platformio.ini

;PlatformIO Project Configuration File
;
;   Build options: build flags, source filter
;   Upload options: custom upload port, speed and extra flags
;   Library options: dependencies, extra library storages
;   Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html

; *****************************************************************************
; PlatformIO specific configurations
; *****************************************************************************
[platformio]
default_envs = ConvoyLeaderTarget, ConvoyLeaderSim

extra_configs =
    config/buildmode.ini
    config/hardwareversion.ini
    platformio_override.ini

; ********************************************************************************
; Select native build mode here!
; ********************************************************************************
[mode:selected_native]
#extends = mode:debug_native
#build_flags =
#    ${mode:debug_native.build_flags}

extends = mode:release_native
build_flags =
    ${mode:release_native.build_flags}

; ********************************************************************************
; Select esp32 build mode here!
; ********************************************************************************
[mode:selected_esp32]
extends = mode:debug_log
build_flags =
    ${mode:debug_log.build_flags}

; ********************************************************************************
; Select esp32 hardware version here!
; ********************************************************************************
[target:esp32]
extends = version:V1
build_flags =
    ${version:V1.build_flags}

; *****************************************************************************
; Static check configuration
; *****************************************************************************
[static_check_configuration]
check_tool = cppcheck, clangtidy
check_severity = medium, high
check_patterns =
    include
    src
    lib
check_flags =
    cppcheck: cppcheck: --suppress=*:*/libdeps/* --suppress=*:*lib/Webots/* --suppress=noExplicitConstructor --suppress=unusedFunction --std=c++11
    clangtidy: --header-filter='' --checks=-*,clang-analyzer-*,performance-*,portability-*,readability-uppercase-literal-suffix,readability-redundant-control-flow --warnings-as-errors=-*,clang-analyzer-*,performance-*,portability-*,readability-uppercase-literal-suffix,readability-redundant-control-flow
check_skip_packages = yes

; *****************************************************************************
; PC target environment for Webots simulation.
;
; It is assumed that the environment variable WEBOTS_HOME is set to the
; Webots directory, e.g. WEBOTS_HOME=C:\Users\<user>\AppData\Local\Programs\Webots
; *****************************************************************************
[target:Sim]
platform = native @ ~1.2.1
extends = mode:selected_native
build_flags =
    ${mode:selected_native.build_flags}
    -std=c++11
    -D TRANSPORT_USE_TCP=1
    -D _USE_MATH_DEFINES
    -D TARGET_NATIVE
    -lmosquitto
    -I./lib/Webots/include/c
    -I./lib/Webots/include/cpp
    -L./lib/Webots/lib/controller
    -llibController
lib_deps =
    HALInterfaces
    BlueAndi/ArduinoNative @ ~0.2.2
    HALSim
    Webots
    MainNative
lib_ignore =
    HALTargetCommon
    HALTargetV1
    HALTargetV2
    HALTest
    MainTestNative
extra_scripts =
    ./scripts/webots_launcher.py
    pre:./scripts/add_os_specific_build_flags.py
    pre:./scripts/create_webots_library.py
    pre:./scripts/check_os.py
    post:./scripts/copy_webots_shared_libs.py

; Custom options (https://docs.platformio.org/en/latest/scripting/examples/platformio_ini_custom_options.html)
custom_webots_ip_address = 127.0.0.1 ; IP address of the Webots simulation, which is used for TCP communication
custom_webots_protocol = ipc ; [ipc|tcp] - ipc is faster but only works on the same machine, tcp works also over network
custom_webots_robot_name = ZumoComSystem
custom_webots_robot_serial_rx_channel = 4
custom_webots_robot_serial_tx_channel = 3

; *****************************************************************************
; PC target environment for tests
; *****************************************************************************
[target:Test]
platform = native @ ~1.2.1
build_flags =
    -std=c++11
    -D TARGET_NATIVE
    -D UNIT_TEST
    -D _USE_MATH_DEFINES
lib_deps =
    HALInterfaces
    BlueAndi/ArduinoNative @ ~0.2.2
    HALTest
    Utilities
    bblanchon/ArduinoJson @ ^7.4.2
    MainTestNative
lib_ignore =
    HALSim
    HALTargetCommon
    HALTargetV1
    HALTargetV2
    MainNative
extra_scripts =
    pre:./scripts/add_os_specific_build_flags.py

; *****************************************************************************
; Convoy leader application
; *****************************************************************************
[app:ConvoyLeader]
build_flags =
lib_deps =
    APPConvoyLeader
    Service
    Utilities
    gabryelreyes/SerialMuxProt @ ^2.3.0
    bblanchon/ArduinoJson @ ^7.4.2
    PlatoonService
lib_ignore =
    APPConvoyFollower
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest
    APPTurtle

; *****************************************************************************
; Convoy follower application
; *****************************************************************************
[app:ConvoyFollower]
build_flags =
lib_deps =
    APPConvoyFollower
    Service
    Utilities
    gabryelreyes/SerialMuxProt @ ^2.3.0
    bblanchon/ArduinoJson @ ^7.4.2
    PlatoonService
lib_ignore =
    APPConvoyLeader
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest
    APPTurtle

; *****************************************************************************
; Line follower application
; *****************************************************************************
[app:LineFollower]
build_flags =
lib_deps =
    APPLineFollower
    Service
    Utilities
    gabryelreyes/SerialMuxProt @ ^2.3.0
    bblanchon/ArduinoJson @ ^7.4.2
lib_ignore =
    APPConvoyLeader
    APPConvoyFollower
    APPRemoteControl
    APPSensorFusion
    APPTest
    APPTurtle

; *****************************************************************************
; Remote control application
; *****************************************************************************
[app:RemoteControl]
build_flags =
lib_deps =
    APPRemoteControl
    Service
    Utilities
    gabryelreyes/SerialMuxProt @ ^2.3.0
    bblanchon/ArduinoJson @ ^7.4.2
lib_ignore =
    APPConvoyLeader
    APPConvoyFollower
    APPLineFollower
    APPSensorFusion
    APPTest
    APPTurtle

; *****************************************************************************
; Test application
; *****************************************************************************
[app:Test]
build_flags =
lib_deps =
    APPTest
    Service
    Utilities
lib_ignore =
    APPConvoyLeader
    APPConvoyFollower
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTurtle

; *****************************************************************************
; Sensor Fusion application
; *****************************************************************************
[app:SensorFusion]
build_flags =
lib_deps =
    APPSensorFusion
    hideakitai/ArduinoEigen @ ^0.3.2
    gabryelreyes/SerialMuxProt @ ^2.3.0
    bblanchon/ArduinoJson @ ^7.4.2
lib_ignore =
    APPConvoyLeader
    APPConvoyFollower
    APPLineFollower
    APPRemoteControl
    APPTest
    APPTurtle

; *****************************************************************************
; Turtle application
; *****************************************************************************
[app:Turtle]
build_flags =
lib_deps =
    APPTurtle
    Service
    Utilities
    bblanchon/ArduinoJson @ ^7.4.2
    gabryelreyes/SerialMuxProt @ ^2.3.0
lib_ignore =
    APPConvoyLeader
    APPConvoyFollower
    APPLineFollower
    APPRemoteControl
    APPSensorFusion
    APPTest

; *****************************************************************************
; Convoy leader application on target
; *****************************************************************************
[env:ConvoyLeaderTarget]
extends = target:esp32, app:ConvoyLeader, static_check_configuration
build_flags =
    ${target:esp32.build_flags}
    ${app:ConvoyLeader.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:ConvoyLeader.lib_deps}
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:ConvoyLeader.lib_ignore}
extra_scripts =
    ${target:esp32.extra_scripts}

; *****************************************************************************
; Convoy leader application on simulation
; *****************************************************************************
[env:ConvoyLeaderSim]
extends = target:Sim, app:ConvoyLeader, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:ConvoyLeader.build_flags}
lib_deps =
    ${target:Sim.lib_deps}
    ${app:ConvoyLeader.lib_deps}
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:ConvoyLeader.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}

; *****************************************************************************
; Convoy follower application on target
; *****************************************************************************
[env:ConvoyFollowerTarget]
extends = target:esp32, app:ConvoyFollower, static_check_configuration
build_flags =
    ${target:esp32.build_flags}
    ${app:ConvoyFollower.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:ConvoyFollower.lib_deps}
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:ConvoyFollower.lib_ignore}
extra_scripts =
    ${target:esp32.extra_scripts}

; *****************************************************************************
; Convoy follower application on simulation
; *****************************************************************************
[env:ConvoyFollowerSim]
extends = target:Sim, app:ConvoyFollower, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:ConvoyFollower.build_flags}
lib_deps =
    ${target:Sim.lib_deps}
    ${app:ConvoyFollower.lib_deps}
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:ConvoyFollower.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}

; *****************************************************************************
; Line follower application on simulation
; *****************************************************************************
[env:LineFollowerSim]
extends = target:Sim, app:LineFollower, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:LineFollower.build_flags}
lib_deps =
    ${target:Sim.lib_deps}
    ${app:LineFollower.lib_deps}
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:LineFollower.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}

; *****************************************************************************
; Line follower application on target
; *****************************************************************************
[env:LineFollowerTarget]
extends = target:esp32, app:LineFollower, static_check_configuration
build_flags =
    ${target:esp32.build_flags}
    ${app:LineFollower.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:LineFollower.lib_deps}
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:LineFollower.lib_ignore}
extra_scripts =
    ${target:esp32.extra_scripts}

; *****************************************************************************
; Remote Control application on simulation
; *****************************************************************************
[env:RemoteControlSim]
extends = target:Sim, app:RemoteControl, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:RemoteControl.build_flags}
lib_deps =
    ${target:Sim.lib_deps}
    ${app:RemoteControl.lib_deps}
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:RemoteControl.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}

; *****************************************************************************
; Remote Control application on target
; *****************************************************************************
[env:RemoteControlTarget]
extends = target:esp32, app:RemoteControl, static_check_configuration
build_flags =
    ${target:esp32.build_flags}
    ${app:RemoteControl.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:RemoteControl.lib_deps}
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:RemoteControl.lib_ignore}
extra_scripts =
    ${target:esp32.extra_scripts}

; *****************************************************************************
; Sensor Fusion application on simulation
; *****************************************************************************
[env:SensorFusionSim]
extends = target:Sim, app:SensorFusion, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:SensorFusion.build_flags}
lib_deps =
    ${target:Sim.lib_deps}
    ${app:SensorFusion.lib_deps}
    hideakitai/ArduinoEigen @ ^0.3.2
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:SensorFusion.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}
lib_compat_mode = off

; *****************************************************************************
; Sensor Fusion application on target
; *****************************************************************************
[env:SensorFusionTarget]
extends = target:esp32, app:SensorFusion, static_check_configuration
build_flags =
    ${target:esp32.build_flags}
    ${app:SensorFusion.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:SensorFusion.lib_deps}
    hideakitai/ArduinoEigen @ ^0.3.2
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:SensorFusion.lib_ignore}
extra_scripts =
    ${target:esp32.extra_scripts}

; *****************************************************************************
; PC target environment for tests
; *****************************************************************************
[env:Test]
extends = target:Test, app:Test, static_check_configuration
build_flags =
    ${target:Test.build_flags}
    ${app:Test.build_flags}
lib_deps =
    ${target:Test.lib_deps}
    ${app:Test.lib_deps}
lib_ignore =
    ${target:Test.lib_ignore}
    ${app:Test.lib_ignore}
extra_scripts =
    ${target:Test.extra_scripts}

; *****************************************************************************
; Turtle application on target
; *****************************************************************************
[env:TurtleTarget]
extends = target:esp32, app:Turtle, static_check_configuration
board_microros_transport = custom
build_flags =
    ${target:esp32.build_flags}
    ${app:Turtle.build_flags}
lib_deps =
    ${target:esp32.lib_deps}
    ${app:Turtle.lib_deps}
    https://github.com/gabryelreyes/micro_ros_platformio
lib_ignore =
    ${target:esp32.lib_ignore}
    ${app:Turtle.lib_ignore}
    libmicroros
extra_scripts =
    ${target:esp32.extra_scripts}


; *****************************************************************************
; Turtle application on simulation
; *****************************************************************************
[env:TurtleSim]
extends = target:Sim, app:Turtle, static_check_configuration
build_flags =
    ${target:Sim.build_flags}
    ${app:Turtle.build_flags}
    -I./lib/libmicroros/include
    -L./lib/libmicroros
    -llibmicroros
lib_deps =
    ${target:Sim.lib_deps}
    ${app:Turtle.lib_deps}
    UDPNative
    WiFiNative
    libmicroros
lib_ignore =
    ${target:Sim.lib_ignore}
    ${app:Turtle.lib_ignore}
extra_scripts =
    ${target:Sim.extra_scripts}