Merge pull request #6096 from acfloria/feature/high_latency_configuration

Add highLatency property to LinkConfiguration

src/comm/LinkConfiguration.cc

@@ -37,6 +37,7 @@ LinkConfiguration::LinkConfiguration(const QString& name)
     , _name(name)
     , _dynamic(false)
     , _autoConnect(false)
+    , _highLatency(false)
 {
     _name = name;
     if (_name.isEmpty()) {
@@ -50,6 +51,7 @@ LinkConfiguration::LinkConfiguration(LinkConfiguration* copy)
     _name       = copy->name();
     _dynamic    = copy->isDynamic();
     _autoConnect= copy->isAutoConnect();
+    _highLatency= copy->isHighLatency();
     Q_ASSERT(!_name.isEmpty());
 }
 
@@ -60,6 +62,7 @@ void LinkConfiguration::copyFrom(LinkConfiguration* source)
     _name       = source->name();
     _dynamic    = source->isDynamic();
     _autoConnect= source->isAutoConnect();
+    _highLatency= source->isHighLatency();
 }
 
 /*!

src/comm/LinkConfiguration.h

@@ -33,6 +33,8 @@ public:
     Q_PROPERTY(bool             autoConnect         READ isAutoConnect  WRITE setAutoConnect    NOTIFY autoConnectChanged)
     Q_PROPERTY(bool             autoConnectAllowed  READ isAutoConnectAllowed                   CONSTANT)
     Q_PROPERTY(QString          settingsURL         READ settingsURL                            CONSTANT)
+    Q_PROPERTY(bool             highLatency         READ isHighLatency  WRITE setHighLatency    NOTIFY highLatencyChanged)
+    Q_PROPERTY(bool             highLatencyAllowed  READ isHighLatencyAllowed                   CONSTANT)
 
     // Property accessors
 
@@ -76,6 +78,13 @@ public:
      */
     bool isAutoConnect() { return _autoConnect; }
 
+    /*!
+     *
+     * Is this a High Latency configuration?
+     * @return True if this is an High Latency configuration (link with large delays).
+     */
+    bool isHighLatency() { return _highLatency; }
+
     /*!
      * Set if this is this a dynamic configuration. (decided at runtime)
     */
@@ -86,6 +95,11 @@ public:
     */
     void setAutoConnect(bool autoc = true) { _autoConnect = autoc; emit autoConnectChanged(); }
 
+    /*!
+     * Set if this is this an High Latency configuration.
+    */
+    void setHighLatency(bool hl = false) { _highLatency = hl; emit highLatencyChanged(); }
+
     /// Virtual Methods
 
     /*!
@@ -95,6 +109,13 @@ public:
      */
     virtual bool isAutoConnectAllowed() { return false; }
 
+    /*!
+     *
+     * Is High Latency allowed for this type?
+     * @return True if this type can be set as an High Latency configuration
+     */
+    virtual bool isHighLatencyAllowed() { return false; }
+
     /*!
      * @brief Connection type
      *
@@ -174,6 +195,7 @@ signals:
     void dynamicChanged     ();
     void autoConnectChanged ();
     void linkChanged        (LinkInterface* link);
+    void highLatencyChanged ();
 
 protected:
     LinkInterface* _link; ///< Link currently using this configuration (if any)
@@ -181,6 +203,7 @@ private:
     QString _name;
     bool    _dynamic;       ///< A connection added automatically and not persistent (unless it's edited).
     bool    _autoConnect;   ///< This connection is started automatically at boot
+    bool    _highLatency;
 };
 
 typedef QSharedPointer<LinkConfiguration> SharedLinkConfigurationPointer;

src/comm/LinkInterface.cc

@@ -23,7 +23,7 @@ uint8_t LinkInterface::mavlinkChannel(void) const
 LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
     : QThread                   (0)
     , _config                   (config)
-    , _highLatency              (false)
+    , _highLatency              (config->isHighLatency())
     , _mavlinkChannelSet        (false)
     , _active                   (false)
     , _enableRateCollection     (false)

src/comm/SerialLink.h

@@ -86,6 +86,7 @@ public:
     /// From LinkConfiguration
     LinkType    type            () { return LinkConfiguration::TypeSerial; }
     void        copyFrom        (LinkConfiguration* source);
+    bool        isHighLatencyAllowed () { return true; }
     void        loadSettings    (QSettings& settings, const QString& root);
     void        saveSettings    (QSettings& settings, const QString& root);
     void        updateSettings  ();

src/comm/TCPLink.h

@@ -97,6 +97,7 @@ public:
     /// From LinkConfiguration
     LinkType    type            () { return LinkConfiguration::TypeTcp; }
     void        copyFrom        (LinkConfiguration* source);
+    bool        isHighLatencyAllowed () { return true; }
     void        loadSettings    (QSettings& settings, const QString& root);
     void        saveSettings    (QSettings& settings, const QString& root);
     void        updateSettings  ();

src/comm/UDPLink.h

@@ -126,6 +126,7 @@ public:
     void        saveSettings         (QSettings& settings, const QString& root);
     void        updateSettings       ();
     bool        isAutoConnectAllowed () { return true; }
+    bool        isHighLatencyAllowed () { return true; }
     QString     settingsURL          () { return "UdpSettings.qml"; }
 
 signals:

src/ui/preferences/SerialSettings.qml

@@ -235,5 +235,19 @@ Item {
                 }
             }
         }
+        QGCCheckBox {
+            text:       "High Latency"
+            checked:    false
+            visible:    editConfig ? editConfig.highLatencyAllowed : false
+            onCheckedChanged: {
+                if(editConfig) {
+                    editConfig.highLatency = checked
+                }
+            }
+            Component.onCompleted: {
+                if(editConfig)
+                    checked = editConfig.highLatency
+            }
+        }
     }
 }

src/ui/preferences/TcpSettings.qml

@@ -75,5 +75,19 @@ Item {
                 anchors.verticalCenter: parent.verticalCenter
             }
         }
+        QGCCheckBox {
+            text:       "High Latency"
+            checked:    false
+            visible:    editConfig ? editConfig.highLatencyAllowed : false
+            onCheckedChanged: {
+                if(editConfig) {
+                    editConfig.highLatency = checked
+                }
+            }
+            Component.onCompleted: {
+                if(editConfig)
+                    checked = editConfig.highLatency
+            }
+        }
     }
 }

src/ui/preferences/UdpSettings.qml

@@ -175,5 +175,19 @@ Item {
                 }
             }
         }
+        QGCCheckBox {
+            text:       "High Latency"
+            checked:    false
+            visible:    editConfig ? editConfig.highLatencyAllowed : false
+            onCheckedChanged: {
+                if(editConfig) {
+                    editConfig.highLatency = checked
+                }
+            }
+            Component.onCompleted: {
+                if(editConfig)
+                    checked = editConfig.highLatency
+            }
+        }
     }
 }