cmake_minimum_required(VERSION 3.8)
project(amadeus_26)

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

# 查找依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs 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
)

# 创建可执行文件
add_executable(transmitter_test_node src/transmitter_test_node.cpp)

# 设置 RPATH，使可执行文件能找到共享库
set_target_properties(transmitter_test_node PROPERTIES
  BUILD_WITH_INSTALL_RPATH FALSE
  LINK_FLAGS "-Wl,-rpath,'${TRANSMITTER_SDK_PATH}/lib/linux/x64'"
)

# 链接依赖
ament_target_dependencies(transmitter_test_node 
  rclcpp 
  std_msgs
)

# 链接 SDK 库和依赖
target_link_libraries(transmitter_test_node
  dm_device
  usb-1.0
  pthread
)

# 安装目标
install(TARGETS transmitter_test_node
  DESTINATION lib/${PROJECT_NAME}
)

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

ament_package()