10 files changed, 223 insertions, 71 deletions

diff --git a/src/utils/general.cpp b/src/utils/general.cpp
index bbcd4dd..3464c30 100644
--- a/src/utils/general.cpp
+++ b/src/utils/general.cpp
@@ -5,10 +5,33 @@ void stop()
 	while (true) {}
 }
 
-unique_ptr<SmartString> floatToStr(float num, unsigned int width, unsigned int precision)
+UniquePtr<SmartString> doubleToStr(double num, unsigned int width, unsigned int precision)
 {
 	auto str = make_unique<SmartString>(width + precision);
-	dtostrf(num, width, precision, str->c_str);
+
+	dtostrf(num, static_cast<signed char>(width), precision, str->c_str);
+
+	return str;
+}
+
+UniquePtr<SmartString> intToStr(int num)
+{
+	auto width = static_cast<unsigned int>(log10(num));
+
+	auto str = make_unique<SmartString>(width + 1U);
+
+	dtostrf(num, static_cast<signed char>(width + 1U), 0, str->c_str);
+
+	return str;
+}
+
+UniquePtr<SmartString> uintToStr(unsigned int num)
+{
+	auto width = static_cast<unsigned int>(log10(num));
+
+	auto str = make_unique<SmartString>(width + 1U);
+
+	dtostrf(num, static_cast<signed char>(width + 1U), 0, str->c_str);
 
 	return str;
 }
diff --git a/src/utils/general.hpp b/src/utils/general.hpp
index 9ad0655..dbdbdfc 100644
--- a/src/utils/general.hpp
+++ b/src/utils/general.hpp
@@ -9,15 +9,28 @@
 void stop();
 
 /**
- * Converts a floating point number to a string.
+ * Converts a double number to a string.
  *
- * @param num A floating point number
- * @param width The desired float width
- * @param precision The desired float precision
- * @returns The float as a string.
+ * @param num A double number
+ * @param width The desired double width
+ * @param precision The desired double precision
+ * @returns The double as a string.
  */
-unique_ptr<SmartString> floatToStr(
-	float num,
-	unsigned int width = 3,
-	unsigned int precision = 2
-);
+UniquePtr<SmartString> doubleToStr(double num, unsigned int width = 3,
+								   unsigned int precision = 2);
+
+/**
+ * Converts a integer to a string.
+ *
+ * @param num A number
+ * @returns The number as a string.
+ */
+UniquePtr<SmartString> intToStr(int num);
+
+/**
+ * Converts a unsigned integer to a string.
+ *
+ * @param num A number
+ * @returns The number as a string.
+ */
+UniquePtr<SmartString> uintToStr(unsigned int num);
diff --git a/src/utils/memory.hpp b/src/utils/memory.hpp
index 81e3757..e870b0b 100644
--- a/src/utils/memory.hpp
+++ b/src/utils/memory.hpp
@@ -1,23 +1,33 @@
 #pragma once
 
+#include <stddef.h>
+
 template <typename memType>
 memType *malloc_s(unsigned int size);
 
 template <class Target>
-class unique_ptr
+class UniquePtr
 {
 public:
-	unique_ptr(Target *target);
-	~unique_ptr();
+	explicit UniquePtr();
+	explicit UniquePtr(Target *target);
+	UniquePtr(const UniquePtr &unique_ptr);
+	UniquePtr(UniquePtr &&unique_ptr) noexcept;
+
+	UniquePtr &operator=(const UniquePtr &unique_ptr);
+
+	UniquePtr &operator=(UniquePtr &&unique_ptr) noexcept;
+
+	~UniquePtr();
 
-	Target operator *() const;
-	Target *operator ->() const;
+	Target operator*() const;
+	Target *operator->() const;
 
 private:
-	Target *_target;
+	Target *_target = nullptr;
 };
 
-template<class Target, typename...Args>
-unique_ptr<Target> make_unique(Args&... args);
+template <typename Target, typename... Args>
+UniquePtr<Target> make_unique(Args... args);
 
 #include "memory.tpp"
diff --git a/src/utils/memory.tpp b/src/utils/memory.tpp
index 276b0b4..6261c81 100644
--- a/src/utils/memory.tpp
+++ b/src/utils/memory.tpp
@@ -1,8 +1,9 @@
-#include "memory.hpp"
+#pragma once
 
-#include "Arduino.h"
 #include "general.hpp"
 
+#include <Arduino.h>
+
 template <typename memType>
 memType *malloc_s(unsigned int size)
 {
@@ -18,31 +19,75 @@ memType *malloc_s(unsigned int size)
 }
 
 template <class Target>
-unique_ptr<Target>::unique_ptr(Target *target)
+UniquePtr<Target>::UniquePtr() = default;
+
+template <class Target>
+UniquePtr<Target>::UniquePtr(Target *target) : _target(target)
+{
+}
+
+template <class Target>
+UniquePtr<Target>::UniquePtr(const UniquePtr &unique_ptr)
+	: _target(new Target(*(unique_ptr._target)))
 {
-	this->_target = target;
 }
 
 template <class Target>
-unique_ptr<Target>::~unique_ptr()
+UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
+	: _target(unique_ptr._target)
 {
-	delete this->_target;
+	unique_ptr._target = nullptr;
+}
+
+template <class Target>
+UniquePtr<Target> &UniquePtr<Target>::operator=(const UniquePtr &unique_ptr)
+{
+	if (&unique_ptr != this)
+	{
+		delete _target;
+		_target = nullptr;
+		_target = new Target(*(unique_ptr._target));
+	}
+
+	return *this;
+}
+
+template <class Target>
+UniquePtr<Target> &UniquePtr<Target>::operator=(UniquePtr &&unique_ptr) noexcept
+{
+	if (&unique_ptr != this)
+	{
+		delete _target;
+		_target = unique_ptr._target;
+		unique_ptr._target = nullptr;
+	}
+
+	return *this;
+}
+
+template <class Target>
+UniquePtr<Target>::~UniquePtr()
+{
+	if (this->_target != nullptr)
+	{
+		delete this->_target;
+	}
 }
 
 template <class Target>
-Target unique_ptr<Target>::operator*() const
+Target UniquePtr<Target>::operator*() const
 {
 	return *(this->_target);
 }
 
 template <class Target>
-Target *unique_ptr<Target>::operator->() const
+Target *UniquePtr<Target>::operator->() const
 {
 	return this->_target;
 }
 
 template <class Target, typename... Args>
-unique_ptr<Target> make_unique(Args... args)
+UniquePtr<Target> make_unique(Args... args)
 {
-	return unique_ptr<Target>(new Target(args...));
+	return UniquePtr<Target>(new Target(args...));
 }
diff --git a/src/utils/serial.cpp b/src/utils/serial.cpp
index 11be550..8e4194f 100644
--- a/src/utils/serial.cpp
+++ b/src/utils/serial.cpp
@@ -2,20 +2,13 @@
 
 #include "general.hpp"
 
-SerialStream::SerialStream(Serial_ serial, unsigned long baud_rate)
+SerialStream::SerialStream(Serial_ serial, uint64_t baud_rate) : _serial(serial)
 {
-	this->_serial = serial;
-
 	this->_serial.begin(baud_rate);
 
 	while (!this->_serial) {}
 }
 
-SerialStream::~SerialStream()
-{
-	Serial.end();
-}
-
 SerialStream &SerialStream::operator<<(const char *str)
 {
 	this->write(str);
@@ -28,9 +21,27 @@ SerialStream &SerialStream::operator<<(const SmartString &str)
 	return *this;
 }
 
-SerialStream &SerialStream::operator<<(const float num)
+SerialStream &SerialStream::operator<<(const double &num)
+{
+	this->write(doubleToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const int &num)
+{
+	this->write(intToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const unsigned int &num)
+{
+	this->write(uintToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const uint32_t &num)
 {
-	this->write(floatToStr(num)->c_str);
+	this->write(uintToStr(num)->c_str);
 	return *this;
 }
 
diff --git a/src/utils/serial.hpp b/src/utils/serial.hpp
index f97e1d8..0d4f929 100644
--- a/src/utils/serial.hpp
+++ b/src/utils/serial.hpp
@@ -7,12 +7,14 @@
 class SerialStream
 {
 public:
-	SerialStream(Serial_ serial, unsigned long baud_rate);
-	~SerialStream();
+	SerialStream(Serial_ serial, uint64_t baud_rate);
 
 	SerialStream &operator<<(const char *str);
 	SerialStream &operator<<(const SmartString &str);
-	SerialStream &operator<<(const float num);
+	SerialStream &operator<<(const double &num);
+	SerialStream &operator<<(const int &num);
+	SerialStream &operator<<(const unsigned int &num);
+	SerialStream &operator<<(const uint32_t &num);
 
 	SerialStream &operator<<(void (*manipulator)(SerialStream *));
 
diff --git a/src/utils/smart_string.cpp b/src/utils/smart_string.cpp
index 5258ffe..ac9a862 100644
--- a/src/utils/smart_string.cpp
+++ b/src/utils/smart_string.cpp
@@ -4,23 +4,62 @@
 
 #include <stdlib.h>
 
-SmartString::SmartString(char *c_string)
+SmartString::SmartString(char *c_string) : c_str(c_string)
 {
-	this->c_str = c_string;
 }
 
-SmartString::SmartString(unsigned int size)
+SmartString::SmartString(unsigned int size) : c_str(malloc_s<char>(size + 1))
 {
-	this->c_str = malloc_s<char>(size + 1);
+}
+
+SmartString::SmartString(const SmartString &smart_str)
+	: c_str(malloc_s<char>(strlen(smart_str.c_str) + 1))
+{
+	memcpy(c_str, smart_str.c_str, strlen(smart_str.c_str) + 1);
+}
+
+SmartString::SmartString(SmartString &&smart_str) noexcept : c_str(smart_str.c_str)
+{
+	smart_str.c_str = nullptr;
+}
+
+SmartString &SmartString::operator=(const SmartString &smart_str)
+{
+	if (&smart_str != this)
+	{
+		free(c_str);
+		c_str = nullptr;
+
+		auto str_size = strlen(smart_str.c_str) + 1;
+
+		c_str = malloc_s<char>(str_size);
+		memcpy(c_str, smart_str.c_str, str_size);
+	}
+
+	return *this;
+}
+
+SmartString &SmartString::operator=(SmartString &&smart_str) noexcept
+{
+	if (&smart_str != this)
+	{
+		free(c_str);
+		c_str = smart_str.c_str;
+		smart_str.c_str = nullptr;
+	}
+
+	return *this;
 }
 
 SmartString::~SmartString()
 {
-	if (this->c_str != nullptr)
-		free(this->c_str);
+	if (c_str != nullptr)
+	{
+		free(c_str);
+	}
 }
 
 SmartString::operator char *() const
 {
-	return this->c_str;
+	return c_str;
 }
diff --git a/src/utils/smart_string.hpp b/src/utils/smart_string.hpp
index fcaff98..6390465 100644
--- a/src/utils/smart_string.hpp
+++ b/src/utils/smart_string.hpp
@@ -3,12 +3,18 @@
 class SmartString
 {
 public:
-	SmartString(char *c_str);
-	SmartString(unsigned int size);
+	explicit SmartString(char *c_str);
+	explicit SmartString(unsigned int size);
+	SmartString(const SmartString &smart_str);
+	SmartString(SmartString &&smart_str) noexcept;
+
+	SmartString &operator=(const SmartString &smart_str);
+
+	SmartString &operator=(SmartString &&smart_str) noexcept;
 
 	~SmartString();
 
-	operator char *() const;
+	explicit operator char *() const;
 
 	char *c_str = nullptr;
 };
diff --git a/src/utils/time.cpp b/src/utils/time.cpp
index adc33db..c6d981c 100644
--- a/src/utils/time.cpp
+++ b/src/utils/time.cpp
@@ -1,9 +1,9 @@
 #include "time.hpp"
-#include "Arduino.h"
 
-Time::Time(unsigned long time_micros)
+#include <Arduino.h>
+
+Time::Time(uint64_t time_micros) : _time_micros(time_micros)
 {
-	_time_micros = time_micros;
 }
 
 void Time::update()
@@ -16,19 +16,23 @@ Time Time::diff(Time prev_time)
 	return Time(_time_micros - prev_time.microsecs());
 }
 
-unsigned long Time::microsecs()
+double Time::secs()
 {
-	return _time_micros;
+	const double micros_to_secs = 0.000001;
+
+	return static_cast<double>(_time_micros) * micros_to_secs;
 }
 
-unsigned long Time::millisecs()
+double Time::millisecs()
 {
-	return _time_micros * 0.001;
+	const double micros_to_millis = 0.001;
+
+	return static_cast<double>(_time_micros) * micros_to_millis;
 }
 
-float Time::secs()
+uint64_t Time::microsecs()
 {
-	return _time_micros * 0.000001;
+	return _time_micros;
 }
 
 Time time_now()
diff --git a/src/utils/time.hpp b/src/utils/time.hpp
index e0385ef..1577bb7 100644
--- a/src/utils/time.hpp
+++ b/src/utils/time.hpp
@@ -1,5 +1,6 @@
-#ifndef TIME_HPP
-#define TIME_HPP
+#pragma once
+
+#include <stdint.h>
 
 /**
  * A representation of time.
@@ -12,7 +13,7 @@ public:
 	 *
 	 * @param time_micros Time in microseconds
 	 */
-	Time(unsigned long time_micros);
+	explicit Time(uint64_t time_micros);
 
 	/**
 	 * Updates the time to the current time.
@@ -29,25 +30,23 @@ public:
 	/**
 	 * Returns the time in seconds.
 	 */
-	float secs();
+	double secs();
 
 	/**
 	 * Returns the time in milliseconds.
 	 */
-	unsigned long millisecs();
+	double millisecs();
 
 	/**
 	 * Returns the time in microseconds.
 	 */
-	unsigned long microsecs();
+	uint64_t microsecs();
 
 private:
-	unsigned long _time_micros;
+	uint64_t _time_micros;
 };
 
 /**
  * Returns a time object for the time since the program started.
  */
 Time time_now();
-
-#endif