cmake_minimum_required(VERSION 3.8)
project(raspbot_v2_hardware_interface)

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

find_package(ament_cmake REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)

add_library(${PROJECT_NAME} SHARED
  src/raspbot_hardware_interface.cpp
)

target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)

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

target_link_libraries(${PROJECT_NAME} PUBLIC
  hardware_interface::hardware_interface
  hardware_interface::mock_components
  pluginlib::pluginlib
  rclcpp::rclcpp
)

pluginlib_export_plugin_description_file(
  hardware_interface raspbot_v2_hardware_interface_plugin.xml
)

install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)
install(
  TARGETS ${PROJECT_NAME}
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)
install(
  FILES raspbot_v2_hardware_interface_plugin.xml
  DESTINATION share/${PROJECT_NAME}
)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(hardware_interface pluginlib rclcpp)

ament_package()
