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CFILEEXT:=cpp
# Make sure we're using a compiler (we probably don't need to define
# it but we have been so here it is unless it was already set)
ifndef CXX
CXX=g++
endif
BARECXXFLAGS:=-fPIC -g -Wall -D_REENTRANT #-pg -fprofile-arcs
CXXFLAGS+=$(BARECXXFLAGS) -fno-exceptions
CXXINC:=-I../include -Iinclude
CXXLINK:=-L../lib -lAria -lArNetworking -lpthread -ldl -lrt \
-Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic
CXXSTATICLINK:=-L../lib -Xlinker -Bstatic -lArNetworking -lAria -Xlinker -Bdynamic -lpthread -ldl -lrt -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic
ifdef JAVA_BIN
JAVAC:=$(JAVA_BIN)/javac
JAR:=$(JAVA_BIN)/jar
else
JAVAC:=javac
JAR:=jar
endif
CFILES:= \
ArCentralManager.cpp \
ArCentralForwarder.cpp \
ArClientBase.cpp \
ArClientData.cpp \
ArClientHandlerConfig.cpp \
ArClientFileUtils.cpp \
ArClientSimpleConnector.cpp \
ArClientSwitchManager.cpp \
ArClientArgUtils.cpp \
ArHybridForwarderVideo.cpp \
ArMapChanger.cpp \
ArNetPacket.cpp \
ArNetPacketReceiverUdp.cpp \
ArNetPacketReceiverTcp.cpp \
ArNetPacketSenderTcp.cpp \
ArServerBase.cpp \
ArServerClient.cpp \
ArServerData.cpp \
ArServerFileUtils.cpp \
ArServerHandlerCamera.cpp \
ArServerHandlerCameraCollection.cpp \
ArServerHandlerCommands.cpp \
ArServerHandlerCommMonitor.cpp \
ArServerHandlerConfig.cpp \
ArServerHandlerMap.cpp \
ArServerHandlerMapping.cpp \
ArServerHandlerPopup.cpp \
ArServerMode.cpp \
ArServerModeDrive.cpp \
ArServerModeIdle.cpp \
ArServerModeRatioDrive.cpp \
ArServerModeStop.cpp \
ArServerModeWander.cpp \
ArServerInfoDrawings.cpp \
ArServerInfoRobot.cpp \
ArServerInfoSensor.cpp \
ArServerInfoStrings.cpp \
ArServerSimpleCommands.cpp \
ArServerSimpleOpener.cpp \
ArServerUserInfo.cpp \
ArTempDirectoryHelper.cpp \
md5.cpp
OTFILES:=$(patsubst %.$(CFILEEXT),%.o,$(CFILES))
OFILES:=$(patsubst %,../obj/%,$(OTFILES))
TARGETS:=../lib/libArNetworking.so examples
EXAMPLES_CPP:=$(shell find examples -name "*.$(CFILEEXT)" | grep -v Mod.cpp)
EXAMPLES:=$(patsubst %.$(CFILEEXT),%,$(EXAMPLES_CPP)) $(patsubst %.$(CFILEEXT),%Static,$(EXAMPLES_CPP))
TESTS_CPP:=$(shell find tests -name "*.$(CFILEEXT)" | grep -v Mod.cpp)
TESTS:=$(patsubst %.$(CFILEEXT),%,$(TESTS_CPP))
SRC_FILES:=$(patsubst %,src/%,$(CFILES))
HEADER_FILES:=$(shell find include -type f -name \*.h)
all: dirs $(TARGETS)
dirs:
@mkdir -p -v ../obj
@mkdir -p -v ../lib
../lib/libArNetworking.so: $(OFILES) ../lib/libAria.so Makefile.dep
@mkdir -p -v ../obj
@mkdir -p -v ../lib
$(CXX) -shared -Xlinker -Bstatic -lstdc++ -Xlinker -Bdynamic -o $(@) $(OFILES)
../lib/libArNetworking.a: $(OFILES) ../lib/libAria.a Makefile.dep
@mkdir -p -v ../obj
@mkdir -p -v ../lib
ar -cr $(@) $(OFILES)
ranlib $(@)
examples: dirs $(EXAMPLES) Makefile.dep
tests: dirs $(TESTS) Makefile.dep
clean: cleanExamples
rm -f ../lib/libArNetworking.so ../lib/libArNetworking.a \
`find . -name core` $(OFILES) `find . -name '*~'`
rm -f genCommandLineOptionDocs
cleanPython:
-rm ../python/_ArNetworkingPy.so
-rm ../python/ArNetworkingPy.py
-rm ../python/ArNetworkingPy.pyc
-rm ../python/ArNetworkingPy_wrap.cpp
-rm ../python/ArNetworkingPy_wrap.h
-rm ../obj/ArNetworkingPy_wrap.o
cleanExamples:
rm -f $(EXAMPLES)
cleanDoc:
find docs/ -path docs/figures -prune -o -type d \! -name docs -exec rm -rf \{\} +
find docs/ -path docs/figures -prune -o \! -name docs -execdir rm \{\} +
fullClean: clean cleanExamples cleanJava cleanPython cleanDoc
docs: doc
doc: docs/index.html
docs/index.html: $(SRC_FILES) $(HEADER_FILES) $(EXAMPLES_CPP) doxygen.conf docs/options/all_options.dox ../docs/index.html
$(MAKE) cleanDoc
-mkdir docs
doxygen doxygen.conf
../docs/index.html: FORCE
$(MAKE) -C .. docs/index.html
#doxygen.conf: FORCE
# $(MAKE) -C .. ArNetworking/$@
#
#CommandLineOptions.txt: FORCE
# $(MAKE) -C .. ArNetworking/$@
Makefile.dep:
$(MAKE) dep
dep: clean
if [ -f `echo src/*.cpp | cut -d' ' -f1` ]; then \
$(CXX) $(CXXFLAGS) $(CXXINC) -MM src/*.cpp | \
awk '$$1 ~ /:/{printf "../obj/%s\n", $$0} $$1 !~ /:/' > Makefile.dep; fi
if [ -f `echo examples/*.cpp | cut -d' ' -f1` ]; then \
$(CXX) $(CXXFLAGS) $(CXXINC) -MM examples/*.cpp | \
awk '$$1 ~ /:/{printf "examples/%s\n", $$0} $$1 !~ /:/' | \
sed 's/\.o//' >> Makefile.dep; fi
../lib/libAria.so: FORCE
$(MAKE) -C .. dirs lib/libAria.so
../lib/libAria.a: FORCE
$(MAKE) -C .. dirs lib/libAria.a
../obj/%.o : src/%.cpp Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) -c $< -o $@
../obj/%.o : src/%.c Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) -c $< -o $@
# Don't build .o files if their library is up to date with respect to source files:
.INTERMEDIATE: $(OFILES)
# But don't delete .o files if we do make them in order to make a library:
.PRECIOUS: $(OFILES)
examples/%: examples/%.$(CFILEEXT) ../lib/libAria.so ../lib/libArNetworking.so Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) $< -o $@ $(CXXLINK)
tests/%: tests/%.$(CFILEEXT) ../lib/libAria.so ../lib/libArNetworking.so Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) $< -o $@ $(CXXLINK)
examples/%Static: examples/%.$(CFILEEXT) ../lib/libAria.a ../lib/libArNetworking.a Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) $< -o $@ $(CXXSTATICLINK)
strip $@
tests/%Static: tests/%.$(CFILEEXT) ../lib/libAria.a ../lib/libArNetworking.a Makefile.dep
$(CXX) $(CXXFLAGS) $(CXXINC) $< -o $@ $(CXXSTATICLINK)
strip $@
CommandLineOptions.txt.in docs/options/all_options.dox: genCommandLineOptionDocs
-mkdir docs/options
LD_LIBRARY_PATH=../lib ./genCommandLineOptionDocs
genCommandLineOptionDocs: ../utils/genCommandLineOptionDocs.cpp ../lib/libAria.so ../lib/libArNetworking.so src/ArServerSimpleOpener.cpp src/ArClientSimpleConnector.cpp src/ArClientSwitchManager.cpp
$(CXX) $(CXXFLAGS) -DFOR_ARNETWORKING $(CXXINC) $< -o $@ $(CXXLINK)
## Python SWIG wrapper ##
ifdef PYTHON_INCLUDE
PYTHON_INCLUDE_FLAGS=-I$(PYTHON_INCLUDE)
else
ifdef DIST_INSTALL
$(warning WARNING using default value of /usr/include/python2.5 for PYTHON_INCLUDE directory. Set PYTHON_INCLUDE environment variable if you would like to use a different version of the Python C development library to build the Python ARIA wrapper.)
endif
PYTHON_INCLUDE:=/usr/include/python2.5
PYTHON_INCLUDE_FLAGS=-I/usr/include/python2.5
endif
python: ariaPython ../python/_ArNetworkingPy.so
ariaPython:
$(MAKE) -C .. python
../python/ArNetworkingPy_wrap.cpp ../python/ArNetworkingPy.py: include/wrapper.i $(HEADER_FILES)
cd ../python; swig -c++ -python -module ArNetworkingPy -Dlinux -DAREXPORT -o ArNetworkingPy_wrap.cpp -I../include -I../ArNetworking/include ../ArNetworking/include/wrapper.i
../python/_ArNetworkingPy.so: ../obj/ArNetworkingPy_wrap.o ../lib/libArNetworking.so Makefile.dep
$(CXX) $(BARECXXFLAGS) -shared -o $(@) ../obj/ArNetworkingPy_wrap.o -lpthread -ldl -lrt \
-L../lib -lAria -lArNetworking
../obj/ArNetworkingPy_wrap.o: ../python/ArNetworkingPy_wrap.cpp
@ if test -z "$(PYTHON_INCLUDE)"; then echo "*** Error: PYTHON_INCLUDE is not set, cannot build ArNetworking python wrapper! ***"; exit 1; fi
$(CXX) -c $(BARECXXFLAGS) -g $(CXXINC) -I$(PYTHON_INCLUDE) $< -o $@
## Java SWIG wrapper ##
java: ../lib/libArNetworkingJava.so ../java/ArNetworking.jar
../java/Aria.jar:
$(MAKE) -C .. java
../java/ArNetworking.jar: ../java/com/mobilerobots/ArNetworking/ArServerBase.class
cd ../java ; $(JAR) cf ArNetworking.jar com/mobilerobots/ArNetworking/*.class
../java/ArNetworkingJava_wrap.cpp ../java/com/mobilerobots/ArNetworking/ArServerBase.java: include/wrapper.i $(HEADER_FILES)
-mkdir -p ../java/com/mobilerobots/ArNetworking
rm ../java/com/mobilerobots/ArNetworking/*.java ../java/ArNetworkingJava_wrap.cpp ../java/ArNetworkingJava_wrap.h ; swig -c++ -java -package com.mobilerobots.ArNetworking -outdir ../java/com/mobilerobots/ArNetworking -module ArNetworkingJava -Dlinux -DAREXPORT -o ../java/ArNetworkingJava_wrap.cpp -I../include -Iinclude include/wrapper.i
../java/com/mobilerobots/ArNetworking/ArServerBase.class: ../java/com/mobilerobots/ArNetworking/ArServerBase.java ../java/Aria.jar
rm ../java/com/mobilerobots/ArNetworking/*.class; $(JAVAC) -classpath ../java/Aria.jar:../java ../java/com/mobilerobots/ArNetworking/*.java
cleanJava:
-rm ../java/ArNetworking.jar
-rm -r ../java/com/mobilerobots/ArNetworking
-rm ../java/ArNetworkingJava_wrap.* ../obj/ArNetworkingJava_wrap.o ../lib/libArNetworkingJava.so
../lib/libArNetworkingJava.so: ../obj/ArNetworkingJava_wrap.o Makefile.dep ../lib/libArNetworking.so
$(CXX) $(BARECXXFLAGS) -shared -o $(@) ../obj/ArNetworkingJava_wrap.o -lpthread -ldl -lrt -L../lib -lAria -lArNetworking
../obj/ArNetworkingJava_wrap.o: ../java/ArNetworkingJava_wrap.cpp
@ if test -z "$(JAVA_INCLUDE)"; then echo "*** Error: JAVA_INCLUDE is not set, building ArNetworkingPy_wrap.cpp will probably fail! ***"; fi
$(CXX) -c $(BARECXXFLAGS) $(CXXINC) -I$(JAVA_INCLUDE) -I$(JAVA_INCLUDE)/linux $< -o $@
FORCE:
# Just see if there is a Makefile.dep, if so include one... there
# should be one because of the rules up in the command line parsing
# part above
ifeq (Makefile.dep,$(wildcard Makefile.dep))
include Makefile.dep
# End of the Makefile.dep check
endif
|
