Copy over core units library code (#10)

We decomposed this PR into commits for reviewability. The first commit simply copies the files over, and gets all the targets to build. The second commit fixes the bugs we found: - Can't assume `std::chrono::nanoseconds` uses `int64_t` - We were missing explicit specializations for cv-qualified `Quantity` - `isnan()` was never `constexpr`---why did this ever work before? - template template parameters need to say `class`, not `typename` The third and final commit clarifies which targets are for public consumption.
aurora-opensource · Nov 17, 2022 · 294bdba · 294bdba
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diff --git a/au/BUILD b/au/BUILD
@@ -1,6 +1,280 @@
 # Aurora Innovation, Inc. Proprietary and Confidential. Copyright 2022.
 
-load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@rules_cc//cc:defs.bzl", "cc_library")
+
+################################################################################
+# Public libraries and tests
+
+cc_library(
+    name = "au",
+    hdrs = ["au.hh"],
+    visibility = ["//visibility:public"],
+    deps = [":math"],
+)
+
+cc_test(
+    name = "au_test",
+    size = "small",
+    srcs = ["au_test.cc"],
+    deps = [
+        ":au",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "io",
+    hdrs = ["io.hh"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":quantity",
+        ":quantity_point",
+        ":zero",
+    ],
+)
+
+cc_test(
+    name = "io_test",
+    size = "small",
+    srcs = ["io_test.cc"],
+    deps = [
+        ":io",
+        ":prefix",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "testing",
+    testonly = True,
+    hdrs = ["testing.hh"],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":io",
+        ":stdx",
+        ":unit_of_measure",
+    ],
+)
+
+cc_test(
+    name = "testing_test",
+    size = "small",
+    srcs = ["testing_test.cc"],
+    deps = [
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+################################################################################
+# Implementation detail libraries and tests
+
+cc_library(
+    name = "chrono_policy_validation",
+    testonly = True,
+    hdrs = ["chrono_policy_validation.hh"],
+    deps = [
+        ":dimension",
+        ":quantity",
+        ":stdx",
+        ":unit_of_measure",
+        "@com_google_googletest//:gtest",
+    ],
+)
+
+cc_test(
+    name = "chrono_policy_validation_test",
+    size = "small",
+    srcs = ["chrono_policy_validation_test.cc"],
+    deps = [
+        ":chrono_policy_validation",
+        ":prefix",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "operators",
+    hdrs = ["operators.hh"],
+)
+
+cc_test(
+    name = "operators_test",
+    size = "small",
+    srcs = ["operators_test.cc"],
+    deps = [
+        ":operators",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "conversion_policy",
+    hdrs = ["conversion_policy.hh"],
+    deps = [
+        ":magnitude",
+        ":stdx",
+        ":unit_of_measure",
+    ],
+)
+
+cc_test(
+    name = "conversion_policy_test",
+    size = "small",
+    srcs = ["conversion_policy_test.cc"],
+    deps = [
+        ":conversion_policy",
+        ":unit_of_measure",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "dimension",
+    hdrs = ["dimension.hh"],
+    deps = [":packs"],
+)
+
+cc_test(
+    name = "dimension_test",
+    size = "small",
+    srcs = ["dimension_test.cc"],
+    deps = [
+        ":dimension",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "magnitude",
+    hdrs = ["magnitude.hh"],
+    deps = [
+        ":packs",
+        ":stdx",
+        ":utility",
+        ":zero",
+    ],
+)
+
+cc_test(
+    name = "magnitude_test",
+    size = "small",
+    srcs = ["magnitude_test.cc"],
+    deps = [
+        ":magnitude",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "math",
+    hdrs = ["math.hh"],
+    deps = [":units"],
+)
+
+cc_test(
+    name = "math_test",
+    size = "small",
+    srcs = ["math_test.cc"],
+    deps = [
+        ":math",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "packs",
+    hdrs = ["packs.hh"],
+    deps = [
+        ":stdx",
+        ":utility",
+    ],
+)
+
+cc_test(
+    name = "packs_test",
+    size = "small",
+    srcs = ["packs_test.cc"],
+    deps = [
+        ":packs",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "prefix",
+    hdrs = ["prefix.hh"],
+    deps = [
+        ":quantity",
+        ":quantity_point",
+        ":unit_of_measure",
+    ],
+)
+
+cc_test(
+    name = "prefix_test",
+    size = "small",
+    srcs = ["prefix_test.cc"],
+    deps = [
+        ":prefix",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "quantity",
+    hdrs = ["quantity.hh"],
+    deps = [
+        ":conversion_policy",
+        ":operators",
+        ":unit_of_measure",
+        ":zero",
+    ],
+)
+
+cc_test(
+    name = "quantity_test",
+    size = "small",
+    srcs = [
+        "quantity_chrono_policy_correspondence_test.cc",
+        "quantity_test.cc",
+    ],
+    deps = [
+        ":chrono_policy_validation",
+        ":prefix",
+        ":quantity",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "quantity_point",
+    hdrs = ["quantity_point.hh"],
+    deps = [
+        ":quantity",
+        ":stdx",
+        ":utility",
+    ],
+)
+
+cc_test(
+    name = "quantity_point_test",
+    size = "small",
+    srcs = ["quantity_point_test.cc"],
+    deps = [
+        ":prefix",
+        ":quantity_point",
+        ":testing",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
 
 cc_library(
     name = "stdx",
@@ -24,6 +298,52 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "unit_of_measure",
+    hdrs = ["unit_of_measure.hh"],
+    deps = [
+        ":dimension",
+        ":magnitude",
+        ":stdx",
+        ":utility",
+        ":zero",
+    ],
+)
+
+cc_test(
+    name = "unit_of_measure_test",
+    size = "small",
+    srcs = ["unit_of_measure_test.cc"],
+    deps = [
+        ":prefix",
+        ":testing",
+        ":unit_of_measure",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
+cc_library(
+    name = "units",
+    hdrs = ["units.hh"],
+    deps = [
+        ":prefix",
+        ":quantity",
+        ":quantity_point",
+        ":unit_of_measure",
+    ],
+)
+
+cc_test(
+    name = "units_test",
+    size = "small",
+    srcs = ["units_test.cc"],
+    deps = [
+        ":testing",
+        ":units",
+        "@com_google_googletest//:gtest_main",
+    ],
+)
+
 cc_library(
     name = "utility",
     hdrs = glob(["utility/*.hh"]),

diff --git a/au/au.hh b/au/au.hh
@@ -0,0 +1,23 @@
+// Aurora Innovation, Inc. Proprietary and Confidential. Copyright 2022.
+
+#pragma once
+
+#include <chrono>
+
+#include "au/math.hh"
+
+namespace au {
+
+// Define 1:1 mapping between duration types of chrono library and our library.
+template <typename RepT, typename Period>
+struct CorrespondingQuantity<std::chrono::duration<RepT, Period>> {
+    using Unit = decltype(Seconds{} * (mag<Period::num>() / mag<Period::den>()));
+    using Rep = RepT;
+
+    using ChronoDuration = std::chrono::duration<Rep, Period>;
+
+    static constexpr Rep extract_value(ChronoDuration d) { return d.count(); }
+    static constexpr ChronoDuration construct_from_value(Rep x) { return ChronoDuration{x}; }
+};
+
+}  // namespace au
diff --git a/au/au_test.cc b/au/au_test.cc
@@ -0,0 +1,37 @@
+// Aurora Innovation, Inc. Proprietary and Confidential. Copyright 2022.
+
+#include "au/au.hh"
+
+#include "au/testing.hh"
+#include "gtest/gtest.h"
+
+using ::testing::StaticAssertTypeEq;
+
+using namespace std::chrono_literals;
+
+namespace au {
+
+TEST(DurationQuantity, InterconvertsWithExactlyEquivalentChronoDuration) {
+    constexpr QuantityD<Seconds> from_chrono = std::chrono::duration<double>{1.23};
+    EXPECT_THAT(from_chrono, SameTypeAndValue(seconds(1.23)));
+
+    constexpr auto val = std::chrono::nanoseconds::rep{456};
+    constexpr std::chrono::nanoseconds from_au = nano(seconds)(val);
+    EXPECT_THAT(from_au.count(), SameTypeAndValue(val));
+}
+
+TEST(DurationQuantity, InterconvertsWithIndirectlyEquivalentChronoDuration) {
+    constexpr QuantityD<Seconds> from_chrono = as_quantity(1234ms);
+    EXPECT_THAT(from_chrono, SameTypeAndValue(seconds(1.234)));
+}
+
+TEST(Conversions, SupportIntMHzToU32Hz) {
+    constexpr QuantityU32<Hertz> freq = mega(hertz)(40);
+    EXPECT_THAT(freq, SameTypeAndValue(hertz(40'000'000u)));
+}
+
+TEST(CommonUnit, HandlesPrefixesReasonably) {
+    StaticAssertTypeEq<CommonUnitT<Kilo<Meters>, Meters>, Meters>();
+}
+
+}  // namespace au