add_subdirectory(arm_control)
add_subdirectory(ume_legacy)

#find_package(VISP REQUIRED)

#  如果报 relocation ... can not be used when making a shared object; recompile with -fPIC  ，说明SRC 中包含了test文件 ，test
#  中链接 -lgtest -lgtest_main   ，这是静态库,导致 libcontroller.so 被迫依赖 gtest。
#  所以 add_library(controller SHARED
#          src/controller_creator.cpp
#          src/pid_controller.cpp
#           ❌ 不要把 src/controller_test.cpp 放进来
#)  其他动态库类似
file(GLOB SRC
        ${CMAKE_CURRENT_SOURCE_DIR}/pid/src/pid_controller.cpp
        ${CMAKE_CURRENT_SOURCE_DIR}/ibvs/src/ibvs_controller.cpp

)

add_library(controller SHARED ${SRC})


target_include_directories(controller PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

target_link_libraries(controller PUBLIC
        protobuf
        cmvr_es::perception
        cmvr_es::ik_solver
        gtest
        gtest_main
        pthread
        glog
        cmvr_es::proto
        ccd
        fcl
        cmvr_es::device_manager
        visp_vs
        visp_visual_features
        visp_vision
        visp_tt_mi
        visp_tt
        visp_me
        visp_mbt
        visp_klt
        visp_dnn_tracker
        visp_blob
        visp_sensor
        visp_robot
        visp_io
        visp_imgproc
        visp_gui
        visp_detection
        visp_core
        visp_ar
        pinocchio_default
        pinocchio_parsers
)

add_library(cmvr_es::algorithms::controller ALIAS controller)

install(TARGETS controller LIBRARY DESTINATION lib)