cmake_minimum_required(VERSION 2.8.3)
project(phoxi_camera)

## 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
  dynamic_reconfigure
  pcl_ros
  roscpp
  roslib
  rospy
  sensor_msgs
  pcl_conversions
  std_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
   PhoXiSize.msg
 )

## Generate services in the 'srv' folder
 add_service_files(
   FILES
         GetDeviceList.srv
         ConnectCamera.srv
         IsAcquiring.srv
         GetFrame.srv
         TriggerImage.srv
         GetHardwareIdentification.srv
         GetSupportedCapturingModes.srv
         IsConnected.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
   sensor_msgs std_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
# )

generate_dynamic_reconfigure_options(
        cfg/phoxi_camera.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 std_msgs sensor_msgs
        #  INCLUDE_DIRS include
#  LIBRARIES pho_driver
#  CATKIN_DEPENDS dynamic_reconfigure pcl_ros roscpp roslib rospy sensor_msgs std_msgs tf
#  DEPENDS system_lib
)

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


add_compile_options(-w)
add_compile_options(-std=c++11)
add_compile_options(-fpermissive)
add_compile_options(-pthread)

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
#set(BOOST_ROOT /home/msladek/3rdParty_REPO/boost_1_60_0)
find_package(PhoXi REQUIRED CONFIG PATHS "$ENV{PHOXI_CONTROL_PATH}")


#FIND_PACKAGE(Boost REQUIRED COMPONENTS
#        system
#        filesystem
#        thread
#        date_time
#        iostreams
#        serialization
#        chrono
#        atomic
#        regex
#        log
#        )

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${PHOXI_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(phoxi_driver
#         src/phoxi_camera_node.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(pho_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

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

add_executable(phoxi_camera_node src/phoxi_camera_node.cpp)

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

add_dependencies(phoxi_camera_node ${PROJECT_NAME}_gencfgv ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

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

#message(${PHOXI_LIBRARY})
target_link_libraries(phoxi_camera_node
        debug ${catkin_LIBRARIES}
        optimized ${catkin_LIBRARIES}
        ${PHOXI_LIBRARY}
        #debug ${Boost_LIBRARIES}
        #optimized ${Boost_LIBRARIES}
        ${Boost_LIBRARIES}
        rt
        )

#############
## 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/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

 install(PROGRAMS src/phoxi_camera_example.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )


## Mark executables and/or libraries for installation
 install(TARGETS phoxi_camera_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

#message(${PHOXI_LIB_RELEASE_PER_COMPILER}.${PHO_SOFTWARE_VERSION})
install(FILES ${PHOXI_LIB_RELEASE_PER_COMPILER}.${PHO_SOFTWARE_VERSION}
        DESTINATION ${CATKIN_PACKAGE_LIB_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_pho_driver.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)
#add dynamic reconfigure api
find_package(catkin REQUIRED COMPONENTS
        roscpp
        rospy
        std_msgs
        message_generation
        )



# make sure configure headers are built before any node using them
