CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
PROJECT( octomap )

ENABLE_TESTING()

# version (e.g. for packaging)
set(OCTOMAP_MAJOR_VERSION 1)
set(OCTOMAP_MINOR_VERSION 6)
set(OCTOMAP_PATCH_VERSION 8)
set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
if(COMMAND cmake_policy)
  cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

SET (CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules")

# COMPILER SETTINGS (default: Release) and flags
INCLUDE(CompilerSettings)

# OCTOMAP_OMP = enable OpenMP parallelization (experimental, defaults to OFF)
SET(OCTOMAP_OMP FALSE CACHE BOOL "Enable/disable OpenMP parallelization")
IF(DEFINED ENV{OCTOMAP_OMP})
  SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP})
ENDIF(DEFINED ENV{OCTOMAP_OMP})
IF(OCTOMAP_OMP)
  FIND_PACKAGE( OpenMP REQUIRED)
  SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
  SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
ENDIF(OCTOMAP_OMP)

# Set output directories for libraries and executables
SET( BASE_DIR ${CMAKE_SOURCE_DIR} )
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${BASE_DIR}/lib )
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BASE_DIR}/bin )

set(INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

LINK_DIRECTORIES(${CMAKE_LIBRARY_OUTPUT_DIRECTORY})

# Installation

set(INSTALL_TARGETS_DEFAULT_ARGS
	RUNTIME DESTINATION bin
	LIBRARY DESTINATION lib
	ARCHIVE DESTINATION lib
)

ADD_SUBDIRECTORY( src/math )
ADD_SUBDIRECTORY( src )

file(GLOB octomap_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/*.h ${PROJECT_SOURCE_DIR}/include/octomap/*.hxx)
install(FILES ${octomap_HDRS}	DESTINATION include/octomap)
file(GLOB octomap_math_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/math/*.h)
install(FILES ${octomap_math_HDRS}	DESTINATION include/octomap/math)

# Install catkin package.xml
install(FILES package.xml DESTINATION share/octomap)

# uninstall target
configure_file(
    "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
    IMMEDIATE @ONLY)

add_custom_target(uninstall
    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)


# Export the package for use from the build-tree
# (this registers the build-tree with a global CMake-registry)
export(PACKAGE octomap)
 
# Create a octomap-config.cmake file for the use from the build tree
set(OCTOMAP_INCLUDE_DIRS "${INCLUDE_DIRS}")
set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
# not used right now (export depends?)
#set(OCTOMAP_CMAKE_DIR "${PROJECT_BINARY_DIR}")
configure_file(octomap-config.cmake.in
  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config.cmake" @ONLY)
configure_file(octomap-config-version.cmake.in
  "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-config-version.cmake" @ONLY)

# Install the export set for use with the install-tree
#install(EXPORT FooBarLibraryDepends DESTINATION
#  "${INSTALL_DATA_DIR}/FooBar/CMake"
#  COMPONENT dev)
 
# Create a octomap-config.cmake file for the use from the install tree
# and install it
set(OCTOMAP_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
set(OCTOMAP_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib")
#set(OCTOMAP_CMAKE_DIR "${INSTALL_DATA_DIR}/FooBar/CMake")
configure_file(octomap-config.cmake.in
  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake" @ONLY)
configure_file(octomap-config-version.cmake.in
  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" @ONLY)
install(FILES
  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
  DESTINATION share/octomap/)

# Write pkgconfig-file:
include(InstallPkgConfigFile)
install_pkg_config_file(octomap
    CFLAGS
    LIBS -loctomap -loctomath
    REQUIRES
    VERSION ${OCTOMAP_VERSION})

# Documentation 
FIND_PACKAGE(Doxygen)
IF(DOXYGEN_FOUND)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/octomap.dox.in ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox @ONLY)
  ADD_CUSTOM_TARGET(docs ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox
    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
    COMMENT "Generating documentation (Doxygen) at location ${PROJECT_SOURCE_DIR}/doc/html/")
ENDIF(DOXYGEN_FOUND)

# Needs to be last statement:
INCLUDE(CPackSettings)

# Finished:
MESSAGE ("\n")
MESSAGE (STATUS "Compile octomap using: make")
MESSAGE (STATUS "Install octomap using: make install")
MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
MESSAGE (STATUS "Compile API-documentation using: make docs\n")
