CMakeLists.txt

project(ssl-vision)
set(USE_QT5 FALSE CACHE BOOL "Use Qt5 instead of Qt4")
if(USE_QT5)
	cmake_minimum_required(VERSION 2.8.9)
	if(POLICY CMP0020)
	    cmake_policy(SET CMP0020 NEW) # remove if CMake >= 2.8.11 required
	endif()
	if(POLICY CMP0043) # compatibility with CMake 3.0.1
	    cmake_policy(SET CMP0043 OLD)
	endif()
	if(POLICY CMP0071) # compatibility with CMake 3.10.0
	    cmake_policy(SET CMP0071 OLD)
	endif()
else()
	cmake_minimum_required(VERSION 2.6)
endif()

#defines
add_definitions(-D UNIX)
add_definitions(-D LINUX)
add_definitions(-D _GNU_SOURCE)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)

SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

# Find third-party libraries
find_package(OpenGL REQUIRED)
find_package(Threads REQUIRED)

find_package(Protobuf REQUIRED)
if(EXISTS ${PROTOBUF_PROTOC_EXECUTABLE})
	message(STATUS "Found PROTOBUF Compiler: ${PROTOBUF_PROTOC_EXECUTABLE}")
else()
	message(FATAL_ERROR "Could not find PROTOBUF Compiler")
endif()

find_package(PkgConfig REQUIRED)
pkg_check_modules(Eigen3 REQUIRED eigen3)
pkg_check_modules(DC1394 REQUIRED libdc1394-2)

if(USE_QT5)
	set(CMAKE_INCLUDE_CURRENT_DIR ON)
	set(CMAKE_AUTOMOC ON)
	find_package(Qt5Core REQUIRED)
	find_package(Qt5Widgets REQUIRED)
	#find_package(Qt5Network REQUIRED)
	find_package(Qt5OpenGL REQUIRED)
	# replaced by automoc
	macro(qt4_wrap_cpp VARNAME)
		set(${VARNAME} "")
	endmacro()
	# wrap functions
	macro(qt4_wrap_ui)
		qt5_wrap_ui(${ARGN})
	endmacro()
	macro(qt4_add_resources)
		qt5_add_resources(${ARGN})
	endmacro()
	set(QT_LIBRARIES "")
else()
	find_package(Qt4 4.8.0 COMPONENTS QtCore QtGui QtOpenGL QtNetwork REQUIRED)
	include ( ${QT_USE_FILE} )
endif()

include_directories(
	${PROJECT_BINARY_DIR}
	${Eigen3_INCLUDE_DIRS}
	${PROTOBUF_INCLUDE_DIRS}
)

find_package(mvIMPACT QUIET)

include(src/shared/CMakeLists.txt.inc)

if(${mvIMPACT_FOUND} MATCHES "TRUE")
  include_directories(${mvIMPACT_INCLUDE_DIRS})
  add_definitions(-D MVIMPACT)
  set (SHARED_SRCS ${SHARED_SRCS} ${shared_dir}/capture/capture_bluefox2.cpp)
  set (SHARED_HEADERS ${SHARED_HEADERS} ${shared_dir}/capture/capture_bluefox2.h)
  message(STATUS "mvIMPACT found => BlueFox2 support enabled")
else()
  message(STATUS "mvIMPACT NOT found => BlueFox2 support disabled")
endif()

set(FLYCAP_HINTS "/usr/include/flycapture")
find_package(flycapture)
if(${FLYCAP_FOUND} MATCHES "TRUE")
  message("Flycap dirs " ${FLYCAP_INCLUDE_DIRS})
  include_directories(${FLYCAP_INCLUDE_DIRS})
  add_definitions(-D FLYCAP)
  set (SHARED_SRCS ${SHARED_SRCS} ${shared_dir}/capture/capture_flycap.cpp)
  set (SHARED_HEADERS ${SHARED_HEADERS} ${shared_dir}/capture/capture_flycap.h)
  set (FLYCAP_LIBS flycapture)
  message(STATUS "Flycapture found => Flycap support enabled")
else()
  message(STATUS "Flycapture NOT found => Flycap support disabled")
endif()

find_package( OpenCV 2 QUIET )
if(OpenCV_FOUND)
  include_directories(${OpenCV_INCLUDE_DIRS})
  add_definitions(-D OPENCV)
  set (OPTIONAL_SRCS ${OPTIONAL_SRCS} src/app/gui/neurowidget.cpp src/app/plugins/plugin_neuralcolorcalib.cpp)
  set (OPTIONAL_HEADERS ${OPTIONAL_HEADERS} src/app/gui/neurowidget.h)
  set (OPTIONAL_UI_SRCS ${OPTIONAL_UI_SRCS} src/app/gui/neurowidget.ui)
  message(STATUS "OpenCV found")
else()
  message(WARNING "OpenCV NOT found => Neural Calibration not available")
endif()

include_directories(${PROJECT_SOURCE_DIR}/src/app)
include_directories(${PROJECT_SOURCE_DIR}/src/app/gui)
include_directories(${PROJECT_SOURCE_DIR}/src/app/plugins)
include_directories(${PROJECT_SOURCE_DIR}/src/app/stacks)

set (SRCS
	src/app/capture_thread.cpp
	src/app/framedata.cpp
	src/app/main.cpp

	src/app/gui/cameracalibwidget.cpp
	src/app/gui/colorpicker.cpp
	src/app/gui/glLUTwidget.cpp
	src/app/gui/glwidget.cpp
	src/app/gui/lutwidget.cpp
	src/app/gui/mainwindow.cpp
	src/app/gui/realtimedisplaywidget.cpp
	src/app/gui/renderoptions.cpp
	src/app/gui/videowidget.cpp
	src/app/gui/jog_dial.cpp

	src/app/plugins/plugin_cameracalib.cpp
	src/app/plugins/plugin_colorcalib.cpp
	src/app/plugins/plugin_colorthreshold.cpp
	src/app/plugins/plugin_detect_balls.cpp
	src/app/plugins/plugin_detect_robots.cpp
	src/app/plugins/plugin_find_blobs.cpp
	src/app/plugins/plugin_publishgeometry.cpp
	src/app/plugins/plugin_legacypublishgeometry.cpp
	src/app/plugins/plugin_runlength_encode.cpp
	src/app/plugins/plugin_sslnetworkoutput.cpp
	src/app/plugins/plugin_legacysslnetworkoutput.cpp
	src/app/plugins/plugin_visualize.cpp
	src/app/plugins/plugin_dvr.cpp
	src/app/plugins/visionplugin.cpp

	src/app/stacks/multistack_robocup_ssl.cpp
	src/app/stacks/multivisionstack.cpp
	src/app/stacks/stack_robocup_ssl.cpp
	src/app/stacks/visionstack.cpp

	${OPTIONAL_SRCS}
)

qt4_wrap_cpp (MOC_SRCS
	src/app/capture_thread.h

	src/app/gui/cameracalibwidget.h
	src/app/gui/glLUTwidget.h
	src/app/gui/glwidget.h
	src/app/gui/lutwidget.h
	src/app/gui/mainwindow.h
	src/app/gui/videowidget.h
	src/app/gui/jog_dial.h
	src/shared/util/lut3d.h

	src/app/plugins/plugin_dvr.h
	src/app/plugins/plugin_publishgeometry.h
	src/app/plugins/plugin_legacypublishgeometry.h
	src/app/plugins/visionplugin.h
	src/app/plugins/plugin_colorcalib.h

	src/app/stacks/multistack_robocup_ssl.h

	${OPTIONAL_HEADERS}
)

qt4_wrap_ui (UI_SRCS
	src/app/gui/mainwindow.ui
	src/app/gui/videowidget.ui
	${OPTIONAL_UI_SRCS}
)

qt4_add_resources(RC_SRCS
	src/app/gui/icons/icons_gui.qrc
	${SHARED_RC}
)

## generate moc files for graphicalClient
qt4_wrap_cpp(LCLIENT_MOC_SRCS
    src/logClient/CentralWindow.h
    src/logClient/ClientThreading.h
    src/logClient/GraphicsPrimitives.h
    src/logClient/LogControl.h
)

## generate moc files for graphicalClient2
qt4_wrap_cpp(GCLIENT_MOC_SRCS
    src/graphicalClient/soccerview.h
)

## shared qt wrappings

qt4_wrap_cpp (SHARED_MOC_SRCS
	${SHARED_HEADERS}
)

qt4_add_resources(SHARED_RC_SRCS
	${SHARED_RC}
)

set (arch ${CMAKE_SYSTEM_PROCESSOR})

message (STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
message (STATUS "Arch: ${arch}")

if (${arch} MATCHES "x86_64")
	#set compiler flags here for x86_64
	set (cc_flags "")
elseif (${arch} MATCHES "x86")
	#set compiler flags here for x86
	set (cc_flags "")
endif()

# make sure to use C++98 and enable warnings
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ansi")
# enable warnings
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")

#flags to set in debug mode
set (CMAKE_CXX_FLAGS_DEBUG "-g -Wl,--no-as-needed")

#flags to set in release mode
set (CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -march=native -Wl,--no-as-needed")

message( STATUS "CC Flags: ${CMAKE_CXX_FLAGS_RELEASE}")
message (STATUS "Custom CC Flags: ${cc_flags}")

add_definitions(${cc_flags})

## build the common code
add_library(sslvision ${SHARED_MOC_SRCS} ${SHARED_RC_SRCS} ${CC_PROTO} ${SHARED_SRCS})
add_dependencies(sslvision GenerateProto)

set (libs ${QT_LIBRARIES}
	${CMAKE_THREAD_LIBS_INIT}
	${OPENGL_gl_LIBRARY}
	${OPENGL_glu_LIBRARY}
	${PROTOBUF_LIBRARIES}
	${DC1394_LIBRARIES}
	${mvIMPACT_LIBRARIES}
	${OpenCV_LIBS}
	${FLYCAP_LIBS}
)
target_link_libraries(sslvision ${libs})
if(USE_QT5)
	qt5_use_modules(sslvision Widgets)
endif()
set (libs ${libs} sslvision)

## build the main app
set (target vision)
add_executable(${target} ${UI_SRCS} ${MOC_SRCS} ${RC_SRCS} ${SRCS})
target_link_libraries(${target} ${libs})
if(USE_QT5)
	qt5_use_modules(${target} Widgets OpenGL)
endif()

##build non graphical client
set (client client)
add_executable(${client} src/client/main.cpp )
target_link_libraries(${client} ${libs})
if(USE_QT5)
	qt5_use_modules(${client} Core)
endif()

##build logging client
set (lclient logClient)
add_executable(${lclient} ${LCLIENT_MOC_SRCS}
	src/logClient/main.cpp
	src/logClient/CentralWindow.cpp
	src/logClient/ClientThreading.cpp
	src/logClient/GraphicsPrimitives.cpp
	src/logClient/LogControl.cpp
)
target_link_libraries(${lclient} ${libs})
if(USE_QT5)
	qt5_use_modules(${lclient} Widgets OpenGL)
endif()

##build graphical client
set (gclient graphicalClient)
add_executable(${gclient} ${GCLIENT_MOC_SRCS}
  src/graphicalClient/main.cpp
  src/graphicalClient/soccerview.cpp
  src/graphicalClient/gltext.cpp
)
target_link_libraries(${gclient} ${libs})
if(USE_QT5)
	qt5_use_modules(${gclient} Widgets OpenGL)
endif()