cmake_minimum_required(VERSION 3.17)
set(CMAKE_VERBOSE_MAKEFILE ON)

# -----------------------------------------------------------------------------
# Set SDK Paths
# -----------------------------------------------------------------------------
# Allow overriding via environment variables or cache if desired.
if(NOT DEFINED ENV{PICO_SDK_PATH})
    set(ENV{PICO_SDK_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../external/pico_sdk")
endif()

set(PICO_SDK_PATH "$ENV{PICO_SDK_PATH}")

if(NOT DEFINED ENV{MICRO_ROS_SDK_PATH})
    set(ENV{MICRO_ROS_SDK_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../external/micro_ros_raspberrypi_pico_sdk")
endif()

set(MICRO_ROS_SDK_PATH "$ENV{MICRO_ROS_SDK_PATH}")

if(NOT DEFINED ENV{PICOTOOL_FETCH_FROM_GIT_PATH})
    set(ENV{PICOTOOL_FETCH_FROM_GIT_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../external/picotool")
endif()

set(PICOTOOL_FETCH_FROM_GIT_PATH "$ENV{PICOTOOL_FETCH_FROM_GIT_PATH}")

message(STATUS "PICO_SDK_PATH: ${PICO_SDK_PATH}")
message(STATUS "MICRO_ROS_SDK_PATH: ${MICRO_ROS_SDK_PATH}")
message(STATUS "PICOTOOL_FETCH_FROM_GIT_PATH: ${PICOTOOL_FETCH_FROM_GIT_PATH}")

# -----------------------------------------------------------------------------
# Compiler Flags
# -----------------------------------------------------------------------------
# Adding flags to reduce code size and allow linker garbage collection.
# Change your executable PROJECT_NAME to something creative!
set(PROJECT_NAME uros_template)
set(PICO_BOARD pico2)
set(PICO_PLATFORM rp2350)

# set(PICO_BOARD pico)
# set(PICO_PLATFORM rp2040)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -ffunction-sections -fdata-sections")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ffunction-sections -fdata-sections")

# -----------------------------------------------------------------------------
# Include the Pico SDK (using our local copy in the cmake/ folder)
# -----------------------------------------------------------------------------
include("${PICO_SDK_PATH}/external/pico_sdk_import.cmake")

# -----------------------------------------------------------------------------
# Project Definition
# -----------------------------------------------------------------------------
project(${PROJECT_NAME} C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 26)
set(PICO_CXX_ENABLE_EXCEPTIONS 1)

# -----------------------------------------------------------------------------
# Initialize the Pico SDK
# -----------------------------------------------------------------------------
pico_sdk_init()

# -----------------------------------------------------------------------------
# Add Subdirectories for Libraries and Other Components
# -----------------------------------------------------------------------------
# Build the pico_uart_transport library (its CMakeLists.txt should be in src/pico_uart_transport)
add_subdirectory(pico_uart_transport)

# -----------------------------------------------------------------------------
# Main Executable Target
# -----------------------------------------------------------------------------
add_executable(${PROJECT_NAME}
    # main_publisher.cpp
    main_subscriber.cpp
)

# -----------------------------------------------------------------------------
# Include Directories for the Main Target
# -----------------------------------------------------------------------------
target_include_directories(${PROJECT_NAME} PUBLIC
    ${CMAKE_CURRENT_SOURCE_DIR}/include
    ${MICRO_ROS_SDK_PATH}/libmicroros/include
)

# -----------------------------------------------------------------------------
# Link Libraries
# -----------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME} PUBLIC
    pico_stdlib
    pico_uart_transport
)

# Instead of linking the micro-ROS static library by its path directly, create an imported target.
add_library(micro_ros STATIC IMPORTED)
set_target_properties(micro_ros PROPERTIES
    IMPORTED_LOCATION "${MICRO_ROS_SDK_PATH}/libmicroros/libmicroros.a"
)
target_link_libraries(${PROJECT_NAME} PUBLIC micro_ros)

# -----------------------------------------------------------------------------
# Pico-Specific Settings
# -----------------------------------------------------------------------------
# Enable both USB and UART stdio (choose your desired configuration).
pico_enable_stdio_usb(${PROJECT_NAME} 1)
pico_enable_stdio_uart(${PROJECT_NAME} 1)
# pico_enable_stdio_uart(${PROJECT_NAME} 0)

# Add compile definitions at the target level.
target_compile_definitions(${PROJECT_NAME} PUBLIC
    PICO_UART_ENABLE_CRLF_SUPPORT=0 # Disable CRLF support for UART
    PICO_STDIO_ENABLE_CRLF_SUPPORT=0 # Disable CRLF support for stdio
    PICO_STDIO_DEFAULT_CRLF=0 # Set the default CRLF conversion to 0 (no conversion)
)

# -----------------------------------------------------------------------------
# Generate Additional Output Files (UF2, ELF, etc.)
# -----------------------------------------------------------------------------
pico_add_extra_outputs(${PROJECT_NAME})