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/uas/QGXPX4UAS.h

@@ -8,7 +8,7 @@ class QGXPX4UAS : public UAS
     Q_OBJECT
     Q_INTERFACES(UASInterface)
 public:
-    QGXPX4UAS(MAVLinkProtocol* mavlink, QThread* thread, int id);
+    QGXPX4UAS(MAVLinkProtocol* mavlink, int id);
 
 public slots:
     /** @brief Receive a MAVLink message from this MAV */

src/uas/UAS.cc

@@ -32,6 +32,8 @@
 #include "AutoPilotPluginManager.h"
 #include "QGCMessageBox.h"
 
+Q_LOGGING_CATEGORY(UASLog, "UASLog")
+
 /**
 * Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
 * by calling readSettings. This means the new UAS will have the same settings
@@ -39,17 +41,15 @@
 * creating the UAS.
 */
 
-UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
+UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     lipoFull(4.2f),
     lipoEmpty(3.5f),
     uasId(id),
-    links(new QList<LinkInterface*>()),
     unknownPackets(),
     mavlink(protocol),
     commStatus(COMM_DISCONNECTED),
     receiveDropRate(0),
     sendDropRate(0),
-    statusTimeout(thread),
 
     name(""),
     type(MAV_TYPE_GENERIC),
@@ -150,7 +150,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     paramsOnceRequested(false),
     paramMgr(this),
     simulation(0),
-    _thread(thread),
 
     // The protected members.
     connectionLost(false),
@@ -163,7 +162,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     lastSendTimeSensors(0),
     lastSendTimeOpticalFlow(0)
 {
-    moveToThread(thread);
 
     for (unsigned int i = 0; i<255;++i)
     {
@@ -176,57 +174,57 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     // Store a list of available actions for this UAS.
     // Basically everything exposed as a SLOT with no return value or arguments.
 
-    QAction* newAction = new QAction(tr("Arm"), thread);
+    QAction* newAction = new QAction(tr("Arm"), this);
     newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(armSystem()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Disarm"), thread);
+    newAction = new QAction(tr("Disarm"), this);
     newAction->setToolTip(tr("Disable the UAS so that all actuators are offline"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Toggle armed"), thread);
+    newAction = new QAction(tr("Toggle armed"), this);
     newAction->setToolTip(tr("Toggle between armed and disarmed"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go home"), thread);
+    newAction = new QAction(tr("Go home"), this);
     newAction->setToolTip(tr("Command the UAS to return to its home position"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(home()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Land"), thread);
+    newAction = new QAction(tr("Land"), this);
     newAction->setToolTip(tr("Command the UAS to land"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(land()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Launch"), thread);
+    newAction = new QAction(tr("Launch"), this);
     newAction->setToolTip(tr("Command the UAS to launch itself and begin its mission"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(launch()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Resume"), thread);
+    newAction = new QAction(tr("Resume"), this);
     newAction->setToolTip(tr("Command the UAS to continue its mission"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(go()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Stop"), thread);
+    newAction = new QAction(tr("Stop"), this);
     newAction->setToolTip(tr("Command the UAS to halt and hold position"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(halt()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go autonomous"), thread);
+    newAction = new QAction(tr("Go autonomous"), this);
     newAction->setToolTip(tr("Set the UAS into an autonomous control mode"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(goAutonomous()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Go manual"), thread);
+    newAction = new QAction(tr("Go manual"), this);
     newAction->setToolTip(tr("Set the UAS into a manual control mode"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(goManual()));
     actions.append(newAction);
 
-    newAction = new QAction(tr("Toggle autonomy"), thread);
+    newAction = new QAction(tr("Toggle autonomy"), this);
     newAction->setToolTip(tr("Toggle between manual and full-autonomy"));
     connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
     actions.append(newAction);
@@ -251,11 +249,6 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
 UAS::~UAS()
 {
     writeSettings();
-
-    _thread->quit();
-
-    delete links;
-    delete simulation;
 }
 
 /**
@@ -391,8 +384,7 @@ bool UAS::getSelected() const
 
 void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
-    if (!link) return;
-    if (!links->contains(link))
+    if (!links.contains(link))
     {
         addLink(link);
         //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
@@ -550,7 +542,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 modechanged = true;
                 this->base_mode = state.base_mode;
                 this->custom_mode = state.custom_mode;
-                shortModeText = getShortModeTextFor(this->base_mode, this->custom_mode, this->autopilot);
+                shortModeText = getShortModeTextFor(this->base_mode, this->custom_mode);
 
                 emit modeChanged(this->getUASID(), shortModeText, "");
 
@@ -1738,23 +1730,15 @@ 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)
-    {
-        if (LinkManager::instance()->getLinks().contains(link))
-        {
-            if (link->isConnected())
+    foreach (LinkInterface* link, links) {
+        if (link->isConnected()) {
             sendMessage(link, message);
         }
-        else
-        {
-            // Remove from list
-            links->removeAt(links->indexOf(link));
-        }
     }
 }
 
@@ -1774,9 +1758,9 @@ void UAS::forwardMessage(mavlink_message_t message)
             SerialLink* serial = dynamic_cast<SerialLink*>(link);
             if(serial != 0)
             {
-                for(int i=0; i<links->size(); i++)
+                for(int i=0; i<links.size(); i++)
                 {
-                    if(serial != links->at(i))
+                    if(serial != links.at(i))
                     {
                         if (link->isConnected()) {
                             qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
@@ -2355,7 +2339,7 @@ void UAS::setParameter(const int compId, const QString& paramId, const QVariant&
 
 
 //TODO update this to use the parameter manager / param data model instead
-void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramValue)
+void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramUnion)
 {
     int compId = msg.compid;
 
@@ -2369,105 +2353,68 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
         parameters.value(compId)->remove(paramName);
     }
 
-    QVariant param;
+    QVariant paramValue;
 
     // Insert with correct type
     // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
-    switch (rawValue.param_type)
-    {
+    
+    switch (rawValue.param_type) {
         case MAV_PARAM_TYPE_REAL32:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_float);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-//                qDebug() << "RECEIVED PARAM:" << param;
+                paramValue = QVariant(paramUnion.param_float);
+            } else {
+                paramValue = QVariant(paramUnion.param_float);
             }
             break;
+            
         case MAV_PARAM_TYPE_UINT8:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(QChar((unsigned char)paramValue.param_float));
-        }
-        else {
-            param = QVariant(QChar((unsigned char)paramValue.param_uint8));
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
+                paramValue = QVariant(QChar((unsigned char)paramUnion.param_float));
+            } else {
+                paramValue = QVariant(QChar((unsigned char)paramUnion.param_uint8));
             }
             break;
+            
         case MAV_PARAM_TYPE_INT8:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(QChar((char)paramValue.param_float));
-        }
-        else  {
-            param = QVariant(QChar((char)paramValue.param_int8));
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
+                paramValue = QVariant(QChar((char)paramUnion.param_float));
+            } else  {
+                paramValue = QVariant(QChar((char)paramUnion.param_int8));
             }
             break;
+            
         case MAV_PARAM_TYPE_INT16:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((short)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_int16);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
+                paramValue = QVariant((short)paramUnion.param_float);
+            } else {
+                paramValue = QVariant(paramUnion.param_int16);
             }
             break;
+            
         case MAV_PARAM_TYPE_UINT32:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((unsigned int)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_uint32);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
+                paramValue = QVariant((unsigned int)paramUnion.param_float);
+            } else {
+                paramValue = QVariant(paramUnion.param_uint32);
             }
             break;
         case MAV_PARAM_TYPE_INT32:
-    {
             if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((int)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_int32);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-//                qDebug() << "RECEIVED PARAM:" << param;
+                paramValue = QVariant((int)paramUnion.param_float);
+            } else {
+                paramValue = QVariant(paramUnion.param_int32);
             }
             break;
+            
         default:
             qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
-    } //switch (value.param_type)
+    }
 
+    qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;
+    
+    parameters.value(compId)->insert(paramName, paramValue);
+    emit parameterChanged(uasId, compId, paramName, paramValue);
+    emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, paramValue);
 }
 
 /**
@@ -3290,9 +3237,9 @@ QString UAS::getAudioModeTextFor(int id)
 * The mode returned can be auto, stabilized, test, manual, preflight or unknown.
 * @return the short text of the mode for the id given.
 */
-QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot)
+QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const
 {
-    QString mode = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(autopilot)->getShortModeText(base_mode, custom_mode);
+    QString mode = AutoPilotPluginManager::instance()->getShortModeText(base_mode, custom_mode, autopilot);
 
     if (mode.length() == 0)
     {
@@ -3331,29 +3278,33 @@ const QString& UAS::getShortMode() const
 */
 void UAS::addLink(LinkInterface* link)
 {
-    if (!links->contains(link))
+    if (!links.contains(link))
     {
-        links->append(link);
+        links.append(link);
+        qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
         connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
     }
 }
 
 void UAS::removeLink(QObject* object)
 {
+    qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
+    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 = (LinkInterface*)object;
     
-    int index = links->indexOf(link);
+    int index = links.indexOf(link);
     Q_ASSERT(index != -1);
-    links->removeAt(index);
+    links.removeAt(index);
 }
 
 /**
 * @return the list of links
 */
-QList<LinkInterface*>* UAS::getLinks()
+QList<LinkInterface*> UAS::getLinks()
 {
     return links;
 }

src/uas/UAS.h

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #ifndef _UAS_H_
 #define _UAS_H_
 
-#include <QThread>
 #include "UASInterface.h"
 #include <MAVLinkProtocol.h>
 #include <QVector3D>
@@ -44,6 +43,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCUASParamManager.h"
 #include "QGCUASFileManager.h"
 
+Q_DECLARE_LOGGING_CATEGORY(UASLog)
 
 /**
  * @brief A generic MAVLINK-connected MAV/UAV
@@ -57,7 +57,7 @@ class UAS : public UASInterface
 {
     Q_OBJECT
 public:
-    UAS(MAVLinkProtocol* protocol, QThread* thread, int id = 0);
+    UAS(MAVLinkProtocol* protocol, int id = 0);
     ~UAS();
 
     float lipoFull;  ///< 100% charged voltage
@@ -72,7 +72,7 @@ public:
     /** @brief Get short mode */
     const QString& getShortMode() const;
     /** @brief Translate from mode id to text */
-    static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
+    QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const;
     /** @brief Translate from mode id to audio text */
     static QString getAudioModeTextFor(int id);
     /** @brief Get the unique system id */
@@ -92,7 +92,7 @@ public:
     /** @brief Add one measurement and get low-passed voltage */
     float filterVoltage(float value) const;
     /** @brief Get the links associated with this robot */
-    QList<LinkInterface*>* getLinks();
+    QList<LinkInterface*> getLinks();
 
     Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
     Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
@@ -341,7 +341,7 @@ 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
+    QList<LinkInterface*> links;  ///< List of links this UAS can be reached by
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
     CommStatus commStatus;        ///< Communication status
@@ -473,7 +473,6 @@ protected: //COMMENTS FOR TEST UNIT
 
     /// SIMULATION
     QGCHilLink* simulation;         ///< Hardware in the loop simulation link
-    QThread* _thread;
 
 public:
     /** @brief Set the current battery type */
@@ -952,13 +951,6 @@ protected slots:
     void writeSettings();
     /** @brief Read settings from disk */
     void readSettings();
-
-//    // MESSAGE RECEPTION
-//    /** @brief Receive a named value message */
-//    void receiveMessageNamedValue(const mavlink_message_t& message);
-
-private:
-//    unsigned int mode;          ///< The current mode of the MAV
 };
 
 

src/uas/UASInterface.h

@@ -103,7 +103,7 @@ public:
     /** @brief Get short mode */
     virtual const QString& getShortMode() const = 0;
     /** @brief Translate mode id into text */
-    static QString getShortModeTextFor(int id);
+    virtual QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const = 0;
     //virtual QColor getColor() = 0;
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
@@ -187,7 +187,7 @@ public:
          *         based on the fact that a message for this robot has been received through that
          *         interface. The LinkInterface can support multiple protocols.
          **/
-    virtual QList<LinkInterface*>* getLinks() = 0;
+    virtual QList<LinkInterface*> getLinks() = 0;
 
     /**
      * @brief Get the color for this UAS

src/uas/UASManager.cc

@@ -42,10 +42,19 @@ UASManager::UASManager(QObject* parent) :
 UASManager::~UASManager()
 {
     storeSettings();
-    // Delete all systems
-    foreach (UASInterface* mav, systems) {
-        // deleteLater so it ends up on correct thread
-        mav->deleteLater();
+    Q_ASSERT_X(systems.count() == 0, "~UASManager", "_shutdown should have already removed all uas");
+}
+
+void UASManager::_shutdown(void)
+{
+    QList<UASInterface*> uasList;
+    
+    foreach(UASInterface* uas, systems) {
+        uasList.append(uas);
+    }
+    
+    foreach(UASInterface* uas, uasList) {
+        removeUAS(uas);
     }
 }
 
@@ -280,7 +289,8 @@ void UASManager::addUAS(UASInterface* uas)
     if (firstUAS)
     {
         setActiveUAS(uas);
-        if (offlineUASWaypointManager->getWaypointEditableList().size() > 0)
+        // Call getActiveUASWaypointManager instead of referencing variable to make sure of creation
+        if (getActiveUASWaypointManager()->getWaypointEditableList().size() > 0)
         {
             if (QGCMessageBox::question(tr("Question"), tr("Do you want to append the offline waypoints to the ones currently on the UAV?"), QMessageBox::Yes, QMessageBox::No) == QMessageBox::Yes)
             {

src/uas/UASManager.h

@@ -32,7 +32,6 @@ This file is part of the QGROUNDCONTROL project
 #define _UASMANAGER_H_
 
 #include "UASManagerInterface.h"
-#include <QThread>
 #include <QList>
 #include <QMutex>
 #include <UASInterface.h>
@@ -242,6 +241,8 @@ public slots:
     /** @brief Store settings */
     void storeSettings();
     
+    void _shutdown(void);
+
 
 protected:
     QList<UASInterface*> systems;
@@ -262,7 +263,6 @@ protected:
 private:
     /// @brief All access to UASManager singleton is through UASManager::instance
     UASManager(QObject* parent = NULL);
-    
     ~UASManager();
 
 public:

src/uas/UASManagerInterface.h

@@ -31,7 +31,6 @@
 #ifndef _UASMANAGERINTERFACE_H_
 #define _UASMANAGERINTERFACE_H_
 
-#include <QThread>
 #include <QList>
 #include <QMutex>
 
@@ -91,6 +90,7 @@ public slots:
     virtual void uavChangedHomePosition(int uav, double lat, double lon, double alt) = 0;
     virtual void loadSettings() = 0;
     virtual void storeSettings() = 0;
+    virtual void _shutdown(void) = 0;
     
 signals:
     /** A new system was created */

src/uas/UASParameterCommsMgr.cc

@@ -71,7 +71,7 @@ void UASParameterCommsMgr::loadParamCommsSettings()
 
 void UASParameterCommsMgr::_sendParamRequestListMsg(void)
 {
-    MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
     Q_ASSERT(mavlink);
     
     mavlink_message_t msg;
@@ -411,7 +411,7 @@ void UASParameterCommsMgr::setParameterStatusMsg(const QString& msg, ParamCommsS
 
 void UASParameterCommsMgr::receivedParameterUpdate(int uas, int compId, int paramCount, int paramId, QString paramName, QVariant value)
 {
-    qCDebug(UASParameterCommsMgrLog) << QString("Received parameter update for: name(%1) count(%2) index(%3)").arg(paramName).arg(paramCount).arg(paramId);
+    qCDebug(UASParameterCommsMgrLog) << "Received parameter update for:" << paramName << "count" << paramCount << "index" << paramId << "value" << value;
 
     Q_UNUSED(uas); //this object is assigned to one UAS only
     lastReceiveTime = QGC::groundTimeMilliseconds();

src/ui/CommConfigurationWindow.cc

@@ -224,7 +224,7 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, QWidget *p
     connect(ui.linkType,SIGNAL(currentIndexChanged(int)),this,SLOT(linkCurrentIndexChanged(int)));
 
     // Open details pane for MAVLink if necessary
-    MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+    MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
     QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
     ui.protocolScrollArea->setWidget(conf);
     ui.protocolGroupBox->setTitle(mavlink->getName()+" (Global Settings)");

src/ui/MainWindow.cc

@@ -130,8 +130,8 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     this->setAttribute(Qt::WA_DeleteOnClose);
     connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
     
-    connect(LinkManager::instance()->mavlink(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
-    connect(LinkManager::instance()->mavlink(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
+    connect(MAVLinkProtocol::instance(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
+    connect(MAVLinkProtocol::instance(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
     
     loadSettings();
     
@@ -294,7 +294,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     {
         // Restore the window geometry
         restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
-        show();
     }
     else
     {
@@ -305,12 +304,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
         if (screenWidth < 1500)
         {
             resize(screenWidth, screenHeight - 80);
-            show();
         }
         else
         {
             resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
-            show();
         }
 
     }
@@ -358,7 +355,10 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
     windowNameUpdateTimer.start(15000);
     emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
+
+	if (!qgcApp()->runningUnitTests()) {
 		show();
+	}
 }
 
 MainWindow::~MainWindow()
@@ -489,12 +489,12 @@ void MainWindow::buildCustomWidget()
 void MainWindow::buildCommonWidgets()
 {
     // Add generic MAVLink decoder
-    mavlinkDecoder = new MAVLinkDecoder(LinkManager::instance()->mavlink(), this);
+    mavlinkDecoder = new MAVLinkDecoder(MAVLinkProtocol::instance(), this);
     connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
                       this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
 
     // Log player
-    logPlayer = new QGCMAVLinkLogPlayer(LinkManager::instance()->mavlink(), statusBar());
+    logPlayer = new QGCMAVLinkLogPlayer(MAVLinkProtocol::instance(), statusBar());
     statusBar()->addPermanentWidget(logPlayer);
 
     // Initialize all of the views, if they haven't been already, and add their central widgets
@@ -581,7 +581,7 @@ void MainWindow::buildCommonWidgets()
     createDockWidget(simView, new PrimaryFlightDisplay(this), tr("Primary Flight Display"), "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET", VIEW_SIMULATION, Qt::RightDockWidgetArea);
 
     // Add dock widgets for the engineering view
-    createDockWidget(engineeringView, new QGCMAVLinkInspector(LinkManager::instance()->mavlink(), this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
+    createDockWidget(engineeringView, new QGCMAVLinkInspector(MAVLinkProtocol::instance(), this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new ParameterInterface(this), tr("Onboard Parameters"), "PARAMETER_INTERFACE_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new QGCUASFileViewMulti(this), tr("Onboard Files"), "FILE_VIEW_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
     createDockWidget(engineeringView, new HUD(320, 240, this), tr("Video Downlink"), "HEAD_UP_DISPLAY_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
@@ -662,7 +662,7 @@ void MainWindow::loadDockWidget(const QString& name)
     }
     else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
     {
-        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(LinkManager::instance()->mavlink(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
+        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
     }
     else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
     {
@@ -816,7 +816,7 @@ void MainWindow::connectCommonWidgets()
 {
     if (infoDockWidget && infoDockWidget->widget())
     {
-        connect(LinkManager::instance()->mavlink(), SIGNAL(receiveLossChanged(int, float)),
+        connect(MAVLinkProtocol::instance(), SIGNAL(receiveLossChanged(int, float)),
                 infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
     }
 }

src/ui/OpalLinkConfigurationWindow.cc

@@ -15,7 +15,7 @@ OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
 
     connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
     connect(link, &LinkInterface::connected, this, OpalLinkConfigurationWindow::_linkConnected);
-    connect(link, &LinkInterface::disconnected, this, OpalLinkConfigurationWindow::_linkDisConnected);
+    connect(link, &LinkInterface::disconnected, this, OpalLinkConfigurationWindow::_linkDisconnected);
     this->show();
 }
 

src/ui/QGCMAVLinkLogPlayer.cc

@@ -43,10 +43,6 @@ QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *pare
     connect(ui->positionSlider, &QSlider::valueChanged, this, &QGCMAVLinkLogPlayer::jumpToSliderVal);
     connect(ui->positionSlider, &QSlider::sliderPressed, this, &QGCMAVLinkLogPlayer::pause);
     
-    // We use this to queue the signal over to mavlink. This way it will be behind any remaining
-    // bytesReady signals in the queue.
-    connect(this, &QGCMAVLinkLogPlayer::suspendLogForReplay, mavlink, &MAVLinkProtocol::suspendLogForReplay);
-
     setAccelerationFactorInt(49);
     ui->speedSlider->setValue(49);
     updatePositionSliderUi(0.0);
@@ -84,7 +80,7 @@ void QGCMAVLinkLogPlayer::play()
     Q_ASSERT(logFile.isOpen());
     
     LinkManager::instance()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
-    emit suspendLogForReplay(true);
+    mavlink->suspendLogForReplay(true);
     
     // Disable the log file selector button
     ui->selectFileButton->setEnabled(false);
@@ -122,7 +118,7 @@ void QGCMAVLinkLogPlayer::play()
 void QGCMAVLinkLogPlayer::pause()
 {
     LinkManager::instance()->setConnectionsAllowed();
-    emit suspendLogForReplay(false);
+    mavlink->suspendLogForReplay(false);
 
     loopTimer.stop();
     isPlaying = false;
@@ -642,7 +638,7 @@ void QGCMAVLinkLogPlayer::_finishPlayback(void)
     
     emit logFileEndReached();
     
-    emit suspendLogForReplay(false);
+    mavlink->suspendLogForReplay(false);
     LinkManager::instance()->setConnectionsAllowed();
 }
 

src/ui/QGCMAVLinkLogPlayer.h

@@ -60,9 +60,6 @@ signals:
     void bytesReady(LinkInterface* link, const QByteArray& bytes);
     void logFileEndReached();
 
-    /// @brief Connected to the MAVLinkProtocol::suspendLogForReplay
-    void suspendLogForReplay(bool suspend);
-
 protected:
     quint64 playbackStartTime;     ///< The time when the logfile was first played back. This is used to pace out replaying the messages to fix long-term drift/skew. 0 indicates that the player hasn't initiated playback of this log file. In units of milliseconds since epoch UTC.
     quint64 logCurrentTime;        ///< The timestamp of the next message in the log file. In units of microseconds since epoch UTC.

src/ui/SettingsDialog.cc

@@ -52,7 +52,7 @@ _ui(new Ui::SettingsDialog)
     // Add the joystick settings pane
     _ui->tabWidget->addTab(new JoystickWidget(joystick, this), "Controllers");
     
-    MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(LinkManager::instance()->mavlink(), this);
+    MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(MAVLinkProtocol::instance(), this);
     _ui->tabWidget->addTab(msettings, "MAVLink");
     
     this->window()->setWindowTitle(tr("QGroundControl Settings"));

src/ui/uas/UASControlWidget.cc

@@ -59,23 +59,19 @@ UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
 
 void UASControlWidget::updateModesList()
 {
-    // Detect autopilot type
-    int autopilot = MAV_AUTOPILOT_GENERIC;
-    if (this->uasID >= 0) {
-        UASInterface *uas = UASManager::instance()->getUASForId(this->uasID);
-        if (uas) {
-            autopilot = UASManager::instance()->getUASForId(this->uasID)->getAutopilotType();
-        }
+    if (this->uasID == 0) {
+        return;
     }
     
-    AutoPilotPlugin* autopilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(autopilot);
+    UASInterface*uas = UASManager::instance()->getUASForId(this->uasID);
+    Q_ASSERT(uas);
     
-    _modeList = autopilotPlugin->getModes();
+    _modeList = AutoPilotPluginManager::instance()->getModes(uas->getAutopilotType());
 
     // Set combobox items
     ui.modeComboBox->clear();
-    foreach (AutoPilotPlugin::FullMode_t fullMode, _modeList) {
-        ui.modeComboBox->addItem(UAS::getShortModeTextFor(fullMode.baseMode, fullMode.customMode, autopilot).remove(0, 2));
+    foreach (AutoPilotPluginManager::FullMode_t fullMode, _modeList) {
+        ui.modeComboBox->addItem(uas->getShortModeTextFor(fullMode.baseMode, fullMode.customMode).remove(0, 2));
     }
 
     // Select first mode in list
@@ -197,7 +193,7 @@ void UASControlWidget::transmitMode()
     UASInterface* uas_iface = UASManager::instance()->getUASForId(this->uasID);
     if (uas_iface) {
         if (modeIdx >= 0 && modeIdx < _modeList.count()) {
-            AutoPilotPlugin::FullMode_t fullMode = _modeList[modeIdx];
+            AutoPilotPluginManager::FullMode_t fullMode = _modeList[modeIdx];
             // include armed state
             if (armed) {
                 fullMode.baseMode |= MAV_MODE_FLAG_SAFETY_ARMED;

src/ui/uas/UASControlWidget.h

@@ -38,7 +38,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QPushButton>
 #include <ui_UASControl.h>
 #include <UASInterface.h>
-#include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 
 /**
  * @brief Widget controlling one MAV
@@ -79,7 +79,7 @@ protected slots:
 
 protected:
     int uasID;                                      ///< Reference to the current uas
-    QList<AutoPilotPlugin::FullMode_t>  _modeList;  ///< Mode list for the current UAS
+    QList<AutoPilotPluginManager::FullMode_t> _modeList;  ///< Mode list for the current UAS
     int modeIdx;                                    ///< Current uas mode index
     bool armed;                                     ///< Engine state
 

src/ui/uas/UASListWidget.cc

@@ -124,7 +124,7 @@ void UASListWidget::updateStatus()
         if (!link)
             continue;
 
-        MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
+        MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
 
         // Build the tooltip out of the protocol parsing data: received, dropped, and parsing errors.
         QString displayString("");
@@ -167,10 +167,10 @@ void UASListWidget::addUAS(UASInterface* uas)
     if (!uasViews.contains(uas))
     {
         // Only display the UAS in a single link.
-        QList<LinkInterface*>* x = uas->getLinks();
-        if (x->size())
+        QList<LinkInterface*> x = uas->getLinks();
+        if (x.size())
         {
-            LinkInterface* li = x->first();
+            LinkInterface* li = x.first();
 
             // Find an existing QGroupBox for this LinkInterface or create a
             // new one.