Merge branch 'master' of github.com:mavlink/qgroundcontrol into config

src/GAudioOutput.cc

@@ -42,7 +42,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 
 // Speech synthesis is only supported with MSVC compiler
-#if _MSC_VER2
+#if _MSC_VER
 // Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
 #define _ATL_APARTMENT_THREADED
 
@@ -61,11 +61,13 @@ extern CComModule _Module;
 #ifdef Q_OS_LINUX
 extern "C" {
 #include <flite/flite.h>
-    cst_voice* register_cmu_us_kal(const char* voxdir);
+    cst_voice *register_cmu_us_kal(const char *voxdir);
 };
 #endif
 
-
+#ifdef _MSC_VER
+ISpVoice *GAudioOutput::pVoice = NULL;
+#endif
 
 /**
  * This class follows the singleton design pattern
@@ -74,22 +76,24 @@ extern "C" {
  * the call can occur at any place in the code, no reference to the
  * GAudioOutput object has to be passed.
  */
-GAudioOutput* GAudioOutput::instance()
+GAudioOutput *GAudioOutput::instance()
 {
-    static GAudioOutput* _instance = 0;
-    if(_instance == 0)
+    static GAudioOutput *_instance = 0;
+
+    if (_instance == 0)
     {
         _instance = new GAudioOutput();
         // Set the application as parent to ensure that this object
         // will be destroyed when the main application exits
         _instance->setParent(qApp);
     }
+
     return _instance;
 }
 
 #define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
 
-GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
+GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
     voiceIndex(0),
     emergency(false),
     muted(false)
@@ -97,31 +101,34 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
     // Load settings
     QSettings settings;
     settings.sync();
-    muted = settings.value(QGC_GAUDIOOUTPUT_KEY+"muted", muted).toBool();
+    muted = settings.value(QGC_GAUDIOOUTPUT_KEY + "muted", muted).toBool();
 
 
 #ifdef Q_OS_LINUX
     flite_init();
 #endif
 
-#if _MSC_VER2
+#if _MSC_VER
+    pVoice = NULL;
 
-    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 ) )
+        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;
+            hr = pVoice->Speak(L"QGC audio output active!", 0, NULL);
+            //pVoice->Release();
+            //pVoice = NULL;
         }
     }
+
 #endif
     // Initialize audio output
     //m_media = new Phonon::MediaObject(this);
@@ -132,22 +139,27 @@ GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
     emergencyTimer = new QTimer();
     connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
 
-    switch (voiceIndex) {
+    switch (voiceIndex)
+    {
     case 0:
         selectFemaleVoice();
         break;
+
     default:
         selectMaleVoice();
         break;
     }
 }
 
-//GAudioOutput::~GAudioOutput()
-//{
-//#ifdef _MSC_VER2
-//    ::CoUninitialize();
-//#endif
-//}
+GAudioOutput::~GAudioOutput()
+{
+#ifdef _MSC_VER
+    pVoice->Release();
+    pVoice = NULL;
+    ::CoUninitialize();
+#endif
+}
+
 
 void GAudioOutput::mute(bool mute)
 {
@@ -155,7 +167,7 @@ void GAudioOutput::mute(bool mute)
     {
         this->muted = mute;
         QSettings settings;
-        settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
+        settings.setValue(QGC_GAUDIOOUTPUT_KEY + "muted", this->muted);
         settings.sync();
         emit mutedChanged(muted);
     }
@@ -173,29 +185,49 @@ bool GAudioOutput::say(QString text, int severity)
         // 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();
+#ifdef _MSC_VER
+            /*SpeechSynthesizer synth = new SpeechSynthesizer();
             synth.SelectVoice("Microsoft Anna");
             synth.SpeakText(text.toStdString().c_str());
-            res = true;
+            res = true;*/
+            /*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(text.toStdWString().c_str(), SPF_ASYNC, NULL);
+            /*pVoice->WaitUntilDone(5000);
+            pVoice->Release();
+            pVoice = NULL;
+            }
+            }*/
 #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);
+
+            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
@@ -209,8 +241,10 @@ bool GAudioOutput::say(QString text, int severity)
             res = true;
 #endif
         }
+
         return res;
     }
+
     else
     {
         return false;
@@ -230,6 +264,7 @@ bool GAudioOutput::alert(QString text)
         say(text, 2);
         return true;
     }
+
     else
     {
         return false;
@@ -241,7 +276,7 @@ void GAudioOutput::notifyPositive()
     if (!muted)
     {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/double_notify.wav"));
+        QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/double_notify.wav"));
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();
     }
@@ -252,7 +287,7 @@ void GAudioOutput::notifyNegative()
     if (!muted)
     {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/flat_notify.wav"));
+        QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/flat_notify.wav"));
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();
     }
@@ -270,11 +305,14 @@ bool GAudioOutput::startEmergency()
     if (!emergency)
     {
         emergency = true;
+
         // Beep immediately and then start timer
         if (!muted) beep();
+
         emergencyTimer->start(1500);
         QTimer::singleShot(5000, this, SLOT(stopEmergency()));
     }
+
     return true;
 }
 
@@ -286,10 +324,12 @@ bool GAudioOutput::startEmergency()
  */
 bool GAudioOutput::stopEmergency()
 {
-    if (emergency) {
+    if (emergency)
+    {
         emergency = false;
         emergencyTimer->stop();
     }
+
     return true;
 }
 
@@ -298,7 +338,7 @@ void GAudioOutput::beep()
     if (!muted)
     {
         // Use QFile to transform path for all OS
-        QFile f(QCoreApplication::applicationDirPath()+QString("/files/audio/alert.wav"));
+        QFile f(QCoreApplication::applicationDirPath() + QString("/files/audio/alert.wav"));
         qDebug() << "FILE:" << f.fileName();
         //m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
         //m_media->play();
@@ -337,13 +377,16 @@ 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);
-        printf("%s",voice->name);
+        s.sprintf("%s", voice->name);
+        printf("%s", voice->name);
         l.append(s);
     }
+
     printf("\n");
 
 #endif

src/GAudioOutput.h

@@ -59,10 +59,21 @@ 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
 
+#if _MSC_VER
+// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
+#define _ATL_APARTMENT_THREADED
+#include <atlbase.h>
+//You may derive a class from CComModule and use it if you want to override something,
+//but do not change the name of _Module
+extern CComModule _Module;
+#include <atlcom.h>
+#include <sapi.h>
+#endif
+
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
  * This class follows the singleton design pattern
@@ -73,10 +84,11 @@ class GAudioOutput : public QObject
     Q_OBJECT
 public:
     /** @brief Get the singleton instance */
-    static GAudioOutput* instance();
+    static GAudioOutput *instance();
     /** @brief List available voices */
     QStringList listVoices(void);
-    enum {
+    enum
+    {
         VOICE_MALE = 0,
         VOICE_FEMALE
     } QGVoice;
@@ -86,7 +98,7 @@ public:
 
 public slots:
     /** @brief Say this text if current output priority matches */
-    bool say(QString text, int severity=1);
+    bool say(QString text, int severity = 1);
     /** @brief Play alert sound and say notification message */
     bool alert(QString text);
     /** @brief Start emergency sound */
@@ -115,16 +127,20 @@ protected:
 #endif
 #ifdef Q_OS_LINUX
     //cst_voice* voice; ///< The flite voice object
+#endif
+#ifdef _MSC_VER
+    static ISpVoice *pVoice;
 #endif
     int voiceIndex;   ///< The index of the flite voice to use (awb, slt, rms)
-    Phonon::MediaObject* m_media; ///< The output object for audio
-    Phonon::AudioOutput* m_audioOutput;
+    Phonon::MediaObject *m_media; ///< The output object for audio
+    Phonon::AudioOutput *m_audioOutput;
     bool emergency;   ///< Emergency status flag
-    QTimer* emergencyTimer;
+    QTimer *emergencyTimer;
     bool muted;
 private:
-    GAudioOutput(QObject* parent=NULL);
-//    ~GAudioOutput();
+    GAudioOutput(QObject *parent = NULL);
+    ~GAudioOutput();
 };
 
 #endif // AUDIOOUTPUT_H
+

src/comm/MAVLinkProtocol.cc

@@ -268,6 +268,20 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         if (decodeState == 1)
         {
             decodedFirstPacket = true;
+
+            if(message.msgid == MAVLINK_MSG_ID_PING)
+            {
+                // process ping requests (tgt_system and tgt_comp must be zero)
+                mavlink_ping_t ping;
+                mavlink_msg_ping_decode(&message, &ping);
+                if(!ping.target_system && !ping.target_component)
+                {
+                    mavlink_message_t msg;
+                    mavlink_msg_ping_pack(getSystemId(), getComponentId(), &msg, ping.time_usec, ping.seq, message.sysid, message.compid);
+                    sendMessage(msg);
+                }
+            }
+
 #if defined(QGC_PROTOBUF_ENABLED)
 
             if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)

src/ui/designer/QGCComboBox.h

@@ -22,7 +22,7 @@ public:
     explicit QGCComboBox(QWidget *parent = 0);
     ~QGCComboBox();
 
-    virtual void setEditMode(bool editMode) override;
+    virtual void setEditMode(bool editMode);
 
 public slots:
     /** @brief Queue parameter for sending to the MAV (add to pending list)*/

src/ui/designer/QGCCommandButton.h

@@ -18,7 +18,7 @@ public:
     explicit QGCCommandButton(QWidget *parent = 0);
     ~QGCCommandButton();
 
-    virtual void setEditMode(bool editMode) override;
+    virtual void setEditMode(bool editMode);
 
 public slots:
     void sendCommand();

src/ui/designer/QGCParamSlider.h

@@ -20,7 +20,7 @@ public:
     explicit QGCParamSlider(QWidget *parent = 0);
     ~QGCParamSlider();
 
-    virtual void setEditMode(bool editMode) override;
+    virtual void setEditMode(bool editMode);
 
 public slots:
     /** @brief Queue parameter for sending to the MAV (add to pending list)*/

src/ui/designer/QGCTextLabel.h

@@ -19,7 +19,7 @@ public:
     ~QGCTextLabel();
     void setActiveUAS(UASInterface *uas);
     void enableText(int num);
-    virtual void setEditMode(bool editMode) override;
+    virtual void setEditMode(bool editMode);
 public slots:
     void writeSettings(QSettings& settings);
     void readSettings(const QSettings& settings);