CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(moving_horizon_jnt_calib)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

find_package(xbot2 REQUIRED)
find_package(matlogger2 REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(awesome_utils REQUIRED)
find_package(XBotInterface REQUIRED)
find_package(cartesian_interface REQUIRED)
find_package(matlogger2 REQUIRED)
find_package(xbot_msgs REQUIRED)
set(EC_CLIENT_SKIP_ECAT_MASTER TRUE) #hack
find_package(ec_xbot2_client QUIET)
if(ec_xbot2_client_FOUND)
  add_definitions(-DEC_XBOT2_CLIENT_FOUND)
endif()

find_package(catkin REQUIRED roscpp rospy urdf sensor_msgs std_msgs message_generation)

find_package(Qt5 COMPONENTS Core Gui Widgets QUIET)
if(NOT Qt5_FOUND)
    message(WARNING "Qt5 package not found, the MHE-gui will not be built")
endif()
find_package(Qt6 COMPONENTS Core Gui Widgets QUIET)
if(NOT Qt6_FOUND)
    message(WARNING "Qt6 package not found")
endif()

option(XBOT2_ENABLE_XENO OFF "Compile against xenomai")

add_service_files(
  FILES
  StartCalib.srv
  PerformCalibTraj.srv
  SetCalibParams.srv
)

add_message_files(
  FILES
  JntCalibStatus.msg
  CalibTrajStatus.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(CATKIN_DEPENDS message_runtime)

add_xbot2_plugin(calib_traj_replayer_rt
    src/calib_traj_replayer_rt.cpp)
target_include_directories(calib_traj_replayer_rt PRIVATE include src ${matlogger2_INCLUDE_DIRS})
add_dependencies(calib_traj_replayer_rt ${PROJECT_NAME}_generate_messages)
target_link_libraries(calib_traj_replayer_rt PRIVATE awesome_utils::awesome_utils xbot2::xbot2_ros_support matlogger2::matlogger2)

add_xbot2_plugin(mhe_rt
    src/mhe_rt.cpp)
target_include_directories(mhe_rt PRIVATE include src ${matlogger2_INCLUDE_DIRS})
add_dependencies(mhe_rt ${PROJECT_NAME}_generate_messages)
target_link_libraries(mhe_rt PRIVATE awesome_utils::awesome_utils xbot2::xbot2_ros_support matlogger2::matlogger2)

add_executable(calib_logger src/utils/calib_logger.cpp)
target_link_libraries(calib_logger ${catkin_LIBRARIES} ${XBotInterface_LIBRARIES} matlogger2::matlogger2)
target_include_directories(calib_logger PRIVATE ${catkin_INCLUDE_DIRS} ${XBotInterface_INCLUDE_DIRS} ${xbot_msgs_INCLUDE_DIRS})
set_target_properties(calib_logger PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)

add_executable(start_calib_traj src/utils/start_calib_trajectory.cpp)
target_include_directories(start_calib_traj PRIVATE include src ${matlogger2_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
add_dependencies(start_calib_traj ${PROJECT_NAME}_generate_messages)
target_link_libraries(start_calib_traj PRIVATE awesome_utils::awesome_utils xbot2::xbot2_ros_support matlogger2::matlogger2 ${catkin_LIBRARIES})

if(Qt5_FOUND)

    set(UI_PATH "${CMAKE_CURRENT_SOURCE_DIR}/src/utils/gui/qt/")
    set(UI_NAME "mhe_gui.ui")
    set(UI_FULL_PATH "${UI_PATH}${UI_NAME}")

    set(CMAKE_AUTOMOC ON)
    set(CMAKE_AUTOUIC ON)
    set(CMAKE_AUTORCC ON)

endif()

# after having set all variables and before installing stuff, we can set the configuration file
# which is used to access cmake variables from the headers at compile time
set(CMAKE_DEF_CONFIG_FNAME cmake_config) # set config file name
set(CMAKE_DEF_CONFIG_GENDIR ${CMAKE_CURRENT_BINARY_DIR}/generated) # set config file name
configure_file(cmake/${CMAKE_DEF_CONFIG_FNAME}.h.in ${CMAKE_DEF_CONFIG_GENDIR}/${CMAKE_DEF_CONFIG_FNAME}.h)

if(Qt5_FOUND)

    add_executable(mhe_gui src/utils/gui/qt/main.cpp)

    target_include_directories(mhe_gui PRIVATE ${catkin_INCLUDE_DIRS} ${CMAKE_DEF_CONFIG_GENDIR})
    target_link_libraries(mhe_gui PUBLIC awesome_utils::awesome_utils ${catkin_LIBRARIES}
                                         Qt5::Core
                                         Qt5::Gui
                                         Qt5::Widgets)

    install(TARGETS mhe_gui DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

#    install(FILES ${CMAKE_DEF_CONFIG_GENDIR}/${CMAKE_DEF_CONFIG_FNAME}.h
#        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
#    )

endif()

#if(Qt5_FOUND)

#    add_executable(mhe_gui src/utils/mhe_gui.cpp)
#    target_include_directories(mhe_gui PRIVATE ${catkin_INCLUDE_DIRS} src/utils)
#    add_dependencies(mhe_gui ${PROJECT_NAME}_generate_messages)
#    target_link_libraries(mhe_gui PRIVATE awesome_utils::awesome_utils Qt5::Core Qt5::Gui Qt5::Widgets ${catkin_LIBRARIES})

#endif()

install(
    TARGETS
    calib_traj_replayer_rt
    mhe_rt
    DESTINATION lib
)

install(TARGETS calib_logger start_calib_traj DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(PROGRAMS src/utils/launch_rosbag.sh DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(FILES config/jnt_mhe_opt_concert.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)