cmake_minimum_required(VERSION 3.0.2)
project(dynamic_reconfigure)

find_package(catkin REQUIRED COMPONENTS message_generation roscpp std_msgs)
find_package(Boost REQUIRED)

include_directories(include)
include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

catkin_python_setup()

add_message_files(
  DIRECTORY msg
  FILES
  BoolParameter.msg      Config.msg           Group.msg       IntParameter.msg      SensorLevels.msg
  ConfigDescription.msg  DoubleParameter.msg  GroupState.msg  ParamDescription.msg  StrParameter.msg)

add_service_files(
  DIRECTORY srv
  FILES Reconfigure.srv)

generate_messages(DEPENDENCIES std_msgs)

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)
  set(dynamic_reconfigure_BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
  include(${dynamic_reconfigure_SOURCE_DIR}/cmake/dynamic_reconfigure-macros.cmake)
  generate_dynamic_reconfigure_options(cfg/Test.cfg)
  add_subdirectory(test)
endif()

catkin_package(LIBRARIES dynamic_reconfigure_config_init_mutex
               INCLUDE_DIRS include
               CATKIN_DEPENDS message_runtime std_msgs
               CFG_EXTRAS dynamic_reconfigure-extras.cmake
)

add_library(dynamic_reconfigure_config_init_mutex
  src/dynamic_reconfigure_config_init_mutex.cpp)
target_link_libraries(dynamic_reconfigure_config_init_mutex ${Boost_LIBRARIES})

install(DIRECTORY include/dynamic_reconfigure/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h")

install(TARGETS dynamic_reconfigure_config_init_mutex
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(DIRECTORY cmake
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  USE_SOURCE_PERMISSIONS
)
install(DIRECTORY msg
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY srv
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY templates
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

catkin_install_python(PROGRAMS
  scripts/dynparam
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)