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})