cmake_minimum_required(VERSION 2.8.3)
project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=)
add_definitions(-DMAVLINK_DIALECT=common)

## 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
  roscpp
  rospy
  std_msgs
  geometry_msgs
  message_generation
  cmake_modules
  gazebo_msgs
  sensor_msgs
  mav_msgs
  libmavconn
  tf
)
find_package(Eigen REQUIRED)

## 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 and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * 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
  rc_channels.msg
  vehicle_attitude.msg
  vehicle_attitude_setpoint.msg
  manual_control_setpoint.msg
  actuator_controls.msg
  actuator_controls_0.msg
  actuator_controls_virtual_mc.msg
  vehicle_rates_setpoint.msg
  mc_virtual_rates_setpoint.msg
  vehicle_attitude.msg
  vehicle_control_mode.msg
  actuator_armed.msg
  parameter_update.msg
  vehicle_status.msg
  vehicle_local_position.msg
  position_setpoint.msg
  position_setpoint_triplet.msg
  vehicle_local_position_setpoint.msg
  vehicle_global_velocity_setpoint.msg
  offboard_control_mode.msg
  vehicle_force_setpoint.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
  std_msgs
  gazebo_msgs
)

###################################
## 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 src/include
  LIBRARIES px4
  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  ${catkin_INCLUDE_DIRS}
  src/platforms
  src/platforms/ros/px4_messages
  src/include
  src/modules
  src/
  src/lib
  ${EIGEN_INCLUDE_DIRS}
  integrationtests
)

## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
	-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})

## Declare a cpp library
add_library(px4
  src/platforms/ros/px4_ros_impl.cpp
  src/platforms/ros/perf_counter.cpp
  src/platforms/ros/geo.cpp
  src/lib/mathlib/math/Limits.cpp
  src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)

target_link_libraries(px4
  ${catkin_LIBRARIES}
)

## Declare a test publisher
add_executable(publisher
	src/examples/publisher/publisher_main.cpp
	src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
  ${catkin_LIBRARIES}
  px4
)

## Declare a test subscriber
add_executable(subscriber
	src/examples/subscriber/subscriber_main.cpp
	src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
  ${catkin_LIBRARIES}
  px4
)

## MC Attitude Control
add_executable(mc_att_control
	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_att_control
  ${catkin_LIBRARIES}
  px4
)

## MC Position Control
add_executable(mc_pos_control
	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_pos_control
  ${catkin_LIBRARIES}
  px4
)

## Attitude Estimator dummy
add_executable(attitude_estimator
	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(attitude_estimator
  ${catkin_LIBRARIES}
  px4
)

## Position Estimator dummy
add_executable(position_estimator
	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(position_estimator
  ${catkin_LIBRARIES}
  px4
)

## Manual input
add_executable(manual_input
	src/platforms/ros/nodes/manual_input/manual_input.cpp)
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(manual_input
  ${catkin_LIBRARIES}
  px4
)

## Multicopter Mixer dummy
add_executable(mc_mixer
  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_mixer
  ${catkin_LIBRARIES}
  px4
)

## Commander dummy
add_executable(commander
	src/platforms/ros/nodes/commander/commander.cpp)
add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(commander
  ${catkin_LIBRARIES}
  px4
)

## Mavlink dummy
add_executable(mavlink
	src/platforms/ros/nodes/mavlink/mavlink.cpp)
add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mavlink
  ${catkin_LIBRARIES}
  px4
)

## Offboard Position Setpoint Demo
add_executable(demo_offboard_position_setpoints
	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_position_setpoints
  ${catkin_LIBRARIES}
  px4
)

## Offboard Attitude Setpoint Demo
add_executable(demo_offboard_attitude_setpoints
	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_attitude_setpoints
  ${catkin_LIBRARIES}
  px4
)

#############
## 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}
# )

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}
  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_px4test.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)

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  add_rostest(integrationtests/demo_tests/direct_tests.launch)
  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
endif()