# Copyright 1996-2022 Cyberbotics Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

ifeq ($(WEBOTS_HOME),)
WEBOTS_HOME_PATH = ../../..
else
null :=
space := $(null) $(null)
WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
endif

default:
	@echo "Type one of the following (OSTYPE is \""$(OSTYPE)"\"):"
	@echo "  make debug                 for debug (with gdb symbols)"
	@echo "  make profile               for profiling (with gprof information)"
	@echo "  make release               for finale release"
	@echo "  make clean                 remove build directory"

include $(WEBOTS_HOME_PATH)/resources/Makefile.os.include

ifeq ($(OSTYPE),windows)
PYTHON_COMMAND ?= python
else
PYTHON_COMMAND ?= python3
endif
PYTHON_VERSION := $(shell $(PYTHON_COMMAND) --version 2>&1 | sed 's/.* \([0-9]\).\([0-9]*\).*/\1.\2/')
PYTHON_SHORT_VERSION = $(subst .,,$(PYTHON_VERSION))
PYTHON_FULL_VERSION := $(subst Python ,,$(shell $(PYTHON_COMMAND) --version 2>&1))
INTERFACE       = controller.i
SWIG            = swig
SWIG_OPTS       = -c++ -python -outdir $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)$(SUFFIX)/
WEBOTS_INCLUDES = -I$(WEBOTS_HOME_PATH)/include/controller/cpp -I$(WEBOTS_HOME_PATH)/include/controller/c
WRAPPER         = $(INTERFACE:.i=$(PYTHON_SHORT_VERSION)$(SUFFIX).cpp)
PYOUT           = $(addprefix $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)$(SUFFIX)/,$(INTERFACE:.i=.py))
PYTHON_PATH_SETUP := $(shell mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)$(SUFFIX))

ifeq ($(OSTYPE),windows)
WRAPPER_OBJECT  = $(WRAPPER:.cpp=.o)
PYTHON_HOME    := $(subst \ ,$(space),$(dir $(subst $(space),\ ,$(shell which python 2> /dev/null))))
C_FLAGS         = -c -O -Wall -Wno-maybe-uninitialized
ifeq ($(PYTHON_SHORT_VERSION),39)
C_FLAGS          += -Wno-deprecated-declarations
endif
ifeq ($(PYTHON_SHORT_VERSION),310)
C_FLAGS          += -Wno-deprecated-declarations
endif
LD_FLAGS        = -shared
LIBS            = -L"$(PYTHON_HOME)libs" -lpython$(PYTHON_SHORT_VERSION) -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController
LIBOUT          = $(addprefix $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)/_,$(INTERFACE:.i=.pyd))
ifneq (,$(findstring 2.,$(PYTHON_VERSION)))
C_FLAGS        += -DMS_WIN64
endif
PYTHON_INCLUDES = -I"$(PYTHON_HOME)include"
LIBCONTROLLER   = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll
LIBCPPCONTROLLER= $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll
endif

ifeq ($(OSTYPE),darwin)
PYTHON_COMMAND ?= /Library/Frameworks/Python.framework/Versions/3.10/bin/python3.10
WRAPPER_OBJECT_X86_64 = $(addprefix x86_64/,$(WRAPPER:.cpp=.o))
WRAPPER_OBJECT_ARM64 = $(addprefix arm64/,$(WRAPPER:.cpp=.o))
LIBOUT_X86_64 = x86_64/_controller.so
LIBOUT_ARM64 = arm64/_controller.so
PYTHON_PATH = $(shell $(PYTHON_COMMAND) -u -c "import sys; print(sys.exec_prefix)")
SKIP_PYTHON_PYMALLOC := 38 39 310
ifeq ($(filter $(PYTHON_SHORT_VERSION),$(SKIP_PYTHON_PYMALLOC)),)
PYTHON_PYMALLOC = m
endif
PYTHON_BIN       = $(PYTHON_PATH)/bin/
C_FLAGS          = -c -Wall -fPIC -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -Wno-uninitialized
ifeq ($(PYTHON_SHORT_VERSION),38)
C_FLAGS          += -Wno-deprecated-declarations
endif
ifeq ($(PYTHON_SHORT_VERSION),39)
C_FLAGS          += -Wno-deprecated-declarations
endif
ifeq ($(PYTHON_SHORT_VERSION),310)
C_FLAGS          += -Wno-deprecated-declarations
endif
ifeq ($(findstring llvm-g++,$(shell ls -lF $(shell which c++ 2> /dev/null))),)
C_FLAGS        += -Wno-self-assign
endif
LD_FLAGS        = -dynamiclib -install_name @rpath/Contents/lib/controller/python$(PYTHON_SHORT_VERSION)/_$(INTERFACE:.i=.dylib) -Wl,-rpath,@loader_path/../../.. -compatibility_version 1.0 -current_version 1.0.0 -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION)
LIBS            = -L"$(PYTHON_PATH)/lib" -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController -lpython$(PYTHON_VERSION)
LIBOUT          = $(addprefix $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)$(SUFFIX)/_,$(INTERFACE:.i=.so))
PYTHON_INCLUDES = -isystem "$(PYTHON_PATH)/include/python$(PYTHON_VERSION)$(PYTHON_PYMALLOC)"
LIBCONTROLLER   = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib
LIBCPPCONTROLLER= $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.dylib
endif

ifeq ($(OSTYPE),linux)
WRAPPER_OBJECT  = $(WRAPPER:.cpp=.o)
C_FLAGS         = -c -Wall -fPIC -Wno-unused-but-set-variable -Wno-maybe-uninitialized
ifeq ($(PYTHON_SHORT_VERSION),39)
C_FLAGS          += -Wno-deprecated-declarations
else ifeq ($(PYTHON_SHORT_VERSION),310)
C_FLAGS          += -Wno-deprecated-declarations
endif
LD_FLAGS        = -shared -Wl,-rpath,'$$ORIGIN'/../
LIBS            = -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController
LIBOUT          = $(addprefix $(WEBOTS_CONTROLLER_LIB_PATH)/python$(PYTHON_SHORT_VERSION)/_,$(INTERFACE:.i=.so))
PYTHON_INCLUDES = -I"/usr/include/python$(PYTHON_VERSION)"
LIBCONTROLLER   = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.so
LIBCPPCONTROLLER= $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.so
endif

SWIG_EXISTS     = $(shell which $(SWIG) 2> /dev/null)

TARGET          = $(PYOUT) $(LIBOUT)

ifeq (, $(shell which $(PYTHON_COMMAND)-config 2> /dev/null))
release debug profile:
	@echo "# \033[0;33m$(PYTHON_COMMAND)-dev not installed, skipping Python API\033[0m"
else
ifeq ($(SWIG_EXISTS),)
release debug profile:
	@echo "# \033[0;33mSWIG not installed, skipping Python API\033[0m"
else
release debug profile: $(TARGET)

$(PYOUT) $(WRAPPER):$(INTERFACE) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# generating" $@
	$(SWIG) $(SWIG_OPTS) $(WEBOTS_INCLUDES) -o $(WRAPPER) $<

ifeq ($(OSTYPE),darwin)

ifeq ($(PYTHON_SHORT_VERSION),37)
  X86_64_ONLY = 1
endif

ifeq ($(SUFFIX),_brew)
  X86_64_ONLY = 1
endif

ifeq ($(X86_64_ONLY),1)
$(LIBOUT):$(LIBOUT_X86_64) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# creating" $@
	lipo -create -output $@ x86_64/_controller.so
	codesign -s - $@
else
$(LIBOUT):$(LIBOUT_X86_64) $(LIBOUT_ARM64) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# creating fat" $@
	lipo -create -output $@ x86_64/_controller.so arm64/_controller.so
	codesign -s - $@
endif

else
$(LIBOUT):$(WRAPPER_OBJECT) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# linking" $@
	$(CXX) $(LD_FLAGS) $< $(LIBS) -o "$@"
endif

$(LIBOUT_X86_64):$(WRAPPER_OBJECT_X86_64) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# linking" $@ "(x86_64)"
	$(CXX) -target x86_64-apple-macos11 $(LD_FLAGS) $< $(LIBS) -o "$@"

$(LIBOUT_ARM64):$(WRAPPER_OBJECT_ARM64) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)
	@echo "# linking" $@ "(arm64)"
	$(CXX) -target arm64-apple-macos11 $(LD_FLAGS) $< $(LIBS) -o "$@"

$(LIBCONTROLLER):
	@echo "$(LIBCONTROLLER) doesn't exist"

$(LIBCPPCONTROLLER):
	@echo "$(LIBCPPCONTROLLER) doesn't exist"

$(WRAPPER_OBJECT):$(WRAPPER)
	echo "# compiling" $<
	$(CXX) $(C_FLAGS) $(WEBOTS_INCLUDES) $(PYTHON_INCLUDES) $< -o $@

$(WRAPPER_OBJECT_X86_64):$(WRAPPER)
	mkdir -p x86_64
	echo "# compiling" $< "(x86_64)"
	$(CXX) -target x86_64-apple-macos11 $(C_FLAGS) $(WEBOTS_INCLUDES) $(PYTHON_INCLUDES) $< -o $@

$(WRAPPER_OBJECT_ARM64):$(WRAPPER)
	mkdir -p arm64
	echo "# compiling" $< "(arm64)"
	$(CXX) -target arm64-apple-macos11 $(C_FLAGS) $(WEBOTS_INCLUDES) $(PYTHON_INCLUDES) $< -o $@

endif
endif

clean:
	rm -rf *.o *.cpp $(WEBOTS_CONTROLLER_LIB_PATH)/python* arm64 x86_64