OMK - OCERA Make System
OMK (OCERA Make System) is a Make system developed by our department under the OCERA project. The main objectives of the OMK system is to simplify compilation of components on the host machine as well as cross compilation for the target. In addition the system brings a better directory and file structure. Make system allows to build out of sources tree and store results of build in a separate directory structure to simplify testing and program install.
A key solution is to have a central Makefile with compilation rules for most of sub-components and components. This solution allows faster and smoother change on the system, such as the kernel update. Having most rules in a central file, Makefiles in sources directories can be very simple.
The OMK system gives us a possibility to develop robot's control program and libraries on high-capacity desktops along with cross-compiling final program for the PowerPC board.