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Use pkg-config in a cross-compiler-friendly way

Simon McVittie requested to merge wip/smcv/cross-friendly-pkg-config into master

Issue detected by Debian's QA tool "Lintian".

  • configure: Use PKG_PROG_PKG_CONFIG instead of reinventing it

    When cross-compiling (for example for aarch64 on x86), using AC_PATH_PROG to search for pkg-config will find the build architecture (x86) pkg-config, but what we want is the host architecture (aarch64) pkg-config. PKG_PROG_PKG_CONFIG does this correctly, by using AC_PATH_TOOL.

  • configure: Run $PKG_CONFIG instead of hard-coding pkg-config

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