build(ci): Select build mode and artifact suffix by version

Dockerfile.build_firmware

@@ -7,26 +7,34 @@ RUN --mount=type=bind,target=/src,source=.,readonly \
     set -euo pipefail; \
     mkdir -p /output; \
     LIBRMCS_PROJECT_VERSION="$(.scripts/generate_version)"; \
+    LIBRMCS_DEBUG_ASSERTS=1; \
+    FIRMWARE_CMAKE_PRESET=debug; \
+    LIBRMCS_ARTIFACT_SUFFIX=-debug; \
+    if [[ "${LIBRMCS_PROJECT_VERSION}" =~ ^[0-9]+(\.[0-9]+)*$ ]]; then \
+        LIBRMCS_DEBUG_ASSERTS=0; \
+        FIRMWARE_CMAKE_PRESET=release; \
+        LIBRMCS_ARTIFACT_SUFFIX=; \
+    fi; \
     for board in rmcs_board; do \
         for variant in pro lite; do \
             build_dir="/tmp/build-${board}-${variant}"; \
             artifact_name="${board}-${variant}"; \
-            cmake --preset release -S "firmware/${board}" -B "${build_dir}" -DBOARD="${variant}"; \
+            cmake --preset "${FIRMWARE_CMAKE_PRESET}" -S "firmware/${board}" -B "${build_dir}" -DBOARD="${variant}" -DLIBRMCS_DEBUG_ASSERTS="${LIBRMCS_DEBUG_ASSERTS}"; \
             cmake --build "${build_dir}"; \
             cp "${build_dir}/bootloader/output/rmcs_board_bootloader.elf" \
-                "/output/librmcs-bootloader-${artifact_name}.elf"; \
+                "/output/librmcs-bootloader-${artifact_name}${LIBRMCS_ARTIFACT_SUFFIX}.elf"; \
             cp "${build_dir}/app/output/rmcs_board_app.dfu" \
-                "/output/librmcs-firmware-${artifact_name}-${LIBRMCS_PROJECT_VERSION}.dfu"; \
+                "/output/librmcs-firmware-${artifact_name}-${LIBRMCS_PROJECT_VERSION}${LIBRMCS_ARTIFACT_SUFFIX}.dfu"; \
         done; \
     done; \
     for board in c_board; do \
         build_dir="/tmp/build-${board}"; \
-        cmake --preset release -S "firmware/${board}" -B "${build_dir}"; \
+        cmake --preset "${FIRMWARE_CMAKE_PRESET}" -S "firmware/${board}" -B "${build_dir}" -DLIBRMCS_DEBUG_ASSERTS="${LIBRMCS_DEBUG_ASSERTS}"; \
         cmake --build "${build_dir}"; \
         cp "${build_dir}/bootloader/${board}_bootloader.elf" \
-            "/output/librmcs-bootloader-${board}.elf"; \
+            "/output/librmcs-bootloader-${board}${LIBRMCS_ARTIFACT_SUFFIX}.elf"; \
         cp "${build_dir}/app/${board}_app.dfu" \
-            "/output/librmcs-firmware-${board}-${LIBRMCS_PROJECT_VERSION}.dfu"; \
+            "/output/librmcs-firmware-${board}-${LIBRMCS_PROJECT_VERSION}${LIBRMCS_ARTIFACT_SUFFIX}.dfu"; \
     done
 
 FROM scratch AS output

Dockerfile.build_sdk

@@ -9,6 +9,7 @@ cmake_minimum_required(VERSION 3.28)
 project(librmcs_wrapper VERSION 3 LANGUAGES C CXX)
 set(LIBRMCS_PROJECT_VERSION "__LIBRMCS_PROJECT_VERSION_PLACEHOLDER__")
 set(LIBRMCS_DEBIAN_VERSION "__LIBRMCS_DEBIAN_VERSION_PLACEHOLDER__")
+set(LIBRMCS_DEBUG_ASSERTS __LIBRMCS_DEBUG_ASSERTS_PLACEHOLDER__)
 add_subdirectory(host)
 EOF
 
@@ -25,26 +26,39 @@ WORKDIR /src-full
 RUN --mount=type=bind,target=/src-full,source=.,readonly \
     LIBRMCS_PROJECT_VERSION=$(.scripts/generate_version) \
     && LIBRMCS_DEBIAN_VERSION=$(.scripts/generate_version --format debian) \
-    && echo "LIBRMCS_PROJECT_VERSION=${LIBRMCS_PROJECT_VERSION}" >> /env.sh \
-    && echo "LIBRMCS_DEBIAN_VERSION=${LIBRMCS_DEBIAN_VERSION}" >> /env.sh \
+    && LIBRMCS_DEBUG_ASSERTS=1 \
+    && SDK_CMAKE_PRESET=linux-debug \
+    && LIBRMCS_ARTIFACT_SUFFIX=-debug \
+    && if [[ "${LIBRMCS_PROJECT_VERSION}" =~ ^[0-9]+(\.[0-9]+)*$ ]]; then \
+        LIBRMCS_DEBUG_ASSERTS=0; \
+        SDK_CMAKE_PRESET=linux-release; \
+        LIBRMCS_ARTIFACT_SUFFIX=; \
+    fi \
+    && printf 'LIBRMCS_PROJECT_VERSION=%s\n' "${LIBRMCS_PROJECT_VERSION}" >> /env.sh \
+    && printf 'LIBRMCS_DEBIAN_VERSION=%s\n' "${LIBRMCS_DEBIAN_VERSION}" >> /env.sh \
+    && printf 'LIBRMCS_DEBUG_ASSERTS=%s\n' "${LIBRMCS_DEBUG_ASSERTS}" >> /env.sh \
+    && printf 'SDK_CMAKE_PRESET=%s\n' "${SDK_CMAKE_PRESET}" >> /env.sh \
+    && printf 'LIBRMCS_ARTIFACT_SUFFIX=%s\n' "${LIBRMCS_ARTIFACT_SUFFIX}" >> /env.sh \
     && cp -r core host LICENSE /src \
     && sed -i "s/__LIBRMCS_PROJECT_VERSION_PLACEHOLDER__/${LIBRMCS_PROJECT_VERSION}/g" \
         /src/CMakeLists.txt \
     && sed -i "s/__LIBRMCS_DEBIAN_VERSION_PLACEHOLDER__/${LIBRMCS_DEBIAN_VERSION}/g" \
+        /src/CMakeLists.txt \
+    && sed -i "s/__LIBRMCS_DEBUG_ASSERTS_PLACEHOLDER__/${LIBRMCS_DEBUG_ASSERTS}/g" \
         /src/CMakeLists.txt
 
 WORKDIR /output
 
 RUN source /env.sh \
     && if [ "${WITH_SOURCE}" = "true" ]; then \
-        SDK_SRC_NAME=librmcs-sdk-src-${LIBRMCS_PROJECT_VERSION}; \
+        SDK_SRC_NAME=librmcs-sdk-src-${LIBRMCS_PROJECT_VERSION}${LIBRMCS_ARTIFACT_SUFFIX}; \
         cp -r /src ${SDK_SRC_NAME}; \
         zip -r ${SDK_SRC_NAME}.zip ${SDK_SRC_NAME}; \
         rm -rf ${SDK_SRC_NAME}; \
     fi
 
 RUN source /env.sh \
-    && cmake --preset linux-release -DBUILD_STATIC_LIBRMCS=OFF -B build /src \
+    && cmake --preset "${SDK_CMAKE_PRESET}" -DBUILD_STATIC_LIBRMCS=OFF -B build /src \
     && cmake --build build \
     && cd build && cpack -G DEB && cd .. \
     && mv build/*.deb . \

core/src/utility/assert.hpp

@@ -4,7 +4,11 @@
 #include <type_traits>
 #include <utility>
 
-#ifndef NDEBUG
+#ifndef LIBRMCS_DEBUG_ASSERTS
+# error "LIBRMCS_DEBUG_ASSERTS must be defined"
+#endif
+
+#if LIBRMCS_DEBUG_ASSERTS
 # include <functional>
 #endif
 
@@ -19,11 +23,11 @@ namespace librmcs::core::utility {
 
 [[noreturn]] inline void
     assert_failed_debug(const std::source_location& location = std::source_location::current()) {
-#ifdef NDEBUG
+#if LIBRMCS_DEBUG_ASSERTS
+    assert_func(location);
+#else
     (void)location;
     std::unreachable();
-#else
-    assert_func(location);
 #endif
 }
 
@@ -35,23 +39,23 @@ constexpr void assert_always(
 
 constexpr void assert_debug(
     bool condition, const std::source_location& location = std::source_location::current()) {
-#ifdef NDEBUG
+#if LIBRMCS_DEBUG_ASSERTS
+    assert_always(condition, location);
+#else
     [[assume(condition)]];
     (void)location;
-#else
-    assert_always(condition, location);
 #endif
 }
 
 // Debug-only lazy assertion: The predicate is evaluated only in debug builds.
 template <typename Condition>
 requires std::is_nothrow_invocable_r_v<bool, Condition&&> inline void assert_debug_lazy(
     Condition&& condition, const std::source_location& location = std::source_location::current()) {
-#ifdef NDEBUG
-    (void)condition;
-    (void)location;
-#else
+#if LIBRMCS_DEBUG_ASSERTS
     assert_always(static_cast<bool>(std::invoke(std::forward<Condition>(condition))), location);
+#else
+    (void)std::forward<Condition>(condition);
+    (void)location;
 #endif
 }
 

core/src/utility/stack_allocator.hpp

@@ -86,10 +86,10 @@ class BasicStackAllocator<true> : private BasicStackAllocator<false> {
     std::size_t lifo_check_depth_ = 0;
 };
 
-#ifdef NDEBUG
-using StackAllocator = BasicStackAllocator<false>;
-#else
+#if LIBRMCS_DEBUG_ASSERTS
 using StackAllocator = BasicStackAllocator<true>;
+#else
+using StackAllocator = BasicStackAllocator<false>;
 #endif
 
 } // namespace librmcs::core::utility

firmware/c_board/CMakeLists.txt

@@ -49,6 +49,7 @@ function(c_board_apply_target_options target linker_file)
 
     target_compile_definitions(${target} PRIVATE
         LIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}"
+        LIBRMCS_DEBUG_ASSERTS=${LIBRMCS_DEBUG_ASSERTS}
         $<$<CONFIG:Release>:NDEBUG>
     )
 

firmware/c_board/bootloader/src/utility/assert.hpp

@@ -1,5 +1,9 @@
 #pragma once
 
+#ifndef LIBRMCS_DEBUG_ASSERTS
+# error "LIBRMCS_DEBUG_ASSERTS must be defined"
+#endif
+
 namespace librmcs::firmware::utility {
 
 [[noreturn, gnu::always_inline]] inline void assert_failed_always() { __builtin_trap(); }
@@ -10,10 +14,10 @@ namespace librmcs::firmware::utility {
 }
 
 [[gnu::always_inline]] inline void assert_debug(bool condition) {
-#ifdef NDEBUG
-    [[assume(condition)]];
-#else
+#if LIBRMCS_DEBUG_ASSERTS
     assert_always(condition);
+#else
+    [[assume(condition)]];
 #endif
 }
 

firmware/c_board/cmake/gcc-arm-none-eabi.cmake

@@ -27,9 +27,9 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
 set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections")
 
-set(CMAKE_C_FLAGS_DEBUG "-Og -g3")
+set(CMAKE_C_FLAGS_DEBUG "-O3 -g3")
 set(CMAKE_C_FLAGS_RELEASE "-O3 -g0")
-set(CMAKE_CXX_FLAGS_DEBUG "-Og -g3")
+set(CMAKE_CXX_FLAGS_DEBUG "-O3 -g3")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g0")
 
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")

firmware/common/cmake/librmcs_firmware.cmake

@@ -31,6 +31,19 @@ function(librmcs_setup_project_context)
         )
     endif()
 
+    set(debug_asserts "${LIBRMCS_DEBUG_ASSERTS}")
+    if("${debug_asserts}" STREQUAL "")
+        string(TOLOWER "${CMAKE_BUILD_TYPE}" build_type_lower)
+        if(build_type_lower STREQUAL "release")
+            set(debug_asserts 0)
+        else()
+            set(debug_asserts 1)
+        endif()
+    endif()
+    if(NOT "${debug_asserts}" STREQUAL "0" AND NOT "${debug_asserts}" STREQUAL "1")
+        message(FATAL_ERROR "LIBRMCS_DEBUG_ASSERTS must be 0 or 1")
+    endif()
+
     set(source_path_map "${SOURCE_PATH_MAP}")
     if(HOST_DEBUGGER AND "${source_path_map}" STREQUAL "")
         if(DEFINED ENV{HOST_WORKSPACE_FOLDER} AND NOT "$ENV{HOST_WORKSPACE_FOLDER}" STREQUAL "")
@@ -53,9 +66,11 @@ function(librmcs_setup_project_context)
     endif()
 
     message(STATUS "Librmcs project version: ${project_version}")
+    message(STATUS "Librmcs debug asserts: ${debug_asserts}")
 
     set(LIBRMCS_PROJECT_ROOT "${project_root}" PARENT_SCOPE)
     set(LIBRMCS_PROJECT_VERSION "${project_version}" PARENT_SCOPE)
+    set(LIBRMCS_DEBUG_ASSERTS "${debug_asserts}" PARENT_SCOPE)
     set(LIBRMCS_SOURCE_PATH_MAP "${source_path_map}" PARENT_SCOPE)
     set(LIBRMCS_SOURCE_PATH_MAP_COMPILE_OPTIONS "${prefix_map_compile_options}" PARENT_SCOPE)
 endfunction()

firmware/rmcs_board/CMakeLists.txt

@@ -39,6 +39,7 @@ function(add_rmcs_board_subbuild target_name source_subdir)
         -DHOST_DEBUGGER=${HOST_DEBUGGER}
         -DSOURCE_PATH_MAP=${LIBRMCS_SOURCE_PATH_MAP}
         -DLIBRMCS_PROJECT_VERSION=${LIBRMCS_PROJECT_VERSION}
+        -DLIBRMCS_DEBUG_ASSERTS=${LIBRMCS_DEBUG_ASSERTS}
     )
     if(CMAKE_MAKE_PROGRAM)
         list(APPEND configure_args -DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM})

firmware/rmcs_board/app/CMakeLists.txt

@@ -53,10 +53,11 @@ if(LIBRMCS_SOURCE_PATH_MAP_COMPILE_OPTIONS)
 endif()
 
 if(CMAKE_BUILD_TYPE STREQUAL "debug")
-    sdk_compile_options(-Og)
+    sdk_compile_options(-O3)
 endif()
 
 sdk_compile_definitions(-DLIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}")
+sdk_compile_definitions(-DLIBRMCS_DEBUG_ASSERTS=${LIBRMCS_DEBUG_ASSERTS})
 sdk_compile_definitions(-DCFG_TUSB_MCU=OPT_MCU_HPM)
 sdk_compile_definitions(-DUSB_HOST_MCU_CORE=HPM_CORE0)
 

firmware/rmcs_board/bootloader/CMakeLists.txt

@@ -47,7 +47,7 @@ if(LIBRMCS_SOURCE_PATH_MAP_COMPILE_OPTIONS)
 endif()
 
 if(CMAKE_BUILD_TYPE STREQUAL "debug")
-    sdk_compile_options(-Og)
+    sdk_compile_options(-O3)
 endif()
 
 if(NOT "${BOARD_BOOTLOADER_MODE}" STREQUAL "auto"
@@ -62,6 +62,7 @@ else()
 endif()
 
 sdk_compile_definitions(-DLIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}")
+sdk_compile_definitions(-DLIBRMCS_DEBUG_ASSERTS=${LIBRMCS_DEBUG_ASSERTS})
 sdk_compile_definitions(-DCFG_TUSB_MCU=OPT_MCU_HPM)
 sdk_compile_definitions(-DUSB_HOST_MCU_CORE=HPM_CORE0)
 sdk_compile_definitions(-DLIBRMCS_BOOTLOADER_MODE_AUTO=${bootloader_mode_auto})

firmware/rmcs_board/bootloader/src/utility/assert.hpp

@@ -1,5 +1,9 @@
 #pragma once
 
+#ifndef LIBRMCS_DEBUG_ASSERTS
+# error "LIBRMCS_DEBUG_ASSERTS must be defined"
+#endif
+
 namespace librmcs::firmware::utility {
 
 [[noreturn, gnu::always_inline]] inline void assert_failed_always() { __builtin_trap(); }
@@ -10,10 +14,10 @@ namespace librmcs::firmware::utility {
 }
 
 [[gnu::always_inline]] inline void assert_debug(bool condition) {
-#ifdef NDEBUG
-    [[assume(condition)]];
-#else
+#if LIBRMCS_DEBUG_ASSERTS
     assert_always(condition);
+#else
+    [[assume(condition)]];
 #endif
 }
 

host/CMakeLists.txt

@@ -14,6 +14,17 @@ if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
 endif()
 message(STATUS "Librmcs project version: ${LIBRMCS_PROJECT_VERSION}")
 
+if(DEFINED LIBRMCS_DEBUG_ASSERTS AND NOT LIBRMCS_DEBUG_ASSERTS STREQUAL "")
+    if(NOT LIBRMCS_DEBUG_ASSERTS STREQUAL "0" AND NOT LIBRMCS_DEBUG_ASSERTS STREQUAL "1")
+        message(FATAL_ERROR "LIBRMCS_DEBUG_ASSERTS must be 0 or 1")
+    endif()
+    set(librmcs_debug_asserts_definition "LIBRMCS_DEBUG_ASSERTS=${LIBRMCS_DEBUG_ASSERTS}")
+    message(STATUS "Librmcs debug asserts: ${LIBRMCS_DEBUG_ASSERTS}")
+else()
+    set(librmcs_debug_asserts_definition "LIBRMCS_DEBUG_ASSERTS=$<IF:$<OR:$<CONFIG:Release>,$<CONFIG:RelWithDebInfo>,$<CONFIG:MinSizeRel>>,0,1>")
+    message(STATUS "Librmcs debug asserts: per-config")
+endif()
+
 # Set C++ standard to C++23
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
@@ -68,6 +79,7 @@ else()
 endif()
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE LIBRMCS_PROJECT_VERSION_STRING="${LIBRMCS_PROJECT_VERSION}")
+target_compile_definitions(${PROJECT_NAME} PRIVATE ${librmcs_debug_asserts_definition})
 target_compile_definitions(${PROJECT_NAME} PRIVATE BUILDING_LIBRMCS)
 
 target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../core/include)
@@ -161,7 +173,14 @@ if(UNIX AND NOT APPLE)
     set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
 
     string(TOLOWER "${CMAKE_BUILD_TYPE}" PACKAGE_BUILD_MODE)
-    set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${LIBRMCS_PROJECT_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}-${PACKAGE_BUILD_MODE}")
+    if(PACKAGE_BUILD_MODE STREQUAL "release"
+        OR PACKAGE_BUILD_MODE STREQUAL "relwithdebinfo"
+        OR PACKAGE_BUILD_MODE STREQUAL "minsizerel")
+        set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${LIBRMCS_PROJECT_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+    else()
+        set(CPACK_PACKAGE_FILE_NAME
+            "${PROJECT_NAME}-${LIBRMCS_PROJECT_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}-${PACKAGE_BUILD_MODE}")
+    endif()
     set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/../LICENSE")
 
     include(CPack)