git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/Examples/Linux/Navigation/Build/Makefile

   1 NO_COLOR=\033[0m
   2 GREEN_COLOR=\033[32;01m
   3 BLUE_COLOR=\033[34;01m
   4 PB_COLOR=\033[33m
   5
   6
   7 SDK_PATH:=$(shell pwd)/../../../../ARDroneLib
   8 PC_TARGET=yes
   9 USE_LINUX=yes
  10
  11 ifdef MYKONOS
  12    include $(ARDRONE_CUSTOM_CONFIG)
  13    include $(ARDRONE_BUILD_CONFIG)
  14 else
  15    include $(SDK_PATH)/Soft/Build/custom.makefile
  16    include $(SDK_PATH)/Soft/Build/config.makefile
  17 endif
  18
  19 ifeq "$(RELEASE_BUILD)" "yes"
  20    ARDRONE_TARGET_DIR=$(shell pwd)/../../Build/Release
  21 else
  22    ARDRONE_TARGET_DIR=$(shell pwd)/../../Build/Debug
  23 endif
  24
  25 TARGET=ardrone_navigation
  26
  27 SRC_DIR:=$(shell pwd)/../Sources
  28
  29
  30 COMMON_MOB_SRC_PATH = common
  31 UTILS_SRC_PATH          = utils
  32 VIDEO_SRC_PATH          = video
  33 UI_SRC_PATH             = UI
  34 BT_SRC_PATH             = BT
  35 REF_SEND_SRC_PATH       = ref_send
  36 IHM_SRC_PATH            = ihm
  37 NDC_SRC_PATH            = navdata_client
  38 VC_SRC_PATH             = vicon_client
  39
  40 # Define application source files
  41
  42 GENERIC_BINARIES_SOURCE_DIR:=$(SRC_DIR)
  43
  44 GENERIC_BINARIES_COMMON_SOURCE_FILES+=                  \
  45         $(COMMON_MOB_SRC_PATH)/mobile_config.c          \
  46         $(COMMON_MOB_SRC_PATH)/mobile_wifi.c            \
  47         $(UI_SRC_PATH)/ui.c                             \
  48         $(UI_SRC_PATH)/gamepad.c                        \
  49         $(UI_SRC_PATH)/wiimote.c                        \
  50         $(UI_SRC_PATH)/ardrone_ini.c                    \
  51         $(UTILS_SRC_PATH)/utils.c                       \
  52         $(UTILS_SRC_PATH)/remote_console.c              \
  53         $(NDC_SRC_PATH)/navdata_client.c                \
  54         $(NDC_SRC_PATH)/navdata_tablepilotage.c         \
  55         $(NDC_SRC_PATH)/navdata_ihm.c                   \
  56         $(IHM_SRC_PATH)/view_drone_attitude.c           \
  57         $(IHM_SRC_PATH)/ihm_vision.c                    \
  58         $(IHM_SRC_PATH)/ihm_stages_o_gtk.c              \
  59         $(IHM_SRC_PATH)/ihm.c \
  60         $(IHM_SRC_PATH)/ihm_config.c
  61
  62 ifeq ($(PC_USE_POLARIS),yes)
  63         GENERIC_CFLAGS+=-DPC_USE_POLARIS
  64         GENERIC_BINARIES_COMMON_SOURCE_FILES+=          \
  65         $(NDC_SRC_PATH)/navdata_polaris.c
  66 endif
  67
  68 ifeq ($(USE_ARDRONE_VICON),yes)
  69 GENERIC_BINARIES_COMMON_SOURCE_FILES+=                  \
  70         $(VC_SRC_PATH)/vicon_client.c                   \
  71         $(VC_SRC_PATH)/vicon_ihm.c
  72 endif
  73
  74 ifeq ($(USE_RAW_CAPTURE),yes)
  75 GENERIC_BINARIES_COMMON_SOURCE_FILES+=                  \
  76     $(NDC_SRC_PATH)/raw_capture.c
  77 endif
  78
  79 ifeq ($(USE_ARDRONE_VICON),yes)
  80    GENERIC_CFLAGS+=-DUSE_ARDRONE_VICON
  81 endif
  82
  83 GENERIC_INCLUDES+=                                      \
  84         $(SRC_DIR)                                      \
  85         $(LIB_DIR)                                      \
  86         $(SDK_PATH)/Soft/Common                         \
  87         $(SDK_PATH)/Soft/Lib                            \
  88         /usr/include/libxml2
  89
  90
  91 ifeq ($(PC_USE_POLARIS),yes)
  92 GENERIC_INCLUDES+=                                              \
  93         $(SRC_PATH)/Soft/Lib  \
  94         $(SRC_PATH)/Soft/Lib/libPolaris
  95 endif
  96
  97 ifeq ($(USE_ARDRONE_VICON),yes)
  98 GENERIC_INCLUDES+=                                              \
  99         $(SRC_PATH)/Soft/Lib  \
 100         $(SRC_PATH)/Soft/Lib/libViconDataStreamSDK
 101 endif
 102
 103 ifeq ($(USE_ARDRONE_CALIBRATION),yes)
 104 GENERIC_INCLUDES+=                                              \
 105         $(SRC_PATH)/Soft/Lib    \
 106         $(SRC_PATH)/Soft/Lib/libCalibration
 107 endif
 108
 109 ifeq ($(USE_ARDRONE_VISION),yes)
 110 GENERIC_INCLUDES+=                                              \
 111         $(SRC_PATH)/Soft/Lib    \
 112         $(SRC_PATH)/Soft/Lib/Vision
 113 endif
 114
 115 GENERIC_TARGET_BINARIES_PREFIX=
 116
 117 GENERIC_TARGET_BINARIES_DIR=$(ARDRONE_TARGET_DIR)
 118
 119 GENERIC_BINARIES_SOURCE_ENTRYPOINTS+=                   \
 120         $(COMMON_MOB_SRC_PATH)/mobile_main.c
 121
 122 GENERIC_INCLUDES:=$(addprefix -I,$(GENERIC_INCLUDES))
 123
 124 ifeq ($(USE_ARDRONE_CALIBRATION),yes)
 125 GENERIC_CFLAGS+=-DPC_USE_CALIBRATION
 126 endif
 127
 128 ifeq ($(USE_ARDRONE_VISION),yes)
 129 GENERIC_CFLAGS+=-DPC_USE_VISION
 130 endif
 131
 132 GENERIC_LIB_PATHS=-L$(GENERIC_TARGET_BINARIES_DIR)
 133 GENERIC_CFLAGS+=-DLIBUDEV_I_KNOW_THE_API_IS_SUBJECT_TO_CHANGE
 134 GENERIC_LIBS=-liw -lpc_ardrone -lgthread-2.0 -lgtk-x11-2.0 -lrt -lxml2 -ludev -lswscale
 135
 136 ifeq ($(USE_ARDRONE_VISION),yes)
 137 GENERIC_LIBS+=-lpc_vision
 138 endif
 139
 140 ifeq ($(USE_ARDRONE_CALIBRATION),yes)
 141 GENERIC_LIBS+=-lcalibration
 142 endif
 143
 144 ifeq ($(PC_USE_POLARIS),yes)
 145 GENERIC_LIBS+=-lpc_polaris
 146 endif
 147
 148 ifeq ($(USE_ARDRONE_VICON),yes)
 149 GENERIC_LIB_PATHS=-L$(SRC_PATH)/Soft/Lib/libViconDataStreamSDK
 150 GENERIC_LIBS+=-lViconDataStreamSDK -lpc_vicon
 151 endif
 152
 153 ifeq ($(PC_USE_TABLE_PILOTAGE),yes)
 154 GENERIC_LIBS+=-lpc_test_benchs
 155 endif
 156
 157 ifeq ($(WIIMOTE_SUPPORT),yes)
 158 #  GENERIC_LIBS+=-lpc_cwiid
 159 # Stephane : lib cwiid is now a Ubuntu package
 160 GENERIC_LIBS+=-lcwiid
 161 endif
 162
 163 ifeq ($(EXTERNAL_CONTROL),yes)
 164 GENERIC_LIBS+=-lpc_ardrone_control
 165 endif
 166
 167 SDK_FLAGS+="USE_APP=yes"
 168 SDK_FLAGS+="APP_ID=ardrone_navigation"
 169
 170 GENERIC_CFLAGS+=-DRECORD_VIDEO
 171
 172 ifeq ($(FFMPEG_RECORDING_SUPPORT),yes)
 173 GENERIC_LIBS+=-lswscale -lavformat -lavcodec -lavutil -lm
 174 GENERIC_CFLAGS+=-DUSE_FFMPEG_RECORDER
 175 endif
 176
 177 export GENERIC_CFLAGS
 178 export GENERIC_LIBS
 179 export GENERIC_LIB_PATHS
 180 export GENERIC_INCLUDES
 181 export GENERIC_BINARIES_SOURCE_DIR
 182 export GENERIC_BINARIES_COMMON_SOURCE_FILES
 183 export GENERIC_TARGET_BINARIES_PREFIX
 184 export GENERIC_TARGET_BINARIES_DIR
 185 export GENERIC_BINARIES_SOURCE_ENTRYPOINTS
 186
 187 # Bug fix ...
 188 export GENERIC_LIBRARY_SOURCE_DIR=$(GENERIC_BINARIES_SOURCE_DIR)
 189
 190 .PHONY: $(TARGET) build_libs
 191
 192 all: print_title build_libs $(TARGET)
 193
 194 print_title:
 195         @if [ '$(MAKECMDGOALS)' != 'clean' ]; then echo "$(BLUE_COLOR)-- Building Ardrone Navigation -- $(NO_COLOR)"; fi
 196
 197 $(TARGET):
 198         @if [ '$(MAKECMDGOALS)' != 'clean' ]; then echo "$(GREEN_COLOR)Linking navigation $(NO_COLOR)"; fi
 199         @$(MAKE) -C $(SDK_PATH)/VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS)
 200         mv $(GENERIC_TARGET_BINARIES_DIR)/$(COMMON_MOB_SRC_PATH)/mobile_main $(TARGET)
 201         mv $(TARGET) $(ARDRONE_TARGET_DIR)/
 202         @if [ ! -e $(ARDRONE_TARGET_DIR)/ardrone.xml ]; then cp $(SRC_DIR)/xml_files/ardrone_default.xml $(ARDRONE_TARGET_DIR)/ardrone.xml; fi
 203 ifeq ($(USE_ARDRONE_VICON),yes)
 204         cp $(SRC_PATH)/Soft/Lib/libViconDataStreamSDK/libViconDataStreamSDK.so $(ARDRONE_TARGET_DIR)/
 205         cp $(SRC_PATH)/Soft/Lib/libViconDataStreamSDK/configure_vicon.sh $(ARDRONE_TARGET_DIR)/
 206 endif
 207
 208 $(MAKECMDGOALS): build_libs
 209         @if [ '$(MAKECMDGOALS)' != 'clean' ]; then echo "$(GREEN_COLOR)Compiling navigation sources$(NO_COLOR)"; fi
 210         @$(MAKE) -C $(SDK_PATH)/VP_SDK/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS)
 211
 212 build_libs:
 213 ifeq ($(WIIMOTE_SUPPORT),yes)
 214         $(info Compiling Navigation with Wiimote)
 215 endif
 216         @$(MAKE) -C $(SDK_PATH)/Soft/Build $(TMP_SDK_FLAGS) $(SDK_FLAGS) $(MAKECMDGOALS)
 217
 218 makefileverbose:
 219         @echo "Dump compilation flags:"
 220         @echo "GENERIC_CFLAGS : $(GENERIC_CFLAGS)"
 221         @echo "GENERIC_LIBS : $(GENERIC_LIBS)"
 222         @echo "GENERIC_LIB_PATHS : $(GENERIC_LIB_PATHS)"
 223         @echo "GENERIC_INCLUDES : $(GENERIC_INCLUDES)"
 224         @echo "GENERIC_BINARIES_SOURCE_DIR : $(GENERIC_BINARIES_SOURCE_DIR)"
 225         @echo "GENERIC_BINARIES_COMMON_SOURCE_FILES : $(GENERIC_BINARIES_COMMON_SOURCE_FILES)"
 226         @echo "GENERIC_TARGET_BINARIES_PREFIX : $(GENERIC_TARGET_BINARIES_PREFIX)"
 227         @echo "GENERIC_TARGET_BINARIES_DIR : $(GENERIC_TARGET_BINARIES_DIR)"
 228         @echo "GENERIC_BINARIES_SOURCE_ENTRYPOINTS : $(GENERIC_BINARIES_SOURCE_ENTRYPOINTS)"
 229         @echo "TMP_SDK_FLAGS: $(TMP_SDK_FLAGS)"
 230         @echo "SDK_FLAGS: $(SDK_FLAGS   )"
 231         @echo "Make cmd goals: $(MAKECMDGOALS)"
 232