# --- CMake version và project name ---
cmake_minimum_required(VERSION 3.10)
project(custom_planner)

# --- C++ standard và position independent code ---
set(CMAKE_CXX_STANDARD 17)            # Sử dụng C++17
set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # Thư viện có thể build thành shared lib

# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
# Dùng để runtime linker tìm thư viện đã build trước khi install
set(CMAKE_SKIP_BUILD_RPATH FALSE)
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# --- Dependencies ---
# Tìm các thư viện cần thiết
# find_package(tf3 REQUIRED)            # Nếu dùng tf3
find_package(Eigen3 REQUIRED)          # Thư viện Eigen cho toán học
find_package(Boost REQUIRED COMPONENTS system thread filesystem)  # Boost: system, thread, filesystem

# --- Include directories ---
# Thêm các folder chứa header files
include_directories(
    include  
    ${EIGEN3_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
)

# --- Eigen và PCL definitions ---
add_definitions(${EIGEN3_DEFINITIONS})

# --- Core library: custom_planner ---
# Tạo thư viện chính
add_library(custom_planner
  src/custom_planner.cpp
  src/pathway.cc
  src/pose.cc
  src/Curve_common.cpp
  src/merge_path_calc.cpp
)

# --- Link các thư viện phụ thuộc ---
target_link_libraries(custom_planner
    ${Boost_LIBRARIES}        # Boost
    robot_visualization_msgs
    robot_nav_msgs
    tf3
    robot_tf3_geometry_msgs
    robot_time
    data_convert
    robot_costmap_2d
    nav_core
    robot_protocol_msgs
)

# --- Include directories cho target ---
target_include_directories(custom_planner 
        PUBLIC 
            ${Boost_INCLUDE_DIRS}  # Boost headers
            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Khi build từ source
            $<INSTALL_INTERFACE:include/${PROJECT_NAME}>             # Khi install
        )

# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS custom_planner
  EXPORT custom_planner-targets
  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
  LIBRARY DESTINATION lib      # Thư viện động .so
  RUNTIME DESTINATION bin      # File thực thi (nếu có)
  INCLUDES DESTINATION include # Cài đặt include
)

# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/custom_planner/robot_costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(custom_planner REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE custom_planner::custom_planner) ---
install(EXPORT custom_planner-targets 
  FILE custom_planner-targets.cmake
  NAMESPACE custom_planner::
  DESTINATION lib/cmake/custom_planner
)

# --- Cài đặt headers ---
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION include/${PROJECT_NAME}
)

# # --- Plugin libraries ---
# # Tạo các plugin shared library
# add_library(plugins 
#     SHARED 
#     plugins/static_layer.cpp
#     plugins/obstacle_layer.cpp
#     plugins/inflation_layer.cpp
#     plugins/voxel_layer.cpp
#     plugins/critical_layer.cpp
#     plugins/directional_layer.cpp
#     plugins/preferred_layer.cpp
#     plugins/unpreferred_layer.cpp
#     )

# target_link_libraries(plugins 
#         custom_planner 
#         ${Boost_LIBRARIES} 
#         yaml-cpp
#         robot_time
#         )