cmake_minimum_required(VERSION 2.8.3)
project(global_planning)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
  rospy
  std_msgs
  message_generation
 jsoncpp
 polyline
 novatel_gps_driver
 novatel_gps_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(gpsd_client)
find_package(CURL ${CURL_MIN_VERSION} REQUIRED)
find_package(Boost COMPONENTS system filesystem REQUIRED)

set(CMAKE_CXX_FLAGS "-std=c++0x")

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## 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 run_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 run_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
  Pathh.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 run_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 ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## 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 global_planning
# LIBRARIES polyline
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
    novatel_gps_msgs
    novatel_gps_driver
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
if(gpsd_client_FOUND)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
#  add_library( polyline
#    src/polyline/polylineencoder.cpp
#  )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

include_directories(${CURL_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})




#check for libpq's configure tool
find_program(PG_CONFIG NAMES pg_config DOC "libpq config tool")
if (NOT PG_CONFIG)
  message(FATAL_ERROR "Couldn't find pg_config. Is libpq installed?")
endif(NOT PG_CONFIG)

#get the libpq include and lib directories
execute_process(
  COMMAND pg_config --includedir
  ERROR_VARIABLE IGNORE_VAR
  OUTPUT_VARIABLE PQ_INCLUDE_DIR
  OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(
  COMMAND pg_config --libdir
  ERROR_VARIABLE IGNORE_VAR
  OUTPUT_VARIABLE PQ_LIB_DIR
  OUTPUT_STRIP_TRAILING_WHITESPACE)

include(CheckIncludeFiles)
set(CMAKE_REQUIRED_INCLUDES ${PQ_INCLUDE_DIR})
check_include_files(libpq-fe.h HAVE_LIBPQ)
if (NOT HAVE_LIBPQ)
  message(FATAL_ERROR "Error: PostgreSQL implementation cannot find libpq-fe.h")
endif(NOT HAVE_LIBPQ)

link_directories(${PQ_LIB_DIR})
include_directories(${PQ_INCLUDE_DIR})


## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_server src/global_planning_server.cpp)
add_executable(${PROJECT_NAME}_client src/global_planning_client.cpp)







## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_server PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
 add_dependencies(${PROJECT_NAME}_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(${PROJECT_NAME}_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_server jsoncpp  ${CURL_LIBRARIES} ${Boost_LIBRARIES}
   ${catkin_LIBRARIES}
 )
 

 
 target_link_libraries(${PROJECT_NAME}_client pq  pqxx jsoncpp  ${Boost_LIBRARIES}
 ${catkin_LIBRARIES}
)
else()
message(WARNING "gpsd_client package not found. Install using : sudo apt-get install ros-indigo-gps-umd \nThis package will not be compiled")
endif()


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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_global_planning.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)