Merge pull request #7103 from mavlink/taisyncLink

Taisync support

QGCCommon.pri

@@ -21,6 +21,7 @@ linux {
         message("Linux build")
         CONFIG  += LinuxBuild
         DEFINES += __STDC_LIMIT_MACROS
+        DEFINES += QGC_GST_TAISYNC_ENABLED
         linux-clang {
             message("Linux clang")
             QMAKE_CXXFLAGS += -Qunused-arguments -fcolor-diagnostics
@@ -29,6 +30,7 @@ linux {
         message("Linux R-Pi2 build")
         CONFIG += LinuxBuild
         DEFINES += __STDC_LIMIT_MACROS __rasp_pi2__
+        DEFINES += QGC_GST_TAISYNC_ENABLED
     } else : android-g++ | android-clang {
         CONFIG += AndroidBuild MobileBuild
         DEFINES += __android__
@@ -50,6 +52,7 @@ linux {
         message("Windows build")
         CONFIG += WindowsBuild
         DEFINES += __STDC_LIMIT_MACROS
+        DEFINES += QGC_GST_TAISYNC_ENABLED
     } else {
         error("Unsupported Windows toolchain, only Visual Studio 2015 is supported")
     }
@@ -59,6 +62,7 @@ linux {
         CONFIG  += MacBuild
         CONFIG  += x86_64
         CONFIG  -= x86
+        DEFINES += QGC_GST_TAISYNC_ENABLED
         equals(QT_MAJOR_VERSION, 5) | greaterThan(QT_MINOR_VERSION, 5) {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.7
         } else {
@@ -83,6 +87,7 @@ linux {
     DEFINES += QGC_NO_GOOGLE_MAPS
     DEFINES += NO_SERIAL_LINK
     DEFINES += QGC_DISABLE_UVC
+    DEFINES += QGC_GST_TAISYNC_ENABLED
     QMAKE_IOS_DEPLOYMENT_TARGET = 8.0
     QMAKE_APPLE_TARGETED_DEVICE_FAMILY = 1,2 # Universal
     QMAKE_LFLAGS += -Wl,-no_pie

build_ios.sh

@@ -5,7 +5,7 @@ if [ ! -d /Volumes/RAMDisk ] ; then
     exit 1
 fi
 #-- Set to my local installation
-QMAKE=/Users/gus/Applications/Qt/5.11.0/ios/bin/qmake
+QMAKE=/Users/gus/Applications/Qt/5.11.2/ios/bin/qmake
 #-- Using Travis variables as this will eventually live there
 SHADOW_BUILD_DIR=/Volumes/RAMDisk/build-qgroundcontrol-iOS-Release
 TRAVIS_BUILD_DIR=/Users/gus/github/work/UpstreamQGC

qgroundcontrol.pro

@@ -628,7 +628,7 @@ HEADERS += \
 
 AndroidBuild {
 HEADERS += \
-	src/Joystick/JoystickAndroid.h \
+    src/Joystick/JoystickAndroid.h \
 }
 
 DebugBuild {
@@ -714,7 +714,7 @@ iOSBuild {
 
 AndroidBuild {
     SOURCES += src/MobileScreenMgr.cc \
-	src/Joystick/JoystickAndroid.cc \
+    src/Joystick/JoystickAndroid.cc \
 }
 
 SOURCES += \
@@ -1106,6 +1106,33 @@ SOURCES += \
     src/FactSystem/ParameterManager.cc \
     src/FactSystem/SettingsFact.cc \
 
+#-------------------------------------------------------------------------------------
+# Taisync
+contains (DEFINES, QGC_GST_TAISYNC_ENABLED) {
+    INCLUDEPATH += \
+        src/Taisync
+
+    HEADERS += \
+        src/Taisync/TaisyncManager.h \
+        src/Taisync/TaisyncHandler.h \
+        src/Taisync/TaisyncSettings.h \
+
+    SOURCES += \
+        src/Taisync/TaisyncManager.cc \
+        src/Taisync/TaisyncHandler.cc \
+        src/Taisync/TaisyncSettings.cc \
+
+    iOSBuild | AndroidBuild {
+        HEADERS += \
+            src/Taisync/TaisyncTelemetry.h \
+            src/Taisync/TaisyncVideoReceiver.h \
+
+        SOURCES += \
+            src/Taisync/TaisyncTelemetry.cc \
+            src/Taisync/TaisyncVideoReceiver.cc \
+    }
+}
+
 #-------------------------------------------------------------------------------------
 # AirMap
 

qgroundcontrol.qrc

@@ -199,6 +199,7 @@
         <file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
         <file alias="SyslinkComponent.qml">src/AutoPilotPlugins/Common/SyslinkComponent.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
+        <file alias="TaisyncSettings.qml">src/Taisync/TaisyncSettings.qml</file>
         <file alias="test.qml">src/test.qml</file>
         <file alias="UdpSettings.qml">src/ui/preferences/UdpSettings.qml</file>
         <file alias="ValuePageWidget.qml">src/FlightMap/Widgets/ValuePageWidget.qml</file>

src/FactSystem/Fact.cc

@@ -147,15 +147,20 @@ void Fact::setCookedValue(const QVariant& value)
     }
 }
 
-void Fact::setEnumStringValue(const QString& value)
+int Fact::valueIndex(const QString& value)
 {
     if (_metaData) {
-        int index = _metaData->enumStrings().indexOf(value);
-        if (index != -1) {
-            setCookedValue(_metaData->enumValues()[index]);
-        }
-    } else {
-        qWarning() << kMissingMetadata << name();
+        return _metaData->enumStrings().indexOf(value);
+    }
+    qWarning() << kMissingMetadata << name();
+    return -1;
+}
+
+void Fact::setEnumStringValue(const QString& value)
+{
+    int index = valueIndex(value);
+    if (index != -1) {
+        setCookedValue(_metaData->enumValues()[index]);
     }
 }
 

src/FactSystem/Fact.h

@@ -138,6 +138,7 @@ public:
     void setCookedValue     (const QVariant& value);
     void setEnumIndex       (int index);
     void setEnumStringValue (const QString& value);
+    int  valueIndex         (const QString& value);
 
     // The following methods allow you to defer sending of the valueChanged signals in order to implement
     // rate limited signalling for ui performance. Used by FactGroup for example.

src/FlightDisplay/VideoManager.cc

@@ -34,10 +34,6 @@ QGC_LOGGING_CATEGORY(VideoManagerLog, "VideoManagerLog")
 //-----------------------------------------------------------------------------
 VideoManager::VideoManager(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool(app, toolbox)
-    , _videoReceiver(nullptr)
-    , _videoSettings(nullptr)
-    , _fullScreen(false)
-    , _activeVehicle(nullptr)
 {
 }
 

src/FlightDisplay/VideoManager.h

@@ -36,6 +36,7 @@ public:
     Q_PROPERTY(bool             hasVideo            READ    hasVideo                                    NOTIFY hasVideoChanged)
     Q_PROPERTY(bool             isGStreamer         READ    isGStreamer                                 NOTIFY isGStreamerChanged)
     Q_PROPERTY(bool             isAutoStream        READ    isAutoStream                                NOTIFY isAutoStreamChanged)
+    Q_PROPERTY(bool             isTaisync           READ    isTaisync       WRITE   setIsTaisync        NOTIFY isTaisyncChanged)
     Q_PROPERTY(QString          videoSourceID       READ    videoSourceID                               NOTIFY videoSourceIDChanged)
     Q_PROPERTY(bool             uvcEnabled          READ    uvcEnabled                                  CONSTANT)
     Q_PROPERTY(bool             fullScreen          READ    fullScreen      WRITE   setfullScreen       NOTIFY fullScreenChanged)
@@ -45,6 +46,7 @@ public:
     bool        hasVideo            ();
     bool        isGStreamer         ();
     bool        isAutoStream        ();
+    bool        isTaisync           () { return _isTaisync; }
     bool        fullScreen          () { return _fullScreen; }
     QString     videoSourceID       () { return _videoSourceID; }
     QString     autoURL             () { return QString(_streamInfo.uri); }
@@ -59,6 +61,7 @@ public:
 #endif
 
     void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
+    void        setIsTaisync        (bool t) { _isTaisync = t; emit isTaisyncChanged(); }
 
     // Override from QGCTool
     void        setToolbox          (QGCToolbox *toolbox);
@@ -73,6 +76,7 @@ signals:
     void fullScreenChanged          ();
     void isAutoStreamChanged        ();
     void aspectRatioChanged         ();
+    void isTaisyncChanged           ();
 
 private slots:
     void _videoSourceChanged        ();
@@ -88,11 +92,13 @@ private:
     void _updateSettings            ();
     void _restartVideo              ();
 
-    VideoReceiver*  _videoReceiver;
-    VideoSettings*  _videoSettings;
+private:
+    bool            _isTaisync          = false;
+    VideoReceiver*  _videoReceiver      = nullptr;
+    VideoSettings*  _videoSettings      = nullptr;
     QString         _videoSourceID;
-    bool            _fullScreen;
-    Vehicle*        _activeVehicle;
+    bool            _fullScreen         = false;
+    Vehicle*        _activeVehicle      = nullptr;
     mavlink_video_stream_information_t _streamInfo;
 };
 

src/QGCToolbox.cc

@@ -35,64 +35,48 @@
 #else
 #include "AirspaceManager.h"
 #endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+#include "TaisyncManager.h"
+#endif
 
 #if defined(QGC_CUSTOM_BUILD)
 #include CUSTOMHEADER
 #endif
 
 QGCToolbox::QGCToolbox(QGCApplication* app)
-    : _audioOutput          (NULL)
-    , _factSystem           (NULL)
-    , _firmwarePluginManager(NULL)
-#ifndef __mobile__
-    , _gpsManager           (NULL)
-#endif
-    , _imageProvider        (NULL)
-    , _joystickManager      (NULL)
-    , _linkManager          (NULL)
-    , _mavlinkProtocol      (NULL)
-    , _missionCommandTree   (NULL)
-    , _multiVehicleManager  (NULL)
-    , _mapEngineManager     (NULL)
-    , _uasMessageHandler    (NULL)
-    , _followMe             (NULL)
-    , _qgcPositionManager   (NULL)
-    , _videoManager         (NULL)
-    , _mavlinkLogManager    (NULL)
-    , _corePlugin           (NULL)
-    , _settingsManager      (NULL)
-    , _airspaceManager      (NULL)
 {
     // SettingsManager must be first so settings are available to any subsequent tools
-    _settingsManager =          new SettingsManager(app, this);
-
+    _settingsManager        = new SettingsManager           (app, this);
     //-- Scan and load plugins
     _scanAndLoadPlugins(app);
-    _audioOutput =              new AudioOutput             (app, this);
-    _factSystem =               new FactSystem              (app, this);
-    _firmwarePluginManager =    new FirmwarePluginManager   (app, this);
+    _audioOutput            = new AudioOutput               (app, this);
+    _factSystem             = new FactSystem                (app, this);
+    _firmwarePluginManager  = new FirmwarePluginManager     (app, this);
 #ifndef __mobile__
-    _gpsManager =               new GPSManager              (app, this);
+    _gpsManager             = new GPSManager                (app, this);
 #endif
-    _imageProvider =            new QGCImageProvider        (app, this);
-    _joystickManager =          new JoystickManager         (app, this);
-    _linkManager =              new LinkManager             (app, this);
-    _mavlinkProtocol =          new MAVLinkProtocol         (app, this);
-    _missionCommandTree =       new MissionCommandTree      (app, this);
-    _multiVehicleManager =      new MultiVehicleManager     (app, this);
-    _mapEngineManager =         new QGCMapEngineManager     (app, this);
-    _uasMessageHandler =        new UASMessageHandler       (app, this);
-    _qgcPositionManager =       new QGCPositionManager      (app, this);
-    _followMe =                 new FollowMe                (app, this);
-    _videoManager =             new VideoManager            (app, this);
-    _mavlinkLogManager =        new MAVLinkLogManager       (app, this);
+    _imageProvider          = new QGCImageProvider          (app, this);
+    _joystickManager        = new JoystickManager           (app, this);
+    _linkManager            = new LinkManager               (app, this);
+    _mavlinkProtocol        = new MAVLinkProtocol           (app, this);
+    _missionCommandTree     = new MissionCommandTree        (app, this);
+    _multiVehicleManager    = new MultiVehicleManager       (app, this);
+    _mapEngineManager       = new QGCMapEngineManager       (app, this);
+    _uasMessageHandler      = new UASMessageHandler         (app, this);
+    _qgcPositionManager     = new QGCPositionManager        (app, this);
+    _followMe               = new FollowMe                  (app, this);
+    _videoManager           = new VideoManager              (app, this);
+    _mavlinkLogManager      = new MAVLinkLogManager         (app, this);
     //-- Airmap Manager
     //-- This should be "pluggable" so an arbitrary AirSpace manager can be used
     //-- For now, we instantiate the one and only AirMap provider
 #if defined(QGC_AIRMAP_ENABLED)
-    _airspaceManager =          new AirMapManager           (app, this);
+    _airspaceManager        = new AirMapManager             (app, this);
 #else
-    _airspaceManager =          new AirspaceManager         (app, this);
+    _airspaceManager        = new AirspaceManager           (app, this);
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    _taisyncManager         = new TaisyncManager            (app, this);
 #endif
 }
 
@@ -100,7 +84,6 @@ void QGCToolbox::setChildToolboxes(void)
 {
     // SettingsManager must be first so settings are available to any subsequent tools
     _settingsManager->setToolbox(this);
-
     _corePlugin->setToolbox(this);
     _audioOutput->setToolbox(this);
     _factSystem->setToolbox(this);
@@ -121,6 +104,9 @@ void QGCToolbox::setChildToolboxes(void)
     _videoManager->setToolbox(this);
     _mavlinkLogManager->setToolbox(this);
     _airspaceManager->setToolbox(this);
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    _taisyncManager->setToolbox(this);
+#endif
 }
 
 void QGCToolbox::_scanAndLoadPlugins(QGCApplication* app)
@@ -139,7 +125,7 @@ void QGCToolbox::_scanAndLoadPlugins(QGCApplication* app)
 QGCTool::QGCTool(QGCApplication* app, QGCToolbox* toolbox)
     : QObject(toolbox)
     , _app(app)
-    , _toolbox(NULL)
+    , _toolbox(nullptr)
 {
 }
 

src/QGCToolbox.h

@@ -33,6 +33,9 @@ class MAVLinkLogManager;
 class QGCCorePlugin;
 class SettingsManager;
 class AirspaceManager;
+#if defined(QGC_GST_TAISYNC_ENABLED)
+class TaisyncManager;
+#endif
 
 /// This is used to manage all of our top level services/tools
 class QGCToolbox : public QObject {
@@ -41,25 +44,28 @@ class QGCToolbox : public QObject {
 public:
     QGCToolbox(QGCApplication* app);
 
-    FirmwarePluginManager*      firmwarePluginManager(void)     { return _firmwarePluginManager; }
-    AudioOutput*                audioOutput(void)               { return _audioOutput; }
-    JoystickManager*            joystickManager(void)           { return _joystickManager; }
-    LinkManager*                linkManager(void)               { return _linkManager; }
-    MAVLinkProtocol*            mavlinkProtocol(void)           { return _mavlinkProtocol; }
-    MissionCommandTree*         missionCommandTree(void)        { return _missionCommandTree; }
-    MultiVehicleManager*        multiVehicleManager(void)       { return _multiVehicleManager; }
-    QGCMapEngineManager*        mapEngineManager(void)          { return _mapEngineManager; }
-    QGCImageProvider*           imageProvider()                 { return _imageProvider; }
-    UASMessageHandler*          uasMessageHandler(void)         { return _uasMessageHandler; }
-    FollowMe*                   followMe(void)                  { return _followMe; }
-    QGCPositionManager*         qgcPositionManager(void)        { return _qgcPositionManager; }
-    VideoManager*               videoManager(void)              { return _videoManager; }
-    MAVLinkLogManager*          mavlinkLogManager(void)         { return _mavlinkLogManager; }
-    QGCCorePlugin*              corePlugin(void)                { return _corePlugin; }
-    SettingsManager*            settingsManager(void)           { return _settingsManager; }
-    AirspaceManager*            airspaceManager(void)           { return _airspaceManager; }
+    FirmwarePluginManager*      firmwarePluginManager   () { return _firmwarePluginManager; }
+    AudioOutput*                audioOutput             () { return _audioOutput; }
+    JoystickManager*            joystickManager         () { return _joystickManager; }
+    LinkManager*                linkManager             () { return _linkManager; }
+    MAVLinkProtocol*            mavlinkProtocol         () { return _mavlinkProtocol; }
+    MissionCommandTree*         missionCommandTree      () { return _missionCommandTree; }
+    MultiVehicleManager*        multiVehicleManager     () { return _multiVehicleManager; }
+    QGCMapEngineManager*        mapEngineManager        () { return _mapEngineManager; }
+    QGCImageProvider*           imageProvider           () { return _imageProvider; }
+    UASMessageHandler*          uasMessageHandler       () { return _uasMessageHandler; }
+    FollowMe*                   followMe                () { return _followMe; }
+    QGCPositionManager*         qgcPositionManager      () { return _qgcPositionManager; }
+    VideoManager*               videoManager            () { return _videoManager; }
+    MAVLinkLogManager*          mavlinkLogManager       () { return _mavlinkLogManager; }
+    QGCCorePlugin*              corePlugin              () { return _corePlugin; }
+    SettingsManager*            settingsManager         () { return _settingsManager; }
+    AirspaceManager*            airspaceManager         () { return _airspaceManager; }
 #ifndef __mobile__
-    GPSManager*                 gpsManager(void)                { return _gpsManager; }
+    GPSManager*                 gpsManager              () { return _gpsManager; }
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    TaisyncManager*             taisyncManager          () { return _taisyncManager; }
 #endif
 
 private:
@@ -67,27 +73,30 @@ private:
     void _scanAndLoadPlugins(QGCApplication *app);
 
 
-    AudioOutput*                _audioOutput;
-    FactSystem*                 _factSystem;
-    FirmwarePluginManager*      _firmwarePluginManager;
+    AudioOutput*                _audioOutput            = nullptr;
+    FactSystem*                 _factSystem             = nullptr;
+    FirmwarePluginManager*      _firmwarePluginManager  = nullptr;
 #ifndef __mobile__
-    GPSManager*                 _gpsManager;
+    GPSManager*                 _gpsManager             = nullptr;
+#endif
+    QGCImageProvider*           _imageProvider          = nullptr;
+    JoystickManager*            _joystickManager        = nullptr;
+    LinkManager*                _linkManager            = nullptr;
+    MAVLinkProtocol*            _mavlinkProtocol        = nullptr;
+    MissionCommandTree*         _missionCommandTree     = nullptr;
+    MultiVehicleManager*        _multiVehicleManager    = nullptr;
+    QGCMapEngineManager*        _mapEngineManager       = nullptr;
+    UASMessageHandler*          _uasMessageHandler      = nullptr;
+    FollowMe*                   _followMe               = nullptr;
+    QGCPositionManager*         _qgcPositionManager     = nullptr;
+    VideoManager*               _videoManager           = nullptr;
+    MAVLinkLogManager*          _mavlinkLogManager      = nullptr;
+    QGCCorePlugin*              _corePlugin             = nullptr;
+    SettingsManager*            _settingsManager        = nullptr;
+    AirspaceManager*            _airspaceManager        = nullptr;
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    TaisyncManager*             _taisyncManager         = nullptr;
 #endif
-    QGCImageProvider*           _imageProvider;
-    JoystickManager*            _joystickManager;
-    LinkManager*                _linkManager;
-    MAVLinkProtocol*            _mavlinkProtocol;
-    MissionCommandTree*         _missionCommandTree;
-    MultiVehicleManager*        _multiVehicleManager;
-    QGCMapEngineManager*        _mapEngineManager;
-    UASMessageHandler*          _uasMessageHandler;
-    FollowMe*                   _followMe;
-    QGCPositionManager*         _qgcPositionManager;
-    VideoManager*               _videoManager;
-    MAVLinkLogManager*          _mavlinkLogManager;
-    QGCCorePlugin*              _corePlugin;
-    SettingsManager*            _settingsManager;
-    AirspaceManager*            _airspaceManager;
     friend class QGCApplication;
 };
 

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -29,23 +29,9 @@ double           QGroundControlQmlGlobal::_zoom = 2;
 
 QGroundControlQmlGlobal::QGroundControlQmlGlobal(QGCApplication* app, QGCToolbox* toolbox)
     : QGCTool               (app, toolbox)
-    , _flightMapInitialZoom (17.0)
-    , _linkManager          (NULL)
-    , _multiVehicleManager  (NULL)
-    , _mapEngineManager     (NULL)
-    , _qgcPositionManager   (NULL)
-    , _missionCommandTree   (NULL)
-    , _videoManager         (NULL)
-    , _mavlinkLogManager    (NULL)
-    , _corePlugin           (NULL)
-    , _firmwarePluginManager(NULL)
-    , _settingsManager      (NULL)
-    , _gpsRtkFactGroup      (nullptr)
-    , _airspaceManager      (NULL)
-    , _skipSetupPage        (false)
 {
     // We clear the parent on this object since we run into shutdown problems caused by hybrid qml app. Instead we let it leak on shutdown.
-    setParent(NULL);
+    setParent(nullptr);
     // Load last coordinates and zoom from config file
     QSettings settings;
     settings.beginGroup(_flightMapPositionSettingsGroup);
@@ -80,6 +66,9 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
     _settingsManager        = toolbox->settingsManager();
     _gpsRtkFactGroup        = qgcApp()->gpsRtkFactGroup();
     _airspaceManager        = toolbox->airspaceManager();
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    _taisyncManager         = toolbox->taisyncManager();
+#endif
 }
 
 void QGroundControlQmlGlobal::saveGlobalSetting (const QString& key, const QString& value)

src/QmlControls/QGroundControlQmlGlobal.h

@@ -23,6 +23,11 @@
 #include "QGCLoggingCategory.h"
 #include "AppSettings.h"
 #include "AirspaceManager.h"
+#if defined(QGC_GST_TAISYNC_ENABLED)
+#include "TaisyncManager.h"
+#else
+class TaisyncManager;
+#endif
 
 #ifdef QT_DEBUG
 #include "MockLink.h"
@@ -52,6 +57,8 @@ public:
     Q_PROPERTY(FactGroup*           gpsRtk              READ gpsRtkFactGroup        CONSTANT)
     Q_PROPERTY(AirspaceManager*     airspaceManager     READ airspaceManager        CONSTANT)
     Q_PROPERTY(bool                 airmapSupported     READ airmapSupported        CONSTANT)
+    Q_PROPERTY(TaisyncManager*      taisyncManager      READ taisyncManager         CONSTANT)
+    Q_PROPERTY(bool                 taisyncSupported    READ taisyncSupported       CONSTANT)
 
     Q_PROPERTY(int      supportedFirmwareCount          READ supportedFirmwareCount CONSTANT)
 
@@ -145,6 +152,13 @@ public:
     static QGeoCoordinate   flightMapPosition   ()  { return _coord; }
     static double           flightMapZoom       ()  { return _zoom; }
 
+    TaisyncManager*         taisyncManager      ()  { return _taisyncManager; }
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    bool                    taisyncSupported    () { return true; }
+#else
+    bool                    taisyncSupported    () { return false; }
+#endif
+
     qreal zOrderTopMost             () { return 1000; }
     qreal zOrderWidgets             () { return 100; }
     qreal zOrderMapItems            () { return 50; }
@@ -189,21 +203,22 @@ signals:
     void skipSetupPageChanged           ();
 
 private:
-    double                  _flightMapInitialZoom;
-    LinkManager*            _linkManager;
-    MultiVehicleManager*    _multiVehicleManager;
-    QGCMapEngineManager*    _mapEngineManager;
-    QGCPositionManager*     _qgcPositionManager;
-    MissionCommandTree*     _missionCommandTree;
-    VideoManager*           _videoManager;
-    MAVLinkLogManager*      _mavlinkLogManager;
-    QGCCorePlugin*          _corePlugin;
-    FirmwarePluginManager*  _firmwarePluginManager;
-    SettingsManager*        _settingsManager;
-    FactGroup*              _gpsRtkFactGroup;
-    AirspaceManager*        _airspaceManager;
-
-    bool                    _skipSetupPage;
+    double                  _flightMapInitialZoom   = 17.0;
+    LinkManager*            _linkManager            = nullptr;
+    MultiVehicleManager*    _multiVehicleManager    = nullptr;
+    QGCMapEngineManager*    _mapEngineManager       = nullptr;
+    QGCPositionManager*     _qgcPositionManager     = nullptr;
+    MissionCommandTree*     _missionCommandTree     = nullptr;
+    VideoManager*           _videoManager           = nullptr;
+    MAVLinkLogManager*      _mavlinkLogManager      = nullptr;
+    QGCCorePlugin*          _corePlugin             = nullptr;
+    FirmwarePluginManager*  _firmwarePluginManager  = nullptr;
+    SettingsManager*        _settingsManager        = nullptr;
+    FactGroup*              _gpsRtkFactGroup        = nullptr;
+    AirspaceManager*        _airspaceManager        = nullptr;
+    TaisyncManager*         _taisyncManager         = nullptr;
+
+    bool                    _skipSetupPage          = false;
 
     static const char* _flightMapPositionSettingsGroup;
     static const char* _flightMapPositionLatitudeSettingsKey;

src/Settings/App.SettingsGroup.json

@@ -205,5 +205,19 @@
     "shortDescription": "Request start of MAVLink telemetry streams (ArduPilot only)",
     "type":             "bool",
     "defaultValue":     true
+},
+{
+    "name":             "enableTaisync",
+    "shortDescription": "Enable Taisync Module Support",
+    "longDescription":  "Enable Taisync Module Support",
+    "type":             "bool",
+    "defaultValue":     false
+},
+{
+    "name":             "enableTaisyncVideo",
+    "shortDescription": "Enable Taisync Video Support",
+    "longDescription":  "Enable Taisync Video Support",
+    "type":             "bool",
+    "defaultValue":     true
 }
 ]

src/Settings/AppSettings.cc

@@ -85,6 +85,8 @@ DECLARE_SETTINGSFACT(AppSettings, defaultFirmwareType)
 DECLARE_SETTINGSFACT(AppSettings, gstDebugLevel)
 DECLARE_SETTINGSFACT(AppSettings, followTarget)
 DECLARE_SETTINGSFACT(AppSettings, apmStartMavlinkStreams)
+DECLARE_SETTINGSFACT(AppSettings, enableTaisync)
+DECLARE_SETTINGSFACT(AppSettings, enableTaisyncVideo)
 
 DECLARE_SETTINGSFACT_NO_FUNC(AppSettings, indoorPalette)
 {

src/Settings/AppSettings.h

@@ -14,7 +14,7 @@
 class AppSettings : public SettingsGroup
 {
     Q_OBJECT
-    
+
 public:
     AppSettings(QObject* parent = nullptr);
 
@@ -43,6 +43,8 @@ public:
     DEFINE_SETTINGFACT(defaultFirmwareType)
     DEFINE_SETTINGFACT(gstDebugLevel)
     DEFINE_SETTINGFACT(followTarget)
+    DEFINE_SETTINGFACT(enableTaisync)
+    DEFINE_SETTINGFACT(enableTaisyncVideo)
 
     // Although this is a global setting it only affects ArduPilot vehicle since PX4 automatically starts the stream from the vehicle side
     DEFINE_SETTINGFACT(apmStartMavlinkStreams)

src/Settings/AutoConnect.SettingsGroup.json

@@ -72,12 +72,5 @@
     "shortDescription": "UDP target host port for autoconnect",
     "type":             "uint32",
     "defaultValue":     14550
-},
-{
-    "name":             "autoConnectTaisyncUSB",
-    "shortDescription": "Automatically connect to a Taisync Ground Module",
-    "longDescription":  "If this option is enabled GroundControl will automatically connect to a Taisync Ground Module which is connected via USB.",
-    "type":             "bool",
-    "defaultValue":     false
 }
 ]

src/Settings/AutoConnectSettings.cc

@@ -23,7 +23,6 @@ DECLARE_SETTINGSFACT(AutoConnectSettings, autoConnectUDP)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpListenPort)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpTargetHostIP)
 DECLARE_SETTINGSFACT(AutoConnectSettings, udpTargetHostPort)
-DECLARE_SETTINGSFACT(AutoConnectSettings, autoconnectTaisyncUSB)
 
 DECLARE_SETTINGSFACT_NO_FUNC(AutoConnectSettings, autoConnectPixhawk)
 {

src/Settings/AutoConnectSettings.h

@@ -14,7 +14,7 @@
 class AutoConnectSettings : public SettingsGroup
 {
     Q_OBJECT
-    
+
 public:
     AutoConnectSettings(QObject* parent = nullptr);
 
@@ -31,6 +31,5 @@ public:
     DEFINE_SETTINGFACT(udpListenPort)
     DEFINE_SETTINGFACT(udpTargetHostIP)
     DEFINE_SETTINGFACT(udpTargetHostPort)
-    DEFINE_SETTINGFACT(autoconnectTaisyncUSB)
 
 };

src/Settings/SettingsGroup.h

@@ -54,13 +54,19 @@
 class SettingsGroup : public QObject
 {
     Q_OBJECT
-    
+
 public:
     /// @param name Name for this Settings group
     /// @param settingsGroup Group to place settings in for QSettings::setGroup
     SettingsGroup(const QString &name, const QString &settingsGroup, QObject* parent = nullptr);
 
-    Q_PROPERTY(bool visible MEMBER _visible CONSTANT)
+    Q_PROPERTY(bool visible READ visible WRITE setVisible NOTIFY visibleChanged)
+
+    virtual bool    visible             () { return _visible; }
+    virtual void    setVisible          (bool vis) { _visible = vis; emit visibleChanged(); }
+
+signals:
+    void            visibleChanged      ();
 
 protected:
     SettingsFact*   _createSettingsFact(const QString& factName);

src/Taisync/TaisyncHandler.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncHandler.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+
+QGC_LOGGING_CATEGORY(TaisyncLog,     "TaisyncLog")
+QGC_LOGGING_CATEGORY(TaisyncVerbose, "TaisyncVerbose")
+
+//-----------------------------------------------------------------------------
+TaisyncHandler::TaisyncHandler(QObject* parent)
+    : QObject (parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+TaisyncHandler::~TaisyncHandler()
+{
+    close();
+}
+
+//-----------------------------------------------------------------------------
+bool TaisyncHandler::close()
+{
+    bool res = (_tcpSocket || _tcpServer);
+    if(_tcpSocket) {
+        qCDebug(TaisyncLog) << "Close Taisync TCP socket on port" << _tcpSocket->localPort();
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+        _tcpSocket = nullptr;
+    }
+    if(_tcpServer) {
+        qCDebug(TaisyncLog) << "Close Taisync TCP server on port" << _tcpServer->serverPort();;
+        _tcpServer->close();
+        _tcpServer->deleteLater();
+        _tcpServer = nullptr;
+    }
+    return res;
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncHandler::_start(uint16_t port, QHostAddress addr)
+{
+    close();
+    _serverMode = addr == QHostAddress::AnyIPv4;
+    if(_serverMode) {
+        if(!_tcpServer) {
+            qCDebug(TaisyncLog) << "Listen for Taisync TCP on port" << port;
+            _tcpServer = new QTcpServer(this);
+            QObject::connect(_tcpServer, &QTcpServer::newConnection, this, &TaisyncHandler::_newConnection);
+            _tcpServer->listen(QHostAddress::AnyIPv4, port);
+        }
+    } else {
+        _tcpSocket = new QTcpSocket();
+        QObject::connect(_tcpSocket, &QIODevice::readyRead, this, &TaisyncHandler::_readBytes);
+        qCDebug(TaisyncLog) << "Connecting to" << addr;
+        _tcpSocket->connectToHost(addr, port);
+        if (!_tcpSocket->waitForConnected(1000)) {
+            close();
+            return false;
+        }
+        emit connected();
+    }
+    return true;
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::_newConnection()
+{
+    qCDebug(TaisyncLog) << "New Taisync TCP Connection on port" << _tcpServer->serverPort();
+    if(_tcpSocket) {
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+    }
+    _tcpSocket = _tcpServer->nextPendingConnection();
+    if(_tcpSocket) {
+        QObject::connect(_tcpSocket, &QIODevice::readyRead, this, &TaisyncHandler::_readBytes);
+        QObject::connect(_tcpSocket, &QAbstractSocket::disconnected, this, &TaisyncHandler::_socketDisconnected);
+        emit connected();
+    } else {
+        qCWarning(TaisyncLog) << "New Taisync TCP Connection provided no socket";
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::_socketDisconnected()
+{
+    qCDebug(TaisyncLog) << "Taisync TCP Connection Closed on port" << _tcpSocket->localPort();
+    if(_tcpSocket) {
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+        _tcpSocket = nullptr;
+    }
+    emit disconnected();
+}

src/Taisync/TaisyncHandler.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "QGCLoggingCategory.h"
+
+#include <QTcpServer>
+#include <QTcpSocket>
+
+#if defined(__ios__) || defined(__android__)
+#define TAISYNC_VIDEO_UDP_PORT      5600
+#define TAISYNC_VIDEO_TCP_PORT      8000
+#define TAISYNC_SETTINGS_PORT       8200
+#define TAISYNC_TELEM_PORT          8400
+#define TAISYNC_TELEM_TARGET_PORT   14550
+#else
+#define TAISYNC_SETTINGS_PORT   80
+#endif
+
+Q_DECLARE_LOGGING_CATEGORY(TaisyncLog)
+Q_DECLARE_LOGGING_CATEGORY(TaisyncVerbose)
+
+class TaisyncHandler : public QObject
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncHandler             (QObject* parent = nullptr);
+    ~TaisyncHandler                     ();
+    virtual bool start                  () = 0;
+    virtual bool close                  ();
+    virtual bool isServerRunning        () { return (_serverMode && _tcpServer); }
+
+protected:
+    virtual bool    _start              (uint16_t port, QHostAddress addr = QHostAddress::AnyIPv4);
+
+protected slots:
+    virtual void    _newConnection      ();
+    virtual void    _socketDisconnected ();
+    virtual void    _readBytes          () = 0;
+
+signals:
+    void connected                      ();
+    void disconnected                   ();
+
+protected:
+    bool            _serverMode = true;
+    QTcpServer*     _tcpServer  = nullptr;
+    QTcpSocket*     _tcpSocket  = nullptr;
+};

src/Taisync/TaisyncManager.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "QGCToolbox.h"
+#include "QGCLoggingCategory.h"
+#include "TaisyncSettings.h"
+#include "Fact.h"
+#if defined(__ios__) || defined(__android__)
+#include "TaisyncTelemetry.h"
+#include "TaisyncVideoReceiver.h"
+#endif
+
+#include <QTimer>
+#include <QTime>
+
+class AppSettings;
+class QGCApplication;
+
+//-----------------------------------------------------------------------------
+class TaisyncManager : public QGCTool
+{
+    Q_OBJECT
+public:
+
+    Q_PROPERTY(bool         connected           READ connected                                  NOTIFY connectedChanged)
+    Q_PROPERTY(bool         linkConnected       READ linkConnected                              NOTIFY linkConnectedChanged)
+    Q_PROPERTY(bool         needReboot          READ needReboot                                 NOTIFY needRebootChanged)
+    Q_PROPERTY(QString      linkVidFormat       READ linkVidFormat                              NOTIFY linkChanged)
+    Q_PROPERTY(int          uplinkRSSI          READ uplinkRSSI                                 NOTIFY linkChanged)
+    Q_PROPERTY(int          downlinkRSSI        READ downlinkRSSI                               NOTIFY linkChanged)
+    Q_PROPERTY(QString      serialNumber        READ serialNumber                               NOTIFY infoChanged)
+    Q_PROPERTY(QString      fwVersion           READ fwVersion                                  NOTIFY infoChanged)
+    Q_PROPERTY(Fact*        radioMode           READ radioMode                                  CONSTANT)
+    Q_PROPERTY(Fact*        radioChannel        READ radioChannel                               CONSTANT)
+    Q_PROPERTY(Fact*        videoOutput         READ videoOutput                                CONSTANT)
+    Q_PROPERTY(Fact*        videoMode           READ videoMode                                  CONSTANT)
+    Q_PROPERTY(Fact*        videoRate           READ videoRate                                  CONSTANT)
+    Q_PROPERTY(QString      rtspURI             READ rtspURI                                    NOTIFY rtspURIChanged)
+    Q_PROPERTY(QString      rtspAccount         READ rtspAccount                                NOTIFY rtspAccountChanged)
+    Q_PROPERTY(QString      rtspPassword        READ rtspPassword                               NOTIFY rtspPasswordChanged)
+    Q_PROPERTY(QString      localIPAddr         READ localIPAddr                                NOTIFY localIPAddrChanged)
+    Q_PROPERTY(QString      remoteIPAddr        READ remoteIPAddr                               NOTIFY remoteIPAddrChanged)
+    Q_PROPERTY(QString      netMask             READ netMask                                    NOTIFY netMaskChanged)
+
+    Q_INVOKABLE bool setRTSPSettings            (QString uri, QString account, QString password);
+    Q_INVOKABLE bool setIPSettings              (QString localIP, QString remoteIP, QString netMask);
+
+    explicit TaisyncManager                 (QGCApplication* app, QGCToolbox* toolbox);
+    ~TaisyncManager                         () override;
+
+    void        setToolbox                      (QGCToolbox* toolbox) override;
+
+    bool        connected                       () { return _isConnected; }
+    bool        linkConnected                   () { return _linkConnected; }
+    bool        needReboot                      () { return _needReboot; }
+    QString     linkVidFormat                   () { return _linkVidFormat; }
+    int         uplinkRSSI                      () { return _downlinkRSSI; }
+    int         downlinkRSSI                    () { return _uplinkRSSI; }
+    QString     serialNumber                    () { return _serialNumber; }
+    QString     fwVersion                       () { return _fwVersion; }
+    Fact*       radioMode                       () { return _radioMode; }
+    Fact*       radioChannel                    () { return _radioChannel; }
+    Fact*       videoOutput                     () { return _videoOutput; }
+    Fact*       videoMode                       () { return _videoMode; }
+    Fact*       videoRate                       () { return _videoRate; }
+    QString     rtspURI                         () { return _rtspURI; }
+    QString     rtspAccount                     () { return _rtspAccount; }
+    QString     rtspPassword                    () { return _rtspPassword; }
+    QString     localIPAddr                     () { return _localIPAddr; }
+    QString     remoteIPAddr                    () { return _remoteIPAddr; }
+    QString     netMask                         () { return _netMask; }
+
+signals:
+    void    linkChanged                     ();
+    void    linkConnectedChanged            ();
+    void    infoChanged                     ();
+    void    connectedChanged                ();
+    void    decodeIndexChanged              ();
+    void    rateIndexChanged                ();
+    void    rtspURIChanged                  ();
+    void    rtspAccountChanged              ();
+    void    rtspPasswordChanged             ();
+    void    localIPAddrChanged              ();
+    void    remoteIPAddrChanged             ();
+    void    netMaskChanged                  ();
+    void    needRebootChanged               ();
+
+private slots:
+    void    _connected                      ();
+    void    _disconnected                   ();
+    void    _checkTaisync                   ();
+    void    _updateSettings                 (QByteArray jSonData);
+    void    _setEnabled                     ();
+    void    _setVideoEnabled                ();
+    void    _radioSettingsChanged           (QVariant);
+    void    _videoSettingsChanged           (QVariant);
+#if defined(__ios__) || defined(__android__)
+    void    _readUDPBytes                   ();
+    void    _readTelemBytes                 (QByteArray bytesIn);
+#endif
+
+private:
+    void    _close                          ();
+    void    _reset                          ();
+    FactMetaData *_createMetadata           (const char *name, QStringList enums);
+
+private:
+
+    enum {
+        REQ_LINK_STATUS         = 1,
+        REQ_DEV_INFO            = 2,
+        REQ_FREQ_SCAN           = 4,
+        REQ_VIDEO_SETTINGS      = 8,
+        REQ_RADIO_SETTINGS      = 16,
+        REQ_RTSP_SETTINGS       = 32,
+        REQ_IP_SETTINGS         = 64,
+        REQ_ALL                 = 0xFFFFFFFF,
+    };
+
+    uint32_t                _reqMask        = REQ_ALL;
+    bool                    _running        = false;
+    bool                    _isConnected    = false;
+    AppSettings*            _appSettings    = nullptr;
+    TaisyncManager*         _taiManager     = nullptr;
+    TaisyncSettings*        _taiSettings    = nullptr;
+#if defined(__ios__) || defined(__android__)
+    TaisyncTelemetry*       _taiTelemetery  = nullptr;
+    TaisyncVideoReceiver*   _taiVideo       = nullptr;
+    QUdpSocket*             _telemetrySocket= nullptr;
+#endif
+    bool            _enableVideo            = true;
+    bool            _enabled                = true;
+    bool            _linkConnected          = false;
+    bool            _needReboot             = false;
+    QTimer          _workTimer;
+    QString         _linkVidFormat;
+    int             _downlinkRSSI           = 0;
+    int             _uplinkRSSI             = 0;
+    QStringList     _decodeList;
+    int             _decodeIndex            = 0;
+    QStringList     _rateList;
+    int             _rateIndex              = 0;
+    bool            _savedVideoState        = true;
+    QVariant        _savedVideoSource;
+    QVariant        _savedVideoUDP;
+    QVariant        _savedAR;
+    QString         _serialNumber;
+    QString         _fwVersion;
+    Fact*           _radioMode              = nullptr;
+    Fact*           _radioChannel           = nullptr;
+    Fact*           _videoOutput            = nullptr;
+    Fact*           _videoMode              = nullptr;
+    Fact*           _videoRate              = nullptr;
+    QStringList     _radioModeList;
+    QStringList     _videoOutputList;
+    QStringList     _videoRateList;
+    QString         _rtspURI;
+    QString         _rtspAccount;
+    QString         _rtspPassword;
+    QString         _localIPAddr;
+    QString         _remoteIPAddr;
+    QString         _netMask;
+    QTime           _timeoutTimer;
+};

src/Taisync/TaisyncSettings.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncManager.h"
+#include "TaisyncSettings.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+static const char* kPostReq =
+    "POST %1 HTTP/1.1\r\n"
+    "Content-Type: application/json\r\n"
+    "Content-Length: %2\r\n\r\n"
+    "%3";
+
+static const char* kGetReq      = "GET %1 HTTP/1.1\r\n\r\n";
+static const char* kRadioURI    = "/v1/radio.json";
+static const char* kVideoURI    = "/v1/video.json";
+static const char* kRTSPURI     = "/v1/rtspuri.json";
+static const char* kIPAddrURI   = "/v1/ipaddr.json";
+
+//-----------------------------------------------------------------------------
+TaisyncSettings::TaisyncSettings(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+bool TaisyncSettings::start()
+{
+    qCDebug(TaisyncLog) << "Start Taisync Settings";
+#if defined(__ios__) || defined(__android__)
+    return _start(TAISYNC_SETTINGS_PORT);
+#else
+    return _start(TAISYNC_SETTINGS_PORT, QHostAddress(qgcApp()->toolbox()->taisyncManager()->remoteIPAddr()));
+#endif
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestLinkStatus()
+{
+    return _request("/v1/baseband.json");
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestDevInfo()
+{
+    return _request("/v1/device.json");
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestFreqScan()
+{
+    return _request("/v1/freqscan.json");
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestVideoSettings()
+{
+    return _request(kVideoURI);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestRadioSettings()
+{
+    return _request(kRadioURI);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestIPSettings()
+{
+    return _request(kIPAddrURI);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestRTSPURISettings()
+{
+    return _request(kRTSPURI);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::_request(const QString& request)
+{
+    if(_tcpSocket) {
+        QString req = QString(kGetReq).arg(request);
+        //qCDebug(TaisyncVerbose) << "Request" << req;
+        _tcpSocket->write(req.toUtf8());
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::_post(const QString& post, const QString &postPayload)
+{
+    if(_tcpSocket) {
+        QString req = QString(kPostReq).arg(post).arg(postPayload.size()).arg(postPayload);
+        qCDebug(TaisyncVerbose) << "Post" << req;
+        _tcpSocket->write(req.toUtf8());
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::setRadioSettings(const QString& mode, const QString& channel)
+{
+    static const char* kRadioPost = "{\"mode\":\"%1\",\"freq\":\"%2\"}";
+    QString post = QString(kRadioPost).arg(mode).arg(channel);
+    return _post(kRadioURI, post);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::setVideoSettings(const QString& output, const QString& mode, const QString& rate)
+{
+    static const char* kVideoPost = "{\"decode\":\"%1\",\"mode\":\"%2\",\"maxbitrate\":\"%3\"}";
+    QString post = QString(kVideoPost).arg(output).arg(mode).arg(rate);
+    return _post(kVideoURI, post);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::setRTSPSettings(const QString& uri, const QString& account, const QString& password)
+{
+    static const char* kRTSPPost = "{\"rtspURI\":\"%1\",\"account\":\"%2\",\"passwd\":\"%3\"}";
+    QString post = QString(kRTSPPost).arg(uri).arg(account).arg(password);
+    return _post(kRTSPURI, post);
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::setIPSettings(const QString& localIP, const QString& remoteIP, const QString& netMask)
+{
+    static const char* kRTSPPost = "{\"ipaddr\":\"%1\",\"netmask\":\"%2\",\"usbEthIp\":\"%3\"}";
+    QString post = QString(kRTSPPost).arg(localIP).arg(netMask).arg(remoteIP);
+    return _post(kIPAddrURI, post);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncSettings::_readBytes()
+{
+    QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+    //-- Go straight to Json payload
+    int idx = bytesIn.indexOf('{');
+    //-- We may receive more than one response within one TCP packet.
+    while(idx >= 0) {
+        bytesIn = bytesIn.mid(idx);
+        idx = bytesIn.indexOf('}');
+        if(idx > 0) {
+            QByteArray data = bytesIn.left(idx + 1);
+            emit updateSettings(data);
+            bytesIn = bytesIn.mid(idx+1);
+            idx = bytesIn.indexOf('{');
+        }
+    }
+}
+

src/Taisync/TaisyncSettings.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+
+class TaisyncSettings : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+    explicit TaisyncSettings            (QObject* parent = nullptr);
+    bool    start                       () override;
+    bool    requestLinkStatus           ();
+    bool    requestDevInfo              ();
+    bool    requestFreqScan             ();
+    bool    requestVideoSettings        ();
+    bool    requestRadioSettings        ();
+    bool    requestIPSettings           ();
+    bool    requestRTSPURISettings      ();
+    bool    setRadioSettings            (const QString& mode, const QString& channel);
+    bool    setVideoSettings            (const QString& output, const QString& mode, const QString& rate);
+    bool    setRTSPSettings             (const QString& uri, const QString& account, const QString& password);
+    bool    setIPSettings               (const QString& localIP, const QString& remoteIP, const QString& netMask);
+
+signals:
+    void    updateSettings              (QByteArray jSonData);
+
+protected slots:
+    void    _readBytes                  () override;
+
+private:
+    bool    _request                    (const QString& request);
+    bool    _post                       (const QString& post, const QString& postPayload);
+};

src/Taisync/TaisyncTelemetry.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncTelemetry.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+//-----------------------------------------------------------------------------
+TaisyncTelemetry::TaisyncTelemetry(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncTelemetry::close()
+{
+    if(TaisyncHandler::close()) {
+        qCDebug(TaisyncLog) << "Close Taisync Telemetry";
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+bool TaisyncTelemetry::start()
+{
+    qCDebug(TaisyncLog) << "Start Taisync Telemetry";
+    return _start(TAISYNC_TELEM_PORT);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::writeBytes(QByteArray bytes)
+{
+    if(_tcpSocket) {
+        _tcpSocket->write(bytes);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::_newConnection()
+{
+    TaisyncHandler::_newConnection();
+    qCDebug(TaisyncLog) << "New Taisync Temeletry Connection";
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::_readBytes()
+{
+    while(_tcpSocket->bytesAvailable()) {
+        QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+        emit bytesReady(bytesIn);
+    }
+}

src/Taisync/TaisyncTelemetry.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+#include <QUdpSocket>
+#include <QTimer>
+
+class TaisyncTelemetry : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncTelemetry           (QObject* parent = nullptr);
+    bool    close                       () override;
+    bool    start                       () override;
+    void    writeBytes                  (QByteArray bytes);
+
+signals:
+    void    bytesReady                   (QByteArray bytes);
+
+private slots:
+    void    _newConnection              () override;
+    void    _readBytes                  () override;
+
+};

src/Taisync/TaisyncVideoReceiver.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncVideoReceiver.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+//-----------------------------------------------------------------------------
+TaisyncVideoReceiver::TaisyncVideoReceiver(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncVideoReceiver::close()
+{
+    if(TaisyncHandler::close() || _udpVideoSocket) {
+        qCDebug(TaisyncLog) << "Close Taisync Video Receiver";
+        if(_udpVideoSocket) {
+            _udpVideoSocket->close();
+            _udpVideoSocket->deleteLater();
+            _udpVideoSocket = nullptr;
+        }
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncVideoReceiver::start()
+{
+    qCDebug(TaisyncLog) << "Start Taisync Video Receiver";
+    if(_start(TAISYNC_VIDEO_TCP_PORT)) {
+        _udpVideoSocket = new QUdpSocket(this);
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncVideoReceiver::_readBytes()
+{
+    if(_udpVideoSocket) {
+        QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+        _udpVideoSocket->writeDatagram(bytesIn, QHostAddress::LocalHost, TAISYNC_VIDEO_UDP_PORT);
+    }
+}

src/Taisync/TaisyncVideoReceiver.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+#include <QUdpSocket>
+
+class TaisyncVideoReceiver : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncVideoReceiver       (QObject* parent = nullptr);
+    bool start                          () override;
+    bool close                          () override;
+
+private slots:
+    void    _readBytes                  () override;
+
+private:
+    QUdpSocket*     _udpVideoSocket     = nullptr;
+};

src/VideoStreaming/VideoReceiver.cc

@@ -18,7 +18,9 @@
 #include "SettingsManager.h"
 #include "QGCApplication.h"
 #include "VideoManager.h"
-
+#ifdef QGC_GST_TAISYNC_ENABLED
+#include "TaisyncHandler.h"
+#endif
 #include <QDebug>
 #include <QUrl>
 #include <QDir>
@@ -218,6 +220,10 @@ VideoReceiver::_timeout()
 void
 VideoReceiver::start()
 {
+    qCDebug(VideoReceiverLog) << "start():" << _uri;
+    if(qgcApp()->runningUnitTests()) {
+        return;
+    }
     if(!_videoSettings->streamEnabled()->rawValue().toBool() ||
        !_videoSettings->streamConfigured()) {
         qCDebug(VideoReceiverLog) << "start() but not enabled/configured";
@@ -227,7 +233,17 @@ VideoReceiver::start()
     _stop = false;
     qCDebug(VideoReceiverLog) << "start()";
 
-    if (_uri.isEmpty()) {
+#if  defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
+    //-- Taisync on iOS or Android sends a raw h.264 stream
+    bool isTaisyncUSB = qgcApp()->toolbox()->videoManager()->isTaisync();
+#else
+    bool isTaisyncUSB = false;
+#endif
+    bool isUdp  = _uri.contains("udp://")  && !isTaisyncUSB;
+    bool isRtsp = _uri.contains("rtsp://") && !isTaisyncUSB;
+    bool isTCP  = _uri.contains("tcp://")  && !isTaisyncUSB;
+
+    if (!isTaisyncUSB && _uri.isEmpty()) {
         qCritical() << "VideoReceiver::start() failed because URI is not specified";
         return;
     }
@@ -242,17 +258,13 @@ VideoReceiver::start()
 
     _starting = true;
 
-    bool isUdp  = _uri.contains("udp://");
-    bool isRtsp = _uri.contains("rtsp://");
-    bool isTCP  = _uri.contains("tcp://");
-
     //-- For RTSP and TCP, check to see if server is there first
     if(!_serverPresent && (isRtsp || isTCP)) {
         _timer.start(100);
         return;
     }
 
-    bool running = false;
+    bool running    = false;
     bool pipelineUp = false;
 
     GstElement*     dataSource  = nullptr;
@@ -269,7 +281,7 @@ VideoReceiver::start()
             break;
         }
 
-        if(isUdp) {
+        if(isUdp || isTaisyncUSB) {
             dataSource = gst_element_factory_make("udpsrc", "udp-source");
         } else if(isTCP) {
             dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
@@ -287,12 +299,18 @@ VideoReceiver::start()
                 qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
                 break;
             }
-            g_object_set(G_OBJECT(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
+            g_object_set(static_cast<gpointer>(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
+#if  defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
+        } else if(isTaisyncUSB) {
+            QString uri = QString("0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT);
+            qCDebug(VideoReceiverLog) << "Taisync URI:" << uri;
+            g_object_set(static_cast<gpointer>(dataSource), "port", TAISYNC_VIDEO_UDP_PORT, nullptr);
+#endif
         } else if(isTCP) {
             QUrl url(_uri);
-            g_object_set(G_OBJECT(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
+            g_object_set(static_cast<gpointer>(dataSource), "host", qPrintable(url.host()), "port", url.port(), nullptr );
         } else {
-            g_object_set(G_OBJECT(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL);
+            g_object_set(static_cast<gpointer>(dataSource), "location", qPrintable(_uri), "latency", 17, "udp-reconnect", 1, "timeout", _udpReconnect_us, NULL);
         }
 
         // Currently, we expect H264 when using anything except for TCP.  Long term we may want this to be settable
@@ -302,11 +320,13 @@ VideoReceiver::start()
                 break;
             }
         } else {
-            if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == nullptr) {
+            if(!isTaisyncUSB) {
+                if ((demux = gst_element_factory_make("rtph264depay", "rtp-h264-depacketizer")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('rtph264depay')";
                 break;
             }
         }
+        }
 
         if ((parser = gst_element_factory_make("h264parse", "h264-parser")) == nullptr) {
             qCritical() << "VideoReceiver::start() failed. Error with gst_element_factory_make('h264parse')";
@@ -335,7 +355,11 @@ VideoReceiver::start()
             break;
         }
 
-        gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
+        if(isTaisyncUSB) {
+            gst_bin_add_many(GST_BIN(_pipeline), dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
+        } else {
+            gst_bin_add_many(GST_BIN(_pipeline), dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr);
+        }
         pipelineUp = true;
 
         if(isUdp) {
@@ -344,6 +368,12 @@ VideoReceiver::start()
                 qCritical() << "Unable to link UDP elements.";
                 break;
             }
+        } else if(isTaisyncUSB) {
+            // Link the pipeline in front of the tee
+            if(!gst_element_link_many(dataSource, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
+                qCritical() << "Unable to link Taisync USB elements.";
+                break;
+            }
         } else if (isTCP) {
             if(!gst_element_link(dataSource, demux)) {
                 qCritical() << "Unable to link TCP dataSource to Demux.";
@@ -439,6 +469,9 @@ VideoReceiver::start()
 void
 VideoReceiver::stop()
 {
+    if(!qgcApp()->runningUnitTests()) {
+        return;
+    }
 #if defined(QGC_GST_STREAMING)
     _stop = true;
     qCDebug(VideoReceiverLog) << "stop()";
@@ -666,7 +699,7 @@ VideoReceiver::startRecording(const QString &videoFile)
     }
     emit videoFileChanged();
 
-    g_object_set(G_OBJECT(_sink->filesink), "location", qPrintable(_videoFile), nullptr);
+    g_object_set(static_cast<gpointer>(_sink->filesink), "location", qPrintable(_videoFile), nullptr);
     qCDebug(VideoReceiverLog) << "New video file:" << _videoFile;
 
     gst_object_ref(_sink->queue);

src/api/QGCCorePlugin.cc

@@ -29,25 +29,6 @@ class QGCCorePlugin_p
 {
 public:
     QGCCorePlugin_p()
-        : pGeneral                  (nullptr)
-        , pCommLinks                (nullptr)
-        , pOfflineMaps              (nullptr)
-    #if defined(QGC_AIRMAP_ENABLED)
-        , pAirmap                   (nullptr)
-    #endif
-        , pMAVLink                  (nullptr)
-        , pConsole                  (nullptr)
-        , pHelp                     (nullptr)
-    #if defined(QT_DEBUG)
-        , pMockLink                 (nullptr)
-        , pDebug                    (nullptr)
-    #endif
-        , defaultOptions            (nullptr)
-        , valuesPageWidgetInfo      (nullptr)
-        , cameraPageWidgetInfo      (nullptr)
-        , videoPageWidgetInfo       (nullptr)
-        , healthPageWidgetInfo      (nullptr)
-        , vibrationPageWidgetInfo   (nullptr)
     {
     }
 
@@ -59,6 +40,10 @@ public:
             delete pCommLinks;
         if(pOfflineMaps)
             delete pOfflineMaps;
+#if defined(QGC_GST_TAISYNC_ENABLED)
+        if(pTaisync)
+            delete pTaisync;
+#endif
 #if defined(QGC_AIRMAP_ENABLED)
         if(pAirmap)
             delete pAirmap;
@@ -77,27 +62,31 @@ public:
             delete defaultOptions;
     }
 
-    QmlComponentInfo* pGeneral;
-    QmlComponentInfo* pCommLinks;
-    QmlComponentInfo* pOfflineMaps;
+    QmlComponentInfo* pGeneral                  = nullptr;
+    QmlComponentInfo* pCommLinks                = nullptr;
+    QmlComponentInfo* pOfflineMaps              = nullptr;
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    QmlComponentInfo* pTaisync                  = nullptr;
+#endif
 #if defined(QGC_AIRMAP_ENABLED)
-    QmlComponentInfo* pAirmap;
+    QmlComponentInfo* pAirmap                   = nullptr;
 #endif
-    QmlComponentInfo* pMAVLink;
-    QmlComponentInfo* pConsole;
-    QmlComponentInfo* pHelp;
+    QmlComponentInfo* pMAVLink                  = nullptr;
+    QmlComponentInfo* pConsole                  = nullptr;
+    QmlComponentInfo* pHelp                     = nullptr;
 #if defined(QT_DEBUG)
-    QmlComponentInfo* pMockLink;
-    QmlComponentInfo* pDebug;
+    QmlComponentInfo* pMockLink                 = nullptr;
+    QmlComponentInfo* pDebug                    = nullptr;
 #endif
-    QVariantList settingsList;
-    QGCOptions*  defaultOptions;
-
-    QmlComponentInfo*   valuesPageWidgetInfo;
-    QmlComponentInfo*   cameraPageWidgetInfo;
-    QmlComponentInfo*   videoPageWidgetInfo;
-    QmlComponentInfo*   healthPageWidgetInfo;
-    QmlComponentInfo*   vibrationPageWidgetInfo;
+
+    QmlComponentInfo*   valuesPageWidgetInfo    = nullptr;
+    QmlComponentInfo*   cameraPageWidgetInfo    = nullptr;
+    QmlComponentInfo*   videoPageWidgetInfo     = nullptr;
+    QmlComponentInfo*   healthPageWidgetInfo    = nullptr;
+    QmlComponentInfo*   vibrationPageWidgetInfo = nullptr;
+
+    QGCOptions*         defaultOptions          = nullptr;
+    QVariantList        settingsList;
     QVariantList        instrumentPageWidgetList;
 
     QmlObjectListModel _emptyCustomMapItems;
@@ -141,6 +130,12 @@ QVariantList &QGCCorePlugin::settingsPages()
             QUrl::fromUserInput("qrc:/qml/OfflineMap.qml"),
             QUrl::fromUserInput("qrc:/res/waves.svg"));
         _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pOfflineMaps)));
+#if defined(QGC_GST_TAISYNC_ENABLED)
+        _p->pTaisync = new QmlComponentInfo(tr("Taisync"),
+            QUrl::fromUserInput("qrc:/qml/TaisyncSettings.qml"),
+            QUrl::fromUserInput(""));
+        _p->settingsList.append(QVariant::fromValue(reinterpret_cast<QmlComponentInfo*>(_p->pTaisync)));
+#endif
 #if defined(QGC_AIRMAP_ENABLED)
         _p->pAirmap = new QmlComponentInfo(tr("AirMap"),
             QUrl::fromUserInput("qrc:/qml/AirmapSettings.qml"),

src/comm/LinkConfiguration.cc

@@ -33,7 +33,7 @@
 #define LINK_SETTING_ROOT "LinkConfigurations"
 
 LinkConfiguration::LinkConfiguration(const QString& name)
-    : _link(NULL)
+    : _link(nullptr)
     , _name(name)
     , _dynamic(false)
     , _autoConnect(false)
@@ -80,7 +80,7 @@ const QString LinkConfiguration::settingsRoot()
 */
 LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& name)
 {
-    LinkConfiguration* config = NULL;
+    LinkConfiguration* config = nullptr;
     switch(type) {
 #ifndef NO_SERIAL_LINK
         case LinkConfiguration::TypeSerial:
@@ -118,7 +118,7 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
 */
 LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* source)
 {
-    LinkConfiguration* dupe = NULL;
+    LinkConfiguration* dupe = nullptr;
     switch(source->type()) {
 #ifndef NO_SERIAL_LINK
         case TypeSerial:
@@ -147,7 +147,6 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
             break;
 #endif
         case TypeLast:
-        default:
             break;
     }
     return dupe;