From a928f30e2fdcda85aa1651ec26383d63d243abed Mon Sep 17 00:00:00 2001
From: Alexander Bushnev <Alexander@Bushnev.pro>
Date: Mon, 2 Dec 2024 17:06:27 +0100
Subject: [PATCH] Reorganize CMakeLists

---
 CMakeLists.txt                     | 13 ++++++++-----
 examples/rpi_pico_w/CMakeLists.txt | 24 +++++++++++++++++-------
 src/system/rpi_pico_w/network.c    |  1 +
 3 files changed, 26 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91b9ed774..146b9f182 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -91,8 +91,10 @@ if(CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
     add_compile_options(-pipe -O3)
   endif()
 else()
-  if(UNIX)
-    add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
+  if(CMAKE_SYSTEM_NAME MATCHES "PICO")
+	add_compile_options(-c -Wall -Wextra -Wno-unused -Wno-strict-prototypes -pipe -g -O0)
+  elseif(UNIX)
+	add_compile_options(-c -Wall -Wextra -Werror -Wshadow -Wunused -Wstrict-prototypes -pipe -g -O0)
     # C99 pedantic doesn't like struct anonymous in unix header
     if (NOT CMAKE_C_STANDARD STREQUAL "99")
       add_compile_options(-Wpedantic)
@@ -159,7 +161,7 @@ if (NOT CMAKE_BUILD_TYPE MATCHES "RELEASE" OR "Release")
   set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
 endif()
 
-#set(CHECK_THREADS "ON")
+set(CHECK_THREADS "ON")
 
 # System definition
 if(CMAKE_SYSTEM_NAME MATCHES "Linux")
@@ -182,9 +184,10 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
     pico_add_compile_definition(ZENOH_ZEPHYR)
   elseif(WITH_FREERTOS_PLUS_TCP)
     pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
-elseif(WITH_RPI_PICO_W)
-	pico_add_compile_definition(ZENOH_RPI_PICO_W)
   endif()
+elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pico
+  pico_add_compile_definition(ZENOH_RPI_PICO_W)
+  set(CHECK_THREADS "OFF")
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
   return()
diff --git a/examples/rpi_pico_w/CMakeLists.txt b/examples/rpi_pico_w/CMakeLists.txt
index b39470c7a..5c5517825 100644
--- a/examples/rpi_pico_w/CMakeLists.txt
+++ b/examples/rpi_pico_w/CMakeLists.txt
@@ -1,21 +1,27 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(CMAKE_C_STANDARD 11)
+
+# Include Raspberry Pico SDK
 set(PICO_BOARD "pico_w")
 if(NOT DEFINED ENV{PICO_SDK_PATH})
     message(FATAL_ERROR "PICO_SDK_PATH environment variable is not set. Please set it to the location of the Pico SDK.")
 endif()
 include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
 
+# Include FreeRTOS SDK
 include(FreeRTOS_Kernel_import.cmake)
 
-include(../../cmake/helpers.cmake)
-set_default_build_type(Release)
+# Ignore warnings from FreeRTOS code
+set_source_files_properties(
+    ${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/include/portmacro.h
+    PROPERTIES
+    COMPILE_OPTIONS "-Wno-strict-prototypes"
+)
 
+# Configure project
 project(zenohpico_rpi_pico_w_examples C CXX ASM)
 
-set(CMAKE_SYSTEM_NAME "Generic")
-set(CMAKE_C_STANDARD 11)
-
 add_compile_definitions(LWIP_TIMEVAL_PRIVATE=0)
 pico_sdk_init()
 
@@ -25,11 +31,13 @@ add_executable(zenohpico_rpi_pico_w_examples main.c app_main.c)
 pico_enable_stdio_usb(zenohpico_rpi_pico_w_examples 1)
 pico_enable_stdio_uart(zenohpico_rpi_pico_w_examples 1)
 
+# Include Zenoh Pico library
+include(../../cmake/helpers.cmake)
+set_default_build_type(Release)
+
 set(BUILD_SHARED_LIBS OFF)
 set(WITH_RPI_PICO_W ON)
 set(ZENOH_DEBUG 5)
-#add_compile_options(-Wno-strict-prototypes)
-#add_compile_options(-Wno-pragmas)
 configure_include_project(ZENOHPICO zenohpico zenohpico::lib "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
 
 target_link_libraries(zenohpico_static
@@ -38,6 +46,7 @@ target_link_libraries(zenohpico_static
 	FreeRTOS-Kernel-Heap4
 )
 
+# Configure build  
 target_include_directories(zenohpico_static PRIVATE 
 	${CMAKE_CURRENT_LIST_DIR}
 	${CMAKE_CURRENT_LIST_DIR}/..
@@ -60,3 +69,4 @@ target_link_libraries(zenohpico_rpi_pico_w_examples
 )
 
 pico_add_extra_outputs(zenohpico_rpi_pico_w_examples)
+
diff --git a/src/system/rpi_pico_w/network.c b/src/system/rpi_pico_w/network.c
index aaf5fc29f..2eccea503 100644
--- a/src/system/rpi_pico_w/network.c
+++ b/src/system/rpi_pico_w/network.c
@@ -203,6 +203,7 @@ z_result_t _z_listen_udp_unicast(_z_sys_net_socket_t *sock, const _z_sys_net_end
     (void)sock;
     (void)lep;
     (void)tout;
+    z_result_t ret = _Z_RES_OK;
 
     // @TODO: To be implemented
     ret = _Z_ERR_GENERIC;