Merge pull request #278 from HyperloopUPV-H8/development

v2.5.0

Author: ricardochust

Inc/C++Utilities/CppUtils.hpp

@@ -27,7 +27,6 @@
 #include <memory>
 #include <random>
 #include <typeinfo>
-#include <optional>
 #include <forward_list>
 #include <ostream>
 #include <cstring>
@@ -41,7 +40,6 @@ namespace chrono = std::chrono;
 namespace placeholders = std::placeholders;
 
 using std::map;
-using std::optional;
 using std::array;
 using std::span;
 using std::pair;
@@ -59,7 +57,6 @@ using std::integral_constant;
 using std::snprintf;
 using std::make_unique;
 using std::unique_ptr;
-using std::string;
 using std::unordered_map;
 using std::vector;
 using std::queue;

Inc/HALAL/Services/ADC/ADC.hpp

@@ -64,11 +64,11 @@ class ADC {
 		Instance(Peripheral* peripheral, uint32_t channel);
 	};
 
-	static optional<uint8_t> inscribe(Pin pin);
+	static uint8_t inscribe(Pin pin);
 	static void start();
 	static void turn_on(uint8_t id);
 	static float get_value(uint8_t id);
-	static optional<uint16_t> get_int_value(uint8_t id);
+	static uint16_t get_int_value(uint8_t id);
 
 	static Peripheral peripherals[3];
 

Inc/HALAL/Services/Communication/FDCAN/FDCAN.hpp

@@ -104,7 +104,7 @@ class FDCAN{
     static FDCAN::Instance instance2;
     static FDCAN::Instance instance3;
 
-    static optional<uint8_t> inscribe(FDCAN::Peripheral& fdcan);
+    static uint8_t inscribe(FDCAN::Peripheral& fdcan);
 
     static void start();
 

Inc/HALAL/Services/Communication/I2C/I2C.hpp

@@ -82,8 +82,8 @@ class I2C {
 	 * @param uart I2C peripheral to register.
 	 * @return uint8_t Id of the service.
 	 */
-	static optional<uint8_t> inscribe(I2C::Peripheral &i2c);
-	static optional<uint8_t> inscribe(I2C::Peripheral &i2c, uint8_t address);
+	static uint8_t inscribe(I2C::Peripheral &i2c);
+	static uint8_t inscribe(I2C::Peripheral &i2c, uint8_t address);
 
 	/**
 	 * @brief This method initializes all registered I2Cs. The peripherals

Inc/HALAL/Services/Communication/SPI/SPI.hpp

@@ -98,7 +98,7 @@ class SPI{
      * @param spi SPI peripheral to register.
      * @return uint8_t Id of the service.
      */
-    static optional<uint8_t> inscribe(SPI::Peripheral& spi);
+    static uint8_t inscribe(SPI::Peripheral& spi);
 
     /**
      * @brief Method that initializes all enrolled SPI peripherals

Inc/HALAL/Services/Communication/UART/UART.hpp

@@ -7,6 +7,7 @@
 #pragma once
 
 #include "C++Utilities/CppUtils.hpp"
+#include "ErrorHandler/ErrorHandler.hpp"
 #include "PinModel/Pin.hpp"
 #include "Packets/RawPacket.hpp"
 
@@ -106,7 +107,7 @@ class UART{
      * @param uart UART peripheral to register.
      * @return uint8_t Id of the service.
      */
-    static optional<uint8_t> inscribe(UART::Peripheral& uart);
+    static uint8_t inscribe(UART::Peripheral& uart);
 
     /**
      * @brief This method initializes all registered UARTs. The peripherals

Inc/HALAL/Services/DigitalInputService/DigitalInputService.hpp

@@ -6,6 +6,7 @@
  */
 #pragma once
 #include "PinModel/Pin.hpp"
+#include "ErrorHandler/ErrorHandler.hpp"
 
 #ifdef HAL_GPIO_MODULE_ENABLED
 class DigitalInput{
@@ -14,6 +15,6 @@ class DigitalInput{
 	static uint8_t id_counter;
 
 	static uint8_t inscribe(Pin& pin);
-	static optional<PinState> read_pin_state(uint8_t id);
+	static PinState read_pin_state(uint8_t id);
 };
 #endif

Inc/HALAL/Services/EXTI/EXTI.hpp

@@ -33,10 +33,10 @@ class ExternalInterrupt {
 	static map<uint16_t, Instance> instances;
 	static uint8_t id_counter;
 
-	static optional<uint8_t> inscribe(Pin& pin, function<void()>&& action, TRIGGER trigger=RISING);
+	static uint8_t inscribe(Pin& pin, function<void()>&& action, TRIGGER trigger=RISING);
 	static void start();
 	static void turn_on(uint8_t id);
 	static void turn_off(uint8_t id);
-	static optional<bool> get_pin_value(uint8_t id);
+	static bool get_pin_value(uint8_t id);
 };
 #endif

Inc/HALAL/Services/Encoder/Encoder.hpp

@@ -31,9 +31,9 @@ class Encoder {
 	 * @param pin1	First pin of the encoder
 	 * @param pin2 	Second pin of the encoder
 	 *
-	 * @retval optional<uint8_t> Id of the service or empty if the pin pair is not valid
+	 * @retval uint8_t Id of the service
 	 */
-	static optional<uint8_t> inscribe(Pin& pin1, Pin& pin2);
+	static uint8_t inscribe(Pin& pin1, Pin& pin2);
 
 	static void start();
 
@@ -62,17 +62,17 @@ class Encoder {
 	 * @brief Get the CNT value of the encoder
 	 *
 	 * @param id Id of the encoder
-	 * @return optional<uint32_t> CNT value if the id is valid, empty if not
+	 * @return uint32_t CNT value if the id is valid
 	 */
-	static optional<uint32_t> get_counter(uint8_t id);
+	static uint32_t get_counter(uint8_t id);
 
 	/**
 	 * @brief Get the encoder direction
 	 *
 	 * @param id Id
-	 * @return optional<bool> Encoder direction if id is valid, empty if not
+	 * @return bool Encoder direction if id is valid
 	 */
-	static optional<bool> get_direction(uint8_t id);
+	static bool get_direction(uint8_t id);
 
 	static void init(TimerPeripheral* encoder);
 };

Inc/HALAL/Services/InputCapture/InputCapture.hpp

@@ -31,11 +31,11 @@ class InputCapture {
 	static map<Pin, InputCapture::Instance> available_instances;
 	static uint8_t id_counter;
 
-	static optional<uint8_t> inscribe(Pin& pin);
+	static uint8_t inscribe(Pin& pin);
 	static void turn_on(uint8_t id);
 	static void turn_off(uint8_t id);
-	static optional<uint32_t> read_frequency(uint8_t id);
-	static optional<uint8_t> read_duty_cycle(uint8_t id);
+	static uint32_t read_frequency(uint8_t id);
+	static uint8_t read_duty_cycle(uint8_t id);
 	static Instance find_instance_by_channel(uint32_t channel);
 };