Initial setup for Mac Installer (Video Steaming)

.gitignore

+libs/lib/Frameworks/GStreamer.framework
 *.swp
 *.nfs
 CMakeFiles

QGCApplication.pro

@@ -122,18 +122,6 @@ include(libs/qextserialport/src/qextserialport.pri)
 
 include(QGCExternalLibs.pri)
 
-#
-# Post link configuration
-#
-
-include(QGCSetup.pri)
-
-#
-# Installer targets
-#
-
-include(QGCInstaller.pri)
-
 #
 # Main QGroundControl portion of project file
 #
@@ -702,3 +690,16 @@ AndroidBuild {
         $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java \
         $$PWD/android/src/org/qgroundcontrol/qgchelper/UsbIoManager.java
 }
+
+#-------------------------------------------------------------------------------------
+#
+# Post link configuration
+#
+
+include(QGCSetup.pri)
+
+#
+# Installer targets
+#
+
+include(QGCInstaller.pri)

QGCInstaller.pri

@@ -19,6 +19,19 @@
 
 installer {
     MacBuild {
+        VideoEnabled {
+            # Install the gstreamer framework
+            # This will:
+            # Copy from the original distibution into libs/lib/Framworks (if not already there)
+            # Prune the framework, removing stuff we don't need
+            # Relocate all dylibs so they can work under @executable_path/...
+            # Copy the result into the app bundle
+            # Make sure qgroundcontrol can find them
+            message("Preparing GStreamer Framework")
+            QMAKE_POST_LINK += && $$BASEDIR/tools/prepare_gstreamer_framework.sh $$BASEDIR/libs/lib/Frameworks/ $$DESTDIR/$${TARGET}.app $${TARGET}
+        } else {
+            message("Skipping GStreamer Framework")
+        }
         # We cd to release directory so we can run macdeployqt without a path to the
         # qgroundcontrol.app file. If you specify a path to the .app file the symbolic
         # links to plugins will not be created correctly.
@@ -27,7 +40,6 @@ installer {
         QMAKE_POST_LINK += && cd ..
         QMAKE_POST_LINK += && hdiutil create -layout SPUD -srcfolder $${DESTDIR}/qgroundcontrol.app -volname QGroundControl $${DESTDIR}/qgroundcontrol.dmg
     }
-
     WindowsBuild {
 		# The pdb moving command are commented out for now since we are including the .pdb in the installer. This makes it much
 		# easier to debug user crashes.

QGCSetup.pri

@@ -55,9 +55,10 @@ WindowsBuild {
 #
 
 MacBuild {
+
 	# Copy non-standard libraries and frameworks into app package
     QMAKE_POST_LINK += && $$QMAKE_COPY_DIR $$BASEDIR/libs/lib/mac64/lib $$DESTDIR/$${TARGET}.app/Contents/libs
-    QMAKE_POST_LINK += && $$QMAKE_COPY_DIR -L $$BASEDIR/libs/lib/Frameworks $$DESTDIR/$${TARGET}.app/Contents
+    QMAKE_POST_LINK += && rsync -a --delete $$BASEDIR/libs/lib/Frameworks $$DESTDIR/$${TARGET}.app/Contents/
 
 	# Fix library paths inside executable
 

src/QGCApplication.cc

@@ -141,6 +141,11 @@ static QObject* mavManagerSingletonFactory(QQmlEngine*, QJSEngine*)
  * @param argv The string array of parameters
  **/
 
+static void qgcputenv(const QString& key, const QString& root, const QString& path)
+{
+    QString value = root + path;
+    qputenv(key.toStdString().c_str(), QByteArray(value.toStdString().c_str()));
+}
 
 QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     : QApplication(argc, argv)
@@ -266,8 +271,28 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
 
     //----------------------------------------------------------------
     //-- Video Streaming
+#if defined(QGC_GST_STREAMING)
+#ifdef Q_OS_MAC
+#ifndef __ios__
+    QString currentDir = QCoreApplication::applicationDirPath();
+    qgcputenv("GST_PLUGIN_SCANNER",           currentDir, "/gst-plugin-scanner");
+    qgcputenv("GTK_PATH",                     currentDir, "/../Frameworks/GStreamer.framework/Versions/Current");
+    qgcputenv("GIO_EXTRA_MODULES",            currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gio/modules");
+    qgcputenv("GST_PLUGIN_SYSTEM_PATH_1_0",   currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+    qgcputenv("GST_PLUGIN_SYSTEM_PATH",       currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+    qgcputenv("GST_PLUGIN_PATH_1_0",          currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+    qgcputenv("GST_PLUGIN_PATH",              currentDir, "/../Frameworks/GStreamer.framework/Versions/Current/lib/gstreamer-1.0");
+//    QStringList env = QProcessEnvironment::systemEnvironment().keys();
+//    foreach(QString key, env) {
+//        qDebug() << key << QProcessEnvironment::systemEnvironment().value(key);
+//    }
+#endif
+#endif
+#endif
+
     qmlRegisterType<VideoItem>("QGroundControl.QgcQtGStreamer", 1, 0, "VideoItem");
     qmlRegisterUncreatableType<VideoSurface>("QGroundControl.QgcQtGStreamer", 1, 0, "VideoSurface", QLatin1String("VideoSurface from QML is not supported"));
+
 #if defined(QGC_GST_STREAMING)
     GError* error = NULL;
     if (!gst_init_check(&argc, &argv, &error)) {

src/VideoStreaming/VideoReceiver.cc

@@ -87,34 +87,41 @@ void VideoReceiver::start()
 
     do {
         if ((_pipeline = gst_pipeline_new("receiver")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_pipeline_new()";
             break;
         }
 
         if ((dataSource = gst_element_factory_make("udpsrc", "udp-source")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('udpsrc')";
             break;
         }
 
         if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
             break;
         }
 
         g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, NULL);
 
         if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
             break;
         }
 
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
             break;
         }
 
         if ((decoder = gst_element_factory_make("avdec_h264", "h264-decoder")) == NULL) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('avdec_h264')";
             break;
         }
 
         gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, decoder, _videoSink, NULL);
 
         if (gst_element_link_many(dataSource, demux, parser, decoder, _videoSink, NULL) != (gboolean)TRUE) {
+            qCritical() << "VideoReceiver::start() failed. Error with gst_element_link_many()";
             break;
         }
 

src/VideoStreaming/VideoStreaming.pri

@@ -27,7 +27,6 @@
 LinuxBuild {
     CONFIG += link_pkgconfig
     packagesExist(gstreamer-1.0) {
-        message("Including support for video streaming")
         PKGCONFIG   += gstreamer-1.0  gstreamer-video-1.0
         CONFIG      += VideoEnabled
     }
@@ -35,7 +34,6 @@ LinuxBuild {
     #- gstreamer framework installed by the gstreamer devel installer
     GST_ROOT = /Library/Frameworks/GStreamer.framework
     exists($$GST_ROOT) {
-        message("Including support for video streaming")
         CONFIG      += VideoEnabled
         INCLUDEPATH += $$GST_ROOT/Headers
         LIBS        += -F/Library/Frameworks -framework GStreamer
@@ -44,7 +42,6 @@ LinuxBuild {
     #- gstreamer framework installed by the gstreamer iOS SDK installer (default to home directory)
     GST_ROOT = $$(HOME)/Library/Developer/GStreamer/iPhone.sdk/GStreamer.framework
     exists($$GST_ROOT) {
-        message("Including support for video streaming")
         CONFIG      += VideoEnabled
         INCLUDEPATH += $$GST_ROOT/Headers
         LIBS        += -F$$(HOME)/Library/Developer/GStreamer/iPhone.sdk -framework GStreamer
@@ -53,7 +50,6 @@ LinuxBuild {
     #- gstreamer installed by default under c:/gstreamer
     GST_ROOT = c:/gstreamer/1.0/x86
     exists($$GST_ROOT) {
-        message("Including support for video streaming")
         CONFIG      += VideoEnabled
         LIBS        += -L$$GST_ROOT/lib/gstreamer-1.0/static -lgstreamer-1.0 -lgstvideo-1.0 -lgstbase-1.0
         LIBS        += -L$$GST_ROOT/lib -lglib-2.0 -lintl -lgobject-2.0
@@ -67,6 +63,8 @@ LinuxBuild {
 
 VideoEnabled {
 
+    message("Including support for video streaming")
+
     DEFINES += \
         QGC_GST_STREAMING \
         GST_PLUGIN_BUILD_STATIC \
@@ -123,6 +121,25 @@ VideoEnabled {
         $$PWD/gstqtvideosink/utils/utils.cpp \
 
 } else {
-    message("Skipping support for video streaming (Unsupported platform)")
+    LinuxBuild|MacBuild|iOSBuild|WindowsBuild {
+        message("Skipping support for video streaming (GStreamer libraries not installed)")
+        MacBuild {
+            message("  You can download it from http://gstreamer.freedesktop.org/data/pkg/osx/")
+            message("  Select the devel package and install it (gstreamer-1.0-devel-1.x.x-x86_64.pkg)")
+            message("  It will be installed in /Libraries/Frameworks")
+        }
+        LinuxBuild {
+            message("  You can install it using apt-get")
+            message("  sudo apt-get install gstreamer1.0*")
+            message("  sudo apt-get install libgstreamer1.0*")
+        }
+        WindowsBuild {
+            message("  You can download it from http://gstreamer.freedesktop.org/data/pkg/windows/")
+            message("  Select the devel AND runtime packages and install them (x86, not the 64-Bit)")
+            message("  It will be installed in C:/gstreamer. You need to update you PATH to point to the bin directory.")
+        }
+    } else {
+        message("Skipping support for video streaming (Unsupported platform)")
+    }
 }
 

src/main.cc

@@ -28,12 +28,13 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
+#include <QtGlobal>
 #include <QApplication>
 #include <QSslSocket>
 #ifndef __mobile__
 #include <QSerialPortInfo>
 #endif
-
+#include <QProcessEnvironment>
 #include "QGCApplication.h"
 #include "MainWindow.h"
 #include "configuration.h"

tools/osxrelocator.py

+#!/usr/bin/env python
+# cerbero - a multi-platform build system for Open Source software
+# Copyright (C) 2012 Andoni Morales Alastruey <ylatuya@gmail.com>
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Library General Public
+# License as published by the Free Software Foundation; either
+# version 2 of the License, or (at your option) any later version.
+#
+# This library 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
+# Library General Public License for more details.
+#
+# You should have received a copy of the GNU Library General Public
+# License along with this library; if not, write to the
+# Free Software Foundation, Inc., 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+import os
+import subprocess
+
+
+INT_CMD = 'install_name_tool'
+OTOOL_CMD = 'otool'
+
+
+def shell_call(cmd, cmd_dir='.', fail=True):
+    print "call", cmd
+    try:
+        ret = subprocess.check_call(
+                cmd, cwd=cmd_dir,
+                env=os.environ.copy())
+    except subprocess.CalledProcessError:
+        if fail:
+            raise SystemError("Error running command: {}".format(cmd))
+        else:
+            ret = 0
+    return ret
+
+
+def shell_check_call(cmd):
+    print "ccall", cmd
+    try:
+        process = subprocess.Popen(
+                cmd, stdout=subprocess.PIPE)
+        output, _ = process.communicate()
+    except Exception:
+        raise SystemError("Error running command: {}".format(cmd))
+    return output
+
+
+class OSXRelocator(object):
+    '''
+    Wrapper for OS X's install_name_tool and otool commands to help
+    relocating shared libraries.
+    It parses lib/ /libexec and bin/ directories, changes the prefix path of
+    the shared libraries that an object file uses and changes it's library
+    ID if the file is a shared library.
+    '''
+
+    def __init__(self, root, lib_prefix, new_lib_prefix, recursive):
+        self.root = root
+        self.lib_prefix = self._fix_path(lib_prefix)
+        self.new_lib_prefix = self._fix_path(new_lib_prefix)
+        self.recursive = recursive
+
+    def relocate(self):
+        self.parse_dir(self.root, filters=['', '.dylib', '.so', '0'])
+
+    def relocate_file(self, object_file, id=None):
+        self.change_libs_path(object_file)
+        self.change_id(object_file, id)
+
+    def change_id(self, object_file, id=None):
+        id = id or object_file.replace(self.lib_prefix, self.new_lib_prefix)
+        filename = os.path.basename(object_file)
+        if not (filename.endswith('so') or filename.endswith('dylib')):
+            return
+        cmd = [INT_CMD, "-id", id, object_file]
+        shell_call(cmd, fail=False)
+
+    def change_libs_path(self, object_file):
+        for lib in self.list_shared_libraries(object_file):
+            if self.lib_prefix in lib:
+                new_lib = lib.replace(self.lib_prefix, self.new_lib_prefix)
+                cmd = [INT_CMD, "-change", lib, new_lib, object_file]
+                shell_call(cmd)
+
+    def parse_dir(self, dir_path, filters=None):
+        for dirpath, dirnames, filenames in os.walk(dir_path):
+            for f in filenames:
+                if filters is not None and \
+                        os.path.splitext(f)[1] not in filters:
+                    continue
+                fn = os.path.join(dirpath, f)
+                if os.path.islink(fn):
+                    continue
+                if not os.path.isfile(fn):
+                    continue
+                self.relocate_file(fn)
+            if not self.recursive:
+                break
+
+    @staticmethod
+    def list_shared_libraries(object_file):
+        cmd = [OTOOL_CMD, "-L", object_file]
+        res = shell_check_call(cmd).split('\n')
+        # We don't use the first line
+        libs = res[1:]
+        # Remove the first character tabulation
+        libs = [x[1:] for x in libs]
+        # Remove the version info
+        libs = [x.split(' ', 1)[0] for x in libs]
+        return libs
+
+    @staticmethod
+    def library_id_name(object_file):
+        cmd = [OTOOL_CMD, "-D", object_file]
+        res = shell_check_call(cmd).split('\n')[0]
+        # the library name ends with ':'
+        lib_name = res[:-1]
+        return lib_name
+
+    def _fix_path(self, path):
+        if path.endswith('/'):
+            return path[:-1]
+        return path
+
+
+class Main(object):
+
+    def run(self):
+        # We use OptionParser instead of ArgumentsParse because this script
+        # might be run in OS X 10.6 or older, which do not provide the argparse
+        # module
+        import optparse
+        usage = "usage: %prog [options] directory old_prefix new_prefix"
+        description = 'Rellocates object files changing the dependant '\
+                      ' dynamic libraries location path with a new one'
+        parser = optparse.OptionParser(usage=usage, description=description)
+        parser.add_option('-r', '--recursive', action='store_true',
+                default=False, dest='recursive',
+                help='Scan directories recursively')
+
+        options, args = parser.parse_args()
+        if len(args) != 3:
+            parser.print_usage()
+            exit(1)
+        relocator = OSXRelocator(args[0], args[1], args[2], options.recursive)
+        relocator.relocate()
+        exit(0)
+
+def main():
+    main = Main()
+    main.run()
+
+if __name__ == "__main__":
+    main()
+

tools/prepare_gstreamer_framework.sh

+#!/bin/bash
+#
+# Author: Gus Grubba <mavlink@grubba.com>
+#
+# Copies the regular distribution of the gstreamer framework
+# into the libs directory (to be used for creating the Mac OS
+# bundle). It also prunes unnecessary files and relocates the
+# dynamic libraries.
+# 
+# This script is run by the build process and should not be
+# executed manually.
+#
+# Usage: $script [framework destination path] [app bundle path] [qgc executable name]
+#
+# destination is usually:       ../libs/lib/Frameworks/
+# app bundle is something like: /path/qgroundcontrol.app
+# executable name is usually:   qgroundcontrol
+
+die () {
+    echo "$@" 1>&2
+    exit 1
+}
+
+GST_VER=1.0
+GST_ROOT=/Library/Frameworks/GStreamer.framework
+GST_BASE=$GST_ROOT/Versions/$GST_VER
+RELOC=$(dirname $0)/osxrelocator.py
+
+echo "GST Installer"
+[ "$#" -eq 3 ] || die "3 arguments required, $# provided"
+[ -d "$1" ] || die "Could not find $1"
+[ -d "$2" ] || die "Could not find $2"
+
+FMWORK_TARGET=$1
+BUNDLE_TARGET=$2
+GST_SOURCE=${1%/}/GStreamer.framework
+GST_TARGET=$GST_SOURCE/Versions/$GST_VER
+QGC_BINARY=$BUNDLE_TARGET/Contents/MacOS/$3
+[ -e "$QGC_BINARY" ] || die "Could not find $QGC_BINARY"
+
+process_framework() {
+    #-- Start looking for the source framework
+    [ -d "$GST_ROOT" ] || die "Could not find gstreamer framework in $GST_ROOT"
+    [ -d "$GST_BASE" ] || die "Wrong version of gstreamer framework found in $GST_ROOT"
+    [ -e $RELOC ] || die "Cannot find $RELOC"
+    echo "GST Installer: Copying $GST_ROOT to $FMWORK_TARGET"
+    rsync -a --delete "$GST_ROOT" "$FMWORK_TARGET" || die "Error copying $GST_ROOT to $FMWORK_TARGET"
+    #-- Prune unused stuff
+    rm -rf $GST_TARGET/bin/*
+    rm -rf $GST_TARGET/Headers/*
+    rm -rf $GST_TARGET/include/*
+    rm -rf $GST_TARGET/lib/*.a
+    rm -rf $GST_TARGET/lib/*.la
+    rm -rf $GST_TARGET/lib/gio/modules/static
+    rm -rf $GST_TARGET/lib/glib-2.0
+    rm -rf $GST_TARGET/lib/gst-validate-launcher
+    rm -rf $GST_TARGET/lib/gstreamer-1.0/static
+    rm -rf $GST_TARGET/lib/libffi-3.0.13
+    rm -rf $GST_TARGET/lib/pkgconfig
+    #-- Some dylibs are dupes instead of symlinks.
+    #-- This will do a minimum job in trying to clean those.
+    #-- Doesn't work. The stupid thing can't load a dlyb symlink.
+    #for f in $GST_TARGET/lib/*.dylib
+    #do
+    #    foo=$(basename "$f")
+    #    bar="${foo%.*}"
+    #    for i in `seq 0 9`;
+    #    do
+    #        if [ -e $GST_TARGET/lib/$bar.$i.dylib ]; then
+    #            DUPES="$DUPES
+    #rm -f $GST_TARGET/lib/$bar.$i.dylib"
+    #            DUPES="$DUPES
+    #ln -s $f $GST_TARGET/lib/$bar.$i.dylib"
+    #        fi
+    #    done
+    #done
+    #IFS=$'\n'
+    #for c in $DUPES
+    #do
+    #    eval $c
+    #done
+    #-- Now relocate the embeded paths
+    echo "GST Installer: Relocating"
+    python $RELOC -r $GST_TARGET/lib /Library/Frameworks/GStreamer.framework/ @executable_path/../Frameworks/GStreamer.framework/ > /dev/null || die "Error relocating binaries in $GST_TARGET/lib"
+    python $RELOC -r $GST_TARGET/libexec /Library/Frameworks/GStreamer.framework/ @executable_path/../Frameworks/GStreamer.framework/ > /dev/null || die "Error relocating binaries in $GST_TARGET/libexec"
+}
+
+#-- Check and see if we've already processed the framework
+echo "GST Installer: Checking $GST_TARGET"
+[ -d $GST_TARGET ] || process_framework
+#-- Now copy the framework to the app bundle
+echo "GST Installer: Copying $GST_SOURCE to $BUNDLE_TARGET/Contents/Frameworks/"
+rsync -a --delete $GST_SOURCE $BUNDLE_TARGET/Contents/Frameworks/ || die "Error copying framework into app bundle"
+#-- Move this gst binary to MacOS
+mv $BUNDLE_TARGET/Contents/Frameworks/GStreamer.framework/Versions/1.0/libexec/gstreamer-1.0/gst-plugin-scanner $BUNDLE_TARGET/Contents/MacOS/ || die "Error moving gst-plugin-scanner"
+#-- Fix main binary
+python $RELOC $QGC_BINARY /Library/Frameworks/GStreamer.framework/ @executable_path/../Frameworks/GStreamer.framework/ > /dev/null || die "Error relocating $QGC_BINARY"
+
+