[filter] test unit library compatibility

.github/workflows/clang_tidy.yml

@@ -21,11 +21,13 @@ jobs:
         egress-policy: audit
     - name: Checkout
       uses: actions/checkout@d632683dd7b4114ad314bca15554477dd762a938 # v4.2.0
+    - name: 'Install Ninja'
+      run: sudo apt install ninja-build
     - name: 'Configure'
       env:
         CXX: 'clang++-18'
         CC: 'clang-18'
-      run: cmake -S . -B 'build' -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+      run: cmake -S . -B 'build' -G 'Ninja' -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
     - name: Verify
       run: |
         cat build/compile_commands.json

.github/workflows/codeql.yml

@@ -35,11 +35,13 @@ jobs:
       uses: github/codeql-action/init@6db8d6351fd0be61f9ed8ebd12ccd35dcec51fea # v3.26.11
       with:
         languages: ${{ matrix.language }}
+    - name: 'Install Ninja'
+      run: sudo apt install ninja-build
     - name: 'Configure'
       env:
         CXX: 'g++-14'
         CC: 'gcc-14'
-      run: cmake -S . -B 'build'
+      run: cmake -S . -B 'build' -G 'Ninja'
     - name: 'Build'
       run: cmake --build 'build' --verbose --parallel 4
     - name: Perform CodeQL Analysis

.github/workflows/deploy_test_coverage_coveralls.yml

@@ -25,14 +25,14 @@ jobs:
     - name: Checkout
       uses: actions/checkout@d632683dd7b4114ad314bca15554477dd762a938 # v4.2.0
     - name: 'Install'
-      run: sudo apt install lcov
+      run: sudo apt install lcov ninja-build
     - name: 'Configure'
       env:
         CXX: 'g++-14'
         CXXFLAGS: '-O0 -g --coverage -fno-inline -fno-exceptions'
         CC: 'gcc-14'
         CCFLAGS: '-O0 -g --coverage -fno-inline -fno-exceptions'
-      run: cmake -S . -B 'build'
+      run: cmake -S . -B 'build' -G 'Ninja'
     - name: 'Build'
       run: cmake --build 'build' --verbose --parallel 4
     - name: 'Coverage: Base'

.github/workflows/memory_valgrind.yml

@@ -22,13 +22,13 @@ jobs:
     - name: Checkout
       uses: actions/checkout@d632683dd7b4114ad314bca15554477dd762a938 # v4.2.0
     - name: 'Install'
-      run: sudo apt install valgrind
+      run: sudo apt install valgrind ninja-build
     - name: Build
       env:
         CXX: 'g++-14'
         CC: 'gcc-14'
         COMMAND: 'valgrind --error-exitcode=1 --leak-check=full --track-origins=yes'
-      run: cmake -S . -B 'build'
+      run: cmake -S . -B 'build' -G 'Ninja'
     - name: 'Build'
       run: cmake --build 'build' --verbose --parallel 4
     - name: 'Test'

.github/workflows/pipeline.yml

@@ -17,8 +17,8 @@ jobs:
       fail-fast: false
       matrix:
         include:
-        - { os: 'ubuntu-24.04', cxx: 'clang++-18', cc: 'clang-18', generator: 'Unix Makefiles', packages: 'clang-18'  }
-        - { os: 'ubuntu-24.04', cxx: 'g++-14', cc: 'gcc-14', generator: 'Unix Makefiles', packages: 'g++-14'  }
+        - { os: 'ubuntu-24.04', cxx: 'clang++-18', cc: 'clang-18', generator: 'Ninja', packages: 'clang-18'  }
+        - { os: 'ubuntu-24.04', cxx: 'g++-14', cc: 'gcc-14', generator: 'Ninja', packages: 'g++-14'  }
         - { os: 'windows-latest', cxx: 'cl', cc: 'cl', generator: 'Ninja', config: 'Debug' }
         - { os: 'windows-latest', cxx: 'cl', cc: 'cl', generator: 'Ninja', config: 'Release' }
     name: '${{ matrix.os }} / ${{ matrix.cxx }} / ${{ matrix.generator }} / ${{ matrix.config }}'
@@ -32,6 +32,9 @@ jobs:
       uses: actions/checkout@d632683dd7b4114ad314bca15554477dd762a938 # v4.2.0
     - name: 'Install: MSVC'
       uses: ilammy/msvc-dev-cmd@0b201ec74fa43914dc39ae48a89fd1d8cb592756 # v1.13.0
+    - name: 'Install Ninja'
+      if: ${{ matrix.os == 'ubuntu-24.04' }}
+      run: sudo apt install ninja-build
     - name: 'Configure'
       env:
         CXX: '${{ matrix.cxx }}'

.github/workflows/sanitizer.yml

@@ -40,11 +40,13 @@ jobs:
         egress-policy: audit
     - name: 'Checkout'
       uses: actions/checkout@d632683dd7b4114ad314bca15554477dd762a938 # v4.2.0
+    - name: 'Install Ninja'
+      run: sudo apt install ninja-build
     - name: 'Configure'
       env:
         CXX: 'g++-14'
         CC: 'gcc-14'
-      run: cmake -S . -B 'build'
+      run: cmake -S . -B 'build' -G 'Ninja'
     - name: 'Build'
       run: cmake --build 'build' --verbose --parallel 4
     - name: 'Test'

CMakeLists.txt

@@ -46,6 +46,7 @@ project(
   VERSION "0.4.0")
 
 set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_SCAN_FOR_MODULES ON)
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)

support/CMakeLists.txt

@@ -43,14 +43,11 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
     kalman_options
     INTERFACE "-D_FORTIFY_SOURCE=3"
               "-D_GLIBCXX_ASSERTIONS"
-              "-fcf-protection=full"
               "-fno-check-new"
               "-fno-common"
               "-fPIE"
               "-fstack-clash-protection"
-              "-fstack-protector-strong"
               "-fstrict-aliasing"
-              "-ftrivial-auto-var-init=pattern"
               "-pedantic"
               "-Wall"
               "-Wcast-align"
@@ -75,14 +72,11 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     kalman_options
     INTERFACE "-D_FORTIFY_SOURCE=3"
               "-D_GLIBCXX_ASSERTIONS"
-              "-fcf-protection=full"
               "-fno-check-new"
               "-fno-common"
               "-fPIE"
               "-fstack-clash-protection"
-              "-fstack-protector-strong"
               "-fstrict-aliasing"
-              "-ftrivial-auto-var-init=pattern"
               "-pedantic"
               "-Wall"
               "-Wcast-align"

test/CMakeLists.txt

@@ -36,6 +36,27 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> ]]
 
+include(FetchContent)
+
+FetchContent_Declare(
+  fmt
+  GIT_REPOSITORY "https://github.com/fmtlib/fmt"
+  FIND_PACKAGE_ARGS NAMES fmt)
+FetchContent_MakeAvailable(fmt)
+
+FetchContent_Declare(
+  gsl-lite
+  GIT_REPOSITORY "https://github.com/gsl-lite/gsl-lite"
+  FIND_PACKAGE_ARGS NAMES gsl-lite)
+FetchContent_MakeAvailable(gsl-lite)
+
+set(MP_UNITS_BUILD_CXX_MODULES ON)
+FetchContent_Declare(
+  mp-units
+  GIT_REPOSITORY "https://github.com/mpusz/mp-units"
+  SOURCE_SUBDIR "src" FIND_PACKAGE_ARGS NAMES mp-units)
+FetchContent_MakeAvailable(mp-units)
+
 foreach(
   TEST
   "kalman_constructor_default_float_1x1x1.cpp"
@@ -44,7 +65,8 @@ foreach(
   "kalman_format_arguments.cpp"
   "kalman_format_float_1x1x1.cpp"
   "kalman_format.cpp"
-  "kalman_println.cpp")
+  "kalman_println.cpp"
+  "units_kf_1x1x0.cpp")
   get_filename_component(NAME ${TEST} NAME_WE)
   add_executable(kalman_test_${NAME}_driver ${TEST})
   target_link_libraries(kalman_test_${NAME}_driver PRIVATE kalman kalman_main

test/units_kf_1x1x0.cpp

@@ -0,0 +1,40 @@
+#include "fcarouge/kalman.hpp"
+
+#include <cassert>
+#include <cmath>
+import mp_units;
+
+namespace fcarouge::test {
+namespace {
+//! @test Verifies compatibility with
+[[maybe_unused]] auto sample{[] {
+  kalman filter{state{60.}, output<double>, estimate_uncertainty{225.},
+                output_uncertainty{25.}};
+
+  assert(60 == filter.x() &&
+         "Since our system's dynamic model is constant, i.e. the building "
+         "doesn't change its height: 60 meters.");
+  assert(225 == filter.p() &&
+         "The extrapolated estimate uncertainty (variance) also doesn't "
+         "change: 225");
+
+  filter.update(48.54);
+
+  filter.update(47.11);
+  filter.update(55.01);
+  filter.update(55.15);
+  filter.update(49.89);
+  filter.update(40.85);
+  filter.update(46.72);
+  filter.update(50.05);
+  filter.update(51.27);
+  filter.update(49.95);
+
+  assert(std::abs(1 - filter.x() / 49.57) < 0.001 &&
+         "After 10 measurement and update iterations, the building estimated "
+         "height is: 49.57m.");
+
+  return 0;
+}()};
+} // namespace
+} // namespace fcarouge::test