cmake_minimum_required(VERSION 3.16)

find_package(yaml-cpp REQUIRED)

add_subdirectory(serial)

# 创建目标 device
set(DEVICE_SOURCES
    hikrobot/hikrobot.cpp
    mindvision/mindvision.cpp
    usbcamera/usbcamera.cpp
    camera.cpp
    cboard.cpp
    dm_imu/dm_imu.cpp
    gimbal/gimbal.cpp
)

# 如果启用ROS2，添加ROS2版本的gimbal
if(USE_ROS2)
    list(APPEND DEVICE_SOURCES gimbal/gimbal_ros.cpp)
endif()

add_library(device STATIC ${DEVICE_SOURCES})

# hikrobot
target_include_directories(device PUBLIC hikrobot/include)
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
  target_link_directories(device PUBLIC hikrobot/lib/amd64)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
  target_link_directories(device PUBLIC hikrobot/lib/arm64)
else()
  message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
endif()

# mindvision
target_include_directories(device PUBLIC mindvision/include)
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
  target_link_directories(device PUBLIC mindvision/lib/amd64)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
  target_link_directories(device PUBLIC mindvision/lib/arm64)
else()
  message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
endif()

target_link_libraries(device MvCameraControl MVSDK usb-1.0 yaml-cpp serial)

# 如果启用ROS2，添加ROS2依赖
if(USE_ROS2)
    target_include_directories(device PUBLIC ${rclcpp_INCLUDE_DIRS} ${rm_msgs_INCLUDE_DIRS})
    target_link_libraries(device ${rclcpp_LIBRARIES})
endif()