From 64fad1f7c998a183e63b9597e540720dad08c636 Mon Sep 17 00:00:00 2001
From: JADC362 <alejandro2655@hotmail.com>
Date: Sat, 24 Apr 2021 12:15:15 -0500
Subject: [PATCH] Update CMakeList for ROS2

---
 CMakeLists.txt | 66 ++++++++++++++++++++++++++++++++------------------
 package.xml    |  4 +++
 2 files changed, 46 insertions(+), 24 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1474ad..4536f16 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,24 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(serial)
 
+## C++ compiler sets
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 # Find catkin
-find_package(catkin REQUIRED)
+find_package(ament_cmake REQUIRED)
 
 if(APPLE)
     find_library(IOKIT_LIBRARY IOKit)
@@ -10,20 +26,8 @@ if(APPLE)
 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
-    )
+    find_library(pthread_LIBRARY pthread)
+    find_library(rt_LIBRARY rt)
 endif()
 
 ## Sources
@@ -47,7 +51,7 @@ else()
 endif()
 
 ## Add serial library
-add_library(${PROJECT_NAME} ${serial_SRCS})
+add_library(${PROJECT_NAME} SHARED ${serial_SRCS})
 if(APPLE)
     target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
 elseif(UNIX)
@@ -58,23 +62,37 @@ endif()
 
 ## Uncomment for example
 add_executable(serial_example examples/serial_example.cc)
-add_dependencies(serial_example ${PROJECT_NAME})
+#ament_target_dependencies(serial_example ${PROJECT_NAME})
 target_link_libraries(serial_example ${PROJECT_NAME})
 
+
 ## Include headers
 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
+    RUNTIME DESTINATION bin
 )
 
 ## Install headers
 install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
+  DESTINATION share/${PROJECT_NAME})
+
+# Install executable
+install(TARGETS serial_example
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
 
 ## Tests
-if(CATKIN_ENABLE_TESTING)
-    add_subdirectory(tests)
-endif()
+#if(BUILD_TESTING)
+#    add_subdirectory(tests)
+#endif()
+
+target_include_directories(${PROJECT_NAME} 
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+        
+ament_package()
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 27781e1..58675f6 100644
--- a/package.xml
+++ b/package.xml
@@ -23,4 +23,8 @@
 
   <test_depend>boost</test_depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
 </package>