cmake_minimum_required(VERSION 3.8)
project(g2_2025_odometry_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()


# external packages
include(FetchContent)

FetchContent_Declare(
    tomlplusplus
    GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
    GIT_TAG v3.4.0
)

FetchContent_MakeAvailable(tomlplusplus)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

# Add executable for position_speed_approximator_node
add_executable(position_speed_approximator_node
  src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
  src/g2_2025_imu_position_approximator_node/Main.cpp
)

target_include_directories(position_speed_approximator_node PRIVATE
  ${CMAKE_CURRENT_SOURCE_DIR}/src
  ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_position_approximator_node
)

ament_target_dependencies(position_speed_approximator_node
  rclcpp
  sensor_msgs
  geometry_msgs
)

add_executable(database_handler_node
  src/g2_2025_database_node/Main.cpp
  src/g2_2025_database_node/nodes/DatabaseHandlerNode.cpp
  src/database/DatabaseManager.cpp
  src/config/ConfigManager.cpp
)

target_include_directories(database_handler_node PRIVATE
  ${CMAKE_CURRENT_SOURCE_DIR}/src
  ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_database_node
)

target_link_libraries(database_handler_node tomlplusplus::tomlplusplus pqxx pq)

ament_target_dependencies(database_handler_node
  rclcpp
  sensor_msgs
  geometry_msgs
)

install(TARGETS
  position_speed_approximator_node
  database_handler_node
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()
