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73 lines
1.9 KiB
73 lines
1.9 KiB
# - Try to find MAVLink
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# Once done, this will define
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#
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# MAVLINK_FOUND : library found
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# MAVLINK_INCLUDE_DIRS : include directories
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# MAVLINK_VERSION : version
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# macros
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include(FindPackageHandleStandardArgs)
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# Check for ROS_DISTRO
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find_program(ROSVERSION rosversion)
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execute_process(COMMAND ${ROSVERSION} -d
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OUTPUT_VARIABLE ROS_DISTRO
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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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set(_MAVLINK_EXTRA_SEARCH_HINTS
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${CMAKE_SOURCE_DIR}/mavlink/
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../../mavlink/
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../mavlink/
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${CATKIN_DEVEL_PREFIX}/
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${CMAKE_CURRENT_BINARY_DIR}/../mavlink/
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)
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set(_MAVLINK_EXTRA_SEARCH_PATHS
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/usr/
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/usr/local/
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)
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# look for in the hints first
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find_path(_MAVLINK_INCLUDE_DIR
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NAMES mavlink_types.h
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PATH_SUFFIXES include
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HINTS ${_MAVLINK_EXTRA_SEARCH_HINTS}
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NO_DEFAULT_PATH
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)
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# look for in the hard-coded paths
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find_path(_MAVLINK_INCLUDE_DIR
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NAMES mavlink_types.h
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PATH_SUFFIXES include/mavlink
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PATHS ${_MAVLINK_EXTRA_SEARCH_PATHS}
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NO_CMAKE_PATH
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NO_CMAKE_ENVIRONMENT_PATH
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NO_SYSTEM_ENVIRONMENT_PATH
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NO_CMAKE_SYSTEM_PATH
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)
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# look specifically for the ROS version if no other was found
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find_path(_MAVLINK_INCLUDE_DIR
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NAMES mavlink/v1.0/mavlink_types.h mavlink/v2.0/mavlink_types.h
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PATH_SUFFIXES include
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PATHS /opt/ros/${ROS_DISTRO}/
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)
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# read the version
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if (EXISTS ${_MAVLINK_INCLUDE_DIR}/mavlink/config.h)
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file(READ ${_MAVLINK_INCLUDE_DIR}/mavlink/config.h MAVLINK_CONFIG_FILE)
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string(REGEX MATCH "#define MAVLINK_VERSION[ ]+\"(([0-9]+\\.)+[0-9]+)\""
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_MAVLINK_VERSION_MATCH "${MAVLINK_CONFIG_FILE}")
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set(MAVLINK_VERSION "${CMAKE_MATCH_1}")
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else()
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set(MAVLINK_VERSION "2.0")
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endif()
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# handle arguments
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set(MAVLINK_INCLUDE_DIRS ${_MAVLINK_INCLUDE_DIR})
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find_package_handle_standard_args(
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MAVLink
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REQUIRED_VARS MAVLINK_INCLUDE_DIRS MAVLINK_VERSION
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VERSION_VAR MAVLINK_VERSION
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)
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