Makefile

# Minimal makefile for Sphinx documentation

# You can set these variables from the command line.
SPHINXOPTS    =
SPHINXBUILD   = python3 -msphinx
SPHINXPROJ    = research-interface
SOURCEDIR     = source
BUILDDIR      = build
REPOS         = upstream.repos

# Put it first so that "make" without argument is like "make help".
help:
	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

.PHONY: help Makefile clean html import-repos generate-js

# Generate compatibility data JavaScript file
generate-js:
	@chmod +x $(SOURCEDIR)/_static/generate_compatibility_js.py
	@$(SOURCEDIR)/_static/generate_compatibility_js.py

# Import VCS repositories for documentation
import-repos:
	@echo "Importing VCS repositories..."
	@mkdir -p $(SOURCEDIR)/doc
	@vcs import --shallow --skip-existing --input $(REPOS) $(SOURCEDIR)/doc

# Clean build directory and doc imports
# Note, we intentionally do not remove the entire doc directory to preserve any manually added content,
# but we do clean the build directory to ensure a fresh build each time.
clean:
	rm -rf $(BUILDDIR)/*

# Custom html target that first imports repos, generates JS, then builds
html:
	@if [ ! -d "$(SOURCEDIR)/doc/franka_ros" ] || [ ! -d "$(SOURCEDIR)/doc/franka_ros2_jazzy" ] || [ ! -d "$(SOURCEDIR)/doc/franka_ros2_humble" ] || [ ! -d "$(SOURCEDIR)/doc/libfranka" ] || [ ! -d "$(SOURCEDIR)/doc/franka_toolbox_for_matlab" ] || [ ! -d "$(SOURCEDIR)/doc/franka_description" ]; then \
		$(MAKE) import-repos; \
	fi
	@$(MAKE) generate-js
	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)