# Copyright 2018 Slightech Co., Ltd. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
include CommonDefs.mk

MKFILE_PATH := $(abspath $(lastword $(MAKEFILE_LIST)))
MKFILE_DIR := $(patsubst %/,%,$(dir $(MKFILE_PATH)))

# CMAKE_INSTALL_PREFIX:
#   https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html
#
#   UNIX: /usr/local
#   Windows: c:/Program Files/${PROJECT_NAME}

# Options
#
#   SUDO: sudo command
#   CAM_MODELS: cmake build with -DWITH_CAM_MODELS=ON
#
# e.g. make [TARGET] SUOD=
# e.g. make [TARGET] CAM_MODELS=1

SUDO ?= sudo

CAM_MODELS ?=

CMAKE_BUILD_EXTRA_OPTIONS :=
ifneq ($(CAM_MODELS),)
	CMAKE_BUILD_EXTRA_OPTIONS := $(CMAKE_BUILD_EXTRA_OPTIONS) -DWITH_CAM_MODELS=ON
endif

.DEFAULT_GOAL := all

help:
	@echo "Usage:"
	@echo "  make help            show help message"
	@echo "  make apidoc          make api doc"
	@echo "  make opendoc         open api doc (html)"
	@echo "  make init            init project"
	@echo "  make build           build project"
	@echo "  make install         install project"
	@echo "  make test            build test and run"
	@echo "  make samples         build samples"
	@echo "  make tools           build tools"
	@echo "  make pkg             package sdk"
	@echo "  make ros             build ros wrapper"
	@echo "  make py              build python wrapper"
	@echo "  make clean|cleanall  clean generated or useless things"

.PHONY: help

all: init samples tools ros

.PHONY: all

# doc

apidoc:
	@$(call echo,Make $@)
	@# @[ -e ./_install/include ] || $(MAKE) install
	@[ -e /usr/local/include/mynteye ] || $(MAKE) install
	@$(SH) ./doc/build.sh

opendoc: apidoc
	@$(call echo,Make $@)
	@$(shell $(SH) ./doc/langs.sh 1); \
	for lang in "$${LANGS[@]}"; do \
		html=./doc/_output/$$lang/html/index.html; \
		[ -f "$$html" ] && $(SH) ./scripts/open.sh $$html; \
	done

cleandoc:
	@$(call rm,./doc/_output/)

.PHONY: apidoc opendoc cleandoc

# deps

submodules:
	@git submodule update --init

.PHONY: submodules

# 3rdparty

ceres:
	@$(call echo,Make $@)
	@$(call cmake_build,./3rdparty/ceres-solver-1.11.0/_build,.., \
		-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/3rdparty/ceres \
		-DGFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION=OFF \
		-DMINIGLOG=ON)
	@cd ./3rdparty/ceres-solver-1.11.0/_build; make install

.PHONY: ceres

# init

init:
	@$(call echo,Make $@)
	@$(SH) ./scripts/init.sh $(INIT_OPTIONS)

.PHONY: init

# build

build:
	@$(call echo,Make $@)
ifeq ($(HOST_OS),Win)
	@$(call cmake_build,./_build,..,-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/_install)
else
	@$(call cmake_build,./_build,..,$(CMAKE_BUILD_EXTRA_OPTIONS))
endif

.PHONY: build

# test

test: submodules install
	@$(call echo,Make $@)
	@$(call echo,Make gtest,33)
ifeq ($(HOST_OS),Win)
	@$(call cmake_build,./test/gtest/_build,..,-Dgtest_force_shared_crt=ON)
else
	@$(call cmake_build,./test/gtest/_build)
endif
	@$(call echo,Make test,33)
	@$(call cmake_build,./test/_build)
ifeq ($(HOST_OS),Win)
	@.\\\test\\\_output\\\bin\\\mynteye_test.bat
else
	@./test/_output/bin/mynteye_test
endif

.PHONY: test

# install

install: build
	@$(call echo,Make $@)
ifeq ($(HOST_OS),Win)
ifneq ($(HOST_NAME),MinGW)
	@cd ./_build; msbuild.exe INSTALL.vcxproj /property:Configuration=Release
else
	@cd ./_build; make install
endif
else
ifeq ($(HOST_OS),Linux)
	@cd ./_build; $(SUDO) make install
else
	@cd ./_build; make install
endif
endif

.PHONY: install

uninstall:
	@$(call echo,Make $@)
ifeq ($(HOST_OS),Linux)
	$(SUDO) rm -rf /usr/local/include/mynteye/
	$(SUDO) rm -rf /usr/local/lib/libmynteye.so*
	$(SUDO) rm -rf /usr/local/lib/cmake/mynteye/
	$(SUDO) rm -rf /usr/local/share/mynteye/
endif

.PHONY: uninstall

# samples

samples: install
	@$(call echo,Make $@)
	@$(call cmake_build,./samples/_build)

.PHONY: samples

# tools

tools: install
	@$(call echo,Make $@)
	@$(call cmake_build,./tools/_build)

.PHONY: tools

# pkg

pkg: clean
	@$(call echo,Make $@)
ifeq ($(HOST_OS),Win)
	@$(SH) ./scripts/win/winpack.sh "$(PKGNAME)"
else
	$(error "Can't make pkg on $(HOST_OS)")
endif

cleanpkg:
	@$(call echo,Make $@)
	@$(call rm_f,$(PKGNAME)*)

.PHONY: pkg cleanpkg

# ros

ros: install
	@$(call echo,Make $@)
ifeq ($(HOST_OS),Linux)
	@cd ./wrappers/ros && catkin_make -DCMAKE_BUILD_TYPE=$(BUILD_TYPE)
else
	$(error "Can't make ros on $(HOST_OS)")
endif

.PHONY: ros

cleanros:
	@$(call echo,Make $@)
	@$(call rm,./wrappers/ros/build/)
	@$(call rm,./wrappers/ros/devel/)
	@$(call rm,./wrappers/ros/install/)
	@$(call rm,./wrappers/ros/.catkin_workspace)
	@$(call rm,./wrappers/ros/src/CMakeLists.txt)
	@$(call rm_f,*INFO*,$(HOME)/.ros/)
	@$(call rm_f,*WARNING*,$(HOME)/.ros/)
	@$(call rm_f,*ERROR*,$(HOME)/.ros/)
	@$(call rm_f,*FATAL*,$(HOME)/.ros/)

.PHONY: cleanros

# python

PBCVT_DIR := wrappers/python/third_party/pyboostcvconverter

$(PBCVT_DIR):
	@git clone https://github.com/Algomorph/pyboostcvconverter.git $@

pbcvt: $(PBCVT_DIR)
	@$(call cmake_build,$(PBCVT_DIR)/_build,.., \
		-DCMAKE_INSTALL_PREFIX=$(MKFILE_DIR)/wrappers/python/_install \
		-DPYTHON_DESIRED_VERSION=2.X)
	@cd $(PBCVT_DIR)/_build; make install

.PHONY: pbcvt

NPCV_DIR := wrappers/python/third_party/numpy-opencv-converter

$(NPCV_DIR):
	@git clone https://github.com/GarrickLin/numpy-opencv-converter.git $@

py: python

python: install $(NPCV_DIR)
	@$(call echo,Make $@)
	@$(call cmake_build,./wrappers/python/_build)
	@cd ./wrappers/python/_build; make install

.PHONY: py python

cleanpy:
	@$(call echo,Make $@)
	@$(call rm,./wrappers/python/_build/)
	@$(call rm,./wrappers/python/_output/)
	@$(call rm,./wrappers/python/_install/)
	@$(call rm,./$(PBCVT_DIR)/_build/)

.PHONY: cleanpy

# clean

clean:
	@$(call echo,Make $@)
	@$(call rm,./_build/)
	@$(call rm,./_output/)
	@$(call rm,./_install/)
	@$(call rm,./samples/_build/)
	@$(call rm,./samples/_output/)
	@$(call rm,./tools/_build/)
	@$(call rm,./tools/_output/)
	@$(call rm,./test/_build/)
	@$(call rm,./test/_output/)
	@$(MAKE) cleanlog
ifeq ($(HOST_OS),Linux)
	@$(MAKE) cleanros
endif
	@$(MAKE) cleanpy

cleanlog:
	@$(call rm_f,*INFO*)
	@$(call rm_f,*WARNING*)
	@$(call rm_f,*ERROR*)
	@$(call rm_f,*FATAL*)

cleanall: clean cleandoc
	@$(call rm,./3rdparty/ceres-solver-1.11.0/_build/)
	@$(call rm,./test/gtest/_build/)
	@$(FIND) . -type f -name ".DS_Store" -print0 | xargs -0 rm -f
	@$(call rm,./$(PBCVT_DIR)/)
	@$(call rm,./$(NPCV_DIR)/)

.PHONY: clean cleanlog cleanall

# others

host:
	@$(call echo,Make $@)
	@echo MKFILE_PATH: $(MKFILE_PATH)
	@echo MKFILE_DIR: $(MKFILE_DIR)
	@echo HOST_OS: $(HOST_OS)
	@echo HOST_ARCH: $(HOST_ARCH)
	@echo HOST_NAME: $(HOST_NAME)
	@echo SH: $(SH)
	@echo ECHO: $(ECHO)
	@echo FIND: $(FIND)
	@echo CC: $(CC)
	@echo CXX: $(CXX)
	@echo MAKE: $(MAKE)
	@echo BUILD: $(BUILD)
	@echo LDD: $(LDD)
	@echo CMAKE: $(CMAKE)
	@echo PKGNAME: $(PKGNAME)
	@echo CMAKE_BUILD_EXTRA_OPTIONS: $(CMAKE_BUILD_EXTRA_OPTIONS)

.PHONY: host

cpplint: submodules
	@$(call echo,Make $@)
	@$(SH) ./scripts/$@.sh

.PHONY: cpplint