# Copyright (C) 2018-2019 LEIDOS.
#
# Licensed under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations under
# the License.

cmake_minimum_required(VERSION 2.8.3)
project(plan_delegator)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cav_msgs
  cav_srvs
  roscpp
  std_msgs
  carma_utils
)

###################################
## 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 your 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 plan_delegator
   CATKIN_DEPENDS cav_msgs cav_srvs roscpp std_msgs carma_utils
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node 
  src/plan_delegator.cpp
  src/plan_delegator_node.cpp)

add_library(${PROJECT_NAME}_lib src/plan_delegator.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_lib ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS ${PROJECT_NAME}_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
  launch
  config
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############
#catkin_add_gmock(${PROJECT_NAME}-test test/test_plan_delegator.cpp)
add_rostest_gtest(test_plan_delegator test/plan_delegator.test test/test_plan_delegator.cpp)
target_link_libraries(test_plan_delegator ${PROJECT_NAME}_lib ${catkin_LIBRARIES})
##if(CATKIN_ENABLE_TESTING)
##  find_package(rostest REQUIRED)
##  add_rostest_gtest(test_plan_delegator test/plan_delegator.test test/test_plan_delegator.cpp)
##  target_link_libraries(test_plan_delegator ${catkin_LIBRARIES})
##endif()
