UAS threading improvements

src/uas/ArduPilotMegaMAV.cc

@@ -38,8 +38,8 @@ This file is part of the QGROUNDCONTROL project
 #endif
 #endif
 
-ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id) :
-    UAS(mavlink, id)//,
+ArduPilotMegaMAV::ArduPilotMegaMAV(MAVLinkProtocol* mavlink, QThread* thread, int id) :
+    UAS(mavlink, thread, id)//,
     // place other initializers here
 {
     //This does not seem to work. Manually request each stream type at a specified rate.

src/uas/ArduPilotMegaMAV.h

@@ -29,7 +29,7 @@ class ArduPilotMegaMAV : public UAS
 {
     Q_OBJECT
 public:
-    ArduPilotMegaMAV(MAVLinkProtocol* mavlink, int id = 0);
+    ArduPilotMegaMAV(MAVLinkProtocol* mavlink, QThread* thread, int id = 0);
     /** @brief Set camera mount stabilization modes */
     void setMountConfigure(unsigned char mode, bool stabilize_roll,bool stabilize_pitch,bool stabilize_yaw);
     /** @brief Set camera mount control */

src/uas/PxQuadMAV.cc

@@ -23,8 +23,8 @@ This file is part of the QGROUNDCONTROL project
 #include "PxQuadMAV.h"
 #include "GAudioOutput.h"
 
-PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, int id) :
-    UAS(mavlink, id)
+PxQuadMAV::PxQuadMAV(MAVLinkProtocol* mavlink, QThread* thread, int id) :
+    UAS(mavlink, thread, id)
 {
 }
 

src/uas/PxQuadMAV.h

@@ -31,7 +31,7 @@ class PxQuadMAV : public UAS
     Q_OBJECT
     Q_INTERFACES(UASInterface)
 public:
-    PxQuadMAV(MAVLinkProtocol* mavlink, int id);
+    PxQuadMAV(MAVLinkProtocol* mavlink, QThread* thread, int id);
 public slots:
     /** @brief Receive a MAVLink message from this MAV */
     void receiveMessage(LinkInterface* link, mavlink_message_t message);

src/uas/QGCMAVLinkUASFactory.cc

@@ -27,7 +27,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     {
     case MAV_AUTOPILOT_GENERIC:
     {
-        UAS* mav = new UAS(mavlink, sysid);
+        UAS* mav = new UAS(mavlink, worker, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
@@ -43,7 +43,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     case MAV_AUTOPILOT_PIXHAWK:
     {
-        PxQuadMAV* mav = new PxQuadMAV(mavlink, sysid);
+        PxQuadMAV* mav = new PxQuadMAV(mavlink, worker, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
@@ -62,7 +62,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     case MAV_AUTOPILOT_SLUGS:
     {
-        SlugsMAV* mav = new SlugsMAV(mavlink, sysid);
+        SlugsMAV* mav = new SlugsMAV(mavlink, worker, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
@@ -78,7 +78,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     break;
     case MAV_AUTOPILOT_ARDUPILOTMEGA:
     {
-        ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, sysid);
+        ArduPilotMegaMAV* mav = new ArduPilotMegaMAV(mavlink, worker, sysid);
         // Set the system type
         mav->setSystemType((int)heartbeat->type);
 
@@ -95,7 +95,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 #ifdef QGC_USE_SENSESOAR_MESSAGES
 	case MAV_AUTOPILOT_SENSESOAR:
 		{
-			senseSoarMAV* mav = new senseSoarMAV(mavlink,sysid);
+            senseSoarMAV* mav = new senseSoarMAV(mavlink,worker, sysid);
 			mav->setSystemType((int)heartbeat->type);
 
             mav->moveToThread(worker);
@@ -107,11 +107,9 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
 #endif
     default:
     {
-        UAS* mav = new UAS(mavlink, sysid);
+        UAS* mav = new UAS(mavlink, worker, sysid);
         mav->setSystemType((int)heartbeat->type);
 
-        mav->moveToThread(worker);
-
         // Connect this robot to the UAS object
         // it is IMPORTANT here to use the right object type,
         // else the slot of the parent object is called (and thus the special

src/uas/SlugsMAV.cc

@@ -2,8 +2,8 @@
 
 #include <QDebug>
 
-SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, int id) :
-    UAS(mavlink, id)
+SlugsMAV::SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id) :
+    UAS(mavlink, thread, id)
 {
     widgetTimer = new QTimer (this);
     widgetTimer->setInterval(SLUGS_UPDATE_RATE);

src/uas/SlugsMAV.h

@@ -53,7 +53,7 @@ class SlugsMAV : public UAS
 
 
 public:
-    SlugsMAV(MAVLinkProtocol* mavlink, int id = 0);
+    SlugsMAV(MAVLinkProtocol* mavlink, QThread* thread, int id = 0);
 
 public slots:
     /** @brief Receive a MAVLink message from this MAV */

src/uas/UAS.cc

@@ -41,7 +41,7 @@
 * creating the UAS.
 */
 
-UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
+UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
     lipoFull(4.2f),
     lipoEmpty(3.5f),
     uasId(id),
@@ -166,6 +166,11 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     lastSendTimeGPS(0),
     lastSendTimeSensors(0)
 {
+    moveToThread(thread);
+    waypointManager.moveToThread(thread);
+    paramMgr.moveToThread(thread);
+    statusTimeout->moveToThread(thread);
+
     for (unsigned int i = 0; i<255;++i)
     {
         componentID[i] = -1;
@@ -173,7 +178,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     }
 
     // Store a list of available actions for this UAS.
-    // Basically everything exposted as a SLOT with no return value or arguments.
+    // Basically everything exposed as a SLOT with no return value or arguments.
 
     QAction* newAction = new QAction(tr("Arm"), this);
     newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
@@ -364,34 +369,6 @@ void UAS::updateState()
             GAudioOutput::instance()->notifyNegative();
         }
     }
-
-//#define MAVLINK_OFFBOARD_CONTROL_MODE_NONE 0
-//#define MAVLINK_OFFBOARD_CONTROL_MODE_RATES 1
-//#define MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE 2
-//#define MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY 3
-//#define MAVLINK_OFFBOARD_CONTROL_MODE_POSITION 4
-//#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10
-
-//#warning THIS IS A HUGE HACK AND SHOULD NEVER SHOW UP IN ANY GIT REPOSITORY
-//    mavlink_message_t message;
-
-//            mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t sp;
-
-//            sp.group = 0;
-
-//            /* set rate mode, set zero rates and 20% throttle */
-//            sp.mode = MAVLINK_OFFBOARD_CONTROL_MODE_RATES | MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED;
-
-//            sp.roll[0] = INT16_MAX * 0.0f;
-//            sp.pitch[0] = INT16_MAX * 0.0f;
-//            sp.yaw[0] = INT16_MAX * 0.0f;
-//            sp.thrust[0] = UINT16_MAX * 0.3f;
-
-
-//            /* send from system 200 and component 0 */
-//            mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(200, 0, &message, &sp);
-
-//            sendMessage(message);
 }
 
 /**

src/uas/UAS.h

@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #ifndef _UAS_H_
 #define _UAS_H_
 
+#include <QThread>
 #include "UASInterface.h"
 #include <MAVLinkProtocol.h>
 #include <QVector3D>
@@ -55,7 +56,7 @@ class UAS : public UASInterface
 {
     Q_OBJECT
 public:
-    UAS(MAVLinkProtocol* protocol, int id = 0);
+    UAS(MAVLinkProtocol* protocol, QThread* thread, int id = 0);
     ~UAS();
 
     float lipoFull;  ///< 100% charged voltage

src/uas/senseSoarMAV.cpp

@@ -2,8 +2,8 @@
 #include <cmath>
 #include <qmath.h>
 
-senseSoarMAV::senseSoarMAV(MAVLinkProtocol* mavlink, int id)
-	: UAS(mavlink, id), senseSoarState(0)
+senseSoarMAV::senseSoarMAV(MAVLinkProtocol* mavlink, QThread* thread, int id)
+    : UAS(mavlink, thread, id), senseSoarState(0)
 {
 }
 

src/uas/senseSoarMAV.h

@@ -14,7 +14,7 @@ class senseSoarMAV : public UAS
 	Q_INTERFACES(UASInterface)
 
 public:
-	senseSoarMAV(MAVLinkProtocol* mavlink, int id);
+    senseSoarMAV(MAVLinkProtocol* mavlink, QThread* thread, int id);
 	~senseSoarMAV(void);
 public slots:
     /** @brief Receive a MAVLink message from this MAV */