cmake_minimum_required(VERSION 2.8.3)
project(space_server)

add_compile_options(-std=c++11)
set (CMAKE_BUILD_TYPE Release)

find_package(catkin REQUIRED COMPONENTS
    actionlib
    roslib
    roscpp
    rospy
    std_msgs
    base_msgs
    tf
)

catkin_package(
   CATKIN_DEPENDS message_runtime
)

find_package(Boost REQUIRED COMPONENTS system thread)

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

link_directories(
    /usr/lib/
    /usr/local/lib/
    /usr/local/libstatic/
)

add_executable(server_node
  src/main.cpp
  src/server/server.cpp
  src/server/standard.cpp
  # src/server/chengdu_zhonghe.cpp
  # src/server/chengdu_linyi.cpp
  src/robot/robot.cpp
  # src/robot/chengdu_zhonghe.cpp
  src/task/task.cpp
  src/task/map.cpp
  src/task/path.cpp
  src/task/astar.cpp
  src/task/standard.cpp
  src/plc/plc.cpp
  # src/task/chengdu_zhonghe.cpp
  # src/task/chengdu_linyi.cpp
)

target_link_libraries(server_node
  ${PCL_LIBRARIES}
  ${Boost_LIBRARIES}
  ${catkin_LIBRARIES}
  libbase64.so
  libspace_lib.so
  modbus
  glog
  # libspace_key.a
)

install(TARGETS
  server_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  USE_SOURCE_PERMISSIONS
)