cmake_minimum_required(VERSION 3.16)
project(wheelchair_state_machine)

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

# 查找依赖包
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(visualization_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(interface REQUIRED)

# 包含当前目录
include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${Eigen3_INCLUDE_DIRS}
)

# 创建可执行文件
add_executable(wheelchair_state_machine
  src/event_input.cpp
  src/workflow.cpp
  src/lidascan_ctrl.cpp
  src/report.cpp
  src/main.cpp
  src/recharge_tool.cpp
  src/ipad_manager.cpp
  src/battery_manager.cpp
)

# 使用 ament_target_dependencies 自动处理ROS2依赖
ament_target_dependencies(wheelchair_state_machine
  rclcpp
  std_msgs
  geometry_msgs
  sensor_msgs
  visualization_msgs
  tf2
  tf2_geometry_msgs
  interface  # 关键：这里添加interface依赖
)

# 链接Eigen3库（不是ROS2包，需要单独处理）
target_include_directories(wheelchair_state_machine PRIVATE
  ${Eigen3_INCLUDE_DIRS}
)
target_link_libraries(wheelchair_state_machine
  Eigen3::Eigen
)

# 添加自定义头文件目录
target_include_directories(wheelchair_state_machine PRIVATE
  include
)

# 安装可执行文件
install(TARGETS wheelchair_state_machine
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

# 安装头文件（如果有需要）
install(DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

ament_package()