Commit 95d99cc6 authored by Don Gagne's avatar Don Gagne

Merge pull request #2078 from DonLakeFlyer/MockLinkStatusVoice

Add status text and voice output support
parents a12cefae f61bfeef
......@@ -71,7 +71,8 @@ float MockLink::_vehicleLatitude = 47.633033f;
float MockLink::_vehicleLongitude = -122.08794f;
float MockLink::_vehicleAltitude = 2.5f;
const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
const char* MockConfiguration::_firmwareTypeKey = "FirmwareType";
const char* MockConfiguration::_sendStatusTextKey = "SendStatusText";
MockLink::MockLink(MockConfiguration* config)
: _missionItemHandler(this)
......@@ -85,10 +86,12 @@ MockLink::MockLink(MockConfiguration* config)
, _mavState(MAV_STATE_STANDBY)
, _autopilotType(MAV_AUTOPILOT_PX4)
, _fileServer(NULL)
, _sendStatusText(false)
{
_config = config;
if (_config) {
_autopilotType = config->firmwareType();
_sendStatusText = config->sendStatusText();
}
union px4_custom_mode px4_cm;
......@@ -168,6 +171,10 @@ void MockLink::_run1HzTasks(void)
if (_mavlinkStarted && _connected) {
_sendHeartBeat();
_sendHomePosition();
if (_sendStatusText) {
_sendStatusText = false;
_sendStatusTextMessages();
}
}
}
......@@ -747,9 +754,42 @@ void MockLink::_sendGpsRawInt(void)
respondWithMavlinkMessage(msg);
}
void MockLink::_sendStatusTextMessages(void)
{
struct StatusMessage {
MAV_SEVERITY severity;
const char* msg;
};
static const struct StatusMessage rgMessages[] = {
{ MAV_SEVERITY_INFO, "#Testing audio output" },
{ MAV_SEVERITY_EMERGENCY, "Status text emergency" },
{ MAV_SEVERITY_ALERT, "Status text alert" },
{ MAV_SEVERITY_CRITICAL, "Status text critical" },
{ MAV_SEVERITY_ERROR, "Status text error" },
{ MAV_SEVERITY_WARNING, "Status text warning" },
{ MAV_SEVERITY_NOTICE, "Status text notice" },
{ MAV_SEVERITY_INFO, "Status text info" },
{ MAV_SEVERITY_DEBUG, "Status text debug" },
};
for (size_t i=0; i<sizeof(rgMessages)/sizeof(rgMessages[0]); i++) {
mavlink_message_t msg;
const struct StatusMessage* status = &rgMessages[i];
mavlink_msg_statustext_pack(_vehicleSystemId,
_vehicleComponentId,
&msg,
status->severity,
status->msg);
respondWithMavlinkMessage(msg);
}
}
MockConfiguration::MockConfiguration(const QString& name)
: LinkConfiguration(name)
, _firmwareType(MAV_AUTOPILOT_PX4)
, _sendStatusText(false)
{
}
......@@ -757,21 +797,29 @@ MockConfiguration::MockConfiguration(const QString& name)
MockConfiguration::MockConfiguration(MockConfiguration* source)
: LinkConfiguration(source)
{
_firmwareType = source->_firmwareType;
_firmwareType = source->_firmwareType;
_sendStatusText = source->_sendStatusText;
}
void MockConfiguration::copyFrom(LinkConfiguration *source)
{
LinkConfiguration::copyFrom(source);
MockConfiguration* usource = dynamic_cast<MockConfiguration*>(source);
Q_ASSERT(usource != NULL);
_firmwareType = usource->_firmwareType;
if (!usource) {
qWarning() << "dynamic_cast failed" << source << usource;
return;
}
_firmwareType = usource->_firmwareType;
_sendStatusText = usource->_sendStatusText;
}
void MockConfiguration::saveSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
settings.setValue(_firmwareTypeKey, (int)_firmwareType);
settings.setValue(_sendStatusTextKey, _sendStatusText);
settings.sync();
settings.endGroup();
}
......@@ -780,6 +828,7 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
{
settings.beginGroup(root);
_firmwareType = (MAV_AUTOPILOT)settings.value(_firmwareTypeKey, (int)MAV_AUTOPILOT_PX4).toInt();
_sendStatusText = settings.value(_sendStatusTextKey, false).toBool();
settings.endGroup();
}
......@@ -789,7 +838,7 @@ void MockConfiguration::updateSettings()
MockLink* ulink = dynamic_cast<MockLink*>(_link);
if (ulink) {
// Restart connect not supported
Q_ASSERT(false);
qWarning() << "updateSettings not supported";
//ulink->_restartConnection();
}
}
......
......@@ -44,6 +44,10 @@ public:
MAV_AUTOPILOT firmwareType(void) { return _firmwareType; }
void setFirmwareType(MAV_AUTOPILOT firmwareType) { _firmwareType = firmwareType; }
/// @param sendStatusText true: mavlink status text messages will be sent for each severity, as well as voice output info message
void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
bool sendStatusText(void) { return _sendStatusText; }
// Overrides from LinkConfiguration
int type(void) { return LinkConfiguration::TypeMock; }
void copyFrom(LinkConfiguration* source);
......@@ -52,9 +56,11 @@ public:
void updateSettings(void);
private:
MAV_AUTOPILOT _firmwareType;
MAV_AUTOPILOT _firmwareType;
bool _sendStatusText;
static const char* _firmwareTypeKey;
static const char* _sendStatusTextKey;
};
class MockLink : public LinkInterface
......@@ -70,6 +76,7 @@ public:
int vehicleId(void) { return _vehicleSystemId; }
MAV_AUTOPILOT getAutopilotType(void) { return _autopilotType; }
void setAutopilotType(MAV_AUTOPILOT autopilot) { _autopilotType = autopilot; }
void setSendStatusText(bool sendStatusText) { _sendStatusText = sendStatusText; }
void emitRemoteControlChannelRawChanged(int channel, uint16_t raw);
/// Sends the specified mavlink message to QGC
......@@ -149,6 +156,7 @@ private:
void _setParamFloatUnionIntoMap(int componentId, const QString& paramName, float paramFloat);
void _sendHomePosition(void);
void _sendGpsRawInt(void);
void _sendStatusTextMessages(void);
MockLinkMissionItemHandler _missionItemHandler;
......@@ -173,6 +181,8 @@ private:
MockLinkFileServer* _fileServer;
bool _sendStatusText;
static float _vehicleLatitude;
static float _vehicleLongitude;
static float _vehicleAltitude;
......
......@@ -43,9 +43,12 @@ MockLinkConfiguration::MockLinkConfiguration(MockConfiguration *config, QWidget
break;
}
connect(_ui->px4Radio, &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
connect(_ui->apmRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
_ui->sendStatusTextCheckBox->setChecked(config->sendStatusText());
connect(_ui->px4Radio, &QRadioButton::clicked, this, &MockLinkConfiguration::_px4RadioClicked);
connect(_ui->apmRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_apmRadioClicked);
connect(_ui->genericRadio, &QRadioButton::clicked, this, &MockLinkConfiguration::_genericRadioClicked);
connect(_ui->sendStatusTextCheckBox, &QCheckBox::clicked, this, &MockLinkConfiguration::_sendStatusTextClicked);
}
MockLinkConfiguration::~MockLinkConfiguration()
......@@ -73,3 +76,8 @@ void MockLinkConfiguration::_genericRadioClicked(bool checked)
_config->setFirmwareType(MAV_AUTOPILOT_GENERIC);
}
}
void MockLinkConfiguration::_sendStatusTextClicked(bool checked)
{
_config->setSendStatusText(checked);
}
......@@ -44,6 +44,7 @@ private slots:
void _px4RadioClicked(bool checked);
void _apmRadioClicked(bool checked);
void _genericRadioClicked(bool checked);
void _sendStatusTextClicked(bool checked);
private:
Ui::MockLinkConfiguration* _ui;
......
......@@ -35,6 +35,13 @@
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="sendStatusTextCheckBox">
<property name="text">
<string>Send status text + voice</string>
</property>
</widget>
</item>
</layout>
</widget>
<resources/>
......
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