cmake_minimum_required(VERSION 3.5)

project(rclcpp_lifecycle)

if(WIN32)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
else()
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra -Wpedantic")
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcl_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(lifecycle_msgs REQUIRED)

include_directories(include)

### CPP High level library
add_library(rclcpp_lifecycle
  SHARED
  src/lifecycle_node.cpp
  src/node_interfaces/lifecycle_node_interface.cpp
  src/state.cpp
  src/transition.cpp
)
ament_target_dependencies(rclcpp_lifecycle
  "lifecycle_msgs"
  "rcl_lifecycle"
  "rclcpp")

# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(rclcpp_lifecycle PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL")

install(TARGETS
  rclcpp_lifecycle
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  ament_add_gtest(test_lifecycle_node test/test_lifecycle_node.cpp)
  if(TARGET test_lifecycle_node)
    target_include_directories(test_lifecycle_node PUBLIC
      ${rcl_lifecycle_INCLUDE_DIRS}
      ${rclcpp_INCLUDE_DIRS}
      ${rclcpp_lifecycle_INCLUDE_DIRS}
    )
    target_link_libraries(test_lifecycle_node ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp)
  if(TARGET test_state_machine_info)
    target_include_directories(test_state_machine_info PUBLIC
      ${rcl_lifecycle_INCLUDE_DIRS}
      ${rclcpp_INCLUDE_DIRS}
      ${rclcpp_lifecycle_INCLUDE_DIRS}
    )
    target_link_libraries(test_state_machine_info ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_register_custom_callbacks test/test_register_custom_callbacks.cpp)
  if(TARGET test_register_custom_callbacks)
    target_include_directories(test_register_custom_callbacks PUBLIC
      ${rcl_lifecycle_INCLUDE_DIRS}
      ${rclcpp_INCLUDE_DIRS}
      ${rclcpp_lifecycle_INCLUDE_DIRS}
    )
    target_link_libraries(test_register_custom_callbacks ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_callback_exceptions test/test_callback_exceptions.cpp)
  if(TARGET test_callback_exceptions)
    target_include_directories(test_callback_exceptions PUBLIC
      ${rcl_lifecycle_INCLUDE_DIRS}
      ${rclcpp_INCLUDE_DIRS}
      ${rclcpp_lifecycle_INCLUDE_DIRS}
    )
    target_link_libraries(test_callback_exceptions ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_state_wrapper test/test_state_wrapper.cpp)
  if(TARGET test_state_wrapper)
    target_include_directories(test_state_wrapper PUBLIC
      ${rcl_lifecycle_INCLUDE_DIRS}
      ${rclcpp_INCLUDE_DIRS}
      ${rclcpp_lifecycle_INCLUDE_DIRS}
    )
    target_link_libraries(test_state_wrapper ${PROJECT_NAME})
  endif()
endif()

ament_export_dependencies(rclcpp)
ament_export_dependencies(rcl_lifecycle)
ament_export_dependencies(lifecycle_msgs)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()

install(DIRECTORY include/
  DESTINATION include)