find_package(glog REQUIRED)
find_package(protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(fcl REQUIRED)
find_package(OpenCV REQUIRED)

find_package(pybind11 REQUIRED)

include_directories(${CMAKE_SOURCE_DIR}/include)

add_executable(solve_fk solve_fk.cpp)
target_link_libraries(solve_fk PRIVATE cmvr_es::utils)

add_executable(solve_ik solve_ik.cpp)
target_link_libraries(solve_ik PRIVATE cmvr_es::utils)

add_executable(wbc_example wbc_example.cpp)
target_link_libraries(wbc_example PRIVATE cmvr_es::utils)

add_executable(follow_traj_example follow_traj_example.cpp)
target_link_libraries(follow_traj_example PRIVATE cmvr_es::utils)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)

add_executable(moveJ ${CMAKE_CURRENT_SOURCE_DIR}/moveJ.cpp)

target_link_libraries(moveJ PRIVATE
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::device::humanoid_robot
        pthread glog::glog
        proto-objects
        ccd
        fcl
        cmvr_es::device_manager
        ${OpenCV_LIBS})


add_executable(torqueOff ${CMAKE_CURRENT_SOURCE_DIR}/torqueOff.cpp)

target_link_libraries(torqueOff PRIVATE
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::device::humanoid_robot
        pthread glog::glog
        proto-objects
        ccd
        fcl
        cmvr_es::device_manager
        ${OpenCV_LIBS})

add_executable(torqueOn ${CMAKE_CURRENT_SOURCE_DIR}/torqueOn.cpp)
target_link_libraries(torqueOn PRIVATE
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::device::humanoid_robot
        pthread
        glog::glog
        proto-objects
        ccd
        fcl
        cmvr_es::device_manager
        ${OpenCV_LIBS})



# ---------------- pybind11 模块 ----------------
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
pybind11_add_module(robot_wrapper ${CMAKE_CURRENT_SOURCE_DIR}/robot_wrapper.cpp)
target_link_libraries(robot_wrapper PRIVATE
        cmvr_es::device::canbus
        cmvr_es::device::ti5motor
        cmvr_es::device::humanoid_robot
        pthread
        glog::glog
        proto-objects
        ccd
        fcl
        cmvr_es::device_manager
        ${OpenCV_LIBS})