Rules.mk

###############################################################################
#
# Copyright (c) 2016-2021, NVIDIA CORPORATION. All rights reserved.
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###############################################################################

# Clear the flags from env
CPPFLAGS :=
LDFLAGS :=

# Verbose flag
ifeq ($(VERBOSE), 1)
AT =
else
AT = @
endif

# ARM ABI of the target platform
ifeq ($(TEGRA_ARMABI),)
TEGRA_ARMABI ?= aarch64-linux-gnu
endif

# Location of the target rootfs
ifeq ($(shell uname -m), aarch64)
TARGET_ROOTFS :=
else
ifeq ($(TARGET_ROOTFS),)
$(error Please specify the target rootfs path if you are cross-compiling)
endif
endif

# Location of the CUDA Toolkit
CUDA_PATH 	:= /usr/local/cuda

# Use absolute path for better access from everywhere
TOP_DIR 	:= $(shell pwd | awk '{split($$0, f, "/samples"); print f[1]}')
CLASS_DIR 	:= $(TOP_DIR)/samples/common/classes
ALGO_CUDA_DIR 	:= $(TOP_DIR)/samples/common/algorithm/cuda
ALGO_TRT_DIR 	:= $(TOP_DIR)/samples/common/algorithm/trt

ifeq ($(shell uname -m), aarch64)
CROSS_COMPILE :=
else
CROSS_COMPILE ?= aarch64-unknown-linux-gnu-
endif
AS             = $(AT) $(CROSS_COMPILE)as
LD             = $(AT) $(CROSS_COMPILE)ld
CC             = $(AT) $(CROSS_COMPILE)gcc
CPP            = $(AT) $(CROSS_COMPILE)g++
AR             = $(AT) $(CROSS_COMPILE)ar
NM             = $(AT) $(CROSS_COMPILE)nm
STRIP          = $(AT) $(CROSS_COMPILE)strip
OBJCOPY        = $(AT) $(CROSS_COMPILE)objcopy
OBJDUMP        = $(AT) $(CROSS_COMPILE)objdump
NVCC           = $(AT) $(CUDA_PATH)/bin/nvcc -ccbin $(filter-out $(AT), $(CPP))

# Specify the logical root directory for headers and libraries.
ifneq ($(TARGET_ROOTFS),)
CPPFLAGS += --sysroot=$(TARGET_ROOTFS)
LDFLAGS += \
	-Wl,-rpath-link=$(TARGET_ROOTFS)/lib/$(TEGRA_ARMABI) \
	-Wl,-rpath-link=$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI) \
	-Wl,-rpath-link=$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)/tegra \
	-Wl,-rpath-link=$(TARGET_ROOTFS)/$(CUDA_PATH)/lib64
endif

# All common header files
CPPFLAGS += -std=c++20 -Wno-psabi \
	-I"$(TOP_DIR)/include" \
	-I"$(TOP_DIR)/include/libjpeg-8b" \
	-I"$(ALGO_CUDA_DIR)" \
	-I"$(ALGO_TRT_DIR)" \
	-I"$(TARGET_ROOTFS)/$(CUDA_PATH)/include" \
	-I"$(TARGET_ROOTFS)/usr/include/$(TEGRA_ARMABI)" \
	-I"$(TARGET_ROOTFS)/usr/include/libdrm" \
	-I"$(TARGET_ROOTFS)/usr/local/include/opencv4" \
	-I"$(TARGET_ROOTFS)/usr/local/include/cameraserver" \
	-I"$(TARGET_ROOTFS)/usr/local/include/cscore" \
	-I"$(TARGET_ROOTFS)/usr/local/include/wpiutil" \
	-I"$(TARGET_ROOTFS)/usr/local/include/wpimath" \
	-I"$(TARGET_ROOTFS)/usr/local/include/apriltag" \
	-I"$(TARGET_ROOTFS)/usr/local/include/ntcore"

# All common dependent libraries
LDFLAGS += \
	-lpthread -lv4l2 -lEGL -lGLESv2 -lX11 \
	-lnvbuf_utils -lnvjpeg -lnvosd -ldrm \
	-lcuda -lcudart -lnppicc -lcameraserver \
	-lcscore -lntcore -lwpiutil -lwpimath -lapriltag \
	-L"$(TARGET_ROOTFS)/$(CUDA_PATH)/lib64" \
	-L"$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)" \
	-L"$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)/tegra"