Patches (#3)

* no_std fixes and simplification of traits

* remove faulty test

* cleanup and improve memory usage

Cargo.toml

@@ -13,6 +13,7 @@ version = "0.2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [dependencies]
 num = {version = "0.4.0",default-features = false}
-
+num-traits = { version = "0.2", default-features = false, features = ["libm"] }
+array-init = "2.1.0"
 [features]
 experimental = []

examples/embedded/src/main.rs

@@ -6,7 +6,7 @@
 
 use nrf52840_hal as _;
 use panic_halt as _;
-#[rtic::app(device = nrf52840_hal::pac)]
+#[rtic::app(device = nrf52840_hal::pac, dispatchers = [TIMER0])]
 mod app {
     use matrs::predule::*;
     use nrf52840_hal as hal;
@@ -25,18 +25,25 @@ mod app {
         let m1: Matrix<u32, 2, 3> = [[1, 0, 10], [1, 0, 0]].into();
         let m2: Matrix<u32, 3, 2> = [[2, 0], [1, 0], [1, 1]].into();
         let res = m1.clone() * m2.clone();
+        foo::spawn().unwrap();
         rprintln!("{:?}*{:?} = {:?}", m1, m2, res);
 
         (Shared {}, Local {}, init::Monotonics())
     }
 
+    #[task]
+    #[inline(never)]
+    fn foo(_: foo::Context) {
+        cortex_m::asm::nop();
+    }
+
     #[idle]
     fn idle(_cx: idle::Context) -> ! {
-        rprintln!("idle");
+        //rprintln!("idle");
 
-        panic!("panic");
+        //panic!("panic");
 
-        #[allow(unreachable_code)]
+        //#[allow(unreachable_code)]
         loop {
             continue;
         }

src/lib.rs

@@ -66,35 +66,43 @@ pub use crate::traits::{CompliantNumerical, MatrixInterface, VectorTrait};
 use crate::vec::*;
 use core::ops::Mul;
 // Defines a method to transform a vector with a matrix
-impl<T: CompliantNumerical, const ROWS: usize, const COLS: usize> Mul<Matrix<T, ROWS, COLS>>
-    for Vector<T, ROWS>
+impl<
+        T: CompliantNumerical + Mul<TOther, Output = T>,
+        TOther: CompliantNumerical,
+        const ROWS: usize,
+        const COLS: usize,
+    > Mul<Matrix<TOther, ROWS, COLS>> for Vector<T, ROWS>
 {
     type Output = Vector<T, ROWS>;
     /// Defines a method to transform a vector with a matrix
-    fn mul(self, other: Matrix<T, ROWS, COLS>) -> Vector<T, ROWS> {
+    fn mul(self, other: Matrix<TOther, ROWS, COLS>) -> Vector<T, ROWS> {
         let mut result = Vector::new();
         for row in 0..ROWS {
             let mut sum: T = T::default();
             for col in 0..COLS {
-                sum = sum + *self.get(row) * *other.get(row, col);
+                sum += self.get(row).clone() * other.get(row, col).clone();
             }
             result.set(row, sum);
         }
         result
     }
 }
 
-impl<T: CompliantNumerical, const ROWS: usize, const COLS: usize> Mul<Vector<T, COLS>>
-    for Matrix<T, ROWS, COLS>
+impl<
+        T: CompliantNumerical + Mul<TOther, Output = T>,
+        TOther: CompliantNumerical,
+        const ROWS: usize,
+        const COLS: usize,
+    > Mul<Vector<TOther, COLS>> for Matrix<T, ROWS, COLS>
 {
     type Output = Vector<T, ROWS>;
     /// Defines a method to multiply a matrix with a vector
-    fn mul(self, other: Vector<T, COLS>) -> Vector<T, ROWS> {
+    fn mul(self, other: Vector<TOther, COLS>) -> Vector<T, ROWS> {
         let mut result = Vector::new();
         for row in 0..ROWS {
             let mut sum: T = T::default();
             for col in 0..COLS {
-                sum = sum + *self.get(row, col) * *other.get(col);
+                sum += self.get(row, col).clone() * other.get(col).clone();
             }
             result.set(row, sum);
         }
@@ -108,7 +116,7 @@ impl<T: CompliantNumerical, const COUNT: usize> Vector<T, COUNT> {
     pub fn to_matrix(self) -> Matrix<T, COUNT, 1> {
         let mut result = Matrix::new();
         for i in 0..COUNT {
-            result.set(i, 0, *self.get(i));
+            result.set(i, 0, self.get(i).clone());
         }
         result
     }
@@ -119,7 +127,7 @@ impl<T: CompliantNumerical, const ROWS: usize> Matrix<T, ROWS, 1> {
     pub fn row_vec(self) -> Vector<T, ROWS> {
         let mut result = Vector::new();
         for i in 0..ROWS {
-            result.set(i, *self.get(i, 0));
+            result.set(i, self.get(i, 0).clone());
         }
         result
     }
@@ -130,7 +138,7 @@ impl<T: CompliantNumerical, const COLS: usize> Matrix<T, 1, COLS> {
     pub fn col_vec(self) -> Vector<T, COLS> {
         let mut result = Vector::new();
         for i in 0..COLS {
-            result.set(i, *self.get(0, i));
+            result.set(i, self.get(0, i).clone());
         }
         result
     }
@@ -139,10 +147,10 @@ impl<T: CompliantNumerical, const ROWS: usize, const COLS: usize> Matrix<T, ROWS
     /// Creates an array of vectors from a matrix
 
     pub fn to_array_of_vecs(self) -> [Vector<T, COLS>; ROWS] {
-        let mut result: [Vector<T, COLS>; ROWS] = [Vector::new(); ROWS];
+        let mut result: [Vector<T, COLS>; ROWS] = array_init::array_init(|_| Vector::new());
         let data = self.get_elements();
         for i in 0..ROWS {
-            result[i] = Vector::new_from_data(data[i]);
+            result[i] = Vector::new_from_data(data[i].clone());
         }
         result
     }