cmake_minimum_required(VERSION 3.8)
project(yhs_can_control)

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(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(sensor_msgs REQUIRED)

# yhs_can_interfaces is generated in the same isolated colcon workspace.
# Its vendor export exposes only NOCONFIG imported targets, so use the
# generated headers and C++ typesupport library directly.
find_path(YHS_CAN_INTERFACES_INCLUDE_DIR
  NAMES yhs_can_interfaces/msg/io_cmd.hpp
  PATH_SUFFIXES include/yhs_can_interfaces)
find_library(YHS_CAN_INTERFACES_TYPESUPPORT_CPP
  NAMES yhs_can_interfaces__rosidl_typesupport_cpp)
if(NOT YHS_CAN_INTERFACES_INCLUDE_DIR OR NOT YHS_CAN_INTERFACES_TYPESUPPORT_CPP)
  message(FATAL_ERROR "yhs_can_interfaces generated headers or typesupport library were not found")
endif()

# ---------------------------------------------------------
# 1. YHS Control Node (기존 드라이버)
# ---------------------------------------------------------
add_executable(yhs_can_control_node src/yhs_can_control_node.cpp)

target_include_directories(yhs_can_control_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${YHS_CAN_INTERFACES_INCLUDE_DIR})

target_compile_features(yhs_can_control_node PUBLIC c_std_99 cxx_std_17)

ament_target_dependencies(yhs_can_control_node
  rclcpp
  std_msgs
  geometry_msgs
  nav2_msgs
  tf2_msgs
  tf2_ros
  sensor_msgs
)

target_link_libraries(yhs_can_control_node
  ${YHS_CAN_INTERFACES_TYPESUPPORT_CPP})

# ---------------------------------------------------------
# 2. Mini Bridge Node (추가된 Translator)
# ---------------------------------------------------------
# 런치파일에서 'mini_bridge_node'로 호출하므로 실행파일 이름을 이렇게 지정합니다.
add_executable(mini_bridge_node src/translator_node.cpp)

ament_target_dependencies(mini_bridge_node
  rclcpp
  geometry_msgs
  std_msgs
  # 만약 translator_node.cpp 안에서 다른 메시지를 쓴다면 여기에 추가해야 합니다.
)

# ---------------------------------------------------------
# Install Settings
# ---------------------------------------------------------
install(TARGETS 
  yhs_can_control_node
  mini_bridge_node
  DESTINATION lib/${PROJECT_NAME}
)
  
install(DIRECTORY launch params
    DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
