mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
520e1e3b86
This new script is doing the same than before but don't rely on the ocaml install which was a problem when mixing opam and system install. Note that when updating, git will complain about the already existing file 'paparazzi'. So it is necessary to delete the old file (or run 'make clean') before updating the code.
344 lines
11 KiB
Makefile
344 lines
11 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
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#
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# Copyright (C) 2004 Pascal Brisset Antoine Drouin
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#
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# This file is part of paparazzi.
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#
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# paparazzi is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; either version 2, or (at your option)
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# any later version.
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#
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# paparazzi is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with paparazzi; see the file COPYING. If not, write to
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# the Free Software Foundation, 59 Temple Place - Suite 330,
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# Boston, MA 02111-1307, USA.
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# The default is to produce a quiet echo of compilation commands
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# Launch with "make Q=''" to get full echo
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Q=@
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ifeq ($(Q),@)
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MAKEFLAGS += --no-print-directory
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endif
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PAPARAZZI_SRC ?= $(shell pwd)
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empty=
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space=$(empty) $(empty)
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ifneq ($(findstring $(space),$(PAPARAZZI_SRC)),)
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$(error No spaces allowed in the current directory name)
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endif
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ifeq ($(PAPARAZZI_HOME),)
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PAPARAZZI_HOME=$(PAPARAZZI_SRC)
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endif
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# export the PAPARAZZI environment to sub-make
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export PAPARAZZI_SRC
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export PAPARAZZI_HOME
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OCAML=$(shell which ocaml)
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OCAMLRUN=$(shell which ocamlrun)
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BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
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# default mktemp in OS X doesn't work, use gmktemp with macports coreutils
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UNAME = $(shell uname -s)
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ifeq ("$(UNAME)","Darwin")
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MKTEMP = gmktemp
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else
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MKTEMP = mktemp
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endif
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#
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# define some paths
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#
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LIB=sw/lib
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STATICINCLUDE=$(PAPARAZZI_HOME)/var/include
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CONF=$(PAPARAZZI_SRC)/conf
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AIRBORNE=sw/airborne
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SIMULATOR=sw/simulator
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COCKPIT=sw/ground_segment/cockpit
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TMTC=sw/ground_segment/tmtc
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GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
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JOYSTICK=sw/ground_segment/joystick
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EXT=sw/ext
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TOOLS=sw/tools
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#
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# build some stuff in subdirs
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# nothing should depend on these...
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#
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PPRZCENTER=sw/supervision
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MISC=sw/ground_segment/misc
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LOGALIZER=sw/logalizer
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SUBDIRS = $(PPRZCENTER) $(MISC) $(LOGALIZER) sw/tools
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#
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# Communication protocol version
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#
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PPRZLINK_LIB_VERSION ?= 2.0
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#
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# xml files used as input for header generation
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#
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CUSTOM_MESSAGES_XML = $(CONF)/messages.xml
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ABI_XML = $(CONF)/abi.xml
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UBX_XML = $(CONF)/ubx.xml
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MTK_XML = $(CONF)/mtk.xml
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XSENS_XML = $(CONF)/xsens_MTi-G.xml
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#
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# generated header files
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#
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PPRZLINK_DIR=sw/ext/pprzlink
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PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib
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MESSAGES_INSTALL=$(PAPARAZZI_HOME)/var
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UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
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MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
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XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
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ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
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MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
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MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h
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GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H) $(MAVLINK_PROTOCOL_H)
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all: ground_segment ext lpctools
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_print_building:
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@echo "------------------------------------------------------------"
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@echo "Building Paparazzi version" $(shell ./paparazzi_version)
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@echo "------------------------------------------------------------"
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print_build_version:
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@echo "------------------------------------------------------------"
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@echo "Last build Paparazzi version" $(shell cat $(PAPARAZZI_HOME)/var/build_version.txt 2> /dev/null || echo UNKNOWN)
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@echo "------------------------------------------------------------"
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_save_build_version:
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$(Q)test -d $(PAPARAZZI_HOME)/var || mkdir -p $(PAPARAZZI_HOME)/var
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$(Q)./paparazzi_version > $(PAPARAZZI_HOME)/var/build_version.txt
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update_google_version:
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-$(MAKE) -C data/maps
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init:
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@[ -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)
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conf: conf/conf.xml conf/control_panel.xml conf/maps.xml conf/tools/blacklisted
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conf/%.xml :conf/%_example.xml
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[ -L $@ ] || [ -f $@ ] || cp $< $@
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conf/tools/blacklisted: conf/tools/blacklisted_example
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cp conf/tools/blacklisted_example conf/tools/blacklisted
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ground_segment: _print_building update_google_version conf libpprz subdirs static
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ground_segment.opt: ground_segment cockpit.opt tmtc.opt
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static: cockpit tmtc generators sim_static joystick static_h
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libpprzlink:
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$(MAKE) -C $(EXT) pprzlink.update
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$(Q)Q=$(Q) DESTDIR=$(PPRZLINK_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install
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libpprz: libpprzlink _save_build_version
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$(MAKE) -C $(LIB)/ocaml
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cockpit: libpprz
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$(MAKE) -C $(COCKPIT)
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cockpit.opt: libpprz
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$(MAKE) -C $(COCKPIT) opt
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tmtc: libpprz cockpit
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$(MAKE) -C $(TMTC)
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tmtc.opt: libpprz cockpit.opt
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$(MAKE) -C $(TMTC) opt
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generators: libpprz
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$(MAKE) -C $(GENERATORS)
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joystick: libpprz
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$(MAKE) -C $(JOYSTICK)
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sim_static: libpprz
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$(MAKE) -C $(SIMULATOR)
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ext:
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$(MAKE) -C $(EXT)
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$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle
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opencv_bebop:
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$(MAKE) -C $(EXT) opencv_bebop
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#
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# make misc subdirs
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#
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subdirs: $(SUBDIRS)
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$(MISC): ext
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$(SUBDIRS):
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$(MAKE) -C $@
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$(PPRZCENTER): libpprz
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$(LOGALIZER): libpprz
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static_h: pprzlink_protocol $(GEN_HEADERS)
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pprzlink_protocol :
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$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
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$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
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ifeq ("$(wildcard $(CUSTOM_MESSAGES_XML))","")
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@echo GENERATE $@ with default messages
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$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
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else
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@echo GENERATE $@ with custome messages from $(CUSTOM_MESSAGES_XML)
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$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
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endif
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$(UBX_PROTOCOL_H) : $(UBX_XML) generators
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_ubx.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(MTK_PROTOCOL_H) : $(MTK_XML) generators
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_mtk.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(XSENS_PROTOCOL_H) : $(XSENS_XML) generators
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_xsens.out $< > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(ABI_MESSAGES_H) : $(ABI_XML) generators
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@echo GENERATE $@
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$(eval $@_TMP := $(shell $(MKTEMP)))
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$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_abi.out $< airborne > $($@_TMP)
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$(Q)mv $($@_TMP) $@
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$(Q)chmod a+r $@
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$(MAVLINK_PROTOCOL_H) :
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$(Q)make -C $(PAPARAZZI_HOME)/sw/ext mavlink
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#
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# code generation for aircrafts from xml files
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#
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include Makefile.ac
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ac_h ac fbw ap: static conf generators ext
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sim: sim_static
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# stuff to build and upload the lpc bootloader ...
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include Makefile.lpctools
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lpctools: lpc21iap
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#
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# doxygen html documentation
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#
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dox:
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$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_modules_doc.py -pv
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$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_messages_doc.py -pv
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@echo "Generationg doxygen html documentation in doc/generated/html"
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$(Q)( cat Doxyfile ; echo "PROJECT_NUMBER=$(./paparazzi_version)"; echo "QUIET=YES") | doxygen -
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@echo "Done. Open doc/generated/html/index.html in your browser to view it."
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#
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# Cleaning
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#
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clean:
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$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml
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$(Q)rm -f $(GEN_HEADERS)
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$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) uninstall
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$(Q)rm -fr $(MAVLINK_DIR)
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$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
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$(Q)$(MAKE) -C $(EXT) clean
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$(Q)find . -name '*~' -exec rm -f {} \;
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$(Q)find . -name '*.pyc' -exec rm -f {} \;
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cleanspaces:
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find sw -path sw/ext -prune -o -type f -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
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find sw -path sw/ext -prune -o -type f -name '*.py' -exec sed -i {} -e 's/[ \t]*$$//' \;
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find conf -name '*.makefile' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find . -path ./sw/ext -prune -o -name Makefile -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find sw -name '*.ml' -o -name '*.mli' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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find conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
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distclean : dist_clean
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dist_clean :
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@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
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dist_clean_irreversible: clean
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rm -rf conf/maps_data conf/maps.xml
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rm -rf conf/conf.xml conf/controlpanel.xml
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rm -rf var
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ab_clean:
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find sw/airborne -name '*~' -exec rm -f {} \;
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#
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# Tests
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#
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test: test_math test_examples
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# subset of airframes for coverity test to pass the limited build time on travis
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test_coverity: all
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CONF_XML=conf/conf_tests_coverity.xml prove tests/aircrafts/
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# test AggieAir conf
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test_aggieair: all
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CONF_XML=conf/airframes/AGGIEAIR/aggieair_conf.xml prove tests/aircrafts/
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# test Open UAS conf
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test_openuas: all
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CONF_XML=conf/userconf/OPENUAS/openuas_conf.xml prove tests/aircrafts/
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# test TU Delft conf
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test_tudelft: all
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CONF_XML=conf/userconf/tudelft/conf.xml prove tests/aircrafts/
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# compiles all aircrafts in conf_tests.xml
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test_examples: all
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CONF_XML=conf/conf_tests.xml prove tests/aircrafts/
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test_all_confs: all opencv_bebop
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$(Q)$(eval $CONFS:=$(shell ./find_confs.py))
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@echo "************\nFound $(words $($CONFS)) config files: $($CONFS)"
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$(Q)$(foreach conf,$($CONFS),echo "\n************\nTesting all aircrafts in conf: $(conf)\n************" && (CONF_XML=$(conf) prove tests/aircrafts/ || echo "failed $(conf)" >> TEST_ALL_CONFS_FAILED);) test -f TEST_ALL_CONFS_FAILED && cat TEST_ALL_CONFS_FAILED && rm -f TEST_ALL_CONFS_FAILED && exit 1; exit 0
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# run some math tests that don't need whole paparazzi to be built
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test_math:
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make -C tests/math
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# super simple simulator test, needs X
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# always uses conf/conf.xml, so that needs to contain the appropriate aircrafts
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# (only Microjet right now)
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test_sim: all
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prove tests/sim
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.PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \
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subdirs $(SUBDIRS) conf ext libpprz libpprzlink cockpit cockpit.opt tmtc tmtc.opt generators\
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static sim_static lpctools opencv_bebop\
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clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
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test test_examples test_math test_sim test_all_confs
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