# --- CMake version và project name ---
cmake_minimum_required(VERSION 3.10)
project(dock_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 "${CMAKE_BINARY_DIR}/dock_planner")
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/dock_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: dock_planner ---
# Tạo thư viện chính
add_library(dock_planner
  src/dock_planner.cpp
  src/dock_calc.cpp
  src/utils/curve_common.cpp
  src/utils/pose.cpp
  src/utils/line_common.cpp
)

# --- Link các thư viện phụ thuộc ---
target_link_libraries(dock_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_cpp
    robot_nav_2d_utils
)

# --- Include directories cho target ---
target_include_directories(dock_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 dock_planner
  EXPORT dock_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/dock_planner/robot_costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(dock_planner REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---
install(EXPORT dock_planner-targets 
  FILE dock_planner-targets.cmake
  NAMESPACE dock_planner::
  DESTINATION lib/cmake/dock_planner
)

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