use libtool for archives

controller/Makefile

@@ -6,53 +6,76 @@ CFLAGS= -Wall -O3 \
 	-I../common/utils \
 	-I../common/trace \
 	-Idt_azimuth -Idt_elevation -Iec -Ishell -Ilog
-LDFLAGS= -lpthread -lrt -lm -ldl -Wl,-E -L../common/lib
+LDFLAGS= -lpthread -lrt -lm -ldl -Wl,-E -L../common/lib -L./lib
 CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM
 
-ARCHIVES= \
-	dt_azimuth/dt_azimuth.a \
-	dt_elevation/dt_elevation.a \
-	controller/controller.a \
-	log/log.a \
-	ec/ec.a \
-	shell/shell.a
-	
-dt_ctrl_sim_LDFLAGS=`controller/block_list.sh dt_azimuth/dt_azimuth.a dt_elevation/dt_elevation.a controller/controller.a`
-dt_ctrl_LDFLAGS=$(dt_ctrl_sim_LDFLAGS) `controller/block_list.sh ec/ec.a`
+
+dt_ctrl_sim_LDFLAGS=`controller/block_list.sh lib/*.a` \
+	-lcontroller -lethercat -llog -lshell -ldt_azimuth -ldt_elevation
+dt_ctrl_LDFLAGS=$(dt_ctrl_sim_LDFLAGS)
 
 all: dt_ctrl dt_ctrl_sim \
 	trace_list trace_view \
-	test
+	test \
+	controller
+
+dt_ctrl: lib/libcontroller.la lib/libethercat.la lib/libdt_azimuth.la lib/libdt_elevation.la
+dt_ctrl_sim: lib/libcontroller.la lib/libdt_azimuth.la lib/libdt_elevation.la
+
+lib/libethercat.la: lib/libcontroller.la
+lib/libdt_azimuth.la: lib/libcontroller.la
+lib/libdt_elevation.la: lib/libcontroller.la
 
-dt_ctrl: dt_ctrl.o $(ARCHIVES)
+dt_ctrl: dt_ctrl.o
 
-dt_ctrl_sim: dt_ctrl_sim.o  $(ARCHIVES)
+dt_ctrl_sim: dt_ctrl_sim.o
 
 dt_ctrl_sim.o: dt_ctrl.c
 	@echo "COMPILE: dt_ctrl.c (OUTPUT: dt_ctrl_sim.o)"
 	@$(CC) $(CFLAGS) $(CFLAGS_SIM) dt_ctrl.c -c -o dt_ctrl_sim.o
 
 trace_list_LDFLAGS= -ltrace
-trace_list: trace_list.o $(ARCHIVES)
+trace_list: trace_list.o
 
 trace_view_LDFLAGS= -ltrace
-trace_view: trace_view.o $(ARCHIVES)
-
-%.a:
-	@echo " SUBDIR: $(@D)"
-	@$(MAKE) -C $(@D)
-
-ec/ec.a: log/log.a shell/shell.a
+trace_view: trace_view.o
 
 test:
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C test
 
+lib/libcontroller.la: lib/libshell.la
+
+lib/libcontroller.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C controller
+
+lib/libdt_azimuth.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C dt_azimuth
+
+lib/libdt_elevation.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C dt_elevation
+
+lib/libethercat.la: lib/liblog.la lib/libshell.la
+
+lib/libethercat.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C ec
+
+lib/libshell.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C shell
+
+lib/liblog.la:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C log
 
 .PHONY: test
 
 clean:
-	rm -f *.o *.d
+	rm -f *.o *.d *.a *.la *.lo lib/*
 	rm -f dt_az dt_az_ctrl \
 	    command_shell \
 	    trace_list trace_view \

controller/build.mk

@@ -14,7 +14,7 @@ LIBTOOL=libtool
 
 %: %.o
 	@echo "     LD $@"
-	@${LIBTOOL} --quiet --mode=link --tag=CC $(LINK.o) $^ $(LOADLIBS) $(LDLIBS) $($@_LDFLAGS) -o $@
+	@${LIBTOOL} --quiet --mode=link --tag=CC $(LINK.o) $(filter %.o,$^) $(LOADLIBS) $(LDLIBS) $($@_LDFLAGS) -o $@
 
 %.lo: %.c
 	@echo "LT   CC $<"

controller/controller/Makefile

@@ -55,17 +55,17 @@ CONTROLLERSRCS= \
 
 SRCS= $(CONTROLLERSRCS) $(BLOCKSRCS)
 
-BLOCKS=$(BLOCKSRCS:.c=.o)
+BLOCKS=$(BLOCKSRCS:.c=.lo)
 
-CONTROLLER= $(CONTROLLERSRCS:.c=.o)
+CONTROLLER= $(CONTROLLERSRCS:.c=.lo)
 
 
-all: il2cdir $(BLOCKS) $(CONTROLLER) controllerlib
+all: il2cdir libcontroller.la_install
 
 
-controller_load_parser.tab.o: controller_load_parser.yy.c
+controller_load_parser.tab.lo: controller_load_parser.yy.c
 
-controller_load.o: controller_load_parser.tab.h controller_load_parser.yy.h
+controller_load.lo: controller_load_parser.tab.h controller_load_parser.yy.h
 
 il2cdir:
 	@echo " SUBDIR: $@"
@@ -73,10 +73,15 @@ il2cdir:
 
 .PHONY: il2cdir
 
-controllerlib: controller.a($(BLOCKS) $(CONTROLLER))
+libcontroller.la_LDFLAGS=-rpath ${CURDIR}/../lib -lshell
+libcontroller.la: $(BLOCKS) $(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
+	rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la libs
 	@$(MAKE) -C il2c clean
 
 include ../build.mk

controller/dt_azimuth/Makefile

@@ -2,15 +2,20 @@
 CFLAGS= -Wall -O3 -I../controller -I../ec -I../log -I../utils
 
 ARCHSRCS= dt_az_safety.c dt_az_stoeber_sim.c
-ARCHOBJS=$(ARCHSRCS:.c=.o)
+ARCHOBJS=$(ARCHSRCS:.c=.lo)
 
-all: $(ARCHOBJS) dt_azimuth
+all: libdt_azimuth.la_install
 
-dt_azimuth: dt_azimuth.a($(ARCHOBJS))
+libdt_azimuth.la_LDFLAGS=-rpath ${CURDIR}/../lib -lcontroller -L../lib
+libdt_azimuth.la: $(ARCHOBJS)
+
+libdt_azimuth.la_install: libdt_azimuth.la
+	@echo "CP $^ to libdir"
+	@${LIBTOOL} --quiet --mode=install install libdt_azimuth.la ${CURDIR}/../lib
 
 
 clean:
-	rm -rf *.o *.a *.d
+	rm -rf *.o *.a *.d *.lo *.la libs
 
 SRCS=$(ARCHSRCS)
 

controller/dt_elevation/Makefile

@@ -2,9 +2,18 @@
 CFLAGS= -Wall -I../controller -I../ec -I../log -I../utils -g
 
 SRCS= dt_el_safety.c dt_el_stoeber_r_sim.c dt_el_stoeber_l_sim.c
-OBJS=$(SRCS:.c=.o)
 
-all: $(OBJS) dt_elevation
+ARCHOBJS=$(SRCS:.c=.lo)
+
+all: libdt_elevation.la_install
+
+libdt_elevation.la_LDFLAGS=-rpath ${CURDIR}/../lib -lcontroller -L../lib
+libdt_elevation.la: $(ARCHOBJS)
+
+libdt_elevation.la_install: libdt_elevation.la
+	@echo "CP $^ to libdir"
+	@${LIBTOOL} --quiet --mode=install install libdt_elevation.la ${CURDIR}/../lib
+
 
 dt_elevation: dt_elevation.a($(OBJS))
 

controller/ec/Makefile

 
 CFLAGS= -Wall -O3 \
 	-I. -I.. -I../log -I../controller
-LDFLAGS= -lpthread -lrt -ldl -lm 
+LDFLAGS= -lpthread -lrt -ldl -lm -L../lib
 
 LIBSRCS= ec.c esc.c canopen.c ec_stoeber.c block_ec.c
-LIBOBJS= $(LIBSRCS:.c=.o)
+LIBOBJS= $(LIBSRCS:.c=.lo)
 
 BLOCKSRCS= \
 	block_beckhoff_el1xxx.c \
@@ -16,21 +16,29 @@ BLOCKSRCS= \
 	block_beckhoff_el5101.c \
 	block_stoeber.c
 
-BLOCKS=$(BLOCKSRCS:.c=.o)
+BLOCKS=$(BLOCKSRCS:.c=.lo)
 SRCS=$(BLOCKSRCS) $(LIBSRCS)
 
-all: $(LIBOBJS) $(BLOCKS) ec_test.o eclib ec_enum ec_el_test
+all: ec_test.o libethercat.la_install ec_enum ec_el_test
 
-eclib: ec.a($(LIBOBJS) $(BLOCKS))
+libethercat.la_LDFLAGS=-rpath ${CURDIR}/../lib -lcontroller
+libethercat.la: $(LIBOBJS) $(BLOCKS)
 
-ec_enum: ec_enum.o ec.a ../log/log.a ../controller/controller.a
+libethercat.la_install: libethercat.la
+	@echo "CP $^ to libdir"
+	@${LIBTOOL} --quiet --mode=install install libethercat.la ${CURDIR}/../lib
+
+ec_enum: libethercat.la_install
+
+ec_enum_LDFLAGS=-lethercat -llog
+ec_enum: ec_enum.o
 
 ec_enum.o: esc_id.h
 
-ec_el_test_LDFLAGS:= `../controller/block_list.sh ec.a ../controller/controller.a` -Wl,-E
-ec_el_test: ec_el_test.o ec.a ../controller/controller.a ../log/log.a ../shell/shell.a
+ec_el_test_LDFLAGS:= `../controller/block_list.sh ../lib/lib*.a` -Wl,-E -lcontroller -lethercat -llog -lshell
+ec_el_test: ec_el_test.o
 
 clean:
-	rm -rf *.o *.a *.d ec_enum ec_el_test
+	rm -rf *.o *.a *.la *.lo .libs *.d ec_enum ec_el_test
 
 include ../build.mk

controller/log/Makefile

 
 CFLAGS= -Wall -O3
 
+
 ARCHSRCS = log.c
-ARCHOBJS = $(ARCHSRCS:.c=.o)
+ARCHOBJS = $(ARCHSRCS:.c=.lo)
 
 SRCS=$(ARCHSRCS)
 
-all: $(ARCHOBJS) loglib
+all: $(ARCHOBJS) liblog.la_install
+
+liblog.la_LDFLAGS=-rpath ${CURDIR}/../lib
+liblog.la: $(ARCHOBJS)
 
-loglib: log.a($(ARCHOBJS))
+liblog.la_install: liblog.la
+	@echo "CP $^ to libdir"
+	@${LIBTOOL} --quiet --mode=install install liblog.la ${CURDIR}/../lib
 
 
 clean:
-	rm -rf *.o *.a *.d
+	rm -rf *.o *.a *.d *.lo *.la libs
 
 include ../build.mk

controller/shell/Makefile

 CFLAGS= -Wall -O3
 
 SRCS= shell.c
-ARCHOBJS = $(SRCS:.c=.o)
+ARCHOBJS = $(SRCS:.c=.lo)
 
-all: $(ARCHOBJS) shelllib
+all: libshell.la_install
 
-shelllib: shell.a($(ARCHOBJS))
+libshell.la_LDFLAGS=-rpath ${CURDIR}/../lib -lcontroller
+libshell.la: $(ARCHOBJS)
+
+libshell.la_install: libshell.la
+	@echo "CP $^ to libdir"
+	@${LIBTOOL} --quiet --mode=install install libshell.la ${CURDIR}/../lib
 
 
 clean:
-	rm -rf *.o *.a *.d
+	rm -rf *.o *.a *.d *.lo *.la libs
 
 
 include ../build.mk

controller/test/Makefile

 
 CFLAGS= -Wall -g \
 	-I../controller -I../utils -I../dt_azimuth -I../dt_elevation -I../ec
-LDFLAGS= -lpthread -lrt -lm -ldl
+LDFLAGS= -lpthread -lrt -lm -ldl -lcontroller -lethercat -llog -L../lib
 
 all: spg_test iir_test
 
-spg_test: spg_test.o ../controller/controller.a ../ec/ec.a ../log/log.a
+spg_test: spg_test.o
 
-iir_test: iir_test.o ../controller/controller.a ../ec/ec.a ../log/log.a
+iir_test: iir_test.o
 
 SRCS=spg_test.c iir_test.c