cmake_minimum_required(VERSION 2.8.3)
project(port_drayage_plugin)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)
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
  geometry_msgs
  roscpp
  std_msgs
  carma_wm
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

###################################
## 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 port_drayage_plugin
  CATKIN_DEPENDS carma_utils cav_msgs cav_srvs roscpp std_msgs carma_wm
#  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++ library
add_library(${PROJECT_NAME}_lib
  src/port_drayage_plugin.cpp
  src/port_drayage_state_machine.cpp
  src/port_drayage_worker.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME}_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## 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
add_executable(${PROJECT_NAME}_node src/port_drayage_plugin_main.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 port_drayage_plugin 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})

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

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

## 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 libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_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(FILES
  config/params.yml
  launch/port_drayage_plugin.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test test/test_port_drayage_plugin.cpp)
if(TARGET ${PROJECT_NAME}-test)
  target_link_libraries(${PROJECT_NAME}-test 
  port_drayage_plugin_lib 
  ${catkin_LIBRARIES})
endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
