fsfw/CMakeLists.txt

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CMake
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cmake_minimum_required(VERSION 3.13)
set(MSG_PREFIX "fsfw |")
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# Add the cmake folder so the FindSphinx module is found
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
list(APPEND CMAKE_MODULE_PATH
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
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# ##############################################################################
# Version file handling #
# ##############################################################################
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set(FSFW_VERSION_IF_GIT_FAILS 5)
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set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
set(FSFW_REVISION_IF_GIT_FAILS 0)
set(FSFW_GIT_VER_HANDLING_OK FALSE)
# Version handling
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
message(STATUS "${MSG_PREFIX} Determining version information with git")
include(FsfwHelpers)
determine_version_with_git("--exclude" "docker_*")
if(GIT_INFO)
set(FSFW_GIT_INFO
${GIT_INFO}
CACHE STRING "Version information retrieved with git describe")
list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
if(NOT FSFW_VERSION)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_SUBVERSION)
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
endif()
if(NOT FSFW_REVISION)
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
set(FSFW_GIT_VER_HANDLING_OK TRUE)
else()
set(FSFW_GIT_VER_HANDLING_OK FALSE)
endif()
endif()
if(NOT FSFW_GIT_VER_HANDLING_OK)
set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
endif()
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set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}
VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED True)
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elseif(${CMAKE_CXX_STANDARD} LESS 17)
message(
FATAL_ERROR
"${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
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endif()
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set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
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set(FSFW_ETL_LIB_NAME etl)
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set(FSFW_ETL_LINK_TARGET etl::etl)
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set(FSFW_ETL_LIB_MAJOR_VERSION
20
CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION
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${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
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CACHE STRING "ETL library exact version requirement")
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set(FSFW_ETL_LINK_TARGET etl::etl)
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set(FSFW_CATCH2_LIB_MAJOR_VERSION
3
CACHE STRING "Catch2 library major version requirement")
set(FSFW_CATCH2_LIB_VERSION
v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
CACHE STRING "Catch2 library exact version requirement")
# Keep this off by default for now. See PR:
# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
# keeping this on by default is problematic
option(
FSFW_ENABLE_IPO
"Enable interprocedural optimization or link-time optimization if available"
OFF)
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if(FSFW_ENABLE_IPO)
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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()
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endif()
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option(FSFW_GENERATE_SECTIONS
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"Generate function and data sections. Required to remove unused code" ON)
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if(FSFW_GENERATE_SECTIONS)
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option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
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endif()
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option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
OFF)
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option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
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if(FSFW_BUILD_TESTS)
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option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
endif()
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option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
# Options to exclude parts of the FSFW from compilation.
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option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
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option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
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if(UNIX)
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option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
OFF)
option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
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endif()
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# 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
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option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
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set(FSFW_TEST_TGT fsfw-tests)
set(FSFW_DUMMY_TGT fsfw-dummy)
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add_library(${LIB_FSFW_NAME})
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if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
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set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
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endif()
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if(FSFW_BUILD_TESTS)
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message(
STATUS
"${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
)
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# Check whether the user has already installed Catch2 first
find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
# Not installed, so use FetchContent to download and provide Catch2
if(NOT Catch2_FOUND)
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message(
STATUS
"${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
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)
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include(FetchContent)
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FetchContent_Declare(
Catch2
GIT_REPOSITORY https://github.com/catchorg/Catch2.git
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GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
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list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
endif()
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set(FSFW_CONFIG_PATH unittests/testcfg)
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configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
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project(${FSFW_TEST_TGT} CXX C)
add_executable(${FSFW_TEST_TGT})
if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
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set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
TRUE)
endif()
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if(FSFW_TESTS_GEN_COV)
message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
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"will be compiled with coverage data as well")
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set(CMAKE_BUILD_TYPE "Debug")
include(CodeCoverage)
endif()
endif()
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message(
STATUS
"${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
)
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# Check whether the user has already installed ETL first
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find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
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# Not installed, so use FetchContent to download and provide etl
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if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
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message(
STATUS
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"${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
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"etl with FindPackage")
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include(FetchContent)
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FetchContent_Declare(
${FSFW_ETL_LIB_NAME}
GIT_REPOSITORY https://github.com/ETLCPP/etl
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GIT_TAG ${FSFW_ETL_LIB_VERSION})
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list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
endif()
# The documentation for FetchContent recommends declaring all the dependencies
# before making them available. We make all declared dependency available here
# after their declaration
if(FSFW_FETCH_CONTENT_TARGETS)
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FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
if(TARGET ${FSFW_ETL_LIB_NAME})
add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
endif()
if(TARGET Catch2)
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# Fixes regression -preview4, to be confirmed in later releases Related
# GitHub issue: https://github.com/catchorg/Catch2/issues/2417
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set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
endif()
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endif()
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set(FSFW_CORE_INC_PATH "inc")
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set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
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# For configure files
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target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
target_include_directories(${LIB_FSFW_NAME}
INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
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# Backwards comptability
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if(OS_FSFW AND NOT FSFW_OSAL)
message(
WARNING
"${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
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set(FSFW_OSAL OS_FSFW)
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endif()
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if(NOT FSFW_OSAL)
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message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
# Assume host OS and autodetermine from OS_FSFW
if(UNIX)
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set(FSFW_OSAL
"linux"
CACHE STRING "OS abstraction layer used in the FSFW")
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elseif(WIN32)
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set(FSFW_OSAL
"host"
CACHE STRING "OS abstraction layer used in the FSFW")
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endif()
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endif()
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set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
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if(FSFW_OSAL MATCHES host)
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set(FSFW_OS_NAME "Host")
set(FSFW_OSAL_HOST ON)
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elseif(FSFW_OSAL MATCHES linux)
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set(FSFW_OS_NAME "Linux")
set(FSFW_OSAL_LINUX ON)
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elseif(FSFW_OSAL MATCHES freertos)
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set(FSFW_OS_NAME "FreeRTOS")
set(FSFW_OSAL_FREERTOS ON)
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
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elseif(FSFW_OSAL STREQUAL rtems)
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set(FSFW_OS_NAME "RTEMS")
set(FSFW_OSAL_RTEMS ON)
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else()
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message(
WARNING
"${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
)
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set(FSFW_OS_NAME "Host")
set(OS_FSFW "host")
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endif()
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configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
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message(
STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
)
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add_subdirectory(src)
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add_subdirectory(contrib)
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if(FSFW_BUILD_TESTS)
add_subdirectory(unittests)
endif()
if(FSFW_BUILD_DOCS)
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add_subdirectory(docs)
endif()
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if(FSFW_BUILD_TESTS)
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if(FSFW_TESTS_GEN_COV)
if(CMAKE_COMPILER_IS_GNUCXX)
include(CodeCoverage)
# Remove quotes.
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separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
"${COVERAGE_COMPILER_FLAGS}")
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# Add compile options manually, we don't want coverage for Catch2
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target_compile_options(${FSFW_TEST_TGT}
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
target_compile_options(${LIB_FSFW_NAME}
PRIVATE "${COVERAGE_COMPILER_FLAGS}")
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# Exclude directories here
if(WIN32)
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set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
"--exclude-unreachable-branches")
set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
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elseif(UNIX)
set(COVERAGE_EXCLUDES
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"/usr/include/*"
"/usr/bin/*"
"Catch2/*"
"/usr/local/include/*"
"*/fsfw_tests/*"
"*/catch2-src/*"
"*/fsfw_hal/*")
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endif()
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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)
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if(WIN32)
setup_target_for_coverage_gcovr_html(
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NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
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else()
setup_target_for_coverage_lcov(
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NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
DEPENDENCIES ${FSFW_TEST_TGT})
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endif()
endif()
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endif()
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target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
${LIB_FSFW_NAME})
endif()
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# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
# this is not given, we include the default configuration and emit a warning.
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if(NOT FSFW_CONFIG_PATH)
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set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
if(NOT FSFW_BUILD_DOCS)
message(
WARNING
"${MSG_PREFIX} Flight Software Framework configuration path not set")
message(
WARNING
"${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
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endif()
add_subdirectory(${DEF_CONF_PATH})
set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
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endif()
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# FSFW might be part of a possibly complicated folder structure, so we extract
# the absolute path of the fsfwconfig folder.
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if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
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set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
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else()
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get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
BASE_DIR ${CMAKE_SOURCE_DIR})
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endif()
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foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
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if(IS_ABSOLUTE ${INCLUDE_PATH})
set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
else()
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get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
${CMAKE_SOURCE_DIR})
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endif()
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if(CMAKE_VERBOSE)
message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
endif()
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list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
endforeach()
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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if(NOT DEFINED FSFW_WARNING_FLAGS)
set(FSFW_WARNING_FLAGS
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-Wall
-Wextra
-Wimplicit-fallthrough=1
-Wno-unused-parameter
-Wno-psabi
-Wduplicated-cond # check for duplicate conditions
-Wduplicated-branches # check for duplicate branches
-Wlogical-op # Search for bitwise operations instead of logical
-Wnull-dereference # Search for NULL dereference
-Wundef # Warn if undefind marcos are used
-Wformat=2 # Format string problem detection
-Wformat-overflow=2 # Formatting issues in printf
-Wformat-truncation=2 # Formatting issues in printf
-Wformat-security # Search for dangerous printf operations
-Wstrict-overflow=3 # Warn if integer overflows might happen
-Warray-bounds=2 # Some array bounds violations will be found
-Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-Wcast-qual # Warn if the constness is cast away
-Wstringop-overflow=4
# -Wstack-protector # Emits a few false positives for low level access
# -Wconversion # Creates many false positives -Warith-conversion # Use
# with Wconversion to find more implicit conversions -fanalyzer # Should
# be used to look through problems
)
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endif()
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if(FSFW_GENERATE_SECTIONS)
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target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
"-fdata-sections")
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endif()
if(FSFW_REMOVE_UNUSED_CODE)
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target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
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endif()
if(FSFW_WARNING_SHADOW_LOCAL_GCC)
list(APPEND WARNING_FLAGS "-Wshadow=local")
endif()
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endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
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set(COMPILER_FLAGS "/permissive-")
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endif()
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# Required include paths to compile the FSFW
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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}
${COMPILER_FLAGS})
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
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string(
CONCAT
POST_BUILD_COMMENT
"######################################################################\n"
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"Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
"Target OSAL: ${FSFW_OS_NAME}\n"
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"######################################################################\n")
add_custom_command(
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TARGET ${LIB_FSFW_NAME}
POST_BUILD
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COMMENT ${POST_BUILD_COMMENT})