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(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs 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}
)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(imu_data_simulator_node
    src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
    src/g2_2025_imu_data_simulator_node/main.cpp
    src/simulator/Simulator.cpp)

target_include_directories(imu_data_simulator_node PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/src
    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_data_simulator_node
)

ament_target_dependencies(imu_data_simulator_node rclcpp sensor_msgs geometry_msgs)

add_executable(wheel_data_simulator_node
    src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
    src/g2_2025_wheel_data_simulator_node/main.cpp
    src/simulator/Simulator.cpp)

target_include_directories(wheel_data_simulator_node PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/src
    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node
)

ament_target_dependencies(wheel_data_simulator_node rclcpp std_msgs)

install(TARGETS
  imu_data_simulator_node
  wheel_data_simulator_node
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch config
  DESTINATION share/${PROJECT_NAME}/
)

# add_executable(odometry_node src/odometry_node.cpp)

# ament_target_dependencies(odometry_node rclcpp nav_msgs geometry_msgs)
# install(TARGETS
#   odometry_node
#   DESTINATION lib/${PROJECT_NAME}
# )

add_executable(wheel_position_approximator_node
 src/g2_2025_wheel_approximator_node/nodes/WheelPositionApproximator.cpp
 src/g2_2025_wheel_approximator_node/main.cpp
 )

ament_target_dependencies(wheel_position_approximator_node rclcpp nav_msgs geometry_msgs)


add_executable(wheel_data_simulator_node
    src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
    src/g2_2025_wheel_data_simulator_node/main.cpp
    src/simulator/Simulator.cpp)

target_include_directories(wheel_data_simulator_node PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/src
    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node
)

ament_target_dependencies(wheel_data_simulator_node rclcpp std_msgs)

install(
    DIRECTORY launch config
    DESTINATION share/${PROJECT_NAME}/
)

install(TARGETS
  wheel_position_approximator_node
  wheel_data_simulator_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)

  # Simulator unit tests
  ament_add_gtest(test_simulator test/TestSimulator.cpp src/simulator/Simulator.cpp)
  target_include_directories(test_simulator PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
  ament_target_dependencies(test_simulator rclcpp)

  # IMU simulator integration tests
  ament_add_gtest(test_imu_simulator test/TestImuSimulator.cpp
    src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
    src/simulator/Simulator.cpp)
  target_include_directories(test_imu_simulator PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/src
    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_data_simulator_node)
  ament_target_dependencies(test_imu_simulator rclcpp sensor_msgs geometry_msgs)

  # Wheel simulator integration tests
  ament_add_gtest(test_wheel_simulator test/TestWheelSimulator.cpp
    src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
    src/simulator/Simulator.cpp)
  target_include_directories(test_wheel_simulator PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/src
    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node)
  ament_target_dependencies(test_wheel_simulator rclcpp std_msgs)
endif()

ament_package()