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Commit fc493d75 authored by Don Gagne's avatar Don Gagne
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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.
parent 3b328f36
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src/AutoPilotPlugins/AutoPilotPlugin.h
View file @ fc493d75
...@@ -21,6 +21,9 @@ ...@@ -21,6 +21,9 @@
======================================================================*/ ======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef AUTOPILOTPLUGIN_H #ifndef AUTOPILOTPLUGIN_H
#define AUTOPILOTPLUGIN_H #define AUTOPILOTPLUGIN_H
...@@ -33,12 +36,12 @@ ...@@ -33,12 +36,12 @@
#include "VehicleComponent.h" #include "VehicleComponent.h"
#include "FactSystem.h" #include "FactSystem.h"
/// @file /// This is the base class for AutoPilot plugins
/// @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 /// The AutoPilotPlugin class is an abstract base class which represent the methods and objects
/// code should reside in QGroundControl. The remainder of the QGroundControl source is /// which are specific to a certain AutoPilot. This is the only place where AutoPilot specific
/// generic to a common mavlink implementation. /// code should reside in QGroundControl. The remainder of the QGroundControl source is
/// @author Don Gagne <don@thegagnes.com> /// generic to a common mavlink implementation.
class AutoPilotPlugin : public QObject class AutoPilotPlugin : public QObject
{ {
...@@ -46,21 +49,28 @@ class AutoPilotPlugin : public QObject ...@@ -46,21 +49,28 @@ class AutoPilotPlugin : public QObject
public: public:
/// @brief Returns the list of VehicleComponent objects associated with the AutoPilot. /// @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 { /// Adds the FactSystem properties to the Qml context. You should not call
uint8_t baseMode; /// this method until the plugin reports that it is ready.
uint32_t customMode; virtual void addFactsToQmlContext(QQmlContext* context) const = 0;
} FullMode_t;
/// @brief Returns the list of modes which are available for this AutoPilot. /// Returns true if the plugin is ready for use
virtual QList<FullMode_t> getModes(void) const = 0; virtual bool pluginIsReady(void) const = 0;
/// @brief Returns a human readable short description for the specified mode. /// FIXME: Kind of hacky
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const = 0; static void clearStaticData(void);
/// @brief Adds the FactSystem properties associated with this AutoPilot to the Qml context. signals:
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const = 0; /// Signalled when plugin is ready for use
void pluginReady(void);
protected: protected:
// All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
......
src/AutoPilotPlugins/AutoPilotPluginManager.cc
View file @ fc493d75
...@@ -28,29 +28,109 @@ ...@@ -28,29 +28,109 @@
#include "PX4/PX4AutoPilotPlugin.h" #include "PX4/PX4AutoPilotPlugin.h"
#include "Generic/GenericAutoPilotPlugin.h" #include "Generic/GenericAutoPilotPlugin.h"
#include "QGCApplication.h" #include "QGCApplication.h"
#include "UASManager.h"
IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager) IMPLEMENT_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) : AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
QGCSingleton(parent) QGCSingleton(parent)
{ {
// All plugins are constructed here so that they end up on the correct thread UASManagerInterface* uasMgr = UASManager::instance();
_pluginMap[MAV_AUTOPILOT_PX4] = new PX4AutoPilotPlugin(this); Q_ASSERT(uasMgr);
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
// 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); AutoPilotPluginManager::~AutoPilotPluginManager()
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC)); {
#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) { switch (autopilotType) {
case MAV_AUTOPILOT_PX4: case MAV_AUTOPILOT_PX4:
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4)); return PX4AutoPilotPlugin::getShortModeText(baseMode, customMode);
return _pluginMap[MAV_AUTOPILOT_PX4]; case MAV_AUTOPILOT_GENERIC:
default: default:
Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC)); return GenericAutoPilotPlugin::getShortModeText(baseMode, customMode);
return _pluginMap[MAV_AUTOPILOT_GENERIC];
} }
} }
src/AutoPilotPlugins/AutoPilotPluginManager.h
View file @ fc493d75
...@@ -21,6 +21,9 @@ ...@@ -21,6 +21,9 @@
======================================================================*/ ======================================================================*/
/// @file
/// @author Don Gagne <don@thegagnes.com>
#ifndef AUTOPILOTPLUGINMANAGER_H #ifndef AUTOPILOTPLUGINMANAGER_H
#define AUTOPILOTPLUGINMANAGER_H #define AUTOPILOTPLUGINMANAGER_H
...@@ -32,11 +35,10 @@ ...@@ -32,11 +35,10 @@
#include "VehicleComponent.h" #include "VehicleComponent.h"
#include "AutoPilotPlugin.h" #include "AutoPilotPlugin.h"
#include "QGCSingleton.h" #include "QGCSingleton.h"
#include "QGCMAVLink.h"
/// @file
/// @brief The AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects. /// AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
///
/// @author Don Gagne <don@thegagnes.com>
class AutoPilotPluginManager : public QGCSingleton class AutoPilotPluginManager : public QGCSingleton
{ {
...@@ -45,15 +47,31 @@ class AutoPilotPluginManager : public QGCSingleton ...@@ -45,15 +47,31 @@ class AutoPilotPluginManager : public QGCSingleton
DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager) DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
public: public:
/// @brief Returns the singleton AutoPilot instance for the specified auto pilot type. /// Returns the singleton AutoPilotPlugin instance for the specified uas.
/// @param autopilotType Specified using the MAV_AUTOPILOT_* values. /// @param uas Uas to get plugin for
AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType); 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: private:
/// All access to singleton is through AutoPilotPluginManager::instance /// All access to singleton is through AutoPilotPluginManager::instance
AutoPilotPluginManager(QObject* parent = NULL); 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 #endif
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc
View file @ fc493d75
...@@ -26,24 +26,22 @@ ...@@ -26,24 +26,22 @@
#include "GenericAutoPilotPlugin.h" #include "GenericAutoPilotPlugin.h"
GenericAutoPilotPlugin::GenericAutoPilotPlugin(QObject* parent) : GenericAutoPilotPlugin::GenericAutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(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 // Generic autopilot has no configurable components
return QList<VehicleComponent*>(); return QList<VehicleComponent*>();
} }
QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const QList<AutoPilotPluginManager::FullMode_t> GenericAutoPilotPlugin::getModes(void)
{ {
QList<FullMode_t> modeList; AutoPilotPluginManager::FullMode_t fullMode;
FullMode_t fullMode; QList<AutoPilotPluginManager::FullMode_t> modeList;
fullMode.customMode = 0; fullMode.customMode = 0;
...@@ -62,7 +60,7 @@ QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const ...@@ -62,7 +60,7 @@ QList<AutoPilotPlugin::FullMode_t> GenericAutoPilotPlugin::getModes(void) const
return modeList; return modeList;
} }
QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
{ {
Q_UNUSED(customMode); Q_UNUSED(customMode);
...@@ -85,11 +83,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust ...@@ -85,11 +83,20 @@ QString GenericAutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t cust
return mode; return mode;
} }
void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const void GenericAutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
{ {
Q_UNUSED(context); Q_UNUSED(context);
Q_UNUSED(uas);
// Qml not yet supported for Generic // Qml not yet supported for Generic
Q_ASSERT(false); Q_ASSERT(false);
} }
QObject* GenericAutoPilotPlugin::parameterFacts(void) const
{
return NULL;
}
void GenericAutoPilotPlugin::clearStaticData(void)
{
// No Static data yet
}
src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h
View file @ fc493d75
...@@ -25,6 +25,7 @@ ...@@ -25,6 +25,7 @@
#define GENERICAUTOPILOT_H #define GENERICAUTOPILOT_H
#include "AutoPilotPlugin.h" #include "AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
/// @file /// @file
/// @brief This is the generic implementation of the AutoPilotPlugin class for mavs /// @brief This is the generic implementation of the AutoPilotPlugin class for mavs
...@@ -36,13 +37,17 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin ...@@ -36,13 +37,17 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
Q_OBJECT Q_OBJECT
public: public:
GenericAutoPilotPlugin(QObject* parent = NULL); GenericAutoPilotPlugin(UASInterface* uas, QObject* parent = NULL);
// Overrides from AutoPilotPlugin // Overrides from AutoPilotPlugin
virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ; virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
virtual QList<FullMode_t> getModes(void) const; virtual void addFactsToQmlContext(QQmlContext* context) const;
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const; virtual QObject* parameterFacts(void) const;
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) 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 #endif
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ fc493d75
...@@ -65,59 +65,59 @@ union px4_custom_mode { ...@@ -65,59 +65,59 @@ union px4_custom_mode {
float data_float; float data_float;
}; };
PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) : PX4AutoPilotPlugin::PX4AutoPilotPlugin(UASInterface* uas, QObject* parent) :
AutoPilotPlugin(parent) AutoPilotPlugin(parent),
_uas(uas),
_parameterFacts(NULL)
{ {
UASManagerInterface* uasMgr = UASManager::instance(); Q_ASSERT(uas);
Q_ASSERT(uasMgr);
_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(_parameterFacts, &PX4ParameterFacts::factsReady, this, &PX4AutoPilotPlugin::pluginReady);
connect(uasMgr, &UASManagerInterface::UASCreated, this, &PX4AutoPilotPlugin::_uasCreated);
connect(uasMgr, &UASManagerInterface::UASDeleted, this, &PX4AutoPilotPlugin::_uasDeleted);
PX4ParameterFacts::loadParameterFactMetaData(); PX4ParameterFacts::loadParameterFactMetaData();
} }
PX4AutoPilotPlugin::~PX4AutoPilotPlugin() PX4AutoPilotPlugin::~PX4AutoPilotPlugin()
{ {
delete _parameterFacts;
PX4ParameterFacts::deleteParameterFactMetaData(); 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; QList<VehicleComponent*> components;
VehicleComponent* component; VehicleComponent* component;
component = new AirframeComponent(uas); component = new AirframeComponent(_uas);
Q_CHECK_PTR(component); Q_CHECK_PTR(component);
components.append(component); components.append(component);
component = new RadioComponent(uas); component = new RadioComponent(_uas);
Q_CHECK_PTR(component); Q_CHECK_PTR(component);
components.append(component); components.append(component);
component = new FlightModesComponent(uas); component = new FlightModesComponent(_uas);
Q_CHECK_PTR(component); Q_CHECK_PTR(component);
components.append(component); components.append(component);
component = new SensorsComponent(uas); component = new SensorsComponent(_uas);
Q_CHECK_PTR(component); Q_CHECK_PTR(component);
components.append(component); components.append(component);
return components; return components;
} }
QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
{ {
QList<FullMode_t> modeList; union px4_custom_mode px4_cm;
FullMode_t fullMode; AutoPilotPluginManager::FullMode_t fullMode;
union px4_custom_mode px4_cm; QList<AutoPilotPluginManager::FullMode_t> modeList;
px4_cm.data = 0; px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
...@@ -152,7 +152,7 @@ QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const ...@@ -152,7 +152,7 @@ QList<AutoPilotPlugin::FullMode_t> PX4AutoPilotPlugin::getModes(void) const
return modeList; return modeList;
} }
QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode) const QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMode)
{ {
QString mode; QString mode;
...@@ -187,51 +187,40 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo ...@@ -187,51 +187,40 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
mode = "|OFFBOARD"; mode = "|OFFBOARD";
} }
} else { } 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; return mode;
} }
void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const void PX4AutoPilotPlugin::addFactsToQmlContext(QQmlContext* context) const
{ {
Q_ASSERT(context); 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(_parameterFacts->factsAreReady());
Q_ASSERT(facts);
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::clearStaticData(void)
void PX4AutoPilotPlugin::_uasCreated(UASInterface* uas)
{ {
Q_ASSERT(uas); PX4ParameterFacts::clearStaticData();
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;
} }
/// @brief When the uas is deleted we remove the parameter facts for it from the system bool PX4AutoPilotPlugin::pluginIsReady(void) const
void PX4AutoPilotPlugin::_uasDeleted(UASInterface* uas)
{ {
delete _parameterFactsForUas(uas); return _parameterFacts->factsAreReady();
_mapUas2ParameterFacts.remove(uas);
}
PX4ParameterFacts* PX4AutoPilotPlugin::_parameterFactsForUas(UASInterface* uas) const
{
Q_ASSERT(uas);
Q_ASSERT(_mapUas2ParameterFacts.contains(uas));
return _mapUas2ParameterFacts[uas];
} }
src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
View file @ fc493d75
...@@ -25,6 +25,7 @@ ...@@ -25,6 +25,7 @@
#define PX4AUTOPILOT_H #define PX4AUTOPILOT_H
#include "AutoPilotPlugin.h" #include "AutoPilotPlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASInterface.h" #include "UASInterface.h"
#include "PX4ParameterFacts.h" #include "PX4ParameterFacts.h"
...@@ -37,23 +38,23 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin ...@@ -37,23 +38,23 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
Q_OBJECT Q_OBJECT
public: public:
PX4AutoPilotPlugin(QObject* parent); PX4AutoPilotPlugin(UASInterface* uas, QObject* parent);
~PX4AutoPilotPlugin(); ~PX4AutoPilotPlugin();
// Overrides from AutoPilotPlugin // Overrides from AutoPilotPlugin
virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ; virtual QList<VehicleComponent*> getVehicleComponents(void) const ;
virtual QList<FullMode_t> getModes(void) const; virtual void addFactsToQmlContext(QQmlContext* context) const;
virtual QString getShortModeText(uint8_t baseMode, uint32_t customMode) const; virtual QObject* parameterFacts(void) const { return _parameterFacts; }
virtual void addFactsToQmlContext(QQmlContext* context, UASInterface* uas) const; virtual bool pluginIsReady(void) const;
private slots: static QList<AutoPilotPluginManager::FullMode_t> getModes(void);
void _uasCreated(UASInterface* uas); static QString getShortModeText(uint8_t baseMode, uint32_t customMode);
void _uasDeleted(UASInterface* uas); static void clearStaticData(void);
private: private:
PX4ParameterFacts* _parameterFactsForUas(UASInterface* uas) const; UASInterface* _uas;
PX4ParameterFacts* _parameterFacts;
QMap<UASInterface*, PX4ParameterFacts*> _mapUas2ParameterFacts; bool _pluginReady;
}; };
#endif #endif
src/AutoPilotPlugins/PX4/PX4ParameterFacts.cc
View file @ fc493d75
...@@ -25,6 +25,7 @@ ...@@ -25,6 +25,7 @@
/// @author Don Gagne <don@thegagnes.com> /// @author Don Gagne <don@thegagnes.com>
#include "PX4ParameterFacts.h" #include "PX4ParameterFacts.h"
#include "QGCApplication.h"
#include <QFile> #include <QFile>
#include <QDebug> #include <QDebug>
...@@ -32,12 +33,14 @@ ...@@ -32,12 +33,14 @@
Q_LOGGING_CATEGORY(PX4ParameterFactsLog, "PX4ParameterFactsLog") Q_LOGGING_CATEGORY(PX4ParameterFactsLog, "PX4ParameterFactsLog")
Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog") Q_LOGGING_CATEGORY(PX4ParameterFactsMetaDataLog, "PX4ParameterFactsMetaDataLog")
bool PX4ParameterFacts::_parameterMetaDataLoaded = false;
QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData; QMap<QString, FactMetaData*> PX4ParameterFacts::_mapParameterName2FactMetaData;
PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) : PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
QObject(parent), QObject(parent),
_lastSeenComponent(-1), _lastSeenComponent(-1),
_paramMgr(NULL) _paramMgr(NULL),
_factsReady(false)
{ {
Q_ASSERT(uas); Q_ASSERT(uas);
...@@ -46,11 +49,14 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) : ...@@ -46,11 +49,14 @@ PX4ParameterFacts::PX4ParameterFacts(UASInterface* uas, QObject* parent) :
_paramMgr = uas->getParamManager(); _paramMgr = uas->getParamManager();
Q_ASSERT(_paramMgr); 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 // 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))); 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() PX4ParameterFacts::~PX4ParameterFacts()
...@@ -90,7 +96,7 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame ...@@ -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 we don't have meta data for the parameter it can't be part of the FactSystem
if (!_mapParameterName2FactMetaData.contains(parameterName)) { if (!_mapParameterName2FactMetaData.contains(parameterName)) {
// FIXME: Debug or Warning. Warning will fail TC // 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; return;
} }
...@@ -99,19 +105,22 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame ...@@ -99,19 +105,22 @@ void PX4ParameterFacts::_parameterChanged(int uas, int component, QString parame
fact->setMetaData(_mapParameterName2FactMetaData[parameterName]); 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; _mapParameterName2Fact[parameterName] = fact;
_mapFact2ParameterName[fact] = parameterName; _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 /// Connected to Fact::valueUpdated
/// ///
/// Sets the new value into the Parameter Manager. Paramter is persisted after send. /// 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()); Fact* fact = qobject_cast<Fact*>(sender());
Q_ASSERT(fact); Q_ASSERT(fact);
...@@ -285,6 +294,11 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet ...@@ -285,6 +294,11 @@ QVariant PX4ParameterFacts::_stringToTypedVariant(const QString& string, FactMet
/// The meta data comes from firmware parameters.xml file. /// The meta data comes from firmware parameters.xml file.
void PX4ParameterFacts::loadParameterFactMetaData(void) void PX4ParameterFacts::loadParameterFactMetaData(void)
{ {
if (_parameterMetaDataLoaded) {
return;
}
_parameterMetaDataLoaded = true;
qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data"; qCDebug(PX4ParameterFactsMetaDataLog) << "Loading PX4 parameter fact meta data";
Q_ASSERT(_mapParameterName2FactMetaData.count() == 0); Q_ASSERT(_mapParameterName2FactMetaData.count() == 0);
...@@ -347,3 +361,29 @@ void PX4ParameterFacts::loadParameterFactMetaData(void) ...@@ -347,3 +361,29 @@ void PX4ParameterFacts::loadParameterFactMetaData(void)
xml.readNext(); 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
View file @ fc493d75
...@@ -487,6 +487,7 @@ class PX4ParameterFacts : public QObject ...@@ -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_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_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(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: public:
/// @param uas Uas which this set of facts is associated with /// @param uas Uas which this set of facts is associated with
...@@ -496,13 +497,20 @@ public: ...@@ -496,13 +497,20 @@ public:
static void loadParameterFactMetaData(void); static void loadParameterFactMetaData(void);
static void deleteParameterFactMetaData(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: private slots:
/// Connected to UASInterface::parameterChanged
void _parameterChanged(int uas, int component, QString parameterName, QVariant value); void _parameterChanged(int uas, int component, QString parameterName, QVariant value);
void _valueUpdated(QVariant value);
/// Signalled from Fact to indicate value was changed through the property write accessor void _paramMgrParameterListUpToDate(void);
void _valueUpdated(QVariant& value); QString getTestString(void) { return QString("foo"); }
private: private:
static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group); static FactMetaData* _parseParameter(QXmlStreamReader& xml, const QString& group);
...@@ -512,12 +520,15 @@ private: ...@@ -512,12 +520,15 @@ private:
QMap<QString, Fact*> _mapParameterName2Fact; ///< Maps from a parameter name to a Fact QMap<QString, Fact*> _mapParameterName2Fact; ///< Maps from a parameter name to a Fact
QMap<Fact*, QString> _mapFact2ParameterName; ///< Maps from a Fact to a parameter name 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 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 _uasId; ///< Id for uas which this set of Facts are associated with
int _lastSeenComponent; int _lastSeenComponent;
QGCUASParamManagerInterface* _paramMgr; QGCUASParamManagerInterface* _paramMgr;
bool _factsReady; ///< All facts received from param mgr
}; };
#endif #endif
\ No newline at end of file
src/FactSystem/Fact.cc
View file @ fc493d75
...@@ -34,14 +34,15 @@ Fact::Fact(QObject* parent) : ...@@ -34,14 +34,15 @@ Fact::Fact(QObject* parent) :
} }
void Fact::setValue(QVariant& value) void Fact::setValue(const QVariant& value)
{ {
_value = 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; _value = value;
emit valueChanged(value); emit valueChanged(_value);
} }
src/FactSystem/Fact.h
View file @ fc493d75
...@@ -62,7 +62,7 @@ public: ...@@ -62,7 +62,7 @@ public:
QVariant value(void) const { return _value; } QVariant value(void) const { return _value; }
/// Write accessor for value property /// Write accessor for value property
void setValue(QVariant& value); void setValue(const QVariant& value);
/// Read accesor for defaultValue property /// Read accesor for defaultValue property
QVariant defaultValue(void) { return _metaData->defaultValue; } QVariant defaultValue(void) { return _metaData->defaultValue; }
...@@ -85,24 +85,21 @@ public: ...@@ -85,24 +85,21 @@ public:
/// Read accesor for max property /// Read accesor for max property
QVariant max(void) { return _metaData->max; } 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. /// Sets the meta data associated with the Fact.
void setMetaData(FactMetaData* metaData) { _metaData = metaData; } void setMetaData(FactMetaData* metaData) { _metaData = metaData; }
void _containerSetValue(const QVariant& value);
signals: signals:
/// QObject Property System signal for value property changes /// 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. /// 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 /// Signalled when property has been changed by a call to the property write accessor
/// ///
/// This signal is meant for use by client code. /// This signal is meant for use by Fact container implementations.
void valueUpdated(QVariant& value); void _containerValueChanged(QVariant& value);
private: private:
QVariant _value; ///< Fact value QVariant _value; ///< Fact value
......
src/FactSystem/FactSystem.h
View file @ fc493d75
...@@ -50,7 +50,6 @@ class FactSystem : public QGCSingleton ...@@ -50,7 +50,6 @@ class FactSystem : public QGCSingleton
private: private:
/// All access to FactSystem is through FactSystem::instance, so constructor is private /// All access to FactSystem is through FactSystem::instance, so constructor is private
FactSystem(QObject* parent = NULL); FactSystem(QObject* parent = NULL);
~FactSystem(); ~FactSystem();
static const char* _factSystemQmlUri; ///< URI for FactSystem QML imports static const char* _factSystemQmlUri; ///< URI for FactSystem QML imports
......
src/GAudioOutput.cc
View file @ fc493d75
...@@ -32,37 +32,22 @@ This file is part of the QGROUNDCONTROL project ...@@ -32,37 +32,22 @@ This file is part of the QGROUNDCONTROL project
#include <QApplication> #include <QApplication>
#include <QSettings> #include <QSettings>
#include "GAudioOutput.h"
#include <QDebug> #include <QDebug>
#include <QGC.h>
/** #include "GAudioOutput.h"
* This class follows the singleton design pattern #include "QGCApplication.h"
* @see http://en.wikipedia.org/wiki/Singleton_pattern #include "QGC.h"
* 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);
}
return _instance; IMPLEMENT_QGC_SINGLETON(GAudioOutput, GAudioOutput)
}
GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent), GAudioOutput::GAudioOutput(QObject *parent) :
QGCSingleton(parent),
muted(false), muted(false),
thread(new QThread()), thread(new QThread()),
worker(new QGCAudioWorker()) worker(new QGCAudioWorker())
{ {
muted = qgcApp()->runningUnitTests();
worker->moveToThread(thread); worker->moveToThread(thread);
connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int))); connect(this, SIGNAL(textToSpeak(QString,int)), worker, SLOT(say(QString,int)));
connect(this, SIGNAL(beepOnce()), worker, SLOT(beep())); connect(this, SIGNAL(beepOnce()), worker, SLOT(beep()));
...@@ -72,9 +57,8 @@ GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent), ...@@ -72,9 +57,8 @@ GAudioOutput::GAudioOutput(QObject *parent) : QObject(parent),
GAudioOutput::~GAudioOutput() GAudioOutput::~GAudioOutput()
{ {
thread->quit(); thread->quit();
while (thread->isRunning()) { thread->wait();
QGC::SLEEP::usleep(100);
}
delete worker; delete worker;
delete thread; delete thread;
} }
...@@ -82,19 +66,19 @@ GAudioOutput::~GAudioOutput() ...@@ -82,19 +66,19 @@ GAudioOutput::~GAudioOutput()
void GAudioOutput::mute(bool mute) void GAudioOutput::mute(bool mute)
{ {
// XXX handle muting muted = mute;
Q_UNUSED(mute);
} }
bool GAudioOutput::isMuted() bool GAudioOutput::isMuted()
{ {
// XXX return right stuff return muted;
return false;
} }
bool GAudioOutput::say(QString text, int severity) bool GAudioOutput::say(QString text, int severity)
{ {
emit textToSpeak(text, severity); if (!muted) {
emit textToSpeak(text, severity);
}
return true; return true;
} }
...@@ -103,7 +87,9 @@ bool GAudioOutput::say(QString text, int severity) ...@@ -103,7 +87,9 @@ bool GAudioOutput::say(QString text, int severity)
*/ */
bool GAudioOutput::alert(QString text) bool GAudioOutput::alert(QString text)
{ {
emit textToSpeak(text, 1); if (!muted) {
emit textToSpeak(text, 1);
}
return true; return true;
} }
...@@ -172,5 +158,7 @@ bool GAudioOutput::stopEmergency() ...@@ -172,5 +158,7 @@ bool GAudioOutput::stopEmergency()
void GAudioOutput::beep() void GAudioOutput::beep()
{ {
emit beepOnce(); if (!muted) {
emit beepOnce();
}
} }
src/GAudioOutput.h
View file @ fc493d75
...@@ -37,19 +37,21 @@ This file is part of the PIXHAWK project ...@@ -37,19 +37,21 @@ This file is part of the PIXHAWK project
#include <QThread> #include <QThread>
#include <QStringList> #include <QStringList>
#include <QGCAudioWorker.h> #include "QGCAudioWorker.h"
#include "QGCSingleton.h"
/** /**
* @brief Audio Output (speech synthesizer and "beep" output) * @brief Audio Output (speech synthesizer and "beep" output)
* This class follows the singleton design pattern * This class follows the singleton design pattern
* @see http://en.wikipedia.org/wiki/Singleton_pattern * @see http://en.wikipedia.org/wiki/Singleton_pattern
*/ */
class GAudioOutput : public QObject class GAudioOutput : public QGCSingleton
{ {
Q_OBJECT Q_OBJECT
DECLARE_QGC_SINGLETON(GAudioOutput, GAudioOutput)
public: public:
/** @brief Get the singleton instance */
static GAudioOutput *instance();
/** @brief List available voices */ /** @brief List available voices */
QStringList listVoices(void); QStringList listVoices(void);
enum enum
...@@ -104,6 +106,7 @@ protected: ...@@ -104,6 +106,7 @@ protected:
bool muted; bool muted;
QThread* thread; QThread* thread;
QGCAudioWorker* worker; QGCAudioWorker* worker;
private: private:
GAudioOutput(QObject *parent = NULL); GAudioOutput(QObject *parent = NULL);
~GAudioOutput(); ~GAudioOutput();
......
src/QGCApplication.cc
View file @ fc493d75
...@@ -31,7 +31,6 @@ ...@@ -31,7 +31,6 @@
#include <QFile> #include <QFile>
#include <QFlags> #include <QFlags>
#include <QThread>
#include <QSplashScreen> #include <QSplashScreen>
#include <QPixmap> #include <QPixmap>
#include <QDesktopWidget> #include <QDesktopWidget>
...@@ -182,8 +181,6 @@ void QGCApplication::_initCommon(void) ...@@ -182,8 +181,6 @@ void QGCApplication::_initCommon(void)
{ {
QSettings settings; QSettings settings;
_createSingletons();
// Show user an upgrade message if the settings version has been bumped up // Show user an upgrade message if the settings version has been bumped up
bool settingsUpgraded = false; bool settingsUpgraded = false;
if (settings.contains(_settingsVersionKey)) { if (settings.contains(_settingsVersionKey)) {
...@@ -244,6 +241,8 @@ bool QGCApplication::_initForNormalAppBoot(void) ...@@ -244,6 +241,8 @@ bool QGCApplication::_initForNormalAppBoot(void)
{ {
QSettings settings; QSettings settings;
_createSingletons();
enum MainWindow::CUSTOM_MODE mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_PX4).toInt(); enum MainWindow::CUSTOM_MODE mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_PX4).toInt();
// Show splash screen // Show splash screen
...@@ -425,6 +424,11 @@ QGCApplication* qgcApp(void) ...@@ -425,6 +424,11 @@ QGCApplication* qgcApp(void)
void QGCApplication::_createSingletons(void) void QGCApplication::_createSingletons(void)
{ {
// The order here is important since the singletons reference each other // 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(); LinkManager* linkManager = LinkManager::_createSingleton();
Q_UNUSED(linkManager); Q_UNUSED(linkManager);
Q_ASSERT(linkManager); Q_ASSERT(linkManager);
...@@ -443,14 +447,34 @@ void QGCApplication::_createSingletons(void) ...@@ -443,14 +447,34 @@ void QGCApplication::_createSingletons(void)
FactSystem* factSystem = FactSystem::_createSingleton(); FactSystem* factSystem = FactSystem::_createSingleton();
Q_UNUSED(factSystem); Q_UNUSED(factSystem);
Q_ASSERT(factSystem); Q_ASSERT(factSystem);
// Needs everything!
MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
Q_UNUSED(mavlink);
Q_ASSERT(mavlink);
} }
void QGCApplication::_destroySingletons(void) 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 // Take down singletons in reverse order of creation
MAVLinkProtocol::_deleteSingleton();
FactSystem::_deleteSingleton(); FactSystem::_deleteSingleton();
AutoPilotPluginManager::_deleteSingleton(); AutoPilotPluginManager::_deleteSingleton();
UASManager::_deleteSingleton(); UASManager::_deleteSingleton();
LinkManager::_deleteSingleton(); LinkManager::_deleteSingleton();
GAudioOutput::_deleteSingleton();
} }
src/QGCQuickWidget.cc
View file @ fc493d75
...@@ -43,9 +43,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) : ...@@ -43,9 +43,7 @@ QGCQuickWidget::QGCQuickWidget(QWidget* parent) :
UASInterface* uas = uasMgr->getActiveUAS(); UASInterface* uas = uasMgr->getActiveUAS();
Q_ASSERT(uas); Q_ASSERT(uas);
AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas->getAutopilotType())->addFactsToQmlContext(rootContext(), uas);
rootContext()->engine()->addImportPath("qrc:/qml"); rootContext()->engine()->addImportPath("qrc:/qml");
setSource(QUrl::fromLocalFile("/Users/Don/repos/qgroundcontrol/test.qml")); AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(uas)->addFactsToQmlContext(rootContext());
} }
src/QGCSingleton.h
View file @ fc493d75
...@@ -37,7 +37,7 @@ ...@@ -37,7 +37,7 @@
/// For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface) /// For example DECLARE_QGC_SINGLETON(UASManager, UASManagerInterface)
#define DECLARE_QGC_SINGLETON(className, interfaceName) \ #define DECLARE_QGC_SINGLETON(className, interfaceName) \
public: \ public: \
static interfaceName* instance(void); \ static interfaceName* instance(bool nullOk = false); \
static void setMockInstance(interfaceName* mock); \ static void setMockInstance(interfaceName* mock); \
private: \ private: \
static interfaceName* _createSingleton(void); \ static interfaceName* _createSingleton(void); \
...@@ -75,9 +75,11 @@ ...@@ -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; \ return _instance; \
} \ } \
\ \
......
src/VehicleSetup/SetupView.cc
View file @ fc493d75
...@@ -208,7 +208,7 @@ void SetupView::_parametersReady(void) ...@@ -208,7 +208,7 @@ void SetupView::_parametersReady(void)
_ui->summaryButton->setVisible(true); _ui->summaryButton->setVisible(true);
_components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent->getAutopilotType())->getVehicleComponents(_uasCurrent); _components = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent)->getVehicleComponents();
foreach(VehicleComponent* component, _components) { foreach(VehicleComponent* component, _components) {
VehicleComponentButton* button = new VehicleComponentButton(component, _ui->navBarWidget); VehicleComponentButton* button = new VehicleComponentButton(component, _ui->navBarWidget);
......
src/audio/QGCAudioWorker.cpp
View file @ fc493d75
...@@ -76,21 +76,17 @@ void QGCAudioWorker::init() ...@@ -76,21 +76,17 @@ void QGCAudioWorker::init()
} }
#endif #endif
// Prepare regular emergency signal, will be fired off on calling startEmergency()
emergencyTimer = new QTimer();
connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
} }
QGCAudioWorker::~QGCAudioWorker() QGCAudioWorker::~QGCAudioWorker()
{ {
#if defined _MSC_VER && defined QGC_SPEECH_ENABLED #if defined _MSC_VER && defined QGC_SPEECH_ENABLED
pVoice->Release(); if (pVoice) {
pVoice = NULL; pVoice->Release();
pVoice = NULL;
}
::CoUninitialize(); ::CoUninitialize();
#endif #endif
delete emergencyTimer;
} }
void QGCAudioWorker::say(QString text, int severity) void QGCAudioWorker::say(QString text, int severity)
......
src/comm/LinkManager.cc
View file @ fc493d75
...@@ -47,27 +47,14 @@ IMPLEMENT_QGC_SINGLETON(LinkManager, LinkManager) ...@@ -47,27 +47,14 @@ IMPLEMENT_QGC_SINGLETON(LinkManager, LinkManager)
**/ **/
LinkManager::LinkManager(QObject* parent) : LinkManager::LinkManager(QObject* parent) :
QGCSingleton(parent), QGCSingleton(parent),
_connectionsSuspended(false), _connectionsSuspended(false)
_mavlink(NULL)
{ {
_mavlink = new MAVLinkProtocol(this);
Q_CHECK_PTR(_mavlink);
} }
LinkManager::~LinkManager() LinkManager::~LinkManager()
{ {
disconnectAll(); Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
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;
} }
void LinkManager::addLink(LinkInterface* link) void LinkManager::addLink(LinkInterface* link)
...@@ -92,10 +79,11 @@ 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, SIGNAL(communicationError(QString,QString)), MainWindow::instance(), SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
} }
connect(link, &LinkInterface::bytesReceived, _mavlink, &MAVLinkProtocol::receiveBytes); MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();
connect(link, &LinkInterface::connected, _mavlink, &MAVLinkProtocol::linkConnected); connect(link, &LinkInterface::bytesReceived, mavlink, &MAVLinkProtocol::receiveBytes);
connect(link, &LinkInterface::disconnected, _mavlink, &MAVLinkProtocol::linkDisconnected); connect(link, &LinkInterface::connected, mavlink, &MAVLinkProtocol::linkConnected);
_mavlink->resetMetadataForLink(link); connect(link, &LinkInterface::disconnected, mavlink, &MAVLinkProtocol::linkDisconnected);
mavlink->resetMetadataForLink(link);
} }
bool LinkManager::connectAll() bool LinkManager::connectAll()
...@@ -221,3 +209,12 @@ void LinkManager::setConnectionsSuspended(QString reason) ...@@ -221,3 +209,12 @@ void LinkManager::setConnectionsSuspended(QString reason)
_connectionsSuspendedReason = reason; _connectionsSuspendedReason = reason;
Q_ASSERT(!reason.isEmpty()); Q_ASSERT(!reason.isEmpty());
} }
void LinkManager::_shutdown(void)
{
QList<LinkInterface*> links = _links;
foreach(LinkInterface* link, links) {
disconnectLink(link);
deleteLink(link);
}
}
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