#
# Copyright (c) 2016, 2020 CNRS Authors: Joseph Mirabel, Guilhem Saurel
#

cmake_minimum_required(VERSION 3.22)

set(PROJECT_NAME hpp-baxter)
set(PROJECT_DESCRIPTION "Wrappers for Baxter robot in HPP.")

set(PROJECT_USE_CMAKE_EXPORT TRUE)

# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
    message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
    find_package(jrl-cmakemodules QUIET CONFIG)
    if(jrl-cmakemodules_FOUND)
        get_property(
            JRL_CMAKE_MODULES
            TARGET jrl-cmakemodules::jrl-cmakemodules
            PROPERTY INTERFACE_INCLUDE_DIRECTORIES
        )
        message(
            STATUS
            "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}"
        )
    else()
        message(STATUS "JRL cmakemodules not found. Let's fetch it.")
        include(FetchContent)
        FetchContent_Declare(
            "jrl-cmakemodules"
            GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
        )
        FetchContent_MakeAvailable("jrl-cmakemodules")
        FetchContent_GetProperties(
            "jrl-cmakemodules"
            SOURCE_DIR JRL_CMAKE_MODULES
        )
    endif()
endif()

include("${JRL_CMAKE_MODULES}/hpp.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")

compute_project_args(PROJECT_ARGS LANGUAGES CXX)
project(${PROJECT_NAME} ${PROJECT_ARGS})

add_project_dependency(example-robot-data 3.9.1 REQUIRED)

set(CATKIN_PACKAGE_SHARE_DESTINATION
    ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
)

if(NOT BUILD_STANDALONE_PYTHON_INTERFACE)
    add_library(${PROJECT_NAME} INTERFACE)
    install(
        TARGETS ${PROJECT_NAME}
        EXPORT ${TARGETS_EXPORT_NAME}
        DESTINATION lib
    )
    install(
        FILES urdf/box.urdf urdf/baxter.urdf urdf/baxter_colman.urdf
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
    )
    install(
        FILES srdf/box.srdf srdf/baxter.srdf srdf/baxter_manipulation.srdf
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
    )
endif()
if(BUILD_PYTHON_INTERFACE)
    set(PYTHON_COMPONENTS Interpreter)
    findpython(REQUIRED)
    install(
        FILES
            src/hpp/corbaserver/baxter/robot.py
            src/hpp/corbaserver/baxter/__init__.py
        DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/baxter
    )
    install(
        FILES
            src/hpp/corbaserver/manipulation/baxter/robot.py
            src/hpp/corbaserver/manipulation/baxter/__init__.py
        DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/baxter
    )
endif()
