cmake_minimum_required(VERSION 3.12)

project(fusion)

set(MODULE_NAME "fusion")

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

add_compile_definitions(CAMERA_SENSETIME=1)
add_compile_definitions(PROJECT_ZT_OBJECT_OPTIMIZATION_FOR_RAM=1)
add_compile_definitions(PROJECT_ZT_RAM_REDUCTION_SWITCH=1)
add_compile_definitions(ALGO_TUE_TTTA_OBJECT_FUSION_SWITCH=1)
add_compile_definitions(PROJECT_ZT_SPECIAL_VERSION=1)

# Logging flag
# if it's defined, log messages will be printed
add_compile_definitions(FUSION_LOG_MSG)

include_directories(${PROJECT_SOURCE_DIR})
include_directories(${PROJECT_SOURCE_DIR}/Include)
include_directories(${PROJECT_SOURCE_DIR}/Public)
include_directories(${PROJECT_SOURCE_DIR}/Source)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/ObjectFusionMpf)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Cfg/Geely)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/ContiRadarConverter/Cfg)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/ContiRadarConverter/Include)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/ContiRadarConverter/Public)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/MVSCamConverter/Cfg)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/MVSCamConverter/Include)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/MVSCamConverter/Public)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/ObjFusnObjListToVolvoSnsrFusnConvert/Cfg)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Converters/ObjFusnObjListToVolvoSnsrFusnConvert/Public)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Platform/Common/Types)
include_directories(${PROJECT_SOURCE_DIR}/Wrapper/Integration/Platform/Common/Public)
include_directories(${PROJECT_SOURCE_DIR}/wrappers)
include_directories(${CMAKE_SOURCE_DIR}/generated/includes)
include_directories(${CMAKE_SOURCE_DIR}/modules/common/inc/ap-cm-wrapper)
include_directories(${CMAKE_SOURCE_DIR}/modules/common/inc)
include_directories(${CMAKE_SOURCE_DIR}/modules/fusion/wrappers)


link_directories("${CMAKE_BINARY_DIR}")

set("source_files" "Source/tue_prv_lkf_trackManagement.c"
                   "Source/tue_prv_modes_filtering.c"
                   "Source/tue_prv_egoMotion.c"
                   "Source/tue_prv_lkf_coordinatedTurn.c"
                   "Source/TueObjFusn_Kinematics.c"
                   "Source/tue_prv_trackMerge.c"
                   "Source/tue_prv_idProvider.c"
                   "Source/tue_prv_egoCoordCompensation.c"
                   "Source/tue_prv_association.c"
                   "Source/tue_prv_common_matrix.c"
                   "Source/tue_prv_quality_management.c"
                   "Source/TueObjFusn_Version.c"
                   "Source/TueObjFusn_DistMatrix.c"
                   "Source/tue_Fusion.c"
                   "Source/TueObjFusn_ParameterInterface.c"
                   "Source/tue_prv_validation_management.c"
                   "Source/tue_prv_fusion_math.c"
                   "Source/tue_prv_gainEstimation.c"
                   "Source/tue_prv_fusion_tools.c"
                   "Source/tue_prv_lkf.c"
                   "Source/tue_prv_fusion_memory.c"
                   "Source/TueObjFusn_TrackableListUtils.c"
                   "Source/tue_prv_common_array_utils.c"
                   "Source/tue_prv_distance_score.c"
                   "Source/tue_prv_error_management.c"
                   "Source/tue_prv_objectSelection.c"
                   "Source/tue_prv_motionType.c"
                   "Source/Fusion_SLAM_utils.c"
                   "Wrapper/Integration/Converters/MVSCamConverter/Source/MVSCamConverter.c"
                   "Wrapper/ObjectFusionMpf/sfObjectFusionMpf_func.c"
                   "Wrapper/Integration/Converters/ContiRadarConverter/Source/ContiRadarConverter.c"
                   )

file(GLOB_RECURSE
        SOURCESES
        ${CMAKE_CURRENT_SOURCE_DIR}/wrappers/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/fusionservice/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/vedservice/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/cameradrivingservice/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/cameraparkingservice/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/lidarperceptionservice/*.cpp
        ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/cameradrivingperservice/*.cpp
        
        
        
)

add_library("source" ${source_files})
add_executable(${MODULE_NAME}   ${SOURCESES} "main.cpp" "Sensor_CameraProcess.c" "Sensor_LidarProcess.c" "Fusion_main.c" "SimUtils.c")

target_link_libraries(${MODULE_NAME}
        source
         -lm 
         -llog
         common
         pthread 
         jsoncpp
    	 yaml-cpp	 
         ${AP_LIBRARIES}
     	)