# Hey Emacs, this is a -*- makefile -*-
#
#   Copyright (C) 2006 Pascal Brisset, Antoine Drouin
#
# This file is part of paparazzi.
#
# paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with paparazzi; see the file COPYING.  If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#

#
# This is the common Makefile for the sim target.
#

# this should not be needed
SRC_ARCH = arch/sim

include $(PAPARAZZI_SRC)/sw/Makefile.ocaml

CC = gcc
SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
PKG = -package glibivy,pprz
LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
SIMSITLML = $(OBJDIR)/simsitl.ml
SITLCMA = $(SIMDIR)/sitl.cma
OPT ?= 2

# Launch with "make Q=''" to get full command display
Q=@

#
# End of configuration part.
#

INCLUDES += -I $(shell $(OCAMLC) -where)

CFLAGS  = -W -Wall
CFLAGS += $(INCLUDES)
CFLAGS += $($(TARGET).CFLAGS)
CFLAGS += $(USER_CFLAGS)
CFLAGS += -fPIC
CFLAGS += -O$(OPT)
CFLAGS += -g
CFLAGS += -std=gnu99
CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)

LDFLAGS		=	-lm

LIBFLAGS = -shared

UNAME = $(shell uname -s)
ifeq ($(UNAME),Darwin)
LIBFLAGS = -dynamiclib -undefined suppress -flat_namespace
endif

# build sim in custom mode for ARM systems for now...
MNAME = $(shell uname -m)
ifneq (,$(findstring arm,$(MNAME)))
SIMSITLCUSTOM=TRUE
endif

ifdef SIMSITLCUSTOM
	CAMLINCLUDES += $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format glibivy)
	CAMLCMAS = unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma
endif


#
# General rules
#

$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
$(TARGET).objso	= $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
$(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)

all compile: $(OBJDIR) $(OBJDIR)/simsitl

$(OBJDIR):
	@echo CREATING object dir $(OBJDIR)
	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)

# shared library of the C autopilot part
# Note: On darwin the file should actually have the .dylib ending but ocamlc
# only assumes that .so files are shared libraries, even though this is only
# correct on linux.
autopilot.so : $($(TARGET).objs)
	@echo BUILD $@
	$(Q)$(CC) $(LIBFLAGS) $^ -o $(OBJDIR)/$@

ifdef SIMSITLCUSTOM
$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
	@echo LD $@
	$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ $(CAMLCMAS) $^
else
$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
	@echo LD $@
	$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
endif


# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
$(SIMSITLML) : $(SIMDIR)/simsitl.ml
	@echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
	@cat $< >> $@

%.s: %.c
	$(CC) $(CFLAGS) -S -o $@ $<

%.s: %.cpp
	$(CC) $(CFLAGS) -S -o $@ $<

$(OBJDIR)/%.s: %.c
	@echo CC $@
	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
	$(CC) $(CFLAGS) -S -o $@ $<

$(OBJDIR)/%.s: %.cpp
	@echo CC $@
	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
	$(CC) $(CFLAGS) -S -o $@ $<

$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
	@echo CC $@
	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<

$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
	@echo CC $@
	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<

.PHONY: all compile

#
# Dependencies
#

DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))

ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif