CMakeLists.txt

####################################################
# CMakeLists.txt for project sick_scan_xd
####################################################
cmake_minimum_required(VERSION 3.5)

# Emulator build options
if(CMAKE_ENABLE_EMULATOR EQUAL 1)
    option(ENABLE_EMULATOR "Build emulator for offline and unittests" ON) # OFF (release) or ON (development)
    message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building sick_scan with emulator support")
else()
    option(ENABLE_EMULATOR "Build emulator for offline and unittests" OFF) # OFF (release) or ON (development)
    message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building sick_scan without emulator support")
endif()

# LDMRS build options

if(WIN32)
    option(BUILD_WITH_LDMRS_SUPPORT "Build sick_scan_xd with LDMRS support (requires libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs" OFF)
elseif(LDMRS EQUAL 0)
    option(BUILD_WITH_LDMRS_SUPPORT "Build sick_scan_xd with LDMRS support (requires libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs" OFF)
    set(BUILD_WITH_LDMRS_SUPPORT 0)
else()
    option(BUILD_WITH_LDMRS_SUPPORT "Build sick_scan_xd with LDMRS support (requires libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs" ON)
endif()

# MRS100/SCANSEGMENT_XD/MULTISCAN136 build options
if(SCANSEGMENT_XD EQUAL 0)
    option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build sick_scan_xd without SCANSEGMENT_XD support" OFF)
else()
    option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build sick_scan_xd with SCANSEGMENT_XD support" ON)
endif()

# Linker option visibilty
if(VISIBILITY EQUAL 0)
    option(BUILD_LIB_HIDE_FUNCTIONS "Build sick_scan_xd library with function hiding except for SickScanApi-functions" ON)
else()
    option(BUILD_LIB_HIDE_FUNCTIONS "Build sick_scan_xd library with function hiding except for SickScanApi-functions" OFF)
endif()

# Debug or Release build options
option(BUILD_DEBUG_TARGET "Build debug target" ON) # OFF (release) or ON (development)

# set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
# set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wpedantic")
# if(NOT WIN32) # Note: compiler option -Wshadow generates lots of warnings in ros header files. Therefore it's deactivated by default, but can be usefull for development and testing.
#     add_compile_options(-Wall -Wshadow -Wno-reorder -Wno-sign-compare -Wno-unused-local-typedefs -Wno-unused-parameter -Wno-unused-function -Wno-unused-result -Wno-unused-variable -Wno-unused-but-set-variable)
# endif()

if(NOT WIN32)
    add_compile_options(-O3)
endif()
# Added CMP0048 to avoid unstable warning of build process
if (POLICY CMP0048)
    cmake_policy(SET CMP0048 NEW)
endif (POLICY CMP0048)

project(sick_scan)

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

if(BUILD_DEBUG_TARGET)
        set(CMAKE_BUILD_TYPE Debug) #uncomment to activate debug mode for lib_sick as well
        set(CMAKE_ENABLE_EXPORTS 1) #uncomment to activate debug mode for lib_sick as well
endif(BUILD_DEBUG_TARGET)

# Build sick_scan_xd library hiding all functions except for SickScanApi-functions, see https://gcc.gnu.org/wiki/Visibility for details
if(BUILD_LIB_HIDE_FUNCTIONS AND NOT WIN32)
    add_compile_options(-fvisibility=hidden)
    add_link_options(-fvisibility=hidden)
endif()

# Switch on, if you use c11-specific commands
if(NOT WIN32)
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-format-overflow -fno-var-tracking-assignments")
endif()

if($ENV{ROS_VERSION})
    set(ROS_VERSION $ENV{ROS_VERSION})
endif($ENV{ROS_VERSION})
add_compile_options(-D__ROS_VERSION=${ROS_VERSION})
if(ROS_VERSION EQUAL 0)
    add_compile_options(-DROSSIMU)
endif()

if(WIN32 AND EXISTS "c:/vcpkg/installed/x64-windows")
    include_directories(c:/vcpkg/installed/x64-windows/include)
    link_directories(c:/vcpkg/installed/x64-windows/lib)
endif()

if(WIN32)
    # add_compile_options(-DBOOST_BIND_GLOBAL_PLACEHOLDERS -D_WINSOCK_DEPRECATED_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_WIN32_WINNT=0x0A00)
    add_compile_options(-D_WINSOCK_DEPRECATED_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_WIN32_WINNT=0x0A00)
    link_libraries(ws2_32)    
else()
    link_libraries(pthread) # std::thread requires pthread on linux
    link_libraries(dl)      # dynamic loading of libraries
endif()

# By uncommenting the following lines you can list all variable names ...
# --- CUT ---
# get_cmake_property(_variableNames VARIABLES)
# list (SORT _variableNames)
# foreach (_variableName ${_variableNames})
#   message(STATUS "${_variableName}=${${_variableName}}")
# endforeach()
# --- CUT ---

# jsoncpp required for emulator and lidar3d
if(ENABLE_EMULATOR)
    # emulator requires jsoncpp for pcapng and other files
    find_package(jsoncpp REQUIRED) # install libjsoncpp by running "sudo apt-get install libjsoncpp-dev" (Linux) resp. "vcpkg install jsoncpp:x64-windows" (Windows) 
    if(WIN32)
      set(LIB_JSONCPP jsoncpp_lib)
    else()
      set(LIB_JSONCPP jsoncpp_lib)
    endif()
endif()

if(ROS_VERSION EQUAL 1)
    find_package(catkin REQUIRED COMPONENTS
        roscpp
        roslib # needed ros::package::getPath()
        sensor_msgs
        diagnostic_updater
        dynamic_reconfigure
        geometry_msgs
        std_msgs
        nav_msgs
        sensor_msgs
        visualization_msgs
        message_generation
        message_runtime
        tf
        tf2
        )

    find_package(PkgConfig REQUIRED)

    generate_dynamic_reconfigure_options(
        cfg/SickScan.cfg
        cfg/SickLDMRSDriver.cfg
        cfg/tf_dyn.cfg
    )

    # driver messages
    add_message_files(
        DIRECTORY msg
        FILES
        SickImu.msg
        RadarObject.msg
        RadarPreHeaderDeviceBlock.msg
        RadarPreHeaderMeasurementParam1Block.msg
        RadarPreHeaderStatusBlock.msg
        RadarPreHeaderEncoderBlock.msg
        RadarPreHeader.msg
        RadarScan.msg
        Encoder.msg
        LFErecFieldMsg.msg
        LFErecMsg.msg
        LIDoutputstateMsg.msg
    )
    add_message_files(
        DIRECTORY msg/ldmrs
        FILES
        SickLdmrsObject.msg
        SickLdmrsObjectArray.msg
    )

    # driver services
    add_service_files(
        DIRECTORY srv
        FILES
        ColaMsgSrv.srv
        ECRChangeArrSrv.srv
        LIDoutputstateSrv.srv
        SCdevicestateSrv.srv
        SCrebootSrv.srv
        SCsoftresetSrv.srv
        SickScanExitSrv.srv
    )
    set(diagnostic_updater_pkg diagnostic_updater)
    add_compile_options(-DROS_DIAGNOSTICS_UPDATER_AVAILABLE)
endif(ROS_VERSION EQUAL 1)

if(ROS_VERSION EQUAL 2)
    #uncomment this lines and change path accordingly
    set(FastRTPS_INCLUDE_DIR /opt/ros/$ENV{ROS_DISTRO}/include)
    set(FastRTPS_LIBRARY_RELEASE /opt/ros/$ENV{ROS_DISTRO}/lib/libfastrtps.so)

    find_package(ament_cmake REQUIRED)
    if(NOT WIN32)
        # still check if diagnostics updater is available (not the case for current some versions)
        find_package(diagnostic_updater)
        if (${diagnostic_updater_FOUND})
            set(diagnostic_updater_pkg diagnostic_updater)
            add_compile_options(-DROS_DIAGNOSTICS_UPDATER_AVAILABLE)
        endif()
    endif()
    find_package(rclcpp REQUIRED)
    find_package(sensor_msgs REQUIRED)
    find_package(std_msgs REQUIRED)
    find_package(nav_msgs REQUIRED)
    find_package(tf2 REQUIRED)
    find_package(geometry_msgs REQUIRED)
    find_package(diagnostic_msgs REQUIRED)
    find_package(visualization_msgs REQUIRED)
    find_package(tf2_ros REQUIRED)
    find_package(rosidl_default_generators REQUIRED)
    if(ENABLE_EMULATOR)
        set(ROSIDL_EMULATOR_FILES
            # emulator messages
            "test/emulator/msg/SickLocColaTelegramMsg.msg"
            "test/emulator/msg/SickLocDiagnosticMsg.msg"
            "test/emulator/msg/SickLocResultPortCrcMsg.msg"
            "test/emulator/msg/SickLocResultPortHeaderMsg.msg"
            "test/emulator/msg/SickLocResultPortPayloadMsg.msg"
            "test/emulator/msg/SickLocResultPortTelegramMsg.msg"
            "test/emulator/msg/SickLocResultPortTestcaseMsg.msg"
            # emulator services
            "test/emulator/srv/SickLocColaTelegramSrv.srv"
            "test/emulator/srv/SickLocRequestTimestampSrv.srv"
            "test/emulator/srv/SickLocSetResultModeSrv.srv"
            "test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv"
            "test/emulator/srv/SickLocIsSystemReadySrv.srv"
            "test/emulator/srv/SickLocSetPoseSrv.srv"
            "test/emulator/srv/SickLocSetResultPortSrv.srv"
            "test/emulator/srv/SickLocStartLocalizingSrv.srv"
            "test/emulator/srv/SickLocStopSrv.srv"
            "test/emulator/srv/SickLocRequestResultDataSrv.srv"
            "test/emulator/srv/SickLocSetResultEndiannessSrv.srv"
            "test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv"
            "test/emulator/srv/SickLocStateSrv.srv"
            "test/emulator/srv/SickLocTimeSyncSrv.srv"
            "test/emulator/srv/SickDevGetLidarConfigSrv.srv"
            "test/emulator/srv/SickDevGetLidarIdentSrv.srv"
            "test/emulator/srv/SickDevGetLidarStateSrv.srv"
            "test/emulator/srv/SickDevSetLidarConfigSrv.srv"
            "test/emulator/srv/SickGetSoftwareVersionSrv.srv"
            "test/emulator/srv/SickLocAutoStartActiveSrv.srv"
            "test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv"
            "test/emulator/srv/SickLocAutoStartSavePoseSrv.srv"
            "test/emulator/srv/SickLocForceUpdateSrv.srv"
            "test/emulator/srv/SickLocInitializePoseSrv.srv"
            "test/emulator/srv/SickLocInitialPoseSrv.srv"
            "test/emulator/srv/SickLocMapSrv.srv"
            "test/emulator/srv/SickLocMapStateSrv.srv"
            "test/emulator/srv/SickLocOdometryActiveSrv.srv"
            "test/emulator/srv/SickLocOdometryPortSrv.srv"
            "test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv"
            "test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv"
            "test/emulator/srv/SickLocResultEndiannessSrv.srv"
            "test/emulator/srv/SickLocResultModeSrv.srv"
            "test/emulator/srv/SickLocResultPortSrv.srv"
            "test/emulator/srv/SickLocResultPoseIntervalSrv.srv"
            "test/emulator/srv/SickLocResultStateSrv.srv"
            "test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv"
            "test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv"
            "test/emulator/srv/SickLocSetAutoStartActiveSrv.srv"
            "test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv"
            "test/emulator/srv/SickLocSetMapSrv.srv"
            "test/emulator/srv/SickLocSetOdometryActiveSrv.srv"
            "test/emulator/srv/SickLocSetOdometryPortSrv.srv"
            "test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv"
            "test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv"
            "test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv"
            "test/emulator/srv/SickLocStartDemoMappingSrv.srv"
            "test/emulator/srv/SickReportUserMessageSrv.srv"
            "test/emulator/srv/SickSavePermanentSrv.srv"
            "test/emulator/srv/SickDevSetIMUActiveSrv.srv"
            "test/emulator/srv/SickDevIMUActiveSrv.srv"
        )
    endif(ENABLE_EMULATOR)
    rosidl_generate_interfaces(${PROJECT_NAME}
        # message files
        "msg/Encoder.msg"
        "msg/ImuExtended.msg"
        "msg/LFErecFieldMsg.msg"
        "msg/LFErecMsg.msg"
        "msg/LIDoutputstateMsg.msg"
        "msg/ros2/RadarObject.msg"
        "msg/RadarPreHeader.msg"
        "msg/RadarPreHeaderDeviceBlock.msg"
        "msg/RadarPreHeaderEncoderBlock.msg"
        "msg/RadarPreHeaderMeasurementParam1Block.msg"
        "msg/RadarPreHeaderStatusBlock.msg"
        "msg/RadarScan.msg"
        "msg/SickImu.msg"
        "msg/ros2/ldmrs/SickLdmrsObject.msg"
        "msg/ros2/ldmrs/SickLdmrsObjectArray.msg"
        # service files
        "srv/ColaMsgSrv.srv"
        "srv/ECRChangeArrSrv.srv"
        "srv/LIDoutputstateSrv.srv"
        "srv/SCdevicestateSrv.srv"
        "srv/SCrebootSrv.srv"
        "srv/SCsoftresetSrv.srv"
        "srv/SickScanExitSrv.srv"
        ${ROSIDL_EMULATOR_FILES}
        DEPENDENCIES builtin_interfaces std_msgs nav_msgs geometry_msgs sensor_msgs
    )
    # find_package(Boost REQUIRED COMPONENTS filesystem system serialization) # rosidl_generate_interfaces overwrites ${Boost_LIBRARIES}. Workaround: Do find_package(Boost) after calling rosidl_generate_interfaces in CMakeLists.txt
endif(ROS_VERSION EQUAL 2)

# Support for LDMRS
#if(${BUILD_WITH_LDMRS_SUPPORT})
#    message(ssddzdzfvzsfviugwiuegiuhgiuweiu ${BUILD_WITH_LDMRS_SUPPORT})
#    message(STATUS "Building sick_scan with LDMRS support")
#    add_compile_options(-DLDMRS_SUPPORT=1)
#    find_package(SickLDMRS REQUIRED)
#    # find_package(Boost REQUIRED COMPONENTS filesystem system serialization)
#    # find_package(PCL REQUIRED) # workaround https://github.com/ros2/rosidl/issues/402 : Do find_package(PCL) after calling rosidl_generate_interfaces in your CMakeLists.txt
#    set(LDMRS_INCLUDES ${SICK_LDMRS_INCLUDE_DIRS}) # ${PCL_INCLUDE_DIRS})
#    set(LDMRS_SOURCES driver/src/ldmrs/sick_ldmrs_config.cpp driver/src/ldmrs/sick_ldmrs_driver.cpp driver/src/ldmrs/sick_ldmrs_node.cpp)
#    set(LDMRS_TARGET_DEPENDENCIES SickLDMRS)
#    # set(SICK_LDMRS_LIBRARIES ${SICK_LDMRS_LIBRARIES} ${Boost_LIBRARIES})
#    message(STATUS "LDMRS_INCLUDES: ${LDMRS_INCLUDES}")
#    message(STATUS "LDMRS_SOURCES: ${LDMRS_SOURCES}")
#    message(STATUS "LDMRS_TARGET_DEPENDENCIES: ${LDMRS_TARGET_DEPENDENCIES}")
#    message(STATUS "SICK_LDMRS_LIBRARIES: ${SICK_LDMRS_LIBRARIES}")
#else()
    message(STATUS "Building sick_scan without ldmrs support")
#endif()

# Support for MRS100/SCANSEGMENT_XD/MULTISCAN136
#if(BUILD_WITH_SCANSEGMENT_XD_SUPPORT)
#    message(STATUS "Building sick_scan with SCANSEGMENT_XD support")
#    add_compile_options(-DSCANSEGMENT_XD_SUPPORT=1)
#    # msgpack11
#    if(WIN32 OR ROS_VERSION EQUAL 0)
#        set(MSGPACK11_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/../msgpack11")
#    else()
#        set(MSGPACK11_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/../msgpack11/include")
#    endif()
#    if(WIN32)
#        set(MSGPACK11_LIBRARIES "msgpack11.lib")
#        link_libraries(${MSGPACK11_LIBRARIES})
#        link_directories("${PROJECT_BINARY_DIR}/msgpack11/$<CONFIGURATION>;${PROJECT_BINARY_DIR}/../msgpack11/$<CONFIGURATION>")
#    else()
#        set(MSGPACK11_LIBRARIES "libmsgpack11.a")
#        link_directories("${PROJECT_BINARY_DIR}/../msgpack11")
#    endif()
#    include_directories(${MSGPACK11_INCLUDE_DIR})
#    # sick_scansegment_xd sources
#    file(GLOB SCANSEGMENT_XD_SOURCES driver/src/sick_scansegment_xd/*.cpp)
#else()
    message(STATUS "Building sick_scan without lidar3d support")
#endif()
 
if(ENABLE_EMULATOR AND ROS_VERSION EQUAL 1)
    # emulator messages
    add_message_files(
        DIRECTORY test/emulator/msg
        FILES
        SickLocColaTelegramMsg.msg
        SickLocDiagnosticMsg.msg
        SickLocResultPortCrcMsg.msg
        SickLocResultPortHeaderMsg.msg
        SickLocResultPortPayloadMsg.msg
        SickLocResultPortTelegramMsg.msg
        SickLocResultPortTestcaseMsg.msg
    )

    # emulator services
    add_service_files(
        DIRECTORY test/emulator/srv
        FILES
        SickLocColaTelegramSrv.srv
        SickLocRequestTimestampSrv.srv
        SickLocSetResultModeSrv.srv
        SickLocSetResultPoseIntervalSrv.srv
        SickLocIsSystemReadySrv.srv
        SickLocSetPoseSrv.srv
        SickLocSetResultPortSrv.srv
        SickLocStartLocalizingSrv.srv
        SickLocStopSrv.srv
        SickLocRequestResultDataSrv.srv
        SickLocSetResultEndiannessSrv.srv
        SickLocSetResultPoseEnabledSrv.srv
        SickLocStateSrv.srv
        SickLocTimeSyncSrv.srv
        SickDevGetLidarConfigSrv.srv
        SickDevGetLidarIdentSrv.srv
        SickDevGetLidarStateSrv.srv
        SickDevSetLidarConfigSrv.srv
        SickGetSoftwareVersionSrv.srv
        SickLocAutoStartActiveSrv.srv
        SickLocAutoStartSavePoseIntervalSrv.srv
        SickLocAutoStartSavePoseSrv.srv
        SickLocForceUpdateSrv.srv
        SickLocInitializePoseSrv.srv
        SickLocInitialPoseSrv.srv
        SickLocMapSrv.srv
        SickLocMapStateSrv.srv
        SickLocOdometryActiveSrv.srv
        SickLocOdometryPortSrv.srv
        SickLocOdometryRestrictYMotionSrv.srv
        SickLocReflectorsForSupportActiveSrv.srv
        SickLocResultEndiannessSrv.srv
        SickLocResultModeSrv.srv
        SickLocResultPortSrv.srv
        SickLocResultPoseIntervalSrv.srv
        SickLocResultStateSrv.srv
        SickLocRingBufferRecordingActiveSrv.srv
        SickLocSaveRingBufferRecordingSrv.srv
        SickLocSetAutoStartActiveSrv.srv
        SickLocSetAutoStartSavePoseIntervalSrv.srv
        SickLocSetMapSrv.srv
        SickLocSetOdometryActiveSrv.srv
        SickLocSetOdometryPortSrv.srv
        SickLocSetOdometryRestrictYMotionSrv.srv
        SickLocSetReflectorsForSupportActiveSrv.srv
        SickLocSetRingBufferRecordingActiveSrv.srv
        SickLocStartDemoMappingSrv.srv
        SickReportUserMessageSrv.srv
        SickSavePermanentSrv.srv
        SickDevSetIMUActiveSrv.srv
        SickDevIMUActiveSrv.srv
    ) 
endif(ENABLE_EMULATOR AND ROS_VERSION EQUAL 1)

if(ROS_VERSION EQUAL 1)
    generate_messages(
        DEPENDENCIES
        std_msgs
        geometry_msgs
        sensor_msgs
        nav_msgs
    )

    catkin_package(
        CATKIN_DEPENDS message_runtime roscpp sensor_msgs ${diagnostic_updater_pkg} dynamic_reconfigure tf tf2 # pcl_conversions pcl_ros tf tf2
        LIBRARIES sick_scan_lib sick_scan_shared_lib
        INCLUDE_DIRS include
    )
endif(ROS_VERSION EQUAL 1)

include_directories(include include/sick_scan_xd_api include/tinyxml ${catkin_INCLUDE_DIRS} ${LDMRS_INCLUDES} include/sick_scan tools/test_server/include roswrap/src/include/launchparser)
if(ROS_VERSION EQUAL 0)
include_directories(roswrap/src/msg_header)
endif()

if(ROS_VERSION EQUAL 1)

    if(WIN32)
        include_directories(roswrap/helper_win)
        file(GLOB SRC_WIN_FILES roswrap/helper_win/usleep/usleep.c)
    endif()
    set(SICK_SCAN_LIB_SRC
        driver/src/dataDumper.cpp
        driver/src/sick_scan_common.cpp
        driver/src/abstract_parser.cpp
        driver/src/tcp/tcp.cpp
        driver/src/tcp/Mutex.cpp
        driver/src/tcp/SickThread.cpp
        driver/src/tcp/errorhandler.cpp
        driver/src/tcp/toolbox.cpp
        driver/src/tcp/Time.cpp
        driver/src/tcp/colaa.cpp
        driver/src/tcp/colab.cpp
        driver/src/tcp/wsa_init.cpp
        driver/src/binPrintf.cpp
        driver/src/binScanf.cpp
        driver/src/sick_cloud_transform.cpp
        driver/src/sick_scan_common_tcp.cpp
        driver/src/sick_generic_callback.cpp
        driver/src/sick_generic_radar.cpp
        driver/src/sick_generic_imu.cpp
        driver/src/sick_generic_parser.cpp
        driver/src/sick_generic_monitoring.cpp
        driver/src/sick_lmd_scandata_parser.cpp
        driver/src/sick_scan_common_nw.cpp
        driver/src/sick_scan_config_internal.cpp
        driver/src/softwarePLL.cpp
        driver/src/helper/angle_compensator.cpp
        driver/src/sick_generic_field_mon.cpp
        driver/src/sick_scan_marker.cpp
        driver/src/sick_scan_messages.cpp
        driver/src/sick_scan_parse_util.cpp
        driver/src/sick_scan_services.cpp
        driver/src/sick_generic_laser.cpp
        driver/src/sick_scan_xd_api/api_impl.cpp
        driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
        roswrap/src/launchparser/launchparser.cpp 
        driver/src/tinyxml/tinystr.cpp
        driver/src/tinyxml/tinyxml.cpp
        driver/src/tinyxml/tinyxmlerror.cpp
        driver/src/tinyxml/tinyxmlparser.cpp
        ${LDMRS_SOURCES}
        ${SCANSEGMENT_XD_SOURCES}
        ${SRC_WIN_FILES}
    )
    add_library(sick_scan_lib STATIC ${SICK_SCAN_LIB_SRC})
    # target_compile_options(sick_scan_lib PUBLIC "-fPIC")
    add_library(sick_scan_shared_lib SHARED ${SICK_SCAN_LIB_SRC})

    add_dependencies(sick_scan_lib
        ${PROJECT_NAME}_gencfg
        ${catkin_EXPORTED_TARGETS}
        ${${PROJECT_NAME}_EXPORTED_TARGETS})
    add_dependencies(sick_scan_shared_lib
        ${PROJECT_NAME}_gencfg
        ${catkin_EXPORTED_TARGETS}
        ${${PROJECT_NAME}_EXPORTED_TARGETS})

    target_link_libraries(sick_scan_lib ${MSGPACK11_LIBRARIES} ${catkin_LIBRARIES})
    target_link_libraries(sick_scan_shared_lib ${MSGPACK11_LIBRARIES} ${catkin_LIBRARIES})

    add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
    
    target_link_libraries(sick_generic_caller sick_scan_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})
    
    #
    #  radar_object_marker (receives radar msg. and publishes marker array for rviz or similar
    #
    # add_executable(radar_object_marker
    #     tools/radar_object_marker/src/radar_object_marker.cpp
    #     tools/pcl_converter/src/gnuplotPaletteReader.cpp
    #     include/radar_object_marker/radar_object_marker.h)
    # target_link_libraries(radar_object_marker sick_scan_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES})

    #
    # pcl_converter disabled to avoid dependency to pcl
    #
    # add_executable(pcl_converter tools/pcl_converter/src/pcl_converter.cpp tools/pcl_converter/src/gnuplotPaletteReader.cpp)
    # target_link_libraries(pcl_converter ${catkin_LIBRARIES})

    # add_executable(sick_scan_test test/src/sick_scan_test.cpp)
    # target_link_libraries(sick_scan_test ${catkin_LIBRARIES} ${roslib_LIBRARIES} sick_scan_lib ${Boost_LIBRARIES})

else() # i.e. (ROS_VERSION EQUAL 0 OR ROS_VERSION EQUAL 2)

    include_directories(roswrap/src/include)
    if(WIN32)
        include_directories(roswrap/helper_win)
        file(GLOB SRC_WIN_FILES roswrap/helper_win/usleep/usleep.c)
    endif()
    if(ROS_VERSION EQUAL 0)
        include_directories(roswrap/src/include roswrap/src/rossimu/melodic/include roswrap/src/rossimu/kinetic/include roswrap/src/cfgsimu roswrap/src/toojpeg roswrap/src/tools)
        file(GLOB SRC_ROSSIMU_FILES 
            roswrap/src/cfgsimu/sick_scan/time_modi.cpp
            roswrap/src/rossimu/kinetic/src/rossimu.cpp
            roswrap/src/rossimu/kinetic/src/duration.cpp
            roswrap/src/rossimu/kinetic/src/rate.cpp
            roswrap/src/tools/sick_scan/pointcloud_utils.cpp
        )
    endif()

    set(SICK_SCAN_LIB_SRC
        roswrap/src/getopt/getopt.c
        roswrap/src/toojpeg/toojpeg.cpp
        roswrap/src/launchparser/launchparser.cpp 
        driver/src/binScanf.cpp
        driver/src/dataDumper.cpp
        driver/src/sick_cloud_transform.cpp
        driver/src/sick_generic_callback.cpp
        driver/src/sick_generic_imu.cpp
        driver/src/sick_generic_parser.cpp
        driver/src/sick_lmd_scandata_parser.cpp
        driver/src/sick_scan_common.cpp
        driver/src/sick_scan_common_nw.cpp
        driver/src/sick_scan_common_tcp.cpp
        driver/src/abstract_parser.cpp
        driver/src/binPrintf.cpp
        driver/src/sick_generic_field_mon.cpp
        driver/src/sick_generic_laser.cpp
        driver/src/sick_generic_monitoring.cpp
        driver/src/sick_generic_radar.cpp
        driver/src/sick_scan_marker.cpp
        driver/src/sick_scan_messages.cpp
        driver/src/sick_scan_parse_util.cpp
        driver/src/sick_scan_services.cpp
        driver/src/tinyxml/tinystr.cpp
        driver/src/tinyxml/tinyxml.cpp
        driver/src/tinyxml/tinyxmlerror.cpp
        driver/src/tinyxml/tinyxmlparser.cpp
        driver/src/tcp/colaa.cpp
        driver/src/tcp/colab.cpp
        driver/src/tcp/errorhandler.cpp
        driver/src/tcp/Mutex.cpp
        driver/src/tcp/SickThread.cpp
        driver/src/tcp/tcp.cpp
        driver/src/tcp/Time.cpp
        driver/src/tcp/toolbox.cpp
        driver/src/tcp/wsa_init.cpp
        driver/src/softwarePLL.cpp
        driver/src/helper/angle_compensator.cpp
        driver/src/sick_scan_xd_api/api_impl.cpp
        driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
        ${LDMRS_SOURCES}
        ${SCANSEGMENT_XD_SOURCES}
        ${SRC_ROSSIMU_FILES}
        ${SRC_WIN_FILES}
    )
    add_library(sick_scan_lib STATIC ${SICK_SCAN_LIB_SRC})
    # target_compile_options(sick_scan_lib PUBLIC "-fPIC")
    add_library(sick_scan_shared_lib SHARED ${SICK_SCAN_LIB_SRC})
    if(ROS_VERSION EQUAL 0)    
        # target_compile_options(sick_scan_shared_lib PUBLIC "-fPIC")
        # target_link_options(sick_scan_shared_lib PUBLIC "-fPIC")
        target_link_libraries(sick_scan_shared_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})
    endif()
    add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
    target_link_libraries(sick_generic_caller sick_scan_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES})

endif()

if(ROS_VERSION EQUAL 2)

    ament_target_dependencies(
        sick_scan_lib
        # "Boost"
        "rclcpp"
        "sensor_msgs"
        "std_msgs"
        "geometry_msgs"
        "diagnostic_msgs" 
            "nav_msgs"
            "visualization_msgs"
            "tf2_ros"
            "${diagnostic_updater_pkg}"
        ${LDMRS_TARGET_DEPENDENCIES}
    )

    ament_target_dependencies(
        sick_scan_shared_lib
        # "Boost"
        "rclcpp"
        "sensor_msgs"
        "std_msgs"
        "geometry_msgs"
        "diagnostic_msgs" 
            "nav_msgs"
            "visualization_msgs"
            "tf2_ros"
            "${diagnostic_updater_pkg}"
            ${LDMRS_TARGET_DEPENDENCIES}
    )

    ament_target_dependencies(
            sick_generic_caller
            # "Boost"
            "rclcpp"
            "sensor_msgs"
            "std_msgs"
            "geometry_msgs"
            "diagnostic_msgs"
            "nav_msgs"
            "visualization_msgs"
            "tf2_ros"
            "${diagnostic_updater_pkg}"
        ${LDMRS_TARGET_DEPENDENCIES}
    )

    if(WIN32 OR EXISTS "/opt/ros/eloquent" OR EXISTS "/opt/ros/foxy") # rosidl_typesupport for ROS2 eloquent and foxy
        rosidl_target_interfaces(sick_scan_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
	rosidl_target_interfaces(sick_scan_shared_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
        # rosidl_target_interfaces(sick_generic_caller ${PROJECT_NAME} "rosidl_typesupport_cpp")
    else() # rosidl_typesupport for ROS2 humble or later
        rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
        target_link_libraries(sick_scan_lib "${cpp_typesupport_target}")
        target_link_libraries(sick_scan_shared_lib "${cpp_typesupport_target}")
        target_link_libraries(sick_generic_caller "${cpp_typesupport_target}")
    endif()

endif(ROS_VERSION EQUAL 2)

# Build test and usage example for sick_scan_xd_api
add_executable(sick_scan_xd_api_test 
    test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp
    test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
    test/src/sick_scan_xd_api/toojpeg/toojpeg.cpp
    driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
)
target_include_directories(sick_scan_xd_api_test PUBLIC test/src/sick_scan_xd_api/toojpeg)
if(ROS_VERSION EQUAL 1)
    target_link_libraries(sick_scan_xd_api_test ${catkin_LIBRARIES})
    add_dependencies(sick_scan_xd_api_test
        ${PROJECT_NAME}_gencfg
        ${catkin_EXPORTED_TARGETS}
        ${${PROJECT_NAME}_EXPORTED_TARGETS})
endif()

# install sick_scan_shared_lib incl. API headerfiles
if(ROS_VERSION EQUAL 0)
    set_target_properties(sick_scan_shared_lib PROPERTIES PUBLIC_HEADER "include/sick_scan_xd_api/sick_scan_api.h;test/python/sick_scan_xd_api/sick_scan_api.py")
    install(TARGETS sick_scan_shared_lib 
        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
    )
endif()

if(ROS_VERSION EQUAL 1)
    install(TARGETS sick_scan_lib sick_scan_shared_lib
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

    install(TARGETS sick_generic_caller
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

    install(TARGETS sick_scan_xd_api_test
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

    # install(TARGETS sick_scan_test RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

    install(FILES include/${PROJECT_NAME}/abstract_parser.h
        include/${PROJECT_NAME}/sick_scan_common.h
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

    install(DIRECTORY test/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
        FILES_MATCHING PATTERN "*.xml"
        PATTERN "test/src" EXCLUDE)

    install(DIRECTORY launch/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

    install(DIRECTORY meshes/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes)

    install(DIRECTORY urdf/
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
endif(ROS_VERSION EQUAL 1)

if(ROS_VERSION EQUAL 2)
    install(TARGETS sick_generic_caller sick_scan_xd_api_test
        DESTINATION lib/${PROJECT_NAME})

    install(TARGETS sick_scan_lib sick_scan_shared_lib
        DESTINATION lib)

    install(DIRECTORY launch
        DESTINATION share/${PROJECT_NAME})
        
    ament_package()        
endif(ROS_VERSION EQUAL 2)

#
# build and install sick_scan_emulator
#
if(ENABLE_EMULATOR AND (NOT WIN32 OR ROS_VERSION EQUAL 2)) # sick_scan_emulator not supported on native Windows
    add_executable(sick_scan_emulator
        test/emulator/src/test_server.cpp
        test/emulator/src/test_server_thread.cpp
        test/emulator/src/client_socket.cpp
        test/emulator/src/cola_converter.cpp
        test/emulator/src/cola_encoder.cpp
        test/emulator/src/cola_parser.cpp
        test/emulator/src/cola_transmitter.cpp
        test/emulator/src/crc/crc16ccitt_false.cpp
        test/emulator/src/pcapng_json_parser.cpp
        test/emulator/src/random_generator.cpp
        test/emulator/src/result_port_parser.cpp
        test/emulator/src/ros_wrapper.cpp
        test/emulator/src/server_socket.cpp
        test/emulator/src/SoftwarePLL.cpp
        test/emulator/src/testcase_generator.cpp
        test/emulator/src/utils.cpp
        ${SRC_ROSSIMU_FILES}
        ${SRC_WIN_FILES}
        )
    target_link_libraries(sick_scan_emulator
        ${catkin_LIBRARIES}
        ${roslib_LIBRARIES}
        sick_scan_lib
        ${MSGPACK11_LIBRARIES} 
        ${LIB_JSONCPP})
    target_include_directories(sick_scan_emulator PUBLIC test test/emulator/include)
    
    if(ROS_VERSION EQUAL 1)
        install(TARGETS sick_scan_emulator
            RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
        install(DIRECTORY test/emulator/launch/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
        install(DIRECTORY test/emulator/yaml/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/yaml)
        install(DIRECTORY test/emulator/scandata/
            DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scandata)
    else()
        install(TARGETS sick_scan_emulator
            RUNTIME DESTINATION lib/${PROJECT_NAME})
        install(DIRECTORY test/emulator/launch/
            DESTINATION share/${PROJECT_NAME})
        install(DIRECTORY test/emulator/yaml/
            DESTINATION share/${PROJECT_NAME})
        install(DIRECTORY test/emulator/scandata/
            DESTINATION share/${PROJECT_NAME})
    endif()
endif()

#
# build and install test_server
#
if(ENABLE_EMULATOR)
    add_executable(test_server 
        tools/test_server/src/test_server.cpp 
        tools/test_server/src/test_server_cola_msg.cpp 
        tools/test_server/src/test_server_ldmrs_msg.cpp 
        tools/test_server/src/test_server_thread.cpp
        test/emulator/src/server_socket.cpp)
    target_link_libraries(test_server sick_scan_lib ${SICK_LDMRS_LIBRARIES} ${MSGPACK11_LIBRARIES} ${LIB_JSONCPP})
    target_include_directories(test_server PUBLIC test test/emulator/include)
    if(ROS_VERSION EQUAL 2)
        ament_target_dependencies(test_server "rclcpp" ) # "Boost")
    endif(ROS_VERSION EQUAL 2)
    install(TARGETS 
        test_server
        DESTINATION lib/${PROJECT_NAME})
    install(DIRECTORY 
        tools/test_server/config
        tools/test_server/launch
        DESTINATION share/${PROJECT_NAME})
endif()