From cdfcf7922b00b0dcc15b57d444d61bad3fa32200 Mon Sep 17 00:00:00 2001
From: Abhay Deshpande <a.deshpande012@gmail.com>
Date: Thu, 28 Sep 2023 19:09:36 -0700
Subject: [PATCH] Install hindsightcan with fetchcontent (#262)

* Install hindsightcan with fetchcontent

* Update hindsightcan git tag
---
 src/CAN/CAN.cpp          |  2 +-
 src/CAN/CANMotor.cpp     |  6 +++---
 src/CAN/CANMotor_AVR.cpp |  6 +++---
 src/CAN/CANUtils.cpp     |  2 +-
 src/CAN/FakeCANBoard.cpp |  2 +-
 src/CAN/TestIMU.cpp      |  4 ++--
 src/CMakeLists.txt       | 11 +++++++++--
 update_deps.sh           |  2 +-
 8 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/src/CAN/CAN.cpp b/src/CAN/CAN.cpp
index 6447b962f..13cde3dad 100644
--- a/src/CAN/CAN.cpp
+++ b/src/CAN/CAN.cpp
@@ -23,7 +23,7 @@
 #include <sys/types.h>
 
 extern "C" {
-#include "../HindsightCAN/CANCommon.h"
+#include <HindsightCAN/CANCommon.h>
 }
 
 using robot::types::DataPoint;
diff --git a/src/CAN/CANMotor.cpp b/src/CAN/CANMotor.cpp
index 59d23259e..ca7aef5fd 100644
--- a/src/CAN/CANMotor.cpp
+++ b/src/CAN/CANMotor.cpp
@@ -8,9 +8,9 @@
 #include <thread>
 
 extern "C" {
-#include "../HindsightCAN/CANCommon.h"
-#include "../HindsightCAN/CANMotorUnit.h"
-#include "../HindsightCAN/CANPacket.h"
+#include <HindsightCAN/CANCommon.h>
+#include <HindsightCAN/CANMotorUnit.h>
+#include <HindsightCAN/CANPacket.h>
 }
 
 using namespace std::chrono_literals;
diff --git a/src/CAN/CANMotor_AVR.cpp b/src/CAN/CANMotor_AVR.cpp
index cdfff4f8b..e2e167b74 100644
--- a/src/CAN/CANMotor_AVR.cpp
+++ b/src/CAN/CANMotor_AVR.cpp
@@ -6,9 +6,9 @@
 #include <thread>
 
 extern "C" {
-#include "../HindsightCAN/CANCommon.h"
-#include "../HindsightCAN/CANMotorUnit.h"
-#include "../HindsightCAN/CANPacket.h"
+#include <HindsightCAN/CANCommon.h>
+#include <HindsightCAN/CANMotorUnit.h>
+#include <HindsightCAN/CANPacket.h>
 }
 
 using namespace std::chrono_literals;
diff --git a/src/CAN/CANUtils.cpp b/src/CAN/CANUtils.cpp
index 3fd6a704e..0c9da84db 100644
--- a/src/CAN/CANUtils.cpp
+++ b/src/CAN/CANUtils.cpp
@@ -4,7 +4,7 @@
 #include <sstream>
 
 extern "C" {
-#include "../HindsightCAN/CANPacket.h"
+#include <HindsightCAN/CANPacket.h>
 }
 
 namespace can {
diff --git a/src/CAN/FakeCANBoard.cpp b/src/CAN/FakeCANBoard.cpp
index 23ec9df9e..097deaf7c 100644
--- a/src/CAN/FakeCANBoard.cpp
+++ b/src/CAN/FakeCANBoard.cpp
@@ -12,7 +12,7 @@
 #include <vector>
 
 extern "C" {
-#include "../HindsightCAN/CANScience.h"
+#include <HindsightCAN/CANScience.h>
 }
 
 using namespace std::chrono_literals;
diff --git a/src/CAN/TestIMU.cpp b/src/CAN/TestIMU.cpp
index abd573f9c..e364384c5 100644
--- a/src/CAN/TestIMU.cpp
+++ b/src/CAN/TestIMU.cpp
@@ -1,8 +1,8 @@
 #include "../log.h"
 #include "CAN.h"
 extern "C" {
-#include "../HindsightCAN/CANCommon.h"
-#include "../HindsightCAN/CANSerialNumbers.h"
+#include <HindsightCAN/CANCommon.h>
+#include <HindsightCAN/CANSerialNumbers.h>
 }
 
 #include <chrono>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c968f6a60..c39dc4bec 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -6,6 +6,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 project(Rover LANGUAGES CXX C)
 
+include(FetchContent)
+
 # If a build type was not explicitly specified, default to "RelWithDebInfo" (Same optimization
 # as the "Release" configuration but with debugging symbols).
 #
@@ -109,7 +111,12 @@ find_package(nlohmann_json 3.2.0 REQUIRED)
 
 # Find the CAN library; contains packet and protocol definitions and does not
 # actually require physical CAN to be present.
-find_package(HindsightCAN 1.4.0 REQUIRED)
+FetchContent_Declare(
+    HindsightCAN
+    GIT_REPOSITORY https://github.com/huskyroboticsteam/HindsightCAN.git
+    GIT_TAG 7397787fbb04687bf03c8fbac9a1db56f245fc9a
+)
+FetchContent_MakeAvailable(HindsightCAN)
 
 find_package(Threads REQUIRED)
 find_package(OpenCV REQUIRED)
@@ -197,7 +204,7 @@ else()
     CAN/CANStubs.cpp)
 endif()
 target_link_libraries(can_interface PUBLIC
-  HindsightCAN::HindsightCAN
+  HindsightCAN
   Threads::Threads
   utils
 )
diff --git a/update_deps.sh b/update_deps.sh
index 2a3fdd0b8..11a599214 100755
--- a/update_deps.sh
+++ b/update_deps.sh
@@ -4,5 +4,5 @@ sudo apt update
 sudo apt install -y build-essential unzip gnupg2 lsb-release git \
 	cmake libeigen3-dev libopencv-dev libopencv-contrib-dev \
 	libwebsocketpp-dev libboost-system-dev gpsd gpsd-clients libgps-dev nlohmann-json3-dev \
-	catch2 urg-lidar rplidar ublox-linux hindsight-can=1.4.0 frozen libargparse-dev libavutil-dev \
+	catch2 urg-lidar rplidar ublox-linux frozen libargparse-dev libavutil-dev \
 	libx264-dev