diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc index 7a3b90e4cfa66e6fb8de95a9f79f193f22c96341..50ef1ecbc630cd59e59f644ff39337d188aefa95 100644 --- a/src/GAudioOutput.cc +++ b/src/GAudioOutput.cc @@ -151,10 +151,14 @@ GAudioOutput::~GAudioOutput() void GAudioOutput::mute(bool mute) { - this->muted = mute; - QSettings settings; - settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted); - settings.sync(); + if (mute != muted) + { + this->muted = mute; + QSettings settings; + settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted); + settings.sync(); + emit mutedChanged(muted); + } } bool GAudioOutput::isMuted() diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h index a4889829d3ddcb14c8964b8ca616bc930fccf396..316e34d05850b2549e2a6b9608cebdea9eba14b6 100644 --- a/src/GAudioOutput.h +++ b/src/GAudioOutput.h @@ -80,6 +80,9 @@ public: VOICE_FEMALE } QGVoice; + /** @brief Get the mute state */ + bool isMuted(); + public slots: /** @brief Say this text if current output priority matches */ bool say(QString text, int severity=1); @@ -101,8 +104,9 @@ public slots: void notifyNegative(); /** @brief Mute/unmute sound */ void mute(bool mute); - /** @brief Get the mute state */ - bool isMuted(); + +signals: + void mutedChanged(bool); protected: #ifdef Q_OS_MAC diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc index 5e4e73c48705855a39259421ec22a0a6102e497a..d1d45497fe80651c76e749130832a91140a1ca1f 100644 --- a/src/comm/MAVLinkProtocol.cc +++ b/src/comm/MAVLinkProtocol.cc @@ -44,6 +44,9 @@ MAVLinkProtocol::MAVLinkProtocol() : m_loggingEnabled(false), m_logfile(NULL), m_enable_version_check(true), + m_paramRetransmissionTimeout(350), + m_paramRewriteTimeout(500), + m_paramGuardEnabled(true), versionMismatchIgnore(false), systemId(QGC::defaultSystemId) { @@ -95,6 +98,14 @@ void MAVLinkProtocol::loadSettings() { systemId = temp; } + + // Parameter interface settings + bool ok; + temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout).toInt(&ok); + if (ok) m_paramRetransmissionTimeout = temp; + temp = settings.value("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout).toInt(&ok); + if (ok) m_paramRewriteTimeout = temp; + m_paramGuardEnabled = settings.value("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled).toBool(); settings.endGroup(); } @@ -113,6 +124,10 @@ void MAVLinkProtocol::storeSettings() // Logfile exists, store the name settings.setValue("LOGFILE_NAME", m_logfile->fileName()); } + // Parameter interface settings + settings.setValue("PARAMETER_RETRANSMISSION_TIMEOUT", m_paramRetransmissionTimeout); + settings.setValue("PARAMETER_REWRITE_TIMEOUT", m_paramRewriteTimeout); + settings.setValue("PARAMETER_TRANSMISSION_GUARD_ENABLED", m_paramGuardEnabled); settings.endGroup(); settings.sync(); //qDebug() << "Storing settings!"; @@ -418,6 +433,33 @@ void MAVLinkProtocol::enableMultiplexing(bool enabled) if (changed) emit multiplexingChanged(m_multiplexingEnabled); } +void MAVLinkProtocol::enableParamGuard(bool enabled) +{ + if (enabled != m_paramGuardEnabled) + { + m_paramGuardEnabled = enabled; + emit paramGuardChanged(m_paramGuardEnabled); + } +} + +void MAVLinkProtocol::setParamRetransmissionTimeout(int ms) +{ + if (ms != m_paramRetransmissionTimeout) + { + m_paramRetransmissionTimeout = ms; + emit paramRetransmissionTimeoutChanged(m_paramRetransmissionTimeout); + } +} + +void MAVLinkProtocol::setParamRewriteTimeout(int ms) +{ + if (ms != m_paramRewriteTimeout) + { + m_paramRewriteTimeout = ms; + emit paramRewriteTimeoutChanged(m_paramRewriteTimeout); + } +} + void MAVLinkProtocol::enableLogging(bool enabled) { bool changed = false; diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h index eaa8c10c9d2d918a3bb51db3b0735621ce2eb5f2..fc6e1d923169b5bf60428e67910c8abc4fdb8646 100644 --- a/src/comm/MAVLinkProtocol.h +++ b/src/comm/MAVLinkProtocol.h @@ -77,6 +77,12 @@ public: int getVersion() { return MAVLINK_VERSION; } /** @brief Get the name of the packet log file */ QString getLogfileName(); + /** @brief Enable / disable parameter retransmission */ + bool paramGuardEnabled() { return m_paramGuardEnabled; } + /** @brief Set parameter read timeout */ + int getParamRetransmissionTimeout() { return m_paramRetransmissionTimeout; } + /** @brief Set parameter wrtie timeout */ + int getParamRewriteTimeout() { return m_paramRewriteTimeout; } public slots: /** @brief Receive bytes from a communication interface */ @@ -99,6 +105,15 @@ public slots: /** @brief Enabled/disable packet multiplexing */ void enableMultiplexing(bool enabled); + /** @brief Enable / disable parameter retransmission */ + void enableParamGuard(bool enabled); + + /** @brief Set parameter read timeout */ + void setParamRetransmissionTimeout(int ms); + + /** @brief Set parameter write timeout */ + void setParamRewriteTimeout(int ms); + /** @brief Set log file name */ void setLogfileName(const QString& filename); @@ -121,6 +136,9 @@ protected: bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing QFile* m_logfile; ///< Logfile bool m_enable_version_check; ///< Enable checking of version match of MAV and QGC + int m_paramRetransmissionTimeout; ///< Timeout for parameter retransmission + int m_paramRewriteTimeout; ///< Timeout for sending re-write request + bool m_paramGuardEnabled; ///< Retransmission/rewrite enabled QMutex receiveMutex; ///< Mutex to protect receiveBytes function int lastIndex[256][256]; int totalReceiveCounter; @@ -143,6 +161,14 @@ signals: void versionCheckChanged(bool enabled); /** @brief Emitted if a message from the protocol should reach the user */ void protocolStatusMessage(const QString& title, const QString& message); + /** @brief Emitted if a new system ID was set */ + void systemIdChanged(int systemId); + /** @brief Emitted if param guard status changed */ + void paramGuardChanged(bool enabled); + /** @brief Emitted if param read timeout changed */ + void paramRetransmissionTimeoutChanged(int ms); + /** @brief Emitted if param write timeout changed */ + void paramRewriteTimeoutChanged(int ms); }; #endif // MAVLINKPROTOCOL_H_ diff --git a/src/ui/MAVLinkSettingsWidget.cc b/src/ui/MAVLinkSettingsWidget.cc index a96dc023ed4f0c26dc4db267cbabee7e8207ab4e..ebea16af042fec91ed44a6b0dbbf8aad5d6811ac 100644 --- a/src/ui/MAVLinkSettingsWidget.cc +++ b/src/ui/MAVLinkSettingsWidget.cc @@ -50,17 +50,35 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled()); m_ui->multiplexingCheckBox->setChecked(protocol->multiplexingEnabled()); m_ui->systemIdSpinBox->setValue(protocol->getSystemId()); + m_ui->paramGuardCheckBox->setChecked(protocol->paramGuardEnabled()); + m_ui->paramRetransmissionSpinBox->setValue(protocol->getParamRetransmissionTimeout()); + m_ui->paramRewriteSpinBox->setValue(protocol->getParamRewriteTimeout()); // Connect actions + // Heartbeat connect(protocol, SIGNAL(heartbeatChanged(bool)), m_ui->heartbeatCheckBox, SLOT(setChecked(bool))); connect(m_ui->heartbeatCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableHeartbeats(bool))); + // Logging connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->loggingCheckBox, SLOT(setChecked(bool))); connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableLogging(bool))); + // Version check connect(protocol, SIGNAL(versionCheckChanged(bool)), m_ui->versionCheckBox, SLOT(setChecked(bool))); connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableVersionCheck(bool))); + // Logfile connect(m_ui->logFileButton, SIGNAL(clicked()), this, SLOT(chooseLogfileName())); + // System ID + connect(protocol, SIGNAL(systemIdChanged(int)), m_ui->systemIdSpinBox, SLOT(setValue(int))); connect(m_ui->systemIdSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setSystemId(int))); + // Multiplexing + connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingCheckBox, SLOT(setChecked(bool))); connect(m_ui->multiplexingCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableMultiplexing(bool))); + // Parameter guard + connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramGuardCheckBox, SLOT(setChecked(bool))); + connect(m_ui->paramGuardCheckBox, SIGNAL(toggled(bool)), protocol, SLOT(enableParamGuard(bool))); + connect(protocol, SIGNAL(paramRetransmissionTimeoutChanged(int)), m_ui->paramRetransmissionSpinBox, SLOT(setValue(int))); + connect(m_ui->paramRetransmissionSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setParamRetransmissionTimeout(int))); + connect(protocol, SIGNAL(paramRewriteTimeoutChanged(int)), m_ui->paramRewriteSpinBox, SLOT(setValue(int))); + connect(m_ui->paramRewriteSpinBox, SIGNAL(valueChanged(int)), protocol, SLOT(setParamRewriteTimeout(int))); // Update values m_ui->versionLabel->setText(tr("MAVLINK_VERSION: %1").arg(protocol->getVersion())); @@ -71,24 +89,35 @@ MAVLinkSettingsWidget::MAVLinkSettingsWidget(MAVLinkProtocol* protocol, QWidget m_ui->versionLabel->setVisible(protocol->versionCheckEnabled()); //connect(m_ui->versionCheckBox, SIGNAL(toggled(bool)), m_ui->versionSpacer, SLOT(setVisible(bool))); //connect(m_ui->loggingCheckBox, SIGNAL(toggled(bool)), m_ui->logFileSpacer, SLOT(setVisible(bool))); + // Logging visibility connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileLabel, SLOT(setVisible(bool))); m_ui->logFileLabel->setVisible(protocol->loggingEnabled()); connect(protocol, SIGNAL(loggingChanged(bool)), m_ui->logFileButton, SLOT(setVisible(bool))); m_ui->logFileButton->setVisible(protocol->loggingEnabled()); - connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingFilterCheckBox, SLOT(setVisible(bool))); - m_ui->multiplexingFilterCheckBox->setVisible(protocol->multiplexingEnabled()); - connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingFilterLineEdit, SLOT(setVisible(bool))); - m_ui->multiplexingFilterLineEdit->setVisible(protocol->multiplexingEnabled()); +// // Multiplexing visibility +// connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingFilterCheckBox, SLOT(setVisible(bool))); +// m_ui->multiplexingFilterCheckBox->setVisible(protocol->multiplexingEnabled()); +// connect(protocol, SIGNAL(multiplexingChanged(bool)), m_ui->multiplexingFilterLineEdit, SLOT(setVisible(bool))); +// m_ui->multiplexingFilterLineEdit->setVisible(protocol->multiplexingEnabled()); + // Param guard visibility + connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramRetransmissionSpinBox, SLOT(setVisible(bool))); + m_ui->paramRetransmissionSpinBox->setVisible(protocol->paramGuardEnabled()); + connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramRetransmissionLabel, SLOT(setVisible(bool))); + m_ui->paramRetransmissionLabel->setVisible(protocol->paramGuardEnabled()); + connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramRewriteSpinBox, SLOT(setVisible(bool))); + m_ui->paramRewriteSpinBox->setVisible(protocol->paramGuardEnabled()); + connect(protocol, SIGNAL(paramGuardChanged(bool)), m_ui->paramRewriteLabel, SLOT(setVisible(bool))); + m_ui->paramRewriteLabel->setVisible(protocol->paramGuardEnabled()); // TODO implement filtering // and then remove these two lines m_ui->multiplexingFilterCheckBox->setVisible(false); m_ui->multiplexingFilterLineEdit->setVisible(false); - // Update settings - m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled()); - m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled()); - m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled()); +// // Update settings +// m_ui->loggingCheckBox->setChecked(protocol->loggingEnabled()); +// m_ui->heartbeatCheckBox->setChecked(protocol->heartbeatsEnabled()); +// m_ui->versionCheckBox->setChecked(protocol->versionCheckEnabled()); } void MAVLinkSettingsWidget::updateLogfileName(const QString& fileName) @@ -132,7 +161,8 @@ MAVLinkSettingsWidget::~MAVLinkSettingsWidget() void MAVLinkSettingsWidget::changeEvent(QEvent *e) { QWidget::changeEvent(e); - switch (e->type()) { + switch (e->type()) + { case QEvent::LanguageChange: m_ui->retranslateUi(this); break; @@ -140,3 +170,9 @@ void MAVLinkSettingsWidget::changeEvent(QEvent *e) break; } } + +void MAVLinkSettingsWidget::hideEvent(QHideEvent* event) +{ + Q_UNUSED(event); + protocol->storeSettings(); +} diff --git a/src/ui/MAVLinkSettingsWidget.h b/src/ui/MAVLinkSettingsWidget.h index c6f28c7b913abd76dd5a5bc44c2244282591d3e3..c1d99eb72ac2f0cfdc648121c39ef9eb97818c1f 100644 --- a/src/ui/MAVLinkSettingsWidget.h +++ b/src/ui/MAVLinkSettingsWidget.h @@ -24,6 +24,7 @@ public slots: protected: MAVLinkProtocol* protocol; void changeEvent(QEvent *e); + void hideEvent(QHideEvent* event); private: Ui::MAVLinkSettingsWidget *m_ui; diff --git a/src/ui/MAVLinkSettingsWidget.ui b/src/ui/MAVLinkSettingsWidget.ui index 8b1db6f6c1e2ca59d40b7e1d7d6356639825966b..665a21575099ec72bed9419f5bc0a2f93c7b1b7a 100644 --- a/src/ui/MAVLinkSettingsWidget.ui +++ b/src/ui/MAVLinkSettingsWidget.ui @@ -7,7 +7,7 @@ 0 0 431 - 256 + 349 @@ -151,6 +151,100 @@ + + + + Enable retransmission of parameter read/write requests + + + + + + + Qt::Horizontal + + + + 8 + 0 + + + + + + + + Qt::Horizontal + + + + 8 + 0 + + + + + + + + Read request retransmission timeout + + + + + + + Write request retransmission timeout + + + + + + + Time in milliseconds after which a not acknowledged read request is sent again. + + + Time in milliseconds after which a not acknowledged read request is sent again. + + + ms + + + 50 + + + 60000 + + + 50 + + + 50 + + + + + + + Time in milliseconds after which a not acknowledged write request is sent again. + + + Time in milliseconds after which a not acknowledged write request is sent again. + + + ms + + + 50 + + + 60000 + + + 50 + + + diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc index 9fdbf365e493f3fe986ccbfe7ae044d6afc293f5..ee32126b678784d994a122442fbd527c6db70b20 100644 --- a/src/ui/MainWindow.cc +++ b/src/ui/MainWindow.cc @@ -1339,6 +1339,7 @@ void MainWindow::connectCommonActions() // Audio output ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted()); + connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui.actionMuteAudioOutput, SLOT(setChecked(bool))); connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool))); // User interaction diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc index a8f8ff713a167e136e86389f87b268f2c9c12657..d826b9cf3d04ad34516189f52fc1a50b731bef66 100644 --- a/src/ui/QGCParamWidget.cc +++ b/src/ui/QGCParamWidget.cc @@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project #include #include #include +#include #include "QGCParamWidget.h" #include "UASInterface.h" @@ -51,8 +52,13 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : parameters(), transmissionListMode(false), transmissionActive(false), - transmissionStarted(0) + transmissionStarted(0), + retransmissionTimeout(350), + rewriteTimeout(500) { + // Load settings + loadSettings(); + // Create tree widget tree = new QTreeWidget(this); statusLabel = new QLabel(); @@ -134,6 +140,18 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) : connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick())); } +void QGCParamWidget::loadSettings() +{ + QSettings settings; + settings.beginGroup("QGC_MAVLINK_PROTOCOL"); + bool ok; + int temp = settings.value("PARAMETER_RETRANSMISSION_TIMEOUT", retransmissionTimeout).toInt(&ok); + if (ok) retransmissionTimeout = temp; + temp = settings.value("PARAMETER_REWRITE_TIMEOUT", rewriteTimeout).toInt(&ok); + if (ok) rewriteTimeout = temp; + settings.endGroup(); +} + /** * @return The MAV of this widget. Unless the MAV object has been destroyed, this * pointer is never zero. @@ -380,6 +398,13 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName, */ void QGCParamWidget::requestParameterList() { + // FIXME This call does not belong here + // Once the comm handling is moved to a new + // Param manager class the settings can be directly + // loaded from MAVLink protocol + loadSettings(); + // End of FIXME + // Clear view and request param list clear(); parameters.clear(); diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h index db7bc25597b16d86bb6221fb114202e59731936d..2a427855cdaae4769fcb39a1ece6d1f5d5835e02 100644 --- a/src/ui/QGCParamWidget.h +++ b/src/ui/QGCParamWidget.h @@ -94,15 +94,19 @@ protected: QMap* > parameters; ///< All parameters QVector received; ///< Successfully received parameters QMap* > transmissionMissingPackets; ///< Missing packets + QMap* > transmissionMissingWriteAckPackets; ///< Missing write ACK packets bool transmissionListMode; ///< Currently requesting list QMap transmissionListSizeKnown; ///< List size initialized? bool transmissionActive; ///< Missing packets, working on list? quint64 transmissionStarted; ///< Timeout QTimer retransmissionTimer; ///< Timer handling parameter retransmission - const static int retransmissionTimeout = 250; ///< Retransmission request timeout, in milliseconds + int retransmissionTimeout; ///< Retransmission request timeout, in milliseconds + int rewriteTimeout; ///< Write request timeout, in milliseconds /** @brief Activate / deactivate parameter retransmission */ void setRetransmissionGuardEnabled(bool enabled); + /** @brief Load settings */ + void loadSettings(); }; #endif // QGCPARAMWIDGET_H diff --git a/src/ui/QGCSettingsWidget.cc b/src/ui/QGCSettingsWidget.cc index 78ddf8c5ea6fa4c1ad91363ec50b67a3281f8b42..706ff207a57f1d83dfe539df68479d185321b43f 100644 --- a/src/ui/QGCSettingsWidget.cc +++ b/src/ui/QGCSettingsWidget.cc @@ -4,6 +4,7 @@ #include "LinkManager.h" #include "MAVLinkProtocol.h" #include "MAVLinkSettingsWidget.h" +#include "GAudioOutput.h" //, Qt::WindowFlags flags @@ -27,8 +28,16 @@ QGCSettingsWidget::QGCSettingsWidget(QWidget *parent, Qt::WindowFlags flags) : this->window()->setWindowTitle(tr("QGroundControl Settings")); + // Audio preferences + ui->audioMuteCheckBox->setChecked(GAudioOutput::instance()->isMuted()); + connect(ui->audioMuteCheckBox, SIGNAL(toggled(bool)), GAudioOutput::instance(), SLOT(mute(bool))); + connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui->audioMuteCheckBox, SLOT(setChecked(bool))); + // Close / destroy connect(ui->buttonBox, SIGNAL(accepted()), this, SLOT(deleteLater())); + + // Set layout options + ui->generalPaneGridLayout->setAlignment(Qt::AlignTop); } QGCSettingsWidget::~QGCSettingsWidget() diff --git a/src/ui/QGCSettingsWidget.ui b/src/ui/QGCSettingsWidget.ui index 8b0bef6fffc28894572cad6ac07a3a9cfe6c0042..f389c943a45c0e982c36cd363dfb5bbd38f046df 100644 --- a/src/ui/QGCSettingsWidget.ui +++ b/src/ui/QGCSettingsWidget.ui @@ -15,7 +15,29 @@ - + + + + General + + + General Settings + + + + + + Mute all audio output + + + + :/images/status/audio-volume-muted.svg:/images/status/audio-volume-muted.svg + + + + + + @@ -29,7 +51,9 @@ - + + + buttonBox