project(apriltag)

include(CompileWarnings)
include(GenResources)

file(
    GLOB_RECURSE apriltaglib_src
    src/main/native/thirdparty/apriltag/src/*.c
    src/main/native/thirdparty/apriltag/src/*.cpp
)

# Disable apriltag C library warnings
if(MSVC)
    set_source_files_properties(
        ${apriltaglib_src}
        PROPERTIES COMPILE_FLAGS "/wd4005 /wd4018 /wd4244 /wd4267 /wd4996"
    )
elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
    set_source_files_properties(
        ${apriltaglib_src}
        PROPERTIES
            COMPILE_FLAGS
                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-uninitialized -Wno-sign-compare -Wno-type-limits"
    )
else()
    set_source_files_properties(
        ${apriltaglib_src}
        PROPERTIES
            COMPILE_FLAGS
                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-maybe-uninitialized -Wno-sign-compare -Wno-type-limits"
    )
endif()

file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)

if(WITH_JAVA)
    include(UseJava)

    set(CMAKE_JNI_TARGET true)

    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
    find_file(
        OPENCV_JAR_FILE
        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
        PATHS
            ${OPENCV_JAVA_INSTALL_DIR}
            ${OpenCV_INSTALL_PATH}/bin
            ${OpenCV_INSTALL_PATH}/share/java
            ${OpenCV_INSTALL_PATH}/share/java/opencv4
            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
        NO_DEFAULT_PATH
    )

    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
    file(
        GLOB_RECURSE JAVA_RESOURCES
        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
        src/main/native/resources/*.json
    )
    add_jar(
        apriltag_jar
        SOURCES ${JAVA_SOURCES}
        RESOURCES
        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
        INCLUDE_JARS
            wpimath_jar
            wpiunits_jar
            wpiutil_jar
            ${EJML_JARS}
            ${OPENCV_JAR_FILE}
            ${JACKSON_JARS}
        OUTPUT_NAME apriltag
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
        GENERATE_NATIVE_HEADERS apriltag_jni_headers
    )
    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")

    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)

    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
    wpilib_target_warnings(apriltagjni)
    target_link_libraries(apriltagjni PUBLIC apriltag)

    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")

    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
    add_dependencies(apriltagjni apriltag_jar)

    install(TARGETS apriltagjni EXPORT apriltagjni)
    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
endif()

if(WITH_JAVA_SOURCE)
    include(UseJava)
    include(CreateSourceJar)
    add_source_jar(
        apriltag_src_jar
        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
        OUTPUT_NAME apriltag-sources
        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
    )
    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")

    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
endif()

generate_resources(
    src/main/native/resources/edu/wpi/first/apriltag
    generated/main/cpp
    APRILTAG
    frc
    apriltag_resources_src
)

file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)

add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltaglib_src})
set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")

set_property(TARGET apriltag PROPERTY FOLDER "libraries")
target_compile_features(apriltag PUBLIC cxx_std_20)
wpilib_target_warnings(apriltag)

target_link_libraries(apriltag wpimath)

target_include_directories(
    apriltag
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
        $<INSTALL_INTERFACE:${include_dest}/apriltag>
)

install(
    DIRECTORY src/main/native/include/ src/main/native/thirdparty/apriltag/include/
    DESTINATION "${include_dest}/apriltag"
)
target_include_directories(
    apriltag
    SYSTEM
    PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include>
        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include/common>
)

install(TARGETS apriltag EXPORT apriltag)
export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)

configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)
install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
install(EXPORT apriltag DESTINATION share/apriltag)

if(WITH_TESTS)
    wpilib_add_test(apriltag src/test/native/cpp)
    target_include_directories(apriltag_test PRIVATE src/test/native/include)
    target_link_libraries(apriltag_test apriltag googletest)
endif()