Modernize cmake (#244)

Modernize CMake of the client library with regards to

- Properly set C++17 flag using target_compile_features
- Properly include googletest e.g. using
[CMakeFetchContent](https://google.github.io/googletest/quickstart-cmake.html#set-up-a-project)

These proposed changes should make this project easier to maintain and
build in different environments.

.github/workflows/ci.yml

@@ -40,10 +40,6 @@ jobs:
         run: |
           scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d
         env: ${{matrix.env}}
-      - name: install gtest
-        run: sudo apt-get install -y libgtest-dev
-      - name: install boost
-        run: sudo apt-get install -y libboost-dev
       - name: configure
         run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON
         env:

.github/workflows/industrial-ci.yml

@@ -36,3 +36,4 @@ jobs:
           ROS_DISTRO: ${{matrix.ROS_DISTRO.NAME}}
           ROS_REPO: ${{matrix.ROS_REPO}}
           CLANG_TIDY: true
+          CLANG_TIDY_ARGS: '--extra-arg=-std=c++17'  # needed for Humble

CMakeLists.txt

@@ -1,22 +1,13 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.14.0)
 project(ur_client_library)
 
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/" ${CMAKE_MODULE_PATH})
-
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
   set(CMAKE_BUILD_TYPE RelWithDebInfo)
 endif()
 
 option(WITH_ASAN "Compile with address sanitizer support" OFF)
 
-##
-## Check C++11 support / enable global pedantic and Wall
-##
-include(DefineCXX17CompilerFlag)
-DEFINE_CXX_17_COMPILER_FLAG(CXX17_FLAG)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
-
 add_library(urcl SHARED
     src/comm/tcp_socket.cpp
     src/comm/tcp_server.cpp
@@ -52,7 +43,7 @@ add_library(urcl SHARED
 )
 add_library(ur_client_library::urcl ALIAS urcl)
 target_compile_options(urcl PRIVATE -Wall -Wextra -Wno-unused-parameter)
-target_compile_options(urcl PUBLIC ${CXX17_FLAG})
+target_compile_features(urcl PUBLIC cxx_std_17)
 if(WITH_ASAN)
   target_compile_options(urcl PUBLIC -fsanitize=address)
   target_link_options(urcl PUBLIC -fsanitize=address)