From 7f90b2b8825c21bc9a50bd546d478b5f24d2b8cc Mon Sep 17 00:00:00 2001
From: 0xFEEDC0DE64 <daniel@brunner.ninja>
Date: Mon, 28 Jun 2021 10:23:39 +0200
Subject: [PATCH] fixed layout assertions and added namespaces

---
 bobbycar-can.h    |  8 ++++++--
 bobbycar-common.h |  6 ++++++
 bobbycar-serial.h | 48 +++++++++++++++++++++++++++--------------------
 3 files changed, 40 insertions(+), 22 deletions(-)

diff --git a/bobbycar-can.h b/bobbycar-can.h
index 9369b6f..7f1abc5 100644
--- a/bobbycar-can.h
+++ b/bobbycar-can.h
@@ -3,7 +3,9 @@
 #include <cstdint>
 
 namespace bobbycar {
+namespace protocol {
 namespace can {
+
 template<bool isBack, bool isRight>
 class MotorController
 {
@@ -196,5 +198,7 @@ inline const char *bobbycarCanIdDesc(uint16_t id)
     }
     return "Unknown";
 }
-}
-}
+
+} // namespace can
+} // namespace protocol
+} // namespace bobbycar
diff --git a/bobbycar-common.h b/bobbycar-common.h
index b62bfd7..a89079d 100644
--- a/bobbycar-common.h
+++ b/bobbycar-common.h
@@ -2,6 +2,9 @@
 
 #include <stdint.h>
 
+namespace bobbycar {
+namespace protocol {
+
 enum class ControlType : uint8_t {
     Commutation,
     Sinusoidal,
@@ -14,3 +17,6 @@ enum class ControlMode : uint8_t {
     Speed, // Only with FieldOrientedControl
     Torque // Only with FieldOrientedControl
 };
+
+} // namespace protocol
+} // namespace bobbycar
diff --git a/bobbycar-serial.h b/bobbycar-serial.h
index 9ae5a20..b5abe2d 100644
--- a/bobbycar-serial.h
+++ b/bobbycar-serial.h
@@ -4,6 +4,10 @@
 
 #include "bobbycar-common.h"
 
+namespace bobbycar {
+namespace protocol {
+namespace serial {
+
 struct MotorState {
     bool enable = false;
     int16_t pwm = 0;
@@ -111,8 +115,8 @@ inline uint16_t calculateChecksum(Feedback feedback) {
 }
 
 
-#define ASSERT_LAYOUT(st, memb, off) //\
-//static_assert(offsetof(st, memb) == off, "struct layout wrong");
+#define ASSERT_LAYOUT(st, memb, off) \
+    static_assert(offsetof(st, memb) == off, "struct layout wrong");
 
 ASSERT_LAYOUT(Feedback, start, 0);
 ASSERT_LAYOUT(Feedback, left, 2);
@@ -125,26 +129,26 @@ ASSERT_LAYOUT(Feedback, left.dcPhaB, 12);
 ASSERT_LAYOUT(Feedback, left.dcPhaC, 14);
 ASSERT_LAYOUT(Feedback, left.chops, 16);
 ASSERT_LAYOUT(Feedback, left.hallA, 18);
-ASSERT_LAYOUT(Feedback, left.hallB, 20);
-ASSERT_LAYOUT(Feedback, left.hallC, 22);
+ASSERT_LAYOUT(Feedback, left.hallB, 19);
+ASSERT_LAYOUT(Feedback, left.hallC, 20);
 
-ASSERT_LAYOUT(Feedback, right, 24);
-ASSERT_LAYOUT(Feedback, right.angle, 26);
-ASSERT_LAYOUT(Feedback, right.speed, 28);
-ASSERT_LAYOUT(Feedback, right.error, 30);
-ASSERT_LAYOUT(Feedback, right.dcLink, 32);
-ASSERT_LAYOUT(Feedback, right.dcPhaA, 34);
-ASSERT_LAYOUT(Feedback, right.dcPhaB, 36);
-ASSERT_LAYOUT(Feedback, right.dcPhaC, 38);
-ASSERT_LAYOUT(Feedback, right.chops, 40);
-ASSERT_LAYOUT(Feedback, right.hallA, 42);
-ASSERT_LAYOUT(Feedback, right.hallB, 44);
-ASSERT_LAYOUT(Feedback, right.hallC, 48);
+ASSERT_LAYOUT(Feedback, right, 22);
+ASSERT_LAYOUT(Feedback, right.angle, 22);
+ASSERT_LAYOUT(Feedback, right.speed, 24);
+ASSERT_LAYOUT(Feedback, right.error, 26);
+ASSERT_LAYOUT(Feedback, right.dcLink, 28);
+ASSERT_LAYOUT(Feedback, right.dcPhaA, 30);
+ASSERT_LAYOUT(Feedback, right.dcPhaB, 32);
+ASSERT_LAYOUT(Feedback, right.dcPhaC, 34);
+ASSERT_LAYOUT(Feedback, right.chops, 36);
+ASSERT_LAYOUT(Feedback, right.hallA, 38);
+ASSERT_LAYOUT(Feedback, right.hallB, 39);
+ASSERT_LAYOUT(Feedback, right.hallC, 40);
 
-ASSERT_LAYOUT(Feedback, batVoltage, 30);
-ASSERT_LAYOUT(Feedback, boardTemp, 32);
-ASSERT_LAYOUT(Feedback, timeoutCntSerial, 34);
-ASSERT_LAYOUT(Feedback, checksum, 36);
+ASSERT_LAYOUT(Feedback, batVoltage, 42);
+ASSERT_LAYOUT(Feedback, boardTemp, 44);
+ASSERT_LAYOUT(Feedback, timeoutCntSerial, 46);
+ASSERT_LAYOUT(Feedback, checksum, 48);
 
 static_assert(sizeof(Command) == 32, "sizeof(Command) wrong");
 
@@ -178,3 +182,7 @@ ASSERT_LAYOUT(Command, buzzer.pattern, 27);
 ASSERT_LAYOUT(Command, poweroff, 28);
 ASSERT_LAYOUT(Command, led, 29);
 ASSERT_LAYOUT(Command, checksum, 30);
+
+} // namespace serial
+} // namespace protocol
+} // namespace bobbycar