[cmake] Enhanced the build system so that the aspis passes are applied more generally to two libraries

After the optimization passes, the bitcode generated is compiled for the appropriate target and with the c++ compilation flags with clang++.
The compiled object file is then archived in a static library with llvm-ar.
Finally, to create the library in cmake we create an imported library, link it with the miosix interface library and add all the options of boardcore libraries.
Finally is created the alias library Skyward::Boardcore::${BOARD_NAME}

Now it builds all, executes passes and generates the libboardcore-lib-stm32f767zi_compute_unit.a library BUT inside it there isn't in any form the content of out-stm32f767zi_compute_unit.bc

WARNING: It still generates the output:
[100%] Linking CXX executable test-aspis
CMakeFiles/test-aspis.dir/src/tests/aspis/test-aspis.cpp.o: file not recognized: file format not recognized
clang++: error: ld.lld command failed with exit code 1 (use -v to see invocation)

[SBS] Updated cmake to test build a static library instead of an executable and build also if build system finds clang++

[HIL] Fixed namespace issues, formatting in HILSensor print, cppcheck issues and turned printf in TRACEs

In general the framework now is a lot more versatile since the application specific structures are passed as templates.

[HIL]
- HIL accepts a pointer to the HILTransceiver and HILPhasesManager objects and manages their insertion, start and stop just by interacting with the HIL instance.
- HIL now exposes a method to wait until the simulation started (first packet from simulator is received).
- HIL now is an Active Object. The run method implements the periodic setting of the ActuatorData through an updateActuatorData function passed in the constructor.

[HILTransceiver]
- HILTransceiver now is templated on the flightPhases flags, SimulatorData and ActuatorData
- HILTransceiver now extends a base class to perform type erasure and get more easily the class from ModuleManager
- HILTransceiver now has an internal variable to store the number of lost updates
- HILTransceiver now has a PrintLogger
- HILTransceiver::getSensorData now returns a constant pointer since the values of the sensorData struct shouldn't be changed outside of this class

[HILPhasesManager]
- HILPhasesManager now is templated on the flightPhases flags, SimulatorData and ActuatorData
- HILPhasesManager now extends a base class to perform type erasure and get more easily the class from ModuleManager
- HILPhasesManager is now a virtual class. Every simulation should create its own HILPhasesManager implementing the methods processFlags, printOutcomes, handleEvent, updateSimulatorFlags

[HILSensor]
- HILSensor now is templated on HILSensorData (the structure the sensor outputs), SimulatorSensorData (the structure the simulator sends), N_DATA (the number of samples the simulator sends).
- As a constructor parameter, a pointer to a SimulatorSensorData
- Using the PrintLogger
- Every particular HILSensor implements his SimulatorData structure (e.g. AccelerometerSimulatorData), which is templated on the N_DATA parameter

[HILSimulationConfig]
- Implemented an example of implementation of the HIL components
- Created a types to simplify usage of the HIL framework

WARNING! Not compiling. Useful only for reference on the changes done on the framework wrt before

Niccolò Betto authored 1 year ago and Davide Mor committed 1 year ago

This commit drops support for using more than 3 USART ports with our STM
Serial Miosix wrapper. Our driver should be used in cases where more
than 3 ports are needed.

Niccolò Betto authored 1 year ago and Davide Mor committed 1 year ago

Also fix some cppcheck warnings.

Alberto Nidasio authored 1 year ago and Davide Mor committed 1 year ago

This commit upgrades Miosix to version 2.7, and moves BSPs definitions
outside of the Miosix tree and into the Boardcore repository. Link
groups have also been fixed. Miosix Host and MxGui dependencies have
also been updated in order to support BSPs outside the kernel tree.