From f6708f5e51d90271a2a79931c5c25e0dcf8920fc Mon Sep 17 00:00:00 2001
From: Vincent <magicdroidx@gmail.com>
Date: Tue, 21 Nov 2023 12:52:34 +0000
Subject: [PATCH] feat: add lanelet2_matching

---
 CMakeLists.txt                               |  2 +-
 conanfile.py                                 |  2 +-
 lanelet2_matching/CMakeLists.txt             | 78 +++++++++++++-------
 lanelet2_matching/src/LaneletMatching.cpp    |  4 +-
 lanelet2_matching/src/Utilities.cpp          |  2 +-
 lanelet2_matching/test/lanelet2_matching.cpp |  2 +-
 6 files changed, 58 insertions(+), 32 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e79ca135..2ca54015 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,4 +23,4 @@ add_subdirectory(lanelet2_validation)
 #add_subdirectory(lanelet2_examples)
 #add_subdirectory(lanelet2_python)
 add_subdirectory(lanelet2_maps)
-#add_subdirectory(lanelet2_matching)
+add_subdirectory(lanelet2_matching)
diff --git a/conanfile.py b/conanfile.py
index 287e2ff7..12b61ecd 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -19,7 +19,7 @@ class Lanelet2Conan(ConanFile):
     proj_list = [
         'lanelet2_core',
         'lanelet2_io',
-        # 'lanelet2_matching',
+        'lanelet2_matching',
         'lanelet2_projection',
         'lanelet2_traffic_rules',
         'lanelet2_routing',
diff --git a/lanelet2_matching/CMakeLists.txt b/lanelet2_matching/CMakeLists.txt
index 54c5dcee..8bf9ef14 100644
--- a/lanelet2_matching/CMakeLists.txt
+++ b/lanelet2_matching/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(MRT_PKG_VERSION 4.0.0)
+#set(MRT_PKG_VERSION 4.0.0)
 # Modify only if you know what you are doing!
 cmake_minimum_required(VERSION 3.5.1)
 project(lanelet2_matching)
@@ -6,58 +6,67 @@ project(lanelet2_matching)
 ###################
 ## Find packages ##
 ###################
-find_package(mrt_cmake_modules REQUIRED)
-include(UseMrtStdCompilerFlags)
-include(GatherDeps)
+#find_package(mrt_cmake_modules REQUIRED)
+#include(UseMrtStdCompilerFlags)
+#include(GatherDeps)
 
 # You can add a custom.cmake in order to add special handling for this package. E.g. you can do:
 # list(REMOVE_ITEM DEPENDEND_PACKAGES <package name 1> <package name 2> ...)
 # To remove libs which cannot be found automatically. You can also "find_package" other, custom dependencies there.
 # You can also set PROJECT_INSTALL_FILES to install files that are not installed by default.
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
-endif()
+#if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
+#    include("${CMAKE_CURRENT_SOURCE_DIR}/custom.cmake")
+#endif()
 
-find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
+#find_package(AutoDeps REQUIRED COMPONENTS ${DEPENDEND_PACKAGES})
 
-mrt_parse_package_xml()
+#mrt_parse_package_xml()
 
 ########################
 ## Add python modules ##
 ########################
 # This adds a python module if located under src/{PROJECT_NAME)
-mrt_python_module_setup()
+#mrt_python_module_setup()
 
-mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
-if (PROJECT_PYTHON_SOURCE_FILES_SRC)
-    # Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
-    mrt_add_python_api( ${PROJECT_NAME}
-        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
-        )
-endif()
+#mrt_glob_files(PROJECT_PYTHON_SOURCE_FILES_SRC "python_api/*.cpp")
+#if (PROJECT_PYTHON_SOURCE_FILES_SRC)
+#     Add a cpp-python api library. Make sure there are no name collisions with python modules in this project
+#    mrt_add_python_api( ${PROJECT_NAME}
+#        FILES ${PROJECT_PYTHON_SOURCE_FILES_SRC}
+#        )
+#endif()
 
 ############################
 ## Read source code files ##
 ############################
-mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
-mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
-mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
+#mrt_glob_files_recurse(PROJECT_HEADER_FILES_INC "include/*.h" "include/*.hpp" "include/*.cuh")
+#mrt_glob_files(PROJECT_SOURCE_FILES_INC "src/*.h" "src/*.hpp" "src/*.cuh")
+#mrt_glob_files(PROJECT_SOURCE_FILES_SRC "src/*.cpp" "src/*.cu")
+file(GLOB PROJECT_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 ###########
 ## Build ##
 ###########
 # Declare a cpp library
-mrt_add_library(${PROJECT_NAME}
-    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
-    SOURCES ${PROJECT_SOURCE_FILES_SRC}
-    )
+#mrt_add_library(${PROJECT_NAME}
+#    INCLUDES ${PROJECT_HEADER_FILES_INC} ${PROJECT_SOURCE_FILES_INC}
+#    SOURCES ${PROJECT_SOURCE_FILES_SRC}
+#    )
+add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
+target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules)
+
 
 #############
 ## Install ##
 #############
 # Install all targets, headers by default and scripts and other files if specified (folders or files).
 # This command also exports libraries and config files for dependent packages and this supersedes catkin_package.
-mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+#mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
+install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${PROJECT_INSTALL_FILES}
+        LIBRARY DESTINATION ${PROJECT_INSTALL_FILES}
+        RUNTIME DESTINATION ${PROJECT_INSTALL_FILES})
 
 #############
 ## Testing ##
@@ -66,4 +75,21 @@ mrt_install(PROGRAMS scripts FILES res data ${PROJECT_INSTALL_FILES})
 if (CATKIN_ENABLE_TESTING)
     mrt_add_tests(test)
     mrt_add_nosetests(test)
-endif()
+endif ()
+
+if (LANELET2_ENABLE_TESTING)
+    include(GoogleTest)
+    find_package(GTest REQUIRED)
+    file(GLOB PROJECT_SOURCE_FILES_TEST "${CMAKE_CURRENT_SOURCE_DIR}/test/*.cpp")
+    add_executable("${PROJECT_NAME}_test" ${PROJECT_SOURCE_FILES_TEST})
+    target_link_libraries("${PROJECT_NAME}_test" PRIVATE GTest::gtest_main ${PROJECT_NAME})
+
+    add_custom_command(TARGET "${PROJECT_NAME}_test" POST_BUILD
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_core>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_io>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_traffic_rules>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>"
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:lanelet2_projection>" "$<TARGET_FILE_DIR:${PROJECT_NAME}_test>")
+
+    gtest_discover_tests("${PROJECT_NAME}_test")
+    #    add_dependencies("${PROJECT_NAME}_test" lanelet2_maps)
+endif ()
\ No newline at end of file
diff --git a/lanelet2_matching/src/LaneletMatching.cpp b/lanelet2_matching/src/LaneletMatching.cpp
index d39b4c42..54c5a404 100644
--- a/lanelet2_matching/src/LaneletMatching.cpp
+++ b/lanelet2_matching/src/LaneletMatching.cpp
@@ -28,12 +28,12 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "LaneletMatching.h"
+#include "lanelet2_matching/LaneletMatching.h"
 
 #include <lanelet2_core/geometry/Lanelet.h>
 #include <lanelet2_core/geometry/Polygon.h>
 
-#include "Utilities.h"
+#include "lanelet2_matching/Utilities.h"
 
 namespace {
 template <typename LaneletT, typename MatchT>
diff --git a/lanelet2_matching/src/Utilities.cpp b/lanelet2_matching/src/Utilities.cpp
index 6e615435..0dec70fa 100644
--- a/lanelet2_matching/src/Utilities.cpp
+++ b/lanelet2_matching/src/Utilities.cpp
@@ -28,7 +28,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "Utilities.h"
+#include "lanelet2_matching/Utilities.h"
 
 #include <lanelet2_core/geometry/Lanelet.h>
 #include <lanelet2_core/geometry/Polygon.h>
diff --git a/lanelet2_matching/test/lanelet2_matching.cpp b/lanelet2_matching/test/lanelet2_matching.cpp
index c47194e8..a00a7d84 100644
--- a/lanelet2_matching/test/lanelet2_matching.cpp
+++ b/lanelet2_matching/test/lanelet2_matching.cpp
@@ -33,8 +33,8 @@
 #include <lanelet2_traffic_rules/TrafficRules.h>
 #include <lanelet2_traffic_rules/TrafficRulesFactory.h>
 
-#include "LaneletMatching.h"
 #include "gtest/gtest.h"
+#include "lanelet2_matching/LaneletMatching.h"
 
 using namespace lanelet;