🎨 Use libhal_unit_test for unit tests

Simplifies and standardizes the process for building libhal package unit
tests. Also utilizes clang-tidy in the unit test process

CMakeLists.txt

@@ -0,0 +1,55 @@
+# Copyright 2023 Google LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.15)
+
+# Because libhal is a header only library, this cmake file only builds and
+# executes the unit tests
+project(libhal LANGUAGES CXX)
+
+libhal_unit_test(SOURCES
+  tests/helpers.cpp
+  tests/can.test.cpp
+  tests/pwm.test.cpp
+  tests/timer.test.cpp
+  tests/i2c.test.cpp
+  tests/spi.test.cpp
+  tests/adc.test.cpp
+  tests/dac.test.cpp
+  tests/input_pin.test.cpp
+  tests/interrupt_pin.test.cpp
+  tests/output_pin.test.cpp
+  tests/serial.test.cpp
+  tests/steady_clock.test.cpp
+  tests/motor.test.cpp
+  tests/timeout.test.cpp
+  tests/error.test.cpp
+  tests/accelerometer.test.cpp
+  tests/distance_sensor.test.cpp
+  tests/gyroscope.test.cpp
+  tests/magnetometer.test.cpp
+  tests/rotation_sensor.test.cpp
+  tests/temperature_sensor.test.cpp
+  tests/servo.test.cpp
+  tests/g_force.test.cpp
+  tests/lengths.test.cpp
+  tests/main.test.cpp
+
+  PACKAGES
+  boost-leaf
+  tl-function-ref
+
+  LINK_LIBRARIES
+  boost::leaf
+  tl::function-ref)

conanfile.py

@@ -34,7 +34,7 @@ class libhal_conan(ConanFile):
                    "peripherals and devices using modern C++")
     topics = ("peripherals", "hardware", "abstraction", "devices", "hal")
     settings = "compiler", "build_type", "os", "arch"
-    exports_sources = "include/*", "tests/*", "LICENSE"
+    exports_sources = "include/*", "tests/*", "CMakeLists.txt", "LICENSE"
     generators = "CMakeToolchain", "CMakeDeps"
     no_copy_source = True
 
@@ -60,25 +60,20 @@ def validate(self):
 
     def build_requirements(self):
         self.tool_requires("cmake/3.27.1")
+        self.tool_requires("libhal-cmake-util/1.2.0")
+        self.test_requires("boost-ext-ut/1.1.9")
 
     def requirements(self):
         self.requires("tl-function-ref/1.0.0")
         self.requires("boost-leaf/1.81.0")
-        self.test_requires("boost-ext-ut/1.1.9")
 
     def layout(self):
         cmake_layout(self)
 
     def build(self):
-        if not self.conf.get("tools.build:skip_test", default=False):
-            cmake = CMake(self)
-            if self.settings.os == "Windows":
-                cmake.configure(build_script_folder="tests")
-            else:
-                cmake.configure(build_script_folder="tests",
-                                variables={"ENABLE_ASAN": True})
-            cmake.build()
-            self.run(os.path.join(self.cpp.build.bindir, "unit_test"))
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
 
     def package(self):
         copy(self, "LICENSE", dst=os.path.join(

tests/adc.test.cpp

@@ -26,9 +26,7 @@ class test_adc : public hal::adc
   constexpr static float m_returned_position{ 0.5f };
   bool m_return_error_status{ false };
 
-  ~test_adc()
-  {
-  }
+  ~test_adc() override = default;
 
 private:
   result<read_t> driver_read() override

tests/can.test.cpp

@@ -36,6 +36,7 @@ class test_can : public hal::can
   hal::callback<handler> m_handler = [](const message_t&) {};
   bool m_return_error_status{ false };
   bool m_bus_on_called{ false };
+  ~test_can() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/dac.test.cpp

@@ -25,9 +25,7 @@ class test_dac : public hal::dac
   float m_passed_value{};
   bool m_return_error_status{ false };
 
-  ~test_dac()
-  {
-  }
+  ~test_dac() override = default;
 
 private:
   result<write_t> driver_write(float p_value) override

tests/error.test.cpp

@@ -43,17 +43,16 @@ void error_test()
 
   "[success] hal::attempt calls handler"_test = []() {
     // Setup
-    constexpr int expected = 123456789;
+    static const int expected = 123456789;
     int value_to_be_change = 0;
 
     // Exercise
     // Should call the `on_error_callback` defined in the tweaks file
-    auto result =
-      attempt([expected]() -> status { return new_error(expected); },
-              [&value_to_be_change](int p_handler_value) -> status {
-                value_to_be_change = p_handler_value;
-                return {};
-              });
+    auto result = attempt([]() -> status { return new_error(expected); },
+                          [&value_to_be_change](int p_handler_value) -> status {
+                            value_to_be_change = p_handler_value;
+                            return {};
+                          });
 
     // Verify
     expect(that % value_to_be_change == expected);

tests/helpers.cpp

@@ -2,6 +2,6 @@
 
 bool compare_floats(float p_first, float p_second, float p_error_margin)
 {
-  float difference = abs(p_first - p_second);
+  float difference = std::abs(p_first - p_second);
   return difference < p_error_margin;
 }

tests/i2c.test.cpp

@@ -35,10 +35,12 @@ class test_i2c : public hal::i2c
   hal::byte m_address{};
   std::span<const hal::byte> m_data_out{};
   std::span<hal::byte> m_data_in{};
+  bool m_return_error_status{ false };
   std::function<hal::timeout_function> m_timeout = []() -> hal::status {
     return hal::success();
   };
-  bool m_return_error_status{ false };
+
+  ~test_i2c() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/input_pin.test.cpp

@@ -27,9 +27,7 @@ class test_input_pin : public hal::input_pin
   settings m_settings{};
   bool m_return_error_status{ false };
 
-  ~test_input_pin()
-  {
-  }
+  ~test_input_pin() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/motor.test.cpp

@@ -26,14 +26,12 @@ class test_motor : public hal::motor
   float m_power{};
   bool m_return_error_status{ false };
 
-  ~test_motor()
-  {
-  }
+  ~test_motor() override = default;
 
 private:
-  result<power_t> driver_power(float p_power) override
+  result<power_t> driver_power(float power) override
   {
-    m_power = p_power;
+    m_power = power;
     if (m_return_error_status) {
       return hal::new_error();
     }

tests/output_pin.test.cpp

@@ -29,9 +29,7 @@ class test_output_pin : public hal::output_pin
   bool m_driver_level{};
   bool m_return_error_status{ false };
 
-  ~test_output_pin()
-  {
-  }
+  ~test_output_pin() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/pwm.test.cpp

@@ -28,9 +28,7 @@ class test_pwm : public hal::pwm
   float m_duty_cycle{};
   bool m_return_error_status{ false };
 
-  ~test_pwm()
-  {
-  }
+  ~test_pwm() override = default;
 
 private:
   result<frequency_t> driver_frequency(hertz p_frequency) override

tests/serial.test.cpp

@@ -31,9 +31,7 @@ class test_serial : public hal::serial
   bool m_flush_called{ false };
   bool m_return_error_status{ false };
 
-  ~test_serial()
-  {
-  }
+  ~test_serial() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/servo.test.cpp

@@ -27,9 +27,7 @@ class test_servo : public hal::servo
 public:
   hal::degrees m_position = 0.0f;
 
-  ~test_servo()
-  {
-  }
+  ~test_servo() override = default;
 
 private:
   result<position_t> driver_position(hal::degrees p_position) override

tests/spi.test.cpp

@@ -31,10 +31,7 @@ class test_spi : public hal::spi
   std::span<hal::byte> m_data_in{};
   hal::byte m_filler{};
   bool m_return_error_status{ false };
-
-  ~test_spi()
-  {
-  }
+  ~test_spi() override = default;
 
 private:
   status driver_configure(const settings& p_settings) override

tests/steady_clock.test.cpp

@@ -24,9 +24,7 @@ class test_steady_clock : public hal::steady_clock
   constexpr static hertz m_frequency{ 1.0_Hz };
   constexpr static std::uint64_t m_uptime{ 100 };
 
-  ~test_steady_clock()
-  {
-  }
+  ~test_steady_clock() override = default;
 
 private:
   frequency_t driver_frequency() override