cmake_minimum_required(VERSION 3.12)
project(mg_bt)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(PACKAGE_DEPS
  rclcpp
  behaviortree_cpp
  behaviortree_ros2
  btcpp_ros2_interfaces
  tf2
  tf2_ros
  tf2_geometry_msgs
  mg_msgs
  std_msgs
  std_srvs
  )

find_package(ament_cmake REQUIRED)

include(FindPkgConfig)
pkg_search_module(LIBGLM REQUIRED glm)

foreach(PACKAGE ${PACKAGE_DEPS})
    find_package(${PACKAGE} REQUIRED)
endforeach()

set(SOURCES
    src/mg_bt.cpp
    src/mg_tree_executor.cpp
)


add_executable(mg_bt_executor ${SOURCES})
add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)

target_include_directories(
  mg_bt_executor
  PRIVATE
  ${LIBGLM_INCLUDE_DIRS}
  include
)

target_link_libraries(mg_i2cnode i2c)

ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
ament_target_dependencies(mg_i2cnode rclcpp rclcpp_action mg_msgs)

install( TARGETS
  mg_bt_executor
  mg_i2cnode
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  behavior_trees
  config
  launch
  DESTINATION share/${PROJECT_NAME}/
)

target_compile_features(mg_bt_executor PUBLIC 
  c_std_99
  cxx_std_17
)  # Require C99 and C++17

ament_package()