Merge pull request #5989 from DonLakeFlyer/LatencyBit

High Latency Link bit support

src/Vehicle/Vehicle.cc

@@ -127,6 +127,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _maxProtoVersion(0)
     , _vehicleCapabilitiesKnown(false)
     , _capabilityBits(0)
+    , _highLatencyLink(false)
     , _cameras(NULL)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
@@ -304,6 +305,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
     , _vehicleCapabilitiesKnown(true)
     , _capabilityBits(_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
+    , _highLatencyLink(false)
     , _cameras(NULL)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
@@ -1351,6 +1353,7 @@ void Vehicle::_addLink(LinkInterface* link)
         _updatePriorityLink();
         connect(_toolbox->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
         connect(_toolbox->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
+        connect(link, &LinkInterface::highLatencyChanged, this, &Vehicle::_updateHighLatencyLink);
     }
 }
 
@@ -2962,6 +2965,14 @@ void Vehicle::_vehicleParamLoaded(bool ready)
     }
 }
 
+void Vehicle::_updateHighLatencyLink(void)
+{
+    if (_priorityLink->highLatency() != _highLatencyLink) {
+        _highLatencyLink = _priorityLink->highLatency();
+        emit highLatencyLinkChanged(_highLatencyLink);
+    }
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -352,6 +352,7 @@ public:
     Q_PROPERTY(QGCCameraManager*    dynamicCameras          READ dynamicCameras                                         NOTIFY dynamicCamerasChanged)
     Q_PROPERTY(QString              hobbsMeter              READ hobbsMeter                                             NOTIFY hobbsMeterChanged)
     Q_PROPERTY(bool                 vtolInFwdFlight         READ vtolInFwdFlight        WRITE setVtolInFwdFlight        NOTIFY vtolInFwdFlightChanged)
+    Q_PROPERTY(bool                 highLatencyLink         READ highLatencyLink                                        NOTIFY highLatencyLinkChanged)
 
     // Vehicle state used for guided control
     Q_PROPERTY(bool flying                  READ flying NOTIFY flyingChanged)                               ///< Vehicle is flying
@@ -638,6 +639,7 @@ public:
     int             telemetryLNoise         () { return _telemetryLNoise; }
     int             telemetryRNoise         () { return _telemetryRNoise; }
     bool            autoDisarm              ();
+    bool            highLatencyLink         () const { return _highLatencyLink; }
     /// Get the maximum MAVLink protocol version supported
     /// @return the maximum version
     unsigned        maxProtoVersion         () const { return _maxProtoVersion; }
@@ -786,6 +788,7 @@ signals:
     void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
     void capabilityBitsChanged(uint64_t capabilityBits);
     void toolBarIndicatorsChanged(void);
+    void highLatencyLinkChanged(bool highLatencyLink);
 
     void messagesReceivedChanged    ();
     void messagesSentChanged        ();
@@ -862,6 +865,7 @@ private slots:
     void _offlineVehicleTypeSettingChanged(QVariant value);
     void _offlineCruiseSpeedSettingChanged(QVariant value);
     void _offlineHoverSpeedSettingChanged(QVariant value);
+    void _updateHighLatencyLink(void);
 
     void _handleTextMessage                 (int newCount);
     void _handletextMessageReceived         (UASMessage* message);
@@ -995,6 +999,7 @@ private:
     unsigned        _maxProtoVersion;
     bool            _vehicleCapabilitiesKnown;
     uint64_t        _capabilityBits;
+    bool            _highLatencyLink;
 
     QGCCameraManager* _cameras;
 

src/comm/LinkInterface.cc

@@ -21,11 +21,12 @@ uint8_t LinkInterface::mavlinkChannel(void) const
 }
 // Links are only created by LinkManager so constructor is not public
 LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
-    : QThread(0)
-    , _config(config)
-    , _mavlinkChannelSet(false)
-    , _active(false)
-    , _enableRateCollection(false)
+    : QThread                   (0)
+    , _config                   (config)
+    , _highLatency              (false)
+    , _mavlinkChannelSet        (false)
+    , _active                   (false)
+    , _enableRateCollection     (false)
     , _decodedFirstMavlinkPacket(false)
 {
     _config->setLink(this);

src/comm/LinkInterface.h

@@ -116,6 +116,11 @@ public:
     /// set into the link when it is added to LinkManager
     uint8_t mavlinkChannel(void) const;
 
+    /// Returns whether this link is high latency or not. High latency links should only perform
+    /// minimal communication with vehicle.
+    ///     signals: highLatencyChanged
+    bool highLatency(void) const { return _highLatency; }
+
     bool decodedFirstMavlinkPacket(void) const { return _decodedFirstMavlinkPacket; }
     bool setDecodedFirstMavlinkPacket(bool decodedFirstMavlinkPacket) { return _decodedFirstMavlinkPacket = decodedFirstMavlinkPacket; }
 
@@ -149,6 +154,7 @@ signals:
     void autoconnectChanged(bool autoconnect);
     void activeChanged(bool active);
     void _invokeWriteBytes(QByteArray);
+    void highLatencyChanged(bool highLatency);
 
     /// Signalled when a link suddenly goes away due to it being removed by for example pulling the cable to the connection.
     void connectionRemoved(LinkInterface* link);
@@ -202,7 +208,8 @@ protected:
     void _logOutputDataRate(quint64 byteCount, qint64 time);
 
     SharedLinkConfigurationPointer _config;
-    
+    bool _highLatency;
+
 private:
     /**
      * @brief logDataRateToBuffer Stores transmission times/amounts for statistics

src/comm/MockLink.cc

@@ -44,6 +44,7 @@ const char* MockLink::_failParam =                  "COM_FLTMODE6";
 const char* MockConfiguration::_firmwareTypeKey =   "FirmwareType";
 const char* MockConfiguration::_vehicleTypeKey =    "VehicleType";
 const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
+const char* MockConfiguration::_highLatencyKey =    "HighLatency";
 const char* MockConfiguration::_failureModeKey =    "FailureMode";
 
 MockLink::MockLink(SharedLinkConfigurationPointer& config)
@@ -79,6 +80,7 @@ MockLink::MockLink(SharedLinkConfigurationPointer& config)
     _firmwareType = mockConfig->firmwareType();
     _vehicleType = mockConfig->vehicleType();
     _sendStatusText = mockConfig->sendStatusText();
+    _highLatency = mockConfig->highLatency();
     _failureMode = mockConfig->failureMode();
 
     union px4_custom_mode   px4_cm;
@@ -1012,10 +1014,11 @@ void MockLink::_sendStatusTextMessages(void)
 
 MockConfiguration::MockConfiguration(const QString& name)
     : LinkConfiguration(name)
-    , _firmwareType(MAV_AUTOPILOT_PX4)
-    , _vehicleType(MAV_TYPE_QUADROTOR)
-    , _sendStatusText(false)
-    , _failureMode(FailNone)
+    , _firmwareType     (MAV_AUTOPILOT_PX4)
+    , _vehicleType      (MAV_TYPE_QUADROTOR)
+    , _sendStatusText   (false)
+    , _highLatency      (false)
+    , _failureMode      (FailNone)
 {
 
 }
@@ -1026,6 +1029,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
     _firmwareType =     source->_firmwareType;
     _vehicleType =      source->_vehicleType;
     _sendStatusText =   source->_sendStatusText;
+    _highLatency =      source->_highLatency;
     _failureMode =      source->_failureMode;
 }
 
@@ -1042,6 +1046,7 @@ void MockConfiguration::copyFrom(LinkConfiguration *source)
     _firmwareType =     usource->_firmwareType;
     _vehicleType =      usource->_vehicleType;
     _sendStatusText =   usource->_sendStatusText;
+    _highLatency =      usource->_highLatency;
     _failureMode =      usource->_failureMode;
 }
 
@@ -1051,6 +1056,7 @@ void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
     settings.setValue(_firmwareTypeKey, (int)_firmwareType);
     settings.setValue(_vehicleTypeKey, (int)_vehicleType);
     settings.setValue(_sendStatusTextKey, _sendStatusText);
+    settings.setValue(_highLatencyKey, _highLatency);
     settings.setValue(_failureModeKey, (int)_failureMode);
     settings.sync();
     settings.endGroup();
@@ -1062,6 +1068,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
     _firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
     _vehicleType = (MAV_TYPE)settings.value(_vehicleTypeKey, (int)MAV_TYPE_QUADROTOR).toInt();
     _sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
+    _highLatency = settings.value(_highLatencyKey, false).toBool();
     _failureMode = (FailureMode_t)settings.value(_failureModeKey, (int)FailNone).toInt();
     settings.endGroup();
 }

src/comm/MockLink.h

@@ -32,12 +32,15 @@ public:
     Q_PROPERTY(int      firmware    READ firmware           WRITE setFirmware       NOTIFY firmwareChanged)
     Q_PROPERTY(int      vehicle     READ vehicle            WRITE setVehicle        NOTIFY vehicleChanged)
     Q_PROPERTY(bool     sendStatus  READ sendStatusText     WRITE setSendStatusText NOTIFY sendStatusChanged)
+    Q_PROPERTY(bool     highLatency READ highLatency        WRITE setHighLatency    NOTIFY highLatencyChanged)
 
     // QML Access
     int     firmware        () { return (int)_firmwareType; }
     void    setFirmware     (int type) { _firmwareType = (MAV_AUTOPILOT)type; emit firmwareChanged(); }
     int     vehicle         () { return (int)_vehicleType; }
+    bool    highLatency     () const { return _highLatency; }
     void    setVehicle      (int type) { _vehicleType = (MAV_TYPE)type; emit vehicleChanged(); }
+    void    setHighLatency  (bool latency) { _highLatency = latency; emit highLatencyChanged(); }
 
     MockConfiguration(const QString& name);
     MockConfiguration(MockConfiguration* source);
@@ -73,16 +76,19 @@ signals:
     void firmwareChanged    ();
     void vehicleChanged     ();
     void sendStatusChanged  ();
+    void highLatencyChanged ();
 
 private:
     MAV_AUTOPILOT   _firmwareType;
     MAV_TYPE        _vehicleType;
     bool            _sendStatusText;
+    bool            _highLatency;
     FailureMode_t   _failureMode;
 
     static const char* _firmwareTypeKey;
     static const char* _vehicleTypeKey;
     static const char* _sendStatusTextKey;
+    static const char* _highLatencyKey;
     static const char* _failureModeKey;
 };
 

src/ui/preferences/MockLinkSettings.qml

@@ -35,6 +35,7 @@ Item {
         else
             subEditConfig.firmware = 0
         subEditConfig.sendStatus = sendStatus.checked
+        subEditConfig.highLatency = highLatency.checked
     }
 
     Component.onCompleted: {
@@ -49,6 +50,7 @@ Item {
         else
             copterVehicle.checked = true
         sendStatus.checked = subEditConfig.sendStatus
+        highLatency.checked = subEditConfig.highLatency
     }
 
     Column {
@@ -67,6 +69,11 @@ Item {
             text:       qsTr("Send Status Text and Voice")
             checked:    false
         }
+        QGCCheckBox {
+            id:         highLatency
+            text:       qsTr("High latency")
+            checked:    false
+        }
         Item {
             height: ScreenTools.defaultFontPixelHeight / 2
             width:  parent.width