CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(core C CXX)
set(CMAKE_C_COMPILER /usr/bin/gcc CACHE STRING "" FORCE)
set(CMAKE_CXX_COMPILER /usr/bin/g++ CACHE STRING "" FORCE)
set (CMAKE_EXE_LINKER_FLAGS)
set (CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w -fPIC")
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS_RELEASE "-O3")
find_package (glog 0.6.0 REQUIRED)
find_package(orocos_kdl REQUIRED)

include_directories("${CMAKE_CURRENT_LIST_DIR}")
option(CMAKE_PREFIX_PATH "/.local")
option(CMAKE_INSTALL_PREFIX "/usr/local")
set(CMAKE_INSTALL_BINDIR ${CMAKE_INSTALL_PREFIX}/bin)
set(CMAKE_INSTALL_LIBDIR ${CMAKE_INSTALL_PREFIX}/lib)
set(CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX}/include)

include(${CMAKE_CURRENT_LIST_DIR}/cmake/common.cmake)
include_directories(${CMAKE_PREFIX_PATH}/include)
include_directories("${CMAKE_CURRENT_BINARY_DIR}")

function(add_recursive_includes dir)
  file(GLOB children ${dir}/*)
  foreach(child ${children})
    if(IS_DIRECTORY ${child})
      if(child MATCHES ".*/include$")
        include_directories(${child})
        message(STATUS "Include directory added: ${child}")
      endif()
      add_recursive_includes(${child})
    endif()
  endforeach()
endfunction()

# Call the function with the root directory of the project
add_recursive_includes(${CMAKE_CURRENT_LIST_DIR})

macro(target_public_headers TARGET)
  set_target_properties(${TARGET} PROPERTIES PUBLIC_HEADER "${ARGN}")
endmacro()

# Proto file
set(PROTO_PATH ${CMAKE_CURRENT_LIST_DIR}/protos)
file(GLOB PROTO_FILES "${PROTO_PATH}/*.proto")

foreach(PROTO_FILE ${PROTO_FILES})
    get_filename_component(FILE_NAME ${PROTO_FILE} NAME_WE)
    list(APPEND PROTONAMES ${FILE_NAME})
endforeach()

foreach(PROTONAME ${PROTONAMES})
    # Add command to generate c/c++ code
    add_custom_command(
      OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.cc"
      "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.h"
      "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.grpc.pb.cc" 
      "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.grpc.pb.h"
      COMMAND ${_PROTOBUF_PROTOC}
      ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}"
        --cpp_out "${CMAKE_CURRENT_BINARY_DIR}"
        # --js_out=import_style=commonjs:"${CMAKE_CURRENT_BINARY_DIR}"
        # --grpc-web_out "${CMAKE_CURRENT_BINARY_DIR}"
        -I "${CMAKE_CURRENT_LIST_DIR}/protos"
        --plugin=protoc-gen-grpc="${_GRPC_CPP_PLUGIN_EXECUTABLE}"
        # --plugin=protoc-gen-grpc-web="${_GRPC_NODE_PLUGIN_EXECUTABLE}"
        "${PROTO_PATH}/${PROTONAME}.proto"
      DEPENDS "${PROTO_PATH}/${PROTONAME}.proto")

    add_library("${PROTONAME}_grpc_proto"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.cc"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.h"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.grpc.pb.cc" 
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.grpc.pb.h")
    target_link_libraries("${PROTONAME}_grpc_proto"
      ${_REFLECTION}
      ${_GRPC_GRPCPP}
      ${_PROTOBUF_LIBPROTOBUF})

    add_library("${PROTONAME}_proto"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.cc"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.h")
    target_link_libraries("${PROTONAME}_proto"
    ${_REFLECTION}
    ${_GRPC_GRPCPP}
    ${_PROTOBUF_LIBPROTOBUF})
    
    target_public_headers(
    "${PROTONAME}_grpc_proto" 
    "${PROTO_PATH}/${PROTONAME}.proto" 
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.grpc.pb.h"
    "${CMAKE_CURRENT_BINARY_DIR}/${PROTONAME}.pb.h")

    INSTALL(TARGETS "${PROTONAME}_grpc_proto" "${PROTONAME}_proto"
    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
    INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    )

endforeach()

add_subdirectory(cpp)