cmake_minimum_required(VERSION 3.8)
project(radio_ctrl)

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(sweeper_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)

add_executable(radio_ctrl_node src/radio_ctrl.cpp src/uart_handler.cpp)

target_include_directories(
  radio_ctrl_node PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)

ament_target_dependencies(radio_ctrl_node rclcpp std_msgs sweeper_interfaces)

install(TARGETS radio_ctrl_node DESTINATION lib/${PROJECT_NAME})

# 安装配置文件目录
install(DIRECTORY config DESTINATION share/${PROJECT_NAME})

# 安装头文件到正确路径
install(
  DIRECTORY include/
  DESTINATION include
)

# 导出头文件路径，使其他包能发现
ament_export_include_directories(include)

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()

ament_package()
