Disable references to pixhawk protoc files if pixhawk is not included in MAVLINK_CONF.

qgroundcontrol.pro

@@ -388,7 +388,7 @@ contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
     message("Including headers for Protocol Buffers")
 
     # Enable only if protobuf is available
-    HEADERS += ../mavlink/include/pixhawk/pixhawk.pb.h \
+    HEADERS += thirdParty/mavlink/include/pixhawk/pixhawk.pb.h \
                src/ui/map3D/ObstacleGroupNode.h
 }
 contains(DEPENDENCIES_PRESENT, libfreenect) { 
@@ -530,7 +530,7 @@ contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
     message("Including sources for Protocol Buffers")
 
     # Enable only if protobuf is available
-    SOURCES += ../mavlink/src/pixhawk/pixhawk.pb.cc \
+    SOURCES += thirdParty/mavlink/src/pixhawk/pixhawk.pb.cc \
                src/ui/map3D/ObstacleGroupNode.cc
 }
 contains(DEPENDENCIES_PRESENT, libfreenect) { 

src/comm/MAVLinkProtocol.cc

@@ -201,7 +201,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 //		    continue;
 //	    }
 //#endif
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
 
             if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
             {
@@ -218,6 +218,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // copy extended payload data
                 memcpy(extended_message.extended_payload, extended_payload, extended_message.extended_payload_len);
 
+#if defined(QGC_USE_PIXHAWK_MESSAGES)
+
                 if (protobufManager.cacheFragment(extended_message))
                 {
                     std::tr1::shared_ptr<google::protobuf::Message> protobuf_msg;
@@ -262,6 +264,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                         }
                     }
                 }
+#endif
 
                 position += extended_message.extended_payload_len;
 

src/comm/MAVLinkProtocol.h

@@ -42,9 +42,13 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCMAVLink.h"
 #include "QGC.h"
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
+#include <tr1/memory>
+#include <google/protobuf/message.h>
+#if defined(QGC_USE_PIXHAWK_MESSAGES)
 #include <mavlink_protobuf_manager.hpp>
 #endif
+#endif
 
 
 /**
@@ -202,14 +206,14 @@ protected:
     int currLossCounter;
     bool versionMismatchIgnore;
     int systemId;
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     mavlink::ProtobufManager protobufManager;
 #endif
 
 signals:
     /** @brief Message received and directly copied via signal */
     void messageReceived(LinkInterface* link, mavlink_message_t message);
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
     /** @brief Message received via signal */
     void extendedMessageReceived(LinkInterface *link, std::tr1::shared_ptr<google::protobuf::Message> message);
 #endif

src/uas/PxQuadMAV.cc

@@ -206,7 +206,7 @@ void PxQuadMAV::receiveMessage(LinkInterface* link, mavlink_message_t message)
 #endif
 }
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
 void PxQuadMAV::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
 {
     UAS::receiveExtendedMessage(link, message);

src/uas/PxQuadMAV.h

@@ -35,7 +35,7 @@ public:
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
     /** @brief Receive a Protobuf message from this MAV */
     void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
 #endif

src/uas/UAS.cc

@@ -75,7 +75,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     pitch(0.0),
     yaw(0.0),
     statusTimeout(new QTimer(this)),
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     receivedPointCloudTimestamp(0.0),
     receivedRGBDImageTimestamp(0.0),
     receivedObstacleListTimestamp(0.0),
@@ -1022,7 +1022,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     }
 }
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED)
 void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
 {
     if (!link)
@@ -1069,6 +1069,7 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
         return;
     }
 
+#ifdef QGC_USE_PIXHAWK_MESSAGES
     if (message->GetTypeName() == pointCloud.GetTypeName())
     {
         receivedPointCloudTimestamp = QGC::groundTimeSeconds();
@@ -1101,6 +1102,7 @@ void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<googl
         pathMutex.unlock();
         emit pathChanged(this);
     }
+#endif
 }
 
 #endif

src/uas/UAS.h

@@ -134,7 +134,7 @@ public:
     }
     bool getSelected() const;
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     px::PointCloudXYZRGB getPointCloud() {
         QMutexLocker locker(&pointCloudMutex);
         return pointCloud;
@@ -263,7 +263,7 @@ protected: //COMMENTS FOR TEST UNIT
     QImage image;               ///< Image data of last completely transmitted image
     quint64 imageStart;
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     px::PointCloudXYZRGB pointCloud;
     QMutex pointCloudMutex;
     qreal receivedPointCloudTimestamp;
@@ -610,7 +610,7 @@ signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */
     void imageReady(UASInterface* uas);
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     /** @brief Point cloud data has been changed */
     void pointCloudChanged(UASInterface* uas);
     /** @brief RGBD image data has been changed */

src/uas/UASInterface.h

@@ -46,8 +46,10 @@ This file is part of the QGROUNDCONTROL project
 
 #ifdef QGC_PROTOBUF_ENABLED
 #include <tr1/memory>
+#ifdef QGC_USE_PIXHAWK_MESSAGES
 #include <pixhawk/pixhawk.pb.h>
 #endif
+#endif
 
 /**
  * @brief Interface for all robots.
@@ -94,7 +96,7 @@ public:
 
     virtual bool getSelected() const = 0;
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     virtual px::PointCloudXYZRGB getPointCloud() = 0;
     virtual px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) = 0;
     virtual px::RGBDImage getRGBDImage() = 0;

src/ui/QGCRGBDView.cc

@@ -220,7 +220,7 @@ float colormapJet[128][3] = {
 
 void QGCRGBDView::updateData(UASInterface *uas)
 {
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     px::RGBDImage rgbdImage = uas->getRGBDImage();
 
     if (rgbdImage.rows() == 0 || rgbdImage.cols() == 0 || (!rgbEnabled && !depthEnabled))

src/ui/map3D/Pixhawk3DWidget.cc

@@ -45,7 +45,7 @@
 #include "QGC.h"
 #include "gpl.h"
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
 #include <tr1/memory>
 #include <pixhawk/pixhawk.pb.h>
 #endif
@@ -111,7 +111,7 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
     rgbd3DNode = createRGBD3D();
     rollingMap->addChild(rgbd3DNode);
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     obstacleGroupNode = new ObstacleGroupNode;
     obstacleGroupNode->init();
     rollingMap->addChild(obstacleGroupNode);
@@ -861,7 +861,7 @@ Pixhawk3DWidget::display(void)
     rollingMap->setChildValue(mapNode, displayImagery);
     rollingMap->setChildValue(waypointGroupNode, displayWaypoints);
     rollingMap->setChildValue(targetNode, enableTarget);
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     rollingMap->setChildValue(obstacleGroupNode, displayObstacleList);
     rollingMap->setChildValue(pathNode, displayPath);
 #endif
@@ -921,7 +921,7 @@ Pixhawk3DWidget::display(void)
         updateTarget(robotX, robotY, robotZ);
     }
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     if (displayRGBD2D || displayRGBD3D)
     {
         updateRGBD(robotX, robotY, robotZ);
@@ -1647,7 +1647,7 @@ Pixhawk3DWidget::updateTarget(double robotX, double robotY, double robotZ)
     sd->setColor(osg::Vec4f(1.0f, 0.8f, 0.0f, 1.0f));
 }
 
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
 void
 Pixhawk3DWidget::updateRGBD(double robotX, double robotY, double robotZ)
 {

src/ui/map3D/Pixhawk3DWidget.h

@@ -38,7 +38,7 @@
 #include "Imagery.h"
 #include "ImageWindowGeode.h"
 #include "WaypointGroupNode.h"
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     #include "ObstacleGroupNode.h"
 #endif
 
@@ -127,7 +127,7 @@ private:
                        const QString& zone);
     void updateWaypoints(void);
     void updateTarget(double robotX, double robotY, double robotZ);
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     void updateRGBD(double robotX, double robotY, double robotZ);
     void updateObstacles(double robotX, double robotY, double robotZ);
     void updatePath(double robotX, double robotY, double robotZ);
@@ -182,7 +182,7 @@ private:
     osg::ref_ptr<WaypointGroupNode> waypointGroupNode;
     osg::ref_ptr<osg::Node> targetNode;
     osg::ref_ptr<osg::Geode> rgbd3DNode;
-#ifdef QGC_PROTOBUF_ENABLED
+#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     osg::ref_ptr<ObstacleGroupNode> obstacleGroupNode;
     osg::ref_ptr<osg::Geode> pathNode;
 #endif