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Add more/better GNUInstallDirs variables usage

Cosima Neidahl requested to merge OPNA2608/history-service:fix/gnuinstalldirsUsage into main
  1. Use more of GNUInstallDirs' installation location variables: DATAROOTDIR, INCLUDEDIR
  2. Don't assume that prepending CMAKE_INSTALL_PREFIX to any of the location variables makes sense. There is no guarantee that install locations are relative to the prefix (see CMAKE_INSTALL_<location> documentation) - forcefully prepending the prefix to them can generate nonsense. CMAKE_INSTALL_FULL_<location> is what should be used to get a guaranteed-absolute version of the locations.

The pkg-config file referred to a seemingly-nonexistent LIB_INSTALL_DIR variable for the libdir value, I've replaced it with CMAKE_INSTALL_FULL_LIBDIR. This never caused an issue before because the Libs line doesn't actually use the libdir variable, neither is the includedir one for the Cflags. Maybe the file should be rewritten abit to use the pkg-config variables?

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