cmake_minimum_required(VERSION 3.8.11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD 14)
PROJECT(SDKTool)
set(VERSION_MAJOR 2)
set(VERSION_MINOR 0)
set(VERSION_TINY  5)
configure_file(
  "${CMAKE_CURRENT_SOURCE_DIR}/Version.h.in"
  "${CMAKE_CURRENT_BINARY_DIR}/Version.h"
)

cmake_policy(SET CMP0053 NEW)
set(CMAKE_BUILD_TYPE ON)
set(CMAKE_BUILD_TYPE Release)
add_definitions(-O3)
add_compile_options(-Wall)

# 设置生成平台为 x64
if(_MSC_VER)
set(CMAKE_GENERATOR_PLATFORM x64)
set(OPENSSL_ROOT_DIR "C:/Program Files/OpenSSL-Win64")
endif()


include_directories("${PROJECT_BINARY_DIR}")
find_package(Boost REQUIRED COMPONENTS system filesystem thread)
find_package(OpenSSL REQUIRED)
add_definitions(-DQT_MESSAGELOGCONTEXT)
add_subdirectory(../libhesai lbhesai.out)

# set (Boost_INCLUDE_DIRS "/usr/lib/x86_64-linux-gnu/")

include_directories(
  ../libhesai
  ../libhesai/Lidar
  ../libhesai/UdpParser
  ../libhesai/UdpParser/include
  ../libhesai/UdpParser/src
  ../libhesai/UdpProtocol
  ../libhesai/Source/include
  ../libhesai/Container/include
  ../libhesai/Container/src
  ../libhesai/UdpParserGpu
  ../libhesai/UdpParserGpu/include
  ../libhesai/UdpParserGpu/src
  ../libhesai/PtcClient/include
  ../libhesai/PtcParser
  ../libhesai/PtcParser/src
  ../libhesai/PtcParser/include
  ../libhesai/Logger/include
  ../libhesai/include
  ../driver
  ../third_party
  ${Boost_INCLUDE_DIRS}
  ${OPENSSL_INCLUDE_DIR}
)
link_directories(../libhesai/PtcClient/lib)
link_directories(${Boost_LIBRARY_DIRS})


add_executable(packet_loss_tool
  ./packet_loss_tool.cc
)

target_link_libraries(packet_loss_tool
  ${Boost_LIBRARIES}
  source_lib
  container_lib
  ptcClient_lib
  log_lib 
  ptcParser_lib
  ${OPENSSL_LIBRARIES}
)

find_package(PCL COMPONENTS common visualization io QUIET REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

add_executable(pcl_tool
  ./pcl_tool.cc
)

target_link_libraries(pcl_tool
  ${Boost_LIBRARIES}
  source_lib
  container_lib
  ptcClient_lib
  ptcParser_lib
  log_lib
  ${PCL_LIBRARIES}  
  ${OPENSSL_LIBRARIES}
)


find_package(CUDA )
if(${CUDA_FOUND})
	set(CUDA_SOURCE_PROPERTY_FORMAT OBJ)
	set(CUDA_SEPARABLE_COMPILATION ON)
	include_directories(${CUDA_INCLUDE_DIRS})
	set(CUDA_PROPAGATE_HOST_FLAGS OFF)
	set(CUDA_NVCC_FLAGS -arch=sm_61;-O3;-G;-g;-std=c++14)#根据具体GPU性能更改算力参数
	link_directories($ENV{CUDA_PATH}/lib/x64)
  file(GLOB_RECURSE CURRENT_HEADERS  ../*.h ../*.hpp ../*.cuh)
  file(GLOB CURRENT_SOURCES  ../*.cpp ../*.cu)
  source_group("Include" FILES ${CURRENT_HEADERS}) 
  source_group("Source" FILES ${CURRENT_SOURCES}) 
  CUDA_ADD_EXECUTABLE(pcl_tool_gpu ${CURRENT_HEADERS} ${CURRENT_SOURCES} 
  ./pcl_tool.cu
  ../libhesai/UdpParserGpu/src/buffer.cu
  )
  target_link_libraries(pcl_tool_gpu 
  ${Boost_LIBRARIES}
  source_lib
  container_lib
  ptcClient_lib
  log_lib
  ptcParser_lib
  ${OPENSSL_LIBRARIES}
  ${PCL_LIBRARIES} 
)
else(${CUDA_FOUND})
	MESSAGE(STATUS "cuda not found!")
endif(${CUDA_FOUND})