modernize CMake files

[UI233]

I have rewritten the CMakeLists files to make them fit the modern cmake pattern. Generally, it can bring about the following advantages compared to legacy cmake:

• More user-friendly for external users, users can now link the interface library easily using cmake package manager like Fetch or CPM.
• Modulize the package so that variables and compile definitions would not populate other scopes.
• Make this project easier to extend in the future.