CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
SET(PROJECTNAME "RCIOncilla")
SET(LIBNAME "rcioncilla")
PROJECT(${PROJECTNAME})

SET(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE)
SET(RCIONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

ENABLE_LANGUAGE(C)
ENABLE_LANGUAGE(CXX)

SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# CMake module path and modules
SET(PROJECT_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")
SET(SYSTEM_CMAKE_PATH "/usr/share/cmake/Modules")
SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RCIONCILLA_CMAKE_MODULE_PATH}" "${PROJECT_CMAKE_PATH}" "${SYSTEM_CMAKE_PATH}")
FIND_PACKAGE(RSC REQUIRED)
SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}")
MESSAGE(STATUS "RSC version: ${RSC_VERSION}")

INCLUDE(CheckIncludeFileCXX)
INCLUDE(InstallFilesRecursive)
INCLUDE(EnableCoverageReport)
INCLUDE(EnableSlocCount)
INCLUDE(GenerateDoxygen)
INCLUDE(GenerateCppcheck)
INCLUDE(FindPkgConfig)

SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# --- user options ---
OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
OPTION(BUILD_HARDWARE_DRIVER "Decide whether driver for the real robot is build" OFF)
OPTION(WEBOTS_PROJECT_DIR "Specify folder to install the Webots Simulator Project to" "~/projects/oncillasim")

# Cross-compiling
IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i486")
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
    MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
ENDIF ()
IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i586")
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
    MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
ENDIF ()

# Dependencies
FIND_PACKAGE(BoostUUID)

FIND_PACKAGE(Threads REQUIRED)
MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")

FIND_PACKAGE(NemoMath REQUIRED)
MESSAGE(STATUS "NemoMath version: ${NemoMath_VERSION}")

FIND_PACKAGE(ProtocolBuffers)

FIND_PACKAGE(RST REQUIRED)
MESSAGE(STATUS "RST version: ${RST_VERSION}")

FIND_PACKAGE(RSB REQUIRED)
MESSAGE(STATUS "RSB version: ${RSB_VERSION}")

FIND_PACKAGE(CCA REQUIRED)
MESSAGE(STATUS "CCA version: ${CCA_VERSION}")

FIND_PACKAGE(RCI REQUIRED)
MESSAGE(STATUS "RCI version: ${RCI_VERSION}")

# --- global definitions ---
SET(RCIONCILLA_NAME "${LIBNAME}")
SET(DRIVER_TEST_NAME "${PROJECTNAME}Tests")
SET(DTO_TEST_NAME "${DRIVER_TEST_NAME}DTO")
SET(LWRCONTROL_TEST_NAME "${DRIVER_TEST_NAME}LWRControl")
SET(INTEGRATED_TEST_NAME "${DRIVER_TEST_NAME}Integrated")
SET(RCIONCILLA_VERSION_MAJOR 0)
SET(RCIONCILLA_VERSION_MINOR 2)
SET(RCIONCILLA_VERSION_PATCH 0)
SET(RCIONCILLA_VERSION "${RCIONCILLA_VERSION_MAJOR}.${RCIONCILLA_VERSION_MINOR}.${RCIONCILLA_VERSION_PATCH}")
SET(DRIVER_CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")

SET(GTEST_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gtest-1.5.0)
SET(GTEST_INCLUDE_DIR ${GTEST_DIR}/include)
SET(GMOCK_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gmock-1.5.0)
SET(GMOCK_INCLUDE_DIR ${GMOCK_DIR}/include)
SET(GMOCK_LIBRARY_NAME "gmock")

SET(OUTPUT_PATH ${CMAKE_BINARY_DIR}/build)
SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})

# --- dependency handling ---
IF(BUILD_DOCS)
    FIND_PACKAGE(Doxygen)
ENDIF()

# Includes
INCLUDE_DIRECTORIES(BEFORE src ${CMAKE_CURRENT_BINARY_DIR}/src)
INCLUDE_DIRECTORIES(SYSTEM ${RSC_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${RSB_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${RST_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${SPREAD_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${CCA_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${RCI_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${NemoMath_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${BOOSTUUID_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(SYSTEM ${LIBRARIES_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(BEFORE SYSTEM ${PROTOBUF_INCLUDE_DIR} ${RST_INCLUDE_DIRS})

ADD_DEFINITIONS(${RST_CFLAGS})

LINK_DIRECTORIES(${RSC_LIBRARY_DIR}
                 ${RSB_LIBRARY_DIR}
                 ${CCA_LIBRARY_DIR}
                 ${RCI_LIBRARY_DIR}
                 ${LIBRARIES_LIBRARY_DIRS})

ADD_SUBDIRECTORY(src)
ADD_SUBDIRECTORY(cmake)

IF(BUILD_HARDWARE_DRIVER)
    INCLUDE_DIRECTORIES(SYSTEM ${LIBXML2_INCLUDE_DIR})
ENDIF(BUILD_HARDWARE_DRIVER)

IF(BUILD_TESTS)
    ADD_SUBDIRECTORY(test)
    #ADD_SUBDIRECTORY(3rdparty)
ENDIF()
IF(BUILD_EXAMPLES)
    ADD_SUBDIRECTORY(examples)
ENDIF()

# --- cmake config file ---
SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
IF(CMAKE_LINK_LIBRARY_SUFFIX)
    SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
ENDIF()

# --- pkgconfig file ---
CONFIGURE_FILE(${RCIONCILLA_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${RCIONCILLA_NAME}.pc @ONLY)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${RCIONCILLA_NAME}.pc DESTINATION lib/pkgconfig)

# --- cmake config file ---
SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
IF(CMAKE_LINK_LIBRARY_SUFFIX)
    SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
ENDIF()
CONFIGURE_FILE(${PROJECTNAME}Config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake @ONLY)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake DESTINATION share/${LIBNAME})

# --- documentation generation ---
IF(BUILD_DOCS)
IF(DOXYGEN_FOUND)
    SET(API_DIR "${CMAKE_BINARY_DIR}/doc")
    SET(SOURCE_DIR "${CMAKE_SOURCE_DIR}/src")
    SET(DOXYFILE "${CMAKE_BINARY_DIR}/Doxyfile")
    SET(WARNFILE "${CMAKE_BINARY_DIR}/doxygen-warn.log")
    
    CONFIGURE_FILE(Doxyfile.in ${DOXYFILE})
    
    ADD_CUSTOM_COMMAND(OUTPUT ${API_DIR}
                       DEPENDS ${DOXYFILE}
                       COMMAND ${DOXYGEN_EXECUTABLE}
                       ARGS ${DOXYFILE}
                       WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
    ADD_CUSTOM_TARGET(doc DEPENDS ${API_DIR})
    
    INSTALL(CODE "execute_process(COMMAND ${CMAKE_BUILD_TOOL} doc)")
    INSTALL(DIRECTORY ${API_DIR} DESTINATION share/${LIBNAME})
ENDIF()
ENDIF(BUILD_DOCS)

# --- coverage ---
IF(BUILD_TESTS)
    ENABLE_COVERAGE_REPORT(TARGETS ${RCIONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
ENDIF(BUILD_TESTS)

# --- sloccount ---
ENABLE_SLOCCOUNT(FOLDERS src test examples)

# --- cppcheck ---
GENERATE_CPPCHECK(SOURCES src test examples
    "${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
    ENABLE_IDS style)

# --- package ---
INCLUDE(CheckLSBTypes)

SET(CPACK_PACKAGE_VERSION_MAJOR ${RCIONCILLA_VERSION_MAJOR})
SET(CPACK_PACKAGE_VERSION_MINOR ${RCIONCILLA_VERSION_MINOR})
SET(CPACK_PACKAGE_VERSION_PATCH ${RCIONCILLA_VERSION_PATCH})
SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})

SET(CPACK_GENERATOR "TGZ")
SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")

IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
    SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
    SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-rci-oncilla")
    SET(CPACK_DEBIAN_PACKAGE_VERSION ${RCIONCILLA_VERSION_MAJOR}.${RCIONCILLA_VERSION_MINOR}.${RCIONCILLA_VERSION_PATCH})
    SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
    SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "RCI Drivers for the quadruped Oncilla robot.")
    SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
    SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
    SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
    SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
    SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")

INCLUDE(CPack)