Allowed the removal of UAS objects, added aggressive disconnect warning

src/comm/SerialLink.cc

@@ -151,7 +151,7 @@ void SerialLink::run()
 void SerialLink::checkForBytes()
 {
     /* Check if bytes are available */
-    if(port && port->isOpen())
+    if(port && port->isOpen() && port->isWritable())
     {
         dataMutex.lock();
         qint64 available = port->bytesAvailable();

src/uas/UAS.cc

@@ -271,6 +271,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     GAudioOutput::instance()->stopEmergency();
                     GAudioOutput::instance()->say(audiostring);
                 }
+
+                if (state.status == MAV_STATE_POWEROFF)
+                {
+                    emit systemRemoved(this);
+                    emit systemRemoved();
+                }
             }
             break;
         case MAVLINK_MSG_ID_RAW_IMU:

src/uas/UASInterface.h

@@ -262,6 +262,9 @@ signals:
      * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
      */
     void statusChanged(UASInterface* uas, QString status, QString description);
+    /** @brief System has been removed / disconnected / shutdown cleanly, remove */
+    void systemRemoved(UASInterface* uas);
+    void systemRemoved();
     /**
      * @brief Received a plain text message from the robot
      * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT

src/ui/MainWindow.cc

@@ -1299,7 +1299,11 @@ void MainWindow::UASCreated(UASInterface* uas)
             break;
         }
 
-        ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));
+        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
+        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
+        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
+
+        ui.menuConnected_Systems->addAction(uasAction);
 
         // FIXME Should be not inside the mainwindow
         if (debugConsoleDockWidget)

src/ui/UASView.ui

@@ -181,7 +181,31 @@ QProgressBar::chunk#speedBar {
 
 QProgressBar::chunk#thrustBar {
 	background-color: orange;
-}</string>
+}
+
+QToolTip {
+        background-color: #090909;
+        border: 1px solid #379AC3;
+	border-radius: 3px;
+    color: #DDDDDF;
+}
+
+QMenu {
+    border: 1px solid #379AC3;
+background-color: #050508;
+color: #DDDDDF;
+background-clip: border;
+font-size: 11px;
+}
+
+QMenu::separator {
+     height: 1px;
+     background: #379AC3;
+     margin-top: 8px;
+     margin-bottom: 4px;
+     margin-left: 5px;
+     margin-right: 5px;
+ }</string>
   </property>
   <layout class="QHBoxLayout" name="horizontalLayout_2">
    <property name="spacing">

src/ui/uas/UASView.cc

@@ -31,6 +31,7 @@ This file is part of the PIXHAWK project
 #include <cmath>
 #include <QDateTime>
 #include <QDebug>
+#include <QMenu>
 
 #include "QGC.h"
 #include "MG.h"
@@ -42,6 +43,8 @@ This file is part of the PIXHAWK project
 UASView::UASView(UASInterface* uas, QWidget *parent) :
         QWidget(parent),
         startTime(0),
+        lastHeartbeat(0),
+        iconIsRed(true),
         timeRemaining(0),
         chargeLevel(0),
         uas(uas),
@@ -60,6 +63,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
         alt(0),
         groundDistance(0),
         localFrame(false),
+        removeAction(new QAction("Remove this system", this)),
         m_ui(new Ui::UASView)
 {
     m_ui->setupUi(this);
@@ -92,6 +96,10 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
     connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
     connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
+
+    // Allow to delete this widget
+    connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
+    connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
     
     // Set static values
     
@@ -230,12 +238,11 @@ void UASView::hideEvent(QHideEvent* event)
 void UASView::receiveHeartbeat(UASInterface* uas)
 {
     Q_UNUSED(uas);
-    QString colorstyle;
     heartbeatColor = QColor(20, 200, 20);
-    colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
-                                    heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
-    m_ui->heartbeatIcon->setStyleSheet(colorstyle);
-    m_ui->heartbeatIcon->setAutoFillBackground(true);
+    QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
+    m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+    lastHeartbeat = QGC::groundTimeUsecs();
+    //m_ui->heartbeatIcon->setAutoFillBackground(true);
 }
 
 /**
@@ -391,6 +398,16 @@ void UASView::updateLoad(UASInterface* uas, double load)
     }
 }
 
+void UASView::contextMenuEvent (QContextMenuEvent* event)
+{
+    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    {
+        QMenu menu(this);
+        menu.addAction(removeAction);
+        menu.exec(event->globalPos());
+    }
+}
+
 void UASView::refresh()
 {
     //setUpdatesEnabled(false);
@@ -494,15 +511,44 @@ void UASView::refresh()
     }
     generalUpdateCount++;
 
+    QString colorstyle("QGroupBox { border-radius: 5px; padding: 2px; margin: 2px; border: 0px; background-color: %1; }");
+
+    if (QGC::groundTimeUsecs() - lastHeartbeat > 1500000)
+    {
+        // CRITICAL CONDITION, NO HEARTBEAT
+
+        if (iconIsRed)
+        {
+            QColor warnColor(Qt::red);
+            m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            m_ui->uasViewFrame->setStyleSheet(style);
+        }
+        else
+        {
+            QColor warnColor(Qt::black);
+            m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(warnColor.name()));
+            QString style = QString("QGroupBox { border-radius: 12px; padding: 0px; margin: 0px; background-color: %1; }").arg(warnColor.name());
+            m_ui->uasViewFrame->setStyleSheet(style);
+        }
+        iconIsRed = !iconIsRed;
+    }
+    else
+    {
+        // Break alert once everything is back to normal
+        if (!iconIsRed)
+        {
+            setBackgroundColor();
+            iconIsRed = true;
+        }
+
     // Fade heartbeat icon
     // Make color darker
     heartbeatColor = heartbeatColor.darker(150);
 
-    QString colorstyle;
-    colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 8px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",
-                                    heartbeatColor.red(), heartbeatColor.green(), heartbeatColor.blue());
-    m_ui->heartbeatIcon->setStyleSheet(colorstyle);
-    m_ui->heartbeatIcon->setAutoFillBackground(true);
+    //m_ui->heartbeatIcon->setAutoFillBackground(true);
+    m_ui->heartbeatIcon->setStyleSheet(colorstyle.arg(heartbeatColor.name()));
+    }
     //setUpdatesEnabled(true);
 
     //setUpdatesEnabled(false);

src/ui/uas/UASView.h

@@ -82,6 +82,8 @@ protected:
     QTimer* refreshTimer;
     QColor heartbeatColor;
     quint64 startTime;
+    quint64 lastHeartbeat;
+    bool iconIsRed;
     int timeRemaining;
     float chargeLevel;
     UASInterface* uas;
@@ -100,6 +102,7 @@ protected:
     float alt;
     float groundDistance;
     bool localFrame;
+    QAction* removeAction;
     static const int updateInterval = 300;
 
 
@@ -112,6 +115,7 @@ protected:
     void showEvent(QShowEvent* event);
     /** @brief Stop widget updating */
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent(QContextMenuEvent* event);
 
 private:
     Ui::UASView *m_ui;