CMakeLists.txt

cmake_minimum_required(VERSION 3.16...3.22)
project(ir-mapf-pybind11)
SET(GCC_COVERAGE_COMPILE_FLAGS "-fPIC")
add_definitions(${GCC_COVERAGE_COMPILE_FLAGS})
add_subdirectory(./mapf)
add_subdirectory(./third_party/googletest)

add_executable(app app.cpp)

target_compile_features(app PUBLIC cxx_std_17)
target_link_libraries(app lib-mapf)

# format
add_custom_target(clang-format
  COMMAND clang-format -i
  ../mapf/include/*.hpp
  ../mapf/src/*.cpp
  ../tests/*.cpp
  ../app.cpp)

# test
set(TEST_MAIN_FUNC ./third_party/googletest/googletest/src/gtest_main.cc)
set(TEST_ALL_SRC ${TEST_MAIN_FUNC})

macro(add_test name target)
  add_executable(${name} ${target} ${TEST_MAIN_FUNC})
  target_link_libraries(${name} lib-mapf gtest)
  list(APPEND TEST_ALL_SRC ${target})
endmacro(add_test)

# basic
add_test(test_plan ./tests/test_plan.cpp)
add_test(test_paths ./tests/test_paths.cpp)
add_test(test_solver ./tests/test_solver.cpp)
add_test(test_problem ./tests/test_problem.cpp)
add_test(test_lib_cbs ./tests/test_lib_cbs.cpp)

# solvers
add_test(test_hca ./tests/test_hca.cpp)
add_test(test_whca ./tests/test_whca.cpp)
add_test(test_revisit_pp ./tests/test_revisit_pp.cpp)
add_test(test_pibt ./tests/test_pibt.cpp)
add_test(test_winpibt ./tests/test_winpibt.cpp)
add_test(test_cbs ./tests/test_cbs.cpp)
add_test(test_icbs ./tests/test_icbs.cpp)
add_test(test_ecbs ./tests/test_ecbs.cpp)
add_test(test_push_and_swap ./tests/test_push_and_swap.cpp)
add_test(test_pibt_complete ./tests/test_pibt_complete.cpp)
add_test(test_ir ./tests/test_ir.cpp)
add_executable(test ${TEST_ALL_SRC})
target_link_libraries(test lib-mapf gtest)

# pybind11
add_subdirectory(./third_party/pybind11)
add_library(pymapf MODULE pymapf.cpp)
target_include_directories(pymapf PUBLIC ./mapf/)
target_link_libraries(pymapf PRIVATE pybind11::module ${MY_LIBRARIES} lib-mapf)
pybind11_extension(pymapf)

set_target_properties(pymapf PROPERTIES CXX_VISIBILITY_PRESET "hidden"
  CUDA_VISIBILITY_PRESET "hidden")

# target_link_libraries(pymapf.cpp lib-mapf)
# pybind11_add_module(pymapf pymapf.cpp)

# find_package(Python 3.10 COMPONENTS Interpreter Development REQUIRED)
# find_package(pybind11 CONFIG REQUIRED)

# # set(pybind11_DIR ./third_party/pybind11)
# # find_package(pybind11 REQUIRED HINTS "${Python3_SITELIB}")

# # include_directories(${PYTHON_INCLUDE_DIRS})
# target_link_libraries(app pybind11::module)

# # find_package(pybind11 REQUIRED)
# pybind11_add_module(mapf_py app.cpp)