cmake_minimum_required(VERSION 3.8)
project(openarm_hardware)

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(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)

add_library(${PROJECT_NAME} SHARED
  src/openarm_hardware.cpp
  src/canbus.cpp
  src/motor.cpp
  src/motor_control.cpp
)

target_include_directories(
  ${PROJECT_NAME}
  PRIVATE
  include
)

ament_target_dependencies(${PROJECT_NAME}
  hardware_interface
  pluginlib
  rclcpp
  rclcpp_lifecycle
)

pluginlib_export_plugin_description_file(hardware_interface openarm_hardware.xml)

install(
  TARGETS ${PROJECT_NAME}
  DESTINATION lib
  )
  
install(DIRECTORY include/
DESTINATION include
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(ament_cmake_gmock REQUIRED)
  find_package(hardware_interface REQUIRED)

  ament_add_gmock(test_openarm_hardware
    test/test_openarm_hardware.cpp
  )
  target_link_libraries(test_openarm_hardware
    ${PROJECT_NAME}
  )
  ament_target_dependencies(test_openarm_hardware
    hardware_interface
  )

  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()


ament_export_include_directories(
  include
)

ament_export_libraries(
  ${PROJECT_NAME}
)
ament_export_dependencies(
  hardware_interface
  pluginlib
  rclcpp
)

ament_package()