find_package(glog REQUIRED)
find_package(protobuf REQUIRED)

add_library(controller SHARED
        ${CMAKE_CURRENT_SOURCE_DIR}/touch_controller.cpp
)

target_include_directories(controller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

target_link_libraries(controller PRIVATE
        protobuf::libprotobuf
        glog::glog
        cmvr_es::device::humanoid_robot

)

add_library(cmvr_es::ctrl::controller ALIAS controller)


# --------------------------------------------------------
# Unit test
# --------------------------------------------------------
find_package(glog REQUIRED)
find_package(protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(fcl REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/include
)

link_directories(
        ${CMAKE_SOURCE_DIR}/third_party/gtest/1.17.0/lib
)


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


target_link_libraries(touch_controller_test
        PRIVATE
        protobuf::libprotobuf
        glog::glog
        cmvr_es::device::humanoid_robot
        cmvr_es::ctrl::controller
        gtest
        gtest_main
        pthread
        glog::glog
        proto-objects
        ccd
        fcl
        cmvr_es::device_manager
        ${OpenCV_LIBS}
)