hlrc

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)

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)

ENDIF (RSB_FOUND)

ENDIF(IGNORE_RSB)

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

# check for ROS support:

find_package(catkin)

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

    )

ENDIF (catkin_FOUND)

add_definitions ("-Wall")

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

# humotion

INCLUDE(FindPkgConfig)

find_package(humotion 0.0.1)

IF (humotion_FOUND)

        message("> using humotion includes from " ${humotion_INCLUDE_DIRS})

ELSE (humotion_FOUND)

        message(FATAL_ERROR "> error: can not find libhumotion")

endif (humotion_FOUND)

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

# libao audio

PKG_CHECK_MODULES(AO REQUIRED ao>=1.1.0)

IF (AO_FOUND)

  SET(AO_LIBRARY_DIRS "${AO_PREFIX}/lib")

  SET(AO_INCLUDE_DIRS "${AO_PREFIX}/include")

  SET(AO_LIBRARIES "ao")

  MESSAGE("using libao version ${AO_VERSION} from ${AO_PREFIX}")

ELSE (AO_FOUND)

  message(FATAL_ERROR "Error: Cannot find libao")

ENDIF (AO_FOUND)

#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)