K/R formatting, debugging serialport.

CMakeLists.txt

@@ -155,6 +155,7 @@ if(QSERIAL_BUILD_FROM_SOURCE)
         ${PROJECT_SOURCE_DIR}/thirdParty/qserial/include/QtSerialPort
         ${PROJECT_SOURCE_DIR}/thirdParty/qserial/src
         )
+    set(QSERIAL_LIBRARIES qserial)
     add_custom_command(OUTPUT QSERIAL_BUILD.stamp 
         COMMAND touch QSERIAL_BUILD.stamp)
 endif()
@@ -216,6 +217,7 @@ endif()
 message(STATUS "\t\tQSERIAL\t\t${QSERIAL_FOUND}")
 if (QSERIAL_FOUND)
     list(APPEND qgroundcontrolIncludes ${QSERIAL_INCLUDE_DIRS})
+    list(APPEND qgroundcontrolLibs ${QSERIAL_LIBRARIES})
 endif()
 
 message(STATUS "\t\tOpenSceneGraph\t${OPENSCENEGRAPH_FOUND}")
@@ -792,13 +794,13 @@ set (qserialHdrs
     thirdParty/qserial/include/QtSerialPort/qserialport_export.h
     thirdParty/qserial/include/QtSerialPort/QSerialPort
     thirdParty/qserial/include/QtSerialPort/qportsettings.h
+    thirdParty/qserial/include/QtSerialPort/qserialport.h
+    thirdParty/qserial/include/QtSerialPort/qserialportnative.h
     )
 # qserial headers with Q_OBJECT
 # r !grep -Rl Q_OBJECT thirdParty/qserial
 set (qserialMocSrc
-    thirdParty/qserial/include/QtSerialPort/qserialport.h
-    thirdParty/qserial/include/QtSerialPort/qserialportnative.h
-)
+    )
 # qserial src
 set (qserialSrc
     thirdParty/qserial/src/common/qserialport.cpp
@@ -812,28 +814,32 @@ set(qserialRscSrc
 )
 
 # qserial native code
-if (WIN32)
-    list(APPEND qSerialMocSrc
-        thirdParty/qserial/src/win32/qwincommevtnotifier.h
-        thirdParty/qserial/src/win32/wincommevtbreaker.h
-    )
-    list(APPEND qSerialSrc
-        thirdParty/qserial/src/win32/qserialportnative_win32.cpp
-        thirdParty/qserial/src/win32/commdcbhelper.h
-        thirdParty/qserial/src/win32/commdcbhelper.cpp
-        thirdParty/qserial/src/win32/qserialportnative_wince.cpp
-        thirdParty/qserial/src/win32/wincommevtbreaker.cpp
-        thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
-        )
-elseif(UNIX OR APPLE)
-    list(APPEND qSerialSrc    
+#if (WIN32)
+    #list(APPEND qserialHdrs
+        #thirdParty/qserial/src/win32/commdcbhelper.h
+        #)
+    #list(APPEND qserialMocSrc
+        #thirdParty/qserial/src/win32/qwincommevtnotifier.h
+        #thirdParty/qserial/src/win32/wincommevtbreaker.h
+    #)
+    #list(APPEND qserialSrc
+        #thirdParty/qserial/src/win32/qserialportnative_win32.cpp
+        #thirdParty/qserial/src/win32/commdcbhelper.cpp
+        #thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
+        ##thirdParty/qserial/src/win32/qserialportnative_wince.cpp
+        ##thirdParty/qserial/src/win32/wincommevtbreaker.cpp
+        #)
+#elseif(UNIX OR APPLE)
+    list(APPEND qserialHdrs
         thirdParty/qserial/src/posix/termioshelper.h
+        )
+    list(APPEND qserialSrc    
         thirdParty/qserial/src/posix/termioshelper.cpp
         thirdParty/qserial/src/posix/qserialportnative_posix.cpp
         )
-else()
-    message(FATAL_ERROR "unknown OS")
-endif()
+#else()
+    #message(FATAL_ERROR "unknown OS")
+#endif()
 
 # qserial linking
 qt4_wrap_cpp(qserialMoc ${qserialMocSrc})

CMakeModules/FindQSERIAL.cmake

+# - Try to find  QSERIAL
+# Once done, this will define
+#
+#  QSERIAL_FOUND - system has scicoslab 
+#  QSERIAL_INCLUDE_DIRS - the scicoslab include directories
+#  QSERIAL_LIBRARIES - libraries to link to
+
+include(LibFindMacros)
+
+# Include dir
+find_path(QSERIAL_INCLUDE_DIR
+	NAMES QSerialPort
+	PATHS 
+		/usr/include/QtSerialPort
+		/usr/local/include/QtSerialPort
+		/usr/local/qserialport/include/QtSerialPort
+)
+
+# Finally the library itself
+find_library(QSERIAL_LIBRARY
+	NAMES
+		QtSerialPort
+	PATHS 
+		/usr/lib
+		/usr/local/lib
+		/usr/local/qserialport/lib
+)
+
+# Set the include dir variables and the libraries and let libfind_process do the rest.
+# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
+set(QSERIAL_PROCESS_INCLUDES QSERIAL_INCLUDE_DIR)
+set(QSERIAL_PROCESS_LIBS QSERIAL_LIBRARY QSERIAL_LIBRARIES)
+libfind_process(QSERIAL)

commit

+#!/bin/bash
+astyle --style=k/r $(find src -regex ".*\.\(cpp\|cc\|h\|hpp\)")
+rm -f $(find . -regex '.*orig$')
+git commit

src/AudioOutput.cc

 #include "AudioOutput.h"
 
 #ifdef Q_OS_MAC
-	#include <ApplicationServices/ApplicationServices.h>
+#include <ApplicationServices/ApplicationServices.h>
 #else
-	#include <flite.h>
-	#include <phonon/mediaobject.h>
-	#include <QTemporaryFile>
+#include <flite.h>
+#include <phonon/mediaobject.h>
+#include <QTemporaryFile>
 #endif
 
 #include <QDebug>
@@ -25,17 +25,16 @@ extern "C" {
 };
 #endif
 
-AudioOutput::AudioOutput(QString voice, QObject* parent) 
-	: QObject(parent),
-	  voice(NULL),
-	  voiceIndex(0)
+AudioOutput::AudioOutput(QString voice, QObject* parent)
+    : QObject(parent),
+      voice(NULL),
+      voiceIndex(0)
 {
 #if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     flite_init();
 #endif
 
-    switch (voiceIndex)
-    {
+    switch (voiceIndex) {
     case 0:
         selectFemaleVoice();
         break;
@@ -73,20 +72,19 @@ bool AudioOutput::say(QString text, int severity)
 #if defined(Q_OS_WIN32)
     qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
 #elif defined(Q_OS_MAC)
-	// FIXME, copy string, set callback to free the copy
-	SpeakString((const unsigned char*)text.toAscii().data());
-	qDebug() << "Synthesized: " << text;
+    // FIXME, copy string, set callback to free the copy
+    SpeakString((const unsigned char*)text.toAscii().data());
+    qDebug() << "Synthesized: " << text;
 #else
     QTemporaryFile file;
     file.setFileTemplate("XXXXXX.wav");
-    if (file.open())
-    {
+    if (file.open()) {
         cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), this->voice);
         // file.fileName() returns the unique file name
         cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
         Phonon::MediaObject *music =
-                Phonon::createPlayer(Phonon::MusicCategory,
-                                     Phonon::MediaSource(file.fileName().toStdString().c_str()));
+            Phonon::createPlayer(Phonon::MusicCategory,
+                                 Phonon::MediaSource(file.fileName().toStdString().c_str()));
         music->play();
         qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
     }
@@ -155,9 +153,9 @@ extern "C" {
             l.append(s);
         }
         printf("\n");
-*/
+        */
 #endif
-		return l;
+        return l;
     }
 #ifdef __cplusplus
 }

src/Core.cc

@@ -87,20 +87,16 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
     bool upgraded = false;
     QString lastApplicationVersion("");
-    if (settings.contains("QGC_APPLICATION_VERSION"))
-    {
+    if (settings.contains("QGC_APPLICATION_VERSION")) {
         QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
-        if (qgcVersion != QGC_APPLICATION_VERSION)
-        {
+        if (qgcVersion != QGC_APPLICATION_VERSION) {
             lastApplicationVersion = qgcVersion;
             settings.clear();
             // Write current application version
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;
         }
-    }
-    else
-    {
+    } else {
         // If application version is not set, clear settings anyway
         settings.clear();
         // Write current application version
@@ -172,8 +168,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
 
     // Check if link could be connected
-    if (!udpLink->connect())
-    {
+    if (!udpLink->connect()) {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
@@ -186,8 +181,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         QTimer::singleShot(5000, &msgBox, SLOT(reject()));
 
         // Exit application
-        if (ret == QMessageBox::Yes)
-        {
+        if (ret == QMessageBox::Yes) {
             //mainWindow->close();
             QTimer::singleShot(200, mainWindow, SLOT(close()));
         }
@@ -244,8 +238,7 @@ void Core::startUASManager()
     if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
         pluginsDir.cdUp();
 #elif defined(Q_OS_MAC)
-    if (pluginsDir.dirName() == "MacOS")
-    {
+    if (pluginsDir.dirName() == "MacOS") {
         pluginsDir.cdUp();
         pluginsDir.cdUp();
         pluginsDir.cdUp();
@@ -259,12 +252,10 @@ void Core::startUASManager()
 
     QStringList pluginFileNames;
 
-    foreach (QString fileName, pluginsDir.entryList(QDir::Files))
-    {
+    foreach (QString fileName, pluginsDir.entryList(QDir::Files)) {
         QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
         QObject *plugin = loader.instance();
-        if (plugin)
-        {
+        if (plugin) {
             //populateMenus(plugin);
             pluginFileNames += fileName;
             //printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());

src/Core.h

@@ -53,25 +53,25 @@ This file is part of the PIXHAWK project
  **/
 class Core : public QApplication
 {
-	Q_OBJECT
+    Q_OBJECT
 
 public:
-        Core(int &argc, char* argv[]);
-        ~Core();
+    Core(int &argc, char* argv[]);
+    ~Core();
 
 protected:
-	void startLinkManager();
+    void startLinkManager();
 
-        /**
-         * @brief Start the robot managing system
-         *
-         * The robot manager keeps track of the configured robots.
-         **/
-        void startUASManager();
+    /**
+     * @brief Start the robot managing system
+     *
+     * The robot manager keeps track of the configured robots.
+     **/
+    void startUASManager();
 
 private:
-        MainWindow* mainWindow;
-        //ViconTarsusProtocol* tarsus;
+    MainWindow* mainWindow;
+    //ViconTarsusProtocol* tarsus;
 };
 
 #endif /* _CORE_H_ */

src/GAudioOutput.cc

@@ -89,9 +89,9 @@ GAudioOutput* GAudioOutput::instance()
 #define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
 
 GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
-voiceIndex(0),
-emergency(false),
-muted(false)
+    voiceIndex(0),
+    emergency(false),
+    muted(false)
 {
     // Load settings
     QSettings settings;
@@ -103,24 +103,20 @@ muted(false)
     flite_init();
 #endif
 
-	#if _MSC_VER2
-
-		ISpVoice * pVoice = NULL;
-	    if (FAILED(::CoInitialize(NULL)))
-		{
-			qDebug("Creating COM object for audio output failed!");
-		}
-		else
-		{
-
-    HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
-    if( SUCCEEDED( hr ) )
-    {
-        hr = pVoice->Speak(L"Hello world", 0, NULL);
-        pVoice->Release();
-        pVoice = NULL;
+#if _MSC_VER2
+
+    ISpVoice * pVoice = NULL;
+    if (FAILED(::CoInitialize(NULL))) {
+        qDebug("Creating COM object for audio output failed!");
+    } else {
+
+        HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
+        if( SUCCEEDED( hr ) ) {
+            hr = pVoice->Speak(L"Hello world", 0, NULL);
+            pVoice->Release();
+            pVoice = NULL;
+        }
     }
-		}
 #endif
     // Initialize audio output
     m_media = new Phonon::MediaObject(this);
@@ -131,8 +127,7 @@ muted(false)
     emergencyTimer = new QTimer();
     connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
 
-    switch (voiceIndex)
-    {
+    switch (voiceIndex) {
     case 0:
         selectFemaleVoice();
         break;
@@ -145,14 +140,13 @@ muted(false)
 GAudioOutput::~GAudioOutput()
 {
 #ifdef _MSC_VER2
-	::CoUninitialize();
+    ::CoUninitialize();
 #endif
 }
 
 void GAudioOutput::mute(bool mute)
 {
-    if (mute != muted)
-    {
+    if (mute != muted) {
         this->muted = mute;
         QSettings settings;
         settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
@@ -168,52 +162,47 @@ bool GAudioOutput::isMuted()
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    if (!muted)
-    {
-    // TODO Add severity filter
-    Q_UNUSED(severity);
-    bool res = false;
-    if (!emergency)
-    {
-
-        // Speech synthesis is only supported with MSVC compiler
+    if (!muted) {
+        // TODO Add severity filter
+        Q_UNUSED(severity);
+        bool res = false;
+        if (!emergency) {
+
+            // Speech synthesis is only supported with MSVC compiler
 #ifdef _MSC_VER2
-        SpeechSynthesizer synth = new SpeechSynthesizer();
-        synth.SelectVoice("Microsoft Anna");
-        synth.SpeakText(text.toStdString().c_str());
-        res = true;
+            SpeechSynthesizer synth = new SpeechSynthesizer();
+            synth.SelectVoice("Microsoft Anna");
+            synth.SpeakText(text.toStdString().c_str());
+            res = true;
 #endif
 
 #ifdef Q_OS_LINUX
-        QTemporaryFile file;
-        file.setFileTemplate("XXXXXX.wav");
-        if (file.open())
-        {
-            cst_voice* v = register_cmu_us_kal(NULL);
-            cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
-            // file.fileName() returns the unique file name
-            cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
-            m_media->setCurrentSource(Phonon::MediaSource(file.fileName().toStdString().c_str()));
-            m_media->play();
-            res = true;
-        }
+            QTemporaryFile file;
+            file.setFileTemplate("XXXXXX.wav");
+            if (file.open()) {
+                cst_voice* v = register_cmu_us_kal(NULL);
+                cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
+                // file.fileName() returns the unique file name
+                cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
+                m_media->setCurrentSource(Phonon::MediaSource(file.fileName().toStdString().c_str()));
+                m_media->play();
+                res = true;
+            }
 #endif
 
 #ifdef Q_OS_MAC
-        // Slashes necessary to have the right start to the sentence
-        // copying data prevents SpeakString from reading additional chars
-        text = "\\" + text;
-        QStdWString str = text.toStdWString();
-        unsigned char str2[1024] = {};
-        memcpy(str2, text.toAscii().data(), str.length());
-        SpeakString(str2);
-        res = true;
+            // Slashes necessary to have the right start to the sentence
+            // copying data prevents SpeakString from reading additional chars
+            text = "\\" + text;
+            QStdWString str = text.toStdWString();
+            unsigned char str2[1024] = {};
+            memcpy(str2, text.toAscii().data(), str.length());
+            SpeakString(str2);
+            res = true;
 #endif
-    }
-    return res;
-}
-    else
-    {
+        }
+        return res;
+    } else {
         return false;
     }
 }
@@ -223,40 +212,35 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency || !muted)
-    {
+    if (!emergency || !muted) {
         // Play alert sound
         beep();
         // Say alert message
         say(text, 2);
         return true;
-    }
-    else
-    {
+    } else {
         return false;
     }
 }
 
 void GAudioOutput::notifyPositive()
 {
-    if (!muted)
-    {
-    // Use QFile to transform path for all OS
-    QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
-    m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-    m_media->play();
-}
+    if (!muted) {
+        // Use QFile to transform path for all OS
+        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
+        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        m_media->play();
+    }
 }
 
 void GAudioOutput::notifyNegative()
 {
-    if (!muted)
-    {
-    // Use QFile to transform path for all OS
-    QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
-    m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-    m_media->play();
-}
+    if (!muted) {
+        // Use QFile to transform path for all OS
+        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
+        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        m_media->play();
+    }
 }
 
 /**
@@ -268,8 +252,7 @@ void GAudioOutput::notifyNegative()
  */
 bool GAudioOutput::startEmergency()
 {
-    if (!emergency)
-    {
+    if (!emergency) {
         emergency = true;
         // Beep immediately and then start timer
         if (!muted) beep();
@@ -287,8 +270,7 @@ bool GAudioOutput::startEmergency()
  */
 bool GAudioOutput::stopEmergency()
 {
-    if (emergency)
-    {
+    if (emergency) {
         emergency = false;
         emergencyTimer->stop();
     }
@@ -297,8 +279,7 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
-    if (!muted)
-    {
+    if (!muted) {
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
         qDebug() << "FILE:" << f.fileName();
@@ -339,8 +320,7 @@ QStringList GAudioOutput::listVoices(void)
 
 
     printf("Voices available: ");
-    for (v=flite_voice_list; v; v=val_cdr(v))
-    {
+    for (v=flite_voice_list; v; v=val_cdr(v)) {
         voice = val_voice(val_car(v));
         QString s;
         s.sprintf("%s",voice->name);

src/GAudioOutput.h

@@ -59,7 +59,7 @@ This file is part of the PIXHAWK project
 extern "C" {
     cst_voice *REGISTER_VOX(const char *voxdir);
     void UNREGISTER_VOX(cst_voice *vox);
-cst_voice* register_cmu_us_kal16(const char *voxdir);
+    cst_voice* register_cmu_us_kal16(const char *voxdir);
 }
 #endif
 
@@ -124,7 +124,7 @@ protected:
     bool muted;
 private:
     GAudioOutput(QObject* parent=NULL);
-	~GAudioOutput();
+    ~GAudioOutput();
 };
 
 #endif // AUDIOOUTPUT_H