###################################################################################################
#                                                                                                 #
# This file is part of HPIPM.                                                                     #
#                                                                                                 #
# HPIPM -- High-Performance Interior Point Method.                                                #
# Copyright (C) 2017-2018 by Gianluca Frison.                                                     #
# Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl.              #
# All rights reserved.                                                                            #
#                                                                                                 #
# This program is free software: you can redistribute it and/or modify                            #
# it under the terms of the GNU General Public License as published by                            #
# the Free Software Foundation, either version 3 of the License, or                               #
# (at your option) any later version                                                              #.
#                                                                                                 #
# This program is distributed in the hope that it will be useful,                                 #
# but WITHOUT ANY WARRANTY; without even the implied warranty of                                  #
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                                   #
# GNU General Public License for more details.                                                    #
#                                                                                                 #
# You should have received a copy of the GNU General Public License                               #
# along with this program.  If not, see <https://www.gnu.org/licenses/>.                          #
#                                                                                                 #
# The authors designate this particular file as subject to the "Classpath" exception              #
# as provided by the authors in the LICENSE file that accompained this code.                      #
#                                                                                                 #
# Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de                             #
#                                                                                                 #
###################################################################################################

include ./Makefile.rule

OBJS = 

ifeq ($(TARGET), GENERIC)
# ipm core
# double
OBJS += ipm_core/d_core_qp_ipm_aux.o 
# single
OBJS += ipm_core/s_core_qp_ipm_aux.o 
endif

ifeq ($(TARGET), AVX)
# ipm core
# double
OBJS += ipm_core/d_core_qp_ipm_aux_avx.o 
# single
OBJS += ipm_core/s_core_qp_ipm_aux_avx.o 
endif

# cond
OBJS += cond/d_cond_aux.o cond/d_cond.o cond/d_part_cond.o
OBJS += cond/s_cond_aux.o cond/s_cond.o cond/s_part_cond.o

# dense qp
# double
OBJS += dense_qp/d_dense_qp_dim.o 
OBJS += dense_qp/d_dense_qp.o 
OBJS += dense_qp/d_dense_qp_sol.o 
OBJS += dense_qp/d_dense_qp_res.o 
OBJS += dense_qp/d_dense_qp_kkt.o 
OBJS += dense_qp/d_dense_qp_ipm.o
# single
OBJS += dense_qp/s_dense_qp_dim.o 
OBJS += dense_qp/s_dense_qp.o 
OBJS += dense_qp/s_dense_qp_sol.o 
OBJS += dense_qp/s_dense_qp_res.o 
OBJS += dense_qp/s_dense_qp_kkt.o 
OBJS += dense_qp/s_dense_qp_ipm.o
#mixed
OBJS += dense_qp/m_dense_qp_dim.o 
OBJS += dense_qp/m_dense_qp.o 

# ipm core
# double
#OBJS += ipm_core/d_core_qp_ipm_aux.o 
OBJS += ipm_core/d_core_qp_ipm.o
# single
#OBJS += ipm_core/s_core_qp_ipm_aux.o 
OBJS += ipm_core/s_core_qp_ipm.o

# ocp nlp
#OBJS += ocp_nlp/d_ocp_nlp.o ocp_nlp/d_ocp_nlp_sol.o ocp_nlp/d_ocp_nlp_aux.o ocp_nlp/d_ocp_nlp_hyb.o ocp_nlp/d_ocp_nlp_ipm.o ocp_nlp/d_ocp_nlp_sqp.o
#OBJS +=

# ocp qp
# double
OBJS += ocp_qp/d_ocp_qp_dim.o
OBJS += ocp_qp/d_ocp_qp.o
OBJS += ocp_qp/d_ocp_qp_sol.o
OBJS += ocp_qp/d_ocp_qp_res.o
OBJS += ocp_qp/d_ocp_qp_kkt.o
OBJS += ocp_qp/d_ocp_qp_ipm.o
OBJS += ocp_qp/d_ocp_qp_utils.o
# single
OBJS += ocp_qp/s_ocp_qp_dim.o
OBJS += ocp_qp/s_ocp_qp.o
OBJS += ocp_qp/s_ocp_qp_sol.o
OBJS += ocp_qp/s_ocp_qp_res.o
OBJS += ocp_qp/s_ocp_qp_kkt.o
OBJS += ocp_qp/s_ocp_qp_ipm.o
OBJS += ocp_qp/s_ocp_qp_utils.o
# mixed
#OBJS += ocp_qp/m_ocp_qp.o                       ocp_qp/m_ocp_qp_kkt.o ocp_qp/m_ocp_qp_ipm.o

# sim core
#OBJS += sim_core/d_rk_int.o sim_core/d_erk_int.o sim_core/d_irk_int.o
#OBJS +=

# tree ocp qp
# common
OBJS += tree_ocp_qp/scenario_tree.o
# double
OBJS += tree_ocp_qp/d_tree_ocp_qp_dim.o
OBJS += tree_ocp_qp/d_tree_ocp_qp.o
OBJS += tree_ocp_qp/d_tree_ocp_qp_sol.o
OBJS += tree_ocp_qp/d_tree_ocp_qp_res.o
OBJS += tree_ocp_qp/d_tree_ocp_qp_kkt.o
OBJS += tree_ocp_qp/d_tree_ocp_qp_ipm.o
# single
OBJS += tree_ocp_qp/s_tree_ocp_qp_dim.o
OBJS += tree_ocp_qp/s_tree_ocp_qp.o
OBJS += tree_ocp_qp/s_tree_ocp_qp_sol.o
OBJS += tree_ocp_qp/s_tree_ocp_qp_res.o
OBJS += tree_ocp_qp/s_tree_ocp_qp_kkt.o
OBJS += tree_ocp_qp/s_tree_ocp_qp_ipm.o

# aux
OBJS += auxiliary/aux_string.o

all: clean static_library

static_library: target
	( cd cond; $(MAKE) obj TOP=$(TOP) )
	( cd dense_qp; $(MAKE) obj TOP=$(TOP) )
	( cd ipm_core; $(MAKE) obj TOP=$(TOP) )
	( cd ocp_qp; $(MAKE) obj TOP=$(TOP) )
	( cd tree_ocp_qp; $(MAKE) obj TOP=$(TOP) )
	( cd auxiliary; $(MAKE) obj TOP=$(TOP) )
	ar rcs libhpipm.a $(OBJS) 
	cp libhpipm.a ./lib/
	@echo
	@echo " libhpipm.a static library build complete."
	@echo

shared_library: target
	( cd cond; $(MAKE) obj TOP=$(TOP) )
	( cd dense_qp; $(MAKE) obj TOP=$(TOP) )
	( cd ipm_core; $(MAKE) obj TOP=$(TOP) )
	( cd ocp_qp; $(MAKE) obj TOP=$(TOP) )
	( cd tree_ocp_qp; $(MAKE) obj TOP=$(TOP) )
	( cd auxiliary; $(MAKE) obj TOP=$(TOP) )
	$(CC) -L$(BLASFEO_PATH)/lib -shared -o libhpipm.so $(OBJS) -lblasfeo
	cp libhpipm.so ./lib/
	@echo
	@echo " libhpipm.so shared library build complete."
	@echo

target:
	touch ./include/hpipm_target.h
ifeq ($(TARGET), GENERIC)
	echo "#ifndef TARGET_GENERIC" > ./include/hpipm_target.h
	echo "#define TARGET_GENERIC" >> ./include/hpipm_target.h
	echo "#endif" >> ./include/hpipm_target.h
endif

install_static:
	mkdir -p $(PREFIX)/hpipm
	mkdir -p $(PREFIX)/hpipm/lib
	cp -f libhpipm.a $(PREFIX)/hpipm/lib/
	mkdir -p $(PREFIX)/hpipm/include
	cp -f ./include/*.h $(PREFIX)/hpipm/include/

install_shared:
	mkdir -p $(PREFIX)/hpipm
	mkdir -p $(PREFIX)/hpipm/lib
	cp -f libhpipm.so $(PREFIX)/hpipm/lib/
	mkdir -p $(PREFIX)/hpipm/include
	cp -f ./include/*.h $(PREFIX)/hpipm/include/

test_problem:
	cp libhpipm.a ./test_problems/libhpipm.a
	make -C test_problems obj TOP=$(TOP)
	@echo
	@echo " Test problem build complete."
	@echo

run_test_problems:
	./test_problems/test.out

examples:
	cp libhpipm.a ./examples/c/libhpipm.a
	( cd examples/c; $(MAKE) obj )
	@echo
	@echo " Examples build complete."
	@echo

run_examples:
	./examples/c/example.out


.PHONY: examples
clean:
	rm -f libhpipm.a
	rm -f libhpipm.so
	rm -f ./lib/libhpipm.a
	rm -f ./lib/libhpipm.so
	make -C auxiliary clean
	make -C cond clean
	make -C dense_qp clean
	make -C ipm_core clean
	make -C ocp_qp clean
	make -C tree_ocp_qp clean
	make -C test_problems clean
	make -C examples/c clean