diff --git a/src/FactSystem/FactSystemTestBase.cc b/src/FactSystem/FactSystemTestBase.cc
index d8bf606b56e682aa3b5829760936adc6d1989b0f..d50a60cc6ea47909438de0ccbb47706898e28e50 100644
--- a/src/FactSystem/FactSystemTestBase.cc
+++ b/src/FactSystem/FactSystemTestBase.cc
@@ -48,7 +48,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
MockLink* link = new MockLink();
link->setAutopilotType(autopilot);
- _linkMgr->addLink(link);
+ _linkMgr->_addLink(link);
_linkMgr->connectLink(link);
// Wait for the uas to work it's way through the various threads
diff --git a/src/VehicleSetup/SetupViewButtons.qml b/src/VehicleSetup/SetupViewButtons.qml
index c810ff38c08bc219c9b7c1183c8fb95a6e0d1467..c604a70cc7b8535d14f6763966dae6a6f47adbda 100644
--- a/src/VehicleSetup/SetupViewButtons.qml
+++ b/src/VehicleSetup/SetupViewButtons.qml
@@ -35,7 +35,7 @@ Rectangle {
QGCLabel {
width: parent.width
- text: "You must be connected to your board to use all available setup options."
+ text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading."
wrapMode: Text.WordWrap
horizontalAlignment: Text.AlignHCenter
}
diff --git a/src/VehicleSetup/SetupViewTest.cc b/src/VehicleSetup/SetupViewTest.cc
index 113072edbdd36ba75e46bc857618823651398aa3..7a1ef75c24b5db8f66c4bab2e37fd2012431cdee 100644
--- a/src/VehicleSetup/SetupViewTest.cc
+++ b/src/VehicleSetup/SetupViewTest.cc
@@ -64,7 +64,7 @@ void SetupViewTest::_clickThrough_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
link->setAutopilotType(MAV_AUTOPILOT_PX4);
- LinkManager::instance()->addLink(link);
+ LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h
index ac0cd704ea1b373e8251051c25593150c9d7f04a..a4722d2b9dc1a26217d86e35b4431a5ef082b928 100644
--- a/src/comm/LinkInterface.h
+++ b/src/comm/LinkInterface.h
@@ -37,6 +37,7 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
#include <QMutex>
#include <QMutexLocker>
#include <QMetaType>
+#include <QSharedPointer>
class LinkManager;
class LinkConfiguration;
@@ -50,38 +51,10 @@ class LinkInterface : public QThread
{
Q_OBJECT
- // Only LinkManager is allowed to _connect, _disconnect or delete a link
+ // Only LinkManager is allowed to create/delete or _connect/_disconnect a link
friend class LinkManager;
public:
- LinkInterface() :
- QThread(0),
- _ownedByLinkManager(false),
- _deletedByLinkManager(false),
- _flaggedForDeletion(false)
- {
- // Initialize everything for the data rate calculation buffers.
- inDataIndex = 0;
- outDataIndex = 0;
-
- // Initialize our data rate buffers.
- memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts));
- memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes));
- memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts));
- memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes));
-
- qRegisterMetaType<LinkInterface*>("LinkInterface*");
- }
-
- /**
- * @brief Destructor
- * LinkManager take ownership of Links once they are added to it. Once added to LinkManager
- * use LinkManager::deleteLink to remove if necessary.
- **/
- virtual ~LinkInterface() {
- Q_ASSERT(!_ownedByLinkManager || _deletedByLinkManager);
- }
-
/**
* @brief Get link configuration (if used)
* @return A pointer to the instance of LinkConfiguration if supported. NULL otherwise.
@@ -169,7 +142,25 @@ public slots:
* @param length The length of the data array
**/
virtual void writeBytes(const char *bytes, qint64 length) = 0;
-
+
+protected:
+ // Links are only created by LinkManager so constructor is not public
+ LinkInterface() :
+ QThread(0)
+ {
+ // Initialize everything for the data rate calculation buffers.
+ inDataIndex = 0;
+ outDataIndex = 0;
+
+ // Initialize our data rate buffers.
+ memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts));
+ memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes));
+ memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts));
+ memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes));
+
+ qRegisterMetaType<LinkInterface*>("LinkInterface*");
+ }
+
signals:
/**
@@ -338,10 +329,8 @@ private:
* @return True if connection could be terminated, false otherwise
**/
virtual bool _disconnect(void) = 0;
-
- bool _ownedByLinkManager; ///< true: This link has been added to LinkManager, false: Link not added to LinkManager
- bool _deletedByLinkManager; ///< true: Link being deleted from LinkManager, false: error, Links should only be deleted from LinkManager
- bool _flaggedForDeletion; ///< true: Garbage colletion ready
};
+typedef QSharedPointer<LinkInterface> SharedLinkInterface;
+
#endif // _LINKINTERFACE_H_
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index c2e906316852818bc621ff3fbae7c38f71d85038..a0875739dc31e3d588fab35fdd7016509c1c4f46 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -52,6 +52,7 @@ LinkManager::LinkManager(QObject* parent)
, _configUpdateSuspended(false)
, _configurationsLoaded(false)
, _connectionsSuspended(false)
+ , _nullSharedLink(NULL)
{
connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList);
_portListTimer.start(1000);
@@ -68,7 +69,7 @@ LinkManager::~LinkManager()
Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
}
-LinkInterface* LinkManager::createLink(LinkConfiguration* config)
+LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
{
Q_ASSERT(config);
LinkInterface* pLink = NULL;
@@ -89,33 +90,31 @@ LinkInterface* LinkManager::createLink(LinkConfiguration* config)
#endif
}
if(pLink) {
- addLink(pLink);
+ _addLink(pLink);
+ connectLink(pLink);
}
return pLink;
}
-LinkInterface* LinkManager::createLink(const QString& name)
+LinkInterface* LinkManager::createConnectedLink(const QString& name)
{
Q_ASSERT(name.isEmpty() == false);
for(int i = 0; i < _linkConfigurations.count(); i++) {
LinkConfiguration* conf = _linkConfigurations.at(i);
if(conf && conf->name() == name)
- return createLink(conf);
+ return createConnectedLink(conf);
}
return NULL;
}
-void LinkManager::addLink(LinkInterface* link)
+void LinkManager::_addLink(LinkInterface* link)
{
Q_ASSERT(link);
- // Take ownership for delete
- link->_ownedByLinkManager = true;
-
_linkListMutex.lock();
- if (!_links.contains(link)) {
- _links.append(link);
+ if (!containsLink(link)) {
+ _links.append(QSharedPointer<LinkInterface>(link));
_linkListMutex.unlock();
emit newLink(link);
} else {
@@ -145,14 +144,12 @@ bool LinkManager::connectAll()
bool allConnected = true;
- _linkListMutex.lock();
- foreach (LinkInterface* link, _links) {
- Q_ASSERT(link);
- if (!link->_connect()) {
+ foreach (SharedLinkInterface sharedLink, _links) {
+ Q_ASSERT(sharedLink.data());
+ if (!sharedLink.data()->_connect()) {
allConnected = false;
}
}
- _linkListMutex.unlock();
return allConnected;
}
@@ -161,15 +158,12 @@ bool LinkManager::disconnectAll()
{
bool allDisconnected = true;
- _linkListMutex.lock();
- foreach (LinkInterface* link, _links)
- {
- Q_ASSERT(link);
- if (!link->_disconnect()) {
+ foreach (SharedLinkInterface sharedLink, _links) {
+ Q_ASSERT(sharedLink.data());
+ if (!sharedLink.data()->_disconnect()) {
allDisconnected = false;
}
}
- _linkListMutex.unlock();
return allDisconnected;
}
@@ -197,51 +191,33 @@ bool LinkManager::disconnectLink(LinkInterface* link)
if(config) {
config->setLink(NULL);
}
- // Link is now done and over with. We can't yet delete it because it
- // takes a while for the MAVLink protocol to take notice of it. We
- // flag it for delayed deletion for final clean up.
- link->_flaggedForDeletion = true;
- QTimer::singleShot(1000, this, &LinkManager::_delayedDeleteLink);
+ _deleteLink(link);
return true;
} else {
return false;
}
}
-void LinkManager::_delayedDeleteLink()
-{
- _linkListMutex.lock();
- foreach (LinkInterface* link, _links)
- {
- Q_ASSERT(link);
- if (link->_flaggedForDeletion) {
- qDebug() << "Link deleted: " << link->getName();
- _linkListMutex.unlock();
- deleteLink(link);
- return;
- }
- }
- _linkListMutex.unlock();
-}
-
-void LinkManager::deleteLink(LinkInterface* link)
+void LinkManager::_deleteLink(LinkInterface* link)
{
Q_ASSERT(link);
_linkListMutex.lock();
- Q_ASSERT(_links.contains(link));
- _links.removeOne(link);
- Q_ASSERT(!_links.contains(link));
+ bool found = false;
+ for (int i=0; i<_links.count(); i++) {
+ if (_links[i].data() == link) {
+ _links.removeAt(i);
+ found = true;
+ break;
+ }
+ }
+ Q_ASSERT(found);
_linkListMutex.unlock();
// Emit removal of link
emit linkDeleted(link);
-
- Q_ASSERT(link->_ownedByLinkManager);
- link->_deletedByLinkManager = true; // Signal that this is a valid delete
- delete link;
}
/**
@@ -249,29 +225,13 @@ void LinkManager::deleteLink(LinkInterface* link)
*/
const QList<LinkInterface*> LinkManager::getLinks()
{
- _linkListMutex.lock();
- QList<LinkInterface*> ret(_links);
- _linkListMutex.unlock();
- return ret;
-}
-
-const QList<SerialLink *> LinkManager::getSerialLinks()
-{
- _linkListMutex.lock();
- QList<SerialLink*> s;
-
- foreach (LinkInterface* link, _links)
- {
- Q_ASSERT(link);
-
- SerialLink* serialLink = qobject_cast<SerialLink*>(link);
-
- if (serialLink)
- s.append(serialLink);
+ QList<LinkInterface*> list;
+
+ foreach (SharedLinkInterface sharedLink, _links) {
+ list << sharedLink.data();
}
- _linkListMutex.unlock();
-
- return s;
+
+ return list;
}
/// @brief If all new connections should be suspended a message is displayed to the user and true
@@ -296,10 +256,8 @@ void LinkManager::setConnectionsSuspended(QString reason)
void LinkManager::_shutdown(void)
{
- QList<LinkInterface*> links = _links;
- foreach(LinkInterface* link, links) {
- disconnectLink(link);
- deleteLink(link);
+ while (_links.count() != 0) {
+ disconnectLink(_links[0].data());
}
}
@@ -489,3 +447,43 @@ void LinkManager::_updateConfigurationList(void)
}
}
+bool LinkManager::containsLink(LinkInterface* link)
+{
+ bool found = false;
+
+ foreach (SharedLinkInterface sharedLink, _links) {
+ if (sharedLink.data() == link) {
+ found = true;
+ break;
+ }
+ }
+
+ return found;
+}
+
+bool LinkManager::anyConnectedLinks(void)
+{
+ bool found = false;
+
+ foreach (SharedLinkInterface sharedLink, _links) {
+ if (sharedLink.data()->isConnected()) {
+ found = true;
+ break;
+ }
+ }
+
+ return found;
+}
+
+SharedLinkInterface& LinkManager::sharedPointerForLink(LinkInterface* link)
+{
+ for (int i=0; i<_links.count(); i++) {
+ if (_links[i].data() == link) {
+ return _links[i];
+ }
+ }
+
+ // This should never happen
+ Q_ASSERT(false);
+ return _nullSharedLink;
+}
diff --git a/src/comm/LinkManager.h b/src/comm/LinkManager.h
index 1553f07a6bef5c3e1e6376c3cdfd463310d89516..3d438225a8eb5272edc5cbf0dcd954a1884a760e 100644
--- a/src/comm/LinkManager.h
+++ b/src/comm/LinkManager.h
@@ -103,21 +103,18 @@ public:
/// Sets the flag to allow new connections to be made
void setConnectionsAllowed(void) { _connectionsSuspended = false; }
- /// Creates (and adds) a link based on the given configuration instance. LinkManager takes ownership of this object. To delete
- /// it, call LinkManager::deleteLink.
- LinkInterface* createLink(LinkConfiguration* config);
+ /// Creates, connects (and adds) a link based on the given configuration instance.
+ LinkInterface* createConnectedLink(LinkConfiguration* config);
- /// Creates (and adds) a link based on the given configuration name. LinkManager takes ownership of this object. To delete
- /// it, call LinkManager::deleteLink.
- LinkInterface* createLink(const QString& name);
+ /// Creates, connects (and adds) a link based on the given configuration name.
+ LinkInterface* createConnectedLink(const QString& name);
- /// Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete
- /// it, call LinkManager::deleteLink.
- void addLink(LinkInterface* link);
-
- /// Deletes the specified link. Will disconnect if connected.
- // TODO Will also crash if called. MAVLink protocol is not handling the disconnect properly.
- void deleteLink(LinkInterface* link);
+ /// Returns true if the link manager is holding this link
+ bool containsLink(LinkInterface* link);
+
+ /// Returns the QSharedPointer for this link. You must use SharedLinkInterface if you are going to
+ /// keep references to a link in a thread other than the main ui thread.
+ SharedLinkInterface& sharedPointerForLink(LinkInterface* link);
/// Re-connects all existing links
bool connectAll();
@@ -130,6 +127,14 @@ public:
/// Disconnect the specified link
bool disconnectLink(LinkInterface* link);
+
+ /// Returns true if there are any connected links
+ bool anyConnectedLinks(void);
+
+ // The following APIs are public but should not be called in normal use. The are mainly exposed
+ // here for unit test code.
+ void _deleteLink(LinkInterface* link);
+ void _addLink(LinkInterface* link);
signals:
void newLink(LinkInterface* link);
@@ -141,13 +146,12 @@ signals:
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
- void _delayedDeleteLink();
private:
/// All access to LinkManager is through LinkManager::instance
LinkManager(QObject* parent = NULL);
~LinkManager();
-
+
virtual void _shutdown(void);
bool _connectionsSuspendedMsg(void);
@@ -155,7 +159,12 @@ private:
SerialConfiguration* _findSerialConfiguration(const QString& portName);
QList<LinkConfiguration*> _linkConfigurations; ///< List of configured links
- QList<LinkInterface*> _links; ///< List of available links
+
+ /// List of available links kept as QSharedPointers. We use QSharedPointer since
+ /// there are other objects that maintain copies of these links in other threads.
+ /// The reference counting allows for orderly deletion.
+ QList<SharedLinkInterface> _links;
+
QMutex _linkListMutex; ///< Mutex for thread safe access to _links list
bool _configUpdateSuspended; ///< true: stop updating configuration list
@@ -163,6 +172,8 @@ private:
bool _connectionsSuspended; ///< true: all new connections should not be allowed
QString _connectionsSuspendedReason; ///< User visible reason for suspension
QTimer _portListTimer;
+
+ SharedLinkInterface _nullSharedLink;
};
#endif
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 3986d027719cdb1ebfa77c6bf480d3c8b63779ab..90b1e35d741f8c6346c75a348129a5a94d067059 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -175,8 +175,12 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
Q_ASSERT(link);
if (connected) {
- Q_ASSERT(!_connectedLinks.contains(link));
- _connectedLinks.append(link);
+ foreach (SharedLinkInterface sharedLink, _connectedLinks) {
+ Q_ASSERT(sharedLink.data() != link);
+ }
+
+ // Use the same shared pointer as LinkManager
+ _connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
if (_connectedLinks.count() == 1) {
// This is the first link, we need to start logging
@@ -192,8 +196,15 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
link->writeBytes(cmd, strlen(cmd));
link->writeBytes(init, 4);
} else {
- Q_ASSERT(_connectedLinks.contains(link));
- _connectedLinks.removeOne(link);
+ bool found = false;
+ for (int i=0; i<_connectedLinks.count(); i++) {
+ if (_connectedLinks[i].data() == link) {
+ found = true;
+ _connectedLinks.removeAt(i);
+ break;
+ }
+ }
+ Q_ASSERT(found);
if (_connectedLinks.count() == 0) {
// Last link is gone, close out logging
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index efdd4e4a553905dc6f6b04c62445c29881aaf14f..8d94f32529cbee44bc8b2e108117e39c980c497a 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -285,7 +285,10 @@ private:
void _startLogging(void);
void _stopLogging(void);
- QList<LinkInterface*> _connectedLinks; ///< List of all links connected to protocol
+ /// List of all links connected to protocol. We keep SharedLinkInterface objects
+ /// which are QSharedPointer's in order to maintain reference counts across threads.
+ /// This way Link deletion works correctly.
+ QList<SharedLinkInterface> _connectedLinks;
bool _logSuspendError; ///< true: Logging suspended due to error
bool _logSuspendReplay; ///< true: Logging suspended due to replay
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 0403823767f4cfbc1ca35f8d94d9e44757381ddd..1508c161aac2399737189ac9d18c203f97fab496 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -106,7 +106,7 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
srand(QTime::currentTime().msec());
maxTimeNoise = 0;
this->id = getNextLinkId();
- LinkManager::instance()->addLink(this);
+ LinkManager::instance()->_addLink(this);
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h
index 181c5cfa912fee1f52fa1871b2ff8adbf5bf8274..4b6400addb9062c0c3ab80cb662f8c384cd66889 100644
--- a/src/comm/SerialLink.h
+++ b/src/comm/SerialLink.h
@@ -102,12 +102,11 @@ private:
class SerialLink : public LinkInterface
{
Q_OBJECT
+
friend class SerialConfiguration;
+ friend class LinkManager;
+
public:
-
- SerialLink(SerialConfiguration* config);
- ~SerialLink();
-
// LinkInterface
LinkConfiguration* getLinkConfiguration();
@@ -154,9 +153,13 @@ private slots:
void _rerouteDisconnected(void);
private:
+ // Links are only created/destroyed by LinkManager so constructor/destructor is not public
+ SerialLink(SerialConfiguration* config);
+ ~SerialLink();
+
// From LinkInterface
- bool _connect(void);
- bool _disconnect(void);
+ virtual bool _connect(void);
+ virtual bool _disconnect(void);
// Internal methods
void _emitLinkError(const QString& errorMsg);
diff --git a/src/comm/TCPLink.h b/src/comm/TCPLink.h
index 36ce8815addbd509d39518ce7623a487ef439791..c0140e1e6481ec3bd23e43a1b33b93c3a1439a18 100644
--- a/src/comm/TCPLink.h
+++ b/src/comm/TCPLink.h
@@ -115,12 +115,12 @@ private:
class TCPLink : public LinkInterface
{
Q_OBJECT
+
friend class TCPLinkUnitTest;
friend class TCPConfiguration;
-public:
- TCPLink(TCPConfiguration* config);
- ~TCPLink();
+ friend class LinkManager;
+public:
QTcpSocket* getSocket(void) { return _socket; }
void signalBytesWritten(void);
@@ -159,9 +159,13 @@ protected:
virtual void run(void);
private:
+ // Links are only created/destroyed by LinkManager so constructor/destructor is not public
+ TCPLink(TCPConfiguration* config);
+ ~TCPLink();
+
// From LinkInterface
- bool _connect(void);
- bool _disconnect(void);
+ virtual bool _connect(void);
+ virtual bool _disconnect(void);
bool _hardwareConnect();
void _restartConnection();
diff --git a/src/comm/UDPLink.h b/src/comm/UDPLink.h
index 578de01c121e15f3ac0d97d80334597265d4245a..1d6868745dd7c2ebc14400c100a19a378bb0f9fb 100644
--- a/src/comm/UDPLink.h
+++ b/src/comm/UDPLink.h
@@ -143,11 +143,11 @@ private:
class UDPLink : public LinkInterface
{
Q_OBJECT
+
friend class UDPConfiguration;
+ friend class LinkManager;
+
public:
- UDPLink(UDPConfiguration* config);
- ~UDPLink();
-
void requestReset() { }
bool isConnected() const;
QString getName() const;
@@ -192,6 +192,10 @@ protected:
int _id;
private:
+ // Links are only created/destroyed by LinkManager so constructor/destructor is not public
+ UDPLink(UDPConfiguration* config);
+ ~UDPLink();
+
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
diff --git a/src/qgcunittest/LinkManagerTest.cc b/src/qgcunittest/LinkManagerTest.cc
index f613683dd719d74b1934a5a073519d12af4eb347..67d143b582271a61c43f3b2da5833a9841f91223 100644
--- a/src/qgcunittest/LinkManagerTest.cc
+++ b/src/qgcunittest/LinkManagerTest.cc
@@ -78,7 +78,7 @@ void LinkManagerTest::_add_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
- _linkMgr->addLink(link);
+ _linkMgr->_addLink(link);
QList<LinkInterface*> links = _linkMgr->getLinks();
QCOMPARE(links.count(), 1);
@@ -91,8 +91,8 @@ void LinkManagerTest::_delete_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
- _linkMgr->addLink(link);
- _linkMgr->deleteLink(link);
+ _linkMgr->_addLink(link);
+ _linkMgr->_deleteLink(link);
QCOMPARE(_linkMgr->getLinks().count(), 0);
}
@@ -104,7 +104,7 @@ void LinkManagerTest::_addSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
- _linkMgr->addLink(link);
+ _linkMgr->_addLink(link);
QCOMPARE(_multiSpy->checkOnlySignalByMask(newLinkSignalMask), true);
QSignalSpy* spy = _multiSpy->getSpyByIndex(newLinkSignalIndex);
@@ -125,10 +125,10 @@ void LinkManagerTest::_deleteSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
- _linkMgr->addLink(link);
+ _linkMgr->_addLink(link);
_multiSpy->clearAllSignals();
- _linkMgr->deleteLink(link);
+ _linkMgr->_deleteLink(link);
QCOMPARE(_multiSpy->checkOnlySignalByMask(linkDeletedSignalMask), true);
QSignalSpy* spy = _multiSpy->getSpyByIndex(linkDeletedSignalIndex);
diff --git a/src/qgcunittest/MainWindowTest.cc b/src/qgcunittest/MainWindowTest.cc
index 2b007bb6735e6615d4725cab1ae6bc592c213bb4..aa7a54cfbdfb757f425b5e9b37b6c7520f68d30d 100644
--- a/src/qgcunittest/MainWindowTest.cc
+++ b/src/qgcunittest/MainWindowTest.cc
@@ -67,7 +67,7 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
link->setAutopilotType(autopilot);
- LinkManager::instance()->addLink(link);
+ LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
diff --git a/src/qgcunittest/MavlinkLogTest.cc b/src/qgcunittest/MavlinkLogTest.cc
index a870b3b9dabde2ccec80e9a2ad36ac29a6175056..a34c69954590e5429f6172627fb7dc7fe866e1bb 100644
--- a/src/qgcunittest/MavlinkLogTest.cc
+++ b/src/qgcunittest/MavlinkLogTest.cc
@@ -140,7 +140,7 @@ void MavlinkLogTest::_connectLog_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
- LinkManager::instance()->addLink(link);
+ LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 38fdf67ddca82291896422cbab9ed3a07906c6e4..1334370ff448cf45455e51f9913a72d8821f2343 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -380,8 +380,7 @@ bool UAS::getSelected() const
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
- if (!links.contains(link))
- {
+ if (!_containsLink(link)) {
addLink(link);
// qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
}
@@ -873,8 +872,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
positionLock = true;
isGlobalPositionKnown = true;
- //TODO fix this hack for forwarding of global position for patch antenna tracking
- //forwardMessage(message);
}
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
@@ -1725,49 +1722,21 @@ void UAS::sendMessage(mavlink_message_t message)
return;
}
- if (links.count() < 1) {
+ if (_links.count() < 1) {
qDebug() << "NO LINK AVAILABLE TO SEND!";
}
// Emit message on all links that are currently connected
- foreach (LinkInterface* link, links) {
+ foreach (SharedLinkInterface sharedLink, _links) {
+ LinkInterface* link = sharedLink.data();
+ Q_ASSERT(link);
+
if (link->isConnected()) {
sendMessage(link, message);
}
}
}
-/**
-* Forward a message to all links that are currently connected.
-* @param message that is to be forwarded
-*/
-void UAS::forwardMessage(mavlink_message_t message)
-{
- // Emit message on all links that are currently connected
- QList<LinkInterface*>link_list = LinkManager::instance()->getLinks();
-
- foreach(LinkInterface* link, link_list)
- {
- if (link)
- {
- SerialLink* serial = dynamic_cast<SerialLink*>(link);
- if(serial != 0)
- {
- for(int i=0; i<links.size(); i++)
- {
- if(serial != links.at(i))
- {
- if (link->isConnected()) {
- qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
- sendMessage(serial, message);
- }
- }
- }
- }
- }
- }
-}
-
/**
* Send a message to the link that is connected.
* @param link that the message will be sent to
@@ -3274,9 +3243,9 @@ const QString& UAS::getShortMode() const
*/
void UAS::addLink(LinkInterface* link)
{
- if (!links.contains(link))
+ if (!_containsLink(link))
{
- links.append(link);
+ _links.append(LinkManager::instance()->sharedPointerForLink(link));
qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
}
@@ -3285,16 +3254,16 @@ void UAS::addLink(LinkInterface* link)
void UAS::removeLink(QObject* object)
{
qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
- qCDebug(UASLog) << "link count:" << links.count();
+ qCDebug(UASLog) << "link count:" << _links.count();
- // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already
- // been destroyed.
+ LinkInterface* link = dynamic_cast<LinkInterface*>(object);
- LinkInterface* link = (LinkInterface*)object;
-
- int index = links.indexOf(link);
- Q_ASSERT(index != -1);
- links.removeAt(index);
+ for (int i=0; i<_links.count(); i++) {
+ if (_links[i].data() == link) {
+ _links.removeAt(i);
+ break;
+ }
+ }
}
/**
@@ -3302,7 +3271,13 @@ void UAS::removeLink(QObject* object)
*/
QList<LinkInterface*> UAS::getLinks()
{
- return links;
+ QList<LinkInterface*> list;
+
+ foreach (SharedLinkInterface sharedLink, _links) {
+ list << sharedLink.data();
+ }
+
+ return list;
}
/**
@@ -3429,3 +3404,14 @@ void UAS::unsetRCToParameterMap()
sendMessage(message);
}
}
+
+bool UAS::_containsLink(LinkInterface* link)
+{
+ foreach (SharedLinkInterface sharedLink, _links) {
+ if (sharedLink.data() == link) {
+ return true;
+ }
+ }
+
+ return false;
+}
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index d6de3ab9c5e0adc5c789bb92425956ea5fbfd628..7375ca17381c53625bdf4fa8e5cf162b86d38164 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -341,7 +341,11 @@ protected: //COMMENTS FOR TEST UNIT
/// LINK ID AND STATUS
int uasId; ///< Unique system ID
QMap<int, QString> components;///< IDs and names of all detected onboard components
- QList<LinkInterface*> links; ///< List of links this UAS can be reached by
+
+ /// List of all links associated with this UAS. We keep SharedLinkInterface objects which are QSharedPointer's in order to
+ /// maintain reference counts across threads. This way Link deletion works correctly.
+ QList<SharedLinkInterface> _links;
+
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
CommStatus commStatus; ///< Communication status
@@ -812,9 +816,6 @@ public slots:
/** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message);
- /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
- void forwardMessage(mavlink_message_t message);
-
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected();
@@ -951,6 +952,9 @@ protected slots:
void writeSettings();
/** @brief Read settings from disk */
void readSettings();
+
+private:
+ bool _containsLink(LinkInterface* link);
};
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 25b3c679ccc0ee23ca2f9e3751307f9b29efdf3d..41c385311ec2db03253331e3f93d59a662fcf96f 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -642,15 +642,7 @@ void MainWindow::normalActionItemCallback()
void MainWindow::closeEvent(QCloseEvent *event)
{
// Disallow window close if there are active connections
- bool foundConnections = false;
- foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
- if (link->isConnected()) {
- foundConnections = true;
- break;
- }
- }
-
- if (foundConnections) {
+ if (LinkManager::instance()->anyConnectedLinks()) {
QGCMessageBox::StandardButton button =
QGCMessageBox::warning(
tr("QGroundControl close"),
@@ -658,9 +650,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMessageBox::Yes | QMessageBox::Cancel,
QMessageBox::Cancel);
if (button == QMessageBox::Yes) {
- foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
- LinkManager::instance()->disconnectLink(link);
- }
+ LinkManager::instance()->disconnectAll();
} else {
event->ignore();
return;
@@ -669,11 +659,10 @@ void MainWindow::closeEvent(QCloseEvent *event)
// This will process any remaining flight log save dialogs
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
+
// Should not be any active connections
- foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
- Q_UNUSED(link);
- Q_ASSERT(!link->isConnected());
- }
+ Q_ASSERT(!LinkManager::instance()->anyConnectedLinks());
+
_storeCurrentViewState();
storeSettings();
UASManager::instance()->storeSettings();
@@ -1355,11 +1344,7 @@ void MainWindow::restoreLastUsedConnection()
if(settings.contains(key)) {
QString connection = settings.value(key).toString();
// Create a link for it
- LinkInterface* link = LinkManager::instance()->createLink(connection);
- if(link) {
- // Connect it
- LinkManager::instance()->connectLink(link);
- }
+ LinkManager::instance()->createConnectedLink(connection);
}
}
diff --git a/src/ui/QGCLinkConfiguration.cc b/src/ui/QGCLinkConfiguration.cc
index 936490a257028a6e9ae78653384e4bc9c68f1f82..fab86ed11137cbdeccf0f22bb4dc83c9d1f98246 100644
--- a/src/ui/QGCLinkConfiguration.cc
+++ b/src/ui/QGCLinkConfiguration.cc
@@ -104,10 +104,8 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
LinkManager::instance()->disconnectLink(link);
}
} else {
- LinkInterface* link = LinkManager::instance()->createLink(config);
+ LinkInterface* link = LinkManager::instance()->createConnectedLink(config);
if(link) {
- // Connect it
- LinkManager::instance()->connectLink(link);
// Now go hunting for the parent so we can shut this down
QWidget* pQw = parentWidget();
while(pQw) {
diff --git a/src/ui/QGCMAVLinkLogPlayer.cc b/src/ui/QGCMAVLinkLogPlayer.cc
index f4d12d8b8aef30d2d909c72109024fcd586a6586..f475312f3eecb095d4241d24baf5341a17875097 100644
--- a/src/ui/QGCMAVLinkLogPlayer.cc
+++ b/src/ui/QGCMAVLinkLogPlayer.cc
@@ -246,18 +246,7 @@ void QGCMAVLinkLogPlayer::updatePositionSliderUi(float percent)
void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
{
// Disallow replay when any links are connected
-
- bool foundConnection = false;
- LinkManager* linkMgr = LinkManager::instance();
- QList<LinkInterface*> links = linkMgr->getLinks();
- foreach(LinkInterface* link, links) {
- if (link->isConnected()) {
- foundConnection = true;
- break;
- }
- }
-
- if (foundConnection) {
+ if (LinkManager::instance()->anyConnectedLinks()) {
QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
return;
}
@@ -326,7 +315,7 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
// If there's an existing MAVLinkSimulationLink() being used for an old file,
// we replace it.
if (logLink) {
- LinkManager::instance()->deleteLink(logLink);
+ LinkManager::instance()->_deleteLink(logLink);
}
logLink = new MAVLinkSimulationLink("");
diff --git a/src/ui/QGCToolBar.cc b/src/ui/QGCToolBar.cc
index 3d460488200d0589f47e944b2d677dc67135de81..77c22f92fed561f27ca19906fa9f8ae2d50c6aef 100644
--- a/src/ui/QGCToolBar.cc
+++ b/src/ui/QGCToolBar.cc
@@ -676,10 +676,8 @@ void QGCToolBar::_connectButtonClicked(bool checked)
// Get the configuration name
QString confName = _linkCombo->currentText();
// Create a link for it
- LinkInterface* link = _linkMgr->createLink(confName);
+ LinkInterface* link = _linkMgr->createConnectedLink(confName);
if(link) {
- // Connect it
- _linkMgr->connectLink(link);
// Save last used connection
MainWindow::instance()->saveLastUsedConnection(confName);
}
diff --git a/src/ui/toolbar/MainToolBar.cc b/src/ui/toolbar/MainToolBar.cc
index 50f66d8a06798f54487d58804fed2898dfaa6af0..ad9de52a3ad7378898ade0da19df3d927412a3bc 100644
--- a/src/ui/toolbar/MainToolBar.cc
+++ b/src/ui/toolbar/MainToolBar.cc
@@ -163,10 +163,8 @@ void MainToolBar::onConnect(QString conf)
// We don't want the combo box updating under our feet
LinkManager::instance()->suspendConfigurationUpdates(true);
// Create a link
- LinkInterface* link = LinkManager::instance()->createLink(_currentConfig);
+ LinkInterface* link = LinkManager::instance()->createConnectedLink(_currentConfig);
if(link) {
- // Connect it
- LinkManager::instance()->connectLink(link);
// Save last used connection
MainWindow::instance()->saveLastUsedConnection(_currentConfig);
}
diff --git a/src/ui/uas/UASListWidget.cc b/src/ui/uas/UASListWidget.cc
index fa5194bb181ebc5d54e4743ba929e4f45be61914..3fe12a1a5ff6da0ed6fb381c9470f8a1e33a251e 100644
--- a/src/ui/uas/UASListWidget.cc
+++ b/src/ui/uas/UASListWidget.cc
@@ -118,7 +118,7 @@ void UASListWidget::updateStatus()
LinkInterface* link = i.key();
// Paranoid sanity check
- if (!LinkManager::instance()->getLinks().contains(link))
+ if (!LinkManager::instance()->containsLink(link))
continue;
if (!link)