move controller to new build

controller/block/block_switch.c

@@ -21,9 +21,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-
-#include "block_switch.h"
+#include <controller/controller_block.h>
 
 /*
        inputs          outputs

controller/block/block_trajectplayer.c

@@ -21,10 +21,10 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-#include "controller_sample.h"
-#include "block_trajectplayer.h"
-#include "log.h"
+#include <controller/controller_block.h>
+#include <controller/controller_sample.h>
+#include <block/block_trajectplayer.h>
+#include <log/log.h>
 
 /*
        inputs               outputs

controller/block/block_trajectplayer.h

@@ -19,7 +19,7 @@
 #ifndef _INCLUDE_BLOCK_TRAJECTPLAYER_
 #define _INCLUDE_BLOCK_TRAJECTPLAYER_
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 struct controller_block * block_trajectplayer_create(char *name);
 

controller/block/block_trigger.c

@@ -20,7 +20,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 /*
        inputs      outputs

controller/block/block_value.c

@@ -21,7 +21,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 /*
   	 outputs

controller/block/block_value_bool.c

@@ -21,7 +21,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 /*
   	 outputs

controller/block/block_value_uint32.c

@@ -21,7 +21,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 /*
   	 outputs

controller/block/build.mk

+
+BLOCK_TARGETS += $(LIBDIR)/libblock.la
+
+$(eval $(call SUBDIR,il2c))
+
+
+BLOCK_SRCS = \
+	$(DIR)/block_add.c \
+	$(DIR)/block_and2.il \
+	$(DIR)/block_bridge_pwm.c \
+	$(DIR)/block_counter.c \
+	$(DIR)/block_debug.c \
+	$(DIR)/block_decoder_uint32_bool.c \
+	$(DIR)/block_filter_iir.c \
+	$(DIR)/block_filter_lp.c \
+	$(DIR)/block_friction.c \
+	$(DIR)/block_gain.c \
+	$(DIR)/block_gain_var.c \
+	$(DIR)/block_limit.c \
+	$(DIR)/block_limit_dyn.c \
+	$(DIR)/block_limit_2nd.c \
+	$(DIR)/block_limit_var.c \
+	$(DIR)/block_matrix_2x2.c \
+	$(DIR)/block_multiplexer.c \
+	$(DIR)/block_not.il \
+	$(DIR)/block_or2.il \
+	$(DIR)/block_or3.il \
+	$(DIR)/block_or4.il \
+	$(DIR)/block_pid.c \
+	$(DIR)/block_pid_aw.c \
+	$(DIR)/block_quadrature_decoder.c \
+	$(DIR)/block_quantize.c \
+	$(DIR)/block_random.c \
+	$(DIR)/block_rangecheck.c \
+	$(DIR)/block_register.il \
+	$(DIR)/block_setpoint_generator.c \
+	$(DIR)/block_setreset.il \
+	$(DIR)/block_servo_state.c \
+	$(DIR)/block_sine.c \
+	$(DIR)/block_subtract.c \
+	$(DIR)/block_switch.c \
+	$(DIR)/block_trajectplayer.c \
+	$(DIR)/block_trigger.c \
+	$(DIR)/block_value.c \
+	$(DIR)/block_value_bool.c \
+	$(DIR)/block_value_uint32.c
+
+OS= $(shell uname -s)
+ifneq ($(OS), FreeBSD)
+BLOCK_SRCS+= \
+	$(DIR)/block_joystick.c
+endif
+
+BLOCK_OBJSC := $(BLOCK_SRCS:.c=.lo)
+BLOCK_OBJS := $(BLOCK_OBJSC:.il=.il2c.lo)
+
+
+$(LIBDIR)/libblock.la: LDFLAGS += -lm
+$(LIBDIR)/libblock.la: CFLAGS += -O3 -Wall
+$(LIBDIR)/libblock.la: $(BLOCK_OBJS)
+	$(LIB_LINK)
+
+
+TARGETS += $(BLOCK_TARGETS)
+CLEAN += $(BLOCK_TARGETS) $(BLOCK_OBJS)
+SRCS += $(BLOCK_SRCS)

controller/block/il2c/Makefile

-
-CFLAGS+= -O3 -Wall
-
-all: il2c test
-
-il2c: il.tab.o il.yy.o il2c.o
-
-il2c.o: il.tab.h
-
-test: il2c
-	@echo " SUBDIR: $@"
-	@$(MAKE) -C test
-
-SRCS= il2c.c
-
-clean:
-	rm -f il2c *.o *.tab.c *.tab.h *.yy.c *.d *.lo
-	@$(MAKE) -C test clean
-
-include ../../build.mk

controller/block/il2c/build.mk

+
+IL2C:=$(DIR)/il2c
+
+$(eval $(call SUBDIR,test))
+
+
+IL2C_TARGETS += $(DIR)/il2c
+
+#$(eval $(call SUBDIR,test))
+
+IL2C_SRCS = \
+	$(DIR)/il.tab.c \
+	$(DIR)/il.yy.c \
+	$(DIR)/il2c.c
+
+
+$(DIR)/il2c.c: $(DIR)/il.tab.h
+
+IL2C_OBJS := $(IL2C_SRCS:.c=.o)
+
+
+$(DIR)/il2c: CFLAGS += -O3 -Wall
+$(DIR)/il2c: $(IL2C_OBJS)
+
+
+TARGETS += $(IL2C_TARGETS)
+CLEAN += $(IL2C_TARGETS) $(IL2C_OBJS)
+SRCS += $(IL2C_SRCS)

controller/block/il2c/test/Makefile

-IL2C=../il2c
-CFLAGS=-I ../../../
-
-
-all: blocks
-
-blocks: noil.o test.o oneshot.o
-
-
-
-clean:
-	rm -rf *.o *.lo *.d *.h
-
-include ../../../build.mk

controller/block/il2c/test/build.mk

+
+TEST_TARGETS := $(DIR)/blocks
+
+BLOCKS_SRCS = \
+	$(DIR)/noil.c \
+	$(DIR)/test.il \
+	$(DIR)/oneshot.il
+
+
+BLOCKS_OBJSC := $(BLOCKS_SRCS:.c=.o)
+BLOCKS_OBJS := $(BLOCKS_OBJSC:.il=.il2c.o)
+
+
+$(DIR)/blocks: CFLAGS += -g -O0
+$(DIR)/blocks: $(BLOCKS_OBJS)
+
+
+TARGETS += $(TEST_TARGETS)
+CLEAN += $(TEST_TARGETS) $(BLOCKS_OBJS)
+SRCS += $(BLOCKS_SRCS)

controller/build.mk

-# Some make rules to make output pretty....
-
-# default ARFLAGS also has 'v', but we don't want it to be verbose.
-ARFLAGS= -r
-
-# make sure libs from /usr/local/lib are found
-VPATH= /lib64 /usr/lib64 /usr/local/lib64 /lib /usr/lib /usr/local/lib
-
-LIBTOOL=libtool
-
-OS= $(shell uname -s)
-ifneq ($(OS), FreeBSD)
-FLEX=flex
-else
-FLEX=/usr/local/bin/flex
-endif
-
-%.o : %.c
-	@echo "LT   CC $<"
-	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-
-%.o : %.il2c.c
-	@echo "LT   CCil $<"
-	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-	@sed -e "s:\.il2c.c:\.il:" -i -i $*.il2c.d
-
-#	@echo "     CC $<"
-#	@$(CC) -MMD $(CFLAGS) -c $<
-
-%: %.o
-	@echo "     LD $@"
-	@${LIBTOOL} --quiet --mode=link --tag=CC $(LINK.o) $(filter %.o,$^) $(LOADLIBS) $(LDLIBS) $($@_LDFLAGS) -o $@
-
-%.lo: %.c
-	@echo "LT   CC $<"
-	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
-# while on FreeBSD, '-i' takes a non-optional extension argument. With
-# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
-# as intermediate file for in-place editing.
-	@sed -e "s:\.libs/::" -e "s:\.o:\.lo:" -i -i .libs/$*.d
-
-%.lo: %.il2c.c
-	@echo "LT   CCil $<"
-	@${LIBTOOL} --quiet --mode=compile --tag=CC $(CC) -MMD $(CFLAGS) -c $<
-# compatibility hack: Linux's sed doesn't have a separate argument to '-i',
-# while on FreeBSD, '-i' takes a non-optional extension argument. With
-# '-i -i' we'll specify '-i' twice on Linux and let FreeBSD use '[filename]-i'
-# as intermediate file for in-place editing.
-	@sed -e "s:\.libs/::" -e "s:\.o:\.lo:" -e "s:\.il2c.c:\.il:" -i -i .libs/$*.il2c.d
-
-%.la:
-	@echo "LIBTOOL $@"
-	@${LIBTOOL} --quiet --mode=link gcc $^ -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs
-
-(%): %
-	@echo "   AR  $^ in $@"
-	@$(AR) $(ARFLAGS) $@ $^
-
-%.tab.c %.tab.h: %.y
-	@echo "  BISON $<"
-	@bison -d $<
-
-%.yy.c %.yy.h: %.l %.tab.h
-	@echo "   FLEX $<"
-	@echo $(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
-	@$(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
-
-# il2c: instruction list 2 c 'compiler'
-%.il2c.c: %.il
-	@echo "   IL2C $<"
-	@$(IL2C) $<
-
-# dot -> pdf
-%.pdf: %.dot
-	@echo "  DOT  $<"
-	@dot $< -o $@ -Tpdf
-
-SRCS_TMP=$(SRCS:.il=.il.d)
--include $(SRCS_TMP:.c=.d) $(patsubst %.c,.libs/%.d,$(SRCS_TMP))
+LIBDIR:=$(DIR)/lib
+
+$(eval $(call SUBDIR,controller))
+$(eval $(call SUBDIR,shell))
+$(eval $(call SUBDIR,block))
+$(eval $(call SUBDIR,ec))
+$(eval $(call SUBDIR,dt_azimuth))
+$(eval $(call SUBDIR,dt_elevation))
+$(eval $(call SUBDIR,test))
+
+
+DT_CTRL_TARGETS += $(DIR)/dt_ctrl
+
+DT_CTRL_SRCS := $(DIR)/dt_ctrl.c
+DT_CTRL_OBJS := $(DT_CTRL_SRCS:.c=.o)
+BLOCKS := `$(DIR)/controller/block_list.sh $(DIR)/lib/*.a`
+
+$(DIR)/dt_ctrl: \
+	libcontroller.la \
+	libblock.la \
+	libethercat.la \
+	liblog.la \
+	libshell.la \
+	libdt_azimuth.la \
+	libdt_elevation.la
+$(DIR)/dt_ctrl: CFLAGS += -Wall -O3
+$(DIR)/dt_ctrl: LDFLAGS += \
+	-Wl,-E \
+	-lcontroller \
+	-lblock \
+	-lethercat \
+	-llog \
+	-lshell \
+	-ldt_azimuth \
+	-ldt_elevation \
+	$(BLOCKS)
+$(DIR)/dt_ctrl: $(DT_CTRL_OBJS)
+
+
+SRCS += $(DT_CTRL_SRCS)
+TARGETS += $(DT_CTRL_TARGETS)
+CLEAN += $(DT_CTRL_TARGETS) $(DT_CTRL_OBJS)

controller/controller/Makefile

-
-CFLAGS= -O3 -Wall  -I../../common/log/ -I../shell/ -I.. -I../../common/ -I../../common/include
-
-CONTROLLERSRCS= \
-	controller_block.c \
-	controller_block_param.c \
-	controller_block_trace.c \
-	controller_command.c \
-	controller_trace.c \
-	controller_sample.c \
-	controller_dumpdot.c \
-	controller_load.c \
-	controller_load_variable.c \
-	controller_load_parser.tab.c \
-	controller_load_parser.yy.c
-
-
-SRCS= $(CONTROLLERSRCS)
-
-CONTROLLER= $(CONTROLLERSRCS:.c=.lo)
-
-
-all: libcontroller.la_install
-
-
-controller_load_parser.tab.lo: controller_load_parser.yy.c
-
-controller_load.lo: controller_load_parser.tab.h controller_load_parser.yy.h
-
-libcontroller.la_LDFLAGS=-rpath ${CURDIR}/../lib -lshell -ldl -lpthread -lrt -lcommand -ltrace -L../../common/lib
-libcontroller.la: $(CONTROLLER)
-
-libcontroller.la_install: libcontroller.la
-	@echo "CP $^ to libdir"
-	@${LIBTOOL} --quiet --mode=install install libcontroller.la ${CURDIR}/../lib
-
-clean:
-	rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la .libs
-
-include ../build.mk

controller/controller/build.mk

+
+CONTROLLER_TARGETS += $(LIBDIR)/libcontroller.la
+
+CONTROLLER_SRCS= \
+	$(DIR)/controller_block.c \
+	$(DIR)/controller_block_param.c \
+	$(DIR)/controller_block_trace.c \
+	$(DIR)/controller_command.c \
+	$(DIR)/controller_trace.c \
+	$(DIR)/controller_sample.c \
+	$(DIR)/controller_dumpdot.c \
+	$(DIR)/controller_load.c \
+	$(DIR)/controller_load_variable.c \
+	$(DIR)/controller_load_parser.tab.c \
+	$(DIR)/controller_load_parser.yy.c
+CONTROLLER_OBJS := $(CONTROLLER_SRCS:.c=.lo)
+
+
+$(LIBDIR)/libcontroller.la: libshell.la libcommand.la libtrace.la
+$(LIBDIR)/libcontroller.la: LDFLAGS += -lshell -ldl -lpthread -lrt -lcommand -ltrace
+$(LIBDIR)/libcontroller.la: CFLAGS += -O3 -Wall
+$(LIBDIR)/libcontroller.la: $(CONTROLLER_OBJS)
+	$(LIB_LINK)
+
+$(DIR)/controller_load_parser.tab.lo: $(DIR)/controller_load_parser.yy.c
+$(DIR)/controller_load.lo: $(DIR)/controller_load_parser.tab.h
+$(DIR)/controller_load.lo: $(DIR)/controller_load_parser.yy.h
+
+
+TARGETS += $(CONTROLLER_TARGETS)
+CLEAN += $(CONTROLLER_TARGETS) $(CONTROLLER_OBJS)
+SRCS += $(CONTROLLER_SRCS)

controller/controller/controller_block.c

@@ -24,9 +24,9 @@
 #include <pthread.h>
 #include <dlfcn.h>
 
-#include "controller_block.h"
-#include "controller_sample.h"
-#include "log.h"
+#include <controller/controller_block.h>
+#include <controller/controller_sample.h>
+#include <log/log.h>
 
 int nr_blocks = 0;
 static struct controller_block **blocks = NULL;

controller/controller/controller_block_param.c

@@ -27,9 +27,9 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include "controller_block.h"
-#include "controller_sample.h"
-#include "log.h"
+#include <controller/controller_block.h>
+#include <controller/controller_sample.h>
+#include <log/log.h>
 
 static pthread_mutex_t param_lock;
 static sem_t param_sync_sem;

controller/controller/controller_block_trace.c

@@ -25,8 +25,8 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-#include "log.h"
+#include <controller/controller_block.h>
+#include <log/log.h>
 
 static int nr_traces = 0;
 static struct controller_trace **traces;

controller/controller/controller_command.c

@@ -31,8 +31,8 @@
 #include <errno.h>
 #include <limits.h>
 
-#include "log.h"
-#include "dt_port_numbers.h"
+#include <log/log.h>
+#include <dt_port_numbers.h>
 
 #include <controller/controller_command.h>
 #include <controller/controller_sample.h>

controller/controller/controller_load.c

@@ -21,15 +21,15 @@
 #include <string.h>
 #include <stdlib.h>
 #include <stdbool.h>
-#include "controller_load_parser.tab.h"
-#include "controller_load_parser.yy.h"
-#include "controller_load.h"
-#include "controller_load_int.h"
-#include "controller_sample.h"
-#include "controller_block.h"
-#include "../../common/include/dynarg.h"
+#include <controller/controller_load_parser.tab.h>
+#include <controller/controller_load_parser.yy.h>
+#include <controller/controller_load.h>
+#include <controller/controller_load_int.h>
+#include <controller/controller_sample.h>
+#include <controller/controller_block.h>
+#include <dynarg.h>
 #include <shell/shell.h>
-#include "log.h"
+#include <log/log.h>
 
 struct controller_load_array {
 	void *array;