############################################################################
#
#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")

	find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
	if(NOT FASTRTPSGEN)
		message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
		px4_add_module(
		    MODULE modules__micrortps_bridge__micrortps_client
		    MAIN micrortps_client
		    SRCS
			microRTPS_client_dummy.cpp
		    DEPENDS
			platforms__common
		)
		return()
	endif()

	include_directories(.)
	include_directories(${CMAKE_CURRENT_BINARY_DIR})
	include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
	include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)

	# Do not delete everything in the current dir
	set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
	set(topic_msg_path ${PX4_SOURCE_DIR}/msg)

	set(send_topic_files)
	foreach(topic ${config_rtps_send_topics})
		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
	endforeach()

	set(receive_topic_files)
	foreach(topic ${config_rtps_receive_topics})
		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
	endforeach()

	foreach(topic ${config_rtps_send_topics})
		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
	endforeach()

	foreach(topic ${config_rtps_receive_topics})
		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
	endforeach()

    if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
	set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)

	set(send_topic_files_opt)
	if (NOT "${send_topic_files}" STREQUAL "")
		set(send_topic_opt "-s")
	endif()

	set(receive_topic_files_opt)
	if (NOT "${receive_topic_files}" STREQUAL "")
		set(receive_topic_opt "-r")
	endif()

	add_custom_command(OUTPUT ${topic_bridge_files_out}
		COMMAND ${PYTHON_EXECUTABLE}
			${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
			-f $ENV{FASTRTPSGEN_DIR}
			${send_topic_opt} ${send_topic_files}
			${receive_topic_opt} ${receive_topic_files}
			-t ${topic_msg_path}
			-u ${msg_out_path}
		DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
		COMMENT "Generating RTPS topic bridge"
		VERBATIM
	    )
	add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})

	px4_add_module(
		MODULE modules__micrortps_bridge__micrortps_client
		MAIN micrortps_client
		STACK_MAIN 4096
		SRCS
			${msg_out_path}/microRTPS_transport.cpp
			${msg_out_path}/microRTPS_client.cpp
			microRTPS_client_main.cpp
		DEPENDS
			platforms__common
			topic_bridge_files
		)
    endif()
endif()