From 86e682ea756256bcd3839f14ac527475ebb95ea0 Mon Sep 17 00:00:00 2001 From: Bryant Mairs Date: Thu, 19 Apr 2012 09:12:26 -0700 Subject: [PATCH] Updated QGC unit testing build script. It now builds properly (on Windows at least). I had to update some method calls in UASUnitTest.cc. I'd bet that some of the tests are wrong now because of it. --- qgcunittest.pro | 551 +++++++++++++++++++++++++++++++++---- qgcunittest/UASUnitTest.cc | 41 ++- 2 files changed, 516 insertions(+), 76 deletions(-) diff --git a/qgcunittest.pro b/qgcunittest.pro index 0301e33a7..5a648a464 100644 --- a/qgcunittest.pro +++ b/qgcunittest.pro @@ -1,29 +1,58 @@ -#------------------------------------------------- -# -# Project created by QtCreator 2011-01-11T08:54:37 -# -#------------------------------------------------- +# ------------------------------------------------- +# QGroundControl - Micro Air Vehicle Groundstation +# Please see our website at +# Maintainer: +# Lorenz Meier +# (c) 2009-2011 QGroundControl Developers +# This file is part of the open groundstation project +# QGroundControl is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# QGroundControl is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# You should have received a copy of the GNU General Public License +# along with QGroundControl. If not, see . +# ------------------------------------------------- + +# Qt configuration +CONFIG += qt \ + thread \ + console QT += network \ + opengl \ + svg \ + xml \ phonon \ + webkit \ + sql \ testlib \ - svg TEMPLATE = app - TARGET = qgcunittest - -BASEDIR = $$IN_PWD +BASEDIR = $${IN_PWD} TESTDIR = $$BASEDIR/qgcunittest -TARGETDIR = $$OUT_PWD -BUILDDIR = $$TARGETDIR/build +linux-g++|linux-g++-64{ + debug { + TARGETDIR = $${OUT_PWD}/debug + BUILDDIR = $${OUT_PWD}/build-debug + } + release { + TARGETDIR = $${OUT_PWD}/release + BUILDDIR = $${OUT_PWD}/build-release + } +} else { + TARGETDIR = $${OUT_PWD} + BUILDDIR = $${OUT_PWD}/build +} LANGUAGE = C++ - -CONFIG = qt thread console - -OBJECTS_DIR = $$BUILDDIR/obj -MOC_DIR = $$BUILDDIR/moc -UI_HEADERS_DIR = src/ui/generated +OBJECTS_DIR = $${BUILDDIR}/obj +MOC_DIR = $${BUILDDIR}/moc +UI_DIR = $${BUILDDIR}/ui +RCC_DIR = $${BUILDDIR}/rcc MAVLINK_CONF = "" MAVLINKPATH = $$BASEDIR/mavlink/include/v1.0 DEFINES += MAVLINK_NO_DATA @@ -37,14 +66,38 @@ win32 { QMAKE_QMAKE = "$$(QTDIR)/bin/qmake.exe" } + + +################################################################# +# EXTERNAL LIBRARY CONFIGURATION + +# Include NMEA parsing library (currently unused) +include(src/libs/nmea/nmea.pri) + + # EIGEN matrix library (header-only) INCLUDEPATH += src/libs/eigen +# OPMapControl library (from OpenPilot) +include(src/libs/utils/utils_external.pri) +include(src/libs/opmapcontrol/opmapcontrol_external.pri) +DEPENDPATH += \ + src/libs/utils \ + src/libs/utils/src \ + src/libs/opmapcontrol \ + src/libs/opmapcontrol/src \ + src/libs/opmapcontrol/src/mapwidget + +INCLUDEPATH += \ + src/libs/utils \ + src/libs \ + src/libs/opmapcontrol + # If the user config file exists, it will be included. # if the variable MAVLINK_CONF contains the name of an # additional project, QGroundControl includes the support # of custom MAVLink messages of this project -exists(user_config.pri) { +exists(user_config.pri) { include(user_config.pri) message("----- USING CUSTOM USER QGROUNDCONTROL CONFIG FROM user_config.pri -----") message("Adding support for additional MAVLink messages for: " $$MAVLINK_CONF) @@ -53,7 +106,7 @@ exists(user_config.pri) { INCLUDEPATH += $$MAVLINKPATH/common INCLUDEPATH += $$MAVLINKPATH -contains(MAVLINK_CONF, pixhawk) { +contains(MAVLINK_CONF, pixhawk) { # Remove the default set - it is included anyway INCLUDEPATH -= $$MAVLINKPATH/common @@ -61,15 +114,17 @@ contains(MAVLINK_CONF, pixhawk) { INCLUDEPATH += $$MAVLINKPATH/pixhawk DEFINES += QGC_USE_PIXHAWK_MESSAGES } -contains(MAVLINK_CONF, slugs) { +contains(MAVLINK_CONF, slugs) { # Remove the default set - it is included anyway INCLUDEPATH -= $$MAVLINKPATH/common # SLUGS SPECIAL MESSAGES INCLUDEPATH += $$MAVLINKPATH/slugs DEFINES += QGC_USE_SLUGS_MESSAGES + SOURCES += $$TESTDIR/SlugsMavUnitTest.cc + HEADERS += $$TESTDIR/SlugsMavUnitTest.h } -contains(MAVLINK_CONF, ualberta) { +contains(MAVLINK_CONF, ualberta) { # Remove the default set - it is included anyway INCLUDEPATH -= $$MAVLINKPATH/common @@ -77,7 +132,7 @@ contains(MAVLINK_CONF, ualberta) { INCLUDEPATH += $$MAVLINKPATH/ualberta DEFINES += QGC_USE_UALBERTA_MESSAGES } -contains(MAVLINK_CONF, ardupilotmega) { +contains(MAVLINK_CONF, ardupilotmega) { # Remove the default set - it is included anyway INCLUDEPATH -= $$MAVLINKPATH/common @@ -85,6 +140,14 @@ contains(MAVLINK_CONF, ardupilotmega) { INCLUDEPATH += $$MAVLINKPATH/ardupilotmega DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES } +contains(MAVLINK_CONF, senseSoar) { + # Remove the default set - it is included anyway + INCLUDEPATH -= $$MAVLINKPATH/common + + # SENSESOAR SPECIAL MESSAGES + INCLUDEPATH += $$MAVLINKPATH/SenseSoar + DEFINES += QGC_USE_SENSESOAR_MESSAGES +} # Include general settings for QGroundControl # necessary as last include to override any non-acceptable settings @@ -93,6 +156,20 @@ include(qgroundcontrol.pri) # Reset QMAKE_POST_LINK to prevent file copy operations QMAKE_POST_LINK = "" +# Include MAVLink generator +# has been deprecated +DEPENDPATH += \ + src/apps/mavlinkgen + +INCLUDEPATH += \ + src/apps/mavlinkgen \ + src/apps/mavlinkgen/ui \ + src/apps/mavlinkgen/generator + +include(src/apps/mavlinkgen/mavlinkgen.pri) + + + # Include QWT plotting library include(src/lib/qwt/qwt.pri) DEPENDPATH += . \ @@ -108,8 +185,7 @@ INCLUDEPATH += . \ thirdParty/qserialport/src \ src/libs/qextserialport -# QWT plot and QExtSerial depend on paths set by qgroundcontrol.pri -# Include serial port library +# Include serial port library (QSerial) include(qserialport.pri) # Serial port detection (ripped-off from qextserialport library) @@ -119,23 +195,60 @@ linux-g++-64::SOURCES += src/libs/qextserialport/qextserialenumerator_unix.cpp win32::SOURCES += src/libs/qextserialport/qextserialenumerator_win.cpp win32-msvc2008|win32-msvc2010::SOURCES += src/libs/qextserialport/qextserialenumerator_win.cpp -SOURCES += src/uas/UAS.cc \ - src/comm/MAVLinkProtocol.cc \ - src/uas/UASWaypointManager.cc \ - src/Waypoint.cc \ - src/ui/RadioCalibration/RadioCalibrationData.cc \ - src/uas/SlugsMAV.cc \ - src/uas/PxQuadMAV.cc \ - src/uas/ArduPilotMegaMAV.cc \ - src/GAudioOutput.cc \ - src/uas/UASManager.cc \ - src/comm/LinkManager.cc \ - src/QGC.cc \ - src/comm/SerialLink.cc \ - $$TESTDIR/SlugsMavUnitTest.cc \ - $$TESTDIR/testSuite.cc \ - src/uas/QGCMAVLinkUASFactory.cc \ - $$TESTDIR/UASUnitTest.cc +# Input +FORMS += src/ui/MainWindow.ui \ + src/ui/CommSettings.ui \ + src/ui/SerialSettings.ui \ + src/ui/UASControl.ui \ + src/ui/UASList.ui \ + src/ui/UASInfo.ui \ + src/ui/Linechart.ui \ + src/ui/UASView.ui \ + src/ui/ParameterInterface.ui \ + src/ui/WaypointList.ui \ + src/ui/ObjectDetectionView.ui \ + src/ui/JoystickWidget.ui \ + src/ui/DebugConsole.ui \ + src/ui/HDDisplay.ui \ + src/ui/MAVLinkSettingsWidget.ui \ + src/ui/AudioOutputWidget.ui \ + src/ui/QGCSensorSettingsWidget.ui \ + src/ui/watchdog/WatchdogControl.ui \ + src/ui/watchdog/WatchdogProcessView.ui \ + src/ui/watchdog/WatchdogView.ui \ + src/ui/QGCFirmwareUpdate.ui \ + src/ui/QGCPxImuFirmwareUpdate.ui \ + src/ui/QGCDataPlot2D.ui \ + src/ui/QGCRemoteControlView.ui \ + src/ui/QMap3D.ui \ + src/ui/QGCWebView.ui \ + src/ui/map3D/QGCGoogleEarthView.ui \ + src/ui/SlugsDataSensorView.ui \ + src/ui/SlugsHilSim.ui \ + src/ui/SlugsPadCameraControl.ui \ + src/ui/uas/QGCUnconnectedInfoWidget.ui \ + src/ui/designer/QGCToolWidget.ui \ + src/ui/designer/QGCParamSlider.ui \ + src/ui/designer/QGCActionButton.ui \ + src/ui/designer/QGCCommandButton.ui \ + src/ui/QGCMAVLinkLogPlayer.ui \ + src/ui/QGCWaypointListMulti.ui \ + src/ui/mission/QGCCustomWaypointAction.ui \ + src/ui/QGCUDPLinkConfiguration.ui \ + src/ui/QGCSettingsWidget.ui \ + src/ui/UASControlParameters.ui \ + src/ui/mission/QGCMissionDoWidget.ui \ + src/ui/mission/QGCMissionConditionWidget.ui \ + src/ui/map/QGCMapTool.ui \ + src/ui/map/QGCMapToolBar.ui \ + src/ui/QGCMAVLinkInspector.ui \ + src/ui/WaypointViewOnlyView.ui \ + src/ui/WaypointEditableView.ui \ + src/ui/UnconnectedUASInfoWidget.ui \ + src/ui/mavlink/QGCMAVLinkMessageSender.ui \ + src/ui/firmwareupdate/QGCFirmwareUpdateWidget.ui \ + src/ui/QGCPluginHost.ui \ + src/ui/firmwareupdate/QGCPX4FirmwareUpdate.ui INCLUDEPATH += src \ src/ui \ @@ -150,28 +263,356 @@ INCLUDEPATH += src \ src/ui/map3D \ src/ui/designer -HEADERS += src/uas/UASInterface.h \ +HEADERS += src/MG.h \ + src/QGCCore.h \ + src/uas/UASInterface.h \ src/uas/UAS.h \ - src/comm/MAVLinkProtocol.h \ - src/comm/ProtocolInterface.h \ - src/uas/UASWaypointManager.h \ - src/Waypoint.h \ - src/ui/RadioCalibration/RadioCalibrationData.h \ - src/uas/SlugsMAV.h \ - src/uas/PxQuadMAV.h \ - src/uas/ArduPilotMegaMAV.h \ - src/GAudioOutput.h \ src/uas/UASManager.h \ src/comm/LinkManager.h \ src/comm/LinkInterface.h \ - src/QGC.h \ src/comm/SerialLinkInterface.h \ src/comm/SerialLink.h \ + src/comm/ProtocolInterface.h \ + src/comm/MAVLinkProtocol.h \ + src/comm/QGCFlightGearLink.h \ + src/ui/CommConfigurationWindow.h \ + src/ui/SerialConfigurationWindow.h \ + src/ui/MainWindow.h \ + src/ui/uas/UASControlWidget.h \ + src/ui/uas/UASListWidget.h \ + src/ui/uas/UASInfoWidget.h \ + src/ui/HUD.h \ + src/ui/linechart/LinechartWidget.h \ + src/ui/linechart/LinechartPlot.h \ + src/ui/linechart/Scrollbar.h \ + src/ui/linechart/ScrollZoomer.h \ src/configuration.h \ - $$TESTDIR/SlugsMavUnitTest.h \ + src/ui/uas/UASView.h \ + src/ui/CameraView.h \ + src/comm/MAVLinkSimulationLink.h \ + src/comm/UDPLink.h \ + src/ui/ParameterInterface.h \ + src/ui/WaypointList.h \ + src/Waypoint.h \ + src/ui/ObjectDetectionView.h \ + src/input/JoystickInput.h \ + src/ui/JoystickWidget.h \ + src/ui/DebugConsole.h \ + src/ui/HDDisplay.h \ + src/ui/MAVLinkSettingsWidget.h \ + src/ui/AudioOutputWidget.h \ + src/GAudioOutput.h \ + src/LogCompressor.h \ + src/ui/QGCParamWidget.h \ + src/ui/QGCSensorSettingsWidget.h \ + src/ui/linechart/Linecharts.h \ + src/uas/SlugsMAV.h \ + src/uas/PxQuadMAV.h \ + src/uas/ArduPilotMegaMAV.h \ + src/uas/senseSoarMAV.h \ + src/ui/watchdog/WatchdogControl.h \ + src/ui/watchdog/WatchdogProcessView.h \ + src/ui/watchdog/WatchdogView.h \ + src/uas/UASWaypointManager.h \ + src/ui/HSIDisplay.h \ + src/QGC.h \ + src/ui/QGCFirmwareUpdate.h \ + src/ui/QGCPxImuFirmwareUpdate.h \ + src/ui/QGCDataPlot2D.h \ + src/ui/linechart/IncrementalPlot.h \ + src/ui/QGCRemoteControlView.h \ + src/ui/RadioCalibration/RadioCalibrationData.h \ + src/ui/RadioCalibration/RadioCalibrationWindow.h \ + src/ui/RadioCalibration/AirfoilServoCalibrator.h \ + src/ui/RadioCalibration/SwitchCalibrator.h \ + src/ui/RadioCalibration/CurveCalibrator.h \ + src/ui/RadioCalibration/AbstractCalibrator.h \ + src/comm/QGCMAVLink.h \ + src/ui/QGCWebView.h \ + src/ui/map3D/QGCWebPage.h \ + src/ui/SlugsDataSensorView.h \ + src/ui/SlugsHilSim.h \ + src/ui/SlugsPadCameraControl.h \ + src/ui/QGCMainWindowAPConfigurator.h \ + src/comm/MAVLinkSwarmSimulationLink.h \ + src/ui/uas/QGCUnconnectedInfoWidget.h \ + src/ui/designer/QGCToolWidget.h \ + src/ui/designer/QGCParamSlider.h \ + src/ui/designer/QGCCommandButton.h \ + src/ui/designer/QGCToolWidgetItem.h \ + src/ui/QGCMAVLinkLogPlayer.h \ + src/comm/MAVLinkSimulationWaypointPlanner.h \ + src/comm/MAVLinkSimulationMAV.h \ + src/uas/QGCMAVLinkUASFactory.h \ + src/ui/QGCWaypointListMulti.h \ + src/ui/QGCUDPLinkConfiguration.h \ + src/ui/QGCSettingsWidget.h \ + src/ui/uas/UASControlParameters.h \ + src/ui/mission/QGCMissionDoWidget.h \ + src/ui/mission/QGCMissionConditionWidget.h \ + src/uas/QGCUASParamManager.h \ + src/ui/map/QGCMapWidget.h \ + src/ui/map/MAV2DIcon.h \ + src/ui/map/Waypoint2DIcon.h \ + src/ui/map/QGCMapTool.h \ + src/ui/map/QGCMapToolBar.h \ + src/libs/qextserialport/qextserialenumerator.h \ + src/QGCGeo.h \ + src/ui/QGCToolBar.h \ + src/ui/QGCMAVLinkInspector.h \ + src/ui/MAVLinkDecoder.h \ + src/ui/WaypointViewOnlyView.h \ + src/ui/WaypointViewOnlyView.h \ + src/ui/WaypointEditableView.h \ + src/ui/UnconnectedUASInfoWidget.h \ + src/ui/QGCRGBDView.h \ + src/ui/mavlink/QGCMAVLinkMessageSender.h \ + src/ui/firmwareupdate/QGCFirmwareUpdateWidget.h \ + src/ui/QGCPluginHost.h \ + src/ui/firmwareupdate/QGCPX4FirmwareUpdate.h \ $$TESTDIR/AutoTest.h \ $$TESTDIR/UASUnitTest.h \ - src/uas/QGCMAVLinkUASFactory.h +# Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler +macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h -DEFINES += 'SRCDIR="$${PWD}/"' +contains(DEPENDENCIES_PRESENT, osg) { + message("Including headers for OpenSceneGraph") + + # Enable only if OpenSceneGraph is available + HEADERS += src/ui/map3D/gpl.h \ + src/ui/map3D/CameraParams.h \ + src/ui/map3D/ViewParamWidget.h \ + src/ui/map3D/SystemContainer.h \ + src/ui/map3D/SystemViewParams.h \ + src/ui/map3D/GlobalViewParams.h \ + src/ui/map3D/SystemGroupNode.h \ + src/ui/map3D/Q3DWidget.h \ + src/ui/map3D/GCManipulator.h \ + src/ui/map3D/ImageWindowGeode.h \ + src/ui/map3D/PixhawkCheetahGeode.h \ + src/ui/map3D/Pixhawk3DWidget.h \ + src/ui/map3D/Q3DWidgetFactory.h \ + src/ui/map3D/WebImageCache.h \ + src/ui/map3D/WebImage.h \ + src/ui/map3D/TextureCache.h \ + src/ui/map3D/Texture.h \ + src/ui/map3D/Imagery.h \ + src/ui/map3D/HUDScaleGeode.h \ + src/ui/map3D/WaypointGroupNode.h \ + src/ui/map3D/TerrainParamDialog.h \ + src/ui/map3D/ImageryParamDialog.h +} +contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) { + message("Including headers for Protocol Buffers") + + # Enable only if protobuf is available + HEADERS += mavlink/include/v1.0/pixhawk/pixhawk.pb.h \ + src/ui/map3D/ObstacleGroupNode.h \ + src/ui/map3D/GLOverlayGeode.h +} +contains(DEPENDENCIES_PRESENT, libfreenect) { + message("Including headers for libfreenect") + + # Enable only if libfreenect is available + HEADERS += src/input/Freenect.h +} + +SOURCES += src/QGCCore.cc \ + src/uas/UASManager.cc \ + src/uas/UAS.cc \ + src/comm/LinkManager.cc \ + src/comm/LinkInterface.cpp \ + src/comm/SerialLink.cc \ + src/comm/MAVLinkProtocol.cc \ + src/comm/QGCFlightGearLink.cc \ + src/ui/CommConfigurationWindow.cc \ + src/ui/SerialConfigurationWindow.cc \ + src/ui/MainWindow.cc \ + src/ui/uas/UASControlWidget.cc \ + src/ui/uas/UASListWidget.cc \ + src/ui/uas/UASInfoWidget.cc \ + src/ui/HUD.cc \ + src/ui/linechart/LinechartWidget.cc \ + src/ui/linechart/LinechartPlot.cc \ + src/ui/linechart/Scrollbar.cc \ + src/ui/linechart/ScrollZoomer.cc \ + src/ui/uas/UASView.cc \ + src/ui/CameraView.cc \ + src/comm/MAVLinkSimulationLink.cc \ + src/comm/UDPLink.cc \ + src/ui/ParameterInterface.cc \ + src/ui/WaypointList.cc \ + src/Waypoint.cc \ + src/ui/ObjectDetectionView.cc \ + src/input/JoystickInput.cc \ + src/ui/JoystickWidget.cc \ + src/ui/DebugConsole.cc \ + src/ui/HDDisplay.cc \ + src/ui/MAVLinkSettingsWidget.cc \ + src/ui/AudioOutputWidget.cc \ + src/GAudioOutput.cc \ + src/LogCompressor.cc \ + src/ui/QGCParamWidget.cc \ + src/ui/QGCSensorSettingsWidget.cc \ + src/ui/linechart/Linecharts.cc \ + src/uas/SlugsMAV.cc \ + src/uas/PxQuadMAV.cc \ + src/uas/ArduPilotMegaMAV.cc \ + src/uas/senseSoarMAV.cpp \ + src/ui/watchdog/WatchdogControl.cc \ + src/ui/watchdog/WatchdogProcessView.cc \ + src/ui/watchdog/WatchdogView.cc \ + src/uas/UASWaypointManager.cc \ + src/ui/HSIDisplay.cc \ + src/QGC.cc \ + src/ui/QGCFirmwareUpdate.cc \ + src/ui/QGCPxImuFirmwareUpdate.cc \ + src/ui/QGCDataPlot2D.cc \ + src/ui/linechart/IncrementalPlot.cc \ + src/ui/QGCRemoteControlView.cc \ + src/ui/RadioCalibration/RadioCalibrationWindow.cc \ + src/ui/RadioCalibration/AirfoilServoCalibrator.cc \ + src/ui/RadioCalibration/SwitchCalibrator.cc \ + src/ui/RadioCalibration/CurveCalibrator.cc \ + src/ui/RadioCalibration/AbstractCalibrator.cc \ + src/ui/RadioCalibration/RadioCalibrationData.cc \ + src/ui/QGCWebView.cc \ + src/ui/map3D/QGCWebPage.cc \ + src/ui/SlugsDataSensorView.cc \ + src/ui/SlugsHilSim.cc \ + src/ui/SlugsPadCameraControl.cpp \ + src/ui/QGCMainWindowAPConfigurator.cc \ + src/comm/MAVLinkSwarmSimulationLink.cc \ + src/ui/uas/QGCUnconnectedInfoWidget.cc \ + src/ui/designer/QGCToolWidget.cc \ + src/ui/designer/QGCParamSlider.cc \ + src/ui/designer/QGCCommandButton.cc \ + src/ui/designer/QGCToolWidgetItem.cc \ + src/ui/QGCMAVLinkLogPlayer.cc \ + src/comm/MAVLinkSimulationWaypointPlanner.cc \ + src/comm/MAVLinkSimulationMAV.cc \ + src/uas/QGCMAVLinkUASFactory.cc \ + src/ui/QGCWaypointListMulti.cc \ + src/ui/QGCUDPLinkConfiguration.cc \ + src/ui/QGCSettingsWidget.cc \ + src/ui/uas/UASControlParameters.cpp \ + src/ui/mission/QGCMissionDoWidget.cc \ + src/ui/mission/QGCMissionConditionWidget.cc \ + src/uas/QGCUASParamManager.cc \ + src/ui/map/QGCMapWidget.cc \ + src/ui/map/MAV2DIcon.cc \ + src/ui/map/Waypoint2DIcon.cc \ + src/ui/map/QGCMapTool.cc \ + src/ui/map/QGCMapToolBar.cc \ + src/ui/QGCToolBar.cc \ + src/ui/QGCMAVLinkInspector.cc \ + src/ui/MAVLinkDecoder.cc \ + src/ui/WaypointViewOnlyView.cc \ + src/ui/WaypointEditableView.cc \ + src/ui/UnconnectedUASInfoWidget.cc \ + src/ui/QGCRGBDView.cc \ + src/ui/mavlink/QGCMAVLinkMessageSender.cc \ + src/ui/firmwareupdate/QGCFirmwareUpdateWidget.cc \ + src/ui/QGCPluginHost.cc \ + src/ui/firmwareupdate/QGCPX4FirmwareUpdate.cc \ + $$TESTDIR/testSuite.cc \ + $$TESTDIR/UASUnitTest.cc + +# Enable Google Earth only on Mac OS and Windows with Visual Studio compiler +macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc + +# Enable OSG only if it has been found +contains(DEPENDENCIES_PRESENT, osg) { + message("Including sources for OpenSceneGraph") + + # Enable only if OpenSceneGraph is available + SOURCES += src/ui/map3D/gpl.cc \ + src/ui/map3D/CameraParams.cc \ + src/ui/map3D/ViewParamWidget.cc \ + src/ui/map3D/SystemContainer.cc \ + src/ui/map3D/SystemViewParams.cc \ + src/ui/map3D/GlobalViewParams.cc \ + src/ui/map3D/SystemGroupNode.cc \ + src/ui/map3D/Q3DWidget.cc \ + src/ui/map3D/ImageWindowGeode.cc \ + src/ui/map3D/GCManipulator.cc \ + src/ui/map3D/PixhawkCheetahGeode.cc \ + src/ui/map3D/Pixhawk3DWidget.cc \ + src/ui/map3D/Q3DWidgetFactory.cc \ + src/ui/map3D/WebImageCache.cc \ + src/ui/map3D/WebImage.cc \ + src/ui/map3D/TextureCache.cc \ + src/ui/map3D/Texture.cc \ + src/ui/map3D/Imagery.cc \ + src/ui/map3D/HUDScaleGeode.cc \ + src/ui/map3D/WaypointGroupNode.cc \ + src/ui/map3D/TerrainParamDialog.cc \ + src/ui/map3D/ImageryParamDialog.cc + + contains(DEPENDENCIES_PRESENT, osgearth) { + message("Including sources for osgEarth") + + # Enable only if OpenSceneGraph is available + SOURCES += src/ui/map3D/QMap3D.cc + } +} +contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) { + message("Including sources for Protocol Buffers") + + # Enable only if protobuf is available + SOURCES += mavlink/src/v1.0/pixhawk/pixhawk.pb.cc \ + src/ui/map3D/ObstacleGroupNode.cc \ + src/ui/map3D/GLOverlayGeode.cc +} +contains(DEPENDENCIES_PRESENT, libfreenect) { + message("Including sources for libfreenect") + + # Enable only if libfreenect is available + SOURCES += src/input/Freenect.cc +} + +# Add icons and other resources +RESOURCES += qgroundcontrol.qrc + +# Include RT-LAB Library +win32:exists(src/lib/opalrt/OpalApi.h):exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) { + message("Building support for Opal-RT") + LIBS += -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \ + -lOpalApi + INCLUDEPATH += src/lib/opalrt + HEADERS += src/comm/OpalRT.h \ + src/comm/OpalLink.h \ + src/comm/Parameter.h \ + src/comm/QGCParamID.h \ + src/comm/ParameterList.h \ + src/ui/OpalLinkConfigurationWindow.h + SOURCES += src/comm/OpalRT.cc \ + src/comm/OpalLink.cc \ + src/comm/Parameter.cc \ + src/comm/QGCParamID.cc \ + src/comm/ParameterList.cc \ + src/ui/OpalLinkConfigurationWindow.cc + FORMS += src/ui/OpalLinkSettings.ui + DEFINES += OPAL_RT +} +TRANSLATIONS += es-MX.ts \ + en-US.ts + +# xbee support +# libxbee only supported by linux and windows systems +win32-msvc2008|win32-msvc2010|linux { + HEADERS += src/comm/XbeeLinkInterface.h \ + src/comm/XbeeLink.h \ + src/comm/HexSpinBox.h \ + src/ui/XbeeConfigurationWindow.h \ + src/comm/CallConv.h + SOURCES += src/comm/XbeeLink.cpp \ + src/comm/HexSpinBox.cpp \ + src/ui/XbeeConfigurationWindow.cpp + DEFINES += XBEELINK + INCLUDEPATH += thirdParty/libxbee +# TO DO: build library when it does not exist already + LIBS += -LthirdParty/libxbee/lib \ + -llibxbee +} diff --git a/qgcunittest/UASUnitTest.cc b/qgcunittest/UASUnitTest.cc index 5711347b0..2fef763db 100644 --- a/qgcunittest/UASUnitTest.cc +++ b/qgcunittest/UASUnitTest.cc @@ -6,9 +6,8 @@ UASUnitTest::UASUnitTest() void UASUnitTest::initTestCase() { - mav= new MAVLinkProtocol(); - link = new SerialLink(); - uas=new UAS(mav,UASID); + mav = new MAVLinkProtocol(); + uas = new UAS(mav,UASID); } void UASUnitTest::cleanupTestCase() @@ -27,7 +26,7 @@ void UASUnitTest::getUASID_test() // Test that the chosen ID was assigned at construction QCOMPARE(uas->getUASID(), UASID); - // Make sure that no other ID was sert + // Make sure that no other ID was set QEXPECT_FAIL("", "When you set an ID it does not use the default ID of 0", Continue); QCOMPARE(uas->getUASID(), 0); @@ -177,27 +176,27 @@ void UASUnitTest::getAirframe_test() void UASUnitTest::getWaypointList_test() { - QVector kk = uas->getWaypointManager()->getWaypointList(); + QVector kk = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(kk.count(), 0); - Waypoint* wp = new Waypoint(0,0,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE); - uas->getWaypointManager()->addWaypoint(wp, true); + Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah"); + uas->getWaypointManager()->addWaypointEditable(wp, true); - kk = uas->getWaypointManager()->getWaypointList(); + kk = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(kk.count(), 1); wp = new Waypoint(); - uas->getWaypointManager()->addWaypoint(wp, false); + uas->getWaypointManager()->addWaypointEditable(wp, false); - kk = uas->getWaypointManager()->getWaypointList(); + kk = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(kk.count(), 2); uas->getWaypointManager()->removeWaypoint(1); - kk = uas->getWaypointManager()->getWaypointList(); + kk = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(kk.count(), 1); uas->getWaypointManager()->removeWaypoint(0); - kk = uas->getWaypointManager()->getWaypointList(); + kk = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(kk.count(), 0); qDebug()<<"disconnect SIGNAL waypointListChanged"; @@ -205,17 +204,17 @@ void UASUnitTest::getWaypointList_test() void UASUnitTest::getWaypoint_test() { - Waypoint* wp = new Waypoint(0,5.6,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE); + Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah"); - uas->getWaypointManager()->addWaypoint(wp, true); + uas->getWaypointManager()->addWaypointEditable(wp, true); - QVector wpList = uas->getWaypointManager()->getWaypointList(); + QVector wpList = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(wpList.count(), 1); QCOMPARE(static_cast(0), static_cast(wpList.at(0))->getId()); wp = new Waypoint(0, 5.6, 2, 3); - uas->getWaypointManager()->addWaypoint(wp, true); + uas->getWaypointManager()->addWaypointEditable(wp, true); Waypoint* wp2 = static_cast(wpList.at(0)); QCOMPARE(wp->getX(), wp2->getX()); @@ -226,9 +225,9 @@ void UASUnitTest::getWaypoint_test() void UASUnitTest::signalWayPoint_test() { QSignalSpy spy(uas->getWaypointManager(), SIGNAL(waypointListChanged())); - - Waypoint* wp = new Waypoint(0,5.6,0,0,0,false, false, 0,0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE); - uas->getWaypointManager()->addWaypoint(wp, true); + + Waypoint* wp = new Waypoint(0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,false, false, MAV_FRAME_GLOBAL, MAV_CMD_MISSION_START, "blah"); + uas->getWaypointManager()->addWaypointEditable(wp, true); QCOMPARE(spy.count(), 1); // 1 listChanged for add wayPoint uas->getWaypointManager()->removeWaypoint(0); @@ -245,11 +244,11 @@ void UASUnitTest::signalWayPoint_test() QSignalSpy spy2(uas->getWaypointManager(), SIGNAL(waypointListChanged())); QCOMPARE(spy2.count(), 0); - uas->getWaypointManager()->addWaypoint(wp, true); + uas->getWaypointManager()->addWaypointEditable(wp, true); QCOMPARE(spy2.count(), 1); uas->getWaypointManager()->clearWaypointList(); - QVector wpList = uas->getWaypointManager()->getWaypointList(); + QVector wpList = uas->getWaypointManager()->getWaypointEditableList(); QCOMPARE(wpList.count(), 1); } -- GitLab