cmake_minimum_required(VERSION 3.13) set(FSFW_VERSION 2) 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" ${CMAKE_MODULE_PATH}) option(FSFW_GENERATE_SECTIONS "Generate function and data sections. Required to remove unused code" ON ) if(FSFW_GENERATE_SECTIONS) option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON) endif() option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF) option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF) if(FSFW_BUILD_UNITTESTS) option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON) endif() option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON) # Options to exclude parts of the FSFW from compilation. option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON) option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF) option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON) # Optional sources option(FSFW_ADD_PUS "Compile with PUS sources" ON) option(FSFW_ADD_MONITORING "Compile with monitoring components" ON) option(FSFW_ADD_RMAP "Compile with RMAP" OFF) option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF) option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF) option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF) # Contrib sources option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF) set(LIB_FSFW_NAME fsfw) set(FSFW_TEST_TGT fsfw-tests) set(FSFW_DUMMY_TGT fsfw-dummy) project(${LIB_FSFW_NAME}) add_library(${LIB_FSFW_NAME}) if(FSFW_BUILD_UNITTESTS) message(STATUS "Building the FSFW unittests in addition to the static library") # Check whether the user has already installed Catch2 first find_package(Catch2 3) # Not installed, so use FetchContent to download and provide Catch2 if(NOT Catch2_FOUND) include(FetchContent) FetchContent_Declare( Catch2 GIT_REPOSITORY https://github.com/catchorg/Catch2.git GIT_TAG v3.0.0-preview3 ) FetchContent_MakeAvailable(Catch2) endif() set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg) configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h) configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h) project(${FSFW_TEST_TGT} CXX C) add_executable(${FSFW_TEST_TGT}) if(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 ${cmake-modules_SOURCE_DIR}) include(CodeCoverage) endif() endif() set(FSFW_CORE_INC_PATH "inc") set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos) # Configure Files target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR} ) target_include_directories(${LIB_FSFW_NAME} INTERFACE ${CMAKE_CURRENT_BINARY_DIR} ) if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED True) elseif(${CMAKE_CXX_STANDARD} LESS 11) message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support") endif() # 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() if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS) configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h) configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h) else() configure_file(src/fsfw/FSFW.h.in FSFW.h) configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h) endif() 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/*" ) elseif(UNIX) set(COVERAGE_EXCLUDES "/usr/include/*" "/usr/bin/*" "Catch2/*" "/usr/local/include/*" "*/fsfw_tests/*" "*/catch2-src/*" ) 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 ${CURR_ABS_INC_PATH}) endforeach() if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(NOT DEFINED FSFW_WARNING_FLAGS) set(FSFW_WARNING_FLAGS -Wall -Wextra -Wimplicit-fallthrough=1 -Wno-unused-parameter -Wno-psabi ) endif() if(FSFW_GENERATE_SECTIONS) target_compile_options(${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} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS} ) string(CONCAT POST_BUILD_COMMENT "######################################################################\n" "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, " "Target OSAL: ${FSFW_OS_NAME}\n" "######################################################################\n" ) add_custom_command( TARGET ${LIB_FSFW_NAME} POST_BUILD COMMENT ${POST_BUILD_COMMENT} )