From 2bb0009861558e5546ac87d9527d97043cbb6eb5 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 10:43:07 +0100
Subject: [PATCH 1/6] Initial implementation

---
 include/DiscreteAngle.h | 12 ++++++++++++
 include/Range.h         | 28 ++++++++++++++++++++++++++++
 src/DiscreteAngle.cpp   | 24 ++++++++++++++++++++++++
 src/Range.cpp           | 38 ++++++++++++++++++++++++++++++++++++++
 4 files changed, 102 insertions(+)
 create mode 100644 include/DiscreteAngle.h
 create mode 100644 include/Range.h
 create mode 100644 src/DiscreteAngle.cpp
 create mode 100644 src/Range.cpp

diff --git a/include/DiscreteAngle.h b/include/DiscreteAngle.h
new file mode 100644
index 0000000..ee2ca31
--- /dev/null
+++ b/include/DiscreteAngle.h
@@ -0,0 +1,12 @@
+#ifndef DISCRETEANGLE_H
+#define DISCRETEANGLE_H
+
+#include "Range.h"
+
+// A fixed point 16-bit signed angle between (-180..180]
+class DiscreteAngle16 : Range16 {
+public:
+  DiscreteAngle16(float angle);
+};
+
+#endif
\ No newline at end of file
diff --git a/include/Range.h b/include/Range.h
new file mode 100644
index 0000000..09f7ffc
--- /dev/null
+++ b/include/Range.h
@@ -0,0 +1,28 @@
+#ifndef RANGE_H
+#define RANGE_H
+
+/// @brief Signed range. May be renamed to SignedRange later
+class Range16 {
+public:
+  Range16();
+  Range16(float range); // range -1..1
+  Range16(short range); // range -32768..32767
+
+  inline Range16 operator-(Range16 a);
+  inline Range16 operator+(Range16 a);
+
+  inline bool operator==(Range16 a);
+  inline bool operator!=(Range16 a);
+
+  inline bool operator<(Range16 a);
+  inline bool operator>(Range16 a);
+  inline bool operator<=(Range16 a);
+  inline bool operator>=(Range16 a);
+
+protected:
+  // How do we make sure we have 16 bit range on every platform?
+  // uint16_t range; // 16-bit range
+  unsigned short range; // 16-bit range
+};
+
+#endif
\ No newline at end of file
diff --git a/src/DiscreteAngle.cpp b/src/DiscreteAngle.cpp
new file mode 100644
index 0000000..7ab700f
--- /dev/null
+++ b/src/DiscreteAngle.cpp
@@ -0,0 +1,24 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0.If a copy of the MPL was not distributed with this
+// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
+
+#include "DiscreteAngle.h"
+
+#include <math.h>
+
+DiscreteAngle16::DiscreteAngle16(float angle) : Range16() {
+  if (!isfinite(angle)) {
+    range = 0;
+    return;
+  }
+
+  // clamp the float range to -1..1
+  while (angle <= -180.0F)
+    angle += 360.0F;
+  while (angle > 180.0F)
+    angle -= 360.0F;
+
+  // map (-180..180] to 1..65535
+  // This means that range value 0 is not used
+  this->range = (unsigned short)((angle + 180.0F) * 65535.0F);
+}
diff --git a/src/Range.cpp b/src/Range.cpp
new file mode 100644
index 0000000..340f165
--- /dev/null
+++ b/src/Range.cpp
@@ -0,0 +1,38 @@
+#include "Range.h"
+
+Range16::Range16() { this->range = 0; }
+
+Range16::Range16(float f) {
+  // clamp the float range to -1..1
+  if (f < -1.0F)
+    f = -1.0F;
+  else if (f > 1.0F)
+    f = 1.0F;
+
+  // map -1..1 to 0..65535
+  this->range = (unsigned short)((f + 1.0F) * 65535.0F);
+}
+
+Range16::Range16(short s) {
+  // clamp the range to -32767..32767
+  // This is needed because the representation can support +/-32768 (like 2s
+  // complement)
+  if (s < -32767)
+    s = -32767;
+  else if (s > 32767)
+    s = 32767;
+
+  this->range = (unsigned short)(s + 32767);
+}
+
+Range16 Range16::operator-(Range16 a) { this->range - a.range; };
+
+Range16 Range16::operator+(Range16 a) { this->range + a.range; };
+
+bool Range16::operator==(Range16 a) { return (this->range == a.range); }
+bool Range16::operator!=(Range16 a) { return (this->range != a.range); }
+
+bool Range16::operator<(Range16 a) { return (this->range < a.range); }
+bool Range16::operator>(Range16 a) { return (this->range > a.range); }
+bool Range16::operator<=(Range16 a) { return (this->range <= a.range); }
+bool Range16::operator>=(Range16 a) { return (this->range >= a.range); }
\ No newline at end of file

From bd04285d48f1a45bc33264c0cc80b6c4e58325e6 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 10:48:47 +0100
Subject: [PATCH 2/6] Make superclass accessable

---
 include/DiscreteAngle.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/DiscreteAngle.h b/include/DiscreteAngle.h
index ee2ca31..d5e0c95 100644
--- a/include/DiscreteAngle.h
+++ b/include/DiscreteAngle.h
@@ -4,7 +4,7 @@
 #include "Range.h"
 
 // A fixed point 16-bit signed angle between (-180..180]
-class DiscreteAngle16 : Range16 {
+class DiscreteAngle16 : public Range16 {
 public:
   DiscreteAngle16(float angle);
 };

From 254bb27f53acc26c41080ac5a6d32f3d5d5f3b19 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 10:51:20 +0100
Subject: [PATCH 3/6] Added negation

---
 include/Range.h | 1 +
 src/Range.cpp   | 5 +++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/include/Range.h b/include/Range.h
index 09f7ffc..8f8834e 100644
--- a/include/Range.h
+++ b/include/Range.h
@@ -10,6 +10,7 @@ public:
 
   inline Range16 operator-(Range16 a);
   inline Range16 operator+(Range16 a);
+  inline Range16 operator-();
 
   inline bool operator==(Range16 a);
   inline bool operator!=(Range16 a);
diff --git a/src/Range.cpp b/src/Range.cpp
index 340f165..3e3661e 100644
--- a/src/Range.cpp
+++ b/src/Range.cpp
@@ -26,10 +26,11 @@ Range16::Range16(short s) {
 }
 
 Range16 Range16::operator-(Range16 a) { this->range - a.range; };
-
 Range16 Range16::operator+(Range16 a) { this->range + a.range; };
 
-bool Range16::operator==(Range16 a) { return (this->range == a.range); }
+Range16 Range16::operator-() { -this->range; }
+
+bool Range16::operator==(Range16 a) { this->range == a.range; }
 bool Range16::operator!=(Range16 a) { return (this->range != a.range); }
 
 bool Range16::operator<(Range16 a) { return (this->range < a.range); }

From de3a6479cf0985362ca0b28acd62189dd2bd75ba Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 10:56:49 +0100
Subject: [PATCH 4/6] Updated negation

---
 include/Range.h | 2 +-
 src/Range.cpp   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/Range.h b/include/Range.h
index 8f8834e..f66bcf0 100644
--- a/include/Range.h
+++ b/include/Range.h
@@ -10,7 +10,7 @@ public:
 
   inline Range16 operator-(Range16 a);
   inline Range16 operator+(Range16 a);
-  inline Range16 operator-();
+  inline Range16 &operator-();
 
   inline bool operator==(Range16 a);
   inline bool operator!=(Range16 a);
diff --git a/src/Range.cpp b/src/Range.cpp
index 3e3661e..af23906 100644
--- a/src/Range.cpp
+++ b/src/Range.cpp
@@ -28,7 +28,7 @@ Range16::Range16(short s) {
 Range16 Range16::operator-(Range16 a) { this->range - a.range; };
 Range16 Range16::operator+(Range16 a) { this->range + a.range; };
 
-Range16 Range16::operator-() { -this->range; }
+Range16 &Range16::operator-() { -this->range; }
 
 bool Range16::operator==(Range16 a) { this->range == a.range; }
 bool Range16::operator!=(Range16 a) { return (this->range != a.range); }

From 2b50babcf12a5d30e27cdc1ba0469012dbca3dcc Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 11:03:06 +0100
Subject: [PATCH 5/6] Add negation for DiscreteAngle

---
 include/DiscreteAngle.h | 2 ++
 src/DiscreteAngle.cpp   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/include/DiscreteAngle.h b/include/DiscreteAngle.h
index d5e0c95..17c4616 100644
--- a/include/DiscreteAngle.h
+++ b/include/DiscreteAngle.h
@@ -7,6 +7,8 @@
 class DiscreteAngle16 : public Range16 {
 public:
   DiscreteAngle16(float angle);
+
+  inline DiscreteAngle16 &operator-();
 };
 
 #endif
\ No newline at end of file
diff --git a/src/DiscreteAngle.cpp b/src/DiscreteAngle.cpp
index 7ab700f..9544da1 100644
--- a/src/DiscreteAngle.cpp
+++ b/src/DiscreteAngle.cpp
@@ -22,3 +22,5 @@ DiscreteAngle16::DiscreteAngle16(float angle) : Range16() {
   // This means that range value 0 is not used
   this->range = (unsigned short)((angle + 180.0F) * 65535.0F);
 }
+
+DiscreteAngle16 &DiscreteAngle16::operator-() { -this->range; }
\ No newline at end of file

From 2cbf2594eb7ea5a23962b7e9b465dfaf9993ef3a Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 7 Dec 2023 11:04:03 +0100
Subject: [PATCH 6/6] Make negation virtual override

---
 include/DiscreteAngle.h | 2 +-
 include/Range.h         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/DiscreteAngle.h b/include/DiscreteAngle.h
index 17c4616..5a2171b 100644
--- a/include/DiscreteAngle.h
+++ b/include/DiscreteAngle.h
@@ -8,7 +8,7 @@ class DiscreteAngle16 : public Range16 {
 public:
   DiscreteAngle16(float angle);
 
-  inline DiscreteAngle16 &operator-();
+  inline DiscreteAngle16 &operator-() override;
 };
 
 #endif
\ No newline at end of file
diff --git a/include/Range.h b/include/Range.h
index f66bcf0..e73cde7 100644
--- a/include/Range.h
+++ b/include/Range.h
@@ -10,7 +10,7 @@ public:
 
   inline Range16 operator-(Range16 a);
   inline Range16 operator+(Range16 a);
-  inline Range16 &operator-();
+  inline virtual Range16 &operator-();
 
   inline bool operator==(Range16 a);
   inline bool operator!=(Range16 a);