fsfw/CMakeLists.txt

cmake_minimum_required(VERSION 3.13)

set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME})

if(NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
    set(CMAKE_CXX_STANDARD_REQUIRED True)
elseif(${CMAKE_CXX_STANDARD} LESS 17)
    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++17 support")
endif()

set(FSFW_VERSION 4)
set(FSFW_SUBVERSION 0)
set(FSFW_REVISION 0)

# Add the cmake folder so the FindSphinx module is found
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})

set(FSFW_ETL_LIB_NAME etl)
set(FSFW_ETL_LINK_TARGET etl::etl)
set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
  "ETL library major version requirement"
  )
set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
  "ETL library exact version requirement"
  )

set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
  "Catch2 library major version requirement"
  )
set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
  "Catch2 library exact version requirement"
  )

set(FSFW_FMT_LIB_NAME fmt)
set(FSFW_FMT_LINK_TARGET fmt::fmt)
set(FSFW_FMT_LIB_MAJOR_VERSION 8 CACHE STRING "{fmt} library major version requirement")
set(FSFW_FMT_LIB_VERSION v${FSFW_FMT_LIB_MAJOR_VERSION}.1.1 CACHE STRING
  "{fmt} library exact version requirement"
  )

include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
if(NOT IPO_SUPPORTED)
  message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
endif()

option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" ON)

include(CheckIPOSupported)
check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
if(NOT IPO_SUPPORTED)
  message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
endif()

option(FSFW_ENABLE_IPO "Enable interprocedural optimization or link-time optimization if available" ON)
option(FSFW_GENERATE_SECTIONS
  "Generate function and data sections. Required to remove unused code" ON
  )
if(FSFW_GENERATE_SECTIONS)
  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
endif()

option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif()

option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
# Options to exclude parts of the FSFW from compilation.
option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)

# Optional sources
option(FSFW_ADD_PUS "Compile with PUS sources" ON)
option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)

option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)

# Contrib sources
option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)


set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)

add_library(${LIB_FSFW_NAME})

if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
endif()

if(FSFW_BUILD_UNITTESTS)
  message(STATUS "Building the FSFW unittests in addition to the static library")
  # Check whether the user has already installed Catch2 first
  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(STATUS "Catch2 installation not found. Downloading Catch2 library with FetchContent")
    include(FetchContent)

    FetchContent_Declare(
      Catch2
      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
      GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
    )

    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()

  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)

  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})

  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION TRUE)
  endif()
  if(FSFW_TESTS_GEN_COV)
    message(STATUS "Generating coverage data for the library")
    message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
      "will be compiled with coverage data as well"
      )
    include(FetchContent)
    FetchContent_Declare(
      cmake-modules
      GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
    )
    FetchContent_MakeAvailable(cmake-modules)
    set(CMAKE_BUILD_TYPE "Debug")
    list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
    include(CodeCoverage)
  endif()
endif()

message(STATUS "Finding and/or providing etl (Embedded Template Library)")

# Check whether the user has already installed ETL first
find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(STATUS
    "No ETL installation was found with find_package. Installing and providing "
    "etl with FindPackage"
    )
  include(FetchContent)

  FetchContent_Declare(
    ${FSFW_ETL_LIB_NAME}
    GIT_REPOSITORY https://github.com/ETLCPP/etl
    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
  )

  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()

message(STATUS "Finding and/or providing {fmt} formatting library")

# Check whether the user has already installed ETL first
find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
  message(STATUS
    "No {fmt} installation was found with find_package. Installing and providing "
    "{fmt} with FindPackage"
    )
  include(FetchContent)

  FetchContent_Declare(
    ${FSFW_FMT_LIB_NAME}
    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
    GIT_TAG        ${FSFW_FMT_LIB_VERSION}
  )

  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
endif()

# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
  if(TARGET ${FSFW_ETL_LIB_NAME})
    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
  endif()
  if(TARGET Catch2)
    # Fixes regression -preview4, to be confirmed in later releases
    # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
  endif()
endif()

set(FSFW_CORE_INC_PATH "inc")

set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)

# For configure files
target_include_directories(${LIB_FSFW_NAME} PRIVATE
  ${CMAKE_CURRENT_BINARY_DIR}
  )
target_include_directories(${LIB_FSFW_NAME} INTERFACE
  ${CMAKE_CURRENT_BINARY_DIR}
  )

# Backwards comptability
if(OS_FSFW AND NOT FSFW_OSAL)
  message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
  set(FSFW_OSAL OS_FSFW)
endif()

if(NOT FSFW_OSAL)
  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
  # Assume host OS and autodetermine from OS_FSFW
  if(UNIX)
    set(FSFW_OSAL  "linux"
      CACHE STRING
      "OS abstraction layer used in the FSFW"
      )
  elseif(WIN32)
    set(FSFW_OSAL  "host"
      CACHE STRING "OS abstraction layer used in the FSFW"
      )
  endif()

endif()

set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)

if(FSFW_OSAL MATCHES host)
  set(FSFW_OS_NAME "Host")
  set(FSFW_OSAL_HOST ON)
elseif(FSFW_OSAL MATCHES linux)
  set(FSFW_OS_NAME "Linux")
  set(FSFW_OSAL_LINUX ON)
elseif(FSFW_OSAL MATCHES freertos)
  set(FSFW_OS_NAME "FreeRTOS")
  set(FSFW_OSAL_FREERTOS ON)
  target_link_libraries(${LIB_FSFW_NAME} PRIVATE
    ${LIB_OS_NAME}
    )
elseif(FSFW_OSAL STREQUAL rtems)
  set(FSFW_OS_NAME "RTEMS")
  set(FSFW_OSAL_RTEMS ON)
else()
  message(WARNING
    "Invalid operating system for FSFW specified! Setting to host.."
    )
  set(FSFW_OS_NAME "Host")
  set(OS_FSFW "host")
endif()

configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)

message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")

add_subdirectory(src)
add_subdirectory(tests)
if(FSFW_ADD_HAL)
  add_subdirectory(hal)
endif()
add_subdirectory(contrib)
if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
endif()

if(FSFW_BUILD_UNITTESTS)
  if(FSFW_TESTS_GEN_COV)
    if(CMAKE_COMPILER_IS_GNUCXX)
      include(CodeCoverage)

      # Remove quotes.
      separate_arguments(COVERAGE_COMPILER_FLAGS
        NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
        )

      # Add compile options manually, we don't want coverage for Catch2
      target_compile_options(${FSFW_TEST_TGT} PRIVATE
        "${COVERAGE_COMPILER_FLAGS}"
        )
      target_compile_options(${LIB_FSFW_NAME} PRIVATE
        "${COVERAGE_COMPILER_FLAGS}"
        )

      # Exclude directories here
      if(WIN32)
        set(GCOVR_ADDITIONAL_ARGS
          "--exclude-throw-branches"
          "--exclude-unreachable-branches"
          )
        set(COVERAGE_EXCLUDES
          "/c/msys64/mingw64/*" "*/fsfw_hal/*"
          )
      elseif(UNIX)
        set(COVERAGE_EXCLUDES
          "/usr/include/*" "/usr/bin/*" "Catch2/*"
          "/usr/local/include/*" "*/fsfw_tests/*"
          "*/catch2-src/*" "*/fsfw_hal/*"
          )
      endif()

      target_link_options(${FSFW_TEST_TGT} PRIVATE
        -fprofile-arcs
        -ftest-coverage
        )
      target_link_options(${LIB_FSFW_NAME} PRIVATE
        -fprofile-arcs
        -ftest-coverage
        )
      # Need to specify this as an interface, otherwise there will the compile issues
      target_link_options(${LIB_FSFW_NAME} INTERFACE
        -fprofile-arcs
        -ftest-coverage
        )

      if(WIN32)
        setup_target_for_coverage_gcovr_html(
          NAME ${FSFW_TEST_TGT}_coverage
          EXECUTABLE ${FSFW_TEST_TGT}
          DEPENDENCIES ${FSFW_TEST_TGT}
        )
      else()
        setup_target_for_coverage_lcov(
          NAME ${FSFW_TEST_TGT}_coverage
          EXECUTABLE ${FSFW_TEST_TGT}
          DEPENDENCIES ${FSFW_TEST_TGT}
        )
      endif()
    endif()
  endif()
  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
endif()

# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
# If this is not given, we include the default configuration and emit a warning.
if(NOT FSFW_CONFIG_PATH)
  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
  if(NOT FSFW_BUILD_DOCS)
    message(WARNING "Flight Software Framework configuration path not set!")
    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
  endif()
  add_subdirectory(${DEF_CONF_PATH})
  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
endif()

# FSFW might be part of a possibly complicated folder structure, so we
# extract the absolute path of the fsfwconfig folder.
if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
else()
  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
    ${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
    )
endif()

foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
  if(IS_ABSOLUTE ${INCLUDE_PATH})
    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
  else()
    get_filename_component(CURR_ABS_INC_PATH
      ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
  endif()

  if(CMAKE_VERBOSE)
    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
  endif()

  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
endforeach()

if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
  if(NOT DEFINED FSFW_WARNING_FLAGS)
    set(FSFW_WARNING_FLAGS
      -Wall
      -Wextra
      -Wimplicit-fallthrough=1
      -Wno-unused-parameter
      -Wno-psabi
      -Wduplicated-cond # check for duplicate conditions
      -Wduplicated-branches # check for duplicate branches
      -Wlogical-op # Search for bitwise operations instead of logical
      -Wnull-dereference # Search for NULL dereference
      -Wundef # Warn if undefind marcos are used
      -Wformat=2 # Format string problem detection
      -Wformat-overflow=2 # Formatting issues in printf
      -Wformat-truncation=2 # Formatting issues in printf
      -Wformat-security # Search for dangerous printf operations
      -Wstrict-overflow=3 # Warn if integer overflows might happen
      -Warray-bounds=2 # Some array bounds violations will be found
      -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
      -Wcast-qual # Warn if the constness is cast away
      -Wstringop-overflow=4
      # -Wstack-protector # Emits a few false positives for low level access
      # -Wconversion # Creates many false positives
      # -Warith-conversion # Use with Wconversion to find more implicit conversions
      # -fanalyzer # Should be used to look through problems
      )
  endif()

  if(FSFW_GENERATE_SECTIONS)
    target_compile_options(${LIB_FSFW_NAME} PRIVATE
      "-ffunction-sections"
      "-fdata-sections"
      )
  endif()

  if(FSFW_REMOVE_UNUSED_CODE)
    target_link_options(${LIB_FSFW_NAME} PRIVATE
      "Wl,--gc-sections"
      )
  endif()

  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
    list(APPEND WARNING_FLAGS "-Wshadow=local")
  endif()

endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
  set(COMPILER_FLAGS "/permissive-")
endif()

# Required include paths to compile the FSFW
target_include_directories(${LIB_FSFW_NAME} INTERFACE
  ${CMAKE_SOURCE_DIR}
  ${FSFW_CONFIG_PATH_ABSOLUTE}
  ${FSFW_CORE_INC_PATH}
  ${FSFW_ADD_INC_PATHS_ABS}
  )

# Includes path required to compile FSFW itself as well
# We assume that the fsfwconfig folder uses include relative to the project
# root here!
target_include_directories(${LIB_FSFW_NAME} PRIVATE
  ${CMAKE_SOURCE_DIR}
  ${FSFW_CONFIG_PATH_ABSOLUTE}
  ${FSFW_CORE_INC_PATH}
  ${FSFW_ADD_INC_PATHS_ABS}
  )

target_compile_options(${LIB_FSFW_NAME} PRIVATE
  ${FSFW_WARNING_FLAGS}
  ${COMPILER_FLAGS}
  )

target_link_libraries(${LIB_FSFW_NAME} PUBLIC
  ${FSFW_FMT_LINK_TARGET}
  )

target_link_libraries(${LIB_FSFW_NAME} PRIVATE
  # If any ELT headers are ever exposed inside a header or as part of the API, the ETL target needs to be linked PUBLIC
  ${FSFW_ETL_LINK_TARGET}
  ${FSFW_ADDITIONAL_LINK_LIBS}
  )

string(CONCAT POST_BUILD_COMMENT
  "######################################################################\n"
  "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
  "Target OSAL: ${FSFW_OS_NAME}\n"
  "######################################################################\n"
  )

# The additional / is important to remove the last character from the path.
# Note that it does not matter if the OS uses / or \, because we are only
# saving the path size.
string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
target_compile_definitions(${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")

add_custom_command(
  TARGET ${LIB_FSFW_NAME}
  POST_BUILD
  COMMENT ${POST_BUILD_COMMENT}
)