cmake_minimum_required(VERSION 3.24)

include(${CMAKE_SOURCE_DIR}/cmake/cmakebase.cmake)
include(${CMAKE_SOURCE_DIR}/cmake/project.cmake)
include(${CMAKE_SOURCE_DIR}/cmake/ss928.cmake)

message(STATUS "========================")
message(STATUS ${CMAKE_SYSTEM_NAME})
message(STATUS ${CMAKE_SYSTEM_PROCESSOR})
message(STATUS "========================")

set(CMAKE_CXX_STANDARD 14) # 设置使用C++11标准
set(CMAKE_CXX_STANDARD_REQUIRED ON) # 确保编译器遵循C++11标准

PROJECT(image_framework)

set(CMAKE_SOURCE_DIR "./")
#set(_GLIBCXX_USE_CXX11_ABI 1)

# 检查Opencv版本
find_package(OpenCV 4.10 REQUIRED)
if(NOT OpenCV_FOUND)
    message(FATAL_ERROR "OpenCV > 4.10 not found.")
endif()
MESSAGE(${OpenCV_VERSION})
message(STATUS "OpenCV include dirs: ${OpenCV_INCLUDE_DIRS}")
message(STATUS "OpenCV library dirs: ${OpenCV_LIBRARY_DIRS}")
message(STATUS "OpenCV libraries: ${OpenCV_LIBRARIES}")


set(OPENGL_opengl_LIBRARY /usr/lib/aarch64-linux-gnu/libOpenGL.so)
set(OPENGL_glx_LIBRARY /usr/lib/aarch64-linux-gnu/libGLX.so)
set(X11_X11_LIB /usr/lib/aarch64-linux-gnu/libX11.so)
find_package(Open3D REQUIRED)
if(NOT Open3D_FOUND)
    message(FATAL_ERROR "Open3D not found.")
endif()
MESSAGE(${Open3D_VERSION})
message(STATUS "Open3D include dirs: ${Open3D_INCLUDE_DIRS}")
message(STATUS "Open3D library dirs: ${Open3D_LIBRARY_DIRS}")
message(STATUS "Open3D libraries: ${Open3D_LIBRARIES}")

# 检测操作系统和架构
# if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
#    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
#        set(PLATFORM "linux/x64")
#    elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
#        set(PLATFORM "linux/aarch64")
#    else()
#        message(FATAL_ERROR "Unsupported architecture on Linux")
#    endif()
# elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
#    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
#        set(PLATFORM "windows/x64")
#    else()
#        message(FATAL_ERROR "Unsupported architecture on Windows")
#    endif()
# else()
#    message(FATAL_ERROR "Unsupported operating system")
# endif()

# 输出当前系统和架构
message(STATUS "operating system: ${PLATFORM}")

# 设置输出目录
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY  "${CMAKE_SOURCE_DIR}/output/")

# 设置头文件目录
INCLUDE_DIRECTORIES(
    "/opt/HuarayTech/MVviewer/include/"
    /usr/local/include
    ${CMAKE_SOURCE_DIR}/include/
    ${CMAKE_SOURCE_DIR}/include/open3d/
    ${CMAKE_SOURCE_DIR}/include/open3d/3rdparty
    ${CMAKE_SOURCE_DIR}/include/eigen3/
    ${CMAKE_SOURCE_DIR}/include/opencv4.10/
    ${CMAKE_SOURCE_DIR}/include/Livox/
    ${CMAKE_SOURCE_DIR}/image_framework/
    ${CMAKE_SOURCE_DIR}/image_framework/algorithm/
    ${CMAKE_SOURCE_DIR}/image_framework/driver/camera/
    ${CMAKE_SOURCE_DIR}/image_framework/driver/livox/
    ${CMAKE_SOURCE_DIR}/image_framework/plugins/
    ${CMAKE_SOURCE_DIR}/image_framework/thead/
    ${CMAKE_SOURCE_DIR}/image_framework/utils/Ini
    ${CMAKE_SOURCE_DIR}/image_framework/utils/Log
)

# 设置依赖库 .a
LINK_DIRECTORIES(
    /usr/lib/aarch64-linux-gnu
)

# fpermissive
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")

# 设置原文件
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/ CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/algorithm/ CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/plugins CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/thead CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/driver/camera CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/driver/livox CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/utils/Ini CORE_LIST)
aux_source_directory(${CMAKE_SOURCE_DIR}/image_framework/utils/Log CORE_LIST)

add_executable(${PROJECT_NAME} ${CORE_LIST})
set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath-link,/usr/lib/aarch64-linux-gnu")
target_link_libraries(
    ${PROJECT_NAME} 
    ${SYSTEM_LINK_LIB}
    ${OpenCV_LIBS} 
    livox_sdk_static
    pthread 
    dl
    libstdc++.so.6
    Open3D::Open3D
    libxcb.so.1
    libXau.so.6
    libXdmcp.so.6
    libGLdispatch.so.0
    libbsd.so
    libbsd.so.0
    libbsd.so.0.10.0
)

set(OUTPUT_LIB_DIR ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/lib)
add_custom_target(cpfiles ALL DEPENDS  ${PROJECT_NAME})

add_library(DetectDriver MODULE ${CORE_LIST})
target_link_libraries(
    DetectDriver
    ${SYSTEM_LINK_LIB}
    ${OpenCV_LIBS} 
    livox_sdk_static
    pthread 
    dl
)
set_property(TARGET DetectDriver PROPERTY POSITION_INDEPENDENT_CODE ON) #添加-fPIC
set_target_properties(DetectDriver PROPERTIES LINK_FLAGS "-fPIC")