From efb1428b2bdf6b322c0f005d20f3aae0310e59a3 Mon Sep 17 00:00:00 2001
From: Bryan Godbolt <godbolt@ualberta.ca>
Date: Wed, 11 Aug 2010 10:25:28 -0600
Subject: [PATCH] added OpalLink to core.  protected with ifdef OPAL_RT

---
 qgroundcontrol.pro | 2 +-
 src/Core.cc        | 5 +++++
 src/Core.h         | 4 ++++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 2483e6dd7..42030a914 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -213,7 +213,7 @@ RESOURCES = mavground.qrc
 # Include RT-LAB Library
 win32 {
     LIBS += C:\OPAL-RT\RT-LAB7.2.4\Common\lib\OpalApi.lib
-    INCLUDEPATH += C:\OPAL-RT\RT-LAB7.2.4\Common\Include
+    INCLUDEPATH += src/lib/opalrt
     SOURCES += src/comm/OpalLink.cc
     HEADERS += src/comm/OpalLink.h
     DEFINES += OPAL_RT
diff --git a/src/Core.cc b/src/Core.cc
index 41a099fab..653df01fb 100644
--- a/src/Core.cc
+++ b/src/Core.cc
@@ -132,6 +132,11 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         }
     }
 
+#ifdef OPAL_RT
+    // Add OpalRT Link, but do not connect
+    OpalLink* opalLink = new OpalLink();
+    mainWindow->addLink(opalLink);
+#endif
     // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     mainWindow->addLink(simulationLink);
diff --git a/src/Core.h b/src/Core.h
index 2277a3068..78bb5f639 100644
--- a/src/Core.h
+++ b/src/Core.h
@@ -39,7 +39,11 @@ This file is part of the PIXHAWK project
 #include "UASManager.h"
 #include "LinkManager.h"
 /*#include "ViconTarsusProtocol.h" */
+#ifdef OPAL_RT
 
+#include "OpalLink.h"
+
+#endif
 /**
  * @brief The main application and management class.
  *
-- 
2.22.0