# Copyright(c) 2019 livoxtech limited.
cmake_minimum_required(VERSION 2.8.3)


#---------------------------------------------------------------------------------------
# Start livox_ros_driver project
#---------------------------------------------------------------------------------------

project(navigation)

#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
#SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

#---------------------------------------------------------------------------------------
# find package and the dependecy
#---------------------------------------------------------------------------------------
#find_package(Boost 1.54 REQUIRED COMPONENTS
#	system
#	thread
#	chrono
#	)

find_package (Eigen3 REQUIRED CONFIG QUIET)
#find_package(PCL REQUIRED)
FIND_PACKAGE(Protobuf REQUIRED)

#---------------------------------------------------------------------------------------
# Set default build to release
#---------------------------------------------------------------------------------------
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
endif()

#---------------------------------------------------------------------------------------
# Compiler config
#---------------------------------------------------------------------------------------
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)


include_directories(
		define
		/usr/include
		/usr/local/include
		${EIGEN3_INCLUDE_DIR}
		)
link_directories("/usr/local/lib")
## PCL library
#link_directories(${PCL_LIBRARY_DIRS})
#add_definitions(${PCL_DEFINITIONS})

#---------------------------------------------------------------------------------------
# generate excutable and add libraries
#---------------------------------------------------------------------------------------

add_executable(${PROJECT_NAME}
		controller.cpp
		define/TimerRecord.cpp
		MPC/parameter.pb.cc
		MPC/loaded_mpc.cpp
		MPC/trajectory.cpp
		MPC/pose2d.cpp
		MPC/navigation.cpp

		MPC/monitor/monitor_emqx.cpp
		MPC/monitor/emqx/mqttmsg.cpp
		MPC/monitor/emqx/paho_client.cpp
		MPC/monitor/emqx/message.pb.cc
		MPC/monitor/terminator_emqx.cpp
		tool/pathcreator.cpp
		tool/singleton.cpp
		tool/proto_tool.cpp
        MPC/navigation_main.cpp MPC/navigation_main.h)

#---------------------------------------------------------------------------------------
# link libraries ${Boost_LIBRARY} -lpthread
#---------------------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME}
		${PROTOBUF_LIBRARIES}
		libglog.a libgflags.a
		paho-mqtt3a
		ipopt
		)
#---------------------------------------------------------------------------------------
# end of CMakeList.txt
#---------------------------------------------------------------------------------------