cmake_minimum_required(VERSION 3.0.2)
project(server)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  actionlib
  geometry_msgs
  message_generation
  message_runtime
  tf
)

find_package(Boost REQUIRED COMPONENTS system)

add_message_files(
  FILES
  locate.msg
  navpath.msg
  mapoint.msg
  map_create.msg
)

add_service_files(
  FILES
  locate_set.srv
)

add_action_files(
  DIRECTORY action
  FILES
  nav.action
)

generate_messages(
  DEPENDENCIES
  geometry_msgs
  actionlib_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES server
    CATKIN_DEPENDS roscpp geometry_msgs message_generation message_runtime actionlib_msgs actionlib 
#  DEPENDS system_lib
)

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

add_executable(server_node 
  src/database/database.cpp
  src/robot/robot.cpp
  src/server/http_server.cpp
  src/map/map.cpp
  src/map/astar.cpp
  src/map/map_trans.cpp
  src/device/plc.cpp

  src/main.cpp
)

target_link_libraries(server_node
  ${catkin_LIBRARIES}
  libstd_lib.so
  glog
  ${Boost_LIBRARIES}
  modbus
)

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

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

# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

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

# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )