# Copyright (c) 2016, 2020, CNRS Authors: Anna Seppala, Guilhem Saurel
#
# This file is part of hpp-affordance-corba. hpp-affordance-corba is free
# software: you can redistribute it and/or modify it under the terms of the GNU
# Lesser General Public License as published by the Free Software Foundation,
# either version 3 of the License, or (at your option) any later version.
#
# hpp-affordance-corba is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Lesser Public License
# for more details.  You should have received a copy of the GNU Lesser General
# Public License along with hpp-affordance-corba.  If not, see
# <http://www.gnu.org/licenses/>.

cmake_minimum_required(VERSION 3.22)

set(PROJECT_NAME hpp-affordance-corba)
set(PROJECT_DESCRIPTION
    "Corba server for Humanoid Path Planner Affordance applications"
)

set(CUSTOM_HEADER_DIR hpp/corbaserver/affordance)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(CXX_DISABLE_WERROR TRUE)

find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
    get_property(
        JRL_CMAKE_MODULES
        TARGET jrl-cmakemodules::jrl-cmakemodules
        PROPERTY INTERFACE_INCLUDE_DIRECTORIES
    )
    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
else()
    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
    include(FetchContent)
    FetchContent_Declare(
        "jrl-cmakemodules"
        GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
    )
    FetchContent_MakeAvailable("jrl-cmakemodules")
    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()

include("${JRL_CMAKE_MODULES}/hpp.cmake")
include("${JRL_CMAKE_MODULES}/idl.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")

compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})

list(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)

# Dependencies
add_project_dependency("hpp-core" REQUIRED)
add_project_dependency("hpp-affordance" REQUIRED)
add_project_dependency("hpp-corbaserver" REQUIRED)
add_required_dependency("omniORB4 >= 4.1.4")
# search for python
if(NOT FINDPYTHON_ALREADY_CALLED)
    findpython()
endif()

# Make sure that python submodule is installed in the same prefix as module.
if(NOT ${HPP_CORBASERVER_PREFIX} STREQUAL ${CMAKE_INSTALL_PREFIX})
    message(
        WARNING
        "  THIS PACKAGE SHOULD BE INSTALLED IN THE SAME PREFIX AS HPP-CORBASERVER,\n"
        "  SINCE IT INSTALLS A PYTHON SUBMODULE OF HPP.CORBASERVER."
    )
    message("CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
    message("HPP_CORBASERVER_PREFIX=${HPP_CORBASERVER_PREFIX}")
endif()

set(${PROJECT_NAME}_HEADERS
    include/${CUSTOM_HEADER_DIR}/fwd.hh
    include/${CUSTOM_HEADER_DIR}/server.hh
)

set(${PROJECT_NAME}_SOURCES src/${PROJECT_NAME}.cc)

# Standalone corba server
add_executable(
    hpp-affordance-server
    ${${PROJECT_NAME}_SOURCES}
    ${${PROJECT_NAME}_HEADERS}
)
target_include_directories(
    hpp-affordance-server
    PUBLIC $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
)
target_link_libraries(
    hpp-affordance-server
    hpp-corbaserver::hpp-corbaserver
    hpp-affordance::hpp-affordance
)
install(
    TARGETS hpp-affordance-server
    EXPORT ${TARGETS_EXPORT_NAME}
    DESTINATION bin
)

add_subdirectory(src)

config_files(include/${CUSTOM_HEADER_DIR}/doc.hh)

install(
    FILES
        data/urdf/hyq/hyq_trunk_large.urdf
        data/urdf/darpa.urdf
        data/urdf/box.urdf
    DESTINATION share/${PROJECT_NAME}/urdf
)

install(
    FILES
        data/srdf/hyq/hyq_trunk_large.srdf
        data/srdf/darpa.srdf
        data/srdf/box.srdf
    DESTINATION share/${PROJECT_NAME}/srdf
)

install(
    FILES data/meshes/darpareduced.stl data/meshes/box.stl
    DESTINATION share/${PROJECT_NAME}/meshes
)

install(
    FILES data/meshes/hyq/hyq_all.stl data/meshes/hyq/hyq_trunk_large.stl
    DESTINATION share/${PROJECT_NAME}/meshes/hyq
)

pkg_config_append_libs(${PROJECT_NAME})
