eive-obsw/CMakeLists.txt

# ##############################################################################
# CMake support for the EIVE OBSW
#
# Author: R. Mueller
# ##############################################################################

# ##############################################################################
# Pre-Project preparation
# ##############################################################################
cmake_minimum_required(VERSION 3.13)

set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

# set(CMAKE_VERBOSE TRUE)

# TODO WIP:
add_compile_definitions(FSFW_INTROSPECTION)
include_directories("bsp_mib/include")

option(
  EIVE_HARDCODED_TOOLCHAIN_FILE
  "\
For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
if a different toolchain file is set externally"
  ON)

if(NOT FSFW_OSAL)
  set(FSFW_OSAL
      linux
      CACHE STRING "OS for the FSFW.")
endif()

if(TGT_BSP)
  if(TGT_BSP MATCHES "arm/q7s"
     OR TGT_BSP MATCHES "arm/raspberrypi"
     OR TGT_BSP MATCHES "arm/beagleboneblack")
    option(LINUX_CROSS_COMPILE ON)
  endif()
  if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
  elseif(TGT_BSP MATCHES "arm/q7s")
    option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
  endif()
  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
         ON)
else()
  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
         OFF)
endif()

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
# Perform steps like loading toolchain files where applicable.
include(PreProjectConfig)
pre_project_config()

# Project Name
project(eive-obsw)

# Specify the C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)

include(EiveHelpers)

option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)

set(OBSW_MAX_SCHEDULED_TCS 500)

if(EIVE_Q7S_EM)
  set(OBSW_Q7S_EM
      1
      CACHE STRING "Q7S EM configuration")
  set(INIT_VAL 0)
else()
  set(OBSW_Q7S_EM
      0
      CACHE STRING "Q7S EM configuration")
  set(INIT_VAL 1)
endif()
set(OBSW_ADD_MGT
    ${INIT_VAL}
    CACHE STRING "Add MGT module")
set(OBSW_ADD_BPX_BATTERY_HANDLER
    ${INIT_VAL}
    CACHE STRING "Add MGT module")
set(OBSW_ADD_STAR_TRACKER
    ${INIT_VAL}
    CACHE STRING "Add Startracker module")
set(OBSW_ADD_SUN_SENSORS
    ${INIT_VAL}
    CACHE STRING "Add sun sensor module")
set(OBSW_ADD_SUS_BOARD_ASS
    ${INIT_VAL}
    CACHE STRING "Add sun sensor board assembly")
set(OBSW_ADD_ACS_BOARD
    ${INIT_VAL}
    CACHE STRING "Add ACS board module")
set(OBSW_ADD_ACS_HANDLERS
    ${INIT_VAL}
    CACHE STRING "Add ACS handlers")
set(OBSW_ADD_RTD_DEVICES
    ${INIT_VAL}
    CACHE STRING "Add RTD devices")
set(OBSW_ADD_RAD_SENSORS
    ${INIT_VAL}
    CACHE STRING "Add Rad Sensor module")
set(OBSW_ADD_PL_PCDU
    ${INIT_VAL}
    CACHE STRING "Add Payload PCDU modukle")
set(OBSW_ADD_SYRLINKS
    ${INIT_VAL}
    CACHE STRING "Add Syrlinks module")
set(OBSW_ADD_TMP_DEVICES
    ${INIT_VAL}
    CACHE STRING "Add TMP devices")
set(OBSW_ADD_GOMSPACE_PCDU
    ${INIT_VAL}
    CACHE STRING "Add GomSpace PCDU modules")
set(OBSW_ADD_RW
    ${INIT_VAL}
    CACHE STRING "Add RW modules")

# ##############################################################################
# Pre-Sources preparation
# ##############################################################################

# Version handling
set(GIT_VER_HANDLING_OK FALSE)
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
  determine_version_with_git("--exclude" "docker_*")
  set(GIT_INFO
      ${GIT_INFO}
      CACHE STRING "Version information retrieved with git describe")
  if(GIT_INFO)
    set(GIT_INFO
        ${GIT_INFO}
        CACHE STRING "Version information retrieved with git describe")
    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
    if(NOT OBSW_VERSION_MAJOR)
      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
    endif()
    if(NOT OBSW_VERSION_MINOR)
      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
    endif()
    if(NOT OBSW_VERSION_REVISION)
      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
    endif()
    set(GIT_VER_HANDLING_OK TRUE)
  else()
    set(GIT_VER_HANDLING_OK FALSE)
  endif()
endif()
if(NOT GIT_VER_HANDLING_OK)
  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
endif()

# Set names and variables
set(OBSW_NAME ${PROJECT_NAME})
set(WATCHDOG_NAME eive-watchdog)
set(SIMPLE_OBSW_NAME eive-simple)
set(UNITTEST_NAME eive-unittest)
set(LIB_FSFW_NAME fsfw)
set(LIB_EIVE_MISSION eive-mission)
set(LIB_ETL_TARGET etl::etl)
set(LIB_CSP_NAME libcsp)
set(LIB_LWGPS_NAME lwgps)
set(LIB_ARCSEC wire)
set(THIRD_PARTY_FOLDER thirdparty)
set(LIB_CXX_FS -lstdc++fs)
set(LIB_CATCH2 Catch2)
set(LIB_GPS gps)
set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
set(LIB_DUMMIES dummies)

# Set path names
set(FSFW_PATH fsfw)
set(TEST_PATH test)
set(UNITTEST_PATH unittest)
set(LINUX_PATH linux)
set(COMMON_PATH ${CMAKE_CURRENT_SOURCE_DIR}/common)
set(DUMMY_PATH dummies)
set(WATCHDOG_PATH watchdog)
set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)

set(LIB_EIVE_MISSION_PATH mission)
set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)

set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
set(EIVE_ADD_LINUX_FILES False)

# Analyse different OS and architecture/target options, determine BSP_PATH,
# display information about compiler etc.
pre_source_hw_os_config()

if(TGT_BSP)
  set(LIBGPS_VERSION_MAJOR 3)

  # I assume a newer version than 3.17 will be installed on other Linux board
  # than the Q7S
  set(LIBGPS_VERSION_MINOR 20)
  if(TGT_BSP MATCHES "arm/q7s"
     OR TGT_BSP MATCHES "arm/raspberrypi"
     OR TGT_BSP MATCHES "arm/beagleboneblack"
     OR TGT_BSP MATCHES "arm/egse"
     OR TGT_BSP MATCHES "arm/te0720-1cfa")
    find_library(${LIB_GPS} gps)
    set(FSFW_CONFIG_PATH ${CMAKE_CURRENT_SOURCE_DIR}/linux/fsfwconfig)

    if(NOT BUILD_Q7S_SIMPLE_MODE)
      set(EIVE_ADD_LINUX_FILES TRUE)
      set(ADD_CSP_LIB TRUE)
      set(FSFW_HAL_ADD_LINUX ON)
    endif()
  endif()

  if(TGT_BSP MATCHES "arm/raspberrypi")
    # Used by configure file
    set(RASPBERRY_PI ON)
    set(FSFW_HAL_ADD_RASPBERRY_PI ON)
  endif()

  if(TGT_BSP MATCHES "arm/egse")
    # Used by configure file
    set(EGSE ON)
    set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
    set(OBSW_ADD_STAR_TRACKER 1)
    set(OBSW_DEBUG_STARTRACKER 1)
  endif()

  if(TGT_BSP MATCHES "arm/beagleboneblack")
    # Used by configure file
    set(BEAGLEBONEBLACK ON)
  endif()

  if(TGT_BSP MATCHES "arm/q7s")
    # Used by configure file
    set(XIPHOS_Q7S ON)
    set(LIBGPS_VERSION_MAJOR 3)
    set(LIBGPS_VERSION_MINOR 17)
  endif()

  if(TGT_BSP MATCHES "arm/te0720-1cfa")
    set(TE0720_1CFA ON)
  endif()
else()
  # Required by FSFW library
  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
endif()

# Configuration files
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(TGT_BSP MATCHES "arm/q7s")
  configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
  configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()

configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)

# Set common config path for FSFW
set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}"
  ${COMMON_CONFIG_PATH}
  ${CMAKE_CURRENT_BINARY_DIR})

# ##############################################################################
# Executable and Sources
# ##############################################################################

# global compiler options need to be set before adding executables
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
  add_compile_options(
    "-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
  )
  # Remove unused sections.
  add_compile_options("-ffunction-sections" "-fdata-sections")

  # Removed unused sections.
  add_link_options("-Wl,--gc-sections")

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

add_library(${LIB_EIVE_MISSION})
add_library(${LIB_DUMMIES})

# Add main executable
add_executable(${OBSW_NAME})
set(OBSW_BIN_NAME ${PROJECT_NAME})

set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})

# Watchdog
if(TGT_BSP MATCHES "arm/q7s")
  add_executable(${WATCHDOG_NAME})
else()
  add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
endif()

add_subdirectory(${WATCHDOG_PATH})
target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})

# unittests
if(NOT TGT_BSP)
  add_executable(${UNITTEST_NAME})
else()
  add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
endif()

if(EIVE_ADD_ETL_LIB)

endif()

if(EIVE_ADD_JSON_LIB)
  add_subdirectory(${LIB_JSON_PATH})
endif()

add_subdirectory(thirdparty/rapidcsv)

if(EIVE_ADD_LINUX_FILES)
  add_subdirectory(${LIB_ARCSEC_PATH})
  add_subdirectory(${LINUX_PATH})
endif()

add_subdirectory(${BSP_PATH})

# TODO WIP:
add_subdirectory("bsp_mib")

if(ADD_CSP_LIB)
  add_subdirectory(${LIB_CSP_PATH})
endif()

add_subdirectory(${COMMON_PATH})
add_subdirectory(${DUMMY_PATH})

add_subdirectory(${LIB_LWGPS_PATH})
add_subdirectory(${FSFW_PATH})
add_subdirectory(${LIB_EIVE_MISSION_PATH})
add_subdirectory(${TEST_PATH})

add_subdirectory(${UNITTEST_PATH})

# This should have already been downloaded by the FSFW Still include it to be
# safe
find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
# Not installed, so use FetchContent to download and provide etl
if(NOT etl_FOUND)
  message(
    STATUS
      "No ETL installation was found with find_package. Installing and providing "
      "etl with FindPackage")
  include(FetchContent)
  FetchContent_Declare(
    etl
    GIT_REPOSITORY https://github.com/ETLCPP/etl
    GIT_TAG ${FSFW_ETL_LIB_VERSION})
  list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
endif()

# Use same Catch2 version as framework
if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
   AND NOT (TGT_BSP MATCHES "arm/q7s")
   AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
  # Check whether the user has already installed Catch2 first
  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
        "${MSG_PREFIX} 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()
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(${FSFW_FETCH_CONTENT_TARGETS})
  if(TARGET etl)
    add_library(${LIB_ETL_TARGET} ALIAS etl)
  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 "")
    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
  endif()
endif()

# ##############################################################################
# Post-Sources preparation
# ##############################################################################

# Add libraries
target_link_libraries(${LIB_EIVE_MISSION}
                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})

target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})

target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})

if(TGT_BSP MATCHES "arm/q7s")
  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC})
endif()

target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
                                               rapidcsv ${LIB_DUMMIES})

if(TGT_BSP MATCHES "arm/egse")
  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
endif()

if(ADD_CSP_LIB)
  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
endif()

if(EIVE_ADD_ETL_LIB)
  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
endif()

if(EIVE_ADD_JSON_LIB)
  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
endif()

target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})

# Add include paths for all sources.
target_include_directories(
  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})

target_include_directories(
  ${LIB_DUMMIES} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
                        ${CMAKE_CURRENT_BINARY_DIR})

if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
endif()

if(CMAKE_VERBOSE)
  message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()

if(CMAKE_CROSSCOMPILING)
  include(HardwareOsPostConfig)
  post_source_hw_os_config()
endif()

if(NOT CMAKE_SIZE)
  set(CMAKE_SIZE size)
  if(WIN32)
    set(FILE_SUFFIX ".exe")
  endif()
endif()

if(EIVE_BUILD_WATCHDOG)
  set(TARGET_STRING "OBSW Watchdog")
else()
  if(TGT_BSP)
    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
  else()
    set(TARGET_STRING "Target BSP: Hosted")
  endif()
endif()

install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)

string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
              "Target OSAL: ${FSFW_OSAL}\n"
              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")

add_custom_command(
  TARGET ${OBSW_NAME}
  POST_BUILD
  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
  COMMENT ${POST_BUILD_COMMENT})

include(BuildType)
set_build_type()