cmake: Make catkin package optional

CMakeLists.txt

@@ -9,49 +9,54 @@ else ()
 endif ()
 message(STATUS "Building package ${PKG_NAME}")
 
-# Find catkin
+option(DISABLE_CATKIN "Disable build of catkin package and tests" OFF)
-find_package(catkin REQUIRED)
+if (DISABLE_CATKIN AND "${CATKIN_ENABLE_TESTING}" STREQUAL "" )
+    set(CATKIN_ENABLE_TESTING OFF)
+endif ()
 
 set(PROJ_SOVERSION 1)
-
 project(${PKG_NAME}
     VERSION 1.2.1
     DESCRIPTION "Cross-platform, Serial Port library written in C++"
     HOMEPAGE_URL "http://wjwwood.io/serial/"
 )
+include(GNUInstallDirs)
 
+if (NOT DISABLE_CATKIN)
+    find_package(catkin REQUIRED)
+endif ()
 configure_file(package.xml.in ${PROJECT_SOURCE_DIR}/package.xml @ONLY)
 
-if(APPLE)
-    find_library(IOKIT_LIBRARY IOKit)
-    find_library(FOUNDATION_LIBRARY Foundation)
-endif()
 
 # Public options and command line configuration
 option(ENABLE_TEST_PROGRAM "Build test program" OFF)
 option(CATKIN_ENABLE_TESTING "Enable catkin unit tests" ON)
+
 set(SERIAL_DOCDIR ${CMAKE_INSTALL_PREFIX}/share/doc/${PROJECT_NAME}
     CACHE STRING "Installation root for doxygen docs."
 )
 
 find_path(HAVE_STDINT_H NAMES stdint.h)
 
-if(UNIX AND NOT APPLE)
+if (NOT DISABLE_CATKIN)
-    # If Linux, add rt and pthread
+    find_library(PTHREAD_LIB NAMES pthread REQUIRED)
-    set(rt_LIBRARIES rt)
+    if (PTHREAD_LIB)
-    set(pthread_LIBRARIES pthread)
+        set(PTHREAD_LIBRARIES ${PTHREAD_LIB})
+    endif ()
+    find_package(Rt)
+    if (RT_FOUND)
+        set(_RT RT)
+    endif ()
+    configure_file(package.xml.in ${PROJECT_SOURCE_DIR}/package.xml @ONLY)
     catkin_package(
         LIBRARIES ${PROJECT_NAME}
         INCLUDE_DIRS include
-        DEPENDS rt pthread
+        DEPENDS ${_RT} PTHREAD
     )
-else()
+    set(CMAKE_INSTALL_LIBDIR ${CATKIN_PACKAGE_LIB_DESTINATION})
-    # Otherwise normal call
+    set(CMAKE_INSTALL_BINDIR ${CATKIN_GLOBAL_BIN_DESTINATION})
-    catkin_package(
+    set(CMAKE_INSTALL_INCLUDEDIR ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
-        LIBRARIES ${PROJECT_NAME}
+endif ()
-        INCLUDE_DIRS include
-    )
-endif()
 
 ## Sources
 set(serial_SRCS src/serial.cc include/serial/serial.h)
@@ -91,13 +96,15 @@ if (HAVE_STDINT_H)
     target_compile_definitions(${PROJECT_NAME} PRIVATE -DHAVE_STDINT_H)
 endif ()
 
-if(APPLE)
+if (APPLE)
-    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIBRARY} ${IOKIT_LIBRARY})
+    find_library(IOKIT_LIB IOKit)
-elseif(UNIX)
+    find_library(FOUNDATION_LIB Foundation)
-    target_link_libraries(${PROJECT_NAME} rt pthread)
+    target_link_libraries(${PROJECT_NAME} ${FOUNDATION_LIB} ${IOKIT_LIB})
-else()
+elseif (UNIX)
+    target_link_libraries(${PROJECT_NAME} ${RT_LIBRARIES} ${PTHREAD_LIBRARIES})
+else ()
     target_link_libraries(${PROJECT_NAME} setupapi)
-endif()
+endif ()
 
 
 ## Include headers
@@ -105,19 +112,29 @@ include_directories(include)
 
 ## Install executable
 install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
-    PUBLIC_HEADER DESTINATION
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}
-        ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}
 )
 
 
 # Other targets: test program, pkg-config and tests.
-if(CATKIN_ENABLE_TESTING)
+if (CATKIN_ENABLE_TESTING)
+    include(CTest)
+    find_package(GTest REQUIRED)
+    enable_testing()
     add_subdirectory(tests)
 endif()
 
+if (DISABLE_CATKIN)
+    configure_file(serial.pc.in ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc @ONLY)
+    install(
+        FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+    )
+endif()
+
 if (ENABLE_TEST_PROGRAM)
     add_executable(serial_example examples/serial_example.cc)
     add_dependencies(serial_example ${PROJECT_NAME})

FindRt.cmake

@@ -0,0 +1,19 @@
+# Try to find real time libraries
+# Once done, this will define
+#
+# RT_FOUND - system has rt library
+# RT_LIBRARIES - rt libraries directory
+
+if(RT_LIBRARIES)
+    set(RT_FIND_QUIETLY TRUE)
+endif(RT_LIBRARIES)
+
+find_library(RT_LIBRARY rt)
+set(RT_LIBRARIES ${RT_LIBRARY})
+
+# handle the QUIETLY and REQUIRED arguments and set
+# RT_FOUND to TRUE if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Rt DEFAULT_MSG RT_LIBRARY)
+
+mark_as_advanced(RT_LIBRARY)

serial.pc.in

@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${exec_prefix}/@CMAKE_INSTALL_LIBDIR@
+includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
+
+Name: @PROJECT_NAME@
+Description: C++ portable serial ports communication library
+Version: @PROJECT_VERSION@
+
+Requires:
+Libs: -L${libdir} -l@PROJECT_NAME@
+Cflags: -I${includedir}

tests/CMakeLists.txt

@@ -1,4 +1,4 @@
-if(UNIX)
+if (UNIX AND NOT DISABLE_CATKIN)
     catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
     target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${Boost_LIBRARIES})
     if(NOT APPLE)
@@ -6,7 +6,38 @@ if(UNIX)
     endif()
 
     if(NOT APPLE)  # these tests are unreliable on macOS
-      catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
+        catkin_add_gtest(${PROJECT_NAME}-test-timer unit/unix_timer_tests.cc)
-      target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
+        target_link_libraries(${PROJECT_NAME}-test-timer ${PROJECT_NAME})
     endif()
+elseif (UNIX)
+
+    add_executable(serial_test
+        unix_serial_tests.cc
+    )
+    target_link_libraries(serial_test
+        ${PROJECT_NAME} gtest gtest_main pthread
+    )
+    set_target_properties(serial_test
+        PROPERTIES
+            CXX_STANDARD 11
+            CXX_STANDARD_REQUIRED YES
+    )
+    if (NOT APPLE)
+        target_link_libraries(serial_test util)
+    endif ()
+
+    add_executable(timer_test
+        unit/unix_timer_tests.cc
+    )
+    target_link_libraries(timer_test
+        ${PROJECT_NAME} gtest gtest_main pthread
+    )
+    set_target_properties(timer_test
+        PROPERTIES
+            CXX_STANDARD 11
+            CXX_STANDARD_REQUIRED YES
+    )
+
+    add_test(NAME serial_test COMMAND serial_test)
+    add_test(NAME timer_test COMMAND timer_test)
 endif()