Add GitHub Actions workflows

Signed-off-by: Markus Mayer <[email protected]>

.codespellrc

@@ -0,0 +1,3 @@
+[codespell]
+ignore-words-list = crate
+skip = .git,*.lock

.github/workflows/codespell.yml

@@ -0,0 +1,19 @@
+---
+name: Codespell
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  codespell:
+    name: Check for spelling errors
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Codespell
+        uses: codespell-project/actions-codespell@v2

.github/workflows/rust.yml

@@ -0,0 +1,91 @@
+---
+name: Rust
+
+on:
+  push:
+    branches: [ "main" ]
+    paths:
+      - 'Cargo.toml'
+      - 'Cargo.lock'
+      - 'src/**'
+      - '.github/workflows/rust.yml'
+  pull_request:
+    branches: [ "main" ]
+    paths:
+      - 'Cargo.toml'
+      - 'Cargo.lock'
+      - 'src/**'
+      - '.github/workflows/rust.yml'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check format
+        run: cargo fmt --check
+      - name: Clippy
+        run: cargo clippy
+
+  docs:
+    name: Build documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build documentation
+        run: cargo doc
+
+  codecov:
+    needs: lint
+    name: Code Coverage
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build
+        run: cargo build --verbose
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: llvm-tools-preview
+      - name: Install cargo-llvm-cov
+        uses: taiki-e/install-action@cargo-llvm-cov
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - name: Generate code coverage
+        run: cargo llvm-cov nextest --features=std,unsafe --workspace ---lcov --output-path lcov.info
+      - name: Upload coverage to Codecov
+        uses: codecov/[email protected]
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          files: lcov.info
+          fail_ci_if_error: true
+
+  build-std:
+    needs:
+      - lint
+      - docs
+    name: Build and Test (floating-point)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run doctests
+        run: cargo test --doc --verbose --package marg-orientation --no-default-features --features=std
+
+  build-others:
+    needs:
+      - codecov
+      - build-std
+    name: Build and Test
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ macos-latest, windows-latest ]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run tests
+        run: cargo test --package marg-orientation --verbose --features=std
+      - name: Run doctests
+        run: cargo test --doc --package marg-orientation --verbose --features=std

Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "marg-orientation"
 description = "A MARG (Magnetic, Angular Rate, and Gravity) orientation estimator"
-version = "0.1.0"
+version = "0.0.1"
 authors = ["Markus Mayer"]
 homepage = "https://github.com/sunsided/marg-orientation"
 repository = "https://github.com/sunsided/marg-orientation"

src/lib.rs

@@ -674,6 +674,7 @@ type OwnedObservation<T> = RegularObservation<
 >;
 
 #[cfg(test)]
+#[cfg(feature = "std")]
 mod tests {
     use super::*;
     use crate::accelerometer_reading::AccelerometerReading;

src/num_traits.rs

@@ -27,6 +27,8 @@ pub trait ArcSin<T> {
     fn arcsin(self) -> Self::Output;
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "std")))]
+#[cfg(feature = "std")]
 impl ArcTan<f32> for f32 {
     type Output = f32;
 
@@ -36,6 +38,8 @@ impl ArcTan<f32> for f32 {
     }
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "std")))]
+#[cfg(feature = "std")]
 impl ArcTan<f64> for f64 {
     type Output = f64;
 
@@ -45,6 +49,8 @@ impl ArcTan<f64> for f64 {
     }
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "std")))]
+#[cfg(feature = "std")]
 impl ArcSin<f32> for f32 {
     type Output = f32;
 
@@ -54,6 +60,8 @@ impl ArcSin<f32> for f32 {
     }
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "std")))]
+#[cfg(feature = "std")]
 impl ArcSin<f64> for f64 {
     type Output = f64;
 
@@ -85,29 +93,8 @@ where
     }
 }
 
-#[cfg_attr(docsrs, doc(cfg(not(feature = "std"))))]
-#[cfg(not(feature = "std"))]
-impl DetectGimbalLock<f32> for f32 {
-    #[inline]
-    fn close_to_zenith_or_nadir(&self, tolerance: f32) -> bool {
-        let a = (*self - f32::ZENITH).abs();
-        let b = (*self - f32::NADIR).abs();
-        a <= tolerance || b.abs() <= tolerance
-    }
-}
-
-#[cfg_attr(docsrs, doc(cfg(not(feature = "std"))))]
-#[cfg(not(feature = "std"))]
-impl DetectGimbalLock<f64> for f64 {
-    #[inline]
-    fn close_to_zenith_or_nadir(&self, tolerance: f64) -> bool {
-        let a = (*self - f64::ZENITH).abs();
-        let b = (*self - f64::NADIR).abs();
-        a <= tolerance || b.abs() <= tolerance
-    }
-}
-
 #[cfg(test)]
+#[cfg(feature = "std")]
 mod tests {
     use super::*;