Merge pull request #1082 from mavlink/audio_thread

Put audio output into a worker thread.

qgroundcontrol.pro

@@ -114,6 +114,10 @@ QT += network \
     quick \
     quickwidgets
 
+contains(DEFINES, QGC_NOTIFY_TUNES_ENABLED) {
+    QT += multimedia
+}
+
 !contains(DEFINES, DISABLE_GOOGLE_EARTH) {
     QT += webkit webkitwidgets
 }
@@ -244,6 +248,7 @@ INCLUDEPATH += \
     src/ui/map \
     src/uas \
     src/comm \
+    src/audio \
     include/ui \
     src/input \
     src/lib/qmapcontrol \
@@ -480,6 +485,7 @@ HEADERS += \
     src/QGCMessageBox.h \
     src/QGCComboBox.h \
     src/QGCTemporaryFile.h \
+    src/audio/QGCAudioWorker.h \
     src/QGCQuickWidget.h
 
 SOURCES += \
@@ -619,6 +625,7 @@ SOURCES += \
     src/QGCFileDialog.cc \
     src/QGCComboBox.cc \
     src/QGCTemporaryFile.cc \
+    src/audio/QGCAudioWorker.cpp \
     src/QGCQuickWidget.cc
 
 #

src/GAudioOutput.cc

@@ -33,28 +33,8 @@ This file is part of the QGROUNDCONTROL project
 #include <QApplication>
 #include <QSettings>
 #include "GAudioOutput.h"
-#include "MG.h"
-
 #include <QDebug>
-
-#if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
-#include <ApplicationServices/ApplicationServices.h>
-#endif
-
-// Speech synthesis is only supported with MSVC compiler
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
-#include <sapi.h>
-#endif
-
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-// Using eSpeak for speech synthesis: following https://github.com/mondhs/espeak-sample/blob/master/sampleSpeak.cpp
-#include <espeak/speak_lib.h>
-#endif
-
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-ISpVoice *GAudioOutput::pVoice = NULL;
-#endif
+#include <QGC.h>
 
 /**
  * This class follows the singleton design pattern
@@ -78,134 +58,44 @@ GAudioOutput *GAudioOutput::instance()
     return _instance;
 }
 
-#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
-
 GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
-    voiceIndex(0),
-    emergency(false),
-    muted(false)
+    muted(false),
+    thread(new QThread()),
+    worker(new QGCAudioWorker())
 {
-    // Load settings
-    QSettings settings;
-    muted = settings.value(QGC_GAUDIOOUTPUT_KEY + "muted", muted).toBool();
-
-
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-    espeak_Initialize(AUDIO_OUTPUT_PLAYBACK, 500, NULL, 0); // initialize for playback with 500ms buffer and no options (see speak_lib.h)
-    espeak_VOICE *espeak_voice = espeak_GetCurrentVoice();
-    espeak_voice->languages = "en-uk"; // Default to British English
-    espeak_voice->identifier = NULL; // no specific voice file specified
-    espeak_voice->name = "klatt"; // espeak voice name
-    espeak_voice->gender = 2; // Female
-    espeak_voice->age = 0; // age not specified
-    espeak_SetVoiceByProperties(espeak_voice);
-#endif
-
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-    pVoice = NULL;
-
-    if (FAILED(::CoInitialize(NULL)))
-    {
-        qDebug() << "ERROR: Creating COM object for audio output failed!";
-    }
-
-    else
-    {
-
-        HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice);
-
-        if (FAILED(hr))
-        {
-            qDebug() << "ERROR: Initializing voice for audio output failed!";
-        }
-    }
-
-#endif
-
-    // Prepare regular emergency signal, will be fired off on calling startEmergency()
-    emergencyTimer = new QTimer();
-    connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
-
-    switch (voiceIndex)
-    {
-    case 0:
-        selectFemaleVoice();
-        break;
-
-    default:
-        selectMaleVoice();
-        break;
-    }
+    worker->moveToThread(thread);
+    connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int)));
+    connect(this, SIGNAL(beepOnce()), worker, SLOT(beep()));
+    thread->start();
 }
 
 GAudioOutput::~GAudioOutput()
 {
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-    pVoice->Release();
-    pVoice = NULL;
-    ::CoUninitialize();
-#endif
+    thread->quit();
+    while (thread->isRunning()) {
+        QGC::SLEEP::usleep(100);
+    }
+    delete worker;
+    delete thread;
 }
 
 
 void GAudioOutput::mute(bool mute)
 {
-    if (mute != muted)
-    {
-        this->muted = mute;
-        QSettings settings;
-        settings.setValue(QGC_GAUDIOOUTPUT_KEY + "muted", this->muted);
-        emit mutedChanged(muted);
-    }
+    // XXX handle muting
+    Q_UNUSED(mute);
 }
 
 bool GAudioOutput::isMuted()
 {
-    return this->muted;
+    // XXX return right stuff
+    return false;
 }
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    if (!muted)
-    {
-        // TODO Add severity filter
-        Q_UNUSED(severity);
-        bool res = false;
-
-        if (!emergency)
-        {
-
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-            pVoice->Speak(text.toStdWString().c_str(), SPF_ASYNC, NULL);
-
-#elif defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-            // Set size of string for espeak: +1 for the null-character
-            unsigned int espeak_size = strlen(text.toStdString().c_str()) + 1;
-            espeak_Synth(text.toStdString().c_str(), espeak_size, 0, POS_CHARACTER, 0, espeakCHARS_AUTO, NULL, NULL);
-
-#elif defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
-            // Slashes necessary to have the right start to the sentence
-            // copying data prevents SpeakString from reading additional chars
-            text = "\\" + text;
-            std::wstring str = text.toStdWString();
-            unsigned char str2[1024] = {};
-            memcpy(str2, text.toLatin1().data(), str.length());
-            SpeakString(str2);
-            res = true;
-
-#else
-            // Make sure there isn't an unused variable warning when speech output is disabled
-            Q_UNUSED(text);
-#endif
-        }
-
-        return res;
-    }
-
-    else
-    {
-        return false;
-    }
+    emit textToSpeak(text, severity);
+    return true;
 }
 
 /**
@@ -213,19 +103,8 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency || !muted)
-    {
-        // Play alert sound
-        beep();
-        // Say alert message
-        say(text, 2);
-        return true;
-    }
-
-    else
-    {
-        return false;
-    }
+    emit textToSpeak(text, 1);
+    return true;
 }
 
 void GAudioOutput::notifyPositive()
@@ -261,16 +140,15 @@ void GAudioOutput::notifyNegative()
  */
 bool GAudioOutput::startEmergency()
 {
-    if (!emergency)
-    {
-        emergency = true;
+//    if (!emergency)
+//    {
+//        emergency = true;
 
-        // Beep immediately and then start timer
-        if (!muted) beep();
+//        // Beep immediately and then start timer
 
-        emergencyTimer->start(1500);
-        QTimer::singleShot(5000, this, SLOT(stopEmergency()));
-    }
+//        emergencyTimer->start(1500);
+//        QTimer::singleShot(5000, this, SLOT(stopEmergency()));
+//    }
 
     return true;
 }
@@ -283,47 +161,16 @@ bool GAudioOutput::startEmergency()
  */
 bool GAudioOutput::stopEmergency()
 {
-    if (emergency)
-    {
-        emergency = false;
-        emergencyTimer->stop();
-    }
+//    if (emergency)
+//    {
+//        emergency = false;
+//        emergencyTimer->stop();
+//    }
 
     return true;
 }
 
 void GAudioOutput::beep()
 {
-    if (!muted)
-    {
-        // FIXME: Re-enable audio beeps
-        // Use QFile to transform path for all OS
-        //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();
-    }
-}
-
-void GAudioOutput::selectFemaleVoice()
-{
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-    // FIXME: Enable selecting a female voice on all platforms
-    //this->voice = register_cmu_us_slt(NULL);
-#endif
-}
-
-void GAudioOutput::selectMaleVoice()
-{
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-    // FIXME: Enable selecting a male voice on all platforms
-    //this->voice = register_cmu_us_rms(NULL);
-#endif
-}
-
-QStringList GAudioOutput::listVoices(void)
-{
-    // No voice selection is currently supported, so just return an empty list
-    QStringList l;
-    return l;
+    emit beepOnce();
 }

src/GAudioOutput.h

@@ -34,31 +34,10 @@ This file is part of the PIXHAWK project
 
 #include <QObject>
 #include <QTimer>
+#include <QThread>
 #include <QStringList>
-#ifdef Q_OS_MAC
-//#include <MediaObject>
-//#include <AudioOutput>
-#endif
-#ifdef Q_OS_LINUX
-//#include <phonon/MediaObject>
-//#include <phonon/AudioOutput>
-#endif
-#ifdef Q_OS_WIN
-//#include <Phonon/MediaObject>
-//#include <Phonon/AudioOutput>
-#endif
-
-/* For Snow leopard and later
-#if defined Q_OS_MAC & defined QGC_SPEECH_ENABLED
-#include <NSSpeechSynthesizer.h>
-#endif
-   */
-
-
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
-#include <sapi.h>
-#endif
+
+#include <QGCAudioWorker.h>
 
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
@@ -79,22 +58,34 @@ public:
         VOICE_FEMALE
     } QGVoice;
 
+    enum AUDIO_SEVERITY
+    {
+        AUDIO_SEVERITY_EMERGENCY = 0,
+        AUDIO_SEVERITY_ALERT = 1,
+        AUDIO_SEVERITY_CRITICAL = 2,
+        AUDIO_SEVERITY_ERROR = 3,
+        AUDIO_SEVERITY_WARNING = 4,
+        AUDIO_SEVERITY_NOTICE = 5,
+        AUDIO_SEVERITY_INFO = 6,
+        AUDIO_SEVERITY_DEBUG = 7
+    };
+
     /** @brief Get the mute state */
     bool isMuted();
 
 public slots:
     /** @brief Say this text if current output priority matches */
-    bool say(QString text, int severity = 1);
+    bool say(QString text, int severity = 6);
     /** @brief Play alert sound and say notification message */
     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 female voice */
+//    void selectFemaleVoice();
+//    /** @brief Select male voice */
+//    void selectMaleVoice();
     /** @brief Play emergency sound once */
     void beep();
     /** @brief Notify about positive event */
@@ -106,23 +97,13 @@ public slots:
 
 signals:
     void mutedChanged(bool);
+    bool textToSpeak(QString text, int severity = 1);
+    void beepOnce();
 
 protected:
-#if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
-    //NSSpeechSynthesizer
-#endif
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
-    //cst_voice* voice; ///< The flite voice object
-#endif
-#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-    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;
-    bool emergency;   ///< Emergency status flag
-    QTimer *emergencyTimer;
     bool muted;
+    QThread* thread;
+    QGCAudioWorker* worker;
 private:
     GAudioOutput(QObject *parent = NULL);
     ~GAudioOutput();

src/audio/QGCAudioWorker.cpp

+#include <QSettings>
+#include <QDebug>
+#include <QCoreApplication>
+#include <QFile>
+
+#include "QGC.h"
+#include "QGCAudioWorker.h"
+#include "GAudioOutput.h"
+
+#if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
+#include <ApplicationServices/ApplicationServices.h>
+#endif
+
+// Speech synthesis is only supported with MSVC compiler
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
+#include <sapi.h>
+#endif
+
+#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
+// Using eSpeak for speech synthesis: following https://github.com/mondhs/espeak-sample/blob/master/sampleSpeak.cpp
+#include <espeak/speak_lib.h>
+#endif
+
+#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
+
+QGCAudioWorker::QGCAudioWorker(QObject *parent) :
+    QObject(parent),
+    voiceIndex(0),
+    #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+    pVoice(NULL),
+    #endif
+    #ifdef QGC_NOTIFY_TUNES_ENABLED
+    sound(NULL),
+    #endif
+    emergency(false),
+    muted(false)
+{
+    // Load settings
+    QSettings settings;
+    muted = settings.value(QGC_GAUDIOOUTPUT_KEY + "muted", muted).toBool();
+}
+
+void QGCAudioWorker::init()
+{
+#ifdef QGC_NOTIFY_TUNES_ENABLED
+    sound = new QSound(":/files/audio/alert.wav");
+#endif
+
+#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
+    espeak_Initialize(AUDIO_OUTPUT_SYNCH_PLAYBACK, 500, NULL, 0); // initialize for playback with 500ms buffer and no options (see speak_lib.h)
+    espeak_VOICE *espeak_voice = espeak_GetCurrentVoice();
+    espeak_voice->languages = "en-uk"; // Default to British English
+    espeak_voice->identifier = NULL; // no specific voice file specified
+    espeak_voice->name = "klatt"; // espeak voice name
+    espeak_voice->gender = 2; // Female
+    espeak_voice->age = 0; // age not specified
+    espeak_SetVoiceByProperties(espeak_voice);
+#endif
+
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+
+    if (FAILED(::CoInitialize(NULL)))
+    {
+        qDebug() << "ERROR: Creating COM object for audio output failed!";
+    }
+    else
+    {
+
+        HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice);
+
+        if (FAILED(hr))
+        {
+            qDebug() << "ERROR: Initializing voice for audio output failed!";
+        }
+    }
+
+#endif
+
+    // Prepare regular emergency signal, will be fired off on calling startEmergency()
+    emergencyTimer = new QTimer();
+    connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
+
+}
+
+QGCAudioWorker::~QGCAudioWorker()
+{
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+    pVoice->Release();
+    pVoice = NULL;
+    ::CoUninitialize();
+#endif
+    delete emergencyTimer;
+}
+
+void QGCAudioWorker::say(QString text, int severity)
+{
+	static bool threadInit = false;
+	if (!threadInit) {
+		threadInit = true;
+		init();
+	}
+
+    if (!muted)
+    {
+        // Prepend high priority text with alert beep
+        if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) {
+            beep();
+        }
+
+#ifdef QGC_NOTIFY_TUNES_ENABLED
+        // Wait for the last sound to finish
+        while (!sound->isFinished()) {
+            QGC::SLEEP::msleep(100);
+        }
+#endif
+
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+        HRESULT hr = pVoice->Speak(text.toStdWString().c_str(), SPF_DEFAULT, NULL);
+		if (FAILED(hr)) {
+			qDebug() << "Speak failed, HR:" << QString("%1").arg(hr, 0, 16);
+		}
+#elif defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
+        // Set size of string for espeak: +1 for the null-character
+        unsigned int espeak_size = strlen(text.toStdString().c_str()) + 1;
+        espeak_Synth(text.toStdString().c_str(), espeak_size, 0, POS_CHARACTER, 0, espeakCHARS_AUTO, NULL, NULL);
+
+#elif defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
+        // Slashes necessary to have the right start to the sentence
+        // copying data prevents SpeakString from reading additional chars
+        text = "\\" + text;
+        std::wstring str = text.toStdWString();
+        unsigned char str2[1024] = {};
+        memcpy(str2, text.toLatin1().data(), str.length());
+        SpeakString(str2);
+
+        // Block the thread while busy
+        // because we run in our own thread, this doesn't
+        // halt the main application
+        while (SpeechBusy()) {
+            QGC::SLEEP::msleep(100);
+        }
+
+#else
+        // Make sure there isn't an unused variable warning when speech output is disabled
+        Q_UNUSED(text);
+#endif
+    }
+}
+
+void QGCAudioWorker::mute(bool mute)
+{
+    if (mute != muted)
+    {
+        this->muted = mute;
+        QSettings settings;
+        settings.setValue(QGC_GAUDIOOUTPUT_KEY + "muted", this->muted);
+//        emit mutedChanged(muted);
+    }
+}
+
+void QGCAudioWorker::beep()
+{
+
+    if (!muted)
+    {
+#ifdef QGC_NOTIFY_TUNES_ENABLED
+        sound->play(":/files/audio/alert.wav");
+#endif
+    }
+}
+
+bool QGCAudioWorker::isMuted()
+{
+    return this->muted;
+}

src/audio/QGCAudioWorker.h

+#ifndef QGCAUDIOWORKER_H
+#define QGCAUDIOWORKER_H
+
+#include <QObject>
+#include <QTimer>
+#ifdef QGC_NOTIFY_TUNES_ENABLED
+#include <QSound>
+#endif
+
+/* For Snow leopard and later
+#if defined Q_OS_MAC & defined QGC_SPEECH_ENABLED
+#include <NSSpeechSynthesizer.h>
+#endif
+   */
+
+
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
+#include <sapi.h>
+#endif
+
+class QGCAudioWorker : public QObject
+{
+    Q_OBJECT
+public:
+    explicit QGCAudioWorker(QObject *parent = 0);
+    ~QGCAudioWorker();
+
+    void mute(bool mute);
+    bool isMuted();
+    void init();
+
+signals:
+
+public slots:
+    /** @brief Say this text if current output priority matches */
+    void say(QString text, int severity = 1);
+
+    /** @brief Sound a single beep */
+    void beep();
+
+protected:
+    int voiceIndex;   ///< The index of the flite voice to use (awb, slt, rms)
+#if defined _MSC_VER && defined QGC_SPEECH_ENABLED
+    ISpVoice *pVoice;
+#endif
+#ifdef QGC_NOTIFY_TUNES_ENABLED
+    QSound *sound;
+#endif
+    bool emergency;   ///< Emergency status flag
+    QTimer *emergencyTimer;
+    bool muted;
+};
+
+#endif // QGCAUDIOWORKER_H

src/uas/UAS.cc

@@ -333,7 +333,7 @@ void UAS::updateState()
         connectionLost = true;
         receivedMode = false;
         QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower());
+        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_ALERT);
     }
 
     // Update connection loss time on each iteration
@@ -347,7 +347,7 @@ void UAS::updateState()
     if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
     {
         QString audiostring = QString("Link regained to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower());
+        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_NOTICE);
         connectionLost = false;
         connectionLossTime = 0;
         emit heartbeatTimeout(false, 0);
@@ -574,7 +574,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
             {
-                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()));
+                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                 QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
             }
             else if (modechanged || statechanged)