cmake_minimum_required(VERSION 2.8.3)
project(maze_controller)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  std_msgs
)

add_service_files(
        FILES
        movement.srv
)

generate_messages(
        DEPENDENCIES
        std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES maze_controller
  CATKIN_DEPENDS roscpp std_msgs message_runtime
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME} src/virtual_controller.cpp src/real_controller.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

add_executable(${PROJECT_NAME}_test_sim src/virtual_controller_test.cpp)
target_link_libraries(${PROJECT_NAME}_test_sim ${PROJECT_NAME})

add_executable(${PROJECT_NAME}_test src/real_controller_test.cpp)
target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})

## 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
        )