Create repo from template

.env

@@ -0,0 +1 @@
+REPO=spanny

.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+name: CI
+
+on: [push, pull_request, workflow_dispatch]
+
+jobs:
+  build:
+    name: ${{matrix.platform.name}} ${{matrix.type.name}} ${{matrix.config.name}}
+    runs-on: ${{matrix.platform.os}}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+        - { name: Linux,   os: ubuntu-latest }
+        - { name: macOS,   os: macos-latest }
+        type:
+        - { name: Shared, flags: "ON" }
+        - { name: Static, flags: "OFF" }
+        config:
+        - { name: Debug }
+        - { name: Release }
+
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v3
+
+    - name: Configure
+      run: cmake -B build -DBUILD_SHARED_LIBS=${{matrix.type.flags}} -DCMAKE_BUILD_TYPE=${{matrix.config.name}}
+
+    - name: Build
+      run: cmake --build build --config ${{matrix.config.name}}
+
+    - name: Test
+      run: ctest --test-dir build --output-on-failure --build-config ${{matrix.config.name}}

.github/workflows/docker.yaml

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+name: docker
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+  push:
+    paths:
+      - 'Dockerfile'
+      - '.github/workflows/docker.yaml'
+
+jobs:
+  hadolint:
+    name: hadolint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: hadolint/[email protected]
+        with:
+          dockerfile: Dockerfile
+          verbose: true
+      - name: Update Pull Request
+        uses: actions/github-script@v6
+        if: github.event_name == 'pull_request'
+        with:
+          script: |
+            const output = `
+            #### Hadolint: \`${{ steps.hadolint.outcome }}\`
+            \`\`\`
+            ${process.env.HADOLINT_RESULTS}
+            \`\`\`
+            `;
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: output
+            })
+  upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v3
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to Github Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: Dockerfile
+          push: true
+          target: upstream
+          tags: ghcr.io/griswaldbrooks/spanny:upstream
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+  development:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v3
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to Github Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: Dockerfile
+          push: true
+          target: development
+          build-args: |
+            USER=ci-user
+            UID=1000
+            GID=1000
+          tags: ghcr.io/griswaldbrooks/spanny:ci-user-development
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

.gitignore

@@ -1,32 +1,8 @@
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
+doc/html
+doc/manifest.yaml
 *.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+Makefile
+CMakeCache.txt
+CMakeFiles/
+filter_tests
+build

.hadolint.yaml

@@ -0,0 +1,4 @@
+ignored:
+  - DL3007
+  - DL3008
+  - SC1091

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+project(spanny CXX)
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
+  add_compile_options(-Werror -Wall -Wextra -Wpedantic -Wshadow -Wconversion -Wsign-conversion)
+endif()
+
+add_library(spanny INTERFACE)
+add_library(spanny::spanny ALIAS spanny)
+target_include_directories(spanny INTERFACE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
+target_compile_features(spanny INTERFACE cxx_std_17)
+
+if(NOT PROJECT_IS_TOP_LEVEL)
+  return()
+endif()
+
+include(CTest)
+if(BUILD_TESTING)
+  add_subdirectory(test)
+endif()

Dockerfile

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+# syntax=docker/dockerfile:1
+FROM ubuntu:22.04 as upstream
+
+# Prevent the interactive wizards from stopping the build
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Get the basics
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,id=apt \
+  apt-get update -y && apt-get install -q -y --no-install-recommends \
+  build-essential        \
+  cmake                  \
+  lsb-core               \
+  wget                   \
+  && rm -rf /var/lib/apt/lists/*
+
+FROM upstream AS development
+
+ARG UID
+ARG GID
+ARG USER
+
+# fail build if args are missing
+# hadolint ignore=SC2028
+RUN if [ -z "$UID" ]; then echo '\nERROR: UID not set. Run \n\n \texport UID=$(id -u) \n\n on host before building Dockerfile.\n'; exit 1; fi
+# hadolint ignore=SC2028
+RUN if [ -z "$GID" ]; then echo '\nERROR: GID not set. Run \n\n \texport GID=$(id -g) \n\n on host before building Dockerfile.\n'; exit 1; fi
+# hadolint ignore=SC2028
+RUN if [ -z "$USER" ]; then echo '\nERROR: USER not set. Run \n\n \texport USER=$(whoami) \n\n on host before building Dockerfile.\n'; exit 1; fi
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,id=apt \
+  apt-get update && apt-get upgrade -y \
+  && apt-get install -q -y --no-install-recommends \
+  git \
+  neovim \
+  python3 \
+  python3-pip \
+  sudo \
+  ssh \
+  vim \
+  wget \
+  && rm -rf /var/lib/apt/lists/*
+
+# install developer tools
+RUN python3 -m pip install --no-cache-dir \
+  pre-commit==3.0.4
+
+# install hadolint
+RUN wget -q -O /bin/hadolint https://github.com/hadolint/hadolint/releases/download/v2.12.0/hadolint-Linux-x86_64 \
+  && chmod +x /bin/hadolint
+
+# Setup user home directory
+# --no-log-init helps with excessively long UIDs
+RUN groupadd --gid $GID $USER \
+  && useradd --no-log-init --uid $GID --gid $UID -m $USER --groups sudo \
+  && echo $USER ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USER \
+  && chmod 0440 /etc/sudoers.d/$USER \
+  && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USER}/.profile \
+  && touch /home/${USER}/.bashrc \
+  && chown -R ${GID}:${UID} /home/${USER}
+
+USER $USER
+ENV SHELL /bin/bash
+ENTRYPOINT []
+
+# Setup mixin
+WORKDIR /home/${USER}/ws

README.md

@@ -1 +1,24 @@
-# spanny
+# spanny
+Robot arm project for lightening talk on mdspan.
+Presented at CppCon 2023.
+
+# Development Container
+Build a new development image
+```shell
+mkdir -p ~/.spanny/ccache
+export UID=$(id -u) export GID=$(id -g); docker compose -f compose.dev.yml build
+```
+Start an interactive development container
+```shell
+docker compose -f compose.dev.yml run development
+```
+Build the repository in the container
+```shell
+username@spanny-dev:~/ws$ cmake -S src/filter/ -B build
+username@spanny-dev:~/ws$ cmake --build build
+```
+
+# Test
+```shell
+username@spanny-dev:~/ws$ ctest --test-dir build
+```

compose.dev.yml

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+version: '3.8'
+
+services:
+  development:
+    build:
+      args:
+        UID: ${UID}
+        GID: ${GID}
+        USER: ${USER}
+      context: .
+      dockerfile: Dockerfile
+    command: bash -c "export PATH="/usr/lib/ccache:$PATH" &&
+                      bash"
+    container_name: ${USER}-${REPO}-dev
+    environment:
+      - TERM=xterm-256color
+    extra_hosts:
+      - ${REPO}-dev:127.0.0.1
+    hostname: ${REPO}-dev
+    image: ${REPO}-dev:latest
+    network_mode: host
+    privileged: true
+    volumes:
+      - ~/.ssh:${HOME}/.ssh:ro
+      - ~/.gitconfig:${HOME}/.gitconfig:ro
+      - ${PWD}:${HOME}/ws/src/${REPO}
+      - ~/.${REPO}/ccache:${HOME}/.ccache
+      - /etc/group:/etc/group:ro
+      - /etc/passwd:/etc/passwd:ro
+      - /etc/shadow:/etc/shadow:ro
+    working_dir: ${HOME}/ws

include/filter/linear_filter.hpp

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+#ifndef FILTER_LINEAR_FILTER_H_
+#define FILTER_LINEAR_FILTER_H_
+
+#include <deque>      // For deque
+#include <numeric>    // For inner_product
+#include <stdexcept>  // For domain_error, length_error
+#include <utility>    // For move
+#include <vector>     // For vector
+
+namespace gb::filter {
+
+/// \tparam Coefficients number of filter elements
+template <typename T>
+class linear_filter {
+ public:
+  /// \brief Constructor for linear_filter.
+  /// \param b Feedforward coefficients for the input samples.
+  /// \param a Feedback coefficients for the output samples.
+  /// \note The number of coefficients is the order of the filter + 1.
+  /// \throws if \p b and \p a are of different lengths.
+  /// \throws if the first element of \p a is not 1.
+  linear_filter(std::vector<double> b, std::vector<double> a)
+      : b_{std::move(b)},
+        a_{std::move(a)},
+        x_(b_.size(), T{}),
+        y_(a_.size(), T{}) {
+    if (b_.size() != a_.size()) {
+      throw std::length_error{"Coefficients must have same length"};
+    }
+    if (a_.front() != 1.) {
+      throw std::domain_error{"First element of output coefficients must be 1"};
+    }
+  }
+
+  // \brief Finite impulse response constructor
+  linear_filter(std::vector<double> b)
+      : b_{std::move(b)},
+        x_(b_.size(), T{}) {}
+
+  /// \brief Filters value
+  /// \param value Input to be filtered.
+  /// \returns filtered value.
+  T& operator()(const T& value) {
+    // Remove the oldest elements.
+    x_.pop_back();
+    y_.pop_back();
+
+    // Add the new input pose to the vector of inputs.
+    x_.emplace_front(value);
+
+    // Update the new output with the rest of the values
+    const auto bx =
+        std::inner_product(b_.cbegin(), b_.cend(), x_.cbegin(), T{});
+    // Skip the first coefficient since it's always 1, which allows us to avoid
+    // zero initializing the new output.
+    const auto ay =
+        std::inner_product(a_.cbegin() + 1, a_.cend(), y_.cbegin(), T{});
+
+    // Initialize the new output and return
+    return y_.emplace_front(bx - ay);
+  }
+
+ private:
+  /// \brief Input coefficients
+  std::vector<double> b_;
+  /// \brief Output coefficients
+  std::vector<double> a_;
+  /// \brief Input taps
+  std::deque<T> x_;
+  /// \brief Previous output
+  std::deque<T> y_;
+};
+}  // namespace gb::filter
+#endif  // FILTER_LINEAR_FILTER_H_