############################################################################
#
#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
	MODULE modules__uavcan
	MAIN uavcan
	STACK 3200
	COMPILE_FLAGS
		-O3
	SRCS

		# Main
		uavcan_main.cpp
		uavcan_servers.cpp
		uavcan_clock.cpp
		uavcan_params.c

		# Actuators
		actuators/esc.cpp

		# Sensors
		sensors/sensor_bridge.cpp
		sensors/gnss.cpp
		sensors/mag.cpp
		sensors/baro.cpp

	DEPENDS
		platforms__common
	)

# TODO convert rest of module.mk

##
## libuavcan
##
#include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
## Use the relitive path to keep the genrated files in the BUILD_DIR
#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
#INCLUDE_DIRS += $(LIBUAVCAN_INC)
## Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
## because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
#override EXTRADEFINES := $(EXTRADEFINES) \
#-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
#-DUAVCAN_NO_ASSERTIONS \
#-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
#-DUAVCAN_MAX_NETWORK_SIZE_HINT=16

##
## libuavcan drivers for STM32
##
#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
## Use the relitive path to keep the genrated files in the BUILD_DIR
#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
#INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
#override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2

##
## libuavcan drivers for posix
##
#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
#INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)

##
## Invoke DSDL compiler
##
#$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
#INCLUDE_DIRS += dsdlc_generated
## vim: set noet ft=cmake fenc=utf-8 ff=unix : 
