cmake_minimum_required(VERSION 3.8)
project(mpc_drv_ctap_ba)
set(MODULE_NAME dpc_decision)

add_compile_options(-std=c++17 -fPIC)
# add_compile_options(-g) # only for local debug
# add_compile_options(-Wall -Wextra -Wpedantic)

# find dependencies
# find_package(ament_cmake REQUIRED)

# find_package(Boost REQUIRED COMPONENTS  
# thread timer chrono) #示例：添加库
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
# find_package(rclcpp REQUIRED)
# find_package(visualization_msgs REQUIRED)
# find_package(mpc_drv_msgs REQUIRED)

set(BA_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(CMAKE_BUILD_TYPE RELEASE)
# set(CMAKE_BUILD_TYPE DEBUG)
# set(CMAKE_EXE_LINK_FLAGS "${CMAKE_EXE_LINK_FLAGS} -fsanitize=address") # only for local debug
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare -Wreturn-type") #no return type warning
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror") #警告变错误
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w -fpermissive") #忽视警告
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,-rpath=./")#设置rpath，用于指定程序运行时依赖库路径（当前程序所在目录）
# set(CMAKE_EXE_LINKER_FLAGS " -no-pie") #防止链接动态库时出现错误 ： can not be used when making a PIE object; recompile with -fPIC

file(GLOB SOURCES_FILES
    ${BA_DIR}/source/*.cpp
    ${BA_DIR}/source/wrappers/*.cpp
    ${BA_DIR}/source/modules/*.cpp
    ${BA_DIR}/source/PD_module/*.cpp
    ${BA_DIR}/source/PD_module/include/CtApPrediction/*.cpp
    ${BA_DIR}/source/PD_module/source/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/dmservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/emservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/slamservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/vedservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/canservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/smservice/*.cpp
)   

message(STATUS "${MODULE_NAME}")
add_executable(${MODULE_NAME} ${SOURCES_FILES} source/main.cpp )
# ament_target_dependencies(${MODULE_NAME} rclcpp mpc_drv_msgs visualization_msgs)    # CHANGE

target_include_directories(${MODULE_NAME} PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${CMAKE_SOURCE_DIR}/generated/includes
  ${CMAKE_SOURCE_DIR}/modules/common/inc/ap-cm-wrapper)

target_compile_features(${MODULE_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

include_directories(
  ${BA_DIR}/include/
  # include
  # ${CMAKE_INCLUDE_CURRENT_DIR}
  ${CMAKE_SOURCE_DIR}/generated/includes
  ${BA_DIR}/source/
  ${BA_DIR}/source/modules
  ${BA_DIR}/source/PD_module
  ${BA_DIR}/source/wrappers
  ${BA_DIR}/source/PD_module/include
  ${BA_DIR}/source/PD_module/include/CtApPrediction
  ${BA_DIR}/source/PD_module/source
  ${BA_DIR}/include/CtApBehaviorAnalysis_
  ${CMAKE_SOURCE_DIR}/modules/common/inc/ap-cm-wrapper
  

  # ${Boost_INCLUDE_DIRS}

  ${BA_DIR}/third_party
  ${BA_DIR}/third_party/gtest
  ${BA_DIR}/third_party/glog
  ${BA_DIR}/third_party/gflags
)

link_directories(
  ${BA_DIR}/third_party
  ${BA_DIR}/third_party/gtest
  ${BA_DIR}/third_party/glog
  ${BA_DIR}/third_party/gflags
)

# add_definitions(-DGTEST)
# add_definitions(-DGLOG)
add_definitions(-DBA_Debug)
# add_definitions(-DPD_Debug)
add_definitions(-DBA_RVIZ)
add_definitions(-O2)

target_link_libraries(
  ${MODULE_NAME}
  PRIVATE
  ${AP_LIBRARIES}
  pthread 
  jsoncpp
  yaml-cpp	       	
  -llog    	
  common
  ${BA_DIR}/third_party/glog/libglog.a
  ${BA_DIR}/third_party/gflags/libgflags.a
  # ${Boost_LIBRARIES}
  )
 
## Set install Options ##
# install(DIRECTORY config/
#   DESTINATION ${MODULE_NAME}/config
# )

# install(DIRECTORY lib/${ARCH}/
#   DESTINATION ${MODULE_NAME}/lib
#   USE_SOURCE_PERMISSIONS
# )

install(TARGETS 
  ${MODULE_NAME}
  # ARCHIVE DESTINATION ${MODULE_NAME}/lib
  LIBRARY DESTINATION ${MODULE_NAME}/lib
  RUNTIME DESTINATION ${MODULE_NAME}/lib
)

install(DIRECTORY script/
  DESTINATION ${MODULE_NAME}/script
  USE_SOURCE_PERMISSIONS
)

install(DIRECTORY source/config
DESTINATION ${MODULE_NAME})

if(BUILD_TESTING)
  # find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  # ament_lint_auto_find_test_dependencies()
endif()

# ament_package()