############################################################################
#
#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
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# modification, are permitted provided that the following conditions
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# 1. Redistributions of source code must retain the above copyright
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#    the documentation and/or other materials provided with the
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############################################################################


###########################################
# Prepare flight tasks
###########################################

# add upstream flight tasks (they are being handled differently from the core inside the python script)
list(APPEND flight_tasks_to_add
	Orbit
)
# remove possible duplicates
list(REMOVE_DUPLICATES flight_tasks_to_add)

# remove flight tasks depending on target
if(flight_tasks_to_remove)
	list(REMOVE_ITEM flight_tasks_to_add
		${flight_tasks_to_remove}
	)
endif()

# add core flight tasks to list
list(APPEND flight_tasks_all
	AutoFollowMe
	AutoLineSmoothVel
	Descend
	Failsafe
	ManualAcceleration
	ManualAltitude
	ManualAltitudeSmoothVel
	ManualPosition
	ManualPositionSmoothVel
	Transition
	${flight_tasks_to_add}
)

# set the files to be generated
set(files_to_generate
	FlightTasks_generated.hpp
	FlightTasks_generated.cpp
)

# generate files needed for Flight Tasks
set(python_args
	-t ${flight_tasks_all}
	-i ${CMAKE_CURRENT_SOURCE_DIR}/Templates
	-o ${CMAKE_CURRENT_BINARY_DIR}
	-f ${files_to_generate}
)

# add the additional tasks for the python script (if there are any)
if(flight_tasks_to_add)
	list(APPEND python_args
		-s ${flight_tasks_to_add}
	)
endif()

# generate the files using the python script and template
add_custom_command(
	OUTPUT
		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
	COMMAND ${PYTHON_EXECUTABLE} generate_flight_tasks.py ${python_args}
	COMMENT "Generating Flight Tasks"
	DEPENDS
		Templates/FlightTasks_generated.cpp.em
		Templates/FlightTasks_generated.hpp.em
	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
	VERBATIM
)

add_compile_options(
	-Wno-cast-align
) # TODO: fix and enable

# add subdirectory containing all tasks
add_subdirectory(tasks)

px4_add_module(
	MODULE modules__flight_mode_manager
	MAIN flight_mode_manager
	COMPILE_FLAGS
	INCLUDES
		${CMAKE_CURRENT_SOURCE_DIR}
		${CMAKE_CURRENT_BINARY_DIR}
	SRCS
		FlightModeManager.cpp
		FlightModeManager.hpp

		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
	DEPENDS
		px4_work_queue
		WeatherVane
)

# add all flight task dependencies
foreach(task ${flight_tasks_all})
	target_link_libraries(modules__flight_mode_manager PUBLIC FlightTask${task})
endforeach()