CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(mosaic_gnss_driver)

add_compile_options(-std=c++17)

# TODO: roscpp and roslib are not dependencies for the core_lib
# Maybe one CMakeLists.txt per target?
set(DEPS
        roscpp
        roslib
        std_msgs
        sensor_msgs
        nmea_msgs)

find_package(Boost REQUIRED COMPONENTS system)
find_package(catkin REQUIRED COMPONENTS ${DEPS})

find_library(libpcap_LIBRARIES pcap)
if("${libpcap_LIBRARIES}" STREQUAL "pcap-NOTFOUND")
    set(libpcap_FOUND FALSE)
else()
    set(libpcap_FOUND TRUE)
endif()

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

################################################
## 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 tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_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
#   Message1.msg
#   Message2.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
# )

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

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
catkin_package(
        INCLUDE_DIRS include
        LIBRARIES ${PROJECT_NAME}
        CATKIN_DEPENDS ${DEPS}
        DEPENDS Boost)

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

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${Boost_INCLUDE_DIRS})

## Core Library
add_library(${PROJECT_NAME} STATIC
        src/core/util/serial.cpp
        src/core/connections/tcp.cpp
        src/core/connections/udp.cpp
        src/core/connections/pcap.cpp
        src/core/connections/serial.cpp
        src/core/parsers/sbf/sbf.cpp
        src/core/parsers/sbf/block_parsers/geodetic.cpp
        src/core/parsers/sbf/block_parsers/cartesian.cpp
        src/core/parsers/nmea/NMEAParser.cpp
        src/core/parsers/nmea/GPSService.cpp
        src/core/parsers/nmea/GPSFix.cpp)

target_compile_definitions(${PROJECT_NAME} PRIVATE MOSAIC_GNSS_CORE_ONLY)
#target_compile_definitions(${PROJECT_NAME} PRIVATE MOSAIC_SBF_PRINT_ID)

# Driver
add_executable(${PROJECT_NAME}_node src/main.cpp)
target_compile_definitions(${PROJECT_NAME}_node PRIVATE MOSAIC_GNSS_FAKE_SLEEP_TIME=0.1)
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_node
        ${PROJECT_NAME}
        ${catkin_LIBRARIES}
        ${libpcap_LIBRARIES}
        ${Boost_LIBRARIES}
		-lstdc++fs)

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

install(TARGETS ${PROJECT_NAME}_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.h"
        PATTERN ".svn" EXCLUDE)

install(DIRECTORY config docs launch
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

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

if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)

    macro(package_add_test TARGETNAME)
        catkin_add_gtest(${TARGETNAME} ${ARGN})
        target_link_libraries(${TARGETNAME}
                ${PROJECT_NAME}
                ${catkin_LIBRARIES}
                ${libpcap_LIBRARIES}
                ${Boost_LIBRARIES})
    endmacro(package_add_test)

    package_add_test(connection_test test/test_connection.cpp)

endif()