cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

set(CMAKE_CC_COMPILER gcc)
set(CMAKE_CXX_COMPILER g++)

SET(CMAKE_C_FLAGS "-std=gnu99")
SET(CMAKE_CXX_FLAGS "-std=gnu99")

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

INCLUDE_DIRECTORIES(src/ipc)
INCLUDE_DIRECTORIES(src/Vicon)
INCLUDE_DIRECTORIES(msg_gen/cpp/include)

# IPC Communication Protocol Libraries
add_library(bytequeue src/ipc/bytequeue.c)
add_library(crc8 src/ipc/crc8.c)
add_library(ethlolmsg src/ipc/ethlolmsg.c)
add_library(IPC src/ipc/ipc.cc)
add_library(IPCInterface src/ipc/IPCInterface.cc)
TARGET_LINK_LIBRARIES(IPCInterface IPC bytequeue ethlolmsg crc8)

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(EpuckPublisher src/EpuckPublisher.cpp)
rosbuild_add_executable(EpuckViconPublisher src/EpuckViconPublisher.cpp src/Vicon/Vicon.cc src/Vector2D.cpp)
rosbuild_add_executable(EpuckCommPublisher src/EpuckCommPublisher.cpp src/Vicon/Vicon.cc src/Vector2D.cpp)
#rosbuild_add_executable(EpuckBlobSubscriber src/EpuckBlobSubscriber.cpp)
rosbuild_add_executable(EpuckPositionSubscriber src/EpuckPositionSubscriber.cpp src/EpuckPositionSubscriberTopic.cpp)
rosbuild_add_executable(EpuckCommSubscriber src/EpuckCommSubscriber.cpp src/EpuckCommSubscriberTopic.cpp)
#rosbuild_add_executable(EpuckCollectedFoodSubscriber src/EpuckCollectedFoodSubscriber.cpp src/EpuckCollectedFoodSubscriberTopic.cpp)
#rosbuild_add_executable(EpuckNestPublisher src/EpuckNestPublisher.cpp src/EpuckNestPublisherTopic.cpp src/Nest.cpp)
#rosbuild_add_executable(EpuckNestSubscriber src/EpuckNestSubscriber.cpp src/EpuckNestSubscriberTopic.cpp)

#target_link_libraries(EpuckPublisher IPCInterface)
#target_link_libraries(EpuckBlobSubscriber IPCInterface)
target_link_libraries(EpuckPositionSubscriber IPCInterface)
target_link_libraries(EpuckCommSubscriber IPCInterface)
#target_link_libraries(EpuckNestSubscriber IPCInterface)
target_link_libraries(EpuckViconPublisher IPCInterface)
target_link_libraries(EpuckCommPublisher IPCInterface)
