# Copyright (c) 2012, 2020 CNRS Author: Florent Lamiraux, Guilhem Saurel
#

# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
#   list of conditions and the following disclaimer.
#
# 1. Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

set(LIBRARY_NAME ${PROJECT_NAME})
set(IDL_SOURCES gcommon graph problem robot)

include(${HPP_CORBASERVER_CMAKE_PLUGIN})
include(${HPP_CORBASERVER_OMNIIDL_CMAKE})
omniidl_include_directories(${CMAKE_SOURCE_DIR}/idl
                            ${HPP_CORBASERVER_DATAROOTDIR}/idl
)

include_directories(${CMAKE_BINARY_DIR}/src)

file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/manipulation)
foreach(IDL ${IDL_SOURCES})
    generate_idl_cpp(
      hpp/corbaserver/manipulation/${IDL}
      ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/manipulation ARGUMENTS
      -Wbguard_prefix=hpp_manipulation_corba_idl HEADER_SUFFIX -idl.hh
    )
    generate_idl_python(
      ${IDL}
      ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/manipulation
      ENABLE_DOCSTRING
      STUBS
      hpp_stubs.corbaserver.manipulation
      ARGUMENTS
      -Wbmodules=hpp_idl
      -Wbextern=common:hpp_stubs
      -Wbextern=robots:hpp_stubs.pinocchio
      -Wbextern=constraints:hpp_stubs.constraints
      -Wbextern=paths:hpp_stubs.core
      -Wbextern=steering_methods:hpp_stubs.core
      -Wbextern=path_projectors:hpp_stubs.core
      -Wbextern=path_validations:hpp_stubs.core
      -Wbextern=_constraints:hpp_stubs.core
      -Wbextern=path_planners:hpp_stubs.core
      -Wbextern=distances:hpp_stubs.core
      -Wbextern=_graph:hpp_stubs.manipulation
      -Wbextern=_path_planners:hpp_stubs.manipulation
    )
    install(
        FILES
            ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/manipulation/${IDL}-idl.hh
        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/corbaserver/manipulation
    )
endforeach()

file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp/manipulation_idl)
foreach(
    IDL
    steering_methods
    _graph
    _problem
    _path_planners
    device
)
    generate_idl_cpp(
      hpp/manipulation_idl/${IDL} ${CMAKE_SOURCE_DIR}/idl/hpp/manipulation_idl
      ARGUMENTS -Wbguard_prefix=hpp_manipulation_idl HEADER_SUFFIX -idl.hh
    )
    generate_idl_cpp_impl(
      hpp/manipulation_idl/${IDL}
      ${CMAKE_SOURCE_DIR}/idl/hpp/manipulation_idl
      ARGUMENTS
      -Wbguard_prefix=hpp_manipulation_idl
      -Wbinc_prefix=hpp/manipulation_idl
      HH_SUFFIX
      -idl.hh
    )
    generate_idl_python(
      ${IDL}
      ${CMAKE_SOURCE_DIR}/idl/hpp/manipulation_idl
      ENABLE_DOCSTRING
      STUBS
      hpp_stubs.manipulation
      ARGUMENTS
      -Wbmodules=hpp_idl
      -Wbextern=common:hpp_stubs
      -Wbextern=robots:hpp_stubs.pinocchio
      -Wbextern=gcommon:hpp_stubs.corbaserver.manipulation
      -Wbextern=paths:hpp_stubs.core
      -Wbextern=steering_methods:hpp_stubs.core
      -Wbextern=distances:hpp_stubs.core
      -Wbextern=path_projectors:hpp_stubs.core
      -Wbextern=path_validations:hpp_stubs.core
      -Wbextern=constraints:hpp_stubs.constraints
      -Wbextern=configuration_shooters:hpp_stubs.core
      -Wbextern=_constraints:hpp_stubs.core
      -Wbextern=_problem:hpp_stubs.core
      -Wbextern=path_planners:hpp_stubs.core
    )
    install(
        FILES
            ${CMAKE_CURRENT_BINARY_DIR}/hpp/manipulation_idl/${IDL}-idl.hh
            ${CMAKE_CURRENT_BINARY_DIR}/hpp/manipulation_idl/${IDL}.hh
            ${CMAKE_CURRENT_BINARY_DIR}/hpp/manipulation_idl/${IDL}-fwd.hh
        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/manipulation_idl
    )
endforeach()

install(
    DIRECTORY ${CMAKE_SOURCE_DIR}/idl/hpp
    DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/idl/
)
install(
    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_idl/hpp/corbaserver/manipulation
    DESTINATION ${PYTHON_SITELIB}/hpp_idl/hpp/corbaserver
)
install(
    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_idl/hpp/manipulation_idl
    DESTINATION ${PYTHON_SITELIB}/hpp_idl/hpp/
)
install(
    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_stubs/corbaserver/manipulation
    DESTINATION ${PYTHON_SITELIB}/hpp_stubs/corbaserver
)
install(
    DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_stubs/manipulation
    DESTINATION ${PYTHON_SITELIB}/hpp_stubs
)

add_custom_target(
    generate_idl_cpp
    DEPENDS ${ALL_IDL_CPP_STUBS} ${ALL_IDL_CPP_IMPL_STUBS}
)
add_custom_target(generate_idl_python DEPENDS ${ALL_IDL_PYTHON_STUBS})

add_library(${LIBRARY_NAME} SHARED ${ALL_IDL_CPP_STUBS} client.cc)

target_link_libraries(${LIBRARY_NAME} PUBLIC hpp-corbaserver::hpp-corbaserver)
pkg_config_use_dependency(${LIBRARY_NAME} omniORB4)

install(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)

if(NOT CLIENT_ONLY)
    # Server plugin
    hpp_add_server_plugin(
      manipulation-corba
      SOURCES
      ${ALL_IDL_CPP_IMPL_STUBS}
      graph.impl.cc
      graph.impl.hh
      problem.impl.cc
      problem.impl.hh
      robot.impl.cc
      robot.impl.hh
      server.cc
      tools.cc # Should be moved into the library
    LINK_DEPENDENCIES
    PUBLIC
    ${LIBRARY_NAME}
    hpp-manipulation-urdf::hpp-manipulation-urdf
    PKG_CONFIG_DEPENDENCIES
    omniORB4
    )

    # Stand alone corba server
    add_executable(hpp-manipulation-server hpp-manipulation-corba.cc)
    target_link_libraries(
        hpp-manipulation-server
        PUBLIC ${LIBRARY_NAME} hpp-manipulation-urdf::hpp-manipulation-urdf
    )

    install(TARGETS hpp-manipulation-server DESTINATION ${CMAKE_INSTALL_BINDIR})
endif(NOT CLIENT_ONLY)

add_dependencies(${LIBRARY_NAME} generate_idl_cpp)
add_dependencies(${LIBRARY_NAME} generate_idl_python)

python_install_on_site(hpp/corbaserver/manipulation __init__.py)
python_install_on_site(hpp/corbaserver/manipulation client.py)
python_install_on_site(hpp/corbaserver/manipulation problem_solver.py)
python_install_on_site(hpp/corbaserver/manipulation robot.py)
python_install_on_site(hpp/corbaserver/manipulation constraints.py)
python_install_on_site(hpp/corbaserver/manipulation constraint_graph.py)
python_install_on_site(hpp/corbaserver/manipulation constraint_graph_factory.py)
python_install_on_site(hpp/corbaserver/manipulation possible_grasps.py)
python_install_on_site(hpp/corbaserver/manipulation security_margins.py)
