robot/CMakeLists.txt

cmake_minimum_required(VERSION 3.10)

project(interface_test VERSION 1.0.0 LANGUAGES C CXX)

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

set(GENERATED_COMMON_DIR "${CMAKE_BINARY_DIR}/library/common")
file(MAKE_DIRECTORY "${GENERATED_COMMON_DIR}")
set(COMMON_CFG_IN "${CMAKE_CURRENT_SOURCE_DIR}/library/common/common_cfg.h.in")
if(EXISTS "${COMMON_CFG_IN}")
    configure_file(
        "${COMMON_CFG_IN}"
        "${GENERATED_COMMON_DIR}/common_cfg.h"
        @ONLY
    )
    include_directories("${GENERATED_COMMON_DIR}")
    message(STATUS "[Root] Generated common_cfg.h to ${GENERATED_COMMON_DIR}")
else()
    message(WARNING "[Root] common_cfg.h.in not found")
endif()

if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
    message(STATUS "Setting build type to 'Release' as none was specified.")
    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()

option(A_BUILD_MAIN "Build the main executable" ON)
option(MY_BUILD_SHARED_LIBS "Build libraries as shared (.so/.dll) instead of static (.a)" OFF)

set(MY_BUILD_STATIC ON CACHE BOOL "Build libraries as static (.a)")
if(MY_BUILD_SHARED_LIBS)
    set(MY_BUILD_STATIC OFF)
endif()

set(GLOBAL_ENABLED_MODULES "" CACHE INTERNAL "List of enabled module targets")
set(GLOBAL_ENABLED_MACROS "" CACHE INTERNAL "List of enabled macros for main")
set(GLOBAL_ENABLED_MACROS ${GLOBAL_ENABLED_MACROS} PARENT_SCOPE)

function(add_module MOD_NAME MOD_PATH DEFAULT_STATE HAS_TEST)
    if(NOT DEFAULT_STATE STREQUAL "ON" AND NOT DEFAULT_STATE STREQUAL "OFF")
        message(FATAL_ERROR "[add_module] Invalid DEFAULT_STATE for ${MOD_NAME}: ${DEFAULT_STATE}")
    endif()

    if(NOT HAS_TEST STREQUAL "ON" AND NOT HAS_TEST STREQUAL "OFF")
        message(FATAL_ERROR "[add_module] Invalid HAS_TEST for ${MOD_NAME}: ${HAS_TEST}")
    endif()

    if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${MOD_PATH}")
        message(WARNING "[Root] Module '${MOD_NAME}' skipped: Path '${MOD_PATH}' does not exist!")
        return()
    endif()

    string(TOUPPER ${MOD_NAME} MOD_UPPER)
    option(BUILD_${MOD_UPPER} "Build ${MOD_NAME} module" ${DEFAULT_STATE})

    if(${BUILD_${MOD_UPPER}})
        set(BUILD_${MOD_UPPER}_HAS_TEST ${HAS_TEST} CACHE INTERNAL "Has test support")
        list(APPEND GLOBAL_ENABLED_MODULES ${MOD_NAME})
        list(APPEND GLOBAL_ENABLED_MACROS BUILD_${MOD_UPPER})
        message(STATUS "[Root] Enabled module(TestSupport: ${HAS_TEST}): ${MOD_NAME} (Default: ${DEFAULT_STATE}) -> Macro: BUILD_${MOD_UPPER}")
        set(GLOBAL_ENABLED_MODULES ${GLOBAL_ENABLED_MODULES} PARENT_SCOPE)
        set(GLOBAL_ENABLED_MACROS ${GLOBAL_ENABLED_MACROS} PARENT_SCOPE)
        add_subdirectory(${MOD_PATH})
    endif()
endfunction()

function(add_prebuilt_module MOD_NAME MOD_PATH DEFAULT_STATE HAS_TEST)
    if(NOT DEFAULT_STATE STREQUAL "ON" AND NOT DEFAULT_STATE STREQUAL "OFF")
        message(FATAL_ERROR "[add_prebuilt_module] Invalid DEFAULT_STATE for ${MOD_NAME}: ${DEFAULT_STATE}")
    endif()

    string(TOUPPER ${MOD_NAME} MOD_UPPER)
    option(BUILD_${MOD_UPPER} "Use prebuilt ${MOD_NAME} module" ${DEFAULT_STATE})

    if(NOT BUILD_${MOD_UPPER})
        return()
    endif()

    get_filename_component(ABS_MOD_PATH "${MOD_PATH}" ABSOLUTE BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")

    set(LIB_PATH "${ABS_MOD_PATH}/lib${MOD_NAME}.a")
    if(NOT EXISTS "${LIB_PATH}")
        message(FATAL_ERROR "[add_prebuilt_module] Library file not found: ${LIB_PATH}")
    endif()

    set(INCLUDE_DIR "${ABS_MOD_PATH}/include")
    if(EXISTS "${INCLUDE_DIR}")
        get_filename_component(ABS_INCLUDE_DIR "${INCLUDE_DIR}" ABSOLUTE)
        message(STATUS "[Root] Prebuilt module include dir: ${ABS_INCLUDE_DIR}")
    else()
        set(ABS_INCLUDE_DIR "")
        message(WARNING "[add_prebuilt_module] Include directory not found: ${INCLUDE_DIR}. Skipping INTERFACE_INCLUDE_DIRECTORIES.")
    endif()

    add_library(${MOD_NAME} STATIC IMPORTED GLOBAL)
    set_target_properties(${MOD_NAME} PROPERTIES
        IMPORTED_LOCATION "${LIB_PATH}"
        INTERFACE_INCLUDE_DIRECTORIES "${ABS_INCLUDE_DIR}"
    )

    list(APPEND GLOBAL_ENABLED_MODULES ${MOD_NAME})
    list(APPEND GLOBAL_ENABLED_MACROS BUILD_${MOD_UPPER})

    message(STATUS "[Root] Prebuilt module: ${MOD_NAME} from ${LIB_PATH}")
    message(STATUS "[Root] Include dir: ${ABS_INCLUDE_DIR}")
    message(STATUS "[Root] Macro: BUILD_${MOD_UPPER}")

    set(GLOBAL_ENABLED_MODULES ${GLOBAL_ENABLED_MODULES} PARENT_SCOPE)
    set(GLOBAL_ENABLED_MACROS ${GLOBAL_ENABLED_MACROS} PARENT_SCOPE)
endfunction()

add_module(common library/common ON OFF)
add_module(log library/log OFF OFF)
add_module(list library/list OFF OFF)
add_module(ringbuffer library/ringbuffer OFF OFF)
add_module(peripheral peripheral OFF ON)
add_module(lua lua OFF ON)
add_module(bspMCU bspMCU OFF OFF)
add_module(RBcore RBcore OFF OFF)
add_module(optional optional OFF OFF)
add_module(Spoolend Spoolend OFF OFF)

if(A_BUILD_MAIN)
    add_subdirectory(main)
endif()

message(STATUS "========================================")
message(STATUS "Enabled Modules: ${GLOBAL_ENABLED_MODULES}")
message(STATUS "Macros for Main: ${GLOBAL_ENABLED_MACROS}")
message(STATUS "Build Static Libs: ${MY_BUILD_STATIC}")
message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
message(STATUS "========================================")