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Commit bc33da52 authored by pixhawk's avatar pixhawk
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Added true audio output

parent 124997d0
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Showing with 891 additions and 636 deletions
audio/alert.wav 0 → 100644
View file @ bc33da52
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mavground.pro
View file @ bc33da52
# Include general settings for MAVGround
include(mavground.pri)
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
# Include FLITE audio synthesizer library
#include(src/lib/flite/flite.pri)
# Include QMapControl map library
include(lib/QMapControl/QMapControl.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src
INCLUDEPATH += . \
lib/QMapControl \
../mavlink/src
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/LineChart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/WaypointView.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/MapWidget.ui \
src/ui/XMLCommProtocolWidget.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink
HEADERS += src/MG.h \
src/Core.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/SerialSimulationLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/AS4Protocol.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartContainer.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/WaypointView.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/PFD.h \
src/ui/GaugePanel.h \
src/ui/DebugConsole.h \
src/ui/MapWidget.h \
src/ui/XMLCommProtocolWidget.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
src/comm/MAVLinkXMLParser.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/AudioOutput.h \
src/LogCompressor.h \
src/comm/ViconTarsusProtocol.h \
src/comm/TarsusField.h \
src/comm/TarsusFieldDescriptor.h \
src/comm/TarsusFieldTriplet.h \
src/comm/TarsusRigidBody.h \
src/comm/TarsusStream.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/SerialLink.cc \
src/comm/SerialSimulationLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/AS4Protocol.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartContainer.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/WaypointView.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/PFD.cc \
src/ui/GaugePanel.cc \
src/ui/DebugConsole.cc \
src/ui/MapWidget.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
src/comm/MAVLinkXMLParser.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/AudioOutput.cc \
src/LogCompressor.cc \
src/comm/ViconTarsusProtocol.cc
RESOURCES = mavground.qrc
# Include general settings for MAVGround
include(mavground.pri)
# Include serial port library
include(src/lib/qextserialport/qextserialport.pri)
# Include QWT plotting library
include(src/lib/qwt/qwt.pri)
# Include FLITE audio synthesizer library
# include(src/lib/flite/flite.pri)
# Include QMapControl map library
include(lib/QMapControl/QMapControl.pri)
DEPENDPATH += . \
lib/QMapControl \
lib/QMapControl/src
INCLUDEPATH += . \
lib/QMapControl \
../mavlink/src \
mavlink/src \
src/mavlink
# Input
FORMS += src/ui/MainWindow.ui \
src/ui/CommSettings.ui \
src/ui/SerialSettings.ui \
src/ui/UASControl.ui \
src/ui/UASList.ui \
src/ui/UASInfo.ui \
src/ui/LineChart.ui \
src/ui/UASView.ui \
src/ui/ParameterInterface.ui \
src/ui/WaypointList.ui \
src/ui/WaypointView.ui \
src/ui/ObjectDetectionView.ui \
src/ui/JoystickWidget.ui \
src/ui/DebugConsole.ui \
src/ui/MapWidget.ui \
src/ui/XMLCommProtocolWidget.ui \
src/ui/HDDisplay.ui \
src/ui/MAVLinkSettingsWidget.ui \
src/ui/AudioOutputWidget.ui
INCLUDEPATH += src \
src/ui \
src/ui/linechart \
src/ui/uas \
src/ui/map \
src/uas \
src/comm \
include/ui \
src/input \
src/lib/qmapcontrol \
src/ui/mavlink
HEADERS += src/MG.h \
src/Core.h \
src/uas/UASInterface.h \
src/uas/UAS.h \
src/uas/UASManager.h \
src/comm/LinkManager.h \
src/comm/LinkInterface.h \
src/comm/SerialLinkInterface.h \
src/comm/SerialLink.h \
src/comm/SerialSimulationLink.h \
src/comm/ProtocolInterface.h \
src/comm/MAVLinkProtocol.h \
src/comm/AS4Protocol.h \
src/ui/CommConfigurationWindow.h \
src/ui/SerialConfigurationWindow.h \
src/ui/MainWindow.h \
src/ui/uas/UASControlWidget.h \
src/ui/uas/UASListWidget.h \
src/ui/uas/UASInfoWidget.h \
src/ui/HUD.h \
src/ui/linechart/LinechartWidget.h \
src/ui/linechart/LinechartContainer.h \
src/ui/linechart/LinechartPlot.h \
src/ui/linechart/Scrollbar.h \
src/ui/linechart/ScrollZoomer.h \
src/configuration.h \
src/ui/uas/UASView.h \
src/ui/CameraView.h \
src/comm/MAVLinkSimulationLink.h \
src/comm/UDPLink.h \
src/ui/ParameterInterface.h \
src/ui/WaypointList.h \
src/Waypoint.h \
src/ui/WaypointView.h \
src/ui/ObjectDetectionView.h \
src/input/JoystickInput.h \
src/ui/JoystickWidget.h \
src/ui/PFD.h \
src/ui/GaugePanel.h \
src/ui/DebugConsole.h \
src/ui/MapWidget.h \
src/ui/XMLCommProtocolWidget.h \
src/ui/mavlink/DomItem.h \
src/ui/mavlink/DomModel.h \
src/comm/MAVLinkXMLParser.h \
src/ui/HDDisplay.h \
src/ui/MAVLinkSettingsWidget.h \
src/ui/AudioOutputWidget.h \
src/GAudioOutput.h \
src/LogCompressor.h
SOURCES += src/main.cc \
src/Core.cc \
src/uas/UASManager.cc \
src/uas/UAS.cc \
src/comm/LinkManager.cc \
src/comm/SerialLink.cc \
src/comm/SerialSimulationLink.cc \
src/comm/MAVLinkProtocol.cc \
src/comm/AS4Protocol.cc \
src/ui/CommConfigurationWindow.cc \
src/ui/SerialConfigurationWindow.cc \
src/ui/MainWindow.cc \
src/ui/uas/UASControlWidget.cc \
src/ui/uas/UASListWidget.cc \
src/ui/uas/UASInfoWidget.cc \
src/ui/HUD.cc \
src/ui/linechart/LinechartWidget.cc \
src/ui/linechart/LinechartContainer.cc \
src/ui/linechart/LinechartPlot.cc \
src/ui/linechart/Scrollbar.cc \
src/ui/linechart/ScrollZoomer.cc \
src/ui/uas/UASView.cc \
src/ui/CameraView.cc \
src/comm/MAVLinkSimulationLink.cc \
src/comm/UDPLink.cc \
src/ui/ParameterInterface.cc \
src/ui/WaypointList.cc \
src/Waypoint.cc \
src/ui/WaypointView.cc \
src/ui/ObjectDetectionView.cc \
src/input/JoystickInput.cc \
src/ui/JoystickWidget.cc \
src/ui/PFD.cc \
src/ui/GaugePanel.cc \
src/ui/DebugConsole.cc \
src/ui/MapWidget.cc \
src/ui/XMLCommProtocolWidget.cc \
src/ui/mavlink/DomItem.cc \
src/ui/mavlink/DomModel.cc \
src/comm/MAVLinkXMLParser.cc \
src/ui/HDDisplay.cc \
src/ui/MAVLinkSettingsWidget.cc \
src/ui/AudioOutputWidget.cc \
src/GAudioOutput.cc \
src/LogCompressor.cc
RESOURCES = mavground.qrc
mavground.qrc
View file @ bc33da52
<RCC>
<qresource prefix="/">
<qresource prefix="/" >
<file>images/control/launch.svg</file>
<file>images/status/dialog-error.svg</file>
<file>images/status/dialog-warning.svg</file>
......@@ -76,8 +76,10 @@
<file>images/status/audio-volume-low.svg</file>
<file>images/status/audio-volume-high.svg</file>
<file>images/style-mission.css</file>
<file>images/splash.png</file>
<file>audio/alert.wav</file>
</qresource>
<qresource prefix="/general">
<file alias="vera.ttf">images/Vera.ttf</file>
<qresource prefix="/general" >
<file alias="vera.ttf" >images/Vera.ttf</file>
</qresource>
</RCC>
src/AudioOutput.cc deleted 100644 → 0
View file @ 124997d0
#include "AudioOutput.h"
#include <flite.h>
#include <phonon/mediaobject.h>
#include <QTemporaryFile>
#include <QDebug>
extern "C" {
#include <cmu_us_awb/voxdefs.h>
//#include <cmu_us_slt/voxdefs.h>
//cst_voice *REGISTER_VOX(const char *voxdir);
//void UNREGISTER_VOX(cst_voice *vox);
cst_voice *register_cmu_us_awb(const char *voxdir);
void unregister_cmu_us_awb(cst_voice *vox);
cst_voice *register_cmu_us_slt(const char *voxdir);
void unregister_cmu_us_slt(cst_voice *vox);
cst_voice *register_cmu_us_rms(const char *voxdir);
void unregister_cmu_us_rms(cst_voice *vox);
};
AudioOutput::AudioOutput(QString voice, QObject* parent) : QObject(parent),
voice(NULL),
voiceIndex(0)
{
#ifndef _WIN32
flite_init();
#endif
switch (voiceIndex)
{
case 0:
selectFemaleVoice();
break;
case 1:
selectMaleVoice();
break;
default:
selectNeutralVoice();
break;
}
/*
// List available voices
QStringList voices = listVoices();
foreach (QString s, voices)
{
qDebug() << "VOICE: " << s;
}
if (voice.length() > 0)
{
//this->voice = flite_voice_select(voice.toStdString().c_str());
}
else
{
// Take default voice
//this->voice = flite_voice_select("awb");
}
*/
}
bool AudioOutput::say(QString text, int severity)
{
// Only give speech output on Linux and MacOS
#ifndef _WIN32
QTemporaryFile file;
file.setFileTemplate("XXXXXX.wav");
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()));
music->play();
qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
}
#else
qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
#endif
return true;
}
bool AudioOutput::alert(QString text)
{
// Play alert sound
// Say alert message
return say(text, 2);
}
bool AudioOutput::startEmergency()
{
return false;
}
bool AudioOutput::stopEmergency()
{
return false;
}
void AudioOutput::selectFemaleVoice()
{
#ifndef _WIN32
this->voice = register_cmu_us_slt(NULL);
#endif
}
void AudioOutput::selectMaleVoice()
{
#ifndef _WIN32
this->voice = register_cmu_us_rms(NULL);
#endif
}
void AudioOutput::selectNeutralVoice()
{
#ifndef _WIN32
this->voice = register_cmu_us_awb(NULL);
#endif
}
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
QStringList AudioOutput::listVoices(void)
{
cst_voice *voice;
const cst_val *v;
QStringList l;
#ifndef _WIN32
/*
printf("Voices available: ");
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);
l.append(s);
}
printf("\n");
*/
#endif
return l;
}
#ifdef __cplusplus
}
#endif /* __cplusplus */
src/AudioOutput.h deleted 100644 → 0
View file @ 124997d0
#ifndef AUDIOOUTPUT_H
#define AUDIOOUTPUT_H
#include <QObject>
#include <QStringList>
#include <flite.h>
class AudioOutput : public QObject
{
Q_OBJECT
public:
AudioOutput(QString voice="", QObject* parent=NULL);
/** @brief List available voices */
QStringList listVoices(void);
public slots:
/** @brief Say this text if current output priority matches */
bool say(QString text, int severity);
/** @brief Play alert sound */
bool alert(QString text);
/** @brief Start emergency sound */
bool startEmergency();
/** @brief Stop emergency sound */
bool stopEmergency();
/** @brief Select female voice */
void selectFemaleVoice();
/** @brief Select male voice */
void selectMaleVoice();
/** @brief Select neutral voice */
void selectNeutralVoice();
protected:
cst_voice* voice;
int voiceIndex;
};
#endif // AUDIOOUTPUT_H
src/Core.cc
View file @ bc33da52
......@@ -23,7 +23,7 @@ This file is part of the PIXHAWK project
/**
* @file
* @brief Main class
* @brief Implementation of main class
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
......@@ -43,7 +43,7 @@ This file is part of the PIXHAWK project
#include <Core.h>
#include <MG.h>
#include <MainWindow.h>
#include "AudioOutput.h"
#include "GAudioOutput.h"
/**
......@@ -56,7 +56,7 @@ This file is part of the PIXHAWK project
* @param argv The string array of parameters
**/
MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("OpenMAV Ground Control Station");
this->setApplicationVersion("v. 0.0.5");
......@@ -69,12 +69,12 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
QFontDatabase fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!", fontFileName);
//if(!QFile::exists(fontFileName)) //printf("ERROR! font file: %s DOES NOT EXIST!", fontFileName);
fontDatabase.addApplicationFont(fontFileName);
setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Show splash screen
QPixmap splashImage(MG::DIR::getIconDirectory() + "/groundstation-splash.png");
QPixmap splashImage(":images/splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
splashScreen->show();
......@@ -87,11 +87,10 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
startUASManager();
// Start audio output
AudioOutput* audio = new AudioOutput();
audio->say("Ground Control Station started", 1);
GAudioOutput::instance()->say("Ground Control Station started", 1);
tarsus = new ViconTarsusProtocol();
tarsus->start();
//tarsus = new ViconTarsusProtocol();
//tarsus->start();
// Start the user interface
splashScreen->showMessage(tr("Starting User Interface"));
......@@ -107,7 +106,7 @@ MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
MGCore::~MGCore()
Core::~Core()
{
// Delete singletons
delete LinkManager::instance();
......@@ -120,7 +119,7 @@ MGCore::~MGCore()
* The link manager keeps track of all communication links and provides the global
* packet queue. It is the main communication hub
**/
void MGCore::startLinkManager()
void Core::startLinkManager()
{
LinkManager::instance();
}
......@@ -129,7 +128,7 @@ void MGCore::startLinkManager()
* @brief Start the Unmanned Air System Manager
*
**/
void MGCore::startUASManager()
void Core::startUASManager()
{
UASManager::instance();
}
......@@ -137,10 +136,10 @@ void MGCore::startUASManager()
/**
* @brief Start and show the user interface.
**/
void MGCore::startUI()
void Core::startUI()
{
// Start UI
mainWindow = new MGMainWindow();
mainWindow = new MainWindow();
// Make UI visible
mainWindow->show();
}
......
src/Core.h
View file @ bc33da52
......@@ -30,15 +30,15 @@ This file is part of the PIXHAWK project
*/
#ifndef _MGCORE_H_
#define _MGCORE_H_
#ifndef _CORE_H_
#define _CORE_H_
#include <QApplication>
#include "MainWindow.h"
#include "UASManager.h"
#include "LinkManager.h"
#include "ViconTarsusProtocol.h"
/*#include "ViconTarsusProtocol.h" */
/**
* @brief The main application and management class.
......@@ -47,13 +47,13 @@ This file is part of the PIXHAWK project
* the central management unit of the groundstation application.
*
**/
class MGCore : public QApplication
class Core : public QApplication
{
Q_OBJECT
public:
MGCore(int &argc, char* argv[]);
~MGCore();
Core(int &argc, char* argv[]);
~Core();
protected:
void startLinkManager();
......@@ -68,9 +68,9 @@ protected:
void startUI();
private:
MGMainWindow* mainWindow;
ViconTarsusProtocol* tarsus;
MainWindow* mainWindow;
//ViconTarsusProtocol* tarsus;
};
#endif // _MGCORE_H_
#endif /* _CORE_H_ */
src/GAudioOutput.cc 0 → 100644
View file @ bc33da52
/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
PIXHAWK is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of audio output
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QApplication>
#include "GAudioOutput.h"
#include "MG.h"
#include <flite.h>
#include <Phonon>
#include <QTemporaryFile>
#include <QDebug>
extern "C" {
#include <cmu_us_awb/voxdefs.h>
//#include <cmu_us_slt/voxdefs.h>
//cst_voice *REGISTER_VOX(const char *voxdir);
//void UNREGISTER_VOX(cst_voice *vox);
cst_voice *register_cmu_us_awb(const char *voxdir);
void unregister_cmu_us_awb(cst_voice *vox);
cst_voice *register_cmu_us_slt(const char *voxdir);
void unregister_cmu_us_slt(cst_voice *vox);
cst_voice *register_cmu_us_rms(const char *voxdir);
void unregister_cmu_us_rms(cst_voice *vox);
};
/**
* This class follows the singleton design pattern
* @see http://en.wikipedia.org/wiki/Singleton_pattern
* A call to this function thus returns the only instance of this object
* the call can occur at any place in the code, no reference to the
* GAudioOutput object has to be passed.
*/
GAudioOutput* GAudioOutput::instance()
{
static GAudioOutput* _instance = 0;
if(_instance == 0) {
_instance = new GAudioOutput();
// Set the application as parent to ensure that this object