c++ ownership and memory guards

src/Camera/QGCCameraControl.cc

@@ -118,6 +118,7 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
     , _cameraMode(CAM_MODE_UNDEFINED)
     , _video_status(VIDEO_CAPTURE_STATUS_UNDEFINED)
 {
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     memcpy(&_info, info, sizeof(mavlink_camera_information_t));
     connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady);
     _vendor = QString((const char*)(void*)&info->vendor_name[0]);
@@ -533,6 +534,7 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
         }
         //-- Build metadata
         FactMetaData* metaData = new FactMetaData(factType, factName, this);
+        QQmlEngine::setObjectOwnership(metaData, QQmlEngine::CppOwnership);
         metaData->setShortDescription(description);
         metaData->setLongDescription(description);
         //-- Options (enums)
@@ -560,6 +562,7 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
                 if(exclusions.size()) {
                     qCDebug(CameraControlLogVerbose) << "New exclusions:" << factName << optValue << exclusions;
                     QGCCameraOptionExclusion* pExc = new QGCCameraOptionExclusion(this, factName, optValue, exclusions);
+                    QQmlEngine::setObjectOwnership(pExc, QQmlEngine::CppOwnership);
                     _valueExclusions.append(pExc);
                 }
                 //-- Check for range rules
@@ -589,9 +592,11 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
         } else {
             _nameToFactMetaDataMap[factName] = metaData;
             Fact* pFact = new Fact(_compID, factName, factType, this);
+            QQmlEngine::setObjectOwnership(pFact, QQmlEngine::CppOwnership);
             pFact->setMetaData(metaData);
             pFact->_containerSetRawValue(metaData->rawDefaultValue());
             QGCCameraParamIO* pIO = new QGCCameraParamIO(this, pFact, _vehicle);
+            QQmlEngine::setObjectOwnership(pIO, QQmlEngine::CppOwnership);
             _paramIO[factName] = pIO;
             _addFact(pFact, factName);
         }
@@ -695,8 +700,12 @@ void
 QGCCameraControl::_requestAllParameters()
 {
     //-- Reset receive list
-    foreach(QString pramName, _paramIO.keys()) {
-        _paramIO[pramName]->setParamRequest();
+    foreach(QString paramName, _paramIO.keys()) {
+        if(_paramIO[paramName]) {
+            _paramIO[paramName]->setParamRequest();
+        } else {
+            qCritical() << "QGCParamIO is NULL" << paramName;
+        }
     }
     MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
     mavlink_message_t msg;
@@ -729,7 +738,11 @@ QGCCameraControl::handleParamAck(const mavlink_param_ext_ack_t& ack)
         qCWarning(CameraControlLog) << "Received PARAM_EXT_ACK for unknown param:" << paramName;
         return;
     }
-    _paramIO[paramName]->handleParamAck(ack);
+    if(_paramIO[paramName]) {
+        _paramIO[paramName]->handleParamAck(ack);
+    } else {
+        qCritical() << "QGCParamIO is NULL" << paramName;
+    }
 }
 
 //-----------------------------------------------------------------------------
@@ -741,7 +754,11 @@ QGCCameraControl::handleParamValue(const mavlink_param_ext_value_t& value)
         qCWarning(CameraControlLog) << "Received PARAM_EXT_VALUE for unknown param:" << paramName;
         return;
     }
-    _paramIO[paramName]->handleParamValue(value);
+    if(_paramIO[paramName]) {
+        _paramIO[paramName]->handleParamValue(value);
+    } else {
+        qCritical() << "QGCParamIO is NULL" << paramName;
+    }
 }
 
 //-----------------------------------------------------------------------------

src/Camera/QGCCameraIO.cc

@@ -21,6 +21,7 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
     , _requestRetries(0)
     , _done(false)
 {
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     _paramWriteTimer.setSingleShot(true);
     _paramWriteTimer.setInterval(1000);
     _paramRequestTimer.setSingleShot(true);
@@ -94,10 +95,10 @@ void
 QGCCameraParamIO::_sendParameter()
 {
     //-- TODO: We should use something other than mavlink_param_union_t for PARAM_EXT_SET
-    mavlink_param_ext_set_t     p;
+    mavlink_param_ext_set_t p;
+    memset(&p, 0, sizeof(mavlink_param_ext_set_t));
     mavlink_param_union_t       union_value;
     mavlink_message_t           msg;
-    memset(&p, 0, sizeof(mavlink_param_ext_set_t));
     FactMetaData::ValueType_t factType = _fact->type();
     p.param_type = _mavParamType;
     switch (factType) {
@@ -247,6 +248,9 @@ QGCCameraParamIO::_paramRequestTimeout()
     } else {
         //-- Request it again
         qCDebug(CameraIOLog) << "Param request retry:" << _fact->name();
+        char param_id[MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN + 1];
+        memset(param_id, 0, sizeof(param_id));
+        strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
         mavlink_message_t msg;
         mavlink_msg_param_ext_request_read_pack_chan(
             _pMavlink->getSystemId(),
@@ -255,7 +259,7 @@ QGCCameraParamIO::_paramRequestTimeout()
             &msg,
             _vehicle->id(),
             _control->compID(),
-            _fact->name().toStdString().c_str(),
+            param_id,
             -1);
         _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         _paramRequestTimer.start();

src/Camera/QGCCameraManager.cc

@@ -16,6 +16,7 @@ QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
     , _vehicleReadyState(false)
     , _currentTask(0)
 {
+    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qCDebug(CameraManagerLog) << "QGCCameraManager Created";
     connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
@@ -121,6 +122,7 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
     qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0];
     QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
     if(pCamera) {
+        QQmlEngine::setObjectOwnership(pCamera, QQmlEngine::CppOwnership);
         _cameras.append(pCamera);
         emit camerasChanged();
     }

src/FactSystem/Fact.cc

@@ -31,7 +31,7 @@ Fact::Fact(QObject* parent)
     FactMetaData* metaData = new FactMetaData(_type, this);
     setMetaData(metaData);
 
-    // Better sage than sorry on object ownership
+    // Better safe than sorry on object ownership
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }
 

src/uas/UAS.cc

@@ -139,9 +139,9 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
 
 #ifndef __mobile__
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
+    color = UASInterface::getNextColor();
 #endif
 
-    color = UASInterface::getNextColor();
 }
 
 /**

src/uas/UASInterface.h

@@ -61,6 +61,7 @@ public:
      * @return The next color in the color map. The map holds 20 colors and starts from the beginning
      *         if the colors are exceeded.
      */
+#if !defined(__mobile__)
     static QColor getNextColor() {
         /* Create color map */
         static QList<QColor> colors = QList<QColor>()
@@ -91,6 +92,7 @@ public:
         nextColor++;
         return colors[nextColor];//return the next color
    }
+#endif
 
     virtual QMap<int, QString> getComponents() = 0;