Slow working on bringing the old code up to standard.

- Documentation updates - most of the old files use non-Doxygen or
  no/minimal header comments.
- Rework SimpleSuite to be more useful.
- Coverity-surfaced fixes.

.idea/inspectionProfiles/Project_Default.xml

@@ -1,6 +1,7 @@
 <component name="InspectionProjectProfileManager">
   <profile version="1.0">
     <option name="myName" value="Project Default" />
+    <inspection_tool class="ClangTidy" enabled="false" level="WARNING" enabled_by_default="false" />
     <inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
     <inspection_tool class="SpellCheckingInspection" enabled="false" level="TYPO" enabled_by_default="false">
       <option name="processCode" value="true" />

CMakeLists.txt

@@ -44,16 +44,17 @@ set(HEADER_FILES
         include/scsl/StringUtil.h
         include/scsl/TLV.h
 
+        include/scmp/scmp.h
         include/scmp/Math.h
         include/scmp/Motion2D.h
         include/scmp/geom/Coord2D.h
         include/scmp/geom/Orientation.h
         include/scmp/geom/Quaternion.h
         include/scmp/geom/Vector.h
+        include/scmp/filter/Madgwick.h
 
         include/sctest/Assert.h
         include/sctest/Report.h
-        include/scmp/filter/Madgwick.h
 )
 
 include_directories(include)

include/scmp/Math.h

@@ -1,4 +1,26 @@
-/// math.h provides certain useful mathematical functions.
+///
+/// \file include/scmp/Math.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Common math functions.
+///
+/// Arena defines a memory management backend for pre-allocating memory.
+///
+/// Copyright 2023 K. Isom <kyle@imap.cc>
+///
+/// Permission to use, copy, modify, and/or distribute this software for
+/// any purpose with or without fee is hereby granted, provided that
+/// the above copyright notice and this permission notice appear in all /// copies.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
+/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+/// PERFORMANCE OF THIS SOFTWARE.
+///
 
 #ifndef SCCCL_MATH_H
 #define SCCCL_MATH_H
@@ -9,7 +31,7 @@
 namespace scmp {
 
 
-// MAX_RADIAN is a precomputed 2 * M_PI, and MIN_RADIAN is -2 * M_PI.
+/// MAX_RADIAN is a precomputed 2 * M_PI. and MIN_RADIAN is -2 * M_PI.
 constexpr double MAX_RADIAN = 2 * M_PI;
 constexpr double MIN_RADIAN = -2 * M_PI;
 constexpr double POS_HALF_RADIAN = M_PI / 2;
@@ -18,8 +40,10 @@ constexpr double NEG_HALF_RADIAN = -(M_PI / 2);
 
 /// Roll m die of n sides, returning a vector of the dice.
 std::vector<int>	Die(int m, int n);
+
 /// Roll m die of n sides, returning the total of the die.
 int			DieTotal(int m, int n);
+
 /// Roll m die of n sides, and take the total of the top k die.
 int			BestDie(int k, int m, int n);
 

include/scmp/filter/Madgwick.h

@@ -34,8 +34,9 @@
 #include <scmp/geom/Quaternion.h>
 
 
-/// scmp contains the wntrmute robotics code.
+/// scmp contains the chimmering clarity math and physics code.
 namespace scmp {
+
 /// filter contains filtering algorithms.
 namespace filter {
 
@@ -54,30 +55,30 @@ namespace filter {
 template <typename T>
 class Madgwick {
 public:
-	/// The Madgwick filter is initialised with an identity quaternion.
+	/// \brief The Madgwick filter is initialised with an identity quaternion.
 	Madgwick() : deltaT(0.0), previousSensorFrame(), sensorFrame() {};
 
 
-	/// The Madgwick filter is initialised with a sensor frame.
+	/// \brief The Madgwick filter is initialised with a sensor frame.
 	///
 	/// \param sf A sensor frame; if zero, the sensor frame will be
 	///           initialised as an identity quaternion.
 	Madgwick(scmp::geom::Vector<T, 3> sf) : deltaT(0.0), previousSensorFrame()
 	{
 		if (!sf.isZero()) {
-			sensorFrame = scmp::geom::quaternion(sf, 0.0);
+			sensorFrame = scmp::geom::quaternion<T>(sf, 0.0);
 		}
 	}
 
 
-	/// Initialise the filter with a sensor frame quaternion.
+	/// \brief Initialise the filter with a sensor frame quaternion.
 	///
 	/// \param sf A quaternion representing the current Orientation.
 	Madgwick(scmp::geom::Quaternion<T> sf) :
 	    deltaT(0.0), previousSensorFrame(), sensorFrame(sf) {};
 
 
-	/// Return the current Orientation as measured by the filter.
+	/// \brief Return the current Orientation as measured by the filter.
 	///
 	/// \return The current sensor frame.
 	scmp::geom::Quaternion<T>
@@ -87,6 +88,9 @@ public:
 	}
 
 
+	/// \brief Return the filter's rate of angular change from a
+	///        sensor frame.
+	///
 	/// Return the rate of change of the Orientation of the earth frame
 	/// with respect to the sensor frame.
 	///
@@ -99,7 +103,7 @@ public:
 		return (this->sensorFrame * 0.5) * scmp::geom::Quaternion<T>(gyro, 0.0);
 	}
 
-	/// Update the sensor frame to a new frame.
+	/// \brief Update the sensor frame to a new frame.
 	///
 	/// \param sf The new sensor frame replacing the previous one.
 	/// \param delta The time delta since the last update.
@@ -112,7 +116,7 @@ public:
 	}
 
 
-	/// Update the sensor frame with a gyroscope reading.
+	/// \brief Update the sensor frame with a gyroscope reading.
 	///
 	/// \param gyro A three-dimensional vector containing gyro readings
 	///             as w_x, w_y, w_z.
@@ -121,14 +125,14 @@ public:
 	UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta)
 	{
 		// Ensure the delta isn't zero within a 100 μs tolerance.
-		assert(!scmp::WithinTolerance(delta, 0.0, 0.0001));
+		assert(!scmp::WithinTolerance<T>(delta, 0.0, 0.0001));
 		scmp::geom::Quaternion<T>	q = this->AngularRate(gyro) * delta;
 
 		this->UpdateFrame(this->sensorFrame + q, delta);
 	}
 
 
-	/// Retrieve a vector of the Euler angles in ZYX Orientation.
+	/// \brief Retrieve a vector of the Euler angles in ZYX Orientation.
 	///
 	/// \return A vector of Euler angles as <ψ, θ, ϕ>.
 	scmp::geom::Vector<T, 3>
@@ -144,11 +148,11 @@ private:
 };
 
 
-/// Madgwickd is a shorthand alias for a Madgwick<double>.
+/// \brief Madgwickd is a shorthand alias for a Madgwick<double>.
-typedef Madgwick<double>	Madgwickd;
+using Madgwickd = Madgwick<double>;
 
-/// Madgwickf is a shorthand alias for a Madgwick<float>.
+/// \brief Madgwickf is a shorthand alias for a Madgwick<float>.
-typedef Madgwick<float>		Madgwickf;
+using Madgwickf = Madgwick<float>;
 
 
 } // namespace filter

include/scmp/scmp.h

@@ -0,0 +1,33 @@
+///
+/// \file include/scmp/scmp.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-19
+/// \brief Aggregated scmp include header.
+///
+/// Copyright 2023 K. Isom <kyle@imap.cc>
+///
+/// Permission to use, copy, modify, and/or distribute this software for
+/// any purpose with or without fee is hereby granted, provided that
+/// the above copyright notice and this permission notice appear in all /// copies.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
+/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+/// PERFORMANCE OF THIS SOFTWARE.
+///
+
+#ifndef SCSL_SCMP_H
+#define SCSL_SCMP_H
+
+
+/// \brief Shimmering Clarity Math & Physics toolkit.
+namespace scmp {
+
+} // namespace scmp
+
+
+#endif //SCSL_SCMP_H

include/scsl/Arena.h

@@ -21,12 +21,6 @@
 /// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
-/// \section PLATFORM SUPPORT
-///
-/// Arena will build on the major platforms, but memory-mapped files are only
-/// supported on Unix-like systems. File I/O on Windows, for example, reads the
-/// file into an allocated arena. See Arena::Open for more details.
-
 
 #ifndef KIMODEM_ARENA_H
 #define KIMODEM_ARENA_H

include/sctest/Checks.h

@@ -35,16 +35,11 @@ namespace sctest {
 #define SCTEST_CHECK_FALSE(x)		if ((x))	{ return false; }
 #define SCTEST_CHECK_EQ(x, y)		if ((x) != (y))	{ return false; }
 #define SCTEST_CHECK_NE(x, y)		if ((x) == (y))	{ return false; }
-#define SCTEST_CHECK_ZERO(x)		if ((x) != 0)	{ return false; }
-#define SCTEST_CHECK_GTZ(x)		if ((x) > 0) 	{ return false; }
-#define SCTEST_CHECK_GEZ(x)		if ((x) >= 0)	{ return false; }
-#define SCTEST_CHECK_LEZ(x)		if ((x) <= 0)	{ return false; }
-#define SCTEST_CHECK_LTZ(x)		if ((x) < 0)	{ return false; }
 #define SCTEST_CHECK_FEQ(x, y)		{ float eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
 #define SCTEST_CHECK_DEQ(x, y)		{ double eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
 
-#define SCTEST_CHECK_FEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
+#define SCTEST_CHECK_FEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance<float>((x), (y), eps)) { return false; }}
-#define SCTEST_CHECK_DEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
+#define SCTEST_CHECK_DEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance<double>((x), (y), eps)) { return false; }}
 
 
 } // namespace sctest

include/sctest/Report.h

@@ -28,21 +28,42 @@
 
 namespace sctest {
 
-typedef struct _Report {
-	// Failing stores the number of failing tests; for tests added
-	// with AddTest, this is a test that returned false. For tests
-	// added with AddFailingTest, this is a test that returned true.
-	size_t	Failing;
 
-	// Total is the number of tests registered during the last run.
+class Report {
-	size_t	Total;
+public:
+	/// \brief Failing returns the count of failed tests.
+	///
+	/// \details If a test is run and expected to pass, but fails,
+	///	     it is marked as failed. If a test is expected to
+	///	     fail, but passes, it is marked as failed.
+	///
+	/// \return The number of tests that failed.
+	size_t	Failing() const;
 
-	std::chrono::time_point<std::chrono::steady_clock>	Start;
+	/// \brief Total is the number of tests registered.
-	std::chrono::time_point<std::chrono::steady_clock>	End;
+	size_t	Total() const;
-	std::chrono::duration<double>						Duration;
+
+	void	Failed();
+	void	AddTest(size_t testCount = 0);
+	void	Reset(size_t testCount = 0);
+
+	void	Start();
+	void	End();
+	std::chrono::duration<double, std::milli>
+		Elapsed() const;
+
+	Report();
+private:
+	size_t	failing{};
+	size_t	total{};
+
+	std::chrono::time_point<std::chrono::steady_clock>	start;
+	std::chrono::time_point<std::chrono::steady_clock>	end;
+};
+
+
+std::ostream &operator<<(std::ostream &os, const Report &report);
+} // end namespace sctest
 
-	_Report();
-} Report;
 
-} // end namespace test
 #endif

include/sctest/SimpleSuite.h

@@ -1,30 +1,28 @@
-//
+///
-// Project: scccl
+/// \file SimpleSuite.h
-// File: include/test/SimpleSuite.h
+/// \author K. Isom <kyle@imap.cc>
-// Author: Kyle Isom
+/// \date 2017-06-05
-// Date: 2017-06-05
+/// \brief Defines a simple unit testing framework.
-// Namespace: test
+///
-//
+/// Copyright 2017 K. Isom <kyle@imap.cc>
-// SimpleSuite.h defines the SimpleSuite class for unit testing.
+///
-//
+/// Permission to use, copy, modify, and/or distribute this software for
-// Copyright 2017 Kyle Isom <kyle@imap.cc>
+/// any purpose with or without fee is hereby granted, provided that
-//
+/// the above copyright notice and this permission notice appear in all /// copies.
-// Licensed under the Apache License, Version 2.0 (the "License");
+///
-// you may not use this file except in compliance with the License.
+/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
-// You may obtain a copy of the License at
+/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
-//
+/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
-//     http://www.apache.org/licenses/LICENSE-2.0
+/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
-//
+/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
-// Unless required by applicable law or agreed to in writing, software
+/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
-// distributed under the License is distributed on an "AS IS" BASIS,
+/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+/// PERFORMANCE OF THIS SOFTWARE.
-// See the License for the specific language governing permissions and
+///
-// limitations under the License.
+
 #ifndef SCTEST_SIMPLESUITE_H
 #define SCTEST_SIMPLESUITE_H
 
-// SimpleSuite.h
-// This header file defines the interface for a simple suite of tests.
 
 #include <functional>
 #include <string>
@@ -34,54 +32,91 @@
 
 namespace sctest {
 
-typedef struct {
-	std::string			name;
-	std::function<bool(void)>	test;
-} TestCase;
 
+/// \brief UnitTest describes a single unit test. It is a predicate:
+///        did the test pass?
+struct UnitTest {
+	/// What name should be shown when running tests?
+	std::string		name;
+
+	/// This is the test function to be run.
+	std::function<bool()>	test;
+};
+
+/// \brief SimpleSuite is a test-running harness for simple tests.
+///
+/// A simple test is defined as a test that takes no arguments and
+/// returns a boolean status where true indicates the test has passed.
 class SimpleSuite {
-	public:
+public:
 	SimpleSuite();
 
-	// Silence suppresses output.
+	/// \brief Silence suppresses output.
-	void Silence(void) { quiet = true; }
+	void Silence();
 
-	// Setup defines a setup function; this should be a predicate. This function
+	/// \brief Define a suite setup function.
-	// is called at the start of the Run method, before tests are run.
+	///
+	/// If present, this setup function is called at the start of
+	/// the Run method, before tests are run. It should be a
+	/// predicate: if it returns false, tests automatically fail.
 	void Setup(std::function<bool(void)> setupFn) { fnSetup = setupFn; }
 
-	// Teardown defines a teardown function; this should be a predicate. This
+	/// \brief Define a teardown function.
-	// function is called at the end of the Run method, after all tests have run.
+	///
+	/// If present, this teardown function is called at the end of
+	/// the Run method, after all tests have run.
 	void Teardown(std::function<bool(void)> teardownFn) { fnTeardown = teardownFn; }
 
-	// AddTest is used to add a test that is expected to return true.
+	/// \brief Register a new simple test.
-	void AddTest(std::string, std::function<bool(void)>);
+	///
+	/// \param label The text that will identify test when
+	///        running.
+	/// \param test This test should return true if the test has
+	/// 	   passed.
+	void AddTest(std::string label, std::function<bool(void)> test);
 
-	// AddFailingTest is used to add a test that is expected to return false.
+	/// \brief Register a test that is expected to return false.
-	void AddFailingTest(std::string, std::function<bool(void)>);
+	///
+	/// \param label The text that will identify test when
+	///        running.
+	/// \param test This test should return false if the test has
+	/// 	   passed.
+	void AddFailingTest(std::string label, std::function<bool(void)> test);
 
-	bool Run(void);
+	/// \brief Run all the registered tests.
+	///
+	/// \return True if all tests have passed.
+	bool Run();
 
-	// Reporting methods.
+	/// Reporting methods.
 
-	// Reset clears the report statistics.
+	/// \brief Reset clears the report statistics.
-	void Reset(void) { report.Failing = report.Total = 0; hasRun = false; };
+	///
+	/// Reset will preserve the setup and teardown functions, just
+	/// resetting the suite's internal state.
+	void Reset();
 
-	// IsReportReady returns true if a report is ready.
+	/// \brief
-	bool IsReportReady(void) { return hasRun; }
+	// HasRun returns true if a report is ready.
+	bool HasRun() const;
 
 	// Report returns a Report.
 	Report GetReport(void);
 
-	private:
+private:
 	bool				quiet;
 	std::function<bool(void)> fnSetup, fnTeardown;
-	std::vector<TestCase>		tests;
+	std::vector<UnitTest>     tests;
 
 	// Report functions.
 	Report	report;
 	bool	hasRun; // Have the tests been run yet?
+	bool	hasPassed;
 };
 
-} // end namespace test
+
+std::ostream& operator<<(std::ostream& os, SimpleSuite &suite);
+
+
+} // namespace sctest
 #endif

src/sl/Buffer.cc

@@ -109,12 +109,19 @@ Buffer::Append(const std::string s)
 bool
 Buffer::Append(const uint8_t *data, const size_t datalen)
 {
+	if (datalen == 0) {
+		return false;
+	}
+
 	auto resized = false;
 	auto newCap = this->mustGrow(datalen);
 
 	if (newCap > 0) {
 		this->Resize(newCap);
 		resized = true;
+	} else if (this->contents == nullptr) {
+		this->Resize(this->capacity);
+		resized = true;
 	}
 
 	assert(this->contents != nullptr);

src/test/Report.cc

@@ -22,16 +22,96 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 
 #include <chrono>
+#include <iomanip>
+#include <ostream>
 
 #include <sctest/Report.h>
 
 
+
 namespace sctest {
 
 
-_Report::_Report()
+Report::Report()
-		: Failing (0), Total(0), Start(std::chrono::steady_clock::now()),
+{
-		  End(std::chrono::steady_clock::now()), Duration(0) {}
+	this->Reset(0);
+}
 
 
-} // end namespace test
+size_t
+Report::Failing() const
+{
+	return this->failing;
+}
+
+
+size_t
+Report::Total() const
+{
+	return this->total;
+}
+
+
+void
+Report::Failed()
+{
+	this->failing++;
+}
+
+
+void
+Report::AddTest(size_t testCount)
+{
+	this->total += testCount;
+}
+
+
+void
+Report::Reset(size_t testCount)
+{
+	auto now = std::chrono::steady_clock::now();
+	this->total = testCount;
+	this->failing = 0;
+
+	this->Start();
+	this->end = now;
+}
+
+
+
+void
+Report::Start()
+{
+	this->start = std::chrono::steady_clock::now();
+}
+
+
+void
+Report::End()
+{
+	this->end = std::chrono::steady_clock::now();
+}
+
+
+std::chrono::duration<double, std::milli>
+Report::Elapsed() const
+{
+	return this->end - this->start;
+}
+
+
+std::ostream&
+operator<<(std::ostream &os, const Report &report)
+{
+	auto elapsed = report.Elapsed();
+
+	os << report.Total() - report.Failing() << "/"
+	   << report.Total() << " tests passed in "
+	   << std::setw(3) << elapsed.count() << "ms";
+
+	return os;
+}
+
+
+
+} // end namespace sctest

src/test/SimpleSuite.cc

@@ -20,7 +20,6 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
 
-#include <chrono>
 #include <iostream>
 
 #include <sctest/SimpleSuite.h>
@@ -39,14 +38,22 @@ SimpleSuite::SimpleSuite()
     : quiet(false), fnSetup(stub), fnTeardown(stub), tests(),
       report(), hasRun(false)
 {
+	this->Reset();
+}
 
+
+void
+SimpleSuite::Silence()
+{
+	// Silence will fall.
+	quiet = true;
 }
 
 
 void
 SimpleSuite::AddTest(std::string name, std::function<bool()> test)
 {
-	TestCase test_case = {name, test};
+	UnitTest const test_case = {name, test};
 	tests.push_back(test_case);
 }
 
@@ -55,7 +62,7 @@ void
 SimpleSuite::AddFailingTest(std::string name, std::function<bool()> test)
 {
 	// auto ntest = [&test]() { return !test(); };
-	TestCase test_case = {name, [&test]() { return !test(); }};
+	UnitTest test_case = {name, [&test]() { return !test(); }};
 	tests.push_back(test_case);
 }
 
@@ -63,38 +70,55 @@ SimpleSuite::AddFailingTest(std::string name, std::function<bool()> test)
 bool
 SimpleSuite::Run()
 {
-	report.Start = std::chrono::steady_clock::now();
+	report.Reset(this->tests.size());
+
 	unless(quiet) { std::cout << "Setting up the tests.\n"; }
 	unless(fnSetup()) { return false; }
 
-	// Reset the failed test counts.
+	this->hasRun = true;
-	report.Failing = 0;
+	this->hasPassed = true;
 
-	bool result = true;
+	for (size_t i = 0; i < this->report.Total() && this->hasPassed; i++) {
-	hasRun = true;
+		const UnitTest testCase = this->tests.at(i);
-	report.Total = tests.size();
-	for (size_t i = 0; i < report.Total && result; i++) {
-		TestCase tc = tests.at(i);
 		unless(quiet) {
-			std::cout << "[" << i + 1 << "/" << report.Total << "] Running test " << tc.name << ": ";
+			std::cout << "[" << i + 1 << "/"
+				  << this -> report.Total()
+				  << "] Running test "
+				  << testCase.name << ": ";
 		}
 
-		result = tc.test();
+		this->hasPassed = testCase.test();
 		if (quiet) { continue; }
 
-		if (result) {
+		if (this->hasPassed) {
 			std::cout << "[PASS]";
 		} else {
 			std::cout << "[FAIL]";
-			report.Failing++;
+			report.Failed();
 		}
 		std::cout << "\n";
 	}
 
 	unless(quiet) { std::cout << "Tearing down the tests.\n"; }
 	unless(fnTeardown()) { return false; }
-	report.End = std::chrono::steady_clock::now();
+	report.End();
-	return result;
+	return this->hasPassed;
+}
+
+
+void
+SimpleSuite::Reset()
+{
+	this->report.Reset(0);
+	this->hasRun = false;
+	this->hasPassed = false;
+}
+
+
+bool
+SimpleSuite::HasRun() const
+{
+	return this->hasRun;
 }
 
 
@@ -105,4 +129,17 @@ SimpleSuite::GetReport()
 }
 
 
+std::ostream &
+operator<<(std::ostream &os, SimpleSuite &suite)
+{
+	if (suite.HasRun()) {
+		os << "OK: " << suite.GetReport();
+	} else {
+		os << "Test suite hasn't run.";
+	}
+
+	return os;
+}
+
+
 } // end namespace sctest

test/coord2d.cc

@@ -25,21 +25,23 @@
 
 #include <scmp/Math.h>
 #include <scmp/geom/Coord2D.h>
-#include <sctest/SimpleSuite.h>
 #include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
 
 using namespace scmp::geom;
 using namespace sctest;
 
 
+namespace {
 #define CHECK_ROTATE(theta, expected)	if (!scmp::WithinTolerance(scmp::RotateRadians((double)theta, 0), (double)expected, (double)0.0001)) { \
-	std::cerr << "Expected " << theta << " to wrap to " << expected << std::endl; \
+	std::cerr << "Expected " << theta << " to wrap to " << expected << "\n"; \
-	std::cerr << "    have " << scmp::RotateRadians(theta, 0) << std::endl; \
+	std::cerr << "    have " << scmp::RotateRadians(theta, 0) << "\n"; \
 	return false; \
 }
 
-static bool
+
-geom_validate_angular_rotation(void)
+bool
+geomValidateAngularRotation()
 {
 		CHECK_ROTATE(0, 0);
 		CHECK_ROTATE(M_PI/4, M_PI/4);
@@ -54,17 +56,18 @@ geom_validate_angular_rotation(void)
 		return true;
 }
 
-static bool
+
-geom_conversion_identities(void)
+bool
+geomConversionIdentities()
 {
-	Point2D	points[4] = {
+	const std::array<Point2D,4> 	points = {
 		Point2D(1, 0),
 		Point2D(0, 1),
 		Point2D(-1, 0),
 		Point2D(0, -1)
 	};
 
-	Polar2D	polars[4] = {
+	const std::array<Polar2D,4>	polars = {
 		Polar2D(1, 0),
 		Polar2D(1, scmp::DegreesToRadiansD(90)),
 		Polar2D(1, scmp::DegreesToRadiansD(180)),
@@ -72,92 +75,103 @@ geom_conversion_identities(void)
 	};
 
 	for (auto i = 0; i < 4; i++) {
-		Polar2D	pol(points[i]);
+		const Polar2D	pol(points.at(i));
-		if (pol != polars[i]) {
+		if (pol != polars.at(i)) {
-			std::cerr << "! measured value outside tolerance (" << i << ")" << std::endl;
+			std::cerr << "! measured value outside tolerance ("
-			std::cerr << "  " << points[i] << " → " << pol << " ← " << polars[i] << std::endl; 
+				  << i << ")\n";
+			std::cerr << "  " << points.at(i) << " → " << pol
+				  << " ← " << polars.at(i) << "\n";
 			return false;
 		}
 
-		Point2D	pt(pol);
+		const Point2D point(pol);
-		SCTEST_CHECK(pt == points[i]);
+		SCTEST_CHECK(point == points.at(i));
 	}
 
 	return true;
 }
 
-static bool
-geom_verify_basic_properties(void)
-{
-	Point2D p1(1, 1);
-	Point2D p2(2, 2);
-	Point2D p3(3, 3);
 
-	SCTEST_CHECK((p1 + p2) == p3);
+bool
-	SCTEST_CHECK((p3 - p2) == p1);
+geomVerifyBasicProperties()
+{
+	const Point2D pt1(1, 1);
+	const Point2D pt2(2, 2);
+	const Point2D pt3(3, 3);
+
+	SCTEST_CHECK((pt1 + pt2) == pt3);
+	SCTEST_CHECK((pt3 - pt2) == pt1);
 
 	// commutative
-	SCTEST_CHECK((p1 + p2) == (p2 + p1));
+	SCTEST_CHECK((pt1 + pt2) == (pt2 + pt1));
-	SCTEST_CHECK((p1 + p3) == (p3 + p1));
+	SCTEST_CHECK((pt1 + pt3) == (pt3 + pt1));
-	SCTEST_CHECK((p2 + p3) == (p3 + p2));
+	SCTEST_CHECK((pt2 + pt3) == (pt3 + pt2));
 
 	// associative
-	SCTEST_CHECK(((p1 + p2) + p3) == (p1 + (p2 + p3)));
+	SCTEST_CHECK(((pt1 + pt2) + pt3) == (pt1 + (pt2 + pt3)));
 
 	// transitive
-	Point2D	p4(1, 1);
+	const Point2D pt4(1, 1);
-	Point2D p5(1, 1);
+	const Point2D pt5(1, 1);
-	SCTEST_CHECK(p1 == p4);
+	SCTEST_CHECK(pt1 == pt4);
-	SCTEST_CHECK(p4 == p5);
+	SCTEST_CHECK(pt4 == pt5);
-	SCTEST_CHECK(p1 == p5);
+	SCTEST_CHECK(pt1 == pt5);
 
 	// scaling
-	Point2D p6(2, 3);
+	const Point2D pt6(2, 3);
-	Point2D p7(8, 12);
+	const Point2D pt7(8, 12);
-	SCTEST_CHECK((p6 * 4) == p7);
+	SCTEST_CHECK((pt6 * 4) == pt7);
 	return true;
 }
 
-static bool
-geom_compare_point2d(void)
-{
-	Point2D	p1(1, 1);
-	Point2D	p2(1, 1);
-	Point2D	p3(0, 1);
 
-	SCTEST_CHECK(p1 == p2);
+bool
-	SCTEST_CHECK_FALSE(p2 == p3);
+geomComparePoint2D()
+{
+	const Point2D pt1(1, 1);
+	const Point2D pt2(1, 1);
+	const Point2D pt3(0, 1);
+
+	SCTEST_CHECK(pt1 == pt2);
+	SCTEST_CHECK_FALSE(pt2 == pt3);
 	return true;
 }
 
-static bool
+
-geom_rotate_point2d(void)
+bool
+geomRotatePoint2D()
 {
-	Point2D vertices[4] = {	
+	std::array<Point2D, 4> vertices = {
 		Point2D(1, 0),  // θ = 0	
 		Point2D(0, 1),  // θ = π/2
 		Point2D(-1, 0), // θ = π
 		Point2D(0, -1)  // θ = 3π/2
 	};
 
-	Point2D	vertex;
+	for (auto i = 0; i < 4; i++) {
-	vertices[0].Rotate(vertex, 1.5708);
+		auto first    = i % 4;
+		auto expected = (i + 1) % 4;
 
-	if (vertex != vertices[1]) {
+		Point2D vertex;
-		std::cerr << "expected: " << vertices[1] << std::endl;
+		vertices.at(first).Rotate(vertex, 1.5708);
-		std::cerr << "    have: " << vertex << std::endl;
+
+		if (vertex != vertices.at(expected)) {
+			std::cerr << "expected: " << expected << "\n";
+			std::cerr << "    have: " << vertex << "\n";
 			return false;
 		}
+	}
 	return true;
 }
 
-static bool
+
-geom_rotate_points_about_origin(void)
+bool
+geomRotatePointsAboutOrigin()
 {
 	Point2D	origin(3, 3);
 	double	theta = 0;
 
-	std::vector<Polar2D> vertices {
+	const std::vector<Polar2D> vertices {
 		Polar2D(2, 0),
 		Polar2D(1.41421, 2.35619),
 		Polar2D(1.41421, -2.35619)		
@@ -203,25 +217,22 @@ geom_rotate_points_about_origin(void)
 
 	return true;
 }
+} // anonymous namespace
+
 
 int
-main(void)
+main()
 {
-	SimpleSuite	ts;
+	SimpleSuite suite;
-	ts.AddTest("geom_validate_angular_rotation", geom_validate_angular_rotation);
+	suite.AddTest("geomValidateAngularRotation", geomValidateAngularRotation);
-	ts.AddTest("geom_conversion_identities", geom_conversion_identities);
+	suite.AddTest("geomConversionIdentities", geomConversionIdentities);
-	ts.AddTest("geom_verify_basic_properties", geom_verify_basic_properties);
+	suite.AddTest("geomVerifyBasicProperties", geomVerifyBasicProperties);
-	ts.AddTest("geom_compare_point2d", geom_compare_point2d);
+	suite.AddTest("geomComparePoint2D", geomComparePoint2D);
-	ts.AddTest("geom_rotate_point2d", geom_rotate_point2d);
+	suite.AddTest("geomRotatePoint2D", geomRotatePoint2D);
-	ts.AddTest("geom_rotate_points_about_origin", geom_rotate_points_about_origin);
+	suite.AddTest("geomRotatePointsAboutOrigin", geomRotatePointsAboutOrigin);
 
-	if (ts.Run()) {
+	auto result = suite.Run();
-		std::cout << "OK" << std::endl;
+	std::cout << suite << "\n";
-		return 0;
+
-	}
+	return result ? 0 : 1;
-	else {
-		auto r = ts.GetReport();
-		std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
-		return 1;
-	}
 }

test/madgwick.cc

@@ -15,23 +15,157 @@ using namespace scmp;
 
 
 bool
-SimpleAngularOrientation()
+SimpleAngularOrientationFloat()
 {
-	filter::Madgwickd mf;
+	filter::Madgwickf	mflt;
-	geom::Vector3d    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Vector3f    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
-	geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
-	double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
-	double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
 
 	// The paper specifies a minimum of 109 IMU readings to stabilize; for
 	// two seconds, that means 218 updates.
 	for (int i = 0; i < 218; i++) {
-		mf.UpdateAngularOrientation(gyro, delta);
+		mflt.UpdateAngularOrientation(gyro, delta);
 	}
 
-	SCTEST_CHECK_EQ(mf.Orientation(), frame20Deg);
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
 
-	auto euler = mf.Euler();
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientationDouble()
+{
+	filter::Madgwickd	mflt;
+	const geom::Vector3d    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialVector3f()
+{
+	const geom::Vector3f    initialFrame{0, 0, 0};
+	filter::Madgwickf       mflt(initialFrame);
+	const geom::Vector3f    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialQuaternionf()
+{
+	const auto              initialFrame = geom::quaternionf_from_euler({0, 0, 0});
+	filter::Madgwickf       mflt(initialFrame);
+	const geom::Vector3f    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialVector3d()
+{
+	const geom::Vector3d    initialFrame{0, 0, 0};
+	filter::Madgwickd       mflt(initialFrame);
+	const geom::Vector3d    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialQuaterniond()
+{
+	const auto              initialFrame = geom::quaterniond_from_euler({0, 0, 0});
+	filter::Madgwickd	mflt(initialFrame);
+	const geom::Vector3d    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
 	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
 	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
 	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
@@ -43,21 +177,27 @@ SimpleAngularOrientation()
 int
 main(int argc, char **argv)
 {
+	(void)argc;
+	(void)argv;
+
 	sctest::SimpleSuite	suite;
 
-	suite.AddTest("SimpleAngularOrientation", SimpleAngularOrientation);
+	suite.AddTest("SimpleAngularOrientationDouble",
+		      SimpleAngularOrientationFloat);
+	suite.AddTest("SimpleAngularOrientationDouble",
+		      SimpleAngularOrientationDouble);
+	suite.AddTest("SimpleAngularOrientationDouble (iniital vector3f)",
+		      SimpleAngularOrientation2InitialVector3f);
+	suite.AddTest("SimpleAngularOrientationDouble (iniital vector3d)",
+		      SimpleAngularOrientation2InitialVector3d);
+	suite.AddTest("SimpleAngularOrientationDouble (iniital quaternionf)",
+		      SimpleAngularOrientation2InitialQuaternionf);
+	suite.AddTest("SimpleAngularOrientationDouble (iniital quaterniond)",
+		      SimpleAngularOrientation2InitialQuaterniond);
+
 	auto result = suite.Run();
 
-	if (suite.IsReportReady()) {
+	std::cout << suite.GetReport() << "\n";
-		auto report = suite.GetReport();
+	return result ? 0 : 1;
-		std::cout << report.Failing << " / " << report.Total;
-		std::cout << " tests failed.\n";
-	}
 
-	if (result) {
-		return 0;
-	}
-	else {
-		return 1;
-	}
 }

test/orientation.cc

@@ -1,28 +1,36 @@
-#include <sctest/Checks.h>
+#include <scsl/Flag.h>
-#include <sctest/SimpleSuite.h>
 
 #include <scmp/Math.h>
 #include <scmp/geom/Vector.h>
 #include <scmp/geom/Orientation.h>
 
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
 using namespace std;
 using namespace scmp;
 using namespace sctest;
 
 
-static bool
+namespace {
+
+
+bool
 UnitConversions_RadiansToDegreesF()
 {
 	for (int i = 0; i < 360; i++) {
-		auto	deg = static_cast<float>(i);
+		auto rads = scmp::DegreesToRadiansF(i);
-		SCTEST_CHECK_FEQ(scmp::RadiansToDegreesF(scmp::DegreesToRadiansF(deg)), deg);
+		auto deg = scmp::RadiansToDegreesF(rads);
+
+		SCTEST_CHECK_FEQ(deg, static_cast<float>(i));
 	}
 
 	return true;
 }
 
 
-static bool
+bool
 UnitConversions_RadiansToDegreesD()
 {
 	for (int i = 0; i < 360; i++) {
@@ -34,10 +42,10 @@ UnitConversions_RadiansToDegreesD()
 }
 
 
-static bool
+bool
 Orientation2f_Heading()
 {
-	geom::Vector2f	a {2.0, 2.0};
+	geom::Vector2f a{2.0, 2.0};
 
 	SCTEST_CHECK_FEQ(geom::Heading2f(a), scmp::DegreesToRadiansF(45));
 
@@ -45,10 +53,10 @@ Orientation2f_Heading()
 }
 
 
-static bool
+bool
 Orientation3f_Heading()
 {
-	geom::Vector3f	a {2.0, 2.0, 2.0};
+	geom::Vector3f a{2.0, 2.0, 2.0};
 
 	SCTEST_CHECK_FEQ(geom::Heading3f(a), scmp::DegreesToRadiansF(45));
 
@@ -56,43 +64,56 @@ Orientation3f_Heading()
 }
 
 
-static bool
+bool
 Orientation2d_Heading()
 {
-	geom::Vector2d	a {2.0, 2.0};
+	geom::Vector2d a{2.0, 2.0};
 
 	return scmp::WithinTolerance(geom::Heading2d(a), scmp::DegreesToRadiansD(45), 0.000001);
 }
 
 
-static bool
+bool
 Orientation3d_Heading()
 {
-	geom::Vector3d	a {2.0, 2.0, 2.0};
+	geom::Vector3d a{2.0, 2.0, 2.0};
 
 	return scmp::WithinTolerance(geom::Heading3d(a), scmp::DegreesToRadiansD(45), 0.000001);
 }
 
 
+} // anonymous namespace
+
+
 int
-main(void)
+main(int argc, char *argv[])
 {
-	SimpleSuite	ts;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-q", false, "suppress test output");
 
-	ts.AddTest("UnitConversions_RadiansToDegreesF", UnitConversions_RadiansToDegreesF);
+	auto parsed = flags->Parse(argc, argv);
-	ts.AddTest("UnitConversions_RadiansToDegreesD", UnitConversions_RadiansToDegreesD);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
-	ts.AddTest("Orientation2f_Heading", Orientation2f_Heading);
+		std::cerr << "Failed to parse flags: "
-	ts.AddTest("Orientation3f_Heading", Orientation3f_Heading);
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
-	ts.AddTest("Orientation2d_Heading", Orientation2d_Heading);
+	}
-	ts.AddTest("Orientation3d_Heading", Orientation3d_Heading);
 
-	if (ts.Run()) {
+	SimpleSuite suite;
-		std::cout << "OK" << std::endl;
+	flags->GetBool("-q", quiet);
-		return 0;
+	if (quiet) {
-	}
+		suite.Silence();
-	else {
-		auto r = ts.GetReport();
-		std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
-		return 1;
 	}
+
+	suite.AddTest("UnitConversions_RadiansToDegreesF", UnitConversions_RadiansToDegreesF);
+	suite.AddTest("UnitConversions_RadiansToDegreesD", UnitConversions_RadiansToDegreesD);
+	suite.AddTest("Orientation2f_Heading", Orientation2f_Heading);
+	suite.AddTest("Orientation3f_Heading", Orientation3f_Heading);
+	suite.AddTest("Orientation2d_Heading", Orientation2d_Heading);
+	suite.AddTest("Orientation3d_Heading", Orientation3d_Heading);
+
+	delete flags;
+	auto result = suite.Run();
+	std::cout << suite.GetReport() << "\n";
+	return result ? 0 : 1;
 }

test/quaternion.cc

@@ -429,49 +429,43 @@ QuaternionMiscellanous_InitializerConstructor()
 int
 main(void)
 {
-	SimpleSuite	ts;
+	SimpleSuite suite;
 
-	ts.AddTest("Quaternion_SelfTest", Quaternion_SelfTest);
+	suite.AddTest("Quaternion_SelfTest", Quaternion_SelfTest);
-	ts.AddTest("QuaternionMiscellanous_InitializerConstructor",
+	suite.AddTest("QuaternionMiscellanous_InitializerConstructor",
 		      QuaternionMiscellanous_InitializerConstructor);
-	ts.AddTest("QuaternionMiscellaneous_SanityChecks",
+	suite.AddTest("QuaternionMiscellaneous_SanityChecks",
 		      QuaternionMiscellaneous_SanityChecks);
-	ts.AddTest("QuaternionMiscellaneous_OutputStream",
+	suite.AddTest("QuaternionMiscellaneous_OutputStream",
 		      QuaternionMiscellaneous_OutputStream);
 
-	ts.AddTest("Quaterniond_Addition", Quaterniond_Addition);
+	suite.AddTest("Quaterniond_Addition", Quaterniond_Addition);
-	ts.AddTest("Quaterniond_Conjugate", Quaterniond_Conjugate);
+	suite.AddTest("Quaterniond_Conjugate", Quaterniond_Conjugate);
-	ts.AddTest("Quaterniond_Euler", Quaterniond_Euler);
+	suite.AddTest("Quaterniond_Euler", Quaterniond_Euler);
-	ts.AddTest("Quaterniond_Identity", Quaterniond_Identity);
+	suite.AddTest("Quaterniond_Identity", Quaterniond_Identity);
-	ts.AddTest("Quaterniond_Inverse", Quaterniond_Inverse);
+	suite.AddTest("Quaterniond_Inverse", Quaterniond_Inverse);
-	ts.AddTest("Quaterniond_Norm", Quaterniond_Norm);
+	suite.AddTest("Quaterniond_Norm", Quaterniond_Norm);
-	ts.AddTest("Quaterniond_Product", Quaterniond_Product);
+	suite.AddTest("Quaterniond_Product", Quaterniond_Product);
-	ts.AddTest("Quaterniond_Rotate", Quaterniond_Rotate);
+	suite.AddTest("Quaterniond_Rotate", Quaterniond_Rotate);
-	ts.AddTest("Quaterniond_ShortestSLERP", Quaterniond_ShortestSLERP);
+	suite.AddTest("Quaterniond_ShortestSLERP", Quaterniond_ShortestSLERP);
-	ts.AddTest("Quaterniond_ShortestSLERP2", Quaterniond_ShortestSLERP2);
+	suite.AddTest("Quaterniond_ShortestSLERP2", Quaterniond_ShortestSLERP2);
-	ts.AddTest("Quaterniond_Unit", Quaterniond_Unit);
+	suite.AddTest("Quaterniond_Unit", Quaterniond_Unit);
-	ts.AddTest("Quaterniond_UtilityCreator", Quaterniond_UtilityCreator);
+	suite.AddTest("Quaterniond_UtilityCreator", Quaterniond_UtilityCreator);
 
-	ts.AddTest("Quaternionf_Addition", Quaternionf_Addition);
+	suite.AddTest("Quaternionf_Addition", Quaternionf_Addition);
-	ts.AddTest("Quaternionf_Conjugate", Quaternionf_Conjugate);
+	suite.AddTest("Quaternionf_Conjugate", Quaternionf_Conjugate);
-	ts.AddTest("Quaternionf_Euler", Quaternionf_Euler);
+	suite.AddTest("Quaternionf_Euler", Quaternionf_Euler);
-	ts.AddTest("Quaternionf_Identity", Quaternionf_Identity);
+	suite.AddTest("Quaternionf_Identity", Quaternionf_Identity);
-	ts.AddTest("Quaternionf_Inverse", Quaternionf_Inverse);
+	suite.AddTest("Quaternionf_Inverse", Quaternionf_Inverse);
-	ts.AddTest("Quaternionf_Norm", Quaternionf_Norm);
+	suite.AddTest("Quaternionf_Norm", Quaternionf_Norm);
-	ts.AddTest("Quaternionf_Product", Quaternionf_Product);
+	suite.AddTest("Quaternionf_Product", Quaternionf_Product);
-	ts.AddTest("Quaternionf_Rotate", Quaternionf_Rotate);
+	suite.AddTest("Quaternionf_Rotate", Quaternionf_Rotate);
-	ts.AddTest("Quaternionf_ShortestSLERP", Quaternionf_ShortestSLERP);
+	suite.AddTest("Quaternionf_ShortestSLERP", Quaternionf_ShortestSLERP);
-	ts.AddTest("Quaternionf_ShortestSLERP2", Quaternionf_ShortestSLERP2);
+	suite.AddTest("Quaternionf_ShortestSLERP2", Quaternionf_ShortestSLERP2);
-	ts.AddTest("Quaternionf_Unit", Quaternionf_Unit);
+	suite.AddTest("Quaternionf_Unit", Quaternionf_Unit);
-	ts.AddTest("Quaternionf_UtilityCreator", Quaternionf_UtilityCreator);
+	suite.AddTest("Quaternionf_UtilityCreator", Quaternionf_UtilityCreator);
 
-	if (ts.Run()) {
+	auto result = suite.Run();
-		std::cout << "OK" << std::endl;
+	std::cout << suite.GetReport() << "\n";
-		return 0;
+	return result ? 0 : 1;
-	}
-	else {
-		auto r = ts.GetReport();
-		std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
-		return 1;
-	}
 }

test/simple_suite_example.cc

@@ -1,30 +1,33 @@
-//
+///
-// Project: scccl
+/// \file test/simple_suite_example.cc
-// File: test/math/simple_suite_example.cpp
+/// \author K. Isom <kyle@imap.cc>
-// Author: Kyle Isom
+/// \date 2017-06-05
-// Date: 2017-06-05
+///
-//
+/// simple_suite_example demonstrates the usage of the SimpleSuite test class
-// simple_suite_example demonstrates the usage of the SimpleSuite test class
+/// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
-// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
+///
-//
+///
-// Copyright 2017 Kyle Isom <kyle@imap.cc>
+/// Copyright 2017 K. Isom <kyle@imap.cc>
-//
+///
-// Licensed under the Apache License, Version 2.0 (the "License");
+/// Permission to use, copy, modify, and/or distribute this software for
-// you may not use this file except in compliance with the License.
+/// any purpose with or without fee is hereby granted, provided that the
-// You may obtain a copy of the License at
+/// above copyright notice and this permission notice appear in all copies.
-//
+///
-//     http://www.apache.org/licenses/LICENSE-2.0
+/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
-//
+/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
-// Unless required by applicable law or agreed to in writing, software
+/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR
-// distributed under the License is distributed on an "AS IS" BASIS,
+/// BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+/// OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,
-// See the License for the specific language governing permissions and
+/// WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
-// limitations under the License.
+/// ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
+/// SOFTWARE.
+///
 
 #include <iostream>
 
 #include <sctest/SimpleSuite.h>
 
+
 static bool
 prepareTests() 
 { 
@@ -33,6 +36,7 @@ prepareTests()
 	return true;
 }
 
+
 static bool
 destroyTests() 
 { 
@@ -41,6 +45,7 @@ destroyTests()
 	return true;
 }
 
+
 static bool addOne() { return 1 + 1 == 2; }
 static bool four()   { return 2 + 2 == 4; }
 static bool nope()   { return 2 + 2 == 5; }
@@ -49,24 +54,14 @@ static bool nope()   { return 2 + 2 == 5; }
 int
 main()
 {
-	sctest::SimpleSuite TestSuite;
+	sctest::SimpleSuite suite;
-	TestSuite.Setup(prepareTests);
+	suite.Setup(prepareTests);
-	TestSuite.Teardown(destroyTests);
+	suite.Teardown(destroyTests);
-	TestSuite.AddTest("1 + 1", addOne);
+	suite.AddTest("1 + 1", addOne);
-	TestSuite.AddTest("fourness", four);
+	suite.AddTest("fourness", four);
-	TestSuite.AddFailingTest("self-evident truth", nope);
+	suite.AddFailingTest("self-evident truth", nope);
+	auto result = suite.Run();
 
-	bool	result = TestSuite.Run();
+	std::cout << suite.GetReport() << "\n";
-	if (TestSuite.IsReportReady()) {
+	return result ? 0 : 1;
-		auto report = TestSuite.GetReport();
-		std::cout << report.Failing << " / " << report.Total;
-		std::cout << " tests failed.\n";
-	}
-
-	if (result) {
-		return 0;
-	}
-	else {
-		return 1;
-	}
 }

test/stringutil.cc

@@ -1,5 +1,5 @@
 ///
-/// \file stringutil_test.cc
+/// \file test/stringutil_test.cc
 /// \author kyle 
 /// \date 10/14/23
 /// \brief Ensure the stringutil functions work.
@@ -21,17 +21,21 @@
 ///
 
 
+#include <functional>
 #include <iostream>
-#include <sstream>
 
 #include <scsl/StringUtil.h>
 #include <sctest/Assert.h>
+#include <sctest/SimpleSuite.h>
 
 
 using namespace scsl;
 
 
-static void
+namespace {
+
+
+void
 TestTrimming(std::string line, std::string lExpected, std::string rExpected, std::string expected)
 {
 	std::string result;
@@ -66,42 +70,17 @@ TestTrimming(std::string line, std::string lExpected, std::string rExpected, std
 }
 
 
-static std::string
+std::function<bool()>
-vec2string(std::vector<std::string> v)
-{
-	std::stringstream ss;
-
-	ss << "(";
-	ss << v.size();
-	ss << ")";
-	ss << "{";
-
-	for (size_t i = 0; i < v.size(); i++) {
-		if (i > 0) { ss << ", "; }
-		ss << v[i];
-	}
-
-	ss << "}";
-	return ss.str();
-}
-
-
-static void
 TestSplit(std::string line, std::string delim, size_t maxCount, std::vector<std::string> expected)
 {
-	std::cout << "test split\n";
+	return [line, delim, maxCount, expected]() {
-	std::cout << "\t  line: \"" << line << "\"\n";
+	    return U::S::SplitN(line, delim, maxCount) == expected;
-	std::cout << "\t delim: \"" << delim << "\"\n";
+
-	std::cout << "\t count: " << maxCount << "\n";
+	};
-	std::cout << "\texpect: " << vec2string(expected) << "\n";
-	auto result = U::S::SplitN(line, delim, maxCount);
-	std::cout << "\tresult: " << U::S::VectorToString(result) << "\n";
-	sctest::Assert(result == expected, U::S::VectorToString(result));
-	std::cout << "OK!\n";
 }
 
 
-static void
+bool
 TestWrapping()
 {
 	std::string testLine = "A much longer line, something that can be tested with WrapText. ";
@@ -119,34 +98,52 @@ TestWrapping()
 	};
 
 	auto wrapped = U::S::WrapText(testLine, 16);
-	sctest::Assert(wrapped.size() == expected.size(),
+	if (wrapped.size() != expected.size()) {
-		       U::S::VectorToString(wrapped) + " != " + U::S::VectorToString(expected));
+		std::cerr << U::S::VectorToString(wrapped)
+			  << " != "
+			  << U::S::VectorToString(expected)
+			  << "\n";
+	}
 
 	for (size_t i = 0; i < wrapped.size(); i++) {
-		sctest::Assert(wrapped[i] == expected[i],
+		if (wrapped[i] == expected[i]) {
-			       "\"" + wrapped[i] + "\" != \"" + expected[i] + "\"");
+			continue;
+		}
+
+		std::cerr << "[" << i << "] \"" << wrapped[i] << "\" != \""
+			  << expected[i] << "\"\n";
+		return false;
 	}
 
 	U::S::WriteTabIndented(std::cout, wrapped, 4, true);
+	return true;
 }
 
 
+} // anonymous namespace
+
+
 int
 main()
 {
+	sctest::SimpleSuite suite;
+
 	TestTrimming(" foo\t ", "foo\t ", " foo", "foo");
 	TestTrimming(" foo\tbar ", "foo\tbar ", " foo\tbar", "foo\tbar");
 
-	TestSplit("abc:def:ghij:klm", ":", 0,
+	suite.AddTest("SplitN(0)", TestSplit("abc:def:ghij:klm", ":", 0,
-		  std::vector<std::string>{"abc", "def", "ghij", "klm"});
+					     std::vector<std::string>{"abc", "def", "ghij", "klm"}));
-	TestSplit("abc:def:ghij:klm", ":", 3,
+	suite.AddTest("SplitN(3)", TestSplit("abc:def:ghij:klm", ":", 3,
-		  std::vector<std::string>{"abc", "def", "ghij:klm"});
+					     std::vector<std::string>{"abc", "def", "ghij:klm"}));
-	TestSplit("abc:def:ghij:klm", ":", 2,
+	suite.AddTest("SplitN(2)", TestSplit("abc:def:ghij:klm", ":", 2,
-		  std::vector<std::string>{"abc", "def:ghij:klm"});
+					     std::vector<std::string>{"abc", "def:ghij:klm"}));
-	TestSplit("abc:def:ghij:klm", ":", 1,
+	suite.AddTest("SplitN(1)", TestSplit("abc:def:ghij:klm", ":", 1,
-		  std::vector<std::string>{"abc:def:ghij:klm"});
+					     std::vector<std::string>{"abc:def:ghij:klm"}));
+	suite.AddTest("SplitN(0) with empty element",
 		      TestSplit("abc::def:ghi", ":", 0,
-		  std::vector<std::string>{"abc", "", "def", "ghi"});
+				std::vector<std::string>{"abc", "", "def", "ghi"}));
-
+	suite.AddTest("TextWrapping", TestWrapping);
-	TestWrapping();
+	auto result = suite.Run();
+	std::cout << suite.GetReport() << "\n";
+	return result ? 0 : 1;
 }

test/vector.cc

@@ -428,71 +428,65 @@ Vector3DoubleTests_CrossProduct()
 
 
 int
-main(void)
+main()
 {
-	SimpleSuite	ts;
+	SimpleSuite suite;
-	ts.AddTest("Vector3Miscellaneous_ExtractionOperator3d",
+	suite.AddTest("Vector3Miscellaneous_ExtractionOperator3d",
 		      Vector3Miscellaneous_ExtractionOperator3d);
-	ts.AddTest("Vector3Miscellaneous_ExtractionOperator3f",
+	suite.AddTest("Vector3Miscellaneous_ExtractionOperator3f",
 		      Vector3Miscellaneous_ExtractionOperator3f);
-	ts.AddTest("Vector3Miscellaneous_SetEpsilon",
+	suite.AddTest("Vector3Miscellaneous_SetEpsilon",
 		      Vector3Miscellaneous_SetEpsilon);
-	ts.AddTest("Vector3FloatTests_Magnitude",
+	suite.AddTest("Vector3FloatTests_Magnitude",
 		      Vector3FloatTests_Magnitude);
-	ts.AddTest("Vector3FloatTests_Equality",
+	suite.AddTest("Vector3FloatTests_Equality",
 		      Vector3FloatTests_Equality);
-	ts.AddTest("Vector3FloatTests_Addition",
+	suite.AddTest("Vector3FloatTests_Addition",
 		      Vector3FloatTests_Addition);
-	ts.AddTest("Vector3FloatTests_Subtraction",
+	suite.AddTest("Vector3FloatTests_Subtraction",
 		      Vector3FloatTests_Subtraction);
-	ts.AddTest("Vector3FloatTests_ScalarMultiplication",
+	suite.AddTest("Vector3FloatTests_ScalarMultiplication",
 		      Vector3FloatTests_ScalarMultiplication);
-	ts.AddTest("Vector3FloatTests_ScalarDivision",
+	suite.AddTest("Vector3FloatTests_ScalarDivision",
 		      Vector3FloatTests_ScalarDivision);
-	ts.AddTest("Vector3FloatTests_DotProduct",
+	suite.AddTest("Vector3FloatTests_DotProduct",
 		      Vector3FloatTests_DotProduct);
-	ts.AddTest("Vector3FloatTests_UnitVector",
+	suite.AddTest("Vector3FloatTests_UnitVector",
 		      Vector3FloatTests_UnitVector);
-	ts.AddTest("Vector3FloatTests_Angle",
+	suite.AddTest("Vector3FloatTests_Angle",
 		      Vector3FloatTests_Angle);
-	ts.AddTest("Vector3FloatTests_ParallelOrthogonalVectors",
+	suite.AddTest("Vector3FloatTests_ParallelOrthogonalVectors",
 		      Vector3FloatTests_ParallelOrthogonalVectors);
-	ts.AddTest("Vector3FloatTests_Projections",
+	suite.AddTest("Vector3FloatTests_Projections",
 		      Vector3FloatTests_Projections);
-	ts.AddTest("Vector3FloatTests_CrossProduct",
+	suite.AddTest("Vector3FloatTests_CrossProduct",
 		      Vector3FloatTests_CrossProduct);
-	ts.AddTest("Vector3DoubleTests_Magnitude",
+	suite.AddTest("Vector3DoubleTests_Magnitude",
 		      Vector3DoubleTests_Magnitude);
-	ts.AddTest("Vector3DoubleTests_Equality",
+	suite.AddTest("Vector3DoubleTests_Equality",
 		      Vector3DoubleTests_Equality);
-	ts.AddTest("Vector3DoubleTests_Addition",
+	suite.AddTest("Vector3DoubleTests_Addition",
 		      Vector3DoubleTests_Addition);
-	ts.AddTest("Vector3DoubleTests_Subtraction",
+	suite.AddTest("Vector3DoubleTests_Subtraction",
 		      Vector3DoubleTests_Subtraction);
-	ts.AddTest("Vector3DoubleTests_ScalarMultiplication",
+	suite.AddTest("Vector3DoubleTests_ScalarMultiplication",
 		      Vector3DoubleTests_ScalarMultiplication);
-	ts.AddTest("Vector3DoubleTests_ScalarDivision",
+	suite.AddTest("Vector3DoubleTests_ScalarDivision",
 		      Vector3DoubleTests_ScalarDivision);
-	ts.AddTest("Vector3DoubleTests_DotProduct",
+	suite.AddTest("Vector3DoubleTests_DotProduct",
 		      Vector3DoubleTests_DotProduct);
-	ts.AddTest("Vector3DoubleTests_UnitVector",
+	suite.AddTest("Vector3DoubleTests_UnitVector",
 		      Vector3DoubleTests_UnitVector);
-	ts.AddTest("Vector3DoubleTests_Angle",
+	suite.AddTest("Vector3DoubleTests_Angle",
 		      Vector3DoubleTests_Angle);
-	ts.AddTest("Vector3DoubleTests_ParallelOrthogonalVectors",
+	suite.AddTest("Vector3DoubleTests_ParallelOrthogonalVectors",
 		      Vector3DoubleTests_ParallelOrthogonalVectors);
-	ts.AddTest("Vector3DoubleTests_Projections",
+	suite.AddTest("Vector3DoubleTests_Projections",
 		      Vector3DoubleTests_Projections);
-	ts.AddTest("Vector3DoubleTests_CrossProduct",
+	suite.AddTest("Vector3DoubleTests_CrossProduct",
 		      Vector3DoubleTests_CrossProduct);
+	auto result = suite.Run();
 
-	if (ts.Run()) {
+	std::cout << suite.GetReport() << "\n";
-		std::cout << "OK" << std::endl;
+	return result ? 0 : 1;
-		return 0;
-	}
-	else {
-		auto r = ts.GetReport();
-		std::cerr << r.Failing << "/" << r.Total << " tests failed." << std::endl;
-		return 1;
-	}
 }