CMakeLists.txt

cmake_minimum_required(VERSION 3.16...3.22)

option(VAMP_LTO "Use LTO." ON)
option(VAMP_FORCE_COLORED_OUTPUT "Always produce ANSI-colored output." ON)
option(VAMP_FORCE_CLANG "Force the use of Clang." OFF)

option(VAMP_BUILD_OMPL_DEMO "Build VAMP C++ OMPL Integration Demo Script" OFF)
option(VAMP_OMPL_PATH "Search Path for OMPL Installation - Only Needed for Demo Script" "")

if(VAMP_FORCE_CLANG)
  find_program(CLANG "clang")
  find_program(CLANGPP "clang++")

  set(CMAKE_C_COMPILER ${CLANG} CACHE STRING "C compiler" FORCE)
  set(CMAKE_CXX_COMPILER ${CLANGPP} CACHE STRING "C++ compiler" FORCE)
endif()

if(VAMP_FORCE_COLORED_OUTPUT)
  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
    add_compile_options(-fdiagnostics-color=always)
  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
    add_compile_options(-fcolor-diagnostics)
  endif()
endif()

project(
    vamp
    VERSION 0.2
    LANGUAGES C CXX
)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
set(CMAKE_BUILD_WITH_INSTALL_RPATH ON)

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
include(CompilerSettings)
include(FetchInitCPM)
include(Dependencies)

list(APPEND VAMP_EXT_SOURCES
  src/impl/vamp/bindings/python.cc
  src/impl/vamp/bindings/environment.cc
  src/impl/vamp/bindings/settings.cc
)

list(APPEND VAMP_ROBOT_MODULES
  sphere
  ur5
  panda
  fetch
  baxter
)

foreach(robot_name IN LISTS VAMP_ROBOT_MODULES)
  list(APPEND VAMP_EXT_SOURCES "src/impl/vamp/bindings/${robot_name}.cc")
endforeach()

list(APPEND VAMP_EXT_INCLUDES
  ${NIGH_INCLUDE_DIRS}
  ${PDQSORT_INCLUDE_DIRS}
  src/impl
)

nanobind_add_module(_core_ext
    NB_STATIC
    STABLE_ABI
    NOMINSIZE
    ${VAMP_EXT_SOURCES}
)

target_include_directories(_core_ext
    SYSTEM PRIVATE
    ${VAMP_EXT_INCLUDES}
)

target_link_libraries(_core_ext
    PRIVATE
    Eigen3::Eigen
)

if($ENV{GITHUB_ACTIONS})
  set(STUB_PREFIX "")
else()
  set(STUB_PREFIX "${CMAKE_BINARY_DIR}/stubs/")
endif()

nanobind_add_stub(
  vamp_stub
  MODULE _core_ext
  OUTPUT "${STUB_PREFIX}__init__.pyi"
  PYTHON_PATH $<TARGET_FILE_DIR:_core_ext>
  DEPENDS _core_ext
  VERBOSE
)

foreach(robot_name IN LISTS VAMP_ROBOT_MODULES)
  nanobind_add_stub(
    "vamp_${robot_name}_stub"
    MODULE "_core_ext.${robot_name}"
    OUTPUT "${STUB_PREFIX}${robot_name}.pyi"
    PYTHON_PATH $<TARGET_FILE_DIR:_core_ext>
    DEPENDS _core_ext
    VERBOSE
  )
endforeach()

install(
  TARGETS _core_ext
  LIBRARY
  DESTINATION vamp/_core
)

install(
  FILES "${STUB_PREFIX}__init__.pyi"
  DESTINATION "${CMAKE_SOURCE_DIR}/src/vamp/_core"
)

foreach(robot_name IN LISTS VAMP_ROBOT_MODULES)
  install(
    FILES "${STUB_PREFIX}${robot_name}.pyi"
    DESTINATION "${CMAKE_SOURCE_DIR}/src/vamp/_core"
  )
endforeach()

if(VAMP_BUILD_OMPL_DEMO)
  find_package(ompl QUIET PATHS ${VAMP_OMPL_PATH})

  if(ompl_FOUND)
    add_executable(vamp_ompl_integration scripts/cpp/ompl_integration.cc)
    target_link_libraries(vamp_ompl_integration PRIVATE ompl::ompl Eigen3::Eigen)
    target_include_directories(vamp_ompl_integration SYSTEM PRIVATE ${VAMP_EXT_INCLUDES})
  else()
    message(WARNING "OMPL not found! Cannot build OMPL demo.")
  endif()
endif()