From 4d5be00015bb1aad1017a064408e884d4af388db Mon Sep 17 00:00:00 2001
From: Scott K Logan <logans@cottsay.net>
Date: Wed, 3 Jul 2019 13:24:15 -0700
Subject: [PATCH] Convert package to a pure CMake package

---
 CMakeLists.txt           | 38 ++++++++++++++------------------------
 Makefile                 |  4 ++--
 cmake/serialConfig.cmake |  3 +++
 package.xml              |  6 +++++-
 tests/CMakeLists.txt     | 14 ++++++++++----
 5 files changed, 34 insertions(+), 31 deletions(-)
 create mode 100644 cmake/serialConfig.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1474ad1..244d3870 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,31 +1,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(serial)
 
-# Find catkin
-find_package(catkin REQUIRED)
-
 if(APPLE)
     find_library(IOKIT_LIBRARY IOKit)
     find_library(FOUNDATION_LIBRARY Foundation)
 endif()
 
-if(UNIX AND NOT APPLE)
-    # If Linux, add rt and pthread
-    set(rt_LIBRARIES rt)
-    set(pthread_LIBRARIES pthread)
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-        DEPENDS rt pthread
-    )
-else()
-    # Otherwise normal call
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-    )
-endif()
-
 ## Sources
 set(serial_SRCS
     src/serial.cc
@@ -66,15 +46,25 @@ include_directories(include)
 
 ## Install executable
 install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
 )
 
 ## Install headers
 install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
+    DESTINATION include/serial)
+
+## Install CMake config
+install(FILES cmake/serialConfig.cmake
+    DESTINATION share/serial/cmake)
+
+
+## Install package.xml
+install(FILES package.xml
+    DESTINATION share/serial)
 
 ## Tests
-if(CATKIN_ENABLE_TESTING)
+include(CTest)
+if(BUILD_TESTING)
     add_subdirectory(tests)
 endif()
diff --git a/Makefile b/Makefile
index e1720722..0f49ddc7 100644
--- a/Makefile
+++ b/Makefile
@@ -56,7 +56,7 @@ test:
 	@mkdir -p build
 	cd build && cmake $(CMAKE_FLAGS) ..
 ifneq ($(MAKE),)
-	cd build && $(MAKE) run_tests
+	cd build && $(MAKE) all test
 else
-	cd build && make run_tests
+	cd build && make all test
 endif
diff --git a/cmake/serialConfig.cmake b/cmake/serialConfig.cmake
new file mode 100644
index 00000000..e90bdf69
--- /dev/null
+++ b/cmake/serialConfig.cmake
@@ -0,0 +1,3 @@
+get_filename_component(SERIAL_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+set(SERIAL_INCLUDE_DIRS "${SERIAL_CMAKE_DIR}/../../../include")
+find_library(SERIAL_LIBRARIES serial PATHS ${SERIAL_CMAKE_DIR}/../../../lib/serial)
diff --git a/package.xml b/package.xml
index 27781e14..785adeb3 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,12 @@
   <author email="wjwwood@gmail.com">William Woodall</author>
   <author email="ash.gti@gmail.com">John Harrison</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>cmake</buildtool_depend>
 
   <test_depend>boost</test_depend>
+  <test_depend>gtest</test_depend>
 
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 </package>
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index e52a4d31..23bf283b 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,12 +1,18 @@
 if(UNIX)
-    catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
-    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES})
+    find_package(Boost REQUIRED)
+    find_package(GTest REQUIRED)
+    include_directories(${GTEST_INCLUDE_DIRS})
+
+    add_executable(${PROJECT_NAME}-test unix_serial_tests.cc)
+    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
     if(NOT APPLE)
         target_link_libraries(${PROJECT_NAME}-test util)
     endif()
+    add_test("${PROJECT_NAME}-test-gtest" ${PROJECT_NAME}-test)
 
     if(NOT APPLE)  # these tests are unreliable on macOS
-      catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
-      target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
+      add_executable(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
+      target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME} ${GTEST_LIBRARIES})
+      add_test("${PROJECT_NAME}-test-timer-gtest" ${PROJECT_NAME}-test-timer)
     endif()
 endif()