cmake_minimum_required(VERSION 3.8)
project(robotiq_controllers)

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(controller_interface REQUIRED)
find_package(std_srvs REQUIRED)

set(THIS_PACKAGE_INCLUDE_DEPENDS
  controller_interface
  std_srvs
)

include_directories(include)

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

target_include_directories(${PROJECT_NAME} PRIVATE
  include
)

ament_target_dependencies(${PROJECT_NAME}
  ${THIS_PACKAGE_INCLUDE_DEPENDS}
)

pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)

# # INSTALL
install(
  TARGETS ${PROJECT_NAME}
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib/${PROJECT_NAME}
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)
install(
  DIRECTORY include/
  DESTINATION 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)

  # the following skips uncrustify
  # ament_uncrustify and ament_clang_format cannot both be satisfied
  set(ament_cmake_uncrustify_FOUND TRUE)

  # the following skips xmllint
  # ament_xmllint requires network and can timeout if on throttled networks
  set(ament_cmake_xmllint_FOUND TRUE)

  ament_lint_auto_find_test_dependencies()
endif()

# # EXPORTS
ament_export_include_directories(
  include
)
ament_export_libraries(
  ${PROJECT_NAME}
)
ament_export_targets(
  export_${PROJECT_NAME}
)
ament_export_dependencies(
  ${THIS_PACKAGE_INCLUDE_DEPENDS}
)

ament_package()