## Project Setup

cmake_minimum_required(VERSION 2.4.6)

if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

IF(DEFINED BUILD_NO_CLANG)
option(BUILD_NO_CLANG "Do not use the Clang compiler." OFF)
ENDIF(DEFINED BUILD_NO_CLANG)

# Use clang if available

#IF(EXISTS /usr/bin/clang AND NOT BUILD_NO_CLANG)
# set(CMAKE_CXX_COMPILER /usr/bin/clang++)
# set(CMAKE_OSX_DEPLOYMENT_TARGET "")
# set(SERIAL_BUILD_WARNINGS TRUE)
# set(CMAKE_BUILD_TYPE Debug)
#ENDIF(EXISTS /usr/bin/clang AND NOT BUILD_NO_CLANG)

IF(NOT DEFINED BUILD_SHARED_LIBS)

OPTION(BUILD_SHARED_LIBS "Build shared libraries." OFF)
ENDIF(NOT DEFINED BUILD_SHARED_LIBS)

# Detect ROS
set(ROS_ROOT $ENV{ROS_ROOT})
set(ROS_ROOT_DEFINED FALSE)
if(DEFINED ROS_ROOT)
message("ROS detected.")
set(ROS_ROOT_DEFINED TRUE)
endif(DEFINED ROS_ROOT)

set(BUILD_WITH_ROS ${ROS_ROOT_DEFINED} CACHE BOOL "Build with ROS support.")

if(BUILD_WITH_ROS AND NOT ROS_ROOT_DEFINED)

message(FATAL_ERROR "ROS support is selected, but ROS_ROOT is not set.")
endif(BUILD_WITH_ROS AND NOT ROS_ROOT_DEFINED)

# 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)

if(BUILD_WITH_ROS)
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 CACHE STRING "Built type for ROS")
rosbuild_init()

#uncomment if you have defined messages

#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
else(BUILD_WITH_ROS)
set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Built type for cmake")
 # Find serial, if it hasn't already been found

if(NOT DEFINED serial_LIBRARIES OR NOT DEFINED serial_INCLUDE_DIRS)

find_package(serial REQUIRED)
else (NOT DEFINED serial_LIBRARIES OR NOT DEFINED serial_INCLUDE_DIRS)
set(serial_FOUND TRUE)
endif(NOT DEFINED serial_LIBRARIES OR NOT DEFINED serial_INCLUDE_DIRS)

if(serial_FOUND)
include_directories(${serial_INCLUDE_DIRS})
list(APPEND UBLOX_LINK_LIBS ${serial_LIBRARIES})
if(UNIX AND NOT APPLE)
list(APPEND UBLOX_LINK_LIBS rt)
endif(UNIX AND NOT APPLE)
else(serial_FOUND)
message(FATAL_ERROR "Serial library was not found.")
endif(serial_FOUND)
endif(BUILD_WITH_ROS)

# Add the include folder to the include path

include_directories(${PROJECT_SOURCE_DIR}/include)

# Add default source files

set(UBLOX_SRCS src/ublox.cpp)
# Add default header files
set(UBLOX_HEADERS include/ublox/ublox.h
include/ublox/ublox_structures.h)

# Find Boost, if it hasn't already been found

#set(Boost_USE_STATIC_LIBS ON)
find_package(Boost COMPONENTS thread system REQUIRED)

link_directories(${Boost_LIBRARY_DIRS})
include_directories(${Boost_INCLUDE_DIRS})

list(APPEND UBLOX_LINK_LIBS ${Boost_SYSTEM_LIBRARY}

${Boost_THREAD_LIBRARY})

## Build the ublox Library

# Compile the Library

if(BUILD_WITH_ROS)
rosbuild_add_library(ublox ${UBLOX_SRCS} ${UBLOX_HEADERS})
else(BUILD_WITH_ROS)
add_library(ublox ${UBLOX_SRCS} ${UBLOX_HEADERS})
endif(BUILD_WITH_ROS)
target_link_libraries(ublox ${UBLOX_LINK_LIBS})

## Build the ROS wrapper

if(BUILD_WITH_ROS)
rosbuild_add_executable(ublox_node src/ublox_node.cc)
target_link_libraries(ublox_node ublox)
endif(BUILD_WITH_ROS)

## Build Examples
# If asked to
option(UBLOX_BUILD_EXAMPLES "Build uBlox examples?" OFF)
IF(UBLOX_BUILD_EXAMPLES)
# Compile the ublox Test program
add_executable(ublox_example examples/ublox_example.cpp)
# Link the Test program to the ublox library
target_link_libraries(ublox_example ublox ${UBLOX_LINK_LIBS})
# Compile the ublox Test program
add_executable(assist_example examples/assist_example.cpp)
# Link the Test program to the ublox library
target_link_libraries(assist_example ublox ${UBLOX_LINK_LIBS})
# Compile the ublox Test program
add_executable(record_pseudoranges examples/record_pseudoranges.cpp)
# Link the Test program to the ublox library
target_link_libraries(record_pseudoranges ublox ${UBLOX_LINK_LIBS})
ENDIF(UBLOX_BUILD_EXAMPLES)

## Build tests

# If asked to
IF(UBLOX_BUILD_TESTS)

ENDIF(UBLOX_BUILD_TESTS)

## Setup install and uninstall

# Unless asked not to...

IF(NOT UBLOX_DONT_CONFIGURE_INSTALL AND NOT BUILD_WITH_ROS)
# Configure make install
IF(NOT CMAKE_INSTALL_PREFIX)
SET(CMAKE_INSTALL_PREFIX /usr/local)
ENDIF(NOT CMAKE_INSTALL_PREFIX)

INSTALL(TARGETS ublox
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
)

INSTALL(FILES include/ublox/ublox.h include/ublox/ublox_structures.h

DESTINATION include/ublox)

IF(NOT CMAKE_FIND_INSTALL_PATH)
set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
ENDIF(NOT CMAKE_FIND_INSTALL_PATH)

INSTALL(FILES Findublox.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)

ADD_CUSTOM_TARGET(uninstall @echo uninstall package)

IF (UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "uninstall package"
COMMAND xargs ARGS rm < install_manifest.txt

TARGET uninstall
)
ELSE(UNIX)
ADD_CUSTOM_COMMAND(
COMMENT "uninstall only implemented in unix"
TARGET uninstall
 )
ENDIF(UNIX)
ENDIF(NOT UBLOX_DONT_CONFIGURE_INSTALL AND NOT BUILD_WITH_ROS)