# AUTHOR: Michael Wagner
# CREATED: Aug 30, 1999
# DESCRIPTION: Makefile for the libsmManipulatorDriver.a library. 

INSTALL_DIR = $(NOMAD_HOME)

CC = g++
AR = ar
ARFLAGS = r
CFLAGS = -g

INCLUDES = -I$(INSTALL_DIR)/include \
	   -I$(NDDSHOME)/include/unix \
           -I$(NDDSHOME)/include/share \
	   -I/usr/local/pxc/pxc200

DEFINES = -D_UNIX
DEFINES += -DARM_NO_WRIST # Comment out when the wrist is ready

SOURCE = smManipulatorDriver

OBJS = $(SOURCE).o
ARCHIVE = lib$(SOURCE).a

all: $(ARCHIVE)

install: all
	cp $(ARCHIVE)   $(INSTALL_DIR)/lib/`uname`/.
	cp $(SOURCE).h  $(INSTALL_DIR)/include/.
	
$(ARCHIVE): $(OBJS)
	$(AR) $(ARFLAGS) $(ARCHIVE) $(OBJS)

$(SOURCE).o: $(SOURCE).cpp
	$(CC) $(CFLAGS) -c $(SOURCE).cpp -o $(SOURCE).o $(INCLUDES) $(DEFINES)

noArm: $(SOURCE).cpp
	$(CC) $(CFLAGS) -c $(SOURCE).cpp -o $(SOURCE).o $(INCLUDES) $(DEFINES) -DNO_ARM
	$(AR) $(ARFLAGS) $(ARCHIVE) $(OBJS)
	cp $(ARCHIVE)   $(INSTALL_DIR)/lib/`uname`/.
	cp $(SOURCE).h  $(INSTALL_DIR)/include/.

clean:
	/bin/rm -f $(OBJS) core $(ARCHIVE)
