# Copyright (C) 2018-2020 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(guidance)

## 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
  carma_utils
  cav_msgs
  cav_srvs
  roscpp
  std_msgs
)

###################################
## 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 ui_integration
   CATKIN_DEPENDS carma_utils cav_msgs cav_srvs roscpp std_msgs
#  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}
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
file(GLOB_RECURSE headers */*.hpp */*.h)
add_executable(${PROJECT_NAME}_node 
  src/guidance/guidance_node.cpp
  src/guidance/guidance_worker.cpp
  src/guidance/guidance_state_machine.cpp
)

## 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_library(guidance_state_machine_library src/guidance/guidance_state_machine.cpp)
add_dependencies(guidance_state_machine_library ${catkin_EXPORTED_TARGETS})

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

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

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}_node
  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/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hpp"
  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(${PROJECT_NAME}-test test/test_guidance_state_machine.cpp)
target_link_libraries(${PROJECT_NAME}-test guidance_state_machine_library ${catkin_LIBRARIES})

if (CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest_gtest(guidance_test test/guidance_launch.test test/guidance_node_test.cpp)
  target_link_libraries(guidance_test ${catkin_LIBRARIES})
endif()

