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

if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
  set(BUILDING_WITH_CATKIN TRUE)
  message(STATUS "Building robot_cpp with Catkin")

else()
  set(BUILDING_WITH_CATKIN FALSE)
  message(STATUS "Building robot_cpp with Standalone CMake")
endif()

# C++ Standard - must be set before find_package
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# Find dependencies
find_package(yaml-cpp REQUIRED)
find_package(console_bridge REQUIRED)

if (NOT BUILDING_WITH_CATKIN)

  # Enable Position Independent Code
  set(CMAKE_POSITION_INDEPENDENT_CODE ON)

  # Cấu hình RPATH để tránh cycle trong runtime search path
  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")

  set(PACKAGES_DIR  
    robot_xmlrpcpp
    robot_time
  )

else()

# ========================================================
# Catkin specific configuration
# ========================================================
  find_package(catkin REQUIRED COMPONENTS         
    robot_xmlrpcpp
    robot_time
  )

  catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS robot_xmlrpcpp robot_time
    # Note: yaml-cpp and console_bridge are system dependencies, 
    # linked via target_link_libraries, not via catkin_package DEPENDS
  )

  include_directories(
    include
    ${catkin_INCLUDE_DIRS}
  )
endif()

# Use yaml-cpp target if available (modern CMake)
if(TARGET yaml-cpp::yaml-cpp)
  set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
  message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
elseif(TARGET yaml-cpp)
  set(YAML_CPP_TARGET yaml-cpp)
  message(STATUS "Using yaml-cpp target: yaml-cpp")
elseif(yaml-cpp_LIBRARIES)
  # Fallback to library variable if target not available
  set(YAML_CPP_TARGET ${yaml-cpp_LIBRARIES})
  message(STATUS "Using yaml-cpp library: ${YAML_CPP_TARGET}")
else()
  # Last resort: use library name
  set(YAML_CPP_TARGET yaml-cpp)
  message(STATUS "Using yaml-cpp library name: yaml-cpp")
endif()

# Compiler flags
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  # Warning flags - disabled to suppress warnings during build
  # add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
  add_compile_options(-w -fPIC)  # -w suppresses all warnings
endif()

# Libraries
add_library(${PROJECT_NAME} SHARED
  src/console.cpp
  src/node_handle.cpp
  src/plugin_loader_helper.cpp
  src/init.cpp
)

# Enable C++17 filesystem feature
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)

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

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

  # Link filesystem library if needed (for GCC < 9 or Clang)
  set(FILESYSTEM_LIB "")
  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
    set(FILESYSTEM_LIB "stdc++fs")
  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    find_library(FILESYSTEM_LIB c++fs)
  endif()

  target_link_libraries(${PROJECT_NAME}
    PUBLIC ${catkin_LIBRARIES}
    PRIVATE ${YAML_CPP_TARGET}
    PRIVATE dl  # Required for dladdr() function used in plugin_loader_helper.cpp
  )
  
  if(FILESYSTEM_LIB)
    target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
  endif()

else()

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

  # Link filesystem library if needed (for GCC < 9 or Clang)
  set(FILESYSTEM_LIB "")
  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
    set(FILESYSTEM_LIB "stdc++fs")
  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    find_library(FILESYSTEM_LIB c++fs)
  endif()

  target_link_libraries(${PROJECT_NAME}
    PUBLIC
      ${PACKAGES_DIR}
      ${YAML_CPP_TARGET}
    PRIVATE
      dl  # Required for dladdr() function used in plugin_loader_helper.cpp
  )
  
  if(FILESYSTEM_LIB)
    target_link_libraries(${PROJECT_NAME} PRIVATE ${FILESYSTEM_LIB})
  endif()

  set_target_properties(${PROJECT_NAME} PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
  )

endif()

# Define CMAKE_BINARY_DIR as compile definition so it's available at runtime
target_compile_definitions(${PROJECT_NAME} 
  PRIVATE 
    PNKX_NAV_CORE_BUILD_DIR="${CMAKE_BINARY_DIR}"
)

if(BUILDING_WITH_CATKIN)
  ## Mark libraries for installation
  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
  install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
  )

  ## Mark cpp header files for installation
  install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
    PATTERN ".svn" EXCLUDE
  )
  
else()

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

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

  ## Mark cpp header files for installation
  install(DIRECTORY include/
    DESTINATION include
    FILES_MATCHING PATTERN "*.h"
    PATTERN ".svn" EXCLUDE
  )

  # ========================================================
  # Install CMake Config File for find_package()
  # ========================================================
  # Generate config file from template
  configure_file(
    ${CMAKE_CURRENT_SOURCE_DIR}/robot_cppConfig.cmake.in
    ${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
    @ONLY
  )

  # Install config file
  install(FILES
    ${CMAKE_CURRENT_BINARY_DIR}/robot_cppConfig.cmake
    DESTINATION lib/cmake/${PROJECT_NAME}
  )

  # Print configuration info
  message(STATUS "=================================")
  message(STATUS "Project: ${PROJECT_NAME}")
  message(STATUS "Version: ${PROJECT_VERSION}")
  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
  message(STATUS "Dependencies: robot_xmlrpcpp, robot_time, yaml-cpp, console_bridge")
  message(STATUS "=================================")
endif()

# ========================================================
# Test executable
# ========================================================
option(BUILD_TESTS "Build test programs" OFF)

if(BUILD_TESTS)
  add_executable(test_node_handle
    test/test_node_handle.cpp
  )
  
  target_include_directories(test_node_handle
    PRIVATE
      ${CMAKE_CURRENT_SOURCE_DIR}/include
  )
  
  target_link_libraries(test_node_handle
    PRIVATE
      ${PROJECT_NAME}
      ${YAML_CPP_TARGET}
  )
  
  set_target_properties(test_node_handle PROPERTIES
    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
  )
  
  # Link filesystem library if needed
  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")
    target_link_libraries(test_node_handle PRIVATE stdc++fs)
  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    find_library(FILESYSTEM_LIB c++fs)
    if(FILESYSTEM_LIB)
      target_link_libraries(test_node_handle PRIVATE ${FILESYSTEM_LIB})
    endif()
  endif()
  
  # Add test to CTest
  add_test(NAME NodeHandleTest COMMAND test_node_handle)
  
  message(STATUS "Test executable 'test_node_handle' will be built")
endif()