# 设置项目名称
project(mwrobot_panoptic_perception)
# 最小CMake版本号
cmake_minimum_required(VERSION 3.5)
# C++14为标准
set( CMAKE_CXX_STANDARD 14 )


set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
# set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
# set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

set(VERSION_NUMBER  V001) 
string(TIMESTAMP COMPILE_TIME %y%m%d-%H%M%S-${VERSION_NUMBER}) 
set(build_time    ${COMPILE_TIME}) 

configure_file( 
    "config/version_config.h.in"
    "config/version_config.h"
)

# ------------------------------- 3rdparty -------------------------------
include_directories(
  ${PROJECT_SOURCE_DIR}/src
  ${PROJECT_SOURCE_DIR}/config
  ${PROJECT_SOURCE_DIR}/3rdparty
  ${PROJECT_SOURCE_DIR}/3rdparty/MVS/include
  ${PROJECT_SOURCE_DIR}/3rdparty/mpp/include
  ${PROJECT_SOURCE_DIR}/3rdparty/mpp/include/rockchip
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/include
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/include/BasicUsageEnvironment
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/include/groupsock
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/include/liveMedia
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/include/UsageEnvironment
  ${PROJECT_SOURCE_DIR}/3rdparty/librknn_api/include
  ${PROJECT_SOURCE_DIR}/3rdparty/rga/include
  /usr/include/aarch64-linux-gnu
)
link_directories(
  ${PROJECT_SOURCE_DIR}/3rdparty/mpp/lib
  ${PROJECT_SOURCE_DIR}/3rdparty/live555/lib
  ${PROJECT_SOURCE_DIR}/3rdparty/MVS/aarch64
  ${PROJECT_SOURCE_DIR}/3rdparty/librknn_api/aarch64
  ${PROJECT_SOURCE_DIR}/3rdparty/rga/lib
)

# ------------------------------- OPENCV -------------------------------
find_package(OpenCV REQUIRED)

message(STATUS "    OpenCV library status:")
message(STATUS "    version: ${OpenCV_VERSION}")
message(STATUS "    libraries: ${OpenCV_LIBS}")
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")

include_directories(
  ${OpenCV_INCLUDE_DIRS} 
  ${OpenCV_INCLUDE_DIRS}/opencv2
  )

# ------------------------------- ROS2 -------------------------------
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)

find_package(mwrobot_msgs REQUIRED)
find_package(mwrobot_base_core REQUIRED)

# 设置依赖关系
set(dependencies ament_cmake rclcpp rmw tf2_ros tf2_geometry_msgs tf2 mwrobot_msgs mwrobot_base_core)

include_directories(
  ${ament_cmake_INCLUDE_DIRS} 
  ${rclcpp_INCLUDE_DIRS} 
  ${rmw_INCLUDE_DIRS} 
  ${tf2_ros_INCLUDE_DIRS} 
  ${tf2_geometry_msgs_INCLUDE_DIRS} 
  ${tf2_INCLUDE_DIRS} 
  ${mwrobot_msgs_INCLUDE_DIRS}
  ${mwrobot_base_core_INCLUDE_DIRS}
)
# ------------------------------- sirius -------------------------------
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} /opt/sirius /opt/sirius_log)
find_package(sirius REQUIRED)
find_package(sirius_log REQUIRED)
include_directories(
  ${sirius}
  ${sirius_INCLUDE_DIRS}
  ${sirius_log_INCLUDE_DIRS}
  ${tf2_INCLUDE_DIRS}
    )

link_directories(
  ${sirius_LIBRARY_PATH} 
  ${sirius_log_LIBRARY_PATH}
)

link_directories(
	/usr/lib/aarch64-linux-gnu
	/usr/lib
	/usr/local/lib
)


# 递归查找所有符合通配符的文件
file(GLOB_RECURSE SOURCE_FILES src/*.h src/*.cpp src/*.c 3rdparty/nlohmann/json.hpp)

# 定义可执行文件
add_executable(${PROJECT_NAME}  ${SOURCE_FILES})

# 链接库文件到可执行文件
target_link_libraries(
  ${PROJECT_NAME}
  ${OpenCV_LIBS}
  FormatConversion MediaProcess MvCameraControl MVGigEVisionSDK MVRender MvUsb3vTL
  liveMedia BasicUsageEnvironment groupsock UsageEnvironment
  pthread rockchip_mpp rga rknnrt
  rockchip_mpp
  utils
  -lavformat -lavcodec -lswscale -lavutil -lz
  m
)
# ros2
target_link_libraries(${PROJECT_NAME} ${mwrobot_base_core_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${sirius_LIBRARIES} ${sirius_log_LIBRARIES} ${rclcpp_INCLUDE_DIRS} )

ament_target_dependencies(${PROJECT_NAME} ${dependencies})