cmake_minimum_required(VERSION 2.8.3)

project(rc_hand_eye_calibration_client)
include(cmake/project_version.cmake)


# - Configuration for code optimization -

if (NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE RELEASE CACHE STRING "Build type: DEBUG or RELEASE" FORCE)
endif ()

# - Standard definitions -

if (CMAKE_MAJOR_VERSION VERSION_LESS "3.1.0")
  add_definitions(-std=c++11)
else ()
  set(CMAKE_CXX_STANDARD 11)
endif ()
add_definitions(-Wall)

# add a target for the submodule CPR doing the REST api calls
add_subdirectory(opt)


## 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
  roscpp message_generation std_srvs geometry_msgs dynamic_reconfigure tf2 tf2_ros tf2_geometry_msgs
)


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


## 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()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

# Generate services in the 'srv' folder
add_service_files(
  FILES
  Calibration.srv
  SetCalibration.srv
  SetCalibrationPose.srv
  Trigger.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

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

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

# Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(cfg/hand_eye_calibration.cfg)

###################################
## 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 you 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 logging
 CATKIN_DEPENDS message_runtime geometry_msgs tf2 tf2_ros
#  DEPENDS system_lib
)

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

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

## Declare a cpp library
# add_library(logging
#   src/${PROJECT_NAME}/logging.cpp
# )

## Declare a cpp executable
add_executable(rc_hand_eye_calibration_client_node src/rest_helper.cpp src/rc_hand_eye_calibration_client_node.cpp src/rc_hand_eye_calibration_client.cpp)

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

## Specify libraries to link a library or executable target against
target_link_libraries(rc_hand_eye_calibration_client_node
  ${catkin_LIBRARIES}
  ${CPR_LIBRARIES}
  rcdiscover::rcdiscover
)

#############
## 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
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# Mark executables and/or libraries for installation
install(TARGETS rc_hand_eye_calibration_client_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
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )


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

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

######################################
## Define information for packaging ##
######################################
# optionally specify dependencies of the debian package here (comma separated!)
set(CPACK_DEBIAN_PACKAGE_DEPENDS "ros-$ENV{ROS_DISTRO}-tf2, ros-$ENV{ROS_DISTRO}-tf2-ros")
include(cmake/package_debian.cmake)
