From f3cd2d3c23d5e15e78517bbf623699e9e88d914e Mon Sep 17 00:00:00 2001
From: "Ethan J. Musser" <emusser@carnegierobotics.com>
Date: Mon, 22 Dec 2025 18:25:01 -0500
Subject: [PATCH 1/2] Refactor targets to find/link `Threads::Threads`

---
 source/Legacy/CMakeLists.txt                  | 10 +++---
 source/LibMultiSense/CMakeLists.txt           | 10 +++---
 source/Utilities/Legacy/CMakeLists.txt        | 33 +++++--------------
 source/Utilities/LibMultiSense/CMakeLists.txt | 31 +++++------------
 4 files changed, 27 insertions(+), 57 deletions(-)

diff --git a/source/Legacy/CMakeLists.txt b/source/Legacy/CMakeLists.txt
index 2a7367c1..a0bfbd3a 100644
--- a/source/Legacy/CMakeLists.txt
+++ b/source/Legacy/CMakeLists.txt
@@ -86,12 +86,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
 # We want to link against our child libraries.
 #
 
-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+find_package(Threads REQUIRED)
+target_link_libraries(MultiSense Threads::Threads)
+if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
     target_link_libraries(MultiSense ws2_32)
-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    target_link_libraries(MultiSense pthread)
-else()
-    target_link_libraries(MultiSense pthread rt)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    target_link_libraries(MultiSense rt)
 endif()
 
 include(CMakePackageConfigHelpers)
diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt
index 52d93345..17a2e3f6 100644
--- a/source/LibMultiSense/CMakeLists.txt
+++ b/source/LibMultiSense/CMakeLists.txt
@@ -63,12 +63,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
 # We want to link against our child libraries.
 #
 
-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+find_package(Threads REQUIRED)
+target_link_libraries(MultiSense Threads::Threads)
+if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
     target_link_libraries(MultiSense ws2_32)
-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    target_link_libraries(MultiSense pthread)
-else()
-    target_link_libraries(MultiSense pthread rt)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    target_link_libraries(MultiSense rt)
 endif()
 
 if (BUILD_TESTS)
diff --git a/source/Utilities/Legacy/CMakeLists.txt b/source/Utilities/Legacy/CMakeLists.txt
index 21c747d6..8ff29b02 100644
--- a/source/Utilities/Legacy/CMakeLists.txt
+++ b/source/Utilities/Legacy/CMakeLists.txt
@@ -8,32 +8,17 @@ include_directories(shared)
 # Common libraries that each utility needs to link with.
 #
 
-if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
-
-set (MULTISENSE_UTILITY_LIBS
-     ${MULTISENSE_UTILITY_LIBS}
-     MultiSense
-     ws2_32
-)
-
-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-
-set (MULTISENSE_UTILITY_LIBS
-     ${MULTISENSE_UTILITY_LIBS}
-     MultiSense
-     pthread
-)
-
-else ()
-
-set (MULTISENSE_UTILITY_LIBS
-     ${MULTISENSE_UTILITY_LIBS}
-     MultiSense
-     pthread
-     rt
+find_package(Threads REQUIRED)
+list(APPEND MULTISENSE_UTILITY_LIBS
+    MultiSense
+    Threads::Threads
 )
 
-endif ()
+if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+    list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    list(APPEND MULTISENSE_UTILITY_LIBS rt)
+endif()
 
 #
 # Recurse into each of these directories.
diff --git a/source/Utilities/LibMultiSense/CMakeLists.txt b/source/Utilities/LibMultiSense/CMakeLists.txt
index 405eaf0d..d3ec3885 100644
--- a/source/Utilities/LibMultiSense/CMakeLists.txt
+++ b/source/Utilities/LibMultiSense/CMakeLists.txt
@@ -1,30 +1,15 @@
 
-if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
-
-set (MULTISENSE_UTILITY_LIBS
-    ${MULTISENSE_UTILITY_LIBS}
-    MultiSense
-    ws2_32
-)
-
-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-
-set (MULTISENSE_UTILITY_LIBS
-    ${MULTISENSE_UTILITY_LIBS}
-    MultiSense
-    pthread
-)
-
-else ()
-
-set (MULTISENSE_UTILITY_LIBS
-    ${MULTISENSE_UTILITY_LIBS}
+find_package(Threads REQUIRED)
+list(APPEND MULTISENSE_UTILITY_LIBS
     MultiSense
-    pthread
-    rt
+    Threads::Threads
 )
 
-endif ()
+if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+    list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    list(APPEND MULTISENSE_UTILITY_LIBS rt)
+endif()
 
 add_subdirectory(ChangeIpUtility)
 add_subdirectory(DeviceInfoUtility)

From bbc0300b2b169555df2fb3cc2534e5154b3357ec Mon Sep 17 00:00:00 2001
From: "Ethan J. Musser" <emusser@carnegierobotics.com>
Date: Mon, 22 Dec 2025 18:26:41 -0500
Subject: [PATCH 2/2] Find `Threads` public API dependency

---
 source/LibMultiSense/MultiSenseConfig.cmake.in | 1 +
 1 file changed, 1 insertion(+)

diff --git a/source/LibMultiSense/MultiSenseConfig.cmake.in b/source/LibMultiSense/MultiSenseConfig.cmake.in
index dbc311d5..fff2c958 100644
--- a/source/LibMultiSense/MultiSenseConfig.cmake.in
+++ b/source/LibMultiSense/MultiSenseConfig.cmake.in
@@ -5,6 +5,7 @@ find_dependency(MultiSenseWire)
 if (@BUILD_JSON_SERIALIZATION@)
     find_dependency(nlohmann_json 3.9 REQUIRED)
 endif ()
+find_dependency(Threads)
 
 include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseTargets.cmake")