From af79f4eb8185caded4de2fe87ac5619f4c2cabd1 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Mon, 5 May 2025 18:11:17 +0200
Subject: [PATCH] Properly link libi2c to i2cnode

---
 mg_bt/CMakeLists.txt        | 2 ++
 mg_bt/i2cmodule/i2cnode.cpp | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/mg_bt/CMakeLists.txt b/mg_bt/CMakeLists.txt
index a684a21..9a9932d 100644
--- a/mg_bt/CMakeLists.txt
+++ b/mg_bt/CMakeLists.txt
@@ -46,6 +46,8 @@ target_include_directories(
   include
 )
 
+target_link_libraries(mg_i2cnode i2c)
+
 ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
 ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
 
diff --git a/mg_bt/i2cmodule/i2cnode.cpp b/mg_bt/i2cmodule/i2cnode.cpp
index 398cf2a..1c9f65c 100644
--- a/mg_bt/i2cmodule/i2cnode.cpp
+++ b/mg_bt/i2cmodule/i2cnode.cpp
@@ -1,10 +1,13 @@
 #include "rclcpp/rclcpp.hpp"
 #include "mg_msgs/srv/i2c.hpp"
 
+extern "C" {
+
 #include <fcntl.h>
 #include <linux/i2c-dev.h>
 #include <sys/ioctl.h>
 #include <i2c/smbus.h>
+}
 
 class MgI2c : public rclcpp::Node {
     using I2cSrv = mg_msgs::srv::I2c;
@@ -30,6 +33,8 @@ class MgI2c : public rclcpp::Node {
 
 int main(int argc, const char* const* argv) {
     rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<MgI2c>("i2cu"));
+    rclcpp::shutdown();
 
     return 0;
 }
\ No newline at end of file