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rclex

0.7.2
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ROS 2 Client Library for Elixir.

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rclex Makefile
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Makefile 

# set directory for ROSDISTRO

ROS_DIR = $(shell which ros2 | sed "s/\/bin\/ros2//")



ifeq ($(ROS_DISTRO), dashing)

	ROS_VERSION = DASHING

	TYPE_STRUCTURE_DIR = rosidl_generator_c

else ifeq ($(ROS_DISTRO), foxy)

	ROS_VERSION = FOXY

	TYPE_STRUCTURE_DIR = rosidl_runtime_c

endif



MSGTYPES = $(shell cat packages.txt)

MSGTYPE_FILES = $(shell echo $(MSGTYPES) | sed -e "s/\([A-Z]\)/_\L\1/g" -e "s/\/_/\//g")

MSGTYPE_FUNCS = $(subst /,_,$(MSGTYPE_FILES))

MSGPKGS = $(sort $(foreach msgtype,$(MSGTYPES),$(firstword $(subst /,$() ,$(msgtype)))))

MSGPKG_DIRS = $(shell for msgpkg in $(MSGPKGS); do ros2 pkg prefix $$msgpkg; done)

MT_SEQ = $(shell seq 1 $(words $(MSGTYPES)))

comma = ,



CC = gcc

LD = ld

RM = rm



PREFIX = $(MIX_APP_PATH)/priv

BUILD  = $(MIX_APP_PATH)/obj

OLD_SUB = $(dir $(wildcard src/*/msg)) $(dir $(wildcard lib/rclex/*/msg))

BUILD_SUB = $(MSGPKGS:%=$(BUILD)/%/msg)

SRC_SUB = $(MSGPKGS:%=src/%/msg)

EXLIB_SUB = $(MSGPKGS:%=lib/rclex/%/msg)



NIF = $(PREFIX)/rclex_nifs.so



CFLAGS  ?= -g -O2 -Wall -Wextra -Wno-unused-parameter -pedantic -fPIC -I./src

LDFLAGS ?= -g -shared



# Enabling this line prints debug messages on NIFs code.

#CFLAGS  += -DDEBUG_BUILD



# Set Erlang-specific compile and linker flags

ERL_CFLAGS  ?= -I$(ERL_EI_INCLUDE_DIR)

ERL_LDFLAGS ?= -L$(ERL_EI_LIBDIR)



# for ROS libs

ROS_CFLAGS  ?= -I$(ROS_DIR)/include

ROS_LDFLAGS ?= -L$(ROS_DIR)/lib

ROS_LDFLAGS += -lrcl -lrmw -lrcutils \

	-l$(TYPE_STRUCTURE_DIR) -lrosidl_typesupport_c \

	-lrosidl_typesupport_introspection_c \

	-lfastcdr -lfastrtps -lrmw_fastrtps_cpp \

# if you want to use OpenSplice DDS

#ROS_LDFLAGS	+= -lrmw_opensplice_cpp -lrosidl_typesupport_opensplice_cpp



# for msgpkg libs

MSGPKG_CFLAGS  ?= $(MSGPKG_DIRS:%=-I%/include)

MSGPKG_LDFLAGS ?= $(MSGPKG_DIRS:%=-L%/lib)

MSGPKG_LDFLAGS += $(MSGPKG_DIRS:%=-Wl,-rpath,%/lib)

MSGPKG_LDFLAGS += $(MSGPKGS:%=-l%__rosidl_generator_c)

MSGPKG_LDFLAGS += $(MSGPKGS:%=-l%__rosidl_typesupport_c)



SRC ?= $(wildcard src/*.c) $(MSGTYPE_FILES:%=src/%_nif.c)

HEADERS ?= $(SRC:src/%.c=src/%.h)

OBJ ?= $(SRC:src/%.c=$(BUILD)/%.o)

MSGMOD ?= $(MSGTYPE_FILES:%=lib/rclex/%.ex) lib/rclex/nifs.ex



calling_from_make:

	mix compile



all: install

	

install: $(OLD_SUB) $(BUILD) $(PREFIX) $(BUILD_SUB) $(SRC_SUB) $(EXLIB_SUB) $(NIF) $(MSGMOD)



$(OBJ): $(HEADERS) Makefile



$(BUILD)/%.o: src/%.c

	$(CC) -c $(ERL_CFLAGS) $(ROS_CFLAGS) $(MSGPKG_CFLAGS) $(CFLAGS) -D$(ROS_VERSION) -o $@ $<



$(NIF): $(OBJ)

	$(CC) -o $@ $(ERL_LDFLAGS) $(LDFLAGS) $^ $(ROS_LDFLAGS) $(MSGPKG_LDFLAGS)



$(OLD_SUB): packages.txt

	$(RM) -r $@



$(BUILD):

	@mkdir -p $(BUILD)



$(PREFIX):

	@mkdir -p $(PREFIX)



define make_dir

$(1):

	@mkdir -p $(1)

endef

$(foreach subdir,$(BUILD_SUB),$(eval $(call make_dir,$(subdir))))

$(foreach subdir,$(SRC_SUB),$(eval $(call make_dir,$(subdir))))

$(foreach subdir,$(EXLIB_SUB),$(eval $(call make_dir,$(subdir))))



clean:

	$(RM) $(NIF) $(BUILD)/*.o



.PHONY: all clean calling_from_make install





MTNIFS_SRC_START = $(shell grep -n \<custom_msgtype\>_nif.c-----start src/total_nif.c | sed -e "s/:.*//g")

MTNIFS_SRC_END = $(shell grep -n \<custom_msgtype\>_nif.c-----end src/total_nif.c | sed -e "s/:.*//g")

src/total_nif.c: packages.txt

	@if [ $$(($(MTNIFS_SRC_START) + 1)) -ne $(MTNIFS_SRC_END) ]; then\

	  sed -i -e "$$(($(MTNIFS_SRC_START)+1)),$$(($(MTNIFS_SRC_END)-1))d" src/total_nif.c;\

	fi

	@for msgstr in $(MSGTYPE_FUNCS); do\

	  sed -i -e "$(MTNIFS_SRC_START)a \  {\"readdata_$${msgstr}\",1,nif_readdata_$${msgstr},0}," src/total_nif.c;\

	  sed -i -e "$(MTNIFS_SRC_START)a \  {\"setdata_$${msgstr}\",2,nif_setdata_$${msgstr},0}," src/total_nif.c;\

	  sed -i -e "$(MTNIFS_SRC_START)a \  {\"init_msg_$${msgstr}\",1,nif_init_msg_$${msgstr},0}," src/total_nif.c;\

	  sed -i -e "$(MTNIFS_SRC_START)a \  {\"create_empty_msg_$${msgstr}\",0,nif_create_empty_msg_$${msgstr},0}," src/total_nif.c;\

	  sed -i -e "$(MTNIFS_SRC_START)a \  {\"get_typesupport_$${msgstr}\",0,nif_get_typesupport_$${msgstr},0}," src/total_nif.c;\

	done



MTNIFS_H_START = $(shell grep -n \<custom_msgtype\>_nif.h-----start src/total_nif.h | sed -e "s/:.*//g")

MTNIFS_H_END = $(shell grep -n \<custom_msgtype\>_nif.h-----end src/total_nif.h | sed -e "s/:.*//g")

src/total_nif.h: packages.txt

	@if [ $$(($(MTNIFS_H_START) + 1)) -ne $(MTNIFS_H_END) ]; then\

	  sed -i -e "$$(($(MTNIFS_H_START)+1)),$$(($(MTNIFS_H_END)-1))d" src/total_nif.h;\

	fi

	@for msgfile in $(MSGTYPE_FILES); do\

	  sed -i -e "$(MTNIFS_H_START)a #include \"$${msgfile}_nif.h\"" src/total_nif.h;\

	done



MTNIFS_EX_START = $(shell grep -n \<custom_msgtype\>_nif.c-----start lib/rclex/nifs.ex | sed -e "s/:.*//g")

MTNIFS_EX_END = $(shell grep -n \<custom_msgtype\>_nif.c-----end lib/rclex/nifs.ex | sed -e "s/:.*//g")

lib/rclex/nifs.ex: packages.txt

	@if [ $$(($(MTNIFS_EX_START) + 1)) -ne $(MTNIFS_EX_END) ]; then\

	  sed -i -e "$$(($(MTNIFS_EX_START)+1)),$$(($(MTNIFS_EX_END)-1))d" lib/rclex/nifs.ex;\

	fi

	@for msgstr in $(MSGTYPE_FUNCS); do\

	  sed -i -e "$(MTNIFS_EX_START)a \  def readdata_$${msgstr}(_), do: raise \"NIF readdata_$${msgstr}/1 is not implemented\"" lib/rclex/nifs.ex;\

	  sed -i -e "$(MTNIFS_EX_START)a \  def setdata_$${msgstr}(_,_), do: raise \"NIF setdata_$${msgstr}/2 is not implemented\"" lib/rclex/nifs.ex;\

	  sed -i -e "$(MTNIFS_EX_START)a \  def init_msg_$${msgstr}(_), do: raise \"NIF init_msg_$${msgstr}/1 is not implemented\"" lib/rclex/nifs.ex;\

	  sed -i -e "$(MTNIFS_EX_START)a \  def create_empty_msg_$${msgstr}, do: raise \"NIF create_empty_msg_$${msgstr}/0 is not implemented\"" lib/rclex/nifs.ex;\

	  sed -i -e "$(MTNIFS_EX_START)a \  def get_typesupport_$${msgstr}, do: raise \"NIF get_typesupport_$${msgstr}/0 is not implemented\"" lib/rclex/nifs.ex;\

	done





msgtype_function_template = ERL_NIF_TERM nif_$(1)(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[]);

define msgtype_header_template

$(1): Makefile

	@echo "#include <erl_nif.h>" > $(1)

	@echo "$(call msgtype_function_template,get_typesupport_$(3))" >> $(1)

	@echo "$(call msgtype_function_template,create_empty_msg_$(3))" >> $(1)

	@echo "$(call msgtype_function_template,init_msg_$(3))" >> $(1)

	@echo "$(call msgtype_function_template,setdata_$(3))" >> $(1)

	@echo "$(call msgtype_function_template,readdata_$(3))" >> $(1)

endef

$(foreach cnt,$(MT_SEQ),$(eval $(call msgtype_header_template,src/$(word $(cnt),$(MSGTYPE_FILES))_nif.h,$(word $(cnt),$(MSGTYPES)),$(word $(cnt),$(MSGTYPE_FUNCS)))))



define msgtype_source_template

$(1): src/msgtype_tmp.sh 

	bash src/msgtype_tmp.sh $(2)

endef

$(foreach cnt,$(MT_SEQ),$(eval $(call msgtype_source_template,src/$(word $(cnt),$(MSGTYPE_FILES))_nif.c,$(word $(cnt),$(MSGTYPES)))))



define msgtype_elixir_template

$(1): lib/rclex/msgtype_tmp.sh

	bash lib/rclex/msgtype_tmp.sh $(2)

endef

$(foreach cnt,$(MT_SEQ),$(eval $(call msgtype_elixir_template,lib/rclex/$(word $(cnt),$(MSGTYPE_FILES)).ex,$(word $(cnt),$(MSGTYPES)))))