cmake_minimum_required(VERSION 3.16)
project(CmvrControlStation VERSION 1.0.0 LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOUIC_SEARCH_PATHS "${CMAKE_CURRENT_SOURCE_DIR}/ui")
set(CMAKE_INCLUDE_CURRENT_DIR ON)

if(WIN32)
    set(CMVR_MSQUIC_DEFAULT ON)
else()
    set(CMVR_MSQUIC_DEFAULT OFF)
endif()
option(CMVR_WITH_MSQUIC "Build the embedded MsQuic test server" ${CMVR_MSQUIC_DEFAULT})
set(CMVR_MSQUIC_ROOT "" CACHE PATH "Optional MsQuic installation prefix on Linux")
set(CMVR_CXX_RUNTIME "" CACHE FILEPATH
    "Optional libstdc++.so.6 matching a non-system Linux dependency prefix")
set(CMVR_ASSIMP_SCENE_PARSER "" CACHE FILEPATH
    "Qt3D Assimp scene parser plugin used for URDF mesh files")

set(CMVR_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include")
set(CMVR_LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib")
set(CMVR_TOOLS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/tools")
set(CMVR_CERT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/certs")
set(PROTO_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/protos")
set(GENERATED_ROOT "${CMAKE_CURRENT_BINARY_DIR}/generated_cpp")

find_package(Qt5 5.12 REQUIRED COMPONENTS
    Core Gui Widgets Multimedia 3DCore 3DRender 3DExtras 3DInput 3DAnimation)

get_target_property(CMVR_QMAKE_EXECUTABLE Qt5::qmake IMPORTED_LOCATION)
if(CMVR_QMAKE_EXECUTABLE)
    execute_process(
        COMMAND "${CMVR_QMAKE_EXECUTABLE}" -query QT_INSTALL_PLUGINS
        OUTPUT_VARIABLE CMVR_QT_PLUGIN_ROOT
        OUTPUT_STRIP_TRAILING_WHITESPACE)
endif()
if(NOT CMVR_ASSIMP_SCENE_PARSER)
    find_file(CMVR_ASSIMP_SCENE_PARSER
        NAMES assimpsceneimport.dll assimpsceneimportd.dll libassimpsceneimport.so
        HINTS
            "${CMVR_QT_PLUGIN_ROOT}/sceneparsers"
            "/usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/qt5/plugins/sceneparsers")
endif()
if(NOT CMVR_ASSIMP_SCENE_PARSER OR NOT EXISTS "${CMVR_ASSIMP_SCENE_PARSER}")
    message(FATAL_ERROR
        "Qt3D's Assimp scene parser was not found. It is required to display "
        "STL, DAE, and 3DS meshes from bundled URDF models. On Ubuntu install "
        "qt3d-assimpsceneimport-plugin, or set CMVR_ASSIMP_SCENE_PARSER to the "
        "plugin file supplied by the selected Qt installation.")
endif()

if(WIN32)
    # The checked-in native libraries use the Qt 5.12.4 MinGW 7.3 64-bit ABI.
    set(PROTOC "${CMVR_TOOLS_DIR}/run_protoc.cmd")
    set(GRPC_CPP_PLUGIN "${CMVR_TOOLS_DIR}/grpc_cpp_plugin.exe")
    foreach(REQUIRED_FILE IN ITEMS
        "${PROTOC}"
        "${GRPC_CPP_PLUGIN}"
        "${CMVR_LIB_DIR}/libgrpc++.a"
        "${CMVR_LIB_DIR}/libprotobuf.a"
        "${CMVR_LIB_DIR}/libavcodec.dll.a"
        "${CMVR_LIB_DIR}/liburdfdom_model.dll.a")
        if(NOT EXISTS "${REQUIRED_FILE}")
            message(FATAL_ERROR "Required Windows dependency not found: ${REQUIRED_FILE}")
        endif()
    endforeach()
else()
    find_package(Protobuf CONFIG QUIET)
    if(NOT Protobuf_FOUND)
        find_package(Protobuf REQUIRED)
    endif()
    find_package(gRPC CONFIG REQUIRED)
    find_package(Threads REQUIRED)
    find_package(PkgConfig REQUIRED)
    pkg_check_modules(FFMPEG REQUIRED IMPORTED_TARGET
        libavcodec libavutil libswscale)
    find_path(CMVR_URDFDOM_INCLUDE_DIR urdf_parser/urdf_parser.h
        PATH_SUFFIXES include include/urdfdom)
    find_path(CMVR_TINYXML_INCLUDE_DIR tinyxml.h PATH_SUFFIXES include)
    find_library(CMVR_URDFDOM_MODEL_LIBRARY NAMES urdfdom_model)
    if(NOT CMVR_URDFDOM_INCLUDE_DIR OR NOT CMVR_TINYXML_INCLUDE_DIR OR
       NOT CMVR_URDFDOM_MODEL_LIBRARY)
        message(FATAL_ERROR
            "urdfdom/tinyxml was not found. Install liburdfdom-dev or add its prefix "
            "to CMAKE_PREFIX_PATH.")
    endif()

    if(NOT TARGET protobuf::protoc)
        message(FATAL_ERROR "The Protobuf package does not provide protobuf::protoc")
    endif()
    if(NOT TARGET gRPC::grpc_cpp_plugin)
        message(FATAL_ERROR "The gRPC package does not provide gRPC::grpc_cpp_plugin")
    endif()
    set(PROTOC "$<TARGET_FILE:protobuf::protoc>")
    set(GRPC_CPP_PLUGIN "$<TARGET_FILE:gRPC::grpc_cpp_plugin>")

    # A Conda-provided Qt/gRPC stack may carry an older libstdc++ than the
    # host compiler. Link against the runtime next to the imported dependency
    # so symbol versions selected at link time match the library loaded from
    # the generated RUNPATH. System packages resolve to the system runtime.
    if(NOT CMVR_CXX_RUNTIME)
        foreach(DEPENDENCY_TARGET IN ITEMS gRPC::grpc++ Qt5::Core)
            get_target_property(DEPENDENCY_LOCATION
                ${DEPENDENCY_TARGET} IMPORTED_LOCATION_RELEASE)
            if(NOT DEPENDENCY_LOCATION)
                get_target_property(DEPENDENCY_LOCATION
                    ${DEPENDENCY_TARGET} IMPORTED_LOCATION)
            endif()
            if(DEPENDENCY_LOCATION)
                get_filename_component(DEPENDENCY_LIB_DIR
                    "${DEPENDENCY_LOCATION}" DIRECTORY)
                if(EXISTS "${DEPENDENCY_LIB_DIR}/libstdc++.so.6")
                    set(CMVR_CXX_RUNTIME
                        "${DEPENDENCY_LIB_DIR}/libstdc++.so.6")
                    message(STATUS
                        "Using dependency-prefix C++ runtime: ${CMVR_CXX_RUNTIME}")
                    break()
                endif()
            endif()
        endforeach()
    endif()
endif()

if(CMVR_WITH_MSQUIC)
    if(WIN32)
        if(NOT EXISTS "${CMVR_INCLUDE_DIR}/msquic.h" OR
           NOT EXISTS "${CMVR_LIB_DIR}/msquic.dll")
            message(FATAL_ERROR
                "CMVR_WITH_MSQUIC is enabled, but include/msquic.h or lib/msquic.dll is missing")
        endif()
        set(CMVR_MSQUIC_INCLUDE_DIR "${CMVR_INCLUDE_DIR}")
    else()
        find_path(CMVR_MSQUIC_INCLUDE_DIR msquic.h
            HINTS "${CMVR_MSQUIC_ROOT}"
            PATH_SUFFIXES include)
        find_library(CMVR_MSQUIC_LIBRARY NAMES msquic
            HINTS "${CMVR_MSQUIC_ROOT}"
            PATH_SUFFIXES lib lib64)
        if(NOT CMVR_MSQUIC_INCLUDE_DIR OR NOT CMVR_MSQUIC_LIBRARY)
            message(FATAL_ERROR
                "CMVR_WITH_MSQUIC=ON requires a Linux MsQuic installation. "
                "Set CMVR_MSQUIC_ROOT or configure with -DCMVR_WITH_MSQUIC=OFF.")
        endif()
        get_filename_component(CMVR_MSQUIC_LIBRARY_DIR
            "${CMVR_MSQUIC_LIBRARY}" DIRECTORY)
    endif()
endif()

set(CMVR_SOURCES
    src/audiostreammanager.cpp
    src/audiostreammanager.h
    src/configeditorwidget.cpp
    src/configeditorwidget.h
    src/main.cpp
    src/mainwindow.cpp
    src/mainwindow_ui.cpp
    src/mainwindow.h
    src/quictestserver.cpp
    src/quictestserver.h
    src/rpcservicewidget.cpp
    src/rpcservicewidget.h
    src/robotclient.cpp
    src/robotclient.h
    src/trendwidget.cpp
    src/trendwidget.h
    src/uiicons.h
    src/urdfviewerwidget.cpp
    src/urdfviewerwidget.h
    src/videodecoder.cpp
    src/videodecoder.h
    src/videoframe.h
    src/videorenderwidget.cpp
    src/videorenderwidget.h
    ui/handeyecalibrationwidget.cpp
    ui/handeyecalibrationwidget.h
    ui/handeyecalibrationwidget.ui
    ui/mainwindow.ui
    ui/systemservicepage.ui
    ui/armservicepage.ui
    ui/cameraservicepage.ui
    ui/agvservicepage.ui
    ui/agvstatusdialog.ui
    ui/audioservicepage.ui
    ui/quicserverpage.ui
    ui/diagnosticspage.ui
    ui/rpcservicewidget.ui
    resources.qrc)

add_executable(CmvrControlStation ${CMVR_SOURCES})
if(WIN32)
    set_target_properties(CmvrControlStation PROPERTIES WIN32_EXECUTABLE TRUE)
endif()

set_target_properties(CmvrControlStation PROPERTIES
    DEBUG_POSTFIX "_d"
    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/bin/$<LOWER_CASE:$<CONFIG>>")

target_compile_definitions(CmvrControlStation PRIVATE
    CMVR_WITH_GRPC=1
    CMVR_WITH_MSQUIC=$<BOOL:${CMVR_WITH_MSQUIC}>)
if(WIN32)
    target_compile_definitions(CmvrControlStation PRIVATE _WIN32_WINNT=0x0600)
endif()

target_include_directories(CmvrControlStation PRIVATE "${GENERATED_ROOT}")
if(WIN32)
    target_include_directories(CmvrControlStation PRIVATE
        "${CMVR_INCLUDE_DIR}"
        "${CMVR_INCLUDE_DIR}/urdfdom_headers")
else()
    target_include_directories(CmvrControlStation PRIVATE
        "${CMVR_URDFDOM_INCLUDE_DIR}"
        "${CMVR_TINYXML_INCLUDE_DIR}"
        "${CMVR_INCLUDE_DIR}/urdfdom_headers")
endif()
if(CMVR_WITH_MSQUIC)
    target_include_directories(CmvrControlStation PRIVATE "${CMVR_MSQUIC_INCLUDE_DIR}")
    if(UNIX AND CMVR_MSQUIC_LIBRARY_DIR)
        set_property(TARGET CmvrControlStation APPEND PROPERTY
            BUILD_RPATH "${CMVR_MSQUIC_LIBRARY_DIR}")
    endif()
endif()

target_link_libraries(CmvrControlStation PRIVATE
    Qt5::Core Qt5::Gui Qt5::Widgets Qt5::Multimedia
    Qt5::3DCore Qt5::3DRender Qt5::3DExtras Qt5::3DInput Qt5::3DAnimation)

# Generate every project-local CMVR message. This avoids source-tree generated
# files and automatically picks up newly added configuration messages.
file(GLOB_RECURSE PROTO_FILES CONFIGURE_DEPENDS
    "${PROTO_ROOT}/cmvr/api/*.proto"
    "${PROTO_ROOT}/cmvr/common/*.proto"
    "${PROTO_ROOT}/cmvr/config/*.proto"
    "${PROTO_ROOT}/cmvr/msgs/agv.proto"
    "${PROTO_ROOT}/cmvr/quic_edge/v1/*.proto")

set(SERVICE_NAMES
    cmvr/api/agv_service
    cmvr/api/arm_service
    cmvr/api/biohead_service
    cmvr/api/camera_service
    cmvr/api/configuration_service
    cmvr/api/dexhand_service
    cmvr/api/hlc_service
    cmvr/api/microphone_service
    cmvr/api/speaker_service
    cmvr/api/system_service
    cmvr/api/test_service)

set(GENERATED_FILES)
foreach(PROTO_FILE IN LISTS PROTO_FILES)
    file(RELATIVE_PATH PROTO_RELATIVE "${PROTO_ROOT}" "${PROTO_FILE}")
    string(REGEX REPLACE "\\.proto$" "" PROTO_NAME "${PROTO_RELATIVE}")
    set(PB_CC "${GENERATED_ROOT}/${PROTO_NAME}.pb.cc")
    set(PB_H "${GENERATED_ROOT}/${PROTO_NAME}.pb.h")
    get_filename_component(PROTO_OUTPUT_DIR "${PB_CC}" DIRECTORY)
    add_custom_command(
        OUTPUT "${PB_CC}" "${PB_H}"
        COMMAND ${CMAKE_COMMAND} -E make_directory "${PROTO_OUTPUT_DIR}"
        COMMAND "${PROTOC}"
            "--proto_path=${PROTO_ROOT}"
            "--cpp_out=${GENERATED_ROOT}"
            "${PROTO_FILE}"
        DEPENDS "${PROTO_FILE}" ${PROTO_FILES}
        VERBATIM)
    list(APPEND GENERATED_FILES "${PB_CC}" "${PB_H}")
endforeach()

foreach(SERVICE_NAME IN LISTS SERVICE_NAMES)
    set(PROTO_FILE "${PROTO_ROOT}/${SERVICE_NAME}.proto")
    set(GRPC_CC "${GENERATED_ROOT}/${SERVICE_NAME}.grpc.pb.cc")
    set(GRPC_H "${GENERATED_ROOT}/${SERVICE_NAME}.grpc.pb.h")
    get_filename_component(PROTO_OUTPUT_DIR "${GRPC_CC}" DIRECTORY)
    add_custom_command(
        OUTPUT "${GRPC_CC}" "${GRPC_H}"
        COMMAND ${CMAKE_COMMAND} -E make_directory "${PROTO_OUTPUT_DIR}"
        COMMAND "${PROTOC}"
            "--proto_path=${PROTO_ROOT}"
            "--grpc_out=${GENERATED_ROOT}"
            "--plugin=protoc-gen-grpc=${GRPC_CPP_PLUGIN}"
            "${PROTO_FILE}"
        DEPENDS "${PROTO_FILE}" ${PROTO_FILES}
        VERBATIM)
    list(APPEND GENERATED_FILES "${GRPC_CC}" "${GRPC_H}")
endforeach()
target_sources(CmvrControlStation PRIVATE ${GENERATED_FILES})

if(WIN32)
    file(GLOB ABSL_STATIC_LIBS "${CMVR_LIB_DIR}/libabsl_*.a")
    target_link_libraries(CmvrControlStation PRIVATE
        "-Wl,--start-group"
        "${CMVR_LIB_DIR}/libgrpc++.a"
        "${CMVR_LIB_DIR}/libgrpc.a"
        "${CMVR_LIB_DIR}/libgpr.a"
        "${CMVR_LIB_DIR}/libaddress_sorting.a"
        "${CMVR_LIB_DIR}/libre2.a"
        "${CMVR_LIB_DIR}/libupb.a"
        "${CMVR_LIB_DIR}/libcares.a"
        "${CMVR_LIB_DIR}/libssl.a"
        "${CMVR_LIB_DIR}/libcrypto.a"
        "${CMVR_LIB_DIR}/libzlibstatic.a"
        "${CMVR_LIB_DIR}/libprotobuf.a"
        ${ABSL_STATIC_LIBS}
        "-Wl,--end-group"
        "${CMVR_LIB_DIR}/libavcodec.dll.a"
        "${CMVR_LIB_DIR}/libavutil.dll.a"
        "${CMVR_LIB_DIR}/libswscale.dll.a"
        "${CMVR_LIB_DIR}/liburdfdom_model.dll.a"
        ws2_32 crypt32 advapi32 bcrypt dbghelp iphlpapi secur32 ntdll)
else()
    if(CMVR_CXX_RUNTIME)
        target_link_libraries(CmvrControlStation PRIVATE "${CMVR_CXX_RUNTIME}")
    endif()
    target_link_libraries(CmvrControlStation PRIVATE
        protobuf::libprotobuf
        gRPC::grpc++
        PkgConfig::FFMPEG
        Threads::Threads
        "${CMVR_URDFDOM_MODEL_LIBRARY}")
endif()

if(WIN32)
    file(GLOB CMVR_RUNTIME_DLLS "${CMVR_LIB_DIR}/*.dll")
    foreach(RUNTIME_DLL IN LISTS CMVR_RUNTIME_DLLS)
        add_custom_command(TARGET CmvrControlStation POST_BUILD
            COMMAND ${CMAKE_COMMAND} -E copy_if_different
                "${RUNTIME_DLL}" "$<TARGET_FILE_DIR:CmvrControlStation>")
    endforeach()
endif()

foreach(CERTIFICATE IN ITEMS quic-test-server.pfx quic-test-ca.crt)
    if(EXISTS "${CMVR_CERT_DIR}/${CERTIFICATE}")
        add_custom_command(TARGET CmvrControlStation POST_BUILD
            COMMAND ${CMAKE_COMMAND} -E copy_if_different
                "${CMVR_CERT_DIR}/${CERTIFICATE}"
                "$<TARGET_FILE_DIR:CmvrControlStation>/${CERTIFICATE}")
        install(FILES "${CMVR_CERT_DIR}/${CERTIFICATE}" DESTINATION bin)
    endif()
endforeach()

add_custom_command(TARGET CmvrControlStation POST_BUILD
    COMMAND ${CMAKE_COMMAND} -E make_directory
        "$<TARGET_FILE_DIR:CmvrControlStation>/sceneparsers"
    COMMAND ${CMAKE_COMMAND} -E copy_if_different
        "${CMVR_ASSIMP_SCENE_PARSER}"
        "$<TARGET_FILE_DIR:CmvrControlStation>/sceneparsers/"
    COMMAND ${CMAKE_COMMAND} -E copy_directory
        "${CMAKE_CURRENT_SOURCE_DIR}/models"
        "$<TARGET_FILE_DIR:CmvrControlStation>/models")

install(TARGETS CmvrControlStation RUNTIME DESTINATION bin)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/models/"
    DESTINATION bin/models)
install(PROGRAMS "${CMVR_ASSIMP_SCENE_PARSER}"
    DESTINATION bin/sceneparsers)