cmake_minimum_required(VERSION 3.8)
project(amadeus_26)

# 使用 C++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# 导出 compile_commands.json 给 clangd 使用
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# 查找依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Eigen3 REQUIRED)

# 添加 SDK 库路径
set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
link_directories(${TRANSMITTER_SDK_PATH}/lib/linux/x64)

# 包含目录
include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${TRANSMITTER_SDK_PATH}/inc
)

# ==================== UART 节点 ====================
add_executable(uart_transmitter_node src/uart_transmitter_node.cpp)

ament_target_dependencies(uart_transmitter_node 
  rclcpp 
  std_msgs
)

# ==================== IMU 节点 ====================
add_executable(imu_receiver_node src/imu_receiver_node.cpp)

ament_target_dependencies(imu_receiver_node 
  rclcpp 
  std_msgs
  geometry_msgs
  sensor_msgs
  Eigen3
)

# ==================== 安装目标 ====================
install(TARGETS 
  uart_transmitter_node
  imu_receiver_node
  DESTINATION lib/${PROJECT_NAME}
)

# 安装 launch 文件
install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
  OPTIONAL
)

ament_package()