Merge remote-tracking branch 'upstream/main' into motion_wip

.pre-commit-config.yaml

@@ -5,7 +5,7 @@ repos:
   rev: 'v0.6.0'
   hooks:
     - id: cmake-format  # cmake formatter
-      files: (CMakeLists.*|.*\.cmake^|.*\.cmake.in)
+      files: ^(CMakeLists.*|.*\.cmake|.*\.cmake.in)$
 - repo: https://github.com/pre-commit/mirrors-yapf
   rev: 'v0.27.0'
   hooks:

CMakeLists.txt

@@ -9,29 +9,14 @@ project(
   VERSION ${PROJECT_VERSION}
   )
 
-if(NOT CMAKE_CROSSCOMPILING)
-  #
-  # If we are not crosscompiling, include `utils` with host tools.
-  #
-  add_subdirectory(utils)
-endif()
-
 #
 # Command Line Options
 #
 # You should specify those options when invoking CMake. Example:
 # ~~~
-# cmake .. <other options> -DPRINTER=MMU
+# cmake .. <other options> -DCUSTOM_COMPILE_OPTIONS=-DENABLE_FEATURE_X
 # ~~~
 
-set(PRINTER_VALID_OPTS "MMU")
-
-set(PRINTER
-    "MMU"
-    CACHE
-      STRING
-      "Select the MMU unit for which you want to compile the project (valid values are ${PRINTER_VALID_OPTS})."
-    )
 set(PROJECT_VERSION_SUFFIX
     "<auto>"
     CACHE
@@ -53,13 +38,6 @@ set(CUSTOM_COMPILE_OPTIONS
     CACHE STRING "Allows adding custom C/C++ flags"
     )
 
-# Validate options
-foreach(OPTION "PRINTER")
-  if(NOT ${OPTION} IN_LIST ${OPTION}_VALID_OPTS)
-    message(FATAL_ERROR "Invalid ${OPTION} ${${OPTION}}: Valid values are ${${OPTION}_VALID_OPTS}")
-  endif()
-endforeach()
-
 # Resolve BUILD_NUMBER and PROJECT_VERSION_* variables
 resolve_version_variables()
 
@@ -86,7 +64,6 @@ message(
   STATUS "Project version with short suffix: ${PROJECT_VERSION}${PROJECT_VERSION_SUFFIX_SHORT}"
   )
 message(STATUS "Using toolchain file: ${CMAKE_TOOLCHAIN_FILE}.")
-message(STATUS "Printer: ${PRINTER}")
 
 # eclipse sets those variables, so lets just use them so we don't get a warning about unused
 # variables
@@ -185,56 +162,16 @@ endif()
 
 # add_link_dependency(firmware "${LINKER_SCRIPT}")
 
-target_include_directories(firmware PRIVATE include src)
+target_include_directories(firmware PRIVATE src)
 
 target_compile_options(firmware PRIVATE -Wdouble-promotion)
-target_sources(
-  firmware
-  PRIVATE src/main.cpp
-          src/hal/avr/cpu.cpp
-          src/hal/avr/usart.cpp
-          src/hal/avr/shr16.cpp
-          src/hal/avr/eeprom.cpp
-          src/hal/avr/tmc2130.cpp
-          src/hal/adc.cpp
-          src/modules/protocol.cpp
-          src/modules/buttons.cpp
-          src/modules/debouncer.cpp
-          src/modules/finda.cpp
-          src/modules/fsensor.cpp
-          src/modules/globals.cpp
-          src/modules/idler.cpp
-          src/modules/leds.cpp
-          src/modules/motion.cpp
-          src/modules/pulse_gen.cpp
-          src/modules/permanent_storage.cpp
-          src/modules/selector.cpp
-          src/modules/timebase.cpp
-          src/modules/user_input.cpp
-          src/modules/speed_table.cpp
-          src/logic/command_base.cpp
-          src/logic/cut_filament.cpp
-          src/logic/eject_filament.cpp
-          src/logic/feed_to_bondtech.cpp
-          src/logic/feed_to_finda.cpp
-          src/logic/load_filament.cpp
-          src/logic/no_command.cpp
-          src/logic/tool_change.cpp
-          src/logic/unload_filament.cpp
-          src/logic/unload_to_finda.cpp
-  )
 
-set_property(
+add_subdirectory(src)
-  SOURCE src/version.c
+
-  APPEND
-  PROPERTY COMPILE_DEFINITIONS
-           FW_BUILD_NUMBER=${BUILD_NUMBER}
-           FW_VERSION_FULL=${PROJECT_VERSION_FULL}
-           FW_VERSION=${PROJECT_VERSION}
-           FW_VERSION_SUFFIX=${PROJECT_VERSION_SUFFIX}
-           FW_VERSION_SUFFIX_SHORT=${PROJECT_VERSION_SUFFIX_SHORT}
-  )
 if(NOT CMAKE_CROSSCOMPILING)
+  # do not build the firmware by default (tests are the focus if not crosscompiling)
+  set_target_properties(firmware PROPERTIES EXCLUDE_FROM_ALL YES)
+
   enable_testing()
   add_subdirectory(tests)
 endif()

src/CMakeLists.txt

@@ -0,0 +1,19 @@
+target_sources(
+  firmware
+  PRIVATE main.cpp
+)
+
+set_property(
+  SOURCE src/version.c
+  APPEND
+  PROPERTY COMPILE_DEFINITIONS
+  FW_BUILD_NUMBER=${BUILD_NUMBER}
+  FW_VERSION_FULL=${PROJECT_VERSION_FULL}
+  FW_VERSION=${PROJECT_VERSION}
+  FW_VERSION_SUFFIX=${PROJECT_VERSION_SUFFIX}
+  FW_VERSION_SUFFIX_SHORT=${PROJECT_VERSION_SUFFIX_SHORT}
+)
+
+add_subdirectory(hal)
+add_subdirectory(logic)
+add_subdirectory(modules)

src/hal/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  firmware PRIVATE avr/cpu.cpp avr/usart.cpp avr/shr16.cpp avr/eeprom.cpp avr/tmc2130.cpp adc.cpp
+  )

src/hal/circular_buffer.h

@@ -1,10 +1,6 @@
 #pragma once
-
-#include <stdint.h>
 #include <stddef.h>
-#ifndef __AVR__
+#include "../limits.h"
-#include <limits>
-#endif
 
 /// A generic circular index class which can be used to build circular buffers
 /// Can hold up to size elements
@@ -15,10 +11,8 @@
 template <typename index_t = uint_fast8_t, index_t size = 16>
 class CircularIndex {
 public:
-#ifndef __AVR__
     static_assert(size <= std::numeric_limits<index_t>::max() / 2,
         "index_t is too small for the requested size");
-#endif
 
     constexpr inline CircularIndex()
         : tail(0)

src/limits.h

@@ -0,0 +1,23 @@
+#pragma once
+#ifndef __AVR__
+#include <limits>
+#else
+
+// A minimal std::numeric_limits for platforms that lack one
+#include <stddef.h>
+#include <stdint.h>
+
+namespace std {
+
+template <typename T>
+class numeric_limits;
+
+template <>
+class numeric_limits<uint8_t> {
+public:
+    static constexpr size_t max() { return UINT8_MAX; }
+};
+
+} // namespace std
+
+#endif

src/logic/CMakeLists.txt

@@ -0,0 +1,14 @@
+target_sources(
+  firmware
+  PRIVATE
+  command_base.cpp
+  cut_filament.cpp
+  eject_filament.cpp
+  feed_to_bondtech.cpp
+  feed_to_finda.cpp
+  load_filament.cpp
+  no_command.cpp
+  tool_change.cpp
+  unload_filament.cpp
+  unload_to_finda.cpp
+)

src/modules/CMakeLists.txt

@@ -0,0 +1,17 @@
+target_sources(
+  firmware
+  PRIVATE protocol.cpp
+          buttons.cpp
+          debouncer.cpp
+          finda.cpp
+          fsensor.cpp
+          globals.cpp
+          idler.cpp
+          leds.cpp
+          motion.cpp
+          permanent_storage.cpp
+          selector.cpp
+          timebase.cpp
+          user_input.cpp
+          pulse_gen.cpp
+  )

tests/integration/CMakeLists.txt

@@ -1 +0,0 @@
-#

tests/unit/CMakeLists.txt

@@ -1,10 +1,6 @@
 # first, let's create a symbolic target for all tests
 add_custom_target(tests)
 
-# this had a reason on the Buddy FW, but on the AVR we cannot get close to having 16bit ints and
-# pointers so the unit tests may be compiled 64bit afterall set(CMAKE_C_FLAGS -m32)
-# set(CMAKE_CXX_FLAGS -m32)
-
 # include catch_discover_tests function from Catch2
 include(${Catch2_SOURCE_DIR}/contrib/Catch.cmake)
 
@@ -21,6 +17,9 @@ endfunction()
 add_executable(system_tests ${CMAKE_CURRENT_SOURCE_DIR}/system_test.cpp)
 add_catch_test(system_tests)
 
+set(MODULES_STUBS_DIR ${CMAKE_SOURCE_DIR}/tests/unit/modules/stubs)
+set(LOGIC_STUBS_DIR ${CMAKE_SOURCE_DIR}/tests/unit/logic/stubs)
+
 # now, include all the unit tests; they should add themselves using the add_catch_test function
 add_subdirectory(hal)
 add_subdirectory(logic)

tests/unit/logic/cut_filament/CMakeLists.txt

@@ -1,29 +1,29 @@
 # define the test executable
 add_executable(
   cut_filament_tests
-  ../../../../src/logic/cut_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/cut_filament.cpp
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/logic/unload_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
-  ../../../../src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_cut_filament.cpp
   )
 

tests/unit/logic/eject_filament/CMakeLists.txt

@@ -1,30 +1,29 @@
 # define the test executable
 add_executable(
   eject_filament_tests
-  ../../../../src/logic/eject_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/eject_filament.cpp
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/logic/unload_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
-  ../../../../src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
-  ../stubs/stub_motion.cpp
   test_eject_filament.cpp
   )
 

tests/unit/logic/feed_to_bondtech/CMakeLists.txt

@@ -1,26 +1,26 @@
 # define the test executable
 add_executable(
   feed_to_bondtech_tests
-  ../../../../src/logic/feed_to_bondtech.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_bondtech.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_feed_to_bondtech.cpp
   )
 

tests/unit/logic/feed_to_finda/CMakeLists.txt

@@ -1,26 +1,26 @@
 # define the test executable
 add_executable(
   feed_to_finda_tests
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_feed_to_finda.cpp
   )
 

tests/unit/logic/load_filament/CMakeLists.txt

@@ -1,28 +1,28 @@
 # define the test executable
 add_executable(
   load_filament_tests
-  ../../../../src/logic/feed_to_bondtech.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_bondtech.cpp
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/logic/load_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/load_filament.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_load_filament.cpp
   )
 

tests/unit/logic/tool_change/CMakeLists.txt

@@ -1,31 +1,31 @@
 # define the test executable
 add_executable(
   tool_change_tests
-  ../../../../src/logic/feed_to_bondtech.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_bondtech.cpp
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/logic/load_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/load_filament.cpp
-  ../../../../src/logic/tool_change.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/tool_change.cpp
-  ../../../../src/logic/unload_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
-  ../../../../src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_tool_change.cpp
   )
 

tests/unit/logic/unload_filament/CMakeLists.txt

@@ -1,28 +1,28 @@
 # define the test executable
 add_executable(
   unload_filament_tests
-  ../../../../src/logic/feed_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/feed_to_finda.cpp
-  ../../../../src/logic/unload_filament.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_filament.cpp
-  ../../../../src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_unload_filament.cpp
   )
 

tests/unit/logic/unload_to_finda/CMakeLists.txt

@@ -1,26 +1,26 @@
 # define the test executable
 add_executable(
   unload_to_finda_tests
-  ../../../../src/logic/unload_to_finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/logic/unload_to_finda.cpp
-  ../../../../src/modules/buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp
-  ../../../../src/modules/debouncer.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
-  ../../../../src/modules/finda.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/finda.cpp
-  ../../../../src/modules/fsensor.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/fsensor.cpp
-  ../../../../src/modules/globals.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/globals.cpp
-  ../../../../src/modules/idler.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/idler.cpp
-  ../../../../src/modules/leds.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp
-  ../../../../src/modules/permanent_storage.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/permanent_storage.cpp
-  ../../../../src/modules/selector.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/selector.cpp
-  ../../../../src/modules/user_input.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/user_input.cpp
-  ../../../../src/modules/pulse_gen.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/pulse_gen.cpp
-  ../../modules/stubs/stub_adc.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp
-  ../../modules/stubs/stub_eeprom.cpp
+  ${MODULES_STUBS_DIR}/stub_eeprom.cpp
-  ../../modules/stubs/stub_gpio.cpp
+  ${MODULES_STUBS_DIR}/stub_gpio.cpp
-  ../../modules/stubs/stub_shr16.cpp
+  ${MODULES_STUBS_DIR}/stub_shr16.cpp
-  ../../modules/stubs/stub_timebase.cpp
+  ${MODULES_STUBS_DIR}/stub_timebase.cpp
-  ../../modules/stubs/stub_tmc2130.cpp
+  ${MODULES_STUBS_DIR}/stub_tmc2130.cpp
-  ../stubs/main_loop_stub.cpp
+  ${LOGIC_STUBS_DIR}/main_loop_stub.cpp
-  ../stubs/stub_motion.cpp
+  ${LOGIC_STUBS_DIR}/stub_motion.cpp
   test_unload_to_finda.cpp
   )
 

tests/unit/modules/buttons/CMakeLists.txt

@@ -1,7 +1,8 @@
 # define the test executable
 add_executable(
-  buttons_tests ../../../../src/modules/buttons.cpp ../../../../src/modules/debouncer.cpp
+  buttons_tests
-                ../stubs/stub_adc.cpp ../stubs/stub_timebase.cpp test_buttons.cpp
+  ${CMAKE_SOURCE_DIR}/src/modules/buttons.cpp ${CMAKE_SOURCE_DIR}/src/modules/debouncer.cpp
+  ${MODULES_STUBS_DIR}/stub_adc.cpp ${MODULES_STUBS_DIR}/stub_timebase.cpp test_buttons.cpp
   )
 
 # define required search paths

tests/unit/modules/leds/CMakeLists.txt

@@ -1,7 +1,7 @@
 # define the test executable
 add_executable(
-  leds_tests ../../../../src/modules/leds.cpp ../stubs/stub_shr16.cpp ../stubs/stub_timebase.cpp
+  leds_tests ${CMAKE_SOURCE_DIR}/src/modules/leds.cpp ${MODULES_STUBS_DIR}/stub_shr16.cpp
-             test_leds.cpp
+             ${MODULES_STUBS_DIR}/stub_timebase.cpp test_leds.cpp
   )
 
 # define required search paths

tests/unit/modules/protocol/CMakeLists.txt

@@ -1,5 +1,5 @@
 # define the test executable
-add_executable(protocol_tests ../../../../src/modules/protocol.cpp test_protocol.cpp)
+add_executable(protocol_tests ${CMAKE_SOURCE_DIR}/src/modules/protocol.cpp test_protocol.cpp)
 
 # define required search paths
 target_include_directories(protocol_tests PUBLIC ${CMAKE_SOURCE_DIR}/src/modules)

utils/bootstrap.py

@@ -45,11 +45,13 @@ dependencies = {
         },
     },
     'gcc-avr': {
-        'version': '5.4.0',
+        # dummy placeholder (currently downloading cmake just for the sake of a valid url/zip archive)
+        # ... we truly need the binaries! :)
+        'version': '0.0.0',
         'url': {
-            'Linux': 'https://xxxarmkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2',
+            'Linux': 'https://github.com/Kitware/CMake/releases/download/v3.15.5/cmake-3.15.5-Linux-x86_64.tar.gz',
-            'Windows': 'https://xxxarmkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-win32.zip',
+            'Windows': 'https://github.com/Kitware/CMake/releases/download/v3.15.5/cmake-3.15.5-win64-x64.zip',
-            'Darwin': 'https://xxxarmkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-mac.tar.bz2',
+            'Darwin': 'https://github.com/Kitware/CMake/releases/download/v3.15.5/cmake-3.15.5-Darwin-x86_64.tar.gz',
         }
     },
     'clang-format': {
@@ -61,7 +63,7 @@ dependencies = {
         }
     },
 }
-pip_dependencies = ['ecdsa', 'polib']
+pip_dependencies = []
 # yapf: enable
 
 

utils/build.py

@@ -61,31 +61,6 @@ def get_dependency(name):
         return install_dir
 
 
-class Printer(Enum):
-    """Represents the -DPRINTER CMake option."""
-
-    MMU = 'MMU'
-
-
-#class Bootloader(Enum):
-#    """Represents the -DBOOTLOADER CMake option."""
-#
-#    NO = 'NO'
-#    EMPTY = 'EMPTY'
-#    YES = 'YES'
-#
-#    @property
-#    def file_component(self):
-#        if self == Bootloader.NO:
-#            return 'NOBOOT'
-#        elif self == Bootloader.EMPTY:
-#            return 'EMPTYBOOT'
-#        elif self == Bootloader.YES:
-#            return 'BOOT'
-#        else:
-#            raise NotImplementedError
-
-
 class BuildType(Enum):
     """Represents the -DCONFIG CMake option."""
 
@@ -93,15 +68,6 @@ class BuildType(Enum):
     RELEASE = 'RELEASE'
 
 
-#class HostTool(Enum):
-#    """Known host tools."""
-#
-#    png2font = "png2font"
-#    bin2cc = "bin2cc"
-#    hex2dfu = "hex2dfu"
-#    makefsdata = "makefsdata"
-
-
 class BuildConfiguration(ABC):
     @abstractmethod
     def get_cmake_cache_entries(self):
@@ -121,14 +87,12 @@ class BuildConfiguration(ABC):
 
 class FirmwareBuildConfiguration(BuildConfiguration):
     def __init__(self,
-                 printer: Printer,
                  build_type: BuildType,
                  toolchain: Path = None,
                  generator: str = None,
                  version_suffix: str = None,
                  version_suffix_short: str = None,
                  custom_entries: List[str] = None):
-        self.printer = printer
         self.build_type = build_type
         self.toolchain = toolchain or FirmwareBuildConfiguration.default_toolchain(
         )
@@ -139,8 +103,7 @@ class FirmwareBuildConfiguration(BuildConfiguration):
 
     @staticmethod
     def default_toolchain() -> Path:
-        return Path(
+        return Path(__file__).resolve().parent.parent / 'cmake/AnyAvrGcc.cmake'
-            __file__).resolve().parent.parent / 'cmake/AnyAvrGcc.cmake'
 
     def get_cmake_cache_entries(self):
         entries = []
@@ -149,7 +112,6 @@ class FirmwareBuildConfiguration(BuildConfiguration):
                             str(get_dependency('ninja'))))
         entries.extend([
             ('CMAKE_MAKE_PROGRAM', 'FILEPATH', str(get_dependency('ninja'))),
-            ('PRINTER', 'STRING', self.printer.value),
             ('CMAKE_TOOLCHAIN_FILE', 'FILEPATH', str(self.toolchain)),
             ('CMAKE_BUILD_TYPE', 'STRING', self.build_type.value.title()),
             ('PROJECT_VERSION_SUFFIX', 'STRING', self.version_suffix or ''),
@@ -170,7 +132,6 @@ class FirmwareBuildConfiguration(BuildConfiguration):
     @property
     def name(self):
         components = [
-            self.printer.name,
             self.build_type.value,
         ]
         return '_'.join(components)
@@ -178,7 +139,6 @@ class FirmwareBuildConfiguration(BuildConfiguration):
 
 class BuildResult:
     """Represents a result of an attempt to build the project."""
-
     def __init__(self, config_returncode: int, build_returncode: Optional[int],
                  stdout: Path, stderr: Path, products: List[Path]):
         self.config_returncode = config_returncode
@@ -281,7 +241,6 @@ def store_products(products: List[Path], build_config: BuildConfiguration,
 
 def list_of(EnumType):
     """Create an argument-parser for comma-separated list of values of some Enum subclass."""
-
     def convert(val):
         if val == '':
             return []
@@ -305,12 +264,6 @@ def cmake_cache_entry(arg):
 def main():
     parser = argparse.ArgumentParser()
     # yapf: disable
-    parser.add_argument(
-        '--printer',
-        type=list_of(Printer),
-        default=list(Printer),
-        help='Printer type (default: {default}).'.format(
-            default=','.join(str(p.value.lower()) for p in Printer)))
     parser.add_argument(
         '--build-type',
         type=list_of(BuildType),
@@ -348,12 +301,6 @@ def main():
         '--toolchain',
         type=Path,
         help='Path to a CMake toolchain file to be used.')
-    parser.add_argument(
-        '--host-tools',
-        action='store_true',
-        help=('Build host tools (png2font and others). '
-              'Turned on by default with --generate-cproject only.')
-    )
     parser.add_argument(
         '--no-build',
         action='store_true',
@@ -388,13 +335,11 @@ def main():
     # prepare configurations
     configurations = [
         FirmwareBuildConfiguration(
-            printer=printer,
             build_type=build_type,
             version_suffix=args.version_suffix,
             version_suffix_short=args.version_suffix_short,
             generator=args.generator,
-            custom_entries=args.cmake_def) for printer in args.printer
+            custom_entries=args.cmake_def) for build_type in args.build_type
-        for build_type in args.build_type
     ]
 
     # build everything

utils/holly/Dockerfile

@@ -0,0 +1,9 @@
+FROM gcc:11.1
+RUN apt-get clean && \
+    apt-get update -qq -y && \
+    apt-get install curl python3 python3-pip libncurses5 -y
+RUN pip3 install pre-commit ecdsa
+WORKDIR /work
+ADD utils/bootstrap.py bootstrap.py
+RUN gcc --version
+RUN python3 bootstrap.py

utils/holly/Jenkinsfile

@@ -0,0 +1,117 @@
+pipeline {
+    agent {
+        dockerfile {
+            label 'docker'
+            filename 'utils/holly/Dockerfile'
+            additionalBuildArgs '-t prusa-firmware-mmu'
+        }
+    }
+
+    parameters {
+        string(name: 'VERSION_SUFFIX', defaultValue: '<default>', description: 'Specify custom version suffix for the build (e.g. "-RC1+1010"). Set to "<default>" to use the default one. Leave empty to make a final-version build without any suffix.')
+        string(name: 'VERSION_SUFFIX_SHORT', defaultValue: '<default>', description: 'Specify custom version suffix for the build (e.g. "-RC1"). Set to "<default>" to use the default one. Leave empty to make a final-version build without any suffix.')
+    }
+
+    stages {
+        stage('Prepare Build Stages') {
+            steps {
+                script {
+                    // required configurations
+                    def configurations = [
+                        [build_type: "release"],
+                    ]
+
+                    // prepare version suffix
+                    def commit_nr = sh(script: 'git rev-list HEAD --count', returnStdout: true).trim()
+                    def short_suffix
+                    def full_suffix
+                    if (env.CHANGE_ID) {
+                        // This is a PR build
+                        short_suffix = "-BETA+${commit_nr}"
+                        full_suffix = "${short_suffix}.PR${env.CHANGE_ID}.B${env.BUILD_NUMBER}"
+                    } else if (env.BRANCH_NAME.startsWith("RELEASE-")) {
+                        // This is an RC build
+                        short_suffix = "-RC+${commit_nr}"
+                        full_suffix = "${short_suffix}.B${env.BUILD_NUMBER}"
+                    } else {
+                        // This is build of an ordinary branch (not a release branch)
+                        short_suffix = "-BETA+${commit_nr}"
+                        def branch_spec = env.BRANCH_NAME.replaceAll("_", "-")
+                        full_suffix = "${short_suffix}.BRANCH-${branch_spec}.B${env.BUILD_NUMBER}"
+                    }
+
+                    if (params.VERSION_SUFFIX != '<default>') {
+                        full_suffix = params.VERSION_SUFFIX
+                    }
+                    if (params.VERSION_SUFFIX_SHORT != '<default>') {
+                        short_suffix = params.VERSION_SUFFIX_SHORT
+                    }
+
+                    // create the build stages
+                    configurations.each { config ->
+                        stage("Build - ${config.build_type}") {
+                            catchError(buildResult: 'FAILURE', stageResult: 'FAILURE') {
+                                sh """
+                                    exit 0 # temporarily disable building (as we don't have avr-gcc in dependencies)
+                                    ln -fs /.dependencies
+                                    python3 utils/build.py \
+                                        --build-type ${config.build_type} \
+                                        --generate-bbf \
+                                        --generate-dfu \
+                                        --no-store-output \
+                                        --version-suffix=${full_suffix} \
+                                        --version-suffix-short=${short_suffix} \
+                                        -DCUSTOM_COMPILE_OPTIONS:STRING=-Werror
+                                """
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        stage('Check Formatting') {
+            when {
+                expression { env.CHANGE_TARGET }
+            }
+            steps {
+                sh """
+                export XDG_CACHE_HOME=\$PWD/.precommit
+                pre-commit install
+                pre-commit run \
+                    --source remotes/origin/${env.CHANGE_TARGET} \
+                    --origin HEAD \
+                    --show-diff-on-failure \
+                    --hook-stage manual
+                """
+            }
+        }
+
+        stage('Test') {
+            steps {
+                sh """
+                python3 utils/bootstrap.py
+                export PATH=\$PWD/.dependencies/cmake-3.15.5/bin:\$PWD/.dependencies/ninja-1.9.0:\$PATH
+                mkdir -p build-test
+                LD_LIBRARY_PATH=/usr/local/lib32 \$PWD/.dependencies/cmake-3.15.5/bin/ctest --build-and-test . build-test \
+                    -DCMAKE_MAKE_PROGRAM=\$PWD/.dependencies/ninja-1.9.0/ninja \
+                    --build-generator Ninja \
+                    --build-target tests \
+                    --test-command ctest
+                """
+            }
+        }
+    }
+
+    post {
+        always {
+            // archive build products
+            //archiveArtifacts artifacts: 'build/products/*', fingerprint: true
+            // archive test products
+            archiveArtifacts artifacts: 'build-test/Testing/Temporary/LastTest.log'
+        }
+        cleanup {
+            deleteDir()
+        }
+    }
+}