Adding support to build as a ROS unary stack or as a standalone library.

CMakeLists.txt

-## Project Setup
 cmake_minimum_required(VERSION 2.4.6)
 
-if(COMMAND cmake_policy)
-    cmake_policy(SET CMP0003 NEW)
-endif(COMMAND cmake_policy)
-
-project(Serial)
-
-## Configurations
-
-option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF)
-option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF)
-
-# Allow for building shared libs override
-IF(NOT BUILD_SHARED_LIBS)
-    set(BUILD_SHARED_LIBS OFF)
-ENDIF(NOT BUILD_SHARED_LIBS)
-
-# Set the default path for built executables to the "bin" directory
-IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-    set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
-# set the default path for built libraries to the "lib" directory
-IF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
-    set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
-
-## Configure the build system
-
-# Add the include folder to the include path
-include_directories(${PROJECT_SOURCE_DIR}/include)
-
-# Add default source files
-set(SERIAL_SRCS src/serial.cpp)
-# Add default header files
-set(SERIAL_HEADERS include/serial.h)
-
-# Find Boost, if it hasn't already been found
-IF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
-    find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-ENDIF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
-
-link_directories(${Boost_LIBRARY_DIRS})
-include_directories(${Boost_INCLUDE_DIRS})
-
-set(SERIAL_LINK_LIBS ${Boost_SYSTEM_LIBRARY}
-                     ${Boost_FILESYSTEM_LIBRARY}
-                     ${Boost_THREAD_LIBRARY})
-
-## Build the Serial Library
-
-# Compile the Library
-add_library(serial ${SERIAL_SRCS} ${SERIAL_HEADERS})
-target_link_libraries(serial ${SERIAL_LINK_LIBS})
-IF( WIN32 )
-	target_link_libraries(serial wsock32)
-ENDIF( )
-
-# Check for OS X and if so disable kqueue support in asio
-IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
-ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
-
-## Build Examples
-
-# If asked to
-IF(SERIAL_BUILD_EXAMPLES)
-    # Compile the Test program
-    add_executable(serial_example examples/serial_example.cpp)
-    # Link the Test program to the Serial library
-    target_link_libraries(serial_example serial)
-ENDIF(SERIAL_BUILD_EXAMPLES)
-
-## Build tests
-
-# If asked to
-IF(SERIAL_BUILD_TESTS)
-    # none yet...
-ENDIF(SERIAL_BUILD_TESTS)
-
-## Setup install and uninstall
-
-# Unless asked not to...
-IF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
-    # Configure make install
-    IF(NOT CMAKE_INSTALL_PREFIX)
-        SET(CMAKE_INSTALL_PREFIX /usr/local)
-    ENDIF(NOT CMAKE_INSTALL_PREFIX)
-    
-    INSTALL(TARGETS serial
-      RUNTIME DESTINATION bin
-      LIBRARY DESTINATION lib
-      ARCHIVE DESTINATION lib
-    )
-    
-    INSTALL(FILES include/serial.h DESTINATION include)
-    
-    IF(NOT CMAKE_FIND_INSTALL_PATH)
-        set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
-    ENDIF(NOT CMAKE_FIND_INSTALL_PATH)
-    
-    INSTALL(FILES Findserial.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)
-    
-    ADD_CUSTOM_TARGET(uninstall @echo uninstall package)
-    
-    IF (UNIX)
-      ADD_CUSTOM_COMMAND(
-        COMMENT "uninstall package"
-        COMMAND xargs ARGS rm < install_manifest.txt
-        
-        TARGET  uninstall
-      )
-    ELSE(UNIX)
-      ADD_CUSTOM_COMMAND(
-        COMMENT "uninstall only implemented in unix"
-        TARGET  uninstall
-      )
-    ENDIF(UNIX)
-ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
+if(DEFINED $ENV{ROS_ROOT})
+  # Build with ROS
+  include(serial_ros.cmake)
+  build_serial()
+else(DEFINED $ENV{ROS_ROOT})
+  # Build normally
+  include(serial.cmake)
+  build_serial()
+endif(DEFINED $ENV{ROS_ROOT})
\ No newline at end of file

Makefile

-all: serial
-
-install:
-	cd build && make install
-
-uninstall:
-	cd build && make uninstall
-
-serial:
-	@mkdir -p build
-	-mkdir -p bin
-	cd build && cmake $(CMAKE_FLAGS) ..
-ifneq ($(MAKE),)
-	cd build && $(MAKE)
+ifdef ROS_ROOT
+include $(shell rospack find mk)/cmake.mk
 else
-	cd build && make
+include serial.mk
 endif
-
-clean:
-	-cd build && make clean
-	rm -rf build bin lib
-
-.PHONY: test
-test:
-	@mkdir -p build
-	@mkdir -p bin
-	cd build && cmake $(CMAKE_FLAGS) -DSERIAL_BUILD_TESTS=1 -DSERIAL_BUILD_EXAMPLES=1 ..
-ifneq ($(MAKE),)
-	cd build && $(MAKE)
-else
-	cd build && make
-endif
-    # cd bin && ./serial_tests
\ No newline at end of file

examples/serial_example.cpp

 #include <string>
 #include <iostream>
 
-#include "serial.h"
+#include "serial/serial.h"
 
 int main(int argc, char **argv)
 {

mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b serial is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

manifest.xml

+<package>
+  <description brief="serial">
+
+     serial
+
+  </description>
+  <author>William Woodall</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/serial</url>
+
+</package>
+
+

serial.cmake

+macro(build_serial)
+## Project Setup
+cmake_minimum_required(VERSION 2.4.6)
+
+if(COMMAND cmake_policy)
+    cmake_policy(SET CMP0003 NEW)
+endif(COMMAND cmake_policy)
+
+project(Serial)
+
+## Configurations
+
+option(SERIAL_BUILD_TESTS "Build all of the Serial tests." OFF)
+option(SERIAL_BUILD_EXAMPLES "Build all of the Serial examples." OFF)
+
+# Allow for building shared libs override
+IF(NOT BUILD_SHARED_LIBS)
+    set(BUILD_SHARED_LIBS OFF)
+ENDIF(NOT BUILD_SHARED_LIBS)
+
+# Set the default path for built executables to the "bin" directory
+IF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
+    set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+ENDIF(NOT DEFINED(EXECUTABLE_OUTPUT_PATH))
+# set the default path for built libraries to the "lib" directory
+IF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
+    set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+ENDIF(NOT DEFINED(LIBRARY_OUTPUT_PATH))
+
+## Configure the build system
+
+# Add the include folder to the include path
+include_directories(${PROJECT_SOURCE_DIR}/include)
+
+# Add default source files
+set(SERIAL_SRCS src/serial.cpp)
+# Add default header files
+set(SERIAL_HEADERS include/serial/serial.h)
+
+# Find Boost, if it hasn't already been found
+IF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
+    find_package(Boost COMPONENTS system filesystem thread REQUIRED)
+ENDIF(NOT Boost_FOUND OR NOT Boost_SYSTEM_FOUND OR NOT Boost_FILESYSTEM_FOUND OR NOT Boost_THREAD_FOUND)
+
+link_directories(${Boost_LIBRARY_DIRS})
+include_directories(${Boost_INCLUDE_DIRS})
+
+set(SERIAL_LINK_LIBS ${Boost_SYSTEM_LIBRARY}
+                     ${Boost_FILESYSTEM_LIBRARY}
+                     ${Boost_THREAD_LIBRARY})
+
+## Build the Serial Library
+
+# Compile the Library
+add_library(serial ${SERIAL_SRCS} ${SERIAL_HEADERS})
+target_link_libraries(serial ${SERIAL_LINK_LIBS})
+IF( WIN32 )
+	target_link_libraries(serial wsock32)
+ENDIF( )
+
+# Check for OS X and if so disable kqueue support in asio
+IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
+ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+
+## Build Examples
+
+# If asked to
+IF(SERIAL_BUILD_EXAMPLES)
+    # Compile the Test program
+    add_executable(serial_example examples/serial_example.cpp)
+    # Link the Test program to the Serial library
+    target_link_libraries(serial_example serial)
+ENDIF(SERIAL_BUILD_EXAMPLES)
+
+## Build tests
+
+# If asked to
+IF(SERIAL_BUILD_TESTS)
+    # none yet...
+ENDIF(SERIAL_BUILD_TESTS)
+
+## Setup install and uninstall
+
+# Unless asked not to...
+IF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
+    # Configure make install
+    IF(NOT CMAKE_INSTALL_PREFIX)
+        SET(CMAKE_INSTALL_PREFIX /usr/local)
+    ENDIF(NOT CMAKE_INSTALL_PREFIX)
+    
+    INSTALL(TARGETS serial
+      RUNTIME DESTINATION bin
+      LIBRARY DESTINATION lib
+      ARCHIVE DESTINATION lib
+    )
+    
+    INSTALL(FILES include/serial.h DESTINATION include)
+    
+    IF(NOT CMAKE_FIND_INSTALL_PATH)
+        set(CMAKE_FIND_INSTALL_PATH ${CMAKE_ROOT})
+    ENDIF(NOT CMAKE_FIND_INSTALL_PATH)
+    
+    INSTALL(FILES Findserial.cmake DESTINATION ${CMAKE_FIND_INSTALL_PATH}/Modules/)
+    
+    ADD_CUSTOM_TARGET(uninstall @echo uninstall package)
+    
+    IF (UNIX)
+      ADD_CUSTOM_COMMAND(
+        COMMENT "uninstall package"
+        COMMAND xargs ARGS rm < install_manifest.txt
+        
+        TARGET  uninstall
+      )
+    ELSE(UNIX)
+      ADD_CUSTOM_COMMAND(
+        COMMENT "uninstall only implemented in unix"
+        TARGET  uninstall
+      )
+    ENDIF(UNIX)
+ENDIF(NOT SERIAL_DONT_CONFIGURE_INSTALL)
+endmacro(build_serial)

serial.mk

+all: serial
+
+install:
+	cd build && make install
+
+uninstall:
+	cd build && make uninstall
+
+serial:
+	@mkdir -p build
+	-mkdir -p bin
+	cd build && cmake $(CMAKE_FLAGS) ..
+ifneq ($(MAKE),)
+	cd build && $(MAKE)
+else
+	cd build && make
+endif
+
+clean:
+	-cd build && make clean
+	rm -rf build bin lib
+
+.PHONY: test
+test:
+	@mkdir -p build
+	@mkdir -p bin
+	cd build && cmake $(CMAKE_FLAGS) -DSERIAL_BUILD_TESTS=1 -DSERIAL_BUILD_EXAMPLES=1 ..
+ifneq ($(MAKE),)
+	cd build && $(MAKE)
+else
+	cd build && make
+endif
+    # cd bin && ./serial_tests
\ No newline at end of file

serial_ros.cmake

+macro(build_serial)
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+# Check for OS X and if so disable kqueue support in asio
+IF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+    add_definitions(-DBOOST_ASIO_DISABLE_KQUEUE)
+ENDIF(CMAKE_SYSTEM_NAME MATCHES Darwin)
+
+# Build the serial library
+rosbuild_add_library(${PROJECT_NAME} src/serial.cpp include/serial/serial.h)
+
+# Add boost dependencies
+rosbuild_add_boost_directories()
+rosbuild_link_boost(${PROJECT_NAME} system filesystem thread)
+
+# Build example
+rosbuild_add_executable(serial_example examples/serial_example.cpp)
+target_link_libraries(serial_example ${PROJECT_NAME})
+endmacro(build_serial)

src/serial.cpp

-#include "serial.h"
+#include "serial/serial.h"
 #include <iostream>
 
 using namespace serial;

stack.xml

+<stack>
+  <description brief="serial">serial</description>
+  <author>Maintained by William Woodall</author>
+  <license>BSD</license>  
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/serial</url>
+  <depend stack="ros" />
+
+</stack>