From 297ae353c2cdde859b8917684e8c637b13a05cd2 Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Tue, 27 Feb 2024 18:44:19 +0000
Subject: [PATCH] [Units] Add measurements units API
---
CMakeLists.txt | 1 +
src/shared/units/Acceleration.h | 66 +++++++++++
src/shared/units/Angle.h | 71 ++++++++++++
src/shared/units/Length.h | 96 ++++++++++++++++
src/shared/units/Pressure.h | 78 +++++++++++++
src/shared/units/Speed.h | 70 ++++++++++++
src/shared/units/Time.h | 111 ++++++++++++++++++
src/shared/units/Units.h | 194 ++++++++++++++++++++++++++++++++
src/tests/catch/test-units.cpp | 106 +++++++++++++++++
9 files changed, 793 insertions(+)
create mode 100644 src/shared/units/Acceleration.h
create mode 100644 src/shared/units/Angle.h
create mode 100644 src/shared/units/Length.h
create mode 100644 src/shared/units/Pressure.h
create mode 100644 src/shared/units/Speed.h
create mode 100644 src/shared/units/Time.h
create mode 100644 src/shared/units/Units.h
create mode 100644 src/tests/catch/test-units.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index aaba63944..f50a6b1ba 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/src/shared/units/Acceleration.h b/src/shared/units/Acceleration.h
new file mode 100644
index 000000000..eac700e5a
--- /dev/null
+++ b/src/shared/units/Acceleration.h
@@ -0,0 +1,66 @@
+/* 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
diff --git a/src/shared/units/Angle.h b/src/shared/units/Angle.h
new file mode 100644
index 000000000..6a1c8eef1
--- /dev/null
+++ b/src/shared/units/Angle.h
@@ -0,0 +1,71 @@
+/* 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
diff --git a/src/shared/units/Length.h b/src/shared/units/Length.h
new file mode 100644
index 000000000..cb6f024c5
--- /dev/null
+++ b/src/shared/units/Length.h
@@ -0,0 +1,96 @@
+/* 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
diff --git a/src/shared/units/Pressure.h b/src/shared/units/Pressure.h
new file mode 100644
index 000000000..30dc96bb0
--- /dev/null
+++ b/src/shared/units/Pressure.h
@@ -0,0 +1,78 @@
+/* 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
diff --git a/src/shared/units/Speed.h b/src/shared/units/Speed.h
new file mode 100644
index 000000000..051d90e07
--- /dev/null
+++ b/src/shared/units/Speed.h
@@ -0,0 +1,70 @@
+/* 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
diff --git a/src/shared/units/Time.h b/src/shared/units/Time.h
new file mode 100644
index 000000000..155fef4d9
--- /dev/null
+++ b/src/shared/units/Time.h
@@ -0,0 +1,111 @@
+/* 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
diff --git a/src/shared/units/Units.h b/src/shared/units/Units.h
new file mode 100644
index 000000000..6e59cbcd0
--- /dev/null
+++ b/src/shared/units/Units.h
@@ -0,0 +1,194 @@
+/* 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
diff --git a/src/tests/catch/test-units.cpp b/src/tests/catch/test-units.cpp
new file mode 100644
index 000000000..4bc4025bd
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+/* 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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