CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(novatel)




#######################################
## Check for ROS ##
#######################################

option(BUILD_WITH_ROS "Build ROS node and use catkin." ON)

if (NOT catkin_FOUND)
   SET(BUILD_WITH_ROS OFF)
endif(NOT catkin_FOUND)

## message( STATUS "catkin_FOUND: ${catkin_FOUND}" )


#include_directories(
#      include/locate_node
#    )

include_directories(components/serial/include)
add_subdirectory(components/serial)


set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++0x -Wfatal-errors")

if (BUILD_WITH_ROS)
  ## Find catkin macros and libraries
	## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
	## is used, also find other catkin packages
	## libraries found here are added to catkin_LIBRARIES and linked automatically
  ## found:all libs in the COMPONENTS also in package.xml depends by yuhs
	find_package(catkin REQUIRED COMPONENTS roscpp rosconsole tf msgs_ht sensor_msgs nav_msgs)
	## find_package(catkin REQUIRED COMPONENTS croslib roscpp rosconsole tf msgs_ht sensor_msgs nav_msgs)
	
  ## 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 include
	  LIBRARIES novatel
	  CATKIN_DEPENDS serial roslib roscpp rosconsole tf msgs_ht nav_msgs sensor_msgs
	  DEPENDS Boost
	)
else()
	SET(CATKIN_PACKAGE_LIB_DESTINATION "${CMAKE_INSTALL_PREFIX}/lib")
	SET(CATKIN_PACKAGE_BIN_DESTINATION "${CMAKE_INSTALL_PREFIX}/bin")
	SET(CATKIN_PACKAGE_INCLUDE_DESTINATION "${CMAKE_INSTALL_PREFIX}/include")
	# TODO: need to find serial library here
	find_package(serial REQUIRED)
	set(catkin_INCLUDE_DIRS ${serial_INCLUDE_DIRS})
	set(catkin_LIBRARIES ${serial_LIBRARIES})
endif (BUILD_WITH_ROS)

# System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system filesystem thread)








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

#####add debug for gdb
# SET(CMAKE_BUILD_TYPE "Debug")
# SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
# SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")



## Specify additional locations of header files
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})


if (CMAKE_BUILD_TYPE MATCHES Debug)
  set(LIB_NAME novatel)
  MESSAGE("Building DEBUG library ${LIB_NAME}")
else ()
  set(LIB_NAME novatel)
  MESSAGE("Building RELEASE library ${LIB_NAME}")
endif ()

# Declare a cpp library
# create static lib LIB_NAME
add_library(${LIB_NAME}
  src/novatel.cpp
)

# Boost_LIBRARIES+catkin_LIBRARIES >> LIB_NAME
target_link_libraries(${LIB_NAME}
                      ${Boost_LIBRARIES}
                      ${catkin_LIBRARIES})







##############
## Examples ##
##############

option(NOVATEL_BUILD_EXAMPLES "Build all of the Novatel examples." ON)
##@ 
##@ # if find_package found serial,the serial_* macros will be set
##@ if(serial_FOUND)
##@   include_directories(${serial_INCLUDE_DIRS})
##@   list(APPEND NOVATEL_LINK_LIBS ${serial_LIBRARIES} pthread)
##@   if(UNIX AND NOT APPLE)
##@     list(APPEND NOVATEL_LINK_LIBS rt)
##@   endif()
##@ else(serial_FOUND)
##@   message(FATAL_ERROR "Serial library was not found.")
##@ endif(serial_FOUND)
##@ 
##@ if (NOVATEL_BUILD_EXAMPLES)
##@ 	# Declare a cpp executable
##@ 	add_executable(novatel_example examples/novatel_example.cpp)
##@ 	target_link_libraries(novatel_example 
##@                         ${LIB_NAME}
##@                         ${catkin_LIBRARIES} 
##@                         ${Boost_LIBRARIES})
##@ 
##@ add_executable(novatel_read_from_file examples/novatel_read_from_file.cpp)
##@ target_link_libraries(novatel_read_from_file
##@                       ${LIB_NAME}
##@                       ${catkin_LIBRARIES} 
##@											 ${Boost_LIBRARIES}
##@											 serial)
##@ 
##@ 	add_executable(novatel_read_bestutm examples/novatel_read_bestutm.cpp)
##@ 	target_link_libraries(novatel_read_bestutm 
##@                         ${LIB_NAME}
##@                         ${catkin_LIBRARIES} 
##@                         ${Boost_LIBRARIES})
##@ endif (NOVATEL_BUILD_EXAMPLES)
##@ 

# Build ROS node
if (BUILD_WITH_ROS)
	# Declare a cpp executable
	add_executable(novatel_node src/novatel_node.cpp)
  add_dependencies(novatel_node ${catkin_EXPORTED_TARGETS})
	target_link_libraries(novatel_node novatel ${catkin_LIBRARIES} ${Boost_LIBRARIES} serial)
endif (BUILD_WITH_ROS)








#############
## Install ##
#############


##@ # Mark executables and/or libraries for installation
##@ if(BUILD_WITH_ROS)
##@   # message( STATUS "CATKIN_PACKAGE_LIB_DESTINATION: ${CATKIN_PACKAGE_LIB_DESTINATION}" )
##@   # message( STATUS "CATKIN_PACKAGE_BIN_DESTINATION: ${CATKIN_PACKAGE_BIN_DESTINATION}" )
##@   # message( STATUS "CATKIN_PACKAGE_INCLUDE_DESTINATION: ${CATKIN_PACKAGE_INCLUDE_DESTINATION}" )
##@   # message( STATUS "catkin_EXPORTED_TARGETS: ${catkin_EXPORTED_TARGETS}" )
##@   # message( STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}" )
##@   install(TARGETS novatel novatel_node
##@     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
##@   )
##@ else(BUILD_WITH_ROS) # do a classical install
##@   install(TARGETS ${LIB_NAME}
##@     ARCHIVE DESTINATION /usr/local/lib
##@     LIBRARY DESTINATION /usr/local/lib
##@     RUNTIME DESTINATION /usr/local/bin/${PROJECT_NAME}
##@   )
##@   install(DIRECTORY include/${PROJECT_NAME}/
##@     DESTINATION /usr/local/include/${PROJECT_NAME}
##@   )
##@   set(CMAKE_MODULE_PATH ${CMAKE_ROOT}/Modules)
##@   message(STATUS "module path: " ${CMAKE_MODULE_PATH})
##@   install(FILES Findnovatel.cmake DESTINATION ${CMAKE_MODULE_PATH})
##@ endif (BUILD_WITH_ROS)
##@ 
##@ 
##@ ## Mark other files for installation (e.g. launch and bag files, etc.)
##@ # install(FILES
##@ #   # myfile1
##@ #   # myfile2
##@ #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
##@ # )








#############
## Testing ##
#############

##@ option(NOVATEL_BUILD_TESTS "Build all of the Novatel tests." OFF)
##@ 
##@ 
##@ if (NOVATEL_BUILD_TESTS)
##@     # Find Google Test
##@     enable_testing()
##@     find_package(GTest REQUIRED)
##@     include_directories(${GTEST_INCLUDE_DIRS})
##@ 
##@     # Compile the atrv Test program
##@     add_executable(novatel_tests tests/novatel_tests.cpp)
##@     # Link the Test program to the atrv library
##@     target_link_libraries(novatel_tests ${GTEST_BOTH_LIBRARIES}
##@                           novatel)
##@ 
##@     add_test(AllTestsIntest_novatel novatel_tests)
##@ endif (NOVATEL_BUILD_TESTS)