cmake_minimum_required(VERSION 3.8)
project(mg_wheel_interface)

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(pluginlib REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rclcpp_components REQUIRED)
include(FindPkgConfig)
pkg_search_module(LIBSERIAL REQUIRED libserial)

add_library(
  mg_wheel_interface
  SHARED
  src/mg_wheel_interface.cpp
)

target_include_directories(
  mg_wheel_interface
  PRIVATE
  ${LIBSERIAL_INCLUDE_DIRS}
  include
)

target_link_libraries(
  mg_wheel_interface
  ${LIBSERIAL_LIBRARIES}
)

ament_target_dependencies(
  mg_wheel_interface
  rclcpp
  pluginlib
  hardware_interface
  rclcpp_lifecycle
)
pluginlib_export_plugin_description_file(hardware_interface mg_wheel_interface.xml)

install(
  TARGETS mg_wheel_interface
  DESTINATION lib
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

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

ament_package()