BOARD = esp32:esp32:d1_mini32
PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
PORT := $(strip $(PORT))

build: .dependencies
	arduino-cli compile --fqbn $(BOARD) flix

upload: build
	arduino-cli upload --fqbn $(BOARD) -p "$(PORT)" flix

monitor:
	arduino-cli monitor -p "$(PORT)" -c baudrate=115200

dependencies .dependencies:
	arduino-cli core update-index --config-file arduino-cli.yaml
	arduino-cli core install esp32:esp32@2.0.11 --config-file arduino-cli.yaml
	arduino-cli lib install "Bolder Flight Systems SBUS"@1.0.1
	arduino-cli lib install --git-url https://github.com/okalachev/MPU9250.git --config-file arduino-cli.yaml
	touch .dependencies

gazebo/build cmake: gazebo/CMakeLists.txt
	mkdir -p gazebo/build
	cd gazebo/build && cmake ..

build_simulator: gazebo/build
	make -C gazebo/build

simulator: build_simulator
	GAZEBO_MODEL_PATH=$$GAZEBO_MODEL_PATH:${CURDIR}/gazebo/models \
	GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
	gazebo --verbose ${CURDIR}/gazebo/flix.world

log:
	PORT=$(PORT) tools/grab_log.py

plot:
	plotjuggler -d $(shell ls -t tools/log/*.csv | head -n1)

docs:
	for FILE in docs/*.d2; do d2 $$FILE; done

clean:
	rm -rf gazebo/build flix/build flix/cache .dependencies

.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean