cmake_minimum_required(VERSION 2.8.3)
#if (POLICY CMP0048)
#    cmake_policy(SET CMP0048 NEW)
#endif (POLICY CMP0048)
ADD_DEFINITIONS(-DM_DEBUG)

set(CMAKE_BUILD_TYPE "Release")
project(tangent_planner)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs nav_msgs geometry_msgs message_generation)

add_service_files(
        FILES
        nav_path_start.srv
        nav_path_stop.srv
        nav_get_patrol_name.srv
        nav_get_status.srv
        nav_low_bat.srv
)

generate_messages(
        DEPENDENCIES
        std_msgs
)

## Declare a catkin package
catkin_package(CATKIN_DEPENDS message_runtime std_msgs nav_msgs geometry_msgs)


include_directories(
        ${catkin_INCLUDE_DIRS}
        include
)

add_executable(${PROJECT_NAME}
        src/main.cpp
        src/tangent_planner.cpp
        src/tangent_planner_node.cpp
        include/parameters_helper.h
        include/tangent_planner.h
        include/tangent_planner_node.h include/read.hpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
#add_executable(${PROJECT_NAME}_stop_start
#         src/tangent_planner_node.cpp
#         src/tangent_planner.cpp
#         include/parameters_helper.h
#         include/tangent_planner_node.h
#         include/tangent_planner.h)
#target_link_libraries(${PROJECT_NAME}_stop_start ${catkin_LIBRARIES})

# uncomment to use gtest
catkin_add_gtest(${PROJECT_NAME}_test src/gtest.cpp src/tangent_planner.cpp)
target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES})

install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/ FILES_MATCHING PATTERN "*")