cmake_minimum_required(VERSION 3.8)
project(topic_tools)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(topic_tools_interfaces REQUIRED)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

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

include_directories(include)

add_library(relay_node SHARED
  src/relay_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(relay_node
  rclcpp::rclcpp
  rclcpp_components::component)
target_compile_definitions(relay_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(relay_node "topic_tools::RelayNode")

add_executable(relay
  src/relay.cpp
)

target_link_libraries(relay
  relay_node
)

add_library(throttle_node SHARED
  src/throttle_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(throttle_node
  rclcpp::rclcpp
  rclcpp_components::component)
target_compile_definitions(throttle_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(throttle_node "topic_tools::ThrottleNode")

add_executable(throttle
  src/throttle.cpp
)

target_link_libraries(throttle
  throttle_node
)

add_library(drop_node SHARED
  src/drop_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(drop_node
  rclcpp::rclcpp
  rclcpp_components::component)
target_compile_definitions(drop_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(drop_node "topic_tools::DropNode")

add_executable(drop
  src/drop.cpp
)

target_link_libraries(drop
  drop_node
)

add_library(mux_node SHARED
  src/mux_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(mux_node
  rclcpp::rclcpp
  rclcpp_components::component
  ${topic_tools_interfaces_TARGETS})
target_compile_definitions(mux_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(mux_node "topic_tools::MuxNode")

add_executable(mux
  src/mux.cpp
)

target_link_libraries(mux
  mux_node
)

add_library(demux_node SHARED
  src/demux_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(demux_node
  rclcpp::rclcpp
  rclcpp_components::component
  ${topic_tools_interfaces_TARGETS})
target_compile_definitions(demux_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(demux_node "topic_tools::DemuxNode")

add_executable(demux
  src/demux.cpp
)

target_link_libraries(demux
  demux_node
)

add_library(delay_node SHARED
  src/delay_node.cpp
  src/tool_base_node.cpp
)
target_link_libraries(delay_node
  rclcpp::rclcpp
  rclcpp_components::component)
target_compile_definitions(delay_node PRIVATE "TOPIC_TOOLS_BUILDING_LIBRARY")

rclcpp_components_register_nodes(delay_node "topic_tools::DelayNode")

add_executable(delay
  src/delay.cpp
)

target_link_libraries(delay
  delay_node
)

if(BUILD_TESTING)
  find_package(std_msgs REQUIRED)

  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_relay test/test_relay.cpp)
  target_include_directories(test_relay PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )
  target_link_libraries(test_relay
    relay_node
    rclcpp::rclcpp
    ${std_msgs_TARGETS}
  )

  ament_add_gtest(test_drop test/test_drop.cpp)
  target_include_directories(test_drop PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )
  target_link_libraries(test_drop
    drop_node
    rclcpp::rclcpp
    ${std_msgs_TARGETS}
  )

  ament_add_gtest(test_throttle test/test_throttle.cpp)
  target_include_directories(test_throttle PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )
  target_link_libraries(test_throttle
    throttle_node
    rclcpp::rclcpp
    ${std_msgs_TARGETS}
  )

  ament_add_gtest(test_mux test/test_mux.cpp)
  target_include_directories(test_mux PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )

  target_link_libraries(test_mux
    mux_node
    rclcpp::rclcpp
    ${std_msgs_TARGETS}
  )

  ament_add_gtest(test_demux test/test_demux.cpp)
  target_include_directories(test_demux PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )

  target_link_libraries(test_demux
    demux_node
    rclcpp::rclcpp
    ${std_msgs_TARGETS}
  )
endif()

install(TARGETS relay_node throttle_node drop_node mux_node demux_node delay_node
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

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

install(TARGETS relay throttle drop mux demux delay
  DESTINATION lib/${PROJECT_NAME})


ament_python_install_package(${PROJECT_NAME}
  SETUP_CFG
    ${PROJECT_NAME}/setup.cfg
  SCRIPTS_DESTINATION
    lib/${PROJECT_NAME}
)

ament_package()
