From 31bf2e940123f2bdc42e1845259869c828a99ea6 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 26 Mar 2015 15:47:39 -0700
Subject: [PATCH] Delete UAS when last link disconnected

Also removed partially implemented an incorrect getCommunicationStatus
api
---
 src/uas/UAS.cc         | 19 ++++++++-----------
 src/uas/UAS.h          |  8 +++-----
 src/uas/UASInterface.h | 19 -------------------
 3 files changed, 11 insertions(+), 35 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 1334370ff..b7ae21cda 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -50,7 +50,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     uasId(id),
     unknownPackets(),
     mavlink(protocol),
-    commStatus(COMM_DISCONNECTED),
     receiveDropRate(0),
     sendDropRate(0),
 
@@ -1911,11 +1910,6 @@ quint64 UAS::getUptime() const
     }
 }
 
-int UAS::getCommunicationStatus() const
-{
-    return commStatus;
-}
-
 void UAS::writeParametersToStorage()
 {
     mavlink_message_t msg;
@@ -3247,23 +3241,26 @@ void UAS::addLink(LinkInterface* link)
     {
         _links.append(LinkManager::instance()->sharedPointerForLink(link));
         qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
-        connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
+        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &UAS::_linkDisconnected);
     }
 }
 
-void UAS::removeLink(QObject* object)
+void UAS::_linkDisconnected(LinkInterface* link)
 {
-    qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
+    qCDebug(UASLog) << "_linkDisconnected:" << link->getName();
     qCDebug(UASLog) << "link count:" << _links.count();
 
-    LinkInterface* link = dynamic_cast<LinkInterface*>(object);
-
     for (int i=0; i<_links.count(); i++) {
         if (_links[i].data() == link) {
             _links.removeAt(i);
             break;
         }
     }
+    
+    if (_links.count() == 0) {
+        // Remove the UAS when all links to it close
+        UASManager::instance()->removeUAS(this);
+    }
 }
 
 /**
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 7375ca173..53f2ba1c3 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -87,8 +87,6 @@ public:
 
     /** @brief The time interval the robot is switched on */
     quint64 getUptime() const;
-    /** @brief Get the status flag for the communication */
-    int getCommunicationStatus() const;
     /** @brief Add one measurement and get low-passed voltage */
     float filterVoltage(float value) const;
     /** @brief Get the links associated with this robot */
@@ -348,7 +346,6 @@ protected: //COMMENTS FOR TEST UNIT
     
     QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
     MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
-    CommStatus commStatus;        ///< Communication status
     float receiveDropRate;        ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
     float sendDropRate;           ///< Percentage of packets that were not received from the MAV by the GCS
     quint64 lastHeartbeat;        ///< Time of the last heartbeat message
@@ -800,8 +797,6 @@ public slots:
 
     /** @brief Add a link associated with this robot */
     void addLink(LinkInterface* link);
-    /** @brief Remove a link associated with this robot */
-    void removeLink(QObject* object);
 
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
@@ -953,6 +948,9 @@ protected slots:
     /** @brief Read settings from disk */
     void readSettings();
     
+private slots:
+    void _linkDisconnected(LinkInterface* link);
+    
 private:
     bool _containsLink(LinkInterface* link);
 };
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 46505013b..276d28b5e 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -108,8 +108,6 @@ public:
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
-    /** @brief Get the status flag for the communication **/
-    virtual int getCommunicationStatus() const = 0;
 
     virtual double getLocalX() const = 0;
     virtual double getLocalY() const = 0;
@@ -146,21 +144,6 @@ public:
     /** @brief Send a message over all links this UAS can be reached with (!= all links) */
     virtual void sendMessage(mavlink_message_t message) = 0;
 
-    /* COMMUNICATION FLAGS */
-
-    enum CommStatus {
-        /** Unit is disconnected, no failure state reached so far **/
-        COMM_DISCONNECTED = 0,
-        /** The communication is established **/
-        COMM_CONNECTING = 1,
-        /** The communication link is up **/
-        COMM_CONNECTED = 2,
-        /** The connection is closed **/
-        COMM_DISCONNECTING = 3,
-        COMM_FAIL = 4,
-        COMM_TIMEDOUT = 5///< Communication link failed
-    };
-
     enum Airframe {
         QGC_AIRFRAME_GENERIC = 0,
         QGC_AIRFRAME_EASYSTAR,
@@ -471,8 +454,6 @@ signals:
     void armingChanged(int sysId, QString armingState);
     /** @brief A command has been issued **/
     void commandSent(int command);
-    /** @brief The connection status has changed **/
-    void connectionChanged(CommStatus connectionFlag);
     /** @brief The robot is connecting **/
     void connecting();
     /** @brief The robot is connected **/
-- 
2.22.0