cmake_minimum_required(VERSION 2.8.3)
project(light_scan_sim)

# Use C++11
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

## 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
  rospy
  sensor_msgs
  std_msgs
  tf
  nav_msgs
  message_generation
)

find_package(OpenCV)

## 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 tag for "message_generation"
##   * 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 dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * 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
  Segment.msg 
  SegmentList.msg
  Material.msg
  MaterialList.msg
)

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

###################################
## 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 light_scan_sim
  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs tf nav_msgs message_runtime
#  DEPENDS Box2D_shared
)

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

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

## Declare a C++ library
# add_library(light_scan_sim
#   src/${PROJECT_NAME}/light_scan_sim.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_subdirectory("thirdparty/Box2D")


## Declare a C++ executable
add_executable(light_scan_sim_node 
  src/light_scan_sim_node.cpp
  src/light_scan_sim.cpp
  src/ray_cast.cpp
  src/wall_segment_sim.cpp)

add_dependencies(light_scan_sim_node Box2D_shared)

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(light_scan_sim_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(light_scan_sim_node
  ${catkin_LIBRARIES}
  ${OpenCV_LIBRARIES}
  Box2D_shared
)

#############
## 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/pose_estimate_tf_publisher.py
  scripts/visualize_segment_list.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
install(TARGETS 
  light_scan_sim_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(DIRECTORY data
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

install(FILES
  config/config.yaml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)

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

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

## Add gtest based cpp test target and link libraries
if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  catkin_add_gtest(${PROJECT_NAME}-test test/test_ray_cast.cpp src/ray_cast.cpp src/wall_segment_sim.cpp)
  add_dependencies(${PROJECT_NAME}-test Box2D_shared)
  target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} Box2D_shared )
endif()

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