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######################################################################
#
# CMAKE build recipe for Operating System Abstraction Layer (OSAL)
#
######################################################################
#
# This defines the following target(s):
#
# osal_public_api : Interface library that refers to the OSAL public API only.
# This may be used for applications that need to use the
# OSAL-provided types (such as common-types.h) but do not
# make any OSAL API calls.
#
# osal : The main library containing the OSAL binary code. This is
# the normal library that applications should link to.
# This is built based off the OSAL_SYSTEM_OSTYPE selection
#
# osal_bsp : The board support library containing the system-
# specific entry point function (e.g. main) and the
# file system volume table for the target board.
# This is based off the OSAL_SYSTEM_BSPTYPE selection
#
# ut_assert : The unit test support library. This implements
# an application entry point (OS_Application_Startup)
# that contains a unit test subsystem. This uses
# the OSAL BSP to provide system-specific entry point.
# Linking with this library also links with osal_bsp,
# but not necessarily the osal library itself.
#
# ut_coverage_compile : an interface target that contains the
# compiler options/definitions to enable coverage
# instrumentation in the generated objects. It should
# be specified on files compiled for coverage analysis.
#
# ut_coverage_link : an interface target that contains options/definitions
# and any link libraries to enable coverage instrumentation in
# the final executable. It should be specified on coverage
# test executable targets.
#
#
# The following options and variables will customize the build:
#
# OSAL_SYSTEM_BSPTYPE: Should be set by the caller to indicate the type of
# BSP to build. This is a minimal platform-specific shim
# layer to aid with startup and shutdown. This implies a
# value for OSTYPE (see below).
#
# OSAL_SYSTEM_OSTYPE: The selected OS abstraction type (posix, vxworks, rtems).
# Normally this setting is not needed to be configured as it is
# inferred from the BSP type.
#
# OSAL_INSTALL_LIBRARIES : Boolean, enables "install" of targets listed above such
# that libraries and public API header files are copied into the system
# location specified by CMAKE_INSTALL_PREFIX. This set of headers
# and link libraries can then be used to compile other applications
# separately from OSAL. Default is "ON" when OSAL is being compiled
# standalone (i.e. cmake called directly on the OSAL source dir).
# Default is "OFF" when OSAL is included via 'add_subdirectory' in
# a parent application project such as CFE/CFS.
#
# ENABLE_UNIT_TESTS : Boolean, enables build of the unit tests (coverage and functional)
#
# OSAL_OMIT_DEPRECATED : Boolean, Compile without deprecated or obsolete features for
# forward compatibility testing. Any features marked as deprecated
# will be disabled, allowing developers to test software based
# only on currently-supported software features and patterns.
#
# OSAL_EXT_SOURCE_DIR : External source directory to check for BSP/OS implementation
#
# Additionally the following target is defined if ENABLE_UNIT_TESTS
# is set TRUE:
#
# ut_osapi_stubs : Stub library correlating to the OSAL public API
# This is for unit testing OSAL-based applications
# It operates in conjunction with the ut_assert library.
#
# For backward compatibility with previous versions, this also exports the following
# variables. Code which is depending on these values should migrate to using the
# interfaces of the provide ut_coverage_compile/link targets instead.
#
# UT_COVERAGE_COMPILE_FLAGS : Compiler flags that must be used to
# instrument code for coverage testing
# UT_COVERAGE_LINK_FLAGS : Linker flags that must be used to
# instrument code for coverage testing
#
# The ENABLE_UNIT_TESTS option also builds a set of test applications from
# that demonstrate the usage and validate the runtime behavior of various
# OSAL resources.
#
######################################################################
cmake_minimum_required(VERSION 3.5)
# Set the policy dictating use of target_link_libraries across directories
# Either OLD or NEW should work here but setting it to something avoids a
# warning when using newer versions of the tool.
if (CMAKE_VERSION VERSION_GREATER 3.13)
cmake_policy(SET CMP0079 NEW)
endif()
option(OSAL_VALIDATE_API "Validate the OSAL API headers as part of the build" OFF)
# If validation is selected, this requires a C++ compiler
set(OSAL_LANG C)
if (OSAL_VALIDATE_API)
list(APPEND OSAL_LANG CXX)
endif()
project(OSAL ${OSAL_LANG})
# define a custom property to track relationship between BSP and OS
# this should be set on BSP "impl" targets to indicate the correct OS impl to go with it
define_property(TARGET PROPERTY OSAL_EXPECTED_OSTYPE
BRIEF_DOCS
"The expected OS type for an OSAL BSP implementation"
FULL_DOCS
"This property is used to indicate the OS implementation layer that is intended to be paired with the BSP implementation"
)
# If this build is being performed as a subdirectory within a larger project,
# then the static libraries and header files will _not_ be installed by default,
# as in those cases one would typically just use the "osal" target directly.
# This behavior can be explicitly controlled via the OSAL_INSTALL_LIBRARIES option.
get_directory_property(HAS_PARENT PARENT_DIRECTORY)
if (HAS_PARENT)
set(OSAL_DEFAULT_INSTALL_LIBRARIES OFF)
else()
set(OSAL_DEFAULT_INSTALL_LIBRARIES ON)
endif()
option(OSAL_INSTALL_LIBRARIES "Whether or not to install static libraries and headers" ${OSAL_DEFAULT_INSTALL_LIBRARIES})
option(OSAL_OMIT_DEPRECATED "Compile without deprecated or obsolete features for backward compatibility testing" OFF)
if (OSAL_INSTALL_LIBRARIES)
include(CMakePackageConfigHelpers)
endif()
# The "OSAL_EXT_SOURCE_DIR" cache variable may be set to a path
# on the host containing extra OS/BSP implementations which are not
# part of the open source release.
# CAUTION: The API between the OSAL and the low level implementation and/or BSP
# is not stabilized, and may change with every OSAL release. No attempt is made
# to provide backward compatibility with external sources.
set(OSAL_EXT_SOURCE_DIR "$ENV{OSAL_EXT_SOURCE_DIR}"
CACHE PATH "External source directory to check for additional OS/BSP implementations")
# Read the default compile-time configuration, and update with
# any mission/project specific options in the OSAL_CONFIGURATION_FILE
include("${OSAL_SOURCE_DIR}/default_config.cmake")
# The user-specified file is optional, but in case the value is defined but the
# file does not exist, this should be treated as an error.
foreach(CONFIG ${OSAL_CONFIGURATION_FILE})
include(${CONFIG})
endforeach(CONFIG OSAL_CONFIGURATION_FILE)
# Use the supplied configuration to generate the osconfig.h file
# which can be referenced by the code. This will be stored in the top level
# "inc" directory of the binary output directory
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/inc")
configure_file(
"${OSAL_SOURCE_DIR}/osconfig.h.in"
"${CMAKE_CURRENT_BINARY_DIR}/osconfig.gen"
@ONLY
)
# Only copy the osconfig.h into place if different from the existing file
# This avoids unnecessarily rebuilding all code in case cmake was re-run
# and but generated the same file.
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${CMAKE_CURRENT_BINARY_DIR}/osconfig.gen"
"${CMAKE_CURRENT_BINARY_DIR}/inc/osconfig.h"
)
# The "osal_public_api" is an interface target that will always be defined by this script,
# and refers to the complete set of public API header files for OSAL
add_library(osal_public_api INTERFACE)
# The initial set of directories that define the OSAL API
# This is used to initialize the interface include directory property of external targets
target_include_directories(osal_public_api INTERFACE
$<BUILD_INTERFACE:${OSAL_SOURCE_DIR}/src/os/inc>
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/inc>
$<INSTALL_INTERFACE:include/osal>
)
if (OSAL_OMIT_DEPRECATED)
target_compile_definitions(osal_public_api INTERFACE OSAL_OMIT_DEPRECATED)
endif (OSAL_OMIT_DEPRECATED)
# OSAL_SYSTEM_BSPTYPE indicate which of the BSP packages
# to build. If not defined then no OSAL implementation will be built, however
# the api interface target (osal_public_api) is still usable. Therefore
# this is not considered a fatal error for that reason. If called with no BSP type,
# then only the osal_public_api interface target will be defined, and the script ends here.
if (NOT DEFINED OSAL_SYSTEM_BSPTYPE)
message(STATUS "OSAL_SYSTEM_BSPTYPE not defined, no OSAL implementation will be compiled")
return()
endif ()
# The initial set of directories that define the OSAL API
# This is used to initialize the interface include directory property of external targets
set(OSAL_API_INCLUDE_DIRECTORIES
"${OSAL_SOURCE_DIR}/src/os/inc"
"${CMAKE_CURRENT_BINARY_DIR}/inc"
)
include_directories(${OSAL_API_INCLUDE_DIRECTORIES})
# In case the OSAL_USER_C_FLAGS was specified, use them
add_definitions(${OSAL_USER_C_FLAGS})
#
# Build UT assert -
# the basic ut_assert library target is always defined regardless of "ENABLE_UNIT_TESTS",
# This is because the library is usable with functional tests, not just unit (coverage) tests.
# This is done early, so that other targets may reference UT_ASSERT_SOURCE_DIR if needed
# Note that UT assert is only usable with an OSAL BSP implementation, thus this target
# cannot be compiled unless a specific BSP is selected.
add_subdirectory(ut_assert)
# The "ut_osapi_stubs" library contains stub functions of the OSAL API calls, used for
# testing _other_ application code that uses OSAL. Like UT Assert, this is also
# provided independently of the local ENABLE_UNIT_TESTS switch, because it mainly affects
# testing of other components. That is, even if OSAL itself is not being tested in this
# build, a dependent application may still be built with testing enabled.
add_subdirectory(src/ut-stubs ut-stubs)
#
# Step 1:
# Build the BSP layer
#
if (OSAL_EXT_SOURCE_DIR AND IS_DIRECTORY "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_BSPTYPE}")
set(OSAL_BSP_SOURCE_DIR "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_BSPTYPE}")
elseif(IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}")
set(OSAL_BSP_SOURCE_DIR "${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}")
else()
# It is an error if the indicated BSPTYPE does not correspond to a subdirectory
# If this is not caught here then a more obfuscated error will occur later.
message(FATAL_ERROR "Error: No source directory found for \"${OSAL_SYSTEM_BSPTYPE}\" BSP type")
endif()
message(STATUS "BSP Selection: ${OSAL_SYSTEM_BSPTYPE} at ${OSAL_BSP_SOURCE_DIR}")
# The BSP library is a separate target from OSAL and can be used
# independently of the OSAL library and/or in combination with
# UT assert and the OSAL stub library for unit testing.
#
# The Implementation-Specific BSP subdirectory should define
# an OBJECT target named "osal_${OSAL_SYSTEM_BSPTYPE}_impl"
add_subdirectory(${OSAL_BSP_SOURCE_DIR} ${OSAL_SYSTEM_BSPTYPE}_impl)
target_compile_definitions(osal_${OSAL_SYSTEM_BSPTYPE}_impl PRIVATE
$<TARGET_PROPERTY:osal_public_api,INTERFACE_COMPILE_DEFINITIONS>
)
target_compile_options(osal_${OSAL_SYSTEM_BSPTYPE}_impl PRIVATE
$<TARGET_PROPERTY:osal_public_api,INTERFACE_COMPILE_OPTIONS>
)
target_include_directories(osal_${OSAL_SYSTEM_BSPTYPE}_impl PRIVATE
${OSAL_SOURCE_DIR}/src/bsp/shared/inc
)
# Confirm that the selected OS is compatible with the selected BSP.
get_target_property(OSAL_EXPECTED_OSTYPE osal_${OSAL_SYSTEM_BSPTYPE}_impl OSAL_EXPECTED_OSTYPE)
if (OSAL_EXPECTED_OSTYPE)
if (NOT DEFINED OSAL_SYSTEM_OSTYPE)
# In the event that OSAL_SYSTEM_OSTYPE was not specified at all,
# implicitly assume the expected OSTYPE.
set(OSAL_SYSTEM_OSTYPE ${OSAL_EXPECTED_OSTYPE})
elseif(NOT OSAL_SYSTEM_OSTYPE STREQUAL OSAL_EXPECTED_OSTYPE)
# Generate a warning about the OSTYPE not being expected.
# Not calling this a fatal error because it could possibly be intended during development
message(WARNING "Mismatched BSP/OS: ${OSAL_SYSTEM_BSPTYPE} implies ${OSAL_EXPECTED_OSTYPE}, but ${OSAL_SYSTEM_OSTYPE} is configured")
endif(NOT DEFINED OSAL_SYSTEM_OSTYPE)
endif (OSAL_EXPECTED_OSTYPE)
set(BSP_SRCLIST
src/bsp/shared/src/osapi-bsp.c
src/bsp/shared/src/bsp_default_app_run.c
src/bsp/shared/src/bsp_default_app_startup.c
src/bsp/shared/src/bsp_default_symtab.c
src/bsp/shared/src/bsp_default_resourcecfg.c
)
# Define the external "osal_bsp" static library target
add_library(osal_bsp STATIC
${BSP_SRCLIST}
$<TARGET_OBJECTS:osal_${OSAL_SYSTEM_BSPTYPE}_impl>
)
target_link_libraries(osal_bsp PUBLIC
osal_public_api
)
target_include_directories(osal_bsp PRIVATE
${OSAL_SOURCE_DIR}/src/bsp/shared/inc
)
#
# Step 2:
# Build the OSAL layer
#
# OSAL_SYSTEM_OSTYPE indicates which of the OS packages
# to build. If not defined, this may be inferred by the BSP type.
if (NOT DEFINED OSAL_SYSTEM_OSTYPE)
message(FATAL_ERROR "OSAL_SYSTEM_OSTYPE must be set to the appropriate OS")
endif ()
if (OSAL_EXT_SOURCE_DIR AND IS_DIRECTORY "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_OSTYPE}")
set(OSAL_OS_SOURCE_DIR "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_OSTYPE}")
elseif(IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}")
set(OSAL_OS_SOURCE_DIR "${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}")
else()
# It is an error if the indicated OSTYPE does not correspond to a subdirectory
# If this is not caught here then a more obfuscated error will occur later.
message(FATAL_ERROR "Error: No source directory found for \"${OSAL_SYSTEM_OSTYPE}\" OS type")
endif()
message(STATUS "OSAL Selection: ${OSAL_SYSTEM_OSTYPE} at ${OSAL_OS_SOURCE_DIR}")
# The implementation-specific OSAL subdirectory should define
# an OBJECT target named "osal_${OSAL_SYSTEM_OSTYPE}_impl"
add_subdirectory(${OSAL_OS_SOURCE_DIR} ${OSAL_SYSTEM_OSTYPE}_impl)
target_compile_definitions(osal_${OSAL_SYSTEM_OSTYPE}_impl PRIVATE
$<TARGET_PROPERTY:osal_public_api,INTERFACE_COMPILE_DEFINITIONS>
)
target_compile_options(osal_${OSAL_SYSTEM_OSTYPE}_impl PRIVATE
$<TARGET_PROPERTY:osal_public_api,INTERFACE_COMPILE_OPTIONS>
)
# The "shared" directory contains internal components which
# are referenced in implementation OSAL modules, but should _NOT_
# be referenced outside the OSAL code
target_include_directories(osal_${OSAL_SYSTEM_OSTYPE}_impl PRIVATE
${OSAL_SOURCE_DIR}/src/os/shared/inc
${OSAL_SOURCE_DIR}/src/bsp/shared/inc
)
set(OSAL_SRCLIST
src/os/shared/src/osapi-binsem.c
src/os/shared/src/osapi-clock.c
src/os/shared/src/osapi-common.c
src/os/shared/src/osapi-condvar.c
src/os/shared/src/osapi-countsem.c
src/os/shared/src/osapi-dir.c
src/os/shared/src/osapi-errors.c
src/os/shared/src/osapi-file.c
src/os/shared/src/osapi-filesys.c
src/os/shared/src/osapi-heap.c
src/os/shared/src/osapi-idmap.c
src/os/shared/src/osapi-module.c
src/os/shared/src/osapi-mutex.c
src/os/shared/src/osapi-network.c
src/os/shared/src/osapi-printf.c
src/os/shared/src/osapi-queue.c
src/os/shared/src/osapi-select.c
src/os/shared/src/osapi-shell.c
src/os/shared/src/osapi-sockets.c
src/os/shared/src/osapi-task.c
src/os/shared/src/osapi-timebase.c
src/os/shared/src/osapi-time.c
src/os/shared/src/osapi-version.c
)
if (OSAL_CONFIG_DEBUG_PRINTF)
list(APPEND OSAL_SRCLIST
src/os/shared/src/osapi-debug.c
)
endif (OSAL_CONFIG_DEBUG_PRINTF)
# Define the external "osal" static library target
# This is a combination of the generic parts with the low level
# system-specific parts
add_library(osal STATIC
${OSAL_SRCLIST}
$<TARGET_OBJECTS:osal_${OSAL_SYSTEM_OSTYPE}_impl>
)
target_include_directories(osal PRIVATE
${OSAL_SOURCE_DIR}/src/os/shared/inc
${OSAL_SOURCE_DIR}/src/bsp/shared/inc
)
# Link the OSAL with the BSP
target_link_libraries(osal PUBLIC
osal_public_api
osal_bsp
)
# The "build_options.cmake" file within each component may
# fine-tune the library for this particular build. This is included
# AFTER The basic targets are defined, so it may set properties
# on the defined targets and/or use target-specific commands.
include("${OSAL_BSP_SOURCE_DIR}/build_options.cmake" OPTIONAL)
include("${OSAL_OS_SOURCE_DIR}/build_options.cmake" OPTIONAL)
# Report the full set of compile definitions after processing all modules
get_target_property(OSAL_PUBLIC_API_COMPILE_DEFINITIONS osal_public_api INTERFACE_COMPILE_DEFINITIONS)
message(STATUS "OSAL Compile Definitions: ${OSAL_PUBLIC_API_COMPILE_DEFINITIONS}")
#
# UNIT TEST SUPPORT
#
if (ENABLE_UNIT_TESTS)
enable_testing()
# Generic function for consistent definition of a unit testing target
# This is defined here in the top-level OSAL CMakeLists so it can be used
# in both the "tests" and "unit-tests" subdirectories.
function(add_osal_ut_exe TGTNAME)
add_executable(${TGTNAME} ${ARGN})
target_link_libraries(${TGTNAME} PUBLIC ut_assert osal)
add_test(${TGTNAME} ${TGTNAME})
foreach(TGT ${INSTALL_TARGET_LIST})
install(TARGETS ${TGTNAME} DESTINATION ${TGT}/${UT_INSTALL_SUBDIR})
endforeach()
endfunction(add_osal_ut_exe)
# The "unit-test-coverage" is a white-box line coverage test.
# It re-compiles each source unit for coverage analysis and links
# with stub dependencies and a test sequence designed to execute
# every line of source code within OSAL.
add_subdirectory(src/unit-test-coverage unit-test-coverage)
# The "tests" and "unit-tests" subdirectories implement examples and verification tests
# of the OSAL library. Note that these are both black box tests that link with the full
# OSAL (not a stub/coverage test).
add_subdirectory(src/tests tests)
add_subdirectory(src/unit-tests unit-tests)
endif (ENABLE_UNIT_TESTS)
# If this build is being performed as a subdirectory within a larger project,
# then export the important data regarding compile flags/dirs to that parent
# This is conditional to avoid warnings in a standalone build.
if (HAS_PARENT)
# Export the UT coverage compiler/linker flags to the parent build.
# These flags are based on the target system type and should be used
# when building code intended for coverage analysis.
if (NOT OSAL_OMIT_DEPRECATED)
set(UT_COVERAGE_COMPILE_FLAGS "${UT_COVERAGE_COMPILE_FLAGS}" PARENT_SCOPE)
set(UT_COVERAGE_LINK_FLAGS "${UT_COVERAGE_LINK_FLAGS}" PARENT_SCOPE)
endif()
else(HAS_PARENT)
# In a standalone build, also add the documentation target(s)
# Note that in a CFE/integrated build, it is expected this will be built separately.
add_subdirectory(docs/src docs)
endif(HAS_PARENT)
if (OSAL_INSTALL_LIBRARIES)
# Install and also export this library, so it can be found via
# "find_package()" from some other CMake build
install(
TARGETS osal_public_api osal_bsp osal
EXPORT nasa-osal-export
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
PUBLIC_HEADER DESTINATION include/osal
INCLUDES DESTINATION include/osal
)
install(DIRECTORY
${OSAL_SOURCE_DIR}/src/os/inc/
${CMAKE_CURRENT_BINARY_DIR}/inc/
DESTINATION include/osal
)
install(EXPORT nasa-osal-export
FILE NasaOsalTargets.cmake
DESTINATION lib/cmake
)
configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/NasaOsalConfig.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/NasaOsalConfig.cmake"
INSTALL_DESTINATION lib/cmake
)
install(FILES
"${CMAKE_CURRENT_BINARY_DIR}/NasaOsalConfig.cmake"
DESTINATION lib/cmake
)
endif()
if (OSAL_VALIDATE_API)
# Validate the API header files individually
file(GLOB OSAL_API_HEADERS ${OSAL_SOURCE_DIR}/src/os/inc/*.h)
set(OSAL_APICHECK_SOURCES)
set(OSAL_APICHECK_DIR "${CMAKE_CURRENT_BINARY_DIR}/apicheck")
foreach(HDR_FILE ${OSAL_API_HEADERS})
get_filename_component(HDR "${HDR_FILE}" NAME)
string(MAKE_C_IDENTIFIER "${HDR}" HDR_ID)
configure_file(${OSAL_SOURCE_DIR}/check_header.c.in ${OSAL_APICHECK_DIR}/check_${HDR_ID}.c)
list(APPEND OSAL_APICHECK_SOURCES_C ${OSAL_APICHECK_DIR}/check_${HDR_ID}.c)
configure_file(${OSAL_SOURCE_DIR}/check_header.cpp.in ${OSAL_APICHECK_DIR}/check_${HDR_ID}.cpp)
list(APPEND OSAL_APICHECK_SOURCES_CXX ${OSAL_APICHECK_DIR}/check_${HDR_ID}.cpp)
endforeach(HDR_FILE ${OSAL_API_HEADERS})
add_library(osal_apicheck_C STATIC EXCLUDE_FROM_ALL ${OSAL_APICHECK_SOURCES_C})
add_library(osal_apicheck_CXX STATIC EXCLUDE_FROM_ALL ${OSAL_APICHECK_SOURCES_CXX})
if ("${CMAKE_C_COMPILER_ID}" STREQUAL "GNU")
target_compile_options(osal_apicheck_C PUBLIC -std=c99 -pedantic -Wall -Werror)
endif()
if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
target_compile_options(osal_apicheck_CXX PUBLIC -std=c++03 -pedantic -Wall -Werror)
endif()
# This causes the check to compile with the same set of defines and include dirs as specified
# in the "INTERFACE" properties of the actual module
target_link_libraries(osal_apicheck_C PUBLIC
osal_public_api
)
target_link_libraries(osal_apicheck_CXX PUBLIC
osal_public_api
)
add_custom_target(osal_apicheck)
add_dependencies(osal_apicheck osal_apicheck_C)
add_dependencies(osal_apicheck osal_apicheck_CXX)
endif()
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