CXX := g++
CXXFLAGS := -std=c++20 -O2 -Wall -Wextra -Wpedantic -pthread -MMD -MP
LDFLAGS := -pthread -lrt
ORCH_LDFLAGS := $(LDFLAGS) -lusb-1.0
VISA_CXXFLAGS ?= -I/usr/include/ni-visa
VISA_LDFLAGS := $(LDFLAGS) -lvisa

BUILD_DIR := build
BIN_DIR := $(BUILD_DIR)/bin

# --- gpr_cpp: vendored C++/CUDA 3D SAR library (originally from VNA_AlGo).
# Built automatically by the $(GPR_CPP_LIB) rule below via its own CMake
# (build_cmake.sh). CUDA headers and libnvrtc come from the pip nvidia-*
# packages inside this repo's venv (same detection as build_cmake.sh); when
# those are absent (e.g. Jetson, where CUDA comes with JetPack) the system
# toolkit at /usr/local/cuda is used. libcuda is always the system driver.
GPR_CPP_DIR ?= data_acq_and_processing/gpr_cpp
GPR_CPP_LIB ?= $(GPR_CPP_DIR)/build/libgpr_core_cpp.a
# Absolute so the derived -rpath (libnvrtc dir) survives running the binary
# from outside the repo root.
GPR_VENV ?= $(CURDIR)/.venv
GPR_CUDA_INC_DIR ?= $(dir $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/include/nvrtc.h)))
# cuda.h can live in a DIFFERENT pip package than nvrtc.h (Jetson: cuda_runtime
# vs cuda_nvrtc); the unified cu13 package on dev machines has both in one dir.
GPR_CUDA_RT_INC_DIR ?= $(dir $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/include/cuda.h)))
GPR_NVRTC_LIB ?= $(firstword $(wildcard $(GPR_VENV)/lib/python*/site-packages/nvidia/*/lib/libnvrtc.so*))
# System-CUDA fallback. An empty GPR_CUDA_INC_DIR would also corrupt the compile
# command: a bare `-I` swallows the next argument.
ifeq ($(strip $(GPR_CUDA_INC_DIR)),)
GPR_CUDA_INC_DIR := /usr/local/cuda/include
endif
ifeq ($(strip $(GPR_CUDA_RT_INC_DIR)),)
GPR_CUDA_RT_INC_DIR := /usr/local/cuda/include
endif
ifeq ($(strip $(GPR_NVRTC_LIB)),)
GPR_NVRTC_LIB := $(firstword $(wildcard /usr/local/cuda/lib64/libnvrtc.so*))
endif
# Deduplicated CUDA include flags (a single dir on dev machines).
GPR_CUDA_INC_FLAGS := $(addprefix -I,$(sort $(GPR_CUDA_INC_DIR) $(GPR_CUDA_RT_INC_DIR)))
GPR_CUDA_LIB_DIR := $(dir $(GPR_NVRTC_LIB))
# libnvrtc from pip ships only as libnvrtc.so.N (no .so symlink), so link the
# full path; the rpath makes the binary find it without LD_LIBRARY_PATH.
DATA_PROCESSOR_LDFLAGS := $(LDFLAGS) $(GPR_CPP_LIB) $(GPR_NVRTC_LIB) -lcuda -Wl,-rpath,$(GPR_CUDA_LIB_DIR)

INCLUDES := \
	-I$(GPR_CPP_DIR)/include \
	$(GPR_CUDA_INC_FLAGS) \
	-Idata_acq_and_processing/common_cpp/ipc/include \
	-Idata_acq_and_processing/common_cpp/config/include \
	-Idata_acq_and_processing/third_party \
	-Idata_acq_and_processing/third_party/eigen \
	-Idata_acq_and_processing/sweep_orchestrator/include \
	-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
	-Idata_acq_and_processing/sweep_orchestrator/device_drivers/radar \
	-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
	-Idata_acq_and_processing/preprocessing/calibration_master/include \
	-Idata_acq_and_processing/preprocessing/reference_master/include \
	-Idata_acq_and_processing/preprocessing/data_preprocessor/include \
	-Idata_acq_and_processing/processing/processors/include \
	-Idata_acq_and_processing/processing/data_processor/include \
	-Idata_acq_and_processing/processing/locator/include

COMMON_SOURCES := \
	data_acq_and_processing/common_cpp/ipc/src/shm_ring.cpp \
	data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
	data_acq_and_processing/common_cpp/config/src/run_config.cpp

ORCH_SOURCES := \
	data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_lifecycle.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_transport.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/radar/librevna/librevna_minimal_driver_protocol.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/radar/remote_compact_m_k209/remote_compact_m_k209_driver.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp \
	data_acq_and_processing/sweep_orchestrator/src/sweep_orchestrator.cpp \
	data_acq_and_processing/sweep_orchestrator/src/main.cpp

PREPROC_SOURCES := \
	data_acq_and_processing/preprocessing/calibration_master/src/calibration_master.cpp \
	data_acq_and_processing/preprocessing/calibration_master/src/channel_bundle_support.cpp \
	data_acq_and_processing/preprocessing/calibration_master/src/through_calibrator.cpp \
	data_acq_and_processing/preprocessing/reference_master/src/reference_master.cpp \
	data_acq_and_processing/preprocessing/data_preprocessor/src/data_preprocessor.cpp \
	data_acq_and_processing/preprocessing/data_preprocessor/src/main.cpp

LOCATOR_SOURCES := \
	data_acq_and_processing/processing/locator/src/payload_builder.cpp \
	data_acq_and_processing/processing/locator/src/tcp_server.cpp

PROCESSOR_SOURCES := \
	data_acq_and_processing/processing/processors/src/bscan_processor.cpp \
	data_acq_and_processing/processing/processors/src/gpr_processor.cpp \
	data_acq_and_processing/processing/processors/src/passthrough_processor.cpp \
	data_acq_and_processing/processing/processors/src/sar3d_processor.cpp \
	data_acq_and_processing/processing/data_processor/src/processing_live_config.cpp \
	data_acq_and_processing/processing/data_processor/src/data_processor.cpp \
	data_acq_and_processing/processing/data_processor/src/main.cpp \
	$(LOCATOR_SOURCES)

# Kamil ADC collector: standalone L-Card E-502 acquisition binary. It loads the
# proprietary libx502api/libe502api at runtime via dlopen, so it builds anywhere
# from the vendored headers alone and only needs those libraries present at run
# time. Built on demand (not part of `all`) for radar.model == kamil_adc.
KAMIL_COLLECTOR_DIR := data_acq_and_processing/kamil_adc_collector
# The collector now also drives the RF switches itself (switch-aware mode), so it
# reuses the orchestrator's switch drivers and the shared run_config loader, which
# pull in the common config/ipc/locator headers and the vendored nlohmann/json.
KAMIL_COLLECTOR_INCLUDES := \
	-I$(KAMIL_COLLECTOR_DIR)/include \
	-I$(KAMIL_COLLECTOR_DIR)/vendor/lcard \
	-Idata_acq_and_processing/common_cpp/ipc/include \
	-Idata_acq_and_processing/common_cpp/config/include \
	-Idata_acq_and_processing/sweep_orchestrator/device_drivers/interfaces \
	-Idata_acq_and_processing/sweep_orchestrator/device_drivers/switches \
	-Idata_acq_and_processing/processing/locator/include \
	-Idata_acq_and_processing/third_party
KAMIL_COLLECTOR_LDFLAGS := -pthread -ldl -lutil
# Collector sources, including the shared drivers/config loader it reuses. These
# are compiled into a private build/kamil/ tree (see rule below) so they never
# collide with the orchestrator's objects, which use different compile flags.
KAMIL_COLLECTOR_SOURCES := \
	$(KAMIL_COLLECTOR_DIR)/src/main.cpp \
	$(KAMIL_COLLECTOR_DIR)/src/tty_protocol_writer.cpp \
	$(KAMIL_COLLECTOR_DIR)/src/capture_file_writer.cpp \
	data_acq_and_processing/common_cpp/config/src/run_config.cpp \
	data_acq_and_processing/common_cpp/ipc/src/shared_types.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/switches/h7992_minimal_driver.cpp \
	data_acq_and_processing/sweep_orchestrator/device_drivers/switches/hmc349a_minimal_driver.cpp

SWEEP_ORCH_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(ORCH_SOURCES:.cpp=.o))
PREPROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PREPROC_SOURCES:.cpp=.o))
DATA_PROCESSOR_OBJS := $(addprefix $(BUILD_DIR)/,$(COMMON_SOURCES:.cpp=.o) $(PROCESSOR_SOURCES:.cpp=.o))
KAMIL_BUILD_DIR := $(BUILD_DIR)/kamil
KAMIL_COLLECTOR_OBJS := $(addprefix $(KAMIL_BUILD_DIR)/,$(notdir $(KAMIL_COLLECTOR_SOURCES:.cpp=.o)))
DEPFILES := $(sort $(SWEEP_ORCH_OBJS:.o=.d) $(PREPROCESSOR_OBJS:.o=.d) $(DATA_PROCESSOR_OBJS:.o=.d) $(KAMIL_COLLECTOR_OBJS:.o=.d))

TARGETS := \
	$(BIN_DIR)/sweep_orchestrator \
	$(BIN_DIR)/data_preprocessor \
	$(BIN_DIR)/data_processor

.PHONY: all clean kamil_adc_collector sar3d_parity

all: $(TARGETS)

kamil_adc_collector: $(BIN_DIR)/kamil_adc_collector

# On-demand parity check of the sar3d processor against the reference notebook
# volumes (scripts/sar3d_volume_compare.py diffs the dumped volume against a
# *_volume.npz export). Not part of `all`.
SAR3D_PARITY_OBJS := $(addprefix $(BUILD_DIR)/, \
	data_acq_and_processing/processing/tools/sar3d_parity_main.o \
	data_acq_and_processing/processing/processors/src/sar3d_processor.o \
	data_acq_and_processing/common_cpp/config/src/run_config.o \
	data_acq_and_processing/common_cpp/ipc/src/shared_types.o)

sar3d_parity: $(BIN_DIR)/sar3d_parity

$(BIN_DIR)/sar3d_parity: $(SAR3D_PARITY_OBJS) $(GPR_CPP_LIB)
	@mkdir -p $(BIN_DIR)
	$(CXX) $(SAR3D_PARITY_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)

$(BIN_DIR)/sweep_orchestrator: $(SWEEP_ORCH_OBJS)
	@mkdir -p $(BIN_DIR)
	$(CXX) $(SWEEP_ORCH_OBJS) -o $@ $(ORCH_LDFLAGS)

$(BIN_DIR)/data_preprocessor: $(PREPROCESSOR_OBJS)
	@mkdir -p $(BIN_DIR)
	$(CXX) $(PREPROCESSOR_OBJS) -o $@ $(LDFLAGS)

$(BIN_DIR)/data_processor: $(DATA_PROCESSOR_OBJS) $(GPR_CPP_LIB)
	@mkdir -p $(BIN_DIR)
	$(CXX) $(DATA_PROCESSOR_OBJS) -o $@ $(DATA_PROCESSOR_LDFLAGS)

# Vendored gpr_cpp static lib: delegate to its CMake build (also produces the
# standalone_bp example used by sar3d_parity cross-checks).
GPR_CPP_SRC_FILES := $(wildcard $(GPR_CPP_DIR)/src/*) $(wildcard $(GPR_CPP_DIR)/include/gpr/*) \
	$(wildcard $(GPR_CPP_DIR)/examples/*) $(GPR_CPP_DIR)/CMakeLists.txt $(GPR_CPP_DIR)/build_cmake.sh

$(GPR_CPP_LIB): $(GPR_CPP_SRC_FILES)
	GPR_BUILD_PYTHON=OFF VENV=$(abspath $(GPR_VENV)) bash $(GPR_CPP_DIR)/build_cmake.sh

# The collector compiles into its own build/kamil/ tree with collector-only
# includes (no VISA), so the shared driver/config sources it reuses never collide
# with the orchestrator's objects of the same name. Basenames are unique, so a
# vpath lets one pattern rule find every source.
vpath %.cpp $(sort $(dir $(KAMIL_COLLECTOR_SOURCES)))

$(KAMIL_BUILD_DIR)/%.o: %.cpp
	@mkdir -p $(dir $@)
	$(CXX) $(CXXFLAGS) $(KAMIL_COLLECTOR_INCLUDES) -c $< -o $@

$(BIN_DIR)/kamil_adc_collector: $(KAMIL_COLLECTOR_OBJS)
	@mkdir -p $(BIN_DIR)
	$(CXX) $(KAMIL_COLLECTOR_OBJS) -o $@ $(KAMIL_COLLECTOR_LDFLAGS)

$(BUILD_DIR)/%.o: %.cpp
	@mkdir -p $(dir $@)
	$(CXX) $(CXXFLAGS) $(VISA_CXXFLAGS) $(INCLUDES) -c $< -o $@

-include $(DEPFILES)

clean:
	rm -rf $(BUILD_DIR) $(GPR_CPP_DIR)/build