Issue #222: v1 platform layer

.buildkite/pipeline.yml

@@ -1,9 +1,10 @@
 steps:
   - label: ':hammer: native build and :mag: test'
-    command: "./ci/native-build-and-test.sh"
+    id: native-gcc-build-and-test
+    command: "./ci/native-gcc-build-and-test.sh"
     artifact_paths: 
-      - "build_ci_native/libuavcan"
-      - "build_ci_native/docs/**/*"
+      - "build_ci_native_gcc/libuavcan"
+      - "build_ci_native_gcc/docs/**/*"
     plugins:
       - docker#v3.1.0:
           workdir: /repo
@@ -12,7 +13,21 @@ steps:
       VERBOSE: 1
     agents:
       queue: 'default'
+    timeout_in_minutes: 15
+  - label: ':hammer: native build using clang'
+    id: native-clang-build
+    command: "./ci/native-clang-build.sh"
+    plugins:
+      - docker#v3.1.0:
+          workdir: /repo
+          image: "uavcan/libuavcan:latest"
+    env:
+      VERBOSE: 1
+    agents:
+      queue: 'default'
+    timeout_in_minutes: 15
   - label: ':hammer: s32k build'
+    id: ontarget-s32k-build
     command: "./ci/ontarget-s32k-build.sh"
     artifact_paths: 
       - "build_ci_ontarget_s32k/**/*.log"
@@ -28,6 +43,7 @@ steps:
       VERBOSE: 1
     agents:
       queue: 'default'
+    timeout_in_minutes: 15
   - wait
   - label: ":mag: ontarget testing"
     command: "./ci/ontarget-s32k-test.sh"

CMakeLists.txt

@@ -17,10 +17,12 @@ file(MAKE_DIRECTORY ${EXTERNAL_PROJECT_DIRECTORY})
 
 set(LIBUAVCAN_INCLUDE "${CMAKE_SOURCE_DIR}/libuavcan/include")
 set(LIBUAVCAN_INCLUDE_GENERATED "${CMAKE_CURRENT_BINARY_DIR}/dsdl")
+set(LIBUAVCAN_INCLUDE_LVS_PTEST "${CMAKE_SOURCE_DIR}/libuavcan_validation_suite/include")
 
 include_directories(
     ${LIBUAVCAN_INCLUDE}
     ${LIBUAVCAN_INCLUDE_GENERATED}
+    ${LIBUAVCAN_INCLUDE_LVS_PTEST}
 )
 
 if(NOT LIBUAVCAN_FLAG_SET)
@@ -55,11 +57,6 @@ find_package(public_regulated_data_types REQUIRED)
 #
 find_package(gtest REQUIRED)
 
-#
-# We generate coverage reports. Please look at them.
-#
-find_package(lcov REQUIRED)
-
 #
 # Finds programs needed to build the libuavcan documentation
 #

README.md

@@ -128,7 +128,7 @@ To use visual studio code to debug ontarget tests for the S32K146EVB you'll need
 ```
  {
     "cwd": "${workspaceRoot}",
-    "executable": "build/test_bus.elf",
+    "executable": "build/test_util_math.elf",
     "name": "On-target unit test.",
     "request": "launch",
     "type": "cortex-debug",

ci/native-build-and-test.sh → ci/native-clang-build.sh

@@ -30,18 +30,15 @@ set -o pipefail
 # | deploy (i.e. There's really no 'I' going on).
 # +----------------------------------------------------------+
 
-mkdir -p build_ci_native
-pushd build_ci_native
-# We build native tests using clang since we use gcc for
-# cross-compiling. This gives us coverage by two different
-# compilers.
+mkdir -p build_ci_native_clang
+pushd build_ci_native_clang
+# We ensure we can build using clang but we rely on GCC for testing
+# since clang's coverage metrics have been broken for the last 
+# several years.
 cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/clang-native.cmake \
-      -DLIBUAVCAN_EXT_FOLDER=build_ci_ext \
+      -DLIBUAVCAN_EXT_FOLDER=build_ci_ext_clang \
       ..
-make -j4
-
-ctest -VV
 
-make docs
+make -j4
 
 popd

ci/native-gcc-build-and-test.sh

@@ -0,0 +1,49 @@
+#!/usr/bin/env bash
+
+# +----------------------------------------------------------+
+# | BASH : Modifying Shell Behaviour
+# |    (https://www.gnu.org/software/bash/manual)
+# +----------------------------------------------------------+
+# Treat unset variables and parameters other than the special
+# parameters ‘@’ or ‘*’ as an error when performing parameter
+# expansion. An error message will be written to the standard
+# error, and a non-interactive shell will exit.
+set -o nounset
+
+# Exit immediately if a pipeline returns a non-zero status.
+set -o errexit
+
+# If set, the return value of a pipeline is the value of the
+# last (rightmost) command to exit with a non-zero status, or
+# zero if all commands in the pipeline exit successfully.
+set -o pipefail
+
+# +----------------------------------------------------------+
+# | This script is one of the common set of commands run as
+# | part of a continuous integration build pipeline.
+# | These scrips are named using the following scheme:
+# |
+# |   [build_type]-[(optional)build_type qualifier]-[build|test|report|upload].sh
+# |
+# | Of course, libuavcan is a header-only distribution so
+# | CI is used to verify and test rather than package and
+# | deploy (i.e. There's really no 'I' going on).
+# +----------------------------------------------------------+
+
+mkdir -p build_ci_native_gcc
+pushd build_ci_native_gcc
+# GCC is our reference compiler since it does a better job with
+# coverage metrics.
+cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/toolchains/gcc-native.cmake \
+      -DLIBUAVCAN_EXT_FOLDER=build_ci_ext_gcc \
+      ..
+
+make -j4
+
+# TODO: when we integrate with coveralls or codacity run make cov_info
+# instead to skip the genhtml step.
+make cov_all
+
+make docs
+
+popd

cmake/modules/Findlcov.cmake

@@ -1,9 +1,13 @@
 
-
 find_program(LCOV lcov)
+find_program(GENHTML genhtml)
 
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(lcov
     LCOV_FOUND
 )
+
+find_package_handle_standard_args(genhtml
+    GENHTML_FOUND
+)

cmake/toolchains/clang-native.cmake

@@ -7,3 +7,9 @@
 set(CMAKE_C_COMPILER clang)
 set(CMAKE_CXX_COMPILER clang++)
 set(CMAKE_ASM_COMPILER clang)
+
+# Signal to unit tests that the coverage data will be generated by
+# clang so they should try to use llvm-cov if it's available. 
+# Things are weird between gcov and llvm-cov right now but this 
+# seems to work in our Ubuntu 18 Docker container, so...?
+set(LIBUAVCAN_USE_LLVM_COV ON)

cmake/toolchains/gcc-native.cmake

@@ -0,0 +1,8 @@
+#
+# Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+#
+# Toolchain for using gcc on what-ever-platform-this-is (aka "native").
+#
+set(CMAKE_C_COMPILER gcc)
+set(CMAKE_CXX_COMPILER g++)
+set(CMAKE_ASM_COMPILER gcc)

libuavcan/include/libuavcan/introspection.hpp

@@ -34,10 +34,10 @@
 __attribute__((format(printf, 2, 3)))
 #    endif
 static void
-UAVCAN_TRACE(const char* src, const char* fmt, ...)
+LIBUAVCAN_TRACE(const char* src, const char* fmt, ...)
 {
     va_list args;
-    (void) std::printf("UAVCAN: %s: ", src);
+    (void) std::printf("LIBUAVCAN: %s: ", src);
     va_start(args, fmt);
     (void) std::vprintf(fmt, args);
     va_end(args);
@@ -46,18 +46,18 @@ UAVCAN_TRACE(const char* src, const char* fmt, ...)
 
 #else
 
-#    define UAVCAN_TRACE(...) ((void) 0)
+#    define LIBUAVCAN_TRACE(...) ((void) 0)
 
 #endif
 
 #if LIBUAVCAN_INTROSPECTION_ENABLE_ASSERT
 #    include <cassert>
-#    define UAVCAN_ASSERT(statement) \
-        {                            \
-            assert(statement);       \
+#    define LIBUAVCAN_ASSERT(statement) \
+        {                               \
+            assert(statement);          \
         }
 #else
-#    define UAVCAN_ASSERT(...) ((void) 0)
+#    define LIBUAVCAN_ASSERT(...) ((void) 0)
 #endif
 
 #endif  // LIBUAVCAN_INTROSPECTION_HPP_INCLUDED