Initial Taisync link integration

QGCCommon.pri

@@ -56,9 +56,10 @@ linux {
 } else : macx {
     macx-clang | macx-llvm {
         message("Mac build")
-        CONFIG += MacBuild
-        CONFIG += x86_64
-        CONFIG -= x86
+        CONFIG  += MacBuild
+        CONFIG  += x86_64
+        CONFIG  -= x86
+        DEFINES += QGC_GST_TAISYNC_ENABLED
         equals(QT_MAJOR_VERSION, 5) | greaterThan(QT_MINOR_VERSION, 5) {
                 QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.7
         } else {
@@ -83,6 +84,7 @@ linux {
     DEFINES += QGC_NO_GOOGLE_MAPS
     DEFINES += NO_SERIAL_LINK
     DEFINES += QGC_DISABLE_UVC
+    DEFINES += QGC_GST_TAISYNC_ENABLED
     QMAKE_IOS_DEPLOYMENT_TARGET = 8.0
     QMAKE_APPLE_TARGETED_DEVICE_FAMILY = 1,2 # Universal
     QMAKE_LFLAGS += -Wl,-no_pie

build_ios.sh

@@ -5,7 +5,7 @@ if [ ! -d /Volumes/RAMDisk ] ; then
     exit 1
 fi
 #-- Set to my local installation
-QMAKE=/Users/gus/Applications/Qt/5.11.0/ios/bin/qmake
+QMAKE=/Users/gus/Applications/Qt/5.11.2/ios/bin/qmake
 #-- Using Travis variables as this will eventually live there
 SHADOW_BUILD_DIR=/Volumes/RAMDisk/build-qgroundcontrol-iOS-Release
 TRAVIS_BUILD_DIR=/Users/gus/github/work/UpstreamQGC

qgroundcontrol.pro

@@ -628,7 +628,7 @@ HEADERS += \
 
 AndroidBuild {
 HEADERS += \
-	src/Joystick/JoystickAndroid.h \
+    src/Joystick/JoystickAndroid.h \
 }
 
 DebugBuild {
@@ -714,7 +714,7 @@ iOSBuild {
 
 AndroidBuild {
     SOURCES += src/MobileScreenMgr.cc \
-	src/Joystick/JoystickAndroid.cc \
+    src/Joystick/JoystickAndroid.cc \
 }
 
 SOURCES += \
@@ -1106,6 +1106,27 @@ SOURCES += \
     src/FactSystem/ParameterManager.cc \
     src/FactSystem/SettingsFact.cc \
 
+#-------------------------------------------------------------------------------------
+# Taisync
+contains (DEFINES, QGC_GST_TAISYNC_ENABLED) {
+    INCLUDEPATH += \
+        src/Taisync
+
+    HEADERS += \
+        src/comm/TaisyncLink.h \
+        src/Taisync/TaisyncHandler.h \
+        src/Taisync/TaisyncSettings.h \
+        src/Taisync/TaisyncTelemetry.h \
+        src/Taisync/TaisyncVideoReceiver.h \
+
+    SOURCES += \
+        src/comm/TaisyncLink.cc \
+        src/Taisync/TaisyncHandler.cc \
+        src/Taisync/TaisyncSettings.cc \
+        src/Taisync/TaisyncTelemetry.cc \
+        src/Taisync/TaisyncVideoReceiver.cc \
+}
+
 #-------------------------------------------------------------------------------------
 # AirMap
 

qgroundcontrol.qrc

@@ -199,6 +199,7 @@
         <file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
         <file alias="SyslinkComponent.qml">src/AutoPilotPlugins/Common/SyslinkComponent.qml</file>
         <file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
+        <file alias="TaisyncSettings.qml">src/Taisync/TaisyncSettings.qml</file>
         <file alias="test.qml">src/test.qml</file>
         <file alias="UdpSettings.qml">src/ui/preferences/UdpSettings.qml</file>
         <file alias="ValuePageWidget.qml">src/FlightMap/Widgets/ValuePageWidget.qml</file>

src/Settings/SettingsGroup.h

@@ -54,13 +54,19 @@
 class SettingsGroup : public QObject
 {
     Q_OBJECT
-    
+
 public:
     /// @param name Name for this Settings group
     /// @param settingsGroup Group to place settings in for QSettings::setGroup
     SettingsGroup(const QString &name, const QString &settingsGroup, QObject* parent = nullptr);
 
-    Q_PROPERTY(bool visible MEMBER _visible CONSTANT)
+    Q_PROPERTY(bool visible READ visible WRITE setVisible NOTIFY visibleChanged)
+
+    virtual bool    visible             () { return _visible; }
+    virtual void    setVisible          (bool vis) { _visible = vis; emit visibleChanged(); }
+
+signals:
+    void            visibleChanged      ();
 
 protected:
     SettingsFact*   _createSettingsFact(const QString& factName);

src/Taisync/TaisyncHandler.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncHandler.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+
+QGC_LOGGING_CATEGORY(TaisyncLog, "TaisyncLog")
+
+//-----------------------------------------------------------------------------
+TaisyncHandler::TaisyncHandler(QObject* parent)
+    : QObject (parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+TaisyncHandler::~TaisyncHandler()
+{
+    close();
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::close()
+{
+    qCDebug(TaisyncLog) << "Close Taisync TCP";
+    if(_tcpSocket) {
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+        _tcpSocket = nullptr;
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::_start(uint16_t port)
+{
+    qCDebug(TaisyncLog) << "Start Taisync TCP on port" << port;
+    _tcpServer = new QTcpServer(this);
+    QObject::connect(_tcpServer, &QTcpServer::newConnection, this, &TaisyncHandler::_newConnection);
+    _tcpServer->listen(QHostAddress::AnyIPv4, port);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::_newConnection()
+{
+    qCDebug(TaisyncLog) << "New Taisync TCP Connection";
+    if(_tcpSocket) {
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+    }
+    _tcpSocket = _tcpServer->nextPendingConnection();
+    QObject::connect(_tcpSocket, &QIODevice::readyRead, this, &TaisyncHandler::_readBytes);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncHandler::_socketDisconnected()
+{
+    qCDebug(TaisyncLog) << "Taisync Telemetry Connection Closed";
+    if(_tcpSocket) {
+        _tcpSocket->close();
+        _tcpSocket->deleteLater();
+        _tcpSocket = nullptr;
+    }
+}

src/Taisync/TaisyncHandler.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "QGCLoggingCategory.h"
+
+#include <QTcpServer>
+#include <QTcpSocket>
+
+#define TAISYNC_VIDEO_UDP_PORT  5600
+#define TAISYNC_VIDEO_TCP_PORT  8000
+#define TAISYNC_SETTINGS_PORT   8200
+#define TAISYNC_TELEM_PORT      8400
+
+Q_DECLARE_LOGGING_CATEGORY(TaisyncLog)
+
+class TaisyncHandler : public QObject
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncHandler             (QObject* parent = nullptr);
+    ~TaisyncHandler                     ();
+    virtual void start                  () = 0;
+    virtual void close                  ();
+
+protected:
+    virtual void _start                 (uint16_t port);
+
+protected slots:
+    virtual void    _newConnection      ();
+    virtual void    _socketDisconnected ();
+    virtual void    _readBytes          () = 0;
+
+protected:
+    QTcpServer*     _tcpServer = nullptr;
+    QTcpSocket*     _tcpSocket = nullptr;
+};

src/Taisync/TaisyncSettings.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncSettings.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+
+QGC_LOGGING_CATEGORY(TaisyncSettingsLog, "TaisyncSettingsLog")
+
+//-----------------------------------------------------------------------------
+TaisyncSettings::TaisyncSettings(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncSettings::start()
+{
+    qCDebug(TaisyncSettingsLog) << "Start Taisync Settings";
+    _start(TAISYNC_SETTINGS_PORT);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncSettings::_readBytes()
+{
+    QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+    qCDebug(TaisyncSettingsLog) << "Taisync settings data:" << bytesIn.size();
+}
+

src/Taisync/TaisyncSettings.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+
+Q_DECLARE_LOGGING_CATEGORY(TaisyncSettingsLog)
+
+class TaisyncSettings : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncSettings            (QObject* parent = nullptr);
+    void    start                       () override;
+
+protected slots:
+    void    _readBytes                  () override;
+
+};

src/Taisync/TaisyncSettings.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Dialogs  1.2
+
+import QGroundControl                       1.0
+import QGroundControl.Controls              1.0
+import QGroundControl.ScreenTools           1.0
+import QGroundControl.Palette               1.0
+
+Column {
+    id:                 _taisyncSettings
+    spacing:            ScreenTools.defaultFontPixelHeight * 0.5
+    anchors.margins:    ScreenTools.defaultFontPixelWidth
+    function saveSettings() {
+        if(subEditConfig) {
+            subEditConfig.videoEnabled = videoEnableCheck.checked
+        }
+    }
+    QGCCheckBox {
+        id:             videoEnableCheck
+        text:           qsTr("Enable Taisync video link")
+        Component.onCompleted: {
+            checked = subEditConfig && subEditConfig.linkType === LinkConfiguration.TypeTaisync ? subEditConfig.videoEnabled : false
+        }
+    }
+}

src/Taisync/TaisyncTelemetry.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncTelemetry.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+
+QGC_LOGGING_CATEGORY(TaisyncTelemetryLog, "TaisyncTelemetryLog")
+
+//-----------------------------------------------------------------------------
+TaisyncTelemetry::TaisyncTelemetry(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::close()
+{
+    TaisyncHandler::close();
+    qCDebug(TaisyncTelemetryLog) << "Close Taisync Telemetry";
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::start()
+{
+    qCDebug(TaisyncTelemetryLog) << "Start Taisync Telemetry";
+    _start(TAISYNC_TELEM_PORT);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::writeBytes(QByteArray bytes)
+{
+    if(_tcpSocket) {
+        _tcpSocket->write(bytes);
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::_newConnection()
+{
+    TaisyncHandler::_newConnection();
+    qCDebug(TaisyncTelemetryLog) << "New Taisync Temeletry Connection";
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncTelemetry::_readBytes()
+{
+    while(_tcpSocket->bytesAvailable()) {
+        QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+        emit bytesReady(bytesIn);
+    }
+}

src/Taisync/TaisyncTelemetry.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+#include <QUdpSocket>
+#include <QTimer>
+
+Q_DECLARE_LOGGING_CATEGORY(TaisyncTelemetryLog)
+
+class TaisyncTelemetry : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncTelemetry           (QObject* parent = nullptr);
+    void    close                       () override;
+    void    start                       () override;
+    void    writeBytes                  (QByteArray bytes);
+
+signals:
+    void    bytesReady                   (QByteArray bytes);
+
+private slots:
+    void    _newConnection              () override;
+    void    _readBytes                  () override;
+
+};

src/Taisync/TaisyncVideoReceiver.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "TaisyncVideoReceiver.h"
+#include "SettingsManager.h"
+#include "QGCApplication.h"
+#include "VideoManager.h"
+
+
+QGC_LOGGING_CATEGORY(TaisyncVideoReceiverLog, "TaisyncVideoReceiverLog")
+
+//-----------------------------------------------------------------------------
+TaisyncVideoReceiver::TaisyncVideoReceiver(QObject* parent)
+    : TaisyncHandler(parent)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncVideoReceiver::close()
+{
+    TaisyncHandler::close();
+    qCDebug(TaisyncVideoReceiverLog) << "Close Taisync Video Receiver";
+    if(_udpVideoSocket) {
+        _udpVideoSocket->close();
+        _udpVideoSocket->deleteLater();
+        _udpVideoSocket = nullptr;
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncVideoReceiver::start()
+{
+    qCDebug(TaisyncVideoReceiverLog) << "Start Taisync Video Receiver";
+    _udpVideoSocket = new QUdpSocket(this);
+    _start(TAISYNC_VIDEO_TCP_PORT);
+}
+
+//-----------------------------------------------------------------------------
+void
+TaisyncVideoReceiver::_readBytes()
+{
+    QByteArray bytesIn = _tcpSocket->read(_tcpSocket->bytesAvailable());
+    _udpVideoSocket->writeDatagram(bytesIn, QHostAddress::LocalHost, TAISYNC_VIDEO_UDP_PORT);
+}

src/Taisync/TaisyncVideoReceiver.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "TaisyncHandler.h"
+#include <QUdpSocket>
+
+Q_DECLARE_LOGGING_CATEGORY(TaisyncVideoReceiverLog)
+
+class TaisyncVideoReceiver : public TaisyncHandler
+{
+    Q_OBJECT
+public:
+
+    explicit TaisyncVideoReceiver       (QObject* parent = nullptr);
+    void start                          () override;
+    void close                          () override;
+
+private slots:
+    void    _readBytes                  () override;
+
+private:
+    QUdpSocket*     _udpVideoSocket     = nullptr;
+};

src/comm/LinkConfiguration.cc

@@ -29,11 +29,14 @@
 #ifdef QT_DEBUG
 #include "MockLink.h"
 #endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+#include "TaisyncLink.h"
+#endif
 
 #define LINK_SETTING_ROOT "LinkConfigurations"
 
 LinkConfiguration::LinkConfiguration(const QString& name)
-    : _link(NULL)
+    : _link(nullptr)
     , _name(name)
     , _dynamic(false)
     , _autoConnect(false)
@@ -80,7 +83,7 @@ const QString LinkConfiguration::settingsRoot()
 */
 LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& name)
 {
-    LinkConfiguration* config = NULL;
+    LinkConfiguration* config = nullptr;
     switch(type) {
 #ifndef NO_SERIAL_LINK
         case LinkConfiguration::TypeSerial:
@@ -107,6 +110,11 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
         case LinkConfiguration::TypeMock:
             config = new MockConfiguration(name);
             break;
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+        case LinkConfiguration::TypeTaisync:
+            config = new TaisyncConfiguration(name);
+            break;
 #endif
     }
     return config;
@@ -118,7 +126,7 @@ LinkConfiguration* LinkConfiguration::createSettings(int type, const QString& na
 */
 LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* source)
 {
-    LinkConfiguration* dupe = NULL;
+    LinkConfiguration* dupe = nullptr;
     switch(source->type()) {
 #ifndef NO_SERIAL_LINK
         case TypeSerial:
@@ -145,9 +153,13 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
         case TypeMock:
             dupe = new MockConfiguration(dynamic_cast<MockConfiguration*>(source));
             break;
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+        case TypeTaisync:
+            dupe = new TaisyncConfiguration(dynamic_cast<TaisyncConfiguration*>(source));
+            break;
 #endif
         case TypeLast:
-        default:
             break;
     }
     return dupe;

src/comm/LinkConfiguration.h

@@ -51,6 +51,9 @@ public:
 #endif
         TypeUdp,        ///< UDP Link
         TypeTcp,        ///< TCP Link
+#if defined(QGC_GST_TAISYNC_ENABLED)
+        TypeTaisync,
+#endif
 #ifdef QGC_ENABLE_BLUETOOTH
         TypeBluetooth,  ///< Bluetooth Link
 #endif

src/comm/LinkManager.cc

@@ -24,6 +24,9 @@
 #ifdef QGC_ENABLE_BLUETOOTH
 #include "BluetoothLink.h"
 #endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+#include "TaisyncLink.h"
+#endif
 
 #ifndef __mobile__
 #include "GPSManager.h"
@@ -49,11 +52,11 @@ LinkManager::LinkManager(QGCApplication* app, QGCToolbox* toolbox)
     , _configurationsLoaded(false)
     , _connectionsSuspended(false)
     , _mavlinkChannelsUsedBitMask(1)    // We never use channel 0 to avoid sequence numbering problems
-    , _autoConnectSettings(NULL)
-    , _mavlinkProtocol(NULL)
+    , _autoConnectSettings(nullptr)
+    , _mavlinkProtocol(nullptr)
 #ifndef __mobile__
 #ifndef NO_SERIAL_LINK
-    , _nmeaPort(NULL)
+    , _nmeaPort(nullptr)
 #endif
 #endif
 {
@@ -104,11 +107,11 @@ void LinkManager::createConnectedLink(LinkConfiguration* config)
 LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer& config, bool isPX4Flow)
 {
     if (!config) {
-        qWarning() << "LinkManager::createConnectedLink called with NULL config";
-        return NULL;
+        qWarning() << "LinkManager::createConnectedLink called with nullptr config";
+        return nullptr;
     }
 
-    LinkInterface* pLink = NULL;
+    LinkInterface* pLink = nullptr;
     switch(config->type()) {
 #ifndef NO_SERIAL_LINK
     case LinkConfiguration::TypeSerial:
@@ -117,7 +120,7 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
         if (serialConfig) {
             pLink = new SerialLink(config, isPX4Flow);
             if (serialConfig->usbDirect()) {
-                _activeLinkCheckList.append((SerialLink*)pLink);
+                _activeLinkCheckList.append(dynamic_cast<SerialLink*>(pLink));
                 if (!_activeLinkCheckTimer.isActive()) {
                     _activeLinkCheckTimer.start();
                 }
@@ -148,17 +151,19 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
     case LinkConfiguration::TypeMock:
         pLink = new MockLink(config);
         break;
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+    case LinkConfiguration::TypeTaisync:
+        pLink = new TaisyncLink(config);
+        break;
 #endif
     case LinkConfiguration::TypeLast:
-    default:
         break;
     }
-
     if (pLink) {
         _addLink(pLink);
         connectLink(pLink);
     }
-
     return pLink;
 }
 
@@ -174,7 +179,7 @@ LinkInterface* LinkManager::createConnectedLink(const QString& name)
             }
         }
     }
-    return NULL;
+    return nullptr;
 }
 
 void LinkManager::_addLink(LinkInterface* link)
@@ -289,8 +294,8 @@ SharedLinkInterfacePointer LinkManager::sharedLinkInterfacePointerForLink(LinkIn
         }
     }
 
-    qWarning() << "LinkManager::sharedLinkInterfaceForLink returning NULL";
-    return SharedLinkInterfacePointer(NULL);
+    qWarning() << "LinkManager::sharedLinkInterfaceForLink returning nullptr";
+    return SharedLinkInterfacePointer(nullptr);
 }
 
 /// @brief If all new connections should be suspended a message is displayed to the user and true
@@ -371,42 +376,46 @@ void LinkManager::loadLinkConfigurationList()
             QString root(LinkConfiguration::settingsRoot());
             root += QString("/Link%1").arg(i);
             if(settings.contains(root + "/type")) {
-                int type = settings.value(root + "/type").toInt();
-                if((LinkConfiguration::LinkType)type < LinkConfiguration::TypeLast) {
+                LinkConfiguration::LinkType type = static_cast<LinkConfiguration::LinkType>(settings.value(root + "/type").toInt());
+                if(type < LinkConfiguration::TypeLast) {
                     if(settings.contains(root + "/name")) {
                         QString name = settings.value(root + "/name").toString();
                         if(!name.isEmpty()) {
-                            LinkConfiguration* pLink = NULL;
+                            LinkConfiguration* pLink = nullptr;
                             bool autoConnect = settings.value(root + "/auto").toBool();
                             bool highLatency = settings.value(root + "/high_latency").toBool();
-                            switch((LinkConfiguration::LinkType)type) {
+                            switch(type) {
 #ifndef NO_SERIAL_LINK
                             case LinkConfiguration::TypeSerial:
-                                pLink = (LinkConfiguration*)new SerialConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new SerialConfiguration(name));
                                 break;
 #endif
                             case LinkConfiguration::TypeUdp:
-                                pLink = (LinkConfiguration*)new UDPConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new UDPConfiguration(name));
                                 break;
                             case LinkConfiguration::TypeTcp:
-                                pLink = (LinkConfiguration*)new TCPConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new TCPConfiguration(name));
                                 break;
 #ifdef QGC_ENABLE_BLUETOOTH
                             case LinkConfiguration::TypeBluetooth:
-                                pLink = (LinkConfiguration*)new BluetoothConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new BluetoothConfiguration(name));
                                 break;
 #endif
 #ifndef __mobile__
                             case LinkConfiguration::TypeLogReplay:
-                                pLink = (LinkConfiguration*)new LogReplayLinkConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new LogReplayLinkConfiguration(name));
                                 break;
 #endif
 #ifdef QT_DEBUG
                             case LinkConfiguration::TypeMock:
-                                pLink = (LinkConfiguration*)new MockConfiguration(name);
+                                pLink = dynamic_cast<LinkConfiguration*>(new MockConfiguration(name));
+                                break;
+#endif
+#if defined(QGC_GST_TAISYNC_ENABLED)
+                            case LinkConfiguration::TypeTaisync:
+                                pLink = dynamic_cast<LinkConfiguration*>(new TaisyncConfiguration(name));
                                 break;
 #endif
-                            default:
                             case LinkConfiguration::TypeLast: