Add ThreadX posix support

Change-Id: Ie4909fbdc30770dc6a4c20d46020a6f4f8212e14

Author: mthiede-acn2

.ci/build.py

@@ -0,0 +1,60 @@
+import shutil
+from pathlib import Path
+import subprocess
+import sys
+import os
+
+def get_full_command_path(command):
+    if (cmd := shutil.which(command)) is None:
+        print(f"ERROR: Compiler command {command} not found!")
+        sys.exit(1)
+    return cmd
+
+def get_environment_variables(platform, compiler):
+    env = dict(os.environ)
+    if platform == "s32k148":
+        if compiler == "gcc":
+            env["CC"] = get_full_command_path("arm-none-eabi-gcc")
+            env["CXX"] = get_full_command_path("arm-none-eabi-gcc")
+        elif compiler == "clang":
+            env["CC"] = get_full_command_path("/usr/bin/llvm-arm/bin/clang")
+            env["CXX"] = get_full_command_path("/usr/bin/llvm-arm/bin/clang++")
+    
+    elif platform == "posix":
+        if compiler == "clang":
+            env["CC"] = get_full_command_path("clang")
+            env["CXX"] = get_full_command_path("clang++")
+        elif compiler == "gcc":
+            env["CC"] = get_full_command_path("gcc")
+            env["CXX"] = get_full_command_path("gcc")
+    return env
+
+def configure_and_build(platform, compiler, cpp_standard):
+    build_dir = Path(f"cmake-build-{platform}-{compiler}")
+    if build_dir.exists():
+        shutil.rmtree(build_dir)
+
+    cmake_command = [
+        "cmake",
+        "-B", build_dir,
+        "-S", "executables/referenceApp",
+        f"-DCMAKE_CXX_STANDARD={cpp_standard}",
+        f"-DBUILD_TARGET_PLATFORM={'POSIX' if platform == 'posix' else 'S32K148EVB'}",
+        f"-DCMAKE_TOOLCHAIN_FILE={'../../admin/cmake/ArmNoneEabi-' + compiler + '.cmake' if platform == 's32k148' else ''}"
+    ]
+    subprocess.run(cmake_command, check=True, env=get_environment_variables(platform, compiler))
+    subprocess.run(["cmake", "--build", build_dir, "--target", "app.referenceApp", "-j"], check=True, env=get_environment_variables(platform, compiler))
+
+def main():
+    if len(sys.argv) != 4:
+        print("ERROR: Usage: build.py <platform> <compiler> <cpp_standard>")
+        sys.exit(1)
+
+    platform = sys.argv[1]
+    compiler = sys.argv[2]
+    cpp_standard = sys.argv[3]
+
+    configure_and_build(platform, compiler, cpp_standard)
+
+if __name__ == "__main__":
+    main()

.ci/build_matrix.py

@@ -0,0 +1,19 @@
+import subprocess
+
+platforms = ["posix", "s32k148"]
+compilers = ["clang", "gcc"]
+cpp_standards = ["14", "17", "20", "23"]
+
+def main():
+    for platform in platforms:
+        for compiler in compilers:
+            for cpp_standard in cpp_standards:
+                print(f"Running build for platform={platform}, compiler={compiler}, cpp_standard={cpp_standard}")
+                subprocess.run(
+                    ["python3", ".ci/build.py", platform, compiler, str(cpp_standard)],
+                    check=True
+                )
+    print("All combinations have been processed.")
+
+if __name__ == "__main__":
+    main()

.ci/code_coverage.py

@@ -0,0 +1,82 @@
+import subprocess
+from pathlib import Path
+import shutil
+import sys
+import re
+
+def configure_cmake(build_type):
+
+    unit_tests_build_dir = Path("cmake-build-unit-tests")
+    if unit_tests_build_dir.exists():
+      shutil.rmtree(unit_tests_build_dir)
+
+    subprocess.run([
+        "cmake", "-B", "cmake-build-unit-tests", "-S", "executables/unitTest",
+        "-DBUILD_UNIT_TESTS=ON",
+        f"-DCMAKE_BUILD_TYPE={build_type}",
+        "-DCMAKE_C_COMPILER_LAUNCHER=sccache",
+        "-DCMAKE_CXX_COMPILER_LAUNCHER=sccache"
+    ], check=True)
+
+def build_with_cmake():
+    subprocess.run(["cmake", "--build", "cmake-build-unit-tests", "-j4"], check=True)
+
+def run_tests():
+    subprocess.run(["ctest", "--test-dir", "cmake-build-unit-tests", "-j4"], check=True)
+
+def generate_coverage():
+    # Capture coverage data
+    subprocess.run([
+        "lcov", "--no-external", "--capture", "--directory", ".",
+        "--output-file", "cmake-build-unit-tests/coverage_unfiltered.info"
+    ], check=True)
+
+    # Remove unwanted paths from coverage
+    subprocess.run([
+        "lcov", "--remove", "cmake-build-unit-tests/coverage_unfiltered.info",
+        "*libs/3rdparty/googletest/*", "*/mock/*", "*/gmock/*", "*/gtest/*", "*/test/*",
+        "--output-file", "cmake-build-unit-tests/coverage.info"
+    ], check=True)
+
+    # Generate HTML report
+    subprocess.run([
+        "genhtml", "cmake-build-unit-tests/coverage.info",
+        "--output-directory", "cmake-build-unit-tests/coverage"
+    ], check=True)
+
+def generate_badges():
+    result = subprocess.run(
+        ["lcov", "--summary", "cmake-build-unit-tests/coverage.info"],
+        capture_output=True, text=True, check=True
+    )
+    summary = result.stdout
+
+    line_percentage = re.search(r"lines\.*:\s+(\d+\.\d+)%", summary)
+    function_percentage = re.search(r"functions\.*:\s+(\d+\.\d+)%", summary)
+
+    if line_percentage:
+        line_value = line_percentage.group(1)
+        print(f"Line Percentage: {line_value}%")
+        subprocess.run([
+            "wget", f"https://img.shields.io/badge/coverage-{line_value}%25-brightgreen.svg",
+            "-O", "line_coverage_badge.svg"
+        ], check=True)
+
+    if function_percentage:
+        function_value = function_percentage.group(1)
+        print(f"Function Percentage: {function_value}%")
+        subprocess.run([
+            "wget", f"https://img.shields.io/badge/coverage-{function_value}%25-brightgreen.svg",
+            "-O", "function_coverage_badge.svg"
+        ], check=True)
+
+if __name__ == "__main__":
+    try:
+        configure_cmake("Debug")
+        build_with_cmake()
+        run_tests()
+        generate_coverage()
+        generate_badges()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

.ci/doxygen-docs.py

@@ -0,0 +1,42 @@
+import subprocess
+import os
+import shutil
+from pathlib import Path
+import sys
+
+def clean_build():
+    build_dir = Path("doc/doxygenOut")
+    if build_dir.exists():
+        shutil.rmtree(build_dir)
+    file_path_doc_coverage = Path("doc/doc-coverage.info")
+    if os.path.exists(file_path_doc_coverage):
+        os.remove(file_path_doc_coverage)
+    file_path_warning = Path("doc/DoxygenWarningLog.txt")
+    if os.path.exists(file_path_warning):
+        os.remove(file_path_warning)
+
+def run_doxygen():
+    os.chdir("./doc")
+    subprocess.run(["doxygen", "Doxyfile"], check=True)
+
+def print_doxygen_warning_log():
+    with open("DoxygenWarningLog.txt", "r") as file:
+        print(file.read())
+
+def run_coverxygen():
+    subprocess.run(["python3", "-m", "coverxygen", "--format", "summary", "--xml-dir", "doxygenOut/xml/", "--src-dir", "..", "--output", "doc-coverage.info"], check=True)
+
+def print_doc_coverage():
+    with open("doc-coverage.info", "r") as file:
+        print(file.read())
+
+if __name__ == "__main__":
+    try:
+        clean_build()
+        run_doxygen()
+        print_doxygen_warning_log()
+        run_coverxygen()
+        print_doc_coverage()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

.ci/format.py

@@ -0,0 +1,13 @@
+import subprocess
+import sys
+
+def check_code_format():
+    subprocess.run(["treefmt", "--no-cache"], check=True)
+    subprocess.run(["git", "diff", "--exit-code"], check=True)
+
+if __name__ == "__main__":
+    try:
+       check_code_format()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

.ci/pytest.py

@@ -0,0 +1,19 @@
+import subprocess
+import os
+import sys
+
+def build_reference_app():
+    subprocess.run(["cmake", "-B", "cmake-build-posix", "-S", "executables/referenceApp"], check=True)
+    subprocess.run(["cmake", "--build", "cmake-build-posix", "--target", "app.referenceApp", "-j"], check=True)
+
+def run_pytest():
+    os.chdir("./test/pyTest")
+    subprocess.run(['pytest', '--target=posix'], check=True)
+
+if __name__ == "__main__":
+    try:
+        build_reference_app()
+        run_pytest()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

.ci/sphinx-docs.py

@@ -0,0 +1,19 @@
+import os
+import subprocess
+import shutil
+from pathlib import Path
+import sys
+
+def build_sphinx_docs():
+    build_dir = Path("doc/build")
+    if build_dir.exists():
+        shutil.rmtree(build_dir)
+    os.chdir("./doc")
+    subprocess.run(["make", "html", "OFFICIAL_BUILD=1"], check=True)
+
+if __name__ == "__main__":
+    try:
+       build_sphinx_docs()
+    except subprocess.CalledProcessError as e:
+        print(f"Command failed with exit code {e.returncode}")
+        sys.exit(e.returncode)

Filelists.cmake

@@ -30,6 +30,7 @@ add_compile_options(
     "$<$<COMPILE_LANG_AND_ID:CXX,Clang,GNU>:-O2;-g3;-Werror;-Wall;-Wextra;-Wvla;-Wno-deprecated-volatile>"
     # todo: enforce -Wunused-parameter
     "$<$<COMPILE_LANG_AND_ID:CXX,Clang,GNU>:-Wno-error=unused-parameter>"
+    "$<$<COMPILE_LANG_AND_ID:C,Clang,GNU>:-Wno-error=unused-parameter>"
     # note: the below warnings are often false positive
     "$<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wno-error=stringop-overflow;-Wno-error=maybe-uninitialized>"
 )

admin/cmake/ArmNoneEabi.cmake

@@ -23,7 +23,8 @@ set(C_COMMON_FLAGS
 -fno-asynchronous-unwind-tables -fno-builtin -fno-common \
 -ffunction-sections -fdata-sections")
 
-set(CMAKE_ASM_FLAGS "-g -mcpu=cortex-m4")
+set(CMAKE_ASM_FLAGS "-g -mcpu=cortex-m4 \
+-mfloat-abi=hard -mfpu=fpv4-sp-d16")
 set(CMAKE_C_FLAGS "${C_COMMON_FLAGS} -ffreestanding")
 set(CMAKE_CXX_FLAGS "${C_COMMON_FLAGS} -fno-rtti -fno-exceptions \
 -fno-non-call-exceptions -fno-threadsafe-statics -fno-use-cxa-atexit")

executables/referenceApp/CMakeLists.txt

@@ -15,24 +15,41 @@ option(PLATFORM_SUPPORT_IO "Turn IO support on or off" OFF)
 option(PLATFORM_SUPPORT_UDS "Turn UDS support on or off" OFF)
 
 set(BUILD_TARGET_PLATFORM
-    "POSIX"
+    "POSIX_FREERTOS"
     CACHE STRING "Target Platform")
 
-set(SUPPORTED_PLATFORMS POSIX S32K148EVB)
+set(SUPPORTED_PLATFORMS POSIX_FREERTOS POSIX_THREADX S32K148EVB_FREERTOS
+                        S32K148EVB_THREADX)
 if (NOT (BUILD_TARGET_PLATFORM IN_LIST SUPPORTED_PLATFORMS))
     message(FATAL_ERROR "Unknown target platform <${BUILD_TARGET_PLATFORM}>")
 endif ()
 
 message(STATUS "Target platform: <${BUILD_TARGET_PLATFORM}>")
 
-if (BUILD_TARGET_PLATFORM STREQUAL "POSIX" AND NOT ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+if (BUILD_TARGET_PLATFORM STREQUAL "POSIX_FREERTOS"
+    AND NOT ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
     set(PLATFORM_SUPPORT_CAN
         ON
         CACHE BOOL "Turn CAN support on or off" FORCE)
     set(PLATFORM_SUPPORT_IO
         OFF
         CACHE BOOL "Turn IO support on or off" FORCE)
-elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB")
+elseif (BUILD_TARGET_PLATFORM STREQUAL "POSIX_THREADX"
+        AND NOT ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+    set(PLATFORM_SUPPORT_CAN
+        ON
+        CACHE BOOL "Turn CAN support on or off" FORCE)
+    set(PLATFORM_SUPPORT_IO
+        OFF
+        CACHE BOOL "Turn IO support on or off" FORCE)
+elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB_FREERTOS")
+    set(PLATFORM_SUPPORT_CAN
+        ON
+        CACHE BOOL "Turn CAN support on or off" FORCE)
+    set(PLATFORM_SUPPORT_IO
+        ON
+        CACHE BOOL "Turn IO support on or off" FORCE)
+elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB_THREADX")
     set(PLATFORM_SUPPORT_CAN
         ON
         CACHE BOOL "Turn CAN support on or off" FORCE)
@@ -65,18 +82,30 @@ endif ()
 
 include(${OPENBSW_DIR}/Filelists.cmake)
 
-# Configure async and freeRtos libs depending on build type.
-add_library(asyncPlatform ALIAS asyncFreeRtos)
-add_library(osFreeRtos ALIAS freeRtos)
-
-if (BUILD_TARGET_PLATFORM STREQUAL "POSIX")
+if (BUILD_TARGET_PLATFORM STREQUAL "POSIX_FREERTOS")
+    # Configure async and freeRtos libs depending on build type.
+    add_library(asyncPlatform ALIAS asyncFreeRtos)
+    add_library(osFreeRtos ALIAS freeRtos)
     add_subdirectory(platforms/posix)
     add_library(freeRtosPort ALIAS freeRtosPosixPort)
     add_library(freeRtosPortImpl ALIAS freeRtosPosix)
-elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB")
+elseif (BUILD_TARGET_PLATFORM STREQUAL "POSIX_THREADX")
+    add_library(asyncPlatform ALIAS asyncThreadX)
+    add_subdirectory(platforms/posix)
+    add_library(threadXPort ALIAS threadXLinuxPort)
+    add_library(threadXPortImpl ALIAS threadXLinux)
+elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB_FREERTOS")
+    # Configure async and freeRtos libs depending on build type.
+    add_library(asyncPlatform ALIAS asyncFreeRtos)
+    add_library(osFreeRtos ALIAS freeRtos)
     add_subdirectory(platforms/s32k148evb)
     add_library(freeRtosPort ALIAS freeRtosCm4SysTickPort)
     add_library(freeRtosPortImpl ALIAS freeRtosCm4SysTick)
+elseif (BUILD_TARGET_PLATFORM STREQUAL "S32K148EVB_THREADX")
+    add_library(asyncPlatform ALIAS asyncThreadX)
+    add_subdirectory(platforms/s32k148evb)
+    add_library(threadXPort ALIAS threadXCortexM4Port)
+    add_library(threadXPortImpl ALIAS threadXCortexM4)
 endif ()
 
 add_subdirectory(application)