Open Source Draco Release

.github/workflows/codeql-build.yml

@@ -2,7 +2,15 @@ name: "CodeQL Analysis"
 
 on:
   push:
+    branches:
+      - dev
+      - main
   pull_request:
+    types:
+      - opened
+      - reopened
+      - synchronize
+  workflow_dispatch:
 
 jobs:
   codeql:

.github/workflows/format-check.yml

@@ -2,8 +2,11 @@ name: Format Check
 
 # Run on all push and pull requests
 on:
-  push:
   pull_request:
+    types:
+      - opened
+      - reopened
+      - synchronize
 
 jobs:
   format-check:

.github/workflows/static-analysis.yml

@@ -3,7 +3,15 @@ name: Static Analysis
 # Run on all push and pull requests
 on:
   push:
+    branches:
+      - dev
+      - main
   pull_request:
+    types:
+      - opened
+      - reopened
+      - synchronize
+  workflow_dispatch:
 
 jobs:
   static-analysis:

.gitignore

@@ -0,0 +1,9 @@
+# Ignore macOS generated files types
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+.fuse_hidden*

CMakeLists.txt

@@ -13,6 +13,34 @@ endif()
 set(CFE_PSP_TARGETNAME "${CFE_SYSTEM_PSPNAME}")
 add_definitions(-D_CFE_PSP_)       # macro to indicate PSP scope
 
+# Read the default compile-time configuration, and update with
+# any mission/project specific options in the PSP_CONFIGURATION_FILE
+include("${CFEPSP_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 ${PSP_CONFIGURATION_FILE})
+    include(${CONFIG})
+endforeach(CONFIG PSP_CONFIGURATION_FILE)
+
+# Use the supplied configuration to generate the pspconfig.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 "${CMAKE_CURRENT_BINARY_DIR}/inc")
+configure_file(
+    "${CFEPSP_SOURCE_DIR}/pspconfig.h.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/pspconfig.gen"
+    @ONLY
+)
+
+# Only copy the pspconfig.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}/pspconfig.gen"
+    "${CMAKE_CURRENT_BINARY_DIR}/inc/pspconfig.h"
+)
+
 # The "psp_module_api" defines the interface between internal PSP components
 add_library(psp_module_api INTERFACE)
 target_compile_definitions(psp_module_api INTERFACE
@@ -23,9 +51,17 @@ target_include_directories(psp_module_api INTERFACE
     fsw/shared/inc  # all PSP shared headers
     fsw/${CFE_PSP_TARGETNAME}/inc # all impl headers
     ${CFE_SOURCE_DIR}/cmake/target/inc    # for sysconfig
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/inc>  # for pspconfig.h
     $<TARGET_PROPERTY:osal,INTERFACE_INCLUDE_DIRECTORIES>  # use headers from OSAL
 )
 
+# Include definition of cfe_psp_backtrace.h referenced by cfe_psp_config.h for QNX PSP
+if (QNX_SDP_VERSION EQUAL 800)
+    target_include_directories(psp_module_api INTERFACE $<TARGET_PROPERTY:backtrace_libunwind,INTERFACE_INCLUDE_DIRECTORIES>)
+elseif (QNX_SDP_VERSION EQUAL 710) 
+    target_include_directories(psp_module_api INTERFACE $<TARGET_PROPERTY:backtrace_qnx,INTERFACE_INCLUDE_DIRECTORIES>)
+endif()
+
 # Translate the CFE_PSP_TARGETNAME to a set of additional modules to build
 file(STRINGS "${CMAKE_CURRENT_LIST_DIR}/fsw/${CFE_PSP_TARGETNAME}/psp_module_list.cmake" PSP_TARGET_MODULE_LIST REGEX "^[a-zA-Z]")
 include("${CMAKE_CURRENT_LIST_DIR}/fsw/${CFE_PSP_TARGETNAME}/psp_conditional_modules.cmake" OPTIONAL)
@@ -66,6 +102,7 @@ target_link_libraries(psp-${CFE_PSP_TARGETNAME} PRIVATE
 
 target_include_directories(psp-${CFE_PSP_TARGETNAME} INTERFACE
     fsw/inc
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/inc>  # for pspconfig.h
 )
 
 

cmake/Modules/Platform/VxWorks-CFE.cmake

@@ -3,48 +3,66 @@
 #
 # The cmake distribution by default may contain a module for VxWorks,
 # but different link rules are needed in order to build loadable CFE apps.
+#
+# This supports VxWorks Downloadable Kernel Module (DKM) and
+#  VxWorks Real Time Process (RTP) builds.
+#
+# For RTP builds, use set(VXWORKS_RTP TRUE), otherwise
+# this file will default to the DKM rules
 # -----------------------------------------------------------------
-
-# Note - this is not building "shared libs" in the traditional sense,
-# This property is set true which allows one to use the CMake shared library logic
-# But the code is otherwise built as static -- no PIC flags 
 set_property(GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS TRUE)
-set(CMAKE_EXECUTABLE_SUFFIX ".exe")
-set(CMAKE_SHARED_LIBRARY_SUFFIX ".o")
-set(CMAKE_SHARED_MODULE_SUFFIX ".o")
 
-# Setting all these to empty string defeats the default behavior
-# of adding an -fPIC option to shared library/module code.
-set(CMAKE_DL_LIBS "")
-set(CMAKE_C_COMPILE_OPTIONS_PIC "")
-set(CMAKE_CXX_COMPILE_OPTIONS_PIC "")
+if(VXWORKS_RTP)
+   # RTP Specific rules
+   set(CMAKE_EXECUTABLE_SUFFIX ".vxe")
+   set(CMAKE_SHARED_LIBRARY_SUFFIX ".so")
+   set(CMAKE_SHARED_MODULE_SUFFIX ".so")
+
+   set(CMAKE_SHARED_LIBRARY_CREATE_C_FLAGS "-shared")
+   set(CMAKE_SHARED_LIBRARY_RUNTIME_C_FLAG "-Wl,-rpath,")
+   set(CMAKE_SHARED_LIBRARY_RUNTIME_C_FLAG_SEP ":")
+   set(CMAKE_SHARED_LIBRARY_RPATH_LINK_C_FLAG "-Wl,-rpath-link,")
+   set(CMAKE_SHARED_LIBRARY_SONAME_C_FLAG "-Wl,-soname,")
+
+   set(CMAKE_SHARED_LIBRARY_C_FLAGS "-fPIC")
+   set(CMAKE_SHARED_LIBRARY_CXX_FLAGS "")
+   set(CMAKE_SHARED_MODULE_C_FLAGS "-fPIC")
+   set(CMAKE_SHARED_MODULE_CXX_FLAGS "")
 
-set(CMAKE_SHARED_LIBRARY_C_FLAGS "")
-set(CMAKE_SHARED_LIBRARY_CXX_FLAGS "")
-set(CMAKE_SHARED_MODULE_C_FLAGS "")
-set(CMAKE_SHARED_MODULE_CXX_FLAGS "")
+   set(CMAKE_SHARED_OBJECT_LINKER_FLAGS -shared)
+   set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_C_COMPILER> <LINK_FLAGS> -o <TARGET> -rdynamic <OBJECTS> <LINK_LIBRARIES>")
+else()
+   # DKM Specific rules
+   set(CMAKE_EXECUTABLE_SUFFIX ".exe")
+   set(CMAKE_SHARED_LIBRARY_SUFFIX ".o")
+   set(CMAKE_SHARED_MODULE_SUFFIX ".o")
 
+   # Setting all these to empty string defeats the default behavior
+   # of adding an -fPIC option to shared library/module code.
+   set(CMAKE_DL_LIBS "")
+   set(CMAKE_C_COMPILE_OPTIONS_PIC "")
+   set(CMAKE_CXX_COMPILE_OPTIONS_PIC "")
+
+   set(CMAKE_SHARED_LIBRARY_C_FLAGS "")
+   set(CMAKE_SHARED_LIBRARY_CXX_FLAGS "")
+   set(CMAKE_SHARED_MODULE_C_FLAGS "")
+   set(CMAKE_SHARED_MODULE_CXX_FLAGS "")
+
+   set(CMAKE_SHARED_OBJECT_LINKER_FLAGS -r)
+   set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <LINK_FLAGS> -o <TARGET> ${CMAKE_SHARED_OBJECT_LINKER_FLAGS} <OBJECTS> <LINK_LIBRARIES>")
+endif()
 
 # This creates a simple relocatable object file, not a shared library
-set(CMAKE_SHARED_OBJECT_LINKER_FLAGS -r)
 set(CMAKE_C_CREATE_SHARED_MODULE "<CMAKE_LINKER> <LINK_FLAGS> -o <TARGET> ${CMAKE_SHARED_OBJECT_LINKER_FLAGS} <OBJECTS> <LINK_LIBRARIES>")
 set(CMAKE_CXX_CREATE_SHARED_MODULE ${CMAKE_C_CREATE_SHARED_MODULE})
 set(CMAKE_C_CREATE_SHARED_LIBRARY ${CMAKE_C_CREATE_SHARED_MODULE})
 set(CMAKE_CXX_CREATE_SHARED_LIBRARY ${CMAKE_C_CREATE_SHARED_MODULE})
-set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <LINK_FLAGS> -o <TARGET> ${CMAKE_SHARED_OBJECT_LINKER_FLAGS} <OBJECTS> <LINK_LIBRARIES>")
 
 set(VXWORKS_TARGET_PATH "${WIND_HOME}/vxworks-${CMAKE_SYSTEM_VERSION}/target")
 
 set(CMAKE_FIND_ROOT_PATH "${VXWORKS_TARGET_PATH}")
-
 set(CMAKE_SYSTEM_PREFIX_PATH "${VXWORKS_TARGET_PATH}")
 set(CMAKE_SYSTEM_INCLUDE_PATH "${VXWORKS_TARGET_PATH}/h")
 
 set(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES ${CMAKE_SYSTEM_INCLUDE_PATH})
 set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES ${CMAKE_SYSTEM_INCLUDE_PATH})
-#set(CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${VXWORKS_TARGET_PATH}/lib")
-#set(CMAKE_SYSTEM_LIBRARY_PATH ${CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES})
-
-#set(CMAKE_C_FLAGS_INIT "${VXWORKS_BSP_C_FLAGS}")
-#set(CMAKE_CXX_FLAGS_INIT "${VXWORKS_BSP_CXX_FLAGS}")
-

default_config.cmake

@@ -0,0 +1,71 @@
+##########################################################################
+#
+# Default configuration options for PSP
+#
+# This file specifies the default values for various compile-time options
+# supported by PSP.
+#
+# NOTE:
+# The defaults in this file should _not_ be directly modified for tuning.
+#
+# Instead, use the "PSP_CONFIGURATION_FILE" CMake variable to define
+# a custom file which can override/modify the configuration for the items
+# which require tuning.
+#
+##########################################################################
+
+##############################################################
+# Code/Feature Selection Options for the PSP implementation
+##############################################################
+
+
+#
+# PSP_CONFIG_DEBUG_PRINTF
+# ----------------------------------
+#
+# Controls inclusion of PSP_DEBUG statements in the code
+#
+# If set FALSE, all PSP_DEBUG statements are compiled out.
+#
+# If set TRUE, all the "PSP_DEBUG" statements will be compiled in and displayed
+# on the debug console.  The statements may still be suppressed at runtime.
+#
+set(PSP_CONFIG_DEBUG_PRINTF                    FALSE
+    CACHE BOOL "Controls inclusion of PSP_DEBUG statements in the code"
+)
+
+#############################################
+# Resource Limits for the PSP
+#############################################
+
+# The default value of debug level for PSP_DEBUG statements
+set(PSP_CONFIG_DEBUG_LEVEL               1
+    CACHE STRING "Default value of Debug level for PSP_DEBUG"
+)
+
+##############################################################
+# FS Mapping for the PSP implementation
+##############################################################
+
+
+# The default virtual FS mapping for the "/cf" directory, typically used for Linux and QNX
+set(PSP_CONFIG_CF_VIRTUAL_MAPPING              "./cf"
+    CACHE STRING "Default virtual FS mapping for the /cf directory"
+)
+
+# The default virtual FS mapping for the EEPROM "/cf" directory, typically used for RTEMS
+set(PSP_CONFIG_CF_EEPROM_VIRTUAL_MAPPING       "/mnt/eeprom"
+    CACHE STRING "Default virtual FS mapping for the EEPROM /cf directory"
+)
+
+# The default virtual FS mapping for the ROMFS "/cf" directory, typically used for VxWorks 7.x
+set(PSP_CONFIG_CF_ROMFS_VIRTUAL_MAPPING        "/romfs/cpu1/cf"
+    CACHE STRING "Default virtual FS mapping for the ROMFS /cf directory"
+)
+
+# The default virtual FS mapping for the physical device "/cf" directory, typically used for VxWorks 6.9 (MCP750)
+set(PSP_CONFIG_CF_PHY_DEV_VIRTUAL_MAPPING      "CF:0"
+    CACHE STRING "Default virtual FS mapping for the physical device /cf directory"
+)
+
+

fsw/generic-qnx/CMakeLists.txt

@@ -0,0 +1,39 @@
+######################################################################
+#
+# CMAKE build recipe for generic-qnx PSP component
+#
+######################################################################
+
+# This contains the fully platform-specific code to
+# run CFE on this target.
+
+# Build the pc-linux implementation as a library
+add_library(psp-${CFE_PSP_TARGETNAME}-impl OBJECT
+    src/cfe_psp_exception.c
+    src/cfe_psp_memory.c
+    src/cfe_psp_ssr.c
+    src/cfe_psp_start.c
+    src/cfe_psp_support.c
+    src/cfe_psp_watchdog.c
+)
+
+# The _GNU_SOURCE directive is required to call non-posix APIs
+# that are specific to the Linux/glibc environment.
+# Code outside the pc-linux PSP should _not_ depend on this.
+target_compile_definitions(psp-${CFE_SYSTEM_PSPNAME}-impl PRIVATE
+    _GNU_SOURCE
+    $<TARGET_PROPERTY:psp_module_api,INTERFACE_COMPILE_DEFINITIONS>
+)
+
+target_include_directories(psp-${CFE_PSP_TARGETNAME}-impl PRIVATE
+    inc
+    $<TARGET_PROPERTY:psp_module_api,INTERFACE_INCLUDE_DIRECTORIES>
+)
+
+# Include definition of cfe_psp_backtrace.h referenced by cfe_psp_config.h
+if (QNX_SDP_VERSION EQUAL 800)
+    target_include_directories(psp-${CFE_PSP_TARGETNAME}-impl PRIVATE $<TARGET_PROPERTY:backtrace_libunwind,INTERFACE_INCLUDE_DIRECTORIES>)
+elseif (QNX_SDP_VERSION EQUAL 710) 
+    target_include_directories(psp-${CFE_PSP_TARGETNAME}-impl PRIVATE $<TARGET_PROPERTY:backtrace_qnx,INTERFACE_INCLUDE_DIRECTORIES>)
+endif()
+