# -*- Makefile -*-
#
# @file  Makefile.RH_HandWrapper
# @brief RTComponent makefile for "RH_HandWrapper component"
# @date  $Date$
#
# This file is generated by rtc-template with the following argments.
#
#   rtc-template -bcxx --module-name=RH_HandWrapper 
#   --module-desc='RefHardハンド制御用ラッパーモジュール' --module-version=1.0.0 --module-vendor=FSI 
#   --module-category=RH_HandWrapper --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=0 
#   --config=max_width:double:700 --config=grip_vel:double:100 --config=jointnum:int:6 
#   --inport=JointVel:RTC::TimedDoubleSeq --inport=ThPos:RTC::TimedDoubleSeq --outport=Th:RTC::TimedDoubleSeq --outport=JointGripVel:RTC::TimedDoubleSeq 
#   --service-idl=/home/rtc-center/PCinRH/idl/com_RHHandWrap.idl 
#   --service=ComRHHandWrap:com_tool_ctrl:ComToolCtrl 
#
#
# $Id$
#
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

SKEL_OBJ = com_RHHandWrapSkel.o 
STUB_OBJ = 
IMPL_OBJ = com_RHHandWrapSVC_impl.o 
OBJS     = RH_HandWrapper.o $(SKEL_OBJ) $(STUB_OBJ) $(IMPL_OBJ)

.SUFFIXES : .so

all: RH_HandWrapper.so RH_HandWrapperComp

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

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

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

install: 
	mv RH_HandWrapperComp /opt/rh/bin/comp
	mv RH_HandWrapper.so /opt/rh/bin/so
	
clean: clean_objs clean_skelstub
	rm -f *~

clean_objs:
	rm -f $(OBJS) RH_HandWrapperComp.o RH_HandWrapper.so RH_HandWrapperComp

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

com_RHHandWrapSkel.cpp : /opt/rh/idl/com_RHHandWrap.idl
	$(IDLC) $(IDLFLAGS) /opt/rh/idl/com_RHHandWrap.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=com_RHHandWrap.idl
com_RHHandWrapSkel.h : /opt/rh/idl/com_RHHandWrap.idl
	$(IDLC) $(IDLFLAGS) /opt/rh/idl/com_RHHandWrap.idl
	$(WRAPPER) $(WRAPPER_FLAGS) --idl-file=com_RHHandWrap.idl



RH_HandWrapper.so: $(OBJS)
RH_HandWrapper.o: RH_HandWrapper.h 	com_RHHandWrapSkel.h com_RHHandWrapSVC_impl.h  	
RH_HandWrapperComp.o: RH_HandWrapperComp.cpp RH_HandWrapper.cpp RH_HandWrapper.h com_RHHandWrapSkel.h com_RHHandWrapSVC_impl.h 

com_RHHandWrapSVC_impl.o: com_RHHandWrapSVC_impl.cpp com_RHHandWrapSVC_impl.h com_RHHandWrapSkel.h com_RHHandWrapStub.h
com_RHHandWrapSkel.o: com_RHHandWrapSkel.cpp com_RHHandWrapSkel.h com_RHHandWrapStub.h
com_RHHandWrapStub.o: com_RHHandWrapStub.cpp com_RHHandWrapStub.h



# end of Makefile
