CMakeLists.txt

cmake_minimum_required(VERSION 3.5.1)
project(v2x_gw)

# Default to C99
if(NOT CMAKE_C_STANDARD)
 set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
 set(CMAKE_CXX_STANDARD 14)
endif()

# Select the ITS library that should be used
set(LIB_NAME_VCITS "vcits") # - vcits ... vehicleCAPTAIN its library -> free and open source
set(LIB_NAME_OSSITS "ossits") # - ossits ... uses the same principle as vcits, but requires the oss.com asn1 generator -> license fees
set(LIB_ASN_FOLDER_OSSITS "asn1oss/include/asn1oss")
set(LIB_ASN_FOLDER_VCITS "asn1c")

if(NOT USE_ITS_LIBRARY)
 set(USE_ITS_LIBRARY ${LIB_NAME_VCITS})
 #set(USE_ITS_LIBRARY ${LIB_NAME_OSSITS})
endif()

if(USE_ITS_LIBRARY STREQUAL LIB_NAME_VCITS)
 set(USE_ITS_LIBRARY_ASN_FOLDER ${LIB_ASN_FOLDER_VCITS})
else()
 set(USE_ITS_LIBRARY_ASN_FOLDER ${LIB_ASN_FOLDER_OSSITS})
endif()

# compile options
# - activation will lead to a shitload of warnings of unused variables in autogenerated vcits lib
#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# add_compile_options(-Wall -Wextra -Wpedantic)
#endif()

# ZeroMQ configuration
# - activate relative paths for libraries (use that for deployment; WARNING: don't use with --symlink-install -> lib won't be found by file)
# - set lib location for building and linking
# - copy the lib files
#set(CMAKE_INSTALL_RPATH "$ORIGIN")
#set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
set(ZEROMQ_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/include")
set(ZEROMQ_LIBRARIES "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so")
install(FILES
        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so"
        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5"
        "${CMAKE_CURRENT_SOURCE_DIR}/ext/libzmq/libzmq.so.5.2.4"
        DESTINATION lib/${PROJECT_NAME}/
        )

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(rclcpp REQUIRED)
find_package(eigen3_cmake_module)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(std_msgs REQUIRED)
find_package(dbw_ford_msgs REQUIRED)
find_package(v2x_msgs REQUIRED)

#pkg_check_modules(${USE_ITS_LIBRARY} REQUIRED)
add_subdirectory(${USE_ITS_LIBRARY})

# add executable and sources
ament_auto_add_executable(v2x_gw src/V2XGateway.cpp
        src/server/V2XServer.cpp
        src/server/V2XZMQServer.cpp
        src/handler/${USE_ITS_LIBRARY}/V2XMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/ExampleMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/CAMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/CPMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/DENMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/IVIMHandler.cpp
        src/handler/${USE_ITS_LIBRARY}/IVIMUtils.cpp
        )

# reference headers
target_include_directories(v2x_gw PUBLIC ${CMAKE_INSTALL_PREFIX}/include/
        include
        include/server
        include/handler
        include/utils
        ${ZEROMQ_INCLUDE_DIR}
        ${USE_ITS_LIBRARY}/${USE_ITS_LIBRARY_ASN_FOLDER}
        .
        )

# link libraries
ament_target_dependencies(v2x_gw rclcpp std_msgs geometry_msgs nav_msgs visualization_msgs diagnostic_msgs dbw_ford_msgs v2x_msgs tf2 tf2_ros)

target_link_libraries(v2x_gw
        ${ZEROMQ_LIBRARIES}
        ${USE_ITS_LIBRARY})

# install ros package dependencies
ament_auto_package(
        INSTALL_TO_SHARE
        launch
        config
)