cmake_minimum_required(VERSION 3.0.2)
project(tf2_py)

## 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 rospy tf2)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


find_package(PythonLibs 2 REQUIRED)
include_directories(${PYTHON_INCLUDE_PATH} ${catkin_INCLUDE_DIRS})

## 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 and services ##
#######################################

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## 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 tf2_py
  CATKIN_DEPENDS rospy tf2
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

## Declare a cpp library
# add_library(tf2_py
#   src/${PROJECT_NAME}/tf2_py.cpp
# )

## Declare a cpp executable
# add_executable(tf2_py_node src/tf2_py_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(tf2_py_node tf2_py_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(tf2_py_node
#   ${catkin_LIBRARIES}
# )


# Check for SSE
#!!! rosbuild_check_for_sse()

# Dynamic linking with tf worked OK, except for exception propagation, which failed in the unit test.
# so build with the objects directly instead.

link_libraries(${PYTHON_LIBRARIES})
add_library(tf2_py src/tf2_py.cpp)
target_link_libraries(tf2_py ${catkin_LIBRARIES})
add_dependencies(tf2_py ${catkin_EXPORTED_TARGETS})

if(WIN32)
  # use .pyd extension on Windows
  set_target_properties(tf2_py PROPERTIES OUTPUT_NAME "_tf2" SUFFIX ".pyd")
else()
  set_target_properties(tf2_py PROPERTIES COMPILE_FLAGS "-g -Wno-missing-field-initializers")
  set_target_properties(tf2_py PROPERTIES OUTPUT_NAME tf2 PREFIX "_" SUFFIX ".so")
endif()
set_target_properties(tf2_py PROPERTIES
  ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
  LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
  RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}
)
#!! rosbuild_add_compile_flags(tf2_py ${SSE_FLAGS}) #conditionally adds sse flags if available


#############
## 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 tf2_py tf2_py_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}
# )

install(FILES $<TARGET_FILE:tf2_py>
    DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
)

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_tf2_py.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)
