fsfw/CMakeLists.txt

cmake_minimum_required(VERSION 3.13)

set(MSG_PREFIX "fsfw |")

# 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")

# ##############################################################################
# Version file handling  #
# ##############################################################################

set(FSFW_VERSION_IF_GIT_FAILS 5)
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()

set(LIB_FSFW_NAME fsfw)
project(${LIB_FSFW_NAME}
        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})

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

set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")

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}.28.0
    CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl)

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}.1.0
    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)
if(FSFW_ENABLE_IPO)
  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()
endif()

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_TESTS
       "Build unittest binary in addition to static library. Requires Catch2"
       OFF)
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)
if(FSFW_BUILD_TESTS)
  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_HAL "Add Hardware Abstraction Layer" ON)

if(UNIX)
  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)
  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
endif()

# 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_TESTS)
  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
        "${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()

  set(FSFW_CONFIG_PATH unittests/testcfg)
  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
  configure_file(unittests/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 "${MSG_PREFIX} Generating coverage data for the library")
    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
                   "will be compiled with coverage data as well")
    set(CMAKE_BUILD_TYPE "Debug")
    include(CodeCoverage)
  endif()
endif()

message(
  STATUS
    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
)

# 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 ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
      "${MSG_PREFIX} 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()

# 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
      "${MSG_PREFIX} 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 ${LIB_OS_NAME})
elseif(FSFW_OSAL STREQUAL rtems)
  set(FSFW_OS_NAME "RTEMS")
  set(FSFW_OSAL_RTEMS ON)
else()
  message(
    WARNING
      "${MSG_PREFIX} 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 "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
)

add_subdirectory(src)
add_subdirectory(contrib)
if(FSFW_BUILD_TESTS)
  add_subdirectory(unittests)
endif()
if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
endif()

if(FSFW_BUILD_TESTS)
  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/*"
            "unittests/*")
      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}
          GENHTML_ARGS --html-epilog ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
      endif()
    endif()
  endif()
  target_link_libraries(${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
        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
    )
    message(
      WARNING
        "${MSG_PREFIX} 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} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})

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})