cmake_minimum_required(VERSION 3.8)
project(mpc_drv_ctap_rm)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(GTEST 0)

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Release")
endif() 
if(CMAKE_BUILD_TYPE STREQUAL "Debug")    
    add_definitions(-O0 -g)
else()    
    add_definitions(-O2)
endif()

# find dependencies
# find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
# find_package(rclcpp REQUIRED)
# find_package(nav_msgs REQUIRED)
# find_package(loc_msgs REQUIRED)
# find_package(visualization_msgs REQUIRED)
# find_package(mpc_drv_msgs REQUIRED)
# find_package(cem_interfaces REQUIRED)
# find_package(vehicle_msgs REQUIRED)

if(GTEST)
    add_definitions(-DGTEST)
endif()

#add_definitions(-DRVIZ)

set(RM_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror") #警告变错误
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") #忽视警告
set(CMAKE_CXX_FLAGS "${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
    ${RM_DIR}/core/*.cc
    ${RM_DIR}/wrappers/*.cpp
    # ${RM_DIR}/core/ats/c0calculator/*.cc
    # ${RM_DIR}/core/ats/funnel/*.cc
    # ${RM_DIR}/core/ats/handler/*.cc
    # ${RM_DIR}/core/ats/logger/*.cc
    # ${RM_DIR}/core/ats/node/*.cc
    # ${RM_DIR}/core/ats/offsetcalculator/*.cc
    # ${RM_DIR}/core/ats/param/*.cc
    # ${RM_DIR}/core/ats/road/*.cc
    # ${RM_DIR}/core/ats/runner/*.cc
    # ${RM_DIR}/core/ats/selector/*.cc
    # ${RM_DIR}/core/ats/util/*.cc
    # ${RM_DIR}/core/ats/validator/*.cc
     ${RM_DIR}/core/common/base/*.cc
    ${RM_DIR}/core/common/math/*.cc
    ${RM_DIR}/core/road/*.cc
    ${RM_DIR}/core/config/*.cc
    ${RM_DIR}/core/task/*.cc
    ${RM_DIR}/core/task/builders/*.cc
    ${RM_DIR}/core/task/builders/boundary_builder/*.cc
    ${RM_DIR}/core/task/builders/corridor_builder/*.cc
    ${RM_DIR}/core/task/builders/object_assignment_builder/*.cc
    ${RM_DIR}/core/task/builders/ilc_corridor_builder/*.cc
    ${RM_DIR}/core/common/state_machine/*.cc
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/emservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/fusionservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/slamservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/canservice/*.cpp
)   
message(STATUS "${PROJECT_NAME}")

if(GTEST)
  add_executable(${PROJECT_NAME} ${SOURCES_FILES} ${RM_DIR}/core/mpc_drv_ctap_rm_node_unit_test.cpp)
else()
  add_executable(${PROJECT_NAME} ${SOURCES_FILES} ${RM_DIR}/core/mpc_drv_ctap_rm_node.cpp)
endif()

# ament_target_dependencies(${PROJECT_NAME} rclcpp visualization_msgs mpc_drv_msgs cem_interfaces vehicle_msgs nav_msgs loc_msgs)    # CHANGE

target_include_directories(${PROJECT_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
        ${RM_DIR}/wrappers/
  )
  
target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

include_directories(
${CMAKE_SOURCE_DIR}/generated/includes
${CMAKE_SOURCE_DIR}/generated/includes/dpc
  ${RM_DIR}/core
  ${RM_DIR}/third_party
  ${RM_DIR}/third_party/glog
  ${RM_DIR}/third_party/gflags
  ${RM_DIR}/third_party/gtest
  # ${RM_DIR}/core/ats/c0calculator
  # ${RM_DIR}/core/ats/funnel
  # ${RM_DIR}/core/ats/handler
  # ${RM_DIR}/core/ats/interface
  # ${RM_DIR}/core/ats/logger
  # ${RM_DIR}/core/ats/node
  # ${RM_DIR}/core/ats/offsetcalculator
  # ${RM_DIR}/core/ats/param
  # ${RM_DIR}/core/ats/platform
  # ${RM_DIR}/core/ats/road
  # ${RM_DIR}/core/ats/runner
  # ${RM_DIR}/core/ats/selector
  # ${RM_DIR}/core/ats/util
  # ${RM_DIR}/core/ats/validator
  ${RM_DIR}/core/common/base
  ${RM_DIR}/core/common/math
  ${RM_DIR}/core/road
  ${RM_DIR}/core/config
  ${RM_DIR}/core/task
  ${RM_DIR}/core/task/builders
  ${RM_DIR}/core/task/builders/boundary_builder
  ${RM_DIR}/core/task/builders/corridor_builder
  ${RM_DIR}/core/task/builders/object_assignment_builder
  ${RM_DIR}/core/task/builders/ilc_corridor_builder
  ${RM_DIR}/core/common/
  ${RM_DIR}/../../../generated/includes
  ${RM_DIR}/../../../generated/includes
)

message("######## ${RM_DIR}/../../../generated/includes")

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

if(GTEST)
  target_link_libraries(${PROJECT_NAME}
  ${RM_DIR}/third_party/glog/libglog.a
  ${RM_DIR}/third_party/gtest/libgtest.a
  ${RM_DIR}/third_party/gflags/libgflags.a
  )
else()
  target_link_libraries(${PROJECT_NAME}
  ${RM_DIR}/third_party/glog/libglog.a
  ${RM_DIR}/third_party/gflags/libgflags.a
  ${AP_LIBRARIES}
        pthread 
         jsoncpp
    	 yaml-cpp	       	
    	-llog    	
     	common
  )
endif()


## Set install Options ##
# install(DIRECTORY config/
#   DESTINATION ${PROJECT_NAME}/config
# )

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

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

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

install(DIRECTORY ${RM_DIR}/conf/
  DESTINATION ${PROJECT_NAME}/config
)

# 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()