CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(gstreamer_ara_plugins)

# Set policy for install path normalization
if(POLICY CMP0177)
  cmake_policy(SET CMP0177 NEW)
endif()

# Set C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Set RPATH for installed libraries
set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# Find required packages
find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
pkg_check_modules(GSTREAMER_BASE REQUIRED gstreamer-base-1.0)
pkg_check_modules(GSTREAMER_VIDEO REQUIRED gstreamer-video-1.0)

# ============================================================================
# ARA SDK Configuration (rt-sdk-ara2)
# ============================================================================
message(STATUS "Using ARA SDK from:")
message(STATUS "  Libraries: ${ARA_SDK_LIB_DIR}")
message(STATUS "  Headers:   ${ARA_SDK_INCLUDE_DIR}")

# Verify required libraries exist
if(NOT EXISTS "${ARA_SDK_LIB_DIR}/libara_vision_inference.so")
    message(FATAL_ERROR "Library not found: ${ARA_SDK_LIB_DIR}/libara_vision_inference.so")
endif()

if(NOT EXISTS "${ARA_SDK_LIB_DIR}/libaraclient_aarch64.so")
    message(FATAL_ERROR "Library not found: ${ARA_SDK_LIB_DIR}/libaraclient_aarch64.so")
endif()

# Import ARA SDK libraries
add_library(ara_vision_inference SHARED IMPORTED)
set_target_properties(ara_vision_inference PROPERTIES
    IMPORTED_LOCATION "${ARA_SDK_LIB_DIR}/libara_vision_inference.so"
    INTERFACE_INCLUDE_DIRECTORIES "${ARA_SDK_INCLUDE_DIR}"
)

add_library(araclient SHARED IMPORTED)
set_target_properties(araclient PROPERTIES
    IMPORTED_LOCATION "${ARA_SDK_LIB_DIR}/libaraclient_aarch64.so"
    INTERFACE_INCLUDE_DIRECTORIES "${ARA_SDK_INCLUDE_DIR}"
)

# ============================================================================
# Include Directories
# ============================================================================
include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${CMAKE_CURRENT_SOURCE_DIR}/utils
  ${CMAKE_CURRENT_SOURCE_DIR}/../include
  ${ARA_SDK_INCLUDE_DIR}
  ${GSTREAMER_INCLUDE_DIRS}
  ${GSTREAMER_BASE_INCLUDE_DIRS}
  ${GSTREAMER_VIDEO_INCLUDE_DIRS}
)

link_directories(${ARA_SDK_LIB_DIR})

# ============================================================================
# GStreamer Plugins
# ============================================================================

# Plugin: gstdvInf (inference)
add_library(gstdvInf SHARED
  gst/gstdvInf/gst_dvinf.cpp
)
target_link_libraries(gstdvInf
  ara_vision_inference
  araclient
  ${GSTREAMER_LIBRARIES}
  ${GSTREAMER_BASE_LIBRARIES}
  ${CMAKE_DL_LIBS}
)
set_target_properties(gstdvInf PROPERTIES 
  PREFIX "lib"
  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib:${ARA_SDK_LIB_DIR}"
)

# ============================================================================
# Installation
# ============================================================================
include(GNUInstallDirs)

install(TARGETS 
  gstdvInf 
  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/gstreamer-1.0
)

# Optionally install ARA SDK libraries alongside the plugins
option(INSTALL_ARA_LIBS "Install ARA SDK libraries with plugins" OFF)
if(INSTALL_ARA_LIBS)
  install(FILES 
    "${ARA_SDK_LIB_DIR}/libara_vision_inference.so"
    "${ARA_SDK_LIB_DIR}/libaraclient_aarch64.so"
    DESTINATION ${CMAKE_INSTALL_LIBDIR}
  )
endif()

message(STATUS "GStreamer plugins will be installed to: ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/gstreamer-1.0")