giuliomoro@301: # Bela
giuliomoro@64: # Low-latency, real-time audio and sensor processing on BeagleBone Black
l@260: # (c) 2016 Andrew McPherson, Victor Zappi, Giulio Moro, Liam Donovan
giuliomoro@64: # Centre for Digital Music, Queen Mary University of London
giuliomoro@64: 
giuliomoro@64: # This Makefile is intended for use on the BeagleBone Black itself
giuliomoro@64: # and not for cross-compiling
giuliomoro@64: 
l@260: # set the project to be compiled by calling: make all PROJECT=<project_name>
l@260: 
l@260: # if the PROJECT variable is not set, throw an error and exit
giuliomoro@265: # otherwise, we could have unexpected data loss when calling clean without it
l@260: ifndef PROJECT
giuliomoro@287:   ifndef EXAMPLE
giuliomoro@302:     $(warning PROJECT or EXAMPLE should be set in order to build)
giuliomoro@287:   endif
l@260: endif
l@260: 
giuliomoro@287: ifndef EXAMPLE
giuliomoro@287:   PROJECT_DIR := $(abspath projects/$(PROJECT))
giuliomoro@287: endif
giuliomoro@287: 
giuliomoro@287: ifdef EXAMPLE
giuliomoro@287:   PROJECT?=exampleTempProject
giuliomoro@287:   PROJECT_DIR?=$(abspath projects/$(PROJECT))
giuliomoro@287:   $(shell rm -rf $(PROJECT_DIR))
giuliomoro@287:   $(shell cp -r examples/$(EXAMPLE) $(PROJECT_DIR))
giuliomoro@287: endif
giuliomoro@331: OUTPUT_FILE?=$(PROJECT_DIR)/$(PROJECT)
giuliomoro@331: COMMAND_LINE_OPTIONS?=$(CL)
giuliomoro@331: RUN_COMMAND?=$(OUTPUT_FILE) $(COMMAND_LINE_OPTIONS)
giuliomoro@331: BELA_STARTUP_SCRIPT?=/root/BeagleRT_startup.sh
giuliomoro@331: BELA_AUDIO_THREAD_NAME?=beaglert-audio 
giuliomoro@302: SCREEN_NAME?=BeagleRT
giuliomoro@302: 
giuliomoro@304: #TODO: run these lines only if the command is not syntax or 
giuliomoro@267: $(shell mkdir -p $(PROJECT_DIR)/build)
giuliomoro@64: RM := rm -rf
giuliomoro@64: STATIC_LIBS := ./libprussdrv.a ./libNE10.a
l@260: LIBS := -lrt -lnative -lxenomai -lsndfile
l@260: 
giuliomoro@244: # refresh library cache and check if libpd is there
giuliomoro@326: #TEST_LIBPD := $(shell ldconfig; ldconfig -p | grep "libpd\.so")  # safest but slower way of checking
giuliomoro@326: LIBPD_PATH = /usr/lib/libpd.so
giuliomoro@326: TEST_LIBPD := $(shell which $(LIBPD_PATH))
giuliomoro@326: ifneq ($(strip $(TEST_LIBPD)), )
giuliomoro@244: # if libpd is there, link it in
giuliomoro@244:   LIBS += -lpd -lpthread_rt
giuliomoro@244: endif
giuliomoro@64: 
giuliomoro@241: CPP_FLAGS := -O3 -march=armv7-a -mtune=cortex-a8 -mfloat-abi=hard -mfpu=neon -ftree-vectorize 
giuliomoro@241: C_FLAGS := $(CPP_FLAGS)
giuliomoro@241: 
giuliomoro@241: ifndef COMPILER
giuliomoro@241: # check whether clang is installed
giuliomoro@295: #    TEST_COMPILER := $(shell which clang)
giuliomoro@302:   ifneq ($(strip $(TEST_COMPILER)), )
giuliomoro@302:     if it is installed, use it
giuliomoro@302:     COMPILER := clang
giuliomoro@302:   else
giuliomoro@241:     COMPILER := gcc
giuliomoro@302:   endif
giuliomoro@241: endif
giuliomoro@241: 
giuliomoro@241: ifeq ($(COMPILER), clang)
giuliomoro@306:   CC=clang
giuliomoro@306:   CXX=clang++
giuliomoro@302:   CPP_FLAGS += -DNDEBUG 
giuliomoro@302:   C_FLAGS += -DNDEBUG
giuliomoro@241: else
giuliomoro@241:   CC=gcc
giuliomoro@241:   CXX=g++
giuliomoro@241:   CPP_FLAGS += --fast-math
giuliomoro@241:   C_FLAGS += --fast-math
giuliomoro@241: endif
giuliomoro@241: 
l@260: INCLUDES := -I$(PROJECT_DIR) -I./include -I/usr/include/ne10 -I/usr/xenomai/include -I/usr/arm-linux-gnueabihf/include/xenomai/include -I/usr/arm-linux-gnueabihf/include/ne10
andrewm@68: 
l@260: ASM_SRCS := $(wildcard $(PROJECT_DIR)/*.S)
l@260: ASM_OBJS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(ASM_SRCS:.S=.o)))
l@260: ASM_DEPS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(ASM_SRCS:.S=.d)))
giuliomoro@64: 
l@260: C_SRCS := $(wildcard $(PROJECT_DIR)/*.c)
l@260: C_OBJS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(C_SRCS:.c=.o)))
l@260: C_DEPS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(C_SRCS:.c=.d)))
giuliomoro@64: 
l@260: CPP_SRCS := $(wildcard $(PROJECT_DIR)/*.cpp)
l@260: CPP_OBJS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(CPP_SRCS:.cpp=.o)))
l@260: CPP_DEPS := $(addprefix $(PROJECT_DIR)/build/,$(notdir $(CPP_SRCS:.cpp=.d)))
giuliomoro@64: 
giuliomoro@301: # Core Bela sources
giuliomoro@186: CORE_CPP_SRCS = $(filter-out core/default_main.cpp, $(wildcard core/*.cpp))
giuliomoro@186: CORE_OBJS := $(addprefix build/core/,$(notdir $(CORE_CPP_SRCS:.cpp=.o)))
giuliomoro@186: CORE_CPP_DEPS := $(addprefix build/core/,$(notdir $(CORE_CPP_SRCS:.cpp=.d)))
giuliomoro@64: 
andrewm@318: CORE_ASM_SRCS := $(wildcard core/*.S)
andrewm@318: CORE_ASM_OBJS := $(addprefix build/core/,$(notdir $(CORE_ASM_SRCS:.S=.o)))
andrewm@318: CORE_ASM_DEPS := $(addprefix build/core/,$(notdir $(CORE_ASM_SRCS:.S=.d)))
andrewm@318: 
andrewm@318: 
giuliomoro@64: # Objects for a system-supplied default main() file, if the user
giuliomoro@64: # only wants to provide the render functions.
giuliomoro@64: DEFAULT_MAIN_CPP_SRCS := ./core/default_main.cpp
giuliomoro@64: DEFAULT_MAIN_OBJS := ./build/core/default_main.o
giuliomoro@64: DEFAULT_MAIN_CPP_DEPS := ./build/core/default_main.d
andrewm@68: 
giuliomoro@334: Bela: ## Builds the Bela program with all the opimizations
giuliomoro@334: Bela: $(OUTPUT_FILE)
giuliomoro@334: 
giuliomoro@301: # all = build Bela 
giuliomoro@334: all: ## Same as Bela
andrewm@69: all: SYNTAX_FLAG :=
giuliomoro@301: all: Bela
andrewm@68: 
giuliomoro@301: # debug = buildBela debug
giuliomoro@334: debug: ## Same as Bela but with debug flags and no optimizations
giuliomoro@209: debug: CPP_FLAGS=-g
giuliomoro@209: debug: C_FLAGS=-g
giuliomoro@209: debug: all
giuliomoro@209: 
andrewm@69: # syntax = check syntax
giuliomoro@334: syntax: ## Only checks syntax
andrewm@69: syntax: SYNTAX_FLAG := -fsyntax-only
l@260: syntax: SYNTAX
andrewm@69: 
giuliomoro@301: # Rule for Bela core C++ files
giuliomoro@64: build/core/%.o: ./core/%.cpp
l@260: 	@echo 'Building $(notdir $<)...'
l@260: #	@echo 'Invoking: C++ Compiler'
l@260: 	@$(CXX) $(SYNTAX_FLAG) $(INCLUDES) $(CPP_FLAGS) -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
l@260: 	@echo ' ...done'
giuliomoro@64: 	@echo ' '
andrewm@68: 
andrewm@318: # Rule for Bela core ASM files
andrewm@318: build/core/%.o: ./core/%.S
andrewm@318: 	@echo 'Building $(notdir $<)...'
andrewm@318: #	@echo 'Invoking: GCC Assembler'
andrewm@318: 	@as  -o "$@" "$<"
andrewm@318: 	@echo ' ...done'
andrewm@318: 	@echo ' '
andrewm@318: 
giuliomoro@64: # Rule for user-supplied C++ files
l@260: $(PROJECT_DIR)/build/%.o: $(PROJECT_DIR)/%.cpp
l@260: 	@echo 'Building $(notdir $<)...'
l@260: #	@echo 'Invoking: C++ Compiler'
l@260: 	@$(CXX) $(SYNTAX_FLAG) $(INCLUDES) $(CPP_FLAGS) -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
l@260: 	@echo ' ...done'
giuliomoro@64: 	@echo ' '
andrewm@68: 
giuliomoro@64: # Rule for user-supplied C files
l@260: $(PROJECT_DIR)/build/%.o: $(PROJECT_DIR)/%.c
l@260: 	@echo 'Building $(notdir $<)...'
l@260: #	@echo 'Invoking: C Compiler'
giuliomoro@287: 	$(CC) $(SYNTAX_FLAG) $(INCLUDES) $(C_FLAGS) -Wall -c -fmessage-length=0 -U_FORTIFY_SOURCE -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<" -std=c99 
l@260: 	@echo ' ...done'
giuliomoro@64: 	@echo ' '
andrewm@68: 
giuliomoro@64: # Rule for user-supplied assembly files
l@260: $(PROJECT_DIR)/build/%.o: $(PROJECT_DIR)/%.S
l@260: 	@echo 'Building $(notdir $<)...'
l@260: #	@echo 'Invoking: GCC Assembler'
l@260: 	@as  -o "$@" "$<"
l@260: 	@echo ' ...done'
giuliomoro@64: 	@echo ' '
giuliomoro@64: 
giuliomoro@64: # This is a nasty kludge: we want to be able to optionally link in a default
giuliomoro@64: # main file if the user hasn't supplied one. We check for the presence of the main()
giuliomoro@64: # function, and conditionally call one of two recursive make targets depending on whether
giuliomoro@64: # we want to link in the default main file or not. The kludge is the mess of a shell script
giuliomoro@64: # line below. Surely there's a better way to do this?
giuliomoro@326: $(OUTPUT_FILE): $(CORE_ASM_OBJS) $(CORE_OBJS) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) $(DEFAULT_MAIN_OBJS)
giuliomoro@287: 	$(eval DEFAULT_MAIN_CONDITIONAL := $(shell bash -c 'if [ `nm $(PROJECT_DIR)/build/*.o | grep -w T | grep -w main | wc -l` == '0' ]; then echo "$(DEFAULT_MAIN_OBJS)"; else echo ""; fi'))
giuliomoro@287: 	@echo 'Invoking: C++ linker'
andrewm@318: 	@$(CXX) $(SYNTAX_FLAG) -L/usr/xenomai/lib -L/usr/arm-linux-gnueabihf/lib -L/usr/arm-linux-gnueabihf/lib/xenomai -L/usr/lib/arm-linux-gnueabihf -pthread -Wpointer-arith -o "$(PROJECT_DIR)/$(PROJECT)" $(CORE_ASM_OBJS) $(CORE_OBJS) $(DEFAULT_MAIN_CONDITIONAL) $(ASM_OBJS) $(C_OBJS) $(CPP_OBJS) $(STATIC_LIBS) $(LIBS)
giuliomoro@287: 	@echo 'Finished building target: $@'
giuliomoro@333: 	@sync
l@260: # Other Targets:
l@260: # This rule compiles c and c++ source files without output or linking
l@260: SYNTAX: $(C_OBJS) $(CPP_OBJS)
giuliomoro@64: 
l@260: # Remove the project's build objects & binary
l@260: projectclean:
giuliomoro@326: 	-$(RM) $(PROJECT_DIR)/build/* $(OUTPUT_FILE)
giuliomoro@64: 	-@echo ' '	
giuliomoro@64: 
giuliomoro@301: # Remove all the built objects, including the core Bela objects
giuliomoro@64: distclean:
giuliomoro@326: 	-$(RM) build/source/* $(CORE_OBJS) $(CORE_CPP_DEPS) $(DEFAULT_MAIN_OBJS) $(DEFAULT_MAIN_CPP_DEPS) $(OUTPUT_FILE)
giuliomoro@64: 	-@echo ' '
giuliomoro@64: 
giuliomoro@326: 
giuliomoro@302: runfg: run
giuliomoro@334: run: ## Run PROJECT in the foreground
giuliomoro@326: run: stop Bela
giuliomoro@327: 	@echo "Running $(RUN_COMMAND)"
giuliomoro@327: 	@cd $(PROJECT_DIR) && $(RUN_COMMAND)
giuliomoro@334: runscreen: ## Run PROJECT in the background (detached screen)
giuliomoro@302: runscreen: stop $(OUTPUT_FILE)
giuliomoro@327: 	@echo "Running $(RUN_COMMAND) in a screen"
giuliomoro@327: 	@cd $(PROJECT_DIR) && screen -S $(SCREEN_NAME) -d -m $(RUN_COMMAND)
giuliomoro@334: runscreenfg: ## Run PROJECT in a screen in the foreground (can detach with ctrl-a ctrl-d)
giuliomoro@313: runscreenfg: stop $(OUTPUT_FILE)
giuliomoro@327: 	@echo "Running $(RUN_COMMAND) in a screen"
giuliomoro@327: 	@cd $(PROJECT_DIR) && screen -S $(SCREEN_NAME) -m $(RUN_COMMAND)
giuliomoro@313: FIFO_NAME=/tmp/belafifo
giuliomoro@334: runscreenfifo: ## Same as runscreen, but stdout and stderr are piped to the foreground through a fifo
giuliomoro@313: runscreenfifo: stop $(OUTPUT_FILE)
giuliomoro@313: 	@echo "Running $(RUN_COMMAND), piping output to $(FIFO_NAME)"
giuliomoro@313: 	@rm -rf $(FIFO_NAME)
giuliomoro@313: 	@mkfifo $(FIFO_NAME)
giuliomoro@327: 	@cd $(PROJECT_DIR)
giuliomoro@315: 	@screen -S $(SCREEN_NAME) -d -m stdbuf -e 0 -i 0 -o 0 bash -c "$(RUN_COMMAND) &>  $(FIFO_NAME)"
giuliomoro@315: 	@cat /tmp/belafifo
giuliomoro@302: 
giuliomoro@331: STARTUP_COMMAND=printf "\#!/bin/sh\n\#\n\# This file is autogenerated by Bela. Do not edit!\n\necho Running Bela...\nscreen -S $(SCREEN_NAME) -d -m %s $(RUN_COMMAND) %s\n"
giuliomoro@334: nostartup: ## No Bela project runs at startup 
giuliomoro@331: nostartup:
giuliomoro@331: 	@echo "Disabling BeagleRT at startup..."
giuliomoro@331: 	@printf "#!/bin/sh\n#\n\n# This file is autogenerated by Bela. Do not edit!\n\n# Run on startup disabled -- nothing to do here" > $BELA_STARTUP_SCRIPT
giuliomoro@331: 
giuliomoro@334: startuploop: ## Makes PROJECT run at startup and restarts it if it crashes
giuliomoro@331: startuploop: Bela
giuliomoro@331: 	@echo "Enabling Bela at startup in a loop..."
giuliomoro@331: 	@$(STARTUP_COMMAND) 'bash -c "while sleep 0.5 ; do echo Running Bela...;' '; done"' > $(BELA_STARTUP_SCRIPT)
giuliomoro@331: 
giuliomoro@334: startup: ## Makes PROJECT run at startup
giuliomoro@331: startup: Bela
giuliomoro@331: 	@echo "Enabling Bela at startup..."
giuliomoro@331: 	@$(STARTUP_COMMAND) > $(BELA_STARTUP_SCRIPT)
giuliomoro@331: 
giuliomoro@334: stop: ## Stops any Bela program that is currently running
giuliomoro@302: stop:
giuliomoro@302: 	@PID=`grep $(BELA_AUDIO_THREAD_NAME) /proc/xenomai/stat | cut -d " " -f 5 | sed s/\s//g`; if [ -z $$PID ]; then echo "No process to kill"; else echo "Killing old Bela process $$PID"; kill -2 $$PID; fi; screen -X -S $(SCREEN_NAME) quit > /dev/null; exit 0;
giuliomoro@64: # Remove only the user-generated objects
l@260: #clean:
giuliomoro@301: #	-$(RM) build/source/* Bela
l@260: #	-@echo ' '
giuliomoro@64: 
giuliomoro@64: post-build:
giuliomoro@64: # Nothing to do here (for now)
giuliomoro@334: help: ## Show this help
giuliomoro@334: 	@echo 'Usage: make [target] CL=[command line options] [PROJECT=[projectName] | EXAMPLE=[exampleName]]'
giuliomoro@334: 	@echo 'Targets: (default: Bela)'
giuliomoro@334: 	@fgrep -h "##" $(MAKEFILE_LIST) | fgrep -v fgrep | sed -e  's/^\(.*\): .*##\(.*\)/\1:#\2/' | column -t -c 2 -s '#'
giuliomoro@64: 
giuliomoro@326: .PHONY: all clean distclean projectclean dependents debug run runfg runscreen stop 
giuliomoro@64: .SECONDARY: post-build