cmake_minimum_required(VERSION 2.8.3)
project(test_package)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
set(CMAKE_MODULE_PATH /usr/local/share/cmake/Modules/)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH};${PROJECT_SOURCE_DIR}/cmake)


find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation geometry_msgs sensor_msgs roslint tf2_ros)
find_package(VRPN REQUIRED)
find_package(CASADI REQUIRED)
find_package(yaml-cpp REQUIRED)

if(APPLE)
  ##Due to warnings raised in CasADi
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
  set(YAML_CPP_LIBS /Users/plistov/software/yaml-cpp-release-0.5.3/build/libyaml-cpp.dylib)
else()
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Werror")
  set(YAML_CPP_LIBS yaml-cpp)
endif()


set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror")
set(CMAKE_VERBOSE_MAKEFILE “ON”)

set(CMAKE_BUILD_TYPE "Release")

#detect 32bit system
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
    message(STATUS "Target architecture 64 bits")
else()
    message(STATUS "Target architecture 32 bits")
endif()


#if(ARM_ENABLE_VECTORIZATION AND ${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm" )
#    message(STATUS "EIGEN: ARM VECTORIZATION ENABLED")
#    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")
#endif()

## 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(DIRECTORY msg FILES aircraft_controls.msg)

## Generate services in the 'srv' folder
add_service_files(DIRECTORY srv FILES simple.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 std_msgs sensor_msgs geometry_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(
   CATKIN_DEPENDS message_runtime
   INCLUDE_DIRS src/kitemodel src/kitecontrol src/nodes
#  LIBRARIES test_package
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations

include_directories(src/kitemodel src/nodes src/kitecontrol ${catkin_INCLUDE_DIRS}
                                                            ${VRPN_INCLUDE_DIR}
                                                            ${CASADI_INCLUDE_DIR}
                                                            ${YAML_CPP_INCLUDE_DIR})

## Declare a C++ library
#add_library(opt_ctl src/${PROJECT_NAME}/test_package.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(test_package ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
add_executable(casadi_test src/casadi_test.cpp)

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

## Specify libraries to link a library or executable target against
target_link_libraries(casadi_test ${CASADI_LIBRARIES} ${YAML_CPP_LIBS} ${catkin_LIBRARIES})

add_subdirectory(src/kitemodel)
add_subdirectory(src/kitecontrol)
add_subdirectory(src/nodes)

#############
## 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/ser_talker.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
install(TARGETS casadi_test
   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 "*.h"
#   PATTERN ".svn" EXCLUDE
# )

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

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

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

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