Merge pull request #49 from project-march/feature/PM-201-refactor-sta…

…te-machine

Feature: refactor state machine (and the rest)

.clang-format

@@ -0,0 +1,65 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.travis.yml

@@ -1,9 +1,14 @@
 os: linux
 language: python
 
+addons:
+  apt:
+    packages:
+      - clang-format
+
 notifications:
   slack:
-    secure: DX4zerMP4tLgR8rMBnY36YhrdtULunl+aROFq7dWy0vXvxiegWfvGY0eWU7K36kcVToPV1LJ9ilFGxfOi5VELkFQHsxYCRaBddSgQ4pAxppygVPhlmOUdpkZsGxrJU27ajcy6OY/pwEFBsABIXitoEC2U0yDzx3J9bWjzz+QH14MLfH07zeYuuAfhloZ8IZk6TbSVeg8X/jhc1QUZhn7QgN+hvXo1MMSaq99TXXK7jO7soq5oRbTSOkohSiVm7XgbjL9haoWXQSBJlb82qu94wFlBBZlZ05oEVGzith36d4gVPJ5wbmoRQy5X/shGBBNGiyv8JRQ6Z18zgdsra1sWPNI7Yv5o91sMySx/g+OOqyJqQKq5y5ohb1Y4hI24zy9Xj8Bjac9wt9O4wvgn5+dlz2qgIkXbJeSodEB4OE0lBEeiQACkYpHz9UbxZrcaBtrq9tEHSrl7lwj/AgRckaIIr+6BURvQ21RIqXhajKiaSO05KqL0spyM8pVvNHn+0W1oznVuEMZOywy7bZ83JiodKVZPwJQWPetOAet8r4PnkulUSseJ8ckVpoz5Kfs/IrSAKMSlOeD19AgLm7Q/ejpoimfTJUJsDRgP7asRVuqgzl7ruBuQOwbaWg3FRgaW7WJ66LPmdNwI5bokThaMaE3oB17l2Y+Kt93CAxUDAKSStI=
+    secure: agpTHpiGJVNU8EtJV+nbiM8LYp7RkXPMpvrpa7yjlNKep4i0jQscFpOyylh+7Toekfh1F7ZMGhyBQfWsgzSKK4OtKgUY36jV3NJ04d1Jjf4CaypUsXe9eQ7KNIHLI+zPgwan+yf1iL6daF8uvRNT8SHCxTdRfVcwWaViQuh6/JbusxpSSojaT/BinCF/lItHC2+ixO1cQ7iFbBsaRyrEI76IUeaoMAUogqoNx+KdAYORMTcFI1i+6bw5TzsWY8Md8Kxn1YhvyeJv87LJjRhLyXLqzhp4XFjPUY0Vb9/iSihX7UfFoAPTPqmrlaATW6TEu0uo5fVJY6MWifAlcsuNGqL//saVqPHTiOqyEg1LcEUtdmR5+ljyMaSirV+pJA/vBNo61bjQeFzBf4d/kXiej0UQfLG1DFjUlYij++t6kr+EklYkwNYbfOQ75cLXrneG+nxjwg8KID2AVkjshLdjOfHFlGuzDTliId4lYU5FMdBl/dVS2u5qvVo8kaaTvvoAWjzp9KfdWHB1BmpAX06PblLWHnXuhJujBEyeT/9+D9eGmCmvYAsfLpky2hxWOHTkTbKGS9K60c2pHIhhzMRiOMZAVmbG7A2+7XdoaeBJ9cEHET09Ep2WY76jX5hTDbbA3xLZJB8e8O6TdCxXxp9xQvoPpmRK3rjsiun3thlFDBI=
   email: false
 
 cache:
@@ -13,8 +18,10 @@ cache:
 install:
   - pip install -U platformio
   - platformio update
+  - platformio lib install
 
 script:
   - platformio run
-  - platformio check --environment debug
-# - platformio test
+  - platformio test --environment native
+  - platformio check --fail-on-defect high
+  - wget -qO- https://raw.githubusercontent.com/Sarcasm/run-clang-format/master/run-clang-format.py | python - -r src include test

README.md

@@ -27,10 +27,19 @@ build the release environment run:
     pio run -e release
 
 This only builds the project. To actually upload the project, connect the
-input device and use the `--target (-t)` option.
+input device and use the `--target (-t)` option. This will by default upload
+the `debug` environment.
 
     pio run -t upload
 
+When you run the input device you can read the messages sent over the
+USB serial by adding the `monitor` target.
+
+    pio run -t upload -t monitor
+
+This will build, upload and then print messages sent over the serial
+by the input device using `Serial.println()`.
+
 ## 🚀 Launch process
 The input device can be launched with a ROS serial connection.
 For this a workspace with the [march repository](https://github.com/project-march/march)