Merge branch 'master' of pixhawk.ethz.ch:groundcontrol

.gitignore

@@ -15,5 +15,6 @@ qrc_*.cpp
 tmp
 debug
 release
-qgroundcontrol.xcodeproj/**
-qgroundcontrol
+qgroundcontrol
*.wav
+qgroundcontrol.xcodeproj/**
+

qgroundcontrol.pri

@@ -40,11 +40,6 @@ OBJECTS_DIR = $$BUILDDIR/obj
 MOC_DIR = $$BUILDDIR/moc
 UI_HEADERS_DIR = src/ui/generated
 
-
-# Add external libraries
-INCLUDEPATH += $$BASEDIR/lib/flite/include \
-               $$BASEDIR/lib/flite/lang
-
 #$$BASEDIR/lib/qextserialport/include
 #               $$BASEDIR/lib/openjaus/libjaus/include \
 #               $$BASEDIR/lib/openjaus/libopenJaus/include
@@ -99,7 +94,10 @@ linux-g++ {
     release {
         DESTDIR = $$BASEDIR
     }
-    INCLUDEPATH += /usr/include
+    INCLUDEPATH += /usr/include \
+               $$BASEDIR/lib/flite/include \
+               $$BASEDIR/lib/flite/lang
+
 
     HARDWARE_PLATFORM = $$system(uname -a)
     contains( HARDWARE_PLATFORM, x86_64 ) {
@@ -114,7 +112,6 @@ linux-g++ {
         message(Building for GNU/Linux 32bit/i386)
     }
     LIBS += -lm \
-        -lflite_cmu_us_awb \
         -lflite_cmu_us_rms \
         -lflite_cmu_us_slt \
         -lflite_usenglish \

qgroundcontrol.pro

@@ -1,5 +1,5 @@
 # Include general settings for MAVGround
-include(mavground.pri)
+include(qgroundcontrol.pri)
 
 # Include serial port library
 include(src/lib/qextserialport/qextserialport.pri)

src/GAudioOutput.cc

@@ -49,13 +49,13 @@ using System.Speech.Synthesis;
 
 #ifdef Q_OS_LINUX
 extern "C" {
-    #include <flite.h>
-    #include <cmu_us_awb/voxdefs.h>
+#include <flite.h>
+#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_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);
@@ -92,9 +92,12 @@ emergency(false)
 #ifdef Q_OS_LINUX
     flite_init();
 #endif
+    // Initialize audio output
     m_media = new Phonon::MediaObject(this);
     Phonon::AudioOutput *audioOutput = new Phonon::AudioOutput(Phonon::MusicCategory, this);
     createPath(m_media, audioOutput);
+
+    // Prepare regular emergency signal, will be fired off on calling startEmergency()
     emergencyTimer = new QTimer();
     connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
 
@@ -103,11 +106,8 @@ emergency(false)
     case 0:
         selectFemaleVoice();
         break;
-    case 1:
-        selectMaleVoice();
-        break;
     default:
-        selectNeutralVoice();
+        selectMaleVoice();
         break;
     }
 }
@@ -133,7 +133,6 @@ bool GAudioOutput::say(QString text, int severity)
             // 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()));
-            qDebug() << "TYPE:" << m_media->currentSource().type();
             m_media->play();
             qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
             res = true;
@@ -150,10 +149,6 @@ bool GAudioOutput::say(QString text, int severity)
         SpeakString(str2);
         qDebug() << "Synthesized: " << text.toAscii();
 #endif
-
-#ifdef Q_OS_WIN32
-        qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
-#endif
     }
     return res;
 }
@@ -228,52 +223,46 @@ void GAudioOutput::beep()
 void GAudioOutput::selectFemaleVoice()
 {
 #ifdef Q_OS_LINUX
-    //this->voice = register_cmu_us_slt(NULL);
+    this->voice = register_cmu_us_slt(NULL);
 #endif
 }
 
 void GAudioOutput::selectMaleVoice()
 {
 #ifdef Q_OS_LINUX
-    //this->voice = register_cmu_us_rms(NULL);
+    this->voice = register_cmu_us_rms(NULL);
 #endif
 }
 
-
+/*
 void GAudioOutput::selectNeutralVoice()
 {
 #ifdef Q_OS_LINUX
-    //this->voice = register_cmu_us_awb(NULL);
+    this->voice = register_cmu_us_awb(NULL);
 #endif
-}
+}*/
 
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
-    QStringList GAudioOutput::listVoices(void)
-    {
-        QStringList l;
+QStringList GAudioOutput::listVoices(void)
+{
+    QStringList l;
 #ifdef Q_OS_LINUX
-        cst_voice *voice;
-        const cst_val *v;
+    cst_voice *voice;
+    const cst_val *v;
 
 
-        /*
-        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;
 
+    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);
     }
-#ifdef __cplusplus
+    printf("\n");
+
+#endif
+    return l;
+
 }
-#endif /* __cplusplus */

src/GAudioOutput.h

@@ -65,6 +65,10 @@ public:
     static GAudioOutput* instance();
     /** @brief List available voices */
     QStringList listVoices(void);
+    enum {
+        VOICE_MALE = 0,
+        VOICE_FEMALE
+    } QGVoice;
 
 public slots:
     /** @brief Say this text if current output priority matches */
@@ -79,8 +83,6 @@ public slots:
     void selectFemaleVoice();
     /** @brief Select male voice */
     void selectMaleVoice();
-    /** @brief Select neutral voice */
-    void selectNeutralVoice();
     /** @brief Play emergency sound */
     void beep();
 

src/ui/HUD.cc

@@ -449,13 +449,12 @@ void HUD::paintText(QString text, QColor color, float fontSize, float refX, floa
 
 void HUD::initializeGL()
 {
-    glEnable(GL_MULTISAMPLE);
-
     bool antialiasing = true;
 
     // Antialiasing setup
     if(antialiasing)
     {
+        glEnable(GL_MULTISAMPLE);
         glEnable(GL_BLEND);
 
         glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
@@ -468,9 +467,9 @@ void HUD::initializeGL()
     }
     else
     {
-        glDisable(GL_BLEND);
-        glDisable(GL_POINT_SMOOTH);
-        glDisable(GL_LINE_SMOOTH);
+        //glDisable(GL_BLEND);
+        //glDisable(GL_POINT_SMOOTH);
+        //glDisable(GL_LINE_SMOOTH);
     }
 }
 
@@ -513,6 +512,7 @@ void HUD::paintRollPitchStrips()
 
 void HUD::paintGL()
 {
+
     // Read out most important values to limit hash table lookups
     float roll = roll * 0.5 + 0.5 * values.value("roll", 0.0f);
     float pitch = pitch * 0.5 + 0.5 * values.value("pitch", 0.0f);
@@ -527,7 +527,7 @@ void HUD::paintGL()
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 
-    makeCurrent();
+    //makeCurrent();
     glClear(GL_COLOR_BUFFER_BIT);
     //if(!noCamera) glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits());
     glDrawPixels(glImage.width(), glImage.height(), GL_RGBA, GL_UNSIGNED_BYTE, glImage.bits()); // FIXME Remove after testing
@@ -536,22 +536,7 @@ void HUD::paintGL()
     // Blue / Brown background
     if (noCamera) paintCenterBackground(roll, pitch, yaw);
 
-    glFlush();
-
-    // Draw instruments
-    // TESTING THIS SHOULD BE MOVED INTO A QGRAPHICSVIEW
-    /*
-    QPainter painter(this);
-    painter.setRenderHint(QPainter::HighQualityAntialiasing);
-    const float gaugeWidth = 15.0f;
-    const QColor gaugeColor = QColor(200, 200, 200);
-    drawSystemIndicator(vwidth+10.0f-gaugeWidth/2.0f, 20.0f, 10.0f, 40.0f, 15.0f, &painter);
-    drawGauge(vwidth+10.0f, 50.0f, gaugeWidth/2.0f, 0, 1.0f, "thrust", values.value("thrust", 0.0f), gaugeColor, &painter, qMakePair(0.45f, 0.8f), qMakePair(0.8f, 1.0f), true);
-    drawGauge(vwidth+10.0f+gaugeWidth*1.7f, 50.0f, gaugeWidth/2.0f, 0, 10.0f, "altitude", values.value("altitude", 0.0f), gaugeColor, &painter, qMakePair(1.0f, 2.5f), qMakePair(0.0f, 0.5f), true);
-*/
-    // END TESTING
-
-
+    //glFlush();
 
     //    // Store current GL model view
     //    glMatrixMode(GL_MODELVIEW);
@@ -571,7 +556,7 @@ void HUD::paintGL()
 
     QPainter painter(this);
     painter.setRenderHint(QPainter::Antialiasing, true);
-    painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
+    //painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     painter.translate((this->vwidth/2.0+xCenterOffset)*scalingFactor, (this->vheight/2.0+yCenterOffset)*scalingFactor);
 
     // COORDINATE FRAME IS NOW (0,0) at CENTER OF WIDGET
@@ -603,6 +588,8 @@ void HUD::paintGL()
     painter.setPen(defaultColor);
     painter.drawPolyline(yawIndicator);
 
+    // CENTER
+
     // HEADING INDICATOR
     //
     //    __      __
@@ -624,6 +611,23 @@ void HUD::paintGL()
     painter.drawPolyline(hIndicator);
 
 
+    // SETPOINT
+    const float centerWidth = 4.0f;
+    painter.setPen(defaultColor);
+    painter.setBrush(Qt::NoBrush);
+    // TODO
+    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
+
+    const float centerCrossWidth = 10.0f;
+    // left
+    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
+    // right
+    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
+    // top
+    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
+
+
+
     // COMPASS
     const float compassY = -vheight/2.0f + 10.0f;
     QRectF compassRect(QPointF(refToScreenX(-5.0f), refToScreenY(compassY)), QSizeF(refToScreenX(10.0f), refToScreenY(5.0f)));
@@ -656,8 +660,6 @@ void HUD::paintGL()
 
     // MOVING PARTS
 
-
-
     // Translate for yaw
     const float maxYawTrans = 60.0f;
     float yawDiff = valuesDot.value("yaw", 0.0f);
@@ -675,7 +677,7 @@ void HUD::paintGL()
     yawInt *= 0.6f;
     //qDebug() << "yaw translation" << yawTrans << "integral" << yawInt << "difference" << yawDiff << "yaw" << yaw << "asin(yawInt)" << asinYaw;
 
-    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(2.0f));
+    painter.translate(0, (pitch/M_PI)* -180.0f * refToScreenY(1.8));
 
     painter.translate(refToScreenX(yawTrans), 0);
 
@@ -684,25 +686,7 @@ void HUD::paintGL()
     // Rotate view and draw all roll-dependent indicators
     painter.rotate((roll/M_PI)* -180.0f);
 
-    qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
-
-    // CENTER
-
-    // SETPOINT
-    const float centerWidth = 4.0f;
-    painter.setPen(defaultColor);
-    painter.setBrush(Qt::NoBrush);
-    // TODO
-    //painter.drawEllipse(QPointF(refToScreenX(qMin(10.0f, values.value("roll desired", 0.0f) * 10.0f)), refToScreenY(qMin(10.0f, values.value("pitch desired", 0.0f) * 10.0f))), refToScreenX(centerWidth/2.0f), refToScreenX(centerWidth/2.0f));
-
-    const float centerCrossWidth = 10.0f;
-    // left
-    painter.drawLine(QPointF(refToScreenX(-centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(-centerCrossWidth / 2.0f), refToScreenY(0.0f)));
-    // right
-    painter.drawLine(QPointF(refToScreenX(centerWidth / 2.0f), refToScreenY(0.0f)), QPointF(refToScreenX(centerCrossWidth / 2.0f), refToScreenY(0.0f)));
-    // top
-    painter.drawLine(QPointF(refToScreenX(0.0f), refToScreenY(-centerWidth / 2.0f)), QPointF(refToScreenX(0.0f), refToScreenY(-centerCrossWidth / 2.0f)));
-
+    //qDebug() << "ROLL" << roll << "PITCH" << pitch << "YAW DIFF" << valuesDot.value("roll", 0.0f);
 
     // PITCH