cmake_minimum_required(VERSION 3.8)
project(racing_control)

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()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

add_library(racing_control_core
  src/candidate_waypoint_selector.cpp
  src/final_home_fallback.cpp
)
target_include_directories(racing_control_core PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(racing_control_core
  geometry_msgs
  nav_msgs
)

add_executable(racing_control
  src/racing_control.cpp
  src/candidate_waypoint_selector.cpp
  src/final_home_fallback.cpp
)
target_include_directories(racing_control PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(racing_control
  geometry_msgs
  nav_msgs
  nav2_msgs
  rclcpp
  rclcpp_action
  sensor_msgs
  std_msgs
)

install(TARGETS
  racing_control_core
  racing_control
  DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/ DESTINATION include)
install(DIRECTORY config launch
  DESTINATION share/${PROJECT_NAME}
)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  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_add_gtest(test_racing_control_helpers
    test/test_racing_control_helpers.cpp
  )
  target_include_directories(test_racing_control_helpers PRIVATE
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  )
  ament_target_dependencies(test_racing_control_helpers
    geometry_msgs
    nav_msgs
    rclcpp
  )
  target_sources(test_racing_control_helpers PRIVATE
    src/candidate_waypoint_selector.cpp
    src/final_home_fallback.cpp
  )

  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
