paparazzi/Makefile.ac

# Hey Emacs, this is a -*- makefile -*-
#
#   Copyright (C) 2003-2014  The Paparazzi Team
#
# 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.

# Preprocessing of XML configuration files

PAPARAZZI_SRC ?= $(shell pwd)

include conf/Makefile.local

# main directory where the generated files and compilation results for an aircraft are stored
AIRCRAFT_BUILD_DIR = $(PAPARAZZI_HOME)/var/aircrafts/$(AIRCRAFT)
CONF=$(PAPARAZZI_HOME)/conf
CONF_XML=$(CONF)/conf.xml
AIRBORNE=sw/airborne
MESSAGES_XML = $(CONF)/messages.xml

AIRCRAFT_CONF_DIR = $(AIRCRAFT_BUILD_DIR)/conf
AC_GENERATED = $(AIRCRAFT_BUILD_DIR)/$(TARGET)/generated

AIRFRAME_H=$(AC_GENERATED)/airframe.h
PERIODIC_H=$(AC_GENERATED)/periodic_telemetry.h
RADIO_H=$(AC_GENERATED)/radio.h
FLIGHT_PLAN_H=$(AC_GENERATED)/flight_plan.h
FLIGHT_PLAN_XML=$(AIRCRAFT_BUILD_DIR)/flight_plan.xml
SETTINGS_H=$(AC_GENERATED)/settings.h
SETTINGS_XMLS=$(patsubst %,$(CONF)/%,$(SETTINGS))
SETTINGS_XML=$(AIRCRAFT_BUILD_DIR)/settings.xml
SETTINGS_MODULES=$(AIRCRAFT_BUILD_DIR)/settings_modules.xml
SETTINGS_TELEMETRY=$(AIRCRAFT_BUILD_DIR)/settings_telemetry.xml
MAKEFILE_AC=$(AIRCRAFT_BUILD_DIR)/Makefile.ac
MODULES_H=$(AC_GENERATED)/modules.h
MODULES_DIR=$(PAPARAZZI_HOME)/conf/modules/
AUTOPILOT_DIR=$(AC_GENERATED)/
AIRCRAFT_MD5=$(AIRCRAFT_CONF_DIR)/aircraft.md5

UNAME = $(shell uname -s)
ifeq ("$(UNAME)","Darwin")
	MKTEMP = gmktemp
else
	MKTEMP = mktemp
endif

# detection of number of processors for parallel compilation
# by passing J=AUTO from toplevel make.
# Number of processes can also be explicitly set with e.g. J=4
# Calling make without a J variable is the same as J=1 (serial compilation)
NPROCS := 1
ifdef J
ifeq ($J,AUTO)
ifeq ($(UNAME),Linux)
  NPROCS := $(shell grep -c ^processor /proc/cpuinfo)
else ifeq ($(UNAME),Darwin)
  NPROCS := $(shell sysctl hw.ncpu | awk '{print $$2}')
endif # $(UNAME)
else # not auto, explicitly specified
  NPROCS := $J
endif # $J
endif


# "make Q=''" to get full echo
Q=@

#
# include the generated airframe makefile
#
ifeq ($(MAKECMDGOALS),all_ac_h)
-include $(MAKEFILE_AC)

ifdef PERIODIC_FREQUENCY
# telemetry and module periodic frequency default to PERIODIC_FREQUENCY
TELEMETRY_FREQUENCY ?= $(PERIODIC_FREQUENCY)
DEFAULT_MODULES_FREQUENCY = $(PERIODIC_FREQUENCY)
else
$(warning Info: PERIODIC_FREQUENCY not configured, defaulting to 60Hz for modules and telemetry)
TELEMETRY_FREQUENCY ?= 60
DEFAULT_MODULES_FREQUENCY = 60
endif

endif


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)


print_version:
	@echo "-----------------------------------------------------------------------"
	@echo "Paparazzi version" $(shell ./paparazzi_version)
	@echo "-----------------------------------------------------------------------"


all_ac_h: $(AIRFRAME_H) $(MODULES_H) $(SETTINGS_H) $(MAKEFILE_AC) $(PERIODIC_H) autopilot_h
	@echo "TARGET: " $(TARGET)"\n" > $(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list
	@echo "CFLAGS: " $($(TARGET).CFLAGS)"\n"  >> $(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list
	@echo "LDFLAGS: " $($(TARGET).LDFLAGS)"\n"  >> $(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list
	@echo "srcs: " $($(TARGET).srcs) >> $(AIRCRAFT_BUILD_DIR)/$(TARGET)_srcs.list

radio_ac_h : $(RADIO_H)

flight_plan_ac_h : $(FLIGHT_PLAN_H) $(FLIGHT_PLAN_XML)

makefile_ac: $(MAKEFILE_AC)

$(AIRFRAME_H) : $(CONF)/$(AIRFRAME_XML) $(CONF_XML) $(AIRCRAFT_MD5)
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/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) $(GENERATORS)/gen_radio.out
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/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 GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/gen_periodic.out $(CONF)/$(AIRFRAME_XML) $(MESSAGES_XML) $(CONF)/$(TELEMETRY) $(TELEMETRY_FREQUENCY) $(SETTINGS_TELEMETRY) > $($@_TMP)
	$(Q)mv $($@_TMP) $@
	$(Q)chmod a+r $@
	$(Q)cp $(CONF)/$(TELEMETRY) $(AIRCRAFT_CONF_DIR)/telemetry

$(FLIGHT_PLAN_H) : $(CONF)/$(FLIGHT_PLAN) $(CONF_XML) $(GENERATORS)/gen_flight_plan.out
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/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) $(GENERATORS)/gen_flight_plan.out
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/gen_flight_plan.out -dump $< > $($@_TMP)
	$(Q)mv $($@_TMP) $@
	$(Q)chmod a+r $@

$(SETTINGS_H) : $(SETTINGS_XMLS) $(CONF_XML) $(SETTINGS_MODULES) $(SETTINGS_TELEMETRY) $(GENERATORS)/gen_settings.out
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/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) $(GENERATORS)/gen_modules.out $(CONF)/modules/*.xml
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(eval $@_TMP := $(shell $(MKTEMP)))
	$(Q)$(GENERATORS)/gen_modules.out $(SETTINGS_MODULES) $(DEFAULT_MODULES_FREQUENCY) $< > $($@_TMP)
	$(Q)mv $($@_TMP) $@
	$(Q)chmod a+r $@

autopilot_h : $(CONF)/$(AIRFRAME_XML) $(GENERATORS)/gen_autopilot.out $(CONF)/autopilot/*.xml
	$(Q)test -d $(AC_GENERATED) || mkdir -p $(AC_GENERATED)
	@echo GENERATE $@
	$(Q)$(GENERATORS)/gen_autopilot.out $(CONF)/$(AIRFRAME_XML) $(AUTOPILOT_DIR)

$(SETTINGS_MODULES) : $(MODULES_H)
$(SETTINGS_TELEMETRY) : $(PERIODIC_H)

%.ac_h : $(GENERATORS)/gen_aircraft.out
	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
	@echo BUILD $(AIRCRAFT), TARGET $*
	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out $(AIRCRAFT)

%.compile: %.ac_h | print_version
	cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=$* all

%.upload: %.compile
	cd $(AIRBORNE); $(MAKE) TARGET=$* upload

jsbsim jsbsim.compile: jsbsim.ac_h print_version
	cd $(AIRBORNE); $(MAKE) TARGET=jsbsim ARCHI=jsbsim ARCH=jsbsim all

sim sim.compile: sim.ac_h print_version
	cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim ARCH=sim all

# Rules for backward compatibility (old guys are used to !)
fbw : fbw.compile
ap: ap.compile

clean_ac :
	$(Q)if (expr "$(AIRCRAFT)"); then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
	rm -fr $(AIRCRAFT_BUILD_DIR)

.PHONY: init all_ac_h radio_ac_h flight_plan_ac_h makefile_ac clean_ac print_version