added qt5 and win support

.gitignore

@@ -6,3 +6,4 @@ bin*/*
 *.swp
 Thumbs.db
 .idea/*
+cmake-*

.travis.yml

@@ -12,13 +12,14 @@ matrix:
       dist: trusty
       sudo: required
     - os: osx
-      osx_image: xcode8
+      osx_image: xcode10
 
 addons:
   apt:
     packages:
       - cmake
-      - libqt4-dev
+      - qt5-default
+      - libqt5opengl5-dev
       - libgl1-mesa-dev
       - libglu1-mesa-dev
       - libprotobuf-dev 
@@ -31,6 +32,7 @@ before_install:
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew tap cartr/qt4                        ; fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew tap-pin cartr/qt4                    ; fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew install qt@4                         ; fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew install qt5                          ; fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew uninstall --ignore-dependencies python ; fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew install protobuf                     ; fi
   - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew tap robotology/formulae              ; fi
@@ -52,4 +54,4 @@ script:
   - mkdir build && cd build
   - cmake ..
   - make
-  - sudo make install
+  - sudo make install

CMakeLists.txt

@@ -1,5 +1,17 @@
 cmake_minimum_required(VERSION 2.8)
 
+set(USE_QT5 1)
+if(USE_QT5)
+    if(POLICY CMP0020)
+        cmake_policy(SET CMP0020 NEW) # remove if CMake >= 2.8.11 required
+    endif()
+    if(POLICY CMP0043) # compatibility with CMake 3.0.1
+        cmake_policy(SET CMP0043 OLD)
+    endif()
+    if(POLICY CMP0071) # compatibility with CMake 3.10.0
+        cmake_policy(SET CMP0071 OLD)
+    endif()
+endif()
 
 ## Project branding, version and package mantainer
 project(grSim)
@@ -55,10 +67,31 @@ list(APPEND libs ${OPENGL_LIBRARIES})
 #include_directories(${GLUT_INCLUDE_DIR})
 
 # Qt
-set(QT_USE_QTNETWORK true)
-set(QT_USE_QTOPENGL true)
-find_package(Qt4 REQUIRED)
-include(${QT_USE_FILE})
+if (USE_QT5)
+    add_definitions(-D QT5)
+    set(CMAKE_INCLUDE_CURRENT_DIR ON)
+    set(CMAKE_AUTOMOC ON)
+    find_package(Qt5Core REQUIRED)
+    find_package(Qt5Widgets REQUIRED)
+    find_package(Qt5OpenGL REQUIRED)
+    find_package(Qt5Network REQUIRED)
+    set(QT_LIBRARIES "")
+    macro(qt4_wrap_cpp VARNAME)
+        set(${VARNAME} "")
+    endmacro()
+    # wrap functions
+    macro(qt4_wrap_ui)
+        qt5_wrap_ui(${ARGN})
+    endmacro()
+    macro(qt4_add_resources)
+        qt5_add_resources(${ARGN})
+    endmacro()
+else()
+    set(QT_USE_QTNETWORK true)
+    set(QT_USE_QTOPENGL true)
+    find_package(Qt4 REQUIRED)
+    include(${QT_USE_FILE})
+endif()
 list(APPEND libs ${QT_LIBRARIES})
 
 # ODE
@@ -191,7 +224,11 @@ if(APPLE)
 elseif(WIN32)
     set(app ${CMAKE_PROJECT_NAME})
     add_executable(${app} WIN32 ${srcs})
-    target_link_libraries(${app} ${libs})
+    if(USE_QT5)
+        target_link_libraries(${app} ${libs} Qt5::Core Qt5::Widgets Qt5::Network Qt5::OpenGL)
+    else()
+        target_link_libraries(${app} ${libs})
+    endif()
     install(TARGETS ${app} DESTINATION bin)
     install(DIRECTORY config DESTINATION .)
     install(DIRECTORY bin DESTINATION .
@@ -200,6 +237,9 @@ elseif(WIN32)
 else()
     set(app ${CMAKE_PROJECT_NAME_LOWER})
     add_executable(${app} ${srcs})
+    if(USE_QT5)
+        qt5_use_modules(${app} Widgets Network Core OpenGL)
+    endif()
     target_link_libraries(${app} ${libs})
     install(TARGETS ${app} DESTINATION bin)
     install(DIRECTORY config DESTINATION share/${app})
@@ -246,4 +286,54 @@ else()
 endif()
 include(CPack)
 
+set(COPY_ENABLE_FLAG 0)
+set(CXX_BIT 64)
+if(WIN32)
+    string(REPLACE "/g++.exe" "" RES ${CMAKE_CXX_COMPILER})
+
+    if(COPY_ENABLE_FLAG)
+        set(DLL_LIB_LIST ${RES}/zlib1.dll
+                ${RES}/libbz2-1.dll
+                ${RES}/libfreetype-6.dll
+                ${RES}/libglib-2.0-0.dll
+                ${RES}/libgraphite2.dll
+                ${RES}/libharfbuzz-0.dll
+                ${RES}/libiconv-2.dll
+                ${RES}/libicudt61.dll
+                ${RES}/libicuin61.dll
+                ${RES}/libicuuc61.dll
+                ${RES}/libintl-8.dll
+                ${RES}/libpcre-1.dll
+                ${RES}/libpcre2-16-0.dll
+                ${RES}/libpng16-16.dll
+                ${RES}/libprotobuf.dll
+                ${RES}/libstdc++-6.dll
+                ${VARTYPES_LIBRARIES}
+                ${RES}/libwinpthread-1.dll)
+        set(QT5_DEBUG_DLL ${RES}/Qt5Cored.dll
+                ${RES}/Qt5Guid.dll
+                ${RES}/Qt5Networkd.dll
+                ${RES}/Qt5OpenGLd.dll
+                ${RES}/Qt5Widgetsd.dll)
+        set(QT5_RELEASE_DLL ${RES}/Qt5Core.dll
+                ${RES}/Qt5Gui.dll
+                ${RES}/Qt5OpenGL.dll
+                ${RES}/Qt5Network.dll
+                ${RES}/Qt5Widgets.dll)
+        if(CMAKE_BUILD_TYPE STREQUAL Debug)
+            list(APPEND DLL_LIB_LIST ${QT5_DEBUG_DLL})
+        endif()
+        if (CXX_BIT STREQUAL 64)
+            list(APPEND DLL_LIB_LIST ${RES}/libgcc_s_seh-1.dll)
+        else()
+            list(APPEND DLL_LIB_LIST ${RES}/libgcc_s_dw2-1.dll)
+        endif()
+        if(CMAKE_BUILD_TYPE STREQUAL Release)
+            list(APPEND DLL_LIB_LIST ${QT5_RELEASE_DLL})
+        endif()
+
+        file(COPY ${DLL_LIB_LIST} DESTINATION ../bin)
+    endif()
+endif()
+
 

appveyor.yml

@@ -0,0 +1,53 @@
+clone_folder: C:\grSim
+shallow_clone: true
+
+environment:
+  global:
+    MSYS_DIR: C:\msys64
+  matrix:
+    - platform: x86
+      platform_name: i686
+      bit: 32
+      QT_MinGW_DIR: C:\Qt\5.11\mingw53_32
+    - platform: x64
+      platform_name: x86_64
+      bit: 64 
+      QT_MinGW_DIR: C:\Qt\5.12\mingw73_64
+
+
+init:
+  - hg clone https://bitbucket.org/odedevs/ode ode
+  - git clone https://github.com/DmiitriyJarosh/vartypes.git vartypes_dir
+  - cd vartypes_dir
+  - git checkout qt5
+  - cd ..
+  - set PATH=%MSYS_DIR%\usr\bin
+  - pacman --noconfirm -Su mingw%bit%/mingw-w64-%platform_name%-protobuf
+  - pacman --noconfirm -Su mingw%bit%/mingw-w64-%platform_name%-cmake
+  - pacman --noconfirm -Su mingw-w64-%platform_name%-boost
+  - pacman --noconfirm -Sy make
+
+build_script:
+  - ls
+  - cd ode
+  - mkdir build-cmake && cd build-cmake
+  - set PATH=%MSYS_DIR%
+  - mingw%bit% ../configure --enable-double-precision
+  - mingw%bit% make
+  - mingw%bit% make install
+  - set PATH=%MSYS_DIR%\usr\bin
+  - cd ..
+  - cd ..
+  - cd vartypes_dir
+  - set PATH=%MSYS_DIR%\mingw%bit%\bin;%QT_MinGW_DIR%\bin
+  - mkdir build-cmake && cd build-cmake
+  - cmake -G "MinGW Makefiles" ..
+  - cmake --build .
+  - set PATH=%MSYS_DIR%
+  - mingw%bit% make install
+  - set PATH=%MSYS_DIR%
+  - cd ..
+  - mkdir C:\build_mingw_%platform%
+  - cd C:\build_mingw_%platform%
+  - mingw%bit% cmake -G "MinGW Makefiles" C:\grSim
+  - mingw%bit% cmake --build . -j 4

clients/qt/CMakeLists.txt

@@ -1,14 +1,47 @@
 cmake_minimum_required(VERSION 2.8)
 
+set(USE_QT5 1)
+if(USE_QT5)
+    if(POLICY CMP0020)
+        cmake_policy(SET CMP0020 NEW) # remove if CMake >= 2.8.11 required
+    endif()
+    if(POLICY CMP0043) # compatibility with CMake 3.0.1
+        cmake_policy(SET CMP0043 OLD)
+    endif()
+    if(POLICY CMP0071) # compatibility with CMake 3.10.0
+        cmake_policy(SET CMP0071 OLD)
+    endif()
+endif()
 set(CMAKE_AUTOMOC ON)
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(libs)
 
-set(QT_USE_QTNETWORK TRUE)
-find_package(Qt4 REQUIRED)
-include(${QT_USE_FILE})
+
+if (USE_QT5)
+    add_definitions(-D QT5)
+    set(CMAKE_INCLUDE_CURRENT_DIR ON)
+    set(CMAKE_AUTOMOC ON)
+    find_package(Qt5Core REQUIRED)
+    find_package(Qt5Widgets REQUIRED)
+    find_package(Qt5Network REQUIRED)
+    set(QT_LIBRARIES "")
+    macro(qt4_wrap_cpp VARNAME)
+        set(${VARNAME} "")
+    endmacro()
+    # wrap functions
+    macro(qt4_wrap_ui)
+        qt5_wrap_ui(${ARGN})
+    endmacro()
+    macro(qt4_add_resources)
+        qt5_add_resources(${ARGN})
+    endmacro()
+else()
+    set(QT_USE_QTNETWORK true)
+    find_package(Qt4 REQUIRED)
+    include(${QT_USE_FILE})
+endif()
 list(APPEND libs ${QT_LIBRARIES})
 
 find_package(Protobuf REQUIRED)
@@ -30,6 +63,12 @@ add_executable(${app} MACOSX_BUNDLE
     mainwindow.cpp
     mainwindow.h
 )
-
-target_link_libraries(${app} ${libs})
+if(USE_QT5)
+    target_link_libraries(${app} ${libs} Qt5::Core Qt5::Widgets Qt5::Network)
+else()
+    if(USE_QT5)
+        qt5_use_modules(${app} Widgets Network Core OpenGL)
+    endif()
+    target_link_libraries(${app} ${libs} )
+endif()
 

clients/qt/main.cpp

@@ -1,4 +1,8 @@
-#include <QtGui/QApplication>
+#ifndef QT5
+    #include <QtGui/QApplication>
+#else
+    #include <QtWidgets/QApplication>
+#endif
 #include "mainwindow.h"
 
 int main(int argc, char *argv[])

clients/qt/mainwindow.h

@@ -1,8 +1,13 @@
 #ifndef MAINWINDOW_H
 #define MAINWINDOW_H
 
-#include <QtGui/QMainWindow>
-#include <QtGui/QDialog>
+#ifndef QT5
+    #include <QtGui/QMainWindow>
+    #include <QtGui/QDialog>
+#else
+    #include <QtWidgets/QMainWindow>
+    #include <QtWidgets/QDialog>
+#endif
 #include <QLineEdit>
 #include <QLabel>
 #include <QTimer>

include/configwidget.h

@@ -18,7 +18,9 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 
 #ifndef CONFIGWIDGET_H
 #define CONFIGWIDGET_H
-
+#ifdef __WIN32__
+    #define WIN32_LEAN_AND_MEAN
+#endif
 #include <QWidget>
 #include <QDockWidget>
 #include <QtGui>

include/mainwindow.h

@@ -19,10 +19,6 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 #ifndef MAINWINDOW_H
 #define MAINWINDOW_H
 
-#if QT_VERSION >= 0x050000
-#define QT5
-#endif
-
 #ifdef QT5
 #include <QMdiArea>
 #else

include/winmain.h

@@ -5,10 +5,10 @@
 int main(int, char**);
 
 int CALLBACK WinMain(
-    __in  HINSTANCE hInstance,
-    __in  HINSTANCE hPrevInstance,
-    __in  LPSTR lpCmdLine,
-    __in  int nCmdShow)
+      HINSTANCE hInstance,
+      HINSTANCE hPrevInstance,
+      LPSTR lpCmdLine,
+      int nCmdShow)
 {
     wchar_t **wargv;//wargv is an array of LPWSTR (wide-char string)
     char **argv;

src/main.cpp

@@ -15,7 +15,11 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
     You should have received a copy of the GNU General Public License
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
-#include <QtGui/QApplication>
+#ifndef QT5
+    #include <QtGui/QApplication>
+#else
+    #include <QtWidgets/QApplication>
+#endif
 #include "mainwindow.h"
 #include "winmain.h"
 

src/mainwindow.cpp

@@ -295,6 +295,10 @@ void MainWindow::showHideSimulator(bool v)
 
 void MainWindow::changeCurrentRobot()
 {
+    if (robotwidget->robotCombo->currentIndex() >= glwidget->ssl->cfg->Robots_Count()) {
+        robotwidget->robotCombo->setCurrentIndex(glwidget->Current_robot);
+        return;
+    }
     glwidget->Current_robot=robotwidget->robotCombo->currentIndex();    
     robotwidget->setPicture(glwidget->ssl->robots[glwidget->ssl->robotIndex(glwidget->Current_robot,glwidget->Current_team)]->img);
     robotwidget->id = robotIndex(glwidget->Current_robot, glwidget->Current_team);