cmake_minimum_required(VERSION 3.5)
project(casic_unitree_dog VERSION 2.0.0)

## Project Options
option(BUILD_EXAMPLES "Build examples" ON)

## Set compiler to use c++ 17 features
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

## Chose build type
set(default_build_type "Release")
if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
    message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
    set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
            STRING "Choose the type of build." FORCE)
    # Set the possible values of build type for cmake-gui
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
            "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif ()

## Use GNUInstallDirs to install libraries into correct locations on all platforms.
include(GNUInstallDirs)

## Put all binary files into /bin and libraries into /lib
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})

## Check system architecture
message(STATUS "Current system architecture: ${CMAKE_SYSTEM_PROCESSOR}")

## Import thirdparty libraries
add_subdirectory(thirdparty)

## Import Unitree SDK2 library
set(UNITREE_SDK_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
find_library(UNITREE_SDK_LIB unitree_sdk2 PATHS ${UNITREE_SDK_PATH} NO_DEFAULT_PATH)

if (NOT UNITREE_SDK_LIB)
    message(FATAL_ERROR "Unitree SDK library for the architecture is not found")
else ()
    message(STATUS "Unitree SDK library found at: ${UNITREE_SDK_LIB}")
endif ()

message(STATUS "Importing: ${UNITREE_SDK_LIB}")

find_package(Threads REQUIRED)

add_library(casic_unitree_dog STATIC IMPORTED GLOBAL)
set_target_properties(casic_unitree_dog PROPERTIES
        IMPORTED_LOCATION ${UNITREE_SDK_LIB})
target_link_libraries(casic_unitree_dog INTERFACE ddsc ddscxx Threads::Threads)
target_include_directories(casic_unitree_dog INTERFACE
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
        $<INSTALL_INTERFACE:include>)

if (BUILD_EXAMPLES)
    add_subdirectory(example)
endif ()

## Install the library
install(DIRECTORY include/
        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

install(FILES ${UNITREE_SDK_LIB}
        DESTINATION ${CMAKE_INSTALL_LIBDIR})

install(FILES cmake/unitree_sdk2Targets.cmake
        DESTINATION lib/cmake/casic_unitree_dog)

include(CMakePackageConfigHelpers)
write_basic_package_version_file(
        unitree_sdk2ConfigVersion.cmake
        VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}"
        COMPATIBILITY ExactVersion)

configure_file(cmake/unitree_sdk2Config.cmake.in unitree_sdk2Config.cmake @ONLY)
install(FILES "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2Config.cmake"
        "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2ConfigVersion.cmake"
        DESTINATION lib/cmake/casic_unitree_dog)