Merge branch 'ocamlfind_no_custom'

- Use findlib (ocamlfind) for ocaml packages.
- Create META file for pprz ocaml lib.
- Link dynamically instead of statically (no -custom), which also results in faster build times.
- Use mktemp to properly create temporary files.
- More makefile cleanup...

closes #274

.gitignore

@@ -118,6 +118,7 @@
 /sw/lib/ocaml/expr_parser.mli
 /sw/lib/ocaml/gtk_papget_led_editor.ml
 /sw/lib/ocaml/expr_lexer.ml
+/sw/lib/ocaml/META.pprz
 
 # /sw/logalizer/
 /sw/logalizer/plot

Makefile

@@ -45,6 +45,14 @@ OCAML=$(shell which ocaml)
 OCAMLRUN=$(shell which ocamlrun)
 BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
 
+# default mktemp in OS X doesn't work, use gmktemp with macports coreutils
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+else
+	MKTEMP = mktemp
+endif
+
 #
 # define some paths
 #
@@ -57,6 +65,7 @@ MULTIMON=sw/ground_segment/multimon
 COCKPIT=sw/ground_segment/cockpit
 TMTC=sw/ground_segment/tmtc
 TOOLS=$(PAPARAZZI_SRC)/sw/tools
+JOYSTICK=sw/ground_segment/joystick
 EXT=sw/ext
 
 #
@@ -92,9 +101,6 @@ ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
 GEN_HEADERS = $(MESSAGES_H) $(MESSAGES2_H) $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(DL_PROTOCOL_H) $(DL_PROTOCOL2_H) $(ABI_MESSAGES_H)
 
 
-# default directory for temporary files
-TMPDIR ?= /tmp
-
 all: ground_segment ext lpctools
 
 print_build_version:
@@ -111,26 +117,29 @@ conf/%.xml :conf/%.xml.example
 	[ -L $@ ] || [ -f $@ ] || cp $< $@
 
 
-ground_segment: print_build_version update_google_version conf lib subdirs commands static
+ground_segment: print_build_version update_google_version conf libpprz subdirs commands static
 
-static: cockpit tmtc tools sim_static static_h
+static: cockpit tmtc tools sim_static joystick static_h
 
-lib:
+libpprz:
 	$(MAKE) -C $(LIB)/ocaml
 
 multimon:
 	$(MAKE) -C $(MULTIMON)
 
-cockpit: lib
+cockpit: libpprz
 	$(MAKE) -C $(COCKPIT)
 
-tmtc: lib cockpit multimon
+tmtc: libpprz cockpit multimon
 	$(MAKE) -C $(TMTC)
 
-tools: lib
+tools: libpprz
 	$(MAKE) -C $(TOOLS)
 
-sim_static: lib
+joystick: libpprz
+	$(MAKE) -C $(JOYSTICK)
+
+sim_static: libpprz
 	$(MAKE) -C $(SIMULATOR)
 
 ext:
@@ -144,56 +153,70 @@ subdirs: $(SUBDIRS)
 $(SUBDIRS):
 	$(MAKE) -C $@
 
-$(PPRZCENTER): lib
+$(PPRZCENTER): libpprz
 
-$(LOGALIZER): lib
+$(LOGALIZER): libpprz
 
 
 static_h: $(GEN_HEADERS)
 
 $(MESSAGES_H) : $(MESSAGES_XML) tools
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > $(TMPDIR)/msg.h
-	$(Q)mv $(TMPDIR)/msg.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< telemetry > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
 $(MESSAGES2_H) : $(MESSAGES_XML) tools
 	$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > $(TMPDIR)/msg2.h
-	$(Q)mv $(TMPDIR)/msg2.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< telemetry > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
 $(UBX_PROTOCOL_H) : $(UBX_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > $(TMPDIR)/ubx.h
-	$(Q)mv $(TMPDIR)/ubx.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_ubx.out $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 $(MTK_PROTOCOL_H) : $(MTK_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > $(TMPDIR)/mtk.h
-	$(Q)mv $(TMPDIR)/mtk.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_mtk.out $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 $(XSENS_PROTOCOL_H) : $(XSENS_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > $(TMPDIR)/xsens.h
-	$(Q)mv $(TMPDIR)/xsens.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_xsens.out $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 $(DL_PROTOCOL_H) : $(MESSAGES_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > $(TMPDIR)/dl.h
-	$(Q)mv $(TMPDIR)/dl.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages.out $< datalink > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 $(DL_PROTOCOL2_H) : $(MESSAGES_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > $(TMPDIR)/dl2.h
-	$(Q)mv $(TMPDIR)/dl2.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_messages2.out $< datalink > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 $(ABI_MESSAGES_H) : $(MESSAGES_XML) tools
-	@echo BUILD $@
-	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $(TMPDIR)/abi.h
-	$(Q)mv $(TMPDIR)/abi.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(TOOLS)/gen_abi.out $< airborne > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 
 include Makefile.ac
@@ -218,10 +241,10 @@ paparazzi:
 	chmod a+x $@
 
 
-install :
+install: all
 	$(MAKE) -f Makefile.install PREFIX=$(PREFIX)
 
-uninstall :
+uninstall:
 	$(MAKE) -f Makefile.install PREFIX=$(PREFIX) uninstall
 
 
@@ -274,7 +297,7 @@ test: all replace_current_conf_xml run_tests restore_conf_xml
 
 
 .PHONY: all print_build_version update_google_version ground_segment \
-subdirs $(SUBDIRS) conf ext lib multimon cockpit tmtc tools\
+subdirs $(SUBDIRS) conf ext libpprz multimon cockpit tmtc tools\
 static sim_static lpctools commands install uninstall \
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test replace_current_conf_xml run_tests restore_conf_xml

Makefile.ac

@@ -49,6 +49,13 @@ MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
 AUTOPILOT_H=$(AC_GENERATED)/autopilot_core.h
 AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5
 
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+else
+	MKTEMP = mktemp
+endif
+
 # "make Q=''" to get full echo
 Q=@
 
@@ -62,9 +69,6 @@ endif
 # telemetry periodic frequency defaults to 60Hz
 TELEMETRY_FREQUENCY ?= 60
 
-# default directory for temporary files
-TMPDIR ?= /tmp
-
 init:
 	@[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your $(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf $(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p $(PAPARAZZI_HOME)/var/maps; mkdir -p $(PAPARAZZI_HOME)/var/include)
 
@@ -89,56 +93,70 @@ makefile_ac: $(MAKEFILE_AC)
 
 $(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML) $(AIRCRAFT_MD5)
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $(MD5SUM) $< > $(TMPDIR)/airframe.h
-	$(Q)mv $(TMPDIR)/airframe.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_airframe.out $(AC_ID) $(AIRCRAFT) $(MD5SUM) $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 	$(Q)cp $(CONF)/airframes/airframe.dtd $(AIRCRAFT_CONF_DIR)/airframes
 
 $(RADIO_H) : $(CONF)/$(RADIO) $(CONF_XML) $(TOOLS)/gen_radio.out
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_radio.out $< > $(TMPDIR)/radio.h
-	$(Q)mv $(TMPDIR)/radio.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_radio.out $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 	$(Q)cp $< $(AIRCRAFT_CONF_DIR)/radios
 
 $(PERIODIC_H) : $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF_XML) $(CONF)/$(TELEMETRY) $(MAKEFILE_AC)
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
-	$(Q)cp $< $(AIRCRAFT_CONF_DIR)
 	$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry
 
 $(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.out
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_flight_plan.out $< > $(TMPDIR)/$(AC_ID)_fp.h
-	$(Q)mv $(TMPDIR)/$(AC_ID)_fp.h $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_flight_plan.out $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 	$(Q)cp $< $(AIRCRAFT_CONF_DIR)/flight_plans
 
 $(FLIGHT_PLAN_XML) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(TOOLS)/gen_flight_plan.out
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_flight_plan.out -dump $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
 $(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_TELEMETRY) $(TOOLS)/gen_settings.out
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_settings.out $(SETTINGS_XML) $(SETTINGS_TELEMETRY) $(SETTINGS_XMLS) $(SETTINGS_MODULES) > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 	$(Q)cp $(SETTINGS_XMLS) $(AIRCRAFT_CONF_DIR)/settings
 
 $(MODULES_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_modules.out $(CONF)/modules/*.xml
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_modules.out $(SETTINGS_MODULES) $< > $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
 $(AUTOPILOT_H) : $(CONF)/$(AIRFRAME_XML) $(TOOLS)/gen_autopilot.out $(CONF)/autopilot/*.xml
 	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
-	@echo BUILD $@
-	$(Q)$(TOOLS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $@
+	@echo GENERATE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)$(TOOLS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $($@_TMP)
+	$(Q)mv $($@_TMP) $@
 	$(Q)chmod a+r $@
 
 $(SETTINGS_MODULES) : $(MODULES_H)

conf/Makefile.avr

@@ -171,7 +171,7 @@ check_arch :
 	$(Q)if ($(UISP) $(UISP_FLAGS) 2>&1 | tr '[:upper:]' '[:lower:]' | grep $($(TARGET).MCU)); then : ; else echo "Wrong architecture (mcu0 vs mcu1 ?)"; exit 1; fi
 
 avr_clean:
-	rm -rf $(OBJDIR)
+	$(Q)rm -rf $(OBJDIR)
 
 
 #

conf/Makefile.sim

@@ -27,10 +27,13 @@
 # this should not be needed
 SRC_ARCH = arch/sim
 
+include $(PAPARAZZI_SRC)/sw/Makefile.ocaml
+
 CC = gcc
-OCAMLC = ocamlc
 SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
-CAMLINCLUDES = $(shell ocamlfind query -r -i-format lablgtk2) -I $(PAPARAZZI_SRC)/sw/lib/ocaml -I $(SIMDIR) $(shell ocamlfind query -r -i-format xml-light)
+CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
+PKG = -package glibivy,pprz
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
 SIMSITLML = $(OBJDIR)/simsitl.ml
 MYGTKINITCMO = myGtkInit.cmo
 SITLCMA = $(SIMDIR)/sitl.cma
@@ -42,12 +45,20 @@ Q=@
 # End of configuration part.
 #
 
+LBITS := $(shell getconf LONG_BIT)
+ifeq ($(LBITS),64)
+  FPIC = -fPIC
+else
+  FPIC =
+endif
+
 INCLUDES += -I `ocamlc -where`
 
 CFLAGS  = -W -Wall
 CFLAGS += $(INCLUDES)
 CFLAGS += $($(TARGET).CFLAGS)
 CFLAGS += $(LOCAL_CFLAGS)
+CFLAGS += $(FPIC)
 CFLAGS += -O2
 CFLAGS += -g
 CFLAGS += -std=gnu99
@@ -65,10 +76,14 @@ $(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
 
 all compile: $(OBJDIR)/simsitl
 
+# shared library of the C autopilot part
+autopilot.so : $($(TARGET).objs)
+	@echo BUILD $@
+	$(Q)$(CC) -shared -o $(OBJDIR)/$@ $^
 
-$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
+$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
 	@echo LD $@
-	$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma $($(TARGET).objs) $(MYGTKINITCMO) $(SITLCMA) $(SIMSITLML)
+	$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $(MYGTKINITCMO) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
 
 
 # The id of the A/C is hardcoded in the code (to be improved with dynlink ?)

conf/gps/Makefile

@@ -1,11 +1,14 @@
 
+# Quiet compilation
+Q=@
+
 CC=gcc
 MODCFLAGS=-Wall
 
 all:		ublox_conf
 
 clean:
-	rm -f core *.o ublox_conf
+	$(Q)rm -f core *.o ublox_conf
 
 ublox_conf:	ublox_conf.c Makefile
 	$(CC) $(MODCFLAGS) ublox_conf.c -o ublox_conf

data/maps/Makefile

@@ -3,13 +3,17 @@
 DATADIR = $(PAPARAZZI_HOME)/conf/maps_data
 Q=@
 
-# default directory for temporary files
-TMPDIR ?= /tmp
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+else
+	MKTEMP = mktemp
+endif
 
 all: $(PAPARAZZI_HOME)/conf/maps.xml
 
 clean:
-	rm -f $(DATADIR)/maps.google.com
+	$(Q)rm -f $(DATADIR)/maps.google.com
 
 $(DATADIR):
 	mkdir $(DATADIR)
@@ -25,13 +29,15 @@ $(DATADIR)/maps.google.com: $(DATADIR) FORCE
 
 $(PAPARAZZI_HOME)/conf/maps.xml: $(DATADIR)/maps.google.com
 	$(eval GOOGLE_VERSION := $(shell grep -E "http://khm[0-9]+.google.com/kh/v=[0-9]+.x26" $(DATADIR)/maps.google.com | sed -E 's#.*http://khm[0-9]+.google.com/kh/v=##;s#.x26.*##'))
+	$(eval $@_TMP := $(shell $(MKTEMP)))
 	@echo "Updated google maps version to $(GOOGLE_VERSION)"
 	@echo "-----------------------------------------------"
-	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $(TMPDIR)/maps.xml
-	$(Q)echo "" >> $(TMPDIR)/maps.xml
-	$(Q)echo "<maps google_version=\"$(GOOGLE_VERSION)\"/>" >> $(TMPDIR)/maps.xml
-	$(Q)echo "" >> $(TMPDIR)/maps.xml
-	$(Q)mv $(TMPDIR)/maps.xml $@
+	$(Q)echo "<!DOCTYPE maps SYSTEM \"maps.dtd\">" > $($@_TMP)
+	$(Q)echo "" >> $($@_TMP)
+	$(Q)echo "<maps google_version=\"$(GOOGLE_VERSION)\"/>" >> $($@_TMP)
+	$(Q)echo "" >> $($@_TMP)
+	$(Q)mv $($@_TMP) $@
+	$(Q)chmod a+r $@
 
 FORCE:
 .PHONY: all clean

doc/ccc07/Makefile

@@ -1,8 +1,11 @@
 
+# Quiet compilation
+Q=@
+
 
 
 slides : slides.tex $(PDF) $(ANIMS)
 	pdflatex slides
 
 clean:
-	rm -f *~ *.log *.nav *.out *.snm *.toc *.aux slides.pdf
+	$(Q)rm -f *~ *.log *.nav *.out *.snm *.toc *.aux slides.pdf

doc/pprz_algebra/Makefile

@@ -1,8 +1,11 @@
+# Quiet compilation
+Q=@
+
 doc_pprz_algebra.pdf: headfile.tex
 	pdflatex $<
 bib:
 	bibtex headfile
 
 clean:
-	rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.dvi *.ps
-	find . -name '*~' -exec rm -f {} \;
+	$(Q)rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.dvi *.ps
+	$(Q)find . -name '*~' -exec rm -f {} \;

doc/pprz_geodetic/Makefile

@@ -1,8 +1,11 @@
+# Quiet compilation
+Q=@
+
 doc_pprz_algebra.pdf: headfile.tex
 	pdflatex $<
 bib:
 	bibtex headfile
 
 clean:
-	rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.dvi *.ps
-	find . -name '*~' -exec rm -f {} \;
+	$(Q)rm -f *~ *.aux *.bbl *.blg *.log *.out *.toc *.dvi *.ps
+	$(Q)find . -name '*~' -exec rm -f {} \;

sw/Makefile.ocaml

@@ -0,0 +1,38 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2013 Gautier Hattenberger
+#
+# 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.
+#
+
+# General ocaml compiling tools and pprz lib
+
+OCAML = ocaml
+OCAMLC = ocamlfind ocamlc
+OCAMLOPT = ocamlfind ocamlopt
+OCAMLDEP = ocamldep
+OCAMLMKLIB = ocamlmklib
+LIBPPRZDIR = $(PAPARAZZI_SRC)/sw/lib/ocaml
+LIBPPRZCMA = $(LIBPPRZDIR)/lib-pprz.cma
+LIBPPRZCMXA = $(LIBPPRZCMA:.cma=.cmxa)
+XLIBPPRZCMA = $(LIBPPRZDIR)/xlib-pprz.cma
+XLIBPPRZCMXA = $(XLIBPPRZCMA:.cma=.cmxa)
+OCAMLDLL = -dllpath $(LIBPPRZDIR)
+OCAMLXDLL = -dllpath $(LIBPPRZDIR)
+
+export OCAMLPATH=$(LIBPPRZDIR):$OCAMLPATH

sw/airborne/Makefile

@@ -21,6 +21,9 @@
 # Boston, MA 02111-1307, USA.
 #
 
+# Quiet compilation
+Q=@
+
 
 OBJDIR = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)/$(TARGET)
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
@@ -51,10 +54,6 @@ ifneq ($(MAKECMDGOALS),clean)
 
   # sort cflags and sources to throw out duplicates
   #
-  #$(info CFLAGS_orig = $($(TARGET).CFLAGS))
-  #$(info CFLAGS_sort = $(sort $($(TARGET).CFLAGS)))
-  #$(info srcs_orig = $($(TARGET).srcs))
-  #$(info srcs_sort = $(sort $($(TARGET).srcs)))
   $(TARGET).CFLAGS := $(sort $($(TARGET).CFLAGS))
   $(TARGET).srcs := $(sort $($(TARGET).srcs))
 endif
@@ -72,5 +71,5 @@ warn_conf :
 	@echo
 
 clean :
-	rm -f *~ a.out *.elf
+	$(Q)rm -f *~ a.out *.elf
 .PHONY: clean

sw/airborne/arch/lpc21/lpcusb/examples/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 LIBNAME	= ../libusbstack
 APPNAME = main
 
@@ -41,7 +44,7 @@ crt.o: crt.s
 	$(CC) -c $(AFLAGS) -Wa,-ahlms=crt.lst crt.s -o crt.o
 
 clean:
-	rm -f *.hex *.elf *.o *.lst *.dmp *.map .depend
+	$(Q)rm -f *.hex *.elf *.o *.lst *.dmp *.map .depend
 
 # recompile if the Makefile changes
 $(OBJS): Makefile

sw/airborne/arch/lpc21/test/bootloader/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 #PROC_AP PROC_FBW PROC_TINY PROC_TINYJ
 #PROC = TINYJ
 ALLFLAGS = -DPROC_$(PROC)
@@ -37,9 +40,9 @@ LIBOBJS =	usbhw_lpc.o usbcontrol.o usbstdreq.o usbinit.o usbdescrip.o
 all: lib app app_ram
 
 clean:
-	$(RM) -f $(LIBNAME).a $(LIBOBJS)
-	$(RM) -f $(APPNAME).hex $(APPNAME).elf $(OBJS) *.lst $(APPNAME).dmp $(APPNAME).map
-	$(RM) -f $(APPNAME_RAM).hex $(APPNAME_RAM).elf $(APPNAME_RAM).dmp $(APPNAME_RAM).map
+	$(Q)$(RM) -f $(LIBNAME).a $(LIBOBJS)
+	$(Q)$(RM) -f $(APPNAME).hex $(APPNAME).elf $(OBJS) *.lst $(APPNAME).dmp $(APPNAME).map
+	$(Q)$(RM) -f $(APPNAME_RAM).hex $(APPNAME_RAM).elf $(APPNAME_RAM).dmp $(APPNAME_RAM).map
 
 # build lib
 lib: $(LIBOBJS)

sw/airborne/booz/test/Makefile

@@ -21,6 +21,9 @@
 # Boston, MA 02111-1307, USA.
 ##
 
+# Quiet compilation
+Q=@
+
 CC = gcc
 CFLAGS = -std=gnu99 -Wall -I.. -I../.. -I../../test/ -I../../../include -I../../booz_priv
 LDFLAGS = -lm
@@ -51,4 +54,4 @@ test_att_ref: test_att_ref.c ../stabilization/booz_stabilization_attitude_ref_qu
 
 
 clean:
-	rm -f *~ test_att_ref
+	$(Q)rm -f *~ test_att_ref

sw/airborne/firmwares/non_ap/led_flasher/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 MCU = attiny25
 
 PROG = dragon_isp
@@ -19,7 +22,7 @@ SOURCES =	blitzer.c
 all: $(APPNAME)
 
 clean:
-	$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).elf $(APPNAME).hex
+	$(Q)$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).elf $(APPNAME).hex
 
 app: $(APPNAME)
 

sw/airborne/firmwares/vor/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 all:
 
 CFLAGS = -Wall -I..
@@ -25,7 +28,7 @@ play_audio: sndfile-play.c
 	gcc $(CFLAGS) $^ -o $@ $(LDFLAGS)  -lsndfile -lasound
 
 clean:
-	rm -f i86_vor_test_float_demod \
+	$(Q)rm -f i86_vor_test_float_demod \
               i86_vor_test_int_demod   \
               i86_vor_test_filters     \
               *~ \#*

sw/airborne/fms/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 CFLAGS = -Wall $(shell pkg-config --cflags glib-2.0) -g
 LDFLAGS = $(shell pkg-config --libs glib-2.0)
 
@@ -49,4 +52,4 @@ onboard_logger: onboard_logger.c
 	$(CC) $(CFLAGS) -o $@ $^ -lpcap
 
 clean:
-	rm -f *~ fms test_telemetry
+	$(Q)rm -f *~ fms test_telemetry

sw/airborne/fms/libeknav/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 raw_log_to_ascii: raw_log_to_ascii.c
 	gcc -I../../ -I../../../include -std=gnu99 -Wall raw_log_to_ascii.c -DOVERO_LINK_MSG_UP=AutopilotMessageVIUp -DOVERO_LINK_MSG_DOWN=AutopilotMessageVIDown -o raw_log_to_ascii
 
@@ -26,4 +29,4 @@ run_filter_on_log: ./libeknav_from_log.cpp $(LIBEKNAV_SRCS) ../../math/pprz_geod
 	g++ -I/usr/include/eigen2 -I../.. -I../../../include -I../../../../var/FY  $(eknavOnLogFlags) -o $@ $^
 
 clean:
-	-rm -f *.o *~ *.d
+	$(Q)rm -f *.o *~ *.d

sw/airborne/math/Makefile

@@ -1,6 +1,9 @@
 # Build shared pprz math library
 #
 
+# Quiet compilation
+Q=@
+
 CC= gcc
 CFLAGS= -fpic
 INCLUDES= -I$(PAPARAZZI_SRC)/sw/include -I$(PAPARAZZI_SRC)/sw/airborne
@@ -43,5 +46,5 @@ $(BUILDDIR)/%.o: %.c
 	$(CC) -c $< $(CFLAGS) $(INCLUDES) -o $@
 
 clean:
-	rm -f $(BUILDDIR)/*.o $(BUILDDIR)/$(LIBNAME).so
+	$(Q)rm -f $(BUILDDIR)/*.o $(BUILDDIR)/$(LIBNAME).so
 

sw/airborne/test/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 
 CC = gcc
 CFLAGS = -std=c99 -I.. -I../../include -I../booz -I../../booz  -Wall
@@ -33,4 +36,4 @@ test_fmul: test_fmul.c
 	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
 clean:
-	rm -f *~ test_geodetic test_algebra *.exe
+	$(Q)rm -f *~ test_geodetic test_algebra *.exe

sw/ground_segment/cockpit/Makefile

@@ -33,19 +33,15 @@ else
 endif
 FPIC=-fPIC
 
-OCAMLC=ocamlc
-OCAMLOPT=ocamlopt
-OCAMLDEP=ocamldep
-OCAMLOPTFLAGS=-thread
-OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient)
-OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring) $(shell ocamlfind query -r -a-format -predicates byte netclient)
-LIBPPRZDIR=../../lib/ocaml
-INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format xml-light)  $(shell ocamlfind query -r -i-format pcre) $(OCAMLNETINCLUDES)
-LIBS=$(OCAMLNETCMA) glibivy-ocaml.cma lablgtk.cma lablglade.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma
-CMXA=$(LIBS:.cma=.cmxa)
-LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
-LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
-XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
+include ../../Makefile.ocaml
+
+INCLUDES=
+LIBS=
+LIBSX=$(LIBS:.cma=.cmxa)
+
+INCLUDES= -I ../multimon
+PKG = -package pprz.xlib
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz.xlib
 
 ML= gtk_setting_time.ml gtk_strip.ml horizon.ml strip.ml gtk_save_settings.ml saveSettings.ml page_settings.ml pages.ml speech.ml plugin.ml sectors.ml map2d.ml editFP.ml live.ml particules.ml papgets.ml gcs.ml
 MAIN=gcs
@@ -56,45 +52,49 @@ all : $(MAIN)
 
 opt : $(MAIN).opt
 
-$(MAIN) : $(CMO) $(XLIBPPRZCMA) $(LIBPPRZCMA)
+$(MAIN) : $(CMO)
 	@echo OL $@
-	$(Q)$(OCAMLC) $(OCAMLCFLAGS) -custom $(INCLUDES) $(OCAMLNETINCLUDES) unix.cma str.cma netstring.cma netclient.cma xml-light.cma $(LIBS) threads.cma gtkThread.cmo myGtkInit.cmo $(CMO) -o $@
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(LIBS) $(LINKPKG) myGtkInit.cmo $(CMO) -o $@
 
 $(MAIN).opt : $(CMX)
 	@echo OOL $@
-	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) str.cmxa unix.cmxa xml-light.cmxa $(LIBS:.cma=.cmxa) threads.cmxa gtkThread.cmx gtkInit.cmx $(CMX) -o $@
+	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) $(LIBSX) -package pprz.xlib,lablgtk2.init -linkpkg $(CMX) -o $@
 
 
 %.cmo: %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
 %.cmi: %.mli
 	@echo OCI $<
-	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
 %.cmx: %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) $(PKG) -c $<
 
 saveSettings.cmo : gtk_save_settings.cmo
 saveSettings.cmx: gtk_save_settings.cmx
 
 gtk_strip.ml : gcs.glade
-	lablgladecc2 -root eventbox_strip -hide-default $< | grep -B 1000000 "  end" > $@
+	@echo GLADE $@
+	$(Q)lablgladecc2 -root eventbox_strip -hide-default $< | grep -B 1000000 "  end" > $@
 
 gtk_setting_time.ml : gcs.glade
-	lablgladecc2 -root setting_time -hide-default $< | grep -B 1000000 "  end" > $@
+	@echo GLADE $@
+	$(Q)lablgladecc2 -root setting_time -hide-default $< | grep -B 1000000 "  end" > $@
 
 gtk_save_settings.ml : gcs.glade
-	lablgladecc2 -root save_settings -hide-default $< | grep -B 1000000 "  end" > $@
+	@echo GLADE $@
+	$(Q)lablgladecc2 -root save_settings -hide-default $< | grep -B 1000000 "  end" > $@
 
 strip.cmo : gtk_strip.cmo gtk_setting_time.cmo
 
 compass : compass.ml
-	$(OCAMLC) -custom $(OCAMLCFLAGS) $(INCLUDES) unix.cma str.cma xml-light.cma $(LIBS) gtkInit.cmo $^ -o $@
+	@echo OL $@
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) $(LINKPKG) gtkInit.cmo $^ -o $@
 
 
 clean:
-	rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend gtk_strip.ml gtk_setting_time.ml gtk_save_settings.ml compass ant_track ant_track_pmm test_enose actuators
+	$(Q)rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend gtk_strip.ml gtk_setting_time.ml gtk_save_settings.ml compass ant_track ant_track_pmm test_enose actuators
 
 .PHONY: all opt clean
 

sw/ground_segment/joystick/Makefile

@@ -24,38 +24,75 @@
 # Quiet compilation
 Q=@
 
-OCAMLC = ocamlc
-OCAMLDEP = ocamldep
-LIBPPRZDIR = ../../lib/ocaml
+include ../../Makefile.ocaml
 TOOLSDIR = ../../tools
-OCAMLINCLUDES= -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) -I $(TOOLSDIR)
-LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
+
+CC = gcc
+
+LBITS := $(shell getconf LONG_BIT)
+ifeq ($(LBITS),64)
+  FPIC=-fpic
+else
+  FPIC=
+endif
+
+OCAMLINCLUDES= -I $(TOOLSDIR)
+PKG = -package pprz,glibivy
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
+
+GLIB_CFLAGS  = -Wall $(shell pkg-config glib-2.0 --cflags) $(FPIC)
+GLIB_LDFLAGS = $(shell pkg-config glib-2.0 --libs) -lglibivy
 
 # apparently on OSX `sdl-config --libs` also has -lSDLmain which we don't want
-#ML_SDL_LFLAGS = $(foreach u,$(shell sdl-config --libs),-cclib $(u))
-ML_SDL_LFLAGS = $(foreach u,$(shell pkg-config sdl --libs-only-L) -lSDL,-cclib $(u))
-INCLUDES += -I `ocamlc -where`
+SDL_LDIRS = $(shell pkg-config sdl --libs-only-L)
+SDL_LIBS = -lSDL
+# we do however need -lSDLmain for test_stick, which is just c
+SDL_LDFLAGS = $(shell sdl-config --libs)
+
+# apparently on OSX `sdl-config --libs` also has -lSDLmain which we don't want
+ML_SDL_LFLAGS = $(foreach u,$(SDL_LDIRS),-ccopt $(u)) $(foreach u,$(SDL_LIBS),-cclib $(u)) libSDL.so
+ML_SDL_LFLAGS += -dllpath ${PAPARAZZI_SRC}/sw/ground_segment/joystick
+INCLUDES += -I $(shell ocamlc -where)
+
+SDL_STICK_DEPS = sdl_stick.o ml_sdl_stick.o
+# apparently on OSX you cannot dynamically link with SDL, see ocamlsdl readme
+UNAME = $(shell uname -s)
+
+ifeq ("$(UNAME)","Darwin")
+	ML_SDL_OCAMLFLAGS = -custom
+	INPUT2IVY_DEPS = $(SDL_STICK_DEPS) input2ivy.cmo
+else
+	ML_SDL_OCAMLFLAGS =
+	INPUT2IVY_DEPS = sdl_stick.so input2ivy.cmo
+endif
 
 all: test_stick input2ivy
 
 test_stick: test_sdl_stick.o
-	gcc -g -O2 -Wall -DSTICK_DBG `pkg-config glib-2.0 --cflags` -o $@ $^ sdl_stick.c `pkg-config glib-2.0 --libs` -lglibivy `sdl-config --libs`
+	@echo BUILD $@
+	$(Q)$(CC) -g -O2 -DSTICK_DBG $(GLIB_CFLAGS) -o $@ $^ sdl_stick.c $(GLIB_LDFLAGS) $(SDL_LDFLAGS)
 
-input2ivy: sdl_stick.o ml_sdl_stick.o input2ivy.cmo
-	$(OCAMLC) $(OCAMLINCLUDES) -o $@ unix.cma str.cma glibivy-ocaml.cma xml-light.cma lib-pprz.cma lablgtk.cma $(TOOLSDIR)/fp_proc.cmo $^ -custom $(ML_SDL_LFLAGS)
+input2ivy: $(INPUT2IVY_DEPS)
+	@echo OL $@
+	$(Q)$(OCAMLC) $(OCAMLINCLUDES) -o $@ $(LINKPKG) $(TOOLSDIR)/fp_proc.cmo $^ $(ML_SDL_OCAMLFLAGS) $(ML_SDL_LFLAGS)
 
 # dependency of input2ivy
-input2ivy: $(LIBPPRZCMA) $(TOOLSDIR)/fp_proc.cmo
+input2ivy: $(TOOLSDIR)/fp_proc.cmo
+
+sdl_stick.so : $(SDL_STICK_DEPS)
+	@echo BUILD $@
+	$(Q)$(CC) -shared -o $@ $^
 
 %.o : %.c
-	gcc -c -O2 -Wall `pkg-config glib-2.0 --cflags` $(INCLUDES) $<
+	@echo CC $@
+	$(Q)$(CC) -c -O2 $(GLIB_CFLAGS) $(INCLUDES) $<
 
 %.cmo : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(OCAMLINCLUDES) -c $<
+	$(Q)$(OCAMLC) $(OCAMLINCLUDES) -c $(PKG) $<
 
 clean:
-	rm -f *~ core *.o *.bak .depend test*stick *.cmo *.cmi input2ivy
+	$(Q)rm -f *~ core *.o *.bak .depend test*stick *.cmo *.cmi input2ivy
 
 .PHONY: all clean
 

sw/ground_segment/lpc21iap/Makefile

@@ -1,5 +1,8 @@
 #MS VC: cl lpc21iap.c elf.c lpcusb.c libusb.lib
 
+# Quiet compilation
+Q=@
+
 LIBNAME	= usb
 APPNAME = lpc21iap
 
@@ -38,7 +41,7 @@ SOURCES =	lpc21iap.c elf.c lpcusb.c
 all: $(APPNAME)
 
 clean:
-	$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).obj $(APPNAME).exe
+	$(Q)$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).obj $(APPNAME).exe
 
 app: $(APPNAME)
 

sw/ground_segment/misc/Makefile

@@ -38,7 +38,7 @@ endif
 all: davis2ivy kestrel2ivy
 
 clean:
-	rm -f *.o davis2ivy kestrel2ivy
+	$(Q)rm -f *.o davis2ivy kestrel2ivy
 
 davis2ivy: davis2ivy.o
 	$(Q)$(CC) -o davis2ivy davis2ivy.o  $(LIBRARYS)  -livy

sw/ground_segment/misc/davis2ivy.c

@@ -101,7 +101,8 @@ void open_port(const char* device) {
 
 /// disable transactions and empty queue
 void reset_station() {
-  char newline = '\n', bytes = 0;
+  char newline = '\n';
+  char bytes __attribute__ ((unused));
   fprintf(stderr, "Resetting communication\n");
   // send a \n (wakeup and cancel all running transmits)
   bytes = write(fd, &newline, 1);

sw/ground_segment/multimon/Makefile

@@ -23,83 +23,80 @@
 # Launch with "make Q=''" to get full command display
 Q=@
 
-DEBUG		=n
-MACHINE := $(shell uname -m)
-AS86		=as86 -0 -a
-LD86		=ld86 -0
-AS		=as
-LD		=ld
-LDFLAGS		=-lm
-HOSTCC		=gcc
-CC		=gcc
-MAKE		=make
-CPP		=$(CC) -E
-AR		=ar
-STRIP		=strip
-MKDIR		=mkdir
-OCAMLC	 	=ocamlc
+DEBUG=n
+MACHINE:=$(shell uname -m)
+AS86=as86 -0 -a
+LD86=ld86 -0
+AS=as
+LD=ld
+LDFLAGS=-lm
+HOSTCC=gcc
+CC=gcc
+MAKE=make
+CPP=$(CC) -E
+AR=ar
+STRIP=strip
+MKDIR=mkdir
 
-CFLAGS		=-Wall -Wstrict-prototypes -I/usr/X11R6/include -I`$(OCAMLC) -where`
+include ../../Makefile.ocaml
+
+CFLAGS=-Wall -Wstrict-prototypes -I/usr/X11R6/include -I`$(OCAMLC) -where`
 ifeq ($(DEBUG),y)
-  CFLAGS		+=-g -O
+  CFLAGS += -g -O
 else
-  CFLAGS		+=-O3
+  CFLAGS += -O3
 endif
 
 LBITS := $(shell getconf LONG_BIT)
 ifeq ($(LBITS),64)
-  CFLAGS          += -fPIC
+  CFLAGS += -fPIC
 else ifeq ($(MACHINE),'i686')
-  CFLAGS          += -march=i486 -falign-loops=2 -falign-jumps=2 -falign-functions=2 -DARCH_I386
+  CFLAGS += -march=i486 -falign-loops=2 -falign-jumps=2 -falign-functions=2 -DARCH_I386
 endif
 
-LDFLAGSX	=-lX11 -L/usr/X11R6/lib
+LDFLAGSX = -lX11 -L/usr/X11R6/lib
 
-#BINDIR		=bin-$(shell uname -m)
-BINDIR		=.
+#BINDIR = bin-$(shell uname -m)
+BINDIR =.
 
 UNAME = $(shell uname -s)
-ifeq ("$(UNAME)","Linux")
+ifneq (,$(findstring $(UNAME),linux Linux))
   OBJFILES=pprzlib.o hdlc.o demod_afsk12.o demodml.o costabi.o gen_hdlc.o ml_hdlc.o demod.cmo hdlc.cmo
   ALLTARGETS=$(BINDIR)/multimon multimon.cma
 endif
-ifeq ("$(UNAME)","linux")
-  OBJFILES=pprzlib.o hdlc.o demod_afsk12.o demodml.o costabi.o gen_hdlc.o ml_hdlc.o demod.cmo hdlc.cmo
-  ALLTARGETS=$(BINDIR)/multimon multimon.cma
-endif
-ifeq ("$(UNAME)","Darwin")
+ifeq ($(UNAME),Darwin)
   OBJFILES=demodml.o ml_hdlc.o demod.cmo hdlc.cmo
   ALLTARGETS=multimon.cma
 endif
 
-all:    $(ALLTARGETS)
+all: $(ALLTARGETS)
 
-multimon.cma:   $(OBJFILES)
+multimon.cma: $(OBJFILES)
 	@echo OLD $@
 	$(Q)ocamlmklib -o multimon $^
 
 
 $(BINDIR)/%.s:	%.c
-		$(CC) $(CFLAGS) -S -o $@ $<
+	$(CC) $(CFLAGS) -S -o $@ $<
 
 $(BINDIR)/%.o:	$(BINDIR)/%.s
-		$(AS) -c -o $@ $<
+	$(AS) -c -o $@ $<
 
 $(BINDIR)/%.o:	%.c
 	@echo CC $<
 	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
 
-SRC_L2		= hdlc.c pprz.c
-SRC_L1		= demod_afsk48p.c demod_display.c
-SRC_MISC	= unixinput.c xdisplay.c
+SRC_L2 = hdlc.c pprz.c
+SRC_L1 = demod_afsk48p.c demod_display.c
+SRC_MISC = unixinput.c xdisplay.c
 
-SRC_GEN		=gen.c gen_dtmf.c gen_sin.c gen_zvei.c gen_hdlc.c costabi.c
+SRC_GEN = gen.c gen_dtmf.c gen_sin.c gen_zvei.c gen_hdlc.c costabi.c
 
-OBJ_L2		=$(SRC_L2:%.c=$(BINDIR)/%.o)
-OBJ_L1		=$(SRC_L1:%.c=$(BINDIR)/%.o)
-OBJ_MISC	=$(SRC_MISC:%.c=$(BINDIR)/%.o)
+OBJ_L2 = $(SRC_L2:%.c=$(BINDIR)/%.o)
+OBJ_L1 = $(SRC_L1:%.c=$(BINDIR)/%.o)
+OBJ_MISC = $(SRC_MISC:%.c=$(BINDIR)/%.o)
 
-OBJ_GEN		=$(SRC_GEN:%.c=$(BINDIR)/%.o)
+OBJ_GEN = $(SRC_GEN:%.c=$(BINDIR)/%.o)
 
 $(BINDIR):
 		$(MKDIR) $(BINDIR)
@@ -108,14 +105,14 @@ $(BINDIR)/multimon:	$(OBJ_L2) $(OBJ_L1) $(OBJ_MISC)
 	@echo LD $@
 	$(Q)$(CC) $^ $(LDFLAGS) $(LDFLAGSX) -o $@
 
-$(BINDIR)/gen:		$(OBJ_GEN)
-			$(CC) $^ $(LDFLAGS) -o $@
+$(BINDIR)/gen: $(OBJ_GEN)
+	$(CC) $^ $(LDFLAGS) -o $@
 
 $(BINDIR)/mkcostab:	$(BINDIR)/mkcostab.o
-			$(CC) $^ $(LDFLAGS) -o $@
+	$(CC) $^ $(LDFLAGS) -o $@
 
 costabi.c costabf.c:	$(BINDIR)/mkcostab
-			$(BINDIR)/mkcostab
+	$(BINDIR)/mkcostab
 
 
 libtest: pprzlib.o demodml.c demod.ml test.ml
@@ -133,11 +130,11 @@ hdlc.cmo : hdlc.cmi
 	$(OCAMLC) $<
 
 clean:
-	rm -fr *.cm* mkcostab .depend
-	$(RM) -f core `find . -name '*.[oas]' -print`
-	$(RM) -f core `find . -name 'core' -print`
-	$(RM) -f core costabi.c costabf.c *~
-	$(RM) $(BINDIR)/multimon
+	$(Q)rm -fr *.cm* mkcostab .depend
+	$(Q)$(RM) -f core `find . -name '*.[oas]' -print` *.so
+	$(Q)$(RM) -f core `find . -name 'core' -print`
+	$(Q)$(RM) -f core costabi.c costabf.c *~
+	$(Q)$(RM) $(BINDIR)/multimon
 
 .PHONY: all clean depend dep
 

sw/ground_segment/tmtc/GSM/Makefile

@@ -1,7 +1,10 @@
+# Quiet compilation
+Q=@
+
 all: SMS_GS
 
 SMS_GS: SMS_Ground_UDtest_final.c
 	gcc -g -O2 -Wall `pkg-config --cflags glib-2.0 gtk+-2.0` -L/usr/lib -lglibivy -o SMS_GS SMS_Ground_UDtest_final.c `pkg-config --libs glib-2.0 gtk+-2.0` -lglibivy
 
 clean:
-	rm -f SMS_GS
+	$(Q)rm -f SMS_GS

sw/ground_segment/tmtc/Makefile

@@ -32,23 +32,18 @@ endif
 
 
 include ../../../conf/Makefile.local
+include ../../Makefile.ocaml
 CONF = ../../../conf
 VAR = ../../../var
 
-OCAMLC = ocamlc
-OCAMLOPT = ocamlopt
-OCAMLDEP = ocamldep
-LIBPPRZDIR = ../../lib/ocaml
-OCAMLNETINCLUDES=$(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient)
-OCAMLNETCMA=$(shell ocamlfind query -r -a-format -predicates byte netstring)
-INCLUDES= -I $(LIBPPRZDIR) -I ../multimon $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(OCAMLNETINCLUDES)
-
-LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
-LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
-XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
-XLIBPPRZCMXA=$(XLIBPPRZCMA:.cma=.cmxa)
+INCLUDES= -I ../multimon
+PKG = -package glibivy,pprz
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
+XPKG = -package pprz.xlib
+XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib
 
 LIBMULTIMONCMA=../multimon/multimon.cma
+LIBMULTIMONDLL= multimon.cma -dllpath $(PAPARAZZI_SRC)/sw/ground_segment/multimon
 
 SERVERCMO = server_globals.cmo aircraft.cmo wind.cmo airprox.cmo kml.cmo fw_server.ml rotorcraft_server.ml server.cmo
 SERVERCMX = $(SERVERCMO:.cmo=.cmx)
@@ -57,7 +52,7 @@ SERVERCMX = $(SERVERCMO:.cmo=.cmx)
 all: link server messages settings dia diadec $(VAR)/boa.conf ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge
 
 clean:
-	rm -f link server messages settings dia diadec *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3
+	$(Q)rm -f link server messages settings dia diadec *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller broadcaster ivy2udp ivy_serial_bridge gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 c_ivy_client_example_3
 
 
 $(VAR)/boa.conf :$(CONF)/boa.conf
@@ -65,77 +60,75 @@ $(VAR)/boa.conf :$(CONF)/boa.conf
 	sed 's|PAPARAZZI_HOME|$(PAPARAZZI_HOME)|' < $< > $@
 
 
-messages : messages.cmo $(XLIBPPRZCMA) $(LIBPPRZCMA)
+messages : messages.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
-
-settings : settings.cmo $(XLIBPPRZCMA) $(LIBPPRZCMA) ../cockpit/page_settings.cmo
+settings : settings.cmo ../cockpit/page_settings.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -I ../cockpit -o $@ unix.cma str.cma xml-light.cma lablgtk.cma lablglade.cma $(OCAMLNETCMA) glibivy-ocaml.cma lib-pprz.cma lablgnomecanvas.cma xlib-pprz.cma gtkInit.cmo gtk_save_settings.cmo saveSettings.cmo page_settings.cmo $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo -I ../cockpit gtk_save_settings.cmo saveSettings.cmo page_settings.cmo $<
 
-
-server : $(SERVERCMO) $(LIBPPRZCMA)
+server : $(SERVERCMO)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $(SERVERCMO)
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(SERVERCMO)
 
-server.opt :  $(SERVERCMX) $(LIBPPRZCMXA)
+server.opt :  $(SERVERCMX)
 	@echo OOL $@
-	$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ str.cmxa unix.cmxa xml-light.cmxa lablgtk.cmxa glibivy-ocaml.cmxa lib-pprz.cmxa $(SERVERCMX)
+	$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ -package glibivy,pprz -linkpkg $(SERVERCMX)
 
-link : link.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+link : link.cmo $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-ivy_tcp_aircraft : ivy_tcp_aircraft.cmo  $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+ivy_tcp_aircraft : ivy_tcp_aircraft.cmo  $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-ivy_tcp_controller : ivy_tcp_controller.cmo  $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+ivy_tcp_controller : ivy_tcp_controller.cmo  $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-broadcaster : broadcaster.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+broadcaster : broadcaster.cmo $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-ivy2udp : ivy2udp.cmo $(LIBPPRZCMA)
+ivy2udp : ivy2udp.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $<
 
 
-dia : dia.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+dia : dia.cmo $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-diadec : diadec.cmo $(LIBMULTIMONCMA) $(LIBPPRZCMA)
+diadec : diadec.cmo $(LIBMULTIMONCMA)
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma multimon.cma $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $(LIBMULTIMONDLL) $<
 
 
-150m : 150m.cmo $(LIBPPRZCMA)
+150m : 150m.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma gtkInit.cmo $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
 settings.cmo : INCLUDES += -I ../cockpit
 settings.cmo : ../cockpit/page_settings.cmi
 
 %.cmo : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(INCLUDES) $(PKG) -c $<
 
 %.cmx : %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
+	$(Q)$(OCAMLOPT) $(INCLUDES) $(PKG) -c $<
 
 %.cmi : %.mli
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) $<
+	$(Q)$(OCAMLC) $(INCLUDES) $(PKG) $<
 
 
 CC = gcc

sw/in_progress/button/Makefile

@@ -27,10 +27,6 @@ OCAMLC = ocamlc
 OCAMLOPT = ocamlopt
 INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I ../../lib/ocaml
 
-# default directory for temporary files
-TMPDIR ?= /tmp
-
-
 all: panic
 
 $^
@@ -57,9 +53,19 @@ plot : ../../lib/ocaml/lib-pprz.cmxa
 export.cmo : gtk_export.cmo
 export.cmx : gtk_export.cmx
 
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+else
+	MKTEMP = mktemp
+endif
+
 gtk_export.ml : export.glade
-	grep -v invisible_char $< > $(TMPDIR)/$<
-	lablgladecc2 -root export -hide-default $(TMPDIR)/$< | grep -B 1000000 "  end" > $@
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)lablgladecc2 -root export -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
 
 pt : ahrsview imuview ahrs2fg
 
@@ -72,7 +78,7 @@ MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/incl
 MORE_CFLAGS = -DHAVE_DLFCN_H=1 -DSTDC_HEADERS=1  -I. -I.  -I..    -g -O2 -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include
 
 clean:
-	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* panic
+	$(Q)rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* panic
 
 #FGFS_PREFIX=/home/poine/local
 FGFS_PREFIX=/home/poine/flightgear

sw/in_progress/fdm/Makefile

@@ -35,4 +35,4 @@ fms_steps_attitude: fms_steps_attitude.c
 
 
 clean:
-	rm -f *~ core *.o *.bak .depend fdm_step fms_steps_attitude
+	$(Q)rm -f *~ core *.o *.bak .depend fdm_step fms_steps_attitude

sw/in_progress/inertial/C/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 CFLAGS = -g -Wall  `pkg-config glib-2.0 --cflags`
 LDFLAGS = `pkg-config glib-2.0 --libs` -lm
 
@@ -127,4 +130,4 @@ test_ukf: $(OBJS_TEST_UKF)
 
 
 clean:
-	rm -f *~ *.o tilt_ukf tilt_ekf tilt_fast_ekf ahrs_euler_ekf ahrs_quat_ukf ahrs_quat_ekf ahrs_quat_fast_ekf test_matrix test_ukf
+	$(Q)rm -f *~ *.o tilt_ukf tilt_ekf tilt_fast_ekf ahrs_euler_ekf ahrs_quat_ukf ahrs_quat_ekf ahrs_quat_fast_ekf test_matrix test_ukf

sw/in_progress/ir_calibration/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 
 CC = gcc
 CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
@@ -8,4 +11,4 @@ ir_calib : main.c calibrator.c gui.c
 	$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
 
 clean:
-	rm -f *~ ir_calib
+	$(Q)rm -f *~ ir_calib

sw/in_progress/ir_usb_i2c/Makefile

@@ -2,12 +2,15 @@
 # Makefile
 #
 
+# Quiet compilation
+Q=@
+
 APP = i2c_usb
 
 all: $(APP)
 
 clean:
-	rm -f $(APP)
+	$(Q)rm -f $(APP)
 
 $(APP): $(APP).c
 	$(CC) -Wall -o $@ $(APP).c -lusb

sw/in_progress/log_parser/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 #LIBNAME	= efsl
 APPNAME = linuxtest
 
@@ -24,7 +27,7 @@ SOURCES =	linuxtest.c
 all: $(APPNAME)
 
 clean:
-	$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).obj $(APPNAME).exe
+	$(Q)$(RM) -f core $(APPNAME).o $(APPNAME) $(APPNAME).obj $(APPNAME).exe
 
 app: $(APPNAME)
 

sw/in_progress/motor_bench/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 CC = gcc
 CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags` -I../../../var/MB
 LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lglibivy
@@ -13,5 +16,5 @@ plot_test:
 	scilab -f test.sce -args $(LOG)
 
 clean:
-	rm -f *~ motor_bench
+	$(Q)rm -f *~ motor_bench
 

sw/in_progress/satcom/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 all: email2udp udp2tcp tcp2ivy
 
 email2udp: email2udp.c
@@ -10,4 +13,4 @@ tcp2ivy_generic: tcp2ivy_generic.c
 	gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -I../../../var/${AIRCRAFT} -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy -lm
 
 clean:
-	rm -f email2udp udp2tcp tcp2ivy
+	$(Q)rm -f email2udp udp2tcp tcp2ivy

sw/in_progress/turbine/Makefile

@@ -1,11 +1,14 @@
 
+# Quiet compilation
+Q=@
+
 CC=gcc
 MODCFLAGS=-Wall
 
 all:		turb_simu
 
 clean:
-	rm -f core *.o turb_simu
+	$(Q)rm -f core *.o turb_simu
 
 ublox_conf:	ublox_conf.c Makefile
 	$(CC) $(MODCFLAGS) turb_simu.c -o turb_simu

sw/in_progress/wind_tunnel/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 CC = gcc
 GLIB_CFLAGS  = -Wall  `pkg-config glib-2.0 --cflags`
 GLIB_LDFLAGS =  `pkg-config glib-2.0 --libs` -lglibivy -lpcre
@@ -8,4 +11,4 @@ main: main.c serial_port.c
 
 
 clean:
-	rm -f main
+	$(Q)rm -f main

sw/lib/ocaml/META.pprz.deb

@@ -0,0 +1,14 @@
+description = "Paparazzi UAS package"
+requires = "unix,str,xml-light,lablgtk2,glibivy,netclient"
+version = "1.0"
+directory = ""
+
+archive(byte) = "lib-pprz.cma"
+archive(native) = "lib-pprz.cmxa"
+
+package "xlib" (
+  requires = "pprz,lablgtk2-gnome.gnomecanvas,lablgtk2.glade"
+  version = "1.0"
+  archive(byte) = "xlib-pprz.cma"
+  archive(native) = "xlib-pprz.cmxa"
+)

sw/lib/ocaml/META.pprz.osx

@@ -0,0 +1,14 @@
+description = "Paparazzi UAS package"
+requires = "unix,str,xml-light,lablgtk2,glibivy,netclient"
+version = "1.0"
+directory = ""
+
+archive(byte) = "lib-pprz.cma"
+archive(native) = "lib-pprz.cmxa"
+
+package "xlib" (
+  requires = "pprz,lablgtk2.gnomecanvas,lablgtk2.glade"
+  version = "1.0"
+  archive(byte) = "xlib-pprz.cma"
+  archive(native) = "xlib-pprz.cmxa"
+)

sw/lib/ocaml/Makefile

@@ -23,6 +23,19 @@
 
 Q=@
 
+
+OCAMLC=ocamlfind ocamlc
+OCAMLOPT=ocamlfind ocamlopt
+OCAMLDEP=ocamldep
+OCAMLLEX=ocamllex
+OCAMLYACC=ocamlyacc
+OCAMLMKLIB=ocamlmklib
+OCAMLLIBDIR=$(shell $(OCAMLC) -where)
+
+# verbose ocamlmklib: Print commands before executing them
+#VERBOSITY = -verbose
+VERBOSITY =
+
 LBITS := $(shell getconf LONG_BIT)
 ifeq ($(LBITS),64)
   FPIC = -ccopt -fPIC
@@ -30,15 +43,21 @@ else
   FPIC =
 endif
 
-INCLUDES=  $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format netstring) $(shell ocamlfind query -r -i-format netclient) $(shell ocamlfind query -r -i-format pcre)
-XINCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light)
-OCAMLC=ocamlc
-OCAMLDEP=ocamldep
-OCAMLOPT=ocamlopt
-OCAMLLEX=ocamllex
-OCAMLYACC=ocamlyacc
-OCAMLLIBDIR=$(shell $(OCAMLC) -where)
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+	LABLGTK2GNOMECANVAS = lablgtk2.gnomecanvas
+	METAFILE = META.pprz.osx
+else
+	MKTEMP = mktemp
+	LABLGTK2GNOMECANVAS = lablgtk2-gnome.gnomecanvas
+	METAFILE = META.pprz.deb
+endif
 
+INCLUDES=
+PKGCOMMON=xml-light,netclient,glibivy,lablgtk2
+XINCLUDES=
+XPKGCOMMON=xml-light,glibivy,$(LABLGTK2GNOMECANVAS),lablgtk2.glade
 
 SRC = fig.ml debug.ml base64.ml serial.ml ocaml_tools.ml expr_syntax.ml expr_parser.ml expr_lexer.ml extXml.ml env.ml xml2h.ml latlong.ml egm96.ml srtm.ml http.ml maps_support.ml gm.ml iGN.ml geometry_2d.ml cserial.o convert.o ubx.ml pprz.ml xbee.ml logpprz.ml xmlCom.ml os_calls.ml editAirframe.ml defivybus.ml
 CMO = $(SRC:.ml=.cmo)
@@ -51,30 +70,26 @@ XCMX = $(XSRC:.ml=.cmx)
 TESTS_SRC = test/test_latlong.ml
 TESTS_CMO = $(TESTS_SRC:.ml=.cmo)
 
-# default directory for temporary files
-TMPDIR ?= /tmp
-
-$(XCMO) $(XCMX) myGtkInit.cmo : INCLUDES=$(XINCLUDES)
-
-all : lib-pprz.cma xlib-pprz.cma myGtkInit.cmo xml_get.out opt
-opt : lib-pprz.cmxa xlib-pprz.cmxa
+all : byte native
+byte : lib-pprz.cma xlib-pprz.cma myGtkInit.cmo xml_get.out META.pprz
+native : lib-pprz.cmxa xlib-pprz.cmxa META.pprz
 
 
 lib-pprz.cma liblib-pprz.a: $(CMO)
 	@echo OL $@
-	$(Q)ocamlmklib $(INCLUDES) -o lib-pprz $^
+	$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(INCLUDES) -o lib-pprz $^
 
 lib-pprz.cmxa dlllib-pprz.so: $(CMX)
 	@echo OOL $@
-	$(Q)ocamlmklib $(INCLUDES) -o lib-pprz $^
+	$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(INCLUDES) -o lib-pprz $^
 
 xlib-pprz.cma libxlib-pprz.a: $(XCMO)
 	@echo OL $@
-	$(Q)ocamlmklib $(XINCLUDES) -o xlib-pprz $^
+	$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(XINCLUDES) -o xlib-pprz $^
 
 xlib-pprz.cmxa dllxlib-pprz.so: $(XCMX)
 	@echo OOL $@
-	$(Q)ocamlmklib $(XINCLUDES) -o xlib-pprz $^
+	$(Q)$(OCAMLMKLIB) $(VERBOSITY) $(XINCLUDES) -o xlib-pprz $^
 
 # trying to set correct dependencies for parallel build
 # these are order only depedencies
@@ -82,50 +97,46 @@ lib-pprz.cmxa: | liblib-pprz.a dlllib-pprz.so
 
 xlib-pprz.cmxa: | libxlib-pprz.a dllxlib-pprz.so
 
-xml_get.out : lib-pprz.cma xml_get.cmo | opt
+xml_get.out : lib-pprz.cma xml_get.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) $(INCLUDES) -o $@ str.cma xml-light.cma -I . $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ -package str,xml-light -linkpkg -I . $^
 
 tests : lib-pprz.cma $(TESTS_CMO)
-	$(OCAMLC) $(INCLUDES) -custom -I . -o $@ str.cma unix.cma ivy-ocaml.cma xml-light.cma $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ -package unix,str,xml-light,ivy -linkpkg -I . -dllpath . $^
 
-GTKCFLAGS := `pkg-config --cflags gtk+-2.0`
-#GTKCFLAGS := -I/usr/lib/gtk-2.0/include -I/usr/include/gtk-2.0 -I/usr/include/atk-1.0 -I/usr/include/glib-2.0 -I/usr/lib/glib-2.0/include -I/usr/include/pango-1.0 -I/usr/include/cairo
-# GTKCFLAGS := $(shell gtk-config --cflags)
-
-%.o   : %.c
+%.o : %.c
 	@echo OC $<
-	$(Q)$(OCAMLC) $(FPIC) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(FPIC) $(INCLUDES) -package $(PKGCOMMON) -c $<
 
+$(XCMO) $(XCMX) myGtkInit.cmo : PKGCOMMON=$(XPKGCOMMON)
+
+
+GTKCFLAGS := $(shell pkg-config --cflags gtk+-2.0)
 ml_gtk_drag.o : ml_gtk_drag.c
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c -ccopt "$(GTKCFLAGS)" $<
+	$(Q)$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c -ccopt "$(GTKCFLAGS)" $<
 
-ml_gtkgl_hack.o   : ml_gtkgl_hack.c
+ml_gtkgl_hack.o : ml_gtkgl_hack.c
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c -ccopt "$(GTKCFLAGS)" $<
+	$(Q)$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c -ccopt "$(GTKCFLAGS)" $<
 
 camltm.o : register_example.cmo
-	$(OCAMLC) $(INCLUDES) -output-obj -o $@ unix.cma str.cma xml-light.cma ivy-ocaml.cma debug.cmo serial.cmo extXml.cmo env.cmo pprz.cmo tm.cmo
+	$(OCAMLC) $(INCLUDES) -output-obj -o $@ -package unix,str,xml-light,ivy debug.cmo serial.cmo extXml.cmo env.cmo pprz.cmo tm.cmo
 
 caml_from_c_example : cserial.o convert.o caml_from_c_example.o camltm.o
 	$(CC) -o $@ $^ -L$(OCAMLLIBDIR) -lunix -lstr -livy-ocaml -lcamlrun -lm -livy -lcurses
 
 %.cmo : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(INCLUDES) -package $(PKGCOMMON) -c $<
 
 %.cmx : %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
+	$(Q)$(OCAMLOPT) $(INCLUDES) -package $(PKGCOMMON) -c $<
 
 %.cmi : %.mli
 	@echo OC $<
-	$(Q)$(OCAMLC) $(XINCLUDES) $(INCLUDES) $<
-
-%.cmi : %.ml
-	@echo OC $<
-	$(Q)$(OCAMLC) $(XINCLUDES) -c $<
+	$(Q)$(OCAMLC) $(XINCLUDES) $(INCLUDES) -package $(PKGCOMMON),$(XPKGCOMMON) $<
 
 %.ml : %.mll
 	@echo OCL $<
@@ -135,6 +146,8 @@ caml_from_c_example : cserial.o convert.o caml_from_c_example.o camltm.o
 	@echo OCY $<
 	$(Q)$(OCAMLYACC) $<
 
+# dependencies not covered by ocamldep
+# since these files are generated
 expr_parser.cmo expr_parser.cmx : expr_parser.cmi expr_syntax.cmi
 expr_parser.cmi : expr_parser.ml expr_syntax.cmi
 expr_lexer.ml : expr_parser.ml
@@ -142,31 +155,42 @@ expr_lexer.cmi : expr_lexer.ml expr_syntax.cmi
 expr_lexer.cmo : expr_lexer.cmi
 expr_syntax.cmo : expr_syntax.cmi
 
-
 gtk_papget_editor.ml : widgets.glade
-	grep -v invisible_char $< > $(TMPDIR)/$@_$<
-	lablgladecc2 -root papget_editor -hide-default $(TMPDIR)/$@_$< | grep -B 1000000 "  end" > $@
-	@rm $(TMPDIR)/$@_$<
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)lablgladecc2 -root papget_editor -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
 
 gtk_papget_text_editor.ml : widgets.glade
-	grep -v invisible_char $< > $(TMPDIR)/$@_$<
-	lablgladecc2 -root table_text_editor -hide-default $(TMPDIR)/$@_$< | grep -B 1000000 "  end" > $@
-	@rm $(TMPDIR)/$@_$<
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)lablgladecc2 -root table_text_editor -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
 
 gtk_papget_gauge_editor.ml : widgets.glade
-	grep -v invisible_char $< > $(TMPDIR)/$@_$<
-	lablgladecc2 -root table_gauge_editor -hide-default $(TMPDIR)/$@_$< | grep -B 1000000 "  end" > $@
-	@rm $(TMPDIR)/$@_$<
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)lablgladecc2 -root table_gauge_editor -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
 
 gtk_papget_led_editor.ml : widgets.glade
-	grep -v invisible_char $< > $(TMPDIR)/$@_$<
-	lablgladecc2 -root table_led_editor -hide-default $(TMPDIR)/$@_$< | grep -B 1000000 "  end" > $@
-	@rm $(TMPDIR)/$@_$<
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)$(Q)lablgladecc2 -root table_led_editor -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
+
+META.pprz : $(METAFILE)
+	@echo COPY $<
+	$(shell cp $< META.pprz)
 
 clean :
-	rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so caml_from_c_example tests gtk_papget_*.ml expr_parser.ml expr_parser.mli expr_lexer.ml expr_lexer.mli
+	$(Q)rm -f *~ *.cm* *.out *.opt .depend *.a *.o *.so caml_from_c_example tests gtk_papget_*.ml expr_parser.ml expr_parser.mli expr_lexer.ml expr_lexer.mli META.pprz
 
-.PHONY: all opt clean
+.PHONY: all byte native clean
 
 #
 # Dependencies

sw/logalizer/Makefile

@@ -23,52 +23,42 @@
 # Quiet compilation
 Q=@
 
-OCAMLC = ocamlc
-OCAMLDEP = ocamldep
-OCAMLOPT = ocamlopt
-LIBPPRZDIR = ../lib/ocaml
-INCLUDES= $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR)
-LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
-LIBPPRZCMXA=$(LIBPPRZCMA:.cma=.cmxa)
-XLIBPPRZCMA=$(LIBPPRZDIR)/xlib-pprz.cma
-XLIBPPRZCMXA=$(XLIBPPRZCMA:.cma=.cmxa)
-
-# default directory for temporary files
-TMPDIR ?= /tmp
+include ../Makefile.ocaml
+INCLUDES=
+PKG = -package glibivy,pprz
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
+XPKG = -package pprz.xlib
+XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib
 
 all: play plotter plot sd2log plotprofile openlog2tlm
 
 play : log_file.cmo play_core.cmo play.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $^
 
 play-nox : play_core.cmo play-nox.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma $(shell ocamlfind query -r -i-format lablgtk2) -I ../lib/ocaml lablgtk.cma lib-pprz.cma  $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
 plotter : plotter.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lablgtk.cma lib-pprz.cma xlib-pprz.cma gtkInit.cmo  $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo $^
 
-plot : log_file.cmx gtk_export.cmx export.cmx plot.cmx
+plot : log_file.cmo gtk_export.cmo export.cmo plot.cmo
 	@echo OL $@
-	$(Q)$(OCAMLOPT) $(INCLUDES) -o $@ unix.cmxa str.cmxa xml-light.cmxa glibivy-ocaml.cmxa lablgtk.cmxa lib-pprz.cmxa xlib-pprz.cmxa lablglade.cmxa gtkInit.cmx  $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(XLINKPKG) gtkInit.cmo $^
 
 sd2log : sd2log.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) $^
 
 CC = gcc
 CFLAGS=-g -O2 -Wall
 LDFLAGS=
 
 openlog2tlm: openlog2tlm.c
-	$(CC) $(CFLAGS) -g -o $@ $^
-
-# depedency on lib-pprz
-play play-nox sd2log : $(LIBPPRZCMA)
-plotter : $(LIBPPRZCMA) $(XLIBPPRZCMA)
-plot : $(LIBPPRZCMXA) $(XLIBPPRZCMXA)
+	@echo CC $@
+	$(Q)$(CC) $(CFLAGS) -g -o $@ $^
 
 # Target for bytecode executable (if ocamlopt is not available)
 # plot : log_file.cmo gtk_export.cmo export.cmo plot.cmo
@@ -77,21 +67,30 @@ plot : $(LIBPPRZCMXA) $(XLIBPPRZCMXA)
 
 %.cmo: %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $(PKG) $<
 %.cmi: %.mli
 	@echo OCI $<
-	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(OCAMLCFLAGS) $(INCLUDES) -c $(PKG) $<
 %.cmx: %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) -c $<
+	$(Q)$(OCAMLOPT) $(OCAMLCFLAGS) $(INCLUDES) -c $(PKG) $<
 
 export.cmo : gtk_export.cmo
 export.cmx : gtk_export.cmx
 
-gtk_export.ml : export.glade
-	grep -v invisible_char $< > $(TMPDIR)/$<
-	lablgladecc2 -root export -hide-default $(TMPDIR)/$< | grep -B 1000000 "  end" > $@
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	MKTEMP = gmktemp
+else
+	MKTEMP = mktemp
+endif
 
+gtk_export.ml : export.glade
+	@echo GLADE $@
+	$(eval $@_TMP := $(shell $(MKTEMP)))
+	$(Q)grep -v invisible_char $< > $($@_TMP)
+	$(Q)lablgladecc2 -root export -hide-default $($@_TMP) | grep -B 1000000 "  end" > $@
+	$(Q)rm -f $($@_TMP)
 
 
 pt : ahrsview imuview ahrs2fg
@@ -128,16 +127,20 @@ MORE_FLAGS = -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/incl
 MORE_CFLAGS = -DHAVE_DLFCN_H=1 -DSTDC_HEADERS=1  -I. -I.  -I..    -g -O2 -I/usr/include/gtk-1.2 -I/usr/include/glib-1.2 -I/usr/lib/glib/include
 
 disp3d: disp3d.c
-	$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS)
+	@echo CC $@
+	$(Q)$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS)
 
 plotprofile: plotprofile.c
-	$(CC) $(IVY_C_LIBRARYS) $(IVY_C_INCLUDES) -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
+	@echo CC $@
+	$(Q)$(CC) $(IVY_C_LIBRARYS) $(IVY_C_INCLUDES) -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
 
 test1: test1.c
-	$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS) -lglut
+	@echo CC $@
+	$(Q)$(CC) $(MORE_CFLAGS) -g -o $@ $^ $(MORE_FLAGS) -lglut
 
 test3: test3.c sliding_plot.c
-	$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
+	@echo CC $@
+	$(Q)$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
 
 
 #FGFS_PREFIX=/home/poine/local
@@ -188,7 +191,7 @@ ctrlstick: ctrlstick.c
 	$(CC) -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` -lglibivy
 
 clean:
-	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg plot plotter gtk_export.ml openlog2tlm disp3d plotprofile test1 test3 test_samere ivy_example tmclient ffjoystick ctrlstick sd2log motor_bench
+	$(Q)rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview imuview ahrs2fg plot plotter gtk_export.ml openlog2tlm disp3d plotprofile test1 test3 test_samere ivy_example tmclient ffjoystick ctrlstick sd2log motor_bench
 
 .PHONY: all clean pt run_fg
 
@@ -197,7 +200,7 @@ clean:
 #
 
 .depend: Makefile
-	ocamldep -I $(LIBPPRZDIR) *.ml* > .depend
+	$(OCAMLDEP) -I $(LIBPPRZDIR) *.ml* > .depend
 
 ifneq ($(MAKECMDGOALS),clean)
 -include .depend

sw/logalizer/matlab/Makefile

@@ -1,2 +1,5 @@
+# Quiet compilation
+Q=@
+
 clean:
-	rm -f *~
+	$(Q)rm -f *~

sw/simulator/Makefile

@@ -24,12 +24,18 @@ Q=@
 
 LBITS := $(shell getconf LONG_BIT)
 ifeq ($(LBITS),64)
-  FPIC = -ccopt -fPIC
+  FPIC = -fPIC
 else
   FPIC =
 endif
 
 include ../../conf/Makefile.local
+include ../Makefile.ocaml
+
+OCAMLC += -g
+INCLUDES =
+PKG = -package glibivy,pprz
+LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz
 
 SIMML = stdlib.ml data.ml flightModel.ml gps.ml
 SIMHML = $(SIMML) hitl.ml sim.ml
@@ -38,63 +44,62 @@ SIMSML = $(SIMML) sitl.ml sim.ml
 SIMSCMO=$(SIMSML:%.ml=%.cmo)
 SIMSCMX=$(SIMSML:%.ml=%.cmx)
 
-
-OCAMLC = ocamlc -g
-OCAMLOPT = ocamlopt
-OCAMLDEP = ocamldep
-OCAML=$(shell which ocaml)
-OCAMLRUN=$(shell which ocamlrun)
-LIBPPRZDIR=../lib/ocaml
-INCLUDES= $(shell ocamlfind query -r -i-format lablgtk2) -I $(LIBPPRZDIR) $(shell ocamlfind query -r -i-format xml-light)
-LIBPPRZCMA=$(LIBPPRZDIR)/lib-pprz.cma
-
 AIRBORNE = ../airborne
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)
 
+UNAME = $(shell uname -s)
+ifeq ("$(UNAME)","Darwin")
+	CAML_CFLAGS = -I/opt/local/lib/ocaml
+else
+	CAML_CFLAGS =
+endif
+
 
 all : gaia sitl.cma simhitl
 
-simhitl : fg.o $(SIMHCMO) simhitl.cmo
+fg.so : fg.o
+	@echo BUILD $@
+	$(Q)$(CC) -shared -o $@ $^
+
+simhitl : fg.so $(SIMHCMO) simhitl.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ str.cma xml-light.cma unix.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
 sitl.cma : fg.o $(SIMSCMO)
 	@echo OL $@
-	$(Q)ocamlmklib -o sitl $^
+	$(Q)$(OCAMLMKLIB) -o sitl $^
 
 sitl.cmxa : $(SIMSCMX)
-	ocamlopt -o $@ -a $^
+	@echo OC $@
+	$(Q)$(OCAMLOPT) -o $@ -a $^
 
 gaia : gaia.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $<
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $<
 
 diffusion : stdlib.cmo diffusion.cmo
 	@echo OL $@
-	$(Q)$(OCAMLC) -custom $(INCLUDES) -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma gtkInit.cmo $^
+	$(Q)$(OCAMLC) $(INCLUDES) -o $@ $(LINKPKG) gtkInit.cmo $^
 
 %.cmo : %.ml
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c $<
+	$(Q)$(OCAMLC) $(INCLUDES) -c $(PKG) $<
 
 %.o : %.c
-	@echo OC $<
-	$(Q)$(OCAMLC) $(FPIC) -c $<
+	@echo CC $<
+	$(Q)$(CC) $(FPIC) -c $< $(CAML_CFLAGS)
 
 %.cmx : %.ml
 	@echo OOC $<
-	$(Q)$(OCAMLOPT) $(INCLUDES) -c $<
+	$(Q)$(OCAMLOPT) $(INCLUDES) -c $(PKG) $<
 
 %.cmi : %.mli
 	@echo OC $<
-	$(Q)$(OCAMLC) $(INCLUDES) -c $<
-
-# dependency on lib-pprz
-simhitl diffusion gaia:  $(LIBPPRZCMA)
+	$(Q)$(OCAMLC) $(INCLUDES) -c $(PKG) $<
 
 clean :
-	rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl diffusion
+	$(Q)rm -f *.cm* *~ *.out .depend *.o *.a *.so gaia simhitl diffusion
 
 .PHONY: all clean
 

sw/simulator/old_booz/tests/Makefile

@@ -3,6 +3,8 @@
 #
 #JSBSIM = /usr/local
 
+Q=@
+
 #CC = g++
 #CFLAGS  = -Wall -I$(JSBSIM)/include/JSBSim -I../include
 #LDFLAGS = -L$(JSBSIM)/lib -lJSBSim
@@ -70,4 +72,5 @@ test_sensors : $(TEST_SENSORS_SRCS)
 	gcc $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
 clean:
+	$(Q)rm -f *.o
 

sw/simulator/scilab/q3d/Makefile

@@ -1,4 +1,7 @@
 
+# Quiet compilation
+Q=@
+
 
 
 
@@ -7,4 +10,4 @@ out.mpg:
 	ffmpeg -f image2 -i images/frame_%04d.ppm out.mpg
 
 clean:
-	rm -f *~ \#*\#
+	$(Q)rm -f *~ \#*\#

sw/simulator/scilab/q3d/fonts/Makefile

@@ -1,3 +1,6 @@
+# Quiet compilation
+Q=@
+
 CC = gcc
 GLIB_CFLAGS  = -Wall  `pkg-config glib-2.0 --cflags`
 GLIB_LDFLAGS =  `pkg-config glib-2.0 --libs` -lglibivy -lpcre
@@ -6,5 +9,5 @@ ttx2scilab: ttx2scilab.c
 	$(CC) -Wall $(GLIB_CFLAGS) -o $@ $< $(GLIB_LDFLAGS)
 
 clean:
-	rm -f ttx2scilab
+	$(Q)rm -f ttx2scilab
 

sw/simulator/scilab/q3d/povray/Makefile

@@ -1,2 +1,5 @@
+# Quiet compilation
+Q=@
+
 clean:
-	rm -f *~ foo*.png test.avi q3d.pov
+	$(Q)rm -f *~ foo*.png test.avi q3d.pov

sw/simulator/scilab/q6d/povray/Makefile

@@ -1,5 +1,8 @@
+# Quiet compilation
+Q=@
+
 test:
 	povray test.pov +Oimg001.png Display=false +W800 +H600 +Q9 +A0.3 +R5
 
 clean:
-	rm -f *~ img*.png test.avi q3d.pov
+	$(Q)rm -f *~ img*.png test.avi q3d.pov