Move UAS and MAVLinkProtocol back to main thread

Plus a large number of other changes to allow for orderly shutdown of
objects without crashes or asserts. This is need for unit tests to
create/delete global state around every test.

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef AUTOPILOTPLUGIN_H
 #define AUTOPILOTPLUGIN_H
 
@@ -33,12 +36,12 @@
 #include "VehicleComponent.h"
 #include "FactSystem.h"
 
-/// @file
-///     @brief The AutoPilotPlugin class is an abstract base class which represent the methods and objects
-///             which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
-///             code should reside in QGroundControl. The remainder of the QGroundControl source is
-///             generic to a common mavlink implementation.
-///     @author Don Gagne <don@thegagnes.com>
+/// This is the base class for AutoPilot plugins
+///
+/// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
+/// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
+/// code should reside in QGroundControl. The remainder of the QGroundControl source is
+/// generic to a common mavlink implementation.
 
 class AutoPilotPlugin : public QObject
 {
@@ -46,21 +49,28 @@ class AutoPilotPlugin : public QObject
 
 public:
     /// @brief Returns the list of VehicleComponent objects associated with the AutoPilot.
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const = 0;
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const = 0;
+    
+    /// Returns the parameter facts for the specified UAS.
+    ///
+    /// Access to parameter properties is done through QObject::property or the full
+    /// QMetaObject methods. The property name is the parameter name. You should not
+    /// request parameter facts until the plugin reports that it is ready.
+    virtual QObject* parameterFacts(void) const = 0;
     
-    typedef struct {
-        uint8_t baseMode;
-        uint32_t customMode;
-    } FullMode_t;
+    /// Adds the FactSystem properties to the Qml context. You should not call
+    /// this method until the plugin reports that it is ready.
+    virtual void addFactsToQmlContext(QQmlContext* context) const = 0;
     
-    /// @brief Returns the list of modes which are available for this AutoPilot.
-    virtual QList<FullMode_t> getModes(void) const = 0;
+    /// Returns true if the plugin is ready for use
+    virtual bool pluginIsReady(void) const = 0;
     
-    /// @brief Returns a human readable short description for the specified mode.
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const = 0;
+    /// FIXME: Kind of hacky
+    static void clearStaticData(void);
     
-    /// @brief Adds the FactSystem properties associated with this AutoPilot to the Qml context.
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const = 0;
+signals:
+    /// Signalled when plugin is ready for use
+    void pluginReady(void);
     
 protected:
     // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -28,29 +28,109 @@
 #include "PX4/PX4AutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 #include "QGCApplication.h"
+#include "UASManager.h"
 
 IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
     QGCSingleton(parent)
 {
-    // All plugins are constructed here so that they end up on the correct thread
-    _pluginMap[MAV_AUTOPILOT_PX4] = new PX4AutoPilotPlugin(this);
-    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
+    UASManagerInterface* uasMgr = UASManager::instance();
+    Q_ASSERT(uasMgr);
+    
+    // We need to track uas coming and going so that we can instantiate plugins for each uas
+    connect(uasMgr, &UASManagerInterface::UASCreated, this, &AutoPilotPluginManager::_uasCreated);
+    connect(uasMgr, &UASManagerInterface::UASDeleted, this, &AutoPilotPluginManager::_uasDeleted);
+}
 
-    _pluginMap[MAV_AUTOPILOT_GENERIC] = new GenericAutoPilotPlugin(this);
-    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
+AutoPilotPluginManager::~AutoPilotPluginManager()
+{
+#ifdef QT_DEBUG
+    foreach(MAV_AUTOPILOT mavType, _pluginMap.keys()) {
+        Q_ASSERT_X(_pluginMap[mavType].count() == 0, "AutoPilotPluginManager", "LinkManager::_shutdown should have already closed all uas");
+    }
+#endif
+    _pluginMap.clear();
+    
+    PX4AutoPilotPlugin::clearStaticData();
+    GenericAutoPilotPlugin::clearStaticData();
+}
+
+/// Create the plugin for this uas
+void AutoPilotPluginManager::_uasCreated(UASInterface* uas)
+{
+    Q_ASSERT(uas);
+    
+    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
+    int uasId = uas->getUASID();
+    Q_ASSERT(uasId != 0);
+    
+    if (_pluginMap.contains(autopilotType)) {
+        Q_ASSERT_X(!_pluginMap[autopilotType].contains(uasId), "AutoPilotPluginManager", "Either we have duplicate UAS ids, or a UAS was not removed correctly.");
+    }
+
+    AutoPilotPlugin* plugin;
+    switch (autopilotType) {
+        case MAV_AUTOPILOT_PX4:
+            plugin = new PX4AutoPilotPlugin(uas, this);
+            Q_CHECK_PTR(plugin);
+            _pluginMap[MAV_AUTOPILOT_PX4][uasId] = plugin;
+            break;
+        case MAV_AUTOPILOT_GENERIC:
+        default:
+            plugin = new GenericAutoPilotPlugin(uas, this);
+            Q_CHECK_PTR(plugin);
+            _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = plugin;
+    }
+}
+
+/// Destroy the plugin associated with this uas
+void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
+{
+    Q_ASSERT(uas);
+    
+    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
+    int uasId = uas->getUASID();
+    Q_ASSERT(uasId != 0);
+    
+    Q_ASSERT(_pluginMap.contains(autopilotType));
+    Q_ASSERT(_pluginMap[autopilotType].contains(uasId));
+    delete _pluginMap[autopilotType][uasId];
+    _pluginMap[autopilotType].remove(uasId);
+}
+
+AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
+{
+    Q_ASSERT(uas);
+    
+    MAV_AUTOPILOT autopilotType = static_cast<MAV_AUTOPILOT>(uas->getAutopilotType());
+    int uasId = uas->getUASID();
+    Q_ASSERT(uasId != 0);
+    
+    Q_ASSERT(_pluginMap.contains(autopilotType));
+    Q_ASSERT(_pluginMap[autopilotType].contains(uasId));
+    
+    return _pluginMap[autopilotType][uasId];
+}
+
+QList<AutoPilotPluginManager::FullMode_t> AutoPilotPluginManager::getModes(int autopilotType) const
+{
+    switch (autopilotType) {
+        case MAV_AUTOPILOT_PX4:
+            return PX4AutoPilotPlugin::getModes();
+        case MAV_AUTOPILOT_GENERIC:
+        default:
+            return GenericAutoPilotPlugin::getModes();
+    }
 }
 
-AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(int autopilotType)
+QString AutoPilotPluginManager::getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const
 {
     switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:
-            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
-            return _pluginMap[MAV_AUTOPILOT_PX4];
-            
+            return PX4AutoPilotPlugin::getShortModeText(baseMode, customMode);
+        case MAV_AUTOPILOT_GENERIC:
         default:
-            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
-            return _pluginMap[MAV_AUTOPILOT_GENERIC];
+            return GenericAutoPilotPlugin::getShortModeText(baseMode, customMode);
     }
 }

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -21,6 +21,9 @@
  
  ======================================================================*/
 
+/// @file
+///     @author Don Gagne <don@thegagnes.com>
+
 #ifndef AUTOPILOTPLUGINMANAGER_H
 #define AUTOPILOTPLUGINMANAGER_H
 
@@ -32,11 +35,10 @@
 #include "VehicleComponent.h"
 #include "AutoPilotPlugin.h"
 #include "QGCSingleton.h"
+#include "QGCMAVLink.h"
 
-/// @file
-///     @brief The AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
-///
-///     @author Don Gagne <don@thegagnes.com>
+
+/// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
 
 class AutoPilotPluginManager : public QGCSingleton
 {
@@ -45,15 +47,31 @@ class AutoPilotPluginManager : public QGCSingleton
     DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 public:
-    /// @brief Returns the singleton AutoPilot instance for the specified auto pilot type.
-    /// @param autopilotType Specified using the MAV_AUTOPILOT_* values.
-    AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType);
+    /// Returns the singleton AutoPilotPlugin instance for the specified uas.
+    ///     @param uas Uas to get plugin for
+    AutoPilotPlugin* getInstanceForAutoPilotPlugin(UASInterface* uas);
+    
+    typedef struct {
+        uint8_t baseMode;
+        uint32_t customMode;
+    } FullMode_t;
+
+    /// Returns the list of modes which are available for the specified autopilot type.
+    QList<FullMode_t> getModes(int autopilotType) const;
     
+    /// @brief Returns a human readable short description for the specified mode.
+    QString getShortModeText(uint8_t baseMode, uint32_t customMode, int autopilotType) const;
+
+private slots:
+    void _uasCreated(UASInterface* uas);
+    void _uasDeleted(UASInterface* uas);
+
 private:
     /// All access to singleton is through AutoPilotPluginManager::instance
     AutoPilotPluginManager(QObject* parent = NULL);
+    ~AutoPilotPluginManager();
     
-    QMap<int, AutoPilotPlugin*> _pluginMap;
+    QMap<MAV_AUTOPILOT, QMap<int, AutoPilotPlugin*> > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
 };
 
 #endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -26,24 +26,22 @@
 
 #include "GenericAutoPilotPlugin.h"
 
-GenericAutoPilotPlugin::GenericAutoPilotPlugin(QObject* parent) :
+GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
     AutoPilotPlugin(parent)
 {
-    
+    Q_UNUSED(uas);
 }
 
-QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
+QList<VehicleComponent*> GenericAutoPilotPlugin::getVehicleComponents(void) const
 {
-    Q_UNUSED(uas);
-    
     // Generic autopilot has no configurable components
     return QList<VehicleComponent*>();
 }
 
-QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
+QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
 {
-    QList<FullMode_t>       modeList;
-    FullMode_t              fullMode;
+    AutoPilotPluginManager::FullMode_t fullMode;
+    QList<AutoPilotPluginManager::FullMode_t> modeList;
 
     fullMode.customMode = 0;
     
@@ -62,7 +60,7 @@ QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
     return modeList;
 }
 
-QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
+QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     Q_UNUSED(customMode);
     
@@ -85,11 +83,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
     return mode;
 }
 
-void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
+void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
 {
     Q_UNUSED(context);
-    Q_UNUSED(uas);
     
     // Qml not yet supported for Generic
     Q_ASSERT(false);
 }
+
+QObject* GenericAutoPilotPlugin::parameterFacts(void) const
+{
+    return NULL;
+}
+
+void GenericAutoPilotPlugin::clearStaticData(void)
+{
+    // No Static data yet
+}

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -25,6 +25,7 @@
 #define GENERICAUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 
 /// @file
 ///     @brief This is the generic implementation of the AutoPilotPlugin class for mavs
@@ -36,13 +37,17 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    GenericAutoPilotPlugin(QObject* parent = NULL);
+    GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
     
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
-    virtual QList<FullMode_t> getModes(void) const;
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
+    virtual void addFactsToQmlContext(QQmlContext* context) const;
+    virtual QObject* parameterFacts(void) const;
+    virtual bool pluginIsReady(void) const { return true; }
+
+    static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
+    static void clearStaticData(void);
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -65,59 +65,59 @@ union px4_custom_mode {
     float data_float;
 };
 
-PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) :
-    AutoPilotPlugin(parent)
+PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
+    AutoPilotPlugin(parent),
+    _uas(uas),
+    _parameterFacts(NULL)
 {
-    UASManagerInterface* uasMgr = UASManager::instance();
-    Q_ASSERT(uasMgr);
+    Q_ASSERT(uas);
+    
+    _parameterFacts = new PX4ParameterFacts(uas, this);
+    Q_CHECK_PTR(_parameterFacts);
     
-    // We need to track uas coming and going so that we can create PX4ParameterFacts instances for each uas
-    connect(uasMgr, &UASManagerInterface::UASCreated, this, &PX4AutoPilotPlugin::_uasCreated);
-    connect(uasMgr, &UASManagerInterface::UASDeleted, this, &PX4AutoPilotPlugin::_uasDeleted);
+    connect(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::pluginReady);
     
     PX4ParameterFacts::loadParameterFactMetaData();
 }
 
 PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
 {
+    delete _parameterFacts;
     PX4ParameterFacts::deleteParameterFactMetaData();
-    
-    foreach(UASInterface* uas, _mapUas2ParameterFacts.keys()) {
-        delete _mapUas2ParameterFacts[uas];
-    }
-    _mapUas2ParameterFacts.clear();
 }
 
-QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(UASInterface* uas) const
+QList<VehicleComponent*> PX4AutoPilotPlugin::getVehicleComponents(void) const
 {
+    Q_ASSERT(_uas);
+    
     QList<VehicleComponent*> components;
     
     VehicleComponent* component;
     
-    component = new AirframeComponent(uas);
+    component = new AirframeComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new RadioComponent(uas);
+    component = new RadioComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new FlightModesComponent(uas);
+    component = new FlightModesComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
-    component = new SensorsComponent(uas);
+    component = new SensorsComponent(_uas);
     Q_CHECK_PTR(component);
     components.append(component);
     
     return components;
 }
 
-QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
+QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
 {
-    QList<FullMode_t>       modeList;
-    FullMode_t              fullMode;
-    union px4_custom_mode   px4_cm;
+    union px4_custom_mode                       px4_cm;
+    AutoPilotPluginManager::FullMode_t          fullMode;
+    QList<AutoPilotPluginManager::FullMode_t>   modeList;
     
     px4_cm.data = 0;
     px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
@@ -152,7 +152,7 @@ QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
     return modeList;
 }
 
-QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const
+QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
 {
     QString mode;
     
@@ -187,51 +187,40 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
             mode = "|OFFBOARD";
         }
     } else {
-        mode = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
+        // use base_mode - not autopilot-specific
+        if (baseMode == 0) {
+            mode = "|PREFLIGHT";
+        } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_AUTO) {
+            mode = "|AUTO";
+        } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) {
+            mode = "|MANUAL";
+            if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_GUIDED) {
+                mode += "|GUIDED";
+            } else if (baseMode & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE) {
+                mode += "|STABILIZED";
+            }
+        }
+
     }
     
     return mode;
 }
 
-void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const
+void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
 {
     Q_ASSERT(context);
-    Q_ASSERT(uas);
-    
-    QGCUASParamManagerInterface* paramMgr = uas->getParamManager();
-    Q_UNUSED(paramMgr);
-    Q_ASSERT(paramMgr);
-    Q_ASSERT(paramMgr->parametersReady());
     
-    PX4ParameterFacts* facts = _parameterFactsForUas(uas);
-    Q_ASSERT(facts);
+    Q_ASSERT(_parameterFacts->factsAreReady());
     
-    context->setContextProperty("parameterFacts", facts);
+    context->setContextProperty("parameterFacts", _parameterFacts);
 }
 
-/// @brief When a new uas is create we add a new set of parameter facts for it
-void PX4AutoPilotPlugin::_uasCreated(UASInterface* uas)
+void PX4AutoPilotPlugin::clearStaticData(void)
 {
-    Q_ASSERT(uas);
-    Q_ASSERT(!_mapUas2ParameterFacts.contains(uas));
-    
-    // Each uas has it's own set of parameter facts
-    PX4ParameterFacts* facts = new PX4ParameterFacts(uas, this);
-    Q_CHECK_PTR(facts);
-    _mapUas2ParameterFacts[uas] = facts;
+    PX4ParameterFacts::clearStaticData();
 }
 
-/// @brief When the uas is deleted we remove the parameter facts for it from the system
-void PX4AutoPilotPlugin::_uasDeleted(UASInterface* uas)
+bool PX4AutoPilotPlugin::pluginIsReady(void) const
 {
-    delete _parameterFactsForUas(uas);
-    _mapUas2ParameterFacts.remove(uas);
-}
-
-PX4ParameterFacts* PX4AutoPilotPlugin::_parameterFactsForUas(UASInterface* uas) const
-{
-    Q_ASSERT(uas);
-    Q_ASSERT(_mapUas2ParameterFacts.contains(uas));
-    
-    return _mapUas2ParameterFacts[uas];
+    return _parameterFacts->factsAreReady();
 }

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -25,6 +25,7 @@
 #define PX4AUTOPILOT_H
 
 #include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 #include "UASInterface.h"
 #include "PX4ParameterFacts.h"
 
@@ -37,23 +38,23 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    PX4AutoPilotPlugin(QObject* parent);
+    PX4AutoPilotPlugin(UASInterface* uas, QObject* parent);
     ~PX4AutoPilotPlugin();
 
     // Overrides from AutoPilotPlugin
-    virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
-    virtual QList<FullMode_t> getModes(void) const;
-    virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const;
-    virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const;
-    
-private slots:
-    void _uasCreated(UASInterface* uas);
-    void _uasDeleted(UASInterface* uas);
+    virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
+    virtual void addFactsToQmlContext(QQmlContext* context) const;
+    virtual QObject* parameterFacts(void) const { return _parameterFacts; }
+    virtual bool pluginIsReady(void) const;
+
+    static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
+    static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
+    static void clearStaticData(void);
     
 private:
-    PX4ParameterFacts* _parameterFactsForUas(UASInterface* uas) const;
-    
-    QMap<UASInterface*, PX4ParameterFacts*> _mapUas2ParameterFacts;
+    UASInterface*       _uas;
+    PX4ParameterFacts*  _parameterFacts;
+    bool                _pluginReady;
 };
 
 #endif

src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc

@@ -25,6 +25,7 @@
 ///     @author Don Gagne <don@thegagnes.com>
 
 #include "PX4ParameterFacts.h"
+#include "QGCApplication.h"
 
 #include <QFile>
 #include <QDebug>
@@ -32,12 +33,14 @@
 Q_LOGGING_CATEGORY(PX4ParameterFactsLog, "PX4ParameterFactsLog")
 Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
 
+bool PX4ParameterFacts::_parameterMetaDataLoaded = false;
 QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData;
 
 PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
     QObject(parent),
     _lastSeenComponent(-1),
-    _paramMgr(NULL)
+    _paramMgr(NULL),
+    _factsReady(false)
 {
     Q_ASSERT(uas);
 
@@ -46,11 +49,14 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
     _paramMgr = uas->getParamManager();
     Q_ASSERT(_paramMgr);
     
+    // We need to be initialized before param mgr starts sending parameters so we catch each one
+    Q_ASSERT(!_paramMgr->parametersReady());
+    
+    // We need to know when the param mgr is done sending the initial set of paramters
+    connect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+    
     // UASInterface::parameterChanged has multiple overrides so we need to use SIGNAL/SLOT style connect
     connect(uas, SIGNAL(parameterChanged(int, int, QString, QVariant)), this, SLOT(_parameterChanged(int, int, QString, QVariant)));
-    
-    // Fact meta data should already be loaded
-    Q_ASSERT(_mapParameterName2FactMetaData.count() != 0);
 }
 
 PX4ParameterFacts::~PX4ParameterFacts()
@@ -90,7 +96,7 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
     // If we don't have meta data for the parameter it can't be part of the FactSystem
     if (!_mapParameterName2FactMetaData.contains(parameterName)) {
         // FIXME: Debug or Warning. Warning will fail TC
-        qCDebug(PX4ParameterFactsLog) << "FactSystem meta data out of date. Missing parameter:" << parameterName;
+        qDebug() << "FactSystem meta data out of date. Missing parameter:" << parameterName;
         return;
     }
     
@@ -99,19 +105,22 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
         
         fact->setMetaData(_mapParameterName2FactMetaData[parameterName]);
         
-        // We need to know when the fact changes so that we can send the new value to the parameter managers
-        connect(fact, &Fact::valueUpdated, this, &PX4ParameterFacts::_valueUpdated);
-        
         _mapParameterName2Fact[parameterName] = fact;
         _mapFact2ParameterName[fact] = parameterName;
+        
+        // We need to know when the fact changes so that we can send the new value to the parameter manager
+        connect(fact, &Fact::_containerValueChanged, this, &PX4ParameterFacts::_valueUpdated);
+        
+        //qDebug() << "Adding new fact" << parameterName;
     }
-    _mapParameterName2Fact[parameterName]->updateValue(value);
+    //qDebug() << "Updating fact value" << parameterName << value;
+    _mapParameterName2Fact[parameterName]->_containerSetValue(value);
 }
 
 /// Connected to Fact::valueUpdated
 ///
 /// Sets the new value into the Parameter Manager. Paramter is persisted after send.
-void PX4ParameterFacts::_valueUpdated(QVariant& value)
+void PX4ParameterFacts::_valueUpdated(QVariant value)
 {
     Fact* fact = qobject_cast<Fact*>(sender());
     Q_ASSERT(fact);
@@ -285,6 +294,11 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
 /// The meta data comes from firmware parameters.xml file.
 void PX4ParameterFacts::loadParameterFactMetaData(void)
 {
+    if (_parameterMetaDataLoaded) {
+        return;
+    }
+    _parameterMetaDataLoaded = true;
+    
     qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
 
     Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
@@ -347,3 +361,29 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
         xml.readNext();
     }
 }
+
+// Called when param mgr list is up to date
+void PX4ParameterFacts::_paramMgrParameterListUpToDate(void)
+{
+    if (!_factsReady) {
+        _factsReady = true;
+        
+        // We don't need this any more
+        disconnect(_paramMgr, SIGNAL(parameterListUpToDate()), this, SLOT(_paramMgrParameterListUpToDate()));
+
+        // There may be parameterUpdated signals still in our queue. Flush them out.
+        qgcApp()->processEvents();
+        
+        // We should have all paramters now so we can signal ready
+        emit factsReady();
+    }
+}
+
+void PX4ParameterFacts::clearStaticData(void)
+{
+    foreach(QString parameterName, _mapParameterName2FactMetaData.keys()) {
+        delete _mapParameterName2FactMetaData[parameterName];
+    }
+    _mapParameterName2FactMetaData.clear();
+    _parameterMetaDataLoaded = false;
+}
\ No newline at end of file

src/AutoPilotPlugins/PX4/PX4ParameterFacts.h

@@ -487,6 +487,7 @@ class PX4ParameterFacts : public QObject
     Q_PROPERTY(Fact* UAVCAN_BITRATE READ getUAVCAN_BITRATE CONSTANT) Fact* getUAVCAN_BITRATE(void) { return _mapParameterName2Fact["UAVCAN_BITRATE"]; }
     Q_PROPERTY(Fact* UAVCAN_ENABLE READ getUAVCAN_ENABLE CONSTANT) Fact* getUAVCAN_ENABLE(void) { return _mapParameterName2Fact["UAVCAN_ENABLE"]; }
     Q_PROPERTY(Fact* UAVCAN_NODE_ID READ getUAVCAN_NODE_ID CONSTANT) Fact* getUAVCAN_NODE_ID(void) { return _mapParameterName2Fact["UAVCAN_NODE_ID"]; }
+    Q_PROPERTY(QString testString READ getTestString CONSTANT)
     
 public:
     /// @param uas Uas which this set of facts is associated with
@@ -496,13 +497,20 @@ public:
     
     static void loadParameterFactMetaData(void);
     static void deleteParameterFactMetaData(void);
+    static void clearStaticData(void);
+    
+    /// Returns true if the full set of facts are ready
+    bool factsAreReady(void) { return _factsReady; }
+    
+signals:
+    /// Signalled when the full set of facts are ready
+    void factsReady(void);
     
 private slots:
-    /// Connected to UASInterface::parameterChanged
     void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
-    
-    /// Signalled from Fact to indicate value was changed through the property write accessor
-    void _valueUpdated(QVariant& value);
+    void _valueUpdated(QVariant value);
+    void _paramMgrParameterListUpToDate(void);
+    QString getTestString(void) { return QString("foo"); }
     
 private:
     static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group);
@@ -512,12 +520,15 @@ private:
     QMap<QString, Fact*> _mapParameterName2Fact;    ///< Maps from a parameter name to a Fact
     QMap<Fact*, QString> _mapFact2ParameterName;    ///< Maps from a Fact to a parameter name
     
+    static bool _parameterMetaDataLoaded;   ///< true: parameter meta data already loaded
     static QMap<QString, FactMetaData*> _mapParameterName2FactMetaData; ///< Maps from a parameter name to FactMetaData
     
     int _uasId;             ///< Id for uas which this set of Facts are associated with
     int _lastSeenComponent;
     
     QGCUASParamManagerInterface* _paramMgr;
+    
+    bool _factsReady;   ///< All facts received from param mgr
 };
 
 #endif
\ No newline at end of file

src/FactSystem/Fact.cc

@@ -34,14 +34,15 @@ Fact::Fact(QObject* parent) :
 
 }
 
-void Fact::setValue(QVariant& value)
+void Fact::setValue(const QVariant& value)
 {
     _value = value;
-    emit valueUpdated(value);
+    emit valueChanged(_value);
+    emit _containerValueChanged(_value);
 }
 
-void Fact::updateValue(QVariant& value)
+void Fact::_containerSetValue(const QVariant& value)
 {
     _value = value;
-    emit valueChanged(value);
+    emit valueChanged(_value);
 }

src/FactSystem/Fact.h

@@ -62,7 +62,7 @@ public:
     QVariant value(void) const { return _value; }
     
     /// Write accessor for value property
-    void setValue(QVariant& value);
+    void setValue(const QVariant& value);
     
     /// Read accesor for defaultValue property
     QVariant defaultValue(void) { return _metaData->defaultValue; }
@@ -85,24 +85,21 @@ public:
     /// Read accesor for max property
     QVariant max(void) { return _metaData->max; }
     
-    /// Used to update the value property from C++ code.
-    ///
-    /// The setValue method is only for use by the QObject Property system. It should not be called directly by C++ app code.
-    void updateValue(QVariant& value);
-    
     /// Sets the meta data associated with the Fact.
     void setMetaData(FactMetaData* metaData) { _metaData = metaData; }
     
+    void _containerSetValue(const QVariant& value);
+    
 signals:
     /// QObject Property System signal for value property changes
     ///
     /// This signal is only meant for use by the QT property system. It should not be connected to by client code.
-    void valueChanged(QVariant& value);
+    void valueChanged(QVariant value);
     
     /// Signalled when property has been changed by a call to the property write accessor
     ///
-    /// This signal is meant for use by client code.
-    void valueUpdated(QVariant& value);
+    /// This signal is meant for use by Fact container implementations.
+    void _containerValueChanged(QVariant& value);
     
 private:
     QVariant        _value;     ///< Fact value

src/FactSystem/FactSystem.h

@@ -50,7 +50,6 @@ class FactSystem : public QGCSingleton
 private:
     /// All access to FactSystem is through FactSystem::instance, so constructor is private
     FactSystem(QObject* parent = NULL);
-    
     ~FactSystem();
     
     static const char* _factSystemQmlUri;   ///< URI for FactSystem QML imports

src/GAudioOutput.cc

@@ -32,37 +32,22 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QApplication>
 #include <QSettings>
-#include "GAudioOutput.h"
 #include <QDebug>
-#include <QGC.h>
 
-/**
- * This class follows the singleton design pattern
- * @see http://en.wikipedia.org/wiki/Singleton_pattern
- * A call to this function thus returns the only instance of this object
- * the call can occur at any place in the code, no reference to the
- * GAudioOutput object has to be passed.
- */
-GAudioOutput *GAudioOutput::instance()
-{
-    static GAudioOutput *_instance = 0;
-
-    if (_instance == 0)
-    {
-        _instance = new GAudioOutput();
-        // Set the application as parent to ensure that this object
-        // will be destroyed when the main application exits
-        _instance->setParent(qApp);
-    }
+#include "GAudioOutput.h"
+#include "QGCApplication.h"
+#include "QGC.h"
 
-    return _instance;
-}
+IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
 
-GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
+GAudioOutput::GAudioOutput(QObject *parent) :
+    QGCSingleton(parent),
     muted(false),
     thread(new QThread()),
     worker(new QGCAudioWorker())
 {
+    muted = qgcApp()->runningUnitTests();
+    
     worker->moveToThread(thread);
     connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int)));
     connect(this, SIGNAL(beepOnce()), worker, SLOT(beep()));
@@ -72,9 +57,8 @@ GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
 GAudioOutput::~GAudioOutput()
 {
     thread->quit();
-    while (thread->isRunning()) {
-        QGC::SLEEP::usleep(100);
-    }
+    thread->wait();
+
     delete worker;
     delete thread;
 }
@@ -82,19 +66,19 @@ GAudioOutput::~GAudioOutput()
 
 void GAudioOutput::mute(bool mute)
 {
-    // XXX handle muting
-    Q_UNUSED(mute);
+    muted = mute;
 }
 
 bool GAudioOutput::isMuted()
 {
-    // XXX return right stuff
-    return false;
+    return muted;
 }
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    emit textToSpeak(text, severity);
+    if (!muted) {
+        emit textToSpeak(text, severity);
+    }
     return true;
 }
 
@@ -103,7 +87,9 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    emit textToSpeak(text, 1);
+    if (!muted) {
+        emit textToSpeak(text, 1);
+    }
     return true;
 }
 
@@ -172,5 +158,7 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
-    emit beepOnce();
+    if (!muted) {
+        emit beepOnce();
+    }
 }

src/GAudioOutput.h

@@ -37,19 +37,21 @@ This file is part of the PIXHAWK project
 #include <QThread>
 #include <QStringList>
 
-#include <QGCAudioWorker.h>
+#include "QGCAudioWorker.h"
+#include "QGCSingleton.h"
 
 /**
  * @brief Audio Output (speech synthesizer and "beep" output)
  * This class follows the singleton design pattern
  * @see http://en.wikipedia.org/wiki/Singleton_pattern
  */
-class GAudioOutput : public QObject
+class GAudioOutput : public QGCSingleton
 {
     Q_OBJECT
+    
+    DECLARE_QGC_SINGLETON(GAudioOutput, GAudioOutput)
+    
 public:
-    /** @brief Get the singleton instance */
-    static GAudioOutput *instance();
     /** @brief List available voices */
     QStringList listVoices(void);
     enum
@@ -104,6 +106,7 @@ protected:
     bool muted;
     QThread* thread;
     QGCAudioWorker* worker;
+    
 private:
     GAudioOutput(QObject *parent = NULL);
     ~GAudioOutput();

src/QGCApplication.cc

@@ -31,7 +31,6 @@
 
 #include <QFile>
 #include <QFlags>
-#include <QThread>
 #include <QSplashScreen>
 #include <QPixmap>
 #include <QDesktopWidget>
@@ -182,8 +181,6 @@ void QGCApplication::_initCommon(void)
 {
     QSettings settings;
     
-    _createSingletons();
-    
     // Show user an upgrade message if the settings version has been bumped up
     bool settingsUpgraded = false;
     if (settings.contains(_settingsVersionKey)) {
@@ -244,6 +241,8 @@ bool QGCApplication::_initForNormalAppBoot(void)
 {
     QSettings settings;
     
+    _createSingletons();
+    
     enum MainWindow::CUSTOM_MODE mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_PX4).toInt();
     
     // Show splash screen
@@ -425,6 +424,11 @@ QGCApplication* qgcApp(void)
 void QGCApplication::_createSingletons(void)
 {
     // The order here is important since the singletons reference each other
+    
+    GAudioOutput* audio = GAudioOutput::_createSingleton();
+    Q_UNUSED(audio);
+    Q_ASSERT(audio);
+    
     LinkManager* linkManager = LinkManager::_createSingleton();
     Q_UNUSED(linkManager);
     Q_ASSERT(linkManager);
@@ -443,14 +447,34 @@ void QGCApplication::_createSingletons(void)
     FactSystem* factSystem = FactSystem::_createSingleton();
     Q_UNUSED(factSystem);
     Q_ASSERT(factSystem);
+    
+    // Needs everything!
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
+    Q_UNUSED(mavlink);
+    Q_ASSERT(mavlink);
 }
 
 void QGCApplication::_destroySingletons(void)
 {
+    if (LinkManager::instance(true /* nullOk */)) {
+        // This will close/delete all connections
+        LinkManager::instance()->_shutdown();
+    }
+
+    if (UASManager::instance(true /* nullOk */)) {
+        // This will delete all uas from the system
+        UASManager::instance()->_shutdown();
+    }
+    
+    // Let the signals flow through the main thread
+    processEvents(QEventLoop::ExcludeUserInputEvents);
+    
     // Take down singletons in reverse order of creation
 
+    MAVLinkProtocol::_deleteSingleton();
     FactSystem::_deleteSingleton();
     AutoPilotPluginManager::_deleteSingleton();
     UASManager::_deleteSingleton();
     LinkManager::_deleteSingleton();
+    GAudioOutput::_deleteSingleton();
 }

src/QGCQuickWidget.cc

@@ -43,9 +43,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
     UASInterface* uas = uasMgr->getActiveUAS();
     Q_ASSERT(uas);
     
-    AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas->getAutopilotType())->addFactsToQmlContext(rootContext(), uas);
-    
     rootContext()->engine()->addImportPath("qrc:/qml");
     
-    setSource(QUrl::fromLocalFile("/Users/Don/repos/qgroundcontrol/test.qml"));
+    AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas)->addFactsToQmlContext(rootContext());
 }

src/QGCSingleton.h

@@ -37,7 +37,7 @@
 ///             For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
 #define DECLARE_QGC_SINGLETON(className, interfaceName) \
     public: \
-        static interfaceName* instance(void); \
+        static interfaceName* instance(bool nullOk = false); \
         static void setMockInstance(interfaceName* mock); \
     private: \
         static interfaceName* _createSingleton(void); \
@@ -75,9 +75,11 @@
         } \
     } \
     \
-    interfaceName* className::instance(void) \
+    interfaceName* className::instance(bool nullOk) \
     { \
-        Q_ASSERT_X(_instance, "QGCSingleton", "If you hit this, then you have run into a startup or shutdown sequence bug."); \
+        if (!nullOk) { \
+            Q_ASSERT_X(_instance, "QGCSingleton", "If you hit this, then you have run into a startup or shutdown sequence bug."); \
+        } \
         return _instance; \
     } \
     \

src/VehicleSetup/SetupView.cc

@@ -208,7 +208,7 @@ void SetupView::_parametersReady(void)
     
     _ui->summaryButton->setVisible(true);
     
-    _components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent->getAutopilotType())->getVehicleComponents(_uasCurrent);
+    _components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent)->getVehicleComponents();
     
     foreach(VehicleComponent* component, _components) {
         VehicleComponentButton* button = new VehicleComponentButton(component, _ui->navBarWidget);

src/audio/QGCAudioWorker.cpp

@@ -76,21 +76,17 @@ void QGCAudioWorker::init()
     }
 
 #endif
-
-    // Prepare regular emergency signal, will be fired off on calling startEmergency()
-    emergencyTimer = new QTimer();
-    connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
-
 }
 
 QGCAudioWorker::~QGCAudioWorker()
 {
 #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
-    pVoice->Release();
-    pVoice = NULL;
+	if (pVoice) {
+		pVoice->Release();
+		pVoice = NULL;
+	}
     ::CoUninitialize();
 #endif
-    delete emergencyTimer;
 }
 
 void QGCAudioWorker::say(QString text, int severity)

src/comm/LinkManager.cc

@@ -47,27 +47,14 @@ IMPLEMENT_QGC_SINGLETON(LinkManager, LinkManager)
  **/
 LinkManager::LinkManager(QObject* parent) :
     QGCSingleton(parent),
-    _connectionsSuspended(false),
-    _mavlink(NULL)
+    _connectionsSuspended(false)
 {
-    _mavlink = new MAVLinkProtocol(this);
-    Q_CHECK_PTR(_mavlink);
+
 }
 
 LinkManager::~LinkManager()
 {
-    disconnectAll();
-    
-    foreach (LinkInterface* link, _links) {
-        Q_ASSERT(link);
-        deleteLink(link);
-    }
-    _links.clear();
-    
-    // Clear out the queue so disconnects make it all the way through threads
-    qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
-    
-    delete _mavlink;
+    Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
 }
 
 void LinkManager::addLink(LinkInterface* link)
@@ -92,10 +79,11 @@ void LinkManager::addLink(LinkInterface* link)
         connect(link, SIGNAL(communicationError(QString,QString)), MainWindow::instance(), SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
     }
     
-    connect(link, &LinkInterface::bytesReceived, _mavlink, &MAVLinkProtocol::receiveBytes);
-    connect(link, &LinkInterface::connected, _mavlink, &MAVLinkProtocol::linkConnected);
-    connect(link, &LinkInterface::disconnected, _mavlink, &MAVLinkProtocol::linkDisconnected);
-    _mavlink->resetMetadataForLink(link);
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
+    connect(link, &LinkInterface::bytesReceived, mavlink, &MAVLinkProtocol::receiveBytes);
+    connect(link, &LinkInterface::connected, mavlink, &MAVLinkProtocol::linkConnected);
+    connect(link, &LinkInterface::disconnected, mavlink, &MAVLinkProtocol::linkDisconnected);
+    mavlink->resetMetadataForLink(link);
 }
 
 bool LinkManager::connectAll()
@@ -221,3 +209,12 @@ void LinkManager::setConnectionsSuspended(QString reason)
     _connectionsSuspendedReason = reason;
     Q_ASSERT(!reason.isEmpty());
 }
+
+void LinkManager::_shutdown(void)
+{
+    QList<LinkInterface*> links = _links;
+    foreach(LinkInterface* link, links) {
+        disconnectLink(link);
+        deleteLink(link);
+    }
+}