############################################################################
#
#   Copyright (c) 2016-2022 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:
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# 1. Redistributions of source code must retain the above copyright
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#    the documentation and/or other materials provided with the
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#
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# POSSIBILITY OF SUCH DAMAGE.
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############################################################################

# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)

include(px4_list_make_absolute)

set(msg_files
	ActionRequest.msg
	ActuatorArmed.msg
	ActuatorControls.msg
	ActuatorControlsStatus.msg
	ActuatorMotors.msg
	ActuatorOutputs.msg
	ActuatorServos.msg
	ActuatorServosTrim.msg
	ActuatorTest.msg
	AdcReport.msg
	Airspeed.msg
	AirspeedValidated.msg
	AirspeedWind.msg
	AutotuneAttitudeControlStatus.msg
	BatteryStatus.msg
	CameraCapture.msg
	CameraStatus.msg
	CameraTrigger.msg
	CellularStatus.msg
	CollisionConstraints.msg
	CollisionReport.msg
	CommanderState.msg
	ControlAllocatorStatus.msg
	Cpuload.msg
	DebugArray.msg
	DebugKeyValue.msg
	DebugValue.msg
	DebugVect.msg
	DifferentialPressure.msg
	DistanceSensor.msg
	Ekf2Timestamps.msg
	EkfGpsDrift.msg
	EscReport.msg
	EscStatus.msg
	EstimatorBaroBias.msg
	EstimatorEventFlags.msg
	EstimatorInnovations.msg
	EstimatorOpticalFlowVel.msg
	EstimatorSelectorStatus.msg
	EstimatorSensorBias.msg
	EstimatorStates.msg
	EstimatorStatus.msg
	EstimatorStatusFlags.msg
	Event.msg
	FailureDetectorStatus.msg
	FollowTarget.msg
	GeneratorStatus.msg
	GeofenceResult.msg
	GimbalDeviceAttitudeStatus.msg
	GimbalDeviceInformation.msg
	GimbalDeviceSetAttitude.msg
	GimbalManagerInformation.msg
	GimbalManagerSetAttitude.msg
	GimbalManagerSetManualControl.msg
	GimbalManagerStatus.msg
	GpsDump.msg
	GpsInjectData.msg
	HeaterStatus.msg
	HomePosition.msg
	HoverThrustEstimate.msg
	InputRc.msg
	InternalCombustionEngineStatus.msg
	IridiumsbdStatus.msg
	IrlockReport.msg
	LandingGear.msg
	LandingTargetInnovations.msg
	LandingTargetPose.msg
	LedControl.msg
	LoggerStatus.msg
	LogMessage.msg
	MagnetometerBiasEstimate.msg
	MagWorkerData.msg
	ManualControlSetpoint.msg
	ManualControlSwitches.msg
	MavlinkLog.msg
	Mission.msg
	MissionResult.msg
	MountOrientation.msg
	NavigatorMissionItem.msg
	NpfgStatus.msg
	ObstacleDistance.msg
	OffboardControlMode.msg
	OnboardComputerStatus.msg
	OpticalFlow.msg
	OrbitStatus.msg
	OrbTest.msg
	OrbTestLarge.msg
	OrbTestMedium.msg
	ParameterUpdate.msg
	Ping.msg
	PpsCapture.msg
	PositionControllerLandingStatus.msg
	PositionControllerStatus.msg
	PositionSetpoint.msg
	PositionSetpointTriplet.msg
	PowerButtonState.msg
	PowerMonitor.msg
	PwmInput.msg
	Px4ioStatus.msg
	RadioStatus.msg
	RateCtrlStatus.msg
	RcChannels.msg
	RcParameterMap.msg
	Rpm.msg
	RtlTimeEstimate.msg
	Safety.msg
	SatelliteInfo.msg
	SensorAccel.msg
	SensorAccelFifo.msg
	SensorBaro.msg
	SensorCombined.msg
	SensorCorrection.msg
	SensorGps.msg
	SensorGyro.msg
	SensorGyroFft.msg
	SensorGyroFifo.msg
	SensorHygrometer.msg
	SensorMag.msg
	SensorPreflightMag.msg
	SensorSelection.msg
	SensorsStatusImu.msg
	SystemPower.msg
	TakeoffStatus.msg
	TaskStackInfo.msg
	TecsStatus.msg
	TelemetryStatus.msg
	TestMotor.msg
	Timesync.msg
	TimesyncStatus.msg
	TrajectoryBezier.msg
	TrajectoryWaypoint.msg
	TransponderReport.msg
	TuneControl.msg
	UavcanParameterRequest.msg
	UavcanParameterValue.msg
	UlogStream.msg
	UlogStreamAck.msg
	VehicleAcceleration.msg
	VehicleAirData.msg
	VehicleAngularAcceleration.msg
	VehicleAngularAccelerationSetpoint.msg
	VehicleAngularVelocity.msg
	VehicleAttitude.msg
	VehicleAttitudeSetpoint.msg
	VehicleCommand.msg
	VehicleCommandAck.msg
	VehicleConstraints.msg
	VehicleControlMode.msg
	VehicleGlobalPosition.msg
	VehicleGpsPosition.msg
	VehicleImu.msg
	VehicleImuStatus.msg
	VehicleLandDetected.msg
	VehicleLocalPosition.msg
	VehicleLocalPositionSetpoint.msg
	VehicleMagnetometer.msg
	VehicleOdometry.msg
	VehicleRatesSetpoint.msg
	VehicleRoi.msg
	VehicleStatus.msg
	VehicleStatusFlags.msg
	VehicleThrustSetpoint.msg
	VehicleTorqueSetpoint.msg
	VehicleTrajectoryBezier.msg
	VehicleTrajectoryWaypoint.msg
	VtolVehicleStatus.msg
	WheelEncoders.msg
	Wind.msg
	YawEstimatorStatus.msg
)
list(SORT msg_files)

px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
	# Check that the msg directory and the CMakeLists.txt file exists
	if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
		add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)

		# Add each of the external message files to the global msg_files list
		foreach(external_msg_file ${config_msg_list_external})
			list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
		endforeach()
	endif()
endif()

# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)

# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

set(uorb_headers)
foreach(msg_file ${msg_files})
	get_filename_component(msg ${msg_file} NAME_WE)

	# Pascal case to snake case (MsgFile -> msg_file)
	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
	string(TOLOWER "${msg}" msg)

	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
endforeach()

if(px4_constrained_flash_build)
	set(added_arguments --constrained-flash)
endif()

# Generate uORB headers
add_custom_command(OUTPUT ${uorb_headers}
	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
		-f ${msg_files}
		-i ${CMAKE_CURRENT_SOURCE_DIR}
		-o ${msg_out_path}
		-e templates/uorb
		${added_arguments}
	DEPENDS
		${msg_files}
		templates/uorb/msg.h.em
		tools/px_generate_uorb_topic_files.py
		tools/px_generate_uorb_topic_helper.py
	COMMENT "Generating uORB topic headers"
	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
	VERBATIM
	)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})