Unified dev branches, enabled building of QGroundControl without OSG

qgroundcontrol.pri

@@ -38,8 +38,7 @@ release {
 macx { 
 
     HARDWARE_PLATFORM = $$system(uname -a)
-    contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || || contains( HARDWARE_PLATFORM, 9.9.0 )
-    {
+    contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || || contains( HARDWARE_PLATFORM, 9.9.0 ) {
         # x86 Mac OS X Leopard 10.5 and earlier
         CONFIG += x86 cocoa phonon
         message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
@@ -71,10 +70,24 @@ macx {
         -lm
     
     ICON = $$BASEDIR/images/icons/macx.icns
+
+    # Copy audio files if needed
+    QMAKE_PRE_LINK += cp -r $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+
+    exists(/opt/local/lib/osg):exists("/opt/local/lib/osgEarth") {
+    message("Building support for OSGEARTH")
+    LIBS += -L/opt/local/lib/
+    INCLUDEPATH += /opt/local/include
+    # Include OpenSceneGraph and osgEarth libraries
+    LIBS += -losg \
+        -losgViewer \
+        -losgEarth
+    DEFINES += QGC_OSG_ENABLED
+    }
 }
 
 # GNU/Linux
-linux-g++ { 
+linux-g++-32 {
 
     CONFIG += debug
     
@@ -113,6 +126,15 @@ linux-g++ {
         -lSDL \
         -lSDLmain
 
+exists(/usr/lib/osg):exists(/usr/lib/osgEarth) {
+message("Building support for OSGEARTH")
+# Include OpenSceneGraph and osgEarth libraries
+LIBS += -losg \
+    -losgViewer \
+    -losgEarth
+DEFINES += QGC_OSG_ENABLED
+}
+
 QMAKE_CXXFLAGS += -Wl,-E
 
         #-lflite_cmu_us_rms \
@@ -156,6 +178,15 @@ linux-g++-64 {
         -lflite \
         -lSDL \
         -lSDLmain
+
+exists(/usr/lib/osg):exists(/usr/lib/osgEarth) {
+message("Building support for OSGEARTH")
+# Include OpenSceneGraph and osgEarth libraries
+LIBS += -losg \
+    -losgViewer \
+    -losgEarth
+DEFINES += QGC_OSG_ENABLED
+}
 }
 
 
@@ -185,6 +216,11 @@ win32 {
     }
         
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
+
+    # Copy dependencies
+    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
+    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
+    QMAKE_PRE_LINK += copy /Y audio $$BUILDDIR\debug\
 }
 
 # Windows (64bit)
@@ -213,5 +249,10 @@ win64 {
     }
 
     RC_FILE = $$BASEDIR/qgroundcontrol.rc
+
+    # Copy dependencies
+    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
+    QMAKE_PRE_LINK += copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/debug/ & copy /Y $$BASEDIR/lib/sdl/SDL.dll $$BUILDDIR/release/
+    QMAKE_PRE_LINK += copy /Y audio $$BUILDDIR\debug\
 }
 

qgroundcontrol.pro

@@ -33,8 +33,8 @@ QT += network \
     phonon
 TEMPLATE = app
 TARGET = qgroundcontrol
-BASEDIR = .
-BUILDDIR = build
+BASEDIR = $$IN_PWD
+BUILDDIR = $$OUT_PWD/build
 LANGUAGE = C++
 CONFIG += debug_and_release \
     console
@@ -42,9 +42,17 @@ OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
 MAVLINK_CONF = ""
+
+# 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) { 
-    message("----- USING USER QGROUNDCONTROL CONFIG FROM 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: " $$MAVLINK_CONF)
+    message("------------------------------------------------------------------------")
 }
 INCLUDEPATH += $$BASEDIR/../mavlink/include/common
 contains(MAVLINK_CONF, pixhawk) { 
@@ -71,11 +79,14 @@ contains(MAVLINK_CONF, ualberta) {
     INCLUDEPATH += $$BASEDIR/../mavlink/include/ualberta
     DEFINES += QGC_USE_UALBERTA_MESSAGES
 }
+contains(MAVLINK_CONF, ardupilotmega) {
+    # Remove the default set - it is included anyway
+    INCLUDEPATH -= $$BASEDIR/../mavlink/include/common
 
-# Include OpenSceneGraph and osgEarth libraries
-LIBS += -losg \
-    -losgViewer \
-    -losgEarth
+    # UALBERTA SPECIAL MESSAGES
+    INCLUDEPATH += $$BASEDIR/../mavlink/include/ardupilotmega
+    DEFINES += QGC_USE_ARDUPILOTMEGA_MESSAGES
+}
 
 # }
 # Include general settings for MAVGround
@@ -218,12 +229,18 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/SwitchCalibrator.h \
     src/ui/RadioCalibration/CurveCalibrator.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
-    src/ui/map3D/Q3DWidget.h \
+    src/comm/QGCMAVLink.h
+
+contains(DEPENDENCIES_PRESENT, osgearth) {
+message("Including headers for OSGEARTH")
+# Enable only if OpenSceneGraph is available
+HEADERS += src/ui/map3D/Q3DWidget.h \
     src/ui/map3D/PixhawkCheetahGeode.h \
-    src/comm/QGCMAVLink.h \
     src/ui/map3D/Pixhawk3DWidget.h \
     src/ui/map3D/Q3DWidgetFactory.h \
     src/ui/map3D/GCManipulator.h
+}
+
 SOURCES += src/main.cc \
     src/Core.cc \
     src/uas/UASManager.cc \
@@ -294,12 +311,17 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
     #src/ui/WaypointGlobalView.cc \
-    src/ui/map3D/Q3DWidget.cc \
+
+contains(DEPENDENCIES_PRESENT, osgearth) {
+message("Including sources for OSGEARTH")
+# Enable only if OpenSceneGraph is available
+SOURCES += src/ui/map3D/Q3DWidget.cc \
     src/ui/map3D/PixhawkCheetahGeode.cc \
     src/ui/map3D/Pixhawk3DWidget.cc \
     src/ui/map3D/Q3DWidgetFactory.cc \
     src/ui/map3D/GCManipulator.cc
-RESOURCES = mavground.qrc
+}
+RESOURCES += mavground.qrc
 
 # Include RT-LAB Library
 win32:exists(src/lib/opalrt/OpalApi.h):exists(C:\OPAL-RT\RT-LAB7.2.4\Common\bin) { 

src/comm/QGCMAVLink.h

@@ -45,8 +45,8 @@ This file is part of the QGROUNDCONTROL project
 #include <ualberta.h>
 #endif
 
-#ifdef QGC_USE_ARDUPILOT_MESSAGES
-#include <ardupilot.h>
+#ifdef QGC_USE_ARDUPILOTMEGA_MESSAGES
+#include <ardupilotmega.h>
 #endif
 
 

src/ui/MainWindow.cc

@@ -45,7 +45,10 @@ This file is part of the QGROUNDCONTROL project
 #include "MainWindow.h"
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
+
+    #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
+#endif
 
 // FIXME Move
 #include "PxQuadMAV.h"
@@ -132,7 +135,9 @@ void MainWindow::buildWidgets()
     mapWidget         = new MapWidget(this);
     protocolWidget    = new XMLCommProtocolWidget(this);
     dataplotWidget    = new QGCDataPlot2D(this);
+    #ifdef QGC_OSG_ENABLED
     _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
+#endif
 
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
@@ -224,7 +229,9 @@ void MainWindow::arrangeCenterStack()
     if (linechartWidget) centerStack->addWidget(linechartWidget);
     if (protocolWidget) centerStack->addWidget(protocolWidget);
     if (mapWidget) centerStack->addWidget(mapWidget);
+        #ifdef QGC_OSG_ENABLED
     if (_3DWidget) centerStack->addWidget(_3DWidget);
+#endif
     if (hudWidget) centerStack->addWidget(hudWidget);
     if (dataplotWidget) centerStack->addWidget(dataplotWidget);
 
@@ -664,6 +671,7 @@ void MainWindow::loadPixhawkView()
     clearView();
     // Engineer view, used in EMAV2009
 
+        #ifdef QGC_OSG_ENABLED
     // 3D map
     if (_3DWidget)
     {
@@ -674,6 +682,7 @@ void MainWindow::loadPixhawkView()
             centerStack->setCurrentWidget(_3DWidget);
         }
     }
+#endif
 
     // UAS CONTROL
     if (controlDockWidget)
@@ -952,6 +961,7 @@ void MainWindow::loadGlobalOperatorView()
 
 void MainWindow::load3DView()
 {
+        #ifdef QGC_OSG_ENABLED
             clearView();
 
             // 3D map
@@ -997,8 +1007,9 @@ void MainWindow::load3DView()
                     hsiDockWidget->show();
                 }
             }
-
+#endif
             this->show();
+
         }
 
 void MainWindow::loadEngineerView()

src/ui/MainWindow.h

@@ -63,7 +63,9 @@ This file is part of the QGROUNDCONTROL project
 #include "HSIDisplay.h"
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
+#ifdef QGC_OSG_ENABLED
 #include "Q3DWidget.h"
+#endif
 
 #include "LogCompressor.h"
 
@@ -163,7 +165,9 @@ protected:
     QPointer<MapWidget> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
+    #ifdef QGC_OSG_ENABLED
     QPointer<Q3DWidget> _3DWidget;
+#endif
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
     QPointer<QDockWidget> infoDockWidget;

src/ui/map3D/Q3DWidget.h

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QtOpenGL>
 
+
 #include <osg/LineSegment>
 #include <osg/PositionAttitudeTransform>
 #include <osgGA/TrackballManipulator>