[build] Fix CMake system library opt-ins (#4487)

-DUSE_SYSTEM_EIGEN now only removes include paths for Eigen instead of
drake as well.

The USE_VCPKG flags were renamed to USE_SYSTEM since they seem general
enough for that to work (the find_package() commands work the same way
on Arch).

The system libuv CMake build now works with Linux libuv as well.

CMakeLists.txt

@@ -64,10 +64,10 @@ option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
 option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
 
-# Options for using a package manager (vcpkg) for certain dependencies.
-option(USE_VCPKG_FMTLIB "Use vcpkg fmtlib" OFF)
-option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
-option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
+# Options for using a package manager (e.g., vcpkg) for certain dependencies.
+option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
+option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
+option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 
 # Options for installation.
 option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
@@ -165,12 +165,15 @@ else()
     set (wpilib_config_dir share/wpilib)
 endif()
 
-if (USE_VCPKG_LIBUV)
-set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
+if (USE_SYSTEM_LIBUV)
+set (LIBUV_SYSTEM_REPLACE "
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+")
 endif()
 
-if (USE_VCPKG_EIGEN)
-set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
+if (USE_SYSTEM_EIGEN)
+set (EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
 endif()
 
 find_package(LIBSSH 0.7.1)

wpilib-config.cmake.in

@@ -2,8 +2,8 @@ include(CMakeFindDependencyMacro)
 @FILENAME_DEP_REPLACE@
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads)
-@LIBUV_VCPKG_REPLACE@
-@EIGEN_VCPKG_REPLACE@
+@LIBUV_SYSTEM_REPLACE@
+@EIGEN_SYSTEM_REPLACE@
 @WPIUTIL_DEP_REPLACE@
 @NTCORE_DEP_REPLACE@
 @CSCORE_DEP_REPLACE@

wpimath/CMakeLists.txt

@@ -108,18 +108,20 @@ endif()
 wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
-if (NOT USE_VCPKG_EIGEN)
-    install(DIRECTORY src/main/native/thirdparty/drake/include/ DESTINATION "${include_dest}/wpimath")
+if (NOT USE_SYSTEM_EIGEN)
     install(DIRECTORY src/main/native/thirdparty/eigen/include/ DESTINATION "${include_dest}/wpimath")
     target_include_directories(wpimath SYSTEM PUBLIC
-                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/drake/include>
-                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
-                            $<INSTALL_INTERFACE:${include_dest}/wpimath>)
+                               $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
+                               $<INSTALL_INTERFACE:${include_dest}/wpimath>)
 else()
     find_package(Eigen3 CONFIG REQUIRED)
     target_link_libraries (wpimath Eigen3::Eigen)
 endif()
 
+install(DIRECTORY src/main/native/thirdparty/drake/include/ DESTINATION "${include_dest}/wpimath")
+target_include_directories(wpimath SYSTEM PUBLIC
+                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/drake/include>)
+
 target_include_directories(wpimath PUBLIC
                             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                             $<INSTALL_INTERFACE:${include_dest}/wpimath>)

wpinet/CMakeLists.txt

@@ -126,7 +126,7 @@ target_compile_features(wpinet PUBLIC cxx_std_20)
 wpilib_target_warnings(wpinet)
 target_link_libraries(wpinet PUBLIC wpiutil)
 
-if (NOT USE_VCPKG_LIBUV)
+if (NOT USE_SYSTEM_LIBUV)
     target_sources(wpinet PRIVATE ${uv_native_src})
     install(DIRECTORY src/main/native/thirdparty/libuv/include/ DESTINATION "${include_dest}/wpinet")
     target_include_directories(wpinet PRIVATE
@@ -149,8 +149,9 @@ if (NOT USE_VCPKG_LIBUV)
         endif()
     endif()
 else()
-    find_package(unofficial-libuv CONFIG REQUIRED)
-    target_link_libraries(wpinet unofficial::libuv::libuv)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+    target_link_libraries(wpinet PUBLIC PkgConfig::libuv)
 endif()
 
 if (MSVC)

wpinet/wpinet-config.cmake.in

@@ -1,6 +1,6 @@
 include(CMakeFindDependencyMacro)
 @FILENAME_DEP_REPLACE@
-@LIBUV_VCPKG_REPLACE@
+@LIBUV_SYSTEM_REPLACE@
 @WPIUTIL_DEP_REPLACE@
 
 @FILENAME_DEP_REPLACE@

wpiutil/CMakeLists.txt

@@ -118,7 +118,7 @@ if (ATOMIC)
 endif()
 
 
-if (NOT USE_VCPKG_FMTLIB)
+if (NOT USE_SYSTEM_FMTLIB)
     target_sources(wpiutil PRIVATE ${fmtlib_native_src})
     install(DIRECTORY src/main/native/thirdparty/fmtlib/include/ DESTINATION "${include_dest}/wpiutil")
     target_include_directories(wpiutil PUBLIC

wpiutil/wpiutil-config.cmake.in

@@ -2,7 +2,7 @@ include(CMakeFindDependencyMacro)
 @FILENAME_DEP_REPLACE@
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads)
-@FMTLIB_VCPKG_REPLACE@
+@FMTLIB_SYSTEM_REPLACE@
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/wpiutil.cmake)