Merge pull request #28 from humanoid2050/MSPv2_support

Multiwii Serial Protocol Version 2 support

- single message base class with encode and decode methods
- rudimentary support for different message definitions for the same ID
- removal of old synchronous API (class MSP)
- auto code formatting via clang-format

.clang-format

@@ -0,0 +1,63 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: '-4'
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: 'true'
+AlignEscapedNewlines: Left
+AlignOperands: 'true'
+AlignTrailingComments: 'true'
+AllowShortBlocksOnASingleLine: 'false'
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: 'true'
+AllowShortLoopsOnASingleLine: 'true'
+AlwaysBreakAfterReturnType: None
+AlwaysBreakTemplateDeclarations: 'false'
+BinPackArguments: 'false'
+BinPackParameters: 'true'
+BraceWrapping:
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBraces: Custom
+BreakBeforeInheritanceComma: 'false'
+BreakConstructorInitializers: AfterColon
+CompactNamespaces: 'false'
+ContinuationIndentWidth: '4'
+Cpp11BracedListStyle: 'true'
+FixNamespaceComments: 'true'
+IncludeBlocks: Merge
+IndentCaseLabels: 'false'
+IndentWidth: '4'
+IndentWrappedFunctionNames: 'false'
+KeepEmptyLinesAtTheStartOfBlocks: 'false'
+Language: Cpp
+NamespaceIndentation: None
+PointerAlignment: Right
+ReflowComments: 'true'
+SpaceAfterCStyleCast: 'false'
+SpaceAfterTemplateKeyword: 'true'
+SpaceBeforeAssignmentOperators: 'true'
+SpaceBeforeParens: Never
+SpaceInEmptyParentheses: 'false'
+SpacesInAngles: 'false'
+SpacesInCStyleCastParentheses: 'false'
+SpacesInContainerLiterals: 'false'
+SpacesInParentheses: 'false'
+SpacesInSquareBrackets: 'false'
+Standard: Cpp11
+TabWidth: '4'
+UseTab: Never
+
+...

CMakeLists.txt

@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.1)
 project(msp)
 
-set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
 if(UNIX)
@@ -18,6 +18,9 @@ if(WIN32)
     include_directories(${ASIO_HEADER_PATH})
 endif()
 
+OPTION(BUILD_EXAMPLES "Build Library with examples" ON)
+OPTION(BUILD_TESTS "Build Library with tests" OFF)
+
 find_package(Threads)
 
 set(MSP_SOURCE_DIR src)
@@ -28,15 +31,8 @@ include_directories(${MSP_INCLUDE_DIR})
 ################################################################################
 ### libraries
 
-# low-level API
-add_library(msp ${MSP_SOURCE_DIR}/MSP.cpp)
-target_link_libraries(msp ${CMAKE_THREAD_LIBS_INIT})
-
-# printing message content
-add_library(msp_msg_print ${MSP_SOURCE_DIR}/msg_print.cpp)
-
 # client library
-add_library(mspclient ${MSP_SOURCE_DIR}/Client.cpp)
+add_library(mspclient ${MSP_SOURCE_DIR}/Client.cpp ${MSP_SOURCE_DIR}/PeriodicTimer.cpp)
 target_link_libraries(mspclient ${CMAKE_THREAD_LIBS_INIT})
 
 # high-level API
@@ -47,54 +43,46 @@ target_link_libraries(msp_fcu mspclient)
 ################################################################################
 ### examples / tests
 
-# test reading speed
-add_executable(msp_connection_test examples/msp_connection_test.cpp)
-target_link_libraries(msp_connection_test msp)
+if(BUILD_EXAMPLES)
 
-# test and print all requests
-add_executable(msp_read_test examples/msp_read_test.cpp)
-target_link_libraries(msp_read_test msp msp_msg_print)
+    # testing publish/subscribe
+    add_executable(fcu_test examples/fcu_test.cpp)
+    target_link_libraries(fcu_test msp_fcu)
 
-# testing publish/subscribe
-add_executable(fcu_test examples/fcu_test.cpp)
-target_link_libraries(fcu_test msp_fcu msp_msg_print)
+    # test arming and disarming
+    add_executable(fcu_arm examples/fcu_arm_test.cpp)
+    target_link_libraries(fcu_arm msp_fcu)
 
-# test arming and disarming
-add_executable(fcu_arm examples/fcu_arm_test.cpp)
-target_link_libraries(fcu_arm msp_fcu)
+    # test setting motors directly
+    add_executable(fcu_motors examples/fcu_motor_test.cpp)
+    target_link_libraries(fcu_motors msp_fcu)
 
-# test setting motors directly
-add_executable(fcu_motors examples/fcu_motor_test.cpp)
-target_link_libraries(fcu_motors msp_fcu)
+    # subscribing with custom type
+    add_executable(fcu_custom_type examples/fcu_custom_type.cpp)
+    target_link_libraries(fcu_custom_type msp_fcu)
 
-# subscribing with custom type
-add_executable(fcu_custom_type examples/fcu_custom_type.cpp)
-target_link_libraries(fcu_custom_type msp_fcu)
+    # client test for asynchronous callbacks
+    add_executable(client_async_test examples/client_async_test.cpp)
+    target_link_libraries(client_async_test mspclient )
 
-# cleanflight requests
-add_executable(cleanflight_read_test examples/cleanflight_read_test.cpp)
-target_link_libraries(cleanflight_read_test msp msp_msg_print)
-
-# client test for asynchronous callbacks
-add_executable(client_async_test examples/client_async_test.cpp)
-target_link_libraries(client_async_test mspclient msp_msg_print)
-
-# client test for blocking read
-add_executable(client_read_test examples/client_read_test.cpp)
-target_link_libraries(client_read_test mspclient msp_msg_print)
+    # client test for blocking read
+    add_executable(client_read_test examples/client_read_test.cpp)
+    target_link_libraries(client_read_test mspclient )
 
+endif()
 
 ################################################################################
 ### installation
 
-install(TARGETS msp msp_msg_print msp_fcu mspclient
+#install(TARGETS msp msp_msg_print msp_fcu mspclient
+install(TARGETS msp_fcu mspclient
     LIBRARY DESTINATION lib
     ARCHIVE DESTINATION lib)
 install(DIRECTORY ${MSP_INCLUDE_DIR} DESTINATION include/ FILES_MATCHING PATTERN "*.hpp")
 
 SET(PKG_CONFIG_LIBDIR       "\${prefix}/lib" )
 SET(PKG_CONFIG_INCLUDEDIR   "\${prefix}/include/" )
-SET(PKG_CONFIG_LIBS         "-L\${libdir} -lmsp -lmsp_fcu -lmspclient -lmsp_msg_print" )
+SET(PKG_CONFIG_LIBS         "-L\${libdir} -lmsp_fcu -lmspclient" )
 SET(PKG_CONFIG_CFLAGS       "-I\${includedir}" )
 
 CONFIGURE_FILE(
@@ -104,3 +92,52 @@ CONFIGURE_FILE(
 
 INSTALL(FILES "${CMAKE_BINARY_DIR}/${PROJECT_NAME}.pc"
         DESTINATION lib/pkgconfig)
+
+
+
+###############################################################################
+### testing
+if(BUILD_TESTS)
+    enable_testing()
+
+    # Download and unpack googletest at configure time
+    configure_file(CMakeLists.txt.in googletest/CMakeLists.txt)
+    execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" .
+      RESULT_VARIABLE result
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest )
+    if(result)
+      message(FATAL_ERROR "CMake step for googletest failed: ${result}")
+    endif()
+    execute_process(COMMAND ${CMAKE_COMMAND} --build .
+      RESULT_VARIABLE result
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/googletest )
+    if(result)
+      message(FATAL_ERROR "Build step for googletest failed: ${result}")
+    endif()
+
+    # Prevent overriding the parent project's compiler/linker
+    # settings on Windows
+    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+
+    # Add googletest directly to our build. This defines
+    # the gtest and gtest_main targets.
+    add_subdirectory(/usr/src/gtest
+                     ${CMAKE_BINARY_DIR}/googletest-build
+                     EXCLUDE_FROM_ALL)
+
+    # The gtest/gtest_main targets carry header search path
+    # dependencies automatically when using CMake 2.8.11 or
+    # later. Otherwise we have to add them here ourselves.
+    if (CMAKE_VERSION VERSION_LESS 2.8.11)
+      include_directories("${gtest_SOURCE_DIR}/include")
+    endif()
+
+    add_executable(value_test test/value_test.cpp)
+    target_link_libraries(value_test gtest_main)
+    add_test(NAME value_test COMMAND value_test)
+
+    add_executable(bytevector_test test/ByteVector_test.cpp)
+    target_link_libraries(bytevector_test gtest_main)
+    add_test(NAME bytevector_test COMMAND bytevector_test)
+
+endif()

CMakeLists.txt.in

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.2)
+
+project(googletest NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+  SOURCE_DIR        "/usr/src/gtest"
+  BINARY_DIR        "${CMAKE_BINARY_DIR}/googletest-build"
+  CONFIGURE_COMMAND ""
+  BUILD_COMMAND     ""
+  INSTALL_COMMAND   ""
+  TEST_COMMAND      ""
+)