CC ?= cc
CFLAGS ?= -std=c11 -O2 -Wall -Wextra -Wpedantic
CFLAGS += -I../../gps_system/header
LDLIBS ?= -lm

GPS_TIME_SOURCE := ../../gps_system/src/gps_time_anchor.c
ESKF_SOURCES := ../../gps_system/src/eskf.c ../../gps_system/src/fusion_motion.c ../../gps_system/src/fusion_engine.c ../../gps_system/src/fusion_gps_adapter.c ../../gps_system/src/fusion_bus.c
IMU_PROFILE_SOURCE := ../../gps_system/src/imu_sensor_profile.c

.PHONY: all test sanitize profile benchmark clean

all: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test

standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
	$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)

eskf_motion_test: eskf_motion_test.c $(ESKF_SOURCES)
	$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)

fusion_synthetic_test: fusion_synthetic_test.c $(ESKF_SOURCES)
	$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)

imu_quality_synthetic_test: imu_quality_synthetic_test.c $(ESKF_SOURCES) $(IMU_PROFILE_SOURCE)
	$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)

test: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test
	./standalone_gps_integrity_test
	./eskf_motion_test
	./fusion_synthetic_test
	./imu_quality_synthetic_test

sanitize:
	$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
		-fsanitize=address,undefined -fno-omit-frame-pointer \
		-I../../gps_system/header eskf_motion_test.c $(ESKF_SOURCES) \
		-o eskf_motion_test_san $(LDLIBS)
	ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
		UBSAN_OPTIONS=halt_on_error=1 ./eskf_motion_test_san
	$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
		-fsanitize=address,undefined -fno-omit-frame-pointer \
		-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
		-o fusion_synthetic_test_san $(LDLIBS)
	ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
		UBSAN_OPTIONS=halt_on_error=1 ./fusion_synthetic_test_san
	$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
		-fsanitize=address,undefined -fno-omit-frame-pointer \
		-I../../gps_system/header imu_quality_synthetic_test.c $(ESKF_SOURCES) \
		$(IMU_PROFILE_SOURCE) -o imu_quality_synthetic_test_san $(LDLIBS)
	ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
		UBSAN_OPTIONS=halt_on_error=1 ./imu_quality_synthetic_test_san

profile:
	$(CC) -std=c11 -O2 -g -pg -Wall -Wextra -Wpedantic \
		-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
		-o fusion_synthetic_test_gprof $(LDLIBS)
	./fusion_synthetic_test_gprof
	gprof ./fusion_synthetic_test_gprof gmon.out

benchmark: standalone_gps_integrity_test
	./standalone_gps_integrity_test --bench-clean 100000
	./standalone_gps_integrity_test --bench-single 100000
	./standalone_gps_integrity_test --bench-double 100000

clean:
	rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof eskf_motion_test eskf_motion_test_san fusion_synthetic_test fusion_synthetic_test_san fusion_synthetic_test_gprof fusion_synthetic_trace imu_quality_synthetic_test imu_quality_synthetic_test_san gmon.out