cmake_minimum_required(VERSION 3.8)
project(mdog_simple_controller)

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rc_msgs REQUIRED)
find_package(control_input_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

include_directories(
  include
)


add_executable(mdog_simple_controller
  src/mdog_simple_controller.cpp
  src/FSM/state_safe.cpp
  src/FSM/state_zero.cpp
  src/FSM/state_walk.cpp
  src/FSM/state_balance.cpp
  src/FSM/state_troting.cpp
  src/common/kinematics.cpp
  src/common/user_math.cpp
  src/common/bezier_curve.cpp
  src/common/pid.cpp
)
ament_target_dependencies(mdog_simple_controller rclcpp rc_msgs std_msgs control_input_msgs geometry_msgs sensor_msgs )

# add_executable(mdog_sim_controller
#   src/mdog_sim_controller.cpp
#   src/FSM/state_safe.cpp
#   src/FSM/state_zero.cpp
#   src/FSM/state_balance.cpp
#   src/FSM/state_troting.cpp
#   src/common/kinematics.cpp
#   src/common/user_math.cpp
#   src/common/bezier_curve.cpp
# )
# ament_target_dependencies(mdog_sim_controller rclcpp rc_msgs std_msgs control_input_msgs geometry_msgs sensor_msgs)

install(TARGETS
  mdog_simple_controller
  # mdog_sim_controller
  DESTINATION lib/${PROJECT_NAME}
)

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

install(DIRECTORY include/
  DESTINATION include
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()