Move common cmake rules to modules.

Same mech as in `cmake_modules` package.
Issue #139.

mavros/CMakeLists.txt

@@ -20,7 +20,11 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(Boost REQUIRED COMPONENTS system)
-find_package(mavlink REQUIRED)
+
+# add package modules path, not needed in dependend packages
+list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
+include(EnableCXX11)
+include(MavrosMavlink)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -101,18 +105,6 @@ generate_messages(
   std_msgs
 )
 
-## Select MAVLink dialect
-#
-# fallback for older mavlink package.
-if(NOT DEFINED mavlink_DIALECTS)
-  list(APPEND mavlink_DIALECTS "ardupilotmega")
-  list(APPEND mavlink_DIALECTS "pixhawk")
-  list(APPEND mavlink_DIALECTS "common")
-endif()
-
-set(MAVLINK_DIALECT "ardupilotmega" CACHE STRING "MAVLink dialect selector")
-set_property(CACHE MAVLINK_DIALECT PROPERTY STRINGS ${mavlink_DIALECTS})
-
 
 ###################################
 ## catkin specific configuration ##
@@ -128,6 +120,7 @@ catkin_package(
   LIBRARIES mavconn mavros
   CATKIN_DEPENDS diagnostic_msgs diagnostic_updater pluginlib roscpp sensor_msgs std_msgs tf geometry_msgs
   DEPENDS Boost mavlink
+  CFG_EXTRAS mavros-extras.cmake
 )
 
 ###########
@@ -145,23 +138,6 @@ include_directories(
   ${mavlink_INCLUDE_DIRS}
 )
 
-add_definitions(
-  -DMAVLINK_DIALECT=${MAVLINK_DIALECT}
-)
-
-## Enable C++11 on gcc 4.6 too
-# thanks for: http://www.guyrutenberg.com/2014/01/05/enabling-c11-c0x-in-cmake/
-include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-elseif(COMPILER_SUPPORTS_CXX0X)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-else()
-  message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-endif()
-
 ## Declare a cpp library
 add_library(mavconn
   src/mavconn/mavconn_interface.cpp
@@ -283,6 +259,10 @@ install(DIRECTORY launch/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 
+## Install cmake files (thanks to cmake_modules package)
+install(DIRECTORY cmake/Modules
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake
+)
 
 #############
 ## Testing ##

mavros/cmake/Modules/EnableCXX11.cmake

@@ -0,0 +1,21 @@
+# This module enables C++11 support
+#
+# It enable C++0x for older compilers like gcc 4.6, or C++11 for newer
+# thanks for: http://www.guyrutenberg.com/2014/01/05/enabling-c11-c0x-in-cmake/
+
+include(CheckCXXCompilerFlag)
+
+check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_STD_CXX11)
+if (NOT COMPILER_SUPPORTS_STD_CXX11)
+  check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_STD_CXX0X)
+endif ()
+
+if (COMPILER_SUPPORTS_STD_CXX11)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif (COMPILER_SUPPORTS_STD_CXX0X)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else ()
+  message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif ()
+
+# vim: set ts=2 sw=2 et:

mavros/cmake/Modules/MavrosMavlink.cmake

@@ -0,0 +1,26 @@
+# This module includes MAVLink package and
+# define MAVLINK_DIALECT required by mavconn_mavlink.h
+
+find_package(mavlink REQUIRED)
+
+# fallback for older mavlink package.
+if(NOT DEFINED mavlink_DIALECTS)
+  list(APPEND mavlink_DIALECTS "ardupilotmega")
+  list(APPEND mavlink_DIALECTS "pixhawk")
+  list(APPEND mavlink_DIALECTS "common")
+endif()
+
+# Select MAVLink dialect
+set(MAVLINK_DIALECT "ardupilotmega" CACHE STRING "MAVLink dialect selector")
+set_property(CACHE MAVLINK_DIALECT PROPERTY STRINGS ${mavlink_DIALECTS})
+
+# TODO: check that selected dialect are known
+
+message(STATUS "Selected MAVLink dialect: ${MAVLINK_DIALECT}")
+
+# define dialect for mavconn_mavlink.h
+add_definitions(
+  -DMAVLINK_DIALECT=${MAVLINK_DIALECT}
+)
+
+# vim: set ts=2 sw=2 et:

mavros/cmake/mavros-extras.cmake.develspace.in

@@ -0,0 +1,2 @@
+# Prepend cmake modules from source directory to the cmake module path
+list(INSERT CMAKE_MODULE_PATH 0 "@CMAKE_CURRENT_SOURCE_DIR@/cmake/Modules")

mavros/cmake/mavros-extras.cmake.installspace.in

@@ -0,0 +1,2 @@
+# Prepend the installed cmake modules to the cmake module path
+list(INSERT CMAKE_MODULE_PATH 0 "${mavros_DIR}/../../../@CATKIN_PACKAGE_SHARE_DESTINATION@/cmake/Modules")