Mini-protocols must only communicate over single link

src/FactSystem/ParameterLoader.cc

@@ -45,15 +45,15 @@ QGC_LOGGING_CATEGORY(ParameterLoaderVerboseLog, "ParameterLoaderVerboseLog")
 
 Fact ParameterLoader::_defaultFact;
 
-ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent) :
-    QObject(parent),
-    _autopilot(autopilot),
-    _vehicle(vehicle),
-    _mavlink(qgcApp()->toolbox()->mavlinkProtocol()),
-    _parametersReady(false),
-    _initialLoadComplete(false),
-    _defaultComponentId(FactSystem::defaultComponentId),
-    _totalParamCount(0)
+ParameterLoader::ParameterLoader(AutoPilotPlugin* autopilot, Vehicle* vehicle, QObject* parent)
+    : QObject(parent)
+    , _autopilot(autopilot)
+    , _vehicle(vehicle)
+    , _mavlink(qgcApp()->toolbox()->mavlinkProtocol())
+    , _parametersReady(false)
+    , _initialLoadComplete(false)
+    , _defaultComponentId(FactSystem::defaultComponentId)
+    , _totalParamCount(0)
 {
     Q_ASSERT(_autopilot);
     Q_ASSERT(_vehicle);
@@ -321,7 +321,7 @@ void ParameterLoader::refreshAllParameters(void)
 
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 
     qCDebug(ParameterLoaderLog) << "Request to refresh all parameters";
 }
@@ -522,7 +522,7 @@ void ParameterLoader::_tryCacheLookup()
 
     mavlink_message_t msg;
     mavlink_msg_param_request_read_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, _vehicle->id(), MAV_COMP_ID_ALL, "_HASH_CHECK", -1);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void ParameterLoader::_readParameterRaw(int componentId, const QString& paramName, int paramIndex)
@@ -538,7 +538,7 @@ void ParameterLoader::_readParameterRaw(int componentId, const QString& paramNam
                                         componentId,                // Target component id
                                         fixedParamName,             // Named parameter being requested
                                         paramIndex);                // Parameter index being requested, -1 for named
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramName, const QVariant& value)
@@ -591,7 +591,7 @@ void ParameterLoader::_writeParameterRaw(int componentId, const QString& paramNa
 
     mavlink_message_t msg;
     mavlink_msg_param_set_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &p);
-    _vehicle->sendMessage(msg);
+    _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 }
 
 void ParameterLoader::_writeLocalParamCache()
@@ -663,7 +663,7 @@ void ParameterLoader::_saveToEEPROM(void)
     if (_vehicle->firmwarePlugin()->isCapable(FirmwarePlugin::MavCmdPreflightStorageCapability)) {
         mavlink_message_t msg;
         mavlink_msg_command_long_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, _vehicle->id(), 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
-        _vehicle->sendMessage(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         qCDebug(ParameterLoaderLog) << "_saveToEEPROM";
     } else {
         qCDebug(ParameterLoaderLog) << "_saveToEEPROM skipped due to FirmwarePlugin::isCapable";

src/MissionManager/MissionManager.cc

@@ -34,6 +34,7 @@ QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
 
 MissionManager::MissionManager(Vehicle* vehicle)
     : _vehicle(vehicle)
+    , _dedicatedLink(NULL)
     , _ackTimeoutTimer(NULL)
     , _retryAck(AckNone)
     , _readTransactionInProgress(false)
@@ -98,7 +99,8 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
 
     mavlink_msg_mission_count_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionCount);
 
-    _vehicle->sendMessage(message);
+    _dedicatedLink = _vehicle->priorityLink();
+    _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionRequest);
     emit inProgressChanged(true);
 }
@@ -120,7 +122,8 @@ void MissionManager::requestMissionItems(void)
     
     mavlink_msg_mission_request_list_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &request);
     
-    _vehicle->sendMessage(message);
+    _dedicatedLink = _vehicle->priorityLink();
+    _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionCount);
     emit inProgressChanged(true);
 }
@@ -180,10 +183,11 @@ void MissionManager::_readTransactionComplete(void)
     
     mavlink_msg_mission_ack_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionAck);
     
-    _vehicle->sendMessage(message);
-    
-    emit newMissionItemsAvailable();
+    _vehicle->sendMessageOnLink(_dedicatedLink, message);
+
+    // FIXME: Hack to get master changed, remove before push
     _finishTransaction(true);
+    emit newMissionItemsAvailable();
 }
 
 void MissionManager::_handleMissionCount(const mavlink_message_t& message)
@@ -228,7 +232,7 @@ void MissionManager::_requestNextMissionItem(void)
     
     mavlink_msg_mission_request_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &message, &missionRequest);
     
-    _vehicle->sendMessage(message);
+    _vehicle->sendMessageOnLink(_dedicatedLink, message);
     _startAckTimeout(AckMissionItem);
 }
 
@@ -330,7 +334,7 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
     
     mavlink_msg_mission_item_encode(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(), qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(), &messageOut, &missionItem);
     
-    _vehicle->sendMessage(messageOut);
+    _vehicle->sendMessageOnLink(_dedicatedLink, messageOut);
     _startAckTimeout(AckMissionRequest);
 }
 

src/MissionManager/MissionManager.h

@@ -33,6 +33,7 @@
 #include "QmlObjectListModel.h"
 #include "QGCMAVLink.h"
 #include "QGCLoggingCategory.h"
+#include "LinkInterface.h"
 
 class Vehicle;
 
@@ -116,6 +117,7 @@ private:
 
 private:
     Vehicle*            _vehicle;
+    LinkInterface*      _dedicatedLink;
     
     QTimer*             _ackTimeoutTimer;
     AckType_t           _retryAck;

src/ViewWidgets/LogDownloadController.cc

@@ -390,7 +390,7 @@ LogDownloadController::_requestLogData(uint8_t id, uint32_t offset, uint32_t cou
             &msg,
             qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL,
             id, offset, count);
-        _vehicle->sendMessage(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
     }
 }
 
@@ -419,7 +419,7 @@ LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
             MAV_COMP_ID_ALL,
             start,
             end);
-        _vehicle->sendMessage(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         //-- Wait 2 seconds before bitching about not getting anything
         _timer.start(2000);
     }
@@ -556,7 +556,7 @@ LogDownloadController::eraseAll(void)
             qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
             &msg,
             qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), MAV_COMP_ID_ALL);
-        _vehicle->sendMessage(msg);
+        _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
         refresh();
     }
 }

src/uas/FileManager.cc

@@ -34,13 +34,14 @@
 
 QGC_LOGGING_CATEGORY(FileManagerLog, "FileManagerLog")
 
-FileManager::FileManager(QObject* parent, Vehicle* vehicle) :
-    QObject(parent),
-    _currentOperation(kCOIdle),
-    _vehicle(vehicle),
-    _lastOutgoingSeqNumber(0),
-    _activeSession(0),
-    _systemIdQGC(0)
+FileManager::FileManager(QObject* parent, Vehicle* vehicle)
+    : QObject(parent)
+    , _currentOperation(kCOIdle)
+    , _vehicle(vehicle)
+    , _dedicatedLink(NULL)
+    , _lastOutgoingSeqNumber(0)
+    , _activeSession(0)
+    , _systemIdQGC(0)
 {
     connect(&_ackTimer, &QTimer::timeout, this, &FileManager::_ackTimeout);
     
@@ -308,10 +309,8 @@ void FileManager::_writeFileDatablock(void)
     _sendRequest(&request);
 }
 
-void FileManager::receiveMessage(LinkInterface* link, mavlink_message_t message)
+void FileManager::receiveMessage(mavlink_message_t message)
 {
-    Q_UNUSED(link);
-
     // receiveMessage is signalled will all mavlink messages so we need to filter everything else out but ours.
     if (message.msgid != MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
         return;
@@ -444,6 +443,12 @@ void FileManager::listDirectory(const QString& dirPath)
         return;
     }
 
+    _dedicatedLink = _vehicle->priorityLink();
+    if (!_dedicatedLink) {
+        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
+        return;
+    }
+
     // initialise the lister
     _listPath = dirPath;
     _listOffset = 0;
@@ -481,6 +486,12 @@ void FileManager::downloadPath(const QString& from, const QDir& downloadDir)
         _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
         return;
     }
+
+    _dedicatedLink = _vehicle->priorityLink();
+    if (!_dedicatedLink) {
+        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
+        return;
+    }
     
 	qCDebug(FileManagerLog) << "downloadPath from:" << from << "to:" << downloadDir;
 	_downloadWorker(from, downloadDir, true /* read file */);
@@ -492,6 +503,12 @@ void FileManager::streamPath(const QString& from, const QDir& downloadDir)
         _emitErrorMessage(tr("Command not sent. Waiting for previous command to complete."));
         return;
     }
+
+    _dedicatedLink = _vehicle->priorityLink();
+    if (!_dedicatedLink) {
+        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
+        return;
+    }
     
 	qCDebug(FileManagerLog) << "streamPath from:" << from << "to:" << downloadDir;
 	_downloadWorker(from, downloadDir, false /* stream file */);
@@ -537,6 +554,12 @@ void FileManager::uploadPath(const QString& toPath, const QFileInfo& uploadFile)
         return;
     }
 
+    _dedicatedLink = _vehicle->priorityLink();
+    if (!_dedicatedLink) {
+        _emitErrorMessage(tr("Command not sent. No Vehicle links."));
+        return;
+    }
+
     if (toPath.isEmpty()) {
         return;
     }
@@ -731,5 +754,5 @@ void FileManager::_sendRequest(Request* request)
                                             0,                  // Target component
                                             (uint8_t*)request); // Payload
     
-    _vehicle->sendMessage(message);
+    _vehicle->sendMessageOnLink(_dedicatedLink, message);
 }

src/uas/FileManager.h

@@ -87,7 +87,7 @@ signals:
     void commandProgress(int value);
 
 public slots:
-    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+    void receiveMessage(mavlink_message_t message);
 	
 private slots:
 	void _ackTimeout(void);
@@ -203,7 +203,8 @@ private:
     OperationState  _currentOperation;              ///< Current operation of state machine
     QTimer          _ackTimer;                      ///< Used to signal a timeout waiting for an ack
     
-    Vehicle* _vehicle;
+    Vehicle*        _vehicle;
+    LinkInterface*  _dedicatedLink; ///< Link to use for communication
     
     uint16_t _lastOutgoingSeqNumber; ///< Sequence number sent in last outgoing packet
 

src/uas/UAS.cc

@@ -185,7 +185,7 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     }
 
 #ifndef __mobile__
-    connect(mavlink, &MAVLinkProtocol::messageReceived, &fileManager, &FileManager::receiveMessage);
+    connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
 #endif
 
     color = UASInterface::getNextColor();