###############################################################
#
# Purpose:            Makefile for compiling a controller using the Webots
#                     API on the ROBOTIS OP2 real robot
# Author :            fabien.rohrer@cyberbotics.com
# License:            GPL
# Date   :            September 2013
#
###############################################################

# This Makefile is supposed to be executed directly on the ROBOTIS OP2 OS via ssh
# Return an error if it is executed on the OS where Webots is running
ifdef WEBOTS_HOME
$(error Please use ROBOTIS OP2 remote compilation functionality from the robot window Transfer tab)
endif

# name of the binary to generate
TARGET = $(shell basename $(CURDIR))

# paths
ROBOTISOP2_ROOT ?= /robotis
WEBOTS_ROBOTISOP2_PROJECT_ROOT = $(ROBOTISOP2_ROOT)/Linux/project/webots
LIBNAME=darwin.a

# source filenames
CXX_SOURCES = $(wildcard *.cpp)

INCLUDE_DIRS = -I$(ROBOTISOP2_ROOT)/Linux/include -I$(ROBOTISOP2_ROOT)/Framework/include -I$(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/transfer/include -I$(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/include
CXX = g++
CXXFLAGS += -O2 -DLINUX -DCROSSCOMPILATION -Wall $(INCLUDE_DIRS)
LFLAGS += -lpthread -ljpeg -lrt
WRAPPER = $(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/transfer/lib/wrapper.a $(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/transfer/keyboard/keyboardInterface.a
ROBOTISOP2_STATIC_LIBRARY = $(ROBOTISOP2_ROOT)/Linux/lib/$(LIBNAME)
MANAGERS_STATIC_LIBRARY = $(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/lib/managers.a
OBJECTS = $(CXX_SOURCES:.cpp=.o)
# X11 is needed to handle the keyboard input
LIBX11 = libX11.so
# To avoid installing the libX11-dev package, we can simply create a soft link
# to libX11.so.6. This library however is located in /usr/lib/ on ubuntu <=10
# and in /usr/lib/i386-linux-gnu/ on ubuntu >=12
ifneq ($(wildcard /usr/lib/libX11.so.6),)
LIBX11_SOURCE = /usr/lib/libX11.so.6
else ifneq ($(wildcard /usr/lib/i386-linux-gnu/libX11.so.6),)
LIBX11_SOURCE = /usr/lib/i386-linux-gnu/libX11.so.6
endif

all: $(TARGET)

clean:
	rm -f $(OBJECTS) $(TARGET) $(LIBX11)

$(WRAPPER):
	make -C $(WEBOTS_ROBOTISOP2_PROJECT_ROOT)/transfer/lib

$(ROBOTISOP2_STATIC_LIBRARY):
	make -C $(ROBOTISOP2_ROOT)/Linux/build

$(LIBX11):
	ln -s $(LIBX11_SOURCE) $@

$(TARGET): $(WRAPPER) $(OBJECTS) $(ROBOTISOP2_STATIC_LIBRARY) $(LIBX11)
	$(CXX) $(CFLAGS) $(OBJECTS) $(WRAPPER) $(ROBOTISOP2_STATIC_LIBRARY) $(MANAGERS_STATIC_LIBRARY) $(LFLAGS) -L. -lX11 -o $(TARGET)
	chmod 755 $(TARGET)