cmake_minimum_required(VERSION 3.20)

project(cvmmap-streamer LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

find_package(Threads REQUIRED)
find_package(cppzmq QUIET)
set(CVMMAP_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cv-mmap" CACHE PATH "Path to a local cv-mmap checkout")
set(CVMMAP_LOCAL_BUILD "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cv-mmap build artifacts")
if (cvmmap-core_DIR)
	find_package(cvmmap-core CONFIG QUIET)
endif()
find_package(ZeroMQ QUIET)
find_package(spdlog REQUIRED)
find_package(Protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(rvl CONFIG QUIET)
set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the local ZED SDK")
find_package(ZED REQUIRED)
find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)

add_subdirectory(third_party)

pkg_check_modules(FFMPEG REQUIRED IMPORTED_TARGET libavcodec libavformat libavutil libswscale)
pkg_check_modules(PROTOBUF_PKG QUIET IMPORTED_TARGET protobuf)
pkg_check_modules(ZSTD REQUIRED IMPORTED_TARGET libzstd)
pkg_check_modules(LZ4 REQUIRED IMPORTED_TARGET liblz4)

if (NOT TARGET cvmmap::client)
	if (
		EXISTS "${CVMMAP_LOCAL_ROOT}/core/include/cvmmap/client.hpp"
		AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a"
		AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a"
		AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a")
		add_library(cvmmap::client INTERFACE IMPORTED)
		set_target_properties(cvmmap::client PROPERTIES
			INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/core/include"
			INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a")
	else()
		message(FATAL_ERROR "cvmmap::client target is unavailable and local cv-mmap build artifacts were not found")
	endif()
endif()

if (NOT TARGET rvl::rvl)
	set(RVL_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../rvl_impl" CACHE PATH "Path to a local rvl_impl checkout")
	set(RVL_LOCAL_BUILD "${RVL_LOCAL_ROOT}/build/core")
	if (
		EXISTS "${RVL_LOCAL_ROOT}/core/include/rvl/rvl.hpp"
		AND EXISTS "${RVL_LOCAL_BUILD}/librvl_core.a")
		add_library(rvl::rvl INTERFACE IMPORTED)
		set_target_properties(rvl::rvl PROPERTIES
			INTERFACE_INCLUDE_DIRECTORIES "${RVL_LOCAL_ROOT}/core/include"
			INTERFACE_LINK_LIBRARIES "${RVL_LOCAL_BUILD}/librvl_core.a")
	else()
		message(FATAL_ERROR "rvl::rvl target is unavailable and local rvl_impl build artifacts were not found")
	endif()
endif()

add_library(cvmmap_streamer_foxglove_proto STATIC)
protobuf_generate(
	TARGET cvmmap_streamer_foxglove_proto
	LANGUAGE cpp
	PROTOS
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CompressedVideo.proto"
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CameraCalibration.proto"
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/PoseInFrame.proto"
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Pose.proto"
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Quaternion.proto"
		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Vector3.proto"
	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
add_library(cvmmap_streamer_depth_proto STATIC)
protobuf_generate(
	TARGET cvmmap_streamer_depth_proto
	LANGUAGE cpp
	PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
add_library(cvmmap_streamer_protobuf INTERFACE)
target_include_directories(cvmmap_streamer_foxglove_proto
	PUBLIC
		"${CMAKE_CURRENT_BINARY_DIR}"
		"${CMAKE_CURRENT_BINARY_DIR}/proto"
		${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_depth_proto
	PUBLIC
		"${CMAKE_CURRENT_BINARY_DIR}"
		"${CMAKE_CURRENT_BINARY_DIR}/proto"
		${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_protobuf
	INTERFACE
		"${CMAKE_CURRENT_BINARY_DIR}/proto"
		${Protobuf_INCLUDE_DIRS})
if (TARGET protobuf::libprotobuf)
	target_link_libraries(cvmmap_streamer_protobuf INTERFACE protobuf::libprotobuf)
elseif (TARGET Protobuf::libprotobuf)
	target_link_libraries(cvmmap_streamer_protobuf INTERFACE Protobuf::libprotobuf)
else()
	target_link_libraries(cvmmap_streamer_protobuf INTERFACE ${Protobuf_LIBRARIES})
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
	target_link_libraries(cvmmap_streamer_protobuf INTERFACE PkgConfig::PROTOBUF_PKG)
endif()
target_link_libraries(cvmmap_streamer_foxglove_proto PUBLIC cvmmap_streamer_protobuf)
target_link_libraries(cvmmap_streamer_depth_proto PUBLIC cvmmap_streamer_protobuf)

add_library(cvmmap_streamer_mcap_runtime STATIC
	src/record/mcap_runtime.cpp)
target_include_directories(cvmmap_streamer_mcap_runtime
	PUBLIC)
target_link_libraries(cvmmap_streamer_mcap_runtime
	PUBLIC
		mcap::mcap
	PkgConfig::ZSTD
	PkgConfig::LZ4)

add_library(cvmmap_streamer_record_support STATIC
	src/encode/encoder_backend.cpp
	src/encode/ffmpeg_encoder_backend.cpp
	src/record/protobuf_descriptor.cpp
	src/record/mcap_record_sink.cpp)
target_include_directories(cvmmap_streamer_record_support
	PUBLIC
		"${CMAKE_CURRENT_LIST_DIR}/include"
		"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(cvmmap_streamer_record_support
	PUBLIC
		cvmmap_streamer_foxglove_proto
		cvmmap_streamer_depth_proto
		cvmmap_streamer_mcap_runtime
		PkgConfig::FFMPEG
		PkgConfig::ZSTD
		PkgConfig::LZ4
		rvl::rvl
		mcap::mcap
		msft_proxy4::proxy
		cvmmap_streamer_protobuf)
if (TARGET spdlog::spdlog)
	target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog::spdlog)
elseif (TARGET spdlog)
	target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog)
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
	target_link_libraries(cvmmap_streamer_record_support PUBLIC PkgConfig::PROTOBUF_PKG)
endif()

add_library(cvmmap_streamer_common STATIC
	src/ipc/help.cpp
	src/config/runtime_config.cpp
	src/core/frame_source.cpp
	src/core/ingest_runtime.cpp
	src/ipc/contracts.cpp
	src/protocol/wire_codec.cpp
	src/metrics/latency_tracker.cpp
	src/pipeline/pipeline_runtime.cpp
	src/protocol/rtmp_output.cpp
	src/protocol/rtp_publisher.cpp)

target_include_directories(cvmmap_streamer_common
	PUBLIC
		"${CMAKE_CURRENT_LIST_DIR}/include"
		"${CMAKE_CURRENT_BINARY_DIR}")

set(CVMMAP_STREAMER_LINK_DEPS
	Threads::Threads
	cvmmap_streamer_record_support
	PkgConfig::FFMPEG
	PkgConfig::ZSTD
	PkgConfig::LZ4
	cvmmap::client
	CLI11::CLI11
	tomlplusplus::tomlplusplus
	mcap::mcap)

if (TARGET cppzmq::cppzmq)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq::cppzmq)
elseif (TARGET cppzmq)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq)
endif()

if (TARGET ZeroMQ::libzmq)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::libzmq)
elseif (TARGET ZeroMQ::ZeroMQ)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::ZeroMQ)
endif()

if (TARGET spdlog::spdlog)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog::spdlog)
elseif (TARGET spdlog)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog)
endif()

list(APPEND CVMMAP_STREAMER_LINK_DEPS cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
	list(APPEND CVMMAP_STREAMER_LINK_DEPS PkgConfig::PROTOBUF_PKG)
endif()

target_link_libraries(cvmmap_streamer_common PUBLIC ${CVMMAP_STREAMER_LINK_DEPS})

function(add_cvmmap_binary target source)
	add_executable(${target} ${source} ${ARGN})
	target_include_directories(${target}
		PRIVATE
			"${CMAKE_CURRENT_LIST_DIR}/include"
			"${CMAKE_CURRENT_BINARY_DIR}")
	target_link_libraries(${target}
		PRIVATE
			cvmmap_streamer_common)
	set_target_properties(${target} PROPERTIES
		OUTPUT_NAME "${target}"
		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
endfunction()

add_cvmmap_binary(cvmmap_streamer src/main_streamer.cpp)
add_cvmmap_binary(rtp_receiver_tester src/testers/rtp_receiver_tester.cpp)
add_cvmmap_binary(rtp_output_tester src/testers/rtp_output_tester.cpp)
add_cvmmap_binary(rtmp_stub_tester src/testers/rtmp_stub_tester.cpp)
add_cvmmap_binary(rtmp_output_tester src/testers/rtmp_output_tester.cpp)
add_cvmmap_binary(ipc_snapshot_tester src/testers/ipc_snapshot_tester.cpp)
add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.cpp)
add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
add_cvmmap_binary(mcap_pose_record_tester src/testers/mcap_pose_record_tester.cpp)

add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
target_include_directories(mcap_reader_tester
	PRIVATE
		"${CMAKE_CURRENT_LIST_DIR}/include"
		"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_reader_tester
	PRIVATE
		CLI11::CLI11
		cvmmap_streamer_foxglove_proto
		cvmmap_streamer_depth_proto
		cvmmap_streamer_mcap_runtime
		mcap::mcap
		PkgConfig::ZSTD
		PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
	target_link_libraries(mcap_reader_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
	target_link_libraries(mcap_reader_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_reader_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
	target_link_libraries(mcap_reader_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_reader_tester PROPERTIES
	OUTPUT_NAME "mcap_reader_tester"
	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")

add_executable(mcap_replay_tester src/testers/mcap_replay_tester.cpp)
target_include_directories(mcap_replay_tester
	PRIVATE
		"${CMAKE_CURRENT_LIST_DIR}/include"
		"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_replay_tester
	PRIVATE
		Threads::Threads
		CLI11::CLI11
		cvmmap_streamer_foxglove_proto
		cvmmap_streamer_mcap_runtime
		mcap::mcap
		PkgConfig::ZSTD
		PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
	target_link_libraries(mcap_replay_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
	target_link_libraries(mcap_replay_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_replay_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
	target_link_libraries(mcap_replay_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_replay_tester PROPERTIES
	OUTPUT_NAME "mcap_replay_tester"
	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")

add_executable(
	zed_svo_to_mcap
	src/tools/zed_svo_to_mcap.cpp
	src/config/runtime_config.cpp)
target_include_directories(zed_svo_to_mcap
	PRIVATE
		"${CMAKE_CURRENT_LIST_DIR}/include"
		"${CMAKE_CURRENT_BINARY_DIR}"
		${ZED_INCLUDE_DIRS}
		${CUDA_INCLUDE_DIRS})
target_link_directories(zed_svo_to_mcap
	PRIVATE
		${ZED_LIBRARY_DIR}
		${CUDA_LIBRARY_DIRS})
target_link_libraries(zed_svo_to_mcap
	PRIVATE
		cvmmap_streamer_record_support
		CLI11::CLI11
		tomlplusplus::tomlplusplus
		${ZED_LIBRARIES}
		${CUDA_CUDA_LIBRARY}
		${CUDA_CUDART_LIBRARY})
if (TARGET spdlog::spdlog)
	target_link_libraries(zed_svo_to_mcap PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
	target_link_libraries(zed_svo_to_mcap PRIVATE spdlog)
endif()
set_target_properties(zed_svo_to_mcap PROPERTIES
	OUTPUT_NAME "zed_svo_to_mcap"
	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")