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Fixes for compiling metadata with c++17 and switch std::span to micro…
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…strain::Span
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@microstrain-sam
microstrain-sam committed Sep 20, 2024
1 parent b4ed593 commit 4f0137d
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Showing 6 changed files with 167 additions and 149 deletions.
15 changes: 14 additions & 1 deletion src/cpp/microstrain/common/span.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,11 @@ struct Span
[[nodiscard]] constexpr size_t size() const noexcept { return extent; }
[[nodiscard]] constexpr bool empty() const noexcept { return extent == 0; }

[[nodiscard]] constexpr Span<T, DYNAMIC_EXTENT> subspan(size_t index, size_t length) const { return {m_ptr+index, length}; }
[[nodiscard]] constexpr Span<T, DYNAMIC_EXTENT> subspan(size_t index) const { return {m_ptr+index, extent-index}; }
template<size_t Offset, size_t Count = DYNAMIC_EXTENT>
[[nodiscard]] constexpr Span<T, Count == DYNAMIC_EXTENT ? DYNAMIC_EXTENT : Extent-Count> subspan() const { return {m_ptr+Offset}; }

private:
const pointer m_ptr = nullptr;
};
Expand All @@ -70,7 +75,10 @@ struct Span<T, DYNAMIC_EXTENT>
using const_pointer = const T*;
using const_reference = const T&;

Span(pointer ptr, size_t cnt) : m_ptr(ptr), m_cnt(cnt) {}
constexpr Span() = default;
constexpr Span(pointer ptr, size_t cnt) : m_ptr(ptr), m_cnt(cnt) {}
template<size_t N>
constexpr Span(const T (&arr)[N]) : m_ptr(arr), m_cnt(N) {}

constexpr pointer begin() const noexcept { return m_ptr; }
constexpr pointer end() const noexcept { return m_ptr+m_cnt; }
Expand All @@ -86,6 +94,11 @@ struct Span<T, DYNAMIC_EXTENT>
[[nodiscard]] constexpr size_t size() const noexcept { return m_cnt; }
[[nodiscard]] constexpr bool empty() const noexcept { return m_cnt == 0; }

[[nodiscard]] constexpr Span<T, DYNAMIC_EXTENT> subspan(size_t index, size_t length) const { return {m_ptr+index, length}; }
[[nodiscard]] constexpr Span<T, DYNAMIC_EXTENT> subspan(size_t index) const { return {m_ptr+index, m_cnt-index}; }
template<size_t Offset, size_t Count = DYNAMIC_EXTENT>
[[nodiscard]] constexpr Span<T, Count> subspan() const { return {m_ptr+Offset, Count}; }

private:
pointer const m_ptr = nullptr;
size_t const m_cnt = 0;
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260 changes: 130 additions & 130 deletions src/cpp/mip/metadata/definitions/common.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -16,43 +16,43 @@ struct MetadataFor<CmdResult>

static constexpr inline EnumInfo::Entry entries[] = {
{
.value = CmdResult::ACK_OK,
.name = "OK",
.docs = "Command completed successfully",
/*.value =*/ CmdResult::ACK_OK,
/*.name =*/ "OK",
/*.docs =*/ "Command completed successfully",
},
{
.value = CmdResult::NACK_COMMAND_UNKNOWN,
.name = "Unknown Command",
.docs = "The device did not recognize the command",
/*.value =*/ CmdResult::NACK_COMMAND_UNKNOWN,
/*.name =*/ "Unknown Command",
/*.docs =*/ "The device did not recognize the command",
},
{
.value = CmdResult::NACK_INVALID_CHECKSUM,
.name = "Invalid Checksum",
.docs = "An packet with an invalid checksum was received by the device",
/*.value =*/ CmdResult::NACK_INVALID_CHECKSUM,
/*.name =*/ "Invalid Checksum",
/*.docs =*/ "An packet with an invalid checksum was received by the device",
},
{
.value = CmdResult::NACK_INVALID_PARAM,
.name = "Invalid Parameter",
.docs = "One or more parameters to the command were not valid",
/*.value =*/ CmdResult::NACK_INVALID_PARAM,
/*.name =*/ "Invalid Parameter",
/*.docs =*/ "One or more parameters to the command were not valid",
},
{
.value = CmdResult::NACK_COMMAND_FAILED,
.name = "Command Failed",
.docs = "The device could not complete the command",
/*.value =*/ CmdResult::NACK_COMMAND_FAILED,
/*.name =*/ "Command Failed",
/*.docs =*/ "The device could not complete the command",
},
{
.value = CmdResult::NACK_COMMAND_TIMEOUT,
.name = "Device Timeout",
.docs = "The device reported a timeout condition",
/*.value =*/ CmdResult::NACK_COMMAND_TIMEOUT,
/*.name =*/ "Device Timeout",
/*.docs =*/ "The device reported a timeout condition",
},
// Status codes not represented here as they don't come from the device.
};

static constexpr inline EnumInfo value = {
.name = "CmdResult",
.docs = "Acknowledgement/reply code from the device after a command is issued",
.type = Type::U8,
.entries = entries,
/*.name =*/ "CmdResult",
/*.docs =*/ "Acknowledgement/reply code from the device after a command is issued",
/*.type =*/ Type::U8,
/*.entries =*/ entries,
};
};

Expand All @@ -75,22 +75,22 @@ struct MetadataFor<ReplyField>

static constexpr inline ParameterInfo parameters[] = {
{
.name = "cmd_field_desc",
.docs = "The field descriptor of the command this field acknowledges.",
.type = {Type::U8},
.accessor = utils::access<type, uint8_t, &type::cmd_field_desc>,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "cmd_field_desc",
/*.docs =*/ "The field descriptor of the command this field acknowledges.",
/*.type =*/ {Type::U8},
/*.accessor =*/ utils::access<type, uint8_t, &type::cmd_field_desc>,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
{
.name = "result",
.docs = "Result of the command.",
.type = {Type::ENUM, &MetadataFor<CmdResult>::value},
.accessor = utils::access<type, CmdResult, &type::result>,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "result",
/*.docs =*/ "Result of the command.",
/*.type =*/ {Type::ENUM, &MetadataFor<CmdResult>::value},
/*.accessor =*/ utils::access<type, CmdResult, &type::result>,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
};

Expand All @@ -113,30 +113,30 @@ struct MetadataFor<DescriptorRate>

static constexpr inline ParameterInfo parameters[] = {
{
.name = "descriptor",
.docs = "MIP data descriptor",
.type = {Type::U8},
.accessor = utils::access<type, uint8_t, &type::descriptor>,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "descriptor",
/*.docs =*/ "MIP data descriptor",
/*.type =*/ {Type::U8},
/*.accessor =*/ utils::access<type, uint8_t, &type::descriptor>,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
{
.name = "decimation",
.docs = "Decimation from the base rate",
.type = {Type::U16},
.accessor = utils::access<type, uint16_t, &type::decimation>,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "decimation",
/*.docs =*/ "Decimation from the base rate",
/*.type =*/ {Type::U16},
/*.accessor =*/ utils::access<type, uint16_t, &type::decimation>,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
};

static constexpr inline StructInfo value = {
.name = "DescriptorRate",
.title = "Descriptor Rate",
.docs = "Descriptor rate information",
.parameters = parameters,
/*.name =*/ "DescriptorRate",
/*.title =*/ "Descriptor Rate",
/*.docs =*/ "Descriptor rate information",
/*.parameters =*/ parameters,
};
};

Expand All @@ -148,89 +148,89 @@ struct MetadataFor<Vector<T,N>>

static constexpr inline ParameterInfo parameters[] = {
{
.name = "x",
.docs = "X axis",
.type = {utils::ParamType<T>::value},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "x",
/*.docs =*/ "X axis",
/*.type =*/ {utils::ParamType<T>::value},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
{
.name = "y",
.docs = "Y axis",
.type = {utils::ParamType<T>::value},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "y",
/*.docs =*/ "Y axis",
/*.type =*/ {utils::ParamType<T>::value},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
{
.name = "z",
.docs = "Z axis",
.type = {utils::ParamType<T>::value},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "z",
/*.docs =*/ "Z axis",
/*.type =*/ {utils::ParamType<T>::value},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
{
.name = "w",
.docs = "W axis",
.type = {utils::ParamType<T>::value},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 1,
.condition = {},
/*.name =*/ "w",
/*.docs =*/ "W axis",
/*.type =*/ {utils::ParamType<T>::value},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 1,
/*.condition =*/ {},
},
};


static constexpr inline StructInfo values_f[3] = {
{
.name = "Vector2f",
.title = "Vector2f",
.docs = "2-dimensional vector of floats",
.parameters = {parameters, 2}
/*.name =*/ "Vector2f",
/*.title =*/ "Vector2f",
/*.docs =*/ "2-dimensional vector of floats",
/*.parameters =*/ {parameters, 2}
},
{
.name = "Vector3f",
.title = "Vector3f",
.docs = "3-dimensional vector of floats",
.parameters = {parameters, 3}
/*.name =*/ "Vector3f",
/*.title =*/ "Vector3f",
/*.docs =*/ "3-dimensional vector of floats",
/*.parameters =*/ {parameters, 3}
},
{
.name = "Vector4f",
.title = "Vector4f",
.docs = "4-dimensional vector of floats",
.parameters = {parameters, 4}
/*.name =*/ "Vector4f",
/*.title =*/ "Vector4f",
/*.docs =*/ "4-dimensional vector of floats",
/*.parameters =*/ {parameters, 4}
},
};
static constexpr inline StructInfo values_d[3] = {
{
.name = "Vector2d",
.title = "Vector2d",
.docs = "2-dimensional vector of doubles",
.parameters = {parameters, 2}
/*.name =*/ "Vector2d",
/*.title =*/ "Vector2d",
/*.docs =*/ "2-dimensional vector of doubles",
/*.parameters =*/ {parameters, 2}
},
{
.name = "Vector3d",
.title = "Vector3d",
.docs = "3-dimensional vector of doubles",
.parameters = {parameters, 3}
/*.name =*/ "Vector3d",
/*.title =*/ "Vector3d",
/*.docs =*/ "3-dimensional vector of doubles",
/*.parameters =*/ {parameters, 3}
},
{
.name = "Vector4d",
.title = "Vector4d",
.docs = "4-dimensional vector of doubles",
.parameters = {parameters, 4}
/*.name =*/ "Vector4d",
/*.title =*/ "Vector4d",
/*.docs =*/ "4-dimensional vector of doubles",
/*.parameters =*/ {parameters, 4}
},
};

static_assert(std::is_floating_point_v<T>, "Expected either float or double");
static_assert(std::is_floating_point<T>::value, "Expected either float or double");
static_assert(N >= 2 && N <= 4, "N should be in the range [2,4].");

static constexpr inline const StructInfo& value = std::is_same_v<T,double> ? values_d[N-2] : values_f[N-2];
static constexpr inline const StructInfo& value = std::is_same<T,double>::value ? values_d[N-2] : values_f[N-2];
};


Expand All @@ -241,21 +241,21 @@ struct MetadataFor<Matrix3f>

static constexpr inline ParameterInfo parameters[] = {
{
.name = "m",
.docs = "Matrix data",
.type = {Type::FLOAT},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 3,
.condition = {},
/*.name =*/ "m",
/*.docs =*/ "Matrix data",
/*.type =*/ {Type::FLOAT},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 3,
/*.condition =*/ {},
},
};

static constexpr inline StructInfo value = {
.name = "Matrix3f",
.title = "3x3 Float Matrix",
.docs = "Represents a 3D matrix of floats.",
.parameters = parameters,
/*.name =*/ "Matrix3f",
/*.title =*/ "3x3 Float Matrix",
/*.docs =*/ "Represents a 3D matrix of floats.",
/*.parameters =*/ parameters,
};
};

Expand All @@ -266,21 +266,21 @@ struct MetadataFor<Matrix3d>

static constexpr inline ParameterInfo parameters[] = {
{
.name = "m",
.docs = "Matrix data",
.type = {Type::DOUBLE},
.accessor = nullptr,
.attributes = NO_FUNCTIONS,
.count = 3,
.condition = {},
/*.name =*/ "m",
/*.docs =*/ "Matrix data",
/*.type =*/ {Type::DOUBLE},
/*.accessor =*/ nullptr,
/*.attributes =*/ NO_FUNCTIONS,
/*.count =*/ 3,
/*.condition =*/ {},
},
};

static constexpr inline StructInfo value = {
.name = "Matrix3f",
.title = "3x3 Double Matrix",
.docs = "Represents a 3D matrix of doubles.",
.parameters = parameters,
/*.name =*/ "Matrix3f",
/*.title =*/ "3x3 Double Matrix",
/*.docs =*/ "Represents a 3D matrix of doubles.",
/*.parameters =*/ parameters,
};
};

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