CMakeLists.txt

cmake_minimum_required(VERSION 3.1...3.19)

project(
  robomaster_simulation
  VERSION 0.1
  LANGUAGES CXX)

IF (WIN32)
    set(CMAKE_CXX_STANDARD 20)
    add_compile_options(-fPIC -Wall -D_USE_MATH_DEFINES)

ELSE()
    set(CMAKE_CXX_STANDARD 17)
    add_compile_options(-fPIC -Wall -Wextra  -Werror -Wno-unused-parameter -Wno-deprecated-declarations -Wno-missing-field-initializers -Wno-unused-variable)  # -Wno-c99-extensions
ENDIF()

option(USE_OPENCV "use OpenCV for vision" OFF)

# -pedantic
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(spdlog REQUIRED )
# find_package(libav REQUIRED avcodec REQUIRED)

# if(libav)
#   message("Found FFMPEG/LibAV libraries")
#   include_directories(${LIBAV_INCLUDE_DIR})
# else()
#   message("Can't find libavcodec, libavformat or libavutil. Add them!")
# endif()
#

find_path(AVCODEC_INCLUDE_DIR libavcodec/avcodec.h)
find_library(AVCODEC_LIBRARY avcodec)

find_path(AVFORMAT_INCLUDE_DIR libavformat/avformat.h)
find_library(AVFORMAT_LIBRARY avformat)

find_path(AVUTIL_INCLUDE_DIR libavutil/avutil.h)
find_library(AVUTIL_LIBRARY avutil)

find_path(AVDEVICE_INCLUDE_DIR libavdevice/avdevice.h)
find_library(AVDEVICE_LIBRARY avdevice)


# link_directories(${Boost_LIBRARY_DIRS})
include_directories(
  ${Boost_INCLUDE_DIRS}
  ${AVCODEC_INCLUDE_DIR}
  ${AVFORMAT_INCLUDE_DIR}
  ${AVUTIL_INCLUDE_DIR}
  ${AVDEVICE_INCLUDE_DIR}
  ${spdlog_INCLUDE_DIR}
  include
)

add_library(robot STATIC
  src/robot/action.cpp
  src/robot/arm.cpp
  src/robot/chassis.cpp
  src/robot/led.cpp
  src/robot/gimbal.cpp
  src/robot/robot.cpp
  src/robot/vision.cpp
)

target_link_libraries(robot PRIVATE
  spdlog::spdlog
)

add_executable(test_robot src/test_robot.cpp src/dummy_robot.cpp)

target_link_libraries(test_robot PRIVATE
  robot
  spdlog::spdlog
)

add_library(robomaster STATIC
  src/robot/action.cpp
  src/robot/arm.cpp
  src/robot/chassis.cpp
  src/robot/led.cpp
  src/robot/gimbal.cpp
  src/robot/robot.cpp
  src/robot/vision.cpp
  src/robomaster.cpp
  src/server.cpp
  src/command.cpp
  src/connection.cpp
  src/dummy_robot.cpp
  src/rt_dummy_robot.cpp
  src/protocol.cpp
  src/topic.cpp
  # src/rt_topic.cpp
  # src/action.cpp
  # src/utils.cpp
  src/encoder.cpp
  src/streamer.cpp
  src/discovery.cpp
)

target_link_libraries(robomaster PRIVATE
  spdlog::spdlog
  ${AVCODEC_LIBRARY}
  ${AVFORMAT_LIBRARY}
  ${AVUTIL_LIBRARY}
  ${AVDEVICE_LIBRARY}
  ${Boost_LIBRARIES}
)

add_executable(test src/test.cpp)

add_executable(test_encoder src/test_encoder.cpp src/encoder.cpp)

target_link_libraries(test PRIVATE
  robomaster
  spdlog::spdlog
  ${Boost_LIBRARIES}
)

# message("${AVCODEC_LIBRARY} ${AVFORMAT_LIBRARY} ${AVUTIL_LIBRARY} ${AVDEVICE_LIBRARY}")

target_link_libraries(test_encoder PRIVATE
  ${AVCODEC_LIBRARY}
  ${AVFORMAT_LIBRARY}
  ${AVUTIL_LIBRARY}
  ${AVDEVICE_LIBRARY}
  spdlog::spdlog
)

# link_directories(
# /usr/local/opt/icu4c/lib
# )

if (EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/coppeliaSim_plugin")

  IF (WIN32)
    add_compile_options(-DSIM_REQUIRED_PROGRAM_VERSION_NB=4010000)
  ENDIF()



if (USE_OPENCV)
find_package(OpenCV 4 COMPONENTS core imgproc imgcodecs REQUIRED)
add_compile_definitions(USE_OPENCV)
message("Will use OpenCV for vision")
endif()

add_subdirectory(coppeliaSim_plugin)

target_include_directories(${_PLUGIN_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})

if(${COPPELIASIM_VERSION} VERSION_GREATER_EQUAL 4.6)
    set(KEYWORD PRIVATE)
endif()


target_link_libraries(${_PLUGIN_NAME} ${KEYWORD}
  robomaster
  spdlog::spdlog
  ${Boost_LIBRARIES}
)

if (USE_OPENCV)
 target_link_libraries(${_PLUGIN_NAME} ${KEYWORD} ${OpenCV_LIBS}) 
endif() 
  

IF (WIN32)
  target_compile_options(${_PLUGIN_NAME} PUBLIC
  )
ELSE()
  target_compile_options(${_PLUGIN_NAME} PUBLIC
  "-Wno-reorder-ctor"
  "-Wno-sign-compare"
  "-Wno-delete-non-abstract-non-virtual-dtor"
  "-Wno-unused-function"
  "-Wno-reorder"
  "-Wno-delete-non-virtual-dtor"
  "-Wno-unused-result"
  )
ENDIF()

# set_target_properties( PROPERTIES COMPILE_FLAGS "Wno-reorder-ctor")

endif()

# add_executable(test_log test_log.cpp)
#
# target_link_libraries(test_log PRIVATE
#   spdlog::spdlog
# )

# add_executable(test_tcp test_acceptor.cpp)
#
# target_link_libraries(test_tcp PRIVATE
#   ${Boost_LIBRARIES}
# )