cmake_minimum_required(VERSION 3.10)

# ========================================================
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
# ========================================================

# Detect if building with Catkin
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
  set(BUILDING_WITH_CATKIN TRUE)
  message(STATUS "Building robot_tf3_sensor_msgs with Catkin")
  find_package(catkin REQUIRED)
else()
  set(BUILDING_WITH_CATKIN FALSE)
  message(STATUS "Building robot_tf3_sensor_msgs with Standalone CMake")
endif()

project(robot_tf3_sensor_msgs)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

# ========================================================
# Catkin specific configuration
# ========================================================

if(BUILDING_WITH_CATKIN)
  catkin_package(
    INCLUDE_DIRS include
    # LIBRARIES không cần vì đây là header-only library
    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
    DEPENDS Eigen3 Boost
  )
endif()

# Find dependencies
find_package(Boost COMPONENTS thread REQUIRED)
find_package(GTest REQUIRED)

# Finding Eigen3
find_package(Eigen3 REQUIRED)


# Include directories
include_directories(
  include
  ${EIGEN3_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${GTEST_INCLUDE_DIRS}
)

add_library(robot_tf3_sensor_msgs INTERFACE
)

target_include_directories(robot_tf3_sensor_msgs
    INTERFACE
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include>
)

target_link_libraries(robot_tf3_sensor_msgs INTERFACE 
                      robot_sensor_msgs
                      data_convert
                      )

# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS robot_tf3_sensor_msgs
  EXPORT robot_tf3_sensor_msgs-targets
  INCLUDES DESTINATION include # Cài đặt include
)

# --- Xuất export set robot_tf3_sensor_msgs-targets thành file CMake module ---
# --- Tạo file lib/cmake/robot_tf3_sensor_msgs/robot_tf3_sensor_msgs-targets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(robot_tf3_sensor_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE robot_tf3_sensor_msgs::robot_tf3_sensor_msgs) ---
install(EXPORT robot_tf3_sensor_msgs-targets 
  FILE robot_tf3_sensor_msgs-targets.cmake
  NAMESPACE robot_tf3_sensor_msgs::
  DESTINATION lib/cmake/robot_tf3_sensor_msgs
)
  
add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp)
target_include_directories(test_tf2_sensor_msgs PUBLIC 
  ${EIGEN3_INCLUDE_DIRS}
  ${GTEST_INCLUDE_DIRS}
  robot_tf3_sensor_msgs
  geometry_msgs
  tf3
)
target_link_libraries(test_tf2_sensor_msgs 
  ${GTEST_LIBRARIES}
  Threads::Threads
  robot_tf3_sensor_msgs
  geometry_msgs
  tf3
  data_convert
)