Restructure shared modules and refactor CMake; update controller & flight code

CMakeModules/add_submodule.cmake

@@ -0,0 +1,18 @@
+if(NOT DEFINED MACRO_SUBMODULE_LOADED)
+	set( ADDED_MODULES "" CACHE INTERNAL "" )
+	set( MACRO_SUBMODULE_LOADED TRUE )
+endif()
+
+
+macro(add_submodule module_name)
+	get_property( added_modules CACHE ADDED_MODULES PROPERTY VALUE )
+	list( FIND added_modules "${module_name}" module_index )
+	if ( module_index EQUAL -1 )
+		message(STATUS "Adding module : ${module_name}")
+		add_subdirectory( ${CMAKE_SOURCE_DIR}/../lib/${module_name} ${CMAKE_BINARY_DIR}/${module_name} )
+		get_property( added_modules CACHE ADDED_MODULES PROPERTY VALUE )
+		list( APPEND added_modules "${module_name}" )
+		set( ADDED_MODULES "${added_modules}" CACHE INTERNAL "" )
+		get_property( added_modules_new CACHE ADDED_MODULES PROPERTY VALUE )
+	endif()
+endmacro()

controller_pc/CMakeLists.txt

@@ -1,11 +1,14 @@
 cmake_minimum_required( VERSION 2.8.11 )
-set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules" )
+set( CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../CMakeModules" )
+include( add_submodule )
+
+enable_language( C CXX ASM )
 project( controller_pc )
 
-SET( board "pc" CACHE BOOL "board" )
+SET( board "generic" CACHE BOOL "board" )
 
-set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -g3 -std=c11 -D_GNU_SOURCE -D_BSD_SOURCE -Wfatal-errors" )
-set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g3 -std=c++11 -DGE_LINUX -DGE_EGL -fpermissive -Wno-pmf-conversions -Wfatal-errors" )
+set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -Wall -g3 -std=c11 -D_GNU_SOURCE -D_BSD_SOURCE -Wfatal-errors" )
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wall -g3 -std=c++17 -DGE_LINUX -DGE_EGL -fpermissive -Wno-pmf-conversions -Wfatal-errors" )
 set( CMAKE_AUTOMOC ON )
 set( CMAKE_AUTORCC ON )
 set( OpenGL_GL_PREFERENCE LEGACY )
@@ -20,6 +23,11 @@ find_package( MP4V2 )
 find_package( Shine )
 
 add_definitions( -DSTD=std )
+add_definitions( -DLUA_CLASS= -DLUA_EXPORT= )
+add_definitions( -DSYSTEM_NAME=${CMAKE_SYSTEM_NAME} -DSYSTEM_NAME_${CMAKE_SYSTEM_NAME} )
+add_definitions( -DBOARD="${board}" -DBOARD_${board} -DVARIANT="${variant}" -DVARIANT_${variant} )
+add_definitions( -DVERSION_STRING="bcflight_${board}_${VERSION_MAJOR}.${VERSION_MINOR}_${GIT_HASH}" )
+add_definitions( -DTARGET_CPU_BITS=${TARGET_CPU_BITS} )
 
 if ( WIN32 OR MINGW )
 	if ( NOT DEFINED ${QSCINTILLA_LIBRARY} OR ${QSCINTILLA_LIBRARY} MATCHES OFF )
@@ -35,16 +43,20 @@ else()
 endif()
 
 
-include_directories( ${CMAKE_SOURCE_DIR}/../libcontroller )
-include_directories( ${CMAKE_SOURCE_DIR}/../libcontroller/links )
-include_directories( ${CMAKE_SOURCE_DIR}/../librawwifi )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/boards/common )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/boards/${board} )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/controller )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/links )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/rawwifi )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/debug )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/luacore/src )
 include_directories( ${CMAKE_SOURCE_DIR}/../external/LuaJIT-2.0.4/src )
 include_directories( ${CMAKE_SOURCE_DIR}/../external/openh264-master/codec/api/svc )
 include_directories( ${Qt5PrintSupport_INCLUDE_DIRS} ${QSCINTILLA_INCLUDE_DIR} ${QSCINTILLA_INCLUDE_DIR}/Qsci )
 include_directories( ${CMAKE_SOURCE_DIR} ${CMAKE_SOURCE_DIR}/ui ${CMAKE_BINARY_DIR} )
 
-add_subdirectory( ${CMAKE_SOURCE_DIR}/../libcontroller libcontroller )
-add_subdirectory( ${CMAKE_SOURCE_DIR}/../libdebug libdebug )
+add_submodule( controller )
+add_submodule( debug )
 if ( ${RAWWIFI_ON} MATCHES 1 )
 	set( OTHER_LIBS ${OTHER_LIBS} rawwifi )
 	if ( WIN32 OR MINGW )
@@ -56,14 +68,8 @@ if ( RAWWIFI_ON MATCHES 0 )
 	set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNO_RAWWIFI" )
 endif()
 
-	set( OTHER_LIBS ${OTHER_LIBS} -lfftw3f )
+set( OTHER_LIBS ${OTHER_LIBS} -lfftw3f )
 
-set( LUA_32 "" )
-if( CMAKE_SIZEOF_VOID_P EQUAL 4 )
-	set( LUA_32 "-m32" )
-endif()
-# add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_32} )
-add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip ${LUA_HOST_CC_OPTIONS} )
 add_custom_target( libopenh264_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_openh264.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} )
 
 qt5_wrap_ui( controller_pc_UI
@@ -91,10 +97,9 @@ add_executable( controller_pc
 				)
 
 add_dependencies( controller_pc libopenh264_static )
-add_dependencies( controller_pc libluajit_static )
 add_dependencies( controller_pc controller )
-add_dependencies( controller_pc libdebug )
+add_dependencies( controller_pc debuglib )
 
-target_link_libraries( controller_pc -L./ controller libdebug -lluajit_static -ldecoder_static -lopenh264_static ${SHINE_LIBRARIES} ${MP4V2_LIBRARIES} ${QSCINTILLA_LIBRARY} Qt5::Widgets Qt5::OpenGL Qt5::PrintSupport Qt5::Multimedia ${OPENGL_LIBRARIES} -lpthread ${OTHER_LIBS} )
+target_link_libraries( controller_pc -L./ controller debuglib boards -ldecoder_static -lopenh264_static ${SHINE_LIBRARIES} ${MP4V2_LIBRARIES} ${QSCINTILLA_LIBRARY} Qt5::Widgets Qt5::OpenGL Qt5::PrintSupport Qt5::Multimedia ${OPENGL_LIBRARIES} -lpthread ${OTHER_LIBS} )
 
 install( TARGETS controller_pc RUNTIME DESTINATION bin )

controller_pc/MainWindow.cpp

@@ -100,7 +100,7 @@ MainWindow::MainWindow()
 		std::function<Socket::PortType(const QString&)> socket_type = [](const QString& type){ if ( type == "UDPLite" ) return Socket::UDPLite; else if ( type == "UDP" ) return Socket::UDP; else return Socket::TCP; };
 		mControllerLink = new Socket( mConfig->value( "tcpip/address", "192.168.32.1" ).toString().toStdString(), mConfig->value( "tcpip/controller/port", 2020 ).toInt(), socket_type( mConfig->value( "tcpip/controller/type", "TCP" ).toString() ) );
 		mStreamLink = new Socket( mConfig->value( "tcpip/address", "192.168.32.1" ).toString().toStdString(), mConfig->value( "tcpip/video/port", 2021 ).toInt(), socket_type( mConfig->value( "tcpip/video/type", "UDPLite" ).toString() ) );
-		mAudioLink = new Socket( mConfig->value( "tcpip/address", "192.168.32.1" ).toString().toStdString(), mConfig->value( "tcpip/audio/port", 2022 ).toInt(), socket_type( mConfig->value( "tcpip/audio/type", "TCP" ).toString() ) );
+		// mAudioLink = new Socket( mConfig->value( "tcpip/address", "192.168.32.1" ).toString().toStdString(), mConfig->value( "tcpip/audio/port", 2022 ).toInt(), socket_type( mConfig->value( "tcpip/audio/type", "TCP" ).toString() ) );
 	}
 	uint8_t test[2048];
 	// mControllerLink->Read( test, 2048, 0 );
@@ -190,7 +190,7 @@ MainWindow::MainWindow()
 
 	ui->video->setMainWindow( this );
 	ui->video->setLink( mStreamLink );
-	ui->video->setAudioLink( mAudioLink );
+	// ui->video->setAudioLink( mAudioLink );
 }
 
 
@@ -305,7 +305,7 @@ void MainWindow::updateData()
 		}
 
 		if ( mController->ping() < 10000 ) {
-			ui->latency->setText( QString::number( mController->ping() ) + " ms" );
+			ui->latency->setText( QString::number( mController->ping() / 1000 ) + " ms" );
 		}
 		ui->voltage->setText( QString::number( mController->batteryVoltage(), 'f', 2 ) + " V" );
 		ui->current->setText( QString::number( mController->currentDraw(), 'f', 2 ) + " A" );

controller_pc/Stream.cpp

@@ -25,6 +25,7 @@
 #include "ControllerPC.h"
 #include "ui_mainWindow.h"
 #include "Socket.h"
+#include "Debug.h"
 
 
 #if ( defined(WIN32) && !defined(glActiveTexture) )
@@ -352,7 +353,7 @@ bool Stream::run()
 	}
 
 	if ( ( mSocketTellIPCounter = ( ( mSocketTellIPCounter + 1 ) % 16 ) ) == 1 ) {
-		// Dummy write to tell own IP address in case of Socket
+		// Dummy write to tell own IP address in case of UDP Socket
 		if ( dynamic_cast<Socket*>( mLink ) ) {
 			uint32_t uid = htonl( 0x12345678 );
 			mLink->Write( &uid, sizeof(uid), 0, -1 );

controller_pc/main.cpp

@@ -25,7 +25,7 @@
 #include <stdio.h>
 #include <RawWifi.h>
 #include <Socket.h>
-#include <../libdebug/Debug.h>
+#include <Debug.h>
 #include "ControllerPC.h"
 
 #include "MainWindow.h"

controller_pc/ui/mainWindow.ui

@@ -1566,7 +1566,7 @@ color: rgb(255, 255, 255);</string>
   <customwidget>
    <class>QsciScintilla</class>
    <extends>QWidget</extends>
-   <header>qsciscintilla.h</header>
+   <header>Qsci/qsciscintilla.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>

controller_rc/CMakeLists.txt

@@ -1,100 +1,152 @@
-cmake_minimum_required( VERSION 2.6 )
+cmake_minimum_required( VERSION 3.5 )
+set( CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../CMakeModules" )
+include( add_submodule )
+
+set( CMAKE_CXX_STANDARD 17 )
+set( UIC uic )
+set( RCC rcc )
+set( MOC moc )
 
 # Command line options
-SET( board "rpi" CACHE BOOL "board" )
 SET( rawwifi "0" CACHE BOOL "rawwifi" )
-option( board "board" )
 option( rawwifi "rawwifi" )
 
 if ( NOT ${board} MATCHES OFF AND NOT ${board} MATCHES "generic" )
 	set( CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/../Toolchain-${board}.cmake )
 endif()
 
+enable_language( C CXX ASM )
 project( controller_rc )
 
+add_definitions( -DSYSTEM_NAME=${CMAKE_SYSTEM_NAME} -DSYSTEM_NAME_${CMAKE_SYSTEM_NAME} )
+add_definitions( -DBOARD="${board}" -DBOARD_${board} -DVARIANT="${variant}" -DVARIANT_${variant} )
+add_definitions( -DVERSION_STRING="bcflight_${board}_${VERSION_MAJOR}.${VERSION_MINOR}_${GIT_HASH}" )
+add_definitions( -DTARGET_CPU_BITS=${TARGET_CPU_BITS} )
+add_submodule( boards )
+
 # Set compiler options
 set( CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -ggdb3 -O0 -D_DEFAULT_SOURCE" )
-set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -ggdb3 -O0 -std=c++11 -DGE_LINUX -DGE_EGL -fpermissive -Wno-pmf-conversions" )
-
-# Check chosen board
-macro( DIRLIST result curdir removes )
-	file(GLOB children RELATIVE ${curdir} ${curdir}/*)
-	set(dirlist "")
-	foreach(child ${children})
-		if ( NOT "${child}" MATCHES ".md" )
-			string(REPLACE ".cpp" "" child ${child})
-			string(REPLACE ".h" "" child ${child})
-			list(APPEND dirlist ${child})
-		endif()
-	endforeach()
-	if ( NOT ${removes} MATCHES OFF )
-		list(REMOVE_ITEM dirlist ${removes})
-	endif()
-	list(REMOVE_DUPLICATES dirlist)
-	set(${result} ${dirlist})
-endmacro()
-DIRLIST( BOARDS ${CMAKE_SOURCE_DIR}/boards "" )
-
-list( FIND BOARDS ${board} board_found )
-if ( ${board_found} LESS 0 )
-	message( FATAL_ERROR "Board ${board} not supported.\nAvailable boards are :\n${BOARDS}" )
-endif()
+set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -ggdb3 -O0 -std=c++17 -DGE_LINUX -DGE_EGL -fpermissive -Wno-pmf-conversions -Wno-psabi" )
 
-include( boards/${board}/board.cmake )
-include_directories( boards/${board} )
-include_directories( ${CMAKE_SOURCE_DIR} )
-include_directories( ${CMAKE_BINARY_DIR} )
-add_definitions( -DBOARD="${board}" -DBOARD_${board} )
-if ( ${USE_MINISTD} MATCHES TRUE )
-	add_definitions( -DSTD=ministd )
-else()
-	add_definitions( -DSTD=std )
-endif()
-
-include_directories( ${CMAKE_SOURCE_DIR}/../libdebug )
-include_directories( ${CMAKE_SOURCE_DIR}/../libcontroller )
-include_directories( ${CMAKE_SOURCE_DIR}/../libcontroller/links )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/debug )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/controller )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/links )
 if ( ${rawwifi} MATCHES "1" OR ${rawwifi} MATCHES "yes" OR ${rawwifi} MATCHES "true" )
-	include_directories( ${CMAKE_SOURCE_DIR}/../librawwifi )
-	set( RAWWIFI_LIBS rawwifi -lpcap )
+	include_directories( ${CMAKE_SOURCE_DIR}/../lib/rawwifi )
+	# set( RAWWIFI_LIBS rawwifi -lpcap )
 	add_definitions( -DBUILD_rawwifi )
 endif()
+
+include_directories( ${CMAKE_BINARY_DIR} )
+include_directories( ${CMAKE_CURRENT_SOURCE_DIR} )
+include_directories( ${CMAKE_CURRENT_SOURCE_DIR}/boards/${board} )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/luacore/src )
 include_directories( ${CMAKE_SOURCE_DIR}/../external/LuaJIT-2.0.4/src )
-add_subdirectory( ${CMAKE_SOURCE_DIR}/../libcontroller libcontroller )
-add_subdirectory( ${CMAKE_SOURCE_DIR}/../libdebug libdebug )
-
-add_custom_target( libluajit_static COMMAND bash ${CMAKE_SOURCE_DIR}/../external/build_luajit.sh ${CMAKE_BINARY_DIR} ${CMAKE_C_COMPILER} ${CMAKE_ASM_COMPILER} ${CROSS}strip "-m32" )
-add_custom_target( ui_headers COMMAND
-	${UIC} ${CMAKE_SOURCE_DIR}/ui/main.ui > ${CMAKE_BINARY_DIR}/ui_main.h
-	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/window.ui > ${CMAKE_BINARY_DIR}/ui_window.h
-	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/calibrate.ui > ${CMAKE_BINARY_DIR}/ui_calibrate.h
-	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/camera.ui > ${CMAKE_BINARY_DIR}/ui_camera.h
-	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/network.ui > ${CMAKE_BINARY_DIR}/ui_network.h
-	&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/settings.ui > ${CMAKE_BINARY_DIR}/ui_settings.h
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/boards/${board} )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/boards/common )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/maths )
+include_directories( ${CMAKE_SOURCE_DIR}/../lib/sensors )
+add_submodule( controller )
+add_submodule( sensors )
+add_submodule( debug )
+
+
+file( GLOB HEADERS
+	${CMAKE_SOURCE_DIR}/*.h
+	${CMAKE_SOURCE_DIR}/boards/rpi/*.h
+	${CMAKE_SOURCE_DIR}/../lib/controller/*.h
+	${CMAKE_SOURCE_DIR}/../lib/links/*.h
 )
+file( GLOB BOARD_HEADERS ${CMAKE_SOURCE_DIR}/../lib/boards/common/*.h ${CMAKE_SOURCE_DIR}/../lib/boards/${board}/*.h )
+list( APPEND HEADERS ${BOARD_HEADERS} )
+message( WARNING ${HEADERS} )
 
-# add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/rc_data.cpp COMMAND ${RCC} ${CMAKE_SOURCE_DIR}/ui/data.qrc > ${CMAKE_BINARY_DIR}/rc_data.cpp WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" )
-add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/MainWindow.moc.cpp COMMAND ${MOC} ${CMAKE_SOURCE_DIR}/ui/MainWindow.h > ${CMAKE_BINARY_DIR}/MainWindow.moc.cpp WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" )
+set_source_files_properties( ${CMAKE_BINARY_DIR}/lua_init.cpp PROPERTIES GENERATED TRUE )
+set_source_files_properties( ${CMAKE_BINARY_DIR}/rc_data.cpp PROPERTIES GENERATED TRUE )
 
-file( GLOB_RECURSE BOARD_SOURCES boards/${board}/*.cpp boards/${board}/*.c )
-file( GLOB_RECURSE ADCS_SOURCES ADCs/*.cpp ADCs/*.c )
+
+add_custom_command(
+	OUTPUT ${CMAKE_BINARY_DIR}/lua_init.cpp
+	DEPENDS ${CMAKE_SOURCE_DIR}/../lib/luacore/classes.auto.lua ${HEADERS}
+	COMMAND ${CMAKE_SOURCE_DIR}/../lib/luacore/classes.auto.lua --init=lua_init --output="${CMAKE_BINARY_DIR}/lua_init.cpp" ${HEADERS}
+)
+add_custom_command(
+	OUTPUT
+		${CMAKE_BINARY_DIR}/ui_main.h
+		${CMAKE_BINARY_DIR}/ui_window.h
+		${CMAKE_BINARY_DIR}/ui_calibrate.h
+		${CMAKE_BINARY_DIR}/ui_camera.h
+		${CMAKE_BINARY_DIR}/ui_network.h
+		${CMAKE_BINARY_DIR}/ui_settings.h
+	COMMAND
+		${UIC} ${CMAKE_SOURCE_DIR}/ui/main.ui > ${CMAKE_BINARY_DIR}/ui_main.h
+		&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/window.ui > ${CMAKE_BINARY_DIR}/ui_window.h
+		&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/calibrate.ui > ${CMAKE_BINARY_DIR}/ui_calibrate.h
+		&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/camera.ui > ${CMAKE_BINARY_DIR}/ui_camera.h
+		&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/network.ui > ${CMAKE_BINARY_DIR}/ui_network.h
+		&& ${UIC} ${CMAKE_SOURCE_DIR}/ui/settings.ui > ${CMAKE_BINARY_DIR}/ui_settings.h
+	DEPENDS
+		${CMAKE_SOURCE_DIR}/ui/main.ui
+		${CMAKE_SOURCE_DIR}/ui/window.ui
+		${CMAKE_SOURCE_DIR}/ui/calibrate.ui
+		${CMAKE_SOURCE_DIR}/ui/camera.ui
+		${CMAKE_SOURCE_DIR}/ui/network.ui
+		${CMAKE_SOURCE_DIR}/ui/settings.ui
+)
+add_custom_target(ui_headers
+	DEPENDS
+		${CMAKE_BINARY_DIR}/ui_main.h
+		${CMAKE_BINARY_DIR}/ui_window.h
+		${CMAKE_BINARY_DIR}/ui_calibrate.h
+		${CMAKE_BINARY_DIR}/ui_camera.h
+		${CMAKE_BINARY_DIR}/ui_network.h
+		${CMAKE_BINARY_DIR}/ui_settings.h
+)
+
+add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/rc_data.cpp COMMAND ${RCC} ${CMAKE_SOURCE_DIR}/ui/data.qrc > ${CMAKE_BINARY_DIR}/rc_data.cpp WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" )
+add_custom_command( OUTPUT ${CMAKE_BINARY_DIR}/MainWindow.moc.cpp COMMAND ${MOC} ${CMAKE_SOURCE_DIR}/ui/MainWindow.h > ${CMAKE_BINARY_DIR}/MainWindow.moc.cpp WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" )
 
 add_executable( controller_rc
-				main.cpp
-				Config.cpp
-				ui/GlobalUI.cpp
-				ui/MainWindow.cpp
-				${CMAKE_BINARY_DIR}/rc_data.cpp
-				${CMAKE_BINARY_DIR}/MainWindow.moc.cpp
-				${ADCS_SOURCES}
-				${BOARD_SOURCES}
-				)
+	main.cpp
+	Config.cpp
+	ui/GlobalUI.cpp
+	ui/MainWindow.cpp
+	boards/${board}/ControllerClient.cpp
+	${CMAKE_BINARY_DIR}/rc_data.cpp
+	${CMAKE_BINARY_DIR}/MainWindow.moc.cpp
+	${CMAKE_BINARY_DIR}/lua_init.cpp
+)
 
 add_dependencies( controller_rc controller )
-add_dependencies( controller_rc libluajit_static )
+add_dependencies( controller_rc sensors )
+add_dependencies( controller_rc maths )
 add_dependencies( controller_rc ui_headers )
+if ( BOARD_DEPENDENCIES )
+	add_dependencies( controller_rc ${BOARD_DEPENDENCIES} )
+endif()
 
 
-target_link_libraries( controller_rc -L./ controller libdebug libluajit_static.a -lrt -ldl ${RAWWIFI_LIBS} -lz pthread ${BOARD_LIBS} )
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L${CMAKE_BINARY_DIR} ${BOARD_LIBS_PATHS}" )
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L${CMAKE_BINARY_DIR} ${BOARD_LIBS_PATHS}" )
+set(CMAKE_LD_FLAGS "${CMAKE_LD_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L${CMAKE_BINARY_DIR} ${BOARD_LIBS_PATHS}" )
+set(CMAKE_LINKER_FLAGS "${CMAKE_LD_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -L${CMAKE_BINARY_DIR} ${BOARD_LIBS_PATHS}" )
+target_link_libraries(
+	controller_rc
+	-L./
+	controller
+	sensors
+	debuglib
+	links
+	boards
+	maths
+	${RAWWIFI_LIBS}
+	Qt5Widgets Qt5Gui Qt5PrintSupport Qt5Core
+	-lrt
+	-ldl
+	-lz
+	${BOARD_LIBS}
+	pthread
+)
+# set( CONTROLLER_BOARD_LIBS ${CONTROLLER_BOARD_LIBS}  -lGLESv2 -lEGL )
 
 install( TARGETS controller_rc RUNTIME DESTINATION bin )