cmake_minimum_required(VERSION 3.8)
project(priority_executor VERSION 0.1.0)

# Set C++ standards
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# Compiler options
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(tracetools REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcl REQUIRED)
find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(simple_timer REQUIRED)
find_package(nlohmann_json REQUIRED)

# Library targets
add_library(priority_executor
  src/priority_executor.cpp
  src/priority_memory_strategy.cpp
  src/performance_monitor.cpp
  src/default_executor.cpp
  src/usage_example.cpp
  src/multithread_priority_executor.cpp
)
target_include_directories(priority_executor PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(priority_executor
  tracetools
  rmw
  rclcpp
  rcl
  simple_timer
  nlohmann_json
)

# Example executable
add_executable(usage_example
  src/usage_example.cpp
)
target_include_directories(usage_example PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
target_link_libraries(usage_example
  priority_executor
)
ament_target_dependencies(usage_example
  tracetools
  rclcpp
  std_msgs
  std_srvs
  simple_timer
)

# Testing
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

# Installation
install(
  DIRECTORY include/
  DESTINATION include
)

install(
  TARGETS priority_executor
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

install(
  TARGETS usage_example
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# Export and package configuration
ament_export_include_directories(include)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rclcpp rcl rmw simple_timer nlohmann_json)
ament_package()