# Copyright (c) 2025，D-Robotics.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

cmake_minimum_required(VERSION 3.5)
project(qwen_llm)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_BUILD_TYPE Release)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(ai_msgs REQUIRED)
find_package(dnn_node REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV 4 REQUIRED)
find_package(std_srvs REQUIRED)

option(SHARED_MEM "using shared mem" ON)
if (${SHARED_MEM})
  message("using shared mem")
  # rclcpp definition
  find_package(hbm_img_msgs REQUIRED)
  add_definitions(-DSHARED_MEM_ENABLED)
endif ()

message("build platform X5")
add_definitions(-DPLATFORM_X5)
set(PREFIX_PATH x5)

message("PREFIX_PATH is " ${PREFIX_PATH})
message("SYS_ROOT is " ${SYS_ROOT})

include_directories(include
  ${PROJECT_SOURCE_DIR}
)

include_directories(
  ${SYS_ROOT}/usr/include/opencv/
  ${SYS_ROOT}/usr/include/
  ${SYS_ROOT}/usr/hobot/include/
  ${SYS_ROOT}/usr/include/hobot/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/common/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/include/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/ggml/include/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/vendor/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/examples/llava/
)

link_directories(
  ${SYS_ROOT}/usr/lib/hbbpu/
  ${SYS_ROOT}/usr/lib/hbmedia/
  ${SYS_ROOT}/usr/lib/
  ${SYS_ROOT}/usr/hobot/lib/
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/bin
  ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/common
)

add_subdirectory(llama.cpp)

add_executable(${PROJECT_NAME}
  src/main.cpp
  src/cli.cpp
  src/llamacpp_node_new.cpp
  src/${PREFIX_PATH}/image_utils.cpp
  src/${PREFIX_PATH}/llama_cpp_parser.cpp
)

add_executable(llama_warmup
  src/llama_warmup.cpp
)


target_link_libraries(${PROJECT_NAME} 
    ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/common/libllama-common-base.a
    llama
    llama-common
    ${CMAKE_THREAD_LIBS_INIT})

target_link_libraries(llama_warmup 
    ${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/common/libllama-common-base.a
    ggml 
    llama
    ${CMAKE_THREAD_LIBS_INIT})

ament_target_dependencies(
  ${PROJECT_NAME}
  rclcpp
  dnn_node
  sensor_msgs
  ai_msgs
  cv_bridge
  std_srvs
  hbm_img_msgs
)

set_target_properties(${PROJECT_NAME} PROPERTIES
    BUILD_RPATH "${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/bin"
    INSTALL_RPATH "${CMAKE_CURRENT_SOURCE_DIR}/llama.cpp/build/bin"
)

# Install executables
install(
  TARGETS llama_warmup
  RUNTIME DESTINATION lib/llama_warmup
)

install(
  TARGETS ${PROJECT_NAME}
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  ${PROJECT_SOURCE_DIR}/config/
  DESTINATION share/${PROJECT_NAME}/config)

install(DIRECTORY
  ${PROJECT_SOURCE_DIR}/launch/
  DESTINATION share/${PROJECT_NAME}/launch)

ament_package()