############################################################################
#
#   Copyright (c) 2015-2021 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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set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)

px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})

set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM "generic")

if(CONFIG_ARCH_CHIP)
	if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
		set(UAVCAN_DRIVER "kinetis")
		set(UAVCAN_TIMER 1)
	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
		set(UAVCAN_DRIVER "stm32h7")
		set(UAVCAN_TIMER 5) # The default timer is TIM5
		if (DEFINED config_uavcan_timer_override)
			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
		endif()
	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
		set(UAVCAN_DRIVER "stm32")
		set(UAVCAN_TIMER 6) # The default timer is TIM6
		if (DEFINED config_uavcan_timer_override)
			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
		endif()
	endif()
endif()

if(NOT DEFINED UAVCAN_DRIVER)
	message(FATAL_ERROR "UAVCAN_DRIVER not set")
endif()

if(NOT config_uavcan_num_ifaces)
	message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()

string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions(
	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
	-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
	-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
	-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
	-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
	-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
	-DUAVCAN_NO_ASSERTIONS
	-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
)

add_compile_options(
	-Wno-cast-align # TODO: fix and enable
	-Wno-deprecated-copy # TODO: fix
	-Wno-address-of-packed-member
)
add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets)

# driver
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
	${LIBUAVCAN_DIR}/libuavcan/include
	${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
)


# generated DSDL
set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
set(DSDLC_INPUTS
	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
	"${LIBUAVCAN_DIR}/dsdl/com"
	"${LIBUAVCAN_DIR}/dsdl/cuav"
	"${LIBUAVCAN_DIR}/dsdl/dronecan"
	"${LIBUAVCAN_DIR}/dsdl/uavcan"
)
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")

set(DSDLC_INPUT_FILES)
foreach(DSDLC_INPUT ${DSDLC_INPUTS})
	file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
	list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
endforeach(DSDLC_INPUT)
add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
	COMMAND
		${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
			#--verbose
	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
	DEPENDS ${DSDLC_INPUT_FILES}
	COMMENT "PX4 UAVCAN dsdl compiler"
)
add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)

px4_add_module(
	MODULE drivers__uavcan
	MAIN uavcan
	STACK_MAIN 4096
	COMPILE_FLAGS
		-Wno-format-security # logmessage.hpp
	INCLUDES
		${DSDLC_OUTPUT}
		${LIBUAVCAN_DIR}/libuavcan/include
		${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
		${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
		${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
	SRCS
		beep.cpp
		beep.hpp
		rgbled.cpp
		rgbled.hpp
		safety_state.cpp
		safety_state.hpp

		# Main
		uavcan_main.cpp
		uavcan_servers.cpp

		# Actuators
		actuators/esc.cpp
		actuators/hardpoint.cpp
		actuators/servo.cpp

		# Sensors
		sensors/sensor_bridge.cpp
		sensors/differential_pressure.cpp
		sensors/baro.cpp
		sensors/battery.cpp
		sensors/airspeed.cpp
		sensors/flow.cpp
		sensors/gnss.cpp
		sensors/mag.cpp
		sensors/rangefinder.cpp
		sensors/accel.cpp
		sensors/gyro.cpp
		sensors/ice_status.cpp
		sensors/hygrometer.cpp
		sensors/safety_button.cpp

	MODULE_CONFIG
		module.yaml

	DEPENDS
		px4_uavcan_dsdlc

		button_publisher
		drivers_rangefinder
		led
		mixer_module
		version

		git_uavcan
		uavcan_${UAVCAN_DRIVER}_driver

		drivers_rangefinder # Fix undefined reference when no distance sensors are selected

		# within libuavcan
		uavcan
	)