Makefile.hrpsys-base

all: installed

INSTALL_DIR ?= ${CURDIR}
GIT_DIR = build/hrpsys-base-source
PATCH_DIR = $(CURDIR)
GIT_URL = https://github.com/fkanehiro/hrpsys-base.git
GIT_REVISION = 315.2.7
GIT_PATCH   =  ${PATCH_DIR}/patch/opencv2.patch
#if arch
ifeq (,$(wildcard /etc/debian_version)) #if not debian_version exists
GIT_PATCH  += ${PATCH_DIR}/patch/python.patch
endif
ifneq (,$(wildcard /etc/arch-release)) # if arch
GIT_PATCH  += ${PATCH_DIR}/patch/qhull.patch
endif

OPENRTM_DIR ?= $(shell rospack find openrtm_aist)
PKG_CONFIG_PATH := $(shell rospack find openrtm_aist)/lib/pkgconfig:$(shell rospack find openhrp3)/lib/pkgconfig:$(PKG_CONFIG_PATH)
MK_DIR       = $(shell rospack find mk)
NUM_OF_CPUS = $(shell grep -c '^processor' /proc/cpuinfo)

include $(MK_DIR)/git_checkout.mk

disable_ssl:
	git config --global http.sslVerify false

installed: disable_ssl $(GIT_DIR) $(GIT_PATCH) 
	@echo "patch hrpsys-base ... "
	@echo "                 PATCH_DIR=$(PATCH_DIR)" 
	cd $(GIT_DIR) && git reset --hard && git checkout $(GIT_REVISION)
ifneq ($(strip $(GIT_PATCH)),)
	$(foreach PATCH, $(GIT_PATCH), patch -d $(GIT_DIR) -p0 < $(PATCH) && ) echo patched
	touch rospack_nosubdirs
	touch patched
endif
	rm -f build/hrpsys-base/CMakeCache.txt
	@echo "compile hrpsys-base ... "
	@echo "                 PATH=$(PATH)"
	@echo "                 INSTALL_DIR=$(INSTALL_DIR)"
	@echo "                 OPENRTM_DIR=$(OPENRTM_DIR)"
	(mkdir -p build/hrpsys-base && cd build/hrpsys-base && PKG_CONFIG_PATH=${PKG_CONFIG_PATH} cmake -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) -DOPENRTM_DIR=${OPENRTM_DIR} -DENABLE_INSTALL_RPATH=ON -DCOMPILE_JAVA_STUFF=OFF -DEXTRA_RTC_DIRS="$(EXTRA_RTC_DIRS)" -DEXTRA_IDL_FILES="$(EXTRA_IDL_FILES)" -DENABLE_INSTALL_RPATH_TO_SELF=ON -DENABLE_DOXYGEN=OFF  ${CURDIR}/build/hrpsys-base-source && make -j$(shell if [ $(NUM_OF_CPUS) -gt 2 ] ; then echo "2"; else echo $(NUM_OF_CPUS); fi) && make install) 2>&1 | tee ${CURDIR}/compile.log
	#
	touch installed

clean:
	-cd $(GIT_DIR) && make clean

download:
	git clone $(GIT_URL) $(GIT_DIR); (cd ${GIT_DIR}; git checkout $(GIT_REVISION) up; rm -f `rospack find hrpsys`/installed)