ROS Cross-Compile

CrossToolchain.cmake

#
# Copyright (c) 2016 Alex Richardson
# All rights reserved.
#
# This software was developed by SRI International and the University of
# Cambridge Computer Laboratory under DARPA/AFRL contract FA8750-10-C-0237
# ("CTSRD"), as part of the DARPA CRASH research programme.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.
#
set(CMAKE_SYSTEM_NAME FreeBSD)

set(CMAKE_SYSTEM_VERSION "13.0")
set(CMAKE_SYSTEM_PROCESSOR "CHERI (MIPS IV compatible) with 128-bit capabilities")

if(CMAKE_VERSION VERSION_LESS "3.7")
    message(FATAL_ERROR "This toolchain file requires CMake >= 3.7")
endif()

set(CHERI_SDK_BINDIR "/home/broomstick/cheri/output/sdk/bin")
# Allow compiler dir to be different from toolchain directory (e.g. LLVM build dir)
set(CHERI_COMPILER_BINDIR "/home/broomstick/cheri/output/sdk/bin")
set(CHERIBSD_SYSROOT "/home/broomstick/cheri/output/sdk/sysroot128")
# add the correct --sysroot:
# https://cmake.org/cmake/help/git-master/variable/CMAKE_SYSROOT.html
set(CMAKE_SYSROOT ${CHERIBSD_SYSROOT})


# if("${CMAKE_SYSTEM_NAME}" STREQUAL "Generic")
  set(CMAKE_AR "/home/broomstick/cheri/output/sdk/bin/ar" CACHE FILEPATH "ar")
  set(CMAKE_RANLIB "/home/broomstick/cheri/output/sdk/bin/ranlib" CACHE FILEPATH "ranlib")
# endif()

# specify the cross compiler
set(CMAKE_C_COMPILER "/home/broomstick/cheri/output/sdk/bin/clang")
set(CMAKE_C_COMPILER_TARGET "mips64c128-unknown-freebsd13-purecap")

set(CMAKE_CXX_COMPILER "/home/broomstick/cheri/output/sdk/bin/clang++")
set(CMAKE_CXX_COMPILER_TARGET "mips64c128-unknown-freebsd13-purecap")

set(CMAKE_ASM_COMPILER "/home/broomstick/cheri/output/sdk/bin/clang")
set(CMAKE_ASM_COMPILER_TARGET "mips64c128-unknown-freebsd13-purecap")
# https://gitlab.kitware.com/cmake/cmake/issues/18575
if (CMAKE_VERSION VERSION_LESS "3.13")
    set(CMAKE_ASM_COMPILER_ID "Clang")  # for some reason CMake doesn't detect this automatically
endif()

# FIXME: this doesn't work :(
# strip the version number from the triple to find the binutils
# if ("mips64c128-unknown-freebsd13-purecap" MATCHES "^(.+-freebsd)[0-9]*$")
#    # These variables are used to find the binutils: (See CMakeFindBinUtils.cmake)
#    set(_CMAKE_TOOLCHAIN_PREFIX "${CMAKE_MATCH_1}" CACHE INTERNAL "")
#    message(WARNING _CMAKE_TOOLCHAIN_PREFIX=${_CMAKE_TOOLCHAIN_PREFIX})
#    #set(_CMAKE_TOOLCHAIN_SUFFIX "${CMAKE_MATCH_2}")
#endif()
#include(CMakeFindBinUtils)

set(CHERIBSD_COMMON_FLAGS "-target mips64c128-unknown-freebsd13-purecap -pipe --sysroot=/home/broomstick/cheri/output/sdk/sysroot128 -B/home/broomstick/cheri/output/sdk/bin -integrated-as -G0 -msoft-float -stdlib=libc++ -mcpu=beri -mabi=purecap -mcpu=beri -cheri=128 -cheri-cap-table-abi=pcrel -O0 -Wno-unused-command-line-argument -ggdb -Wall -Werror=cheri-capability-misuse -Werror=implicit-function-declaration -Werror=format -Werror=undefined-internal -Werror=incompatible-pointer-types -Werror=mips-cheri-prototypes -Werror=cheri-bitwise-operations -Werror=pass-failed")
set(CHERIBSD_LINK_FLAGS "-target mips64c128-unknown-freebsd13-purecap -pipe --sysroot=/home/broomstick/cheri/output/sdk/sysroot128 -B/home/broomstick/cheri/output/sdk/bin -integrated-as -G0 -msoft-float -stdlib=libc++ -mcpu=beri -mabi=purecap -mcpu=beri -cheri=128 -cheri-cap-table-abi=pcrel -fuse-ld=/home/broomstick/cheri/output/sdk/bin/ld.lld -Wl,--gdb-index")
# https://cmake.org/cmake/help/git-master/variable/CMAKE_TRY_COMPILE_PLATFORM_VARIABLES.html
set(CMAKE_TRY_COMPILE_PLATFORM_VARIABLES CHERI_SDK_BINDIR CHERIBSD_SYSROOT CHERIBSD_COMMON_FLAGS CHERIBSD_LINK_FLAGS LIB_SUFFIX PKG_CONFIG_USE_CMAKE_PREFIX_PATH)

# CMake 3.7 has new variables that we can use to correctly initialize these flags
# https://cmake.org/cmake/help/git-master/release/3.7.html#variables
set(CMAKE_EXE_LINKER_FLAGS_INIT    "${CHERIBSD_LINK_FLAGS}")
set(CMAKE_SHARED_LINKER_FLAGS_INIT "${CHERIBSD_LINK_FLAGS}")
set(CMAKE_MODULE_LINKER_FLAGS_INIT "${CHERIBSD_LINK_FLAGS}")
# These flags are passed to ar -> not what we want
# set(CMAKE_STATIC_LINKER_FLAGS_INIT "${CHERIBSD_LINK_FLAGS}")
set(CMAKE_C_FLAGS_INIT   "${CHERIBSD_COMMON_FLAGS} ")
set(CMAKE_ASM_FLAGS_INIT "${CHERIBSD_COMMON_FLAGS} ")
set(CMAKE_CXX_FLAGS_INIT "${CHERIBSD_COMMON_FLAGS} ")

if(0)
    # Don't let find modules find .so files
    set(CMAKE_SHARED_LIBRARY_SUFFIX ".a")
    set(CMAKE_FIND_LIBRARY_SUFFIXES ".a")
    set(CMAKE_EXTRA_SHARED_LIBRARY_SUFFIXES ".a")
endif()

# where is the target environment
set(CMAKE_FIND_ROOT_PATH ${CHERIBSD_SYSROOT})
# search in /usr/libcheri for CHERI target

    # cheri libraries are found in /usr/libcheri:
    if("${CMAKE_VERSION}" VERSION_LESS 3.9)
      # message(STATUS "CMAKE < 3.9 HACK to find libcheri libraries")
      # need to create a <sysroot>/usr/lib/cheri -> <sysroot>/usr/libcheri symlink 
      set(CMAKE_LIBRARY_ARCHITECTURE "cheri")
      set(CMAKE_SYSTEM_LIBRARY_PATH "${CMAKE_FIND_ROOT_PATH}/usr/libcheri;${CMAKE_FIND_ROOT_PATH}/usr/local/cheri/lib;${CMAKE_FIND_ROOT_PATH}/usr/local/cheri/libcheri")
    else()
        set(CMAKE_FIND_LIBRARY_CUSTOM_LIB_SUFFIX "cheri")
    endif()
    set(LIB_SUFFIX "cheri" CACHE INTERNAL "")
    
# search for programs in the build host directories
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH FALSE)
# PKG_CONFIG_LIBDIR overrides PKG_CONFIG_PATH
set(PKG_CONFIG_LIBDIR "/home/broomstick/cheri/output/sdk/sysroot128/usr/libcheri/pkgconfig:/home/broomstick/cheri/output/sdk/sysroot128/usr/local/cheri/lib/pkgconfig:/home/broomstick/cheri/output/sdk/sysroot128/usr/local/cheri/libcheri/pkgconfig")
set(ENV{PKG_CONFIG_LIBDIR} "/home/broomstick/cheri/output/sdk/sysroot128/usr/libcheri/pkgconfig:/home/broomstick/cheri/output/sdk/sysroot128/usr/local/cheri/lib/pkgconfig:/home/broomstick/cheri/output/sdk/sysroot128/usr/local/cheri/libcheri/pkgconfig")
set(PKG_CONFIG_SYSROOT_DIR ${CHERIBSD_SYSROOT})
set(ENV{PKG_CONFIG_SYSROOT_DIR} ${CHERIBSD_SYSROOT})
set(PKG_CONFIG_PATH "")
set(ENV{PKG_CONFIG_PATH} "")

# Use -pthread flag https://gitlab.kitware.com/cmake/cmake/issues/16920
set(THREADS_HAVE_PTHREAD_ARG TRUE)

SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

# For some reason ranlib doesn't like our static libraries:
#  /build/ctsrd/sdk256/bin/mips64-unknown-freebsd-ranlib: libcmTC_1737a.a:
#  File format is ambiguous
#  /build/ctsrd/sdk256/bin/mips64-unknown-freebsd-ranlib: Matching formats:
#  elf64-tradbigmips ecoff-bigmips ecoff-littlemips
# As it is not required we can simply use : instead
# set(CMAKE_RANLIB ":")