& getExceptionTranslatorRegistry() = 0; + }; + + struct IMutableRegistryHub { + virtual ~IMutableRegistryHub(); + virtual void registerReporter( std::string const& name, Ptr const& factory ) = 0; + virtual void registerListener( Ptr const& factory ) = 0; + virtual void registerTest( TestCase const& testInfo ) = 0; + virtual void registerTranslator( const IExceptionTranslator* translator ) = 0; + }; + + IRegistryHub& getRegistryHub(); + IMutableRegistryHub& getMutableRegistryHub(); + void cleanUp(); + std::string translateActiveException(); + +} + +namespace Catch { + + typedef std::string(*exceptionTranslateFunction)(); + + struct IExceptionTranslator; + typedef std::vector ExceptionTranslators; + + struct IExceptionTranslator { + virtual ~IExceptionTranslator(); + virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0; + }; + + struct IExceptionTranslatorRegistry { + virtual ~IExceptionTranslatorRegistry(); + + virtual std::string translateActiveException() const = 0; + }; + + class ExceptionTranslatorRegistrar { + template + class ExceptionTranslator : public IExceptionTranslator { + public: + + ExceptionTranslator( std::string(*translateFunction)( T& ) ) + : m_translateFunction( translateFunction ) + {} + + virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const CATCH_OVERRIDE { + try { + if( it == itEnd ) + throw; + else + return (*it)->translate( it+1, itEnd ); + } + catch( T& ex ) { + return m_translateFunction( ex ); + } + } + + protected: + std::string(*m_translateFunction)( T& ); + }; + + public: + template + ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) { + getMutableRegistryHub().registerTranslator + ( new ExceptionTranslator( translateFunction ) ); + } + }; +} + +/////////////////////////////////////////////////////////////////////////////// +#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \ + static std::string translatorName( signature ); \ + namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); }\ + static std::string translatorName( signature ) + +#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature ) + +// #included from: internal/catch_approx.hpp +#define TWOBLUECUBES_CATCH_APPROX_HPP_INCLUDED + +#include +#include + +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) +#include +#endif + +namespace Catch { +namespace Detail { + + class Approx { + public: + explicit Approx ( double value ) + : m_epsilon( std::numeric_limits::epsilon()*100 ), + m_scale( 1.0 ), + m_value( value ) + {} + + Approx( Approx const& other ) + : m_epsilon( other.m_epsilon ), + m_scale( other.m_scale ), + m_value( other.m_value ) + {} + + static Approx custom() { + return Approx( 0 ); + } + + Approx operator()( double value ) { + Approx approx( value ); + approx.epsilon( m_epsilon ); + approx.scale( m_scale ); + return approx; + } + +#if defined(CATCH_CONFIG_CPP11_TYPE_TRAITS) + template ::value>::type> + friend bool operator == ( const T& lhs, Approx const& rhs ) { + // Thanks to Richard Harris for his help refining this formula + auto lhs_v = double(lhs); + return std::fabs( lhs_v - rhs.m_value ) < rhs.m_epsilon * (rhs.m_scale + (std::max)( std::fabs(lhs_v), std::fabs(rhs.m_value) ) ); + } + + template ::value>::type> + friend bool operator == ( Approx const& lhs, const T& rhs ) { + return operator==( rhs, lhs ); + } + + template ::value>::type> + friend bool operator != ( T lhs, Approx const& rhs ) { + return !operator==( lhs, rhs ); + } + + template ::value>::type> + friend bool operator != ( Approx const& lhs, T rhs ) { + return !operator==( rhs, lhs ); + } + + template ::value>::type> + friend bool operator <= ( T lhs, Approx const& rhs ) + { + return double(lhs) < rhs.m_value || lhs == rhs; + } + + template ::value>::type> + friend bool operator <= ( Approx const& lhs, T rhs ) + { + return lhs.m_value < double(rhs) || lhs == rhs; + } + + template ::value>::type> + friend bool operator >= ( T lhs, Approx const& rhs ) + { + return double(lhs) > rhs.m_value || lhs == rhs; + } + + template ::value>::type> + friend bool operator >= ( Approx const& lhs, T rhs ) + { + return lhs.m_value > double(rhs) || lhs == rhs; + } +#else + friend bool operator == ( double lhs, Approx const& rhs ) { + // Thanks to Richard Harris for his help refining this formula + return std::fabs( lhs - rhs.m_value ) < rhs.m_epsilon * (rhs.m_scale + (std::max)( std::fabs(lhs), std::fabs(rhs.m_value) ) ); + } + + friend bool operator == ( Approx const& lhs, double rhs ) { + return operator==( rhs, lhs ); + } + + friend bool operator != ( double lhs, Approx const& rhs ) { + return !operator==( lhs, rhs ); + } + + friend bool operator != ( Approx const& lhs, double rhs ) { + return !operator==( rhs, lhs ); + } + + friend bool operator <= ( double lhs, Approx const& rhs ) + { + return lhs < rhs.m_value || lhs == rhs; + } + + friend bool operator <= ( Approx const& lhs, double rhs ) + { + return lhs.m_value < rhs || lhs == rhs; + } + + friend bool operator >= ( double lhs, Approx const& rhs ) + { + return lhs > rhs.m_value || lhs == rhs; + } + + friend bool operator >= ( Approx const& lhs, double rhs ) + { + return lhs.m_value > rhs || lhs == rhs; + } +#endif + + Approx& epsilon( double newEpsilon ) { + m_epsilon = newEpsilon; + return *this; + } + + Approx& scale( double newScale ) { + m_scale = newScale; + return *this; + } + + std::string toString() const { + std::ostringstream oss; + oss << "Approx( " << Catch::toString( m_value ) << " )"; + return oss.str(); + } + + private: + double m_epsilon; + double m_scale; + double m_value; + }; +} + +template<> +inline std::string toString( Detail::Approx const& value ) { + return value.toString(); +} + +} // end namespace Catch + +// #included from: internal/catch_interfaces_tag_alias_registry.h +#define TWOBLUECUBES_CATCH_INTERFACES_TAG_ALIAS_REGISTRY_H_INCLUDED + +// #included from: catch_tag_alias.h +#define TWOBLUECUBES_CATCH_TAG_ALIAS_H_INCLUDED + +#include + +namespace Catch { + + struct TagAlias { + TagAlias( std::string _tag, SourceLineInfo _lineInfo ) : tag( _tag ), lineInfo( _lineInfo ) {} + + std::string tag; + SourceLineInfo lineInfo; + }; + + struct RegistrarForTagAliases { + RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); + }; + +} // end namespace Catch + +#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } +// #included from: catch_option.hpp +#define TWOBLUECUBES_CATCH_OPTION_HPP_INCLUDED + +namespace Catch { + + // An optional type + template + class Option { + public: + Option() : nullableValue( CATCH_NULL ) {} + Option( T const& _value ) + : nullableValue( new( storage ) T( _value ) ) + {} + Option( Option const& _other ) + : nullableValue( _other ? new( storage ) T( *_other ) : CATCH_NULL ) + {} + + ~Option() { + reset(); + } + + Option& operator= ( Option const& _other ) { + if( &_other != this ) { + reset(); + if( _other ) + nullableValue = new( storage ) T( *_other ); + } + return *this; + } + Option& operator = ( T const& _value ) { + reset(); + nullableValue = new( storage ) T( _value ); + return *this; + } + + void reset() { + if( nullableValue ) + nullableValue->~T(); + nullableValue = CATCH_NULL; + } + + T& operator*() { return *nullableValue; } + T const& operator*() const { return *nullableValue; } + T* operator->() { return nullableValue; } + const T* operator->() const { return nullableValue; } + + T valueOr( T const& defaultValue ) const { + return nullableValue ? *nullableValue : defaultValue; + } + + bool some() const { return nullableValue != CATCH_NULL; } + bool none() const { return nullableValue == CATCH_NULL; } + + bool operator !() const { return nullableValue == CATCH_NULL; } + operator SafeBool::type() const { + return SafeBool::makeSafe( some() ); + } + + private: + T* nullableValue; + char storage[sizeof(T)]; + }; + +} // end namespace Catch + +namespace Catch { + + struct ITagAliasRegistry { + virtual ~ITagAliasRegistry(); + virtual Option find( std::string const& alias ) const = 0; + virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0; + + static ITagAliasRegistry const& get(); + }; + +} // end namespace Catch + +// These files are included here so the single_include script doesn't put them +// in the conditionally compiled sections +// #included from: internal/catch_test_case_info.h +#define TWOBLUECUBES_CATCH_TEST_CASE_INFO_H_INCLUDED + +#include +#include + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wpadded" +#endif + +namespace Catch { + + struct ITestCase; + + struct TestCaseInfo { + enum SpecialProperties{ + None = 0, + IsHidden = 1 << 1, + ShouldFail = 1 << 2, + MayFail = 1 << 3, + Throws = 1 << 4, + NonPortable = 1 << 5 + }; + + TestCaseInfo( std::string const& _name, + std::string const& _className, + std::string const& _description, + std::set const& _tags, + SourceLineInfo const& _lineInfo ); + + TestCaseInfo( TestCaseInfo const& other ); + + friend void setTags( TestCaseInfo& testCaseInfo, std::set const& tags ); + + bool isHidden() const; + bool throws() const; + bool okToFail() const; + bool expectedToFail() const; + + std::string name; + std::string className; + std::string description; + std::set tags; + std::set lcaseTags; + std::string tagsAsString; + SourceLineInfo lineInfo; + SpecialProperties properties; + }; + + class TestCase : public TestCaseInfo { + public: + + TestCase( ITestCase* testCase, TestCaseInfo const& info ); + TestCase( TestCase const& other ); + + TestCase withName( std::string const& _newName ) const; + + void invoke() const; + + TestCaseInfo const& getTestCaseInfo() const; + + void swap( TestCase& other ); + bool operator == ( TestCase const& other ) const; + bool operator < ( TestCase const& other ) const; + TestCase& operator = ( TestCase const& other ); + + private: + Ptr test; + }; + + TestCase makeTestCase( ITestCase* testCase, + std::string const& className, + std::string const& name, + std::string const& description, + SourceLineInfo const& lineInfo ); +} + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + + +#ifdef __OBJC__ +// #included from: internal/catch_objc.hpp +#define TWOBLUECUBES_CATCH_OBJC_HPP_INCLUDED + +#import + +#include + +// NB. Any general catch headers included here must be included +// in catch.hpp first to make sure they are included by the single +// header for non obj-usage + +/////////////////////////////////////////////////////////////////////////////// +// This protocol is really only here for (self) documenting purposes, since +// all its methods are optional. +@protocol OcFixture + +@optional + +-(void) setUp; +-(void) tearDown; + +@end + +namespace Catch { + + class OcMethod : public SharedImpl { + + public: + OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {} + + virtual void invoke() const { + id obj = [[m_cls alloc] init]; + + performOptionalSelector( obj, @selector(setUp) ); + performOptionalSelector( obj, m_sel ); + performOptionalSelector( obj, @selector(tearDown) ); + + arcSafeRelease( obj ); + } + private: + virtual ~OcMethod() {} + + Class m_cls; + SEL m_sel; + }; + + namespace Detail{ + + inline std::string getAnnotation( Class cls, + std::string const& annotationName, + std::string const& testCaseName ) { + NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()]; + SEL sel = NSSelectorFromString( selStr ); + arcSafeRelease( selStr ); + id value = performOptionalSelector( cls, sel ); + if( value ) + return [(NSString*)value UTF8String]; + return ""; + } + } + + inline size_t registerTestMethods() { + size_t noTestMethods = 0; + int noClasses = objc_getClassList( CATCH_NULL, 0 ); + + Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses); + objc_getClassList( classes, noClasses ); + + for( int c = 0; c < noClasses; c++ ) { + Class cls = classes[c]; + { + u_int count; + Method* methods = class_copyMethodList( cls, &count ); + for( u_int m = 0; m < count ; m++ ) { + SEL selector = method_getName(methods[m]); + std::string methodName = sel_getName(selector); + if( startsWith( methodName, "Catch_TestCase_" ) ) { + std::string testCaseName = methodName.substr( 15 ); + std::string name = Detail::getAnnotation( cls, "Name", testCaseName ); + std::string desc = Detail::getAnnotation( cls, "Description", testCaseName ); + const char* className = class_getName( cls ); + + getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, name.c_str(), desc.c_str(), SourceLineInfo() ) ); + noTestMethods++; + } + } + free(methods); + } + } + return noTestMethods; + } + + namespace Matchers { + namespace Impl { + namespace NSStringMatchers { + + template + struct StringHolder : MatcherImpl{ + StringHolder( NSString* substr ) : m_substr( [substr copy] ){} + StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){} + StringHolder() { + arcSafeRelease( m_substr ); + } + + NSString* m_substr; + }; + + struct Equals : StringHolder { + Equals( NSString* substr ) : StringHolder( substr ){} + + virtual bool match( ExpressionType const& str ) const { + return (str != nil || m_substr == nil ) && + [str isEqualToString:m_substr]; + } + + virtual std::string toString() const { + return "equals string: " + Catch::toString( m_substr ); + } + }; + + struct Contains : StringHolder { + Contains( NSString* substr ) : StringHolder( substr ){} + + virtual bool match( ExpressionType const& str ) const { + return (str != nil || m_substr == nil ) && + [str rangeOfString:m_substr].location != NSNotFound; + } + + virtual std::string toString() const { + return "contains string: " + Catch::toString( m_substr ); + } + }; + + struct StartsWith : StringHolder { + StartsWith( NSString* substr ) : StringHolder( substr ){} + + virtual bool match( ExpressionType const& str ) const { + return (str != nil || m_substr == nil ) && + [str rangeOfString:m_substr].location == 0; + } + + virtual std::string toString() const { + return "starts with: " + Catch::toString( m_substr ); + } + }; + struct EndsWith : StringHolder { + EndsWith( NSString* substr ) : StringHolder( substr ){} + + virtual bool match( ExpressionType const& str ) const { + return (str != nil || m_substr == nil ) && + [str rangeOfString:m_substr].location == [str length] - [m_substr length]; + } + + virtual std::string toString() const { + return "ends with: " + Catch::toString( m_substr ); + } + }; + + } // namespace NSStringMatchers + } // namespace Impl + + inline Impl::NSStringMatchers::Equals + Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); } + + inline Impl::NSStringMatchers::Contains + Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); } + + inline Impl::NSStringMatchers::StartsWith + StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); } + + inline Impl::NSStringMatchers::EndsWith + EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); } + + } // namespace Matchers + + using namespace Matchers; + +} // namespace Catch + +/////////////////////////////////////////////////////////////////////////////// +#define OC_TEST_CASE( name, desc )\ ++(NSString*) INTERNAL_CATCH_UNIQUE_NAME( Catch_Name_test ) \ +{\ +return @ name; \ +}\ ++(NSString*) INTERNAL_CATCH_UNIQUE_NAME( Catch_Description_test ) \ +{ \ +return @ desc; \ +} \ +-(void) INTERNAL_CATCH_UNIQUE_NAME( Catch_TestCase_test ) + +#endif + +#ifdef CATCH_IMPL +// #included from: internal/catch_impl.hpp +#define TWOBLUECUBES_CATCH_IMPL_HPP_INCLUDED + +// Collect all the implementation files together here +// These are the equivalent of what would usually be cpp files + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wweak-vtables" +#endif + +// #included from: ../catch_session.hpp +#define TWOBLUECUBES_CATCH_RUNNER_HPP_INCLUDED + +// #included from: internal/catch_commandline.hpp +#define TWOBLUECUBES_CATCH_COMMANDLINE_HPP_INCLUDED + +// #included from: catch_config.hpp +#define TWOBLUECUBES_CATCH_CONFIG_HPP_INCLUDED + +// #included from: catch_test_spec_parser.hpp +#define TWOBLUECUBES_CATCH_TEST_SPEC_PARSER_HPP_INCLUDED + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wpadded" +#endif + +// #included from: catch_test_spec.hpp +#define TWOBLUECUBES_CATCH_TEST_SPEC_HPP_INCLUDED + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wpadded" +#endif + +// #included from: catch_wildcard_pattern.hpp +#define TWOBLUECUBES_CATCH_WILDCARD_PATTERN_HPP_INCLUDED + +#include + +namespace Catch +{ + class WildcardPattern { + enum WildcardPosition { + NoWildcard = 0, + WildcardAtStart = 1, + WildcardAtEnd = 2, + WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd + }; + + public: + + WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity ) + : m_caseSensitivity( caseSensitivity ), + m_wildcard( NoWildcard ), + m_pattern( adjustCase( pattern ) ) + { + if( startsWith( m_pattern, '*' ) ) { + m_pattern = m_pattern.substr( 1 ); + m_wildcard = WildcardAtStart; + } + if( endsWith( m_pattern, '*' ) ) { + m_pattern = m_pattern.substr( 0, m_pattern.size()-1 ); + m_wildcard = static_cast( m_wildcard | WildcardAtEnd ); + } + } + virtual ~WildcardPattern(); + virtual bool matches( std::string const& str ) const { + switch( m_wildcard ) { + case NoWildcard: + return m_pattern == adjustCase( str ); + case WildcardAtStart: + return endsWith( adjustCase( str ), m_pattern ); + case WildcardAtEnd: + return startsWith( adjustCase( str ), m_pattern ); + case WildcardAtBothEnds: + return contains( adjustCase( str ), m_pattern ); + } + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wunreachable-code" +#endif + throw std::logic_error( "Unknown enum" ); +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + } + private: + std::string adjustCase( std::string const& str ) const { + return m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str; + } + CaseSensitive::Choice m_caseSensitivity; + WildcardPosition m_wildcard; + std::string m_pattern; + }; +} + +#include +#include + +namespace Catch { + + class TestSpec { + struct Pattern : SharedImpl<> { + virtual ~Pattern(); + virtual bool matches( TestCaseInfo const& testCase ) const = 0; + }; + class NamePattern : public Pattern { + public: + NamePattern( std::string const& name ) + : m_wildcardPattern( toLower( name ), CaseSensitive::No ) + {} + virtual ~NamePattern(); + virtual bool matches( TestCaseInfo const& testCase ) const { + return m_wildcardPattern.matches( toLower( testCase.name ) ); + } + private: + WildcardPattern m_wildcardPattern; + }; + + class TagPattern : public Pattern { + public: + TagPattern( std::string const& tag ) : m_tag( toLower( tag ) ) {} + virtual ~TagPattern(); + virtual bool matches( TestCaseInfo const& testCase ) const { + return testCase.lcaseTags.find( m_tag ) != testCase.lcaseTags.end(); + } + private: + std::string m_tag; + }; + + class ExcludedPattern : public Pattern { + public: + ExcludedPattern( Ptr const& underlyingPattern ) : m_underlyingPattern( underlyingPattern ) {} + virtual ~ExcludedPattern(); + virtual bool matches( TestCaseInfo const& testCase ) const { return !m_underlyingPattern->matches( testCase ); } + private: + Ptr m_underlyingPattern; + }; + + struct Filter { + std::vector > m_patterns; + + bool matches( TestCaseInfo const& testCase ) const { + // All patterns in a filter must match for the filter to be a match + for( std::vector >::const_iterator it = m_patterns.begin(), itEnd = m_patterns.end(); it != itEnd; ++it ) { + if( !(*it)->matches( testCase ) ) + return false; + } + return true; + } + }; + + public: + bool hasFilters() const { + return !m_filters.empty(); + } + bool matches( TestCaseInfo const& testCase ) const { + // A TestSpec matches if any filter matches + for( std::vector::const_iterator it = m_filters.begin(), itEnd = m_filters.end(); it != itEnd; ++it ) + if( it->matches( testCase ) ) + return true; + return false; + } + + private: + std::vector m_filters; + + friend class TestSpecParser; + }; +} + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + +namespace Catch { + + class TestSpecParser { + enum Mode{ None, Name, QuotedName, Tag, EscapedName }; + Mode m_mode; + bool m_exclusion; + std::size_t m_start, m_pos; + std::string m_arg; + std::vector m_escapeChars; + TestSpec::Filter m_currentFilter; + TestSpec m_testSpec; + ITagAliasRegistry const* m_tagAliases; + + public: + TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {} + + TestSpecParser& parse( std::string const& arg ) { + m_mode = None; + m_exclusion = false; + m_start = std::string::npos; + m_arg = m_tagAliases->expandAliases( arg ); + m_escapeChars.clear(); + for( m_pos = 0; m_pos < m_arg.size(); ++m_pos ) + visitChar( m_arg[m_pos] ); + if( m_mode == Name ) + addPattern(); + return *this; + } + TestSpec testSpec() { + addFilter(); + return m_testSpec; + } + private: + void visitChar( char c ) { + if( m_mode == None ) { + switch( c ) { + case ' ': return; + case '~': m_exclusion = true; return; + case '[': return startNewMode( Tag, ++m_pos ); + case '"': return startNewMode( QuotedName, ++m_pos ); + case '\\': return escape(); + default: startNewMode( Name, m_pos ); break; + } + } + if( m_mode == Name ) { + if( c == ',' ) { + addPattern(); + addFilter(); + } + else if( c == '[' ) { + if( subString() == "exclude:" ) + m_exclusion = true; + else + addPattern(); + startNewMode( Tag, ++m_pos ); + } + else if( c == '\\' ) + escape(); + } + else if( m_mode == EscapedName ) + m_mode = Name; + else if( m_mode == QuotedName && c == '"' ) + addPattern(); + else if( m_mode == Tag && c == ']' ) + addPattern(); + } + void startNewMode( Mode mode, std::size_t start ) { + m_mode = mode; + m_start = start; + } + void escape() { + if( m_mode == None ) + m_start = m_pos; + m_mode = EscapedName; + m_escapeChars.push_back( m_pos ); + } + std::string subString() const { return m_arg.substr( m_start, m_pos - m_start ); } + template + void addPattern() { + std::string token = subString(); + for( size_t i = 0; i < m_escapeChars.size(); ++i ) + token = token.substr( 0, m_escapeChars[i]-i ) + token.substr( m_escapeChars[i]+1-i ); + m_escapeChars.clear(); + if( startsWith( token, "exclude:" ) ) { + m_exclusion = true; + token = token.substr( 8 ); + } + if( !token.empty() ) { + Ptr pattern = new T( token ); + if( m_exclusion ) + pattern = new TestSpec::ExcludedPattern( pattern ); + m_currentFilter.m_patterns.push_back( pattern ); + } + m_exclusion = false; + m_mode = None; + } + void addFilter() { + if( !m_currentFilter.m_patterns.empty() ) { + m_testSpec.m_filters.push_back( m_currentFilter ); + m_currentFilter = TestSpec::Filter(); + } + } + }; + inline TestSpec parseTestSpec( std::string const& arg ) { + return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec(); + } + +} // namespace Catch + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + +// #included from: catch_interfaces_config.h +#define TWOBLUECUBES_CATCH_INTERFACES_CONFIG_H_INCLUDED + +#include +#include +#include + +namespace Catch { + + struct Verbosity { enum Level { + NoOutput = 0, + Quiet, + Normal + }; }; + + struct WarnAbout { enum What { + Nothing = 0x00, + NoAssertions = 0x01 + }; }; + + struct ShowDurations { enum OrNot { + DefaultForReporter, + Always, + Never + }; }; + struct RunTests { enum InWhatOrder { + InDeclarationOrder, + InLexicographicalOrder, + InRandomOrder + }; }; + struct UseColour { enum YesOrNo { + Auto, + Yes, + No + }; }; + + class TestSpec; + + struct IConfig : IShared { + + virtual ~IConfig(); + + virtual bool allowThrows() const = 0; + virtual std::ostream& stream() const = 0; + virtual std::string name() const = 0; + virtual bool includeSuccessfulResults() const = 0; + virtual bool shouldDebugBreak() const = 0; + virtual bool warnAboutMissingAssertions() const = 0; + virtual int abortAfter() const = 0; + virtual bool showInvisibles() const = 0; + virtual ShowDurations::OrNot showDurations() const = 0; + virtual TestSpec const& testSpec() const = 0; + virtual RunTests::InWhatOrder runOrder() const = 0; + virtual unsigned int rngSeed() const = 0; + virtual UseColour::YesOrNo useColour() const = 0; + virtual std::vector const& getSectionsToRun() const = 0; + + }; +} + +// #included from: catch_stream.h +#define TWOBLUECUBES_CATCH_STREAM_H_INCLUDED + +// #included from: catch_streambuf.h +#define TWOBLUECUBES_CATCH_STREAMBUF_H_INCLUDED + +#include + +namespace Catch { + + class StreamBufBase : public std::streambuf { + public: + virtual ~StreamBufBase() CATCH_NOEXCEPT; + }; +} + +#include +#include +#include +#include + +namespace Catch { + + std::ostream& cout(); + std::ostream& cerr(); + + struct IStream { + virtual ~IStream() CATCH_NOEXCEPT; + virtual std::ostream& stream() const = 0; + }; + + class FileStream : public IStream { + mutable std::ofstream m_ofs; + public: + FileStream( std::string const& filename ); + virtual ~FileStream() CATCH_NOEXCEPT; + public: // IStream + virtual std::ostream& stream() const CATCH_OVERRIDE; + }; + + class CoutStream : public IStream { + mutable std::ostream m_os; + public: + CoutStream(); + virtual ~CoutStream() CATCH_NOEXCEPT; + + public: // IStream + virtual std::ostream& stream() const CATCH_OVERRIDE; + }; + + class DebugOutStream : public IStream { + CATCH_AUTO_PTR( StreamBufBase ) m_streamBuf; + mutable std::ostream m_os; + public: + DebugOutStream(); + virtual ~DebugOutStream() CATCH_NOEXCEPT; + + public: // IStream + virtual std::ostream& stream() const CATCH_OVERRIDE; + }; +} + +#include +#include +#include +#include + +#ifndef CATCH_CONFIG_CONSOLE_WIDTH +#define CATCH_CONFIG_CONSOLE_WIDTH 80 +#endif + +namespace Catch { + + struct ConfigData { + + ConfigData() + : listTests( false ), + listTags( false ), + listReporters( false ), + listTestNamesOnly( false ), + showSuccessfulTests( false ), + shouldDebugBreak( false ), + noThrow( false ), + showHelp( false ), + showInvisibles( false ), + filenamesAsTags( false ), + abortAfter( -1 ), + rngSeed( 0 ), + verbosity( Verbosity::Normal ), + warnings( WarnAbout::Nothing ), + showDurations( ShowDurations::DefaultForReporter ), + runOrder( RunTests::InDeclarationOrder ), + useColour( UseColour::Auto ) + {} + + bool listTests; + bool listTags; + bool listReporters; + bool listTestNamesOnly; + + bool showSuccessfulTests; + bool shouldDebugBreak; + bool noThrow; + bool showHelp; + bool showInvisibles; + bool filenamesAsTags; + + int abortAfter; + unsigned int rngSeed; + + Verbosity::Level verbosity; + WarnAbout::What warnings; + ShowDurations::OrNot showDurations; + RunTests::InWhatOrder runOrder; + UseColour::YesOrNo useColour; + + std::string outputFilename; + std::string name; + std::string processName; + + std::vector reporterNames; + std::vector testsOrTags; + std::vector sectionsToRun; + }; + + class Config : public SharedImpl { + private: + Config( Config const& other ); + Config& operator = ( Config const& other ); + virtual void dummy(); + public: + + Config() + {} + + Config( ConfigData const& data ) + : m_data( data ), + m_stream( openStream() ) + { + if( !data.testsOrTags.empty() ) { + TestSpecParser parser( ITagAliasRegistry::get() ); + for( std::size_t i = 0; i < data.testsOrTags.size(); ++i ) + parser.parse( data.testsOrTags[i] ); + m_testSpec = parser.testSpec(); + } + } + + virtual ~Config() {} + + std::string const& getFilename() const { + return m_data.outputFilename ; + } + + bool listTests() const { return m_data.listTests; } + bool listTestNamesOnly() const { return m_data.listTestNamesOnly; } + bool listTags() const { return m_data.listTags; } + bool listReporters() const { return m_data.listReporters; } + + std::string getProcessName() const { return m_data.processName; } + + std::vector const& getReporterNames() const { return m_data.reporterNames; } + std::vector const& getSectionsToRun() const CATCH_OVERRIDE { return m_data.sectionsToRun; } + + virtual TestSpec const& testSpec() const CATCH_OVERRIDE { return m_testSpec; } + + bool showHelp() const { return m_data.showHelp; } + + // IConfig interface + virtual bool allowThrows() const CATCH_OVERRIDE { return !m_data.noThrow; } + virtual std::ostream& stream() const CATCH_OVERRIDE { return m_stream->stream(); } + virtual std::string name() const CATCH_OVERRIDE { return m_data.name.empty() ? m_data.processName : m_data.name; } + virtual bool includeSuccessfulResults() const CATCH_OVERRIDE { return m_data.showSuccessfulTests; } + virtual bool warnAboutMissingAssertions() const CATCH_OVERRIDE { return m_data.warnings & WarnAbout::NoAssertions; } + virtual ShowDurations::OrNot showDurations() const CATCH_OVERRIDE { return m_data.showDurations; } + virtual RunTests::InWhatOrder runOrder() const CATCH_OVERRIDE { return m_data.runOrder; } + virtual unsigned int rngSeed() const CATCH_OVERRIDE { return m_data.rngSeed; } + virtual UseColour::YesOrNo useColour() const CATCH_OVERRIDE { return m_data.useColour; } + virtual bool shouldDebugBreak() const CATCH_OVERRIDE { return m_data.shouldDebugBreak; } + virtual int abortAfter() const CATCH_OVERRIDE { return m_data.abortAfter; } + virtual bool showInvisibles() const CATCH_OVERRIDE { return m_data.showInvisibles; } + + private: + + IStream const* openStream() { + if( m_data.outputFilename.empty() ) + return new CoutStream(); + else if( m_data.outputFilename[0] == '%' ) { + if( m_data.outputFilename == "%debug" ) + return new DebugOutStream(); + else + throw std::domain_error( "Unrecognised stream: " + m_data.outputFilename ); + } + else + return new FileStream( m_data.outputFilename ); + } + ConfigData m_data; + + CATCH_AUTO_PTR( IStream const ) m_stream; + TestSpec m_testSpec; + }; + +} // end namespace Catch + +// #included from: catch_clara.h +#define TWOBLUECUBES_CATCH_CLARA_H_INCLUDED + +// Use Catch's value for console width (store Clara's off to the side, if present) +#ifdef CLARA_CONFIG_CONSOLE_WIDTH +#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CLARA_CONFIG_CONSOLE_WIDTH +#undef CLARA_CONFIG_CONSOLE_WIDTH +#endif +#define CLARA_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH + +// Declare Clara inside the Catch namespace +#define STITCH_CLARA_OPEN_NAMESPACE namespace Catch { +// #included from: ../external/clara.h + +// Version 0.0.2.4 + +// Only use header guard if we are not using an outer namespace +#if !defined(TWOBLUECUBES_CLARA_H_INCLUDED) || defined(STITCH_CLARA_OPEN_NAMESPACE) + +#ifndef STITCH_CLARA_OPEN_NAMESPACE +#define TWOBLUECUBES_CLARA_H_INCLUDED +#define STITCH_CLARA_OPEN_NAMESPACE +#define STITCH_CLARA_CLOSE_NAMESPACE +#else +#define STITCH_CLARA_CLOSE_NAMESPACE } +#endif + +#define STITCH_TBC_TEXT_FORMAT_OPEN_NAMESPACE STITCH_CLARA_OPEN_NAMESPACE + +// ----------- #included from tbc_text_format.h ----------- + +// Only use header guard if we are not using an outer namespace +#if !defined(TBC_TEXT_FORMAT_H_INCLUDED) || defined(STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE) +#ifndef STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE +#define TBC_TEXT_FORMAT_H_INCLUDED +#endif + +#include +#include +#include +#include + +// Use optional outer namespace +#ifdef STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE +namespace STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE { +#endif + +namespace Tbc { + +#ifdef TBC_TEXT_FORMAT_CONSOLE_WIDTH + const unsigned int consoleWidth = TBC_TEXT_FORMAT_CONSOLE_WIDTH; +#else + const unsigned int consoleWidth = 80; +#endif + + struct TextAttributes { + TextAttributes() + : initialIndent( std::string::npos ), + indent( 0 ), + width( consoleWidth-1 ), + tabChar( '\t' ) + {} + + TextAttributes& setInitialIndent( std::size_t _value ) { initialIndent = _value; return *this; } + TextAttributes& setIndent( std::size_t _value ) { indent = _value; return *this; } + TextAttributes& setWidth( std::size_t _value ) { width = _value; return *this; } + TextAttributes& setTabChar( char _value ) { tabChar = _value; return *this; } + + std::size_t initialIndent; // indent of first line, or npos + std::size_t indent; // indent of subsequent lines, or all if initialIndent is npos + std::size_t width; // maximum width of text, including indent. Longer text will wrap + char tabChar; // If this char is seen the indent is changed to current pos + }; + + class Text { + public: + Text( std::string const& _str, TextAttributes const& _attr = TextAttributes() ) + : attr( _attr ) + { + std::string wrappableChars = " [({.,/|\\-"; + std::size_t indent = _attr.initialIndent != std::string::npos + ? _attr.initialIndent + : _attr.indent; + std::string remainder = _str; + + while( !remainder.empty() ) { + if( lines.size() >= 1000 ) { + lines.push_back( "... message truncated due to excessive size" ); + return; + } + std::size_t tabPos = std::string::npos; + std::size_t width = (std::min)( remainder.size(), _attr.width - indent ); + std::size_t pos = remainder.find_first_of( '\n' ); + if( pos <= width ) { + width = pos; + } + pos = remainder.find_last_of( _attr.tabChar, width ); + if( pos != std::string::npos ) { + tabPos = pos; + if( remainder[width] == '\n' ) + width--; + remainder = remainder.substr( 0, tabPos ) + remainder.substr( tabPos+1 ); + } + + if( width == remainder.size() ) { + spliceLine( indent, remainder, width ); + } + else if( remainder[width] == '\n' ) { + spliceLine( indent, remainder, width ); + if( width <= 1 || remainder.size() != 1 ) + remainder = remainder.substr( 1 ); + indent = _attr.indent; + } + else { + pos = remainder.find_last_of( wrappableChars, width ); + if( pos != std::string::npos && pos > 0 ) { + spliceLine( indent, remainder, pos ); + if( remainder[0] == ' ' ) + remainder = remainder.substr( 1 ); + } + else { + spliceLine( indent, remainder, width-1 ); + lines.back() += "-"; + } + if( lines.size() == 1 ) + indent = _attr.indent; + if( tabPos != std::string::npos ) + indent += tabPos; + } + } + } + + void spliceLine( std::size_t _indent, std::string& _remainder, std::size_t _pos ) { + lines.push_back( std::string( _indent, ' ' ) + _remainder.substr( 0, _pos ) ); + _remainder = _remainder.substr( _pos ); + } + + typedef std::vector::const_iterator const_iterator; + + const_iterator begin() const { return lines.begin(); } + const_iterator end() const { return lines.end(); } + std::string const& last() const { return lines.back(); } + std::size_t size() const { return lines.size(); } + std::string const& operator[]( std::size_t _index ) const { return lines[_index]; } + std::string toString() const { + std::ostringstream oss; + oss << *this; + return oss.str(); + } + + inline friend std::ostream& operator << ( std::ostream& _stream, Text const& _text ) { + for( Text::const_iterator it = _text.begin(), itEnd = _text.end(); + it != itEnd; ++it ) { + if( it != _text.begin() ) + _stream << "\n"; + _stream << *it; + } + return _stream; + } + + private: + std::string str; + TextAttributes attr; + std::vector lines; + }; + +} // end namespace Tbc + +#ifdef STITCH_TBC_TEXT_FORMAT_OUTER_NAMESPACE +} // end outer namespace +#endif + +#endif // TBC_TEXT_FORMAT_H_INCLUDED + +// ----------- end of #include from tbc_text_format.h ----------- +// ........... back in clara.h + +#undef STITCH_TBC_TEXT_FORMAT_OPEN_NAMESPACE + +// ----------- #included from clara_compilers.h ----------- + +#ifndef TWOBLUECUBES_CLARA_COMPILERS_H_INCLUDED +#define TWOBLUECUBES_CLARA_COMPILERS_H_INCLUDED + +// Detect a number of compiler features - mostly C++11/14 conformance - by compiler +// The following features are defined: +// +// CLARA_CONFIG_CPP11_NULLPTR : is nullptr supported? +// CLARA_CONFIG_CPP11_NOEXCEPT : is noexcept supported? +// CLARA_CONFIG_CPP11_GENERATED_METHODS : The delete and default keywords for compiler generated methods +// CLARA_CONFIG_CPP11_OVERRIDE : is override supported? +// CLARA_CONFIG_CPP11_UNIQUE_PTR : is unique_ptr supported (otherwise use auto_ptr) + +// CLARA_CONFIG_CPP11_OR_GREATER : Is C++11 supported? + +// CLARA_CONFIG_VARIADIC_MACROS : are variadic macros supported? + +// In general each macro has a _NO_ form +// (e.g. CLARA_CONFIG_CPP11_NO_NULLPTR) which disables the feature. +// Many features, at point of detection, define an _INTERNAL_ macro, so they +// can be combined, en-mass, with the _NO_ forms later. + +// All the C++11 features can be disabled with CLARA_CONFIG_NO_CPP11 + +#ifdef __clang__ + +#if __has_feature(cxx_nullptr) +#define CLARA_INTERNAL_CONFIG_CPP11_NULLPTR +#endif + +#if __has_feature(cxx_noexcept) +#define CLARA_INTERNAL_CONFIG_CPP11_NOEXCEPT +#endif + +#endif // __clang__ + +//////////////////////////////////////////////////////////////////////////////// +// GCC +#ifdef __GNUC__ + +#if __GNUC__ == 4 && __GNUC_MINOR__ >= 6 && defined(__GXX_EXPERIMENTAL_CXX0X__) +#define CLARA_INTERNAL_CONFIG_CPP11_NULLPTR +#endif + +// - otherwise more recent versions define __cplusplus >= 201103L +// and will get picked up below + +#endif // __GNUC__ + +//////////////////////////////////////////////////////////////////////////////// +// Visual C++ +#ifdef _MSC_VER + +#if (_MSC_VER >= 1600) +#define CLARA_INTERNAL_CONFIG_CPP11_NULLPTR +#define CLARA_INTERNAL_CONFIG_CPP11_UNIQUE_PTR +#endif + +#if (_MSC_VER >= 1900 ) // (VC++ 13 (VS2015)) +#define CLARA_INTERNAL_CONFIG_CPP11_NOEXCEPT +#define CLARA_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +#endif + +#endif // _MSC_VER + +//////////////////////////////////////////////////////////////////////////////// +// C++ language feature support + +// catch all support for C++11 +#if defined(__cplusplus) && __cplusplus >= 201103L + +#define CLARA_CPP11_OR_GREATER + +#if !defined(CLARA_INTERNAL_CONFIG_CPP11_NULLPTR) +#define CLARA_INTERNAL_CONFIG_CPP11_NULLPTR +#endif + +#ifndef CLARA_INTERNAL_CONFIG_CPP11_NOEXCEPT +#define CLARA_INTERNAL_CONFIG_CPP11_NOEXCEPT +#endif + +#ifndef CLARA_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +#define CLARA_INTERNAL_CONFIG_CPP11_GENERATED_METHODS +#endif + +#if !defined(CLARA_INTERNAL_CONFIG_CPP11_OVERRIDE) +#define CLARA_INTERNAL_CONFIG_CPP11_OVERRIDE +#endif +#if !defined(CLARA_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) +#define CLARA_INTERNAL_CONFIG_CPP11_UNIQUE_PTR +#endif + +#endif // __cplusplus >= 201103L + +// Now set the actual defines based on the above + anything the user has configured +#if defined(CLARA_INTERNAL_CONFIG_CPP11_NULLPTR) && !defined(CLARA_CONFIG_CPP11_NO_NULLPTR) && !defined(CLARA_CONFIG_CPP11_NULLPTR) && !defined(CLARA_CONFIG_NO_CPP11) +#define CLARA_CONFIG_CPP11_NULLPTR +#endif +#if defined(CLARA_INTERNAL_CONFIG_CPP11_NOEXCEPT) && !defined(CLARA_CONFIG_CPP11_NO_NOEXCEPT) && !defined(CLARA_CONFIG_CPP11_NOEXCEPT) && !defined(CLARA_CONFIG_NO_CPP11) +#define CLARA_CONFIG_CPP11_NOEXCEPT +#endif +#if defined(CLARA_INTERNAL_CONFIG_CPP11_GENERATED_METHODS) && !defined(CLARA_CONFIG_CPP11_NO_GENERATED_METHODS) && !defined(CLARA_CONFIG_CPP11_GENERATED_METHODS) && !defined(CLARA_CONFIG_NO_CPP11) +#define CLARA_CONFIG_CPP11_GENERATED_METHODS +#endif +#if defined(CLARA_INTERNAL_CONFIG_CPP11_OVERRIDE) && !defined(CLARA_CONFIG_NO_OVERRIDE) && !defined(CLARA_CONFIG_CPP11_OVERRIDE) && !defined(CLARA_CONFIG_NO_CPP11) +#define CLARA_CONFIG_CPP11_OVERRIDE +#endif +#if defined(CLARA_INTERNAL_CONFIG_CPP11_UNIQUE_PTR) && !defined(CLARA_CONFIG_NO_UNIQUE_PTR) && !defined(CLARA_CONFIG_CPP11_UNIQUE_PTR) && !defined(CLARA_CONFIG_NO_CPP11) +#define CLARA_CONFIG_CPP11_UNIQUE_PTR +#endif + +// noexcept support: +#if defined(CLARA_CONFIG_CPP11_NOEXCEPT) && !defined(CLARA_NOEXCEPT) +#define CLARA_NOEXCEPT noexcept +# define CLARA_NOEXCEPT_IS(x) noexcept(x) +#else +#define CLARA_NOEXCEPT throw() +# define CLARA_NOEXCEPT_IS(x) +#endif + +// nullptr support +#ifdef CLARA_CONFIG_CPP11_NULLPTR +#define CLARA_NULL nullptr +#else +#define CLARA_NULL NULL +#endif + +// override support +#ifdef CLARA_CONFIG_CPP11_OVERRIDE +#define CLARA_OVERRIDE override +#else +#define CLARA_OVERRIDE +#endif + +// unique_ptr support +#ifdef CLARA_CONFIG_CPP11_UNIQUE_PTR +# define CLARA_AUTO_PTR( T ) std::unique_ptr +#else +# define CLARA_AUTO_PTR( T ) std::auto_ptr +#endif + +#endif // TWOBLUECUBES_CLARA_COMPILERS_H_INCLUDED + +// ----------- end of #include from clara_compilers.h ----------- +// ........... back in clara.h + +#include +#include +#include + +#if defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) +#define CLARA_PLATFORM_WINDOWS +#endif + +// Use optional outer namespace +#ifdef STITCH_CLARA_OPEN_NAMESPACE +STITCH_CLARA_OPEN_NAMESPACE +#endif + +namespace Clara { + + struct UnpositionalTag {}; + + extern UnpositionalTag _; + +#ifdef CLARA_CONFIG_MAIN + UnpositionalTag _; +#endif + + namespace Detail { + +#ifdef CLARA_CONSOLE_WIDTH + const unsigned int consoleWidth = CLARA_CONFIG_CONSOLE_WIDTH; +#else + const unsigned int consoleWidth = 80; +#endif + + using namespace Tbc; + + inline bool startsWith( std::string const& str, std::string const& prefix ) { + return str.size() >= prefix.size() && str.substr( 0, prefix.size() ) == prefix; + } + + template struct RemoveConstRef{ typedef T type; }; + template struct RemoveConstRef{ typedef T type; }; + template struct RemoveConstRef{ typedef T type; }; + template struct RemoveConstRef{ typedef T type; }; + + template struct IsBool { static const bool value = false; }; + template<> struct IsBool { static const bool value = true; }; + + template + void convertInto( std::string const& _source, T& _dest ) { + std::stringstream ss; + ss << _source; + ss >> _dest; + if( ss.fail() ) + throw std::runtime_error( "Unable to convert " + _source + " to destination type" ); + } + inline void convertInto( std::string const& _source, std::string& _dest ) { + _dest = _source; + } + char toLowerCh(char c) { + return static_cast( ::tolower( c ) ); + } + inline void convertInto( std::string const& _source, bool& _dest ) { + std::string sourceLC = _source; + std::transform( sourceLC.begin(), sourceLC.end(), sourceLC.begin(), toLowerCh ); + if( sourceLC == "y" || sourceLC == "1" || sourceLC == "true" || sourceLC == "yes" || sourceLC == "on" ) + _dest = true; + else if( sourceLC == "n" || sourceLC == "0" || sourceLC == "false" || sourceLC == "no" || sourceLC == "off" ) + _dest = false; + else + throw std::runtime_error( "Expected a boolean value but did not recognise:\n '" + _source + "'" ); + } + + template + struct IArgFunction { + virtual ~IArgFunction() {} +#ifdef CLARA_CONFIG_CPP11_GENERATED_METHODS + IArgFunction() = default; + IArgFunction( IArgFunction const& ) = default; +#endif + virtual void set( ConfigT& config, std::string const& value ) const = 0; + virtual bool takesArg() const = 0; + virtual IArgFunction* clone() const = 0; + }; + + template + class BoundArgFunction { + public: + BoundArgFunction() : functionObj( CLARA_NULL ) {} + BoundArgFunction( IArgFunction* _functionObj ) : functionObj( _functionObj ) {} + BoundArgFunction( BoundArgFunction const& other ) : functionObj( other.functionObj ? other.functionObj->clone() : CLARA_NULL ) {} + BoundArgFunction& operator = ( BoundArgFunction const& other ) { + IArgFunction* newFunctionObj = other.functionObj ? other.functionObj->clone() : CLARA_NULL; + delete functionObj; + functionObj = newFunctionObj; + return *this; + } + ~BoundArgFunction() { delete functionObj; } + + void set( ConfigT& config, std::string const& value ) const { + functionObj->set( config, value ); + } + bool takesArg() const { return functionObj->takesArg(); } + + bool isSet() const { + return functionObj != CLARA_NULL; + } + private: + IArgFunction* functionObj; + }; + + template + struct NullBinder : IArgFunction{ + virtual void set( C&, std::string const& ) const {} + virtual bool takesArg() const { return true; } + virtual IArgFunction* clone() const { return new NullBinder( *this ); } + }; + + template + struct BoundDataMember : IArgFunction{ + BoundDataMember( M C::* _member ) : member( _member ) {} + virtual void set( C& p, std::string const& stringValue ) const { + convertInto( stringValue, p.*member ); + } + virtual bool takesArg() const { return !IsBool::value; } + virtual IArgFunction* clone() const { return new BoundDataMember( *this ); } + M C::* member; + }; + template + struct BoundUnaryMethod : IArgFunction{ + BoundUnaryMethod( void (C::*_member)( M ) ) : member( _member ) {} + virtual void set( C& p, std::string const& stringValue ) const { + typename RemoveConstRef::type value; + convertInto( stringValue, value ); + (p.*member)( value ); + } + virtual bool takesArg() const { return !IsBool::value; } + virtual IArgFunction* clone() const { return new BoundUnaryMethod( *this ); } + void (C::*member)( M ); + }; + template + struct BoundNullaryMethod : IArgFunction{ + BoundNullaryMethod( void (C::*_member)() ) : member( _member ) {} + virtual void set( C& p, std::string const& stringValue ) const { + bool value; + convertInto( stringValue, value ); + if( value ) + (p.*member)(); + } + virtual bool takesArg() const { return false; } + virtual IArgFunction* clone() const { return new BoundNullaryMethod( *this ); } + void (C::*member)(); + }; + + template + struct BoundUnaryFunction : IArgFunction{ + BoundUnaryFunction( void (*_function)( C& ) ) : function( _function ) {} + virtual void set( C& obj, std::string const& stringValue ) const { + bool value; + convertInto( stringValue, value ); + if( value ) + function( obj ); + } + virtual bool takesArg() const { return false; } + virtual IArgFunction* clone() const { return new BoundUnaryFunction( *this ); } + void (*function)( C& ); + }; + + template + struct BoundBinaryFunction : IArgFunction{ + BoundBinaryFunction( void (*_function)( C&, T ) ) : function( _function ) {} + virtual void set( C& obj, std::string const& stringValue ) const { + typename RemoveConstRef::type value; + convertInto( stringValue, value ); + function( obj, value ); + } + virtual bool takesArg() const { return !IsBool::value; } + virtual IArgFunction* clone() const { return new BoundBinaryFunction( *this ); } + void (*function)( C&, T ); + }; + + } // namespace Detail + + inline std::vector argsToVector( int argc, char const* const* const argv ) { + std::vector args( static_cast( argc ) ); + for( std::size_t i = 0; i < static_cast( argc ); ++i ) + args[i] = argv[i]; + + return args; + } + + class Parser { + enum Mode { None, MaybeShortOpt, SlashOpt, ShortOpt, LongOpt, Positional }; + Mode mode; + std::size_t from; + bool inQuotes; + public: + + struct Token { + enum Type { Positional, ShortOpt, LongOpt }; + Token( Type _type, std::string const& _data ) : type( _type ), data( _data ) {} + Type type; + std::string data; + }; + + Parser() : mode( None ), from( 0 ), inQuotes( false ){} + + void parseIntoTokens( std::vector const& args, std::vector& tokens ) { + const std::string doubleDash = "--"; + for( std::size_t i = 1; i < args.size() && args[i] != doubleDash; ++i ) + parseIntoTokens( args[i], tokens); + } + + void parseIntoTokens( std::string const& arg, std::vector& tokens ) { + for( std::size_t i = 0; i <= arg.size(); ++i ) { + char c = arg[i]; + if( c == '"' ) + inQuotes = !inQuotes; + mode = handleMode( i, c, arg, tokens ); + } + } + Mode handleMode( std::size_t i, char c, std::string const& arg, std::vector& tokens ) { + switch( mode ) { + case None: return handleNone( i, c ); + case MaybeShortOpt: return handleMaybeShortOpt( i, c ); + case ShortOpt: + case LongOpt: + case SlashOpt: return handleOpt( i, c, arg, tokens ); + case Positional: return handlePositional( i, c, arg, tokens ); + default: throw std::logic_error( "Unknown mode" ); + } + } + + Mode handleNone( std::size_t i, char c ) { + if( inQuotes ) { + from = i; + return Positional; + } + switch( c ) { + case '-': return MaybeShortOpt; +#ifdef CLARA_PLATFORM_WINDOWS + case '/': from = i+1; return SlashOpt; +#endif + default: from = i; return Positional; + } + } + Mode handleMaybeShortOpt( std::size_t i, char c ) { + switch( c ) { + case '-': from = i+1; return LongOpt; + default: from = i; return ShortOpt; + } + } + Mode handleOpt( std::size_t i, char c, std::string const& arg, std::vector& tokens ) { + if( std::string( ":=\0", 3 ).find( c ) == std::string::npos ) + return mode; + + std::string optName = arg.substr( from, i-from ); + if( mode == ShortOpt ) + for( std::size_t j = 0; j < optName.size(); ++j ) + tokens.push_back( Token( Token::ShortOpt, optName.substr( j, 1 ) ) ); + else if( mode == SlashOpt && optName.size() == 1 ) + tokens.push_back( Token( Token::ShortOpt, optName ) ); + else + tokens.push_back( Token( Token::LongOpt, optName ) ); + return None; + } + Mode handlePositional( std::size_t i, char c, std::string const& arg, std::vector& tokens ) { + if( inQuotes || std::string( "\0", 1 ).find( c ) == std::string::npos ) + return mode; + + std::string data = arg.substr( from, i-from ); + tokens.push_back( Token( Token::Positional, data ) ); + return None; + } + }; + + template + struct CommonArgProperties { + CommonArgProperties() {} + CommonArgProperties( Detail::BoundArgFunction const& _boundField ) : boundField( _boundField ) {} + + Detail::BoundArgFunction boundField; + std::string description; + std::string detail; + std::string placeholder; // Only value if boundField takes an arg + + bool takesArg() const { + return !placeholder.empty(); + } + void validate() const { + if( !boundField.isSet() ) + throw std::logic_error( "option not bound" ); + } + }; + struct OptionArgProperties { + std::vector shortNames; + std::string longName; + + bool hasShortName( std::string const& shortName ) const { + return std::find( shortNames.begin(), shortNames.end(), shortName ) != shortNames.end(); + } + bool hasLongName( std::string const& _longName ) const { + return _longName == longName; + } + }; + struct PositionalArgProperties { + PositionalArgProperties() : position( -1 ) {} + int position; // -1 means non-positional (floating) + + bool isFixedPositional() const { + return position != -1; + } + }; + + template + class CommandLine { + + struct Arg : CommonArgProperties, OptionArgProperties, PositionalArgProperties { + Arg() {} + Arg( Detail::BoundArgFunction const& _boundField ) : CommonArgProperties( _boundField ) {} + + using CommonArgProperties::placeholder; // !TBD + + std::string dbgName() const { + if( !longName.empty() ) + return "--" + longName; + if( !shortNames.empty() ) + return "-" + shortNames[0]; + return "positional args"; + } + std::string commands() const { + std::ostringstream oss; + bool first = true; + std::vector::const_iterator it = shortNames.begin(), itEnd = shortNames.end(); + for(; it != itEnd; ++it ) { + if( first ) + first = false; + else + oss << ", "; + oss << "-" << *it; + } + if( !longName.empty() ) { + if( !first ) + oss << ", "; + oss << "--" << longName; + } + if( !placeholder.empty() ) + oss << " <" << placeholder << ">"; + return oss.str(); + } + }; + + typedef CLARA_AUTO_PTR( Arg ) ArgAutoPtr; + + friend void addOptName( Arg& arg, std::string const& optName ) + { + if( optName.empty() ) + return; + if( Detail::startsWith( optName, "--" ) ) { + if( !arg.longName.empty() ) + throw std::logic_error( "Only one long opt may be specified. '" + + arg.longName + + "' already specified, now attempting to add '" + + optName + "'" ); + arg.longName = optName.substr( 2 ); + } + else if( Detail::startsWith( optName, "-" ) ) + arg.shortNames.push_back( optName.substr( 1 ) ); + else + throw std::logic_error( "option must begin with - or --. Option was: '" + optName + "'" ); + } + friend void setPositionalArg( Arg& arg, int position ) + { + arg.position = position; + } + + class ArgBuilder { + public: + ArgBuilder( Arg* arg ) : m_arg( arg ) {} + + // Bind a non-boolean data member (requires placeholder string) + template + void bind( M C::* field, std::string const& placeholder ) { + m_arg->boundField = new Detail::BoundDataMember( field ); + m_arg->placeholder = placeholder; + } + // Bind a boolean data member (no placeholder required) + template + void bind( bool C::* field ) { + m_arg->boundField = new Detail::BoundDataMember( field ); + } + + // Bind a method taking a single, non-boolean argument (requires a placeholder string) + template + void bind( void (C::* unaryMethod)( M ), std::string const& placeholder ) { + m_arg->boundField = new Detail::BoundUnaryMethod( unaryMethod ); + m_arg->placeholder = placeholder; + } + + // Bind a method taking a single, boolean argument (no placeholder string required) + template + void bind( void (C::* unaryMethod)( bool ) ) { + m_arg->boundField = new Detail::BoundUnaryMethod( unaryMethod ); + } + + // Bind a method that takes no arguments (will be called if opt is present) + template + void bind( void (C::* nullaryMethod)() ) { + m_arg->boundField = new Detail::BoundNullaryMethod( nullaryMethod ); + } + + // Bind a free function taking a single argument - the object to operate on (no placeholder string required) + template + void bind( void (* unaryFunction)( C& ) ) { + m_arg->boundField = new Detail::BoundUnaryFunction( unaryFunction ); + } + + // Bind a free function taking a single argument - the object to operate on (requires a placeholder string) + template + void bind( void (* binaryFunction)( C&, T ), std::string const& placeholder ) { + m_arg->boundField = new Detail::BoundBinaryFunction( binaryFunction ); + m_arg->placeholder = placeholder; + } + + ArgBuilder& describe( std::string const& description ) { + m_arg->description = description; + return *this; + } + ArgBuilder& detail( std::string const& detail ) { + m_arg->detail = detail; + return *this; + } + + protected: + Arg* m_arg; + }; + + class OptBuilder : public ArgBuilder { + public: + OptBuilder( Arg* arg ) : ArgBuilder( arg ) {} + OptBuilder( OptBuilder& other ) : ArgBuilder( other ) {} + + OptBuilder& operator[]( std::string const& optName ) { + addOptName( *ArgBuilder::m_arg, optName ); + return *this; + } + }; + + public: + + CommandLine() + : m_boundProcessName( new Detail::NullBinder() ), + m_highestSpecifiedArgPosition( 0 ), + m_throwOnUnrecognisedTokens( false ) + {} + CommandLine( CommandLine const& other ) + : m_boundProcessName( other.m_boundProcessName ), + m_options ( other.m_options ), + m_positionalArgs( other.m_positionalArgs ), + m_highestSpecifiedArgPosition( other.m_highestSpecifiedArgPosition ), + m_throwOnUnrecognisedTokens( other.m_throwOnUnrecognisedTokens ) + { + if( other.m_floatingArg.get() ) + m_floatingArg.reset( new Arg( *other.m_floatingArg ) ); + } + + CommandLine& setThrowOnUnrecognisedTokens( bool shouldThrow = true ) { + m_throwOnUnrecognisedTokens = shouldThrow; + return *this; + } + + OptBuilder operator[]( std::string const& optName ) { + m_options.push_back( Arg() ); + addOptName( m_options.back(), optName ); + OptBuilder builder( &m_options.back() ); + return builder; + } + + ArgBuilder operator[]( int position ) { + m_positionalArgs.insert( std::make_pair( position, Arg() ) ); + if( position > m_highestSpecifiedArgPosition ) + m_highestSpecifiedArgPosition = position; + setPositionalArg( m_positionalArgs[position], position ); + ArgBuilder builder( &m_positionalArgs[position] ); + return builder; + } + + // Invoke this with the _ instance + ArgBuilder operator[]( UnpositionalTag ) { + if( m_floatingArg.get() ) + throw std::logic_error( "Only one unpositional argument can be added" ); + m_floatingArg.reset( new Arg() ); + ArgBuilder builder( m_floatingArg.get() ); + return builder; + } + + template + void bindProcessName( M C::* field ) { + m_boundProcessName = new Detail::BoundDataMember( field ); + } + template + void bindProcessName( void (C::*_unaryMethod)( M ) ) { + m_boundProcessName = new Detail::BoundUnaryMethod( _unaryMethod ); + } + + void optUsage( std::ostream& os, std::size_t indent = 0, std::size_t width = Detail::consoleWidth ) const { + typename std::vector::const_iterator itBegin = m_options.begin(), itEnd = m_options.end(), it; + std::size_t maxWidth = 0; + for( it = itBegin; it != itEnd; ++it ) + maxWidth = (std::max)( maxWidth, it->commands().size() ); + + for( it = itBegin; it != itEnd; ++it ) { + Detail::Text usage( it->commands(), Detail::TextAttributes() + .setWidth( maxWidth+indent ) + .setIndent( indent ) ); + Detail::Text desc( it->description, Detail::TextAttributes() + .setWidth( width - maxWidth - 3 ) ); + + for( std::size_t i = 0; i < (std::max)( usage.size(), desc.size() ); ++i ) { + std::string usageCol = i < usage.size() ? usage[i] : ""; + os << usageCol; + + if( i < desc.size() && !desc[i].empty() ) + os << std::string( indent + 2 + maxWidth - usageCol.size(), ' ' ) + << desc[i]; + os << "\n"; + } + } + } + std::string optUsage() const { + std::ostringstream oss; + optUsage( oss ); + return oss.str(); + } + + void argSynopsis( std::ostream& os ) const { + for( int i = 1; i <= m_highestSpecifiedArgPosition; ++i ) { + if( i > 1 ) + os << " "; + typename std::map::const_iterator it = m_positionalArgs.find( i ); + if( it != m_positionalArgs.end() ) + os << "<" << it->second.placeholder << ">"; + else if( m_floatingArg.get() ) + os << "<" << m_floatingArg->placeholder << ">"; + else + throw std::logic_error( "non consecutive positional arguments with no floating args" ); + } + // !TBD No indication of mandatory args + if( m_floatingArg.get() ) { + if( m_highestSpecifiedArgPosition > 1 ) + os << " "; + os << "[<" << m_floatingArg->placeholder << "> ...]"; + } + } + std::string argSynopsis() const { + std::ostringstream oss; + argSynopsis( oss ); + return oss.str(); + } + + void usage( std::ostream& os, std::string const& procName ) const { + validate(); + os << "usage:\n " << procName << " "; + argSynopsis( os ); + if( !m_options.empty() ) { + os << " [options]\n\nwhere options are: \n"; + optUsage( os, 2 ); + } + os << "\n"; + } + std::string usage( std::string const& procName ) const { + std::ostringstream oss; + usage( oss, procName ); + return oss.str(); + } + + ConfigT parse( std::vector const& args ) const { + ConfigT config; + parseInto( args, config ); + return config; + } + + std::vector parseInto( std::vector const& args, ConfigT& config ) const { + std::string processName = args[0]; + std::size_t lastSlash = processName.find_last_of( "/\\" ); + if( lastSlash != std::string::npos ) + processName = processName.substr( lastSlash+1 ); + m_boundProcessName.set( config, processName ); + std::vector tokens; + Parser parser; + parser.parseIntoTokens( args, tokens ); + return populate( tokens, config ); + } + + std::vector populate( std::vector const& tokens, ConfigT& config ) const { + validate(); + std::vector unusedTokens = populateOptions( tokens, config ); + unusedTokens = populateFixedArgs( unusedTokens, config ); + unusedTokens = populateFloatingArgs( unusedTokens, config ); + return unusedTokens; + } + + std::vector populateOptions( std::vector const& tokens, ConfigT& config ) const { + std::vector unusedTokens; + std::vector errors; + for( std::size_t i = 0; i < tokens.size(); ++i ) { + Parser::Token const& token = tokens[i]; + typename std::vector::const_iterator it = m_options.begin(), itEnd = m_options.end(); + for(; it != itEnd; ++it ) { + Arg const& arg = *it; + + try { + if( ( token.type == Parser::Token::ShortOpt && arg.hasShortName( token.data ) ) || + ( token.type == Parser::Token::LongOpt && arg.hasLongName( token.data ) ) ) { + if( arg.takesArg() ) { + if( i == tokens.size()-1 || tokens[i+1].type != Parser::Token::Positional ) + errors.push_back( "Expected argument to option: " + token.data ); + else + arg.boundField.set( config, tokens[++i].data ); + } + else { + arg.boundField.set( config, "true" ); + } + break; + } + } + catch( std::exception& ex ) { + errors.push_back( std::string( ex.what() ) + "\n- while parsing: (" + arg.commands() + ")" ); + } + } + if( it == itEnd ) { + if( token.type == Parser::Token::Positional || !m_throwOnUnrecognisedTokens ) + unusedTokens.push_back( token ); + else if( errors.empty() && m_throwOnUnrecognisedTokens ) + errors.push_back( "unrecognised option: " + token.data ); + } + } + if( !errors.empty() ) { + std::ostringstream oss; + for( std::vector::const_iterator it = errors.begin(), itEnd = errors.end(); + it != itEnd; + ++it ) { + if( it != errors.begin() ) + oss << "\n"; + oss << *it; + } + throw std::runtime_error( oss.str() ); + } + return unusedTokens; + } + std::vector populateFixedArgs( std::vector const& tokens, ConfigT& config ) const { + std::vector unusedTokens; + int position = 1; + for( std::size_t i = 0; i < tokens.size(); ++i ) { + Parser::Token const& token = tokens[i]; + typename std::map::const_iterator it = m_positionalArgs.find( position ); + if( it != m_positionalArgs.end() ) + it->second.boundField.set( config, token.data ); + else + unusedTokens.push_back( token ); + if( token.type == Parser::Token::Positional ) + position++; + } + return unusedTokens; + } + std::vector populateFloatingArgs( std::vector const& tokens, ConfigT& config ) const { + if( !m_floatingArg.get() ) + return tokens; + std::vector unusedTokens; + for( std::size_t i = 0; i < tokens.size(); ++i ) { + Parser::Token const& token = tokens[i]; + if( token.type == Parser::Token::Positional ) + m_floatingArg->boundField.set( config, token.data ); + else + unusedTokens.push_back( token ); + } + return unusedTokens; + } + + void validate() const + { + if( m_options.empty() && m_positionalArgs.empty() && !m_floatingArg.get() ) + throw std::logic_error( "No options or arguments specified" ); + + for( typename std::vector::const_iterator it = m_options.begin(), + itEnd = m_options.end(); + it != itEnd; ++it ) + it->validate(); + } + + private: + Detail::BoundArgFunction m_boundProcessName; + std::vector m_options; + std::map m_positionalArgs; + ArgAutoPtr m_floatingArg; + int m_highestSpecifiedArgPosition; + bool m_throwOnUnrecognisedTokens; + }; + +} // end namespace Clara + +STITCH_CLARA_CLOSE_NAMESPACE +#undef STITCH_CLARA_OPEN_NAMESPACE +#undef STITCH_CLARA_CLOSE_NAMESPACE + +#endif // TWOBLUECUBES_CLARA_H_INCLUDED +#undef STITCH_CLARA_OPEN_NAMESPACE + +// Restore Clara's value for console width, if present +#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH +#define CLARA_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH +#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH +#endif + +#include +#include + +namespace Catch { + + inline void abortAfterFirst( ConfigData& config ) { config.abortAfter = 1; } + inline void abortAfterX( ConfigData& config, int x ) { + if( x < 1 ) + throw std::runtime_error( "Value after -x or --abortAfter must be greater than zero" ); + config.abortAfter = x; + } + inline void addTestOrTags( ConfigData& config, std::string const& _testSpec ) { config.testsOrTags.push_back( _testSpec ); } + inline void addSectionToRun( ConfigData& config, std::string const& sectionName ) { config.sectionsToRun.push_back( sectionName ); } + inline void addReporterName( ConfigData& config, std::string const& _reporterName ) { config.reporterNames.push_back( _reporterName ); } + + inline void addWarning( ConfigData& config, std::string const& _warning ) { + if( _warning == "NoAssertions" ) + config.warnings = static_cast( config.warnings | WarnAbout::NoAssertions ); + else + throw std::runtime_error( "Unrecognised warning: '" + _warning + '\'' ); + } + inline void setOrder( ConfigData& config, std::string const& order ) { + if( startsWith( "declared", order ) ) + config.runOrder = RunTests::InDeclarationOrder; + else if( startsWith( "lexical", order ) ) + config.runOrder = RunTests::InLexicographicalOrder; + else if( startsWith( "random", order ) ) + config.runOrder = RunTests::InRandomOrder; + else + throw std::runtime_error( "Unrecognised ordering: '" + order + '\'' ); + } + inline void setRngSeed( ConfigData& config, std::string const& seed ) { + if( seed == "time" ) { + config.rngSeed = static_cast( std::time(0) ); + } + else { + std::stringstream ss; + ss << seed; + ss >> config.rngSeed; + if( ss.fail() ) + throw std::runtime_error( "Argument to --rng-seed should be the word 'time' or a number" ); + } + } + inline void setVerbosity( ConfigData& config, int level ) { + // !TBD: accept strings? + config.verbosity = static_cast( level ); + } + inline void setShowDurations( ConfigData& config, bool _showDurations ) { + config.showDurations = _showDurations + ? ShowDurations::Always + : ShowDurations::Never; + } + inline void setUseColour( ConfigData& config, std::string const& value ) { + std::string mode = toLower( value ); + + if( mode == "yes" ) + config.useColour = UseColour::Yes; + else if( mode == "no" ) + config.useColour = UseColour::No; + else if( mode == "auto" ) + config.useColour = UseColour::Auto; + else + throw std::runtime_error( "colour mode must be one of: auto, yes or no" ); + } + inline void forceColour( ConfigData& config ) { + config.useColour = UseColour::Yes; + } + inline void loadTestNamesFromFile( ConfigData& config, std::string const& _filename ) { + std::ifstream f( _filename.c_str() ); + if( !f.is_open() ) + throw std::domain_error( "Unable to load input file: " + _filename ); + + std::string line; + while( std::getline( f, line ) ) { + line = trim(line); + if( !line.empty() && !startsWith( line, '#' ) ) { + if( !startsWith( line, '"' ) ) + line = '"' + line + '"'; + addTestOrTags( config, line + ',' ); + } + } + } + + inline Clara::CommandLine makeCommandLineParser() { + + using namespace Clara; + CommandLine cli; + + cli.bindProcessName( &ConfigData::processName ); + + cli["-?"]["-h"]["--help"] + .describe( "display usage information" ) + .bind( &ConfigData::showHelp ); + + cli["-l"]["--list-tests"] + .describe( "list all/matching test cases" ) + .bind( &ConfigData::listTests ); + + cli["-t"]["--list-tags"] + .describe( "list all/matching tags" ) + .bind( &ConfigData::listTags ); + + cli["-s"]["--success"] + .describe( "include successful tests in output" ) + .bind( &ConfigData::showSuccessfulTests ); + + cli["-b"]["--break"] + .describe( "break into debugger on failure" ) + .bind( &ConfigData::shouldDebugBreak ); + + cli["-e"]["--nothrow"] + .describe( "skip exception tests" ) + .bind( &ConfigData::noThrow ); + + cli["-i"]["--invisibles"] + .describe( "show invisibles (tabs, newlines)" ) + .bind( &ConfigData::showInvisibles ); + + cli["-o"]["--out"] + .describe( "output filename" ) + .bind( &ConfigData::outputFilename, "filename" ); + + cli["-r"]["--reporter"] +// .placeholder( "name[:filename]" ) + .describe( "reporter to use (defaults to console)" ) + .bind( &addReporterName, "name" ); + + cli["-n"]["--name"] + .describe( "suite name" ) + .bind( &ConfigData::name, "name" ); + + cli["-a"]["--abort"] + .describe( "abort at first failure" ) + .bind( &abortAfterFirst ); + + cli["-x"]["--abortx"] + .describe( "abort after x failures" ) + .bind( &abortAfterX, "no. failures" ); + + cli["-w"]["--warn"] + .describe( "enable warnings" ) + .bind( &addWarning, "warning name" ); + +// - needs updating if reinstated +// cli.into( &setVerbosity ) +// .describe( "level of verbosity (0=no output)" ) +// .shortOpt( "v") +// .longOpt( "verbosity" ) +// .placeholder( "level" ); + + cli[_] + .describe( "which test or tests to use" ) + .bind( &addTestOrTags, "test name, pattern or tags" ); + + cli["-d"]["--durations"] + .describe( "show test durations" ) + .bind( &setShowDurations, "yes|no" ); + + cli["-f"]["--input-file"] + .describe( "load test names to run from a file" ) + .bind( &loadTestNamesFromFile, "filename" ); + + cli["-#"]["--filenames-as-tags"] + .describe( "adds a tag for the filename" ) + .bind( &ConfigData::filenamesAsTags ); + + cli["-c"]["--section"] + .describe( "specify section to run" ) + .bind( &addSectionToRun, "section name" ); + + // Less common commands which don't have a short form + cli["--list-test-names-only"] + .describe( "list all/matching test cases names only" ) + .bind( &ConfigData::listTestNamesOnly ); + + cli["--list-reporters"] + .describe( "list all reporters" ) + .bind( &ConfigData::listReporters ); + + cli["--order"] + .describe( "test case order (defaults to decl)" ) + .bind( &setOrder, "decl|lex|rand" ); + + cli["--rng-seed"] + .describe( "set a specific seed for random numbers" ) + .bind( &setRngSeed, "'time'|number" ); + + cli["--force-colour"] + .describe( "force colourised output (deprecated)" ) + .bind( &forceColour ); + + cli["--use-colour"] + .describe( "should output be colourised" ) + .bind( &setUseColour, "yes|no" ); + + return cli; + } + +} // end namespace Catch + +// #included from: internal/catch_list.hpp +#define TWOBLUECUBES_CATCH_LIST_HPP_INCLUDED + +// #included from: catch_text.h +#define TWOBLUECUBES_CATCH_TEXT_H_INCLUDED + +#define TBC_TEXT_FORMAT_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH + +#define CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE Catch +// #included from: ../external/tbc_text_format.h +// Only use header guard if we are not using an outer namespace +#ifndef CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE +# ifdef TWOBLUECUBES_TEXT_FORMAT_H_INCLUDED +# ifndef TWOBLUECUBES_TEXT_FORMAT_H_ALREADY_INCLUDED +# define TWOBLUECUBES_TEXT_FORMAT_H_ALREADY_INCLUDED +# endif +# else +# define TWOBLUECUBES_TEXT_FORMAT_H_INCLUDED +# endif +#endif +#ifndef TWOBLUECUBES_TEXT_FORMAT_H_ALREADY_INCLUDED +#include +#include +#include + +// Use optional outer namespace +#ifdef CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE +namespace CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE { +#endif + +namespace Tbc { + +#ifdef TBC_TEXT_FORMAT_CONSOLE_WIDTH + const unsigned int consoleWidth = TBC_TEXT_FORMAT_CONSOLE_WIDTH; +#else + const unsigned int consoleWidth = 80; +#endif + + struct TextAttributes { + TextAttributes() + : initialIndent( std::string::npos ), + indent( 0 ), + width( consoleWidth-1 ) + {} + + TextAttributes& setInitialIndent( std::size_t _value ) { initialIndent = _value; return *this; } + TextAttributes& setIndent( std::size_t _value ) { indent = _value; return *this; } + TextAttributes& setWidth( std::size_t _value ) { width = _value; return *this; } + + std::size_t initialIndent; // indent of first line, or npos + std::size_t indent; // indent of subsequent lines, or all if initialIndent is npos + std::size_t width; // maximum width of text, including indent. Longer text will wrap + }; + + class Text { + public: + Text( std::string const& _str, TextAttributes const& _attr = TextAttributes() ) + : attr( _attr ) + { + const std::string wrappableBeforeChars = "[({<\t"; + const std::string wrappableAfterChars = "])}>-,./|\\"; + const std::string wrappableInsteadOfChars = " \n\r"; + std::string indent = _attr.initialIndent != std::string::npos + ? std::string( _attr.initialIndent, ' ' ) + : std::string( _attr.indent, ' ' ); + + typedef std::string::const_iterator iterator; + iterator it = _str.begin(); + const iterator strEnd = _str.end(); + + while( it != strEnd ) { + + if( lines.size() >= 1000 ) { + lines.push_back( "... message truncated due to excessive size" ); + return; + } + + std::string suffix; + std::size_t width = (std::min)( static_cast( strEnd-it ), _attr.width-static_cast( indent.size() ) ); + iterator itEnd = it+width; + iterator itNext = _str.end(); + + iterator itNewLine = std::find( it, itEnd, '\n' ); + if( itNewLine != itEnd ) + itEnd = itNewLine; + + if( itEnd != strEnd ) { + bool foundWrapPoint = false; + iterator findIt = itEnd; + do { + if( wrappableAfterChars.find( *findIt ) != std::string::npos && findIt != itEnd ) { + itEnd = findIt+1; + itNext = findIt+1; + foundWrapPoint = true; + } + else if( findIt > it && wrappableBeforeChars.find( *findIt ) != std::string::npos ) { + itEnd = findIt; + itNext = findIt; + foundWrapPoint = true; + } + else if( wrappableInsteadOfChars.find( *findIt ) != std::string::npos ) { + itNext = findIt+1; + itEnd = findIt; + foundWrapPoint = true; + } + if( findIt == it ) + break; + else + --findIt; + } + while( !foundWrapPoint ); + + if( !foundWrapPoint ) { + // No good wrap char, so we'll break mid word and add a hyphen + --itEnd; + itNext = itEnd; + suffix = "-"; + } + else { + while( itEnd > it && wrappableInsteadOfChars.find( *(itEnd-1) ) != std::string::npos ) + --itEnd; + } + } + lines.push_back( indent + std::string( it, itEnd ) + suffix ); + + if( indent.size() != _attr.indent ) + indent = std::string( _attr.indent, ' ' ); + it = itNext; + } + } + + typedef std::vector::const_iterator const_iterator; + + const_iterator begin() const { return lines.begin(); } + const_iterator end() const { return lines.end(); } + std::string const& last() const { return lines.back(); } + std::size_t size() const { return lines.size(); } + std::string const& operator[]( std::size_t _index ) const { return lines[_index]; } + std::string toString() const { + std::ostringstream oss; + oss << *this; + return oss.str(); + } + + inline friend std::ostream& operator << ( std::ostream& _stream, Text const& _text ) { + for( Text::const_iterator it = _text.begin(), itEnd = _text.end(); + it != itEnd; ++it ) { + if( it != _text.begin() ) + _stream << "\n"; + _stream << *it; + } + return _stream; + } + + private: + std::string str; + TextAttributes attr; + std::vector lines; + }; + +} // end namespace Tbc + +#ifdef CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE +} // end outer namespace +#endif + +#endif // TWOBLUECUBES_TEXT_FORMAT_H_ALREADY_INCLUDED +#undef CLICHE_TBC_TEXT_FORMAT_OUTER_NAMESPACE + +namespace Catch { + using Tbc::Text; + using Tbc::TextAttributes; +} + +// #included from: catch_console_colour.hpp +#define TWOBLUECUBES_CATCH_CONSOLE_COLOUR_HPP_INCLUDED + +namespace Catch { + + struct Colour { + enum Code { + None = 0, + + White, + Red, + Green, + Blue, + Cyan, + Yellow, + Grey, + + Bright = 0x10, + + BrightRed = Bright | Red, + BrightGreen = Bright | Green, + LightGrey = Bright | Grey, + BrightWhite = Bright | White, + + // By intention + FileName = LightGrey, + Warning = Yellow, + ResultError = BrightRed, + ResultSuccess = BrightGreen, + ResultExpectedFailure = Warning, + + Error = BrightRed, + Success = Green, + + OriginalExpression = Cyan, + ReconstructedExpression = Yellow, + + SecondaryText = LightGrey, + Headers = White + }; + + // Use constructed object for RAII guard + Colour( Code _colourCode ); + Colour( Colour const& other ); + ~Colour(); + + // Use static method for one-shot changes + static void use( Code _colourCode ); + + private: + bool m_moved; + }; + + inline std::ostream& operator << ( std::ostream& os, Colour const& ) { return os; } + +} // end namespace Catch + +// #included from: catch_interfaces_reporter.h +#define TWOBLUECUBES_CATCH_INTERFACES_REPORTER_H_INCLUDED + +#include +#include +#include + +namespace Catch +{ + struct ReporterConfig { + explicit ReporterConfig( Ptr const& _fullConfig ) + : m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {} + + ReporterConfig( Ptr const& _fullConfig, std::ostream& _stream ) + : m_stream( &_stream ), m_fullConfig( _fullConfig ) {} + + std::ostream& stream() const { return *m_stream; } + Ptr fullConfig() const { return m_fullConfig; } + + private: + std::ostream* m_stream; + Ptr m_fullConfig; + }; + + struct ReporterPreferences { + ReporterPreferences() + : shouldRedirectStdOut( false ) + {} + + bool shouldRedirectStdOut; + }; + + template + struct LazyStat : Option { + LazyStat() : used( false ) {} + LazyStat& operator=( T const& _value ) { + Option::operator=( _value ); + used = false; + return *this; + } + void reset() { + Option::reset(); + used = false; + } + bool used; + }; + + struct TestRunInfo { + TestRunInfo( std::string const& _name ) : name( _name ) {} + std::string name; + }; + struct GroupInfo { + GroupInfo( std::string const& _name, + std::size_t _groupIndex, + std::size_t _groupsCount ) + : name( _name ), + groupIndex( _groupIndex ), + groupsCounts( _groupsCount ) + {} + + std::string name; + std::size_t groupIndex; + std::size_t groupsCounts; + }; + + struct AssertionStats { + AssertionStats( AssertionResult const& _assertionResult, + std::vector const& _infoMessages, + Totals const& _totals ) + : assertionResult( _assertionResult ), + infoMessages( _infoMessages ), + totals( _totals ) + { + if( assertionResult.hasMessage() ) { + // Copy message into messages list. + // !TBD This should have been done earlier, somewhere + MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() ); + builder << assertionResult.getMessage(); + builder.m_info.message = builder.m_stream.str(); + + infoMessages.push_back( builder.m_info ); + } + } + virtual ~AssertionStats(); + +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + AssertionStats( AssertionStats const& ) = default; + AssertionStats( AssertionStats && ) = default; + AssertionStats& operator = ( AssertionStats const& ) = default; + AssertionStats& operator = ( AssertionStats && ) = default; +# endif + + AssertionResult assertionResult; + std::vector infoMessages; + Totals totals; + }; + + struct SectionStats { + SectionStats( SectionInfo const& _sectionInfo, + Counts const& _assertions, + double _durationInSeconds, + bool _missingAssertions ) + : sectionInfo( _sectionInfo ), + assertions( _assertions ), + durationInSeconds( _durationInSeconds ), + missingAssertions( _missingAssertions ) + {} + virtual ~SectionStats(); +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + SectionStats( SectionStats const& ) = default; + SectionStats( SectionStats && ) = default; + SectionStats& operator = ( SectionStats const& ) = default; + SectionStats& operator = ( SectionStats && ) = default; +# endif + + SectionInfo sectionInfo; + Counts assertions; + double durationInSeconds; + bool missingAssertions; + }; + + struct TestCaseStats { + TestCaseStats( TestCaseInfo const& _testInfo, + Totals const& _totals, + std::string const& _stdOut, + std::string const& _stdErr, + bool _aborting ) + : testInfo( _testInfo ), + totals( _totals ), + stdOut( _stdOut ), + stdErr( _stdErr ), + aborting( _aborting ) + {} + virtual ~TestCaseStats(); + +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + TestCaseStats( TestCaseStats const& ) = default; + TestCaseStats( TestCaseStats && ) = default; + TestCaseStats& operator = ( TestCaseStats const& ) = default; + TestCaseStats& operator = ( TestCaseStats && ) = default; +# endif + + TestCaseInfo testInfo; + Totals totals; + std::string stdOut; + std::string stdErr; + bool aborting; + }; + + struct TestGroupStats { + TestGroupStats( GroupInfo const& _groupInfo, + Totals const& _totals, + bool _aborting ) + : groupInfo( _groupInfo ), + totals( _totals ), + aborting( _aborting ) + {} + TestGroupStats( GroupInfo const& _groupInfo ) + : groupInfo( _groupInfo ), + aborting( false ) + {} + virtual ~TestGroupStats(); + +# ifdef CATCH_CONFIG_CPP11_GENERATED_METHODS + TestGroupStats( TestGroupStats const& ) = default; + TestGroupStats( TestGroupStats && ) = default; + TestGroupStats& operator = ( TestGroupStats const& ) = default; + TestGroupStats& operator = ( TestGroupStats && ) = default; +# endif + + GroupInfo groupInfo; + Totals totals; + bool aborting; + }; + + struct TestRunStats { + TestRunStats( TestRunInfo const& _runInfo, + Totals const& _totals, + bool _aborting ) + : runInfo( _runInfo ), + totals( _totals ), + aborting( _aborting ) + {} + virtual ~TestRunStats(); + +# ifndef CATCH_CONFIG_CPP11_GENERATED_METHODS + TestRunStats( TestRunStats const& _other ) + : runInfo( _other.runInfo ), + totals( _other.totals ), + aborting( _other.aborting ) + {} +# else + TestRunStats( TestRunStats const& ) = default; + TestRunStats( TestRunStats && ) = default; + TestRunStats& operator = ( TestRunStats const& ) = default; + TestRunStats& operator = ( TestRunStats && ) = default; +# endif + + TestRunInfo runInfo; + Totals totals; + bool aborting; + }; + + class MultipleReporters; + + struct IStreamingReporter : IShared { + virtual ~IStreamingReporter(); + + // Implementing class must also provide the following static method: + // static std::string getDescription(); + + virtual ReporterPreferences getPreferences() const = 0; + + virtual void noMatchingTestCases( std::string const& spec ) = 0; + + virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0; + virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0; + + virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0; + virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0; + + virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0; + + // The return value indicates if the messages buffer should be cleared: + virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0; + + virtual void sectionEnded( SectionStats const& sectionStats ) = 0; + virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0; + virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0; + virtual void testRunEnded( TestRunStats const& testRunStats ) = 0; + + virtual void skipTest( TestCaseInfo const& testInfo ) = 0; + + virtual MultipleReporters* tryAsMulti() { return CATCH_NULL; } + }; + + struct IReporterFactory : IShared { + virtual ~IReporterFactory(); + virtual IStreamingReporter* create( ReporterConfig const& config ) const = 0; + virtual std::string getDescription() const = 0; + }; + + struct IReporterRegistry { + typedef std::map > FactoryMap; + typedef std::vector > Listeners; + + virtual ~IReporterRegistry(); + virtual IStreamingReporter* create( std::string const& name, Ptr const& config ) const = 0; + virtual FactoryMap const& getFactories() const = 0; + virtual Listeners const& getListeners() const = 0; + }; + + Ptr addReporter( Ptr const& existingReporter, Ptr const& additionalReporter ); + +} + +#include +#include + +namespace Catch { + + inline std::size_t listTests( Config const& config ) { + + TestSpec testSpec = config.testSpec(); + if( config.testSpec().hasFilters() ) + Catch::cout() << "Matching test cases:\n"; + else { + Catch::cout() << "All available test cases:\n"; + testSpec = TestSpecParser( ITagAliasRegistry::get() ).parse( "*" ).testSpec(); + } + + std::size_t matchedTests = 0; + TextAttributes nameAttr, tagsAttr; + nameAttr.setInitialIndent( 2 ).setIndent( 4 ); + tagsAttr.setIndent( 6 ); + + std::vector matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config ); + for( std::vector::const_iterator it = matchedTestCases.begin(), itEnd = matchedTestCases.end(); + it != itEnd; + ++it ) { + matchedTests++; + TestCaseInfo const& testCaseInfo = it->getTestCaseInfo(); + Colour::Code colour = testCaseInfo.isHidden() + ? Colour::SecondaryText + : Colour::None; + Colour colourGuard( colour ); + + Catch::cout() << Text( testCaseInfo.name, nameAttr ) << std::endl; + if( !testCaseInfo.tags.empty() ) + Catch::cout() << Text( testCaseInfo.tagsAsString, tagsAttr ) << std::endl; + } + + if( !config.testSpec().hasFilters() ) + Catch::cout() << pluralise( matchedTests, "test case" ) << '\n' << std::endl; + else + Catch::cout() << pluralise( matchedTests, "matching test case" ) << '\n' << std::endl; + return matchedTests; + } + + inline std::size_t listTestsNamesOnly( Config const& config ) { + TestSpec testSpec = config.testSpec(); + if( !config.testSpec().hasFilters() ) + testSpec = TestSpecParser( ITagAliasRegistry::get() ).parse( "*" ).testSpec(); + std::size_t matchedTests = 0; + std::vector matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config ); + for( std::vector::const_iterator it = matchedTestCases.begin(), itEnd = matchedTestCases.end(); + it != itEnd; + ++it ) { + matchedTests++; + TestCaseInfo const& testCaseInfo = it->getTestCaseInfo(); + if( startsWith( testCaseInfo.name, '#' ) ) + Catch::cout() << '"' << testCaseInfo.name << '"' << std::endl; + else + Catch::cout() << testCaseInfo.name << std::endl; + } + return matchedTests; + } + + struct TagInfo { + TagInfo() : count ( 0 ) {} + void add( std::string const& spelling ) { + ++count; + spellings.insert( spelling ); + } + std::string all() const { + std::string out; + for( std::set::const_iterator it = spellings.begin(), itEnd = spellings.end(); + it != itEnd; + ++it ) + out += "[" + *it + "]"; + return out; + } + std::set spellings; + std::size_t count; + }; + + inline std::size_t listTags( Config const& config ) { + TestSpec testSpec = config.testSpec(); + if( config.testSpec().hasFilters() ) + Catch::cout() << "Tags for matching test cases:\n"; + else { + Catch::cout() << "All available tags:\n"; + testSpec = TestSpecParser( ITagAliasRegistry::get() ).parse( "*" ).testSpec(); + } + + std::map tagCounts; + + std::vector matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config ); + for( std::vector::const_iterator it = matchedTestCases.begin(), itEnd = matchedTestCases.end(); + it != itEnd; + ++it ) { + for( std::set::const_iterator tagIt = it->getTestCaseInfo().tags.begin(), + tagItEnd = it->getTestCaseInfo().tags.end(); + tagIt != tagItEnd; + ++tagIt ) { + std::string tagName = *tagIt; + std::string lcaseTagName = toLower( tagName ); + std::map::iterator countIt = tagCounts.find( lcaseTagName ); + if( countIt == tagCounts.end() ) + countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first; + countIt->second.add( tagName ); + } + } + + for( std::map::const_iterator countIt = tagCounts.begin(), + countItEnd = tagCounts.end(); + countIt != countItEnd; + ++countIt ) { + std::ostringstream oss; + oss << " " << std::setw(2) << countIt->second.count << " "; + Text wrapper( countIt->second.all(), TextAttributes() + .setInitialIndent( 0 ) + .setIndent( oss.str().size() ) + .setWidth( CATCH_CONFIG_CONSOLE_WIDTH-10 ) ); + Catch::cout() << oss.str() << wrapper << '\n'; + } + Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl; + return tagCounts.size(); + } + + inline std::size_t listReporters( Config const& /*config*/ ) { + Catch::cout() << "Available reporters:\n"; + IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories(); + IReporterRegistry::FactoryMap::const_iterator itBegin = factories.begin(), itEnd = factories.end(), it; + std::size_t maxNameLen = 0; + for(it = itBegin; it != itEnd; ++it ) + maxNameLen = (std::max)( maxNameLen, it->first.size() ); + + for(it = itBegin; it != itEnd; ++it ) { + Text wrapper( it->second->getDescription(), TextAttributes() + .setInitialIndent( 0 ) + .setIndent( 7+maxNameLen ) + .setWidth( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 ) ); + Catch::cout() << " " + << it->first + << ':' + << std::string( maxNameLen - it->first.size() + 2, ' ' ) + << wrapper << '\n'; + } + Catch::cout() << std::endl; + return factories.size(); + } + + inline Option list( Config const& config ) { + Option listedCount; + if( config.listTests() ) + listedCount = listedCount.valueOr(0) + listTests( config ); + if( config.listTestNamesOnly() ) + listedCount = listedCount.valueOr(0) + listTestsNamesOnly( config ); + if( config.listTags() ) + listedCount = listedCount.valueOr(0) + listTags( config ); + if( config.listReporters() ) + listedCount = listedCount.valueOr(0) + listReporters( config ); + return listedCount; + } + +} // end namespace Catch + +// #included from: internal/catch_run_context.hpp +#define TWOBLUECUBES_CATCH_RUNNER_IMPL_HPP_INCLUDED + +// #included from: catch_test_case_tracker.hpp +#define TWOBLUECUBES_CATCH_TEST_CASE_TRACKER_HPP_INCLUDED + +#include +#include +#include +#include +#include +#include + +namespace Catch { +namespace TestCaseTracking { + + struct NameAndLocation { + std::string name; + SourceLineInfo location; + + NameAndLocation( std::string const& _name, SourceLineInfo const& _location ) + : name( _name ), + location( _location ) + {} + }; + + struct ITracker : SharedImpl<> { + virtual ~ITracker(); + + // static queries + virtual NameAndLocation const& nameAndLocation() const = 0; + + // dynamic queries + virtual bool isComplete() const = 0; // Successfully completed or failed + virtual bool isSuccessfullyCompleted() const = 0; + virtual bool isOpen() const = 0; // Started but not complete + virtual bool hasChildren() const = 0; + + virtual ITracker& parent() = 0; + + // actions + virtual void close() = 0; // Successfully complete + virtual void fail() = 0; + virtual void markAsNeedingAnotherRun() = 0; + + virtual void addChild( Ptr const& child ) = 0; + virtual ITracker* findChild( NameAndLocation const& nameAndLocation ) = 0; + virtual void openChild() = 0; + + // Debug/ checking + virtual bool isSectionTracker() const = 0; + virtual bool isIndexTracker() const = 0; + }; + + class TrackerContext { + + enum RunState { + NotStarted, + Executing, + CompletedCycle + }; + + Ptr m_rootTracker; + ITracker* m_currentTracker; + RunState m_runState; + + public: + + static TrackerContext& instance() { + static TrackerContext s_instance; + return s_instance; + } + + TrackerContext() + : m_currentTracker( CATCH_NULL ), + m_runState( NotStarted ) + {} + + ITracker& startRun(); + + void endRun() { + m_rootTracker.reset(); + m_currentTracker = CATCH_NULL; + m_runState = NotStarted; + } + + void startCycle() { + m_currentTracker = m_rootTracker.get(); + m_runState = Executing; + } + void completeCycle() { + m_runState = CompletedCycle; + } + + bool completedCycle() const { + return m_runState == CompletedCycle; + } + ITracker& currentTracker() { + return *m_currentTracker; + } + void setCurrentTracker( ITracker* tracker ) { + m_currentTracker = tracker; + } + }; + + class TrackerBase : public ITracker { + protected: + enum CycleState { + NotStarted, + Executing, + ExecutingChildren, + NeedsAnotherRun, + CompletedSuccessfully, + Failed + }; + class TrackerHasName { + NameAndLocation m_nameAndLocation; + public: + TrackerHasName( NameAndLocation const& nameAndLocation ) : m_nameAndLocation( nameAndLocation ) {} + bool operator ()( Ptr const& tracker ) { + return + tracker->nameAndLocation().name == m_nameAndLocation.name && + tracker->nameAndLocation().location == m_nameAndLocation.location; + } + }; + typedef std::vector > Children; + NameAndLocation m_nameAndLocation; + TrackerContext& m_ctx; + ITracker* m_parent; + Children m_children; + CycleState m_runState; + public: + TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent ) + : m_nameAndLocation( nameAndLocation ), + m_ctx( ctx ), + m_parent( parent ), + m_runState( NotStarted ) + {} + virtual ~TrackerBase(); + + virtual NameAndLocation const& nameAndLocation() const CATCH_OVERRIDE { + return m_nameAndLocation; + } + virtual bool isComplete() const CATCH_OVERRIDE { + return m_runState == CompletedSuccessfully || m_runState == Failed; + } + virtual bool isSuccessfullyCompleted() const CATCH_OVERRIDE { + return m_runState == CompletedSuccessfully; + } + virtual bool isOpen() const CATCH_OVERRIDE { + return m_runState != NotStarted && !isComplete(); + } + virtual bool hasChildren() const CATCH_OVERRIDE { + return !m_children.empty(); + } + + virtual void addChild( Ptr const& child ) CATCH_OVERRIDE { + m_children.push_back( child ); + } + + virtual ITracker* findChild( NameAndLocation const& nameAndLocation ) CATCH_OVERRIDE { + Children::const_iterator it = std::find_if( m_children.begin(), m_children.end(), TrackerHasName( nameAndLocation ) ); + return( it != m_children.end() ) + ? it->get() + : CATCH_NULL; + } + virtual ITracker& parent() CATCH_OVERRIDE { + assert( m_parent ); // Should always be non-null except for root + return *m_parent; + } + + virtual void openChild() CATCH_OVERRIDE { + if( m_runState != ExecutingChildren ) { + m_runState = ExecutingChildren; + if( m_parent ) + m_parent->openChild(); + } + } + + virtual bool isSectionTracker() const CATCH_OVERRIDE { return false; } + virtual bool isIndexTracker() const CATCH_OVERRIDE { return false; } + + void open() { + m_runState = Executing; + moveToThis(); + if( m_parent ) + m_parent->openChild(); + } + + virtual void close() CATCH_OVERRIDE { + + // Close any still open children (e.g. generators) + while( &m_ctx.currentTracker() != this ) + m_ctx.currentTracker().close(); + + switch( m_runState ) { + case NotStarted: + case CompletedSuccessfully: + case Failed: + throw std::logic_error( "Illogical state" ); + + case NeedsAnotherRun: + break;; + + case Executing: + m_runState = CompletedSuccessfully; + break; + case ExecutingChildren: + if( m_children.empty() || m_children.back()->isComplete() ) + m_runState = CompletedSuccessfully; + break; + + default: + throw std::logic_error( "Unexpected state" ); + } + moveToParent(); + m_ctx.completeCycle(); + } + virtual void fail() CATCH_OVERRIDE { + m_runState = Failed; + if( m_parent ) + m_parent->markAsNeedingAnotherRun(); + moveToParent(); + m_ctx.completeCycle(); + } + virtual void markAsNeedingAnotherRun() CATCH_OVERRIDE { + m_runState = NeedsAnotherRun; + } + private: + void moveToParent() { + assert( m_parent ); + m_ctx.setCurrentTracker( m_parent ); + } + void moveToThis() { + m_ctx.setCurrentTracker( this ); + } + }; + + class SectionTracker : public TrackerBase { + std::vector m_filters; + public: + SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent ) + : TrackerBase( nameAndLocation, ctx, parent ) + { + if( parent ) { + while( !parent->isSectionTracker() ) + parent = &parent->parent(); + + SectionTracker& parentSection = static_cast( *parent ); + addNextFilters( parentSection.m_filters ); + } + } + virtual ~SectionTracker(); + + virtual bool isSectionTracker() const CATCH_OVERRIDE { return true; } + + static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) { + SectionTracker* section = CATCH_NULL; + + ITracker& currentTracker = ctx.currentTracker(); + if( ITracker* childTracker = currentTracker.findChild( nameAndLocation ) ) { + assert( childTracker ); + assert( childTracker->isSectionTracker() ); + section = static_cast( childTracker ); + } + else { + section = new SectionTracker( nameAndLocation, ctx, ¤tTracker ); + currentTracker.addChild( section ); + } + if( !ctx.completedCycle() ) + section->tryOpen(); + return *section; + } + + void tryOpen() { + if( !isComplete() && (m_filters.empty() || m_filters[0].empty() || m_filters[0] == m_nameAndLocation.name ) ) + open(); + } + + void addInitialFilters( std::vector const& filters ) { + if( !filters.empty() ) { + m_filters.push_back(""); // Root - should never be consulted + m_filters.push_back(""); // Test Case - not a section filter + std::copy( filters.begin(), filters.end(), std::back_inserter( m_filters ) ); + } + } + void addNextFilters( std::vector const& filters ) { + if( filters.size() > 1 ) + std::copy( filters.begin()+1, filters.end(), std::back_inserter( m_filters ) ); + } + }; + + class IndexTracker : public TrackerBase { + int m_size; + int m_index; + public: + IndexTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent, int size ) + : TrackerBase( nameAndLocation, ctx, parent ), + m_size( size ), + m_index( -1 ) + {} + virtual ~IndexTracker(); + + virtual bool isIndexTracker() const CATCH_OVERRIDE { return true; } + + static IndexTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation, int size ) { + IndexTracker* tracker = CATCH_NULL; + + ITracker& currentTracker = ctx.currentTracker(); + if( ITracker* childTracker = currentTracker.findChild( nameAndLocation ) ) { + assert( childTracker ); + assert( childTracker->isIndexTracker() ); + tracker = static_cast( childTracker ); + } + else { + tracker = new IndexTracker( nameAndLocation, ctx, ¤tTracker, size ); + currentTracker.addChild( tracker ); + } + + if( !ctx.completedCycle() && !tracker->isComplete() ) { + if( tracker->m_runState != ExecutingChildren && tracker->m_runState != NeedsAnotherRun ) + tracker->moveNext(); + tracker->open(); + } + + return *tracker; + } + + int index() const { return m_index; } + + void moveNext() { + m_index++; + m_children.clear(); + } + + virtual void close() CATCH_OVERRIDE { + TrackerBase::close(); + if( m_runState == CompletedSuccessfully && m_index < m_size-1 ) + m_runState = Executing; + } + }; + + inline ITracker& TrackerContext::startRun() { + m_rootTracker = new SectionTracker( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, CATCH_NULL ); + m_currentTracker = CATCH_NULL; + m_runState = Executing; + return *m_rootTracker; + } + +} // namespace TestCaseTracking + +using TestCaseTracking::ITracker; +using TestCaseTracking::TrackerContext; +using TestCaseTracking::SectionTracker; +using TestCaseTracking::IndexTracker; + +} // namespace Catch + +// #included from: catch_fatal_condition.hpp +#define TWOBLUECUBES_CATCH_FATAL_CONDITION_H_INCLUDED + +namespace Catch { + + // Report the error condition + inline void reportFatal( std::string const& message ) { + IContext& context = Catch::getCurrentContext(); + IResultCapture* resultCapture = context.getResultCapture(); + resultCapture->handleFatalErrorCondition( message ); + } + +} // namespace Catch + +#if defined ( CATCH_PLATFORM_WINDOWS ) ///////////////////////////////////////// +// #included from: catch_windows_h_proxy.h + +#define TWOBLUECUBES_CATCH_WINDOWS_H_PROXY_H_INCLUDED + +#ifdef CATCH_DEFINES_NOMINMAX +# define NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN +#endif + +#ifdef __AFXDLL +#include +#else +#include +#endif + +#ifdef CATCH_DEFINES_NOMINMAX +# undef NOMINMAX +#endif +#ifdef CATCH_DEFINES_WIN32_LEAN_AND_MEAN +# undef WIN32_LEAN_AND_MEAN +#endif + + +# if !defined ( CATCH_CONFIG_WINDOWS_SEH ) + +namespace Catch { + struct FatalConditionHandler { + void reset() {} + }; +} + +# else // CATCH_CONFIG_WINDOWS_SEH is defined + +namespace Catch { + + struct SignalDefs { DWORD id; const char* name; }; + extern SignalDefs signalDefs[]; + // There is no 1-1 mapping between signals and windows exceptions. + // Windows can easily distinguish between SO and SigSegV, + // but SigInt, SigTerm, etc are handled differently. + SignalDefs signalDefs[] = { + { EXCEPTION_ILLEGAL_INSTRUCTION, "SIGILL - Illegal instruction signal" }, + { EXCEPTION_STACK_OVERFLOW, "SIGSEGV - Stack overflow" }, + { EXCEPTION_ACCESS_VIOLATION, "SIGSEGV - Segmentation violation signal" }, + { EXCEPTION_INT_DIVIDE_BY_ZERO, "Divide by zero error" }, + }; + + struct FatalConditionHandler { + + static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) { + for (int i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + if (ExceptionInfo->ExceptionRecord->ExceptionCode == signalDefs[i].id) { + reset(); + reportFatal(signalDefs[i].name); + } + } + // If its not an exception we care about, pass it along. + // This stops us from eating debugger breaks etc. + return EXCEPTION_CONTINUE_SEARCH; + } + + FatalConditionHandler() { + isSet = true; + // 32k seems enough for Catch to handle stack overflow, + // but the value was found experimentally, so there is no strong guarantee + guaranteeSize = 32 * 1024; + exceptionHandlerHandle = CATCH_NULL; + // Register as first handler in current chain + exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException); + // Pass in guarantee size to be filled + SetThreadStackGuarantee(&guaranteeSize); + } + + static void reset() { + if (isSet) { + // Unregister handler and restore the old guarantee + RemoveVectoredExceptionHandler(exceptionHandlerHandle); + SetThreadStackGuarantee(&guaranteeSize); + exceptionHandlerHandle = CATCH_NULL; + isSet = false; + } + } + + ~FatalConditionHandler() { + reset(); + } + private: + static bool isSet; + static ULONG guaranteeSize; + static PVOID exceptionHandlerHandle; + }; + + bool FatalConditionHandler::isSet = false; + ULONG FatalConditionHandler::guaranteeSize = 0; + PVOID FatalConditionHandler::exceptionHandlerHandle = CATCH_NULL; + +} // namespace Catch + +# endif // CATCH_CONFIG_WINDOWS_SEH + +#else // Not Windows - assumed to be POSIX compatible ////////////////////////// + +#include + +namespace Catch { + + struct SignalDefs { + int id; + const char* name; + }; + extern SignalDefs signalDefs[]; + SignalDefs signalDefs[] = { + { SIGINT, "SIGINT - Terminal interrupt signal" }, + { SIGILL, "SIGILL - Illegal instruction signal" }, + { SIGFPE, "SIGFPE - Floating point error signal" }, + { SIGSEGV, "SIGSEGV - Segmentation violation signal" }, + { SIGTERM, "SIGTERM - Termination request signal" }, + { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" } + }; + + struct FatalConditionHandler { + + static bool isSet; + static struct sigaction oldSigActions [sizeof(signalDefs)/sizeof(SignalDefs)]; + static stack_t oldSigStack; + static char altStackMem[SIGSTKSZ]; + + static void handleSignal( int sig ) { + std::string name = ""; + for (std::size_t i = 0; i < sizeof(signalDefs) / sizeof(SignalDefs); ++i) { + SignalDefs &def = signalDefs[i]; + if (sig == def.id) { + name = def.name; + break; + } + } + reset(); + reportFatal(name); + raise( sig ); + } + + FatalConditionHandler() { + isSet = true; + stack_t sigStack; + sigStack.ss_sp = altStackMem; + sigStack.ss_size = SIGSTKSZ; + sigStack.ss_flags = 0; + sigaltstack(&sigStack, &oldSigStack); + struct sigaction sa = { 0 }; + + sa.sa_handler = handleSignal; + sa.sa_flags = SA_ONSTACK; + for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) { + sigaction(signalDefs[i].id, &sa, &oldSigActions[i]); + } + } + + ~FatalConditionHandler() { + reset(); + } + static void reset() { + if( isSet ) { + // Set signals back to previous values -- hopefully nobody overwrote them in the meantime + for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) { + sigaction(signalDefs[i].id, &oldSigActions[i], CATCH_NULL); + } + // Return the old stack + sigaltstack(&oldSigStack, CATCH_NULL); + isSet = false; + } + } + }; + + bool FatalConditionHandler::isSet = false; + struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {}; + stack_t FatalConditionHandler::oldSigStack = {}; + char FatalConditionHandler::altStackMem[SIGSTKSZ] = {}; + +} // namespace Catch + +#endif // not Windows + +#include +#include + +namespace Catch { + + class StreamRedirect { + + public: + StreamRedirect( std::ostream& stream, std::string& targetString ) + : m_stream( stream ), + m_prevBuf( stream.rdbuf() ), + m_targetString( targetString ) + { + stream.rdbuf( m_oss.rdbuf() ); + } + + ~StreamRedirect() { + m_targetString += m_oss.str(); + m_stream.rdbuf( m_prevBuf ); + } + + private: + std::ostream& m_stream; + std::streambuf* m_prevBuf; + std::ostringstream m_oss; + std::string& m_targetString; + }; + + /////////////////////////////////////////////////////////////////////////// + + class RunContext : public IResultCapture, public IRunner { + + RunContext( RunContext const& ); + void operator =( RunContext const& ); + + public: + + explicit RunContext( Ptr const& _config, Ptr const& reporter ) + : m_runInfo( _config->name() ), + m_context( getCurrentMutableContext() ), + m_activeTestCase( CATCH_NULL ), + m_config( _config ), + m_reporter( reporter ) + { + m_context.setRunner( this ); + m_context.setConfig( m_config ); + m_context.setResultCapture( this ); + m_reporter->testRunStarting( m_runInfo ); + } + + virtual ~RunContext() { + m_reporter->testRunEnded( TestRunStats( m_runInfo, m_totals, aborting() ) ); + } + + void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount ) { + m_reporter->testGroupStarting( GroupInfo( testSpec, groupIndex, groupsCount ) ); + } + void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount ) { + m_reporter->testGroupEnded( TestGroupStats( GroupInfo( testSpec, groupIndex, groupsCount ), totals, aborting() ) ); + } + + Totals runTest( TestCase const& testCase ) { + Totals prevTotals = m_totals; + + std::string redirectedCout; + std::string redirectedCerr; + + TestCaseInfo testInfo = testCase.getTestCaseInfo(); + + m_reporter->testCaseStarting( testInfo ); + + m_activeTestCase = &testCase; + + do { + ITracker& rootTracker = m_trackerContext.startRun(); + assert( rootTracker.isSectionTracker() ); + static_cast( rootTracker ).addInitialFilters( m_config->getSectionsToRun() ); + do { + m_trackerContext.startCycle(); + m_testCaseTracker = &SectionTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( testInfo.name, testInfo.lineInfo ) ); + runCurrentTest( redirectedCout, redirectedCerr ); + } + while( !m_testCaseTracker->isSuccessfullyCompleted() && !aborting() ); + } + // !TBD: deprecated - this will be replaced by indexed trackers + while( getCurrentContext().advanceGeneratorsForCurrentTest() && !aborting() ); + + Totals deltaTotals = m_totals.delta( prevTotals ); + if( testInfo.expectedToFail() && deltaTotals.testCases.passed > 0 ) { + deltaTotals.assertions.failed++; + deltaTotals.testCases.passed--; + deltaTotals.testCases.failed++; + } + m_totals.testCases += deltaTotals.testCases; + m_reporter->testCaseEnded( TestCaseStats( testInfo, + deltaTotals, + redirectedCout, + redirectedCerr, + aborting() ) ); + + m_activeTestCase = CATCH_NULL; + m_testCaseTracker = CATCH_NULL; + + return deltaTotals; + } + + Ptr config() const { + return m_config; + } + + private: // IResultCapture + + virtual void assertionEnded( AssertionResult const& result ) { + if( result.getResultType() == ResultWas::Ok ) { + m_totals.assertions.passed++; + } + else if( !result.isOk() ) { + m_totals.assertions.failed++; + } + + if( m_reporter->assertionEnded( AssertionStats( result, m_messages, m_totals ) ) ) + m_messages.clear(); + + // Reset working state + m_lastAssertionInfo = AssertionInfo( std::string(), m_lastAssertionInfo.lineInfo, "{Unknown expression after the reported line}" , m_lastAssertionInfo.resultDisposition ); + m_lastResult = result; + } + + virtual bool sectionStarted ( + SectionInfo const& sectionInfo, + Counts& assertions + ) + { + ITracker& sectionTracker = SectionTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( sectionInfo.name, sectionInfo.lineInfo ) ); + if( !sectionTracker.isOpen() ) + return false; + m_activeSections.push_back( §ionTracker ); + + m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo; + + m_reporter->sectionStarting( sectionInfo ); + + assertions = m_totals.assertions; + + return true; + } + bool testForMissingAssertions( Counts& assertions ) { + if( assertions.total() != 0 ) + return false; + if( !m_config->warnAboutMissingAssertions() ) + return false; + if( m_trackerContext.currentTracker().hasChildren() ) + return false; + m_totals.assertions.failed++; + assertions.failed++; + return true; + } + + virtual void sectionEnded( SectionEndInfo const& endInfo ) { + Counts assertions = m_totals.assertions - endInfo.prevAssertions; + bool missingAssertions = testForMissingAssertions( assertions ); + + if( !m_activeSections.empty() ) { + m_activeSections.back()->close(); + m_activeSections.pop_back(); + } + + m_reporter->sectionEnded( SectionStats( endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions ) ); + m_messages.clear(); + } + + virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) { + if( m_unfinishedSections.empty() ) + m_activeSections.back()->fail(); + else + m_activeSections.back()->close(); + m_activeSections.pop_back(); + + m_unfinishedSections.push_back( endInfo ); + } + + virtual void pushScopedMessage( MessageInfo const& message ) { + m_messages.push_back( message ); + } + + virtual void popScopedMessage( MessageInfo const& message ) { + m_messages.erase( std::remove( m_messages.begin(), m_messages.end(), message ), m_messages.end() ); + } + + virtual std::string getCurrentTestName() const { + return m_activeTestCase + ? m_activeTestCase->getTestCaseInfo().name + : std::string(); + } + + virtual const AssertionResult* getLastResult() const { + return &m_lastResult; + } + + virtual void handleFatalErrorCondition( std::string const& message ) { + ResultBuilder resultBuilder = makeUnexpectedResultBuilder(); + resultBuilder.setResultType( ResultWas::FatalErrorCondition ); + resultBuilder << message; + resultBuilder.captureExpression(); + + handleUnfinishedSections(); + + // Recreate section for test case (as we will lose the one that was in scope) + TestCaseInfo const& testCaseInfo = m_activeTestCase->getTestCaseInfo(); + SectionInfo testCaseSection( testCaseInfo.lineInfo, testCaseInfo.name, testCaseInfo.description ); + + Counts assertions; + assertions.failed = 1; + SectionStats testCaseSectionStats( testCaseSection, assertions, 0, false ); + m_reporter->sectionEnded( testCaseSectionStats ); + + TestCaseInfo testInfo = m_activeTestCase->getTestCaseInfo(); + + Totals deltaTotals; + deltaTotals.testCases.failed = 1; + m_reporter->testCaseEnded( TestCaseStats( testInfo, + deltaTotals, + std::string(), + std::string(), + false ) ); + m_totals.testCases.failed++; + testGroupEnded( std::string(), m_totals, 1, 1 ); + m_reporter->testRunEnded( TestRunStats( m_runInfo, m_totals, false ) ); + } + + public: + // !TBD We need to do this another way! + bool aborting() const { + return m_totals.assertions.failed == static_cast( m_config->abortAfter() ); + } + + private: + + void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr ) { + TestCaseInfo const& testCaseInfo = m_activeTestCase->getTestCaseInfo(); + SectionInfo testCaseSection( testCaseInfo.lineInfo, testCaseInfo.name, testCaseInfo.description ); + m_reporter->sectionStarting( testCaseSection ); + Counts prevAssertions = m_totals.assertions; + double duration = 0; + try { + m_lastAssertionInfo = AssertionInfo( "TEST_CASE", testCaseInfo.lineInfo, std::string(), ResultDisposition::Normal ); + + seedRng( *m_config ); + + Timer timer; + timer.start(); + if( m_reporter->getPreferences().shouldRedirectStdOut ) { + StreamRedirect coutRedir( Catch::cout(), redirectedCout ); + StreamRedirect cerrRedir( Catch::cerr(), redirectedCerr ); + invokeActiveTestCase(); + } + else { + invokeActiveTestCase(); + } + duration = timer.getElapsedSeconds(); + } + catch( TestFailureException& ) { + // This just means the test was aborted due to failure + } + catch(...) { + makeUnexpectedResultBuilder().useActiveException(); + } + m_testCaseTracker->close(); + handleUnfinishedSections(); + m_messages.clear(); + + Counts assertions = m_totals.assertions - prevAssertions; + bool missingAssertions = testForMissingAssertions( assertions ); + + if( testCaseInfo.okToFail() ) { + std::swap( assertions.failedButOk, assertions.failed ); + m_totals.assertions.failed -= assertions.failedButOk; + m_totals.assertions.failedButOk += assertions.failedButOk; + } + + SectionStats testCaseSectionStats( testCaseSection, assertions, duration, missingAssertions ); + m_reporter->sectionEnded( testCaseSectionStats ); + } + + void invokeActiveTestCase() { + FatalConditionHandler fatalConditionHandler; // Handle signals + m_activeTestCase->invoke(); + fatalConditionHandler.reset(); + } + + private: + + ResultBuilder makeUnexpectedResultBuilder() const { + return ResultBuilder( m_lastAssertionInfo.macroName.c_str(), + m_lastAssertionInfo.lineInfo, + m_lastAssertionInfo.capturedExpression.c_str(), + m_lastAssertionInfo.resultDisposition ); + } + + void handleUnfinishedSections() { + // If sections ended prematurely due to an exception we stored their + // infos here so we can tear them down outside the unwind process. + for( std::vector::const_reverse_iterator it = m_unfinishedSections.rbegin(), + itEnd = m_unfinishedSections.rend(); + it != itEnd; + ++it ) + sectionEnded( *it ); + m_unfinishedSections.clear(); + } + + TestRunInfo m_runInfo; + IMutableContext& m_context; + TestCase const* m_activeTestCase; + ITracker* m_testCaseTracker; + ITracker* m_currentSectionTracker; + AssertionResult m_lastResult; + + Ptr m_config; + Totals m_totals; + Ptr m_reporter; + std::vector m_messages; + AssertionInfo m_lastAssertionInfo; + std::vector m_unfinishedSections; + std::vector m_activeSections; + TrackerContext m_trackerContext; + }; + + IResultCapture& getResultCapture() { + if( IResultCapture* capture = getCurrentContext().getResultCapture() ) + return *capture; + else + throw std::logic_error( "No result capture instance" ); + } + +} // end namespace Catch + +// #included from: internal/catch_version.h +#define TWOBLUECUBES_CATCH_VERSION_H_INCLUDED + +namespace Catch { + + // Versioning information + struct Version { + Version( unsigned int _majorVersion, + unsigned int _minorVersion, + unsigned int _patchNumber, + std::string const& _branchName, + unsigned int _buildNumber ); + + unsigned int const majorVersion; + unsigned int const minorVersion; + unsigned int const patchNumber; + + // buildNumber is only used if branchName is not null + std::string const branchName; + unsigned int const buildNumber; + + friend std::ostream& operator << ( std::ostream& os, Version const& version ); + + private: + void operator=( Version const& ); + }; + + extern Version libraryVersion; +} + +#include +#include +#include + +namespace Catch { + + Ptr createReporter( std::string const& reporterName, Ptr const& config ) { + Ptr reporter = getRegistryHub().getReporterRegistry().create( reporterName, config.get() ); + if( !reporter ) { + std::ostringstream oss; + oss << "No reporter registered with name: '" << reporterName << "'"; + throw std::domain_error( oss.str() ); + } + return reporter; + } + + Ptr makeReporter( Ptr const& config ) { + std::vector reporters = config->getReporterNames(); + if( reporters.empty() ) + reporters.push_back( "console" ); + + Ptr reporter; + for( std::vector::const_iterator it = reporters.begin(), itEnd = reporters.end(); + it != itEnd; + ++it ) + reporter = addReporter( reporter, createReporter( *it, config ) ); + return reporter; + } + Ptr addListeners( Ptr const& config, Ptr reporters ) { + IReporterRegistry::Listeners listeners = getRegistryHub().getReporterRegistry().getListeners(); + for( IReporterRegistry::Listeners::const_iterator it = listeners.begin(), itEnd = listeners.end(); + it != itEnd; + ++it ) + reporters = addReporter(reporters, (*it)->create( ReporterConfig( config ) ) ); + return reporters; + } + + Totals runTests( Ptr const& config ) { + + Ptr iconfig = config.get(); + + Ptr reporter = makeReporter( config ); + reporter = addListeners( iconfig, reporter ); + + RunContext context( iconfig, reporter ); + + Totals totals; + + context.testGroupStarting( config->name(), 1, 1 ); + + TestSpec testSpec = config->testSpec(); + if( !testSpec.hasFilters() ) + testSpec = TestSpecParser( ITagAliasRegistry::get() ).parse( "~[.]" ).testSpec(); // All not hidden tests + + std::vector const& allTestCases = getAllTestCasesSorted( *iconfig ); + for( std::vector::const_iterator it = allTestCases.begin(), itEnd = allTestCases.end(); + it != itEnd; + ++it ) { + if( !context.aborting() && matchTest( *it, testSpec, *iconfig ) ) + totals += context.runTest( *it ); + else + reporter->skipTest( *it ); + } + + context.testGroupEnded( iconfig->name(), totals, 1, 1 ); + return totals; + } + + void applyFilenamesAsTags( IConfig const& config ) { + std::vector const& tests = getAllTestCasesSorted( config ); + for(std::size_t i = 0; i < tests.size(); ++i ) { + TestCase& test = const_cast( tests[i] ); + std::set tags = test.tags; + + std::string filename = test.lineInfo.file; + std::string::size_type lastSlash = filename.find_last_of( "\\/" ); + if( lastSlash != std::string::npos ) + filename = filename.substr( lastSlash+1 ); + + std::string::size_type lastDot = filename.find_last_of( "." ); + if( lastDot != std::string::npos ) + filename = filename.substr( 0, lastDot ); + + tags.insert( "#" + filename ); + setTags( test, tags ); + } + } + + class Session : NonCopyable { + static bool alreadyInstantiated; + + public: + + struct OnUnusedOptions { enum DoWhat { Ignore, Fail }; }; + + Session() + : m_cli( makeCommandLineParser() ) { + if( alreadyInstantiated ) { + std::string msg = "Only one instance of Catch::Session can ever be used"; + Catch::cerr() << msg << std::endl; + throw std::logic_error( msg ); + } + alreadyInstantiated = true; + } + ~Session() { + Catch::cleanUp(); + } + + void showHelp( std::string const& processName ) { + Catch::cout() << "\nCatch v" << libraryVersion << "\n"; + + m_cli.usage( Catch::cout(), processName ); + Catch::cout() << "For more detail usage please see the project docs\n" << std::endl; + } + + int applyCommandLine( int argc, char const* const* const argv, OnUnusedOptions::DoWhat unusedOptionBehaviour = OnUnusedOptions::Fail ) { + try { + m_cli.setThrowOnUnrecognisedTokens( unusedOptionBehaviour == OnUnusedOptions::Fail ); + m_unusedTokens = m_cli.parseInto( Clara::argsToVector( argc, argv ), m_configData ); + if( m_configData.showHelp ) + showHelp( m_configData.processName ); + m_config.reset(); + } + catch( std::exception& ex ) { + { + Colour colourGuard( Colour::Red ); + Catch::cerr() + << "\nError(s) in input:\n" + << Text( ex.what(), TextAttributes().setIndent(2) ) + << "\n\n"; + } + m_cli.usage( Catch::cout(), m_configData.processName ); + return (std::numeric_limits::max)(); + } + return 0; + } + + void useConfigData( ConfigData const& _configData ) { + m_configData = _configData; + m_config.reset(); + } + + int run( int argc, char const* const* const argv ) { + + int returnCode = applyCommandLine( argc, argv ); + if( returnCode == 0 ) + returnCode = run(); + return returnCode; + } + + int run() { + if( m_configData.showHelp ) + return 0; + + try + { + config(); // Force config to be constructed + + seedRng( *m_config ); + + if( m_configData.filenamesAsTags ) + applyFilenamesAsTags( *m_config ); + + // Handle list request + if( Option listed = list( config() ) ) + return static_cast( *listed ); + + return static_cast( runTests( m_config ).assertions.failed ); + } + catch( std::exception& ex ) { + Catch::cerr() << ex.what() << std::endl; + return (std::numeric_limits::max)(); + } + } + + Clara::CommandLine const& cli() const { + return m_cli; + } + std::vector const& unusedTokens() const { + return m_unusedTokens; + } + ConfigData& configData() { + return m_configData; + } + Config& config() { + if( !m_config ) + m_config = new Config( m_configData ); + return *m_config; + } + private: + Clara::CommandLine m_cli; + std::vector m_unusedTokens; + ConfigData m_configData; + Ptr m_config; + }; + + bool Session::alreadyInstantiated = false; + +} // end namespace Catch + +// #included from: catch_registry_hub.hpp +#define TWOBLUECUBES_CATCH_REGISTRY_HUB_HPP_INCLUDED + +// #included from: catch_test_case_registry_impl.hpp +#define TWOBLUECUBES_CATCH_TEST_CASE_REGISTRY_IMPL_HPP_INCLUDED + +#include +#include +#include +#include + +namespace Catch { + + struct RandomNumberGenerator { + typedef std::ptrdiff_t result_type; + + result_type operator()( result_type n ) const { return std::rand() % n; } + +#ifdef CATCH_CONFIG_CPP11_SHUFFLE + static constexpr result_type min() { return 0; } + static constexpr result_type max() { return 1000000; } + result_type operator()() const { return std::rand() % max(); } +#endif + template + static void shuffle( V& vector ) { + RandomNumberGenerator rng; +#ifdef CATCH_CONFIG_CPP11_SHUFFLE + std::shuffle( vector.begin(), vector.end(), rng ); +#else + std::random_shuffle( vector.begin(), vector.end(), rng ); +#endif + } + }; + + inline std::vector sortTests( IConfig const& config, std::vector const& unsortedTestCases ) { + + std::vector sorted = unsortedTestCases; + + switch( config.runOrder() ) { + case RunTests::InLexicographicalOrder: + std::sort( sorted.begin(), sorted.end() ); + break; + case RunTests::InRandomOrder: + { + seedRng( config ); + RandomNumberGenerator::shuffle( sorted ); + } + break; + case RunTests::InDeclarationOrder: + // already in declaration order + break; + } + return sorted; + } + bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) { + return testSpec.matches( testCase ) && ( config.allowThrows() || !testCase.throws() ); + } + + void enforceNoDuplicateTestCases( std::vector const& functions ) { + std::set seenFunctions; + for( std::vector::const_iterator it = functions.begin(), itEnd = functions.end(); + it != itEnd; + ++it ) { + std::pair::const_iterator, bool> prev = seenFunctions.insert( *it ); + if( !prev.second ) { + std::ostringstream ss; + + ss << Colour( Colour::Red ) + << "error: TEST_CASE( \"" << it->name << "\" ) already defined.\n" + << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << '\n' + << "\tRedefined at " << it->getTestCaseInfo().lineInfo << std::endl; + + throw std::runtime_error(ss.str()); + } + } + } + + std::vector filterTests( std::vector const& testCases, TestSpec const& testSpec, IConfig const& config ) { + std::vector filtered; + filtered.reserve( testCases.size() ); + for( std::vector::const_iterator it = testCases.begin(), itEnd = testCases.end(); + it != itEnd; + ++it ) + if( matchTest( *it, testSpec, config ) ) + filtered.push_back( *it ); + return filtered; + } + std::vector const& getAllTestCasesSorted( IConfig const& config ) { + return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config ); + } + + class TestRegistry : public ITestCaseRegistry { + public: + TestRegistry() + : m_currentSortOrder( RunTests::InDeclarationOrder ), + m_unnamedCount( 0 ) + {} + virtual ~TestRegistry(); + + virtual void registerTest( TestCase const& testCase ) { + std::string name = testCase.getTestCaseInfo().name; + if( name.empty() ) { + std::ostringstream oss; + oss << "Anonymous test case " << ++m_unnamedCount; + return registerTest( testCase.withName( oss.str() ) ); + } + m_functions.push_back( testCase ); + } + + virtual std::vector const& getAllTests() const { + return m_functions; + } + virtual std::vector const& getAllTestsSorted( IConfig const& config ) const { + if( m_sortedFunctions.empty() ) + enforceNoDuplicateTestCases( m_functions ); + + if( m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) { + m_sortedFunctions = sortTests( config, m_functions ); + m_currentSortOrder = config.runOrder(); + } + return m_sortedFunctions; + } + + private: + std::vector m_functions; + mutable RunTests::InWhatOrder m_currentSortOrder; + mutable std::vector m_sortedFunctions; + size_t m_unnamedCount; + std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised + }; + + /////////////////////////////////////////////////////////////////////////// + + class FreeFunctionTestCase : public SharedImpl { + public: + + FreeFunctionTestCase( TestFunction fun ) : m_fun( fun ) {} + + virtual void invoke() const { + m_fun(); + } + + private: + virtual ~FreeFunctionTestCase(); + + TestFunction m_fun; + }; + + inline std::string extractClassName( std::string const& classOrQualifiedMethodName ) { + std::string className = classOrQualifiedMethodName; + if( startsWith( className, '&' ) ) + { + std::size_t lastColons = className.rfind( "::" ); + std::size_t penultimateColons = className.rfind( "::", lastColons-1 ); + if( penultimateColons == std::string::npos ) + penultimateColons = 1; + className = className.substr( penultimateColons, lastColons-penultimateColons ); + } + return className; + } + + void registerTestCase + ( ITestCase* testCase, + char const* classOrQualifiedMethodName, + NameAndDesc const& nameAndDesc, + SourceLineInfo const& lineInfo ) { + + getMutableRegistryHub().registerTest + ( makeTestCase + ( testCase, + extractClassName( classOrQualifiedMethodName ), + nameAndDesc.name, + nameAndDesc.description, + lineInfo ) ); + } + void registerTestCaseFunction + ( TestFunction function, + SourceLineInfo const& lineInfo, + NameAndDesc const& nameAndDesc ) { + registerTestCase( new FreeFunctionTestCase( function ), "", nameAndDesc, lineInfo ); + } + + /////////////////////////////////////////////////////////////////////////// + + AutoReg::AutoReg + ( TestFunction function, + SourceLineInfo const& lineInfo, + NameAndDesc const& nameAndDesc ) { + registerTestCaseFunction( function, lineInfo, nameAndDesc ); + } + + AutoReg::~AutoReg() {} + +} // end namespace Catch + +// #included from: catch_reporter_registry.hpp +#define TWOBLUECUBES_CATCH_REPORTER_REGISTRY_HPP_INCLUDED + +#include + +namespace Catch { + + class ReporterRegistry : public IReporterRegistry { + + public: + + virtual ~ReporterRegistry() CATCH_OVERRIDE {} + + virtual IStreamingReporter* create( std::string const& name, Ptr const& config ) const CATCH_OVERRIDE { + FactoryMap::const_iterator it = m_factories.find( name ); + if( it == m_factories.end() ) + return CATCH_NULL; + return it->second->create( ReporterConfig( config ) ); + } + + void registerReporter( std::string const& name, Ptr const& factory ) { + m_factories.insert( std::make_pair( name, factory ) ); + } + void registerListener( Ptr const& factory ) { + m_listeners.push_back( factory ); + } + + virtual FactoryMap const& getFactories() const CATCH_OVERRIDE { + return m_factories; + } + virtual Listeners const& getListeners() const CATCH_OVERRIDE { + return m_listeners; + } + + private: + FactoryMap m_factories; + Listeners m_listeners; + }; +} + +// #included from: catch_exception_translator_registry.hpp +#define TWOBLUECUBES_CATCH_EXCEPTION_TRANSLATOR_REGISTRY_HPP_INCLUDED + +#ifdef __OBJC__ +#import "Foundation/Foundation.h" +#endif + +namespace Catch { + + class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry { + public: + ~ExceptionTranslatorRegistry() { + deleteAll( m_translators ); + } + + virtual void registerTranslator( const IExceptionTranslator* translator ) { + m_translators.push_back( translator ); + } + + virtual std::string translateActiveException() const { + try { +#ifdef __OBJC__ + // In Objective-C try objective-c exceptions first + @try { + return tryTranslators(); + } + @catch (NSException *exception) { + return Catch::toString( [exception description] ); + } +#else + return tryTranslators(); +#endif + } + catch( TestFailureException& ) { + throw; + } + catch( std::exception& ex ) { + return ex.what(); + } + catch( std::string& msg ) { + return msg; + } + catch( const char* msg ) { + return msg; + } + catch(...) { + return "Unknown exception"; + } + } + + std::string tryTranslators() const { + if( m_translators.empty() ) + throw; + else + return m_translators[0]->translate( m_translators.begin()+1, m_translators.end() ); + } + + private: + std::vector m_translators; + }; +} + +namespace Catch { + + namespace { + + class RegistryHub : public IRegistryHub, public IMutableRegistryHub { + + RegistryHub( RegistryHub const& ); + void operator=( RegistryHub const& ); + + public: // IRegistryHub + RegistryHub() { + } + virtual IReporterRegistry const& getReporterRegistry() const CATCH_OVERRIDE { + return m_reporterRegistry; + } + virtual ITestCaseRegistry const& getTestCaseRegistry() const CATCH_OVERRIDE { + return m_testCaseRegistry; + } + virtual IExceptionTranslatorRegistry& getExceptionTranslatorRegistry() CATCH_OVERRIDE { + return m_exceptionTranslatorRegistry; + } + + public: // IMutableRegistryHub + virtual void registerReporter( std::string const& name, Ptr const& factory ) CATCH_OVERRIDE { + m_reporterRegistry.registerReporter( name, factory ); + } + virtual void registerListener( Ptr const& factory ) CATCH_OVERRIDE { + m_reporterRegistry.registerListener( factory ); + } + virtual void registerTest( TestCase const& testInfo ) CATCH_OVERRIDE { + m_testCaseRegistry.registerTest( testInfo ); + } + virtual void registerTranslator( const IExceptionTranslator* translator ) CATCH_OVERRIDE { + m_exceptionTranslatorRegistry.registerTranslator( translator ); + } + + private: + TestRegistry m_testCaseRegistry; + ReporterRegistry m_reporterRegistry; + ExceptionTranslatorRegistry m_exceptionTranslatorRegistry; + }; + + // Single, global, instance + inline RegistryHub*& getTheRegistryHub() { + static RegistryHub* theRegistryHub = CATCH_NULL; + if( !theRegistryHub ) + theRegistryHub = new RegistryHub(); + return theRegistryHub; + } + } + + IRegistryHub& getRegistryHub() { + return *getTheRegistryHub(); + } + IMutableRegistryHub& getMutableRegistryHub() { + return *getTheRegistryHub(); + } + void cleanUp() { + delete getTheRegistryHub(); + getTheRegistryHub() = CATCH_NULL; + cleanUpContext(); + } + std::string translateActiveException() { + return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException(); + } + +} // end namespace Catch + +// #included from: catch_notimplemented_exception.hpp +#define TWOBLUECUBES_CATCH_NOTIMPLEMENTED_EXCEPTION_HPP_INCLUDED + +#include + +namespace Catch { + + NotImplementedException::NotImplementedException( SourceLineInfo const& lineInfo ) + : m_lineInfo( lineInfo ) { + std::ostringstream oss; + oss << lineInfo << ": function "; + oss << "not implemented"; + m_what = oss.str(); + } + + const char* NotImplementedException::what() const CATCH_NOEXCEPT { + return m_what.c_str(); + } + +} // end namespace Catch + +// #included from: catch_context_impl.hpp +#define TWOBLUECUBES_CATCH_CONTEXT_IMPL_HPP_INCLUDED + +// #included from: catch_stream.hpp +#define TWOBLUECUBES_CATCH_STREAM_HPP_INCLUDED + +#include +#include +#include + +namespace Catch { + + template + class StreamBufImpl : public StreamBufBase { + char data[bufferSize]; + WriterF m_writer; + + public: + StreamBufImpl() { + setp( data, data + sizeof(data) ); + } + + ~StreamBufImpl() CATCH_NOEXCEPT { + sync(); + } + + private: + int overflow( int c ) { + sync(); + + if( c != EOF ) { + if( pbase() == epptr() ) + m_writer( std::string( 1, static_cast( c ) ) ); + else + sputc( static_cast( c ) ); + } + return 0; + } + + int sync() { + if( pbase() != pptr() ) { + m_writer( std::string( pbase(), static_cast( pptr() - pbase() ) ) ); + setp( pbase(), epptr() ); + } + return 0; + } + }; + + /////////////////////////////////////////////////////////////////////////// + + FileStream::FileStream( std::string const& filename ) { + m_ofs.open( filename.c_str() ); + if( m_ofs.fail() ) { + std::ostringstream oss; + oss << "Unable to open file: '" << filename << '\''; + throw std::domain_error( oss.str() ); + } + } + + std::ostream& FileStream::stream() const { + return m_ofs; + } + + struct OutputDebugWriter { + + void operator()( std::string const&str ) { + writeToDebugConsole( str ); + } + }; + + DebugOutStream::DebugOutStream() + : m_streamBuf( new StreamBufImpl() ), + m_os( m_streamBuf.get() ) + {} + + std::ostream& DebugOutStream::stream() const { + return m_os; + } + + // Store the streambuf from cout up-front because + // cout may get redirected when running tests + CoutStream::CoutStream() + : m_os( Catch::cout().rdbuf() ) + {} + + std::ostream& CoutStream::stream() const { + return m_os; + } + +#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions + std::ostream& cout() { + return std::cout; + } + std::ostream& cerr() { + return std::cerr; + } +#endif +} + +namespace Catch { + + class Context : public IMutableContext { + + Context() : m_config( CATCH_NULL ), m_runner( CATCH_NULL ), m_resultCapture( CATCH_NULL ) {} + Context( Context const& ); + void operator=( Context const& ); + + public: + virtual ~Context() { + deleteAllValues( m_generatorsByTestName ); + } + + public: // IContext + virtual IResultCapture* getResultCapture() { + return m_resultCapture; + } + virtual IRunner* getRunner() { + return m_runner; + } + virtual size_t getGeneratorIndex( std::string const& fileInfo, size_t totalSize ) { + return getGeneratorsForCurrentTest() + .getGeneratorInfo( fileInfo, totalSize ) + .getCurrentIndex(); + } + virtual bool advanceGeneratorsForCurrentTest() { + IGeneratorsForTest* generators = findGeneratorsForCurrentTest(); + return generators && generators->moveNext(); + } + + virtual Ptr getConfig() const { + return m_config; + } + + public: // IMutableContext + virtual void setResultCapture( IResultCapture* resultCapture ) { + m_resultCapture = resultCapture; + } + virtual void setRunner( IRunner* runner ) { + m_runner = runner; + } + virtual void setConfig( Ptr const& config ) { + m_config = config; + } + + friend IMutableContext& getCurrentMutableContext(); + + private: + IGeneratorsForTest* findGeneratorsForCurrentTest() { + std::string testName = getResultCapture()->getCurrentTestName(); + + std::map::const_iterator it = + m_generatorsByTestName.find( testName ); + return it != m_generatorsByTestName.end() + ? it->second + : CATCH_NULL; + } + + IGeneratorsForTest& getGeneratorsForCurrentTest() { + IGeneratorsForTest* generators = findGeneratorsForCurrentTest(); + if( !generators ) { + std::string testName = getResultCapture()->getCurrentTestName(); + generators = createGeneratorsForTest(); + m_generatorsByTestName.insert( std::make_pair( testName, generators ) ); + } + return *generators; + } + + private: + Ptr m_config; + IRunner* m_runner; + IResultCapture* m_resultCapture; + std::map m_generatorsByTestName; + }; + + namespace { + Context* currentContext = CATCH_NULL; + } + IMutableContext& getCurrentMutableContext() { + if( !currentContext ) + currentContext = new Context(); + return *currentContext; + } + IContext& getCurrentContext() { + return getCurrentMutableContext(); + } + + void cleanUpContext() { + delete currentContext; + currentContext = CATCH_NULL; + } +} + +// #included from: catch_console_colour_impl.hpp +#define TWOBLUECUBES_CATCH_CONSOLE_COLOUR_IMPL_HPP_INCLUDED + +namespace Catch { + namespace { + + struct IColourImpl { + virtual ~IColourImpl() {} + virtual void use( Colour::Code _colourCode ) = 0; + }; + + struct NoColourImpl : IColourImpl { + void use( Colour::Code ) {} + + static IColourImpl* instance() { + static NoColourImpl s_instance; + return &s_instance; + } + }; + + } // anon namespace +} // namespace Catch + +#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI ) +# ifdef CATCH_PLATFORM_WINDOWS +# define CATCH_CONFIG_COLOUR_WINDOWS +# else +# define CATCH_CONFIG_COLOUR_ANSI +# endif +#endif + +#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) ///////////////////////////////////////// + +namespace Catch { +namespace { + + class Win32ColourImpl : public IColourImpl { + public: + Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) ) + { + CONSOLE_SCREEN_BUFFER_INFO csbiInfo; + GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo ); + originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY ); + originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY ); + } + + virtual void use( Colour::Code _colourCode ) { + switch( _colourCode ) { + case Colour::None: return setTextAttribute( originalForegroundAttributes ); + case Colour::White: return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE ); + case Colour::Red: return setTextAttribute( FOREGROUND_RED ); + case Colour::Green: return setTextAttribute( FOREGROUND_GREEN ); + case Colour::Blue: return setTextAttribute( FOREGROUND_BLUE ); + case Colour::Cyan: return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN ); + case Colour::Yellow: return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN ); + case Colour::Grey: return setTextAttribute( 0 ); + + case Colour::LightGrey: return setTextAttribute( FOREGROUND_INTENSITY ); + case Colour::BrightRed: return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED ); + case Colour::BrightGreen: return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN ); + case Colour::BrightWhite: return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE ); + + case Colour::Bright: throw std::logic_error( "not a colour" ); + } + } + + private: + void setTextAttribute( WORD _textAttribute ) { + SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes ); + } + HANDLE stdoutHandle; + WORD originalForegroundAttributes; + WORD originalBackgroundAttributes; + }; + + IColourImpl* platformColourInstance() { + static Win32ColourImpl s_instance; + + Ptr config = getCurrentContext().getConfig(); + UseColour::YesOrNo colourMode = config + ? config->useColour() + : UseColour::Auto; + if( colourMode == UseColour::Auto ) + colourMode = !isDebuggerActive() + ? UseColour::Yes + : UseColour::No; + return colourMode == UseColour::Yes + ? &s_instance + : NoColourImpl::instance(); + } + +} // end anon namespace +} // end namespace Catch + +#elif defined( CATCH_CONFIG_COLOUR_ANSI ) ////////////////////////////////////// + +#include + +namespace Catch { +namespace { + + // use POSIX/ ANSI console terminal codes + // Thanks to Adam Strzelecki for original contribution + // (http://github.com/nanoant) + // https://github.com/philsquared/Catch/pull/131 + class PosixColourImpl : public IColourImpl { + public: + virtual void use( Colour::Code _colourCode ) { + switch( _colourCode ) { + case Colour::None: + case Colour::White: return setColour( "[0m" ); + case Colour::Red: return setColour( "[0;31m" ); + case Colour::Green: return setColour( "[0;32m" ); + case Colour::Blue: return setColour( "[0;34m" ); + case Colour::Cyan: return setColour( "[0;36m" ); + case Colour::Yellow: return setColour( "[0;33m" ); + case Colour::Grey: return setColour( "[1;30m" ); + + case Colour::LightGrey: return setColour( "[0;37m" ); + case Colour::BrightRed: return setColour( "[1;31m" ); + case Colour::BrightGreen: return setColour( "[1;32m" ); + case Colour::BrightWhite: return setColour( "[1;37m" ); + + case Colour::Bright: throw std::logic_error( "not a colour" ); + } + } + static IColourImpl* instance() { + static PosixColourImpl s_instance; + return &s_instance; + } + + private: + void setColour( const char* _escapeCode ) { + Catch::cout() << '\033' << _escapeCode; + } + }; + + IColourImpl* platformColourInstance() { + Ptr config = getCurrentContext().getConfig(); + UseColour::YesOrNo colourMode = config + ? config->useColour() + : UseColour::Auto; + if( colourMode == UseColour::Auto ) + colourMode = (!isDebuggerActive() && isatty(STDOUT_FILENO) ) + ? UseColour::Yes + : UseColour::No; + return colourMode == UseColour::Yes + ? PosixColourImpl::instance() + : NoColourImpl::instance(); + } + +} // end anon namespace +} // end namespace Catch + +#else // not Windows or ANSI /////////////////////////////////////////////// + +namespace Catch { + + static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); } + +} // end namespace Catch + +#endif // Windows/ ANSI/ None + +namespace Catch { + + Colour::Colour( Code _colourCode ) : m_moved( false ) { use( _colourCode ); } + Colour::Colour( Colour const& _other ) : m_moved( false ) { const_cast( _other ).m_moved = true; } + Colour::~Colour(){ if( !m_moved ) use( None ); } + + void Colour::use( Code _colourCode ) { + static IColourImpl* impl = platformColourInstance(); + impl->use( _colourCode ); + } + +} // end namespace Catch + +// #included from: catch_generators_impl.hpp +#define TWOBLUECUBES_CATCH_GENERATORS_IMPL_HPP_INCLUDED + +#include +#include +#include + +namespace Catch { + + struct GeneratorInfo : IGeneratorInfo { + + GeneratorInfo( std::size_t size ) + : m_size( size ), + m_currentIndex( 0 ) + {} + + bool moveNext() { + if( ++m_currentIndex == m_size ) { + m_currentIndex = 0; + return false; + } + return true; + } + + std::size_t getCurrentIndex() const { + return m_currentIndex; + } + + std::size_t m_size; + std::size_t m_currentIndex; + }; + + /////////////////////////////////////////////////////////////////////////// + + class GeneratorsForTest : public IGeneratorsForTest { + + public: + ~GeneratorsForTest() { + deleteAll( m_generatorsInOrder ); + } + + IGeneratorInfo& getGeneratorInfo( std::string const& fileInfo, std::size_t size ) { + std::map::const_iterator it = m_generatorsByName.find( fileInfo ); + if( it == m_generatorsByName.end() ) { + IGeneratorInfo* info = new GeneratorInfo( size ); + m_generatorsByName.insert( std::make_pair( fileInfo, info ) ); + m_generatorsInOrder.push_back( info ); + return *info; + } + return *it->second; + } + + bool moveNext() { + std::vector::const_iterator it = m_generatorsInOrder.begin(); + std::vector::const_iterator itEnd = m_generatorsInOrder.end(); + for(; it != itEnd; ++it ) { + if( (*it)->moveNext() ) + return true; + } + return false; + } + + private: + std::map m_generatorsByName; + std::vector m_generatorsInOrder; + }; + + IGeneratorsForTest* createGeneratorsForTest() + { + return new GeneratorsForTest(); + } + +} // end namespace Catch + +// #included from: catch_assertionresult.hpp +#define TWOBLUECUBES_CATCH_ASSERTIONRESULT_HPP_INCLUDED + +namespace Catch { + + AssertionInfo::AssertionInfo( std::string const& _macroName, + SourceLineInfo const& _lineInfo, + std::string const& _capturedExpression, + ResultDisposition::Flags _resultDisposition ) + : macroName( _macroName ), + lineInfo( _lineInfo ), + capturedExpression( _capturedExpression ), + resultDisposition( _resultDisposition ) + {} + + AssertionResult::AssertionResult() {} + + AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data ) + : m_info( info ), + m_resultData( data ) + {} + + AssertionResult::~AssertionResult() {} + + // Result was a success + bool AssertionResult::succeeded() const { + return Catch::isOk( m_resultData.resultType ); + } + + // Result was a success, or failure is suppressed + bool AssertionResult::isOk() const { + return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition ); + } + + ResultWas::OfType AssertionResult::getResultType() const { + return m_resultData.resultType; + } + + bool AssertionResult::hasExpression() const { + return !m_info.capturedExpression.empty(); + } + + bool AssertionResult::hasMessage() const { + return !m_resultData.message.empty(); + } + + std::string AssertionResult::getExpression() const { + if( isFalseTest( m_info.resultDisposition ) ) + return '!' + m_info.capturedExpression; + else + return m_info.capturedExpression; + } + std::string AssertionResult::getExpressionInMacro() const { + if( m_info.macroName.empty() ) + return m_info.capturedExpression; + else + return m_info.macroName + "( " + m_info.capturedExpression + " )"; + } + + bool AssertionResult::hasExpandedExpression() const { + return hasExpression() && getExpandedExpression() != getExpression(); + } + + std::string AssertionResult::getExpandedExpression() const { + return m_resultData.reconstructExpression(); + } + + std::string AssertionResult::getMessage() const { + return m_resultData.message; + } + SourceLineInfo AssertionResult::getSourceInfo() const { + return m_info.lineInfo; + } + + std::string AssertionResult::getTestMacroName() const { + return m_info.macroName; + } + + void AssertionResult::discardDecomposedExpression() const { + m_resultData.decomposedExpression = CATCH_NULL; + } + + void AssertionResult::expandDecomposedExpression() const { + m_resultData.reconstructExpression(); + } + +} // end namespace Catch + +// #included from: catch_test_case_info.hpp +#define TWOBLUECUBES_CATCH_TEST_CASE_INFO_HPP_INCLUDED + +#include + +namespace Catch { + + inline TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) { + if( startsWith( tag, '.' ) || + tag == "hide" || + tag == "!hide" ) + return TestCaseInfo::IsHidden; + else if( tag == "!throws" ) + return TestCaseInfo::Throws; + else if( tag == "!shouldfail" ) + return TestCaseInfo::ShouldFail; + else if( tag == "!mayfail" ) + return TestCaseInfo::MayFail; + else if( tag == "!nonportable" ) + return TestCaseInfo::NonPortable; + else + return TestCaseInfo::None; + } + inline bool isReservedTag( std::string const& tag ) { + return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( tag[0] ); + } + inline void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) { + if( isReservedTag( tag ) ) { + { + Colour colourGuard( Colour::Red ); + Catch::cerr() + << "Tag name [" << tag << "] not allowed.\n" + << "Tag names starting with non alpha-numeric characters are reserved\n"; + } + { + Colour colourGuard( Colour::FileName ); + Catch::cerr() << _lineInfo << std::endl; + } + exit(1); + } + } + + TestCase makeTestCase( ITestCase* _testCase, + std::string const& _className, + std::string const& _name, + std::string const& _descOrTags, + SourceLineInfo const& _lineInfo ) + { + bool isHidden( startsWith( _name, "./" ) ); // Legacy support + + // Parse out tags + std::set tags; + std::string desc, tag; + bool inTag = false; + for( std::size_t i = 0; i < _descOrTags.size(); ++i ) { + char c = _descOrTags[i]; + if( !inTag ) { + if( c == '[' ) + inTag = true; + else + desc += c; + } + else { + if( c == ']' ) { + TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag ); + if( prop == TestCaseInfo::IsHidden ) + isHidden = true; + else if( prop == TestCaseInfo::None ) + enforceNotReservedTag( tag, _lineInfo ); + + tags.insert( tag ); + tag.clear(); + inTag = false; + } + else + tag += c; + } + } + if( isHidden ) { + tags.insert( "hide" ); + tags.insert( "." ); + } + + TestCaseInfo info( _name, _className, desc, tags, _lineInfo ); + return TestCase( _testCase, info ); + } + + void setTags( TestCaseInfo& testCaseInfo, std::set const& tags ) + { + testCaseInfo.tags = tags; + testCaseInfo.lcaseTags.clear(); + + std::ostringstream oss; + for( std::set::const_iterator it = tags.begin(), itEnd = tags.end(); it != itEnd; ++it ) { + oss << '[' << *it << ']'; + std::string lcaseTag = toLower( *it ); + testCaseInfo.properties = static_cast( testCaseInfo.properties | parseSpecialTag( lcaseTag ) ); + testCaseInfo.lcaseTags.insert( lcaseTag ); + } + testCaseInfo.tagsAsString = oss.str(); + } + + TestCaseInfo::TestCaseInfo( std::string const& _name, + std::string const& _className, + std::string const& _description, + std::set const& _tags, + SourceLineInfo const& _lineInfo ) + : name( _name ), + className( _className ), + description( _description ), + lineInfo( _lineInfo ), + properties( None ) + { + setTags( *this, _tags ); + } + + TestCaseInfo::TestCaseInfo( TestCaseInfo const& other ) + : name( other.name ), + className( other.className ), + description( other.description ), + tags( other.tags ), + lcaseTags( other.lcaseTags ), + tagsAsString( other.tagsAsString ), + lineInfo( other.lineInfo ), + properties( other.properties ) + {} + + bool TestCaseInfo::isHidden() const { + return ( properties & IsHidden ) != 0; + } + bool TestCaseInfo::throws() const { + return ( properties & Throws ) != 0; + } + bool TestCaseInfo::okToFail() const { + return ( properties & (ShouldFail | MayFail ) ) != 0; + } + bool TestCaseInfo::expectedToFail() const { + return ( properties & (ShouldFail ) ) != 0; + } + + TestCase::TestCase( ITestCase* testCase, TestCaseInfo const& info ) : TestCaseInfo( info ), test( testCase ) {} + + TestCase::TestCase( TestCase const& other ) + : TestCaseInfo( other ), + test( other.test ) + {} + + TestCase TestCase::withName( std::string const& _newName ) const { + TestCase other( *this ); + other.name = _newName; + return other; + } + + void TestCase::swap( TestCase& other ) { + test.swap( other.test ); + name.swap( other.name ); + className.swap( other.className ); + description.swap( other.description ); + tags.swap( other.tags ); + lcaseTags.swap( other.lcaseTags ); + tagsAsString.swap( other.tagsAsString ); + std::swap( TestCaseInfo::properties, static_cast( other ).properties ); + std::swap( lineInfo, other.lineInfo ); + } + + void TestCase::invoke() const { + test->invoke(); + } + + bool TestCase::operator == ( TestCase const& other ) const { + return test.get() == other.test.get() && + name == other.name && + className == other.className; + } + + bool TestCase::operator < ( TestCase const& other ) const { + return name < other.name; + } + TestCase& TestCase::operator = ( TestCase const& other ) { + TestCase temp( other ); + swap( temp ); + return *this; + } + + TestCaseInfo const& TestCase::getTestCaseInfo() const + { + return *this; + } + +} // end namespace Catch + +// #included from: catch_version.hpp +#define TWOBLUECUBES_CATCH_VERSION_HPP_INCLUDED + +namespace Catch { + + Version::Version + ( unsigned int _majorVersion, + unsigned int _minorVersion, + unsigned int _patchNumber, + std::string const& _branchName, + unsigned int _buildNumber ) + : majorVersion( _majorVersion ), + minorVersion( _minorVersion ), + patchNumber( _patchNumber ), + branchName( _branchName ), + buildNumber( _buildNumber ) + {} + + std::ostream& operator << ( std::ostream& os, Version const& version ) { + os << version.majorVersion << '.' + << version.minorVersion << '.' + << version.patchNumber; + + if( !version.branchName.empty() ) { + os << '-' << version.branchName + << '.' << version.buildNumber; + } + return os; + } + + Version libraryVersion( 1, 7, 2, "", 0 ); + +} + +// #included from: catch_message.hpp +#define TWOBLUECUBES_CATCH_MESSAGE_HPP_INCLUDED + +namespace Catch { + + MessageInfo::MessageInfo( std::string const& _macroName, + SourceLineInfo const& _lineInfo, + ResultWas::OfType _type ) + : macroName( _macroName ), + lineInfo( _lineInfo ), + type( _type ), + sequence( ++globalCount ) + {} + + // This may need protecting if threading support is added + unsigned int MessageInfo::globalCount = 0; + + //////////////////////////////////////////////////////////////////////////// + + ScopedMessage::ScopedMessage( MessageBuilder const& builder ) + : m_info( builder.m_info ) + { + m_info.message = builder.m_stream.str(); + getResultCapture().pushScopedMessage( m_info ); + } + ScopedMessage::ScopedMessage( ScopedMessage const& other ) + : m_info( other.m_info ) + {} + + ScopedMessage::~ScopedMessage() { + getResultCapture().popScopedMessage( m_info ); + } + +} // end namespace Catch + +// #included from: catch_legacy_reporter_adapter.hpp +#define TWOBLUECUBES_CATCH_LEGACY_REPORTER_ADAPTER_HPP_INCLUDED + +// #included from: catch_legacy_reporter_adapter.h +#define TWOBLUECUBES_CATCH_LEGACY_REPORTER_ADAPTER_H_INCLUDED + +namespace Catch +{ + // Deprecated + struct IReporter : IShared { + virtual ~IReporter(); + + virtual bool shouldRedirectStdout() const = 0; + + virtual void StartTesting() = 0; + virtual void EndTesting( Totals const& totals ) = 0; + virtual void StartGroup( std::string const& groupName ) = 0; + virtual void EndGroup( std::string const& groupName, Totals const& totals ) = 0; + virtual void StartTestCase( TestCaseInfo const& testInfo ) = 0; + virtual void EndTestCase( TestCaseInfo const& testInfo, Totals const& totals, std::string const& stdOut, std::string const& stdErr ) = 0; + virtual void StartSection( std::string const& sectionName, std::string const& description ) = 0; + virtual void EndSection( std::string const& sectionName, Counts const& assertions ) = 0; + virtual void NoAssertionsInSection( std::string const& sectionName ) = 0; + virtual void NoAssertionsInTestCase( std::string const& testName ) = 0; + virtual void Aborted() = 0; + virtual void Result( AssertionResult const& result ) = 0; + }; + + class LegacyReporterAdapter : public SharedImpl + { + public: + LegacyReporterAdapter( Ptr const& legacyReporter ); + virtual ~LegacyReporterAdapter(); + + virtual ReporterPreferences getPreferences() const; + virtual void noMatchingTestCases( std::string const& ); + virtual void testRunStarting( TestRunInfo const& ); + virtual void testGroupStarting( GroupInfo const& groupInfo ); + virtual void testCaseStarting( TestCaseInfo const& testInfo ); + virtual void sectionStarting( SectionInfo const& sectionInfo ); + virtual void assertionStarting( AssertionInfo const& ); + virtual bool assertionEnded( AssertionStats const& assertionStats ); + virtual void sectionEnded( SectionStats const& sectionStats ); + virtual void testCaseEnded( TestCaseStats const& testCaseStats ); + virtual void testGroupEnded( TestGroupStats const& testGroupStats ); + virtual void testRunEnded( TestRunStats const& testRunStats ); + virtual void skipTest( TestCaseInfo const& ); + + private: + Ptr m_legacyReporter; + }; +} + +namespace Catch +{ + LegacyReporterAdapter::LegacyReporterAdapter( Ptr const& legacyReporter ) + : m_legacyReporter( legacyReporter ) + {} + LegacyReporterAdapter::~LegacyReporterAdapter() {} + + ReporterPreferences LegacyReporterAdapter::getPreferences() const { + ReporterPreferences prefs; + prefs.shouldRedirectStdOut = m_legacyReporter->shouldRedirectStdout(); + return prefs; + } + + void LegacyReporterAdapter::noMatchingTestCases( std::string const& ) {} + void LegacyReporterAdapter::testRunStarting( TestRunInfo const& ) { + m_legacyReporter->StartTesting(); + } + void LegacyReporterAdapter::testGroupStarting( GroupInfo const& groupInfo ) { + m_legacyReporter->StartGroup( groupInfo.name ); + } + void LegacyReporterAdapter::testCaseStarting( TestCaseInfo const& testInfo ) { + m_legacyReporter->StartTestCase( testInfo ); + } + void LegacyReporterAdapter::sectionStarting( SectionInfo const& sectionInfo ) { + m_legacyReporter->StartSection( sectionInfo.name, sectionInfo.description ); + } + void LegacyReporterAdapter::assertionStarting( AssertionInfo const& ) { + // Not on legacy interface + } + + bool LegacyReporterAdapter::assertionEnded( AssertionStats const& assertionStats ) { + if( assertionStats.assertionResult.getResultType() != ResultWas::Ok ) { + for( std::vector::const_iterator it = assertionStats.infoMessages.begin(), itEnd = assertionStats.infoMessages.end(); + it != itEnd; + ++it ) { + if( it->type == ResultWas::Info ) { + ResultBuilder rb( it->macroName.c_str(), it->lineInfo, "", ResultDisposition::Normal ); + rb << it->message; + rb.setResultType( ResultWas::Info ); + AssertionResult result = rb.build(); + m_legacyReporter->Result( result ); + } + } + } + m_legacyReporter->Result( assertionStats.assertionResult ); + return true; + } + void LegacyReporterAdapter::sectionEnded( SectionStats const& sectionStats ) { + if( sectionStats.missingAssertions ) + m_legacyReporter->NoAssertionsInSection( sectionStats.sectionInfo.name ); + m_legacyReporter->EndSection( sectionStats.sectionInfo.name, sectionStats.assertions ); + } + void LegacyReporterAdapter::testCaseEnded( TestCaseStats const& testCaseStats ) { + m_legacyReporter->EndTestCase + ( testCaseStats.testInfo, + testCaseStats.totals, + testCaseStats.stdOut, + testCaseStats.stdErr ); + } + void LegacyReporterAdapter::testGroupEnded( TestGroupStats const& testGroupStats ) { + if( testGroupStats.aborting ) + m_legacyReporter->Aborted(); + m_legacyReporter->EndGroup( testGroupStats.groupInfo.name, testGroupStats.totals ); + } + void LegacyReporterAdapter::testRunEnded( TestRunStats const& testRunStats ) { + m_legacyReporter->EndTesting( testRunStats.totals ); + } + void LegacyReporterAdapter::skipTest( TestCaseInfo const& ) { + } +} + +// #included from: catch_timer.hpp + +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Wc++11-long-long" +#endif + +#ifdef CATCH_PLATFORM_WINDOWS +#else +#include +#endif + +namespace Catch { + + namespace { +#ifdef CATCH_PLATFORM_WINDOWS + uint64_t getCurrentTicks() { + static uint64_t hz=0, hzo=0; + if (!hz) { + QueryPerformanceFrequency( reinterpret_cast( &hz ) ); + QueryPerformanceCounter( reinterpret_cast( &hzo ) ); + } + uint64_t t; + QueryPerformanceCounter( reinterpret_cast( &t ) ); + return ((t-hzo)*1000000)/hz; + } +#else + uint64_t getCurrentTicks() { + timeval t; + gettimeofday(&t,CATCH_NULL); + return static_cast( t.tv_sec ) * 1000000ull + static_cast( t.tv_usec ); + } +#endif + } + + void Timer::start() { + m_ticks = getCurrentTicks(); + } + unsigned int Timer::getElapsedMicroseconds() const { + return static_cast(getCurrentTicks() - m_ticks); + } + unsigned int Timer::getElapsedMilliseconds() const { + return static_cast(getElapsedMicroseconds()/1000); + } + double Timer::getElapsedSeconds() const { + return getElapsedMicroseconds()/1000000.0; + } + +} // namespace Catch + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif +// #included from: catch_common.hpp +#define TWOBLUECUBES_CATCH_COMMON_HPP_INCLUDED + +#include +#include + +namespace Catch { + + bool startsWith( std::string const& s, std::string const& prefix ) { + return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin()); + } + bool startsWith( std::string const& s, char prefix ) { + return !s.empty() && s[0] == prefix; + } + bool endsWith( std::string const& s, std::string const& suffix ) { + return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin()); + } + bool endsWith( std::string const& s, char suffix ) { + return !s.empty() && s[s.size()-1] == suffix; + } + bool contains( std::string const& s, std::string const& infix ) { + return s.find( infix ) != std::string::npos; + } + char toLowerCh(char c) { + return static_cast( std::tolower( c ) ); + } + void toLowerInPlace( std::string& s ) { + std::transform( s.begin(), s.end(), s.begin(), toLowerCh ); + } + std::string toLower( std::string const& s ) { + std::string lc = s; + toLowerInPlace( lc ); + return lc; + } + std::string trim( std::string const& str ) { + static char const* whitespaceChars = "\n\r\t "; + std::string::size_type start = str.find_first_not_of( whitespaceChars ); + std::string::size_type end = str.find_last_not_of( whitespaceChars ); + + return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string(); + } + + bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) { + bool replaced = false; + std::size_t i = str.find( replaceThis ); + while( i != std::string::npos ) { + replaced = true; + str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() ); + if( i < str.size()-withThis.size() ) + i = str.find( replaceThis, i+withThis.size() ); + else + i = std::string::npos; + } + return replaced; + } + + pluralise::pluralise( std::size_t count, std::string const& label ) + : m_count( count ), + m_label( label ) + {} + + std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) { + os << pluraliser.m_count << ' ' << pluraliser.m_label; + if( pluraliser.m_count != 1 ) + os << 's'; + return os; + } + + SourceLineInfo::SourceLineInfo() : file(""), line( 0 ){} + SourceLineInfo::SourceLineInfo( char const* _file, std::size_t _line ) + : file( _file ), + line( _line ) + {} + bool SourceLineInfo::empty() const { + return file[0] == '\0'; + } + bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const { + return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0); + } + bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const { + return line < other.line || ( line == other.line && (std::strcmp(file, other.file) < 0)); + } + + void seedRng( IConfig const& config ) { + if( config.rngSeed() != 0 ) + std::srand( config.rngSeed() ); + } + unsigned int rngSeed() { + return getCurrentContext().getConfig()->rngSeed(); + } + + std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) { +#ifndef __GNUG__ + os << info.file << '(' << info.line << ')'; +#else + os << info.file << ':' << info.line; +#endif + return os; + } + + void throwLogicError( std::string const& message, SourceLineInfo const& locationInfo ) { + std::ostringstream oss; + oss << locationInfo << ": Internal Catch error: '" << message << '\''; + if( alwaysTrue() ) + throw std::logic_error( oss.str() ); + } +} + +// #included from: catch_section.hpp +#define TWOBLUECUBES_CATCH_SECTION_HPP_INCLUDED + +namespace Catch { + + SectionInfo::SectionInfo + ( SourceLineInfo const& _lineInfo, + std::string const& _name, + std::string const& _description ) + : name( _name ), + description( _description ), + lineInfo( _lineInfo ) + {} + + Section::Section( SectionInfo const& info ) + : m_info( info ), + m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) ) + { + m_timer.start(); + } + + Section::~Section() { + if( m_sectionIncluded ) { + SectionEndInfo endInfo( m_info, m_assertions, m_timer.getElapsedSeconds() ); + if( std::uncaught_exception() ) + getResultCapture().sectionEndedEarly( endInfo ); + else + getResultCapture().sectionEnded( endInfo ); + } + } + + // This indicates whether the section should be executed or not + Section::operator bool() const { + return m_sectionIncluded; + } + +} // end namespace Catch + +// #included from: catch_debugger.hpp +#define TWOBLUECUBES_CATCH_DEBUGGER_HPP_INCLUDED + +#ifdef CATCH_PLATFORM_MAC + + #include + #include + #include + #include + #include + + namespace Catch{ + + // The following function is taken directly from the following technical note: + // http://developer.apple.com/library/mac/#qa/qa2004/qa1361.html + + // Returns true if the current process is being debugged (either + // running under the debugger or has a debugger attached post facto). + bool isDebuggerActive(){ + + int mib[4]; + struct kinfo_proc info; + size_t size; + + // Initialize the flags so that, if sysctl fails for some bizarre + // reason, we get a predictable result. + + info.kp_proc.p_flag = 0; + + // Initialize mib, which tells sysctl the info we want, in this case + // we're looking for information about a specific process ID. + + mib[0] = CTL_KERN; + mib[1] = KERN_PROC; + mib[2] = KERN_PROC_PID; + mib[3] = getpid(); + + // Call sysctl. + + size = sizeof(info); + if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, CATCH_NULL, 0) != 0 ) { + Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl; + return false; + } + + // We're being debugged if the P_TRACED flag is set. + + return ( (info.kp_proc.p_flag & P_TRACED) != 0 ); + } + } // namespace Catch + +#elif defined(CATCH_PLATFORM_LINUX) + #include + #include + + namespace Catch{ + // The standard POSIX way of detecting a debugger is to attempt to + // ptrace() the process, but this needs to be done from a child and not + // this process itself to still allow attaching to this process later + // if wanted, so is rather heavy. Under Linux we have the PID of the + // "debugger" (which doesn't need to be gdb, of course, it could also + // be strace, for example) in /proc/$PID/status, so just get it from + // there instead. + bool isDebuggerActive(){ + std::ifstream in("/proc/self/status"); + for( std::string line; std::getline(in, line); ) { + static const int PREFIX_LEN = 11; + if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) { + // We're traced if the PID is not 0 and no other PID starts + // with 0 digit, so it's enough to check for just a single + // character. + return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0'; + } + } + + return false; + } + } // namespace Catch +#elif defined(_MSC_VER) + extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent(); + namespace Catch { + bool isDebuggerActive() { + return IsDebuggerPresent() != 0; + } + } +#elif defined(__MINGW32__) + extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent(); + namespace Catch { + bool isDebuggerActive() { + return IsDebuggerPresent() != 0; + } + } +#else + namespace Catch { + inline bool isDebuggerActive() { return false; } + } +#endif // Platform + +#ifdef CATCH_PLATFORM_WINDOWS + + namespace Catch { + void writeToDebugConsole( std::string const& text ) { + ::OutputDebugStringA( text.c_str() ); + } + } +#else + namespace Catch { + void writeToDebugConsole( std::string const& text ) { + // !TBD: Need a version for Mac/ XCode and other IDEs + Catch::cout() << text; + } + } +#endif // Platform + +// #included from: catch_tostring.hpp +#define TWOBLUECUBES_CATCH_TOSTRING_HPP_INCLUDED + +namespace Catch { + +namespace Detail { + + const std::string unprintableString = "{?}"; + + namespace { + const int hexThreshold = 255; + + struct Endianness { + enum Arch { Big, Little }; + + static Arch which() { + union _{ + int asInt; + char asChar[sizeof (int)]; + } u; + + u.asInt = 1; + return ( u.asChar[sizeof(int)-1] == 1 ) ? Big : Little; + } + }; + } + + std::string rawMemoryToString( const void *object, std::size_t size ) + { + // Reverse order for little endian architectures + int i = 0, end = static_cast( size ), inc = 1; + if( Endianness::which() == Endianness::Little ) { + i = end-1; + end = inc = -1; + } + + unsigned char const *bytes = static_cast(object); + std::ostringstream os; + os << "0x" << std::setfill('0') << std::hex; + for( ; i != end; i += inc ) + os << std::setw(2) << static_cast(bytes[i]); + return os.str(); + } +} + +std::string toString( std::string const& value ) { + std::string s = value; + if( getCurrentContext().getConfig()->showInvisibles() ) { + for(size_t i = 0; i < s.size(); ++i ) { + std::string subs; + switch( s[i] ) { + case '\n': subs = "\\n"; break; + case '\t': subs = "\\t"; break; + default: break; + } + if( !subs.empty() ) { + s = s.substr( 0, i ) + subs + s.substr( i+1 ); + ++i; + } + } + } + return '"' + s + '"'; +} +std::string toString( std::wstring const& value ) { + + std::string s; + s.reserve( value.size() ); + for(size_t i = 0; i < value.size(); ++i ) + s += value[i] <= 0xff ? static_cast( value[i] ) : '?'; + return Catch::toString( s ); +} + +std::string toString( const char* const value ) { + return value ? Catch::toString( std::string( value ) ) : std::string( "{null string}" ); +} + +std::string toString( char* const value ) { + return Catch::toString( static_cast( value ) ); +} + +std::string toString( const wchar_t* const value ) +{ + return value ? Catch::toString( std::wstring(value) ) : std::string( "{null string}" ); +} + +std::string toString( wchar_t* const value ) +{ + return Catch::toString( static_cast( value ) ); +} + +std::string toString( int value ) { + std::ostringstream oss; + oss << value; + if( value > Detail::hexThreshold ) + oss << " (0x" << std::hex << value << ')'; + return oss.str(); +} + +std::string toString( unsigned long value ) { + std::ostringstream oss; + oss << value; + if( value > Detail::hexThreshold ) + oss << " (0x" << std::hex << value << ')'; + return oss.str(); +} + +std::string toString( unsigned int value ) { + return Catch::toString( static_cast( value ) ); +} + +template +std::string fpToString( T value, int precision ) { + std::ostringstream oss; + oss << std::setprecision( precision ) + << std::fixed + << value; + std::string d = oss.str(); + std::size_t i = d.find_last_not_of( '0' ); + if( i != std::string::npos && i != d.size()-1 ) { + if( d[i] == '.' ) + i++; + d = d.substr( 0, i+1 ); + } + return d; +} + +std::string toString( const double value ) { + return fpToString( value, 10 ); +} +std::string toString( const float value ) { + return fpToString( value, 5 ) + 'f'; +} + +std::string toString( bool value ) { + return value ? "true" : "false"; +} + +std::string toString( char value ) { + if ( value == '\r' ) + return "'\\r'"; + if ( value == '\f' ) + return "'\\f'"; + if ( value == '\n' ) + return "'\\n'"; + if ( value == '\t' ) + return "'\\t'"; + if ( '\0' <= value && value < ' ' ) + return toString( static_cast( value ) ); + char chstr[] = "' '"; + chstr[1] = value; + return chstr; +} + +std::string toString( signed char value ) { + return toString( static_cast( value ) ); +} + +std::string toString( unsigned char value ) { + return toString( static_cast( value ) ); +} + +#ifdef CATCH_CONFIG_CPP11_LONG_LONG +std::string toString( long long value ) { + std::ostringstream oss; + oss << value; + if( value > Detail::hexThreshold ) + oss << " (0x" << std::hex << value << ')'; + return oss.str(); +} +std::string toString( unsigned long long value ) { + std::ostringstream oss; + oss << value; + if( value > Detail::hexThreshold ) + oss << " (0x" << std::hex << value << ')'; + return oss.str(); +} +#endif + +#ifdef CATCH_CONFIG_CPP11_NULLPTR +std::string toString( std::nullptr_t ) { + return "nullptr"; +} +#endif + +#ifdef __OBJC__ + std::string toString( NSString const * const& nsstring ) { + if( !nsstring ) + return "nil"; + return "@" + toString([nsstring UTF8String]); + } + std::string toString( NSString * CATCH_ARC_STRONG const& nsstring ) { + if( !nsstring ) + return "nil"; + return "@" + toString([nsstring UTF8String]); + } + std::string toString( NSObject* const& nsObject ) { + return toString( [nsObject description] ); + } +#endif + +} // end namespace Catch + +// #included from: catch_result_builder.hpp +#define TWOBLUECUBES_CATCH_RESULT_BUILDER_HPP_INCLUDED + +namespace Catch { + + std::string capturedExpressionWithSecondArgument( std::string const& capturedExpression, std::string const& secondArg ) { + return secondArg.empty() || secondArg == "\"\"" + ? capturedExpression + : capturedExpression + ", " + secondArg; + } + ResultBuilder::ResultBuilder( char const* macroName, + SourceLineInfo const& lineInfo, + char const* capturedExpression, + ResultDisposition::Flags resultDisposition, + char const* secondArg ) + : m_assertionInfo( macroName, lineInfo, capturedExpressionWithSecondArgument( capturedExpression, secondArg ), resultDisposition ), + m_shouldDebugBreak( false ), + m_shouldThrow( false ) + {} + + ResultBuilder& ResultBuilder::setResultType( ResultWas::OfType result ) { + m_data.resultType = result; + return *this; + } + ResultBuilder& ResultBuilder::setResultType( bool result ) { + m_data.resultType = result ? ResultWas::Ok : ResultWas::ExpressionFailed; + return *this; + } + + void ResultBuilder::endExpression( DecomposedExpression const& expr ) { + AssertionResult result = build( expr ); + handleResult( result ); + } + + void ResultBuilder::useActiveException( ResultDisposition::Flags resultDisposition ) { + m_assertionInfo.resultDisposition = resultDisposition; + m_stream.oss << Catch::translateActiveException(); + captureResult( ResultWas::ThrewException ); + } + + void ResultBuilder::captureResult( ResultWas::OfType resultType ) { + setResultType( resultType ); + captureExpression(); + } + + void ResultBuilder::captureExpectedException( std::string const& expectedMessage ) { + if( expectedMessage.empty() ) + captureExpectedException( Matchers::Impl::Generic::AllOf() ); + else + captureExpectedException( Matchers::Equals( expectedMessage ) ); + } + + void ResultBuilder::captureExpectedException( Matchers::Impl::Matcher const& matcher ) { + + assert( !isFalseTest( m_assertionInfo.resultDisposition ) ); + AssertionResultData data = m_data; + data.resultType = ResultWas::Ok; + data.reconstructedExpression = m_assertionInfo.capturedExpression; + + std::string actualMessage = Catch::translateActiveException(); + if( !matcher.match( actualMessage ) ) { + data.resultType = ResultWas::ExpressionFailed; + data.reconstructedExpression = actualMessage; + } + AssertionResult result( m_assertionInfo, data ); + handleResult( result ); + } + + void ResultBuilder::captureExpression() { + AssertionResult result = build(); + handleResult( result ); + } + + void ResultBuilder::handleResult( AssertionResult const& result ) + { + getResultCapture().assertionEnded( result ); + + if( !result.isOk() ) { + if( getCurrentContext().getConfig()->shouldDebugBreak() ) + m_shouldDebugBreak = true; + if( getCurrentContext().getRunner()->aborting() || (m_assertionInfo.resultDisposition & ResultDisposition::Normal) ) + m_shouldThrow = true; + } + } + + void ResultBuilder::react() { + if( m_shouldThrow ) + throw Catch::TestFailureException(); + } + + bool ResultBuilder::shouldDebugBreak() const { return m_shouldDebugBreak; } + bool ResultBuilder::allowThrows() const { return getCurrentContext().getConfig()->allowThrows(); } + + AssertionResult ResultBuilder::build() const + { + return build( *this ); + } + + // CAVEAT: The returned AssertionResult stores a pointer to the argument expr, + // a temporary DecomposedExpression, which in turn holds references to + // operands, possibly temporary as well. + // It should immediately be passed to handleResult; if the expression + // needs to be reported, its string expansion must be composed before + // the temporaries are destroyed. + AssertionResult ResultBuilder::build( DecomposedExpression const& expr ) const + { + assert( m_data.resultType != ResultWas::Unknown ); + AssertionResultData data = m_data; + + // Flip bool results if FalseTest flag is set + if( isFalseTest( m_assertionInfo.resultDisposition ) ) { + data.negate( expr.isBinaryExpression() ); + } + + data.message = m_stream.oss.str(); + data.decomposedExpression = &expr; // for lazy reconstruction + return AssertionResult( m_assertionInfo, data ); + } + + void ResultBuilder::reconstructExpression( std::string& dest ) const { + dest = m_assertionInfo.capturedExpression; + } + +} // end namespace Catch + +// #included from: catch_tag_alias_registry.hpp +#define TWOBLUECUBES_CATCH_TAG_ALIAS_REGISTRY_HPP_INCLUDED + +// #included from: catch_tag_alias_registry.h +#define TWOBLUECUBES_CATCH_TAG_ALIAS_REGISTRY_H_INCLUDED + +#include + +namespace Catch { + + class TagAliasRegistry : public ITagAliasRegistry { + public: + virtual ~TagAliasRegistry(); + virtual Option find( std::string const& alias ) const; + virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const; + void add( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); + static TagAliasRegistry& get(); + + private: + std::map m_registry; + }; + +} // end namespace Catch + +namespace Catch { + + TagAliasRegistry::~TagAliasRegistry() {} + + Option TagAliasRegistry::find( std::string const& alias ) const { + std::map::const_iterator it = m_registry.find( alias ); + if( it != m_registry.end() ) + return it->second; + else + return Option(); + } + + std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const { + std::string expandedTestSpec = unexpandedTestSpec; + for( std::map::const_iterator it = m_registry.begin(), itEnd = m_registry.end(); + it != itEnd; + ++it ) { + std::size_t pos = expandedTestSpec.find( it->first ); + if( pos != std::string::npos ) { + expandedTestSpec = expandedTestSpec.substr( 0, pos ) + + it->second.tag + + expandedTestSpec.substr( pos + it->first.size() ); + } + } + return expandedTestSpec; + } + + void TagAliasRegistry::add( char const* alias, char const* tag, SourceLineInfo const& lineInfo ) { + + if( !startsWith( alias, "[@" ) || !endsWith( alias, ']' ) ) { + std::ostringstream oss; + oss << "error: tag alias, \"" << alias << "\" is not of the form [@alias name].\n" << lineInfo; + throw std::domain_error( oss.str().c_str() ); + } + if( !m_registry.insert( std::make_pair( alias, TagAlias( tag, lineInfo ) ) ).second ) { + std::ostringstream oss; + oss << "error: tag alias, \"" << alias << "\" already registered.\n" + << "\tFirst seen at " << find(alias)->lineInfo << '\n' + << "\tRedefined at " << lineInfo; + throw std::domain_error( oss.str().c_str() ); + } + } + + TagAliasRegistry& TagAliasRegistry::get() { + static TagAliasRegistry instance; + return instance; + + } + + ITagAliasRegistry::~ITagAliasRegistry() {} + ITagAliasRegistry const& ITagAliasRegistry::get() { return TagAliasRegistry::get(); } + + RegistrarForTagAliases::RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ) { + try { + TagAliasRegistry::get().add( alias, tag, lineInfo ); + } + catch( std::exception& ex ) { + Colour colourGuard( Colour::Red ); + Catch::cerr() << ex.what() << std::endl; + exit(1); + } + } + +} // end namespace Catch + +// #included from: ../reporters/catch_reporter_multi.hpp +#define TWOBLUECUBES_CATCH_REPORTER_MULTI_HPP_INCLUDED + +namespace Catch { + +class MultipleReporters : public SharedImpl { + typedef std::vector > Reporters; + Reporters m_reporters; + +public: + void add( Ptr const& reporter ) { + m_reporters.push_back( reporter ); + } + +public: // IStreamingReporter + + virtual ReporterPreferences getPreferences() const CATCH_OVERRIDE { + return m_reporters[0]->getPreferences(); + } + + virtual void noMatchingTestCases( std::string const& spec ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->noMatchingTestCases( spec ); + } + + virtual void testRunStarting( TestRunInfo const& testRunInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testRunStarting( testRunInfo ); + } + + virtual void testGroupStarting( GroupInfo const& groupInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testGroupStarting( groupInfo ); + } + + virtual void testCaseStarting( TestCaseInfo const& testInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testCaseStarting( testInfo ); + } + + virtual void sectionStarting( SectionInfo const& sectionInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->sectionStarting( sectionInfo ); + } + + virtual void assertionStarting( AssertionInfo const& assertionInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->assertionStarting( assertionInfo ); + } + + // The return value indicates if the messages buffer should be cleared: + virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { + bool clearBuffer = false; + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + clearBuffer |= (*it)->assertionEnded( assertionStats ); + return clearBuffer; + } + + virtual void sectionEnded( SectionStats const& sectionStats ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->sectionEnded( sectionStats ); + } + + virtual void testCaseEnded( TestCaseStats const& testCaseStats ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testCaseEnded( testCaseStats ); + } + + virtual void testGroupEnded( TestGroupStats const& testGroupStats ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testGroupEnded( testGroupStats ); + } + + virtual void testRunEnded( TestRunStats const& testRunStats ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->testRunEnded( testRunStats ); + } + + virtual void skipTest( TestCaseInfo const& testInfo ) CATCH_OVERRIDE { + for( Reporters::const_iterator it = m_reporters.begin(), itEnd = m_reporters.end(); + it != itEnd; + ++it ) + (*it)->skipTest( testInfo ); + } + + virtual MultipleReporters* tryAsMulti() CATCH_OVERRIDE { + return this; + } + +}; + +Ptr addReporter( Ptr const& existingReporter, Ptr const& additionalReporter ) { + Ptr resultingReporter; + + if( existingReporter ) { + MultipleReporters* multi = existingReporter->tryAsMulti(); + if( !multi ) { + multi = new MultipleReporters; + resultingReporter = Ptr( multi ); + if( existingReporter ) + multi->add( existingReporter ); + } + else + resultingReporter = existingReporter; + multi->add( additionalReporter ); + } + else + resultingReporter = additionalReporter; + + return resultingReporter; +} + +} // end namespace Catch + +// #included from: ../reporters/catch_reporter_xml.hpp +#define TWOBLUECUBES_CATCH_REPORTER_XML_HPP_INCLUDED + +// #included from: catch_reporter_bases.hpp +#define TWOBLUECUBES_CATCH_REPORTER_BASES_HPP_INCLUDED + +#include + +namespace Catch { + + struct StreamingReporterBase : SharedImpl { + + StreamingReporterBase( ReporterConfig const& _config ) + : m_config( _config.fullConfig() ), + stream( _config.stream() ) + { + m_reporterPrefs.shouldRedirectStdOut = false; + } + + virtual ReporterPreferences getPreferences() const CATCH_OVERRIDE { + return m_reporterPrefs; + } + + virtual ~StreamingReporterBase() CATCH_OVERRIDE; + + virtual void noMatchingTestCases( std::string const& ) CATCH_OVERRIDE {} + + virtual void testRunStarting( TestRunInfo const& _testRunInfo ) CATCH_OVERRIDE { + currentTestRunInfo = _testRunInfo; + } + virtual void testGroupStarting( GroupInfo const& _groupInfo ) CATCH_OVERRIDE { + currentGroupInfo = _groupInfo; + } + + virtual void testCaseStarting( TestCaseInfo const& _testInfo ) CATCH_OVERRIDE { + currentTestCaseInfo = _testInfo; + } + virtual void sectionStarting( SectionInfo const& _sectionInfo ) CATCH_OVERRIDE { + m_sectionStack.push_back( _sectionInfo ); + } + + virtual void sectionEnded( SectionStats const& /* _sectionStats */ ) CATCH_OVERRIDE { + m_sectionStack.pop_back(); + } + virtual void testCaseEnded( TestCaseStats const& /* _testCaseStats */ ) CATCH_OVERRIDE { + currentTestCaseInfo.reset(); + } + virtual void testGroupEnded( TestGroupStats const& /* _testGroupStats */ ) CATCH_OVERRIDE { + currentGroupInfo.reset(); + } + virtual void testRunEnded( TestRunStats const& /* _testRunStats */ ) CATCH_OVERRIDE { + currentTestCaseInfo.reset(); + currentGroupInfo.reset(); + currentTestRunInfo.reset(); + } + + virtual void skipTest( TestCaseInfo const& ) CATCH_OVERRIDE { + // Don't do anything with this by default. + // It can optionally be overridden in the derived class. + } + + Ptr m_config; + std::ostream& stream; + + LazyStat currentTestRunInfo; + LazyStat currentGroupInfo; + LazyStat currentTestCaseInfo; + + std::vector m_sectionStack; + ReporterPreferences m_reporterPrefs; + }; + + struct CumulativeReporterBase : SharedImpl { + template + struct Node : SharedImpl<> { + explicit Node( T const& _value ) : value( _value ) {} + virtual ~Node() {} + + typedef std::vector > ChildNodes; + T value; + ChildNodes children; + }; + struct SectionNode : SharedImpl<> { + explicit SectionNode( SectionStats const& _stats ) : stats( _stats ) {} + virtual ~SectionNode(); + + bool operator == ( SectionNode const& other ) const { + return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo; + } + bool operator == ( Ptr const& other ) const { + return operator==( *other ); + } + + SectionStats stats; + typedef std::vector > ChildSections; + typedef std::vector Assertions; + ChildSections childSections; + Assertions assertions; + std::string stdOut; + std::string stdErr; + }; + + struct BySectionInfo { + BySectionInfo( SectionInfo const& other ) : m_other( other ) {} + BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {} + bool operator() ( Ptr const& node ) const { + return node->stats.sectionInfo.lineInfo == m_other.lineInfo; + } + private: + void operator=( BySectionInfo const& ); + SectionInfo const& m_other; + }; + + typedef Node TestCaseNode; + typedef Node TestGroupNode; + typedef Node TestRunNode; + + CumulativeReporterBase( ReporterConfig const& _config ) + : m_config( _config.fullConfig() ), + stream( _config.stream() ) + { + m_reporterPrefs.shouldRedirectStdOut = false; + } + ~CumulativeReporterBase(); + + virtual ReporterPreferences getPreferences() const CATCH_OVERRIDE { + return m_reporterPrefs; + } + + virtual void testRunStarting( TestRunInfo const& ) CATCH_OVERRIDE {} + virtual void testGroupStarting( GroupInfo const& ) CATCH_OVERRIDE {} + + virtual void testCaseStarting( TestCaseInfo const& ) CATCH_OVERRIDE {} + + virtual void sectionStarting( SectionInfo const& sectionInfo ) CATCH_OVERRIDE { + SectionStats incompleteStats( sectionInfo, Counts(), 0, false ); + Ptr node; + if( m_sectionStack.empty() ) { + if( !m_rootSection ) + m_rootSection = new SectionNode( incompleteStats ); + node = m_rootSection; + } + else { + SectionNode& parentNode = *m_sectionStack.back(); + SectionNode::ChildSections::const_iterator it = + std::find_if( parentNode.childSections.begin(), + parentNode.childSections.end(), + BySectionInfo( sectionInfo ) ); + if( it == parentNode.childSections.end() ) { + node = new SectionNode( incompleteStats ); + parentNode.childSections.push_back( node ); + } + else + node = *it; + } + m_sectionStack.push_back( node ); + m_deepestSection = node; + } + + virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE {} + + virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { + assert( !m_sectionStack.empty() ); + SectionNode& sectionNode = *m_sectionStack.back(); + sectionNode.assertions.push_back( assertionStats ); + // AssertionResult holds a pointer to a temporary DecomposedExpression, + // which getExpandedExpression() calls to build the expression string. + // Our section stack copy of the assertionResult will likely outlive the + // temporary, so it must be expanded or discarded now to avoid calling + // a destroyed object later. + prepareExpandedExpression( sectionNode.assertions.back().assertionResult ); + return true; + } + virtual void sectionEnded( SectionStats const& sectionStats ) CATCH_OVERRIDE { + assert( !m_sectionStack.empty() ); + SectionNode& node = *m_sectionStack.back(); + node.stats = sectionStats; + m_sectionStack.pop_back(); + } + virtual void testCaseEnded( TestCaseStats const& testCaseStats ) CATCH_OVERRIDE { + Ptr node = new TestCaseNode( testCaseStats ); + assert( m_sectionStack.size() == 0 ); + node->children.push_back( m_rootSection ); + m_testCases.push_back( node ); + m_rootSection.reset(); + + assert( m_deepestSection ); + m_deepestSection->stdOut = testCaseStats.stdOut; + m_deepestSection->stdErr = testCaseStats.stdErr; + } + virtual void testGroupEnded( TestGroupStats const& testGroupStats ) CATCH_OVERRIDE { + Ptr node = new TestGroupNode( testGroupStats ); + node->children.swap( m_testCases ); + m_testGroups.push_back( node ); + } + virtual void testRunEnded( TestRunStats const& testRunStats ) CATCH_OVERRIDE { + Ptr node = new TestRunNode( testRunStats ); + node->children.swap( m_testGroups ); + m_testRuns.push_back( node ); + testRunEndedCumulative(); + } + virtual void testRunEndedCumulative() = 0; + + virtual void skipTest( TestCaseInfo const& ) CATCH_OVERRIDE {} + + virtual void prepareExpandedExpression( AssertionResult& result ) const { + if( result.isOk() ) + result.discardDecomposedExpression(); + else + result.expandDecomposedExpression(); + } + + Ptr m_config; + std::ostream& stream; + std::vector m_assertions; + std::vector > > m_sections; + std::vector > m_testCases; + std::vector > m_testGroups; + + std::vector > m_testRuns; + + Ptr m_rootSection; + Ptr m_deepestSection; + std::vector > m_sectionStack; + ReporterPreferences m_reporterPrefs; + + }; + + template + char const* getLineOfChars() { + static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0}; + if( !*line ) { + std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 ); + line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0; + } + return line; + } + + struct TestEventListenerBase : StreamingReporterBase { + TestEventListenerBase( ReporterConfig const& _config ) + : StreamingReporterBase( _config ) + {} + + virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE {} + virtual bool assertionEnded( AssertionStats const& ) CATCH_OVERRIDE { + return false; + } + }; + +} // end namespace Catch + +// #included from: ../internal/catch_reporter_registrars.hpp +#define TWOBLUECUBES_CATCH_REPORTER_REGISTRARS_HPP_INCLUDED + +namespace Catch { + + template + class LegacyReporterRegistrar { + + class ReporterFactory : public IReporterFactory { + virtual IStreamingReporter* create( ReporterConfig const& config ) const { + return new LegacyReporterAdapter( new T( config ) ); + } + + virtual std::string getDescription() const { + return T::getDescription(); + } + }; + + public: + + LegacyReporterRegistrar( std::string const& name ) { + getMutableRegistryHub().registerReporter( name, new ReporterFactory() ); + } + }; + + template + class ReporterRegistrar { + + class ReporterFactory : public SharedImpl { + + // *** Please Note ***: + // - If you end up here looking at a compiler error because it's trying to register + // your custom reporter class be aware that the native reporter interface has changed + // to IStreamingReporter. The "legacy" interface, IReporter, is still supported via + // an adapter. Just use REGISTER_LEGACY_REPORTER to take advantage of the adapter. + // However please consider updating to the new interface as the old one is now + // deprecated and will probably be removed quite soon! + // Please contact me via github if you have any questions at all about this. + // In fact, ideally, please contact me anyway to let me know you've hit this - as I have + // no idea who is actually using custom reporters at all (possibly no-one!). + // The new interface is designed to minimise exposure to interface changes in the future. + virtual IStreamingReporter* create( ReporterConfig const& config ) const { + return new T( config ); + } + + virtual std::string getDescription() const { + return T::getDescription(); + } + }; + + public: + + ReporterRegistrar( std::string const& name ) { + getMutableRegistryHub().registerReporter( name, new ReporterFactory() ); + } + }; + + template + class ListenerRegistrar { + + class ListenerFactory : public SharedImpl { + + virtual IStreamingReporter* create( ReporterConfig const& config ) const { + return new T( config ); + } + virtual std::string getDescription() const { + return std::string(); + } + }; + + public: + + ListenerRegistrar() { + getMutableRegistryHub().registerListener( new ListenerFactory() ); + } + }; +} + +#define INTERNAL_CATCH_REGISTER_LEGACY_REPORTER( name, reporterType ) \ + namespace{ Catch::LegacyReporterRegistrar catch_internal_RegistrarFor##reporterType( name ); } + +#define INTERNAL_CATCH_REGISTER_REPORTER( name, reporterType ) \ + namespace{ Catch::ReporterRegistrar catch_internal_RegistrarFor##reporterType( name ); } + +#define INTERNAL_CATCH_REGISTER_LISTENER( listenerType ) \ + namespace{ Catch::ListenerRegistrar catch_internal_RegistrarFor##listenerType; } + +// #included from: ../internal/catch_xmlwriter.hpp +#define TWOBLUECUBES_CATCH_XMLWRITER_HPP_INCLUDED + +#include +#include +#include +#include + +namespace Catch { + + class XmlEncode { + public: + enum ForWhat { ForTextNodes, ForAttributes }; + + XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes ) + : m_str( str ), + m_forWhat( forWhat ) + {} + + void encodeTo( std::ostream& os ) const { + + // Apostrophe escaping not necessary if we always use " to write attributes + // (see: http://www.w3.org/TR/xml/#syntax) + + for( std::size_t i = 0; i < m_str.size(); ++ i ) { + char c = m_str[i]; + switch( c ) { + case '<': os << "<"; break; + case '&': os << "&"; break; + + case '>': + // See: http://www.w3.org/TR/xml/#syntax + if( i > 2 && m_str[i-1] == ']' && m_str[i-2] == ']' ) + os << ">"; + else + os << c; + break; + + case '\"': + if( m_forWhat == ForAttributes ) + os << """; + else + os << c; + break; + + default: + // Escape control chars - based on contribution by @espenalb in PR #465 and + // by @mrpi PR #588 + if ( ( c >= 0 && c < '\x09' ) || ( c > '\x0D' && c < '\x20') || c=='\x7F' ) { + // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0 + os << "\\x" << std::uppercase << std::hex << std::setfill('0') << std::setw(2) + << static_cast( c ); + } + else + os << c; + } + } + } + + friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) { + xmlEncode.encodeTo( os ); + return os; + } + + private: + std::string m_str; + ForWhat m_forWhat; + }; + + class XmlWriter { + public: + + class ScopedElement { + public: + ScopedElement( XmlWriter* writer ) + : m_writer( writer ) + {} + + ScopedElement( ScopedElement const& other ) + : m_writer( other.m_writer ){ + other.m_writer = CATCH_NULL; + } + + ~ScopedElement() { + if( m_writer ) + m_writer->endElement(); + } + + ScopedElement& writeText( std::string const& text, bool indent = true ) { + m_writer->writeText( text, indent ); + return *this; + } + + template + ScopedElement& writeAttribute( std::string const& name, T const& attribute ) { + m_writer->writeAttribute( name, attribute ); + return *this; + } + + private: + mutable XmlWriter* m_writer; + }; + + XmlWriter() + : m_tagIsOpen( false ), + m_needsNewline( false ), + m_os( Catch::cout() ) + { + writeDeclaration(); + } + + XmlWriter( std::ostream& os ) + : m_tagIsOpen( false ), + m_needsNewline( false ), + m_os( os ) + { + writeDeclaration(); + } + + ~XmlWriter() { + while( !m_tags.empty() ) + endElement(); + } + + XmlWriter& startElement( std::string const& name ) { + ensureTagClosed(); + newlineIfNecessary(); + m_os << m_indent << '<' << name; + m_tags.push_back( name ); + m_indent += " "; + m_tagIsOpen = true; + return *this; + } + + ScopedElement scopedElement( std::string const& name ) { + ScopedElement scoped( this ); + startElement( name ); + return scoped; + } + + XmlWriter& endElement() { + newlineIfNecessary(); + m_indent = m_indent.substr( 0, m_indent.size()-2 ); + if( m_tagIsOpen ) { + m_os << "/>"; + m_tagIsOpen = false; + } + else { + m_os << m_indent << ""; + } + m_os << std::endl; + m_tags.pop_back(); + return *this; + } + + XmlWriter& writeAttribute( std::string const& name, std::string const& attribute ) { + if( !name.empty() && !attribute.empty() ) + m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"'; + return *this; + } + + XmlWriter& writeAttribute( std::string const& name, bool attribute ) { + m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"'; + return *this; + } + + template + XmlWriter& writeAttribute( std::string const& name, T const& attribute ) { + std::ostringstream oss; + oss << attribute; + return writeAttribute( name, oss.str() ); + } + + XmlWriter& writeText( std::string const& text, bool indent = true ) { + if( !text.empty() ){ + bool tagWasOpen = m_tagIsOpen; + ensureTagClosed(); + if( tagWasOpen && indent ) + m_os << m_indent; + m_os << XmlEncode( text ); + m_needsNewline = true; + } + return *this; + } + + XmlWriter& writeComment( std::string const& text ) { + ensureTagClosed(); + m_os << m_indent << ""; + m_needsNewline = true; + return *this; + } + + void writeStylesheetRef( std::string const& url ) { + m_os << "\n"; + } + + XmlWriter& writeBlankLine() { + ensureTagClosed(); + m_os << '\n'; + return *this; + } + + void ensureTagClosed() { + if( m_tagIsOpen ) { + m_os << ">" << std::endl; + m_tagIsOpen = false; + } + } + + private: + XmlWriter( XmlWriter const& ); + void operator=( XmlWriter const& ); + + void writeDeclaration() { + m_os << "\n"; + } + + void newlineIfNecessary() { + if( m_needsNewline ) { + m_os << std::endl; + m_needsNewline = false; + } + } + + bool m_tagIsOpen; + bool m_needsNewline; + std::vector m_tags; + std::string m_indent; + std::ostream& m_os; + }; + +} +// #included from: catch_reenable_warnings.h + +#define TWOBLUECUBES_CATCH_REENABLE_WARNINGS_H_INCLUDED + +#ifdef __clang__ +# ifdef __ICC // icpc defines the __clang__ macro +# pragma warning(pop) +# else +# pragma clang diagnostic pop +# endif +#elif defined __GNUC__ +# pragma GCC diagnostic pop +#endif + + +namespace Catch { + class XmlReporter : public StreamingReporterBase { + public: + XmlReporter( ReporterConfig const& _config ) + : StreamingReporterBase( _config ), + m_xml(_config.stream()), + m_sectionDepth( 0 ) + { + m_reporterPrefs.shouldRedirectStdOut = true; + } + + virtual ~XmlReporter() CATCH_OVERRIDE; + + static std::string getDescription() { + return "Reports test results as an XML document"; + } + + virtual std::string getStylesheetRef() const { + return std::string(); + } + + public: // StreamingReporterBase + + virtual void noMatchingTestCases( std::string const& s ) CATCH_OVERRIDE { + StreamingReporterBase::noMatchingTestCases( s ); + } + + virtual void testRunStarting( TestRunInfo const& testInfo ) CATCH_OVERRIDE { + StreamingReporterBase::testRunStarting( testInfo ); + std::string stylesheetRef = getStylesheetRef(); + if( !stylesheetRef.empty() ) + m_xml.writeStylesheetRef( stylesheetRef ); + m_xml.startElement( "Catch" ); + if( !m_config->name().empty() ) + m_xml.writeAttribute( "name", m_config->name() ); + } + + virtual void testGroupStarting( GroupInfo const& groupInfo ) CATCH_OVERRIDE { + StreamingReporterBase::testGroupStarting( groupInfo ); + m_xml.startElement( "Group" ) + .writeAttribute( "name", groupInfo.name ); + } + + virtual void testCaseStarting( TestCaseInfo const& testInfo ) CATCH_OVERRIDE { + StreamingReporterBase::testCaseStarting(testInfo); + m_xml.startElement( "TestCase" ) + .writeAttribute( "name", trim( testInfo.name ) ) + .writeAttribute( "description", testInfo.description ) + .writeAttribute( "tags", testInfo.tagsAsString ); + + if ( m_config->showDurations() == ShowDurations::Always ) + m_testCaseTimer.start(); + m_xml.ensureTagClosed(); + } + + virtual void sectionStarting( SectionInfo const& sectionInfo ) CATCH_OVERRIDE { + StreamingReporterBase::sectionStarting( sectionInfo ); + if( m_sectionDepth++ > 0 ) { + m_xml.startElement( "Section" ) + .writeAttribute( "name", trim( sectionInfo.name ) ) + .writeAttribute( "description", sectionInfo.description ); + m_xml.ensureTagClosed(); + } + } + + virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE { } + + virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { + const AssertionResult& assertionResult = assertionStats.assertionResult; + + // Print any info messages in tags. + if( assertionStats.assertionResult.getResultType() != ResultWas::Ok ) { + for( std::vector::const_iterator it = assertionStats.infoMessages.begin(), itEnd = assertionStats.infoMessages.end(); + it != itEnd; + ++it ) { + if( it->type == ResultWas::Info ) { + m_xml.scopedElement( "Info" ) + .writeText( it->message ); + } else if ( it->type == ResultWas::Warning ) { + m_xml.scopedElement( "Warning" ) + .writeText( it->message ); + } + } + } + + // Drop out if result was successful but we're not printing them. + if( !m_config->includeSuccessfulResults() && isOk(assertionResult.getResultType()) ) + return true; + + // Print the expression if there is one. + if( assertionResult.hasExpression() ) { + m_xml.startElement( "Expression" ) + .writeAttribute( "success", assertionResult.succeeded() ) + .writeAttribute( "type", assertionResult.getTestMacroName() ) + .writeAttribute( "filename", assertionResult.getSourceInfo().file ) + .writeAttribute( "line", assertionResult.getSourceInfo().line ); + + m_xml.scopedElement( "Original" ) + .writeText( assertionResult.getExpression() ); + m_xml.scopedElement( "Expanded" ) + .writeText( assertionResult.getExpandedExpression() ); + } + + // And... Print a result applicable to each result type. + switch( assertionResult.getResultType() ) { + case ResultWas::ThrewException: + m_xml.scopedElement( "Exception" ) + .writeAttribute( "filename", assertionResult.getSourceInfo().file ) + .writeAttribute( "line", assertionResult.getSourceInfo().line ) + .writeText( assertionResult.getMessage() ); + break; + case ResultWas::FatalErrorCondition: + m_xml.scopedElement( "FatalErrorCondition" ) + .writeAttribute( "filename", assertionResult.getSourceInfo().file ) + .writeAttribute( "line", assertionResult.getSourceInfo().line ) + .writeText( assertionResult.getMessage() ); + break; + case ResultWas::Info: + m_xml.scopedElement( "Info" ) + .writeText( assertionResult.getMessage() ); + break; + case ResultWas::Warning: + // Warning will already have been written + break; + case ResultWas::ExplicitFailure: + m_xml.scopedElement( "Failure" ) + .writeText( assertionResult.getMessage() ); + break; + default: + break; + } + + if( assertionResult.hasExpression() ) + m_xml.endElement(); + + return true; + } + + virtual void sectionEnded( SectionStats const& sectionStats ) CATCH_OVERRIDE { + StreamingReporterBase::sectionEnded( sectionStats ); + if( --m_sectionDepth > 0 ) { + XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" ); + e.writeAttribute( "successes", sectionStats.assertions.passed ); + e.writeAttribute( "failures", sectionStats.assertions.failed ); + e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk ); + + if ( m_config->showDurations() == ShowDurations::Always ) + e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds ); + + m_xml.endElement(); + } + } + + virtual void testCaseEnded( TestCaseStats const& testCaseStats ) CATCH_OVERRIDE { + StreamingReporterBase::testCaseEnded( testCaseStats ); + XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" ); + e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() ); + + if ( m_config->showDurations() == ShowDurations::Always ) + e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() ); + + if( !testCaseStats.stdOut.empty() ) + m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), false ); + if( !testCaseStats.stdErr.empty() ) + m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), false ); + + m_xml.endElement(); + } + + virtual void testGroupEnded( TestGroupStats const& testGroupStats ) CATCH_OVERRIDE { + StreamingReporterBase::testGroupEnded( testGroupStats ); + // TODO: Check testGroupStats.aborting and act accordingly. + m_xml.scopedElement( "OverallResults" ) + .writeAttribute( "successes", testGroupStats.totals.assertions.passed ) + .writeAttribute( "failures", testGroupStats.totals.assertions.failed ) + .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk ); + m_xml.endElement(); + } + + virtual void testRunEnded( TestRunStats const& testRunStats ) CATCH_OVERRIDE { + StreamingReporterBase::testRunEnded( testRunStats ); + m_xml.scopedElement( "OverallResults" ) + .writeAttribute( "successes", testRunStats.totals.assertions.passed ) + .writeAttribute( "failures", testRunStats.totals.assertions.failed ) + .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk ); + m_xml.endElement(); + } + + private: + Timer m_testCaseTimer; + XmlWriter m_xml; + int m_sectionDepth; + }; + + INTERNAL_CATCH_REGISTER_REPORTER( "xml", XmlReporter ) + +} // end namespace Catch + +// #included from: ../reporters/catch_reporter_junit.hpp +#define TWOBLUECUBES_CATCH_REPORTER_JUNIT_HPP_INCLUDED + +#include + +namespace Catch { + + namespace { + std::string getCurrentTimestamp() { + // Beware, this is not reentrant because of backward compatibility issues + // Also, UTC only, again because of backward compatibility (%z is C++11) + time_t rawtime; + std::time(&rawtime); + const size_t timeStampSize = sizeof("2017-01-16T17:06:45Z"); + +#ifdef _MSC_VER + std::tm timeInfo = {}; + gmtime_s(&timeInfo, &rawtime); +#else + std::tm* timeInfo; + timeInfo = std::gmtime(&rawtime); +#endif + + char timeStamp[timeStampSize]; + const char * const fmt = "%Y-%m-%dT%H:%M:%SZ"; + +#ifdef _MSC_VER + std::strftime(timeStamp, timeStampSize, fmt, &timeInfo); +#else + std::strftime(timeStamp, timeStampSize, fmt, timeInfo); +#endif + return std::string(timeStamp); + } + + } + + class JunitReporter : public CumulativeReporterBase { + public: + JunitReporter( ReporterConfig const& _config ) + : CumulativeReporterBase( _config ), + xml( _config.stream() ) + { + m_reporterPrefs.shouldRedirectStdOut = true; + } + + virtual ~JunitReporter() CATCH_OVERRIDE; + + static std::string getDescription() { + return "Reports test results in an XML format that looks like Ant's junitreport target"; + } + + virtual void noMatchingTestCases( std::string const& /*spec*/ ) CATCH_OVERRIDE {} + + virtual void testRunStarting( TestRunInfo const& runInfo ) CATCH_OVERRIDE { + CumulativeReporterBase::testRunStarting( runInfo ); + xml.startElement( "testsuites" ); + } + + virtual void testGroupStarting( GroupInfo const& groupInfo ) CATCH_OVERRIDE { + suiteTimer.start(); + stdOutForSuite.str(""); + stdErrForSuite.str(""); + unexpectedExceptions = 0; + CumulativeReporterBase::testGroupStarting( groupInfo ); + } + + virtual bool assertionEnded( AssertionStats const& assertionStats ) CATCH_OVERRIDE { + if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException ) + unexpectedExceptions++; + return CumulativeReporterBase::assertionEnded( assertionStats ); + } + + virtual void testCaseEnded( TestCaseStats const& testCaseStats ) CATCH_OVERRIDE { + stdOutForSuite << testCaseStats.stdOut; + stdErrForSuite << testCaseStats.stdErr; + CumulativeReporterBase::testCaseEnded( testCaseStats ); + } + + virtual void testGroupEnded( TestGroupStats const& testGroupStats ) CATCH_OVERRIDE { + double suiteTime = suiteTimer.getElapsedSeconds(); + CumulativeReporterBase::testGroupEnded( testGroupStats ); + writeGroup( *m_testGroups.back(), suiteTime ); + } + + virtual void testRunEndedCumulative() CATCH_OVERRIDE { + xml.endElement(); + } + + void writeGroup( TestGroupNode const& groupNode, double suiteTime ) { + XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" ); + TestGroupStats const& stats = groupNode.value; + xml.writeAttribute( "name", stats.groupInfo.name ); + xml.writeAttribute( "errors", unexpectedExceptions ); + xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions ); + xml.writeAttribute( "tests", stats.totals.assertions.total() ); + xml.writeAttribute( "hostname", "tbd" ); // !TBD + if( m_config->showDurations() == ShowDurations::Never ) + xml.writeAttribute( "time", "" ); + else + xml.writeAttribute( "time", suiteTime ); + xml.writeAttribute( "timestamp", getCurrentTimestamp() ); + + // Write test cases + for( TestGroupNode::ChildNodes::const_iterator + it = groupNode.children.begin(), itEnd = groupNode.children.end(); + it != itEnd; + ++it ) + writeTestCase( **it ); + + xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite.str() ), false ); + xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite.str() ), false ); + } + + void writeTestCase( TestCaseNode const& testCaseNode ) { + TestCaseStats const& stats = testCaseNode.value; + + // All test cases have exactly one section - which represents the + // test case itself. That section may have 0-n nested sections + assert( testCaseNode.children.size() == 1 ); + SectionNode const& rootSection = *testCaseNode.children.front(); + + std::string className = stats.testInfo.className; + + if( className.empty() ) { + if( rootSection.childSections.empty() ) + className = "global"; + } + writeSection( className, "", rootSection ); + } + + void writeSection( std::string const& className, + std::string const& rootName, + SectionNode const& sectionNode ) { + std::string name = trim( sectionNode.stats.sectionInfo.name ); + if( !rootName.empty() ) + name = rootName + '/' + name; + + if( !sectionNode.assertions.empty() || + !sectionNode.stdOut.empty() || + !sectionNode.stdErr.empty() ) { + XmlWriter::ScopedElement e = xml.scopedElement( "testcase" ); + if( className.empty() ) { + xml.writeAttribute( "classname", name ); + xml.writeAttribute( "name", "root" ); + } + else { + xml.writeAttribute( "classname", className ); + xml.writeAttribute( "name", name ); + } + xml.writeAttribute( "time", Catch::toString( sectionNode.stats.durationInSeconds ) ); + + writeAssertions( sectionNode ); + + if( !sectionNode.stdOut.empty() ) + xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), false ); + if( !sectionNode.stdErr.empty() ) + xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), false ); + } + for( SectionNode::ChildSections::const_iterator + it = sectionNode.childSections.begin(), + itEnd = sectionNode.childSections.end(); + it != itEnd; + ++it ) + if( className.empty() ) + writeSection( name, "", **it ); + else + writeSection( className, name, **it ); + } + + void writeAssertions( SectionNode const& sectionNode ) { + for( SectionNode::Assertions::const_iterator + it = sectionNode.assertions.begin(), itEnd = sectionNode.assertions.end(); + it != itEnd; + ++it ) + writeAssertion( *it ); + } + void writeAssertion( AssertionStats const& stats ) { + AssertionResult const& result = stats.assertionResult; + if( !result.isOk() ) { + std::string elementName; + switch( result.getResultType() ) { + case ResultWas::ThrewException: + case ResultWas::FatalErrorCondition: + elementName = "error"; + break; + case ResultWas::ExplicitFailure: + elementName = "failure"; + break; + case ResultWas::ExpressionFailed: + elementName = "failure"; + break; + case ResultWas::DidntThrowException: + elementName = "failure"; + break; + + // We should never see these here: + case ResultWas::Info: + case ResultWas::Warning: + case ResultWas::Ok: + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + elementName = "internalError"; + break; + } + + XmlWriter::ScopedElement e = xml.scopedElement( elementName ); + + xml.writeAttribute( "message", result.getExpandedExpression() ); + xml.writeAttribute( "type", result.getTestMacroName() ); + + std::ostringstream oss; + if( !result.getMessage().empty() ) + oss << result.getMessage() << '\n'; + for( std::vector::const_iterator + it = stats.infoMessages.begin(), + itEnd = stats.infoMessages.end(); + it != itEnd; + ++it ) + if( it->type == ResultWas::Info ) + oss << it->message << '\n'; + + oss << "at " << result.getSourceInfo(); + xml.writeText( oss.str(), false ); + } + } + + XmlWriter xml; + Timer suiteTimer; + std::ostringstream stdOutForSuite; + std::ostringstream stdErrForSuite; + unsigned int unexpectedExceptions; + }; + + INTERNAL_CATCH_REGISTER_REPORTER( "junit", JunitReporter ) + +} // end namespace Catch + +// #included from: ../reporters/catch_reporter_console.hpp +#define TWOBLUECUBES_CATCH_REPORTER_CONSOLE_HPP_INCLUDED + +namespace Catch { + + struct ConsoleReporter : StreamingReporterBase { + ConsoleReporter( ReporterConfig const& _config ) + : StreamingReporterBase( _config ), + m_headerPrinted( false ) + {} + + virtual ~ConsoleReporter() CATCH_OVERRIDE; + static std::string getDescription() { + return "Reports test results as plain lines of text"; + } + + virtual void noMatchingTestCases( std::string const& spec ) CATCH_OVERRIDE { + stream << "No test cases matched '" << spec << '\'' << std::endl; + } + + virtual void assertionStarting( AssertionInfo const& ) CATCH_OVERRIDE { + } + + virtual bool assertionEnded( AssertionStats const& _assertionStats ) CATCH_OVERRIDE { + AssertionResult const& result = _assertionStats.assertionResult; + + bool printInfoMessages = true; + + // Drop out if result was successful and we're not printing those + if( !m_config->includeSuccessfulResults() && result.isOk() ) { + if( result.getResultType() != ResultWas::Warning ) + return false; + printInfoMessages = false; + } + + lazyPrint(); + + AssertionPrinter printer( stream, _assertionStats, printInfoMessages ); + printer.print(); + stream << std::endl; + return true; + } + + virtual void sectionStarting( SectionInfo const& _sectionInfo ) CATCH_OVERRIDE { + m_headerPrinted = false; + StreamingReporterBase::sectionStarting( _sectionInfo ); + } + virtual void sectionEnded( SectionStats const& _sectionStats ) CATCH_OVERRIDE { + if( _sectionStats.missingAssertions ) { + lazyPrint(); + Colour colour( Colour::ResultError ); + if( m_sectionStack.size() > 1 ) + stream << "\nNo assertions in section"; + else + stream << "\nNo assertions in test case"; + stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl; + } + if( m_headerPrinted ) { + if( m_config->showDurations() == ShowDurations::Always ) + stream << "Completed in " << _sectionStats.durationInSeconds << 's' << std::endl; + m_headerPrinted = false; + } + else { + if( m_config->showDurations() == ShowDurations::Always ) + stream << _sectionStats.sectionInfo.name << " completed in " << _sectionStats.durationInSeconds << 's' << std::endl; + } + StreamingReporterBase::sectionEnded( _sectionStats ); + } + + virtual void testCaseEnded( TestCaseStats const& _testCaseStats ) CATCH_OVERRIDE { + StreamingReporterBase::testCaseEnded( _testCaseStats ); + m_headerPrinted = false; + } + virtual void testGroupEnded( TestGroupStats const& _testGroupStats ) CATCH_OVERRIDE { + if( currentGroupInfo.used ) { + printSummaryDivider(); + stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n"; + printTotals( _testGroupStats.totals ); + stream << '\n' << std::endl; + } + StreamingReporterBase::testGroupEnded( _testGroupStats ); + } + virtual void testRunEnded( TestRunStats const& _testRunStats ) CATCH_OVERRIDE { + printTotalsDivider( _testRunStats.totals ); + printTotals( _testRunStats.totals ); + stream << std::endl; + StreamingReporterBase::testRunEnded( _testRunStats ); + } + + private: + + class AssertionPrinter { + void operator= ( AssertionPrinter const& ); + public: + AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages ) + : stream( _stream ), + stats( _stats ), + result( _stats.assertionResult ), + colour( Colour::None ), + message( result.getMessage() ), + messages( _stats.infoMessages ), + printInfoMessages( _printInfoMessages ) + { + switch( result.getResultType() ) { + case ResultWas::Ok: + colour = Colour::Success; + passOrFail = "PASSED"; + //if( result.hasMessage() ) + if( _stats.infoMessages.size() == 1 ) + messageLabel = "with message"; + if( _stats.infoMessages.size() > 1 ) + messageLabel = "with messages"; + break; + case ResultWas::ExpressionFailed: + if( result.isOk() ) { + colour = Colour::Success; + passOrFail = "FAILED - but was ok"; + } + else { + colour = Colour::Error; + passOrFail = "FAILED"; + } + if( _stats.infoMessages.size() == 1 ) + messageLabel = "with message"; + if( _stats.infoMessages.size() > 1 ) + messageLabel = "with messages"; + break; + case ResultWas::ThrewException: + colour = Colour::Error; + passOrFail = "FAILED"; + messageLabel = "due to unexpected exception with message"; + break; + case ResultWas::FatalErrorCondition: + colour = Colour::Error; + passOrFail = "FAILED"; + messageLabel = "due to a fatal error condition"; + break; + case ResultWas::DidntThrowException: + colour = Colour::Error; + passOrFail = "FAILED"; + messageLabel = "because no exception was thrown where one was expected"; + break; + case ResultWas::Info: + messageLabel = "info"; + break; + case ResultWas::Warning: + messageLabel = "warning"; + break; + case ResultWas::ExplicitFailure: + passOrFail = "FAILED"; + colour = Colour::Error; + if( _stats.infoMessages.size() == 1 ) + messageLabel = "explicitly with message"; + if( _stats.infoMessages.size() > 1 ) + messageLabel = "explicitly with messages"; + break; + // These cases are here to prevent compiler warnings + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + passOrFail = "** internal error **"; + colour = Colour::Error; + break; + } + } + + void print() const { + printSourceInfo(); + if( stats.totals.assertions.total() > 0 ) { + if( result.isOk() ) + stream << '\n'; + printResultType(); + printOriginalExpression(); + printReconstructedExpression(); + } + else { + stream << '\n'; + } + printMessage(); + } + + private: + void printResultType() const { + if( !passOrFail.empty() ) { + Colour colourGuard( colour ); + stream << passOrFail << ":\n"; + } + } + void printOriginalExpression() const { + if( result.hasExpression() ) { + Colour colourGuard( Colour::OriginalExpression ); + stream << " "; + stream << result.getExpressionInMacro(); + stream << '\n'; + } + } + void printReconstructedExpression() const { + if( result.hasExpandedExpression() ) { + stream << "with expansion:\n"; + Colour colourGuard( Colour::ReconstructedExpression ); + stream << Text( result.getExpandedExpression(), TextAttributes().setIndent(2) ) << '\n'; + } + } + void printMessage() const { + if( !messageLabel.empty() ) + stream << messageLabel << ':' << '\n'; + for( std::vector::const_iterator it = messages.begin(), itEnd = messages.end(); + it != itEnd; + ++it ) { + // If this assertion is a warning ignore any INFO messages + if( printInfoMessages || it->type != ResultWas::Info ) + stream << Text( it->message, TextAttributes().setIndent(2) ) << '\n'; + } + } + void printSourceInfo() const { + Colour colourGuard( Colour::FileName ); + stream << result.getSourceInfo() << ": "; + } + + std::ostream& stream; + AssertionStats const& stats; + AssertionResult const& result; + Colour::Code colour; + std::string passOrFail; + std::string messageLabel; + std::string message; + std::vector messages; + bool printInfoMessages; + }; + + void lazyPrint() { + + if( !currentTestRunInfo.used ) + lazyPrintRunInfo(); + if( !currentGroupInfo.used ) + lazyPrintGroupInfo(); + + if( !m_headerPrinted ) { + printTestCaseAndSectionHeader(); + m_headerPrinted = true; + } + } + void lazyPrintRunInfo() { + stream << '\n' << getLineOfChars<'~'>() << '\n'; + Colour colour( Colour::SecondaryText ); + stream << currentTestRunInfo->name + << " is a Catch v" << libraryVersion << " host application.\n" + << "Run with -? for options\n\n"; + + if( m_config->rngSeed() != 0 ) + stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n"; + + currentTestRunInfo.used = true; + } + void lazyPrintGroupInfo() { + if( !currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1 ) { + printClosedHeader( "Group: " + currentGroupInfo->name ); + currentGroupInfo.used = true; + } + } + void printTestCaseAndSectionHeader() { + assert( !m_sectionStack.empty() ); + printOpenHeader( currentTestCaseInfo->name ); + + if( m_sectionStack.size() > 1 ) { + Colour colourGuard( Colour::Headers ); + + std::vector::const_iterator + it = m_sectionStack.begin()+1, // Skip first section (test case) + itEnd = m_sectionStack.end(); + for( ; it != itEnd; ++it ) + printHeaderString( it->name, 2 ); + } + + SourceLineInfo lineInfo = m_sectionStack.back().lineInfo; + + if( !lineInfo.empty() ){ + stream << getLineOfChars<'-'>() << '\n'; + Colour colourGuard( Colour::FileName ); + stream << lineInfo << '\n'; + } + stream << getLineOfChars<'.'>() << '\n' << std::endl; + } + + void printClosedHeader( std::string const& _name ) { + printOpenHeader( _name ); + stream << getLineOfChars<'.'>() << '\n'; + } + void printOpenHeader( std::string const& _name ) { + stream << getLineOfChars<'-'>() << '\n'; + { + Colour colourGuard( Colour::Headers ); + printHeaderString( _name ); + } + } + + // if string has a : in first line will set indent to follow it on + // subsequent lines + void printHeaderString( std::string const& _string, std::size_t indent = 0 ) { + std::size_t i = _string.find( ": " ); + if( i != std::string::npos ) + i+=2; + else + i = 0; + stream << Text( _string, TextAttributes() + .setIndent( indent+i) + .setInitialIndent( indent ) ) << '\n'; + } + + struct SummaryColumn { + + SummaryColumn( std::string const& _label, Colour::Code _colour ) + : label( _label ), + colour( _colour ) + {} + SummaryColumn addRow( std::size_t count ) { + std::ostringstream oss; + oss << count; + std::string row = oss.str(); + for( std::vector::iterator it = rows.begin(); it != rows.end(); ++it ) { + while( it->size() < row.size() ) + *it = ' ' + *it; + while( it->size() > row.size() ) + row = ' ' + row; + } + rows.push_back( row ); + return *this; + } + + std::string label; + Colour::Code colour; + std::vector rows; + + }; + + void printTotals( Totals const& totals ) { + if( totals.testCases.total() == 0 ) { + stream << Colour( Colour::Warning ) << "No tests ran\n"; + } + else if( totals.assertions.total() > 0 && totals.testCases.allPassed() ) { + stream << Colour( Colour::ResultSuccess ) << "All tests passed"; + stream << " (" + << pluralise( totals.assertions.passed, "assertion" ) << " in " + << pluralise( totals.testCases.passed, "test case" ) << ')' + << '\n'; + } + else { + + std::vector columns; + columns.push_back( SummaryColumn( "", Colour::None ) + .addRow( totals.testCases.total() ) + .addRow( totals.assertions.total() ) ); + columns.push_back( SummaryColumn( "passed", Colour::Success ) + .addRow( totals.testCases.passed ) + .addRow( totals.assertions.passed ) ); + columns.push_back( SummaryColumn( "failed", Colour::ResultError ) + .addRow( totals.testCases.failed ) + .addRow( totals.assertions.failed ) ); + columns.push_back( SummaryColumn( "failed as expected", Colour::ResultExpectedFailure ) + .addRow( totals.testCases.failedButOk ) + .addRow( totals.assertions.failedButOk ) ); + + printSummaryRow( "test cases", columns, 0 ); + printSummaryRow( "assertions", columns, 1 ); + } + } + void printSummaryRow( std::string const& label, std::vector const& cols, std::size_t row ) { + for( std::vector::const_iterator it = cols.begin(); it != cols.end(); ++it ) { + std::string value = it->rows[row]; + if( it->label.empty() ) { + stream << label << ": "; + if( value != "0" ) + stream << value; + else + stream << Colour( Colour::Warning ) << "- none -"; + } + else if( value != "0" ) { + stream << Colour( Colour::LightGrey ) << " | "; + stream << Colour( it->colour ) + << value << ' ' << it->label; + } + } + stream << '\n'; + } + + static std::size_t makeRatio( std::size_t number, std::size_t total ) { + std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number/ total : 0; + return ( ratio == 0 && number > 0 ) ? 1 : ratio; + } + static std::size_t& findMax( std::size_t& i, std::size_t& j, std::size_t& k ) { + if( i > j && i > k ) + return i; + else if( j > k ) + return j; + else + return k; + } + + void printTotalsDivider( Totals const& totals ) { + if( totals.testCases.total() > 0 ) { + std::size_t failedRatio = makeRatio( totals.testCases.failed, totals.testCases.total() ); + std::size_t failedButOkRatio = makeRatio( totals.testCases.failedButOk, totals.testCases.total() ); + std::size_t passedRatio = makeRatio( totals.testCases.passed, totals.testCases.total() ); + while( failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH-1 ) + findMax( failedRatio, failedButOkRatio, passedRatio )++; + while( failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH-1 ) + findMax( failedRatio, failedButOkRatio, passedRatio )--; + + stream << Colour( Colour::Error ) << std::string( failedRatio, '=' ); + stream << Colour( Colour::ResultExpectedFailure ) << std::string( failedButOkRatio, '=' ); + if( totals.testCases.allPassed() ) + stream << Colour( Colour::ResultSuccess ) << std::string( passedRatio, '=' ); + else + stream << Colour( Colour::Success ) << std::string( passedRatio, '=' ); + } + else { + stream << Colour( Colour::Warning ) << std::string( CATCH_CONFIG_CONSOLE_WIDTH-1, '=' ); + } + stream << '\n'; + } + void printSummaryDivider() { + stream << getLineOfChars<'-'>() << '\n'; + } + + private: + bool m_headerPrinted; + }; + + INTERNAL_CATCH_REGISTER_REPORTER( "console", ConsoleReporter ) + +} // end namespace Catch + +// #included from: ../reporters/catch_reporter_compact.hpp +#define TWOBLUECUBES_CATCH_REPORTER_COMPACT_HPP_INCLUDED + +namespace Catch { + + struct CompactReporter : StreamingReporterBase { + + CompactReporter( ReporterConfig const& _config ) + : StreamingReporterBase( _config ) + {} + + virtual ~CompactReporter(); + + static std::string getDescription() { + return "Reports test results on a single line, suitable for IDEs"; + } + + virtual ReporterPreferences getPreferences() const { + ReporterPreferences prefs; + prefs.shouldRedirectStdOut = false; + return prefs; + } + + virtual void noMatchingTestCases( std::string const& spec ) { + stream << "No test cases matched '" << spec << '\'' << std::endl; + } + + virtual void assertionStarting( AssertionInfo const& ) { + } + + virtual bool assertionEnded( AssertionStats const& _assertionStats ) { + AssertionResult const& result = _assertionStats.assertionResult; + + bool printInfoMessages = true; + + // Drop out if result was successful and we're not printing those + if( !m_config->includeSuccessfulResults() && result.isOk() ) { + if( result.getResultType() != ResultWas::Warning ) + return false; + printInfoMessages = false; + } + + AssertionPrinter printer( stream, _assertionStats, printInfoMessages ); + printer.print(); + + stream << std::endl; + return true; + } + + virtual void testRunEnded( TestRunStats const& _testRunStats ) { + printTotals( _testRunStats.totals ); + stream << '\n' << std::endl; + StreamingReporterBase::testRunEnded( _testRunStats ); + } + + private: + class AssertionPrinter { + void operator= ( AssertionPrinter const& ); + public: + AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages ) + : stream( _stream ) + , stats( _stats ) + , result( _stats.assertionResult ) + , messages( _stats.infoMessages ) + , itMessage( _stats.infoMessages.begin() ) + , printInfoMessages( _printInfoMessages ) + {} + + void print() { + printSourceInfo(); + + itMessage = messages.begin(); + + switch( result.getResultType() ) { + case ResultWas::Ok: + printResultType( Colour::ResultSuccess, passedString() ); + printOriginalExpression(); + printReconstructedExpression(); + if ( ! result.hasExpression() ) + printRemainingMessages( Colour::None ); + else + printRemainingMessages(); + break; + case ResultWas::ExpressionFailed: + if( result.isOk() ) + printResultType( Colour::ResultSuccess, failedString() + std::string( " - but was ok" ) ); + else + printResultType( Colour::Error, failedString() ); + printOriginalExpression(); + printReconstructedExpression(); + printRemainingMessages(); + break; + case ResultWas::ThrewException: + printResultType( Colour::Error, failedString() ); + printIssue( "unexpected exception with message:" ); + printMessage(); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::FatalErrorCondition: + printResultType( Colour::Error, failedString() ); + printIssue( "fatal error condition with message:" ); + printMessage(); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::DidntThrowException: + printResultType( Colour::Error, failedString() ); + printIssue( "expected exception, got none" ); + printExpressionWas(); + printRemainingMessages(); + break; + case ResultWas::Info: + printResultType( Colour::None, "info" ); + printMessage(); + printRemainingMessages(); + break; + case ResultWas::Warning: + printResultType( Colour::None, "warning" ); + printMessage(); + printRemainingMessages(); + break; + case ResultWas::ExplicitFailure: + printResultType( Colour::Error, failedString() ); + printIssue( "explicitly" ); + printRemainingMessages( Colour::None ); + break; + // These cases are here to prevent compiler warnings + case ResultWas::Unknown: + case ResultWas::FailureBit: + case ResultWas::Exception: + printResultType( Colour::Error, "** internal error **" ); + break; + } + } + + private: + // Colour::LightGrey + + static Colour::Code dimColour() { return Colour::FileName; } + +#ifdef CATCH_PLATFORM_MAC + static const char* failedString() { return "FAILED"; } + static const char* passedString() { return "PASSED"; } +#else + static const char* failedString() { return "failed"; } + static const char* passedString() { return "passed"; } +#endif + + void printSourceInfo() const { + Colour colourGuard( Colour::FileName ); + stream << result.getSourceInfo() << ':'; + } + + void printResultType( Colour::Code colour, std::string passOrFail ) const { + if( !passOrFail.empty() ) { + { + Colour colourGuard( colour ); + stream << ' ' << passOrFail; + } + stream << ':'; + } + } + + void printIssue( std::string issue ) const { + stream << ' ' << issue; + } + + void printExpressionWas() { + if( result.hasExpression() ) { + stream << ';'; + { + Colour colour( dimColour() ); + stream << " expression was:"; + } + printOriginalExpression(); + } + } + + void printOriginalExpression() const { + if( result.hasExpression() ) { + stream << ' ' << result.getExpression(); + } + } + + void printReconstructedExpression() const { + if( result.hasExpandedExpression() ) { + { + Colour colour( dimColour() ); + stream << " for: "; + } + stream << result.getExpandedExpression(); + } + } + + void printMessage() { + if ( itMessage != messages.end() ) { + stream << " '" << itMessage->message << '\''; + ++itMessage; + } + } + + void printRemainingMessages( Colour::Code colour = dimColour() ) { + if ( itMessage == messages.end() ) + return; + + // using messages.end() directly yields compilation error: + std::vector::const_iterator itEnd = messages.end(); + const std::size_t N = static_cast( std::distance( itMessage, itEnd ) ); + + { + Colour colourGuard( colour ); + stream << " with " << pluralise( N, "message" ) << ':'; + } + + for(; itMessage != itEnd; ) { + // If this assertion is a warning ignore any INFO messages + if( printInfoMessages || itMessage->type != ResultWas::Info ) { + stream << " '" << itMessage->message << '\''; + if ( ++itMessage != itEnd ) { + Colour colourGuard( dimColour() ); + stream << " and"; + } + } + } + } + + private: + std::ostream& stream; + AssertionStats const& stats; + AssertionResult const& result; + std::vector messages; + std::vector::const_iterator itMessage; + bool printInfoMessages; + }; + + // Colour, message variants: + // - white: No tests ran. + // - red: Failed [both/all] N test cases, failed [both/all] M assertions. + // - white: Passed [both/all] N test cases (no assertions). + // - red: Failed N tests cases, failed M assertions. + // - green: Passed [both/all] N tests cases with M assertions. + + std::string bothOrAll( std::size_t count ) const { + return count == 1 ? std::string() : count == 2 ? "both " : "all " ; + } + + void printTotals( const Totals& totals ) const { + if( totals.testCases.total() == 0 ) { + stream << "No tests ran."; + } + else if( totals.testCases.failed == totals.testCases.total() ) { + Colour colour( Colour::ResultError ); + const std::string qualify_assertions_failed = + totals.assertions.failed == totals.assertions.total() ? + bothOrAll( totals.assertions.failed ) : std::string(); + stream << + "Failed " << bothOrAll( totals.testCases.failed ) + << pluralise( totals.testCases.failed, "test case" ) << ", " + "failed " << qualify_assertions_failed << + pluralise( totals.assertions.failed, "assertion" ) << '.'; + } + else if( totals.assertions.total() == 0 ) { + stream << + "Passed " << bothOrAll( totals.testCases.total() ) + << pluralise( totals.testCases.total(), "test case" ) + << " (no assertions)."; + } + else if( totals.assertions.failed ) { + Colour colour( Colour::ResultError ); + stream << + "Failed " << pluralise( totals.testCases.failed, "test case" ) << ", " + "failed " << pluralise( totals.assertions.failed, "assertion" ) << '.'; + } + else { + Colour colour( Colour::ResultSuccess ); + stream << + "Passed " << bothOrAll( totals.testCases.passed ) + << pluralise( totals.testCases.passed, "test case" ) << + " with " << pluralise( totals.assertions.passed, "assertion" ) << '.'; + } + } + }; + + INTERNAL_CATCH_REGISTER_REPORTER( "compact", CompactReporter ) + +} // end namespace Catch + +namespace Catch { + // These are all here to avoid warnings about not having any out of line + // virtual methods + NonCopyable::~NonCopyable() {} + IShared::~IShared() {} + IStream::~IStream() CATCH_NOEXCEPT {} + FileStream::~FileStream() CATCH_NOEXCEPT {} + CoutStream::~CoutStream() CATCH_NOEXCEPT {} + DebugOutStream::~DebugOutStream() CATCH_NOEXCEPT {} + StreamBufBase::~StreamBufBase() CATCH_NOEXCEPT {} + IContext::~IContext() {} + IResultCapture::~IResultCapture() {} + ITestCase::~ITestCase() {} + ITestCaseRegistry::~ITestCaseRegistry() {} + IRegistryHub::~IRegistryHub() {} + IMutableRegistryHub::~IMutableRegistryHub() {} + IExceptionTranslator::~IExceptionTranslator() {} + IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() {} + IReporter::~IReporter() {} + IReporterFactory::~IReporterFactory() {} + IReporterRegistry::~IReporterRegistry() {} + IStreamingReporter::~IStreamingReporter() {} + AssertionStats::~AssertionStats() {} + SectionStats::~SectionStats() {} + TestCaseStats::~TestCaseStats() {} + TestGroupStats::~TestGroupStats() {} + TestRunStats::~TestRunStats() {} + CumulativeReporterBase::SectionNode::~SectionNode() {} + CumulativeReporterBase::~CumulativeReporterBase() {} + + StreamingReporterBase::~StreamingReporterBase() {} + ConsoleReporter::~ConsoleReporter() {} + CompactReporter::~CompactReporter() {} + IRunner::~IRunner() {} + IMutableContext::~IMutableContext() {} + IConfig::~IConfig() {} + XmlReporter::~XmlReporter() {} + JunitReporter::~JunitReporter() {} + TestRegistry::~TestRegistry() {} + FreeFunctionTestCase::~FreeFunctionTestCase() {} + IGeneratorInfo::~IGeneratorInfo() {} + IGeneratorsForTest::~IGeneratorsForTest() {} + WildcardPattern::~WildcardPattern() {} + TestSpec::Pattern::~Pattern() {} + TestSpec::NamePattern::~NamePattern() {} + TestSpec::TagPattern::~TagPattern() {} + TestSpec::ExcludedPattern::~ExcludedPattern() {} + + Matchers::Impl::StdString::Equals::~Equals() {} + Matchers::Impl::StdString::Contains::~Contains() {} + Matchers::Impl::StdString::StartsWith::~StartsWith() {} + Matchers::Impl::StdString::EndsWith::~EndsWith() {} + + void Config::dummy() {} + + namespace TestCaseTracking { + ITracker::~ITracker() {} + TrackerBase::~TrackerBase() {} + SectionTracker::~SectionTracker() {} + IndexTracker::~IndexTracker() {} + } +} + +#ifdef __clang__ +#pragma clang diagnostic pop +#endif + +#endif + +#ifdef CATCH_CONFIG_MAIN +// #included from: internal/catch_default_main.hpp +#define TWOBLUECUBES_CATCH_DEFAULT_MAIN_HPP_INCLUDED + +#ifndef __OBJC__ + +// Standard C/C++ main entry point +int main (int argc, char * argv[]) { + int result = Catch::Session().run( argc, argv ); + return ( result < 0xff ? result : 0xff ); +} + +#else // __OBJC__ + +// Objective-C entry point +int main (int argc, char * const argv[]) { +#if !CATCH_ARC_ENABLED + NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init]; +#endif + + Catch::registerTestMethods(); + int result = Catch::Session().run( argc, (char* const*)argv ); + +#if !CATCH_ARC_ENABLED + [pool drain]; +#endif + + return ( result < 0xff ? result : 0xff ); +} + +#endif // __OBJC__ + +#endif + +#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED +# undef CLARA_CONFIG_MAIN +#endif + +////// + +// If this config identifier is defined then all CATCH macros are prefixed with CATCH_ +#ifdef CATCH_CONFIG_PREFIX_ALL + +#define CATCH_REQUIRE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal, "CATCH_REQUIRE" ) +#define CATCH_REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, "CATCH_REQUIRE_FALSE" ) + +#define CATCH_REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, "", "CATCH_REQUIRE_THROWS" ) +#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_THROWS_AS" ) +#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, matcher, "CATCH_REQUIRE_THROWS_WITH" ) +#define CATCH_REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_NOTHROW" ) + +#define CATCH_CHECK( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK" ) +#define CATCH_CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, "CATCH_CHECK_FALSE" ) +#define CATCH_CHECKED_IF( expr ) INTERNAL_CATCH_IF( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECKED_IF" ) +#define CATCH_CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECKED_ELSE" ) +#define CATCH_CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, "CATCH_CHECK_NOFAIL" ) + +#define CATCH_CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "", "CATCH_CHECK_THROWS" ) +#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THROWS_AS" ) +#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, matcher, "CATCH_CHECK_THROWS_WITH" ) +#define CATCH_CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_NOTHROW" ) + +#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CATCH_CHECK_THAT" ) +#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::Normal, "CATCH_REQUIRE_THAT" ) + +#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( msg, "CATCH_INFO" ) +#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, "CATCH_WARN", msg ) +#define CATCH_SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( msg, "CATCH_INFO" ) +#define CATCH_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CATCH_CAPTURE" ) +#define CATCH_SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CATCH_CAPTURE" ) + +#ifdef CATCH_CONFIG_VARIADIC_MACROS + #define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) + #define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) + #define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) + #define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) + #define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) + #define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "CATCH_FAIL", __VA_ARGS__ ) + #define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "CATCH_SUCCEED", __VA_ARGS__ ) +#else + #define CATCH_TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) + #define CATCH_TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) + #define CATCH_METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) + #define CATCH_REGISTER_TEST_CASE( function, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( function, name, description ) + #define CATCH_SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) + #define CATCH_FAIL( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "CATCH_FAIL", msg ) + #define CATCH_SUCCEED( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "CATCH_SUCCEED", msg ) +#endif +#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE( "", "" ) + +#define CATCH_REGISTER_REPORTER( name, reporterType ) INTERNAL_CATCH_REGISTER_REPORTER( name, reporterType ) +#define CATCH_REGISTER_LEGACY_REPORTER( name, reporterType ) INTERNAL_CATCH_REGISTER_LEGACY_REPORTER( name, reporterType ) + +#define CATCH_GENERATE( expr) INTERNAL_CATCH_GENERATE( expr ) + +// "BDD-style" convenience wrappers +#ifdef CATCH_CONFIG_VARIADIC_MACROS +#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ ) +#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ ) +#else +#define CATCH_SCENARIO( name, tags ) CATCH_TEST_CASE( "Scenario: " name, tags ) +#define CATCH_SCENARIO_METHOD( className, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " name, tags ) +#endif +#define CATCH_GIVEN( desc ) CATCH_SECTION( std::string( "Given: ") + desc, "" ) +#define CATCH_WHEN( desc ) CATCH_SECTION( std::string( " When: ") + desc, "" ) +#define CATCH_AND_WHEN( desc ) CATCH_SECTION( std::string( " And: ") + desc, "" ) +#define CATCH_THEN( desc ) CATCH_SECTION( std::string( " Then: ") + desc, "" ) +#define CATCH_AND_THEN( desc ) CATCH_SECTION( std::string( " And: ") + desc, "" ) + +// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required +#else + +#define REQUIRE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal, "REQUIRE" ) +#define REQUIRE_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, "REQUIRE_FALSE" ) + +#define REQUIRE_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, "", "REQUIRE_THROWS" ) +#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::Normal, "REQUIRE_THROWS_AS" ) +#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::Normal, matcher, "REQUIRE_THROWS_WITH" ) +#define REQUIRE_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::Normal, "REQUIRE_NOTHROW" ) + +#define CHECK( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECK" ) +#define CHECK_FALSE( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, "CHECK_FALSE" ) +#define CHECKED_IF( expr ) INTERNAL_CATCH_IF( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECKED_IF" ) +#define CHECKED_ELSE( expr ) INTERNAL_CATCH_ELSE( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECKED_ELSE" ) +#define CHECK_NOFAIL( expr ) INTERNAL_CATCH_TEST( expr, Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, "CHECK_NOFAIL" ) + +#define CHECK_THROWS( expr ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, "", "CHECK_THROWS" ) +#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( expr, exceptionType, Catch::ResultDisposition::ContinueOnFailure, "CHECK_THROWS_AS" ) +#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS( expr, Catch::ResultDisposition::ContinueOnFailure, matcher, "CHECK_THROWS_WITH" ) +#define CHECK_NOTHROW( expr ) INTERNAL_CATCH_NO_THROW( expr, Catch::ResultDisposition::ContinueOnFailure, "CHECK_NOTHROW" ) + +#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::ContinueOnFailure, "CHECK_THAT" ) +#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( arg, matcher, Catch::ResultDisposition::Normal, "REQUIRE_THAT" ) + +#define INFO( msg ) INTERNAL_CATCH_INFO( msg, "INFO" ) +#define WARN( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, "WARN", msg ) +#define SCOPED_INFO( msg ) INTERNAL_CATCH_INFO( msg, "INFO" ) +#define CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CAPTURE" ) +#define SCOPED_CAPTURE( msg ) INTERNAL_CATCH_INFO( #msg " := " << msg, "CAPTURE" ) + +#ifdef CATCH_CONFIG_VARIADIC_MACROS + #define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ ) + #define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ ) + #define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ ) + #define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ ) + #define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ ) + #define FAIL( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "FAIL", __VA_ARGS__ ) + #define SUCCEED( ... ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "SUCCEED", __VA_ARGS__ ) +#else + #define TEST_CASE( name, description ) INTERNAL_CATCH_TESTCASE( name, description ) + #define TEST_CASE_METHOD( className, name, description ) INTERNAL_CATCH_TEST_CASE_METHOD( className, name, description ) + #define METHOD_AS_TEST_CASE( method, name, description ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, name, description ) + #define REGISTER_TEST_CASE( method, name, description ) INTERNAL_CATCH_REGISTER_TESTCASE( method, name, description ) + #define SECTION( name, description ) INTERNAL_CATCH_SECTION( name, description ) + #define FAIL( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, "FAIL", msg ) + #define SUCCEED( msg ) INTERNAL_CATCH_MSG( Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, "SUCCEED", msg ) +#endif +#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE( "", "" ) + +#define REGISTER_REPORTER( name, reporterType ) INTERNAL_CATCH_REGISTER_REPORTER( name, reporterType ) +#define REGISTER_LEGACY_REPORTER( name, reporterType ) INTERNAL_CATCH_REGISTER_LEGACY_REPORTER( name, reporterType ) + +#define GENERATE( expr) INTERNAL_CATCH_GENERATE( expr ) + +#endif + +#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) + +// "BDD-style" convenience wrappers +#ifdef CATCH_CONFIG_VARIADIC_MACROS +#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ ) +#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ ) +#else +#define SCENARIO( name, tags ) TEST_CASE( "Scenario: " name, tags ) +#define SCENARIO_METHOD( className, name, tags ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " name, tags ) +#endif +#define GIVEN( desc ) SECTION( std::string(" Given: ") + desc, "" ) +#define WHEN( desc ) SECTION( std::string(" When: ") + desc, "" ) +#define AND_WHEN( desc ) SECTION( std::string("And when: ") + desc, "" ) +#define THEN( desc ) SECTION( std::string(" Then: ") + desc, "" ) +#define AND_THEN( desc ) SECTION( std::string(" And: ") + desc, "" ) + +using Catch::Detail::Approx; + +#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED + diff --git a/main.cpp b/main.cpp deleted file mode 100644 index 94ec9f1..0000000 --- a/main.cpp +++ /dev/null @@ -1,312 +0,0 @@ -#include "main.h" -#include "settings.h" - -// Input-specific data -input_data global_input_data[max_num_inputs] = {}; - -// Debugging state. -uint32_t active_input_idx = 0; // Active input for which we print values. -bool printPosition = true; - -// Process debugging input/output. -void debug_io(Stream &stream) { - // State of debugging. These values are kept between calls to debug_io(). - static bool printCountDelta = false, printCycles = false, printFrames = false, printDecoders = false; - static int prevCycleId = -1; - - if (settings.input_count == 0) - stream.printf("Error: No inputs configured. Please enter '!' to go to configuration mode and setup at least one input.\n"); - - // Process input. All commands are single characters, usually followed by 'enter' key. - while (stream.available()) { - char c = stream.read(); - if ('0' <= c && c <= '9') { // Switch active input. - uint32_t idx = c - '0'; - if (idx < settings.input_count) { - active_input_idx = idx; - stream.printf("Switched active input to %d\n", active_input_idx); - } - else - stream.printf("Invalid input number. Up to %d are allowed.\n", settings.input_count-1); - } else { - switch (c) { - case 'q': printCountDelta = !printCountDelta; break; - case 'w': printCycles = !printCycles; prevCycleId = -1; break; - case 'b': printFrames = !printFrames; break; - case 'd': printDecoders = !printDecoders; break; - case 'p': printPosition = !printPosition; break; - case '+': changeCmpThreshold(active_input_idx, +1); stream.printf("Threshold level: %d\n", getCmpThreshold(active_input_idx)); break; - case '-': changeCmpThreshold(active_input_idx, -1); stream.printf("Threshold level: %d\n", getCmpThreshold(active_input_idx)); break; - case '!': settings.restart_in_configuration_mode(); break; - } - } - } - - // Print different kinds of debug information. - input_data &d = global_input_data[active_input_idx]; - if (printCountDelta) { - stream.println(); - stream.printf("Pulses write idx: %d\n", d.pulses_write_idx); - stream.printf("Cycles write idx: %d\n", d.cycles_write_idx); - stream.printf("Threshold level: %d (%d)\n", getCmpThreshold(active_input_idx), getCmpLevel(active_input_idx)); - } - - if (printCycles) { - for (; d.cycles_read_idx != d.cycles_write_idx; INC_CONSTRAINED(d.cycles_read_idx, cycles_buffer_len)) { - cycle &c = d.cycles[d.cycles_read_idx]; - if (c.phase_id == 0) { - stream.println("\n=================================="); - prevCycleId = -1; - } - while (prevCycleId != -1 && prevCycleId+1 < (int)c.phase_id) { - prevCycleId++; - stream.printf("%d |", prevCycleId % 4); - if (prevCycleId % 4 == 3) - stream.println(); - } - prevCycleId = (int)c.phase_id; - char ch = (d.fix_acquired && d.fix_cycle_offset == c.phase_id % 4) ? '*' : ' '; - stream.printf("%d%c %2d %3d %3d %4d |", c.phase_id % 4, ch, c.cmp_threshold, c.first_pulse_len, c.second_pulse_len, c.laser_pulse_pos); - if (prevCycleId % 4 == 3) - stream.println(); - } - } - - if (printDecoders) { - for (int i = 0; i < num_big_pulses_in_cycle; i++) { - decoder &dec = d.decoders[i]; - stream.printf("DECODER %d: ", i); - for (int j = 0; j < num_cycle_phases; j++) { - bit_decoder &bit_dec = dec.bit_decoders[j]; - stream.printf("%3d, ", bit_dec.center_pulse_len >> 4); - } - stream.println(); - } - } - - if (printFrames) { - for (int i = 0; i < num_big_pulses_in_cycle; i++) { - decoder &dec = d.decoders[i]; - for (; dec.read_data_frames_idx != dec.write_data_frames_idx; INC_CONSTRAINED(dec.read_data_frames_idx, num_data_frames)) { - data_frame &frame = dec.data_frames[dec.read_data_frames_idx]; - stream.printf("FRAME %d (%d bytes):", i, frame.data_len); - for (int j = 0; j < frame.data_len; j++) - stream.printf(" %02X", frame.data[j]); - stream.println(); - } - } - } -} - -// Update whether fix is acquired for given input. -void update_fix_acquired(input_data &d, uint32_t cur_millis) { - // We say that we have a fix after 30 correct cycles and last correct cycle less than 100ms away. - if (d.last_cycle_id > 30 && (cur_millis - d.last_cycle_time / 1000) < 100) { - if (!d.fix_acquired) { - bool invalid_pulse_lens = false; - uint32_t min_idxes[2]; - for (int i = 0; i < num_big_pulses_in_cycle && !invalid_pulse_lens; i++) { - decoder &dec = d.decoders[i]; - - // a. Find minimum len in bit_decoders - uint32_t min_idx = 0; - for (uint32_t j = 1; j < num_cycle_phases; j++) - if (dec.bit_decoders[j].center_pulse_len < dec.bit_decoders[min_idx].center_pulse_len) - min_idx = j; - - min_idxes[i] = min_idx; - - // b. Check that delta lens are as expected (10 - 30 - 10) - uint32_t cur_idx = min_idx; - int last_len = dec.bit_decoders[cur_idx].center_pulse_len; - static const int valid_deltas[num_cycle_phases - 1] = {10, 30, 10}; - for (uint32_t j = 0; j < num_cycle_phases - 1; j++) { - INC_CONSTRAINED(cur_idx, num_cycle_phases); - int cur_len = dec.bit_decoders[cur_idx].center_pulse_len; - if (abs(((cur_len - last_len) >> 4) - valid_deltas[j]) > 3) { - invalid_pulse_lens = true; - break; - } - last_len = cur_len; - } - } - - if (!invalid_pulse_lens && abs((int)min_idxes[0] - (int)min_idxes[1]) == 2) { - // We've got a valid fix for both sources - d.fix_acquired = true; - d.fix_cycle_offset = min_idxes[0]; - } - } - } else { - d.fix_acquired = false; - for (int i = 0; i < num_cycle_phases; i++) { - d.angle_timestamps[i] = 0; - d.angle_lens[i] = 0; - } - d.angle_last_timestamp = 0; - d.angle_last_processed_timestamp = 0; - } -} - -void process_pulse(uint32_t input_idx, uint32_t start_time, uint32_t pulse_len) { - input_data &d = global_input_data[input_idx]; - cycle &cur_cycle = d.cur_cycle; - - if (pulse_len >= max_big_pulse_len) { - // Ignore it. - } else if (pulse_len >= min_big_pulse_len) { // Wide pulse - likely sync pulse - d.big_pulses++; - uint32_t time_from_cycle_start = start_time - cur_cycle.start_time; - uint32_t delta_second_cycle = time_from_cycle_start - (second_big_pulse_delay - 20); - if (delta_second_cycle < 40) { // We use that uint is > 0 - // Found second pulse - cur_cycle.second_pulse_len = pulse_len; - return; - } - - // If there was a complete cycle before, we should write it and clean up. - if (cur_cycle.start_time && time_from_cycle_start > (cycle_period-100)) { - d.cycles[d.cycles_write_idx] = cur_cycle; - INC_CONSTRAINED(d.cycles_write_idx, cycles_buffer_len); - - d.last_cycle_time = cur_cycle.start_time; - d.last_cycle_id = cur_cycle.phase_id; - - extract_data_from_cycle(d, cur_cycle.first_pulse_len, cur_cycle.second_pulse_len, cur_cycle.phase_id); - if (d.fix_acquired && cur_cycle.laser_pulse_pos > 0) { - uint32_t adjusted_id = (cur_cycle.phase_id + 4 - d.fix_cycle_offset) % 4; - d.angle_lens[adjusted_id] = cur_cycle.laser_pulse_pos - (adjusted_id >= 2 ? second_big_pulse_delay : 0); - d.angle_timestamps[adjusted_id] = cur_cycle.start_time; - d.angle_last_timestamp = cur_cycle.start_time; - } - } - cur_cycle = {}; - - // Check if this can be initial pulse - int delay_from_last_cycle = int(start_time - d.last_cycle_time); - if (delay_from_last_cycle < 200000) { - uint32_t id = d.last_cycle_id; - while (delay_from_last_cycle > cycle_period/2) { - delay_from_last_cycle -= cycle_period; - id++; - } - - if (abs(delay_from_last_cycle) < 40) { // Good delay from last cycle, with period of cycle_period - cur_cycle.start_time = start_time; - cur_cycle.first_pulse_len = pulse_len; - cur_cycle.phase_id = id; - cur_cycle.cmp_threshold = getCmpThreshold(input_idx); - } else { - // Ignore current pulse, wait for other ones. - d.fake_big_pulses++; - } - } else { - // if delay from last successful cycle is more than 200ms then we lost tracking and we should try everything - d.last_cycle_time = 0; - d.last_cycle_id = 0; - cur_cycle.start_time = start_time; - cur_cycle.first_pulse_len = pulse_len; - cur_cycle.phase_id = 0; - cur_cycle.cmp_threshold = getCmpThreshold(input_idx); - } - - } else if (pulse_len >= min_pulse_len) { // Short pulse - likely laser sweep - d.small_pulses++; - if (cur_cycle.start_time && - (start_time - cur_cycle.start_time) < cycle_period && - pulse_len > cur_cycle.laser_pulse_len) { - cur_cycle.laser_pulse_len = pulse_len; - cur_cycle.laser_pulse_pos = start_time + pulse_len/2 - cur_cycle.start_time; - } - } else { // Very short pulse - ignore. - // TODO: Track it. - } -} - -// This function is called by input methods when a new pulse is registered. -void add_pulse(uint32_t input_idx, uint32_t start_time, uint32_t end_time) { - input_data &d = global_input_data[input_idx]; - d.pulses[d.pulses_write_idx] = {start_time, end_time-start_time}; - INC_CONSTRAINED(d.pulses_write_idx, pulses_buffer_len); -} - -bool have_valid_input_point(input_data &d, uint32_t cur_millis) { - for (int i = 0; i < num_cycle_phases; i++) - if (d.angle_timestamps[i]/1000 < cur_millis - 100) // All angles were updated in the last 100ms. - return false; - return true; -} - -void output_position(uint32_t input_idx, input_data &d, const float pos[3], float dist) { - if (d.angle_last_timestamp == d.angle_last_processed_timestamp) - return; - - if (printPosition && input_idx == active_input_idx) - Serial.printf("POS: %.3f %.3f %.3f %.3f\n", pos[0], pos[1], pos[2], dist); - - // Covnert to NED coordinate system. - float ned[3]; - convert_to_ned(pos, &ned); - - if (d.angle_last_timestamp - d.angle_last_processed_timestamp > 500000 || - (fabsf(ned[0] - d.last_ned[0]) < max_position_jump && - fabsf(ned[1] - d.last_ned[1]) < max_position_jump && - fabsf(ned[2] - d.last_ned[2]) < max_position_jump)) { - - if (input_idx == 0) { // TODO: Support multiple inputs. - // Point is valid; Send mavlink position. - send_mavlink_position(ned); - digitalWriteFast(LED_BUILTIN, (uint8_t)(!digitalReadFast(LED_BUILTIN))); - } - - for (int i = 0; i < 3; i++) - d.last_ned[i] = ned[i]; - d.angle_last_processed_timestamp = d.angle_last_timestamp; - } else { - Serial.printf("Invalid position: too far from previous one\n"); - } -} - -// Main loop. All asynchronous calculations happen here. -void loop() { - uint32_t cur_millis = millis(); - - // Process debug I/O - static uint32_t print_period = 0; - if (throttle_ms(1000, cur_millis, &print_period)) - debug_io(Serial); - - // Blink once a second in normal mode without a fix. - static uint32_t blink_period = 0; - if (throttle_ms(1000, cur_millis, &blink_period)) { - digitalWriteFast(LED_BUILTIN, (uint8_t)(!digitalReadFast(LED_BUILTIN))); - } - - // Process pulses, cycles and output data. - static uint32_t process_period = 0; - if (throttle_ms(34, cur_millis, &process_period)) { // 33.33ms => 4 cycles - for (uint32_t input_idx = 0; input_idx < settings.input_count; input_idx++) { - input_data &d = global_input_data[input_idx]; - - // 1. Process pulses to generate cycles. - for (; d.pulses_read_idx != d.pulses_write_idx; INC_CONSTRAINED(d.pulses_read_idx, pulses_buffer_len)) { - pulse &p = d.pulses[d.pulses_read_idx]; - process_pulse(input_idx, p.start_time, p.pulse_len); - } - - // 2. Update fix state. - update_fix_acquired(d, cur_millis); - - // 3. Calculate geometry & output it. - if (d.fix_acquired && have_valid_input_point(d, cur_millis)) { - if (settings.base_station_count >= 2) { - float pt[3], dist; - calculate_3d_point(d.angle_lens, &pt, &dist); - output_position(input_idx, d, pt, dist); - } else if (printPosition && input_idx == active_input_idx) { - Serial.printf("Fix acquired, but cannot calculate position because base stations not configured.\n"); - } - } - } - } -} diff --git a/main.h b/main.h deleted file mode 100644 index 032b927..0000000 --- a/main.h +++ /dev/null @@ -1,131 +0,0 @@ -// Unfortunately, CMSIS and Arduino.h (kinetis.h) are conflicting on __enable_irq/__disable_irq, so we must -// include arm_math.h first. -#pragma once -#include -#include - -const static int max_num_inputs = 8; -const static int max_num_base_stations = 2; -const static int num_comparators = 3; -const static int cycles_buffer_len = 128; -const static int pulses_buffer_len = 32; - -const static int min_pulse_len = 2; // uS -const static int min_big_pulse_len = 40; // uS -const static int max_big_pulse_len = 300; // uS -const static int cycle_period = 8333; // uS, total len of 1 cycle. -const static int second_big_pulse_delay = 400; // uS. -const static int angle_center_len = 4000; // uS - -const static int num_big_pulses_in_cycle = 2; -const static int num_cycle_phases = 4; -const static int decoded_data_max_len = 50; -const static int num_data_frames = 10; - -const static float max_position_jump = 0.05; // meters - -enum InputType { - kCMP = 0, // Comparator - kFTM = 1, // Flexible Timer Module interrupts - kPort = 2, // Digital input interrupt - kMaxInputType -}; - -struct bit_decoder { - int center_pulse_len; // uS - int delta_width; // uS -}; - -struct data_frame { - int preamble_len; - bool waiting_for_one; - int data_len; - int cur_bit_idx; - int accumulator; - int data_idx; - byte data[decoded_data_max_len]; -}; - -struct decoder { - bit_decoder bit_decoders[num_cycle_phases]; - - int read_data_frames_idx, write_data_frames_idx; - data_frame data_frames[num_data_frames]; -}; - -struct pulse { - uint32_t start_time; - uint32_t pulse_len; -}; - -struct cycle { - uint32_t start_time; // Microseconds of start of first pulse - uint32_t phase_id; // 0..3 - id of this cycle - uint32_t first_pulse_len; - uint32_t second_pulse_len; - uint32_t laser_pulse_len; - uint32_t laser_pulse_pos; - uint32_t cmp_threshold; -}; - -struct input_data { - int32_t pulses_write_idx, pulses_read_idx; - pulse pulses[pulses_buffer_len]; - - uint32_t num_pulses; // total number of pulses received - uint32_t small_pulses; // number of small pulses (laser) - uint32_t big_pulses; // number of total big pulses - uint32_t fake_big_pulses; // number of wrong big pulses - - uint32_t last_cycle_time; // uS timestamp of start of last successful cycle - uint32_t last_cycle_id; // 0..3 - cycle cur_cycle; // Currently constructed cycle - - int32_t cycles_write_idx, cycles_read_idx; - cycle cycles[cycles_buffer_len]; - - decoder decoders[num_big_pulses_in_cycle]; - - bool fix_acquired; - uint32_t fix_cycle_offset; - - uint32_t angle_lens[num_cycle_phases]; - uint32_t angle_timestamps[num_cycle_phases]; - uint32_t angle_last_timestamp, angle_last_processed_timestamp; - - float last_ned[3]; -}; - -// ==== Module functions ==== - -// Inputs -struct InputDefinition; -bool setupCmpInput(uint32_t input_idx, const InputDefinition &inp_def, char *error_message, bool validation_mode = false); -void resetCmpAfterValidation(); -int getCmpThreshold(uint32_t input_idx); -int getCmpLevel(uint32_t input_idx); -void changeCmpThreshold(uint32_t input_idx, int delta); - -// Main processing -void add_pulse(uint32_t input_idx, uint32_t start_time, uint32_t end_time); - -// Data decoder -void extract_data_from_cycle(input_data &d, uint32_t first_pulse_len, uint32_t second_pulse_len, uint32_t id); - -// Geometry -void calculate_3d_point(const uint32_t angle_lens[num_cycle_phases], float (*ned)[3], float *dist); -void convert_to_ned(const float pt[3], float (*ned)[3]); - -// Ublox -void send_ublox_ned_position(Stream &stream, bool fix_valid, float *pos, float *vel); // all arguments NED, in mm and mm/s - -// Mavlink -void process_incoming_mavlink_messages(); -void send_mavlink_position(const float ned[3]); - - -// ==== Utils ==== - -#define INC_CONSTRAINED(val, size) val = ((val) < (size)-1 ? ((val)+1) : 0) - -bool throttle_ms(uint32_t period_ms, uint32_t cur_time, uint32_t *prev_period, uint32_t *slips = NULL); diff --git a/mavlink.cpp b/mavlink.cpp deleted file mode 100644 index 4a7a420..0000000 --- a/mavlink.cpp +++ /dev/null @@ -1,107 +0,0 @@ -/* see mavlink_helpers.h */ -#define MAVLINK_USE_CONVENIENCE_FUNCTIONS -#define MAVLINK_COMM_NUM_BUFFERS 1 -#define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes - -#include - -// Communication settings of this system. Two random numbers. -mavlink_system_t mavlink_system = { - .sysid = 155, - .compid = 1, -}; - -void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *chars, unsigned length); - -#include - -// TODO: Add messages in increasing msg_id order. -/* -#define MAVLINK_USE_MESSAGE_INFO -#undef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_EXTENDED_SYS_STATE} -#undef _MAVLINK_GET_INFO_H_ -#include -*/ -#include "main.h" - -static HardwareSerial &MavlinkSerial = Serial1; - -// Send multiple chars (uint8_t) over a comm channel -void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *chars, unsigned length) { - MavlinkSerial.write(chars, length); -} -/* -void print_mavlink_message(const mavlink_message_t &msg, Stream &dest) { - dest.printf("> %u|%u: ", (unsigned)msg.sysid, (unsigned)msg.compid); - - const mavlink_message_info_t *msg_info = mavlink_get_message_info(&msg); - if (msg_info && msg_info->msgid == msg.msgid) { - dest.printf("%s (%u): ", msg_info->name, (unsigned)msg.msgid); - for (unsigned i = 0; i < msg_info->num_fields; i++) { - const mavlink_field_info_t& field = msg_info->fields[i]; - - dest.print(field.name); - dest.print("="); - if (field.array_length == 0) { - switch (field.type) { - case MAVLINK_TYPE_CHAR: dest.print((unsigned)_MAV_RETURN_char(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_UINT8_T: dest.print((unsigned)_MAV_RETURN_uint8_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_INT8_T: dest.print((int)_MAV_RETURN_int8_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_UINT16_T:dest.print(_MAV_RETURN_uint16_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_INT16_T: dest.print(_MAV_RETURN_int16_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_UINT32_T:dest.print(_MAV_RETURN_uint32_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_INT32_T: dest.print(_MAV_RETURN_int32_t(&msg, field.wire_offset)); break; - //case MAVLINK_TYPE_UINT64_T:dest.print(_MAV_RETURN_uint64_t(&msg, field.wire_offset)); break; - //case MAVLINK_TYPE_INT64_T: dest.print(_MAV_RETURN_int64_t(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_FLOAT: dest.print(_MAV_RETURN_float(&msg, field.wire_offset)); break; - case MAVLINK_TYPE_DOUBLE: dest.print(_MAV_RETURN_double(&msg, field.wire_offset)); break; - default: dest.printf("", field.type); - } - } else { - dest.printf("", field.array_length); // TODO: values. - } - dest.print("; "); - } - } else { - dest.printf("%u", (unsigned)msg.msgid); - } - dest.println(); -} -*/ -void handle_mavlink_message(const mavlink_message_t &message) { -// switch (message.msgid) { -// case MAVLINK_MSG_ID_ATT_POS_MOCAP: break; -// } - //print_mavlink_message(message, Serial); -} - -void process_incoming_mavlink_messages() { - mavlink_message_t message = {0}; - mavlink_status_t status; - - while (MavlinkSerial.available()) { - uint8_t ch = (uint8_t)MavlinkSerial.read(); - uint8_t msg_received = mavlink_parse_char(MAVLINK_COMM_0, ch, &message, &status); - - // TODO: Compare status.packet_rx_drop_count with previous one. - - if (msg_received) { - handle_mavlink_message(message); - } - } -} - -static uint32_t last_ms = 0; - -void send_mavlink_position(const float ned[3]) { - uint64_t time_usec = 0; // Zero will be converted to the time of receive. - float attitude_quaternion[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // Attitude is not used. - - mavlink_msg_att_pos_mocap_send(MAVLINK_COMM_0, time_usec, attitude_quaternion, ned[0], ned[1], ned[2]); - - uint32_t now_ms = millis(); - if (now_ms - last_ms > 50) - Serial.printf("Late Mavlink message: %dms\n", now_ms - last_ms); - last_ms = now_ms; -} diff --git a/notes.md b/notes.md index 3151ae3..9e41511 100644 --- a/notes.md +++ b/notes.md @@ -1,3 +1,25 @@ +### TODO + + * [ ] Rework docs. + * [ ] Assertion/termination system. + * [ ] Add FTM input + +Later: + * [ ] Create multi-sensor geometry processing unit + * [ ] Increase precision by applying geometry adjustments for base stations. 1:1 with Unity. + * [ ] Create Unity tutorial. + * [ ] Increase precision by keeping an estimate of cycle and removing uncertainty of long pulses. + * [ ] Re-check all last-success timestamps (LongTimestamp) - they don't survive the overflow. + * [ ] Remove Timestamp in favor of std::chrono::duration (http://en.cppreference.com/w/cpp/chrono/duration) + * [ ] Remove Vector in favor of std::vector. + * [ ] Rewrite _sbrk() to not allow heap to go to into stack. + * [ ] Add unit testing + * [ ] Add polling mode for outputs + * [ ] DataFrame: Check CRC32. + * [ ] Avoid using double (-Wdouble-promotion). This will require killing all printf-s. + * [ ] Split PersistentSettings to Settings and Persistent<> + * [ ] Get rid of Teensy's Print. Use vsnprintf instead. debug_print, print_def, parse_def, DataChunkPrint + * [ ] (Maybe) Introduce EASTL library and all its niceties like fixed_vector. Tried it and it looks problematic (platform not supported + threading issues). ### Style guide https://google.github.io/styleguide/cppguide.html @@ -5,3 +27,23 @@ https://google.github.io/styleguide/cppguide.html ### Git submodule management * Update submodules to latest on branches/tags: `git submodule update --remote` * When changing .gitmodules, do `git submodule sync` + +### Example Base Station Data Frames + +base0: fw 436, id 0x4242089a, desync 16, hw 9, accel [-4, 126, 127], mode B, faults 0 + fcal0: phase 0.0500, tilt -0.0091, curve -0.0038, gibphase 1.8633, gibmag 0.0113 + fcal1: phase 0.0241, tilt 0.0008, curve -0.0015, gibphase -0.7920, gibmag -0.0112 (2 total) +base1: fw 436, id 0x2f855022, desync 53, hw 9, accel [0, 118, 127], mode C, faults 0 + fcal0: phase 0.0284, tilt -0.0036, curve -0.0010, gibphase 2.1758, gibmag 0.0086 + fcal1: phase 0.0487, tilt -0.0080, curve -0.0023, gibphase 0.4695, gibmag -0.0086 (1 total) + + +### GCC Headers search for #include <..> + + /usr/local/Caskroom/gcc-arm-embedded/6_2-2016q4,20161216/gcc-arm-none-eabi-6_2-2016q4 + /arm-none-eabi/include/c++/6.2.1 + /arm-none-eabi/include/c++/6.2.1/arm-none-eabi + /arm-none-eabi/include/c++/6.2.1/backward + /lib/gcc/arm-none-eabi/6.2.1/include + /lib/gcc/arm-none-eabi/6.2.1/include-fixed + /arm-none-eabi/include diff --git a/settings.cpp b/settings.cpp deleted file mode 100644 index 83980b2..0000000 --- a/settings.cpp +++ /dev/null @@ -1,269 +0,0 @@ -// This file manages reading/writing data to EEPROM and configuration mode. -#include "settings.h" - -const static uint32_t current_settings_version = 0xbabe0001; -uint32_t *eeprom_addr = 0; -/* Example settings -reset -i0 pin 12 positive -b0 origin -1.528180 2.433750 -1.969390 matrix -0.841840 0.332160 -0.425400 -0.046900 0.740190 0.670760 0.537680 0.584630 -0.607540 -b1 origin 1.718700 2.543170 0.725060 matrix 0.458350 -0.649590 0.606590 0.028970 0.693060 0.720300 -0.888300 -0.312580 0.336480 -*/ - -PersistentSettings settings; - -PersistentSettings::PersistentSettings() { - read_from_eeprom(); -} - -void PersistentSettings::read_from_eeprom() { - uint32_t eeprom_version = eeprom_read_dword(eeprom_addr); - if (eeprom_version == current_settings_version) { - // Normal initialization. - eeprom_read_block(this, eeprom_addr + 4, sizeof(*this)); - } else { - // Unknown version: initialize with zeros. - memset(this, 0, sizeof(*this)); - } -} - -void PersistentSettings::write_to_eeprom() { - eeprom_write_dword(eeprom_addr, current_settings_version); - eeprom_write_block(this, eeprom_addr + 4, sizeof(*this)); -} - -bool PersistentSettings::needs_configuration() { - return !is_configured; -} - -void PersistentSettings::restart_in_configuration_mode() { - is_configured = false; - write_to_eeprom(); - SCB_AIRCR = 0x5FA0004; // Restart Teensy. -} - -// Returns pointer to a null-terminated next word in *str (or NULL); updates *str to point to remaining string. -char* next_word(char **str) { - char *start = *str; - if (start == NULL) - return NULL; - while (*start != 0 && *start <= ' ') - start++; - if (*start == 0) { - *str = NULL; - return NULL; - } - char *end = start+1; - while (*end > ' ') - end++; - if (*end != 0) { - *end = 0; - *str = end+1; - } else { - *str = NULL; - } - return start; -} - -// Parses given string into a uint32 and returns if the parsing is successful. -bool parse_uint32(const char *str, uint32_t *res) { - if (*str == 0) - return false; - char *endparse; - *res = strtoul(str, &endparse, 10); - return (*endparse == 0); -} - -bool parse_float(const char *str, float *res) { - if (*str == 0) - return false; - char *endparse; - *res = strtof(str, &endparse); - return (*endparse == 0); -} - -const char* input_type_names[kMaxInputType] = {"cmp", "ftm", "port_irq"}; - -void print_input_def(uint32_t idx, const InputDefinition &inp_def, Stream &stream) { - stream.printf("i%d pin %d %s %s", idx, inp_def.pin, inp_def.pulse_polarity ? "positive" : "negative", input_type_names[inp_def.input_type]); - if (inp_def.input_type == kCMP) - stream.printf(" %d", inp_def.initial_cmp_threshold); - stream.println(); -} - -bool parse_input_def(char *input_string, InputDefinition *inp_def, Stream &stream) { - char *pin_str = next_word(&input_string); - if (!strcmp(pin_str, "pin")) - pin_str = next_word(&input_string); // Ignore "pin" word - - if (!parse_uint32(pin_str, &inp_def->pin) || inp_def->pin >= CORE_NUM_TOTAL_PINS) { - stream.printf("Invalid/missing pin number\n"); return false; - } - - char *polarity = next_word(&input_string); - if (!polarity) { - stream.printf("Missing polarity\n"); return false; - } else if (!strcmp(polarity, "positive")) { - inp_def->pulse_polarity = true; - } else if (!strcmp(polarity, "negative")) { - inp_def->pulse_polarity = false; - } else { - stream.printf("Unknown polarity: %s; Only 'positive' and 'negative' supported.\n", polarity); return false; - } - - char *type = next_word(&input_string); - if (!type) { - // Use default input type: Comparator - inp_def->input_type = kCMP; - } else { - int i; - for (i = 0; i < kMaxInputType; i++) - if (!strcmp(type, input_type_names[i])) { - inp_def->input_type = (InputType)i; - break; - } - if (i == kMaxInputType) { - stream.printf("Unknown input type. Supported types: 'port_irq', 'ftm', 'cmp'.\n"); return false; - } - } - - if (inp_def->input_type == kCMP) { - // For comparators, also read initial threshold level. - char *threshold_str = next_word(&input_string); - if (!threshold_str) { - inp_def->initial_cmp_threshold = 20; // Default threshold level. - } else if (!parse_uint32(threshold_str, &inp_def->initial_cmp_threshold) || inp_def->initial_cmp_threshold >= 64) { - stream.printf("Invalid threshold level. Supported values: 0-63.\n"); return false; - } - } else { - stream.printf("ftm and port_irq input types are not supported yet.\n"); return false; - } - return true; -} - -bool PersistentSettings::validate_input_def(uint32_t idx, const InputDefinition &inp_def, Stream &stream) { - char error_message[120]; - bool is_valid = true; - uint32_t len = (idx == input_count) ? idx+1 : input_count; - for (uint32_t input_idx = 0; input_idx < len; input_idx++) { - const InputDefinition& input_def = (input_idx == idx) ? inp_def : inputs[input_idx]; - switch (input_def.input_type) { - case kPort: /* TODO */ break; - case kFTM: /* TODO */ break; - case kCMP: - if (!setupCmpInput(input_idx, input_def, error_message, /*validation_mode=*/true)) { - stream.printf("Error: %s", error_message); - is_valid = false; - }; - break; - default: break; // Skip - } - } - resetCmpAfterValidation(); - return is_valid; -} - -void print_base_station(uint32_t idx, const BaseStationGeometry& station, Stream &stream) { - stream.printf("b%d origin", idx); - for (int j = 0; j < 3; j++) - stream.printf(" %f", station.origin[j]); - stream.printf(" matrix"); - for (int j = 0; j < 9; j++) - stream.printf(" %f", station.mat[j]); - stream.println(); -} - -bool parse_base_station(char *input_string, BaseStationGeometry *pStation, Stream &stream) { - char *str = next_word(&input_string); - if (!strcmp(str, "origin")) - str = next_word(&input_string); - for (int i = 0; i < 3; i++, str = next_word(&input_string)) - if (!parse_float(str, &pStation->origin[i])) { - stream.printf("Invalid base station format\n"); return false; - } - if (!strcmp(str, "matrix")) - str = next_word(&input_string); - for (int i = 0; i < 9; i++, str = next_word(&input_string)) - if (!parse_float(str, &pStation->mat[i])) { - stream.printf("Invalid base station format\n"); return false; - } - return true; -} - -void PersistentSettings::initialize_from_user_input(Stream &stream) { - stream.setTimeout(1000000000); - - char input_string_buf[1000] = {0}; - uint32_t idx = 0; - while (true) { - stream.print("> "); - stream.readBytesUntil('\n', input_string_buf, sizeof(input_string_buf)); - char *input_string = input_string_buf; - const char *command = next_word(&input_string); - - if (!command || command[0] == '#') { - // Do nothing. - - } else if (!strcmp(command, "view")) { - // Print all current settings. - stream.printf("# Current configuration: %d inputs, %d base stations; copy/paste to save/restore.\n", input_count, base_station_count); - stream.printf("reset\n"); - for (uint32_t i = 0; i < input_count; i++) { - print_input_def(i, inputs[i], stream); - } - for (uint32_t i = 0; i < base_station_count; i++) { - print_base_station(i, base_stations[i], stream); - } - - } else if (command[0] == 'i' && parse_uint32(command+1, &idx)) { - // Set definition for input i - if (idx <= input_count && idx < max_num_inputs) { - InputDefinition inp_def; - if (parse_input_def(input_string, &inp_def, stream) && validate_input_def(idx, inp_def, stream)) { - inputs[idx] = inp_def; - if (idx == input_count) - input_count = idx+1; - print_input_def(idx, inputs[idx], stream); - } - } else - stream.printf("Input index too large. Next available index: i%d.\n", input_count); - - } else if (command[0] == 'b' && parse_uint32(command+1, &idx)) { - // Set definition for base station b - if (idx <= base_station_count && idx < max_num_base_stations) { - BaseStationGeometry base_station; - if (parse_base_station(input_string, &base_station, stream)) { - base_stations[idx] = base_station; - if (idx == base_station_count) - base_station_count = idx+1; - print_base_station(idx, base_stations[idx], stream); - } - } else - stream.printf("Base station index too large. Next available index: b%d.\n", base_station_count); - - } else if (!strcmp(command, "reset")) { - input_count = 0; - base_station_count = 0; - stream.printf("Reset successful.\n"); - - } else if (!strcmp(command, "reload")) { - read_from_eeprom(); - stream.printf("Loaded previous configuration from EEPROM.\n"); - - } else if (!strcmp(command, "write")) { - is_configured = true; - write_to_eeprom(); - stream.printf("Write to EEPROM successful. Type 'continue' to start using it.\n"); - - } else if (!strcmp(command, "continue")) { - return; - - } else { - stream.printf("Unknown command '%s'. Valid commands: view, , reset, reload, write, continue.\n", command); - } - } -} - - - - diff --git a/settings.h b/settings.h deleted file mode 100644 index 5e07838..0000000 --- a/settings.h +++ /dev/null @@ -1,40 +0,0 @@ -#pragma once -#include "main.h" - -struct InputDefinition { - uint32_t pin; // Teensy PIN number - bool pulse_polarity; // true = Positive, false = Negative. - InputType input_type; - uint32_t initial_cmp_threshold; -}; - -struct BaseStationGeometry { - float mat[9]; // Normalized rotation matrix. - float origin[3]; // Origin point -}; - -class PersistentSettings { -public: - // NOTE: This is the same layout as used for EEPROM. - // NOTE: Increase current_settings_version with each change. - bool is_configured; - uint32_t input_count; - uint32_t base_station_count; - InputDefinition inputs[max_num_inputs]; - BaseStationGeometry base_stations[max_num_base_stations]; - // TODO: Output type - - PersistentSettings(); - bool needs_configuration(); - void initialize_from_user_input(Stream &interactive_stream); - void restart_in_configuration_mode(); - -private: - bool validate_input_def(uint32_t idx, const InputDefinition &inp_def, Stream &stream); - void read_from_eeprom(); - void write_to_eeprom(); -}; - -// Singleton to access current settings. -extern PersistentSettings settings; - diff --git a/setup.cpp b/setup.cpp deleted file mode 100644 index 594aa07..0000000 --- a/setup.cpp +++ /dev/null @@ -1,33 +0,0 @@ -#include "main.h" -#include "settings.h" - -void setup() { - // Initialize common modules. - Serial.begin(9600); - pinMode(LED_BUILTIN, OUTPUT); - - // Initialize persistent settings interactively from user input, if needed. - if (settings.needs_configuration()) { - digitalWrite(LED_BUILTIN, HIGH); - settings.initialize_from_user_input(Serial); - } - - // Initialize inputs. - char error_message[120]; - for (uint32_t input_idx = 0; input_idx < settings.input_count; input_idx++) { - const InputDefinition& input_def = settings.inputs[input_idx]; - switch (input_def.input_type) { - case kPort: /* TODO */ break; - case kFTM: /* TODO */ break; - case kCMP: setupCmpInput(input_idx, input_def, error_message); break; // TODO: Check result and report error. - default: break; // Skip - } - } - - // Initialize outputs (TODO) - Serial1.begin(57600); -} - -// Replace stock yield to make loop() faster. -void yield(void) { } - diff --git a/src/cycle_phase_classifier.cpp b/src/cycle_phase_classifier.cpp new file mode 100644 index 0000000..ea3237b --- /dev/null +++ b/src/cycle_phase_classifier.cpp @@ -0,0 +1,128 @@ +#include "cycle_phase_classifier.h" +#include + +enum PhaseFixLevels { // Unscoped enum because we use it more like set of constants. + kPhaseFixNone = 0, + kPhaseFixCandidate = 1, + kPhaseFixAcquired = 4, + kPhaseFixFinal = 16, +}; + +CyclePhaseClassifier::CyclePhaseClassifier() + : prev_full_cycle_idx_() + , phase_history_() + , fix_level_(kPhaseFixNone) + , phase_shift_() + , pulse_base_len_() + , bits_{} + , average_error_() + , debug_print_state_(false) { + reset(); +} + + +void CyclePhaseClassifier::process_pulse_lengths(uint32_t cycle_idx, const TimeDelta (&pulse_lens)[num_base_stations]) { + int cur_phase_id = -1; + if (pulse_lens[0] > TimeDelta(0, usec) && pulse_lens[1] > TimeDelta(0, usec)) { + int cur_more = pulse_lens[0] > pulse_lens[1]; + if (cycle_idx == prev_full_cycle_idx_ + 1) { + // To get current phase, we use simple fact that in phases 0 and 1, first pulse is shorter than the second, + // and in phases 2, 3 it is longer. This allows us to estimate current phase using comparison between + // the pair of pulses in current cycle (cur_more) and the previous one. + phase_history_ = (phase_history_ << 1) | cur_more; // phase_history_ keeps a bit for each pulse comparison. + static const char phases[4] = {1, 2, 0, 3}; + cur_phase_id = phases[phase_history_ & 0x3]; // 2 least significant bits give us enough info to get phase. + } else { + phase_history_ = cur_more; + } + prev_full_cycle_idx_ = cycle_idx; + } + + // If we haven't achieved final fix yet, check the cur_phase_id is as expected. + if (cur_phase_id >= 0 && fix_level_ < kPhaseFixFinal) { + if (fix_level_ == kPhaseFixNone) { + // Use current phase_id as the candidate. + fix_level_ = kPhaseFixCandidate; + phase_shift_ = (cur_phase_id - cycle_idx) & 0x3; + + } else { + // Either add or remove confidence that the phase_shift_ is correct. + int expected_phase_id = (cycle_idx + phase_shift_) & 0x3; + fix_level_ += (cur_phase_id == expected_phase_id) ? +1 : -1; + } + } +} + +inline float CyclePhaseClassifier::expected_pulse_len(bool skip, bool data, bool axis) { + // See https://github.com/nairol/LighthouseRedox/blob/master/docs/Light%20Emissions.md + return pulse_base_len_ + (skip << 2 | data << 1 | axis) * 10.416f; +} + +CyclePhaseClassifier::DataFrameBitPair CyclePhaseClassifier::get_data_bits(uint32_t cycle_idx, const TimeDelta (&pulse_lens)[num_base_stations]) { + // This is almost naive algorithm that tracks/adjusts just one variable, pulse_base_len_, with the assumption that + // all pulses can be shorter/longer than ideal by the same amount. + // We might need to introduce tracking of each phase mid_len if sensors are not linear enough. + + int phase_id = get_phase(cycle_idx); + if (phase_id >= 0) { + for (int b = 0; b < num_base_stations; b++) + if (pulse_lens[b] > TimeDelta(0, usec)) { + bool skip = (phase_id >> 1) != b; + bool axis = phase_id & 0x1; + + // Get the middle value of pulse width between bits 0 and 1. + float mid_len = (expected_pulse_len(skip, true, axis) + +expected_pulse_len(skip, false, axis)) * 0.5f; + + // Get the bit by comparison with mid value. + int pulse_len = pulse_lens[b].get_value(usec); + bool bit = pulse_len > mid_len; + + // Slowly adjust pulse_base_len_ + float error = pulse_len - expected_pulse_len(skip, bit, axis); + pulse_base_len_ += error * 0.1f; + float abs_error = error > 0 ? error : -error; + average_error_ = average_error_ * 0.9f + abs_error * 0.1f; + + // Output bits if error is reasonable. + if (abs_error < 5.0) { + bits_[b].bit = bit; + bits_[b].cycle_idx = cycle_idx; + } + } + } + return bits_; +} + +int CyclePhaseClassifier::get_phase(uint32_t cycle_idx) { + if (fix_level_ >= kPhaseFixAcquired) { + return (cycle_idx + phase_shift_) & 0x3; + } else { + return -1; + } +} + +void CyclePhaseClassifier::reset() { + fix_level_ = kPhaseFixNone; + prev_full_cycle_idx_ = -1; + pulse_base_len_ = 62.5f; + for (int b = 0; b < num_base_stations; b++) { + bits_[b].base_station_idx = b; + bits_[b].cycle_idx = 0; + } +} + +bool CyclePhaseClassifier::debug_cmd(HashedWord *input_words) { + if (*input_words++ == "phase"_hash) + switch (*input_words++) { + case "show"_hash: debug_print_state_ = true; return true; + case "off"_hash: debug_print_state_ = false; return true; + } + return false; +} +void CyclePhaseClassifier::debug_print(Print &stream) { + if (debug_print_state_) { + stream.printf("CyclePhaseClassifier: fix %d, phase %d, pulse_base_len %f, history 0x%x, avg error %.1f us\n", + fix_level_, phase_shift_, pulse_base_len_, phase_history_, average_error_); + } +} \ No newline at end of file diff --git a/src/cycle_phase_classifier.h b/src/cycle_phase_classifier.h new file mode 100644 index 0000000..2763e07 --- /dev/null +++ b/src/cycle_phase_classifier.h @@ -0,0 +1,53 @@ +#pragma once +#include "messages.h" +#include "primitives/string_utils.h" + +// Given pairs of pulse lens from 2 base stations, this class determines the phase for current cycle +// Phases are: +// 0) Base 1 (B), horizontal sweep +// 1) Base 1 (B), vertical sweep +// 2) Base 2 (C), horizontal sweep +// 3) Base 2 (C), vertical sweep +// +// TODO: We might want to introduce a more thorough check for a fix, using the average_error_ value. +class CyclePhaseClassifier { +public: + CyclePhaseClassifier(); + + // Process the pulse lengths for current cycle (given by incrementing cycle_idx). + void process_pulse_lengths(uint32_t cycle_idx, const TimeDelta (&pulse_lens)[num_base_stations]); + + // Get current cycle phase. -1 if phase is not known (no fix achieved). + int get_phase(uint32_t cycle_idx); + + // Reference to a pair of DataFrameBit-s + typedef DataFrameBit (&DataFrameBitPair)[num_base_stations]; + + // Get updated data bits from the pulse lens for current cycle. + // Both bits are always returned, but caller needs to make sure they were updated this cycle by + // checking DataFrameBit.cycle_idx == cycle_idx. + DataFrameBitPair get_data_bits(uint32_t cycle_idx, const TimeDelta (&pulse_lens)[num_base_stations]); + + // Reset the state of this classifier - needs to be called if the cycle fix was lost. + void reset(); + + // Print debug information. + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + float expected_pulse_len(bool skip, bool data, bool axis); + + uint32_t prev_full_cycle_idx_; + uint32_t phase_history_; + + int fix_level_; + uint32_t phase_shift_; + + float pulse_base_len_; + DataFrameBit bits_[num_base_stations]; + + float average_error_; + bool debug_print_state_; +}; + diff --git a/src/data_frame_decoder.cpp b/src/data_frame_decoder.cpp new file mode 100644 index 0000000..784040f --- /dev/null +++ b/src/data_frame_decoder.cpp @@ -0,0 +1,102 @@ +#include "data_frame_decoder.h" +#include "message_logging.h" + +DataFrameDecoder::DataFrameDecoder(uint32_t base_station_idx) + : base_station_idx_(base_station_idx) + , prev_cycle_idx_(0) + , preamble_len_(0) + , skip_one_set_bit_(false) + , cur_byte_(0) + , cur_bit_idx_(0) + , data_idx_(0) + , data_frame_len_(0) + , data_frame_{} { +} + +void DataFrameDecoder::consume(const DataFrameBit& frame_bit) { + // Check we have correct base station. + if (frame_bit.base_station_idx != base_station_idx_) + return; + + // Check we have correct cycle idx. + if (prev_cycle_idx_ != 0 && frame_bit.cycle_idx != prev_cycle_idx_ + 1) { + reset(); + return; + } + prev_cycle_idx_ = frame_bit.cycle_idx; + + // Start processing of next bit. + bool bit = frame_bit.bit; + + // Skip one high bit if needed. + if (skip_one_set_bit_) { + if (bit) + skip_one_set_bit_ = false; + else + reset(); + return; + } + + // Searching for preamble (17 zeros). + if (preamble_len_ != 17) { + if (bit) { + preamble_len_ = 0; // high bit -> reset preamble + } else { + preamble_len_++; + if (preamble_len_ == 17) { + skip_one_set_bit_ = true; + data_idx_ = -2; // 2 bytes for data len. + } + } + return; + } + + // Read 8 bits into accumulator. + cur_byte_ = (cur_byte_ << 1) | bit; + cur_bit_idx_++; + if (cur_bit_idx_ != 8) + return; + + // Skip one high bit every 16 bit. + if (data_idx_ & 1) + skip_one_set_bit_ = true; + + // Process & write accumulated data byte + if (data_idx_ < 0) + data_frame_len_ |= cur_byte_ << ((2+data_idx_) * 8); + else if (data_idx_ < data_frame_len_) + data_frame_.bytes.push(cur_byte_); + cur_byte_ = 0; + cur_bit_idx_ = 0; + data_idx_++; + + if (data_idx_ == (data_frame_len_|1) + 4) { // Round up to 16bit words, plus 4 byte CRC32 at the end (which we skip). + // Received full frame - write it. + data_frame_.time = frame_bit.time; + data_frame_.base_station_idx = base_station_idx_; + produce(data_frame_); + reset(); + } +} + +void DataFrameDecoder::reset() { + prev_cycle_idx_ = 0; + skip_one_set_bit_ = false; + preamble_len_ = 0; + cur_byte_ = 0; + cur_bit_idx_ = 0; + data_frame_len_ = 0; + data_frame_.bytes.clear(); +} + +bool DataFrameDecoder::debug_cmd(HashedWord *input_words) { + if (*input_words == "dataframe#"_hash && input_words->idx == base_station_idx_) { + input_words++; + return producer_debug_cmd(this, input_words, "DataFrame", base_station_idx_); + } + return false; +} + +void DataFrameDecoder::debug_print(Print& stream) { + producer_debug_print(this, stream); +} diff --git a/src/data_frame_decoder.h b/src/data_frame_decoder.h new file mode 100644 index 0000000..5859c6e --- /dev/null +++ b/src/data_frame_decoder.h @@ -0,0 +1,55 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "primitives/float16.h" +#include "messages.h" + +// See data frame description here: +// https://github.com/nairol/LighthouseRedox/blob/master/docs/Light%20Emissions.md#ootx-frame +// https://github.com/nairol/LighthouseRedox/blob/master/docs/Base%20Station.md#base-station-info-block +struct DecodedDataFrame { + // The current protocol version is 6. For older protocol versions the data structure might look different. + static constexpr uint32_t cur_protocol = 6; + + uint8_t protocol : 6; // Protocol version (bits 5..0). + uint16_t fw_version : 10; // Firmware version (bits 15..6). + uint32_t id; // Unique identifier of the base station (CRC32 of the 128-bit MCU UID) + fp16 fcal_phase[2]; // "phase" - probably phase difference between real angle and measured. + fp16 fcal_tilt[2]; // "tilt" - probably rotation of laser plane + uint8_t sys_unlock_count; // Lowest 8 bits of the rotor desynchronization counter + uint8_t hw_version; // Hardware version + fp16 fcal_curve[2]; // "curve" + int8_t accel_dir[3]; // Orientation vector, scaled so that largest component is always +-127. + fp16 fcal_gibphase[2]; // "gibbous phase" (normalized angle) + fp16 fcal_gibmag[2]; // "gibbous magnitude" + uint8_t mode_current; // Currently selected mode (default: 0=A, 1=B, 2=C) + uint8_t sys_faults; // "fault detect flags" (should be 0) +} __attribute__((packed)); +static_assert(sizeof(DecodedDataFrame) == 33, "DataFrame should be 33 bytes long. Check it's byte-level packed."); + +// Data Frame Decoder for one base station. +// TODO: Check CRC32. +class DataFrameDecoder + : public WorkerNode + , public Consumer + , public Producer { +public: + DataFrameDecoder(uint32_t base_station_idx); + virtual void consume(const DataFrameBit &bit); + + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + void reset(); + + const uint32_t base_station_idx_; // Base station data we decode. + uint32_t prev_cycle_idx_; // Last cycle idx for which we saw a bit. + uint32_t preamble_len_; + bool skip_one_set_bit_; + uint8_t cur_byte_; + uint32_t cur_bit_idx_; + int32_t data_idx_; + int32_t data_frame_len_; + DataFrame data_frame_; +}; diff --git a/src/debug_node.cpp b/src/debug_node.cpp new file mode 100644 index 0000000..9b6f0e2 --- /dev/null +++ b/src/debug_node.cpp @@ -0,0 +1,115 @@ +#include "debug_node.h" +#include +#include + +#include "settings.h" +#include "led_state.h" +#include "platform.h" +#include "print_helpers.h" + + +DebugNode::DebugNode(Pipeline *pipeline) + : pipeline_(pipeline) + , continuous_debug_print_(0) + , stream_idx_(0x1000) + , output_attached_(true) + , print_debug_memory_(false) { + assert(pipeline); +} + +void DebugNode::consume_line(char *input_cmd, Timestamp time) { + // Process debug input commands + bool print_debug = !output_attached_ && !continuous_debug_print_; + set_output_attached(false); + continuous_debug_print_ = 0; + + HashedWord* hashed_words = hash_words(input_cmd); + bool res = !*hashed_words || pipeline_->debug_cmd(hashed_words); + if (!output_attached_ && !continuous_debug_print_) { + DataChunkPrint printer(this, time, stream_idx_); + if (!res) + printer.printf("Unknown command.\n"); + else if (print_debug) + pipeline_->debug_print(printer); + printer.printf("debug> "); + } +} + +void DebugNode::do_work(Timestamp cur_time) { + // Print current debug state if continuous printing is enabled. + if (continuous_debug_print_ > 0 + && throttle_ms(TimeDelta(continuous_debug_print_, ms), cur_time, &continuous_print_period_)) { + DataChunkPrint printer(this, cur_time, stream_idx_); + pipeline_->debug_print(printer); + } + + // Update led pattern. + update_led_pattern(cur_time); +} + +// Sometimes the same output is used both for debug and to print values. We want to detach the values stream +// while we're in debug mode. +void DebugNode::set_output_attached(bool attached) { + if (output_attached_ == attached) + return; + + // Send command to the output node we're working with. + Producer::produce(attached + ? OutputCommand{.type = OutputCommandType::kMakeNonExclusive} + : OutputCommand{.type = OutputCommandType::kMakeExclusive, .stream_idx = stream_idx_}); + + output_attached_ = attached; +} + +bool DebugNode::debug_cmd(HashedWord *input_words) { + switch (*input_words++) { + case "debug"_hash: + switch (*input_words++) { + case "mem"_hash: + case "memory"_hash: + print_debug_memory_ = !print_debug_memory_; + return true; + } + break; + + case "!"_hash: settings.restart_in_configuration_mode(); return true; + case "o"_hash: set_output_attached(true); return true; + case "c"_hash: + uint32_t val; + if (!*input_words) { + continuous_debug_print_ = 1000; continuous_print_period_ = Timestamp::cur_time(); return true; + } else if (input_words->as_uint32(&val) && val >= 10 && val <= 100000) { + continuous_debug_print_ = val; continuous_print_period_ = Timestamp::cur_time(); return true; + } + break; + } + return false; +} + + +// ====== System-wide debug metrics ========================================= + +// Link-time constant markers. Note, you need the *address* of these. +extern char _sdata; // start of static data +extern char _edata; +extern char _sbss; +extern char _ebss; // end of static data; bottom of heap +extern char _estack; // bottom of stack, top of ram: stack grows down towards heap + +// Dynamic values from mk20dx128.c +extern char *__brkval; // top of heap (dynamic ram): grows up towards stack + +void DebugNode::debug_print(Print &stream) { + if (print_debug_memory_) { + uint32_t static_data_size = &_ebss - (char*)((uint32_t)&_sdata & 0xFFFFF000); + uint32_t allocated_heap = __brkval - &_ebss; + char c, *top_stack = &c; + int32_t unallocated = (&_estack - stack_size) - __brkval; + int32_t stack_max_used = get_stack_high_water_mark(); + uint32_t stack_used = &_estack - top_stack; + + struct mallinfo m = mallinfo(); + stream.printf("RAM: static %d, heap %d (used %d, free %d), unalloc %d, stack %d (used %d, max %d)\n", + static_data_size, allocated_heap, m.uordblks, m.fordblks, unallocated, stack_size, stack_used, stack_max_used); + } +} diff --git a/src/debug_node.h b/src/debug_node.h new file mode 100644 index 0000000..1808597 --- /dev/null +++ b/src/debug_node.h @@ -0,0 +1,30 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "print_helpers.h" + +// This node calls debug_cmd and debug_print for all pipeline nodes periodically, +// provides some other debug facilities and blinks LED. +class DebugNode + : public WorkerNode + , public DataChunkLineSplitter + , public Producer + , public Producer { +public: + DebugNode(Pipeline *pipeline); + + virtual void consume_line(char *line, Timestamp time); + virtual void do_work(Timestamp cur_time); + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print &stream); + +private: + void set_output_attached(bool attached); + + Pipeline *pipeline_; + Timestamp continuous_print_period_; + uint32_t continuous_debug_print_; + uint32_t stream_idx_; + bool output_attached_; + bool print_debug_memory_; +}; diff --git a/src/formatters.cpp b/src/formatters.cpp new file mode 100644 index 0000000..dd4cf61 --- /dev/null +++ b/src/formatters.cpp @@ -0,0 +1,165 @@ +#include "formatters.h" +#include +#include +#include "print_helpers.h" +#include "message_logging.h" + +// ====== FormatterNode ===================================================== +FormatterNode::FormatterNode(uint32_t idx, const FormatterDef &def) + : node_idx_(idx) + , def_(def) { +} + +bool FormatterNode::debug_cmd(HashedWord *input_words) { + if (*input_words == "stream#"_hash && input_words->idx == node_idx_) { + input_words++; + return producer_debug_cmd(this, input_words, "DataChunk", node_idx_); + } + return false; +} +void FormatterNode::debug_print(Print& stream) { + producer_debug_print(this, stream); +} + +// ====== SensorAnglesTextFormatter ========================================= +void SensorAnglesTextFormatter::consume(const SensorAnglesFrame& f) { + uint32_t time = f.time.get_value(msec); + + // Print each sensor on its own line. + for (uint32_t i = 0; i < f.sensors.size(); i++) { + DataChunkPrint printer(this, f.time, node_idx_); + const SensorAngles &angles = f.sensors[i]; + printer.printf("ANG%d\t%u\t%d", i, time, f.fix_level); + for (uint32_t j = 0; j < num_cycle_phases; j++) { + printer.printf("\t"); + if (f.fix_level == FixLevel::kCycleSynced && angles.updated_cycles[j] == f.cycle_idx - f.phase_id + j) + printer.printf("%.4f", angles.angles[j]); + } + printer.printf("\n"); + } +} + +// ====== GeometryFormatter ================================================= +std::unique_ptr GeometryFormatter::create(uint32_t idx, const FormatterDef &def) { + switch (def.formatter_subtype) { + case FormatterSubtype::kPosText: return std::make_unique(idx, def); + case FormatterSubtype::kPosMavlink: return std::make_unique(idx, def); + default: throw_printf("Unknown geometry formatter subtype: %d", def.formatter_subtype); + } +} + +// ====== GeometryTextFormatter ============================================= +void GeometryTextFormatter::consume(const ObjectPosition& f) { + DataChunkPrint printer(this, f.time, node_idx_); + printer.printf("OBJ%d\t%u\t%d", f.object_idx, f.time.get_value(msec), f.fix_level); + if (f.fix_level >= FixLevel::kStaleFix) { + printer.printf("\t%.4f\t%.4f\t%.4f\t%.4f", f.pos[0], f.pos[1], f.pos[2], f.pos_delta); + if (f.q[0] != 1.0f) { // Output quaternion if available. + printer.printf("\t%.4f\t%.4f\t%.4f\t%.4f", f.q[0], f.q[1], f.q[2], f.q[3]); + } + } + printer.printf("\n"); +} + +// ====== FormatterDef I/O ===================================================== +// Format: stream > +// stream0 mavlink object0 ned 110 > serial1 +// stream1 angles > usb_serial +// stream2 position object0 > usb_serial + +HashedWord formatter_types[] = { + {"angles", "angles"_hash, (int)FormatterType::kAngles << 16 }, + {"dataframe", "dataframe"_hash, (int)FormatterType::kDataFrame << 16 }, + {"position", "position"_hash, (int)FormatterType::kPosition << 16 | (int)FormatterSubtype::kPosText}, + {"mavlink", "mavlink"_hash, (int)FormatterType::kPosition << 16 | (int)FormatterSubtype::kPosMavlink}, +}; + + +void FormatterDef::print_def(uint32_t idx, Print &stream) { + stream.printf("stream%d ", idx); + + // Print type & subtype. + uint32_t packed_type = (int)formatter_type << 16 | (int)formatter_subtype; + for (uint32_t i = 0; i < sizeof(formatter_types) / sizeof(formatter_types[0]); i++) + if (packed_type == formatter_types[i].idx) { + stream.printf("%s ", formatter_types[i].word); + } + + // Print settings for the type. + switch (formatter_type) { + case FormatterType::kAngles: break; + case FormatterType::kDataFrame: break; + case FormatterType::kPosition: { + stream.printf("object%d ", input_idx); + switch (coord_sys_type) { + case CoordSysType::kDefault: break; // Nothing + case CoordSysType::kNED: { + stream.printf("ned %.1f ", coord_sys_params.ned.north_angle); + break; + } + } + break; + } + } + + // Print output idx. + if (output_idx == 0) + stream.printf("> usb_serial\n"); + else + stream.printf("> serial%d\n", output_idx); +} + +bool FormatterDef::parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream) { + bool type_found = false; + for (uint32_t i = 0; i < sizeof(formatter_types) / sizeof(formatter_types[0]); i++) + if (*input_words == formatter_types[i]) { + uint32_t packed_type = formatter_types[i].idx; + formatter_type = (FormatterType)(packed_type >> 16); + formatter_subtype = (FormatterSubtype)(packed_type & 0xFFFF); + type_found = true; + } + input_words++; + if (!type_found) { + err_stream.printf("Unknown stream type: '%s'\n", input_words->word); + return false; + } + + // Parse settings for type/subtype + switch (formatter_type) { + case FormatterType::kAngles: break; + case FormatterType::kDataFrame: break; + case FormatterType::kPosition: { + if (*input_words != "object#"_hash) { + err_stream.printf("Need object for position stream type.\n"); + return false; + } + input_idx = input_words->idx; + input_words++; + + coord_sys_type = CoordSysType::kDefault; + if (*input_words == "ned"_hash) { + coord_sys_type = CoordSysType::kNED; + input_words++; + if (!input_words->as_float(&coord_sys_params.ned.north_angle)) { + err_stream.printf("Expected north angle after 'ned' keyword.\n"); + return false; + } + input_words++; + } + break; + } + } + + if (*input_words++ != ">"_hash) { + err_stream.printf("Expected '>' symbol\n"); return false; + } + + if (*input_words == "serial#"_hash || *input_words == "usb_serial"_hash) { + output_idx = *input_words == "usb_serial"_hash ? 0 : input_words->idx; + return true; + } else { + err_stream.printf("Expected 'serial' or 'usb_serial' as the output of the stream.\n"); + return false; + } + return false; +} diff --git a/src/formatters.h b/src/formatters.h new file mode 100644 index 0000000..833557f --- /dev/null +++ b/src/formatters.h @@ -0,0 +1,94 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "messages.h" +#include "geometry.h" + +enum class FormatterType { + kAngles, + kDataFrame, + kPosition, +}; +enum class FormatterSubtype { + kPosText, + kPosMavlink, +}; + +// Stored definition of a FormatterNode +struct FormatterDef { + FormatterType formatter_type; + FormatterSubtype formatter_subtype; + uint32_t input_idx; // For geometry formatters, it's the geometry builder idx. + uint32_t output_idx; // Which output node to send the data to. + + CoordSysType coord_sys_type; + CoordSysDef coord_sys_params; + + void print_def(uint32_t idx, Print &stream); + bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream); +}; + + +// Abstract base class for formatter nodes. They all get different inputs, but always produce data streams. +class FormatterNode + : public WorkerNode + , public Producer { +public: + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +protected: + FormatterNode(uint32_t idx, const FormatterDef &def); + + uint32_t node_idx_; + FormatterDef def_; +}; + +// Format sensor angles to a text form. +class SensorAnglesTextFormatter + : public FormatterNode + , public Consumer { +public: + SensorAnglesTextFormatter(uint32_t idx, const FormatterDef &def) : FormatterNode(idx, def) {} + virtual void consume(const SensorAnglesFrame& f); +}; + +// Base class for geometry formatters. +class GeometryFormatter + : public FormatterNode + , public Consumer { +public: + static std::unique_ptr create(uint32_t idx, const FormatterDef &def); + +protected: + GeometryFormatter(uint32_t idx, const FormatterDef &def) : FormatterNode(idx, def) {} +}; + +// Format object geometry in a text form. +class GeometryTextFormatter : public GeometryFormatter { +public: + GeometryTextFormatter(uint32_t idx, const FormatterDef &def) : GeometryFormatter(idx, def) {} + virtual void consume(const ObjectPosition& f); +}; + + +// Format object geometry in Mavlink format. +class GeometryMavlinkFormatter : public GeometryFormatter { +public: + GeometryMavlinkFormatter(uint32_t idx, const FormatterDef &def); + virtual void consume(const ObjectPosition& f); + + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + bool position_valid(const ObjectPosition& g); + void send_message(uint32_t msgid, const char *packet, Timestamp cur_time, uint8_t min_length, uint8_t length, uint8_t crc_extra); + + uint32_t current_tx_seq_; + Timestamp last_message_timestamp_; // LongTimestamp + float last_pos_[3]; + bool debug_print_state_; + uint32_t debug_late_messages_; +}; + diff --git a/src/geometry.cpp b/src/geometry.cpp new file mode 100644 index 0000000..ab91b37 --- /dev/null +++ b/src/geometry.cpp @@ -0,0 +1,293 @@ +#include "geometry.h" +#include +#include +#include + +#include +#include "primitives/string_utils.h" +#include "message_logging.h" +#include "led_state.h" + + +bool intersect_lines(const vec3d &orig1, const vec3d &vec1, const vec3d &orig2, const vec3d &vec2, vec3d *res, float *dist); +void calc_ray_vec(const BaseStationGeometryDef &bs, float angle1, float angle2, vec3d &ray, vec3d &origin); + + +GeometryBuilder::GeometryBuilder(uint32_t idx, const GeometryBuilderDef &geo_def, + const Vector &base_stations) + : object_idx_(idx) + , base_stations_(base_stations) + , def_(geo_def) { + assert(idx < max_num_inputs); + assert(geo_def.sensors.size() > 0); + if (base_stations.size() != 2) + throw_printf("2 base stations must be defined to use geometry builders."); +} + + +PointGeometryBuilder::PointGeometryBuilder(uint32_t idx, const GeometryBuilderDef &geo_def, + const Vector &base_stations ) + : GeometryBuilder(idx, geo_def, base_stations) + , pos_{Timestamp(), idx, FixLevel::kNoSignals, {0.f, 0.f, 0.f}, 0.f, {1.f, 0.f, 0.f, 0.f}} { + assert(geo_def.sensors.size() == 1); +} + + +void PointGeometryBuilder::consume(const SensorAnglesFrame& f) { + // First 2 angles - x, y of station B; second 2 angles - x, y of station C. + // Coordinate system: Y - Up; X -> Z v (to the viewer) + // Station 'looks' to inverse Z axis (vector 0;0;-1). + pos_.time = f.time; + pos_.fix_level = f.fix_level; + + if (f.fix_level >= FixLevel::kCycleSynced) { + const SensorLocalGeometry &sens_def = def_.sensors[0]; + const SensorAngles &sens = f.sensors[sens_def.input_idx]; + + // Check angles are fresh enough. + uint32_t max_stale = 0; + for (int i = 0; i < num_cycle_phases; i++) + max_stale = std::max(max_stale, f.cycle_idx - sens.updated_cycles[i]); + + if (max_stale < num_cycle_phases * 3) { // We tolerate stale angles up to 2 cycles old. + pos_.fix_level = (max_stale < num_cycle_phases) + ? FixLevel::kFullFix : FixLevel::kStaleFix; + + vec3d ray1, ray2, origin1, origin2; + calc_ray_vec(base_stations_[0], sens.angles[0], sens.angles[1], ray1, origin1); + calc_ray_vec(base_stations_[1], sens.angles[2], sens.angles[3], ray2, origin2); + + intersect_lines(origin1, ray1, origin2, ray2, &pos_.pos, &pos_.pos_delta); + + // Translate object position depending on the position of sensor relative to object. + for (int i = 0; i < vec3d_size; i++) + pos_.pos[i] -= sens_def.pos[i]; + + } else { + // Angles too stale - cannot calculate position anymore. + pos_.fix_level = FixLevel::kPartialVis; + } + } + + produce(pos_); +} + +void PointGeometryBuilder::do_work(Timestamp cur_time) { + // TODO: Make compatible with multiple geometry objects. + set_led_state(pos_.fix_level >= FixLevel::kStaleFix ? LedState::kFixFound : LedState::kNoFix); +} + +bool PointGeometryBuilder::debug_cmd(HashedWord *input_words) { + if (*input_words == "geom#"_hash && input_words->idx == object_idx_) { + input_words++; + return producer_debug_cmd(this, input_words, "ObjectPosition", object_idx_); + } + return false; +} +void PointGeometryBuilder::debug_print(Print& stream) { + producer_debug_print(this, stream); +} + +void vec_cross_product(const vec3d &a, const vec3d &b, vec3d &res) { + res[0] = a[1]*b[2] - a[2]*b[1]; + res[1] = a[2]*b[0] - a[0]*b[2]; + res[2] = a[0]*b[1] - a[1]*b[0]; +} + +float vec_length(vec3d &vec) { + float pow, res; + + arm_power_f32(vec, vec3d_size, &pow); // returns sum of squares + arm_sqrt_f32(pow, &res); + + return res; +} + +void calc_ray_vec(const BaseStationGeometryDef &bs, float angle1, float angle2, vec3d &res, vec3d &origin) { + vec3d a = {arm_cos_f32(angle1), 0, -arm_sin_f32(angle1)}; // Normal vector to X plane + vec3d b = {0, arm_cos_f32(angle2), arm_sin_f32(angle2)}; // Normal vector to Y plane + + vec3d ray = {}; + vec_cross_product(b, a, ray); // Intersection of two planes -> ray vector. + float len = vec_length(ray); + arm_scale_f32(ray, 1/len, ray, vec3d_size); // Normalize ray length. + + arm_matrix_instance_f32 source_rotation_matrix = {3, 3, const_cast(bs.mat)}; + arm_matrix_instance_f32 ray_vec = {3, 1, ray}; + arm_matrix_instance_f32 ray_rotated_vec = {3, 1, res}; + arm_mat_mult_f32(&source_rotation_matrix, &ray_vec, &ray_rotated_vec); + + // TODO: Make geometry adjustments within base station. + vec3d rotated_origin_delta = {}; + //vec3d base_origin_delta = {-0.025f, -0.025f, 0.f}; // Rotors are slightly off center in base station. + // arm_matrix_instance_f32 origin_vec = {3, 1, base_origin_delta}; + // arm_matrix_instance_f32 origin_rotated_vec = {3, 1, rotated_origin_delta}; + // arm_mat_mult_f32(&source_rotation_matrix, &origin_vec, &origin_rotated_vec); + arm_add_f32(const_cast(bs.origin), rotated_origin_delta, origin, vec3d_size); +} + + +bool intersect_lines(const vec3d &orig1, const vec3d &vec1, const vec3d &orig2, const vec3d &vec2, vec3d *res, float *dist) { + // Algoritm: http://geomalgorithms.com/a07-_distance.html#Distance-between-Lines + + vec3d w0 = {}; + arm_sub_f32(const_cast(orig1), const_cast(orig2), w0, vec3d_size); + + float a, b, c, d, e; + arm_dot_prod_f32(const_cast(vec1), const_cast(vec1), vec3d_size, &a); + arm_dot_prod_f32(const_cast(vec1), const_cast(vec2), vec3d_size, &b); + arm_dot_prod_f32(const_cast(vec2), const_cast(vec2), vec3d_size, &c); + arm_dot_prod_f32(const_cast(vec1), w0, vec3d_size, &d); + arm_dot_prod_f32(const_cast(vec2), w0, vec3d_size, &e); + + float denom = a * c - b * b; + if (fabs(denom) < 1e-5f) + return false; + + // Closest point to 2nd line on 1st line + float t1 = (b * e - c * d) / denom; + vec3d pt1 = {}; + arm_scale_f32(const_cast(vec1), t1, pt1, vec3d_size); + arm_add_f32(pt1, const_cast(orig1), pt1, vec3d_size); + + // Closest point to 1st line on 2nd line + float t2 = (a * e - b * d) / denom; + vec3d pt2 = {}; + arm_scale_f32(const_cast(vec2), t2, pt2, vec3d_size); + arm_add_f32(pt2, const_cast(orig2), pt2, vec3d_size); + + // Result is in the middle + vec3d tmp = {}; + arm_add_f32(pt1, pt2, tmp, vec3d_size); + arm_scale_f32(tmp, 0.5f, *res, vec3d_size); + + // Dist is distance between pt1 and pt2 + arm_sub_f32(pt1, pt2, tmp, vec3d_size); + *dist = vec_length(tmp); + + return true; +} + +// ======= CoordinateSystemConverter ========================================== +CoordinateSystemConverter::CoordinateSystemConverter(float mat[9]) { + memcpy(mat_, mat, sizeof(mat_)); +} + +std::unique_ptr CoordinateSystemConverter::create(CoordSysType type, const CoordSysDef& def) { + switch (type) { + case CoordSysType::kDefault: return nullptr; // Do nothing. + case CoordSysType::kNED: return CoordinateSystemConverter::NED(def); + default: throw_printf("Unknown coord sys type: %d", type); + } +} + +std::unique_ptr CoordinateSystemConverter::NED(const CoordSysDef &def) { + float ne_angle = def.ned.north_angle / 360.0f * (float)M_PI; + float mat[9] = { + // Convert Y up -> Z down; then rotate XY around Z clockwise and inverse X & Y + -arm_cos_f32(ne_angle), 0.0f, arm_sin_f32(ne_angle), + -arm_sin_f32(ne_angle), 0.0f, -arm_cos_f32(ne_angle), + 0.0f, -1.0f, 0.0f, + }; + return std::make_unique(mat); +} + +void CoordinateSystemConverter::consume(const ObjectPosition& pos) { + ObjectPosition out_pos(pos); + + // Convert position + arm_matrix_instance_f32 src_mat = {3, 1, const_cast(pos.pos)}; + arm_matrix_instance_f32 dest_mat = {3, 1, out_pos.pos}; + arm_matrix_instance_f32 rotation_mat = {3, 3, mat_}; + arm_mat_mult_f32(&rotation_mat, &src_mat, &dest_mat); + + // TODO: Convert quaternion. + assert(pos.q[0] == 1.0f); + + produce(out_pos); +} + +bool CoordinateSystemConverter::debug_cmd(HashedWord *input_words) { + if (*input_words++ == "coord"_hash) { + return producer_debug_cmd(this, input_words, "ObjectPosition"); + } + return false; +} +void CoordinateSystemConverter::debug_print(Print& stream) { + producer_debug_print(this, stream); +} + + +// ======= BaseStationGeometryDef I/O =========================================== +// Format: base origin matrix <9x floats> + +void BaseStationGeometryDef::print_def(uint32_t idx, Print &stream) { + stream.printf("base%d origin", idx); + for (int j = 0; j < 3; j++) + stream.printf(" %f", origin[j]); + stream.printf(" matrix"); + for (int j = 0; j < 9; j++) + stream.printf(" %f", mat[j]); + stream.printf("\n"); +} + +bool BaseStationGeometryDef::parse_def(uint32_t idx, HashedWord *input_words, Print &stream) { + if (*input_words == "origin"_hash) + input_words++; + for (int i = 0; i < 3; i++, input_words++) + if (!input_words->as_float(&origin[i])) { + stream.printf("Invalid base station format\n"); return false; + } + if (*input_words == "matrix"_hash) + input_words++; + for (int i = 0; i < 9; i++, input_words++) + if (!input_words->as_float(&mat[i])) { + stream.printf("Invalid base station format\n"); return false; + } + return true; +} + +// ======= GeometryBuilderDef I/O =========================================== +// Format: object [ sensor ]+ + +void GeometryBuilderDef::print_def(uint32_t idx, Print &stream) { + stream.printf("object%d", idx); + for (uint32_t i = 0; i < sensors.size(); i++) { + const SensorLocalGeometry &sensor = sensors[i]; + stream.printf(" sensor%d %.4f %.4f %.4f", sensor.input_idx, sensor.pos[0], sensor.pos[1], sensor.pos[2]); + } + stream.printf("\n"); +} + +bool GeometryBuilderDef::parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream) { + sensors.clear(); + while (*input_words) { + SensorLocalGeometry sensor; + if (*input_words != "sensor#"_hash) { + err_stream.printf("Sensor number (sensor) required for object %d\n", idx); return false; + } + sensor.input_idx = input_words->idx; + input_words++; + if (!*input_words && sensors.size() == 0) { // Allow skipping coordinates for one-sensor geometry builder. + sensor.pos[0] = sensor.pos[1] = sensor.pos[2] = 0.f; + sensors.push(sensor); + break; + } + for (int i = 0; i < vec3d_size; i++) { + if (!input_words++->as_float(&sensor.pos[i])) { + err_stream.printf("Invalid position coordinate in object %d\n", idx); return false; + } + } + if (sensors.full()) { + err_stream.printf("Too many inputs for object %d. Up to %d allowed.\n", idx, sensors.max_size()); return false; + } + sensors.push(sensor); + } + if (sensors.size() == 0) { + err_stream.printf("At least one sensor input should be defined for object %d\n", idx); return false; + } + if (sensors.size() > 1) { + err_stream.printf("Multi-sensor objects are currently not supported.\n"); return false; + } + return true; +} diff --git a/src/geometry.h b/src/geometry.h new file mode 100644 index 0000000..8aa555e --- /dev/null +++ b/src/geometry.h @@ -0,0 +1,96 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "primitives/vector.h" +#include "messages.h" + +// Naive 3d vector type. +constexpr int vec3d_size = 3; +typedef float vec3d[vec3d_size]; + +// Stored definition of Base Stations +struct BaseStationGeometryDef { + float mat[9]; // Normalized rotation matrix. + vec3d origin; // Origin point + + void print_def(uint32_t idx, Print &stream); + bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream); +}; + +struct SensorLocalGeometry { + uint32_t input_idx; + vec3d pos; // Position of the sensor relative to the object. +}; + +// Stored definition of GeometryBuilder +struct GeometryBuilderDef { + Vector sensors; + + void print_def(uint32_t idx, Print &stream); + bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream); +}; + +// Parent, abstract class for GeometryBuilders. +class GeometryBuilder + : public WorkerNode + , public Consumer + , public Producer { +public: + GeometryBuilder(uint32_t idx, const GeometryBuilderDef &geo_def, + const Vector &base_stations); + +protected: + uint32_t object_idx_; + const Vector &base_stations_; + GeometryBuilderDef def_; +}; + +// Simple class for single-point sensors. +class PointGeometryBuilder : public GeometryBuilder { +public: + PointGeometryBuilder(uint32_t idx, const GeometryBuilderDef &geo_def, + const Vector &base_stations); + virtual void consume(const SensorAnglesFrame& f); + virtual void do_work(Timestamp cur_time); + + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + ObjectPosition pos_; +}; + + +// Stored type and definition for CoordinateSystemConverter. +enum class CoordSysType { + kDefault, // No conversion. + kNED, // North-East-Down. +}; + +union CoordSysDef { + struct { + float north_angle; // Angle between North and X axis, in degrees. + } ned; +}; + +// Helper node to convert coordinates to a different coordinate system. +class CoordinateSystemConverter + : public WorkerNode + , public Consumer + , public Producer { +public: + CoordinateSystemConverter(float m[9]); + + static std::unique_ptr create(CoordSysType type, const CoordSysDef& def); + + // Convert from standard Vive coordinate system to NED. + // Needs angle between North and X axis, in degrees. + static std::unique_ptr NED(const CoordSysDef &def); + + virtual void consume(const ObjectPosition& geo); + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + float mat_[9]; +}; \ No newline at end of file diff --git a/src/input.cpp b/src/input.cpp new file mode 100644 index 0000000..5161e44 --- /dev/null +++ b/src/input.cpp @@ -0,0 +1,111 @@ +#include "input.h" +#include "message_logging.h" + +// Multiplexer method to create input node of correct type. +// Throws exceptions on incorrect values. +std::unique_ptr InputNode::create(uint32_t input_idx, const InputDef &input_def) { + switch (input_def.input_type) { + case InputType::kCMP: return createInputCmpNode(input_idx, input_def); + case InputType::kPort: throw_printf("Port input type not implemented yet"); + case InputType::kFTM: throw_printf("FTM input type not implemented yet"); + default: throw_printf("Unknown input type"); + } +} + + +InputNode::InputNode(uint32_t input_idx) + : input_idx_(input_idx) + , pulses_buf_() { +} + +// In all types of inputs, pulses come from irq handlers. We don't want to run any other code in +// irq context, so pulses go through pulses_buf_ circular buffer and are sent to other modules in main "thread". +void InputNode::do_work(Timestamp cur_time) { + Pulse p; + while (pulses_buf_.dequeue(&p)) { + produce(p); + } +} + +void InputNode::enqueue_pulse(Timestamp start_time, TimeDelta len) { + pulses_buf_.enqueue({ + .input_idx = input_idx_, + .start_time = start_time, + .pulse_len = len, + }); +} + +bool InputNode::debug_cmd(HashedWord *input_words) { + if (*input_words == "sensor#"_hash && input_words->idx == input_idx_) { + input_words++; + switch (*input_words++) { + case "pulses"_hash: return producer_debug_cmd(this, input_words, "Pulse", input_idx_); + } + } + return false; +} + +void InputNode::debug_print(Print& stream) { + producer_debug_print(this, stream); +} + + +// ==== InputDef I/O ================================ +#include "Print.h" +#include "primitives/string_utils.h" + +HashedWord input_types[kInputTypeCount] = { + [(int)InputType::kCMP] = { "cmp", "cmp"_hash }, + [(int)InputType::kFTM] = { "ftm", "ftm"_hash }, + [(int)InputType::kPort] = { "port_irq", "port_irq"_hash }, +}; + +void InputDef::print_def(uint32_t idx, Print &stream) { + stream.printf("sensor%d pin %d %s %s", idx, pin, pulse_polarity ? "positive" : "negative", input_types[(int)input_type].word); + if (input_type == InputType::kCMP) + stream.printf(" %d", initial_cmp_threshold); + stream.printf("\n"); +} + +bool InputDef::parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream) { + if (*input_words == "pin"_hash) + input_words++; // Ignore "pin" word + + if (!input_words++->as_uint32(&pin) || pin >= 256) { + err_stream.printf("Invalid/missing pin number\n"); return false; + } + + switch (*input_words++) { + case 0: err_stream.printf("Missing polarity\n"); return false; + case "positive"_hash: pulse_polarity = true; break; + case "negative"_hash: pulse_polarity = false; break; + default: + err_stream.printf("Unknown polarity. Only 'positive' and 'negative' supported.\n"); return false; + } + + if (!*input_words) { + input_type = InputType::kCMP; // Default input type: Comparator + } else { + int i; + for (i = 0; i < kInputTypeCount; i++) + if (*input_words == input_types[i]) { + input_type = (InputType)i; + break; + } + if (i == kInputTypeCount) { + err_stream.printf("Unknown input type. Supported types: 'port_irq', 'ftm', 'cmp'.\n"); return false; + } + } + input_words++; + + if (input_type == InputType::kCMP) { + // For comparators, also read initial threshold level. + if (!*input_words) { + initial_cmp_threshold = 20; // Default threshold level. + } else if (!input_words->as_uint32(&initial_cmp_threshold) || initial_cmp_threshold >= 64) { + err_stream.printf("Invalid threshold level. Supported values: 0-63.\n"); return false; + } + } + return true; +} + diff --git a/src/input.h b/src/input.h new file mode 100644 index 0000000..fe29dcd --- /dev/null +++ b/src/input.h @@ -0,0 +1,54 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "primitives/circular_buffer.h" +#include "messages.h" + +// We can use different Teensy hardware features to measure pulse timing, each with different pros and cons. +// Look into each input type's header for details. +enum class InputType { + kCMP = 0, // Comparator + kFTM = 1, // Flexible Timer Module interrupts + kPort = 2, // Digital input interrupt +}; +constexpr int kInputTypeCount = 3; + +// Stored definition of an InputNode. +struct InputDef { + uint32_t pin; // Teensy PIN number + bool pulse_polarity; // true = Positive, false = Negative. + InputType input_type; + uint32_t initial_cmp_threshold; + + void print_def(uint32_t idx, Print &stream); + bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream); +}; + + +// Base class for input nodes. They all produce Pulse-s. +class InputNode + : public WorkerNode + , public Producer { +public: + // Create input node of needed type from given configuration. + static std::unique_ptr create(uint32_t input_idx, const InputDef &def); + + virtual void do_work(Timestamp cur_time); + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +protected: + InputNode(uint32_t input_idx); + void enqueue_pulse(Timestamp start, TimeDelta len); + +private: + // Index of this input. + uint32_t input_idx_; + + // We keep the pulse buffer to move Pulse-s from irq context to main thread context. + static constexpr int pulses_buffer_len = 32; + CircularBuffer pulses_buf_; +}; + +// Create functions for each supported input types. +std::unique_ptr createInputCmpNode(uint32_t input_idx, const InputDef &input_def); diff --git a/src/input_cmp.cpp b/src/input_cmp.cpp new file mode 100644 index 0000000..22bac28 --- /dev/null +++ b/src/input_cmp.cpp @@ -0,0 +1,241 @@ +// +// Definition of 'Comparator' type input (InputType::kCMP). +// +// Teensy 3.x has up to 4 comparator modules: CMP0, CMP1, CMP2 and CMP3. Each of them can issue an interrupt when +// input pin voltage is crossing a threshold, both up and down. The threshold can be adjusted dynamically +// in 64 steps from 0V to 3.3V. This allows for more flexibility when dealing with analog sensors like the one +// described in this repo, but not really needed for commercial sensors. +// +// PROs: +// * Threshold can be dynamically adjusted. +// CONs: +// * Up to 4 (3 on Teensy 3.2) sensors at the same time; Only particular pins are supported (see comparator_defs below). +// * Timing is calculated in ISR, potentially increasing jitter. +// +#include "input_cmp.h" +#include "settings.h" +#include + +// Teensy comparator port address block. Order is significant. +struct ComparatorPorts { + volatile uint8_t cr0, cr1, fpr, scr, daccr, muxcr; +}; +static_assert(sizeof(ComparatorPorts) == 6, "ComparatorPorts struct must be packed."); + +constexpr int NA = -1; // Pin Not Available + +// Static configuration of a comparator: control ports base address, irq number and pin numbers +struct ComparatorDef { + union { + volatile uint8_t *port_cr0; + ComparatorPorts *ports; + }; + int irq; + int input_pins[6]; // CMPx_INy to Teensy digital pin # mapping. DAC0=100, DAC1=101. +}; + +// Comparator definitions. +const static ComparatorDef comparator_defs[] = { +#if defined(__MK20DX128__) // Teensy 3.0. Chip 64 LQFP pin numbers in comments. Teensy digital pins as numbers. + {&CMP0_CR0, IRQ_CMP0, {/*51 */11, /*52 */12, /*53 */28, /*54 */ 27, /*-- */NA, /*17*/NA}}, + {&CMP1_CR0, IRQ_CMP1, {/*45 */23, /*46 */ 9, NA, NA, NA, /*17*/NA}}, +#elif defined(__MK20DX256__) // Teensy 3.1, 3.2. Chip 64 LQFP pin numbers in comments. Teensy digital pins as numbers, DAC0=100 + {&CMP0_CR0, IRQ_CMP0, {/*51 */11, /*52 */12, /*53 */28, /*54 */ 27, /*55 */29, /*17*/NA}}, + {&CMP1_CR0, IRQ_CMP1, {/*45 */23, /*46 */ 9, NA, /*18 */100, NA, /*17*/NA}}, + {&CMP2_CR0, IRQ_CMP2, {/*28 */ 3, /*29 */ 4, NA, NA, NA, NA}}, +#elif defined(__MK64FX512__) || defined(__MK66FX1M0__) // Teensy 3.5, 3.6. Chip 144 MAPBGA pin id-s in comments. Teensy digitial pins as numbers, DAC0=100, DAC1=101 + {&CMP0_CR0, IRQ_CMP0, {/*C8 */11, /*B8 */12, /*A8 */35, /*D7 */ 36, /*L4 */101, /*M3 */NA}}, + {&CMP1_CR0, IRQ_CMP1, {/*A12*/23, /*A11*/ 9, /*J3 */NA, /*L3 */100, NA, /*M3 */NA}}, + {&CMP2_CR0, IRQ_CMP2, {/*K9 */ 3, /*J9 */ 4, /*K3 */NA, /*L4 */101, NA, NA}}, + #if defined(__MK66FX1M0__) + {&CMP3_CR0, IRQ_CMP3, { NA, /*L11*/27, /*K10*/28, NA, /*K12*/ NA, /*J12*/NA}}, + #endif +#endif +}; + +constexpr int num_comparators = sizeof(comparator_defs) / sizeof(comparator_defs[0]); + +// Registered InputCmpNode-s, by comparator num. Used by interrupt handlers. +static InputCmpNode *input_cmps[num_comparators]; + + +void InputCmpNode::setCmpThreshold(uint32_t level) { // level = 0..63, from 0V to 3V3. + if (!pulse_polarity_) + level = 63 - level; + + // DAC Control: Enable; Reference=3v3 (Vin1=VREF_OUT=1V2; Vin2=VDD=3V3); Output select=0 + ports_->daccr = CMP_DACCR_DACEN | CMP_DACCR_VRSEL | CMP_DACCR_VOSEL(level); +} +/* +inline ComparatorData *cmpDataFromInputIdx(uint32_t input_idx) { + ComparatorData *pCmp = comparator_data_by_input_idx[input_idx]; + if (!pCmp || !pCmp->is_active) + return NULL; + return pCmp; +} + +void changeCmpThreshold(uint32_t input_idx, int delta) { + if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) { + pCmp->cmp_threshold = (uint32_t)max(0, min(63, (int)pCmp->cmp_threshold + delta)); + setCmpThreshold(pCmp, pCmp->cmp_threshold); + } +} + +int getCmpLevel(uint32_t input_idx) { // Current signal level: 0 or 1 (basically, below or above threshold) + if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) + return *pCmp->ports->daccr & CMP_SCR_COUT; + else + return 0; +} + +int getCmpThreshold(uint32_t input_idx) { + if (ComparatorData *pCmp = cmpDataFromInputIdx(input_idx)) + return pCmp->cmp_threshold; + else + return 0; +} +*/ +/* +void dynamicThresholdAdjustment() { + // TODO. + // 1. Comparator level dynamic adjustment. + __disable_irq(); + uint32_t crossings = d.crossings; d.crossings = 0; + uint32_t big_pulses = d.big_pulses; d.big_pulses = 0; + uint32_t small_pulses = d.small_pulses; d.small_pulses = 0; + //uint32_t fake_big_pulses = d.fake_big_pulses; d.fake_big_pulses = 0; + __enable_irq(); + + if (crossings > 100) { // Comparator level is at the background noise level. Try to increase it. + changeCmpThreshold(d, +3); + + } else if (crossings == 0) { // No crossings of comparator level => too high or too low. + if (getCmpLevel(d) == 1) { // Level is too low + changeCmpThreshold(d, +16); + } else { // Level is too high + changeCmpThreshold(d, -9); + } + } else { + + if (big_pulses <= 6) { + changeCmpThreshold(d, -4); + } else if (big_pulses > 10) { + changeCmpThreshold(d, +4); + } else if (small_pulses < 4) { + + // Fine tune - we need 4 small pulses. + changeCmpThreshold(d, -1); + } + } +} +*/ + + +InputCmpNode::InputCmpNode(uint32_t input_idx, const InputDef &input_def) + : InputNode(input_idx) + , rise_time_() + , rise_valid_(false) + , cmp_threshold_(input_def.initial_cmp_threshold) + , pulse_polarity_(input_def.pulse_polarity) { + + // Find comparator and input num for given pin. + int cmp_idx, cmp_input_idx; + bool pin_found = false; + for (cmp_idx = 0; cmp_idx < num_comparators && !pin_found; cmp_idx++) + for (cmp_input_idx = 0; cmp_input_idx < 6 && !pin_found; cmp_input_idx++) + if (comparator_defs[cmp_idx].input_pins[cmp_input_idx] == (int)input_def.pin) + pin_found = true; + + if (!pin_found) + throw_printf("Pin %lu is not supported for 'cmp' input type.\n", input_def.pin); + + InputCmpNode *otherInput = input_cmps[cmp_idx]; + if (otherInput) + throw_printf("Can't use pin %lu for a 'cmp' input type: CMP%lu is already in use by pin %lu.\n", + input_def.pin, cmp_idx, comparator_defs[cmp_idx].input_pins[otherInput->cmp_input_idx_]); + + if (input_def.initial_cmp_threshold >= 64) + throw_printf("Invalid threshold value for 'cmp' input type on pin %lu. Supported values: 0-63\n", input_def.pin); + + cmp_idx_ = cmp_idx; + cmp_input_idx_ = cmp_input_idx; + cmp_def_ = &comparator_defs[cmp_idx_]; + ports_ = cmp_def_->ports; + input_cmps[cmp_idx_] = this; +} + +std::unique_ptr createInputCmpNode(uint32_t input_idx, const InputDef &input_def) { + return std::make_unique(input_idx, input_def); +} + +InputCmpNode::~InputCmpNode() { + input_cmps[cmp_idx_] = nullptr; +} + +void InputCmpNode::start() { + InputNode::start(); + + NVIC_SET_PRIORITY(cmp_def_->irq, 64); // very high prio (0 = highest priority, 128 = medium, 255 = lowest) + NVIC_ENABLE_IRQ(cmp_def_->irq); + + SIM_SCGC4 |= SIM_SCGC4_CMP; // Enable clock for comparator + + // Filter disabled; Hysteresis level 0 (0=5mV; 1=10mV; 2=20mV; 3=30mV) + ports_->cr0 = CMP_CR0_FILTER_CNT(0) | CMP_CR0_HYSTCTR(0); + + // Filter period - disabled + ports_->fpr = 0; + + // Input/MUX Control + pinMode(cmp_def_->input_pins[cmp_input_idx_], INPUT); + const static uint32_t ref_input = 7; // CMPn_IN7 (DAC Reference Voltage, which we control in setCmpThreshold()) + ports_->muxcr = pulse_polarity_ + ? CMP_MUXCR_PSEL(cmp_input_idx_) | CMP_MUXCR_MSEL(ref_input) + : CMP_MUXCR_PSEL(ref_input) | CMP_MUXCR_MSEL(cmp_input_idx_); + + // Comparator ON; Sampling disabled; Windowing disabled; Power mode: High speed; Output Pin disabled; + ports_->cr1 = CMP_CR1_PMODE | CMP_CR1_EN; + setCmpThreshold(cmp_threshold_); + + delay(5); + + // Status & Control: DMA Off; Interrupt: both rising & falling; Reset current state. + ports_->scr = CMP_SCR_IER | CMP_SCR_IEF | CMP_SCR_CFR | CMP_SCR_CFF; +} + +bool InputCmpNode::debug_cmd(HashedWord *input_words) { + // TODO: Threshold manipulation (changeCmpThreshold). + return InputNode::debug_cmd(input_words); +} + +void InputCmpNode::debug_print(Print& stream) { + InputNode::debug_print(stream); +} + +inline void __attribute__((always_inline)) InputCmpNode::_isr_handler(volatile uint8_t *scr) { + const uint32_t cmpState = *scr; + const Timestamp timestamp = Timestamp::cur_time(); + + if (rise_valid_ && (cmpState & CMP_SCR_CFF)) { // Falling edge registered + InputNode::enqueue_pulse(rise_time_, timestamp - rise_time_); + rise_valid_ = false; + } + + const static uint32_t mask = CMP_SCR_CFR | CMP_SCR_COUT; + if ((cmpState & mask) == mask) { // Rising edge registered and state is now high + rise_time_ = timestamp; + rise_valid_ = true; + } + + // Clear flags, re-enable interrupts. + *scr = CMP_SCR_IER | CMP_SCR_IEF | CMP_SCR_CFR | CMP_SCR_CFF; +} + +void cmp0_isr() { if (input_cmps[0]) input_cmps[0]->_isr_handler(&CMP0_SCR); } +void cmp1_isr() { if (input_cmps[1]) input_cmps[1]->_isr_handler(&CMP1_SCR); } +#if defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) +void cmp2_isr() { if (input_cmps[2]) input_cmps[2]->_isr_handler(&CMP2_SCR); } +#endif +#if defined(__MK66FX1M0__) +void cmp3_isr() { if (input_cmps[3]) input_cmps[3]->_isr_handler(&CMP3_SCR); } +#endif \ No newline at end of file diff --git a/src/input_cmp.h b/src/input_cmp.h new file mode 100644 index 0000000..8d7f99d --- /dev/null +++ b/src/input_cmp.h @@ -0,0 +1,31 @@ +#pragma once +#include "input.h" + +struct ComparatorPorts; +struct ComparatorDef; + +// Input node using Teensy's comparator modules. See description in .cpp file. +class InputCmpNode : public InputNode { +public: + InputCmpNode(uint32_t input_idx, const InputDef &def); + ~InputCmpNode(); + + virtual void start(); + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + + void _isr_handler(volatile uint8_t *scr); + +private: + void setCmpThreshold(uint32_t level); + + Timestamp rise_time_; + bool rise_valid_; + uint32_t cmp_threshold_; + bool pulse_polarity_; + + int cmp_idx_; + int cmp_input_idx_; + volatile ComparatorPorts *ports_; + const ComparatorDef *cmp_def_; +}; diff --git a/src/led_state.cpp b/src/led_state.cpp new file mode 100644 index 0000000..5cae712 --- /dev/null +++ b/src/led_state.cpp @@ -0,0 +1,39 @@ +#include "led_state.h" +#include + +struct LedPattern { + TimeDelta period; + const char *pattern; +} patterns[] = { + [(int)LedState::kNotInitialized] = {TimeDelta(1000, ms), "0"}, + [(int)LedState::kConfigMode] = {TimeDelta(200, ms), "10100000"}, + [(int)LedState::kNoFix] = {TimeDelta(500, ms), "10"}, + [(int)LedState::kFixFound] = {TimeDelta(30, ms), "10"}, +}; + +static bool initialized = false; +static uint32_t pattern_idx = 0; +static LedState cur_state = LedState::kNotInitialized; +static Timestamp prev_called; // LongTimestamp + +void set_led_state(LedState state) { + if (state != cur_state) { + cur_state = state; + pattern_idx = 0; + } +} + +void update_led_pattern(Timestamp cur_time) { + if (!initialized) { + pinMode(LED_BUILTIN, OUTPUT); + initialized = true; + } + + LedPattern &pat = patterns[(int)cur_state]; + if (throttle_ms(pat.period, cur_time, &prev_called)) { + bool new_led_state = pat.pattern[pattern_idx++] == '1'; + if (pat.pattern[pattern_idx] == 0) pattern_idx = 0; + + digitalWriteFast(LED_BUILTIN, new_led_state); + } +} diff --git a/src/led_state.h b/src/led_state.h new file mode 100644 index 0000000..4086c12 --- /dev/null +++ b/src/led_state.h @@ -0,0 +1,16 @@ +#pragma once +#include "primitives/timestamp.h" +// This file is used to set current led blinking pattern/state. +// To update led state, call set_led_state(). +// In normal operation, call update_led_state() frequently. + +enum class LedState { + kNotInitialized, + kConfigMode, + kNoFix, + kFixFound, +}; + +void set_led_state(LedState state); +void update_led_pattern(Timestamp cur_time); + diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..98f924e --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,22 @@ +#include "vive_sensors_pipeline.h" +#include "settings.h" +#include + +extern "C" int main() { + // Initialize persistent settings interactively from user input, if needed. + if (settings.needs_configuration()) { + settings.initialize_from_user_input(Serial); + } + + // Create worker nodes pipeline from settings. + auto pipeline = create_vive_sensor_pipeline(settings); + + // Register & start input nodes' interrupts. + pipeline->start(); + + // Main loop. + while (true) { + // Process pulses, cycles and output data. + pipeline->do_work(Timestamp::cur_time()); + } +} diff --git a/src/mavlink.cpp b/src/mavlink.cpp new file mode 100644 index 0000000..0e37879 --- /dev/null +++ b/src/mavlink.cpp @@ -0,0 +1,133 @@ +#include "formatters.h" +#include +#include +#include "print_helpers.h" + +// Communication parameters of this system. +mavlink_system_t mavlink_system = { + .sysid = 155, + .compid = 1, +}; + +GeometryMavlinkFormatter::GeometryMavlinkFormatter(uint32_t idx, const FormatterDef &def) + : GeometryFormatter(idx, def) + , current_tx_seq_(0) + , last_message_timestamp_() + , last_pos_{0, 0, 0} + , debug_print_state_(false) + , debug_late_messages_(0) { + +} + +bool GeometryMavlinkFormatter::position_valid(const ObjectPosition& g) { + if (g.fix_level < FixLevel::kStaleFix) + return false; + + // Filter out outliers. + constexpr float max_position_jump = 0.05; // meters + bool is_valid = false; + if ((g.time - last_message_timestamp_) > TimeDelta(500, msec) || + (fabsf(g.pos[0] - last_pos_[0]) < max_position_jump && + fabsf(g.pos[1] - last_pos_[1]) < max_position_jump && + fabsf(g.pos[2] - last_pos_[2]) < max_position_jump)) { + is_valid = true; + } + if ((g.time - last_message_timestamp_) > TimeDelta(50, ms)) + debug_late_messages_++; + + last_message_timestamp_ = g.time; + for (int i = 0; i < 3; i++) + last_pos_[i] = g.pos[i]; + return is_valid; +} + +void GeometryMavlinkFormatter::consume(const ObjectPosition& g) { + // Send the data to given stream. + // NOTE: The sending is synchronous, i.e. it won't return before the sending completes. + // We might want to introduce a buffering here. + + // First, filter out outliers. + if (!position_valid(g)) + return; + + mavlink_att_pos_mocap_t packet; + + // TODO: Use our time here. Someday. + // Zero will be converted to the time of receive. + packet.time_usec = 0; + packet.x = g.pos[0]; + packet.y = g.pos[1]; + packet.z = g.pos[2]; + mav_array_memcpy(packet.q, g.q, sizeof(float)*4); + send_message(MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, g.time, + MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, + MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, + MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); +} + +// Derived from _mav_finalize_message_chan_send +// We reimplement it here to avoid depending on channel machinery, SHA256 signatures and too large stack usage. +void GeometryMavlinkFormatter::send_message(uint32_t msgid, const char *packet, Timestamp time, + uint8_t min_length, uint8_t length, uint8_t crc_extra) +{ + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + uint8_t header_len = MAVLINK_CORE_HEADER_LEN; + bool mavlink1 = false; + + if (mavlink1) { + length = min_length; + assert(msgid <= 255); // can't send 16 bit messages + header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN; + buf[0] = MAVLINK_STX_MAVLINK1; + buf[1] = length; + buf[2] = current_tx_seq_++; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid & 0xFF; + } else { + uint8_t incompat_flags = 0; + length = _mav_trim_payload(packet, length); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = incompat_flags; + buf[3] = 0; // compat_flags + buf[4] = current_tx_seq_++; + buf[5] = mavlink_system.sysid; + buf[6] = mavlink_system.compid; + buf[7] = msgid & 0xFF; + buf[8] = (msgid >> 8) & 0xFF; + buf[9] = (msgid >> 16) & 0xFF; + } + uint16_t checksum = crc_calculate((const uint8_t*)&buf[1], header_len); + crc_accumulate_buffer(&checksum, packet, length); + crc_accumulate(crc_extra, &checksum); + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + DataChunkPrint printer(this, time, node_idx_, true); + printer.write(buf, header_len+1); + printer.write((const uint8_t *)packet, length); + printer.write(ck, 2); +} + +bool GeometryMavlinkFormatter::debug_cmd(HashedWord *input_words) { + if (FormatterNode::debug_cmd(input_words)) + return true; + if (*input_words++ == "mavlink"_hash) { + switch (*input_words++) { + case "show"_hash: debug_print_state_ = true; return true; + case "off"_hash: debug_print_state_ = false; return true; + } + } + return false; +} + +void GeometryMavlinkFormatter::debug_print(Print &stream) { + FormatterNode::debug_print(stream); + if (debug_print_state_) { + if (debug_late_messages_ > 0) + stream.printf("Late Mavlink messages: %d\n", debug_late_messages_); + debug_late_messages_ = 0; + } +} \ No newline at end of file diff --git a/src/message_logging.h b/src/message_logging.h new file mode 100644 index 0000000..954141d --- /dev/null +++ b/src/message_logging.h @@ -0,0 +1,157 @@ +// This file is used to define logging primitives for Producer-Consumer pairs. +// Each Producer node should call debug_cmd_producer function in its debug_cmd method to enable log of producing. +// Also, a printing function print_value should be defined for each data structure used for Producing. +// NOTE: This shouldn't be included in other header files. Just .cpp files. +#include "primitives/producer_consumer.h" +#include "primitives/circular_buffer.h" +#include "primitives/hash.h" +#include "data_frame_decoder.h" +#include + +// This function is used to print messages used in Producer-Consumer pattern. +// Please specialize this function for your messages below. +template +inline void print_value(Print &stream, const T& val); + +template<> +inline void print_value(Print &stream, const Pulse& val) { + stream.printf("\nsensor %d, time %dus, len %d ", val.input_idx, val.start_time.get_value(usec), val.pulse_len.get_value(usec)); +} + +template<> +inline void print_value(Print &stream, const SensorAnglesFrame& val) { + stream.printf("\n%dms: cycle %u, fix %02d, angles ", + val.time.get_value(msec), val.cycle_idx, (int)val.fix_level / 100); + for (uint32_t i = 0; i < val.sensors.size(); i++) { + auto sens = val.sensors[i]; + for (int32_t phase = 0; phase < num_cycle_phases; phase++) { + int32_t phase_delta = phase - val.phase_id; + if (phase_delta > 0) phase_delta -= num_cycle_phases; + if (sens.updated_cycles[phase] == val.cycle_idx + phase_delta) + stream.printf("%c%.4f ", (phase == val.phase_id) ? '*' : ' ', sens.angles[phase]); + else + stream.printf(" ------ "); + } + } +} + +template<> +inline void print_value(Print &stream, const DataFrameBit& val) { + stream.printf("\n%dms: base %d, cycle %d, bit %d ", + val.time.get_value(msec), val.base_station_idx, val.cycle_idx, val.bit); +} + +template<> +inline void print_value(Print &stream, const DataFrame& frame) { + stream.printf("\n%dms: ", frame.time.get_value(msec)); + const DecodedDataFrame *df = reinterpret_cast(&frame.bytes[0]); + if (frame.bytes.size() == 33 && df->protocol == DecodedDataFrame::cur_protocol) { + stream.printf("fw %u, id 0x%08x, desync %u, hw %u, accel [%d, %d, %d], mode %c, faults %u ", + (uint32_t)df->fw_version, df->id, (uint32_t)df->sys_unlock_count, (uint32_t)df->hw_version, + (int32_t)df->accel_dir[0], (int32_t)df->accel_dir[1], (int32_t)df->accel_dir[2], + df->mode_current+'A', (uint32_t)df->sys_faults); + for (uint32_t i = 0; i < num_base_stations; i++) + stream.printf("\n fcal%d: phase %.4f, tilt %.4f, curve %.4f, gibphase %.4f, gibmag %.4f ", + i, (float)df->fcal_phase[i], (float)df->fcal_tilt[i], (float)df->fcal_curve[i], (float)df->fcal_gibphase[i], (float)df->fcal_gibmag[i]); + } else { + // Unknown protocol. + stream.printf("bytes "); + for (uint32_t i = 0; i < frame.bytes.size(); i++) + stream.printf("%02X ", frame.bytes[i]); + } +} + +template<> +inline void print_value(Print &stream, const ObjectPosition& val) { + stream.printf("\n%dms: fix %2d, pos %.4f %.4f %.4f, dist %.4f ", val.time.get_value(msec), + (int)val.fix_level/100, val.pos[0], val.pos[1], val.pos[2], val.pos_delta); + if (val.q[0] != 1.0f) + stream.printf(" Q %.4f %.4f %.4f %.4f ", val.q[0], val.q[1], val.q[2], val.q[3]); +} + +template<> +inline void print_value(Print &stream, const DataChunk& chunk) { + stream.printf("\n%dms: stream %d, data ", chunk.time.get_value(msec), chunk.stream_idx); + for (uint32_t i = 0; i < chunk.data.size(); i++) + stream.printf("%02x ", chunk.data[i]); +} + + +template +class PrintableProduceLogger : public ProduceLogger { +public: + virtual void print_logs(Print &stream) = 0; +}; + +template +class CountingProducerLogger : public PrintableProduceLogger { +public: + CountingProducerLogger(const char *name, uint32_t idx): name_(name), idx_(idx), counter_(0) {} + virtual void log_produce(const T& val) { + counter_++; + } + virtual void print_logs(Print &stream) { + uint32_t has_idx = idx_ != (uint32_t)-1; + stream.printf("%s%.*u: %d items\n", name_, has_idx, has_idx && idx_, counter_); + counter_ = 0; + } +private: + const char *name_; + uint32_t idx_; + uint32_t counter_; +}; + +template +class PrintingProducerLogger : public PrintableProduceLogger { + constexpr static int kValuesToKeep = 16; +public: + PrintingProducerLogger(const char *name, uint32_t idx): name_(name), idx_(idx), counter_(0) {} + virtual void log_produce(const T& val) { + if (log_.full()) + log_.pop_front(); // Ensure we have space to write, we're more interested in recent values. + log_.enqueue(val); + counter_++; + } + virtual void print_logs(Print &stream) { + bool first = true; + uint32_t has_idx = idx_ != (uint32_t)-1; + stream.printf("%s%.*u: ", name_, has_idx, has_idx && idx_); + while (!log_.empty()) { + if (first) { + first = false; + } else { + stream.printf("| "); + } + print_value(stream, log_.front()); + log_.pop_front(); + } + if (!first) { + stream.printf("(%d total)\n", counter_); + counter_ = 0; + } else { + stream.printf("accumulating..\n"); + } + } +private: + const char *name_; + uint32_t idx_; + uint32_t counter_; + CircularBuffer log_; +}; + + +template +bool producer_debug_cmd(Producer *producer, HashedWord *input_words, const char *name, uint32_t idx = -1) { + switch (input_words[0].hash) { + case static_hash("count"): producer->set_logger(std::make_unique>(name, idx)); return true; + case static_hash("show"): producer->set_logger(std::make_unique>(name, idx)); return true; + case static_hash("off"): producer->set_logger(nullptr); return true; + } + return false; +} + +template +void producer_debug_print(Producer *producer, Print &stream) { + if (PrintableProduceLogger *logger = static_cast*>(producer->logger())) + logger->print_logs(stream); +} diff --git a/src/messages.h b/src/messages.h new file mode 100644 index 0000000..014434d --- /dev/null +++ b/src/messages.h @@ -0,0 +1,90 @@ +// This file contains definitions of messages that are passed between pipeline nodes. +#pragma once +#include "primitives/timestamp.h" +#include "primitives/vector.h" +#include + +// Tunable constants +constexpr int max_num_inputs = 8; // Number of concurrent sensors supported. +constexpr int max_bytes_in_data_frame = 64; // Current DataFrame length is 33. This param should be larger. +constexpr int max_bytes_in_data_chunk = 64; + +// Not tunable: constant for Lighthouse system. +constexpr int num_base_stations = 2; +constexpr int num_cycle_phases = 4; + +// Pulses are generated by InputNodes and processed by PulseProcessor +struct Pulse { + uint32_t input_idx; + Timestamp start_time; + TimeDelta pulse_len; +}; + +enum class FixLevel { + kNoSignals = 0, // No signals visible at all. + kCycleSyncing = 100, // Base station sync pulses are visible and we're syncing to them. + kCycleSynced = 200, // We're synced to the base station sync pulses. + kPartialVis = 500, // Some sensors/base stations don't have visibility and angles are stale. Position is invalid. + kStaleFix = 800, // Position fix is valid, but uses angles from previous 1-2 cycles. + kFullFix = 1000, // Position fix is valid and fresh. +}; + +struct SensorAngles { + float angles[num_cycle_phases]; // Angles of base stations to sensor, -1/3 Pi to 1/3 Pi + uint32_t updated_cycles[num_cycle_phases]; // Cycle id when this angle was last updated. +}; + +// SensorAnglesFrame is produced by PulseProcessor every 4 cycles and consumed by GeometryBuilders. It contains +// a snapshot of angles visible by sensors. +struct SensorAnglesFrame { + Timestamp time; + FixLevel fix_level; // Up to kCycleSynced + uint32_t cycle_idx; // Increasing number of cycles since last fix. + int32_t phase_id; // 0..3 + Vector sensors; +}; + +// One data bit extracted from a long pulse from one base station. Produced by PulseProcessor and consumed by DataFrameDecoder. +struct DataFrameBit { + Timestamp time; + uint32_t base_station_idx; + uint32_t cycle_idx; + bool bit; +}; + +// Decoded data frame. Produced by DataFrameDecoder. 'bytes' array can be casted to DecodedDataFrame to get meaningful values. +struct DataFrame { + Timestamp time; + uint32_t base_station_idx; + Vector bytes; +}; + +// Position of an object. Calculated by GeometryBuilders and consumed by FormatterNodes. +struct ObjectPosition { + Timestamp time; + uint32_t object_idx; // Index of the object. + FixLevel fix_level; + float pos[3]; // 3d object position + float pos_delta; // Distance between base station rays. Can be used as a measure of position uncertainty. + float q[4]; // Rotation quaternion (unit if no rotation information available) +}; + +// DataChunk is used to send raw data to outputs. +struct DataChunk { + Timestamp time; + Vector data; // Data of this chunk. + uint32_t stream_idx; // Used to distinguish between different streams going to the same output. Useful for polling mode. + bool last_chunk; // True if this is the last chunk in a "packet". Useful for polling mode. +}; + + +enum class OutputCommandType { + kMakeExclusive, // Make given stream_idx exclusive and don't accept data chunks from other streams. + kMakeNonExclusive, // Remove exclusivity. +}; + +// OutputCommand is used to control OutputNodes, see OutputCommandType enum for types of commands. +struct OutputCommand { + OutputCommandType type; + uint32_t stream_idx; +}; diff --git a/src/outputs.cpp b/src/outputs.cpp new file mode 100644 index 0000000..54e0660 --- /dev/null +++ b/src/outputs.cpp @@ -0,0 +1,106 @@ +#include "outputs.h" +#include + +static HardwareSerial *hardware_serials[num_outputs] = {nullptr, &Serial1, &Serial2, &Serial3}; + +OutputNode::OutputNode(uint32_t idx, const OutputDef& def, Stream &stream) + : node_idx_(idx) + , def_(def) + , stream_(stream) + , chunk_{} + , exclusive_mode_(false) + , exclusive_stream_idx_(0) { +} + +std::unique_ptr OutputNode::create(uint32_t idx, const OutputDef& def) { + if (idx == 0) + return std::make_unique(idx, def); + else if (idx < num_outputs) + return std::make_unique(idx, def); + else + throw_printf("Invalid output index: %d", idx); +} + +void OutputNode::consume(const DataChunk &chunk) { + if (exclusive_mode_ && exclusive_stream_idx_ != chunk.stream_idx) + return; + + // NOTE: This will wait until we can fit data into write buffer. Can cause a delay. + stream_.write(&chunk.data[0], chunk.data.size()); +} + +void OutputNode::consume(const OutputCommand& cmd) { + switch (cmd.type) { + case OutputCommandType::kMakeExclusive: exclusive_mode_ = true; exclusive_stream_idx_ = cmd.stream_idx; break; + case OutputCommandType::kMakeNonExclusive: exclusive_mode_ = false; break; + } +} + +void OutputNode::do_work(Timestamp cur_time) { + // Accumulate bytes read from the stream_ in the chunk_. + while (!chunk_.data.full()) { + int c = stream_.read(); + if (c < 0) + break; + chunk_.time = cur_time; // Store the time of the last byte read. + chunk_.data.push(c); + } + + // Send chunk if data is full or time from last byte is over given threshold. + constexpr TimeDelta max_time_from_last_byte(1, msec); + if (chunk_.data.full() || (!chunk_.data.empty() && cur_time - chunk_.time > max_time_from_last_byte)) { + chunk_.last_chunk = !chunk_.data.full(); + chunk_.stream_idx = node_idx_; + produce(chunk_); + chunk_.data.clear(); + } +} + + +// ====== UsbSerialOutputNode =============================================== + +UsbSerialOutputNode::UsbSerialOutputNode(uint32_t idx, const OutputDef& def) + : OutputNode(idx, def, Serial) { + assert(idx == 0); +} + + +// ====== HardwareSerialOutputNode ========================================== + +HardwareSerialOutputNode::HardwareSerialOutputNode(uint32_t idx, const OutputDef& def) + : OutputNode(idx, def, *hardware_serials[idx]) { + assert(idx > 0 && idx < num_outputs); + // TODO: check bitrate and serial format are valid. +} + +void HardwareSerialOutputNode::start() { + reinterpret_cast(&stream_)->begin(def_.bitrate); +} + + +// ====== OutputDef I/O ===================================================== + +void OutputDef::print_def(uint32_t idx, Print &stream) { + if (idx == 0 && !active) { + stream.printf("usb_serial off\n"); + } else if (idx != 0 && active) { + stream.printf("serial%d %d\n", idx, bitrate); + } +} + +bool OutputDef::parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream) { + if (idx == 0 || idx == (uint32_t)-1) { + // usb_serial: do nothing unless turned off. + active = (*input_words != "off"_hash); + return true; + } else if (idx < num_outputs) { + // hardware serial + active = true; + if (!input_words->as_uint32(&bitrate) || !(300 <= bitrate && bitrate <= 115200)) { + err_stream.printf("Invalid bitrate: %d. Needs to be in 300-115200 range.\n", bitrate); + return false; + } + return true; + } + return false; +} diff --git a/src/outputs.h b/src/outputs.h new file mode 100644 index 0000000..15d3ebb --- /dev/null +++ b/src/outputs.h @@ -0,0 +1,54 @@ +// This file defines OutputNode-s. These are dumb IO Nodes reading and writing DataChunk-s to/from different +// hardware streams. +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "messages.h" + +// Currently supported: usb serial + 3x hardware serials. +constexpr int num_outputs = 4; + +struct OutputDef { + bool active; + uint32_t bitrate; + + void print_def(uint32_t idx, Print &stream); + bool parse_def(uint32_t idx, HashedWord *input_words, Print &err_stream); +}; + +class Stream; + +class OutputNode + : public WorkerNode + , public Consumer + , public Consumer + , public Producer { +public: + static std::unique_ptr create(uint32_t idx, const OutputDef& def); + + // Common methods that do i/o with the stream_ object. + virtual void consume(const DataChunk &chunk); + virtual void consume(const OutputCommand& cmd); + virtual void do_work(Timestamp cur_time); + +protected: + OutputNode(uint32_t idx, const OutputDef& def, Stream &stream); + uint32_t node_idx_; + OutputDef def_; + Stream &stream_; + DataChunk chunk_; + bool exclusive_mode_; + uint32_t exclusive_stream_idx_; +}; + + +class UsbSerialOutputNode : public OutputNode { +public: + UsbSerialOutputNode(uint32_t idx, const OutputDef& def); +}; + +class HardwareSerialOutputNode : public OutputNode { +public: + HardwareSerialOutputNode(uint32_t idx, const OutputDef& def); + virtual void start(); +}; diff --git a/src/platform.cpp b/src/platform.cpp new file mode 100644 index 0000000..b59381e --- /dev/null +++ b/src/platform.cpp @@ -0,0 +1,174 @@ +#include "platform.h" +#include +#include +#include +#include + +#include // eeprom handling. +#include +#include + +#include +using namespace abi; + +// This file contains support functions that make it possible to use C++ exceptions and other niceties +// in a meaningful way on Teensy. +// See https://andriidevel.blogspot.com/2016/05/size-cost-of-c-exception-handling-on.html for some tricks used. + +// NOTE: gcc-arm-embedded uses 'newlib' as stdlib. To be properly used, newlib needs several "Syscall" functions +// to be implemented, see https://sourceware.org/newlib/libc.html#Syscalls . +// For Teensy, some of them are defined in teensy3/mk20dx128.c but we need to + + +// ==== 1. Termination ================================ + +// abort() is a C stdlib function to do an abnormal program termination. +// It's being called for example when exception handling mechanisms themselves fail. +// It's not defined by default, so we need to implement it. +void abort() { + // TODO: Write to eeprom. + Serial.println("Aborted."); + while(1); +} + +#include + +// terminate_handler is called on std::terminate() and handles uncaught exceptions, exception-in-exceptions, etc. +// We install it statically below (__cxxabiv1::__terminate_handler) to avoid linking with default GCC +// __verbose_terminate_handler, which adds 30kb of code. +// See also: https://gcc.gnu.org/onlinedocs/libstdc++/manual/termination.html +// https://github.com/gcc-mirror/gcc/blob/master/libstdc%2B%2B-v3/libsupc%2B%2B/vterminate.cc#L44 +// https://akrzemi1.wordpress.com/2011/10/05/using-stdterminate/ +// +[[noreturn]] void terminate_handler() { + if (std::type_info *t = __cxa_current_exception_type()) { + Serial.print("Uncaught exception: "); + Serial.print(t->name()); + + try { + throw; // Rethrow current exception to get its what() string. + } + catch(const std::exception& exc) + { + char const *w = exc.what(); + Serial.print("; what() = "); + Serial.print(w); + } + catch(...) { } + } else { + Serial.print("Terminate handler"); + } + Serial.println(); + + //eeprom_write_block(t->name(), nullptr, 10); + + // Reboot + while(1); +} + +namespace __cxxabiv1 { + // Default terminate handler. + std::terminate_handler __terminate_handler = terminate_handler; +} + +// TODO: We might want to re-define _exit() and __cxa_pure_virtual() as well to provide meaningful actions. +// TODO: Define correct actions for hard failures like division by zero or invalid memory access (see -fnon-call-exceptions) + +// ==== 2. Memory & Stack ================================ +// Low-level _sbrk() syscall used to allocate memory is defined in teensy3/mk20dx128.c and very simple - just moves +// __brkval, current top of the heap. We're rewriting it to add stack clashing check. +// malloc() uses _sbrk(). operator new() uses malloc(). +// Teensy defines a basic "operator new()", but it's too simple for our case, so we use standard one instead. + +// Nice lib to get memory stats: https://github.com/michaeljball/RamMonitor +// Or, use standard interface mallinfo(); (uordblks = bytes in use, fordblks = bytes free.) + +// Stack starts at the end of ram and grows down, towards the heap. +// It's a bit hard to know how much stack is actually used. There are some static methods like the one in +// http://www.dlbeer.co.nz/oss/avstack.html, some compile-time warnings help (-Wstack-usage=256), plus we can +// use dynamic methods like filling stack with a pattern. +// NOTE: Stack overflow is not actually checked, but we're guaranteed that heap don't grow into stack of given size. +// A proper solution would require setting up MMU correctly, which we don't want to do now. + +extern char *__brkval; // top of heap (dynamic ram): grows up towards stack +extern char _estack; // bottom of stack, top of ram: stack grows down towards heap + +extern "C" void * _sbrk(int incr) +{ + // Check we're not overwriting the stack at the end of ram. + if (__brkval + incr > &_estack - stack_size) { + errno = ENOMEM; + return (void *)-1; + } + char *prev = __brkval; + __brkval += incr; + return prev; +} + +// Check the high water mark of stack by filling the memory with a pattern and then checking +// how much memory still has it. +struct StackFillChecker { + const uint32_t pattern = 0xFAAFBABA; + StackFillChecker() { + char *frame_address = (char*)__builtin_frame_address(0); + for (uint32_t *p = (uint32_t*)(&_estack - stack_size); p < (uint32_t*)(frame_address - 64); p++) + *p = pattern; + } + + // Returns max used stack in bytes. + int get_high_water_mark() { + char *frame_address = (char*)__builtin_frame_address(0); + for (uint32_t *p = (uint32_t*)(&_estack - stack_size); p < (uint32_t*)frame_address; p++) + if (*p != pattern) + return &_estack - (char *)p; + return &_estack - frame_address; + } +}; +static StackFillChecker static_stack_fill_checker; + +int get_stack_high_water_mark() { + return static_stack_fill_checker.get_high_water_mark(); +} + +// ==== 3. Assertions ================================ + +[[noreturn]] void __assert_func2(const char *function_name, const char *expression) { + // TODO: Write to EEPROM. + // OR throw exception. + Serial.printf("assert(%s) in %s failed.\n", expression, function_name); + + //char buf[128]; + //snprintf(buf, sizeof(buf), "assert(%s) failed in %s", expression, function_name); + //eeprom_write_block(buf, nullptr, sizeof(buf)); + // Reboot. + while(1); +} + +// assert() macro in debug mode is defined to call __assert_func when assertion fails. +// We must redefine it statically to avoid linking to additional 15kb of code. +// Default implementation: https://github.com/bminor/newlib/blob/master/newlib/libc/stdlib/assert.c#L53 +[[noreturn]] void __assert_func(const char *file, int line, const char *function_name, const char *expression) { + __assert_func2(function_name, expression); +} + + +// ==== 4. Writing to file descriptors ================================ + +// In Print.cpp we define _write() syscall and then use vdprintf() to write. Print class pointer is used +// as file descriptor. + + +// ==== 5. Stack overflow protection ================================ +// -fstack-usage -fdump-rtl-dfinish gcc options can be used to get static stack structure. +// See http://stackoverflow.com/questions/6387614/how-to-determine-maximum-stack-usage-in-embedded-system-with-gcc +// Unfortunately, this probably doesn't work with virtual functions. +// +// There's another way: write to unused stack some predefined values and check it periodically +// This won't catch stack overflow, but will tell approximate used stack size. +// +// Yet another way is to place stack in the beginning of RAM. That way we'll fail hard. +// + +// ==== 6. Yield ========================================= +// This needs to be replaced with empty body to avoid linking to all the Serial-s and save memory. +void yield() {} diff --git a/src/platform.h b/src/platform.h new file mode 100644 index 0000000..6cfb113 --- /dev/null +++ b/src/platform.h @@ -0,0 +1,10 @@ +#pragma once + +// Platform-specific functions and constants. + +// Max stack size. +// NOTE: Stack overflow is not checked for now. We do check heap from growing into stack, though. +constexpr int stack_size = 4096; + +// Returns max actually used stack. +int get_stack_high_water_mark(); \ No newline at end of file diff --git a/src/primitives/circular_buffer.h b/src/primitives/circular_buffer.h new file mode 100644 index 0000000..b828c42 --- /dev/null +++ b/src/primitives/circular_buffer.h @@ -0,0 +1,78 @@ +#pragma once + +// Circular buffer/queue of elements of type T, with capacity C. +// NOTE: Both read and write indexes will freely overflow uint32_t and that's fine. +template +class CircularBuffer { + static_assert(!(C & (C-1)), "Only power-of-two sizes of circular buffer are supported."); + static_assert(C > 0, "Please provide positive capacity"); +public: + CircularBuffer() : read_idx_(0), write_idx_(0) {} + + inline bool empty() { + return read_idx_ == write_idx_; + } + + inline bool full() { + return size() >= C; + } + + inline unsigned long size() { + return write_idx_ - read_idx_; + } + + inline unsigned long max_size() { + return C; + } + + inline const T& front() const { + return elems_[read_idx_ & (C-1)]; + } + + // Increment read counter. + inline void pop_front() { + if (!empty()) { + read_idx_++; + } + } + + // Example usage: + // T cur_elem; + // while (c.dequeue(&cur_elem)) { + // // use cur_elem. + // } + inline bool dequeue(T *result_elem) { + if (!empty()) { + *result_elem = elems_[read_idx_ & (C-1)]; +#ifdef __arm__ + // As this function can be used across irq context, make sure the order is correct. + asm volatile ("dmb 0xF":::"memory"); +#endif + read_idx_++; + return true; + } else { + return false; + } + } + + // Example usage: + // c.enqueue(elem); + inline bool enqueue(const T& elem) { + if (!full()) { + elems_[write_idx_ & (C-1)] = elem; +#ifdef __arm__ + // As this function can be used across irq context, make sure the order is correct. + asm volatile ("dmb 0xF":::"memory"); +#endif + write_idx_++; + return true; + } else { + // TODO: We might want to increment an overflow counter here. + return false; + } + } + +private: + volatile unsigned long read_idx_, write_idx_; + T elems_[C]; +}; diff --git a/src/primitives/float16.h b/src/primitives/float16.h new file mode 100644 index 0000000..ecac035 --- /dev/null +++ b/src/primitives/float16.h @@ -0,0 +1,48 @@ +#pragma once +#if __arm__ + +// On ARM, half-precision floats are supported natively as __fp16 type. +typedef __fp16 fp16; + +#else +#include + +// Simple emulation of half-precision floats. +struct fp16 { + uint16_t raw_value; + + __attribute__ ((noinline)) + explicit operator float() const { + // Convert to float. While technically not valid due to strict aliasing rules, it is guaranteed to be supported by GCC. + // https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html#Type%2Dpunning + union { + uint32_t ui; + float f; + } u; + u.ui = h2f_internal(); + return u.f; + } + + uint32_t h2f_internal() const { + // Based on gnu arm implementation https://github.com/gcc-mirror/gcc/blob/master/libgcc/config/arm/fp16.c#L169 + uint32_t sign = (uint32_t)(raw_value & 0x8000) << 16; + int32_t aexp = (raw_value >> 10) & 0x1f; + uint32_t mantissa = raw_value & 0x3ff; + + if (aexp == 0x1f) + return sign | 0x7f800000 | (mantissa << 13); + + if (aexp == 0) { + if (mantissa == 0) + return sign; + + int shift = __builtin_clz(mantissa) - 21; + mantissa <<= shift; + aexp = -shift; + } + + return sign | (((aexp + 0x70) << 23) + (mantissa << 13)); + } +}; + +#endif diff --git a/src/primitives/hash.h b/src/primitives/hash.h new file mode 100644 index 0000000..d661eaf --- /dev/null +++ b/src/primitives/hash.h @@ -0,0 +1,127 @@ +#pragma once +#include +#include + +// MurmurHash3 32 bit, derived from https://github.com/aappleby/smhasher +// Both compile-time and runtime versions provided. +// User literal version is also defined to allow "abc"_hash to be compiled to a hash of "abc". +// One useful property of this hash is that hash("") == 0. + +constexpr uint32_t rotl32(uint32_t x, int8_t r) { + // GCC is smart enough to convert this to a single 'ROR' instruction on ARM. + return (x << r) | (x >> (32 - r)); +} + +template +constexpr uint32_t MurmurHash3_32(const char *data, uint32_t len, uint32_t seed = 0) { + uint32_t h1 = seed, k1 = 0, i = 0; + for(; i+3 < len; i += 4) { + if (static_version) { + k1 = ((uint8_t)data[i+0] << 0) | + ((uint8_t)data[i+1] << 8) | + ((uint8_t)data[i+2] << 16) | + ((uint8_t)data[i+3] << 24); + } else { + k1 = *(uint32_t *)(data + i); + } + k1 *= 0xcc9e2d51; k1 = rotl32(k1, 15); k1 *= 0x1b873593; + h1 ^= k1; h1 = rotl32(h1, 13); h1 = h1 * 5 + 0xe6546b64; + } + k1 = 0; + switch(len & 3) { + case 3: k1 ^= (uint8_t)data[i+2] << 16; + case 2: k1 ^= (uint8_t)data[i+1] << 8; + case 1: k1 ^= (uint8_t)data[i]; + k1 *= 0xcc9e2d51; k1 = rotl32(k1, 15); k1 *= 0x1b873593; + h1 ^= k1; + }; + h1 ^= len; + h1 ^= h1 >> 16; h1 *= 0x85ebca6b; + h1 ^= h1 >> 13; h1 *= 0xc2b2ae35; + h1 ^= h1 >> 16; + return h1; +} + +constexpr uint32_t static_strlen(const char *str) { + uint32_t len = 0; + while (str[len]) len++; + return len; +} + +constexpr uint32_t static_hash(const char *str) { + return MurmurHash3_32(str, static_strlen(str)); +} + +// String user literal. +constexpr uint32_t operator ""_hash(const char* str, size_t len) { + return MurmurHash3_32(str, len); +} + +// Runtime version of our hash - to be used on dynamic data. +inline uint32_t runtime_hash(const char *str, size_t len) { + return MurmurHash3_32(str, len); +} + + +// Tests that the algorithm implemented correctly +static_assert("abc123123"_hash == 2841232309, "MurmurHash3 validity test"); +static_assert(""_hash == 0, "MurmurHash3 validity test"); +static_assert("a"_hash == 1009084850, "MurmurHash3 validity test"); +static_assert("a§"_hash == 221796761, "MurmurHash3 validity test"); +static_assert("ab§da"_hash == 3670539345, "MurmurHash3 validity test"); + + +// Simple, append-only hash table with constant capacity. +/* +// NOTE: This is not tested. +template +class HashTable { + static_assert(C > 0, "Capacity should be positive."); + constexpr static uint32_t kModulo = C * 2 + 1; // We allocate 2x of Capacity to keep searches fast. +public: + HashTable() : size_{0}, elems_{0}, hashes_{0} {} + inline uint32_t size() const { return size_; } + constexpr uint32_t max_size() { return C; } + inline bool empty() const { return size_ == 0; } + inline bool full() const { return size_ == max_size(); } + + // Returns pointer to element or nullptr if no such element. + T *get(uint32_t hash) { + uint32_t pos = search(hash); + return hashes_[pos] ? elems_[pos] : nullptr; + } + + // Set value for the given hash. + void set(uint32_t hash, T* val) { + assert(!full()); + uint32_t pos = search(hash); + if (!hashes_[pos]) size_++; + hashes_[pos] = hash; + elems_[pos] = val; + } + + void clear() { + size_ = 0; + // Don't want to include stdlib for memset. We promised simple, not performant, right? + for (uint32_t i = 0; i < kModulo; i++) { + elems_[i] = nullptr; + hashes_[i] = 0; + } + } + +private: + // Search for given hash in hash table. Returns position. + uint32_t search(uint32_t hash) { + if (hash == 0) hash = 1; // We use hash = 0 to mark empty place. + uint32_t pos = hash % kModulo; + while (hashes_[pos] && hashes_[pos] != hash) + pos = (pos + 1) % kModulo; + return pos; + } + + uint32_t size_; + T *elems_[kModulo]; + uint32_t hashes_[kModulo]; +}; +*/ + diff --git a/src/primitives/producer_consumer.h b/src/primitives/producer_consumer.h new file mode 100644 index 0000000..7afe45c --- /dev/null +++ b/src/primitives/producer_consumer.h @@ -0,0 +1,64 @@ +#pragma once +#include +#include +#include + +// Very simple, low-overhead Producer/Consumer pattern. +// To use, inherit from Consumer/Producer as needed, implement consume() then call pipe() and produce() +template +class Consumer { +public: + // Function that needs to be overloaded by consumer to process message of given type. + virtual void consume(const T& val) = 0; +}; + + +template +class ProduceLogger { +public: + virtual void log_produce(const T& val) = 0; + virtual ~ProduceLogger() = default; +}; + + +// Produce a value of type T. Template parameter out_idx can be used if a class wants to produce +// value of the same type to different output channels. In that case, you'll need to provide full signature, i.e. +// Producer::produce(ValueType()); +// Also, full signature is usually required if multiple types can be produced, unless "using Producer::produce;" +// is given for each type. +template +class Producer { +public: + // This method connects producer to consumer. + void pipe(Consumer *consumer) { + consumers_.push_front(consumer); + } + + // This method should be called to send the value to all connected consumers. + void produce(const T& val) { + for (auto &cons : consumers_) + cons->consume(val); + if (logger_) + logger_->log_produce(val); + } + + // This method is an optimization so that the values which don't have consumers wouldn't have to be calculated. + bool has_consumers() { + return !consumers_.empty(); + } + + // Mostly used for debugging purposes, this method allows external parties to set up a logger for this producer. + // Note: this class will own this logger and dispose it when not needed anymore. + inline void set_logger(std::unique_ptr> logger) { + logger_ = std::move(logger); + } + inline ProduceLogger *logger() const { + return logger_.get(); + } + + virtual ~Producer() {}; +private: + std::list *> consumers_; + std::unique_ptr> logger_; +}; + diff --git a/src/primitives/static_utils.h b/src/primitives/static_utils.h new file mode 100644 index 0000000..86abb9b --- /dev/null +++ b/src/primitives/static_utils.h @@ -0,0 +1,14 @@ +// This file contains a collection of useful compile-time constructs. +#pragma once + +// Simple version of static asserts. For use if C++11 is not available (otherwise, use static_assert()). +template struct StaticAssert; +template <> struct StaticAssert{ enum { value = 1 }; }; +template struct StaticAssertEqual; +template struct StaticAssertEqual{ enum { value = 1 }; }; +#define _STATIC_JOIN_(x, y) x ## y +#define _STATIC_JOIN(x, y) _STATIC_JOIN_(x, y) + +#define STATIC_ASSERT(B) enum { _STATIC_JOIN(static_assert_, __LINE__) = sizeof(StaticAssert<(bool)( B )>) } +#define STATIC_ASSERT_EQUAL(A, B) enum { _STATIC_JOIN(static_assert_, __LINE__) = sizeof(StaticAssertEqual<(A), (B)>) } + diff --git a/src/primitives/string_utils.cpp b/src/primitives/string_utils.cpp new file mode 100644 index 0000000..d7314ef --- /dev/null +++ b/src/primitives/string_utils.cpp @@ -0,0 +1,118 @@ +#include "string_utils.h" +#include "vector.h" +#include +#include +#include + +// Non-blocking version of Stream.readBytesUntil('\n', ...). Returns line if found, or NULL if no line. +char *read_line(Stream &stream, Vector *buf) { + while (true) { + int next_char = stream.read(); + if (next_char < 0) { + return NULL; + } else if (next_char == '\n') { + buf->push(0); + buf->clear(); + return &(*buf)[0]; + } else if (buf->size() < buf->max_size() - 1) { + buf->push(next_char); + } + } +} + +// Parses provided string to null-terminated array of trimmed strings. +char **parse_words(char *str) { + static char *words[max_words+1]; + int i = 0; + char *word; + while ((word = next_word(&str)) && i < max_words) { + words[i++] = word; + } + words[i] = 0; + return words; +} + + +// Returns pointer to a null-terminated next word in *str (or NULL); updates *str to point to remaining string. +char* next_word(char **str) { + char *start = *str; + if (start == NULL) + return NULL; + while (*start != 0 && *start <= ' ') + start++; + if (*start == 0) { + *str = NULL; + return NULL; + } + char *end = start+1; + while (*end > ' ') + end++; + if (*end != 0) { + *end = 0; + *str = end+1; + } else { + *str = NULL; + } + return start; +} + +// Parses given string into a uint32 and returns if the parsing is successful. +bool parse_uint32(const char *str, uint32_t *res) { + if (!str || *str == 0) + return false; + char *endparse; + *res = strtoul(str, &endparse, 10); + return (*endparse == 0); +} + +bool parse_float(const char *str, float *res) { + if (!str || *str == 0) + return false; + char *endparse; + *res = strtof(str, &endparse); + return (*endparse == 0); +} + +// Returns true if the word is suffixed by a valid number. +bool suffixed_by_int(char *word, char **first_digit, uint32_t *value) { + char *p = word + strlen(word); // \0 char after the word. + while (p != word && '0' <= *(p-1) && *(p-1) <= '9') // Go backwards if seeing digits. + p--; + // Fail if either no digits found, or all of them are digits. + return *p && p != word && parse_uint32(*first_digit = p, value); +} + +// Return a static, zero-terminated array of hashes of provided words. +HashedWord *hash_words(char *str) { + static HashedWord hashes[max_words+1]; + uint32_t i = 0; + for (char *cur_word; (cur_word = next_word(&str)) && i < max_words; i++) { + if (cur_word[0] == '#') break; // Comment. + hashes[i].word = cur_word; + char *first_digit; + if (suffixed_by_int(cur_word, &first_digit, &hashes[i].idx)) { + char c = '#'; + // Create hash of cur_word without digits, but with prefix '#' + std::swap(*first_digit, c); + hashes[i].hash = runtime_hash(cur_word, first_digit-cur_word+1); + std::swap(*first_digit, c); + // hashes[i].idx is set in suffixed_by_int + } else { // Regular case. + hashes[i].hash = runtime_hash(cur_word, strlen(cur_word)); + hashes[i].idx = -1; // To avoid clashing with existing indexes. + } + } + hashes[i] = {0, 0, 0}; + return hashes; +} + +// Throws custom exception with a printf-formatted string. Uses static buffer to avoid mem allocation +// and std::string-related errors. +[[noreturn]] void throw_printf(const char* format, ...) { + static char throw_printf_message[128]; + va_list args; + va_start(args, format); + vsnprintf(throw_printf_message, sizeof(throw_printf_message), format, args); + va_end(args); + throw ValidationException(throw_printf_message); +} diff --git a/src/primitives/string_utils.h b/src/primitives/string_utils.h new file mode 100644 index 0000000..8ad3183 --- /dev/null +++ b/src/primitives/string_utils.h @@ -0,0 +1,58 @@ +#pragma once +#include +#include +#include "../primitives/hash.h" + +class Stream; +class Print; +template class Vector; + +// Input string length constants. +constexpr int max_input_str_len = 256; +constexpr int max_words = 64; + + +// Non-blocking version of Stream.readBytesUntil('\n', ...). Returns line if found, or NULL if no line. +// 'buf' argument needs to be provided to keep the accumulated data between calls. +char *read_line(Stream &stream, Vector *buf); + +// Parses provided string to null-terminated array of trimmed strings. +// NOTE: Provided string is changed - null characters are added after words. +char **parse_words(char *str); + +// Returns pointer to a null-terminated next word in *str (or NULL); updates *str to point to remaining string. +// NOTE: Provided string is changed - null characters are added after words. +char* next_word(char **str); + +// Parses given string into a uint32 and returns true if the parsing is successful. +bool parse_uint32(const char *str, uint32_t *res); +bool parse_float(const char *str, float *res); + + +// Simple structure to hold both original word and its hash to help with comparisons. +// Very useful when paired with static hashed literals like "abc"_hash . +// If the parsed word is in the form "", then we use hash "#" and set idx = . +struct HashedWord { + const char *word; + uint32_t hash; + uint32_t idx; + operator unsigned long() const { return hash; } // By default, can be casted to uint32_t as a hash. + inline bool as_uint32(uint32_t *res) { return parse_uint32(word, res); } + inline bool as_float(float *res) { return parse_float(word, res); } +}; + +// Return a static, zero-terminated array of hashes for words in given string. +// NOTE: Provided string is changed - null characters are added after words. +HashedWord *hash_words(char *str); + +class ValidationException : public std::exception { +public: + ValidationException(const char* message) : message_(message) {} + virtual const char* what() const noexcept { return message_; } +private: + const char* message_; +}; + +// Throws custom exception with a printf-formatted string. Uses static buffer to avoid mem allocation +// and std::string-related errors. +[[noreturn]] void throw_printf(const char* format, ...); diff --git a/src/primitives/timestamp.cpp b/src/primitives/timestamp.cpp new file mode 100644 index 0000000..d1ad245 --- /dev/null +++ b/src/primitives/timestamp.cpp @@ -0,0 +1,40 @@ +#include "timestamp.h" +#include + +Timestamp Timestamp::cur_time() { + // Repeat logic inside micros(), but get better precision, up to a single CPU tick. + + extern volatile uint32_t systick_millis_count; + __disable_irq(); + uint32_t cpu_ticks = SYST_CVR; + uint32_t millis = systick_millis_count; + uint32_t istatus = SCB_ICSR; // bit 26 indicates if systick exception pending + __enable_irq(); + + if ((istatus & SCB_ICSR_PENDSTSET) && cpu_ticks > 50) millis++; + cpu_ticks = ((F_CPU / 1000) - 1) - cpu_ticks; + + static_assert(F_CPU % sec == 0, "Please choose TimeUnit.usec to be a multiple of CPU cycles to keep timing precise"); + return millis * msec + cpu_ticks / (F_CPU / sec); +}; + +uint32_t Timestamp::get_value(TimeUnit tu) const { + // To "extend" the period we assume that the timestamp is for close enough point in time to now. + // Then, use millis and estimate the number of overflows happened. + uint32_t cur_millis = millis(); + Timestamp ts_cur_millis(cur_millis * msec); // This will overflow, but that's what we want. + int32_t delta_in_tu = (*this - ts_cur_millis).get_value(tu); + + uint32_t cur_time_in_tu = 0; + if (tu == msec) { + cur_time_in_tu = cur_millis; + } else if (tu > msec && (tu % msec == 0)) { + cur_time_in_tu = cur_millis / (tu / msec); + } else if (tu < msec && (msec % tu == 0)) { + cur_time_in_tu = cur_millis * (msec / tu); + } else { + cur_time_in_tu = cur_millis * ((float)msec / tu); + } + return cur_time_in_tu + delta_in_tu; +} + diff --git a/src/primitives/timestamp.h b/src/primitives/timestamp.h new file mode 100644 index 0000000..5f7df1e --- /dev/null +++ b/src/primitives/timestamp.h @@ -0,0 +1,117 @@ +// Classes to make dealing with wrappable timestamps easier. +// For a problem statement see e.g. http://arduino.stackexchange.com/a/12588 +// Also, a utility function throttle_ms to run something periodically. +#pragma once +#include + +enum TimeUnit { + usec = 4, // This can be increased to get better time resolution. + msec = usec * 1000, + ms = msec, + sec = msec * 1000, +}; + +// TimeDelta is conceptually a time period length. Can be negative, but shouln't be so large to overflow the int32. +class TimeDelta { +public: + // Constructors + constexpr TimeDelta(): time_delta_(0) {} // Default constructor to make it possible to include it in structs. + constexpr TimeDelta(int val, TimeUnit tu): time_delta_(val * tu) {} // Main way to create TimeDelta: value and TimeUnit. + constexpr TimeDelta(const TimeDelta& other) = default; + constexpr TimeDelta& operator=(const TimeDelta& other) = default; + + constexpr int get_value(TimeUnit tu) const { return time_delta_ / tu; } + + // Simple comparison operators. Note: we only allow comparison between TimeDeltas. + constexpr bool operator<(const TimeDelta& delta) const { return time_delta_ < delta.time_delta_; } + constexpr bool operator>(const TimeDelta& delta) const { return time_delta_ > delta.time_delta_; } + constexpr bool operator<=(const TimeDelta& delta) const { return time_delta_ <= delta.time_delta_; } + constexpr bool operator>=(const TimeDelta& delta) const { return time_delta_ >= delta.time_delta_; } + constexpr bool operator==(const TimeDelta& delta) const { return time_delta_ == delta.time_delta_; } + constexpr bool operator!=(const TimeDelta& delta) const { return time_delta_ != delta.time_delta_; } + + // Simple arithmetic operators. + constexpr TimeDelta operator+(const TimeDelta& delta) const { return time_delta_ + delta.time_delta_; } + constexpr TimeDelta operator-(const TimeDelta& delta) const { return time_delta_ - delta.time_delta_; } + constexpr TimeDelta operator*(int val) const { return time_delta_ * val; } + constexpr TimeDelta operator/(int val) const { return time_delta_ / val; } + constexpr float operator/(const TimeDelta& delta) const {return float(time_delta_) / float(delta.time_delta_); } + + // Arithmetic assignment operators. + inline TimeDelta &operator+=(const TimeDelta& delta) { time_delta_ += delta.time_delta_; return *this; } + inline TimeDelta &operator-=(const TimeDelta& delta) { time_delta_ -= delta.time_delta_; return *this; } + inline TimeDelta &operator*=(int val) { time_delta_ *= val; return *this; } + inline TimeDelta &operator/=(int val) { time_delta_ /= val; return *this; } + + // Helper functions + inline bool within_range_of(const TimeDelta& other, const TimeDelta& half_range) { + auto delta = time_delta_ - other.time_delta_; + return -half_range.time_delta_ <= delta && delta <= half_range.time_delta_; + } + +private: + constexpr TimeDelta(int delta): time_delta_(delta) {} + int time_delta_; + friend class Timestamp; +}; + +// Timestamp is conceptually a point in time with a given resolution, mod 2^32. +// The class handles wrapping over uint32_t to add safety. +class Timestamp { +public: + // Constructors. + constexpr Timestamp(): time_(0) {} // Default constructor. We need it to be able to keep Timestamp in structs. + constexpr Timestamp(const Timestamp& other) = default; + constexpr Timestamp& operator=(const Timestamp& other) = default; + + // Get adjusted value of this timestamp in provided time unit. + // We try to "extend" the value outside of regular period of timestamp using current time in millis. + // NOTE: This function is specialized for tu=1 below. + // TODO: Add 64bit version of get_value. + uint32_t get_value(TimeUnit tu) const; + + // Static getters. + static Timestamp cur_time(); // Implementation will try to get the best resolution possible. + + // Create TimeDelta from a pair of Timestamps. Note that the wrapping is handled here correctly as we're converting to a signed int. + constexpr TimeDelta operator-(const Timestamp& other) const { return time_ - other.time_; } + + // Simple arithmetic operators with TimeDelta-s. Both operands are converted to uint32_t + constexpr Timestamp operator+(const TimeDelta& delta) const { return time_ + delta.time_delta_; } + constexpr Timestamp operator-(const TimeDelta& delta) const { return time_ - delta.time_delta_; } + inline Timestamp &operator+=(const TimeDelta& delta) { time_ += delta.time_delta_; return *this; } + inline Timestamp &operator-=(const TimeDelta& delta) { time_ -= delta.time_delta_; return *this; } + + // Simple wrapping-aware comparison operators using conversion to signed int. + constexpr bool operator< (const Timestamp& other) const { return int(time_ - other.time_) < 0; } + constexpr bool operator> (const Timestamp& other) const { return int(time_ - other.time_) > 0; } + constexpr bool operator<=(const Timestamp& other) const { return int(time_ - other.time_) <= 0; } + constexpr bool operator>=(const Timestamp& other) const { return int(time_ - other.time_) >= 0; } + constexpr bool operator==(const Timestamp& other) const { return int(time_ - other.time_) == 0; } + constexpr bool operator!=(const Timestamp& other) const { return int(time_ - other.time_) != 0; } + +private: + constexpr Timestamp(uint32_t time): time_(time) {} + uint32_t time_; // Think about this as some global time mod 2^32. +}; + +// Returns true only once per period_time. cur_time is the current timestamp. block_prev_run is a pointer to Timestamp that +// keeps data between calls, should not be used otherwise; slips will contain the number of skipped periods, if provided. +// Usage: +// void loop() { +// Timestamp cur_time = Timestamp::cur_time(); +// static Timestamp block_prev_run(cur_time); +// if (throttle_ms(TimeDelta(1000, msec), cur_time, &block_prev_run)) { +// // This block will be executed once every 1000 ms. +// } +// } +inline bool throttle_ms(TimeDelta period_time, Timestamp cur_time, Timestamp *prev_run_time, unsigned *slips = 0) { + unsigned cnt = 0; + while (cur_time >= *prev_run_time + period_time) { + *prev_run_time += period_time; + cnt++; + } + if (slips && cnt > 1) + (*slips) += (cnt-1); + return cnt; +} diff --git a/src/primitives/vector.h b/src/primitives/vector.h new file mode 100644 index 0000000..6209271 --- /dev/null +++ b/src/primitives/vector.h @@ -0,0 +1,51 @@ +// Simple version of vector with dynamic length, but fixed capacity. +// Only compatible with value or POD types, not classes (it doesn't do construction/destruction). +#pragma once +#include +#include + +// Type T, Capacity C. +template +class Vector { + static_assert(C > 0, "Please provide positive capacity"); + static_assert(std::is_trivially_destructible(), "Vector only works on simple types"); + static_assert(std::is_trivially_copyable(), "Vector only works on simple types"); +public: + Vector() : size_{} {} + inline unsigned long size() const { return size_; } + inline unsigned long max_size() const { return C; } + inline bool empty() const { return size_ == 0; } + inline bool full() const { return size_ >= C; } + inline T &operator[](unsigned idx) { return elems_[idx]; } + inline const T &operator[](unsigned idx) const { return elems_[idx]; } + + inline void set_size(unsigned long size) { + assert(size <= C); + size_ = size; + } + + inline void push(const T &elem) { + if (!full()) { + elems_[size_++] = elem; + } else { + // assert. + } + } + + inline T pop() { + if (!empty()) { + return elems_[--size_]; + } else { + // assert. + return elems_[0]; + } + } + + inline void clear() { + size_ = 0; + } + +private: + unsigned long size_; + T elems_[C]; +}; diff --git a/src/primitives/workers.h b/src/primitives/workers.h new file mode 100644 index 0000000..7cbd496 --- /dev/null +++ b/src/primitives/workers.h @@ -0,0 +1,74 @@ +#pragma once +#include "timestamp.h" +#include "string_utils.h" +#include +#include + +// Simple worker node pattern. +// To create a worker node, inherit from this interface and override functions needed. +class WorkerNode { +public: + // This function is called continuously in a loop. Analogous to the loop() function in Arduino. + virtual void do_work(Timestamp cur_time) {}; + + // This function will be called once before starting to run the real pipeline. + // Analogous to setup() function in Arduino, place any hard-to-undo hardware setup here. + // It won't be called if the pipeline is created just for config validation. For common setup, use constructor. + virtual void start() {}; + + // Process debug command. Called when a command is available and should return true if this module + // recognized and processed this command. + virtual bool debug_cmd(HashedWord *input_words) { return false; }; + + // Print current debugging information about this module. This function is called ~ every second. + virtual void debug_print(Print &stream) {}; + + // Virtual destructor to help with correct deletions. + virtual ~WorkerNode() = default; +}; + +// Pipeline defines an ordered list of WorkerNodes that work together. +// Pipeline 'owns' all the nodes and all of them will be deleted when the pipeline is deleted. +class Pipeline : public WorkerNode { +public: + // Adding WorkerNodes to this pipeline. Note, after this Pipeline starts to own them and will + // destruct them when needed. Suggested usage: + // SpecializedNode *node = pipeline->add_front(std::make_unique()); + template + T *add_front(std::unique_ptr node) { + T *res = node.get(); + nodes_.emplace_front(std::move(node)); + return res; + } + + template + T *add_back(std::unique_ptr node) { + T *res = node.get(); + nodes_.emplace_back(std::move(node)); + return res; + } + + // Define WorkerNode functions to work on all nodes in order. + virtual void do_work(Timestamp cur_time) { + for (auto& node : nodes_) + node->do_work(cur_time); + } + virtual void start() { + for (auto& node : nodes_) + node->start(); + } + virtual bool debug_cmd(HashedWord *input_words) { + for (auto& node : nodes_) + if (node->debug_cmd(input_words)) + return true; + return false; + } + virtual void debug_print(Print &stream) { + for (auto& node : nodes_) + node->debug_print(stream); + } + +protected: + // Owning list of nodes. All nodes here will have the same lifecycle as the pipeline itself. + std::list> nodes_; +}; diff --git a/src/print_helpers.h b/src/print_helpers.h new file mode 100644 index 0000000..d54b3e2 --- /dev/null +++ b/src/print_helpers.h @@ -0,0 +1,86 @@ +#pragma once +#include "primitives/producer_consumer.h" +#include "primitives/timestamp.h" +#include "messages.h" +#include + +// Implements Print interface which sends DataChunks as a Producer. +// Note, the data is buffered and the last chunk is sent either on flush(), newline (if not binary), +// or in destructor. +class DataChunkPrint : public Print { +public: + DataChunkPrint(Producer *producer, Timestamp cur_time, uint32_t stream_idx = 0, bool binary = false) + : producer_(producer), binary_(binary), chunk_{} + { + chunk_.time = cur_time; + chunk_.stream_idx = stream_idx; + } + + ~DataChunkPrint() { + flush(); + } + + // Main printing method overrides. We try to accumulate data for meaningful packets. + virtual size_t write(const uint8_t *buffer, size_t size) { + if (!size || !buffer) + return 0; + + // Write data to current chunk. + while (true) { + size_t available_space = chunk_.data.max_size() - chunk_.data.size(); + void *chunk_data_ptr = &chunk_.data[chunk_.data.size()]; + size_t write_bytes = std::min(size, available_space); + chunk_.data.set_size(chunk_.data.size() + write_bytes); + memcpy(chunk_data_ptr, buffer, write_bytes); + if (size <= available_space) + break; // Data fits to the DataChunk + flush(false); + buffer += write_bytes; + size -= write_bytes; + } + if (!binary_ && !chunk_.data.empty() && chunk_.data[chunk_.data.size()-1] == '\n') + flush(true); // Flush line-by-line for texts. + return size; + } + virtual size_t write(uint8_t b) { + return write(&b, 1); + } + + void flush(bool last_chunk = true) { + if (!chunk_.data.empty()) { + chunk_.last_chunk = last_chunk; + producer_->produce(chunk_); + chunk_.data.clear(); + } + } + +private: + Producer *producer_; + bool binary_; + DataChunk chunk_; +}; + +// This class acts as a DataChunk consumer, accumulates the data, splits it into lines and +// provides to child classes in consume_line() method. +class DataChunkLineSplitter : public Consumer { +public: + virtual void consume(const DataChunk& chunk) { + for (uint32_t i = 0; i < chunk.data.size(); i++) { + char c = chunk.data[i]; + if (c == '\n') { + input_str_buf_.push(0); + input_str_buf_.clear(); + consume_line(&input_str_buf_[0], chunk.time); + } else if (input_str_buf_.size() < input_str_buf_.max_size() - 1) { + input_str_buf_.push(c); + } + } + } + + // Implement this function to get parsed lines. Note, it's safe to change the characters in 'line', so + // it's not const. + virtual void consume_line(char *line, Timestamp time) = 0; + +private: + Vector input_str_buf_; +}; diff --git a/src/pulse_processor.cpp b/src/pulse_processor.cpp new file mode 100644 index 0000000..5b9d161 --- /dev/null +++ b/src/pulse_processor.cpp @@ -0,0 +1,236 @@ +#include "pulse_processor.h" +#include "message_logging.h" +#include + +// Pulse classification parameters. +constexpr TimeDelta min_short_pulse_len(2, usec); +constexpr TimeDelta min_long_pulse_len(40, usec); +constexpr TimeDelta max_long_pulse_len(300, usec); + +constexpr TimeDelta long_pulse_starts_accepted_range(30, usec); +constexpr TimeDelta long_pulse_starts[num_base_stations] = {TimeDelta(0, usec), TimeDelta(410, usec)}; + +constexpr TimeDelta cycle_period(8333, usec); // Total len of 1 cycle. +constexpr TimeDelta angle_center_len(4000, usec); +constexpr TimeDelta short_pulse_min_time = angle_center_len - cycle_period / 3; +constexpr TimeDelta short_pulse_max_time = angle_center_len + cycle_period / 3; +constexpr TimeDelta cycle_processing_point = short_pulse_max_time + TimeDelta(100, usec); // time from start of the cycle. + +enum CycleFixLevels { // Unscoped enum because we use it more like set of constants. + kCycleFixNone = 0, + kCycleFixCandidate = 1, // From here we have a valid cycle_start_time_ + kCycleFixAcquired = 5, + kCycleFixMax = 10, +}; + +PulseProcessor::PulseProcessor(uint32_t num_inputs) + : num_inputs_(num_inputs) + , cycle_fix_level_(0) + , cycle_idx_(0) + , cycle_long_pulses_{} + , cycle_short_pulses_{} + , unclassified_long_pulses_{} + , phase_classifier_{} + , angles_frame_{} + , time_from_last_long_pulse_(0, usec) + , debug_print_state_(false) { + angles_frame_.sensors.set_size(num_inputs); + angles_frame_.phase_id = -1; +} + +void PulseProcessor::consume(const Pulse& p) { + if (p.pulse_len >= max_long_pulse_len) { + // Ignore very long pulses. + } else if (p.pulse_len >= min_long_pulse_len) { // Long pulse - likely sync pulse + process_long_pulse(p); + } else { // Short pulse - likely laser sweep + process_short_pulse(p); + } +} + +void PulseProcessor::process_long_pulse(const Pulse &p) { + if (cycle_fix_level_ == kCycleFixNone) { + // Bootstrap mode. We keep the previous long pulse in unclassified_long_pulses_ vector. + // With this algorithm 2 base stations needed for a fix. We search for a situation where the last pulse was + // second in last cycle, which means (8333-400) us difference in start time. + if (unclassified_long_pulses_.size() > 0) { + Pulse last_long_pulse = unclassified_long_pulses_.pop(); + unclassified_long_pulses_.clear(); + + time_from_last_long_pulse_ = p.start_time - last_long_pulse.start_time; + if (time_from_last_long_pulse_.within_range_of(cycle_period - long_pulse_starts[1], long_pulse_starts_accepted_range)) { + // Found candidate first pulse. + reset_cycle_pulses(); + cycle_fix_level_ = kCycleFixCandidate; + cycle_start_time_ = p.start_time; + cycle_idx_ = 0; + phase_classifier_.reset(); + } + } + } + + // Put the pulse into either one of two buckets, or keep it as unclassified. + bool pulse_classified = false; + if (cycle_fix_level_ >= kCycleFixCandidate) { + // Put pulse into one of two buckets by start time. + TimeDelta time_from_cycle_start = p.start_time - cycle_start_time_; + for (int i = 0; i < num_base_stations; i++) { + if (time_from_cycle_start.within_range_of(long_pulse_starts[i], long_pulse_starts_accepted_range)) { + cycle_long_pulses_[i].push(p); + pulse_classified = true; + break; + } + } + } + if (!pulse_classified) + unclassified_long_pulses_.push(p); +} + +void PulseProcessor::process_short_pulse(const Pulse &p) { + if (cycle_fix_level_ >= kCycleFixCandidate && p.input_idx < num_inputs_) { + // TODO: Filter out pulses outside of current cycle. + cycle_short_pulses_.push(p); + } +} + +void PulseProcessor::process_cycle_fix(Timestamp cur_time) { + TimeDelta pulse_start_corrections[num_base_stations] = {}, pulse_lens[num_base_stations] = {}; + + // Check if we have long pulses from at least one base station. + if (cycle_long_pulses_[0].size() > 0 || cycle_long_pulses_[1].size() > 0) { + // Increase fix level if we have pulses from both stations. + if (cycle_fix_level_ < kCycleFixMax && cycle_long_pulses_[0].size() > 0 && cycle_long_pulses_[1].size() > 0) + cycle_fix_level_++; + + // Average out long pulse lengths and start times for each base station across sensors. + // pulse_start_corrections is the delta between actual start time and expected start time. + // TODO: Take into account previous cycles as well, i.e. adjust slowly. + for (int b = 0; b < num_base_stations; b++) + if (uint32_t num_pulses = cycle_long_pulses_[b].size()) { + Timestamp expected_start_time = cycle_start_time_ + long_pulse_starts[b]; + for (uint32_t i = 0; i < num_pulses; i++) { + const Pulse &pulse = cycle_long_pulses_[b][i]; + pulse_start_corrections[b] += pulse.start_time - expected_start_time; + pulse_lens[b] += pulse.pulse_len; + } + if (num_pulses > 1) { + pulse_start_corrections[b] /= num_pulses; + pulse_lens[b] /= num_pulses; + } + } + + // Send pulse lengths to phase classifier. + phase_classifier_.process_pulse_lengths(cycle_idx_, pulse_lens); + + // If needed, get the data bits from pulse lengths and send them down the pipeline + if (Producer::has_consumers()) { + CyclePhaseClassifier::DataFrameBitPair bits = phase_classifier_.get_data_bits(cycle_idx_, pulse_lens); + for (int b = 0; b < num_base_stations; b++) + if (bits[b].cycle_idx == cycle_idx_) { + bits[b].time = cycle_start_time_; + Producer::produce(bits[b]); + } + } + + } else { + // No long pulses this cycle. We can survive several of such cycles, but our confidence in timing sinks. + cycle_fix_level_--; + } + + // Given the cycle phase, we can put the angle timings to a correct bucket. + int cycle_phase = phase_classifier_.get_phase(cycle_idx_); + if (cycle_phase >= 0) { + // From (potentially several) short pulses for the same input, we choose the longest one. + Pulse *short_pulses[max_num_inputs] = {}; + TimeDelta short_pulse_timings[max_num_inputs] = {}; + uint32_t emitting_base = cycle_phase >> 1; + Timestamp base_pulse_start = cycle_start_time_ + long_pulse_starts[emitting_base] + pulse_start_corrections[emitting_base]; + for (uint32_t i = 0; i < cycle_short_pulses_.size(); i++) { + Pulse *p = &cycle_short_pulses_[i]; + uint32_t input_idx = p->input_idx; + + // To get better precision, we calculate pulse timing based on the long pulse from the same base station. + TimeDelta pulse_timing = p->start_time + p->pulse_len / 2 - base_pulse_start; + + // Get longest laser pulse. + if (short_pulse_min_time < pulse_timing && pulse_timing < short_pulse_max_time) + if (!short_pulses[input_idx] || short_pulses[input_idx]->pulse_len < p->pulse_len) { + short_pulses[input_idx] = p; + short_pulse_timings[input_idx] = pulse_timing; + } + } + + // Calculate the angles for inputs where we saw short pulses. + for (uint32_t i = 0; i < num_inputs_; i++) + if (short_pulses[i]) { + SensorAngles &angles = angles_frame_.sensors[i]; + angles.angles[cycle_phase] = (short_pulse_timings[i] - angle_center_len) / cycle_period * (float)M_PI; + angles.updated_cycles[cycle_phase] = cycle_idx_; + } + } + + // Send the data down the pipeline every 4th cycle (30Hz). Can be increased to 120Hz if needed. + if ((cycle_phase >= 0) ? (cycle_phase == 3) : (cycle_idx_ % 4 == 0)) { + angles_frame_.time = cycle_start_time_; + angles_frame_.fix_level = (cycle_phase >= 0 && cycle_fix_level_ >= kCycleFixAcquired) + ? FixLevel::kCycleSynced : FixLevel::kCycleSyncing; + angles_frame_.cycle_idx = cycle_idx_; + angles_frame_.phase_id = cycle_phase; + Producer::produce(angles_frame_); + } + + // Prepare for the next cycle. + reset_cycle_pulses(); + cycle_start_time_ += cycle_period + pulse_start_corrections[0]; + cycle_idx_++; +} + +void PulseProcessor::reset_cycle_pulses() { + for (int i = 0; i < num_base_stations; i++) + cycle_long_pulses_[i].clear(); + unclassified_long_pulses_.clear(); + cycle_short_pulses_.clear(); +} + +void PulseProcessor::do_work(Timestamp cur_time) { + if (cycle_fix_level_ >= kCycleFixCandidate) { + if (cur_time - cycle_start_time_ > cycle_processing_point) { + process_cycle_fix(cur_time); + } + } else { // No fix. + if (throttle_ms(TimeDelta(1000, ms), cur_time, &cycle_start_time_)) { + // Send frame showing we have no signals. + angles_frame_.time = cur_time; + angles_frame_.fix_level = FixLevel::kNoSignals; + angles_frame_.cycle_idx = 0; + angles_frame_.phase_id = 0; + Producer::produce(angles_frame_); + } + } +} + +bool PulseProcessor::debug_cmd(HashedWord *input_words) { + if (phase_classifier_.debug_cmd(input_words)) + return true; + if (*input_words++ == "pp"_hash) + switch (*input_words++) { + case "angles"_hash: return producer_debug_cmd(this, input_words, "SensorAnglesFrame"); + case "bits"_hash: return producer_debug_cmd(this, input_words, "DataFrameBit"); + case "show"_hash: debug_print_state_ = true; return true; + case "off"_hash: debug_print_state_ = false; return true; + } + return false; +} + +void PulseProcessor::debug_print(Print &stream) { + phase_classifier_.debug_print(stream); + producer_debug_print(this, stream); + producer_debug_print(this, stream); + if (debug_print_state_) { + stream.printf("PulseProcessor: fix %d, cycle id %d, num pulses %d %d %d %d, time from last pulse %d\n", + cycle_fix_level_, cycle_idx_, cycle_long_pulses_[0].size(), cycle_long_pulses_[1].size(), + cycle_short_pulses_.size(), unclassified_long_pulses_.size(), time_from_last_long_pulse_.get_value(usec)); + } +} + + diff --git a/src/pulse_processor.h b/src/pulse_processor.h new file mode 100644 index 0000000..368b382 --- /dev/null +++ b/src/pulse_processor.h @@ -0,0 +1,51 @@ +#pragma once +#include "primitives/workers.h" +#include "primitives/producer_consumer.h" +#include "primitives/vector.h" +#include "messages.h" +#include "cycle_phase_classifier.h" + +// This node processes Pulses from several sensors, tries to match them to cycle structure and +// output matched set of angles (SensorAnglesFrame) and data bits (DataFrameBit). +class PulseProcessor + : public WorkerNode + , public Consumer + , public Producer + , public Producer { +public: + PulseProcessor(uint32_t num_inputs); + virtual void consume(const Pulse& p); + virtual void do_work(Timestamp cur_time); + + virtual bool debug_cmd(HashedWord *input_words); + virtual void debug_print(Print& stream); + +private: + void process_long_pulse(const Pulse &p); + void process_short_pulse(const Pulse &p); + void process_cycle_fix(Timestamp cur_time); + void reset_cycle_pulses(); + + uint32_t num_inputs_; + + // Fix level - increased when everything's right (up to a limit); decreases on errors. See CycleFixLevels + int cycle_fix_level_; + + // Current cycle params + Timestamp cycle_start_time_; // Current cycle start time. TODO: We should track cycle period more precisely. + uint32_t cycle_idx_; // Index of current cycle. + + // Classified pulses for current cycle: long (x2, by base stations), short, unclassified. + Vector cycle_long_pulses_[num_base_stations]; + Vector cycle_short_pulses_; + Vector unclassified_long_pulses_; + + // Phase classifier - helps determine which of the 4 cycles in we have now. + CyclePhaseClassifier phase_classifier_; + + // Output data: angles. + SensorAnglesFrame angles_frame_; + + TimeDelta time_from_last_long_pulse_; + bool debug_print_state_; +}; diff --git a/src/settings.cpp b/src/settings.cpp new file mode 100644 index 0000000..b10c726 --- /dev/null +++ b/src/settings.cpp @@ -0,0 +1,204 @@ +// This file manages reading/writing data to EEPROM and configuration mode. +#include "settings.h" +#include "primitives/string_utils.h" +#include "vive_sensors_pipeline.h" +#include "led_state.h" + +#include +#include +#include + +constexpr uint32_t current_settings_version = 0xbabe0000 + sizeof(PersistentSettings); +constexpr uint32_t *eeprom_addr = 0; + +static_assert(sizeof(PersistentSettings) < E2END - 500, "PersistentSettings must fit into EEPROM with some leeway"); +static_assert(std::is_trivially_copyable(), "All definitions must be trivially copyable to be bitwise-stored"); + +/* Example settings +# Comments are prepended by '#' +reset # Reset all settings to clean state +sensor0 pin 12 positive +base0 origin -1.528180 2.433750 -1.969390 matrix -0.841840 0.332160 -0.425400 -0.046900 0.740190 0.670760 0.537680 0.584630 -0.607540 +base1 origin 1.718700 2.543170 0.725060 matrix 0.458350 -0.649590 0.606590 0.028970 0.693060 0.720300 -0.888300 -0.312580 0.336480 +object0 sensor0 +stream0 position object0 > usb_serial +stream1 angles > usb_serial +serial1 57600 +stream2 mavlink object0 ned 110 > serial1 +*/ + +PersistentSettings settings; + +PersistentSettings::PersistentSettings() { + reset(); + read_from_eeprom(); +} + +bool PersistentSettings::read_from_eeprom() { + uint32_t eeprom_version = eeprom_read_dword(eeprom_addr); + if (eeprom_version == current_settings_version) { + // Normal initialization. + eeprom_read_block(this, eeprom_addr + 4, sizeof(*this)); + return true; + } + // Unknown version. + return false; +} + +void PersistentSettings::write_to_eeprom() { + eeprom_write_dword(eeprom_addr, current_settings_version); + eeprom_write_block(this, eeprom_addr + 4, sizeof(*this)); +} + +void PersistentSettings::restart_in_configuration_mode() { + is_configured_ = false; + write_to_eeprom(); + SCB_AIRCR = 0x5FA0004; // Restart Teensy. +} + +// Initialize settings. +void PersistentSettings::reset() { + memset(this, 0, sizeof(*this)); + + // Defaults. + outputs_.set_size(num_outputs); + outputs_[0].active = true; +} + +bool PersistentSettings::validate_setup(Print &error_stream) { + try { + // Try to create the pipeline and then delete it. + std::unique_ptr pipeline = create_vive_sensor_pipeline(*this); + return true; + } + catch (const std::exception& e) { // This included bad_alloc, runtime_exception etc. + error_stream.printf("Validation error: %s\n", e.what()); + } + catch (...) { + error_stream.printf("Unknown validation error.\n"); + } + return false; +} + +template +void PersistentSettings::set_value(Vector &arr, uint32_t idx, HashedWord *input_words, Print& stream) { + if (idx <= arr.size() && idx < arr_len) { + T def; + if (def.parse_def(idx, input_words, stream)) { + bool push_new = idx == arr.size(); + if (push_new) + arr.push(def); + else + std::swap(arr[idx], def); + + if (validate_setup(stream)) { + // Success. + def.print_def(idx, stream); + } else { + // Validation failed. Undo. + if (push_new) + arr.pop(); + else + std::swap(arr[idx], def); + } + } + } else + stream.printf("Index too large. Next available index: %d.\n", arr.size()); +} + + +#pragma GCC diagnostic push +#pragma GCC diagnostic warning "-Wstack-usage=512" // Allow slightly higher stack usage for this function. + +void PersistentSettings::initialize_from_user_input(Stream &stream) { + Vector input_buf{}; + while (true) { + stream.print("config> "); + char *input_cmd = nullptr; + while (!input_cmd) { + input_cmd = read_line(stream, &input_buf); + + set_led_state(LedState::kConfigMode); + update_led_pattern(Timestamp::cur_time()); + } + + HashedWord *input_words = hash_words(input_cmd); + if (!input_words->word || input_words->word[0] == '#') // Do nothing on comments and empty lines. + continue; + + uint32_t idx = input_words->idx; + switch (*input_words++) { + case "view"_hash: + // Print all current settings. + stream.printf("# Current configuration. Copy/paste to save/restore.\n", + inputs_.size(), base_stations_.size()); + stream.printf("reset\n"); + for (uint32_t i = 0; i < inputs_.size(); i++) + inputs_[i].print_def(i, stream); + for (uint32_t i = 0; i < base_stations_.size(); i++) + base_stations_[i].print_def(i, stream); + for (uint32_t i = 0; i < geo_builders_.size(); i++) + geo_builders_[i].print_def(i, stream); + for (uint32_t i = 0; i < outputs_.size(); i++) + outputs_[i].print_def(i, stream); + for (uint32_t i = 0; i < formatters_.size(); i++) + formatters_[i].print_def(i, stream); + break; + + case "sensor#"_hash: + set_value(inputs_, idx, input_words, stream); + break; + + case "base#"_hash: + set_value(base_stations_, idx, input_words, stream); + break; + + case "object#"_hash: + set_value(geo_builders_, idx, input_words, stream); + break; + + case "stream#"_hash: + set_value(formatters_, idx, input_words, stream); + break; + + case "usb_serial"_hash: + case "serial#"_hash: + if (idx == (uint32_t)-1) idx = 0; + set_value(outputs_, idx, input_words, stream); + break; + + case "reset"_hash: + reset(); + stream.printf("Reset successful.\n"); + break; + + case "reload"_hash: + if (read_from_eeprom()) + stream.printf("Loaded previous configuration from EEPROM.\n"); + else + stream.printf("No valid configuration found in EEPROM.\n"); + break; + + case "write"_hash: + if (!validate_setup(stream)) break; + is_configured_ = true; + write_to_eeprom(); + stream.printf("Write to EEPROM successful. Type 'continue' to start using it.\n"); + break; + + case "validate"_hash: + if (validate_setup(stream)) + stream.printf("Validation successful.\n"); + break; + + case "continue"_hash: + if (!validate_setup(stream)) break; + return; + + default: + stream.printf("Unknown command '%s'. Valid commands: view, , reset, reload, write, validate, continue.\n", (input_words-1)->word); + } + } +} +#pragma GCC diagnostic pop + diff --git a/src/settings.h b/src/settings.h new file mode 100644 index 0000000..6a7b312 --- /dev/null +++ b/src/settings.h @@ -0,0 +1,47 @@ +#pragma once +#include "messages.h" +#include "input.h" +#include "geometry.h" +#include "formatters.h" +#include "outputs.h" +#include + +// This class provides configurability to our project. It reads/writes configuration data to EEPROM and provides +// configuration command interface. +class PersistentSettings { +public: + // Data accessors + inline const Vector &inputs() const { return inputs_; } + inline const Vector &base_stations() const { return base_stations_; } + inline const Vector &geo_builders() const { return geo_builders_; } + inline const Vector &formatters() const { return formatters_; } + inline const Vector &outputs() const { return outputs_; } + + // Settings lifecycle methods + PersistentSettings(); + bool needs_configuration() { return !is_configured_; } + void initialize_from_user_input(Stream &interactive_stream); + void restart_in_configuration_mode(); + +private: + bool validate_setup(Print &error_stream); + + template + void set_value(Vector &arr, uint32_t idx, HashedWord *input_words, Print& stream); + + void reset(); + bool read_from_eeprom(); + void write_to_eeprom(); + + // NOTE: This is the same layout as used for EEPROM. + // NOTE: Increase current_settings_version with each change. + bool is_configured_; + Vector inputs_; + Vector base_stations_; + Vector geo_builders_; + Vector formatters_; + Vector outputs_; +}; + +// Singleton to access current settings. +extern PersistentSettings settings; diff --git a/ublox.cpp b/src/ublox.cpp similarity index 99% rename from ublox.cpp rename to src/ublox.cpp index 2e5efb5..93c1328 100644 --- a/ublox.cpp +++ b/src/ublox.cpp @@ -1,4 +1,4 @@ -#include "main.h" +// NOTE: This file is not used at the moment. // See https://github.com/iNavFlight/inav/blob/master/src/main/io/gps_ublox.c // UBLOX: https://www.u-blox.com/sites/default/files/products/documents/u-blox6_ReceiverDescrProtSpec_%28GPS.G6-SW-10018%29_Public.pdf diff --git a/src/vive_sensors_pipeline.cpp b/src/vive_sensors_pipeline.cpp new file mode 100644 index 0000000..fe6181a --- /dev/null +++ b/src/vive_sensors_pipeline.cpp @@ -0,0 +1,117 @@ +#include "vive_sensors_pipeline.h" + +#include "data_frame_decoder.h" +#include "debug_node.h" +#include "formatters.h" +#include "geometry.h" +#include "input.h" +#include "outputs.h" +#include "pulse_processor.h" +#include "settings.h" + +#include + +// Create Pipeline specialized for Vive Sensors, using provided configuration settings. +// In this function we create and interconnect all needed WorkerNodes to make project work. +// NOTE: This function will also be called for validation purposes, so no hardware changes should be made. +// (move all hardware changes to start() methods) +std::unique_ptr create_vive_sensor_pipeline(const PersistentSettings &settings) { + + // Create pipeline itself. + auto pipeline = std::make_unique(); + + // Create central element PulseProcessor. + auto pulse_processor = pipeline->add_back(std::make_unique(settings.inputs().size())); + + // Create input nodes as configured. + std::vector inputs; + for (uint32_t i = 0; i < settings.inputs().size(); i++) { + auto &def = settings.inputs()[i]; + auto node = pipeline->add_front(InputNode::create(i, def)); + node->pipe(pulse_processor); + inputs.push_back(node); + } + + // Create geometry builders as configured. + std::vector geometry_builders; + for (uint32_t i = 0; i < settings.geo_builders().size(); i++) { + auto &def = settings.geo_builders()[i]; + auto node = pipeline->add_back(std::make_unique(i, def, settings.base_stations())); + pulse_processor->Producer::pipe(node); + geometry_builders.push_back(node); + } + + // Create Data Frame Decoders for all defined base stations. + for (uint32_t i = 0; i < settings.base_stations().size(); i++) { + auto node = pipeline->add_back(std::make_unique(i)); + pulse_processor->Producer::pipe(node); + } + + // Create Output Nodes + std::vector> output_nodes(num_outputs); + for (uint32_t i = 0; i < settings.outputs().size(); i++) { + auto &def = settings.outputs()[i]; + if (def.active) { + output_nodes[i] = OutputNode::create(i, def); + // NOTE: We defer adding node to the pipeline until after formatter nodes. + } + } + + // Create Formatter Nodes + for (uint32_t i = 0; i < settings.formatters().size(); i++) { + auto &def = settings.formatters()[i]; + FormatterNode *formatter; + switch (def.formatter_type) { + case FormatterType::kAngles: { + auto node = pipeline->add_back(std::make_unique(i, def)); + pulse_processor->Producer::pipe(node); + formatter = node; + break; + } + // TODO: case FormatterType::kDataFrame: + case FormatterType::kPosition: { + if (def.input_idx >= geometry_builders.size()) + throw_printf("Geometry builder g%d not found.", def.input_idx); + Producer *geometry_source = geometry_builders[def.input_idx]; + + // Convert coordinate system if needed. + if (auto coord_conv = CoordinateSystemConverter::create(def.coord_sys_type, def.coord_sys_params)) { + auto node = pipeline->add_back(std::move(coord_conv)); + geometry_source->pipe(node); + geometry_source = node; + } + + // Instantiate the concrete subtype of a geometry formatter. + auto node = pipeline->add_back(GeometryFormatter::create(i, def)); + geometry_source->pipe(node); + formatter = node; + break; + } + default: + throw_printf("Unknown formatter type: %d", def.formatter_type); + } + + // pipe formatter to the output. + if (def.output_idx < output_nodes.size() && output_nodes[def.output_idx]) + formatter->pipe(output_nodes[def.output_idx].get()); + else + throw_printf("Uninitialized output %d given for stream %d", def.output_idx, i); + } + + // Add Output Nodes to pipeline. It's preferable to do it last to keep the order of execution straight. + std::vector outputs(num_outputs); + for (uint32_t i = 0; i < output_nodes.size(); i++) + if (output_nodes[i]) + outputs[i] = pipeline->add_back(std::move(output_nodes[i])); + + // Append Debug node to make it possible to print what's going on. + // TODO: Make it configurable which output to pipe to. + if (OutputNode *debug_output = outputs[0]) { + auto debug_node = pipeline->add_back(std::make_unique(pipeline.get())); + debug_node->Producer::pipe(debug_output); + debug_node->Producer::pipe(debug_output); + debug_output->pipe(debug_node); + } + + return pipeline; +} diff --git a/src/vive_sensors_pipeline.h b/src/vive_sensors_pipeline.h new file mode 100644 index 0000000..d7c05d1 --- /dev/null +++ b/src/vive_sensors_pipeline.h @@ -0,0 +1,8 @@ +#pragma once +#include + +class PersistentSettings; +class Pipeline; + +// Create Pipeline specialized for Vive Sensors, using provided configuration settings. +std::unique_ptr create_vive_sensor_pipeline(const PersistentSettings &settings); diff --git a/teensy-arm.toolchain.cmake b/teensy-arm.toolchain.cmake index a5fbc2e..3a18562 100644 --- a/teensy-arm.toolchain.cmake +++ b/teensy-arm.toolchain.cmake @@ -58,19 +58,19 @@ set_property(CACHE TEENSY_USB_MODE PROPERTY STRINGS SERIAL HID SERIAL_HID MIDI R set(TARGET_FLAGS "-mcpu=cortex-m4 -mthumb -mfp16-format=ieee") set(OPTIMIZE_FLAGS "-O2" CACHE STRING "Optimization flags") # Remember to reset cache and rebuild cmake when changing this. -set(CMAKE_C_FLAGS "${OPTIMIZE_FLAGS} -Wall -nostdlib -ffunction-sections -fdata-sections ${TARGET_FLAGS}" CACHE STRING "C/C++ flags") -set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-exceptions -fno-rtti -felide-constructors -std=gnu++0x -fsingle-precision-constant" CACHE STRING "c++ flags") +set(CMAKE_C_FLAGS "${OPTIMIZE_FLAGS} -Wall -ffunction-sections -fdata-sections -Wstack-usage=256 ${TARGET_FLAGS}" CACHE STRING "C/C++ flags") +set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fsingle-precision-constant -Woverloaded-virtual" CACHE STRING "C++ flags") + +set(CMAKE_C_FLAGS_RELEASE "-DNDEBUG" CACHE STRING "" FORCE) # Don't do -O3 because it increases the size. Just remove asserts. +set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG" CACHE STRING "" FORCE) link_libraries(m) set(LINKER_FLAGS "--gc-sections,--relax,--defsym=__rtc_localtime=0" CACHE STRING "Ld flags") set(CXX_LINKER_FLAGS "${OPTIMIZE_FLAGS} -Wl,${LINKER_FLAGS} ${TARGET_FLAGS} -T${TEENSY_ROOT}/mk20dx256.ld") -set(CMAKE_SHARED_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Linker flags" FORCE) -set(CMAKE_MODULE_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Linker flags" FORCE) -set(CMAKE_EXE_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Linker flags" FORCE) - -# Don't pass regular CMAKE_CXX_FLAGS because that causes undefined symbols -set(CMAKE_CXX_LINK_EXECUTABLE " -o ") +set(CMAKE_SHARED_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Shared Linker flags" FORCE) +set(CMAKE_MODULE_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Module Linker flags" FORCE) +set(CMAKE_EXE_LINKER_FLAGS "${CXX_LINKER_FLAGS}" CACHE STRING "Executable Linker flags" FORCE) add_definitions("-DARDUINO=${ARDUINO_VERSION}") @@ -79,6 +79,7 @@ add_definitions("-D__${TEENSY_MODEL}__") add_definitions("-DUSB_${TEENSY_USB_MODE}") add_definitions("-DF_CPU=${TEENSY_FREQUENCY}000000") add_definitions("-DLAYOUT_US_ENGLISH") +add_definitions("-DNEW_H") # Don't include new.h header as it defines non-standard operator new(). add_definitions("-MMD") # Define target for the Teensy 'core' library. @@ -88,9 +89,14 @@ if (NOT TARGET TeensyCore AND NOT ${CMAKE_SOURCE_DIR} MATCHES "CMakeTmp") file(GLOB TEENSY_C_CORE_FILES "${TEENSY_ROOT}/*.c") list(REMOVE_ITEM TEENSY_C_CORE_FILES "${TEENSY_ROOT}/math_helper.c") # legacy cmsis file - not needed anyway. file(GLOB TEENSY_CXX_CORE_FILES "${TEENSY_ROOT}/*.cpp") + list(REMOVE_ITEM TEENSY_CXX_CORE_FILES "${TEENSY_ROOT}/new.cpp") # Don't use non-standard operator new. add_library(TeensyCore ${TEENSY_C_CORE_FILES} ${TEENSY_CXX_CORE_FILES}) link_libraries(TeensyCore) include_directories(${TEENSY_ROOT}) + add_custom_command(TARGET TeensyCore POST_BUILD + COMMAND ${CMAKE_OBJCOPY} --weaken-symbol=_sbrk $ + COMMENT Allow replacement of _sbrk() to better control memory allocation + ) endif (NOT TARGET TeensyCore AND NOT ${CMAKE_SOURCE_DIR} MATCHES "CMakeTmp") @@ -110,10 +116,14 @@ function(add_firmware_targets TARGET_NAME) COMMAND ${CMAKE_PRINT_SIZE} $ ${PROCESS_SIZE_CMD_OUTPUT} COMMAND ${CMAKE_OBJCOPY} ${EEPROM_OPTS} $ ${TARGET_NAME}.eep COMMAND ${CMAKE_OBJCOPY} ${HEX_OPTS} $ ${TARGET_NAME}.hex - VERBATIM) + VERBATIM + ) add_custom_target(${TARGET_NAME}_Assembler - COMMAND ${CMAKE_OBJDUMP} -d $ > ${CMAKE_SOURCE_DIR}/build/source.S ) + COMMAND ${CMAKE_OBJDUMP} --demangle --disassemble --headers --wide $ > ${CMAKE_SOURCE_DIR}/build/source.S + COMMAND ${CMAKE_OBJDUMP} --demangle --disassemble --source --wide $ > ${CMAKE_SOURCE_DIR}/build/source-with-text.S + COMMAND ${CMAKE_OBJDUMP} --demangle --syms $ | sort > ${CMAKE_SOURCE_DIR}/build/source-symbols.txt + ) # See https://github.com/Koromix/ty find_file(TY_EXECUTABLE tyc diff --git a/test/main_test.cpp b/test/main_test.cpp new file mode 100644 index 0000000..df553f3 --- /dev/null +++ b/test/main_test.cpp @@ -0,0 +1,4 @@ +#define CATCH_CONFIG_MAIN +#include + +// Main Catch.hpp file. Don't place anything here. diff --git a/test/platform_mocks.cpp b/test/platform_mocks.cpp new file mode 100644 index 0000000..cb326ea --- /dev/null +++ b/test/platform_mocks.cpp @@ -0,0 +1,43 @@ +#include "led_state.h" +#include "primitives/timestamp.h" +#include "primitives/string_utils.h" +#include "input.h" +#include +#include +#include + +void set_led_state(LedState state) { + // Do nothing +} + +Timestamp Timestamp::cur_time() { + return 0; +} + +uint32_t Timestamp::get_value(TimeUnit tu) const { + // TODO: Make platform-independent. + return 0; +} + +size_t Print::write(const uint8_t *buffer, size_t size) { + // Do nothing + return 0; +} + +int Print::printf(const char *format, ...) { + char buf[256]; + va_list args; + va_start(args, format); + int res = vsnprintf(buf, sizeof(buf), format, args); + if (res > 0) { + write(buf, res); + } + va_end(args); + return res; +} + +std::unique_ptr createInputCmpNode(uint32_t input_idx, const InputDef &input_def) { + return nullptr; +} + + diff --git a/test/test_pulse_processor.cpp b/test/test_pulse_processor.cpp new file mode 100644 index 0000000..9a4f9cd --- /dev/null +++ b/test/test_pulse_processor.cpp @@ -0,0 +1,12 @@ +#include +#include "pulse_processor.h" +#include + + +TEST_CASE("PulseProcessor gets a fix after small number of pulses") { + const int num_inputs = 1; + auto pp = std::make_unique(num_inputs); + + pp->consume({.input_idx=0, .start_time=Timestamp(), .pulse_len=TimeDelta(128, usec)}); + REQUIRE(num_inputs == 1); +} diff --git a/util.cpp b/util.cpp deleted file mode 100644 index 902a2b0..0000000 --- a/util.cpp +++ /dev/null @@ -1,23 +0,0 @@ - -#include "main.h" - -// Returns true only once per period_ms. cur_time is the current time in ms. prev_period is a pointer to uint32_t that -// keeps data between calls, should not be used otherwise; slips will contain the number of skipped periods, if provided. -// Usage: -// void loop() { -// static uint32_t block_period = 0; -// if (throttle_ms(1000, millis(), &block_period)) { -// // This block will be executed once every 1000 ms. -// } -// } -bool throttle_ms(uint32_t period_ms, uint32_t cur_time, uint32_t *prev_period, uint32_t *slips) { - uint32_t cur_period = cur_time / period_ms; - if (cur_period == *prev_period) { - return false; // We're in the same period - } else { - if (slips && *prev_period && cur_period != *prev_period+1) - (*slips)++; - *prev_period = cur_period; - return true; - } -}