Move blocks to their own directory.

controller/Makefile

@@ -18,14 +18,16 @@ endif
 
 
 dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
-	-lcontroller -lethercat -llog -lshell -ldt_azimuth -ldt_elevation
+	-lcontroller -lblock -lethercat -llog -lshell \
+	-ldt_azimuth -ldt_elevation
 
 all: dt_ctrl \
 	test \
 	controller
 
-dt_ctrl: lib/libcontroller.la lib/libethercat.la lib/libdt_azimuth.la lib/libdt_elevation.la
+dt_ctrl: lib/libcontroller.la lib/libblock.la lib/libethercat.la lib/libdt_azimuth.la lib/libdt_elevation.la
 
+lib/libblock.la: lib/libcontroller.la
 lib/libethercat.la: lib/libcontroller.la
 lib/libdt_azimuth.la: lib/libcontroller.la
 lib/libdt_elevation.la: lib/libcontroller.la
@@ -43,6 +45,10 @@ lib/libcontroller.la:
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C controller
 
+lib/libblock.la: lib
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C block
+
 lib/libdt_azimuth.la: lib
 	@echo " SUBDIR: $@"
 	@$(MAKE) -C dt_azimuth
@@ -72,6 +78,7 @@ clean:
 	    command_shell \
 	    dt_ctrl
 	$(MAKE) -C controller clean
+	$(MAKE) -C block clean
 	$(MAKE) -C dt_azimuth clean
 	$(MAKE) -C dt_elevation clean
 	$(MAKE) -C ec clean

controller/block/Makefile

+
+IL2C=il2c/il2c
+
+CFLAGS= -O3 -Wall \
+	 -I../controller/ \
+	 -I../../common/log/ -I../shell/ \
+	 -I.. \
+	 -I../../common/include
+
+BLOCKSRCS= \
+	block_add.c \
+	block_and2.c \
+	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.c \
+	block_or2.c \
+	block_or3.c \
+	block_or4.c \
+	block_pid.c \
+	block_pid_aw.c \
+	block_quadrature_decoder.c \
+	block_quantize.c \
+	block_random.c \
+	block_register.c \
+	block_setpoint_generator.c \
+	block_setreset.c \
+	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= $(BLOCKSRCS)
+
+BLOCKS=$(BLOCKSRCS:.c=.lo)
+
+
+all: il2cdir libblock.la_install
+
+il2cdir:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C il2c
+
+.PHONY: il2cdir
+
+
+libblock.la_LDFLAGS=-rpath ${CURDIR}/../lib
+libblock.la: $(BLOCKS) il2cdir
+
+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