# -*- Makefile -*-
#
# @file  Makefile.MotorControl
# @brief RTComponent makefile for "MotorControl component"
# @date  $Date$
#
# This file is generated by rtc-template with the following argments.
#
#   rtc-template -bcxx --module-name=MotorControl 
#   --module-desc='MotorControl' --module-version=4.0.0 --module-vendor=AIST INVENT 
#   --module-category=Controller --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=10 
#   --config=PGainL:double:5.0 --config=DGainL:double:2.0 --config=PGainR:double:5.0 --config=DGainR:double:2.0 --config=SimulatedOffsetX:double:0.0 --config=SimulatedOffsetY:double:0.0 --config=SimulatedOffsetAngle:double:0.0 --config=leftWheelID:int:0 --config=rightWheelID:int:1 --config=radiusOfLeftWheel:double:0.1 --config=radiusOfRightWheel:double:0.1 --config=lengthOfAxle:double:0.441 --config=radiusOfBodyArea:double:0.45 
#   --inport=TargetVelocity:IIS::TimedVelocity --inport=InCurrentWheelAngle:TimedDoubleSeq --inport=InSimulatedPosition:TimedDoubleSeq --outport=OutSimulatedPositionToInventGUI:TimedDoubleSeq --outport=Torque:TimedDoubleSeq --outport=OutCurrentWheelAngle:TimedDoubleSeq --outport=OutSimulatedPositionToLocalization:TimedDoubleSeq 
#   --service-idl=/tmp/OpenINVENT-4.0.0/MotorControl_ver4.0.0/MotorControlPro.idl 
#   --service=InventGUIProv:InventGUIMotor:Motor 
#   --service=BumpProv:BumpMotor:Motor 
#
#
# $Id$
#
CXXFLAGS = `rtm-config --cflags` -I.
LDFLAGS  = `rtm-config --libs`
SHFLAGS  = -shared

IDLC     = `rtm-config --idlc`
IDLFLAGS = `rtm-config --idlflags` -I`rtm-config --prefix`/include/rtm/idl
WRAPPER  = rtm-skelwrapper
WRAPPER_FLAGS = --include-dir="" --skel-suffix=Skel --stub-suffix=Stub

###[IIS.idl]#######
#SKEL_OBJ = MotorControlProSkel.o 
SKEL_OBJ = MotorControlProSkel.o IISSkel.o 
###[VelocityData.idl]#######
STUB_OBJ = 
IMPL_OBJ = MotorControlProSVC_impl.o 
OBJS     = MotorControl.o $(SKEL_OBJ) $(STUB_OBJ) $(IMPL_OBJ)

.SUFFIXES : .so

all: MotorControl.so MotorControlComp

.cpp.o:
	rm -f $@
	$(CXX) $(CXXFLAGS) -c -o $@ $<

.o.so:
	rm -f $@
	$(CXX) $(SHFLAGS) -o $@ $(OBJS) $(LDFLAGS)

MotorControlComp: MotorControlComp.o $(OBJS)
	$(CXX) -o $@ $(OBJS) MotorControlComp.o $(LDFLAGS) 


clean: clean_objs clean_skelstub
	rm -f *~

clean_objs:
	rm -f $(OBJS) MotorControlComp.o MotorControl.so MotorControlComp

clean_skelstub:
	rm -f *Skel.h *Skel.cpp
	rm -f *Stub.h *Stub.cpp

# add start 2011.01.24 by rtc-center
install:
	cp -p MotorControlComp ../../../bin/comp
	cp -p MotorControl.so ../../../bin/so
# add end   2011.01.24 by rtc-center

MotorControlProSkel.cpp : MotorControlPro.idl
	$(IDLC) $(IDLFLAGS) -I/tmp/OpenINVENT-4.0.0/MotorControl_ver4.0.0 -I/tmp/OpenINVENT-4.0.0/MotorControl_ver4.0.0 MotorControlPro.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=MotorControlPro.idl
MotorControlProSkel.h : MotorControlPro.idl
	$(IDLC) $(IDLFLAGS) -I/tmp/OpenINVENT-4.0.0/MotorControl_ver4.0.0 -I/tmp/OpenINVENT-4.0.0/MotorControl_ver4.0.0 MotorControlPro.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=MotorControlPro.idl

###[IIS.idl]#######
IISSkel.cpp : IIS.idl
	$(IDLC) $(IDLFLAGS) IIS.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=IIS.idl
IISSkel.h : IIS.idl
	$(IDLC) $(IDLFLAGS) IIS.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=IIS.idl
IISStub.cpp : IIS.idl
	$(IDLC) $(IDLFLAGS) IIS.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=IIS.idl
IISStub.h : IIS.idl
	$(IDLC) $(IDLFLAGS) IIS.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=IIS.idl
###########

MotorControl.so: $(OBJS)
###[IIS.idl]#######
#MotorControl.o: MotorControl.h 	MotorControlProSkel.h MotorControlProSVC_impl.h  	
MotorControl.o: MotorControl.h 	MotorControlProSkel.h MotorControlProSVC_impl.h IISStub.h IIS.hh 	
##########	
MotorControlComp.o: MotorControlComp.cpp MotorControl.cpp MotorControl.h MotorControlProSkel.h MotorControlProSVC_impl.h 

###[IIS.idl]#######
IISSkel.o: IISSkel.cpp IISSkel.h IISStub.h
#IISStub.o: IISStub.cpp IISStub.h
###########

MotorControlProSVC_impl.o: MotorControlProSVC_impl.cpp MotorControlProSVC_impl.h MotorControlProSkel.h MotorControlProStub.h
MotorControlProSkel.o: MotorControlProSkel.cpp MotorControlProSkel.h MotorControlProStub.h
MotorControlProStub.o: MotorControlProStub.cpp MotorControlProStub.h



# end of Makefile
