################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.8)
project(humanoid_robot_demo)

################################################################################
# Find catkin packages and libraries for catkin and system dependencies
################################################################################
find_package(
  catkin REQUIRED COMPONENTS
  roscpp
  roslib
  std_msgs
  sensor_msgs
  geometry_msgs
  humanoid_robot_controller_msgs
  humanoid_robot_walking_module_msgs
  humanoid_robot_action_module_msgs
  cmake_modules
  humanoid_robot_math
  humanoid_robot_ball_detector
)

find_package(Boost REQUIRED COMPONENTS thread)
find_package(Eigen3 REQUIRED)

## Resolve system dependency on yaml-cpp, which apparently does not
## provide a CMake find_package() module.
## Insert your header file compatible specified path like '#include <yaml-cpp/yaml.h>'
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(
  YAML_CPP_INCLUDE_DIR
  NAMES yaml_cpp.h
  PATHS ${YAML_CPP_INCLUDE_DIRS}
)
find_library(
  YAML_CPP_LIBRARY
  NAMES YAML_CPP
  PATHS ${YAML_CPP_LIBRARY_DIRS}
)
link_directories(${YAML_CPP_LIBRARY_DIRS})

if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
  add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")

################################################################################
# Setup for python modules and scripts
################################################################################

################################################################################
# Declare ROS messages, services and actions
################################################################################

################################################################################
# Declare ROS dynamic reconfigure parameters
################################################################################

################################################################################
# Declare catkin specific configuration to be passed to dependent projects
################################################################################
catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS
  roscpp
  roslib
  std_msgs
  sensor_msgs
  geometry_msgs
  humanoid_robot_controller_msgs
  humanoid_robot_walking_module_msgs
  humanoid_robot_action_module_msgs
  cmake_modules
  humanoid_robot_math
  humanoid_robot_ball_detector
  DEPENDS Boost EIGEN3
)

################################################################################
# Build
################################################################################
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIRS}
)

add_executable(
  op_demo_node
  src/demo_node.cpp
  src/soccer/soccer_demo.cpp
  src/soccer/ball_tracker.cpp
  src/soccer/ball_follower.cpp
  src/action/action_demo.cpp
  src/vision/vision_demo.cpp
  src/vision/face_tracker.cpp
)

add_dependencies(
  op_demo_node
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(
  op_demo_node
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${YAML_CPP_LIBRARIES}
)

add_executable(
  self_test_node
  src/test_node.cpp
  src/soccer/soccer_demo.cpp
  src/soccer/ball_tracker.cpp
  src/soccer/ball_follower.cpp
  src/action/action_demo.cpp
  src/vision/vision_demo.cpp
  src/vision/face_tracker.cpp
  src/test/button_test.cpp
  src/test/mic_test.cpp
)

add_dependencies(
  self_test_node
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(
  self_test_node
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${Eigen3_LIBRARIES}
  ${YAML_CPP_LIBRARIES}
)

################################################################################
# Install
################################################################################
install(
  TARGETS op_demo_node self_test_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

install(
  DIRECTORY data launch list
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

################################################################################
# Test
################################################################################
