include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()

# Set cmake policy to recognize the Apple Clang compiler
# independently from the Clang compiler.
if(POLICY CMP0025)
  cmake_policy(SET CMP0025 NEW)
endif()

# function:  list_append_cache(var [new_values ...])
# Like "list(APPEND ...)" but working for CACHE variables.
# -----------------------------------------------------------
function(list_append_cache var)
  set(cur_value ${${var}})
  list(APPEND cur_value ${ARGN})
  get_property(MYVAR_DOCSTRING CACHE ${var} PROPERTY HELPSTRING)
  set(${var} "${cur_value}" CACHE STRING "${MYVAR_DOCSTRING}" FORCE)
endfunction()

# function:  append_config_if_not_empty(TARGET_VARIABLE build_type)
# Auxiliary function used to merge configuration-specific flags into the
# global variables that will actually be send to cmake targets.
# -----------------------------------------------------------
function(append_config_if_not_empty TARGET_VARIABLE_ build_type)
  string(TOUPPER "${build_type}" build_type_toupper)
  set(flags_variable_name "${TARGET_VARIABLE_}_${build_type_toupper}")
  set(flags_ ${${flags_variable_name}})
  if (NOT "${flags_}" STREQUAL "")
    if (${build_type_toupper} STREQUAL "COMMON")
      # Special "COMMON" configuration type, just append without CMake expression:
      list_append_cache(${TARGET_VARIABLE_} "${flags_}")
    else()
      # Regular configuration type:
      list_append_cache(${TARGET_VARIABLE_} "$<$<CONFIG:${build_type}>:${flags_}>")
    endif()
  endif()
endfunction()


# Add install prefix to search path
list(APPEND CMAKE_PREFIX_PATH "${CMAKE_INSTALL_PREFIX}")


# Set up build types for MSVC and XCode
set(GTSAM_CMAKE_CONFIGURATION_TYPES Debug Release Timing Profiling RelWithDebInfo MinSizeRel
      CACHE STRING "Build types available to MSVC and XCode")
mark_as_advanced(FORCE GTSAM_CMAKE_CONFIGURATION_TYPES)
set(CMAKE_CONFIGURATION_TYPES ${GTSAM_CMAKE_CONFIGURATION_TYPES} CACHE STRING "Build configurations" FORCE)


# Default to Release mode
if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
    set(GTSAM_CMAKE_BUILD_TYPE "Release" CACHE STRING
      "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo.")
    set(CMAKE_BUILD_TYPE ${GTSAM_CMAKE_BUILD_TYPE} CACHE STRING
      "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
endif()

# Define all cache variables, to be populated below depending on the OS/compiler:
set(GTSAM_COMPILE_OPTIONS_PRIVATE        "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE)
set(GTSAM_COMPILE_OPTIONS_PUBLIC         "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations."  FORCE)
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE    "" CACHE INTERNAL "(Do not edit) Private preprocessor macros for all build configurations." FORCE)
set(GTSAM_COMPILE_DEFINITIONS_PUBLIC     "" CACHE INTERNAL "(Do not edit) Public preprocessor macros for all build configurations." FORCE)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PUBLIC)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PUBLIC)

foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
  string(TOUPPER "${build_type}" build_type_toupper)

  # Define empty cache variables for "public". "private" are created below.
  set(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper}      "" CACHE STRING "(User editable) Public compiler flags (exported to user projects) for `${build_type_toupper}` configuration.")
  set(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper}  "" CACHE STRING "(User editable) Public preprocessor macros for `${build_type_toupper}` configuration.")
endforeach()

# Common preprocessor macros for each configuration:
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG           "_DEBUG;EIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "(User editable) Private preprocessor macros for Debug configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO  "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for RelWithDebInfo configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE         "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING       "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.")
set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING          "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.")

mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING)
mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING)

if(MSVC)
  # Common to all configurations:
  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
    WINDOWS_LEAN_AND_MEAN
    NOMINMAX
  )
  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC
    _ENABLE_EXTENDED_ALIGNED_STORAGE
  )
  # Avoid literally hundreds to thousands of warnings:
  list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC
    /wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
  )

  add_compile_options(/wd4005)
  add_compile_options(/wd4101)
  add_compile_options(/wd4834)

endif()

# Other (non-preprocessor macros) compiler flags:
if(MSVC)
  set(CMAKE_3_15 $<VERSION_LESS:${CMAKE_VERSION},3.15>)
  set(CMAKE_3_25 $<VERSION_LESS:${CMAKE_VERSION},3.25>)
  # Common to all configurations, next for each configuration:
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON          /W3 /WX /GR /EHsc /MP  CACHE STRING "(User editable) Private compiler flags for all configurations.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG           $<${CMAKE_3_15}:/MDd> $<${CMAKE_3_25}:/Zi> /Ob0 /Od /RTC1  CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO  $<${CMAKE_3_15}:/MD> /O2  $<${CMAKE_3_25}:/Zi>  CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE         $<${CMAKE_3_15}:/MD> /O2  CACHE STRING "(User editable) Private compiler flags for Release configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING       $<${CMAKE_3_15}:/MD> /O2  $<${CMAKE_3_25}:/Zi>  CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          $<${CMAKE_3_15}:/MD> /O2  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
else()
  # Common to all configurations, next for each configuration:

  if (NOT MSVC)
    check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE)
    check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE)
    if (COMPILER_HAS_WSUGGEST_OVERRIDE)
      set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
    elseif(COMPILER_HAS_WMISSING_OVERRIDE)
      set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday
    endif()
  endif()

  set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
    -Werror                                        # Enable warnings as errors
    -Wall                                          # Enable common warnings
    -Wpedantic                                     # Enable pedantic warnings
    $<$<COMPILE_LANGUAGE:CXX>:-Wextra -Wno-unused-parameter> # Enable extra warnings, but ignore no-unused-parameter (as we ifdef out chunks of code)
    $<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr>            # Error: return local address
    $<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address>       # Error: return local address
    $<$<CXX_COMPILER_ID:Clang>:-Wno-weak-template-vtables>   # TODO(dellaert): don't know how to resolve
    $<$<CXX_COMPILER_ID:Clang>:-Wno-weak-vtables>  # TODO(dellaert): don't know how to resolve
    -Wreturn-type                                  # Error on missing return()
    -Wformat -Werror=format-security               # Error on wrong printf() arguments
    $<$<COMPILE_LANGUAGE:CXX>:${flag_override_}>   # Enforce the use of the override keyword
    #
    CACHE STRING "(User editable) Private compiler flags for all configurations.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG           -g -fno-inline  CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO  -g -O3  CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE         -O3  CACHE STRING "(User editable) Private compiler flags for Release configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING       -O3  CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
  set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          -g -O3  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
endif()

mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING)
mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING)

# Enable C++17:
set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
# See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
set(CMAKE_CXX_EXTENSIONS OFF)

# Merge all user-defined flags into the variables that are to be actually used by CMake:
foreach(build_type "common" ${GTSAM_CMAKE_CONFIGURATION_TYPES})
  append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PRIVATE ${build_type})
  append_config_if_not_empty(GTSAM_COMPILE_OPTIONS_PUBLIC  ${build_type})
  append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PRIVATE  ${build_type})
  append_config_if_not_empty(GTSAM_COMPILE_DEFINITIONS_PUBLIC   ${build_type})
endforeach()

# Check if timing is enabled and add appropriate definition flag
if(GTSAM_ENABLE_TIMING AND(NOT ${CMAKE_BUILD_TYPE} EQUAL "Timing"))
  message(STATUS "Enabling timing for non-timing build")
  list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE "ENABLE_TIMING")
endif()

# Linker flags:
set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING  "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING  "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")
set(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING     "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds.")

set(GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE_SHARED_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
set(GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")
set(GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING    "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds.")

mark_as_advanced(GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING
                 GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING
                 GTSAM_CMAKE_C_FLAGS_PROFILING GTSAM_ GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING
                 GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING)

set(CMAKE_SHARED_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_TIMING})
set(CMAKE_MODULE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_TIMING})
set(CMAKE_EXE_LINKER_FLAGS_TIMING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_TIMING})

set(CMAKE_SHARED_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_SHARED_LINKER_FLAGS_PROFILING})
set(CMAKE_MODULE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_MODULE_LINKER_FLAGS_PROFILING})
set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING})

# Clang uses a template depth that is less than standard and is too small
if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
  # Apple Clang before 5.0 does not support -ftemplate-depth.
  if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
    list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024")
  endif()
endif()

if ((NOT MSVC) AND (NOT QNX))
  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
  if(GTSAM_BUILD_WITH_MARCH_NATIVE)
    # Check if Apple OS and compiler is [Apple]Clang
    if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))
      # Check Clang version since march=native is only supported for version 15.0+.
      if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "15.0")
        if(NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
          # Add as public flag so all dependent projects also use it, as required
          # by Eigen to avoid crashes due to SIMD vectorization:
          list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
        else()
          message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported for Apple silicon and AppleClang version < 15.0.")
        endif() # CMAKE_SYSTEM_PROCESSOR
      else()
        # Add as public flag so all dependent projects also use it, as required
        # by Eigen to avoid crashes due to SIMD vectorization:
        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
      endif() # CMAKE_CXX_COMPILER_VERSION
    else()
      include(CheckCXXCompilerFlag)
      CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE)
      if(COMPILER_SUPPORTS_MARCH_NATIVE)
        # Add as public flag so all dependent projects also use it, as required
        # by Eigen to avoid crashes due to SIMD vectorization:
        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
      else()
        message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported.")
      endif() # COMPILER_SUPPORTS_MARCH_NATIVE
    endif() # APPLE
  endif() # GTSAM_BUILD_WITH_MARCH_NATIVE
endif()

# Set up build type library postfixes
if(GTSAM_BUILD_TYPE_POSTFIXES)
  foreach(build_type Debug Timing Profiling RelWithDebInfo MinSizeRel)
    string(TOUPPER "${build_type}" build_type_toupper)
    set(CMAKE_${build_type_toupper}_POSTFIX ${build_type})
  endforeach()
endif()

# Make common binary output directory when on Windows
if(WIN32)
  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin")
  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/lib")
  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/lib")
endif()

# Set up build type list for cmake-gui
if(NOT "${CMAKE_BUILD_TYPE}" STREQUAL "")
  if(${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_GREATER 2.8 OR ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} VERSION_EQUAL 2.8)
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS None Debug Release Timing Profiling RelWithDebInfo MinSizeRel)
  endif()
endif()

# Check build types
string(TOLOWER "${CMAKE_BUILD_TYPE}" cmake_build_type_tolower)
if(    NOT cmake_build_type_tolower STREQUAL ""
   AND NOT cmake_build_type_tolower STREQUAL "none"
   AND NOT cmake_build_type_tolower STREQUAL "debug"
   AND NOT cmake_build_type_tolower STREQUAL "release"
   AND NOT cmake_build_type_tolower STREQUAL "timing"
   AND NOT cmake_build_type_tolower STREQUAL "profiling"
   AND NOT cmake_build_type_tolower STREQUAL "relwithdebinfo"
   AND NOT cmake_build_type_tolower STREQUAL "minsizerel")
  message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are None, Debug, Release, Timing, Profiling, RelWithDebInfo, MinSizeRel (case-insensitive).")
endif()

# Enable Visual Studio solution folders
set_property(GLOBAL PROPERTY USE_FOLDERS On)

# Function for automatically assigning source folders
function(gtsam_assign_source_folders)
  set(FILES ${ARGV})
  foreach(file ${FILES})
    file(RELATIVE_PATH relative_file "${CMAKE_CURRENT_SOURCE_DIR}" "${file}")
    get_filename_component(relative_path "${relative_file}" PATH)
    file(TO_NATIVE_PATH "${relative_path}" relative_path)
    source_group("${relative_path}" FILES "${file}")
  endforeach()
endfunction()

# Find and assign all source and header files
function(gtsam_assign_all_source_folders)
  file(GLOB_RECURSE all_c_srcs "*.c")
  file(GLOB_RECURSE all_cpp_srcs "*.cpp")
  file(GLOB_RECURSE all_headers "*.h")
  gtsam_assign_source_folders("${all_c_srcs};${all_cpp_srcs};${all_headers}")
endfunction()

# Applies the per-config build flags to the given target (e.g. gtsam, wrap_lib)
function(gtsam_apply_build_flags target_name_)
  # To enable C++11: the use of target_compile_features() is preferred since
  # it will be not in conflict with a more modern C++ standard, if used in a
  # client program.
  if (NOT "${GTSAM_COMPILE_FEATURES_PUBLIC}" STREQUAL "")
  	target_compile_features(${target_name_} PUBLIC ${GTSAM_COMPILE_FEATURES_PUBLIC})
  endif()

  target_compile_definitions(${target_name_} PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
  target_compile_definitions(${target_name_} PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
  if (NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "")
    target_compile_options(${target_name_} PUBLIC ${GTSAM_COMPILE_OPTIONS_PUBLIC})
  endif()
  target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})

endfunction(gtsam_apply_build_flags)


if(NOT MSVC AND NOT XCODE_VERSION)
  # Set the build type to upper case for downstream use
  string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)

  # Set the GTSAM_BUILD_TAG variable.
  # If build type is Release, set to blank (""), else set to the build type.
  if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
   set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
  else()
   set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
  endif()
endif()