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_voxel_grid with Catkin")
else()
  set(BUILDING_WITH_CATKIN FALSE)
  message(STATUS "Building robot_voxel_grid with Standalone CMake")
endif()

project(robot_voxel_grid)

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

# ========================================================
# Find dependencies
# ========================================================

if(BUILDING_WITH_CATKIN)
  find_package(catkin REQUIRED)
endif()

# # Check for sys/time.h
# check_include_file(sys/time.h HAVE_SYS_TIME_H)
# if (HAVE_SYS_TIME_H)
#   add_definitions(-DHAVE_SYS_TIME_H)
# endif (HAVE_SYS_TIME_H)

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

if(BUILDING_WITH_CATKIN)
  catkin_package(
    INCLUDE_DIRS include
    LIBRARIES robot_voxel_grid
  )
endif()

# Include directories
include_directories(  
  include
  ${GTEST_INCLUDE_DIRS}
  )

if(BUILDING_WITH_CATKIN)
  include_directories(${catkin_INCLUDE_DIRS})
endif()

# Library
add_library(robot_voxel_grid SHARED src/voxel_grid.cpp)

target_include_directories(robot_voxel_grid
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)

if(BUILDING_WITH_CATKIN)
  add_dependencies(robot_voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()

# ========================================================
# Installation
# ========================================================

# Install targets
install(TARGETS robot_voxel_grid
  EXPORT robot_voxel_gridTargets
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

if(NOT BUILDING_WITH_CATKIN)
  # Install headers (standalone)
  install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION include/${PROJECT_NAME}
  )
endif()

install(EXPORT robot_voxel_gridTargets
  DESTINATION lib/cmake/robot_voxel_grid)


# Testing
enable_testing()

# Find Google Test
find_package(GTest QUIET)
if(GTest_FOUND OR GTEST_FOUND)
  # Find pthread (required for GTest)
  find_package(Threads REQUIRED)
  
  include_directories(${GTEST_INCLUDE_DIRS})
  add_executable(robot_voxel_grid_tests test/voxel_grid_tests.cpp)
  target_link_libraries(robot_voxel_grid_tests
    robot_voxel_grid
    ${GTEST_LIBRARIES}
    Threads::Threads
  )
  add_test(NAME robot_voxel_grid_tests COMMAND robot_voxel_grid_tests)
else()
  message(STATUS "Google Test not found. Tests will not be built.")
endif()