#-----------------------------------------------------------------------------
#
# make libs	- build library routines and install them in the appropriate
#		  modules in ../lib
#
# make <testprog> - build a particular test program
#
#-----------------------------------------------------------------------------

CFLAGS = $(RCC_CFLAGS) -g 
RTL_CFLAGS = -I/pkg/realtime/rtlinux-2.2/linux/include -I/pkg/realtime/rtlinux-2.2/include -I/pkg/realtime/rtlinux-2.2 -I/pkg/realtime/rtlinux-2.2/include/posix -Wall -Wstrict-prototypes -O2 -D__SMP__ -D__RTL__ -D__KERNEL__ -DMODULE -pipe -fno-strength-reduce -m486 -malign-loops=2 -malign-jumps=2 -malign-functions=2 -DCPU=586 -fomit-frame-pointer



TESTO =	testAngles.o pumaSingular.o

#ifndef VxWorksConfig

# program to test singularity code
rccTestProgram(pstest,pumaSingular.to $(LUSER) $(PUMA),,)

# program to test Jacobian routines
rccTestProgram(testJacobian,testJacobian.o pumaJacobian.o $(TESTO),,)

#endif

# program to test kinematic routines
rccTestProgram(testKinematics,testKinematics.o pumaKinematic.o $(TESTO),,)

rciCtrlModule(puma_convert)
rciCtrlModule(puma_jls)
rciCtrlModule(puma_kynvar)
rciCtrlModule(pumaSelect)
rciCtrlModule(pumaGravload)
rciCtrlModule(pumaKinematic)
rciCtrlModule(pumaJacobian)
#ifdef LinuxConfig
rciCtrlModule(puma_comfxns.lin)
rciCppCtrlModule(puma_pendant)
rciCtrlModule(sim_puma_comfxns)
#else
rciCtrlModule(puma_comfxns)
#endif

maintainRciCtrl(libs)

maintainVxwLibs(vxwPuma,vxlibs)

makeClean(testKinematics testJacobian pstest)
makeDepend()
maintainVxwSubdir()


