[MVP] Convert package to a pure CMake package

.github/workflows/ci.yaml

@@ -0,0 +1,35 @@
+name: CMake CI
+
+on:
+  # Run workflow on-demand
+  workflow_dispatch:
+  # Run workflow on pushes on all branches
+  push:
+
+# Run only one workflow per branch at a time
+concurrency:
+  group: environment-${{ github.ref }}
+  cancel-in-progress: true
+
+# TODO(moriarty)
+# matrix job to test windows and macos
+# Requires installing gtest via choco and brew
+jobs:
+  cmake_build_test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: lukka/get-cmake@latest
+      - name: Install gtest with apt
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libgtest-dev
+      - name: Run CMake
+        run: |
+          cmake -B build
+      - name: Run make
+        run: |
+          make -C build
+      - name: Run make test
+        run: |
+          make -C build test

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
@@ -66,16 +46,26 @@ include_directories(include)
 
 ## Install executable
 install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_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 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()

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

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)

package.xml

@@ -9,6 +9,7 @@
   </description>
 
   <maintainer email="[email protected]">William Woodall</maintainer>
+  <maintainer email="[email protected]">Alex Moriarty</maintainer>
 
   <license>MIT</license>
 
@@ -19,6 +20,13 @@
   <author email="[email protected]">William Woodall</author>
   <author email="[email protected]">John Harrison</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>cmake</buildtool_depend>
 
+  <!-- boost is only needed for test/proof_of_concepts which are not enabled by default --> 
+  <!--test_depend>boost</test_depend-->
+  <test_depend>gtest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
 </package>

tests/CMakeLists.txt

@@ -1,12 +1,19 @@
 if(UNIX)
-    catkin_add_gtest(${PROJECT_NAME}-test unix_serial_tests.cc)
-    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+    find_package(GTest REQUIRED)
+    include_directories(${GTEST_INCLUDE_DIRS})
+
+    add_executable(${PROJECT_NAME}-test unix_serial_tests.cc)
+    target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${GTEST_LIBRARIES})
     if(NOT APPLE)
         target_link_libraries(${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()
+    # Boost is only required for tests/proof_of_concepts which are not enabled by default
+    # find_package(Boost REQUIRED)
 endif()