cmake_minimum_required(VERSION 3.5)
project(gripper_controllers)

if(APPLE OR WIN32)
  message(WARNING "gripper controllers are not available on OSX or Windows")
  return()
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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

find_package(ament_cmake REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(control_msgs REQUIRED)
find_package(control_toolbox REQUIRED)
find_package(controller_interface REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(realtime_tools REQUIRED)
find_package(rclcpp REQUIRED)

add_library(gripper_action_controller SHARED
  src/gripper_action_controller.cpp
)
ament_target_dependencies(gripper_action_controller
  controller_interface
  control_msgs
  control_toolbox
  hardware_interface
  pluginlib
  rclcpp
  rclcpp_lifecycle
  rcutils
  realtime_tools
)
target_include_directories(gripper_action_controller
  PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  PRIVATE $<INSTALL_INTERFACE:include>
)
pluginlib_export_plugin_description_file(controller_interface ros_control_plugins.xml)
#############
## Install ##
#############

# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION include
)

# Install targets
install(TARGETS gripper_action_controller
  LIBRARY DESTINATION lib
)


if(BUILD_TESTING)
  find_package(ament_cmake_gmock REQUIRED)
  find_package(controller_manager REQUIRED)
  find_package(ros2_control_test_assets REQUIRED)

  ament_add_gmock(
    test_load_gripper_action_controllers
    test/test_load_gripper_action_controllers.cpp
  )
  ament_target_dependencies(test_load_gripper_action_controllers
    controller_manager
    ros2_control_test_assets
  )
  target_compile_definitions(test_load_gripper_action_controllers PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
endif()

ament_package()
