Merge pull request #14186 from LatitudeEngineering/latitude/topic/qgroundcontrol

qgroundcontrol: init at 2.9.4

lib/maintainers.nix

···
   psibi = "Sibi <[e-mail]>";
   pSub = "Pascal Wittmann <[e-mail]>";
   puffnfresh = "Brian McKenna <[e-mail]>";
+  pxc = "Patrick Callahan <[e-mail]>";
   qknight = "Joachim Schiele <[e-mail]>";
   ragge = "Ragnar Dahlen <[e-mail]>";
   raskin = "Michael Raskin <[e-mail]>";

pkgs/applications/science/robotics/qgroundcontrol/0001-fix-gcc-cmath-namespace-issues.patch

···
+From fffc383c10c7c194e427d78c83802c3b910fa1c2 Mon Sep 17 00:00:00 2001
+From: Patrick Callahan <[e-mail]>
+Date: Thu, 24 Mar 2016 18:17:57 -0700
+Subject: [PATCH] fix gcc cmath namespace issues
+
+---
+ src/Vehicle/Vehicle.cc        | 6 +++---
+ src/comm/QGCFlightGearLink.cc | 4 ++--
+ src/comm/QGCJSBSimLink.cc     | 4 ++--
+ src/uas/UAS.cc                | 8 ++++----
+ src/ui/QGCDataPlot2D.cc       | 4 ++--
+ 5 files changed, 13 insertions(+), 13 deletions(-)
+
+diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
+index a0d3605..205b1de 100644
+--- a/src/Vehicle/Vehicle.cc
++++ b/src/Vehicle/Vehicle.cc
+@@ -638,17 +638,17 @@ void Vehicle::setLongitude(double longitude){
+ 
+ void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
+ {
+-    if (isinf(roll)) {
++    if (std::isinf(roll)) {
+         _rollFact.setRawValue(0);
+     } else {
+         _rollFact.setRawValue(roll * (180.0 / M_PI));
+     }
+-    if (isinf(pitch)) {
++    if (std::isinf(pitch)) {
+         _pitchFact.setRawValue(0);
+     } else {
+         _pitchFact.setRawValue(pitch * (180.0 / M_PI));
+     }
+-    if (isinf(yaw)) {
++    if (std::isinf(yaw)) {
+         _headingFact.setRawValue(0);
+     } else {
+         yaw = yaw * (180.0 / M_PI);
+diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
+index 2a520fb..886aecf 100644
+--- a/src/comm/QGCFlightGearLink.cc
++++ b/src/comm/QGCFlightGearLink.cc
+@@ -230,7 +230,7 @@ void QGCFlightGearLink::updateControls(quint64 time, float rollAilerons, float p
+     Q_UNUSED(systemMode);
+     Q_UNUSED(navMode);
+ 
+-    if(!isnan(rollAilerons) && !isnan(pitchElevator) && !isnan(yawRudder) && !isnan(throttle))
++    if(!std::isnan(rollAilerons) && !std::isnan(pitchElevator) && !std::isnan(yawRudder) && !std::isnan(throttle))
+     {
+         QString state("%1\t%2\t%3\t%4\t%5\n");
+         state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
+@@ -240,7 +240,7 @@ void QGCFlightGearLink::updateControls(quint64 time, float rollAilerons, float p
+     }
+     else
+     {
+-        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << isnan(rollAilerons) << ", pitch: " << isnan(pitchElevator) << ", yaw: " << isnan(yawRudder) << ", throttle: " << isnan(throttle);
++        qDebug() << "HIL: Got NaN values from the hardware: std::isnan output: roll: " << std::isnan(rollAilerons) << ", pitch: " << std::isnan(pitchElevator) << ", yaw: " << std::isnan(yawRudder) << ", throttle: " << std::isnan(throttle);
+     }
+ }
+ 
+diff --git a/src/comm/QGCJSBSimLink.cc b/src/comm/QGCJSBSimLink.cc
+index 1210621..89db371 100644
+--- a/src/comm/QGCJSBSimLink.cc
++++ b/src/comm/QGCJSBSimLink.cc
+@@ -242,7 +242,7 @@ void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitch
+     Q_UNUSED(systemMode);
+     Q_UNUSED(navMode);
+ 
+-    if(!isnan(rollAilerons) && !isnan(pitchElevator) && !isnan(yawRudder) && !isnan(throttle))
++    if(!std::isnan(rollAilerons) && !std::isnan(pitchElevator) && !std::isnan(yawRudder) && !std::isnan(throttle))
+     {
+         QString state("%1\t%2\t%3\t%4\t%5\n");
+         state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
+@@ -250,7 +250,7 @@ void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitch
+     }
+     else
+     {
+-        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << isnan(rollAilerons) << ", pitch: " << isnan(pitchElevator) << ", yaw: " << isnan(yawRudder) << ", throttle: " << isnan(throttle);
++        qDebug() << "HIL: Got NaN values from the hardware: isnan output: roll: " << std::isnan(rollAilerons) << ", pitch: " << std::isnan(pitchElevator) << ", yaw: " << std::isnan(yawRudder) << ", throttle: " << std::isnan(throttle);
+     }
+     //qDebug() << "Updated controls" << state;
+ }
+diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
+index 4d5c1c2..ac88852 100644
+--- a/src/uas/UAS.cc
++++ b/src/uas/UAS.cc
+@@ -558,7 +558,7 @@ void UAS::receiveMessage(mavlink_message_t message)
+ 
+             setAltitudeAMSL(hud.alt);
+             setGroundSpeed(hud.groundspeed);
+-            if (!isnan(hud.airspeed))
++            if (!std::isnan(hud.airspeed))
+                 setAirSpeed(hud.airspeed);
+             speedZ = -hud.climb;
+             emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
+@@ -654,7 +654,7 @@ void UAS::receiveMessage(mavlink_message_t message)
+ 
+                     float vel = pos.vel/100.0f;
+                     // Smaller than threshold and not NaN
+-                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel)) {
++                    if ((vel < 1000000) && !std::isnan(vel) && !std::isinf(vel)) {
+                         setGroundSpeed(vel);
+                         emit speedChanged(this, groundSpeed, airSpeed, time);
+                     } else {
+@@ -1439,8 +1439,8 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
+     if (countSinceLastTransmission++ >= 5) {
+         sendCommand = true;
+         countSinceLastTransmission = 0;
+-    } else if ((!isnan(roll) && roll != manualRollAngle) || (!isnan(pitch) && pitch != manualPitchAngle) ||
+-             (!isnan(yaw) && yaw != manualYawAngle) || (!isnan(thrust) && thrust != manualThrust) ||
++    } else if ((!std::isnan(roll) && roll != manualRollAngle) || (!std::isnan(pitch) && pitch != manualPitchAngle) ||
++             (!std::isnan(yaw) && yaw != manualYawAngle) || (!std::isnan(thrust) && thrust != manualThrust) ||
+              buttons != manualButtons) {
+         sendCommand = true;
+ 
+diff --git a/src/ui/QGCDataPlot2D.cc b/src/ui/QGCDataPlot2D.cc
+index 2e530b2..9d5a774 100644
+--- a/src/ui/QGCDataPlot2D.cc
++++ b/src/ui/QGCDataPlot2D.cc
+@@ -535,7 +535,7 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
+                 {
+                     bool okx = true;
+                     x = text.toDouble(&okx);
+-                    if (okx && !isnan(x) && !isinf(x))
++                    if (okx && !std::isnan(x) && !std::isinf(x))
+                     {
+                         headerfound = true;
+                     }
+@@ -561,7 +561,7 @@ void QGCDataPlot2D::loadCsvLog(QString file, QString xAxisName, QString yAxisFil
+                         y = text.toDouble(&oky);
+                         // Only INF is really an issue for the plot
+                         // NaN is fine
+-                        if (oky && !isnan(y) && !isinf(y) && text.length() > 0 && text != " " && text != "\n" && text != "\r" && text != "\t")
++                        if (oky && !std::isnan(y) && !std::isinf(y) && text.length() > 0 && text != " " && text != "\n" && text != "\r" && text != "\t")
+                         {
+                             // Only append definitely valid values
+                             xValues.value(curveName)->append(x);
+-- 
+2.7.4
+

pkgs/applications/science/robotics/qgroundcontrol/default.nix

···
+{ stdenv, fetchgit, git,  espeak, SDL, udev, doxygen, cmake, overrideCC#, gcc48
+  , qtbase, qtlocation, qtserialport, qtdeclarative, qtconnectivity, qtxmlpatterns
+  , qtsvg, qtquick1, qtquickcontrols, qtgraphicaleffects
+  , makeQtWrapper, lndir
+  , gst_all_1, qt_gstreamer1, pkgconfig, glibc
+  , version ? "2.9.4"
+}:
+
+stdenv.mkDerivation rec {
+  name = "qgroundcontrol-${version}";
+  buildInputs = [
+   SDL udev doxygen git
+  ] ++ gstInputs;
+
+  qtInputs = [
+    qtbase qtlocation qtserialport qtdeclarative qtconnectivity qtxmlpatterns qtsvg 
+    qtquick1 qtquickcontrols qtgraphicaleffects
+  ];
+
+  gstInputs = with gst_all_1; [
+    gstreamer gst-plugins-base
+  ];
+
+  enableParallelBuilding = true;
+  nativeBuildInputs = [
+    pkgconfig makeQtWrapper
+ ] ++ qtInputs;
+
+  patches = [ ./0001-fix-gcc-cmath-namespace-issues.patch ];
+
+  preConfigure = ''
+    git submodule init
+    git submodule update
+
+  '';
+
+  configurePhase = ''
+    mkdir build
+    pushd build
+
+    qmake ../qgroundcontrol.pro
+
+    popd
+  '';
+
+  preBuild = "pushd build/";
+  postBuild = "popd";
+
+  installPhase = ''
+    mkdir -p $out/share/applications
+    cp -v qgroundcontrol.desktop $out/share/applications
+    
+    mkdir -p $out/bin
+    cp -v build/release/qgroundcontrol "$out/bin/"
+    
+    mkdir -p $out/share/qgroundcontrol
+    cp -rv resources/ $out/share/qgroundcontrol
+    
+    mkdir -p $out/share/pixmaps
+    cp -v resources/icons/qgroundcontrol.png $out/share/pixmaps
+
+    # we need to link to our Qt deps in our own output if we want
+    # this package to work without being installed as a system pkg
+    mkdir -p $out/lib/qt5 $out/etc/xdg
+    for pkg in $qtInputs; do
+      if [[ -d $pkg/lib/qt5 ]]; then
+        for dir in lib/qt5 share etc/xdg; do
+          if [[ -d $pkg/$dir ]]; then
+            ${lndir}/bin/lndir "$pkg/$dir" "$out/$dir"
+          fi
+        done
+      fi
+    done
+  '';
+
+
+  postInstall = ''
+    wrapQtProgram "$out/bin/qgroundcontrol" \
+      --prefix GST_PLUGIN_SYSTEM_PATH : "$GST_PLUGIN_SYSTEM_PATH"
+  '';
+  
+
+  # TODO: package mavlink so we can build from a normal source tarball
+  src = fetchgit {
+    url = "https://github.com/mavlink/qgroundcontrol.git";
+    rev = "refs/tags/v${version}";
+    sha256 = "0rwn2ddlar58ydzdykvnab1anr4xzvb9x0sxx5rs037i49f6sqga";
+    fetchSubmodules = true;
+  };
+
+  meta = {
+    description = "provides full ground station support and configuration for the PX4 and APM Flight Stacks";
+    homepage = http://qgroundcontrol.org/;
+    license = stdenv.lib.licenses.gpl3Plus;
+    platforms = with stdenv.lib.platforms; linux;
+    maintainers = with stdenv.lib.maintainers; [ pxc ];
+  };
+}

pkgs/top-level/all-packages.nix

···
 
   qgis = callPackage ../applications/gis/qgis {};
 
+  qgroundcontrol = qt55.callPackage ../applications/science/robotics/qgroundcontrol { };
+
   qtbitcointrader = callPackage ../applications/misc/qtbitcointrader {
     qt = qt4;
   };