install_includes = $(SILENT) \
	for i in $(PUBLIC_INCLUDES) xxxx ; do \
		if test -f $$i && ! $(NEWER) $(INC_DIR)/`basename $$i` $$i ; then \
			echo "  -- Sym-linking $$i to $(INC_DIR)" ; \
			export dir=`pwd` ; \
			$(RM) -f $(INC_DIR)/`basename $$i` ; \
			$(LN) -s $$dir/$$i $(INC_DIR) ; \
		else if test -d $$i && ! $(NEWER) $(INC_DIR)/$$i $$i ; then \
			echo "  -- Sym-linking $$i to $(INC_DIR)" ; \
			export dir=`pwd` ; \
			$(RM) -f $(INC_DIR)/$$i ; \
			$(LN) -s $$dir/$$i $(INC_DIR) ; \
		fi; \
		fi; \
	done 

install_libraries = $(SILENT) \
	for i in $(PUBLIC_LIBRARIES) xxxx ; do \
		if test -f $$i && ! $(NEWER) $(LIB_DIR)/`basename $$i` $$i ; then \
			echo "  -- Sym-linking $$i to $(LIB_DIR)" ; \
			export dir=`pwd` ; \
			$(RM) -f $(LIB_DIR)/`basename $$i` ; \
			$(LN) -s $$dir/$$i $(LIB_DIR) ; \
		fi; \
	done 

install_binaries = $(SILENT) \
	for i in $(PUBLIC_BINARIES) xxxx ; do \
		if test -f $$i && ! $(NEWER) $(BIN_DIR)/`basename $$i` $$i ; then \
			echo "  -- Sym-linking $$i to $(BIN_DIR)" ; \
			export dir=`pwd` ; \
			$(RM) -f $(BIN_DIR)/`basename $$i` ; \
			$(LN) -s $$dir/$$i $(BIN_DIR) ; \
		fi; \
	done 

install_global = $(SILENT) \
	for i in $(PUBLIC_BINARIES) xxxx ; do \
		if test -f $$i && ! $(NEWER) $(INSTALL_DIR)/bin/$$i $$i ; then \
			echo "  -- Installing $$i in $(INSTALL_DIR)/bin" ; \
			export dir=`pwd` ; \
			$(CP) $$dir/$$i $(INSTALL_DIR)/bin/$$i ; \
		fi; \
	done 

run_loud_tests = $(SILENT) \
	for i in $(TEST_TARGETS) xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
		   echo "  -- Testing $$i" ; \
		   ./$$i ; \
		fi ; \
	done 

run_brief_tests = $(SILENT) \
	for i in $(TEST_TARGETS) xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
		   echo "  -- Testing $$i" ; \
		   ./$$i | ../../utils/parse_test.py ; \
		fi ; \
	done 

run_eval = $(SILENT) \
  for i in $(EVAL_TARGETS) xxxx ; do \
    if test ! "$$i" = "xxxx" ; then \
       echo "  -- Running $$i" ; \
       ./$$i ; \
    fi ; \
  done 

remove_includes = $(SILENT) \
	for i in $(PUBLIC_INCLUDES) xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
			$(RM) -f $(INC_DIR)/$$i ; \
		fi ; \
	done 

remove_libraries = $(SILENT) \
	for i in $(PUBLIC_LIBRARIES) xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
			$(RM) -f $(LIB_DIR)/$$i ; \
		fi ; \
	done 

remove_binaries = $(SILENT) \
	for i in $(PUBLIC_BINARIES) xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
			$(RM) -f $(BIN_DIR)/$$i ; \
		fi ; \
	done 

uic_declarations = $(SILENT) \
  for i in $(UIC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" && test $$i -nt $${i//.ui/.h} ; then \
      echo "  -- UIC'ing $$i to $${i//.ui/.h} (QT)" ; \
      $(UIC) $$i -o $${i//.ui/.h}; \
    fi ; \
  done 

# obsolete with qt 4
#uic_implementations = $(SILENT) \
#  for i in $(UIC_SOURCES) xxxx ; do \
#    if test ! "$$i" = "xxxx" && test $$i -nt $${i//.ui/.cpp} ; then \
#      echo "  -- UIC'ing $$i to $${i//.ui/.cpp} (QT)" ; \
#      $(UIC) $$i -i $${i//.ui/.h} -o $${i//.ui/.cpp}; \
#    fi ; \
#  done 
    
remove_uic = $(SILENT) \
  for i in $(UIC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" && test $$i ; then \
      $(RM) $${i//.ui/.h}; \
      $(RM) $${i//.ui/.cpp}; \
    fi ; \
  done 

rcc_implementations = $(SILENT) \
  for i in $(RCC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" && test $$i -nt $${i//.qrc/.cpp} ; then \
      echo "  -- RCC'ing $$i to $${i//.qrc/.cpp} (QT)" ; \
      $(RCC) -o $${i//.qrc/.cpp} $$i; \
    fi ; \
  done 
    
remove_rcc = $(SILENT) \
  for i in $(RCC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" && test $$i ; then \
      $(RM) $${i//.qrc/.cpp}; \
    fi ; \
  done 

remove_objects = $(SILENT) \
  for i in $(SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" && test $$i ; then \
      export dir=`dirname $$i`; \
      $(RM) $$dir/*.o ; \
      $(RM) $$dir/*.a ; \
      $(RM) $$dir/*.so ; \
      $(RM) $$dir/*.dylib ; \
      $(RM) $$dir/*.cbomod ; \
    fi ; \
  done 
    
moc_implementations = $(SILENT) \
  for i in $(MOC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" ; then \
      export dir=`dirname $$i`; \
      export base=`basename $$i`; \
      if test $$i -nt $$dir/moc_$${base//.h/.cpp} ; then \
      	echo "  -- MOC'ing $$i to $$dir/moc_$${base//.h/.cpp} (QT)" ; \
      	$(MOC) $$i -o $$dir/moc_$${base//.h/.cpp}; \
      fi ; \
    fi ; \
  done 
   	
remove_moc = $(SILENT) \
  for i in $(MOC_SOURCES) xxxx ; do \
    if test ! "$$i" = "xxxx" ; then \
      export dir=`dirname $$i`; \
      export base=`basename $$i`; \
      $(RM) $$dir/moc_$${base//.h/.cpp}; \
    fi ; \
  done 

MAKEEACH = function makeeach { \
	for i in $$1 xxxx ; do \
		if test ! "$$i" = "xxxx" ; then \
			if ! $(MAKE) -j$(CPUCOUNT) $$i ; then \
                                exit -1; \
                        fi; \
		fi ; \
	done \
	} \


# Check for ROS.
HAVE_ROS := false
ifdef ROS_ROOT
ROSPACK := $(ROS_ROOT)/bin/rospack
ifneq "$(strip $(wildcard $(ROS_ROOT)))" ""
HAVE_ROS := true
ROS_PACKAGE_PATH := $(ROS_PACKAGE_PATH):$(VLR_ROOT)/src/ros-pkg
endif
endif

# Convenience targets for telling the user about ROS.
.PHONY: no_ros
no_ros:
	@echo "     This package requires ROS, which you do not appear to have.  Skipping package build.  If you think you have ROS, make sure ROS_ROOT is set and that rospack exists at ROS_ROOT/bin/rospack."

.PHONY: ros_deps
ros_deps:
	@echo "  -- Building ROS Dependencies: " $(ROS_DEPS)
	rosmake -s $(ROS_DEPS)
	
# If we have ROS_DEPS and we have ROS, add the appropriate LFLAGS and IFLAGS.
ifeq "$(strip $(HAVE_ROS))" "true"
ifneq "$(strip $(ROS_DEPS))" ""
IFLAGS += `for i in $(ROS_DEPS) ; do rospack export --lang=cpp --attrib=cflags $$i ; done`
LFLAGS += `for i in $(ROS_DEPS) ; do rospack export --lang=cpp --attrib=lflags $$i ; done`
endif
endif

.PHONY: ros_show_flags
ros_show_flags:
	@echo "ROS cflags: "
	for i in $(ROS_DEPS); do rospack export --lang=cpp --attrib=cflags $$i | xargs -n1; done
	@echo
	@echo "ROS lflags: "
	for i in $(ROS_DEPS); do rospack export --lang=cpp --attrib=lflags $$i | xargs -n1; done

MAKE_TARGETS += $(TARGETS)
ifeq (1,$(HAVE_QT))
MAKE_TARGETS += $(QT_TARGETS)
endif
MAKE_TARGETS += $(GTK_TARGETS) $(GTK2_TARGETS) $(GRAPHICS_TARGETS)

# If we have ROS_DEPS but don't have ROS, then don't build anything for this package.
ifneq "$(strip $(ROS_DEPS))" ""
ifneq "$(strip $(HAVE_ROS))" "true"
MAKE_TARGETS = no_ros
endif
endif


libraries:
	$(SILENT) $(MAKEEACH); makeeach "$(filter %.a, $(MAKE_TARGETS))"
	$(SILENT) $(MAKEEACH); makeeach "$(filter %.so, $(MAKE_TARGETS))"
	$(SILENT) $(MAKEEACH); makeeach "$(filter %.dylib, $(MAKE_TARGETS))"
	$(SILENT) $(MAKEEACH); makeeach "$(filter %.cbomod, $(MAKE_TARGETS))"

binaries:
	$(SILENT) $(MAKEEACH); makeeach "$(filter-out %.a, $(MAKE_TARGETS))"

tests:
	$(SILENT) $(MAKEEACH); makeeach "$(TEST_TARGETS)"
	
evals:
	$(SILENT) $(MAKEEACH); makeeach "$(EVAL_TARGETS)"

all:	
ifdef TDD
	$(MAKE) test
else
	$(ECHO) ""
	$(ECHO) " --> Making $(MODULE_NAME)"
	$(uic_declarations)
#	$(uic_implementations)
	$(rcc_implementations)
	$(moc_implementations)
	$(create_include_directories)
	$(install_includes)
ifneq (Makefile.depend, $(wildcard Makefile.depend))
	$(SILENT) $(MAKE) depend
endif
	$(SILENT) $(MAKE) libraries
	$(install_libraries)
	$(SILENT) $(MAKE) binaries
	$(install_binaries)
	$(ECHO) " <-- Complete"
endif

clean:
	$(ECHO) "  -- Cleaning up "$(MODULE_NAME)
	$(SILENT) $(RM) *.o *.a *.so *.lcov *.gcda *.gcno *.dylib *.cbomod core a.out Makefile.depend Makefile.depend.bak $(MAKE_TARGETS) $(TEST_TARGETS) $(EVAL_TARGETS) $(EXTRA_CLEAN)
	$(SILENT) $(RM) -rf .lcov

	$(remove_uic)
	$(remove_rcc)
	$(remove_objects)
	$(ECHO) " <-- Complete"

relink:
	$(SILENT) $(RM) $(filter-out %.a, $(MAKE_TARGETS))
	$(SILENT) for i in $(filter-out %.a, $(MAKE_TARGETS)) ; do \
		$(MAKE) $$i ; \
	done
	$(ECHO) " <-- Complete"

testloud:
	$(ECHO) ""
	$(ECHO) " --> Testing $(MODULE_NAME)"
	$(install_includes)
ifneq (Makefile.depend, $(wildcard Makefile.depend))
	$(SILENT) $(MAKE) depend
endif
	$(SILENT) $(MAKE) libraries
	$(install_libraries)
	$(SILENT) $(MAKE) binaries
	$(install_binaries)
	$(SILENT) $(MAKE) tests
	$(run_loud_tests)
	$(ECHO) " <-- Complete"

eval:
	$(ECHO) ""	
	$(ECHO) " --> Building $(MODULE_NAME)"
	$(SILENT) $(MAKE) binaries
	$(ECHO) " --> Evaluating $(MODULE_NAME)"	
	$(SILENT) $(MAKE) evals
	$(run_eval)
	$(ECHO) " <-- Complete"

test:
	$(ECHO) ""
	$(ECHO) " --> Testing $(MODULE_NAME)"
	$(install_includes)
ifneq (Makefile.depend, $(wildcard Makefile.depend))
	$(SILENT) $(MAKE) depend
endif
	$(SILENT) $(MAKE) libraries
	$(install_libraries)
	$(SILENT) $(MAKE) binaries
	$(install_binaries)
	$(SILENT) $(MAKE) tests
	$(run_brief_tests)
	$(ECHO) " <-- Complete"

testcov:
	$(ECHO) ""
	$(ECHO) " --> Testing coverage for $(MODULE_NAME)"
	make clean
	$(SILENT) $(MKDIR) .lcov
	$(install_includes)
ifneq (Makefile.depend, $(wildcard Makefile.depend))
	$(SILENT) $(MAKE) depend
endif
	$(SILENT) $(MAKE) COVERAGE=1 libraries
	$(install_libraries)
	$(SILENT) $(MAKE) COVERAGE=1 binaries
	$(install_binaries)
	$(SILENT) $(MAKE) COVERAGE=1 tests
	$(LCOV) --directory . --zerocounters
	$(run_brief_tests)
	$(LCOV) --directory . --capture --output-file .lcov/dgc.info
	$(GENHTML) -o .lcov .lcov/dgc.info
	$(ECHO) " <-- Complete"

install:
	$(install_global)

distclean:
	$(ECHO) "  -- Cleaning up $(MODULE_NAME)"
	$(SILENT) $(RM) *.o *.a *.so *.dylib *.cbomod *~ core a.out .lcov *.gcda *.gcno
	$(SILENT) $(RM) Makefile.depend Makefile.depend.bak $(MAKE_TARGETS) $(TEST_TARGETS) $(EXTRA_CLEAN)
	$(remove_includes)
	$(remove_libraries)
	$(remove_binaries)
	$(RM) core gmon.out *~ .\#* \#*

	$(remove_uic)
	$(remove_objects)
	$(ECHO) " <-- Complete"

export:
	$(install_includes)

dep depend:
	$(ECHO) "  -- Assigning dependencies"
	$(SILENT) $(TOUCH) Makefile.depend
	$(SILENT) if test ! "$(SOURCES)x" = x ; then \
		$(CC) -M -MG $(SOURCES) $(IFLAGS) $(filter -D%, $(CFLAGS)) > Makefile.depend ; \
	fi
	$(SILENT) $(RM) Makefile.depend.bak
	if [ "$(ROS_DEPS)" != "" ]; then \
 	echo "  -- ROS dependencies:" $(ROS_DEPS); \
	echo "       If you get a compilation error regarding one of these packages, try 'make ros_deps' first."; \
	fi


debug:
	$(SILENT) $(MAKE) DEBUG=1 all

loud:
	$(SILENT) $(MAKE) MAKEFLAGS= LOUD=1 all

.SUFFIXES: .c .o .a .so .C

.PHONY:	   all clean loud dep depend install debug export distclean relink phase1 phase2 test testloud testcov

$(foreach target,$(GRAPHICS_TARGETS),$(eval $(call GRAPHICS_libtemplate,$(target))))
$(foreach target,$(GTK_TARGETS),$(eval $(call GTK_libtemplate,$(target))))
$(foreach target,$(GTK2_TARGETS),$(eval $(call GTK2_libtemplate,$(target))))

$(foreach target,$(GTK_TARGETS),$(eval $(call GTK_inctemplate,$(target))))
$(foreach target,$(GTK2_TARGETS),$(eval $(call GTK2_inctemplate,$(target))))

$(foreach target,$(TEST_TARGETS),$(eval $(call gtest_libtemplate,$(target))))

ifeq (1,$(HAVE_QT))
$(foreach target,$(QT_TARGETS),$(eval $(call QT_libtemplate,$(target))))
$(foreach target,$(QT_TARGETS),$(eval $(call QT_inctemplate,$(target))))
endif

%.o:	%.c
	$(ECHO) "  -- Compiling $< to $@ (C)"
	$(SILENT) $(CC) $(CFLAGS) $(IFLAGS) -c $< -o $@

%.a:	
	$(ECHO) "  -- Archiving $^ into $@"
	$(SILENT) $(AR) $@ $^ >& /dev/null
	$(SILENT) $(RANLIB) $@

%.o:	%.C
	$(ECHO) "  -- Compiling $< to $@ (C++)"
	$(SILENT) $(CXX) $(CXXFLAGS) $(IFLAGS) -c $< -o $@

%.o:	%.cpp
	$(ECHO) "  -- Compiling $< to $@ (C++)"
	$(SILENT) $(CXX) $(CXXFLAGS) $(IFLAGS) -c $< -o$@

%.pb.o:	%.pb.cc
	$(ECHO) "  -- Compiling $< to $@ (C++)"
	$(SILENT) $(CXX) $(filter-out -W,$(CXXFLAGS)) $(IFLAGS) -c $< 

%.o:	%.cc
	$(ECHO) "  -- Compiling $< to $@ (C++)"
	$(SILENT) $(CXX) $(CXXFLAGS) $(IFLAGS) -c $< -o$@

%.so:	
%.dylib:	
	$(ECHO) "  -- Archiving $^ into $@ (C/C++)"
	$(SILENT) $(CXX) $(LFLAGS) $(LFLAGS_DYNAMIC) -o $@ $^

%.cbomod:	
	$(ECHO) "  -- Archiving $^ into $@ (C/C++)"
	$(SILENT) $(CXX) $(LFLAGS) $(LFLAGS_DYNAMIC) -o $@ $^
	$(ECHO) "  -- Installing $^ into $(CBO_MODDIR)"
	$(SILENT) cp $@ $(CBO_MODDIR)

%:	
ifneq (,$(findstring gcc,$(LINK)))
	echo "  -- Linking "$^" to "$@" (C)" 
else
	echo "  -- Linking "$^" to "$@" (C++)"
endif
	$(SILENT) $(LINK) $(filter %.o, $^) $(filter %.a, $^) -o $@ -L. $(patsubst lib%.a,-l%,$(filter %.a, $^)) $(LFLAGS) $($@_LFLAGS)

.SECONDARY:

# Google protol buffer compilation

%.pb.cc %.pb.h: 	%.proto
	$(ECHO) "  -- Creating protocol buffer from $< (PB)"
	$(SILENT) /usr/local/bin/protoc --cpp_out=. $<

# QT Moc preprocessor

./%.h: %.ui
	$(ECHO) "  -- Creating Header file for $< (uic)"
	$(SILENT) $(UIC) $< -o $@

./%.cpp: %.ui
	$(ECHO) "  -- Creating C++ file for $< (uic)"
	$(SILENT) $(UIC) -impl $*.h $< -o $@

./%-moc.cpp %-moc.cpp: %.h
	$(ECHO) "  -- Creating MOC C++ file for $< (moc)"
	$(SILENT) $(MOC) -o $@ $<

ifeq (Makefile.depend, $(wildcard Makefile.depend))
include Makefile.depend
endif