cmake_minimum_required(VERSION 3.15...3.25)
project(
  "panda_py"
  LANGUAGES CXX)
#  VERSION "${SKBUILD_PROJECT_VERSION}")

set (CMAKE_CXX_STANDARD 17)
set(CMAKE_BUILD_TYPE "Release")
set(THREADS_PREFER_PTHREAD_FLAG ON)

option(VACUUM_GRIPPER OFF)
if (VACUUM_GRIPPER)
  add_definitions(-DVACUUM_GRIPPER=${VACUUM_GRIPPER})
endif()

find_package(Eigen3 REQUIRED)
find_package(Threads REQUIRED)
find_package(Franka REQUIRED)
find_package(
  Python
  COMPONENTS Interpreter Development.Module
  REQUIRED)
find_package(pybind11 CONFIG REQUIRED)

## _core module
pybind11_add_module(_core
  src/_core.cpp
  src/panda.cpp
  src/controllers/joint_limits/virtual_wall.cpp
  src/controllers/integrated_velocity.cpp
  src/controllers/joint_position.cpp
  src/controllers/cartesian_impedance.cpp
  src/controllers/applied_torque.cpp
  src/controllers/applied_force.cpp
  src/controllers/force.cpp
  src/controllers/joint_trajectory.cpp
  src/controllers/cartesian_trajectory.cpp
  src/motion/generators.cpp
  src/motion/time_optimal/trajectory.cpp
  src/motion/time_optimal/path.cpp
)

target_link_libraries(_core PUBLIC
  Threads::Threads
  ${Franka_LIBRARIES}
)

target_include_directories(_core SYSTEM PUBLIC
  include
  ${EIGEN3_INCLUDE_DIRS}
  ${Franka_INCLUDE_DIRS}
)

#target_compile_definitions(_core
#  PRIVATE VERSION_INFO=${PROJECT_VERSION})

install(TARGETS _core LIBRARY DESTINATION panda_py)

## libfranka module
pybind11_add_module(libfranka
  src/libfranka.cpp)

target_link_libraries(libfranka PUBLIC
  ${Franka_LIBRARIES}
)

target_include_directories(libfranka SYSTEM PUBLIC
  ${Franka_INCLUDE_DIRS}
)

#target_compile_definitions(libfranka
#  PRIVATE VERSION_INFO=${PROJECT_VERSION})

install(TARGETS libfranka LIBRARY DESTINATION panda_py)