#Note: userspace test program ugenserkins.c is deprecated
INCLUDES += emc/kinematics

GENSERKINSSRCS := emc/kinematics/ugenserkins.c
GENSERKINSSRCS += emc/kinematics/genserfuncs.c
USERSRCS += $(GENSERKINSSRCS)

DELTAMODULESRCS := emc/kinematics/lineardeltakins.cc
PYSRCS += $(DELTAMODULESRCS)
$(call TOOBJS, $(DELTAMODULESRCS)): EXTRAFLAGS += $(SILENCE_BOOST_INTERNAL_DIAGNOSTICS_FLAGS)

DELTAMODULE := ../lib/python/lineardeltakins.so
$(DELTAMODULE): $(call TOOBJS, $(DELTAMODULESRCS))
	$(ECHO) Linking python module $(notdir $@)
	$(CXX) $(LDFLAGS) -shared -o $@ $^ $(BOOST_PYTHON_LIB)
PYTARGETS += $(DELTAMODULE)

#ifdef ULAPI
# userspace test program ../bin/genserkins:
#   1) has not been maintained
#   2) does not start up on RTAI
../bin/genserkins: $(call TOOBJS, $(GENSERKINSSRCS)) ../lib/liblinuxcnchal.so ../lib/libposemath.so
	$(ECHO) emc/Submakefile:Linking $(notdir $@)
	$(Q)$(CC) $(LDFLAGS) -o $@ $^ -lm
TARGETS += ../bin/genserkins
#endif

RDELTAMODULESRCS := emc/kinematics/rotarydeltakins.cc
PYSRCS += $(RDELTAMODULESRCS)
$(call TOOBJS, $(RDELTAMODULESRCS)): EXTRAFLAGS += $(SILENCE_BOOST_INTERNAL_DIAGNOSTICS_FLAGS)

RDELTAMODULE := ../lib/python/rotarydeltakins.so
$(RDELTAMODULE): $(call TOOBJS, $(RDELTAMODULESRCS))
	$(ECHO) Linking python module $(notdir $@)
	$(CXX) $(LDFLAGS) -shared -o $@ $^ $(BOOST_PYTHON_LIB)
PYTARGETS += $(RDELTAMODULE)

$(patsubst ./emc/kinematics/%,../include/%,$(wildcard ./emc/kinematics/*.h)): ../include/%.h: ./emc/kinematics/%.h
	cp $^ $@
$(patsubst ./emc/kinematics/%,../include/%,$(wildcard ./emc/kinematics/*.hh)): ../include/%.hh: ./emc/kinematics/%.hh
	cp $^ $@