# include buildroot toolchain file
include(/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/share/buildroot/toolchainfile.cmake)

list(APPEND CMAKE_FIND_ROOT_PATH
    $ENV{TARGET_SYSROOT}
    $ENV{ROS_ROOT}
    ${CMAKE_INSTALL_PREFIX}
)

# Set compile flags which are overwritter by android.toolchain.cmake
# set(CMAKE_C_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")
# set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG -Wno-error=unused-variable")

add_link_options($<$<CONFIG:Release>:-s>)
add_link_options("LINKER:-rpath-link,$ENV{TARGET_SYSROOT}/lib")

# use buildroot sdk python3.11
set(Python3_EXECUTABLE /usr/bin/python3.11)
set(Python3_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/include/python3.11)
set(Python3_LIBRARY ${CMAKE_SYSROOT}/usr/lib/libpython3.11.so)
set(Python3_NumPy_INCLUDE_DIR ${CMAKE_SYSROOT}/usr/lib/python3.11/site-packages/numpy/core/include)

# use cross compile packages
set(LZ4_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
set(LZ4_LIBRARY $ENV{TARGET_SYSROOT}/lib/liblz4.so)
set(flann_DIR $ENV{TARGET_SYSROOT}/lib/cmake/flann)
set(FLANN_INCLUDE_DIR $ENV{TARGET_SYSROOT}/include)
set(FLANN_LIBRARY $ENV{TARGET_SYSROOT}/lib/libflann.so)
set(yaml-cpp_DIR $ENV{TARGET_SYSROOT}/lib/cmake/yaml-cpp)