cmake_minimum_required(VERSION 3.8)
project(auto_drive_misson_center)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(auto_drive_proj_utils REQUIRED)
find_package(auto_drive_proj_msg REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(fmt REQUIRED)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
)

# Find curl
find_package(PkgConfig QUIET)
if(PKG_CONFIG_FOUND)
  pkg_check_modules(CURL libcurl)
endif()

if(NOT CURL_FOUND)
  find_library(CURL_LIBRARY NAMES curl libcurl)
  find_path(CURL_INCLUDE_DIR NAMES curl/curl.h)
  if(CURL_LIBRARY AND CURL_INCLUDE_DIR)
    set(CURL_FOUND TRUE)
    set(CURL_LIBRARIES ${CURL_LIBRARY})
    set(CURL_INCLUDE_DIRS ${CURL_INCLUDE_DIR})
  endif()
endif()

# Include directories
include_directories(include)
include_directories(${CMAKE_CURRENT_BINARY_DIR}/msg)

# Define the executables
add_executable(mission_center_node src/mission_center_node.cpp src/redis_utils.cpp src/logger.cpp)
add_executable(auto_mission_handler_node src/auto_mission_handler.cpp src/redis_utils.cpp src/logger.cpp)
add_executable(path_follow_handler_node src/path_follow_handler.cpp src/redis_utils.cpp src/logger.cpp)

# 链接fmt库
target_link_libraries(mission_center_node
    fmt::fmt
)

target_link_libraries(auto_mission_handler_node
    fmt::fmt
)

target_link_libraries(path_follow_handler_node
    fmt::fmt
)

# Link libraries
ament_target_dependencies(mission_center_node
  rclcpp
  std_msgs
  std_srvs
  builtin_interfaces
  auto_drive_proj_utils
  auto_drive_proj_msg
)

ament_target_dependencies(auto_mission_handler_node
  rclcpp
  std_msgs
  std_srvs
  auto_drive_proj_utils
  auto_drive_proj_msg
)

ament_target_dependencies(path_follow_handler_node
  rclcpp
  std_msgs
  std_srvs
  geometry_msgs
  auto_drive_proj_utils
  auto_drive_proj_msg
)

# Find hiredis library
find_library(HIREDIS_LIBRARY NAMES hiredis)
find_path(HIREDIS_INCLUDE_DIR NAMES hiredis/hiredis.h)

if(HIREDIS_LIBRARY AND HIREDIS_INCLUDE_DIR)
  set(HIREDIS_FOUND TRUE)
  set(HIREDIS_LIBRARIES ${HIREDIS_LIBRARY})
  set(HIREDIS_INCLUDE_DIRS ${HIREDIS_INCLUDE_DIR})
  message(STATUS "Found hiredis: ${HIREDIS_LIBRARY}")
else()
  message(WARNING "hiredis library not found, Redis functionality will be disabled")
endif()

# Link curl library
if(CURL_FOUND)
  target_link_libraries(mission_center_node ${CURL_LIBRARIES})
  target_include_directories(mission_center_node PRIVATE ${CURL_INCLUDE_DIRS})
endif()

# Link hiredis library
if(HIREDIS_FOUND)
  target_link_libraries(mission_center_node ${HIREDIS_LIBRARIES})
  target_include_directories(mission_center_node PRIVATE ${HIREDIS_INCLUDE_DIRS})
  target_link_libraries(auto_mission_handler_node ${HIREDIS_LIBRARIES})
  target_include_directories(auto_mission_handler_node PRIVATE ${HIREDIS_INCLUDE_DIRS})
  target_link_libraries(path_follow_handler_node ${HIREDIS_LIBRARIES})
  target_include_directories(path_follow_handler_node PRIVATE ${HIREDIS_INCLUDE_DIRS})
endif()

# Install executables
install(TARGETS
  mission_center_node
  auto_mission_handler_node
  path_follow_handler_node
  DESTINATION lib/${PROJECT_NAME}
)

# 添加launch文件的安装规则
install(DIRECTORY
  config
  launch
  DESTINATION share/${PROJECT_NAME}/
)

install(DIRECTORY
  scripts
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()
