Merge branch 'main' into use-etl

Signed-off-by: rolandreichweinbmw <[email protected]>

Author: rolandreichweinbmw

.github/workflows/build.yml

@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        platform: [posix, s32k148]
+        platform: [posix-gcc, posix-clang, s32k148]
         cpp-standard: [14, 17, 20]
 
     steps:
@@ -36,8 +36,15 @@ jobs:
         with:
           release: '10.3-2021.10'
 
+      - name: Install LLVM and Clang
+        if: ${{ matrix.platform == 'posix-clang' }}
+        uses: KyleMayes/install-llvm-action@v2
+        with:
+          version: "17"
+          env: true
+
       - name: Configure CMake for POSIX
-        if: ${{ matrix.platform == 'posix' && steps.cache-cmake.outputs.cache-hit != 'true' }}
+        if: ${{ startsWith(matrix.platform, 'posix') && steps.cache-cmake.outputs.cache-hit != 'true' }}
         run: |
           cmake \
           -B cmake-build-posix \
@@ -56,4 +63,4 @@ jobs:
 
       - name: Build for ${{ matrix.platform }}
         if: steps.cache-cmake.outputs.cache-hit != 'true'
-        run: cmake --build cmake-build-${{ matrix.platform }} --target app.referenceApp -j
+        run: cmake --build cmake-build-${{ startsWith(matrix.platform, 'posix') && 'posix' || matrix.platform }} --target app.referenceApp -j

doc/Doxyfile

@@ -864,7 +864,7 @@ WARN_LOGFILE           = "DoxygenWarningLog.txt"
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = DoxygenMainPage.md ../libs/bsw ../libs/bsp
+INPUT                  = DoxygenMainPage.md ../libs/bsw ../libs/bsp ../libs/safety
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses

doc/DoxygenMainPage.md

@@ -5,3 +5,4 @@ This documentation was generated by doxygen from the code in the subdirectories.
 
 * `libs/bsp`
 * `libs/bsw`
+* `libs/safety`

doc/index.rst

@@ -163,6 +163,14 @@ Eclipse OpenBSW is a trademark of the Eclipse Foundation.
 
     ../libs/bsw/**/doc/index
 
+.. toctree::
+    :maxdepth: 1
+    :caption: Safety Modules
+    :glob:
+    :hidden:
+
+    ../libs/safety/**/doc/index
+
 .. toctree::
     :maxdepth: 1
     :caption: BSP Modules

docker/Dockerfile.dev

@@ -0,0 +1,41 @@
+FROM ubuntu:22.04
+
+RUN apt-get update && apt-get install -y \
+    python3.10 \
+    python3-pip \
+    bzip2\
+    tar \
+    clang-tidy \
+    wget \
+    curl \
+    git \
+    gcc-11 \
+    g++-11\
+    lcov\
+    && rm -rf /var/lib/apt/lists/*
+
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.22.5/cmake-3.22.5-linux-x86_64.sh \
+    && chmod +x cmake-3.22.5-linux-x86_64.sh \
+    && ./cmake-3.22.5-linux-x86_64.sh --skip-license --prefix=/usr/local \
+    && rm cmake-3.22.5-linux-x86_64.sh
+
+RUN wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2 \
+    && tar -xjf gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2 -C /usr/local \
+    && rm gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2 \
+    && ln -s /usr/local/gcc-arm-none-eabi-10.3-2021.10/bin/* /usr/local/bin/ 
+
+RUN mkdir -p /root/.local/bin
+
+RUN curl -L https://github.com/numtide/treefmt/releases/download/v2.1.0/treefmt_2.1.0_linux_amd64.tar.gz -o treefmt.tar.gz \
+    && tar -xvzf treefmt.tar.gz \
+    && install -m 755 treefmt /root/.local/bin/treefmt \
+    && rm LICENSE README.md treefmt treefmt.tar.gz
+
+RUN curl -L https://github.com/muttleyxd/clang-tools-static-binaries/releases/download/master-32d3ac78/clang-format-17_linux-amd64 -o /root/.local/bin/clang-format && \
+    chmod +x /root/.local/bin/clang-format
+
+ENV PATH="/root/.local/bin:$PATH"
+
+RUN pip3 install cmakelang
+
+RUN echo 'export HISTFILE=/root/.bash_history/history' >> /root/.bashrc

docker/Dockerfile.docs

@@ -0,0 +1,18 @@
+FROM ubuntu:22.04
+
+RUN apt-get update && apt-get install -y python3.10 python3-pip openjdk-11-jdk graphviz \
+    doxygen\
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY ../doc/requirements.txt .
+
+RUN pip3 install --no-cache-dir -r requirements.txt
+
+RUN wget https://sourceforge.net/projects/plantuml/files/plantuml.jar/download -O /usr/local/bin/plantuml.jar \
+    && echo '#!/bin/sh\njava -jar /usr/local/bin/plantuml.jar "$@"' > /usr/local/bin/plantuml && \
+    chmod +x /usr/local/bin/plantuml
+
+RUN pip3 install coverxygen
+
+RUN echo 'export HISTFILE=/root/.bash_history/history' >> /root/.bashrc

docker/README.md

@@ -0,0 +1,39 @@
+# Docker Information
+
+Developer Dockerfile can be used to set up the development environment.
+It includes all the necessary tools, libraries, and dependencies required
+for development. This ensures that all developers work in a consistent
+environment, reducing the "it works on my machine" problem.
+Documentation Dockerfile is used to build project's documentation.
+
+Project uses Docker Compose to manage both the Developer Dockerfile and the
+Documentation Dockerfile. Docker Compose simplifies the process of building
+and running multiple Docker containers, ensuring that both the development
+environment and the documentation container are consistently set up and managed.
+
+## Build the docker image
+
+If you have docker compose installed, you can use this command
+
+    docker-compose -f docker/docker-compose.yaml build
+
+If you do not want to use docker compose, you can use this command instead
+
+    docker build -f docker/<dockerfile_name> -t <image_name> .
+
+This will build the image from the Dockerfile in the current directory (the `.`).
+
+## Run the docker container
+
+If you have docker compose installed, the easiest way is to call
+
+    docker compose -f docker/docker-compose.yaml run <service_name>
+
+If you do not want to use docker compose, you can use this command instead
+
+    docker run -it --rm -v $PWD:$PWD --workdir $PWD <image_name>
+
+This command creates the docker container and enters it (`-it` for interactive).
+The container will be removed when you leave it again (`--rm`).
+Your current directory is mounted into the container. This is set up as the working
+directory in the container (`-v $PWD:$PWD --workdir $PWD`).

docker/docker-compose.yaml

@@ -0,0 +1,25 @@
+version: '3'
+services:
+  dev:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile.dev
+    working_dir:
+      /usr/src
+    volumes:
+      - ..:/usr/src
+      - ../.docker_history:/root/.bash_history
+    command: /bin/bash
+    tty: true
+
+  docs:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile.docs
+    working_dir:
+      /usr/src
+    volumes:
+      - ..:/usr/src
+      - ../.docker_history:/root/.bash_history
+    command: /bin/bash
+    tty: true

executables/referenceApp/CMakeLists.txt

@@ -25,7 +25,7 @@ endif ()
 
 message(STATUS "Target platform: <${BUILD_TARGET_PLATFORM}>")
 
-if (BUILD_TARGET_PLATFORM STREQUAL "POSIX")
+if (BUILD_TARGET_PLATFORM STREQUAL "POSIX" AND NOT ${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
     set(PLATFORM_SUPPORT_CAN
         ON
         CACHE BOOL "Turn CAN support on or off" FORCE)
@@ -59,6 +59,10 @@ if (PLATFORM_SUPPORT_IO)
     add_compile_definitions(PLATFORM_SUPPORT_IO=1)
 endif ()
 
+if (PLATFORM_SUPPORT_WATCHDOG)
+    add_compile_definitions(PLATFORM_SUPPORT_WATCHDOG=1)
+endif ()
+
 include(${OPENBSW_DIR}/Filelists.cmake)
 
 # Configure async and freeRtos libs depending on build type.

executables/referenceApp/application/CMakeLists.txt

@@ -22,6 +22,7 @@ add_executable(
     src/systems/DemoSystem.cpp
     src/systems/RuntimeSystem.cpp
     src/systems/SysAdminSystem.cpp
+    src/systems/SafetySystem.cpp
     ${app.referenceAppExtraSources}
     src/main.cpp)
 
@@ -55,6 +56,7 @@ target_link_libraries(
             util
             udsConfigurationImpl
             runtime
+            safeLifecycle
             socBsp)
 
 if (PLATFORM_SUPPORT_UDS)