#/***************************************************************
# * Makefile
# ****************************************************************/

#/*
# * modification history
# *----------------------
# *
# * 03/31/98: K.C. Chang: created.
# */

PRDIR=    ../../prPuma
PUMADIR= /local/puma
#PUMADIR= ..
CC=QCC 
OPT= -g
#DBG= -g
CFLAGS= $(OPT)
LD= $(CC)
LDFLAGS= $(CFLAGS)
LIBDIR= -L$(PRDIR)/lib
LIBS= -lsocket -lmatrix -ldriver -lnetwork -lutility -lrobot

DEFINES= -DPR_QNX

SRC=	\
	eompuma.cpp \
	libpuma.cpp \
	manips.cpp \
	GripperControl.cpp \
#	user.cpp \
#	gather.cpp \
	PrPuma560.cpp
 
OBJ= $(SRC:.cpp=.o)

SRCDIR= .
INCDIR= -I$(PUMADIR)/include -I$(PRDIR)/include

all : 	$(OBJ) lib install-lib bin install-bin 

%.o :	$(SRCDIR)/%.cpp
	$(CC) $(INCDIR) $(CFLAGS) $(DEFINES) -c $<

lib:	libpuma.o eompuma.o PrPuma560.o GripperControl.o
	$(AR) -r libpuma.a $?

bin:	manips 
#gather user

manips:	manips.o
	$(LD) $(LDFLAGS) -o manips $? $(LIBDIR) $(LIBS)

gather:	gather.o
	$(LD) $(LDFLAGS) -o gather $? $(LIBDIR) $(LIBS)

user:	user.o
	$(LD) $(LDFLAGS) -o user $? $(LIBDIR) $(LIBS)


install: install-lib install-bin

install-lib:
	chmod 644     libpuma.a
	cp libpuma.a $(PUMADIR)/lib

install-bin:
	chmod 4755 manips
#	chmod 755  gather
#	chmod 755  user
	cp manips  $(PUMADIR)/bin/manipspuma
#	cp gather  $(PUMADIR)/bin/gatherpuma
#	cp user    $(PUMADIR)/bin/userpuma
	/usr/local/bin/xRoot $(PUMADIR)/bin/manipspuma

clean:
	rm -f $(OBJ) *~ *.bak *.err $(PUMADIR)/include/*~ \
			manips gather user libpuma.a


