# Copyright 1996-2023 Cyberbotics Ltd.

#

# 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

#

# https://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.

ifeq ($(WEBOTS_HOME),)

WEBOTS_HOME_PATH = ../../..

else

null :=

space := $(null) $(null)

WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))

endif

default:

@echo "Type one of the following (OSTYPE is \""$(OSTYPE)"\"):"

@echo " make debug for debug (with gdb symbols)"

@echo " make profile for profiling (with gprof information)"

@echo " make release for finale release"

@echo " make clean remove build directory"

include $(WEBOTS_HOME_PATH)/resources/Makefile.include

.DEFAULT_GOAL := release

#directories

SWIG = swig

SWIG_OUTPUT_PATH= SWIG_generated_files

CONTROLLERPATH = com/cyberbotics/webots/controller

OBJDIR = build/$(MAKECMDGOALS)

#files

INTERFACE = controller.i

WRAPPER = $(addprefix $(SWIG_OUTPUT_PATH)/,$(INTERFACE:.i=_wrap.cpp))

WRAPPER_OBJECT = $(addprefix $(OBJDIR)/,$(INTERFACE:.i=_wrap.o))

JAR_FILE = $(WEBOTS_CONTROLLER_LIB_PATH)/java/Controller.jar

JAVA_FILES = Accelerometer.java \

Altimeter.java \

AnsiCodes.java \

Brake.java \

Camera.java \

Compass.java \

Connector.java \

Device.java \

Display.java \

DistanceSensor.java \

Emitter.java \

Field.java \

GPS.java \

Gyro.java \

InertialUnit.java \

ImageRef.java \

Joystick.java \

Keyboard.java \

LED.java \

Lidar.java \

LidarPoint.java \

LightSensor.java \

Motion.java \

Motor.java \

Node.java \

Pen.java \

PositionSensor.java \

Propeller.java \

Radar.java \

RadarTarget.java \

RangeFinder.java \

Receiver.java \

Robot.java \

Skin.java \

Speaker.java \

Supervisor.java \

TouchSensor.java \

VacuumGripper.java \

wrapper.java \

wrapperJNI.java

LIBNAME = JavaController

#compilation options

WEBOTS_INCLUDES = -I$(WEBOTS_HOME_PATH)/include/controller/cpp -I$(WEBOTS_HOME_PATH)/include/controller/c

SWIG_EXISTS = $(shell which $(SWIG) 2> /dev/null)

ifeq ($(CC),cc)

CC=gcc

endif

# variables depending on the OS

ifeq ($(OSTYPE),windows)

CFLAGS1 = -I$(WEBOTS_HOME_PATH)/windows/include

PLATFORM_INCLUDE= -I"$(JAVA_HOME)/include/win32"

PLATFORM_LIBS =

TARGET = $(WEBOTS_CONTROLLER_LIB_PATH)/java/$(LIBNAME).dll

CFLAGS2 = -c -Wall -Wno-unused-function -O

JNILIB_FLAGS = -bundle

JAVA_INCLUDES = -I"$(JAVA_HOME)/include" -I"$(JAVA_HOME)/include/win32"

LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll

LIBCPPCONTROLLER= $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll

else

ifeq ($(OSTYPE),darwin)

WRAPPER_OBJECT_X86_64 = $(addprefix $(OBJDIR)/x86_64/,$(INTERFACE:.i=.o))

WRAPPER_OBJECT_ARM64 = $(addprefix $(OBJDIR)/arm64/,$(INTERFACE:.i=.o))

CFLAGS1 = -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION)

PLATFORM_INCLUDE = -I"$(MACOSX_SDK_PATH)/System/Library/Frameworks/JavaVM.framework/Versions/Current/Headers"

TARGET = $(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).jnilib

CFLAGS2 = -c -Wall -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -Wno-unused-function

JNILIB_FLAGS = -dynamiclib -install_name @rpath/Contents/lib/controller/java/libJavaController.jnilib -Wl,-rpath,@loader_path/../../..

JAVA_INCLUDES = -I"$(JAVA_HOME)/include" -I"$(JAVA_HOME)/include/darwin"

LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib

LIBCPPCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.dylib

else #Linux

CFLAGS1 = -fPIC

PLATFORM_INCLUDE= -I"$(JAVA_HOME)/include/linux" -I"/usr/X11R6/include"

PLATFORM_LIBS =

TARGET = $(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).so

CFLAGS2 = -c -Wall -Wno-unused-function -fPIC

JNILIB_FLAGS = -bundle

JAVA_INCLUDES = -I"$(JAVA_HOME)/include" -I"$(JAVA_HOME)/include/linux"

LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.so

LIBCPPCONTROLLER= $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.so

endif

endif

# rules

ifeq ($(SWIG_EXISTS),)

release debug profile:

@$(ECHO) "# \033[0;33mSWIG not installed, skipping Java API\033[0m"

else ifeq ($(JAVA_HOME),)

release debug profile:

@$(ECHO) "# \033[0;33mJava not installed or 'JAVA_HOME' not set, skipping Java API\033[0m"

else

release debug profile: $(JAR_FILE) $(TARGET)

$(WRAPPER_OBJECT): $(WRAPPER)

@echo "# compiling" $(notdir $^)

$(CXX) $(CFLAGS2) $(WEBOTS_INCLUDES) $(JAVA_INCLUDES) $< -o $@

$(WRAPPER_OBJECT_ARM64): $(WRAPPER)

@echo "# compiling" $(notdir $^) "(arm64)"

$(CXX) -target arm64-apple-macos11 $(CFLAGS2) $(WEBOTS_INCLUDES) $(JAVA_INCLUDES) $< -o $@

$(WRAPPER_OBJECT_X86_64): $(WRAPPER)

@echo "# compiling" $(notdir $^) "(x86_64)"

$(CXX) -target x86_64-apple-macos11 $(CFLAGS2) $(WEBOTS_INCLUDES) $(JAVA_INCLUDES) $< -o $@

$(OBJDIR)/arm64/lib$(LIBNAME).jnilib: $(WRAPPER_OBJECT_ARM64)

@echo "# linking" $(notdir $^) "(arm64)"

$(CXX) -target arm64-apple-macos11 $(CFLAGS1) $(JNILIB_FLAGS) -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController $^ -o "$@"

$(OBJDIR)/x86_64/lib$(LIBNAME).jnilib: $(WRAPPER_OBJECT_X86_64)

@echo "# linking" $(notdir $^) "(x86_64)"

$(CXX) -target x86_64-apple-macos11 $(CFLAGS1) $(JNILIB_FLAGS) -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController $^ -o "$@"

$(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).jnilib: $(OBJDIR)/arm64/lib$(LIBNAME).jnilib $(OBJDIR)/x86_64/lib$(LIBNAME).jnilib

@echo "# creating fat" $^

@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java

lipo -create -output "$@" $(OBJDIR)/x86_64/lib$(LIBNAME).jnilib $(OBJDIR)/arm64/lib$(LIBNAME).jnilib

codesign -s - "$@"

$(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).so: $(WRAPPER_OBJECT)

@echo "# compiling" $^

@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java

$(CXX) -shared $^ -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController -o $@

@chmod a-x $@

$(WEBOTS_CONTROLLER_LIB_PATH)/java/$(LIBNAME).dll: $(WRAPPER_OBJECT)

@echo "# linking" $@

@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java

$(CXX) -shared -mwindows -Wl,--add-stdcall-alias -Wl,--enable-auto-import -O \

$^ -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController -lCppController -lm -o "$@"

$(JAR_FILE): $(WRAPPER)

@echo "# compiling java sources"

javac --release 8 $(SWIG_OUTPUT_PATH)/*.java -d .

@echo "# creating "$@

@mkdir -p $(WEBOTS_CONTROLLER_LIB_PATH)/java

jar cfv $(JAR_FILE) $(CONTROLLERPATH)/*.class > /dev/null

$(WRAPPER): $(INTERFACE) $(LIBCONTROLLER) $(LIBCPPCONTROLLER)

@echo "# generating "$(notdir $@)

test -d $(SWIG_OUTPUT_PATH) || mkdir -p $(SWIG_OUTPUT_PATH)

$(SWIG) -c++ -java -package $(subst /,.,$(CONTROLLERPATH)) -outdir $(SWIG_OUTPUT_PATH) $(WEBOTS_INCLUDES) -o "$@" $<

$(LIBCONTROLLER):

@echo "$(LIBCONTROLLER) doesn't exist, build it first."

$(LIBCPPCONTROLLER):

@echo "$(LIBCPPCONTROLLER) doesn't exist, build it first."

endif

clean:

ifneq ($(SWIG_EXISTS),) # otherwise a user may break the distribution

FILES_TO_REMOVE = $(SWIG_OUTPUT_PATH)

endif

FILES_TO_REMOVE += $(TARGET) $(JAR_FILE) *.o com

EMPTY_DIRECTORIES_TO_REMOVE = $(WEBOTS_CONTROLLER_LIB_PATH)/java