hlrc

PROJECT(hlrc_client_cpp)

if(NOT "${CMAKE_CXX_STANDARD}")

  set(CMAKE_CXX_STANDARD 11)

endif()

set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_CXX_EXTENSIONS OFF)

#debug?

set(CMAKE_BUILD_TYPE Debug)

CMAKE_MINIMUM_REQUIRED(VERSION 2.8)

INCLUDE(FindPkgConfig)

SET(HLRC_CLIENT_LIBNAME "${PROJECT_NAME}")

SET(HLRC_CLIENT_VERSION_MAJOR    "0")

SET(HLRC_CLIENT_VERSION_MINOR    "1")

SET(HLRC_CLIENT_VERSION_REVISION "0")

SET(HLRC_CLIENT_VERSION   "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}.${HLRC_CLIENT_VERSION_REVISION}")

SET(HLRC_CLIENT_SOVERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}")

SET(HLRC_CLIENT_PACKAGE   "${HLRC_CLIENT_LIBNAME}-${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}")

SET(PREFIX      ${CMAKE_INSTALL_PREFIX})

SET(BINDIR     "${PREFIX}/bin")

SET(INCLUDEDIR "${PREFIX}/include/hlrc_client")

SET(MANDIR     "${PREFIX}/man")

SET(LIBDIR     "${PREFIX}/lib")

SET(PKGDIR     "${PREFIX}/lib/pkgconfig")

SET(DATADIR    "${PREFIX}/share/hlrc_client")

#######################################

FIND_PACKAGE(hlrc_server)

#######################################

#allow forced disable of RSB

option(IGNORE_RSB "IGNORE_RSB" OFF)

#######################################

# check if we have RSB support:

IF (IGNORE_RSB)

    MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB")

ELSE (IGNORE_RSB)

FIND_PACKAGE(RSB 0.11 QUIET)

IF (RSB_FOUND)

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    message(STATUS "RSB Support is ON")

    add_definitions(-DRSB_SUPPORT=1)

ELSE(RSB_FOUND)

    message(STATUS "RSB not found.")

ENDIF(RSB_FOUND)

ENDIF(IGNORE_RSB)

################################################################

# check for ROS support:

find_package(catkin QUIET)

IF(catkin_FOUND)

    SET(ROS_FOUND 1)

    catkin_package(

        INCLUDE_DIRS include

        LIBRARIES ${HLRC_CLIENT_LIBNAME}

    )

    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg hlrc_server humotion tf2_eigen actionlib)

    message(STATUS "ROS Support is ON")

    add_definitions(-DROS_SUPPORT=1)

    include_directories(${catkin_INCLUDE_DIRS})

ELSE(catkin_FOUND)

    message(STATUS "ROS not found.")

ENDIF(catkin_FOUND)

add_definitions ("-Wall")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fstack-protector-all ")

set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" )

#search for Boost

find_package( Boost 1.46 REQUIRED COMPONENTS program_options filesystem regex)

LINK_DIRECTORIES( ${Boost_LIBRARY_DIRS}  )

include_directories(${Boost_INCLUDE_DIRS} )

message(STATUS "using ${Boost_LIBRARIES}")

INCLUDE_DIRECTORIES(${CMAKE_INSTALL_PREFIX}/include)

# SET(PREFIX ${CMAKE_INSTALL_PREFIX})

# SET(BINDIR "${PREFIX}/bin")

# SET(INCLUDEDIR "${PREFIX}/include")

# SET(MANDIR "${PREFIX}/man")

# SET(LIBDIR "${PREFIX}/lib")

# SET(DATADIR "${PREFIX}/share/${NAME}")

#this dummy list will make all header files appear if you use qtcreator to open the cmake project

file(GLOB HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h  )

SET(LIB_CLASSES

    src/RobotController.cpp

    src/Middleware.cpp

    src/MiddlewareROS.cpp

    src/MiddlewareRSB.cpp

)

add_library(${HLRC_CLIENT_LIBNAME} SHARED

    ${LIB_CLASSES}

    ${HEADER_LIST}

)

SET(INSTALL_HEADER_LIST

    include/RobotController.h

    include/RobotGaze.h

    include/RobotTimestamp.h

    include/RobotMouth.h

    include/RobotEmotion.h

    include/RobotHeadAnimation.h

)

SET_TARGET_PROPERTIES(${HLRC_CLIENT_LIBNAME} PROPERTIES VERSION ${HLRC_CLIENT_VERSION} SOVERSION ${HLRC_CLIENT_SOVERSION})

INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/include)

LINK_DIRECTORIES(${LIBDIR})

IF (ROS_FOUND)

    add_dependencies(${HLRC_CLIENT_LIBNAME} ${catkin_EXPORTED_TARGETS})

ENDIF (ROS_FOUND)

target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES})

#build & install demo

#ADD_EXECUTABLE(testMarkerTracker example/testMarkerTracker.cc)

#TARGET_LINK_LIBRARIES(testMarkerTracker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart)

#install(TARGETS testMarkerTracker DESTINATION bin)

#build test

#ADD_EXECUTABLE(testKalmanMarker src/KalmanMarker.cc)

#TARGET_LINK_LIBRARIES(testKalmanMarker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart)

install (TARGETS ${HLRC_CLIENT_LIBNAME} DESTINATION lib )

INSTALL(FILES ${INSTALL_HEADER_LIST} DESTINATION ${INCLUDEDIR})

set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)

set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)

#create package config file

SET(PKGCONFIG_FILENAME "hlrc_client.pc")

configure_file("${PKGCONFIG_FILENAME}.in" "${PKGCONFIG_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PKGCONFIG_FILENAME}" DESTINATION "${PKGDIR}")

#create cmake config files

SET(CMAKECONFIG_FILENAME "hlrc_clientConfig.cmake")

configure_file("${CMAKECONFIG_FILENAME}.in" "${CMAKECONFIG_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIG_FILENAME}" DESTINATION "${DATADIR}")

SET(CMAKECONFIGVERSION_FILENAME "hlrc_clientConfigVersion.cmake")

configure_file("${CMAKECONFIGVERSION_FILENAME}.in" "${CMAKECONFIGVERSION_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIGVERSION_FILENAME}" DESTINATION "${DATADIR}")

#ADD_EXECUTABLE(${PROJECT_NAME} main.cpp ${SRC_FILES})

#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} )

#build & install examples

ADD_EXECUTABLE(${PROJECT_NAME}_example_random_gaze examples/random_gaze/main.cpp)

TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_random_gaze ${HLRC_CLIENT_LIBNAME})

#install(TARGETS ${PROJECT_NAME}_calibrate_camera DESTINATION bin)

ADD_EXECUTABLE(${PROJECT_NAME}_example_speech_test examples/speech_test/main.cpp)

TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_speech_test ${HLRC_CLIENT_LIBNAME})