CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(kelo_tulip)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
# find_package(rosidl_default_generators REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(kelo_interfaces REQUIRED)
find_package(GSL REQUIRED)

# find_library(SOEM_LIBRARIES NAMES soem)

set(Boost_USE_STATIC_LIBS ON)
find_package(Boost REQUIRED COMPONENTS thread)

if(WIN32)
	set(INCLUDE_DIRS
		include
		include/kelo_tulip/soem
		include/kelo_tulip/soem/osal
		include/kelo_tulip/soem/osal/win32
		include/kelo_tulip/soem/oshw/win32
		${WINPCAP_INCLUDE_DIRS}
	)
else(WIN32)
	set(INCLUDE_DIRS
		include
		include/kelo_tulip/soem
		include/kelo_tulip/soem/osal
		include/kelo_tulip/soem/osal/linux
		include/kelo_tulip/soem/oshw/linux
	)
endif(WIN32)

include_directories(include)
include_directories(
	${INCLUDE_DIRS}
	${rclcpp_INCLUDE_DIRS}
	# ${rcl_interfaces_INCLUDE_DIRS}
	${std_msgs_INCLUDE_DIRS}
	${kelo_interfaces_INCLUDE_DIRS}
	${geometry_msgs_INCLUDE_DIRS}
	${nav_msgs_INCLUDE_DIRS}
	${sensor_msgs_INCLUDE_DIRS}
	${tf2_INCLUDE_DIRS}
	${tf2_ros_INCLUDE_DIRS}
	${tf2_geometry_msgs_INCLUDE_DIRS}
)

# Optionally apply cap_net_raw+ep permissions to binary. Requires root previleges.
# Use sudo as default. Still, allow to be configured as environment veriable.
OPTION(USE_SETCAP "Set permissions to access ethernet interface without sudo" ON)
IF("$ENV{SUDO_COMMAND}" STREQUAL "")
	SET(SUDO_COMMAND sudo)				# default = sudo
ELSE("$ENV{SUDO_COMMAND}" STREQUAL "")
	SET(SUDO_COMMAND $ENV{SUDO_COMMAND})
ENDIF("$ENV{SUDO_COMMAND}" STREQUAL "")

add_subdirectory(src/soem)

add_library(tulip_velocity_controller
	src/Utils.cpp
	src/VelocityPlatformController.cpp
	src/PlatformToWheelInverseKinematicsSolver.c
	src/SmartWheelKinematics.c
	src/KELORobotKinematics.c
)

add_library(tulip_library
	src/EtherCATMaster.cpp
	src/EtherCATModule.cpp
	src/EtherCATModuleROS.cpp
	src/PlatformDriver.cpp
	src/PlatformDriverROS.cpp
	src/modules/RobileMasterBattery.cpp
	src/modules/RobileMasterBatteryROS.cpp
	src/modules/PowerManagementUnit.cpp
	src/modules/PowerManagementUnitROS.cpp
)

target_link_libraries(tulip_library
  tulip_velocity_controller
)

add_executable(platform_driver
	src/TulipMain.cpp
	src/PlatformToWheelInverseKinematicsSolver.c
	src/SmartWheelKinematics.c
	src/KELORobotKinematics.c
)

ament_target_dependencies(platform_driver
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  kelo_interfaces
)

ament_target_dependencies(tulip_library
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  kelo_interfaces
)


target_link_libraries(platform_driver
  tulip_library
  tulip_velocity_controller
  ${Boost_LIBRARIES}
  soem
#   ${SOEM_LIBRARIES}
  pthread
  gsl
  gslcblas
  m
#   kelo_interfaces
  ${kelo_interfaces_LIBRARIES}
)


add_executable(kelo_platform_controller_gz
  src/PlatformControllerGZ.cpp
)
ament_target_dependencies(kelo_platform_controller_gz
  rclcpp
  sensor_msgs
  geometry_msgs
  Boost
)
target_link_libraries(kelo_platform_controller_gz
  tulip_velocity_controller
  gsl
  gslcblas	
)

IF(USE_SETCAP)
  add_custom_command(TARGET platform_driver POST_BUILD
  	COMMAND ${SUDO_COMMAND} setcap cap_net_raw+ep $<TARGET_FILE:platform_driver>
  )
endif(USE_SETCAP)

install(TARGETS tulip_library tulip_velocity_controller
	EXPORT export_${PROJECT_NAME}
	LIBRARY DESTINATION lib
	ARCHIVE DESTINATION lib
	RUNTIME DESTINATION bin
)

install(TARGETS platform_driver kelo_platform_controller_gz
	DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/${PROJECT_NAME}/
	DESTINATION include/${PROJECT_NAME}
)

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY config/
DESTINATION share/${PROJECT_NAME}/config
)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rosidl_default_runtime)

ament_package()