On desktop (Ethernet connection), the ground unit pushes UDP directly, which...

On desktop (Ethernet connection), the ground unit pushes UDP directly, which makes the use of an actual "Link" not possible. Instead, I've moved all of Taisync support to a "manager" owned by QGCToolbox.
Added a Taisync settings with some basics already wired and running.

qgroundcontrol.pro

@@ -1113,18 +1113,24 @@ contains (DEFINES, QGC_GST_TAISYNC_ENABLED) {
         src/Taisync
 
     HEADERS += \
-        src/comm/TaisyncLink.h \
+        src/Taisync/TaisyncManager.h \
         src/Taisync/TaisyncHandler.h \
         src/Taisync/TaisyncSettings.h \
-        src/Taisync/TaisyncTelemetry.h \
-        src/Taisync/TaisyncVideoReceiver.h \
 
     SOURCES += \
-        src/comm/TaisyncLink.cc \
+        src/Taisync/TaisyncManager.cc \
         src/Taisync/TaisyncHandler.cc \
         src/Taisync/TaisyncSettings.cc \
-        src/Taisync/TaisyncTelemetry.cc \
-        src/Taisync/TaisyncVideoReceiver.cc \
+
+    iOSBuild | AndroidBuild {
+        HEADERS += \
+            src/Taisync/TaisyncTelemetry.h \
+            src/Taisync/TaisyncVideoReceiver.h \
+
+        SOURCES += \
+            src/Taisync/TaisyncTelemetry.cc \
+            src/Taisync/TaisyncVideoReceiver.cc \
+    }
 }
 
 #-------------------------------------------------------------------------------------

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_AIRMAP_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":     true
+},
+{
+    "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/Taisync/TaisyncHandler.cc

@@ -13,7 +13,8 @@
 #include "VideoManager.h"
 
 
-QGC_LOGGING_CATEGORY(TaisyncLog, "TaisyncLog")
+QGC_LOGGING_CATEGORY(TaisyncLog,     "TaisyncLog")
+QGC_LOGGING_CATEGORY(TaisyncVerbose, "TaisyncVerbose")
 
 //-----------------------------------------------------------------------------
 TaisyncHandler::TaisyncHandler(QObject* parent)
@@ -31,8 +32,8 @@ TaisyncHandler::~TaisyncHandler()
 void
 TaisyncHandler::close()
 {
-    qCDebug(TaisyncLog) << "Close Taisync TCP";
     if(_tcpSocket) {
+        qCDebug(TaisyncLog) << "Close Taisync TCP";
         _tcpSocket->close();
         _tcpSocket->deleteLater();
         _tcpSocket = nullptr;
@@ -40,13 +41,28 @@ TaisyncHandler::close()
 }
 
 //-----------------------------------------------------------------------------
-void
-TaisyncHandler::_start(uint16_t port)
+bool
+TaisyncHandler::_start(uint16_t port, QHostAddress addr)
 {
-    qCDebug(TaisyncLog) << "Start Taisync TCP on port" << port;
-    _tcpServer = new QTcpServer(this);
-    QObject::connect(_tcpServer, &QTcpServer::newConnection, this, &TaisyncHandler::_newConnection);
-    _tcpServer->listen(QHostAddress::AnyIPv4, port);
+    close();
+    _serverMode = addr == QHostAddress::AnyIPv4;
+    if(_serverMode) {
+        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;
 }
 
 //-----------------------------------------------------------------------------

src/Taisync/TaisyncHandler.h

@@ -14,12 +14,18 @@
 #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
+#else
+#define TAISYNC_SETTINGS_PORT   80
+#define TAISYNC_SETTINGS_TARGET "192.168.1.99"
+#endif
 
 Q_DECLARE_LOGGING_CATEGORY(TaisyncLog)
+Q_DECLARE_LOGGING_CATEGORY(TaisyncVerbose)
 
 class TaisyncHandler : public QObject
 {
@@ -28,11 +34,11 @@ public:
 
     explicit TaisyncHandler             (QObject* parent = nullptr);
     ~TaisyncHandler                     ();
-    virtual void start                  () = 0;
+    virtual bool start                  () = 0;
     virtual void close                  ();
 
 protected:
-    virtual void _start                 (uint16_t port);
+    virtual bool    _start              (uint16_t port, QHostAddress addr = QHostAddress::AnyIPv4);
 
 protected slots:
     virtual void    _newConnection      ();
@@ -43,6 +49,7 @@ signals:
     void connected                      ();
 
 protected:
-    QTcpServer*     _tcpServer = nullptr;
-    QTcpSocket*     _tcpSocket = nullptr;
+    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"
+#if defined(__ios__) || defined(__android__)
+#include "TaisyncTelemetry.h"
+#include "TaisyncVideoReceiver.h"
+#endif
+
+#include <QTimer>
+
+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 linkChanged)
+    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 linkChanged)
+    Q_PROPERTY(QString  fwVersion           READ fwVersion                                  NOTIFY linkChanged)
+
+    explicit TaisyncManager                 (QGCApplication* app, QGCToolbox* toolbox);
+    ~TaisyncManager                         () override;
+
+    void    setToolbox                      (QGCToolbox* toolbox) override;
+
+    bool    connected                       () { return _isConnected; }
+    bool    linkConnected                   () { return _linkConnected; }
+    QString linkVidFormat                   () { return _linkVidFormat; }
+    int     uplinkRSSI                      () { return _downlinkRSSI; }
+    int     downlinkRSSI                    () { return _uplinkRSSI; }
+    QString serialNumber                    () { return _serialNumber; }
+    QString fwVersion                       () { return _fwVersion; }
+
+signals:
+    void    linkChanged                     ();
+    void    connectedChanged                ();
+
+private slots:
+    void    _connected                      ();
+    void    _checkTaisync                   ();
+    void    _updateSettings                 (QByteArray jSonData);
+    void    _setEnabled                     ();
+    void    _setVideoEnabled                ();
+
+private:
+
+    enum {
+        REQ_LINK_STATUS,
+        REQ_DEV_INFO,
+        REQ_FREQ_SCAN,
+        REQ_LAST
+    };
+
+    int                     _currReq        = REQ_LAST;
+    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;
+#endif
+    bool        _enableVideo                = true;
+    bool        _enabled                    = true;
+    bool        _linkConnected              = false;
+    QTimer      _workTimer;
+    QString     _linkVidFormat;
+    int         _downlinkRSSI               = 0;
+    int         _uplinkRSSI                 = 0;
+    bool        _savedVideoState            = true;
+    QVariant    _savedVideoSource;
+    QVariant    _savedVideoUDP;
+    QVariant    _savedAR;
+    QString     _serialNumber;
+    QString     _fwVersion;
+};

src/Taisync/TaisyncSettings.cc

@@ -7,14 +7,13 @@
  *
  ****************************************************************************/
 
+#include "TaisyncManager.h"
 #include "TaisyncSettings.h"
 #include "SettingsManager.h"
 #include "QGCApplication.h"
 #include "VideoManager.h"
 
 
-QGC_LOGGING_CATEGORY(TaisyncSettingsLog, "TaisyncSettingsLog")
-
 static const char* kPostReq =
     "POST %1 HTTP/1.1\r\n"
     "Content-Type: application/json\r\n"
@@ -30,19 +29,36 @@ TaisyncSettings::TaisyncSettings(QObject* parent)
 }
 
 //-----------------------------------------------------------------------------
-void
-TaisyncSettings::start()
+bool TaisyncSettings::start()
 {
-    qCDebug(TaisyncSettingsLog) << "Start Taisync Settings";
-    _start(TAISYNC_SETTINGS_PORT);
+    qCDebug(TaisyncLog) << "Start Taisync Settings";
+#if defined(__ios__) || defined(__android__)
+    return _start(TAISYNC_SETTINGS_PORT);
+#else
+    return _start(80, QHostAddress(TAISYNC_SETTINGS_TARGET));
+#endif
 }
 
 //-----------------------------------------------------------------------------
 bool
-TaisyncSettings::requestSettings()
+TaisyncSettings::requestLinkStatus()
 {
     if(_tcpSocket) {
         QString req = QString(kGetReq).arg("/v1/baseband.json");
+        //qCDebug(TaisyncVerbose) << "Request" << req;
+        _tcpSocket->write(req.toUtf8());
+        return true;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+bool
+TaisyncSettings::requestDevInfo()
+{
+    if(_tcpSocket) {
+        QString req = QString(kGetReq).arg("/v1/device.json");
+        //qCDebug(TaisyncVerbose) << "Request" << req;
         _tcpSocket->write(req.toUtf8());
         return true;
     }
@@ -55,6 +71,7 @@ TaisyncSettings::requestFreqScan()
 {
     if(_tcpSocket) {
         QString req = QString(kGetReq).arg("/v1/freqscan.json");
+        //qCDebug(TaisyncVerbose) << "Request" << req;
         _tcpSocket->write(req.toUtf8());
         return true;
     }
@@ -66,26 +83,12 @@ void
 TaisyncSettings::_readBytes()
 {
     QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
-    qCDebug(TaisyncSettingsLog) << "Taisync settings data:" << bytesIn.size();
-    qCDebug(TaisyncSettingsLog) << QString(bytesIn);
-    if(bytesIn.contains("200 OK")) {
-        //-- Link Status?
-        int idx = bytesIn.indexOf('{');
-        QJsonParseError jsonParseError;
-        QJsonDocument doc = QJsonDocument::fromJson(bytesIn.mid(idx), &jsonParseError);
-        if (jsonParseError.error != QJsonParseError::NoError) {
-            qWarning() <<  "Unable to parse Taisync response:" << jsonParseError.errorString() << jsonParseError.offset;
-            return;
-        }
-        QJsonObject jObj = doc.object();
-        //-- Link Status?
-        if(bytesIn.contains("\"flight\":")) {
-            _linkConnected  = jObj["flight"].toBool(_linkConnected);
-            _linkVidFormat  = jObj["videoformat"].toString(_linkVidFormat);
-            _downlinkRSSI   = jObj["radiorssi"].toInt(_downlinkRSSI);
-            _uplinkRSSI     = jObj["hdrssi"].toInt(_uplinkRSSI);
-            emit linkChanged();
-        }
+    //qCDebug(TaisyncVerbose) << "Taisync settings data:" << bytesIn.size();
+    //qCDebug(TaisyncVerbose) << QString(bytesIn);
+    //-- Go straight to Json payload
+    int idx = bytesIn.indexOf('{');
+    if(idx > 0) {
+        emit updateSettings(bytesIn.mid(idx));
     }
 }
 

src/Taisync/TaisyncSettings.h

@@ -11,37 +11,20 @@
 
 #include "TaisyncHandler.h"
 
-Q_DECLARE_LOGGING_CATEGORY(TaisyncSettingsLog)
-
 class TaisyncSettings : public TaisyncHandler
 {
     Q_OBJECT
 public:
-
-    Q_PROPERTY(bool     linkConnected       READ linkConnected              NOTIFY linkChanged)
-    Q_PROPERTY(QString  linkVidFormat       READ linkVidFormat              NOTIFY linkChanged)
-    Q_PROPERTY(int      uplinkRSSI          READ uplinkRSSI                 NOTIFY linkChanged)
-    Q_PROPERTY(int      downlinkRSSI        READ downlinkRSSI               NOTIFY linkChanged)
-
     explicit TaisyncSettings            (QObject* parent = nullptr);
-    void    start                       () override;
-    bool    requestSettings             ();
+    bool    start                       () override;
+    bool    requestLinkStatus           ();
+    bool    requestDevInfo             ();
     bool    requestFreqScan             ();
 
-    bool     linkConnected              () { return _linkConnected; }
-    QString  linkVidFormat              () { return _linkVidFormat; }
-    int      uplinkRSSI                 () { return _downlinkRSSI; }
-    int      downlinkRSSI               () { return _uplinkRSSI; }
-
 signals:
-    void    linkChanged                 ();
+    void    updateSettings              (QByteArray jSonData);
 
 protected slots:
     void    _readBytes                  () override;
 
-private:
-    bool    _linkConnected  = false;
-    QString _linkVidFormat;
-    int     _downlinkRSSI   = 0;
-    int     _uplinkRSSI     = 0;
 };

src/Taisync/TaisyncTelemetry.cc

@@ -30,11 +30,10 @@ TaisyncTelemetry::close()
 }
 
 //-----------------------------------------------------------------------------
-void
-TaisyncTelemetry::start()
+bool TaisyncTelemetry::start()
 {
     qCDebug(TaisyncTelemetryLog) << "Start Taisync Telemetry";
-    _start(TAISYNC_TELEM_PORT);
+    return _start(TAISYNC_TELEM_PORT);
 }
 
 //-----------------------------------------------------------------------------

src/Taisync/TaisyncTelemetry.h

@@ -22,7 +22,7 @@ public:
 
     explicit TaisyncTelemetry           (QObject* parent = nullptr);
     void    close                       () override;
-    void    start                       () override;
+    bool    start                       () override;
     void    writeBytes                  (QByteArray bytes);
 
 signals:

src/Taisync/TaisyncVideoReceiver.cc

@@ -35,12 +35,12 @@ TaisyncVideoReceiver::close()
 }
 
 //-----------------------------------------------------------------------------
-void
+bool
 TaisyncVideoReceiver::start()
 {
     qCDebug(TaisyncVideoReceiverLog) << "Start Taisync Video Receiver";
     _udpVideoSocket = new QUdpSocket(this);
-    _start(TAISYNC_VIDEO_TCP_PORT);
+    return _start(TAISYNC_VIDEO_TCP_PORT);
 }
 
 //-----------------------------------------------------------------------------

src/Taisync/TaisyncVideoReceiver.h

@@ -20,7 +20,7 @@ class TaisyncVideoReceiver : public TaisyncHandler
 public:
 
     explicit TaisyncVideoReceiver       (QObject* parent = nullptr);
-    void start                          () override;
+    bool start                          () override;
     void close                          () override;
 
 private slots:

src/VideoStreaming/VideoReceiver.cc

@@ -229,7 +229,8 @@ VideoReceiver::start()
     _stop = false;
     qCDebug(VideoReceiverLog) << "start()";
 
-#ifdef QGC_GST_TAISYNC_ENABLED
+#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;
@@ -295,7 +296,7 @@ VideoReceiver::start()
                 break;
             }
             g_object_set(static_cast<gpointer>(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
-#ifdef QGC_GST_TAISYNC_ENABLED
+#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;

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

@@ -29,9 +29,6 @@
 #ifdef QT_DEBUG
 #include "MockLink.h"
 #endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-#include "TaisyncLink.h"
-#endif
 
 #define LINK_SETTING_ROOT "LinkConfigurations"
 
@@ -110,11 +107,6 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
         case LinkConfiguration::TypeMock:
             config = new MockConfiguration(name);
             break;
-#endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-        case LinkConfiguration::TypeTaisync:
-            config = new TaisyncConfiguration(name);
-            break;
 #endif
     }
     return config;
@@ -153,11 +145,6 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
         case TypeMock:
             dupe = new MockConfiguration(dynamic_cast<MockConfiguration*>(source));
             break;
-#endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-        case TypeTaisync:
-            dupe = new TaisyncConfiguration(dynamic_cast<TaisyncConfiguration*>(source));
-            break;
 #endif
         case TypeLast:
             break;

src/comm/LinkConfiguration.h

@@ -51,9 +51,6 @@ public:
 #endif
         TypeUdp,        ///< UDP Link
         TypeTcp,        ///< TCP Link
-#if defined(QGC_GST_TAISYNC_ENABLED)
-        TypeTaisync,
-#endif
 #ifdef QGC_ENABLE_BLUETOOTH
         TypeBluetooth,  ///< Bluetooth Link
 #endif

src/comm/LinkManager.cc

@@ -24,9 +24,6 @@
 #ifdef QGC_ENABLE_BLUETOOTH
 #include "BluetoothLink.h"
 #endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-#include "TaisyncLink.h"
-#endif
 
 #ifndef __mobile__
 #include "GPSManager.h"
@@ -151,11 +148,6 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
     case LinkConfiguration::TypeMock:
         pLink = new MockLink(config);
         break;
-#endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-    case LinkConfiguration::TypeTaisync:
-        pLink = new TaisyncLink(config);
-        break;
 #endif
     case LinkConfiguration::TypeLast:
         break;
@@ -410,11 +402,6 @@ void LinkManager::loadLinkConfigurationList()
                             case LinkConfiguration::TypeMock:
                                 pLink = dynamic_cast<LinkConfiguration*>(new MockConfiguration(name));
                                 break;
-#endif
-#if defined(QGC_GST_TAISYNC_ENABLED)
-                            case LinkConfiguration::TypeTaisync:
-                                pLink = dynamic_cast<LinkConfiguration*>(new TaisyncConfiguration(name));
-                                break;
 #endif
                             case LinkConfiguration::TypeLast:
                                 break;
@@ -686,9 +673,6 @@ QStringList LinkManager::linkTypeStrings(void) const
 #endif
         list += tr("UDP");
         list += tr("TCP");
-#if defined(QGC_GST_TAISYNC_ENABLED)
-        list += tr("Taisync");
-#endif
 #ifdef QGC_ENABLE_BLUETOOTH
         list += "Bluetooth";
 #endif
@@ -830,15 +814,6 @@ void LinkManager::_fixUnnamed(LinkConfiguration* config)
                 }
             }
                 break;
-#if defined(QGC_GST_TAISYNC_ENABLED)
-            case LinkConfiguration::TypeTaisync: {
-                TaisyncConfiguration* tconfig = dynamic_cast<TaisyncConfiguration*>(config);
-                if(tconfig) {
-                    config->setName(QString("Taisync Link"));
-                }
-            }
-                break;
-#endif
 #ifdef QGC_ENABLE_BLUETOOTH
             case LinkConfiguration::TypeBluetooth: {
                 BluetoothConfiguration* tconfig = dynamic_cast<BluetoothConfiguration*>(config);

src/comm/TaisyncLink.h

-/****************************************************************************
- *
- *   (c) 2009-2018 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 <QString>
-#include <QList>
-#include <QMap>
-#include <QMutex>
-#include <QUdpSocket>
-#include <QMutexLocker>
-#include <QQueue>
-#include <QByteArray>
-#include <QTcpServer>
-#include <QTcpSocket>
-#include <QVariant>
-
-#include "QGCConfig.h"
-#include "LinkManager.h"
-
-class TaisyncTelemetry;
-class TaisyncSettings;
-#if defined(__ios__) || defined(__android__)
-class TaisyncVideoReceiver;
-#endif
-
-//-----------------------------------------------------------------------------
-class TaisyncConfiguration : public LinkConfiguration
-{
-    Q_OBJECT
-public:
-
-    Q_PROPERTY(bool videoEnabled     READ videoEnabled    WRITE setVideoEnabled  NOTIFY enableVideoChanged)
-
-    TaisyncConfiguration    (const QString& name);
-    TaisyncConfiguration    (TaisyncConfiguration* source);
-    ~TaisyncConfiguration   ();
-
-    bool    videoEnabled    () { return _enableVideo; }
-
-    void    setVideoEnabled (bool enable);
-
-    /// From LinkConfiguration
-    LinkType    type                () { return LinkConfiguration::TypeTaisync; }
-    void        copyFrom            (LinkConfiguration* source);
-    void        loadSettings        (QSettings& settings, const QString& root);
-    void        saveSettings        (QSettings& settings, const QString& root);
-    void        updateSettings      ();
-    bool        isAutoConnectAllowed() { return true; }
-    bool        isHighLatencyAllowed() { return false; }
-    QString     settingsURL         () { return "TaisyncSettings.qml"; }
-    QString     settingsTitle       () { return tr("Taisync Link Settings"); }
-
-signals:
-    void        enableVideoChanged  ();
-
-private:
-    void        _copyFrom           (LinkConfiguration *source);
-
-private:
-    bool        _enableVideo        = true;
-};
-
-//-----------------------------------------------------------------------------
-class TaisyncLink : public LinkInterface
-{
-    Q_OBJECT
-
-    friend class TaisyncConfiguration;
-    friend class LinkManager;
-
-public:
-    void    requestReset            () override { }
-    bool    isConnected             () const override;
-    QString getName                 () const override;
-
-    TaisyncSettings*taisyncSettings () { return _taiSettings; }
-
-    // Extensive statistics for scientific purposes
-    qint64  getConnectionSpeed      () const override;
-    qint64  getCurrentInDataRate    () const;
-    qint64  getCurrentOutDataRate   () const;
-
-    // Thread
-    void    run                     () override;
-
-    // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
-    // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
-    bool    connect                 (void);
-    bool    disconnect              (void);
-
-private slots:
-    void    _writeBytes             (const QByteArray data) override;
-    void    _readBytes              (QByteArray bytes);
-    void    _telemetryReady         ();
-    void    _settingsReady          ();
-
-private:
-    // Links are only created/destroyed by LinkManager so constructor/destructor is not public
-    TaisyncLink                     (SharedLinkConfigurationPointer& config);
-    ~TaisyncLink                    () override;
-
-    // From LinkInterface
-    bool    _connect                () override;
-    void    _disconnect             () override;
-
-    bool    _hardwareConnect        ();
-    void    _hardwareDisconnect     ();
-    void    _restartConnection      ();
-    void    _writeDataGram          (const QByteArray data);
-
-private:
-    bool                    _running            = false;
-    TaisyncConfiguration*   _taiConfig          = nullptr;
-    TaisyncTelemetry*       _taiTelemetery      = nullptr;
-    TaisyncSettings*        _taiSettings        = nullptr;
-#if defined(__ios__) || defined(__android__)
-    TaisyncVideoReceiver*   _taiVideo           = nullptr;
-#endif
-    bool                    _savedVideoState    = true;
-    bool                    _connected          = false;
-    QVariant                _savedVideoSource;
-    QVariant                _savedVideoUDP;
-    QVariant                _savedAR;
-};
-