cmake_minimum_required(VERSION 3.20)
project(ardupilot_sitl)

# --------------------------------------------------------------------------- #
# Find dependencies.
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)

# --------------------------------------------------------------------------- #
# Add custom targets to configure and build ardupilot.

# TODO(srmainwaring): add cache variables for vehicle type, debug etc.
# set(ARDUPILOT_VEHICLE "copter" CACHE STRING "Vehicle type")

option(ARDUPILOT_DISABLE_NETWORKING "Disable the networking API code" OFF)
option(ARDUPILOT_DISABLE_SCRIPTING "Disable the scripting API code" OFF)
option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF)
option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON)
option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF)
option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF)

# NOTE: look for `waf` and set source and build directories to top level.
# ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot
#
cmake_path(SET ARDUPILOT_ROOT NORMALIZE ${PROJECT_SOURCE_DIR}/../../..)

find_program(WAF_COMMAND waf HINTS ${ARDUPILOT_ROOT})
message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")

# Set the build config.
set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
set(WAF_DISABLE_NETWORKING $<$<BOOL:${ARDUPILOT_DISABLE_NETWORKING}>:"--disable-networking">)
set(WAF_DISABLE_SCRIPTING $<$<BOOL:${ARDUPILOT_DISABLE_SCRIPTING}>:"--disable-scripting">)
set(WAF_DISABLE_WATCHDOG $<$<BOOL:${ARDUPILOT_DISABLE_WATCHDOG}>:"--disable-watchdog">)
set(WAF_ENABLE_DDS $<$<BOOL:${ARDUPILOT_ENABLE_DDS}>:"--enable-dds">)
set(WAF_ENABLE_NETWORKING_TESTS $<$<BOOL:${ARDUPILOT_ENABLE_NETWORKING_TESTS}>:"--enable-networking-tests">)
set(WAF_ENABLE_PPP $<$<BOOL:${ARDUPILOT_ENABLE_PPP}>:"--enable-ppp">)

add_custom_target(ardupilot_configure ALL
  ${WAF_COMMAND} configure --board sitl
    ${WAF_CONFIG}
    ${WAF_DISABLE_NETWORKING}
    ${WAF_DISABLE_SCRIPTING}
    ${WAF_DISABLE_WATCHDOG}
    ${WAF_ENABLE_DDS}
    ${WAF_ENABLE_NETWORKING_TESTS}
    ${WAF_ENABLE_PPP}
  WORKING_DIRECTORY ${ARDUPILOT_ROOT}
)

add_custom_target(ardupilot_build ALL
  ${WAF_COMMAND} build --enable-dds ${WAF_CONFIG}
  WORKING_DIRECTORY ${ARDUPILOT_ROOT}
)
add_dependencies(ardupilot_build ardupilot_configure)

# --------------------------------------------------------------------------- #
#  Install.

# Install executables.
install(PROGRAMS
  ${ARDUPILOT_ROOT}/build/sitl/bin/antennatracker
  ${ARDUPILOT_ROOT}/build/sitl/bin/arducopter
  ${ARDUPILOT_ROOT}/build/sitl/bin/arducopter-heli
  ${ARDUPILOT_ROOT}/build/sitl/bin/arduplane
  ${ARDUPILOT_ROOT}/build/sitl/bin/ardurover
  ${ARDUPILOT_ROOT}/build/sitl/bin/ardusub
  ${ARDUPILOT_ROOT}/build/sitl/bin/blimp
  DESTINATION bin/
)

# Install libs.
install(DIRECTORY
  ${ARDUPILOT_ROOT}/build/sitl/lib
  DESTINATION ./
)

# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

# Install DDS profile.
install(FILES
  ${ARDUPILOT_ROOT}/libraries/AP_DDS/dds_xrce_profile.xml
  DESTINATION share/${PROJECT_NAME}/config
)

# Install additional default params.
install(DIRECTORY
  config/default_params
  DESTINATION share/${PROJECT_NAME}/config
)

# Install autotest default params.
install(DIRECTORY
  ${ARDUPILOT_ROOT}/Tools/autotest/default_params
  DESTINATION share/${PROJECT_NAME}/config/
)

# Install Python package.
ament_python_install_package(${PROJECT_NAME}
  PACKAGE_DIR src/${PROJECT_NAME}
)

# --------------------------------------------------------------------------- #
# build tests

if(BUILD_TESTING)
  # Add linters.
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  # Add python tests.
  find_package(ament_cmake_pytest REQUIRED)
  set(_pytest_tests
    # Add tests here, for example:
    # tests/test_a.py
  )
  foreach(_test_path ${_pytest_tests})
    get_filename_component(_test_name ${_test_path} NAME_WE)
    ament_add_pytest_test(${_test_name} ${_test_path}
      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
      TIMEOUT 60
      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
    )
  endforeach()
endif()

# --------------------------------------------------------------------------- #
# Call last.

ament_package()