find_package(GTest REQUIRED)
find_package(tesseract_support REQUIRED)
find_package(OpenMP REQUIRED)
if(OPENMP_FOUND)
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
else(OPENMP_FOUND)
  message(STATUS "Not found OpenMP")
endif()

if(NOT TARGET GTest::GTest)
  add_library(GTest::GTest INTERFACE IMPORTED)
  set_target_properties(GTest::GTest PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${GTEST_INCLUDE_DIRS}")
  if(${GTEST_LIBRARIES})
    set_target_properties(GTest::GTest PROPERTIES INTERFACE_LINK_LIBRARIES "${GTEST_LIBRARIES}")
  else()
    if(MSVC)
      set_target_properties(GTest::GTest PROPERTIES INTERFACE_LINK_LIBRARIES "gtest.lib")
    else()
      set_target_properties(GTest::GTest PROPERTIES INTERFACE_LINK_LIBRARIES "libgtest.so")
    endif()
  endif()
endif()

if(NOT TARGET GTest::Main)
  add_library(GTest::Main INTERFACE IMPORTED)
  set_target_properties(GTest::Main PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${GTEST_INCLUDE_DIRS}")
  if(${GTEST_MAIN_LIBRARIES})
    set_target_properties(GTest::Main PROPERTIES INTERFACE_LINK_LIBRARIES "${GTEST_MAIN_LIBRARIES}")
  else()
    if(MSVC)
      set_target_properties(GTest::Main PROPERTIES INTERFACE_LINK_LIBRARIES "gtest_main.lib")
    else()
      set_target_properties(GTest::Main PROPERTIES INTERFACE_LINK_LIBRARIES "libgtest_main.so")
    endif()
  endif()
endif()

include(GoogleTest)

add_executable(${PROJECT_NAME}_unit tesseract_environment_unit.cpp)
target_link_libraries(
  ${PROJECT_NAME}_unit
  PRIVATE GTest::GTest
          GTest::Main
          ${PROJECT_NAME}_kdl
          ${PROJECT_NAME}_ofkt
          tesseract::tesseract_support
          tesseract::tesseract_urdf
          tesseract::tesseract_collision_bullet
          tesseract::tesseract_collision_fcl
          tesseract::tesseract_scene_graph)
target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
                                                    ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
  ${PROJECT_NAME}_unit
  ALL
  EXCLUDE ${COVERAGE_EXCLUDE}
  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_unit)
add_dependencies(${PROJECT_NAME}_unit ${PROJECT_NAME}_kdl)
add_dependencies(run_tests ${PROJECT_NAME}_unit)

add_executable(${PROJECT_NAME}_ofkt_unit tesseract_environment_ofkt_unit.cpp)
target_link_libraries(
  ${PROJECT_NAME}_ofkt_unit
  PRIVATE GTest::GTest
          GTest::Main
          ${PROJECT_NAME}_ofkt
          tesseract::tesseract_support)
target_compile_options(${PROJECT_NAME}_ofkt_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
                                                         ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_ofkt_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_ofkt_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS}
                  ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_ofkt_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
  ${PROJECT_NAME}_ofkt_unit
  ALL
  EXCLUDE ${COVERAGE_EXCLUDE}
  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_ofkt_unit)
add_dependencies(${PROJECT_NAME}_ofkt_unit ${PROJECT_NAME}_kdl)
add_dependencies(run_tests ${PROJECT_NAME}_ofkt_unit)

add_executable(${PROJECT_NAME}_manipulator_manager_unit tesseract_environment_manipulator_manager_unit.cpp)
target_link_libraries(
  ${PROJECT_NAME}_manipulator_manager_unit
  PRIVATE GTest::GTest
          GTest::Main
          ${PROJECT_NAME}_core
          tesseract::tesseract_support)
target_compile_options(${PROJECT_NAME}_manipulator_manager_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
                                                                        ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_manipulator_manager_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_manipulator_manager_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS}
                  ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_manipulator_manager_unit PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
  ${PROJECT_NAME}_manipulator_manager_unit
  ALL
  EXCLUDE ${COVERAGE_EXCLUDE}
  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_manipulator_manager_unit)
add_dependencies(${PROJECT_NAME}_manipulator_manager_unit ${PROJECT_NAME}_kdl)
add_dependencies(run_tests ${PROJECT_NAME}_manipulator_manager_unit)

add_executable(${PROJECT_NAME}_environment_collision tesseract_environment_collision.cpp)
target_link_libraries(
  ${PROJECT_NAME}_environment_collision
  PRIVATE GTest::GTest
          GTest::Main
          ${PROJECT_NAME}_kdl
          ${PROJECT_NAME}_ofkt
          tesseract::tesseract_support)
target_compile_options(${PROJECT_NAME}_environment_collision PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE}
                                                                     ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_environment_collision PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
target_clang_tidy(${PROJECT_NAME}_environment_collision ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS}
                  ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
target_cxx_version(${PROJECT_NAME}_environment_collision PRIVATE VERSION ${TESSERACT_CXX_VERSION})
target_code_coverage(
  ${PROJECT_NAME}_environment_collision
  ALL
  EXCLUDE ${COVERAGE_EXCLUDE}
  ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
add_gtest_discover_tests(${PROJECT_NAME}_environment_collision)
add_dependencies(${PROJECT_NAME}_environment_collision ${PROJECT_NAME}_kdl)
add_dependencies(run_tests ${PROJECT_NAME}_environment_collision)
