implemented delete for communication links

src/comm/LinkManager.cc

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QList>
 #include <QApplication>
 #include "LinkManager.h"
+#include <iostream>
 
 #include <QDebug>
 
@@ -65,6 +66,7 @@ LinkManager::~LinkManager()
 
 void LinkManager::add(LinkInterface* link)
 {
+    if(!link) return;
     links.append(link);
     emit newLink(link);
 }
@@ -73,6 +75,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
 {
     // Connect link to protocol
     // the protocol will receive new bytes from the link
+    if(!link || !protocol) return;
     connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
     // Store the connection information in the protocol links map
     protocolLinks.insertMulti(protocol, link);
@@ -91,7 +94,8 @@ bool LinkManager::connectAll()
 	
         foreach (LinkInterface* link, links)
         {
-		if(! link->connect()) allConnected = false;
+            if(!link) {}
+            else if(!link->connect()) allConnected = false;
 	}
 	
 	return allConnected;
@@ -103,7 +107,9 @@ bool LinkManager::disconnectAll()
 	
         foreach (LinkInterface* link, links)
         {
-		if(! link->disconnect()) allDisconnected = false;
+            static int i=0;
+            if(!link){}
+            else if(!link->disconnect()) allDisconnected = false;
 	}
 	
 	return allDisconnected;
@@ -111,14 +117,30 @@ bool LinkManager::disconnectAll()
 
 bool LinkManager::connectLink(LinkInterface* link)
 {
+        if(!link) return false;
 	return link->connect();
 }
 
 bool LinkManager::disconnectLink(LinkInterface* link)
 {
+        if(!link) return false;
 	return link->disconnect();
 }
 
+bool LinkManager::removeLink(LinkInterface* link)
+{
+        if(link)
+        {
+            for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
+            {
+                if(link==links.at(i))
+                {
+                    links.removeAt(i); //remove from link list
+                }
+            }
+        }
+}
+
 /**
  * The access time is linear in the number of links.
  *

src/comm/LinkManager.h

@@ -67,6 +67,8 @@ public slots:
     void add(LinkInterface* link);
     void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
 
+    bool removeLink(LinkInterface* link);
+
     bool connectAll();
     bool connectLink(LinkInterface* link);
 

src/comm/SerialLink.cc

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 #include "SerialLink.h"
 #include "LinkManager.h"
 #include <MG.h>
+#include <iostream>
 #ifdef _WIN32
 #include "windows.h"
 #endif
@@ -106,7 +107,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
 SerialLink::~SerialLink()
 {
     disconnect();
-    delete port;
+    if(port) delete port;
     port = NULL;
 }
 
@@ -239,6 +240,8 @@ bool SerialLink::disconnect()
     port->close();
     dataMutex.unlock();
 
+    if(this->isRunning()) this->terminate(); //stop running the thread, restart it upon connect
+
     bool closed = true;
     //port->isOpen();
 
@@ -516,7 +519,7 @@ bool SerialLink::setPortName(QString portName)
             this->porthandle = "\\\\.\\" + this->porthandle;
         }
 #endif
-        delete port;
+        if(port) delete port;
         port = new QextSerialPort(porthandle, QextSerialPort::Polling);
 
         port->setBaudRate(baudrate);

src/uas/UAS.cc

@@ -93,6 +93,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 UAS::~UAS()
 {
     delete links;
+    links=NULL;
 }
 
 int UAS::getUASID() const
@@ -124,6 +125,7 @@ void UAS::setSelected()
 
 void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 {
+    if (!link) return;
     if (!links->contains(link))
     {
         addLink(link);
@@ -365,9 +367,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 positionLock = true;
 
                 // Send to patch antenna
-                mavlink_message_t msg;
-                mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
-                sendMessage(msg);
+//                mavlink_message_t msg;
+//                mavlink_msg_global_position_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, pos.usec, pos.lat, pos.lon, pos.alt, pos.vx, pos.vy, pos.vz);
+//                sendMessage(msg);
             }
             break;
         case MAVLINK_MSG_ID_GPS_RAW:
@@ -831,6 +833,7 @@ void UAS::sendMessage(mavlink_message_t message)
 
 void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
 {
+    if(!link) return;
     // Create buffer
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Write message into buffer, prepending start sign

src/ui/CommConfigurationWindow.cc

@@ -47,6 +47,7 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #include "MAVLinkProtocol.h"
 #include "MAVLinkSettingsWidget.h"
+#include "LinkManager.h"
 
 CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent, Qt::WindowFlags flags) : QWidget(parent, flags)
 {
@@ -58,6 +59,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
     // add link types
     ui.linkType->addItem("Serial",QGC_LINK_SERIAL);
     ui.linkType->addItem("UDP",QGC_LINK_UDP);
+    ui.linkType->addItem("Simulation",QGC_LINK_SIMULATION);
+    ui.linkType->addItem("Serial Forwarding",QGC_LINK_FORWARDING);
+
+    ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
 
     // Create action to open this menu
     // Create configuration action for this link
@@ -195,11 +200,20 @@ void CommConfigurationWindow::setLinkName(QString name)
 
 void CommConfigurationWindow::remove()
 {
-    link->disconnect();
-    //delete link;
-    //delete action;
+    if(action) delete action; //delete action first since it has a pointer to link
+    action=NULL;
+
+    if(link)
+    {
+        LinkManager::instance()->removeLink(link); //remove link from LinkManager list
+        link->disconnect(); //disconnect port, and also calls terminate() to stop the thread
+        if (link->isRunning()) link->terminate(); // terminate() the serial thread just in case it is still running
+        link->wait(); // wait() until thread is stoped before deleting
+        delete link;
+    }
+    link=NULL;
+
     this->window()->close();
-    qDebug() << "TODO: Link cannot be deleted: CommConfigurationWindow::remove() NOT IMPLEMENTED!";
 }
 
 void CommConfigurationWindow::connectionState(bool connect)

src/ui/CommConfigurationWindow.h

@@ -42,7 +42,14 @@ This file is part of the QGROUNDCONTROL project
 enum qgc_link_t
 {
     QGC_LINK_SERIAL,
-    QGC_LINK_UDP
+    QGC_LINK_UDP,
+    QGC_LINK_SIMULATION,
+    QGC_LINK_FORWARDING
+};
+
+enum qgc_protocol_t
+{
+    QGC_PROTOCOL_MAVLINK
 };
 
 #ifdef OPAL_RT

src/ui/CommSettings.ui

@@ -43,23 +43,7 @@
       </widget>
      </item>
      <item row="0" column="1">
-      <widget class="QComboBox" name="linkType">
-       <item>
-        <property name="text">
-         <string>Serial Link</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>UDP</string>
-        </property>
-       </item>
-       <item>
-        <property name="text">
-         <string>Simulation</string>
-        </property>
-       </item>
-      </widget>
+      <widget class="QComboBox" name="linkType"/>
      </item>
      <item row="1" column="0">
       <widget class="QLabel" name="label_5">
@@ -71,13 +55,8 @@
      <item row="1" column="1">
       <widget class="QComboBox" name="connectionType">
        <property name="currentIndex">
-        <number>0</number>
+        <number>-1</number>
        </property>
-       <item>
-        <property name="text">
-         <string>MAVLink</string>
-        </property>
-       </item>
       </widget>
      </item>
     </layout>

src/ui/SerialConfigurationWindow.cc

@@ -509,12 +509,3 @@ void SerialConfigurationWindow::setLinkName(QString name)
     setWindowTitle(tr("Configuration of ") + link->getName());
 }
 
-void SerialConfigurationWindow::remove()
-{
-    link->disconnect();
-    //delete link;
-    //delete action;
-    this->window()->close();
-    qDebug() << "TODO: Link cannot be deleted: SerialConfigurationWindow::remove() NOT IMPLEMENTED!";
-}
-

src/ui/SerialConfigurationWindow.h

@@ -60,12 +60,6 @@ public slots:
     void setParityEven();
     void setPortName(QString port);
     void setLinkName(QString name);
-    /**
-         * @brief Remove this link
-         *
-         * Disconnects the associated link, removes it from all menus and closes the window.
-         */
-    void remove();
     void setupPortList();
 
 protected slots:

src/ui/map3D/GCManipulator.cc

@@ -254,10 +254,10 @@ GCManipulator::calcMovement(void)
     if (buttonMask == GUIEventAdapter::LEFT_MOUSE_BUTTON)
     {
         // rotate camera
-#ifdef __APPLE__
-        osg::Vec3d axis;
-#else
+#ifdef __WIN32__
         osg::Vec3 axis;
+#else
+        osg::Vec3d axis;
 #endif
         float angle;
 

src/ui/map3D/QMap3D.cc

@@ -39,7 +39,7 @@ QMap3D::QMap3D(QWidget * parent, const char * name, WindowFlags f) :
         QWidget(parent,f)
 {
     setupUi(this);
-    graphicsView->setCameraManipulator(new osgEarthUtil::EarthManipulator);
+    graphicsView->setCameraManipulator(new osgEarth::Util::EarthManipulator);
     graphicsView->setSceneData(new osg::Group);
     graphicsView->updateCamera();
     show();