hlrc

cmake_minimum_required(VERSION 2.8.3)

project(hlrc_server)

INCLUDE(FindPkgConfig)

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

# 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} ${humotion_INCLUDE_DIRS} ${AO_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS})

link_directories(${catkin_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/ROS/*.h)

# declare library

add_executable(${PROJECT_NAME}

    src/main.cpp

    src/MiddlewareROS.cpp

    src/Arbiter.cpp

    src/Utterance.cpp

    src/Animation.cpp

    src/AudioPlayer.cpp

    src/AudioPlayerLibAO.cpp

    src/MouthConfig.cpp

    src/EmotionState.cpp

    src/EmotionConfig.cpp

    src/Middleware.cpp

    ${MIDDLEWARE_SOURCES}

    ${DUMMY_HEADER_LIST}

)

#create example:

target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${catkin_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)