CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(gnss_driver)

#add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  nodelet
  roscpp
  std_msgs
  message_generation
)

find_package(Boost REQUIRED COMPONENTS system)

add_message_files(
  FILES
  Gnss.msg
  Gps.msg
  Point2D.msg
  Pose.msg
  GnssRange.msg
  Imu.msg
  Point3D.msg
  Quaternion.msg
  GnssStatus.msg
  Ins.msg
  PointENU.msg
  RangeInfo.msg
  GPGGA.msg
  InsStatus.msg
  PointLLH.msg
  StreamStatus.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
  LIBRARIES ${catkin_LIBRARIES} roscpp
  CATKIN_DEPENDS roscpp std_msgs message_runtime
  DEPENDS protobuf
)

if(CMAKE_COMPILER_IS_GNUCXX)
  set(CMAKE_CXX_FLAGS "-g -pipe -W -Wall -Wno-sign-compare -Wno-unused-parameter -fPIC -O2 -Wno-parentheses -rdynamic -std=c++11")
endif()

find_package(Proj)
IF (DEFINED PROTOBUF_LIBRARIES)
  MESSAGE(STATUS "proto: " ${PROTOBUF_LIBRARIES})
ELSE()
  set(PROTOBUF_LIBRARIES "protobuf")
  MESSAGE(STATUS "proto: " ${PROTOBUF_LIBRARIES})
ENDIF (defined PROTOBUF_LIBRARIES)

include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})
include_directories(${PROJECT_SOURCE_DIR})
link_directories(lib)

find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})

include_directories("${PROJECT_SOURCE_DIR}/proto")

SET(ERROR_CODE_SRCS "${PROJECT_SOURCE_DIR}/proto/error_code.pb.cc")
SET(HEADER_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/header.pb.cc")
SET(GEOMETRY_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/geometry.pb.cc")
SET(LOCALIZATION_POSE_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/pose.pb.cc")
SET(LOCALIZATION_GPS_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/gps.pb.cc")
SET(LOCALIZATION_IMU_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/imu.pb.cc")
SET(GNSS_STATUS_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/gnss_status.pb.cc")
SET(CONFIG_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/config.pb.cc")
SET(GPGGA_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/gpgga.pb.cc")
SET(GNSS_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/gnss.pb.cc")
SET(IMU_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/imu.pb.cc")
SET(INS_PB_SRCS "${PROJECT_SOURCE_DIR}/proto/ins.pb.cc")

add_library(utils
  src/impl/utils.cpp
  ${CONFIG_PB_SRCS}
  ${GPGGA_PB_SRCS}
  ${GNSS_PB_SRCS}
  ${IMU_PB_SRCS}
  ${INS_PB_SRCS}
  ${GNSS_STATUS_PB_SRCS}
  ${LOCALIZATION_POSE_PB_SRCS}
  ${LOCALIZATION_IMU_PB_SRCS}
  ${LOCALIZATION_GPS_PB_SRCS}
  ${HEADER_PB_SRCS}
  ${ERROR_CODE_SRCS}
  ${GEOMETRY_PB_SRCS})
target_link_libraries(utils ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES})

add_library(stream_nodelet
  src/stream_nodelet.cpp
  src/raw_stream.cpp
  src/impl/serial_stream.cpp
  src/impl/tcp_stream.cpp
  src/impl/udp_stream.cpp
  src/impl/ntrip_stream.cpp)
target_link_libraries(stream_nodelet utils ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES})

add_library(parser_nodelet
  src/parser_nodelet.cpp
  src/data_parser.cpp
  src/impl/novatel_parser.cpp)
add_dependencies(parser_nodelet novatel_msgs_generate_messages_cpp)
target_link_libraries(parser_nodelet utils ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} proj)

add_executable(parser_cli
  tests/parser_cli.cpp
  src/impl/novatel_parser.cpp)
target_link_libraries(parser_cli utils ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES})

add_executable(test_monitor
  tests/test_monitor.cpp)
target_link_libraries(test_monitor utils ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES})

install(
  TARGETS stream_nodelet parser_nodelet utils test_monitor parser_cli
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  )

install(FILES nodelets.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY conf/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/conf)