refactor: reorganize files & improve classes

18 files changed, 101 insertions, 102 deletions

diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 1133f3f..e78bb1d 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -1,7 +1,7 @@
-#include "calibration.hpp"
+#include "sensor/calibration.hpp"
 #include "sensor/sensor.hpp"
-#include "utils/memory.hpp"
-#include "utils/serial.hpp"
+#include "serial.hpp"
+#include "std/memory.hpp"
 
 #include <Arduino.h>
 #include <Wire.h>
diff --git a/src/calibration.cpp b/src/sensor/calibration.cpp
index 66a52bf..40bb52b 100644
--- a/src/calibration.cpp
+++ b/src/sensor/calibration.cpp
@@ -1,7 +1,7 @@
 #include "calibration.hpp"
 
-#include "utils/general.hpp"
-#include "utils/time.hpp"
+#include "std/time.hpp"
+#include "utils.hpp"
 
 SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> &sensor, SerialStream sout)
 	: _sensor(sensor), _sout(sout)
@@ -85,7 +85,7 @@ void SensorCalibrator::_adjustValues()
 	_gyro_z *= SENSOR_VAL_ADJUST;
 }
 
-bool SensorCalibrator::_isValuesInRange()
+bool SensorCalibrator::_isValuesInRange() const
 {
 	return (_accel_x < ACCEL_CAL_X_MAX && _accel_x > ACCEL_CAL_X_MIN &&
 			_accel_y < ACCEL_CAL_Y_MAX && _accel_y > ACCEL_CAL_Y_MIN &&
diff --git a/src/calibration.hpp b/src/sensor/calibration.hpp
index e29602a..03e2e9c 100644
--- a/src/calibration.hpp
+++ b/src/sensor/calibration.hpp
@@ -1,8 +1,8 @@
 #pragma once
 
 #include "sensor/sensor.hpp"
-#include "utils/memory.hpp"
-#include "utils/serial.hpp"
+#include "serial.hpp"
+#include "std/memory.hpp"
 
 // Calibration precision
 constexpr float ACCEL_CAL_X_MAX = 0.006;
@@ -55,7 +55,7 @@ private:
 	void _resetValues();
 	void _updateValues();
 	void _adjustValues();
-	bool _isValuesInRange();
+	bool _isValuesInRange() const;
 
 	void _adjustCalibration();
 
diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp
index a3b9a5c..5ca5dc3 100644
--- a/src/sensor/sensor.cpp
+++ b/src/sensor/sensor.cpp
@@ -1,20 +1,18 @@
 #include "sensor.hpp"
 
-#include "registers.hpp"
-#include "utils/serial.hpp"
-#include "utils/time.hpp"
+#include "sensor/registers.hpp"
 
 Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout,
 			   unsigned int throttle_time)
 	: _wire(wire),
+	  _sout(sout),
 	  _address(address),
 	  _throttle_enabled(true),
 	  _throttle_time(throttle_time),
 	  _last_time(0),
 	  _status(SensorStatus::OK),
 	  _accel_to_g_force(RAW_TO_G_FACTOR),
-	  _ang_rate_to_dps(RAW_TO_DPS_FACTOR),
-	  _sout(sout)
+	  _ang_rate_to_dps(RAW_TO_DPS_FACTOR)
 {
 }
 
@@ -241,52 +239,52 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	return true;
 }
 
-double Sensor::getAccelX()
+double Sensor::getAccelX() const
 {
 	return _accel_raw_x;
 }
 
-double Sensor::getAccelY()
+double Sensor::getAccelY() const
 {
 	return _accel_raw_y;
 }
 
-double Sensor::getAccelZ()
+double Sensor::getAccelZ() const
 {
 	return _accel_raw_z;
 }
 
-double Sensor::getAngleX()
+double Sensor::getAngleX() const
 {
 	return _accel_x;
 }
 
-double Sensor::getAngleY()
+double Sensor::getAngleY() const
 {
 	return _accel_y;
 }
 
-double Sensor::getGyroX()
+double Sensor::getGyroX() const
 {
 	return _gyro_raw_x;
 }
 
-double Sensor::getGyroY()
+double Sensor::getGyroY() const
 {
 	return _gyro_raw_y;
 }
 
-double Sensor::getGyroZ()
+double Sensor::getGyroZ() const
 {
 	return _gyro_raw_z;
 }
 
-double Sensor::getPitch()
+double Sensor::getPitch() const
 {
 	return _pitch;
 }
 
-double Sensor::getRoll()
+double Sensor::getRoll() const
 {
 	return _roll;
 }
diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
index 3e56627..7b76ae2 100644
--- a/src/sensor/sensor.hpp
+++ b/src/sensor/sensor.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "utils/serial.hpp"
-#include "utils/time.hpp"
+#include "serial.hpp"
+#include "std/time.hpp"
 
 #include <Arduino.h>
 #include <Wire.h>
@@ -77,52 +77,52 @@ public:
 	/**
 	 * Returns the current X axis acceleration in g:s (g-force).
 	 */
-	double getAccelX();
+	double getAccelX() const;
 
 	/**
 	 * Returns the current Y axis acceleration in g:s (g-force).
 	 */
-	double getAccelY();
+	double getAccelY() const;
 
 	/**
 	 * Returns the current Z axis acceleration in g:s (g-force).
 	 */
-	double getAccelZ();
+	double getAccelZ() const;
 
 	/**
 	 * Returns the current X angle.
 	 */
-	double getAngleX();
+	double getAngleX() const;
 
 	/**
 	 * Returns the current Y angle.
 	 */
-	double getAngleY();
+	double getAngleY() const;
 
 	/**
 	 * Returns the current X axis in degrees/s.
 	 */
-	double getGyroX();
+	double getGyroX() const;
 
 	/**
 	 * Returns the current Y axis in degrees/s.
 	 */
-	double getGyroY();
+	double getGyroY() const;
 
 	/**
 	 * Returns the current Z axis in degrees/s.
 	 */
-	double getGyroZ();
+	double getGyroZ() const;
 
 	/**
 	 * Returns the current pitch angle.
 	 */
-	double getPitch();
+	double getPitch() const;
 
 	/**
 	 * Returns the current roll angle.
 	 */
-	double getRoll();
+	double getRoll() const;
 
 	/**
 	 * Sets the value of a key in the sensor's register.
@@ -157,6 +157,7 @@ public:
 
 private:
 	TwoWire _wire;
+	SerialStream _sout;
 
 	uint8_t _address;
 
@@ -193,6 +194,4 @@ private:
 	double _yaw = 0;
 
 	int16_t _readHighLow();
-
-	SerialStream _sout;
 };
diff --git a/src/utils/serial.cpp b/src/serial.cpp
index 8e4194f..d03f8e8 100644
--- a/src/utils/serial.cpp
+++ b/src/serial.cpp
@@ -1,6 +1,6 @@
 #include "serial.hpp"
 
-#include "general.hpp"
+#include "std/conversion.hpp"
 
 SerialStream::SerialStream(Serial_ serial, uint64_t baud_rate) : _serial(serial)
 {
@@ -39,7 +39,7 @@ SerialStream &SerialStream::operator<<(const unsigned int &num)
 	return *this;
 }
 
-SerialStream &SerialStream::operator<<(const uint32_t &num)
+SerialStream &SerialStream::operator<<(const unsigned long &num)
 {
 	this->write(uintToStr(num)->c_str);
 	return *this;
diff --git a/src/utils/serial.hpp b/src/serial.hpp
index 0d4f929..9a9488d 100644
--- a/src/utils/serial.hpp
+++ b/src/serial.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "smart_string.hpp"
+#include "std/smart_string.hpp"
 
 #include <USBAPI.h>
 
@@ -14,7 +14,7 @@ public:
 	SerialStream &operator<<(const double &num);
 	SerialStream &operator<<(const int &num);
 	SerialStream &operator<<(const unsigned int &num);
-	SerialStream &operator<<(const uint32_t &num);
+	SerialStream &operator<<(const unsigned long &num);
 
 	SerialStream &operator<<(void (*manipulator)(SerialStream *));
 
diff --git a/src/utils/general.cpp b/src/std/conversion.cpp
index 3464c30..a2a624d 100644
--- a/src/utils/general.cpp
+++ b/src/std/conversion.cpp
@@ -1,9 +1,4 @@
-#include "general.hpp"
-
-void stop()
-{
-	while (true) {}
-}
+#include "conversion.hpp"
 
 UniquePtr<SmartString> doubleToStr(double num, unsigned int width, unsigned int precision)
 {
diff --git a/src/utils/general.hpp b/src/std/conversion.hpp
index dbdbdfc..726ce88 100644
--- a/src/utils/general.hpp
+++ b/src/std/conversion.hpp
@@ -1,12 +1,7 @@
 #pragma once
 
-#include "memory.hpp"
-#include "smart_string.hpp"
-
-/**
- * Stops code execution.
- */
-void stop();
+#include "std/memory.hpp"
+#include "std/smart_string.hpp"
 
 /**
  * Converts a double number to a string.
diff --git a/src/utils/memory.hpp b/src/std/memory.hpp
index e870b0b..e870b0b 100644
--- a/src/utils/memory.hpp
+++ b/src/std/memory.hpp
diff --git a/src/utils/memory.tpp b/src/std/memory.tpp
index 6261c81..fbfcd32 100644
--- a/src/utils/memory.tpp
+++ b/src/std/memory.tpp
@@ -1,8 +1,9 @@
 #pragma once
 
-#include "general.hpp"
+#include "utils.hpp"
 
 #include <Arduino.h>
+#include <stdlib.h>
 
 template <typename memType>
 memType *malloc_s(unsigned int size)
diff --git a/src/utils/smart_string.cpp b/src/std/smart_string.cpp
index ac9a862..b24a1a5 100644
--- a/src/utils/smart_string.cpp
+++ b/src/std/smart_string.cpp
@@ -1,6 +1,6 @@
 #include "smart_string.hpp"
 
-#include "memory.hpp"
+#include "std/memory.hpp"
 
 #include <stdlib.h>
 
diff --git a/src/utils/smart_string.hpp b/src/std/smart_string.hpp
index 6390465..6390465 100644
--- a/src/utils/smart_string.hpp
+++ b/src/std/smart_string.hpp
diff --git a/src/std/time.cpp b/src/std/time.cpp
new file mode 100644
index 0000000..cca8955
--- /dev/null
+++ b/src/std/time.cpp
@@ -0,0 +1,37 @@
+#include "time.hpp"
+
+#include <Arduino.h>
+
+Time::Time(uint64_t time_micros) : _time_micros(time_micros)
+{
+}
+
+void Time::update()
+{
+	_time_micros = micros();
+}
+
+Time Time::diff(Time prev_time) const
+{
+	return Time(_time_micros - prev_time.microsecs());
+}
+
+double Time::secs() const
+{
+	return static_cast<double>(_time_micros) * MICROS_TO_SECS;
+}
+
+double Time::millisecs() const
+{
+	return static_cast<double>(_time_micros) * MICROS_TO_MILLIS;
+}
+
+uint64_t Time::microsecs() const
+{
+	return _time_micros;
+}
+
+Time time_now()
+{
+	return Time(micros());
+}
diff --git a/src/utils/time.hpp b/src/std/time.hpp
index 1577bb7..a544a5a 100644
--- a/src/utils/time.hpp
+++ b/src/std/time.hpp
@@ -2,6 +2,9 @@
 
 #include <stdint.h>
 
+constexpr double MICROS_TO_SECS = 0.000001;
+constexpr double MICROS_TO_MILLIS = 0.001;
+
 /**
  * A representation of time.
  */
@@ -25,22 +28,22 @@ public:
 	 *
 	 * @param prev_time A previous point in time
 	 */
-	Time diff(Time prev_time);
+	Time diff(Time prev_time) const;
 
 	/**
 	 * Returns the time in seconds.
 	 */
-	double secs();
+	double secs() const;
 
 	/**
 	 * Returns the time in milliseconds.
 	 */
-	double millisecs();
+	double millisecs() const;
 
 	/**
 	 * Returns the time in microseconds.
 	 */
-	uint64_t microsecs();
+	uint64_t microsecs() const;
 
 private:
 	uint64_t _time_micros;
diff --git a/src/utils.cpp b/src/utils.cpp
new file mode 100644
index 0000000..cb25471
--- /dev/null
+++ b/src/utils.cpp
@@ -0,0 +1,6 @@
+#include "utils.hpp"
+
+void stop()
+{
+	while (true) {}
+}
diff --git a/src/utils.hpp b/src/utils.hpp
new file mode 100644
index 0000000..33f3379
--- /dev/null
+++ b/src/utils.hpp
@@ -0,0 +1,6 @@
+#pragma once
+
+/**
+ * Stops code execution.
+ */
+void stop();
diff --git a/src/utils/time.cpp b/src/utils/time.cpp
deleted file mode 100644
index c6d981c..0000000
--- a/src/utils/time.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include "time.hpp"
-
-#include <Arduino.h>
-
-Time::Time(uint64_t time_micros) : _time_micros(time_micros)
-{
-}
-
-void Time::update()
-{
-	_time_micros = micros();
-}
-
-Time Time::diff(Time prev_time)
-{
-	return Time(_time_micros - prev_time.microsecs());
-}
-
-double Time::secs()
-{
-	const double micros_to_secs = 0.000001;
-
-	return static_cast<double>(_time_micros) * micros_to_secs;
-}
-
-double Time::millisecs()
-{
-	const double micros_to_millis = 0.001;
-
-	return static_cast<double>(_time_micros) * micros_to_millis;
-}
-
-uint64_t Time::microsecs()
-{
-	return _time_micros;
-}
-
-Time time_now()
-{
-	return Time(micros());
-}