cmake_minimum_required(VERSION 2.8.3)
project(rospilot)

## 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 sensor_msgs std_msgs message_generation roslint roscpp)
find_package(PkgConfig REQUIRED)
pkg_check_modules(libgphoto2 REQUIRED libgphoto2)

catkin_python_setup()

file(GLOB python_source_files nodes/*.py)
roslint_python(${python_source_files})
roslint_add_test()

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


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

# include(CheckCXXCompilerFlag)
# CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
# CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
# if(COMPILER_SUPPORTS_CXX11)
#     set(CMAKE_CXX_FLAGS "-std=c++11")
# elseif(COMPILER_SUPPORTS_CXX0X)
#     set(CMAKE_CXX_FLAGS "-std=c++0x")
# else()
#     message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
# endif()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  Attitude.msg
  BasicStatus.msg
  RCState.msg
  GPSRaw.msg
  Waypoint.msg
  Waypoints.msg
  IMURaw.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  SetBasicMode.srv
  SetWaypoints.srv
  Glob.srv
  CaptureImage.srv
)

## Generate added messages and services with any dependencies listed here
generate_messages(
    DEPENDENCIES
    std_msgs
    geometry_msgs
    sensor_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## 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 rospilot
#  CATKIN_DEPENDS geometry_msgs sensor_msgs std_msgs
  CATKIN_DEPENDS message_runtime
#  DEPENDS system_lib
)

###########
## 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 cpp library
# add_library(rospilot
#   src/${PROJECT_NAME}/rospilot.cpp
# )

## Declare a cpp executable
# add_executable(rospilot_node src/rospilot_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(rospilot_node rospilot_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(rospilot_node
#   ${catkin_LIBRARIES}
# )

add_executable(ptp_node nodes/ptp.cpp)
target_link_libraries(ptp_node ${libgphoto2_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(ptp_node rospilot_gencpp)

#############
## 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
file(GLOB nodes nodes/*)
install(PROGRAMS
  ${nodes}
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

file(GLOB scripts scripts/*.sh)
install(PROGRAMS
  ${scripts}
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
# install(TARGETS rospilot rospilot_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_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.)
install(FILES
  etc/rospilot.rules
  DESTINATION /etc/udev/rules.d/
)

install(PROGRAMS
  etc/init.d/rospilot
  DESTINATION /etc/init.d/
)

install(FILES
  launch/rospilot.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_rospilot.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)
