cmake_minimum_required(VERSION 3.10)
project(armor_detector_mdv)

# Set C++ standard
set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Find OpenCV package
find_package(OpenCV REQUIRED)

# Include OpenCV headers
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(/usr/include)
include_directories(./inc)

# Add executable for MindVision version
add_executable(armor_detector_mdv
    src/MindVisionMain.cpp
    src/MindVisionCamera.cpp
    src/ImagePreprocessor.cpp
    src/ArmorDetector.cpp
    src/KalmanFilter.cpp
    src/Visualizer.cpp
    src/BallisticPredictor.cpp
    src/TTLCommunicator.cpp
    src/PidController.cpp
)

# Link OpenCV libraries
target_link_libraries(armor_detector_mdv ${OpenCV_LIBS} -lutil -lpthread)

# Link MindVision SDK library
target_link_libraries(armor_detector_mdv MVSDK)

# Additional flags for better compilation
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -O3 -pthread")

# For serial communication on Linux, you might need to link additional libraries:
# target_link_libraries(armor_detector_mdv ${OpenCV_LIBS} -lutil -lpthread)