MAINTENANCE: Update to use Machinekit-HAL's new packaging scheme

Add a new simple CMake based build-system taking advantage of the new targets and scripts exported by Machinekit-HAL. For user's convenience also adds a Debian packaging.

CMakeLists.txt

@@ -0,0 +1,112 @@
+# ##############################################################################
+# Description:  CMakeLists.txt
+#
+# This file, 'CMakeLists.txt', implements build system rules for BB-GPIO project
+#
+# Copyright (C) 2021    Jakub Fišer  <jakub DOT fiser AT eryaf DOT com>
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU Lesser General Public License as published by the Free
+# Software Foundation; either version 2.1 of the License, or (at your option)
+# any later version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+# details.
+#
+# You should have received a copy of the GNU Lesser General Public License along
+# with this library; if not, write to the Free Software Foundation, Inc., 51
+# Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+#
+# ##############################################################################
+# ~~~
+
+cmake_minimum_required(VERSION 3.22)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
+set(CMAKE_EXPORT_LINK_COMMANDS TRUE)
+set(CMAKE_DISABLE_SOURCE_CHANGES TRUE)
+set(CMAKE_DISABLE_IN_SOURCE_BUILD TRUE)
+
+project(
+  BB-GPIO
+  VERSION 1.0.0
+  DESCRIPTION "GPIO driver for Beaglebone Black SBC"
+  HOMEPAGE_URL "https://github.com/PocketNC/bb_gpio"
+  LANGUAGES C)
+
+if(CMAKE_TOOLCHAIN_FILE)
+  cmake_path(IS_RELATIVE CMAKE_TOOLCHAIN_FILE _toolchain_file_is_relative)
+  if(_toolchain_file_is_relative)
+    file(REAL_PATH "${CMAKE_TOOLCHAIN_FILE}" _toolchain_path BASE_DIRECTORY
+         "${CMAKE_BINARY_DIR}" EXPAND_TILDE)
+    if(NOT EXISTS "${_toolchain_path}")
+      message(
+        FATAL_ERROR "Specified Toolchain file ${_toolchain_path} doesn't exist!"
+      )
+    endif()
+    set(CMAKE_TOOLCHAIN_FILE "${_toolchain_path}")
+    message(
+      WARNING
+        "CMAKE_TOOLCHAIN_FILE set to ${CMAKE_TOOLCHAIN_FILE} to resolve the relative path issue. Please, avoid using relative paths!"
+    )
+    unset(_toolchain_path)
+  endif()
+  unset(_toolchain_file_is_relative)
+endif()
+
+find_package(
+  Machinekit-HAL
+  COMPONENTS Managed-Runtime Managed-HAL
+  REQUIRED)
+
+include(GNUInstallDirs)
+include(CPackComponent)
+include(CPack)
+include(FindPkgConfig)
+
+set(MACHINEKIT_HAL_PACKAGE_PREFIX_PATH "machinekit/hal")
+set(MACHINEKIT_HAL_MANAGED_MODULE_DIRECTORY
+    "${CMAKE_INSTALL_LIBDIR}/${MACHINEKIT_HAL_PACKAGE_PREFIX_PATH}/module/managed"
+)
+
+set(CMAKE_C_STANDARD 11)
+
+set(CMAKE_C_FLAGS_DEBUG "-g -O0")
+set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
+set(CMAKE_C_FLAGS_RELEASE "-O0")
+set(CMAKE_CXX_FLAGS_RELEASE "-O0")
+set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -O0")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O0")
+
+message(STATUS "Value of CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
+message(STATUS "Value of CMAKE_C_FLAGS: ${CMAKE_C_FLAGS}")
+message(STATUS "Value of CMAKE_EXE_LINKER_FLAGS: ${CMAKE_EXE_LINKER_FLAGS}")
+
+pkg_check_modules(LIBGPIOD "libgpiod" REQUIRED IMPORTED_TARGET)
+
+add_library(bb_gpio MODULE)
+target_sources(bb_gpio PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/bb_gpio.c"
+                               "${CMAKE_CURRENT_SOURCE_DIR}/bb_gpio.h")
+
+target_link_libraries(
+  bb_gpio PRIVATE Machinekit::HAL::managed_hal Machinekit::HAL::managed_runtime
+                  PkgConfig::LIBGPIOD)
+
+export_rtapi_symbols(TARGET bb_gpio)
+
+set_target_properties(
+  bb_gpio
+  PROPERTIES OUTPUT_NAME "bb_gpio"
+             PREFIX "mod"
+             LIBRARY_OUTPUT_DIRECTORY
+             "${MACHINEKIT_HAL_MANAGED_MODULE_DIRECTORY}")
+
+install(TARGETS bb_gpio
+        LIBRARY DESTINATION "${MACHINEKIT_HAL_MANAGED_MODULE_DIRECTORY}"
+                COMPONENT BB_GPIO_Managed_Module_Drivers)
+
+cpack_add_component(BB_GPIO_Managed_Module_Drivers GROUP BB_GPIO_Managed_Module)
+
+cpack_add_component_group(BB_GPIO_Managed_Module)

bb_gpio.c

@@ -10,18 +10,19 @@
 *
 ********************************************************************/
 
-#include "rtapi.h"              /* RTAPI realtime OS API */
-#include "rtapi_app.h"          /* RTAPI realtime module decls */
-#include "rtapi_errno.h"        /* EINVAL etc */
-#include "hal.h"                /* HAL public API decls */
-#include "hal_priv.h"
+#include "runtime/rtapi.h"              /* RTAPI realtime OS API */
+#include "runtime/rtapi_app.h"          /* RTAPI realtime module decls */
+#include "runtime/rtapi_errno.h"        /* EINVAL etc */
+#include "hal/hal.h"                /* HAL public API decls */
+#include "hal/hal_priv.h"
 #include "bb_gpio.h"
 #include <sys/mman.h>
 
 #include <stdlib.h>
 #include <unistd.h>
 #include <string.h>
 #include <fcntl.h>
+#include <stdio.h>
 
 MODULE_AUTHOR("John Allwine");
 MODULE_DESCRIPTION("Driver for GPIO pins on Beaglebone Boards using /dev/mem");

debian/changelog

@@ -0,0 +1,7 @@
+bb-gpio (1.0.0) bullseye; urgency=low
+
+  * Update to use the new Machinekit-HAL packaging scheme
+  * Add simple Debian packaging
+  * Add a CMake based buildsystem
+
+ -- Jakub Fišer <jakub.fiser@eryaf.com>  Sat, 22 Jan 2020 10:00:00 +0200

debian/control

@@ -0,0 +1,25 @@
+Source: bb-gpio
+Section: misc
+Priority: optional
+Maintainer: MachinekitBot <machinekit@eryaf.com>
+Build-Depends:
+    dh-cmake,
+    dh-cmake-compat (= 1),
+    dh-sequence-cpack,
+    debhelper-compat (= 12),
+    debhelper (>= 10),
+    libmachinekit-hal-dev,
+    libgpiod-dev
+Standards-Version: 4.5.1
+Homepage: https://github.com/PocketNC/bb_gpio
+
+
+Package: modbb-gpio
+Architecture: any
+Multi-Arch: same
+Depends:
+    ${shlibs:Depends},
+    ${misc:Depends},
+    machinekit-hal
+Description: BeagleBone Black GPIO Driver for Machinekit-HAL
+ Managed HAL driver module for BeagleBone Black GPIO

debian/modbb-gpio.cpack-component-groups

@@ -0,0 +1 @@
+BB_GPIO_Managed_Module

debian/rules

@@ -0,0 +1,51 @@
+#!/usr/bin/make -f
+
+# ####################################################################
+# Description:  rules
+#
+#               This file, 'rules', implements build targets for Debian
+#				style packaging
+#
+# Copyright (C) 2021    Jakub Fišer  <jakub DOT fiser AT eryaf DOT com>
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+#
+# #####################################################################
+
+#	Turn OFF the Link-Time Optimization (LTO) during compilation as it clashes with the
+#	current version of linker script turning symbols of HAL modules local (defined
+#	in 'MachinekitHALSymbolVisibilityFunction.cmake' CMake file)
+DEB_CFLAGS_MAINT_STRIP :=-flto=auto -ffat-lto-objects
+DEB_CXXFLAGS_MAINT_STRIP :=-flto=auto -ffat-lto-objects
+DEB_LDFLAGS_MAINT_STRIP :=-flto=auto
+
+#	Set the main optimization value for all parts to O0
+DEB_CFLAGS_MAINT_STRIP +=-O2
+DEB_CXXFLAGS_MAINT_STRIP +=-O2
+DEB_CFLAGS_MAINT_APPEND :=-O0
+DEB_CXXFLAGS_MAINT_APPEND :=-O0
+
+#	Do not warn on potential reproducible build datetime mismatch
+DEB_CPPFLAGS_MAINT_STRIP :=-Wdate-time
+
+export DEB_CFLAGS_MAINT_STRIP
+export DEB_CXXFLAGS_MAINT_STRIP
+export DEB_LDFLAGS_MAINT_STRIP
+export DEB_CFLAGS_MAINT_APPEND
+export DEB_CXXFLAGS_MAINT_APPEND
+export DEB_CPPFLAGS_MAINT_STRIP
+
+%:
+	dh $@ --buildsystem=cmake