Text to Speech Work

QGCExternalLibs.pri

@@ -11,8 +11,8 @@ WindowsBuild {
 # the selected autopilot system.
 #
 # If the user config file exists, it will be included. If this file
-# specifies the MAVLINK_CONF variable with a MAVLink dialect, support 
-# for it will be compiled in to QGC. It will also create a 
+# specifies the MAVLINK_CONF variable with a MAVLink dialect, support
+# for it will be compiled in to QGC. It will also create a
 # QGC_USE_{AUTOPILOT_NAME}_MESSAGES macro for use within the actual code.
 #
 MAVLINKPATH_REL = libs/mavlink/include/mavlink/v1.0
@@ -79,20 +79,20 @@ INCLUDEPATH += libs/qwt
 # Uninstalling from Linux can be done with `sudo make uninstall`.
 #
 XBEE_DEPENDENT_HEADERS += \
-	src/comm/XbeeLinkInterface.h \
-	src/comm/XbeeLink.h \
-	src/comm/HexSpinBox.h \
-	src/ui/XbeeConfigurationWindow.h \
-	src/comm/CallConv.h
+    src/comm/XbeeLinkInterface.h \
+    src/comm/XbeeLink.h \
+    src/comm/HexSpinBox.h \
+    src/ui/XbeeConfigurationWindow.h \
+    src/comm/CallConv.h
 XBEE_DEPENDENT_SOURCES += \
-	src/comm/XbeeLink.cpp \
-	src/comm/HexSpinBox.cpp \
-	src/ui/XbeeConfigurationWindow.cpp
+    src/comm/XbeeLink.cpp \
+    src/comm/HexSpinBox.cpp \
+    src/ui/XbeeConfigurationWindow.cpp
 XBEE_DEFINES = QGC_XBEE_ENABLED
 
 contains(DEFINES, DISABLE_XBEE) {
-	message("Skipping support for native XBee API (manual override from command line)")
-	DEFINES -= DISABLE_XBEE
+    message("Skipping support for native XBee API (manual override from command line)")
+    DEFINES -= DISABLE_XBEE
 # Otherwise the user can still disable this feature in the user_config.pri file.
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_XBEE) {
     message("Skipping support for native XBee API (manual override from user_config.pri)")
@@ -100,50 +100,50 @@ contains(DEFINES, DISABLE_XBEE) {
         linux-g++-64 {
             message("Skipping support for XBee API (64-bit Linux builds not supported)")
         } else:exists(/usr/include/xbee.h) {
-		message("Including support for XBee API")
+        message("Including support for XBee API")
 
-		HEADERS += $$XBEE_DEPENDENT_HEADERS
-		SOURCES += $$XBEE_DEPENDENT_SOURCES
-		DEFINES += $$XBEE_DEFINES
-		LIBS += -L/usr/lib -lxbee
-	} else {
-		warning("Skipping support for XBee API (missing libraries, see README)")
-	}
+        HEADERS += $$XBEE_DEPENDENT_HEADERS
+        SOURCES += $$XBEE_DEPENDENT_SOURCES
+        DEFINES += $$XBEE_DEFINES
+        LIBS += -L/usr/lib -lxbee
+    } else {
+        warning("Skipping support for XBee API (missing libraries, see README)")
+    }
 } else:WindowsBuild {
-	message("Including support for XBee API")
-	HEADERS += $$XBEE_DEPENDENT_HEADERS
-	SOURCES += $$XBEE_DEPENDENT_SOURCES
-	DEFINES += $$XBEE_DEFINES
-	INCLUDEPATH += libs/thirdParty/libxbee
+    message("Including support for XBee API")
+    HEADERS += $$XBEE_DEPENDENT_HEADERS
+    SOURCES += $$XBEE_DEPENDENT_SOURCES
+    DEFINES += $$XBEE_DEFINES
+    INCLUDEPATH += libs/thirdParty/libxbee
         LIBS += -l$$BASEDIR/libs/thirdParty/libxbee/lib/libxbee
 } else {
-	message("Skipping support for XBee API (unsupported platform)")
+    message("Skipping support for XBee API (unsupported platform)")
 }
 
 #
 # [OPTIONAL] Magellan 3DxWare library. Provides support for 3DConnexion's 3D mice.
 #
 contains(DEFINES, DISABLE_3DMOUSE) {
-	message("Skipping support for 3DConnexion mice (manual override from command line)")
-	DEFINES -= DISABLE_3DMOUSE
+    message("Skipping support for 3DConnexion mice (manual override from command line)")
+    DEFINES -= DISABLE_3DMOUSE
 # Otherwise the user can still disable this feature in the user_config.pri file.
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_3DMOUSE) {
     message("Skipping support for 3DConnexion mice (manual override from user_config.pri)")
 } else:LinuxBuild {
-	exists(/usr/local/lib/libxdrvlib.so) {
-		message("Including support for 3DConnexion mice")
+    exists(/usr/local/lib/libxdrvlib.so) {
+        message("Including support for 3DConnexion mice")
 
                 DEFINES += \
-		QGC_MOUSE_ENABLED_LINUX \
+        QGC_MOUSE_ENABLED_LINUX \
                 ParameterCheck
                 # Hack: Has to be defined for magellan usage
 
-		HEADERS += src/input/Mouse6dofInput.h
-		SOURCES += src/input/Mouse6dofInput.cpp
-		LIBS += -L/usr/local/lib/ -lxdrvlib
-	} else {
-		warning("Skipping support for 3DConnexion mice (missing libraries, see README)")
-	}
+        HEADERS += src/input/Mouse6dofInput.h
+        SOURCES += src/input/Mouse6dofInput.cpp
+        LIBS += -L/usr/local/lib/ -lxdrvlib
+    } else {
+        warning("Skipping support for 3DConnexion mice (missing libraries, see README)")
+    }
 } else:WindowsBuild {
     message("Including support for 3DConnexion mice")
 
@@ -162,52 +162,52 @@ contains(DEFINES, DISABLE_3DMOUSE) {
         libs/thirdParty/3DMouse/win/Mouse3DInput.cpp \
         src/input/Mouse6dofInput.cpp
 } else {
-	message("Skipping support for 3DConnexion mice (unsupported platform)")
+    message("Skipping support for 3DConnexion mice (unsupported platform)")
 }
 
 #
 # [OPTIONAL] Opal RT-LAB Library. Provides integration with Opal-RT's RT-LAB simulator.
 #
 contains(DEFINES, DISABLE_RTLAB) {
-	message("Skipping support for RT-LAB (manual override from command line)")
-	DEFINES -= DISABLE_RTLAB
+    message("Skipping support for RT-LAB (manual override from command line)")
+    DEFINES -= DISABLE_RTLAB
 # Otherwise the user can still disable this feature in the user_config.pri file.
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_RTLAB) {
     message("Skipping support for RT-LAB (manual override from user_config.pri)")
 } else:WindowsBuild {
-	exists(src/lib/opalrt/OpalApi.h) : exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
-		message("Including support for RT-LAB")
+    exists(src/lib/opalrt/OpalApi.h) : exists(C:/OPAL-RT/RT-LAB7.2.4/Common/bin) {
+        message("Including support for RT-LAB")
 
-		DEFINES += QGC_RTLAB_ENABLED
+        DEFINES += QGC_RTLAB_ENABLED
 
-		INCLUDEPATH +=
-			src/lib/opalrt
-			libs/lib/opal/include \
+        INCLUDEPATH +=
+            src/lib/opalrt
+            libs/lib/opal/include \
 
-		FORMS += src/ui/OpalLinkSettings.ui
+        FORMS += src/ui/OpalLinkSettings.ui
 
-		HEADERS += \
-			src/comm/OpalRT.h \
-			src/comm/OpalLink.h \
-			src/comm/Parameter.h \
-			src/comm/QGCParamID.h \
-			src/comm/ParameterList.h \
-			src/ui/OpalLinkConfigurationWindow.h
+        HEADERS += \
+            src/comm/OpalRT.h \
+            src/comm/OpalLink.h \
+            src/comm/Parameter.h \
+            src/comm/QGCParamID.h \
+            src/comm/ParameterList.h \
+            src/ui/OpalLinkConfigurationWindow.h
 
-		SOURCES += \
-			src/comm/OpalRT.cc \
-			src/comm/OpalLink.cc \
-			src/comm/Parameter.cc \
-			src/comm/QGCParamID.cc \
-			src/comm/ParameterList.cc \
-			src/ui/OpalLinkConfigurationWindow.cc
+        SOURCES += \
+            src/comm/OpalRT.cc \
+            src/comm/OpalLink.cc \
+            src/comm/Parameter.cc \
+            src/comm/QGCParamID.cc \
+            src/comm/ParameterList.cc \
+            src/ui/OpalLinkConfigurationWindow.cc
 
-		LIBS += \
-			-LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
-			-lOpalApi
-	} else {
-		warning("Skipping support for RT-LAB (missing libraries, see README)")
-	}
+        LIBS += \
+            -LC:/OPAL-RT/RT-LAB7.2.4/Common/bin \
+            -lOpalApi
+    } else {
+        warning("Skipping support for RT-LAB (missing libraries, see README)")
+    }
 } else {
     message("Skipping support for RT-LAB (unsupported platform)")
 }
@@ -225,12 +225,12 @@ MacBuild {
         -F$$BASEDIR/libs/lib/Frameworks \
         -framework SDL
 } else:LinuxBuild {
-	PKGCONFIG = sdl
+    PKGCONFIG = sdl
 } else:WindowsBuild {
-	INCLUDEPATH += \
+    INCLUDEPATH += \
         $$BASEDIR/libs/lib/sdl/msvc/include \
 
-	LIBS += \
+    LIBS += \
         -L$$BASEDIR/libs/lib/sdl/msvc/lib \
         -lSDLmain \
         -lSDL
@@ -244,20 +244,20 @@ MacBuild {
 # Windows is supported as of Windows 7
 #
 contains (DEFINES, DISABLE_SPEECH) {
-	message("Skipping support for speech output (manual override from command line)")
-	DEFINES -= DISABLE_SPEECH
+    message("Skipping support for speech output (manual override from command line)")
+    DEFINES -= DISABLE_SPEECH
 # Otherwise the user can still disable this feature in the user_config.pri file.
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, DISABLE_SPEECH) {
     message("Skipping support for speech output (manual override from user_config.pri)")
 } else:LinuxBuild {
-	exists(/usr/include/espeak) | exists(/usr/local/include/espeak) {
-		message("Including support for speech output")
-		DEFINES += QGC_SPEECH_ENABLED
-		LIBS += \
-		-lespeak
-	} else {
-		warning("Skipping support for speech output (missing libraries, see README)")
-	}
+    exists(/usr/include/espeak) | exists(/usr/local/include/espeak) {
+        message("Including support for speech output")
+        DEFINES += QGC_SPEECH_ENABLED
+        LIBS += \
+        -lespeak
+    } else {
+        warning("Skipping support for speech output (missing libraries, see README)")
+    }
 }
 # Mac support is built into OS 10.6+.
 else:MacBuild {
@@ -270,6 +270,11 @@ else:WindowsBuild {
     DEFINES += QGC_SPEECH_ENABLED
     LIBS    += -lOle32
 }
+# Android supports speech through native (Java) API.
+else:AndroidBuild {
+    message("Including support for speech output")
+    DEFINES += QGC_SPEECH_ENABLED
+}
 
 #
 # [OPTIONAL] Zeroconf for UDP links

android/src/org/qgroundcontrol/qgchelper/UsbDeviceJNI.java

@@ -43,12 +43,15 @@ import android.content.IntentFilter;
 import android.hardware.usb.*;
 import android.widget.Toast;
 import android.util.Log;
+//-- Text To Speech
+import android.os.Bundle;
+import android.speech.tts.TextToSpeech;
 
 import com.hoho.android.usbserial.driver.*;
 import org.qtproject.qt5.android.bindings.QtActivity;
 import org.qtproject.qt5.android.bindings.QtApplication;
 
-public class UsbDeviceJNI extends QtActivity
+public class UsbDeviceJNI extends QtActivity implements TextToSpeech.OnInitListener
 {
     public static int BAD_PORT = 0;
     private static UsbDeviceJNI m_instance;
@@ -61,6 +64,7 @@ public class UsbDeviceJNI extends QtActivity
     private BroadcastReceiver m_UsbReceiver = null;
     private final static ExecutorService m_Executor = Executors.newSingleThreadExecutor();
     private static final String TAG = "QGC_UsbDeviceJNI";
+    private static TextToSpeech  m_tts;
 
     private final static UsbIoManager.Listener m_Listener =
             new UsbIoManager.Listener()
@@ -100,6 +104,34 @@ public class UsbDeviceJNI extends QtActivity
 
     /////////////////////////////////////////////////////////////////////////////////////////////////////////
     //
+    //  Text To Speech
+    //  Pigback a ride for providing TTS to QGC
+    //
+    /////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+    @Override
+    public void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        m_tts = new TextToSpeech(this,this);
+    }
+
+    @Override
+    protected void onDestroy() {
+        super.onDestroy();
+        m_tts.shutdown();
+    }
+
+    public void onInit(int status) {
+    }
+
+    public static void say(String msg)
+    {
+        Log.i(TAG, "Say: " + msg);
+        m_tts.speak(msg, TextToSpeech.QUEUE_FLUSH, null);
+    }
+
+    /////////////////////////////////////////////////////////////////////////////////////////////////////////
+    //
     //  Find all current devices that match the device filter described in the androidmanifest.xml and the
     //  device_filter.xml
     //

src/GAudioOutput.cc

@@ -38,42 +38,51 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCApplication.h"
 #include "QGC.h"
 
+#if defined __android__
+#include <QtAndroidExtras/QtAndroidExtras>
+#include <QtAndroidExtras/QAndroidJniObject>
+#endif
+
 IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
 
 const char* GAudioOutput::_mutedKey = "AudioMuted";
 
-GAudioOutput::GAudioOutput(QObject *parent) :
-    QGCSingleton(parent),
-    muted(false),
-    thread(new QThread()),
-    worker(new QGCAudioWorker())
+GAudioOutput::GAudioOutput(QObject *parent)
+    : QGCSingleton(parent)
+    , muted(false)
+#ifndef __android__
+    , thread(new QThread())
+    , worker(new QGCAudioWorker())
+#endif
 {
     QSettings settings;
-    
     muted = settings.value(_mutedKey, false).toBool();
     muted |= qgcApp()->runningUnitTests();
-    
+#ifndef __android__
     worker->moveToThread(thread);
     connect(this, &GAudioOutput::textToSpeak, worker, &QGCAudioWorker::say);
     connect(thread, &QThread::finished, thread, &QObject::deleteLater);
     connect(thread, &QThread::finished, worker, &QObject::deleteLater);
     thread->start();
+#endif
 }
 
 GAudioOutput::~GAudioOutput()
 {
+#ifndef __android__
     thread->quit();
+#endif
 }
 
 
 void GAudioOutput::mute(bool mute)
 {
     QSettings settings;
-    
     muted = mute;
     settings.setValue(_mutedKey, mute);
-    
+#ifndef __android__
     emit mutedChanged(mute);
+#endif
 }
 
 bool GAudioOutput::isMuted()
@@ -81,10 +90,24 @@ bool GAudioOutput::isMuted()
     return muted;
 }
 
-bool GAudioOutput::say(const QString& text, int severity)
+bool GAudioOutput::say(const QString& inText, int severity)
 {
     if (!muted) {
-        emit textToSpeak(text, severity);
+#if defined __android__
+#if defined QGC_SPEECH_ENABLED
+        static const char V_jniClassName[] {"org/qgroundcontrol/qgchelper/UsbDeviceJNI"};
+        QAndroidJniEnvironment env;
+        if (env->ExceptionCheck()) {
+            env->ExceptionDescribe();
+            env->ExceptionClear();
+        }
+        QString text = QGCAudioWorker::fixTextMessageForAudio(inText);
+        QAndroidJniObject javaMessage = QAndroidJniObject::fromString(text);
+        QAndroidJniObject::callStaticMethod<void>(V_jniClassName, "say", "(Ljava/lang/String;)V", javaMessage.object<jstring>());
+#endif
+#else
+        emit textToSpeak(inText, severity);
+#endif
     }
     return true;
 }

src/GAudioOutput.h

@@ -48,9 +48,9 @@ This file is part of the PIXHAWK project
 class GAudioOutput : public QGCSingleton
 {
     Q_OBJECT
-    
+
     DECLARE_QGC_SINGLETON(GAudioOutput, GAudioOutput)
-    
+
 public:
     /** @brief List available voices */
     QStringList listVoices(void);
@@ -88,13 +88,16 @@ signals:
 
 protected:
     bool muted;
+
+#if !defined __android__
     QThread* thread;
     QGCAudioWorker* worker;
-    
+#endif
+
 private:
     GAudioOutput(QObject *parent = NULL);
     ~GAudioOutput();
-    
+
     static const char* _mutedKey;
 };
 

src/audio/QGCAudioWorker.cpp

@@ -10,6 +10,47 @@
 
 #if defined Q_OS_MAC && defined QGC_SPEECH_ENABLED
 #include <ApplicationServices/ApplicationServices.h>
+
+static SpeechChannel sc;
+static Fixed volume;
+
+static void speechDone(SpeechChannel sc2, void *) {
+    if (sc2 == sc)
+    {
+        DisposeSpeechChannel(sc);
+    }
+}
+
+class MacSpeech
+{
+public:
+    MacSpeech()
+    {
+        setVolume(100);
+    }
+    ~MacSpeech()
+    {
+    }
+    void say(const char* words)
+    {
+        while (SpeechBusy()) {
+            QGC::SLEEP::msleep(100);
+        }
+        NewSpeechChannel(NULL, &sc);
+        SetSpeechInfo(sc, soVolume, &volume);
+        SetSpeechInfo(sc, soSpeechDoneCallBack, reinterpret_cast<void *>(speechDone));
+        CFStringRef cfstr = CFStringCreateWithCString(NULL, words, kCFStringEncodingUTF8);
+        SpeakCFString(sc, cfstr, NULL);
+    }
+    void setVolume(int v)
+    {
+        volume = FixRatio(v, 100);
+    }
+};
+
+//-- Singleton
+MacSpeech macSpeech;
+
 #endif
 
 // Speech synthesis is only supported with MSVC compiler
@@ -18,7 +59,7 @@
 #include <sapi.h>
 #endif
 
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
+#if defined Q_OS_LINUX && !defined __android__ && 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
@@ -48,7 +89,7 @@ void QGCAudioWorker::init()
     sound = new QSound(":/res/Alert");
 #endif
 
-#if defined Q_OS_LINUX && defined QGC_SPEECH_ENABLED
+#if defined Q_OS_LINUX && !defined __android__ && 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
@@ -82,25 +123,29 @@ void QGCAudioWorker::init()
 QGCAudioWorker::~QGCAudioWorker()
 {
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-	if (pVoice) {
-		pVoice->Release();
-		pVoice = NULL;
-	}
+    if (pVoice) {
+        pVoice->Release();
+        pVoice = NULL;
+    }
     ::CoUninitialize();
 #endif
 }
 
 void QGCAudioWorker::say(QString inText, int severity)
 {
-	static bool threadInit = false;
-	if (!threadInit) {
-		threadInit = true;
-		init();
-	}
+#ifdef __android__
+    Q_UNUSED(inText);
+    Q_UNUSED(severity);
+#else
+    static bool threadInit = false;
+    if (!threadInit) {
+        threadInit = true;
+        init();
+    }
 
     if (!muted)
     {
-        QString text = _fixTextMessageForAudio(inText);
+        QString text = fixTextMessageForAudio(inText);
         // Prepend high priority text with alert beep
         if (severity < GAudioOutput::AUDIO_SEVERITY_CRITICAL) {
             beep();
@@ -115,35 +160,22 @@ void QGCAudioWorker::say(QString inText, int severity)
 
 #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);
-		}
+        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);
-        }
-
+        macSpeech.say(text.toStdString().c_str());
 #else
         // Make sure there isn't an unused variable warning when speech output is disabled
         Q_UNUSED(inText);
 #endif
     }
+#endif // __android__
 }
 
 void QGCAudioWorker::mute(bool mute)
@@ -187,7 +219,7 @@ bool QGCAudioWorker::_getMillisecondString(const QString& string, QString& match
     return false;
 }
 
-QString QGCAudioWorker::_fixTextMessageForAudio(const QString& string) {
+QString QGCAudioWorker::fixTextMessageForAudio(const QString& string) {
     QString match;
     QString newNumber;
     QString result = string;
@@ -204,7 +236,9 @@ QString QGCAudioWorker::_fixTextMessageForAudio(const QString& string) {
     if(result.contains("ALTCTL", Qt::CaseInsensitive)) {
         result.replace("ALTCTL", "Altitude Control", Qt::CaseInsensitive);
     }
-    if(result.contains("RTL", Qt::CaseInsensitive)) {
+    if(result.contains("AUTO_RTL", Qt::CaseInsensitive)) {
+        result.replace("AUTO_RTL", "auto Return To Land", Qt::CaseInsensitive);
+    } else if(result.contains("RTL", Qt::CaseInsensitive)) {
         result.replace("RTL", "Return To Land", Qt::CaseInsensitive);
     }
     if(result.contains("ACCEL ", Qt::CaseInsensitive)) {

src/audio/QGCAudioWorker.h

@@ -7,13 +7,6 @@
 #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 <basetyps.h>
@@ -31,6 +24,8 @@ public:
     bool isMuted();
     void init();
 
+    static QString fixTextMessageForAudio(const QString& string);
+
 signals:
 
 public slots:
@@ -52,8 +47,7 @@ protected:
     QTimer *emergencyTimer;
     bool muted;
 private:
-    QString _fixTextMessageForAudio(const QString& string);
-    bool _getMillisecondString(const QString& string, QString& match, int& number);
+    static bool _getMillisecondString(const QString& string, QString& match, int& number);
 };
 
 #endif // QGCAUDIOWORKER_H

src/uas/UAS.cc

@@ -179,7 +179,7 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle) : UASInterface(),
     lastSendTimeOpticalFlow(0),
     _vehicle(vehicle)
 {
-    
+
     for (unsigned int i = 0; i<255;++i)
     {
         componentID[i] = -1;
@@ -422,7 +422,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                 modechanged = true;
                 this->base_mode = state.base_mode;
                 this->custom_mode = state.custom_mode;
-                modeAudio = " is now in " + audiomodeText + "flight mode";
+                modeAudio = " is now in " + audiomodeText + " flight mode";
             }
 
             // We got the mode
@@ -945,7 +945,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit valueChanged(uasId, "yaw sp", "rad", yaw, time);
         }
             break;
-                
+
         case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
         {
             if (multiComponentSourceDetected && wrongComponent)
@@ -970,14 +970,14 @@ void UAS::receiveMessage(mavlink_message_t message)
             QByteArray b;
             b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
             mavlink_msg_statustext_get_text(&message, b.data());
- 
+
             // Ensure NUL-termination
             b[b.length()-1] = '\0';
             QString text = QString(b);
             int severity = mavlink_msg_statustext_get_severity(&message);
 
-	    // If the message is NOTIFY or higher severity, or starts with a '#',
-	    // then read it aloud.
+        // If the message is NOTIFY or higher severity, or starts with a '#',
+        // then read it aloud.
             if (text.startsWith("#") || severity <= MAV_SEVERITY_NOTICE)
             {
                 text.remove("#");
@@ -1127,14 +1127,14 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
     if (!_vehicle) {
         return;
     }
-    
+
     int gyroCal = 0;
     int magCal = 0;
     int airspeedCal = 0;
     int radioCal = 0;
     int accelCal = 0;
     int escCal = 0;
-    
+
     switch (calType) {
         case StartCalibrationGyro:
             gyroCal = 1;
@@ -1164,7 +1164,7 @@ void UAS::startCalibration(UASInterface::StartCalibrationType calType)
             escCal = 2;
             break;
     }
-    
+
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                   mavlink->getComponentId(),
@@ -1188,7 +1188,7 @@ void UAS::stopCalibration(void)
     if (!_vehicle) {
         return;
     }
-    
+
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                   mavlink->getComponentId(),
@@ -1212,7 +1212,7 @@ void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
     if (!_vehicle) {
         return;
     }
-    
+
    int actuatorCal = 0;
 
     switch (calType) {
@@ -1247,7 +1247,7 @@ void UAS::stopBusConfig(void)
     if (!_vehicle) {
         return;
     }
-    
+
     mavlink_message_t msg;
     mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                   mavlink->getComponentId(),
@@ -1518,7 +1518,7 @@ void UAS::requestImage()
     if (!_vehicle) {
         return;
     }
-    
+
    qDebug() << "trying to get an image from the uas...";
 
     // check if there is already an image transmission going on
@@ -1605,7 +1605,7 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
         case MAV_PARAM_TYPE_UINT32:
             paramValue = QVariant(paramUnion.param_uint32);
             break;
-            
+
         case MAV_PARAM_TYPE_INT32:
             paramValue = QVariant(paramUnion.param_int32);
             break;
@@ -1658,7 +1658,7 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
     if (!_vehicle) {
         return;
     }
-    
+
     mavlink_message_t msg;
     mavlink_command_long_t cmd;
     cmd.command = (uint16_t)command;
@@ -1686,7 +1686,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
     if (!_vehicle) {
         return;
     }
-    
+
     // Store the previous manual commands
     static float manualRollAngle = 0.0;
     static float manualPitchAngle = 0.0;
@@ -1843,7 +1843,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
 
             // Store scaling values for all 3 axes
             const float axesScaling = 1.0 * 1000.0;
-            
+
             // Calculate the new commands for roll, pitch, yaw, and thrust
             const float newRollCommand = roll * axesScaling;
             // negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
@@ -1852,7 +1852,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
             const float newThrustCommand = thrust * axesScaling;
 
             //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
-            
+
             // Send the MANUAL_COMMAND message
             mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
         }
@@ -1870,7 +1870,7 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
     if (!_vehicle) {
         return;
     }
-    
+
    // If system has manual inputs enabled and is armed
     if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
     {
@@ -1935,7 +1935,7 @@ void UAS::pairRX(int rxType, int rxSubType)
     if (!_vehicle) {
         return;
     }
-    
+
     mavlink_message_t msg;
 
     mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_START_RX_PAIR, 0, rxType, rxSubType, 0, 0, 0, 0, 0);
@@ -2138,7 +2138,7 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
     if (!_vehicle) {
         return;
     }
-    
+
     if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
     {
         float q[4];
@@ -2176,12 +2176,12 @@ void UAS::sendHilState(quint64 time_us, float roll, float pitch, float yaw, floa
 #ifndef __mobile__
 float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
 {
-    /* Calculate normally distributed variable noise with mean = 0 and variance = noise_var.  Calculated according to 
+    /* Calculate normally distributed variable noise with mean = 0 and variance = noise_var.  Calculated according to
     Box-Muller transform */
     static const float epsilon = std::numeric_limits<float>::min(); //used to ensure non-zero uniform numbers
     static float z0; //calculated normal distribution random variables with mu = 0, var = 1;
     float u1, u2;        //random variables generated from c++ rand();
-    
+
     /*Generate random variables in range (0 1] */
     do
     {
@@ -2193,11 +2193,11 @@ float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
     while ( u1 <= epsilon );  //Have a catch to ensure non-zero for log()
 
     z0 = sqrt(-2.0 * log(u1)) * cos(2.0f * M_PI * u2); //calculate normally distributed variable with mu = 0, var = 1
-    
+
     //TODO add bias term that changes randomly to simulate accelerometer and gyro bias the exf should handle these
     //as well
     float noise = z0 * sqrt(noise_var); //calculate normally distributed variable with mu = 0, std = var^2
-    
+
     //Finally gaurd against any case where the noise is not real
     if(std::isfinite(noise)) {
             return truth_meas + noise;
@@ -2218,7 +2218,7 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
     if (!_vehicle) {
         return;
     }
-    
+
     if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
     {
         float xacc_corrupt = addZeroMeanNoise(xacc, xacc_var);
@@ -2238,7 +2238,7 @@ void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, fl
         mavlink_message_t msg;
         mavlink_msg_hil_sensor_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                    time_us, xacc_corrupt, yacc_corrupt, zacc_corrupt, rollspeed_corrupt, pitchspeed_corrupt,
-                                    yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt, 
+                                    yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt,
                                     diff_pressure_corrupt, pressure_alt_corrupt, temperature_corrupt, fields_changed);
         _vehicle->sendMessage(msg);
         lastSendTimeSensors = QGC::groundTimeMilliseconds();
@@ -2259,7 +2259,7 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
     if (!_vehicle) {
         return;
     }
-    
+
     // FIXME: This needs to be updated for new mavlink_msg_hil_optical_flow_pack api
 
     Q_UNUSED(time_us);
@@ -2297,7 +2297,7 @@ void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fi
     if (!_vehicle) {
         return;
     }
-    
+
     // Only send at 10 Hz max rate
     if (QGC::groundTimeMilliseconds() - lastSendTimeGPS < 100)
         return;
@@ -2413,7 +2413,7 @@ void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 p
     if (!_vehicle) {
         return;
     }
-    
+
     mavlink_message_t message;
 
     char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
@@ -2447,7 +2447,7 @@ void UAS::unsetRCToParameterMap()
     if (!_vehicle) {
         return;
     }
-    
+
     char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
 
     for (int i = 0; i < 3; i++) {
@@ -2470,10 +2470,6 @@ void UAS::unsetRCToParameterMap()
 
 void UAS::_say(const QString& text, int severity)
 {
-#ifndef UNITTEST_BUILD    
-    GAudioOutput::instance()->say(text, severity);
-#else
-    Q_UNUSED(text)
-    Q_UNUSED(severity)
-#endif
+    if (!qgcApp()->runningUnitTests())
+        GAudioOutput::instance()->say(text, severity);
 }