Import('env', 'envCython', 'arch', 'rednose_config', 'common')

generated_folder = rednose_config['generated_folder']

templates = Glob('#rednose/templates/*')

sympy_helpers = "#rednose/helpers/sympy_helpers.py"
ekf_sym = "#rednose/helpers/ekf_sym.py"
ekf_sym_pyx = "#rednose/helpers/ekf_sym_pyx.pyx"
ekf_sym_cc = env.Object("#rednose/helpers/ekf_sym.cc")
common_ekf = "#rednose/helpers/common_ekf.cc"

found = {}
for target, (command, *args) in rednose_config['to_build'].items():
  if File(command).exists():
    found[target] = (command, *args)

lib_target = [common_ekf]
for target, (command, combined_lib, extra_generated, deps) in found.items():
  target_files = File([f'{generated_folder}/{target}.cpp', f'{generated_folder}/{target}.h'])
  extra_generated = [File(f'{generated_folder}/{x}') for x in extra_generated]
  command_file = File(command)

  env.Command(target_files + extra_generated,
              [templates, command_file, sympy_helpers, ekf_sym] + deps,
              command_file.get_abspath() + " " + target + " " + Dir(generated_folder).get_abspath())

  if combined_lib:
    lib_target.append(target_files[0])
  else:
    env.SharedLibrary(f'{generated_folder}/' + target, [target_files[0], common_ekf])

libkf = env.SharedLibrary(f'{generated_folder}/libkf', lib_target)

lenv = envCython.Clone()
lenv["LINKFLAGS"] += [libkf[0].get_labspath()]

# for SWAGLOG support
if common != "":
  lenv["LIBS"] = ['zmq', common] + lenv["LIBS"]

ekf_sym_so = lenv.Program('#rednose/helpers/ekf_sym_pyx.so', [ekf_sym_pyx, ekf_sym_cc, common_ekf])
lenv.Depends(ekf_sym_so, libkf)

Export('libkf')