Merged

qgroundcontrol.pri

@@ -42,8 +42,11 @@ QMAKE_PRE_LINK += echo "Copying files"
 # MAC OS X
 macx { 
 
+    COMPILER_VERSION = $$system(gcc -v)
+    message(Using compiler $$COMPILER_VERSION)
+
     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)
@@ -60,18 +63,15 @@ macx {
         message(Building for Mac OS X 64bit/Snow Leopard 10.6 and later)
     }
 
-    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.5
 
     DESTDIR = $$BASEDIR/bin/mac
-    INCLUDEPATH += -framework SDL \
-        $$BASEDIR/../mavlink/contrib/slugs/include \
-        $$BASEDIR/../mavlink/include
+    INCLUDEPATH += -framework SDL
 
     LIBS += -framework IOKit \
         -framework SDL \
         -framework CoreFoundation \
         -framework ApplicationServices \
- #       -framework GLUT \
         -lm
     
     ICON = $$BASEDIR/images/icons/macx.icns
@@ -79,30 +79,63 @@ macx {
     # Copy audio files if needed
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
 
-    exists(/usr/include/osg) {
+    exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
+    # No check for GLUT.framework since it's a MAC default
     message("Building support for OpenSceneGraph")
     DEPENDENCIES_PRESENT += osg
+    DEFINES += QGC_OSG_ENABLED
     # Include OpenSceneGraph libraries
-    LIBS += -losg
+    INCLUDEPATH += -framework GLUT \
+            -framework Carbon \
+            -framework OpenThreads \
+            -framework osg \
+            -framework osgViewer \
+            -framework osgGA \
+            -framework osgDB \
+            -framework osgText \
+            -framework osgWidget
+
+    LIBS += -framework GLUT \
+            -framework Carbon \
+            -framework OpenThreads \
+            -framework osg \
+            -framework osgViewer \
+            -framework osgGA \
+            -framework osgDB \
+            -framework osgText \
+            -framework osgWidget
     }
 
     exists(/usr/include/osgEarth) {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
-    LIBS += -losgViewer \
-            -losgEarth \
-            -losgEarthUtil
+    INCLUDEPATH += -framework GDAL \
+            $$IN_PWD/lib/mac32-gcc/include \
+            -framework GEOS \
+            -framework SQLite3 \
+            -framework osgFX \
+            -framework osgTerrain
+
+    LIBS += -framework GDAL \
+            -framework GEOS \
+            -framework SQLite3 \
+            -framework osgFX \
+            -framework osgTerrain \
     DEFINES += QGC_OSGEARTH_ENABLED
     }
 
-    exists(/usr/local/include/libfreenect) {
+    exists(/opt/local/include/libfreenect) {
     message("Building support for libfreenect")
     DEPENDENCIES_PRESENT += libfreenect
     # Include libfreenect libraries
     LIBS += -lfreenect
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    #QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # GNU/Linux
@@ -145,7 +178,7 @@ linux-g++ {
     DEFINES += QGC_OSG_ENABLED
     }
 
-    exists(/usr/include/osgEarth) {
+    exists(/usr/include/osgEarth) | exists(/usr/local/include/osgEarth) {
     message("Building support for osgEarth")
     DEPENDENCIES_PRESENT += osgearth
     # Include osgEarth libraries
@@ -164,16 +197,14 @@ linux-g++ {
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
 
-    #QMAKE_CXXFLAGS += -Wl,-E
-
-        #-lflite_cmu_us_rms \
-        #-lflite_cmu_us_slt \
-
     QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/debug/.
     QMAKE_PRE_LINK += && cp -rf $$BASEDIR/models $$TARGETDIR/release/.
     QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/debug/.
     QMAKE_PRE_LINK += && cp -rf $$BASEDIR/data $$TARGETDIR/release/.
 
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 linux-g++-64 {
@@ -234,6 +265,10 @@ linux-g++-64 {
     LIBS += -lfreenect
     DEFINES += QGC_LIBFREENECT_ENABLED
     }
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # Windows (32bit)
@@ -261,6 +296,10 @@ win32-msvc2008 {
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += /Wl /E
 }
 
 # Windows (32bit)
@@ -297,6 +336,10 @@ win32-g++ {
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$TARGETDIR/release/.
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/debug/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/models $$TARGETDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }
 
 # Windows (64bit)
@@ -331,4 +374,8 @@ win64-g++ {
     QMAKE_PRE_LINK += cp -f $$BASEDIR/lib/sdl/win32/SDL.dll $$BUILDDIR/release/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/debug/. &&
     QMAKE_PRE_LINK += cp -rf $$BASEDIR/audio $$BUILDDIR/release/.
+
+    # osg/osgEarth dynamic casts might fail without this compiler option.
+    # see http://osgearth.org/wiki/FAQ for details.
+    QMAKE_CXXFLAGS += -Wl, -E
 }

qgroundcontrol.pro

@@ -236,19 +236,19 @@ contains(DEPENDENCIES_PRESENT, osg) {
     message("Including headers for OpenSceneGraph")
     
     # Enable only if OpenSceneGraph is available
-    HEADERS += src/ui/map3D/Q3DWidget.h
+    HEADERS += src/ui/map3D/Q3DWidget.h \
+        src/ui/map3D/GCManipulator.h \
+        src/ui/map3D/ImageWindowGeode.h \
+        src/ui/map3D/QOSGWidget.h \
+        src/ui/map3D/PixhawkCheetahGeode.h \
+        src/ui/map3D/Pixhawk3DWidget.h \
+        src/ui/map3D/Q3DWidgetFactory.h
 
 contains(DEPENDENCIES_PRESENT, osgearth) { 
     message("Including headers for OSGEARTH")
     
     # Enable only if OpenSceneGraph is available
-    HEADERS += src/ui/map3D/QOSGWidget.h \
-        src/ui/map3D/QMap3D.h \
-        src/ui/map3D/PixhawkCheetahGeode.h \
-        src/ui/map3D/Pixhawk3DWidget.h \
-        src/ui/map3D/Q3DWidgetFactory.h \
-        src/ui/map3D/GCManipulator.h \
-        src/ui/map3D/ImageWindowGeode.h
+    HEADERS += src/ui/map3D/QMap3D.h
 }
 }
 
@@ -327,25 +327,27 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/SwitchCalibrator.cc \
     src/ui/RadioCalibration/CurveCalibrator.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
-    src/ui/RadioCalibration/RadioCalibrationData.cc \ # src/ui/WaypointGlobalView.cc \
-    src/ui/map3D/ImageWindowGeode.cc
+    src/ui/RadioCalibration/RadioCalibrationData.cc
 
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including sources for OpenSceneGraph")
     
     # Enable only if OpenSceneGraph is available
-    SOURCES += src/ui/map3D/Q3DWidget.cc
+    SOURCES += src/ui/map3D/Q3DWidget.cc \
+    src/ui/map3D/ImageWindowGeode.cc \
+    src/ui/map3D/GCManipulator.cc \
+    src/ui/map3D/QOSGWidget.cc \
+        src/ui/map3D/PixhawkCheetahGeode.cc \
+        src/ui/map3D/Pixhawk3DWidget.cc \
+        src/ui/map3D/Q3DWidgetFactory.cc
+
+
 
 contains(DEPENDENCIES_PRESENT, osgearth) { 
     message("Including sources for osgEarth")
     
     # Enable only if OpenSceneGraph is available
-    SOURCES += src/ui/map3D/QOSGWidget.cc \
-        src/ui/map3D/QMap3D.cc \
-        src/ui/map3D/PixhawkCheetahGeode.cc \
-        src/ui/map3D/Pixhawk3DWidget.cc \
-        src/ui/map3D/Q3DWidgetFactory.cc \
-        src/ui/map3D/GCManipulator.cc
+    SOURCES += src/ui/map3D/QMap3D.cc
 
 }
 }

src/ui/MainWindow.cc

@@ -137,9 +137,12 @@ void MainWindow::buildWidgets()
     dataplotWidget    = new QGCDataPlot2D(this);
     #ifdef QGC_OSG_ENABLED
     _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
-    _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
     #endif
 
+#ifdef QGC_OSGEARTH_ENABLED
+    _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
+#endif
+
     // Dock widgets
     controlDockWidget = new QDockWidget(tr("Control"), this);
     controlDockWidget->setWidget( new UASControlWidget(this) );
@@ -232,6 +235,8 @@ void MainWindow::arrangeCenterStack()
     if (mapWidget) centerStack->addWidget(mapWidget);
     #ifdef QGC_OSG_ENABLED
     if (_3DWidget) centerStack->addWidget(_3DWidget);
+#endif
+    #ifdef QGC_OSGEARTH_ENABLED
     if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
     #endif
     if (hudWidget) centerStack->addWidget(hudWidget);
@@ -964,11 +969,11 @@ void MainWindow::loadGlobalOperatorView()
 
 void MainWindow::load3DMapView()
 {
-        #ifdef QGC_OSG_ENABLED
+        #ifdef QGC_OSGEARTH_ENABLED
             clearView();
 
             // 3D map
-            if (_3DWidget)
+            if (_3DMapWidget)
             {
                 QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
                 if (centerStack)

src/ui/MainWindow.h

@@ -166,6 +166,8 @@ protected:
     QPointer<QGCDataPlot2D> dataplotWidget;
     #ifdef QGC_OSG_ENABLED
     QPointer<QWidget> _3DWidget;
+    #endif
+    #ifdef QGC_OSGEARTH_ENABLED
     QPointer<QWidget> _3DMapWidget;
     #endif
     // Dock widgets

src/ui/map3D/GCManipulator.cc

@@ -254,7 +254,7 @@ GCManipulator::calcMovement()
     if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
     {
         // rotate camera
-        osg::Vec3 axis;
+        osg::Vec3d axis;
         float angle;
 
         float px0 = _ga_t0->getXnormalized();

src/ui/map3D/Pixhawk3DWidget.cc

@@ -35,6 +35,7 @@
 
 #include <osg/Geode>
 #include <osg/Image>
+#include <osgDB/ReadFile>
 #include <osg/LineWidth>
 #include <osg/ShapeDrawable>
 

src/ui/map3D/Q3DWidget.cc

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include <osg/Geometry>
 #include <osg/LineWidth>
 #include <osg/MatrixTransform>
+#include <Carbon/Carbon.h>
 
 Q3DWidget::Q3DWidget(QWidget* parent)
     : QGLWidget(parent)
@@ -90,7 +91,7 @@ Q3DWidget::init(float fps)
     egocentricMap->addChild(createRobot());
 
     // set up camera control
-    cameraManipulator = new GCManipulator;
+    cameraManipulator = new GCManipulator();
     setCameraManipulator(cameraManipulator);
     cameraManipulator->setMinZoomRange(cameraParams.minZoomRange);
     cameraManipulator->setDistance(cameraParams.minZoomRange * 2.0);

src/ui/map3D/Q3DWidgetFactory.cc

@@ -32,21 +32,25 @@ This file is part of the QGROUNDCONTROL project
 #include "Q3DWidgetFactory.h"
 
 #include "Pixhawk3DWidget.h"
+#ifdef QGC_OSGEARTH_ENABLED
 #include "QMap3D.h"
+#endif
 
 QPointer<QWidget>
 Q3DWidgetFactory::get(const std::string& type)
 {
     if (type == "PIXHAWK")
     {
-        return QPointer<QWidget>(new Pixhawk3DWidget);
+        return QPointer<QWidget>(new Pixhawk3DWidget());
     }
+#ifdef QGC_OSGEARTH_ENABLED
     else if (type == "MAP3D")
     {
-        return QPointer<QWidget>(new QMap3D);
+        return QPointer<QWidget>(new QMap3D());
     }
+#endif
     else
     {
-        return QPointer<QWidget>(new Q3DWidget);
+        return QPointer<QWidget>(new Q3DWidget());
     }
 }

src/ui/map3D/QMap3D.cc

@@ -21,6 +21,8 @@ This file is part of the QGROUNDCONTROL project
 
 ======================================================================*/
 
+#ifdef QGC_OSGEARTH_ENABLED
+
 /**
  * @file
  *   @brief Definition of the class QMap3D.
@@ -62,3 +64,5 @@ void QMap3D::on_pushButton_vehicle_clicked()
     graphicsView->getSceneData()->asGroup()->addChild(osgDB::readNodeFile(vehicleName.toStdString()));
     graphicsView->updateCamera();
 }
+
+#endif

src/ui/map3D/QMap3D.h

@@ -29,6 +29,8 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
+#ifdef QGC_OSGEARTH_ENABLED
+
 #ifndef QMAP3D_H
 #define QMAP3D_H
 
@@ -52,3 +54,4 @@ public slots:
 
 #endif // QMAP3D_H
 
+#endif

src/ui/map3D/QOSGWidget.cc

@@ -18,6 +18,10 @@
 
 #include "QOSGWidget.h"
 
+#ifdef Q_OS_MACX
+
+#endif
+
 QOSGWidget::QOSGWidget( QWidget * parent, const char * name, WindowFlags f, bool overrideTraits):
     QWidget(parent, f), _overrideTraits (overrideTraits)
 {