cmake_minimum_required(VERSION 2.8.3)
project(hlrc_server)

set(ENV{ROS_LANG_DISABLE} "genjava")

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

INCLUDE(FindPkgConfig)

find_package(Boost REQUIRED COMPONENTS system thread)

#######################################
#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)

    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs sensor_msgs message_generation genmsg actionlib_msgs actionlib tf2_ros tf2_eigen angles humotion)
    find_package(PkgConfig REQUIRED)
    pkg_search_module(EIGEN3 REQUIRED eigen3)

    message(STATUS "ROS Support is ON")
    add_definitions(-DROS_SUPPORT=1)

    add_message_files(
        FILES
        phoneme.msg
        soundchunk.msg
        utterance.msg
    )

    add_service_files(
        FILES
    )

    add_action_files(
        DIRECTORY action
        FILES
        animation.action
        speech.action
        utterance.action
        tts.action
        emotionstate.action
        gazetarget.action
        lookattarget.action
        mouthtarget.action
    )

    generate_messages(
        DEPENDENCIES
        actionlib_msgs
        std_msgs
        geometry_msgs
        hlrc_server
    )

    catkin_package(
        # INCLUDE_DIRS include
        LIBRARIES
        CATKIN_DEPENDS actionlib_msgs
        #CATKIN_DEPENDS message_runtime
        #DEPENDS system_lib
    )
ELSE(catkin_FOUND)
    message(STATUS "ROS not found.")
ENDIF(catkin_FOUND)

add_definitions ("-Wall")

###################################
# humotion
INCLUDE(FindPkgConfig)
find_package(humotion 0.0.1 REQUIRED)
message(STATUS "using humotion includes from " ${humotion_INCLUDE_DIRS})

###################################
# libao audio
PKG_CHECK_MODULES(AO REQUIRED ao>=1.1.0)
SET(AO_LIBRARY_DIRS "${AO_PREFIX}/lib")
SET(AO_INCLUDE_DIRS "${AO_PREFIX}/include")
SET(AO_LIBRARIES "ao")
MESSAGE(STATUS "using libao version ${AO_VERSION} from ${AO_PREFIX}")

#build 
include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS} ${AO_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${AO_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS})

#build dummy list of header files
file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h include/RSB/*.h include/ROS/*.h)

# declare library
add_executable(${PROJECT_NAME}
    src/main.cpp
    src/MiddlewareRSB.cpp
    src/MiddlewareROS.cpp
    src/Arbiter.cpp
    src/Utterance.cpp
    src/Animation.cpp
    src/AudioPlayer.cpp
    src/AudioPlayerRSB.cpp
    src/AudioPlayerLibAO.cpp
    src/MouthConfig.cpp
    src/EmotionState.cpp
    src/EmotionConfig.cpp
    src/Middleware.cpp
    ${MIDDLEWARE_SOURCES}
    ${DUMMY_HEADER_LIST}
)

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

#create example:
target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${RSB_LIBRARIES}  ${catkin_LIBRARIES} ${RST_LIBRARIES} ${humotion_LIBRARIES} ${AO_LIBRARIES})
set_property(TARGET ${PROJECT_NAME} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)


IF (catkin_FOUND)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} hlrc_server_gencpp)
ENDIF (catkin_FOUND)

#    install(TARGETS ${PROJECT_NAME}
#        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#        RUNTIME DESTINATION bin
#    )

install(TARGETS ${PROJECT_NAME} DESTINATION bin)