humotion

cmake_minimum_required(VERSION 2.8.3)

project(humotion)

set(ENV{ROS_LANG_DISABLE} "genjava")

set(ROS_BUILD_TYPE Debug)

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

#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 REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg)

IF (catkin_FOUND)

    set(ROS_FOUND 1)

    message(STATUS "ROS Support is ON")

    add_definitions(-DROS_SUPPORT=1)

ENDIF (catkin_FOUND)

INCLUDE(FindPkgConfig)

##libreflexxes

IF (libreflexxes_DIR)

  MESSAGE("using libreflexxes_DIR as override ('${libreflexxes_DIR}')")

  SET(REFLEXXES_PREFIX ${libreflexxes_DIR})

ELSE ()  

  PKG_CHECK_MODULES(REFLEXXES REQUIRED libReflexxesTypeII>=1.2.3)

  IF (NOT REFLEXXES_FOUND)

    message(FATAL_ERROR "Error: could not find lib libReflexxesTypeII")

  ENDIF ()

ENDIF ()

IF (NOT catkin_FOUND AND NOT RSB_FOUND)

  message(FATAL_ERROR "Error: could neither find RSB or ROS middleware!")

ENDIF ()

SET(REFLEXXES_LIBRARY_DIRS "${REFLEXXES_PREFIX}/lib")

SET(REFLEXXES_INCLUDE_DIRS "${REFLEXXES_PREFIX}/include")

#resolve to absolute library filename

#or is there an easier way to get the absolute lib filename from pkg config files?!

find_library(REFLEXXES_LIBRARY NAMES ${REFLEXXES_LIBRARIES} HINTS ${REFLEXXES_LIBRARY_DIRS})

MESSAGE("-- using libReflexxesTypeII version ${REFLEXXES_VERSION} from ${REFLEXXES_INCLUDE_DIRS} and ${REFLEXXES_LIBRARY_DIRS}")

MESSAGE("-- will ink against ${REFLEXXES_LIBRARY}")

set(CMAKE_CXX_FLAGS "-g -Wall")

add_definitions ("-Wall")

IF (catkin_FOUND)

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

    ## Declare ROS messages and services ##

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

    add_message_files(

            FILES

            gaze.msg

            position_lcr.msg

            mouth.msg

    )

    ## Generate added messages and services with any dependencies listed here

    generate_messages(

            DEPENDENCIES

            std_msgs

            humotion

    )

    #

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

    ## catkin specific configuration ##

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

    ## The catkin_package macro generates cmake config files for your package

    ## Declare things to be passed to dependent projects

    ## INCLUDE_DIRS: uncomment this if you package contains header files

    ## LIBRARIES: libraries you create in this project that dependent projects also need

    ## CATKIN_DEPENDS: catkin_packages dependent projects also need

    ## DEPENDS: system dependencies of this project that dependent projects also need

    catkin_package(

        INCLUDE_DIRS include

        LIBRARIES humotion

        #CATKIN_DEPENDS message_runtime

        #DEPENDS system_lib

    )

ENDIF (catkin_FOUND)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

include_directories (BEFORE ${Boost_INCLUDE_DIRS} ${REFLEXXES_INCLUDE_DIRS})

include_directories(BEFORE include)

include_directories(BEFORE include/humotion)

#make sure to use ros messages from current build

include_directories(BEFORE ${CATKIN_DEVEL_PREFIX}/include)

#this should be appended:

include_directories(${catkin_INCLUDE_DIRS})

#link_directories (${Boost_LIBRARY_DIRS} ${REFLEXXES_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})

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

# PLEASE DO NOT REMOVE THIS! This is a hack necessary for qtcreator to show cmake header files in the project view!

file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/humotion/*.h  include/humotion/client/*.h  include/humotion/server/*.h srv/*.srv msg/*.msg etc/*)

## Declare a cpp library

add_library(humotion

    src/mouth_state.cpp

    src/gaze_state.cpp

    src/client/client.cpp

    src/client/middleware.cpp

    src/client/middleware_ros.cpp

    src/client/middleware_rsb.cpp

    src/server/server.cpp

    src/server/middleware.cpp

    src/server/middleware_ros.cpp

    src/server/middleware_rsb.cpp

    src/server/controller.cpp

    src/server/joint_interface.cpp

    src/server/motion_generator.cpp

    src/server/gaze_motion_generator.cpp

    src/server/reflexxes_motion_generator.cpp

    src/server/mouth_motion_generator.cpp

    src/server/eye_motion_generator.cpp

    src/server/eyelid_motion_generator.cpp

    src/server/eyebrow_motion_generator.cpp

    src/server/neck_motion_generator.cpp

    src/timestamp.cpp

    src/timestamped_list.cpp

    ${DUMMY_HEADER_LIST}

)

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

## Add cmake target dependencies of the executable/library

## as an example, message headers may need to be generated before nodes

add_dependencies(humotion ${catkin_EXPORTED_TARGETS} humotion_gencpp)

## Specify libraries to link a library or executable target against

target_link_libraries(humotion

			${Boost_LIBRARIES}

			${catkin_LIBRARIES}

			${REFLEXXES_LIBRARY}

			${RST_LIBRARIES}

			${RSB_LIBRARIES}

)

set_property(TARGET humotion PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)

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

## Install ##

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

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# install(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables and/or libraries for installation

IF (catkin_FOUND)

    install(TARGETS humotion

        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

    )

    ## Mark cpp header files for installation

    install(DIRECTORY include/humotion/

        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

    )

ENDIF (catkin_FOUND)

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

## Testing ##

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

IF (catkin_FOUND)

    ## Add gtest based cpp test target and link libraries

    catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)

    if(TARGET ${PROJECT_NAME}-test-server)

    target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})

    endif()

    catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)

    if(TARGET ${PROJECT_NAME}-test-client)

    target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})

    endif()

ENDIF (catkin_FOUND)

### Add folders to be run by python nosetests

# catkin_add_nosetests(test)

#finally build (some) examples

#add_subdirectory(./examples)