CMakeLists.txt

cmake_minimum_required(VERSION 3.0)
set(CMAKE_CXX_STANDARD 17)
# add_compile_options(-Wall -Wextra -pedantic -g)

project(adas_api C CXX)

if( TUI )
  # --- Fetch FTXUI --------------------------------------------------------------
  include(FetchContent)

  set(FETCHCONTENT_UPDATES_DISCONNECTED TRUE)
  FetchContent_Declare(ftxui
    GIT_REPOSITORY https://github.com/ArthurSonzogni/ftxui
    GIT_TAG v3.0.0
  )

  FetchContent_MakeAvailable(ftxui)
# ------------------------------------------------------------------------------
endif()



# location of source code files
#include_directories( include )

# tell cmake where to put the executables that it creates
file( MAKE_DIRECTORY bin )    
set( CMAKE_RUNTIME_OUTPUT_DIRECTORY bin ) 

# where to put the object files it creates
file( MAKE_DIRECTORY lib )
SET( LIBRARY_OUTPUT_PATH lib )

# autogenerate code from the DBC file
file( MAKE_DIRECTORY src_autogen )    
add_custom_command( OUTPUT ${CMAKE_CURRENT_LIST_DIR}/src_autogen/candata.h ${CMAKE_CURRENT_LIST_DIR}/src_autogen/candata.c
        COMMAND python3 -m cantools generate_c_source 
            --use-float
            ${CMAKE_CURRENT_LIST_DIR}/docs/candata.dbc 
            -o ${CMAKE_CURRENT_LIST_DIR}/src_autogen
        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/
        MAIN_DEPENDENCY ${CMAKE_CURRENT_LIST_DIR}/docs/candata.dbc
        COMMENT "Autogenerate code from DBC file" )

add_custom_command( OUTPUT ${CMAKE_CURRENT_LIST_DIR}/include/candata.h
        COMMAND ${CMAKE_COMMAND} -E copy
            ${CMAKE_CURRENT_LIST_DIR}/src_autogen/candata.h
            ${CMAKE_CURRENT_LIST_DIR}/include/candata.h )

# create shared library of the autogenerated code from the DBC file
add_library( candata SHARED ${CMAKE_CURRENT_LIST_DIR}/src_autogen/candata.c 
                            ${CMAKE_CURRENT_LIST_DIR}/include/candata.h )

# input frames
add_library( process_frame SHARED src/status/process_frame.cpp )
target_include_directories( process_frame PUBLIC ${CMAKE_CURRENT_LIST_DIR}/include )

add_library( brake_frame SHARED src/status/brake_frame.cpp )
target_include_directories( brake_frame PUBLIC include )
target_link_libraries( brake_frame PUBLIC candata )
target_link_libraries( brake_frame PUBLIC process_frame )

add_library( axle_torque_frame SHARED src/status/axle_torque_frame.cpp )
target_include_directories( axle_torque_frame PUBLIC include )
target_link_libraries( axle_torque_frame PUBLIC candata )
target_link_libraries( axle_torque_frame PUBLIC process_frame )

add_library( steering_frame SHARED src/status/steering_frame.cpp )
target_include_directories( steering_frame PUBLIC include )
target_link_libraries( steering_frame PRIVATE candata )
target_link_libraries( steering_frame PUBLIC process_frame )

add_library( status_frame SHARED src/status/status_frame.cpp )
target_include_directories( status_frame PUBLIC include )
target_link_libraries( status_frame PRIVATE candata )
target_link_libraries( status_frame PUBLIC process_frame )

add_library( wheel_counts_frame SHARED src/status/wheel_counts_frame.cpp )
target_include_directories( wheel_counts_frame PUBLIC include )
target_link_libraries( wheel_counts_frame PRIVATE candata )
target_link_libraries( wheel_counts_frame PUBLIC process_frame )

add_library( wheel_speeds_frame SHARED src/status/wheel_speeds_frame.cpp )
target_include_directories( wheel_speeds_frame PUBLIC include )
target_link_libraries( wheel_speeds_frame PRIVATE candata )
target_link_libraries( wheel_speeds_frame PUBLIC process_frame )

add_library( status_frames SHARED src/status_frames.cpp )
target_include_directories( status_frames PUBLIC include )
target_link_libraries( status_frames PUBLIC axle_torque_frame 
                                        brake_frame
                                        status_frame 
                                        steering_frame 
                                        wheel_counts_frame 
                                        wheel_speeds_frame )

# output frames
add_library( control_frame SHARED src/control/control_frame.cpp )
target_include_directories( control_frame PUBLIC include )

add_library( axle_control_frame SHARED src/control/axle_control_frame.cpp )
target_include_directories( axle_control_frame PUBLIC include )
target_link_libraries( axle_control_frame PUBLIC control_frame axle_torque_frame )
target_link_libraries( axle_control_frame PRIVATE candata )

add_library( brake_control_frame SHARED src/control/brake_control_frame.cpp )
target_include_directories( brake_control_frame PUBLIC include )
target_link_libraries( brake_control_frame PUBLIC control_frame axle_torque_frame )
target_link_libraries( brake_control_frame PRIVATE candata )


add_library( status_control_frame SHARED src/control/status_control_frame.cpp )
target_include_directories( status_control_frame PUBLIC include )
target_link_libraries( status_control_frame PUBLIC control_frame steering_frame )
target_link_libraries( status_control_frame PRIVATE candata )

add_library( steering_control_frame SHARED src/control/steering_control_frame.cpp )
target_include_directories( steering_control_frame PUBLIC include )
target_link_libraries( steering_control_frame PUBLIC control_frame steering_frame )
target_link_libraries( steering_control_frame PRIVATE candata )

add_library( control_frames SHARED src/control_frames.cpp )
target_include_directories( control_frames PUBLIC include )
target_link_libraries( control_frames PUBLIC axle_control_frame
                                        brake_control_frame
                                        status_control_frame
                                        steering_control_frame )

add_library( adas SHARED src/adas.cpp )
target_include_directories( adas PUBLIC include )
target_link_libraries( adas PUBLIC control_frames status_frames )

add_library( simple_adas SHARED src/simple_adas.cpp )
target_include_directories( simple_adas PUBLIC include )
target_link_libraries( simple_adas PUBLIC adas )

# examples
add_executable( example_frame_reader src/example_frame_reader.cpp )
target_link_libraries( example_frame_reader PRIVATE candata status_frames )

#add_executable( example_control src/example_control.cpp )
#target_link_libraries( example_control PRIVATE candata control_frames status_frames )

add_executable( example_straight_line src/example_straight_line.cpp )
target_link_libraries( example_straight_line PUBLIC simple_adas )

#add_executable( example_threaded src/example_threaded.cpp )
#target_link_libraries( example_threaded PUBLIC simple_adas )

add_executable( example_wiggle src/example_wiggle.cpp )
target_link_libraries( example_wiggle PUBLIC simple_adas )

add_executable( example_calibration src/example_calibration.cpp )
target_link_libraries( example_calibration PUBLIC simple_adas )

#add_executable( accel src/accel.cpp )
#target_link_libraries( accel PUBLIC simple_adas )

# demo
if( TUI )
  add_library( demo_ui STATIC src/demo_ui.cpp )
  target_include_directories( demo_ui PRIVATE include )
  target_link_libraries( demo_ui
                  PUBLIC ftxui::screen
                  PUBLIC ftxui::dom
                  PUBLIC ftxui::component
                  PUBLIC candata adas )

  add_executable( demo src/demo.cpp )
  target_link_libraries( demo demo_ui )
endif()