[Units] Add measurements units API

CMakeLists.txt

@@ -134,6 +134,7 @@ add_executable(catch-tests-boardcore
     src/tests/catch/test-MEA.cpp
     src/tests/catch/test-airbrakesInterp.cpp
     src/tests/catch/test-pitot.cpp
+    src/tests/catch/test-units.cpp
 )
 target_compile_definitions(catch-tests-boardcore PRIVATE USE_MOCK_PERIPHERALS)
 sbs_target(catch-tests-boardcore stm32f429zi_stm32f4discovery)

src/shared/units/Acceleration.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Acceleration
+{
+
+template <class Ratio = std::ratio<1>>
+using Acceleration = Unit<UnitKind::Acceleration, Ratio>;
+
+template <class ToAcceleration, class FromAcceleration>
+ToAcceleration acceleration_cast(FromAcceleration const &from)
+{
+    return ToAcceleration(from);
+}
+
+using MeterPerSecondSquared = Acceleration<>;  // Acceleration in m/s^2
+using G = Acceleration<std::ratio<981, 100>>;  // Acceleration in Gs
+
+// Floats
+constexpr auto operator""_mps2(long double n)
+{
+    return MeterPerSecondSquared(static_cast<float>(n));
+};
+constexpr auto operator""_g(long double n) { return G(static_cast<float>(n)); };
+// Integers
+constexpr auto operator""_mps2(unsigned long long n)
+{
+    return MeterPerSecondSquared(static_cast<float>(n));
+};
+constexpr auto operator""_g(unsigned long long n)
+{
+    return G(static_cast<float>(n));
+};
+
+}  // namespace Acceleration
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Angle.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Angle
+{
+
+template <class Ratio = std::ratio<1>>
+using Angle = Unit<UnitKind::Angle, Ratio>;
+
+template <class ToAngle, class FromAngle>
+ToAngle angle_cast(FromAngle const &from)
+{
+    return ToAngle(from);
+}
+
+using Degree = Angle<>;  // Angle in degrees
+using Radian =           // Angle in radians
+    Angle<
+        std::ratio<static_cast<std::intmax_t>(180 * 1e10),
+                   static_cast<std::intmax_t>(3.14159265358979323846 * 1e10)>>;
+// Floats
+constexpr auto operator""_rad(long double n)
+{
+    return Radian(static_cast<float>(n));
+};
+constexpr auto operator""_deg(long double n)
+{
+    return Degree(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_rad(unsigned long long n)
+{
+    return Radian(static_cast<float>(n));
+};
+constexpr auto operator""_deg(unsigned long long n)
+{
+    return Degree(static_cast<float>(n));
+};
+
+}  // namespace Angle
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Length.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Length
+{
+
+template <class Ratio = std::ratio<1>>
+using Length = Unit<UnitKind::Length, Ratio>;
+
+template <class ToLength, class FromLength>
+ToLength length_cast(FromLength const &from)
+{
+    return ToLength(from);
+}
+
+using Millimeter = Length<std::milli>;  // Length in millimeters
+using Centimeter = Length<std::centi>;  // Length in centimeters
+using Decimeter  = Length<std::deci>;   // Length in decimeters
+using Meter      = Length<>;            // Length in meters
+using Kilometer  = Length<std::kilo>;   // Length in kilometers
+
+// Floats
+constexpr auto operator""_mm(long double n)
+{
+    return Millimeter(static_cast<float>(n));
+};
+constexpr auto operator""_cm(long double n)
+{
+    return Centimeter(static_cast<float>(n));
+};
+constexpr auto operator""_dm(long double n)
+{
+    return Decimeter(static_cast<float>(n));
+};
+constexpr auto operator""_m(long double n)
+{
+    return Meter(static_cast<float>(n));
+};
+constexpr auto operator""_km(long double n)
+{
+    return Kilometer(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_mm(unsigned long long n)
+{
+    return Millimeter(static_cast<float>(n));
+};
+constexpr auto operator""_cm(unsigned long long n)
+{
+    return Centimeter(static_cast<float>(n));
+};
+constexpr auto operator""_dm(unsigned long long n)
+{
+    return Decimeter(static_cast<float>(n));
+};
+constexpr auto operator""_m(unsigned long long n)
+{
+    return Meter(static_cast<float>(n));
+};
+constexpr auto operator""_km(unsigned long long n)
+{
+    return Kilometer(static_cast<float>(n));
+};
+
+}  // namespace Length
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Pressure.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Pressure
+{
+
+template <class Ratio = std::ratio<1>>
+using Pressure = Unit<UnitKind::Pressure, Ratio>;
+
+template <class ToPressure, class FromPressure>
+ToPressure pressure_cast(FromPressure const &from)
+{
+    return ToPressure(from);
+}
+
+using Pascal = Pressure<>;                    // Pressure in Pascals
+using Bar    = Pressure<std::ratio<100000>>;  // Pressure in Bars
+using Atm    = Pressure<std::ratio<101325>>;  // Pressure in Atmospheres
+
+// Floats
+constexpr auto operator""_pa(long double n)
+{
+    return Pascal(static_cast<float>(n));
+};
+constexpr auto operator""_bar(long double n)
+{
+    return Bar(static_cast<float>(n));
+};
+constexpr auto operator""_atm(long double n)
+{
+    return Atm(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_pa(unsigned long long n)
+{
+    return Pascal(static_cast<float>(n));
+};
+constexpr auto operator""_bar(unsigned long long n)
+{
+    return Bar(static_cast<float>(n));
+};
+constexpr auto operator""_atm(unsigned long long n)
+{
+    return Atm(static_cast<float>(n));
+};
+
+}  // namespace Pressure
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Speed.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Speed
+{
+
+template <class Ratio = std::ratio<1>>
+using Speed = Unit<UnitKind::Speed, Ratio>;
+
+template <class ToSpeed, class FromSpeed>
+ToSpeed speed_cast(FromSpeed const &from)
+{
+    return ToSpeed(from);
+}
+
+using MeterPerSecond = Speed<>;  // Speed in meters per second
+using KilometerPerHour =
+    Speed<std::ratio<1000, 3600>>;  // Speed in kilometers per hour
+
+// Floats
+constexpr auto operator""_mps(long double n)
+{
+    return MeterPerSecond(static_cast<float>(n));
+};
+constexpr auto operator""_kmh(long double n)
+{
+    return KilometerPerHour(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_mps(unsigned long long n)
+{
+    return MeterPerSecond(static_cast<float>(n));
+};
+constexpr auto operator""_kmh(unsigned long long n)
+{
+    return KilometerPerHour(static_cast<float>(n));
+};
+
+}  // namespace Speed
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Time.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <chrono>
+#include <ratio>
+
+#include "Units.h"
+
+namespace Boardcore
+{
+namespace Units
+{
+namespace Time
+{
+
+template <class Ratio = std::ratio<1>>
+using Time = Unit<UnitKind::Time, Ratio>;
+
+template <class ToTime, class FromTime>
+ToTime time_cast(FromTime const &from)
+{
+    return ToTime(from);
+}
+
+std::chrono::duration<float> to_chrono(Time<> const &from)
+{
+    return std::chrono::duration<float>(from.value());
+}
+
+using Nanosecond  = Time<std::ratio<1, 1000000000>>;  // Time in nanoseconds
+using Microsecond = Time<std::ratio<1, 1000000>>;     // Time in microseconds
+using Millisecond = Time<std::ratio<1, 1000>>;        // Time in milliseconds
+using Second      = Time<>;                           // Time in seconds
+using Minute      = Time<std::ratio<60>>;             // Time in minutes
+using Hour        = Time<std::ratio<3600>>;           // Time in hours
+
+// Floats
+constexpr auto operator""_ns(long double n)
+{
+    return Nanosecond(static_cast<float>(n));
+};
+constexpr auto operator""_us(long double n)
+{
+    return Microsecond(static_cast<float>(n));
+};
+constexpr auto operator""_ms(long double n)
+{
+    return Millisecond(static_cast<float>(n));
+};
+constexpr auto operator""_s(long double n)
+{
+    return Second(static_cast<float>(n));
+};
+constexpr auto operator""_min(long double n)
+{
+    return Minute(static_cast<float>(n));
+};
+constexpr auto operator""_h(long double n)
+{
+    return Hour(static_cast<float>(n));
+};
+// Integers
+constexpr auto operator""_ns(unsigned long long n)
+{
+    return Nanosecond(static_cast<float>(n));
+};
+constexpr auto operator""_us(unsigned long long n)
+{
+    return Microsecond(static_cast<float>(n));
+};
+constexpr auto operator""_ms(unsigned long long n)
+{
+    return Millisecond(static_cast<float>(n));
+};
+constexpr auto operator""_s(unsigned long long n)
+{
+    return Second(static_cast<float>(n));
+};
+constexpr auto operator""_min(unsigned long long n)
+{
+    return Minute(static_cast<float>(n));
+};
+constexpr auto operator""_h(unsigned long long n)
+{
+    return Hour(static_cast<float>(n));
+};
+
+}  // namespace Time
+}  // namespace Units
+}  // namespace Boardcore
\ No newline at end of file

src/shared/units/Units.h

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <utils/Debug.h>
+
+#include <ratio>
+#include <typeinfo>
+
+namespace Boardcore
+{
+namespace Units
+{
+
+enum class UnitKind
+{
+    Angle,
+    Length,
+    Pressure,
+    Time,
+    Speed,
+    Acceleration,
+};
+
+// Base class to implement custom measurement units logic.
+template <UnitKind Kind, class Ratio = std::ratio<1>>
+class Unit
+{
+public:
+    constexpr explicit Unit(float val) : _value(val) {}
+
+    template <UnitKind FromKind, class FromRatio>
+    constexpr explicit Unit(Unit<FromKind, FromRatio> const &from)
+        : _value(from.template value<Ratio>())
+    {
+    }
+
+    // Get the value of the unit in the specified ratio.
+    template <class TargetRatio = Ratio>
+    constexpr float value() const
+    {
+        constexpr auto currentRatio =
+            static_cast<float>(Ratio::num) / static_cast<float>(Ratio::den);
+        constexpr auto targetRatio = static_cast<float>(TargetRatio::num) /
+                                     static_cast<float>(TargetRatio::den);
+
+        return _value * currentRatio / targetRatio;
+    }
+
+    template <UnitKind TargetKind, class TargetRatio = Ratio>
+    constexpr explicit operator Unit<TargetKind, TargetRatio>() const
+    {
+        return Unit<TargetKind, TargetRatio>(value<TargetRatio>());
+    }
+
+private:
+    float _value;
+};
+
+// Sum, Subtraction, Multiplication, Division
+template <UnitKind Kind, class Ratio>
+constexpr auto operator+(const Unit<Kind, Ratio> &lhs,
+                         const Unit<Kind, Ratio> &rhs)
+{
+    return Unit<Kind, Ratio>(lhs.template value() + rhs.template value());
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr auto operator-(const Unit<Kind, Ratio> &lhs,
+                         const Unit<Kind, Ratio> &rhs)
+{
+    return Unit<Kind, Ratio>(lhs.template value() - rhs.template value());
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr auto operator*(const Unit<Kind, Ratio> &lhs, float rhs)
+{
+    return Unit<Kind, Ratio>(lhs.template value() * rhs);
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr auto operator*(float lhs, const Unit<Kind, Ratio> &rhs)
+{
+    return Unit<Kind, Ratio>(lhs * rhs.template value());
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr auto operator/(const Unit<Kind, Ratio> &lhs, float rhs)
+{
+    return Unit<Kind, Ratio>(lhs.template value() / rhs);
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr auto operator/(float lhs, const Unit<Kind, Ratio> &rhs)
+{
+    return Unit<Kind, Ratio>(lhs / rhs.template value());
+}
+
+// Comparison operators
+template <UnitKind Kind, class Ratio>
+constexpr bool operator==(const Unit<Kind, Ratio> &lhs,
+                          const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() == rhs.template value();
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr bool operator!=(const Unit<Kind, Ratio> &lhs,
+                          const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() != rhs.template value();
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr bool operator<(const Unit<Kind, Ratio> &lhs,
+                         const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() < rhs.template value();
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr bool operator>(const Unit<Kind, Ratio> &lhs,
+                         const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() > rhs.template value();
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr bool operator<=(const Unit<Kind, Ratio> &lhs,
+                          const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() <= rhs.template value();
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr bool operator>=(const Unit<Kind, Ratio> &lhs,
+                          const Unit<Kind, Ratio> &rhs)
+{
+    return lhs.template value() >= rhs.template value();
+}
+
+// Direct assignment operators
+template <UnitKind Kind, class Ratio>
+constexpr Unit<Kind, Ratio> &operator+=(Unit<Kind, Ratio> &lhs,
+                                        const Unit<Kind, Ratio> &rhs)
+{
+    lhs = lhs + rhs;
+    return lhs;
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr Unit<Kind, Ratio> &operator-=(Unit<Kind, Ratio> &lhs,
+                                        const Unit<Kind, Ratio> &rhs)
+{
+    lhs = lhs - rhs;
+    return lhs;
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr Unit<Kind, Ratio> &operator*=(Unit<Kind, Ratio> &lhs, float rhs)
+{
+    lhs = lhs * rhs;
+    return lhs;
+}
+
+template <UnitKind Kind, class Ratio>
+constexpr Unit<Kind, Ratio> &operator/=(Unit<Kind, Ratio> &lhs, float rhs)
+{
+    lhs = lhs / rhs;
+    return lhs;
+}
+
+}  // namespace Units
+}  // namespace Boardcore

src/tests/catch/test-units.cpp

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Davide Basso
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <units/Acceleration.h>
+#include <units/Angle.h>
+#include <units/Length.h>
+#include <units/Pressure.h>
+#include <units/Speed.h>
+#include <units/Time.h>
+#include <utils/Debug.h>
+
+#include <catch2/catch.hpp>
+#include <cmath>
+
+using namespace Boardcore;
+
+template <class T>
+bool eq(T const &a, T const &b)
+{
+    return std::fabs(a.value() - b.value()) < 1e-6;
+}
+
+TEST_CASE("Units Test")
+{
+    constexpr float PI = 3.14159265358979323846;
+
+    using namespace Units::Angle;
+    using namespace Units::Length;
+    using namespace Units::Pressure;
+    using namespace Units::Time;
+    using namespace Units::Speed;
+    using namespace Units::Acceleration;
+
+    Meter len = 1_m;
+
+    // Verify ratios
+    REQUIRE(Radian(PI) == angle_cast<Radian>(Degree(180)));
+
+    REQUIRE(Millimeter(1000) == length_cast<Millimeter>(Meter(1)));
+    REQUIRE(Centimeter(100) == length_cast<Centimeter>(Meter(1)));
+    REQUIRE(Decimeter(10) == length_cast<Decimeter>(Meter(1)));
+    REQUIRE(Kilometer(0.001) == length_cast<Kilometer>(Meter(1)));
+
+    REQUIRE(Pascal(100000) == pressure_cast<Pascal, Bar>(Bar(1)));
+    REQUIRE(Atm(1) == pressure_cast<Atm, Pascal>(Pascal(101325)));
+
+    REQUIRE(Nanosecond(1000000000) == time_cast<Nanosecond>(Second(1)));
+    REQUIRE(Microsecond(1000000) == time_cast<Microsecond>(Second(1)));
+    REQUIRE(Millisecond(1000) == time_cast<Millisecond>(Second(1)));
+    REQUIRE(Minute(1) == time_cast<Minute>(Second(60)));
+    REQUIRE(Hour(1) == time_cast<Hour>(Second(3600)));
+
+    REQUIRE(MeterPerSecond(1) ==
+            speed_cast<MeterPerSecond>(KilometerPerHour(3.6)));
+
+    REQUIRE(MeterPerSecondSquared(9.81) ==
+            acceleration_cast<MeterPerSecondSquared>(G(1)));
+
+    // Test operators
+    REQUIRE(eq(Radian(2 * PI), Radian(PI) + Radian(PI)));
+    REQUIRE(eq(Radian(0), Radian(PI) - Radian(PI)));
+    REQUIRE(eq(Radian(PI * 2), Radian(PI) * 2));
+    REQUIRE(eq(Radian(2 * PI), 2 * Radian(PI)));
+    REQUIRE(eq(Radian(PI / 2), Radian(PI) / 2));
+    REQUIRE(eq(Radian(2 / PI), 2 / Radian(PI)));
+
+    // Test comparisons
+    REQUIRE(Radian(PI) == Radian(PI));
+    REQUIRE(Radian(PI) != Radian(2 * PI));
+    REQUIRE(Radian(PI) < Radian(2 * PI));
+    REQUIRE(Radian(PI) <= Radian(2 * PI));
+    REQUIRE(Radian(PI) <= Radian(PI));
+    REQUIRE(Radian(2 * PI) > Radian(PI));
+    REQUIRE(Radian(2 * PI) >= Radian(PI));
+    REQUIRE(Radian(PI) >= Radian(PI));
+
+    // Test assignment operators
+    auto a = Radian(PI);
+    a += Radian(PI);
+    REQUIRE(a == Radian(2 * PI));
+    a -= Radian(PI);
+    REQUIRE(a == Radian(PI));
+    a *= 2;
+    REQUIRE(a == Radian(2 * PI));
+    a /= 2;
+    REQUIRE(a == Radian(PI));
+}
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