cmake_minimum_required(VERSION 3.0.2)
project(amr_control)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_2d_utils
  roscpp
  std_msgs
  angles
  delta_modbus
  nova5_control
  loc_core
  amr_comunication
  vda5050_msgs
  nav_msgs

  robot_nav_2d_utils
  move_base_core
  robot_cpp
  robot_nav_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system thread)
find_package(PkgConfig)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES amr_control amr_control_converter amr_control_publisher amr_control_subscriber
  CATKIN_DEPENDS 
    geometry_msgs  
    loc_core 
    nav_2d_utils 
    robot_nav_2d_utils
    move_base_core 
    robot_cpp
    roscpp 
    std_msgs 
  DEPENDS Boost 
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_library(${PROJECT_NAME}_subscriber src/amr_subcriber.cpp)
add_dependencies(${PROJECT_NAME}_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_subscriber ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_library(${PROJECT_NAME}
  src/amr_control.cpp
  src/amr_monitor.cpp
  src/amr_safety.cpp
  src/amr_opc_ua_server_api.cpp
  src/amr_vda_5050_client_api.cpp
  src/amr_make_plan_with_order.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_converter_EXPORTED_TARGETS} ${${PROJECT_NAME}_publisher_EXPORTED_TARGETS} ${${PROJECT_NAME}_subscriber_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber PROPERTIES
    SKIP_BUILD_RPATH TRUE
    BUILD_WITH_INSTALL_RPATH FALSE
    INSTALL_RPATH_USE_LINK_PATH FALSE
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/amr_control_node.cpp)
# add_executable(vda_5050_api_test test/vda_5050_api.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})

## Add cmake target dependencies of the executable
## same as for the library above

add_dependencies(${PROJECT_NAME}_node 
  ${PROJECT_NAME}
  ${${PROJECT_NAME}_EXPORTED_TARGETS} 
  ${catkin_EXPORTED_TARGETS}
)
# Configure RPATH to find libraries in devel space
# Use ORIGIN to find libraries relative to executable location
set_target_properties(${PROJECT_NAME}_node PROPERTIES
    BUILD_WITH_INSTALL_RPATH FALSE
    INSTALL_RPATH_USE_LINK_PATH TRUE
    BUILD_RPATH "${CATKIN_DEVEL_PREFIX}/lib"
)

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
  ${PROJECT_NAME}_converter
  ${PROJECT_NAME}_publisher
  ${PROJECT_NAME}_subscriber
  ${FreeOpcUa_LIBRARIES}
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
)

target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
)


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS ${PROJECT_NAME}_node 
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_amr_control.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
