cmake_minimum_required(VERSION 3.0.2)
project(slam_localization VERSION 2022 LANGUAGES CXX C )

IF ( DEFINED TEST_TOOLCHAIN_ROOT )
	message ( "compile ARM, targetf ${TEST_TOOLCHAIN_ROOT}" )
	add_definitions ( "-O2" )
	set ( TEST_COMPILER_ROOT "${TEST_TOOLCHAIN_ROOT}/gcc-10.3-2021.07-x86_64-aarch64-none-linux-gnu/bin" )

	set ( CMAKE_SYSTEM_NAME Linux )
	set ( CMAKE_SYSTEM_PROCESSOR arm )

	set ( CMAKE_CXX_COMPILER ${TEST_COMPILER_ROOT}/aarch64-none-linux-gnu-g++ )
	set ( CMAKE_C_COMPILER ${TEST_COMPILER_ROOT}/aarch64-none-linux-gnu-gcc )

	set ( CMAKE_CXX_STANDARD 14 )
	set ( CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -Wall -g2 -ggdb" )
	set ( CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -Wall" )

# set ( CMAKE_SYSROOT ${TEST_TOOLCHAIN_ROOT}/targetfs )
ELSE ()
        add_definitions ( "-std=c++14 -Wall -g" )

	# add_definitions ( "-std=c++14 -Wall -O2" )
ENDIF ()


set ( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w" )

set ( CMAKE_BUILD_TYPE Release )
set ( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -g  -no-pie" )

set ( CFLAGS "${CFLAGS} -fPIC" )
set ( CXXFLAGS "${CXXFLAGS} -fPIC" )

add_compile_options ( -fPIC )

# Add compile options for the project
add_compile_options ( -Wno-reorder )
add_compile_options(-Wno-sign-compare)
add_compile_options(-Wno-unused-variable)

set (3rdparty_dir  ${PROJECT_SOURCE_DIR}/3rdparty)

include_directories (
    ${PROJECT_SOURCE_DIR}
    ${PROJECT_SOURCE_DIR}/include
	${PROJECT_SOURCE_DIR}/wrappers
	${CMAKE_SOURCE_DIR}/modules/common/inc/ap-cm-wrapper
	${CMAKE_SOURCE_DIR}/generated/includes
    )

if ( NOT DEFINED TEST_TOOLCHAIN_ROOT AND CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64" )
    set ( ARCH ubuntu )
    set ( CMAKE_BUILD_TYPE Debug )
else ()
	set ( ARCH arm )
endif ()

include (${PROJECT_SOURCE_DIR}/cmake/slam_dependency.cmake )


#add_subdirectory (${PROJECT_SOURCE_DIR}/ego )
add_subdirectory (${PROJECT_SOURCE_DIR}/vision )
add_subdirectory ( ${PROJECT_SOURCE_DIR}/src )
#add_subdirectory ( ${PROJECT_SOURCE_DIR}/viewer)


set ( OUTPUT ${CMAKE_BINARY_DIR} )
file(GLOB CONFIG_FILES "${PROJECT_SOURCE_DIR}/data/*"
)
file(COPY ${CONFIG_FILES} DESTINATION ${OUTPUT}/data)
file(GLOB SOURCES_FILES
    ${PROJECT_SOURCE_DIR}/wrappers/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/slamservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/canservice/*.cpp
	)

add_executable(SlamExe ${SOURCES_FILES} main.cpp)
target_link_libraries(SlamExe slam_static
		-llog    	
     	common
)