cmake_minimum_required(VERSION 2.8.3)
project(crs)


set(CMAKE_BUILD_MODE Release)
####################################### General #######################################
# disable ANY optimization in debug mode
IF(CMAKE_COMPILER_IS_GNUCC)
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -Werror=return-type -fuse-ld=gold -lfreetype -lharfbuzz")
 set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0")
 set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O0")
ENDIF(CMAKE_COMPILER_IS_GNUCC)

# enforce c++ 17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)



####################################### ROS & Catkin #######################################
find_package(catkin REQUIRED COMPONENTS
        roscpp
        std_msgs
        visualization_msgs
        sensor_msgs
        message_generation
        pcl_ros
        cv_bridge
        )

add_message_files(
        FILES
        ER1ControlMsg.msg
        ER1ControlMsgStudent.msg
)

generate_messages(
        DEPENDENCIES
        std_msgs
)

catkin_package(
        INCLUDE_DIRS include
        LIBRARIES comon er1driver
        CATKIN_DEPENDS roscpp std_msgs message_runtime
)

include_directories(
        ${CMAKE_CURRENT_LIST_DIR}/include
        ${catkin_INCLUDE_DIRS}
)

####################################### Boost #######################################
FIND_PACKAGE(Boost REQUIRED filesystem thread system graph)
include_directories(${Boost_INCLUDE_DIRS})

####################################### CGAL #######################################
find_package(CGAL REQUIRED COMPONENTS CORE )
include(${CGAL_USE_FILE})

####################################### PCL #######################################
find_package(PCL REQUIRED COMPONENTS common io)
include_directories({PCL_INCLUDE_DIRS})

####################################### OpenCV #######################################
find_package(OpenCV REQUIRED)
include_directories({OpenCV_INCLUDE_DIRS})


####################################### TBB #######################################
find_package(TBB REQUIRED)
include_directories(${TBB_INCLUDE_DIR})

####################################### SDL2 #######################################
# TODO: use a proper find cmake package file
set(SDL2_LIBRARY /usr/lib/x86_64-linux-gnu/libSDL2-2.0.so)
set(SDL2_INCLUDE_DIR /usr/include/})
include_directories(${SDL2_INCLUDE_DIR})


####################################### Comon #######################################
set(comon_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/comon/)
file(GLOB_RECURSE comon_HEADERS ${comon_INCLUDE_DIR}/*.h*)

# the libraries "scopeguard", "better_enum" and "threadpool" are embedded directly into comon
set(scopeguard_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/scopeguard/)
file(GLOB_RECURSE scopeguard_HEADERS ${comon_INCLUDE_DIR}/*.h*)

set(threadpool_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/threadpool/)
file(GLOB_RECURSE threadpool_HEADERS ${threadpool_INCLUDE_DIR}/*.h*)

set(better_enum_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/better_enum/)
file(GLOB_RECURSE better_enum_HEADERS ${better_enum_INCLUDE_DIR}/*.h*)


set(comon_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/comon/)
file(GLOB comon_SOURCES ${comon_SOURCE_DIR}/*.c*)

add_library(comon ${comon_SOURCES} ${comon_HEADERS} ${threadpool_HEADERS} ${scopeguard_HEADERS} ${better_enum_HEADERS})

target_link_libraries(comon ${TBB_LIBRARIES})


add_dependencies(comon crs_generate_messages_cpp)


####################################### er1driver #######################################
set(er1driver_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1driver/)
file(GLOB er1driver_HEADERS ${er1driver_INCLUDE_DIR}/*.h*)

set(er1driver_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1driver/)
file(GLOB er1driver_SOURCES ${er1driver_SOURCE_DIR}/*.c*)

add_library(er1driver ${er1driver_SOURCES} ${er1driver_HEADERS})
add_dependencies(er1driver comon)
target_link_libraries(er1driver comon)


####################################### er1_driver_node_student #######################################
set(er1_driver_node_student_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_driver_node_student/)
file(GLOB er1_driver_node_student_HEADERS ${er1_driver_node_student_INCLUDE_DIR}/*.h*)

set(er1_driver_node_student_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_driver_node_student/)
file(GLOB er1_driver_node_student_SOURCES ${er1_driver_node_student_SOURCE_DIR}/*.c*)

add_executable(er1_driver_node_student ${er1_driver_node_student_SOURCES} ${er1_driver_node_student_HEADERS})
add_dependencies(er1_driver_node_student comon er1driver)
target_link_libraries(er1_driver_node_student comon er1driver ${catkin_LIBRARIES})

####################################### er1_control_node_student #######################################
set(er1_control_node_student_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_control_node_student/)
file(GLOB er1_control_node_student_HEADERS ${er1_control_node_student_INCLUDE_DIR}/*.h*)

set(er1_control_node_student_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_control_node_student/)
file(GLOB er1_control_node_student_SOURCES ${er1_control_node_student_SOURCE_DIR}/*.c*)

add_executable(er1_control_node_student ${er1_control_node_student_SOURCES} ${er1_control_node_student_HEADERS})
add_dependencies(er1_control_node_student er1driver)
target_link_libraries(er1_control_node_student er1driver ${SDL2_LIBRARY} ${catkin_LIBRARIES})

####################################### er1_driver_node #######################################
set(er1_driver_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_driver_node/)
file(GLOB er1_driver_node_HEADERS ${er1_driver_node_INCLUDE_DIR}/*.h*)

set(er1_driver_node_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_driver_node/)
file(GLOB er1_driver_node_SOURCES ${er1_driver_node_SOURCE_DIR}/*.c*)

add_executable(er1_driver_node ${er1_driver_node_SOURCES} ${er1_driver_node_HEADERS})
add_dependencies(er1_driver_node comon er1driver)
target_link_libraries(er1_driver_node comon er1driver ${catkin_LIBRARIES})

####################################### er1_control_node #######################################
set(er1_control_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/er1_control_node/)
file(GLOB er1_control_node_HEADERS ${er1_control_node_INCLUDE_DIR}/*.h*)

set(er1_control_node_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/er1_control_node/)
file(GLOB er1_control_node_SOURCES ${er1_control_node_SOURCE_DIR}/*.c*)

add_executable(er1_control_node ${er1_control_node_SOURCES} ${er1_control_node_HEADERS})
add_dependencies(er1_control_node er1driver)
target_link_libraries(er1_control_node er1driver ${SDL2_LIBRARY} ${catkin_LIBRARIES})


if (0)
####################################### student_image_node #######################################
set(student_image_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/student_image_node/)
file(GLOB student_image_node_HEADERS ${student_image_node_INCLUDE_DIR}/*.h*)

set(student_image_node_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/student_image_node/)
file(GLOB student_image_node_SOURCES ${student_image_node_SOURCE_DIR}/*.c*)

add_executable(student_image_node ${student_image_node_SOURCES} ${student_image_node_HEADERS})
add_dependencies(student_image_node er1driver)
target_link_libraries(student_image_node 
	comon
	${Boost_LIBRARIES}
        ${PCL_COMMON_LIBRARIES}
        ${OpenCV_LIBS} 
)



####################################### student_pointcloud_node #######################################
set(student_pointcloud_node_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/student_pointcloud_node/)
file(GLOB student_pointcloud_node_HEADERS ${student_pointcloud_node_INCLUDE_DIR}/*.h*)

set(student_pointcloud_node_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/student_pointcloud_node/)
file(GLOB student_pointcloud_node_SOURCES ${student_pointcloud_node_SOURCE_DIR}/*.c*)

add_executable(student_pointcloud_node ${student_pointcloud_node_SOURCES} ${student_pointcloud_node_HEADERS})
target_link_libraries(student_pointcloud_node ${catkin_LIBRARIES}  
	comon
	${Boost_LIBRARIES}
        ${PCL_COMMON_LIBRARIES}
        ${OpenCV_LIBS}
)


####################################### student_fun_node_a #######################################
set(student_fun_node_a_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/student_fun_node_a/)
file(GLOB student_fun_node_a_HEADERS ${student_fun_node_a_INCLUDE_DIR}/*.h*)

set(student_fun_node_a_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/student_fun_node_a/)
file(GLOB student_fun_node_a_SOURCES ${student_fun_node_a_SOURCE_DIR}/*.c*)

add_executable(student_fun_node_a ${student_fun_node_a_SOURCES} ${student_fun_node_a_HEADERS})
target_link_libraries(student_fun_node_a ${catkin_LIBRARIES}  
	comon
	${Boost_LIBRARIES}
        ${PCL_COMMON_LIBRARIES}
        ${OpenCV_LIBS}
)

####################################### student_fun_node_b #######################################
set(student_fun_node_b_INCLUDE_DIR ${CMAKE_CURRENT_LIST_DIR}/include/student_fun_node_b/)
file(GLOB student_fun_node_b_HEADERS ${student_fun_node_b_INCLUDE_DIR}/*.h*)

set(student_fun_node_b_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/src/student_fun_node_b/)
file(GLOB student_fun_node_b_SOURCES ${student_fun_node_b_SOURCE_DIR}/*.c*)

add_executable(student_fun_node_b ${student_fun_node_b_SOURCES} ${student_fun_node_b_HEADERS})
add_dependencies(student_fun_node_b er1driver)
target_link_libraries(student_fun_node_b ${catkin_LIBRARIES}  
	comon
	${Boost_LIBRARIES}
        ${PCL_COMMON_LIBRARIES}
        ${OpenCV_LIBS}
)


endif()