# Hey Emacs, this is a -*- makefile -*-

#

# Copyright (C) 2004 Pascal Brisset Antoine Drouin

#

# This file is part of paparazzi.

#

# paparazzi is free software; you can redistribute it and/or modify

# it under the terms of the GNU General Public License as published by

# the Free Software Foundation; either version 2, or (at your option)

# any later version.

#

# paparazzi is distributed in the hope that it will be useful,

# but WITHOUT ANY WARRANTY; without even the implied warranty of

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

# GNU General Public License for more details.

#

# You should have received a copy of the GNU General Public License

# along with paparazzi; see the file COPYING. If not, write to

# the Free Software Foundation, 59 Temple Place - Suite 330,

# Boston, MA 02111-1307, USA.

# The default is to produce a quiet echo of compilation commands

# Launch with "make Q=''" to get full echo

Q=@

ifeq ($(Q),@)

MAKEFLAGS += --no-print-directory

endif

PAPARAZZI_SRC ?= $(shell pwd)

empty=

space=$(empty) $(empty)

ifneq ($(findstring $(space),$(PAPARAZZI_SRC)),)

$(error No spaces allowed in the current directory name)

endif

ifeq ($(PAPARAZZI_HOME),)

PAPARAZZI_HOME=$(PAPARAZZI_SRC)

endif

# export the PAPARAZZI environment to sub-make

export PAPARAZZI_SRC

export PAPARAZZI_HOME

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

#

LIB=sw/lib

STATICINCLUDE=$(PAPARAZZI_HOME)/var/include

CONF=$(PAPARAZZI_SRC)/conf

AIRBORNE=sw/airborne

SIMULATOR=sw/simulator

COCKPIT=sw/ground_segment/cockpit

TMTC=sw/ground_segment/tmtc

GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators

JOYSTICK=sw/ground_segment/joystick

EXT=sw/ext

TOOLS=sw/tools

#

# build some stuff in subdirs

# nothing should depend on these...

#

PPRZCENTER=sw/supervision

MISC=sw/ground_segment/misc

LOGALIZER=sw/logalizer

SUBDIRS = $(PPRZCENTER) $(LOGALIZER) sw/tools

SUBDIRS_EXTRA = $(MISC)

#

# Communication protocol version

#

PPRZLINK_LIB_VERSION ?= 2.0

#

# xml files used as input for header generation

#

CUSTOM_MESSAGES_XML = $(CONF)/messages.xml

ABI_XML = $(CONF)/abi.xml

UBX_XML = $(CONF)/ubx.xml

MTK_XML = $(CONF)/mtk.xml

XSENS_XML = $(CONF)/xsens_MTi-G.xml

#

# generated header files

#

PPRZLINK_DIR=sw/ext/pprzlink

PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib

MESSAGES_INSTALL=$(PAPARAZZI_HOME)/var

UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h

MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h

XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h

ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h

MAVLINK_DIR=$(STATICINCLUDE)/mavlink/

MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h

GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H) $(MAVLINK_PROTOCOL_H)

all: ground_segment ext subdirs_extra lpctools

_print_building:

@echo "------------------------------------------------------------"

@echo "Building Paparazzi version" $(shell ./paparazzi_version)

@echo "------------------------------------------------------------"

print_build_version:

@echo "------------------------------------------------------------"

@echo "Last build Paparazzi version" $(shell cat $(PAPARAZZI_HOME)/var/build_version.txt 2> /dev/null || echo UNKNOWN)

@echo "------------------------------------------------------------"

_save_build_version:

$(Q)test -d $(PAPARAZZI_HOME)/var || mkdir -p $(PAPARAZZI_HOME)/var

$(Q)./paparazzi_version > $(PAPARAZZI_HOME)/var/build_version.txt

update_google_version:

-$(MAKE) -C data/maps

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)

conf: conf/conf.xml conf/control_panel.xml conf/maps.xml conf/tools/blacklisted

conf/%.xml :conf/%_example.xml

[ -L $@ ] || [ -f $@ ] || cp $< $@

conf/tools/blacklisted: conf/tools/blacklisted_example

cp conf/tools/blacklisted_example conf/tools/blacklisted

ground_segment: _print_building update_google_version conf libpprz subdirs static

ground_segment.opt: ground_segment cockpit.opt tmtc.opt

static: cockpit tmtc generators sim_static joystick static_h

libpprzlink.update:

$(MAKE) -C $(EXT) pprzlink.update

libpprzlink.install:

$(Q)Q=$(Q) MAKEFLAGS=-j1 DESTDIR=$(PPRZLINK_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install

libpprz: libpprzlink.update libpprzlink.install _save_build_version

$(MAKE) -C $(LIB)/ocaml

cockpit: libpprz

$(MAKE) -C $(COCKPIT)

cockpit.opt: libpprz

$(MAKE) -C $(COCKPIT) opt

tmtc: libpprz cockpit

$(MAKE) -C $(TMTC)

tmtc.opt: libpprz cockpit.opt

$(MAKE) -C $(TMTC) opt

generators: libpprz

$(MAKE) -C $(GENERATORS)

joystick: libpprz

$(MAKE) -C $(JOYSTICK)

sim_static: libpprz

$(MAKE) -C $(SIMULATOR)

ext:

$(MAKE) -C $(EXT)

$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle

opencv_bebop:

$(MAKE) -C $(EXT) opencv_bebop

#

# make misc subdirs

#

subdirs: $(SUBDIRS)

subdirs_extra: $(SUBDIRS_EXTRA)

$(MISC): ext

$(SUBDIRS): libpprz

$(MAKE) -C $@

$(SUBDIRS_EXTRA): libpprz

$(MAKE) -C $@

$(PPRZCENTER): libpprz

$(LOGALIZER): libpprz

static_h: pprzlink_protocol $(GEN_HEADERS)

pprzlink_protocol : libpprz

$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)

$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)

ifeq ("$(wildcard $(CUSTOM_MESSAGES_XML))","")

@echo GENERATE $@ with default messages

$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages

else

@echo GENERATE $@ with custome messages from $(CUSTOM_MESSAGES_XML)

$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages

endif

$(UBX_PROTOCOL_H) : $(UBX_XML) generators

@echo GENERATE $@

$(eval $@_TMP := $(shell $(MKTEMP)))

$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_ubx.out $< > $($@_TMP)

$(Q)mv $($@_TMP) $@

$(Q)chmod a+r $@

$(MTK_PROTOCOL_H) : $(MTK_XML) generators

@echo GENERATE $@

$(eval $@_TMP := $(shell $(MKTEMP)))

$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_mtk.out $< > $($@_TMP)

$(Q)mv $($@_TMP) $@

$(Q)chmod a+r $@

$(XSENS_PROTOCOL_H) : $(XSENS_XML) generators

@echo GENERATE $@

$(eval $@_TMP := $(shell $(MKTEMP)))

$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_xsens.out $< > $($@_TMP)

$(Q)mv $($@_TMP) $@

$(Q)chmod a+r $@

$(ABI_MESSAGES_H) : $(ABI_XML) generators

@echo GENERATE $@

$(eval $@_TMP := $(shell $(MKTEMP)))

$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_abi.out $< airborne > $($@_TMP)

$(Q)mv $($@_TMP) $@

$(Q)chmod a+r $@

$(MAVLINK_PROTOCOL_H) :

$(Q)make -C $(PAPARAZZI_HOME)/sw/ext mavlink

#

# code generation for aircrafts from xml files

#

include Makefile.ac

ac_h ac fbw ap: static conf generators ext

sim: sim_static

# stuff to build and upload the lpc bootloader ...

include Makefile.lpctools

lpctools: lpc21iap

#

# doxygen html documentation

#

dox:

$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_modules_doc.py -pv

$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_messages_doc.py -pv

@echo "Generationg doxygen html documentation in doc/generated/html"

$(Q)( cat Doxyfile ; echo "PROJECT_NUMBER=$(./paparazzi_version)"; echo "QUIET=YES") | doxygen -

@echo "Done. Open doc/generated/html/index.html in your browser to view it."

#

# Cleaning

#

clean:

$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml

$(Q)rm -f $(GEN_HEADERS)

$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) uninstall

$(Q)rm -fr $(MAVLINK_DIR)

$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;

$(Q)$(MAKE) -C $(EXT) clean

$(Q)find . -name '*~' -exec rm -f {} \;

$(Q)find . -name '*.pyc' -exec rm -f {} \;

$(Q)find . -name 'Cargo.lock' -exec rm -f {} \;

cleanspaces:

find sw -path sw/ext -prune -o -type f -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;

find sw -path sw/ext -prune -o -type f -name '*.py' -exec sed -i {} -e 's/[ \t]*$$//' \;

find conf -name '*.makefile' -exec sed -i {} -e 's/[ \t]*$$//' ';'

find . -path ./sw/ext -prune -o -name Makefile -exec sed -i {} -e 's/[ \t]*$$//' ';'

find sw -name '*.ml' -o -name '*.mli' -exec sed -i {} -e 's/[ \t]*$$//' ';'

find conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'

distclean : dist_clean

dist_clean :

@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"

dist_clean_irreversible: clean

rm -rf conf/maps_data conf/maps.xml

rm -rf conf/conf.xml conf/controlpanel.xml

rm -rf var

ab_clean:

find sw/airborne -name '*~' -exec rm -f {} \;

#

# Tests

#

test: test_math test_examples test_modules

# subset of airframes for coverity test to pass the limited build time on travis

test_coverity: all

CONF_XML=conf/conf_tests_coverity.xml prove tests/aircrafts/

# test AggieAir conf

test_aggieair: all

CONF_XML=conf/airframes/AGGIEAIR/aggieair_conf.xml prove tests/aircrafts/

# test Open UAS conf

test_openuas: all

CONF_XML=conf/userconf/OPENUAS/openuas_conf.xml prove tests/aircrafts/

# test TU Delft conf

test_tudelft: all

CONF_XML=conf/userconf/tudelft/conf.xml prove tests/aircrafts/

# compiles all aircrafts in conf_tests.xml

test_examples: all

CONF_XML=conf/conf_tests.xml prove tests/aircrafts/

# test compilation of modules

test_modules: all

prove -v tests/modules/test_modules.py

test_all_confs: all opencv_bebop

$(Q)$(eval $CONFS:=$(shell ./find_confs.py))

@echo "************\nFound $(words $($CONFS)) config files: $($CONFS)"

$(Q)$(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

# run some math tests that don't need whole paparazzi to be built

test_math:

make -C tests/math

# super simple simulator test, needs X

# always uses conf/conf.xml, so that needs to contain the appropriate aircrafts

# (only Microjet right now)

test_sim: all

prove tests/sim

.PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \

subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install cockpit cockpit.opt tmtc tmtc.opt generators\

static sim_static lpctools opencv_bebop\

clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \

test test_examples test_math test_sim test_all_confs