cmake_minimum_required(VERSION 2.8.12)
project(ur_modern_driver)


add_definitions( -DROS_BUILD )


## 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
  hardware_interface
  controller_manager
  actionlib
  control_msgs
  geometry_msgs
  roscpp
  sensor_msgs
  std_srvs
  trajectory_msgs
  ur_msgs
  tf
)

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


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   control_msgs#   geometry_msgs#   sensor_msgs#   trajectory_msgs#   ur_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## 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 ur_hardware_interface
  CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
)

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

# check c++11 / c++0x
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    add_compile_options(-std=c++11)
elseif(COMPILER_SUPPORTS_CXX0X)
    add_compile_options(-std=c++0x)
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif()

add_compile_options(-Wall)
add_compile_options(-Wextra)
add_compile_options(-Wno-unused-parameter)

# support indigo's ros_control - This can be removed upon EOL indigo
if("${controller_manager_msgs_VERSION}" VERSION_LESS "0.10.0")
    add_definitions(-DUR_ROS_CONTROL_INTERFACE_OLD_ROS_CONTROL)
endif()

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

## Declare a C++ library

# Hardware Interface
add_library(ur_hardware_interface 
  src/ros/hardware_interface.cpp 
  src/ros/controller.cpp)
target_link_libraries(ur_hardware_interface
  ${catkin_LIBRARIES}
)

## 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(ur_modern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
set(${PROJECT_NAME}_SOURCES
    src/ros/action_server.cpp
    src/ros/mb_publisher.cpp
    src/ros/rt_publisher.cpp
    src/ros/service_stopper.cpp
    src/ros/trajectory_follower.cpp
    src/ur/stream.cpp
    src/ur/server.cpp
    src/ur/commander.cpp
    src/ur/robot_mode.cpp
    src/ur/master_board.cpp
    src/ur/rt_state.cpp
    src/ur/messages.cpp
    src/tcp_socket.cpp)

add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)

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

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

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

install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

## Mark executables and/or libraries for installation
install(TARGETS ur_driver ur_hardware_interface
  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 "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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


set(${PROJECT_NAME}_TEST_SOURCES
    tests/ur/rt_state.cpp
    tests/ur/master_board.cpp
    tests/ur/robot_mode.cpp)

if (CATKIN_ENABLE_TESTING)
  catkin_add_gtest(ur_modern_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
  target_link_libraries(ur_modern_driver_test ur_hardware_interface ${catkin_LIBRARIES})
endif()