eive-obsw/CMakeLists.txt

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

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

# set(CMAKE_VERBOSE TRUE)
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
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
)
option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)

set(OBSW_ADD_STAR_TRACKER 0)
set(OBSW_DEBUG_STARTRACKER 0)

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

if(TGT_BSP)
    if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
        option(LINUX_CROSS_COMPILE ON)
        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
    elseif(TGT_BSP MATCHES "arm/q7s")
        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
    endif()
endif()

# Perform steps like loading toolchain files where applicable.
include(PreProjectConfig)
include(EiveHelpers)
pre_project_config()

# 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()

# Check whether the user has already installed Catch2 first. This has to come before
# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
find_package(Catch2 3 CONFIG QUIET)

# Project Name
project(eive-obsw)

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

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

# Set names and variables
set(OBSW_NAME ${CMAKE_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_NAME 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 path names
set(FSFW_PATH fsfw)
set(TEST_PATH test)
set(UNITTEST_PATH unittest)
set(LINUX_PATH linux)
set(COMMON_PATH common)
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 "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(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
if(TGT_BSP MATCHES "arm/q7s")
    configure_file(${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}/config"
    ${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()

if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
    include(FetchContent)

    FetchContent_Declare(
        Catch2
        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
        GIT_TAG        v3.0.0-preview4
    )

    FetchContent_MakeAvailable(Catch2)
    #fixes regression -preview4, to be confirmed in later releases
    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()


add_library(${LIB_EIVE_MISSION})


# Add main executable
add_executable(${OBSW_NAME})
if(EIVE_CREATE_UNIQUE_OBSW_BIN)
    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
else()
    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
endif()
set_target_properties(${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
add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)



if(EIVE_ADD_ETL_LIB)
    add_subdirectory(${LIB_ETL_PATH})
endif()

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


 
if(EIVE_ADD_LINUX_FILES)
    add_subdirectory(${LIB_ARCSEC_PATH})
    add_subdirectory(${LINUX_PATH})
endif()
add_subdirectory(${BSP_PATH})
if(ADD_CSP_LIB)
    add_subdirectory(${LIB_CSP_PATH})
endif()


add_subdirectory(${COMMON_PATH})



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


add_subdirectory(${UNITTEST_PATH})


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



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

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

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}
)

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_NAME}
    )
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}
)

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()