############################################################################
#
#   Copyright (c) 2017 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.
#
############################################################################

###########################################
# Prepare flight tasks
###########################################

# add upstream flight tasks (they are being handled differently from the core inside the python script)
list(APPEND flight_tasks_to_add
	Orbit
)
# remove possible duplicates
list(REMOVE_DUPLICATES flight_tasks_to_add)

# remove flight tasks depending on target
if(flight_tasks_to_remove)
	list(REMOVE_ITEM flight_tasks_to_add
		${flight_tasks_to_remove}
	)
endif()

# add core flight tasks to list
list(APPEND flight_tasks_all
	ManualAltitude
	ManualAltitudeSmooth
	ManualAltitudeSmoothVel
	ManualPosition
	ManualPositionSmooth
	ManualPositionSmoothVel
	AutoLineSmoothVel
	AutoFollowMe
	Offboard
	Failsafe
	Descend
	Transition
	${flight_tasks_to_add}
)

# set the files to be generated
set(files_to_generate
	FlightTasks_generated.hpp
	FlightTasks_generated.cpp
)

# generate files needed for Flight Tasks
set(python_args
	-t ${flight_tasks_all}
	-i ${CMAKE_CURRENT_SOURCE_DIR}/Templates
	-o ${CMAKE_CURRENT_BINARY_DIR}
	-f ${files_to_generate}
)

# add the additional tasks for the python script (if there are any)
if(flight_tasks_to_add)
	list(APPEND python_args
		-s ${flight_tasks_to_add}
	)
endif()

# generate the files using the python script and template
add_custom_command(
	OUTPUT
		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
	COMMAND ${PYTHON_EXECUTABLE} generate_flight_tasks.py ${python_args}
	COMMENT "Generating Flight Tasks"
	DEPENDS
		Templates/FlightTasks_generated.cpp.em
		Templates/FlightTasks_generated.hpp.em
	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
	VERBATIM
)

###########################################
# Create Flight Tasks Library
###########################################

add_compile_options(
	-Wno-cast-align
	) # TODO: fix and enable

px4_add_library(FlightTasks
	FlightTasks.cpp
	FlightTasks_generated.cpp
)

# add directories to target
target_include_directories(FlightTasks PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR})

# add all flight task dependencies
foreach(task ${flight_tasks_all})
	target_link_libraries(FlightTasks PUBLIC FlightTask${task})
endforeach()

# add subdirectory containing all tasks
add_subdirectory(tasks)
