Dev/abcouwer/cmake baremetal fixes (#821)

* Flexibility modifications for doing an out of source baremetal build. Add MIN and MAX size #defs for integers in Basic types. Use U32MAX from basic types in FileDownlink, instead of __UINT32_MAX__. Change interrupt to interrupt_val in BlockDriver (prevented build). Guard on system type and don't include Ip socket using components or LinuxTime in baremetal build. Add Baremetal/Mutex.cpp to Os/CMakeLists.txt. Switchup fatal handler files based on system type. Allow for missing PATH_MAX in ComLogger. Change all instances of FPRIME_USE_BAREMETAL_SCHEDULE to FPRIME_USE_BAREMETAL_SCHEDULER. * Cast MIN and MAX types for proper comparisons. Co-authored-by: Neil Abcouwer <neil.abcouwer@jpl.nasa.gov>
nasa · Jul 14, 2021 · 2a96785 · 2a96785
1 parent 5cdfceb
commit 2a96785
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Showing 11 changed files with 98 additions and 16 deletions.
diff --git a/Drv/BlockDriver/BlockDriverComponentAi.xml b/Drv/BlockDriver/BlockDriverComponentAi.xml
@@ -60,7 +60,7 @@
             Internal interrupt reporting interface
             </comment>
             <args>
-                <arg name="interrupt" type="U32">
+                <arg name="interrupt_val" type="U32">
                     <comment>The interrupt register value</comment>
                 </arg>          
             </args>

diff --git a/Drv/CMakeLists.txt b/Drv/CMakeLists.txt
@@ -14,8 +14,14 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxGpioDriver/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxSerialDriver/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxSpiDriver/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxI2cDriver/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Ip/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/TcpClient/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/TcpServer/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Udp/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/SocketIpDriver/")
+
+# IP Socket is only supported for Linux, Darwin, VxWorks
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux" OR ${CMAKE_SYSTEM_NAME} STREQUAL "Darwin" OR ${CMAKE_SYSTEM_NAME} STREQUAL "VxWorks")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Ip/")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/TcpClient/")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/TcpServer/")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Udp/")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/SocketIpDriver/")
+else()
+    message(STATUS "Cannot use IP sockets with platform ${CMAKE_SYSTEM_NAME}. Skipping.")
+endif()
diff --git a/Fw/Cfg/CMakeLists.txt b/Fw/Cfg/CMakeLists.txt
@@ -9,7 +9,7 @@ set(SOURCE_FILES
   "${CMAKE_CURRENT_LIST_DIR}/ConfigCheck.cpp"
 )
 register_fprime_module()
-if (FPRIME_USE_BAREMETAL_SCHEDULE)
+if (FPRIME_USE_BAREMETAL_SCHEDULER)
     target_compile_definitions(Fw_Cfg PUBLIC FW_BAREMETAL_SCHEDULER=1)
 else()
     target_compile_definitions(Fw_Cfg PUBLIC FW_BAREMETAL_SCHEDULER=0)

diff --git a/Fw/Types/BasicTypes.hpp b/Fw/Types/BasicTypes.hpp
@@ -100,6 +100,61 @@ typedef float   F32; //!< 32-bit floating point
 #define NULL  (0)  //!< NULL
 #endif
 
+
+#ifndef I8_MAX
+#define I8_MAX (I8)(127)
+#endif
+
+#ifndef I8_MIN
+#define I8_MIN (I8)(-128)
+#endif
+
+#ifndef U8_MAX
+#define U8_MAX (U8)(255)
+#endif
+
+#if FW_HAS_16_BIT
+#ifndef I16_MAX
+#define I16_MAX (I16)(32767)
+#endif
+
+#ifndef I16_MIN
+#define I16_MIN (I16)(-32768)
+#endif
+
+#ifndef U16_MAX
+#define U16_MAX (U16)(65535)
+#endif
+#endif
+
+#if FW_HAS_32_BIT
+#ifndef I32_MAX
+#define I32_MAX (I32)(2147483647)
+#endif
+
+#ifndef I32_MIN
+#define I32_MIN (I32)(-2147483648)
+#endif
+
+#ifndef U32_MAX
+#define U32_MAX (U32)(4294967295)
+#endif
+#endif
+
+#if FW_HAS_64_BIT
+#ifndef I64_MAX
+#define I64_MAX (I64)(9223372036854775807)
+#endif
+
+#ifndef I64_MIN
+#define I64_MIN (I64)(-9223372036854775808)
+#endif
+
+#ifndef U64_MAX
+#define U64_MAX (U64)(18446744073709551615)
+#endif
+#endif
+
 #define FW_NUM_ARRAY_ELEMENTS(a)  (sizeof(a)/sizeof((a)[0])) //!< number of elements in an array
 
 #define FW_MAX(a,b) (((a) > (b))?(a):(b)) //!< MAX macro

diff --git a/Os/CMakeLists.txt b/Os/CMakeLists.txt
@@ -80,6 +80,7 @@ if (FPRIME_USE_BAREMETAL_SCHEDULER)
         endif()
     endforeach()
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/Task.cpp")
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/Mutex.cpp")
 endif()
 register_fprime_module()
 

diff --git a/Svc/CMakeLists.txt b/Svc/CMakeLists.txt
@@ -31,12 +31,16 @@ add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/GroundInterface/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Framer/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FramingProtocol/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Health/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxTime/")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxTimer/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PassiveConsoleTextLogger/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PolyDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/PrmDb/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/RateGroupDriver/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/StaticMemory/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Time/")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/TlmChan/")
+
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux" OR ${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxTime/")
+	add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/LinuxTimer/")
+endif()
+
diff --git a/Svc/ComLogger/ComLogger.hpp b/Svc/ComLogger/ComLogger.hpp
@@ -17,6 +17,13 @@
 #include <stdio.h>
 #include <cstdarg>
 
+// some limits.h don't have PATH_MAX
+#ifdef PATH_MAX
+#define COMLOGGER_PATH_MAX PATH_MAX
+#else
+#define COMLOGGER_PATH_MAX 255
+#endif
+
 namespace Svc {
 
   class ComLogger :
@@ -75,7 +82,7 @@ namespace Svc {
       // The maximum size of a filename
       enum { 
         MAX_FILENAME_SIZE = NAME_MAX, // as defined in limits.h
-        MAX_PATH_SIZE = PATH_MAX
+        MAX_PATH_SIZE = COMLOGGER_PATH_MAX
       };
 
       // The filename data:

diff --git a/Svc/FatalHandler/CMakeLists.txt b/Svc/FatalHandler/CMakeLists.txt
@@ -6,11 +6,20 @@
 #
 # Note: using PROJECT_NAME as EXECUTABLE_NAME
 ####
+
 set(SOURCE_FILES
   "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentAi.xml"
   "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentCommonImpl.cpp"
-  "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentLinuxImpl.cpp"
 )
+
+if(FPRIME_USE_BAREMETAL_SCHEDULER)
+  list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentBaremetalImpl.cpp")
+elseif(${CMAKE_SYSTEM_NAME} STREQUAL "VxWorks") 
+  list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentVxWorksImpl.cpp")
+else()
+  list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/FatalHandlerComponentLinuxImpl.cpp")
+endif()
+
 set(MOD_DEPS
   Os
   Fw/Logger

diff --git a/Svc/FileDownlink/FileDownlink.cpp b/Svc/FileDownlink/FileDownlink.cpp
@@ -179,7 +179,7 @@ namespace Svc {
     Os::Queue::QueueStatus status = fileQueue.send((U8 *) &entry, sizeof(entry), 0, Os::Queue::QUEUE_NONBLOCKING);
 
     if(status != Os::Queue::QUEUE_OK) {
-      return SendFileResponse(SendFileStatus::ERROR, __UINT32_MAX__);
+      return SendFileResponse(SendFileStatus::ERROR, U32_MAX);
     }
     return SendFileResponse(SendFileStatus::OK, entry.context);
   }
@@ -241,7 +241,7 @@ namespace Svc {
       .source = FileDownlink::COMMAND,
       .opCode = opCode,
       .cmdSeq = cmdSeq,
-      .context =__UINT32_MAX__
+      .context = U32_MAX
     };
 
     FW_ASSERT(sourceFilename.length() < sizeof(entry.srcFilename));
@@ -274,7 +274,7 @@ namespace Svc {
       .source = FileDownlink::COMMAND,
       .opCode = opCode,
       .cmdSeq = cmdSeq,
-      .context = __UINT32_MAX__
+      .context = U32_MAX
     };
 
     FW_ASSERT(sourceFilename.length() < sizeof(entry.srcFilename));

diff --git a/cmake/platform/Linux.cmake b/cmake/platform/Linux.cmake
@@ -5,7 +5,7 @@
 ####
 # Set platform default for baremetal scheduler drivers
 if (NOT DEFINED FPRIME_USE_BAREMETAL_SCHEDULER)
-   set(FPRIME_USE_BAREMETAL_SCHEDULE OFF)
+   set(FPRIME_USE_BAREMETAL_SCHEDULER OFF)
    message(STATUS "Requiring thread library")
    FIND_PACKAGE ( Threads REQUIRED )
 endif()

diff --git a/cmake/platform/platform.cmake.template b/cmake/platform/platform.cmake.template
@@ -62,7 +62,7 @@ set(CMAKE_CXX_FLAGS
 #         directory. NOTE: when running without threads, remove this line.
 #         Here there is a check for the using baremetal scheduler
 if (NOT DEFINED FPRIME_USE_BAREMETAL_SCHEDULER)
-   set(FPRIME_USE_BAREMETAL_SCHEDULE OFF)
+   set(FPRIME_USE_BAREMETAL_SCHEDULER OFF)
    message(STATUS "Requiring thread library")
    FIND_PACKAGE ( Threads REQUIRED )
 endif()