cmake_minimum_required(VERSION 3.0.2)
project(robot_grid_map_core VERSION 1.0.0 LANGUAGES CXX)

# ========================================================
# Detect Catkin or Standalone
# ========================================================
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
  set(BUILDING_WITH_CATKIN TRUE)
  message(STATUS "Building robot_grid_map_core with Catkin")
else()
  set(BUILDING_WITH_CATKIN FALSE)
  message(STATUS "Building robot_grid_map_core with Standalone CMake")
endif()

# ========================================================
# C++ Standard
# ========================================================
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# ========================================================
# Compiler warnings
# ========================================================
add_compile_options(-Wall -Wextra -Wpedantic)

# ========================================================
# Eigen
# ========================================================
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
  find_package(PkgConfig REQUIRED)
  pkg_check_modules(EIGEN3 REQUIRED eigen3)
  set(EIGEN3_INCLUDE_DIR ${EIGEN3_INCLUDE_DIRS})
endif()

# ========================================================
# Extras
# ========================================================
include(cmake/${PROJECT_NAME}-extras.cmake)

# ========================================================
# Dependencies
# ========================================================
if(BUILDING_WITH_CATKIN)

  find_package(catkin REQUIRED)

  catkin_package(
    INCLUDE_DIRS
      include
      ${EIGEN3_INCLUDE_DIR}
    LIBRARIES
      ${PROJECT_NAME}
    CATKIN_DEPENDS
    DEPENDS
    CFG_EXTRAS
      ${PROJECT_NAME}-extras.cmake
  )

  include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIR}
  )

else()

  # Standalone build settings
  set(CMAKE_POSITION_INDEPENDENT_CODE ON)

  # RPATH (quan trọng cho plugin / shared lib)
  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")

endif()

# ========================================================
# Library
# ========================================================
add_library(${PROJECT_NAME} SHARED
  src/GridMap.cpp
  src/GridMapMath.cpp
  src/SubmapGeometry.cpp
  src/BufferRegion.cpp
  src/Polygon.cpp
  src/CubicInterpolation.cpp
  src/iterators/GridMapIterator.cpp
  src/iterators/SubmapIterator.cpp
  src/iterators/CircleIterator.cpp
  src/iterators/EllipseIterator.cpp
  src/iterators/SpiralIterator.cpp
  src/iterators/PolygonIterator.cpp
  src/iterators/LineIterator.cpp
  src/iterators/SlidingWindowIterator.cpp
)

# ========================================================
# Includes
# ========================================================
target_include_directories(${PROJECT_NAME}
  PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
    ${EIGEN3_INCLUDE_DIR}
)

# ========================================================
# Link libraries
# ========================================================
if(BUILDING_WITH_CATKIN)

  add_dependencies(${PROJECT_NAME}
    ${${PROJECT_NAME}_EXPORTED_TARGETS}
    ${catkin_EXPORTED_TARGETS}
  )

  target_link_libraries(${PROJECT_NAME}
    PUBLIC ${catkin_LIBRARIES}
  )

else()

  set_target_properties(${PROJECT_NAME} PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
    BUILD_RPATH "${CMAKE_BINARY_DIR}"
    INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
  )

endif()

# ========================================================
# Install
# ========================================================
if(BUILDING_WITH_CATKIN)

  install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )

  install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.hpp"
  )

  install(DIRECTORY doc
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  )

else()

  install(TARGETS ${PROJECT_NAME}
    EXPORT ${PROJECT_NAME}-targets
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION bin
  )

  install(EXPORT ${PROJECT_NAME}-targets
    FILE ${PROJECT_NAME}-targets.cmake
    NAMESPACE ${PROJECT_NAME}::
    DESTINATION lib/cmake/${PROJECT_NAME}
  )

  install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION include
    FILES_MATCHING PATTERN "*.hpp"
  )

  install(DIRECTORY doc
    DESTINATION share/${PROJECT_NAME}
  )

  message(STATUS "=================================")
  message(STATUS "Project: ${PROJECT_NAME}")
  message(STATUS "Version: ${PROJECT_VERSION}")
  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
  message(STATUS "Library: ${PROJECT_NAME}")
  message(STATUS "Eigen include: ${EIGEN3_INCLUDE_DIR}")
  message(STATUS "=================================")

endif()