diff options
Diffstat (limited to 'Makefile')
| -rw-r--r-- | Makefile | 179 |
1 files changed, 120 insertions, 59 deletions
@@ -1,14 +1,50 @@ -all : lib data_recorder test calibrate calibrate_client simple_pose_test +all : data_recorder test calibrate calibrate_client simple_pose_test + @echo "Built with defaults. Type 'make help' for more info." + +.PHONY : help clean buildfolders + +LIBRARY:=./lib/libsurvive.so +OBJDIR:=build + + +ifdef WINDOWS + CFLAGS+=-Iinclude/libsurvive -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -MD -DNOZLIB -DWINDOWS -DWIN32 -DHIDAPI + LDFLAGS+=-L/usr/local/lib -lpthread -g -lm -lsetupapi -lkernel32 -ldbghelp -lgdi32 + LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS) + LIBSURVIVE_CORE:=redist/puff.c redist/crc32.c redist/hid-windows.c winbuild/getdelim.c + CC:=i686-w64-mingw32-gcc +else + CFLAGS+=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -rdynamic -MD + LDFLAGS+=-L/usr/local/lib -lpthread -lz -lm -g -llapacke -lcblas -lm + LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS) +endif CC?=gcc -CFLAGS:=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic #-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses -CFLAGS_RELEASE:=-Iinclude/libsurvive -fPIC -msse2 -ftree-vectorize -O3 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -llapacke -lcblas -lm + +ifdef EXTRA_WARNINGS + CFLAGS+=-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses +endif + -#LDFLAGS:=-L/usr/local/lib -lpthread -lusb-1.0 -lz -lm -flto -g +SBA:=redist/sba/sba_chkjac.c redist/sba/sba_crsm.c redist/sba/sba_lapack.c redist/sba/sba_levmar.c redist/sba/sba_levmar_wrap.c redist/minimal_opencv.c src/poser_epnp.c src/poser_sba.c src/epnp/epnp.c +LIBSURVIVE_CORE+=src/survive.c src/survive_process.c src/ootx_decoder.c src/survive_driverman.c src/survive_default_devices.c src/survive_playback.c src/survive_config.c src/survive_cal.c src/poser.c src/survive_sensor_activations.c src/survive_disambiguator.c src/survive_imu.c +MINIMAL_NEEDED+=src/survive_usb.c src/survive_charlesbiguator.c src/survive_vive.c src/survive_reproject.c +AUX_NEEDED+=src/survive_turveybiguator.c src/survive_statebased_disambiguator.c +POSERS:=src/poser_dummy.c src/poser_imu.c src/poser_charlesrefine.c +EXTRA_POSERS:=src/poser_daveortho.c src/poser_charlesslow.c src/poser_octavioradii.c src/poser_turveytori.c +REDISTS:=redist/json_helpers.c redist/linmath.c redist/jsmn.c + +ifdef MINIMAL + LIBSURVIVE_C:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED) +else + LIBSURVIVE_C:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED) +endif -LDFLAGS:=-L/usr/local/lib -lpthread -lz -llapacke -lcblas -lm -flto -g +LIBSURVIVE_O:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.o) +LIBSURVIVE_D:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.d) +-include $(LIBSURVIVE_D) #---------- # Platform specific changes to CFLAGS/LDFLAGS @@ -20,109 +56,134 @@ ifeq ($(UNAME), Darwin) CFLAGS:=$(CFLAGS) -DRASTERIZER -DHIDAPI -I/usr/local/include -x objective-c LDFLAGS:=$(LDFLAGS) -framework OpenGL -framework Cocoa -framework IOKit -#DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CocoaDriver.m -#GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CocoaDriver.o DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGCocoaNSImageDriver.m GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CNFGCocoaNSImageDriver.o # Linux / FreeBSD else -LDFLAGS:=$(LDFLAGS) -lX11 -lusb-1.0 +LDFLAGS:=$(LDFLAGS) DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGXDriver.c redist/CNFG3D.c GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CNFGXDriver.o endif -SBA:=redist/sba/sba_chkjac.o redist/sba/sba_crsm.o redist/sba/sba_lapack.o redist/sba/sba_levmar.o redist/sba/sba_levmar_wrap.o -POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o src/poser_epnp.o src/poser_sba.o -REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o redist/minimal_opencv.o + ifeq ($(UNAME), Darwin) REDISTS:=$(REDISTS) redist/hid-osx.c endif -LIBSURVIVE_CORE:=src/survive.o src/survive_usb.o src/survive_charlesbiguator.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_vive.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/survive_reproject.o src/poser.o src/epnp/epnp.o src/survive_sensor_activations.o src/survive_turveybiguator.o src/survive_disambiguator.o src/survive_statebased_disambiguator.o src/poser_charlesrefine.o src/survive_imu.o src/poser_imu.o src/poser_general_optimizer.o src/poser_mpfit.o redist/mpfit/mpfit.o src/survive_api.o - -#If you want to use HIDAPI on Linux. -#CFLAGS:=$(CFLAGS) -DHIDAPI -#REDISTS:=$(REDISTS) redist/hid-linux.o -#LDFLAGS:=$(LDFLAGS) -ludev - -#Useful Preprocessor Directives: -# -DUSE_DOUBLE = use double instead of float for most operations. -# -DNOZLIB = use puff.c -# -DTCC = various things needed for TCC. -# -DWINDOWS -DWIN32 = Building for Windows -# -DHIDAPI = Build vive driver to use USBHID instead of interrupt/control messages. -# -DRUNTIME_SYMNUM = Don't assume __attribute__((constructor)) works. Instead comb for anything starting with REGISTER. - - +ifdef LINUX_USE_HIDAPI + CFLAGS:=$(CFLAGS) -DHIDAPI + REDISTS:=$(REDISTS) redist/hid-linux.o + LDFLAGS:=$(LDFLAGS) -ludev +endif -LIBSURVIVE_CORE:=$(LIBSURVIVE_CORE) -LIBSURVIVE_O:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) -LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c) +#### Tools -# unused: redist/crc32.c +testCocoa : testCocoa.c $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -testCocoa : testCocoa.c - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +test : test.c $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -test : test.c ./lib/libsurvive.so - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS) $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -simple_pose_test : simple_pose_test.c ./lib/libsurvive.so $(DRAWFUNCTIONS) - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +data_recorder : data_recorder.c $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -data_recorder : data_recorder.c ./lib/libsurvive.so - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -calibrate : calibrate.c ./lib/libsurvive.so $(DRAWFUNCTIONS) - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +calibrate_client : calibrate_client.c $(GRAPHICS_LOFI) $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -calibrate_client : calibrate_client.c ./lib/libsurvive.so $(GRAPHICS_LOFI) - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -## Still not working!!! Don't use. -static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) - tcc -o $@ $^ $(CFLAGS) $(LDFLAGS) -DTCC +#### Testers. ./redist/dclhelpers_debuggable.c : ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h gcc -E ./redist/dclhelpers.c > ./redist/dclhelpers_debuggable.c clang-format -i ./redist/dclhelpers_debuggable.c sed -i 's/#/\/\/#/g' ./redist/dclhelpers_debuggable.c - test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h ./redist/minimal_opencv.c ./src/epnp/epnp.c - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS_RELEASE) -DFLT=double + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double test_dcl_debug: ./redist/test_dcl.c ./redist/dclhelpers_debuggable.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) -DFLT=double -fsanitize=address -fsanitize=undefined + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double -fsanitize=address -fsanitize=undefined -test_minimal_cv: ./src/epnp/test_minimal_cv.c ./lib/libsurvive.so - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +test_minimal_cv: ./src/epnp/test_minimal_cv.c $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -test_epnp: ./src/epnp/test_epnp.c ./lib/libsurvive.so - $(CC) -o $@ $^ $(LDFLAGS) $(CFLAGS) +test_epnp: ./src/epnp/test_epnp.c $(LIBRARY) + $(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) test_epnp_ocv: ./src/epnp/test_epnp.c ./src/epnp/epnp.c - $(CC) -o $@ $^ -DWITH_OPENCV -lpthread -lz -lm -flto -g -lX11 -lusb-1.0 -Iinclude/libsurvive -fPIC -g -O4 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -fsanitize=address -fsanitize=undefined -llapack -lm -lopencv_core + $(CC) -o $@ $^ -DWITH_OPENCV -lpthread -lz -lm -flto -g -lX11 -lusb-1.0 -Iinclude/libsurvive -fPIC -g -O4 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -fsanitize=address -fsanitize=undefined -llapack -lm -lopencv_core $(LDFLAGS_TOOLS) + + -lib: - mkdir lib +#### Actual build system. -lib/libsurvive.so : $(LIBSURVIVE_O) - $(CC) -o $@ $^ $(LDFLAGS) -shared +$(OBJDIR): + mkdir -p lib + mkdir -p $(OBJDIR) + mkdir -p $(OBJDIR)/winbuild + mkdir -p $(OBJDIR)/src + mkdir -p $(OBJDIR)/redist + mkdir -p $(OBJDIR)/redist/sba + mkdir -p $(OBJDIR)/src/epnp +$(LIBRARY): $(LIBSURVIVE_O) $(OBJDIR) + $(CC) -o $@ $(LIBSURVIVE_O) $(CFLAGS) $(LDFLAGS) -shared + +$(OBJDIR)/%.o : %.c $(OBJDIR) + $(CC) -c -o $@ $< $(CFLAGS) calibrate_tcc : $(LIBSURVIVE_C) tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c clean : - rm -rf */*/*.o *.o src/*.o *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest + rm -rf */*/*.o *.o src/*.o $(OBJDIR) *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest .test_redist: cd redist && make .run_tests; .run_tests: .test_redist +tccbatch : + echo "@echo off" > winbuild/build_tcc.bat + echo "set TCC=C:\\\\tcc\\\\tcc.exe" >> winbuild/build_tcc.bat + echo "echo USing %TCC%" >> winbuild/build_tcc.bat + echo "set SOURCES=$(LIBSURVIVE_C)" >> winbuild/build_tcc.bat + echo "set EXEC=..\\\\calibrate.c redist\\\\CNFGWinDriver.c redist\\\\os_generic.c redist\\\\CNFGFunctions.c" >> winbuild/build_tcc.bat + echo "set CFLAGS=$(CFLAGS)" >> winbuild/build_tcc.bat + echo "@echo on" >> winbuild/build_tcc.bat + echo "%TCC% -v %CFLAGS% %SOURCES% %REDIST% %EXEC% %LDFLAGS% tcc_stubs.c %RD%hid-windows.c -o calibrate.exe" >> winbuild/build_tcc.bat + +help : + @echo "Usage: make [flags]" + @echo " Build-system flags:" + @echo " MINIMAL=1 Buld a minimal build, geared for embedded systems." + @echo " LINUX_USE_HIDAPI=1 Build with HIDAPI in Linux instead of just libusb." + @echo " EXTRA_WARNINGS=1 Provide many mor warnings for build system." + @echo " WINDOWS=1 Cross-target Windows (EXPERIMENTAL)" + @echo " CFLAGS= Specify additional CFLAGS." + @echo " LDFLAGS= Specify additional LDFLAGS." + @echo " CC= Specify a different C compiler." + @echo " Useful Preprocessor Directives (For CFLAGS):" + @echo " -DUSE_DOUBLE Use double instead of float for most operations." + @echo " -DNOZLIB Use puff.c" + @echo " -DTCC Various things needed for TCC." + @echo " -DWINDOWS -DWIN32 Building for Windows." + @echo " -DRUNTIME_SYMNUM Don't assume __attribute__((constructor)) works. Instead comb for anything starting with REGISTER." + @echo " -flto Do link-time optimizations. This significantly increases period of time to link but improves performance.." + @echo " Useful build targets:" + @echo " all Build libsurvive.so and tools." + @echo " clean Erase build and incremental files." + @echo " buildfolders Produce build file structure." + @echo " $(LIBRARY) Produce libsurvive.so" + + |