move controller to new build

Makefile

-.PHONY: clean all rel_mktemp_dir console controller help
+.PHONY: clean all rel_mktemp_dir console help
 
 include build.mk
 
@@ -6,7 +6,6 @@ CONTROLLER_REL_TAR:=$(CURDIR)/controller_$(shell date +%Y%m%d%H%M).tar.gz
 CONSOLE_REL_TAR:=$(CURDIR)/console_$(shell date +%Y%m%d%H%M).tar.gz
 
 all: subdirs
-	$(MAKE) -C controller
 	cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install
 	$(MAKE) -C console
 
@@ -33,7 +32,6 @@ help:
 
 
 controller: subdirs
-	$(MAKE) -C controller
 
 console: subdirs
 	cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install
@@ -41,7 +39,6 @@ console: subdirs
 
 clean: subdirs_CLEAN
 	rm -rf common/lib/*
-	$(MAKE) -C controller clean
 	cd libnova-0.13.0 ; make clean || true
 	$(MAKE) -C console clean
 
@@ -125,17 +122,21 @@ DIR := $(DIR)
 endef
 
 $(eval $(call SUBDIR,common))
+$(eval $(call SUBDIR,controller))
 
-
-CFLAGS := -Icommon -Icommon/include
-LDFLAGS := -Lcommon/lib
-VPATH += common/lib
+CFLAGS := -Icommon -Icommon/include -Icontroller
+LDFLAGS := -Lcommon/lib -Lcontroller/lib
+VPATH += common/lib controller/lib
 
 subdirs: $(TARGETS)
 
 SRCS_TMP=$(SRCS:.il=.il.d)
 -include $(SRCS_TMP:.c=.d) $(patsubst %.c,.libs/%.d,$(SRCS_TMP))
 
+SRCS_IL = $(filter %.il,$(SRCS))
+$(SRCS_IL): $(IL2C)
+
+
 subdirs_CLEAN:
 	rm -rf $(CLEAN)
 

build.mk

@@ -41,7 +41,7 @@ endif
 
 define LIB_LINK
 	@echo "LT   LD $@"
-	@${LIBTOOL} --quiet --mode=link gcc $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs
+	@${LIBTOOL} --quiet --mode=link gcc $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs -rpath $(abspath $(@D))
 	@echo "LT INST $@"
 	@${LIBTOOL} --quiet --mode=install install $@ $(abspath $(@D))
 endef
@@ -52,11 +52,10 @@ endef
 
 %.tab.c %.tab.h: %.y
 	@echo "BISON   $<"
-	@bison -d $<
+	@bison --defines=$*.tab.h $< -o $*.tab.c
 
 %.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'

common/build.mk

 
 LIBDIR:=$(DIR)/lib
-ABSLIBDIR:=$(abspath $(LIBDIR))
 
 $(eval $(call SUBDIR,log))
 $(eval $(call SUBDIR,utils))

common/command/build.mk

@@ -10,7 +10,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
 
 $(LIBDIR)/libcommand.la: libutils.la liblog.la
 $(LIBDIR)/libcommand.la: CFLAGS += -Wall -O3 -fPIC
-$(LIBDIR)/libcommand.la: LDFLAGS += -lutils -lm -llog -rpath $(ABSLIBDIR)
+$(LIBDIR)/libcommand.la: LDFLAGS += -lutils -lm -llog
 $(LIBDIR)/libcommand.la: $(ARCHOBJS)
 	$(LIB_LINK)
 

common/log/build.mk

@@ -7,7 +7,7 @@ SRCS+=$(ARCHSRCS)
 TARGETS += $(LIBDIR)/liblog.la
 
 $(LIBDIR)/liblog.la: libutils.la
-$(LIBDIR)/liblog.la: LDFLAGS += -lutils -rpath $(ABSLIBDIR)
+$(LIBDIR)/liblog.la: LDFLAGS += -lutils
 $(LIBDIR)/liblog.la: CFLAGS += -Wall -O3 -fPIC
 $(LIBDIR)/liblog.la: $(ARCHOBJS)
 	$(LIB_LINK)

common/trace/build.mk

@@ -12,7 +12,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
 
 $(LIBDIR)/libtrace.la: libutils.la liblog.la
 $(LIBDIR)/libtrace.la: CFLAGS += -Wall -O3 -fPIC
-$(LIBDIR)/libtrace.la: LDFLAGS += -lutils -llog -lm -rpath $(ABSLIBDIR)
+$(LIBDIR)/libtrace.la: LDFLAGS += -lutils -llog -lm
 $(LIBDIR)/libtrace.la: $(ARCHOBJS)
 	$(LIB_LINK)
 

common/utils/build.mk

@@ -22,7 +22,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
 
 
 LU_CFLAGS := -Wall -g -fPIC
-LU_LDFLAGS := -lpthread -lrt -lm -rpath $(ABSLIBDIR)
+LU_LDFLAGS := -lpthread -lrt -lm
 
 LU_CFLAGS += `pkg-config --cflags glib-2.0`
 LU_LDFLAGS += `pkg-config --libs glib-2.0`

controller/Makefile

@@ -17,9 +17,6 @@ LDFLAGS+= -ldl
 endif
 
 
-dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
-	-lcontroller -lblock -lethercat -llog -lshell \
-	-ldt_azimuth -ldt_elevation
 
 all: dt_ctrl \
 	test \

controller/block/Makefile

-
-IL2C=il2c/il2c
-
-CFLAGS= -O3 -Wall \
-	 -I../controller/ \
-	 -I../../common/log/ -I../shell/ \
-	 -I.. \
-	 -I../../common/include \
-	 -I../../common
-
-BLOCKSRCS= \
-	block_add.c \
-	block_and2.il \
-	block_bridge_pwm.c \
-	block_counter.c \
-	block_debug.c \
-	block_decoder_uint32_bool.c \
-	block_filter_iir.c \
-	block_filter_lp.c \
-	block_friction.c \
-	block_gain.c \
-	block_gain_var.c \
-	block_limit.c \
-	block_limit_dyn.c \
-	block_limit_2nd.c \
-	block_limit_var.c \
-	block_matrix_2x2.c \
-	block_multiplexer.c \
-	block_not.il \
-	block_or2.il \
-	block_or3.il \
-	block_or4.il \
-	block_pid.c \
-	block_pid_aw.c \
-	block_quadrature_decoder.c \
-	block_quantize.c \
-	block_random.c \
-	block_rangecheck.c \
-	block_register.il \
-	block_setpoint_generator.c \
-	block_setreset.il \
-	block_servo_state.c \
-	block_sine.c \
-	block_subtract.c \
-	block_switch.c \
-	block_trajectplayer.c \
-	block_trigger.c \
-	block_value.c \
-	block_value_bool.c \
-	block_value_uint32.c
-
-OS= $(shell uname -s)
-ifneq ($(OS), FreeBSD)
-BLOCKSRCS+= \
-	block_joystick.c
-endif
-
-
-SRCS= $(BLOCKSRCS)
-
-BLOCKSRCSC=$(BLOCKSRCS:.c=.lo)
-BLOCKS=$(BLOCKSRCSC:.il=.il2c.lo)
-
-all: il2cdir libblock.la_install
-
-il2cdir:
-	@echo " SUBDIR: $@"
-	@$(MAKE) -C il2c
-
-.PHONY: il2cdir
-
-$(BLOCKSRCS): il2cdir
-
-libblock.la_LDFLAGS=-rpath ${CURDIR}/../lib -lm
-libblock.la: $(BLOCKS)
-
-libblock.la_install: libblock.la
-	@echo "CP $^ to libdir"
-	@${LIBTOOL} --quiet --mode=install install libblock.la ${CURDIR}/../lib
-
-clean:
-	rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la .libs
-	@$(MAKE) -C il2c clean
-
-include ../build.mk

controller/block/block_add.c

@@ -21,8 +21,8 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-#include "block_add.h"
+#include <controller/controller_block.h>
+
 
 /*
        inputs          outputs

controller/block/block_bridge_pwm.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_counter.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_debug.c

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

controller/block/block_decoder_uint32_bool.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_filter_iir.c

@@ -21,8 +21,8 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-#include "block_filter_iir.h"
+#include <controller/controller_block.h>
+#include <block/block_filter_iir.h>
 
 /*
        inputs      outputs

controller/block/block_filter_iir.h

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

controller/block/block_filter_lp.c

@@ -21,8 +21,8 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "controller_block.h"
-#include "block_filter_lp.h"
+#include <controller/controller_block.h>
+
 
 /*
        inputs      outputs

controller/block/block_friction.c

@@ -22,7 +22,7 @@
 #include <string.h>
 #include <math.h>
 
-#include "controller_block.h"
+#include <controller/controller_block.h>
 
 /*
        inputs          outputs

controller/block/block_gain.c

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

controller/block/block_gain.h

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