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Commit 42351ee0 authored by Don Gagne's avatar Don Gagne
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Restructure LinkManager/MAVLinkProtocol

parent e7d85710
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Showing with 249 additions and 284 deletions
src/QGCApplication.cc
View file @ 42351ee0
......@@ -281,11 +281,11 @@ bool QGCApplication::_initForNormalAppBoot(void)
// to make sure that all components are initialized when the
// first messages arrive
udpLink = new UDPLink(QHostAddress::Any, 14550);
LinkManager::instance()->add(udpLink);
LinkManager::instance()->addLink(udpLink);
} else {
// We want to have a default serial link available for "quick" connecting.
SerialLink *slink = new SerialLink();
LinkManager::instance()->add(slink);
LinkManager::instance()->addLink(slink);
}
#ifdef QGC_RTLAB_ENABLED
......
src/comm/LinkInterface.h
View file @ 42351ee0
......@@ -186,11 +186,6 @@ signals:
**/
void disconnected();
/**
* @brief This signal is emitted instantly when the link status changes
**/
void connected(bool connected);
/**
* @brief This signal is emitted if the human readable name of this link changes
*/
......
src/comm/LinkManager.cc
View file @ 42351ee0
......@@ -43,7 +43,7 @@ LinkManager* LinkManager::_instance = NULL;
LinkManager* LinkManager::instance(void)
{
if(_instance == 0) {
_instance = new LinkManager(qgcApp());
new LinkManager(qgcApp());
Q_CHECK_PTR(_instance);
}
......@@ -65,10 +65,14 @@ void LinkManager::deleteInstance(void)
**/
LinkManager::LinkManager(QObject* parent, bool registerSingleton) :
QGCSingleton(parent, registerSingleton),
_connectionsSuspended(false)
_connectionsSuspended(false),
_mavlink(NULL)
{
_links = QList<LinkInterface*>();
_protocolLinks = QMap<ProtocolInterface*, LinkInterface*>();
Q_ASSERT(_instance == NULL);
_instance = this;
_mavlink = new MAVLinkProtocol;
Q_CHECK_PTR(_mavlink);
}
LinkManager::~LinkManager()
......@@ -80,69 +84,39 @@ LinkManager::~LinkManager()
deleteLink(link);
}
_links.clear();
// Clear out the queue so disconnects make it all the way through threads
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
delete _mavlink;
}
void LinkManager::add(LinkInterface* link)
void LinkManager::addLink(LinkInterface* link)
{
Q_ASSERT(link);
// Take ownership for delete
link->_ownedByLinkManager = true;
_dataMutex.lock();
_linkListMutex.lock();
if (!_links.contains(link)) {
_links.append(link);
_dataMutex.unlock();
_linkListMutex.unlock();
emit newLink(link);
} else {
_dataMutex.unlock();
_linkListMutex.unlock();
}
}
void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
{
Q_ASSERT(link);
Q_ASSERT(protocol);
// Connect link to protocol
// the protocol will receive new bytes from the link
_dataMutex.lock();
QList<LinkInterface*> linkList = _protocolLinks.values(protocol);
// If protocol has not been added before (list length == 0)
// OR if link has not been added to protocol, add
if (!linkList.contains(link))
{
// Protocol is new, add
connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
// Add status
connect(link, SIGNAL(connected(bool)), protocol, SLOT(linkStatusChanged(bool)));
// Store the connection information in the protocol links map
_protocolLinks.insertMulti(protocol, link);
_dataMutex.unlock();
// Make sure the protocol clears its metadata for this link.
protocol->resetMetadataForLink(link);
} else {
_dataMutex.unlock();
// MainWindow may be around when doing things like running unit tests
if (MainWindow::instance()) {
connect(link, SIGNAL(communicationError(QString,QString)), MainWindow::instance(), SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
}
//qDebug() << __FILE__ << __LINE__ << "ADDED LINK TO PROTOCOL" << link->getName() << protocol->getName() << "NEW SIZE OF LINK LIST:" << _protocolLinks.size();
}
QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protocol)
{
_dataMutex.lock();
QList<LinkInterface*> links = _protocolLinks.values(protocol);
_dataMutex.unlock();
return links;
}
ProtocolInterface* LinkManager::getProtocolForLink(LinkInterface* link)
{
_dataMutex.lock();
ProtocolInterface* protocol = _protocolLinks.key(link);
_dataMutex.unlock();
return protocol;
connect(link, &LinkInterface::bytesReceived, _mavlink, &MAVLinkProtocol::receiveBytes);
connect(link, &LinkInterface::connected, _mavlink, &MAVLinkProtocol::linkConnected);
connect(link, &LinkInterface::disconnected, _mavlink, &MAVLinkProtocol::linkDisconnected);
_mavlink->resetMetadataForLink(link);
}
bool LinkManager::connectAll()
......@@ -153,14 +127,14 @@ bool LinkManager::connectAll()
bool allConnected = true;
_dataMutex.lock();
_linkListMutex.lock();
foreach (LinkInterface* link, _links) {
Q_ASSERT(link);
if (!link->_connect()) {
allConnected = false;
}
}
_dataMutex.unlock();
_linkListMutex.unlock();
return allConnected;
}
......@@ -169,7 +143,7 @@ bool LinkManager::disconnectAll()
{
bool allDisconnected = true;
_dataMutex.lock();
_linkListMutex.lock();
foreach (LinkInterface* link, _links)
{
Q_ASSERT(link);
......@@ -177,7 +151,7 @@ bool LinkManager::disconnectAll()
allDisconnected = false;
}
}
_dataMutex.unlock();
_linkListMutex.unlock();
return allDisconnected;
}
......@@ -203,19 +177,13 @@ void LinkManager::deleteLink(LinkInterface* link)
{
Q_ASSERT(link);
_dataMutex.lock();
_linkListMutex.lock();
Q_ASSERT(_links.contains(link));
_links.removeOne(link);
Q_ASSERT(!_links.contains(link));
// Remove link from protocol map
QList<ProtocolInterface* > protocols = _protocolLinks.keys(link);
foreach (ProtocolInterface* proto, protocols) {
_protocolLinks.remove(proto, link);
}
_dataMutex.unlock();
_linkListMutex.unlock();
// Emit removal of link
emit linkDeleted(link);
......@@ -230,15 +198,15 @@ void LinkManager::deleteLink(LinkInterface* link)
*/
const QList<LinkInterface*> LinkManager::getLinks()
{
_dataMutex.lock();
_linkListMutex.lock();
QList<LinkInterface*> ret(_links);
_dataMutex.unlock();
_linkListMutex.unlock();
return ret;
}
const QList<SerialLink*> LinkManager::getSerialLinks()
{
_dataMutex.lock();
_linkListMutex.lock();
QList<SerialLink*> s;
foreach (LinkInterface* link, _links)
......@@ -250,7 +218,7 @@ const QList<SerialLink*> LinkManager::getSerialLinks()
if (serialLink)
s.append(serialLink);
}
_dataMutex.unlock();
_linkListMutex.unlock();
return s;
}
......
src/comm/LinkManager.h
View file @ 42351ee0
......@@ -21,13 +21,8 @@ This file is part of the PIXHAWK project
======================================================================*/
/**
* @file
* @brief Manage communication links
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
/// @file
/// @author Lorenz Meier <mavteam@student.ethz.ch>
#ifndef _LINKMANAGER_H_
#define _LINKMANAGER_H_
......@@ -41,15 +36,16 @@ This file is part of the PIXHAWK project
#include "SerialLink.h"
#include "ProtocolInterface.h"
#include "QGCSingleton.h"
#include "MAVLinkProtocol.h"
class LinkManagerTest;
/**
* The Link Manager organizes the physical Links. It can manage arbitrary
* links and takes care of connecting them as well assigning the correct
* protocol instance to transport the link data into the application.
*
**/
/// Manage communication links
///
/// The Link Manager organizes the physical Links. It can manage arbitrary
/// links and takes care of connecting them as well assigning the correct
/// protocol instance to transport the link data into the application.
class LinkManager : public QGCSingleton
{
Q_OBJECT
......@@ -62,65 +58,64 @@ public:
~LinkManager();
QList<LinkInterface*> getLinksForProtocol(ProtocolInterface* protocol);
ProtocolInterface* getProtocolForLink(LinkInterface* link);
/** @brief Get a list of all links */
/// Returns list of all links
const QList<LinkInterface*> getLinks();
/** @brief Get a list of all serial links */
// Returns list of all serial links
const QList<SerialLink*> getSerialLinks();
/** @brief Get a list of all protocols */
const QList<ProtocolInterface*> getProtocols() {
return _protocolLinks.uniqueKeys();
}
/// @brief Sets the lag to suspend the all new connections
/// Sets the flag to suspend the all new connections
/// @param reason User visible reason to suspend connections
void setConnectionsSuspended(QString reason);
/// @brief Sets the flag to allow new connections to be made
/// Sets the flag to allow new connections to be made
void setConnectionsAllowed(void) { _connectionsSuspended = false; }
/// @brief Deletes the specified link. Will disconnect if connected.
/// Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete
/// it, call LinkManager::deleteLink.
void addLink(LinkInterface* link);
/// Deletes the specified link. Will disconnect if connected.
void deleteLink(LinkInterface* link);
public slots:
/// @brief Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete
// it, call LinkManager::deleteLink.
void add(LinkInterface* link);
void addProtocol(LinkInterface* link, ProtocolInterface* protocol);
/// Re-connects all existing links
bool connectAll();
bool connectLink(LinkInterface* link);
/// Disconnects all existing links
bool disconnectAll();
/// Connect the specified link
bool connectLink(LinkInterface* link);
/// Disconnect the specified link
bool disconnectLink(LinkInterface* link);
/// Returns the one mavlink protocol object in the system
MAVLinkProtocol* mavlink(void) { return _mavlink; }
signals:
void newLink(LinkInterface* link);
void linkDeleted(LinkInterface* link);
private:
/// @brief All access to LinkManager is through LinkManager::instance
/// All access to LinkManager is through LinkManager::instance
LinkManager(QObject* parent = NULL, bool registerSingleton = true);
// LinkManager unit test is allowed to new LinkManager objects
/// LinkManager unit test is allowed to new LinkManager objects
friend class LinkManagerTest;
static LinkManager* _instance;
bool _connectionsSuspendedMsg(void);
QList<LinkInterface*> _links;
QMultiMap<ProtocolInterface*,LinkInterface*> _protocolLinks;
QMutex _dataMutex;
static LinkManager* _instance; /// LinkManager singleton
bool _connectionsSuspendedMsg(void);
QList<LinkInterface*> _links; ///< List of available links
QMutex _linkListMutex; ///< Mutex for thread safe access to _links list
bool _connectionsSuspended; ///< true: all new connections should not be allowed
QString _connectionsSuspendedReason; ///< User visible reason for suspension
bool _connectionsSuspended; ///< true: all new connections should not be allowed
QString _connectionsSuspendedReason; ///< User visible reason for suspension
MAVLinkProtocol* _mavlink; ///< The one and only mavlink protocol
};
#endif
src/comm/MAVLinkProtocol.cc
View file @ 42351ee0
......@@ -179,14 +179,25 @@ void MAVLinkProtocol::resetMetadataForLink(const LinkInterface *link)
currLossCounter[linkId] = 0;
}
void MAVLinkProtocol::linkStatusChanged(bool connected)
void MAVLinkProtocol::linkConnected(void)
{
LinkInterface* link = qobject_cast<LinkInterface*>(QObject::sender());
Q_ASSERT(link);
if (link == NULL) {
Q_ASSERT(false);
return;
}
_linkStatusChanged(link, true);
}
void MAVLinkProtocol::linkDisconnected(void)
{
LinkInterface* link = qobject_cast<LinkInterface*>(QObject::sender());
Q_ASSERT(link);
_linkStatusChanged(link, false);
}
void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
{
Q_ASSERT(link);
if (connected) {
Q_ASSERT(!_connectedLinks.contains(link));
......@@ -441,7 +452,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (m_multiplexingEnabled)
{
// Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
// Emit message on all links that are currently connected
foreach (LinkInterface* currLink, links)
......@@ -486,7 +497,7 @@ int MAVLinkProtocol::getComponentId()
void MAVLinkProtocol::sendMessage(mavlink_message_t message)
{
// Get all links connected to this unit
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(this);
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
// Emit message on all links that are currently connected
QList<LinkInterface*>::iterator i;
......
src/comm/MAVLinkProtocol.h
View file @ 42351ee0
......@@ -38,7 +38,6 @@ This file is part of the QGROUNDCONTROL project
#include <QMap>
#include <QByteArray>
#include "ProtocolInterface.h"
#include "LinkInterface.h"
#include "QGCMAVLink.h"
#include "QGC.h"
......@@ -51,10 +50,10 @@ This file is part of the QGROUNDCONTROL project
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
**/
class MAVLinkProtocol : public ProtocolInterface
class MAVLinkProtocol : public QThread
{
Q_OBJECT
public:
MAVLinkProtocol();
~MAVLinkProtocol();
......@@ -143,7 +142,10 @@ public:
public slots:
/** @brief Receive bytes from a communication interface */
void receiveBytes(LinkInterface* link, QByteArray b);
void linkStatusChanged(bool connected);
void linkConnected(void);
void linkDisconnected(void);
/** @brief Send MAVLink message through serial interface */
void sendMessage(mavlink_message_t message);
/** @brief Send MAVLink message */
......@@ -257,6 +259,9 @@ signals:
void actionGuardChanged(bool enabled);
/** @brief Emitted if actiion request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
/** @brief Update the packet loss from one system */
void receiveLossChanged(int uasId, float loss);
/**
* @brief Emitted if a new radio status packet received
*
......@@ -275,6 +280,7 @@ signals:
void saveTempFlightDataLog(QString tempLogfile);
private:
void _linkStatusChanged(LinkInterface* link, bool connected);
bool _closeLogFile(void);
void _startLogging(void);
void _stopLogging(void);
......
src/comm/MAVLinkSimulationLink.cc
View file @ 42351ee0
......@@ -106,7 +106,7 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
srand(QTime::currentTime().msec());
maxTimeNoise = 0;
this->id = getNextLinkId();
LinkManager::instance()->add(this);
LinkManager::instance()->addLink(this);
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
......@@ -802,7 +802,6 @@ bool MAVLinkSimulationLink::_disconnect(void)
_isConnected = false;
emit disconnected();
emit connected(false);
//exit();
}
......@@ -820,7 +819,6 @@ bool MAVLinkSimulationLink::_connect(void)
{
_isConnected = true;
emit connected();
emit connected(true);
start(LowPriority);
MAVLinkSimulationMAV* mav1 = new MAVLinkSimulationMAV(this, 1, 37.480391, -122.282883);
......
src/comm/SerialLink.cc
View file @ 42351ee0
......@@ -240,7 +240,6 @@ void SerialLink::run()
m_port = NULL;
emit disconnected();
emit connected(false);
}
QGC::SLEEP::msleep(500);
......@@ -340,7 +339,6 @@ void SerialLink::run()
m_port = NULL;
emit disconnected();
emit connected(false);
}
}
......@@ -503,7 +501,6 @@ bool SerialLink::hardwareConnect(QString &type)
emit communicationUpdate(getName(),"Opened port!");
emit connected();
emit connected(true);
qDebug() << "CONNECTING LINK: " << __FILE__ << __LINE__ << "type:" << type << "with settings" << m_port->portName()
<< getBaudRate() << getDataBits() << getParityType() << getStopBits();
......
src/comm/TCPLink.cc
View file @ 42351ee0
......@@ -191,7 +191,6 @@ bool TCPLink::_disconnect(void)
_socket = NULL;
emit disconnected();
emit connected(false);
}
return true;
......@@ -241,7 +240,6 @@ bool TCPLink::_hardwareConnect(void)
}
_socketIsConnected = true;
emit connected(true);
emit connected();
return true;
......
src/comm/UDPLink.cc
View file @ 42351ee0
......@@ -287,7 +287,6 @@ bool UDPLink::_disconnect(void)
connectState = false;
emit disconnected();
emit connected(false);
return !connectState;
}
......@@ -352,7 +351,6 @@ bool UDPLink::hardwareConnect(void)
//QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readPendingDatagrams()));
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
emit connected(connectState);
if (connectState) {
emit connected();
}
......
src/qgcunittest/LinkManagerTest.cc
View file @ 42351ee0
......@@ -85,7 +85,7 @@ void LinkManagerTest::_add_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
_linkMgr->add(link);
_linkMgr->addLink(link);
QList<LinkInterface*> links = _linkMgr->getLinks();
QCOMPARE(links.count(), 1);
......@@ -98,7 +98,7 @@ void LinkManagerTest::_delete_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
_linkMgr->add(link);
_linkMgr->addLink(link);
_linkMgr->deleteLink(link);
QCOMPARE(_linkMgr->getLinks().count(), 0);
......@@ -111,7 +111,7 @@ void LinkManagerTest::_addSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
_linkMgr->add(link);
_linkMgr->addLink(link);
QCOMPARE(_multiSpy->checkOnlySignalByMask(newLinkSignalMask), true);
QSignalSpy* spy = _multiSpy->getSpyByIndex(newLinkSignalIndex);
......@@ -132,7 +132,7 @@ void LinkManagerTest::_deleteSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
_linkMgr->add(link);
_linkMgr->addLink(link);
_multiSpy->clearAllSignals();
_linkMgr->deleteLink(link);
......
src/qgcunittest/MainWindowTest.cc
View file @ 42351ee0
......@@ -76,8 +76,7 @@ void MainWindowTest::_connectWindowClose_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
// FIXME: LinkManager/MainWindow needs to be re-architected so that you don't have to addLink to MainWindow to get things to work
_mainWindow->addLink(link);
LinkManager::instance()->addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
......
src/qgcunittest/MavlinkLogTest.cc
View file @ 42351ee0
......@@ -147,8 +147,7 @@ void MavlinkLogTest::_connectLog_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
// FIXME: LinkManager/MainWindow needs to be re-architected so that you don't have to addLink to MainWindow to get things to work
mainWindow->addLink(link);
LinkManager::instance()->addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
......
src/qgcunittest/MockLink.cc
View file @ 42351ee0
......@@ -104,7 +104,6 @@ bool MockLink::_connect(void)
_connected = true;
start();
emit connected();
emit connected(true);
}
return true;
......@@ -116,7 +115,6 @@ bool MockLink::_disconnect(void)
_connected = false;
exit();
emit disconnected();
emit connected(false);
}
return true;
......
src/qgcunittest/TCPLinkTest.cc
View file @ 42351ee0
......@@ -56,7 +56,6 @@ void TCPLinkUnitTest::init(void)
_rgSignals[bytesReceivedSignalIndex] = SIGNAL(bytesReceived(LinkInterface*, QByteArray));
_rgSignals[connectedSignalIndex] = SIGNAL(connected(void));
_rgSignals[disconnectedSignalIndex] = SIGNAL(disconnected(void));
_rgSignals[connected2SignalIndex] = SIGNAL(connected(bool));
_rgSignals[nameChangedSignalIndex] = SIGNAL(nameChanged(QString));
_rgSignals[communicationErrorSignalIndex] = SIGNAL(communicationError(const QString&, const QString&));
_rgSignals[communicationUpdateSignalIndex] = SIGNAL(communicationUpdate(const QString&, const QString&));
......@@ -157,11 +156,9 @@ void TCPLinkUnitTest::_connectSucceed_test(void)
// Connect to the server
QCOMPARE(_link->_connect(), true);
// Make sure we get the two different connected signals
// Make sure we get the connected signals
QCOMPARE(_multiSpy->waitForSignalByIndex(connectedSignalIndex, 10000), true);
QCOMPARE(_multiSpy->checkOnlySignalByMask(connectedSignalMask | connected2SignalMask), true);
QList<QVariant> arguments = _multiSpy->getSpyByIndex(connected2SignalIndex)->takeFirst();
QCOMPARE(arguments.at(0).toBool(), true);
QCOMPARE(_multiSpy->checkOnlySignalByMask(connectedSignalMask), true);
_multiSpy->clearAllSignals();
// Test link->server data path
......@@ -186,7 +183,7 @@ void TCPLinkUnitTest::_connectSucceed_test(void)
QCOMPARE(_multiSpy->checkOnlySignalByMask(bytesReceivedSignalMask), true);
// Read the data and make sure it matches
arguments = _multiSpy->getSpyByIndex(bytesReceivedSignalIndex)->takeFirst();
QList<QVariant> arguments = _multiSpy->getSpyByIndex(bytesReceivedSignalIndex)->takeFirst();
QVERIFY(arguments.at(1).toByteArray() == bytesOut);
_multiSpy->clearAllSignals();
......@@ -194,11 +191,9 @@ void TCPLinkUnitTest::_connectSucceed_test(void)
// Disconnect the link
_link->_disconnect();
// Make sure we get the disconnected signals on link side
// Make sure we get the disconnected signal on link side
QCOMPARE(_multiSpy->waitForSignalByIndex(disconnectedSignalIndex, 1000), true);
QCOMPARE(_multiSpy->checkOnlySignalByMask(disconnectedSignalMask | connected2SignalMask), true);
arguments = _multiSpy->getSpyByIndex(connected2SignalIndex)->takeFirst();
QCOMPARE(arguments.at(0).toBool(), false);
QCOMPARE(_multiSpy->checkOnlySignalByMask(disconnectedSignalMask), true);
_multiSpy->clearAllSignals();
// Try to connect again to make sure everything was cleaned up correctly from previous connection
......@@ -206,11 +201,9 @@ void TCPLinkUnitTest::_connectSucceed_test(void)
// Connect to the server
QCOMPARE(_link->_connect(), true);
// Make sure we get the two different connected signals
// Make sure we get the connected signal
QCOMPARE(_multiSpy->waitForSignalByIndex(connectedSignalIndex, 1000), true);
QCOMPARE(_multiSpy->checkOnlySignalByMask(connectedSignalMask | connected2SignalMask), true);
arguments = _multiSpy->getSpyByIndex(connected2SignalIndex)->takeFirst();
QCOMPARE(arguments.at(0).toBool(), true);
QCOMPARE(_multiSpy->checkOnlySignalByMask(connectedSignalMask), true);
_multiSpy->clearAllSignals();
server->quit();
......
src/qgcunittest/TCPLinkTest.h
View file @ 42351ee0
......@@ -58,7 +58,6 @@ private:
bytesReceivedSignalIndex = 0,
connectedSignalIndex,
disconnectedSignalIndex,
connected2SignalIndex,
nameChangedSignalIndex,
communicationErrorSignalIndex,
communicationUpdateSignalIndex,
......@@ -70,7 +69,6 @@ private:
bytesReceivedSignalMask = 1 << bytesReceivedSignalIndex,
connectedSignalMask = 1 << connectedSignalIndex,
disconnectedSignalMask = 1 << disconnectedSignalIndex,
connected2SignalMask = 1 << connected2SignalIndex,
nameChangedSignalMask = 1 << nameChangedSignalIndex,
communicationErrorSignalMask = 1 << communicationErrorSignalIndex,
communicationUpdateSignalMask = 1 << communicationUpdateSignalIndex,
......
src/qgcunittest/UnitTest.cc
View file @ 42351ee0
......@@ -135,6 +135,8 @@ void UnitTest::cleanup(void)
QEXPECT_FAIL("", "Expecting failure due internal testing", Continue);
}
QCOMPARE(_missedFileDialogCount, 0);
qgcApp()->destroySingletonsForUnitTest();
}
void UnitTest::setExpectedMessageBox(QMessageBox::StandardButton response)
......
src/uas/QGCUASFileManager.cc
View file @ 42351ee0
......@@ -481,7 +481,7 @@ void QGCUASFileManager::_sendRequest(Request* request)
request->hdr.seqNumber = _lastOutgoingSeqNumber;
if (_systemIdQGC == 0) {
_systemIdQGC = MainWindow::instance()->getMAVLink()->getSystemId();
_systemIdQGC = LinkManager::instance()->mavlink()->getSystemId();
}
Q_ASSERT(_mav);
......
src/uas/UAS.cc
View file @ 42351ee0
......@@ -1765,7 +1765,7 @@ void UAS::sendMessage(mavlink_message_t message)
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);
QList<LinkInterface*>link_list = LinkManager::instance()->getLinks();
foreach(LinkInterface* link, link_list)
{
......
src/uas/UASParameterCommsMgr.cc
View file @ 42351ee0
......@@ -71,7 +71,7 @@ void UASParameterCommsMgr::loadParamCommsSettings()
void UASParameterCommsMgr::_sendParamRequestListMsg(void)
{
MAVLinkProtocol* mavlink = MainWindow::instance()->getMAVLink();
MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
Q_ASSERT(mavlink);
mavlink_message_t msg;
......
src/ui/CommConfigurationWindow.cc
View file @ 42351ee0
......@@ -60,7 +60,7 @@ This file is part of the QGROUNDCONTROL project
#include "LinkManager.h"
#include "MainWindow.h"
CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent) : QDialog(parent)
CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, QWidget *parent) : QDialog(parent)
{
this->link = link;
......@@ -112,7 +112,6 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
// Create configuration action for this link
// Connect the current UAS
action = new QAction(QIcon(":/files/images/devices/network-wireless.svg"), "", this);
LinkManager::instance()->add(link);
action->setData(link->getId());
action->setEnabled(true);
action->setVisible(true);
......@@ -127,12 +126,11 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
connect(ui.closeButton, SIGNAL(clicked()), this->window(), SLOT(close()));
connect(ui.deleteButton, SIGNAL(clicked()), this, SLOT(remove()));
connect(this->link, SIGNAL(connected(bool)), this, SLOT(connectionState(bool)));
connect(link, &LinkInterface::connected, this, &CommConfigurationWindow::_linkConnected);
connect(link, &LinkInterface::disconnected, this, &CommConfigurationWindow::_linkDisconnected);
// Fill in the current data
if(this->link->isConnected()) ui.connectButton->setChecked(true);
//connect(this->link, SIGNAL(connected(bool)), ui.connectButton, SLOT(setChecked(bool)));
if(this->link->isConnected()) {
ui.connectionStatusLabel->setText(tr("Connected"));
......@@ -226,14 +224,10 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
connect(ui.linkType,SIGNAL(currentIndexChanged(int)),this,SLOT(linkCurrentIndexChanged(int)));
// Open details pane for MAVLink if necessary
MAVLinkProtocol* mavlink = dynamic_cast<MAVLinkProtocol*>(protocol);
if (mavlink != 0) {
QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
ui.protocolScrollArea->setWidget(conf);
ui.protocolGroupBox->setTitle(protocol->getName()+" (Global Settings)");
} else {
qDebug() << "Protocol is NOT MAVLink, can't open configuration window";
}
MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
ui.protocolScrollArea->setWidget(conf);
ui.protocolGroupBox->setTitle(mavlink->getName()+" (Global Settings)");
// Open details for UDP link if necessary
// TODO
......@@ -288,7 +282,6 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
{
UDPLink *udp = new UDPLink();
tmpLink = udp;
MainWindow::instance()->addLink(tmpLink);
break;
}
......@@ -296,7 +289,6 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
{
TCPLink *tcp = new TCPLink();
tmpLink = tcp;
MainWindow::instance()->addLink(tmpLink);
break;
}
......@@ -305,7 +297,6 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
{
OpalLink* opal = new OpalLink();
tmpLink = opal;
MainWindow::instance()->addLink(tmpLink);
break;
}
#endif // QGC_RTLAB_ENABLED
......@@ -315,7 +306,6 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
{
MockLink* mock = new MockLink;
tmpLink = mock;
MainWindow::instance()->addLink(tmpLink);
break;
}
#endif
......@@ -325,10 +315,13 @@ void CommConfigurationWindow::setLinkType(qgc_link_t linktype)
{
SerialLink *serial = new SerialLink();
tmpLink = serial;
MainWindow::instance()->addLink(tmpLink);
break;
}
}
if (tmpLink) {
LinkManager::instance()->addLink(tmpLink);
}
// trigger new window
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(tmpLink));
......@@ -385,7 +378,15 @@ void CommConfigurationWindow::remove()
this->deleteLater();
}
void CommConfigurationWindow::connectionState(bool connect)
void CommConfigurationWindow::_linkConnected(void) {
_connectionState(true);
}
void CommConfigurationWindow::_linkDisconnected(void) {
_connectionState(false);
}
void CommConfigurationWindow::_connectionState(bool connect)
{
ui.connectButton->setChecked(connect);
if(connect) {
......
src/ui/CommConfigurationWindow.h
View file @ 42351ee0
......@@ -73,7 +73,7 @@ class CommConfigurationWindow : public QDialog
Q_OBJECT
public:
CommConfigurationWindow(LinkInterface* link, ProtocolInterface* protocol, QWidget *parent = 0);
CommConfigurationWindow(LinkInterface* link, QWidget *parent = 0);
~CommConfigurationWindow();
QAction* getAction();
......@@ -86,12 +86,16 @@ public slots:
/** @brief Set the protocol for this link */
void setProtocol(int protocol);
void setConnection();
void connectionState(bool connect);
void setLinkName(QString name);
/** @brief Disconnects the associated link, removes it from all menus and closes the window. */
void remove();
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
private:
void _connectionState(bool connect);
Ui::commSettings ui;
LinkInterface* link;
......
src/ui/DebugConsole.cc
View file @ 42351ee0
......@@ -217,7 +217,7 @@ void DebugConsole::linkSelected(int linkId)
if (currLink)
{
disconnect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
disconnect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
disconnect(currLink, &LinkInterface::connected, this, &DebugConsole::_linkConnected);
disconnect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
snapShotTimer.stop();
}
......@@ -229,9 +229,9 @@ void DebugConsole::linkSelected(int linkId)
if (linkId != -1) {
currLink = links[linkId];
connect(currLink, SIGNAL(bytesReceived(LinkInterface*,QByteArray)), this, SLOT(receiveBytes(LinkInterface*, QByteArray)));
connect(currLink, SIGNAL(connected(bool)), this, SLOT(setConnectionState(bool)));
disconnect(currLink, &LinkInterface::connected, this, &DebugConsole::_linkConnected);
connect(currLink,SIGNAL(communicationUpdate(QString,QString)),this,SLOT(linkStatusUpdate(QString,QString)));
setConnectionState(currLink->isConnected());
_setConnectionState(currLink->isConnected());
snapShotTimer.start();
}
}
......@@ -761,10 +761,20 @@ void DebugConsole::hold(bool hold)
}
}
void DebugConsole::_linkConnected(void)
{
_setConnectionState(true);
}
void DebugConsole::_linkDisconnected(void)
{
_setConnectionState(false);
}
/**
* Sets the connection state the widget shows to this state
*/
void DebugConsole::setConnectionState(bool connected)
void DebugConsole::_setConnectionState(bool connected)
{
if(connected) {
m_ui->connectButton->setText(tr("Disconn."));
......
src/ui/DebugConsole.h
View file @ 42351ee0
......@@ -81,8 +81,6 @@ public slots:
void MAVLINKfilterEnabled(bool filter);
/** @brief Freeze input, do not store new incoming data */
void hold(bool hold);
/** @brief Set connection state of the current link */
void setConnectionState(bool);
/** @brief Handle the connect button */
void handleConnectButton();
/** @brief Enable auto-freeze mode if traffic intensity is too high to display */
......@@ -144,8 +142,15 @@ protected:
QStringList commandHistory;
QString currCommand;
int commandIndex;
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
private:
/** @brief Set connection state of the current link */
void _setConnectionState(bool);
Ui::DebugConsole *m_ui;
};
......
src/ui/MAVLinkSettingsWidget.cc
View file @ 42351ee0
......@@ -142,7 +142,7 @@ void MAVLinkSettingsWidget::enableDroneOS(bool enable)
// Delete from all lists first
UDPLink* firstUdp = NULL;
QList<LinkInterface*> links = LinkManager::instance()->getLinksForProtocol(protocol);
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
foreach (LinkInterface* link, links)
{
UDPLink* udp = dynamic_cast<UDPLink*>(link);
......
src/ui/MainWindow.cc
View file @ 42351ee0
......@@ -112,7 +112,6 @@ void MainWindow::deleteInstance(void)
MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE mode) :
currentView(VIEW_FLIGHT),
currentStyle(QGC_MAINWINDOW_STYLE_DARK),
mavlink(new MAVLinkProtocol()),
centerStackActionGroup(new QActionGroup(this)),
autoReconnect(false),
simulationLink(NULL),
......@@ -131,8 +130,8 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
this->setAttribute(Qt::WA_DeleteOnClose);
connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
connect(mavlink, SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
connect(mavlink, SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
connect(LinkManager::instance()->mavlink(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
connect(LinkManager::instance()->mavlink(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
loadSettings();
......@@ -242,11 +241,11 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
foreach(LinkInterface* link, links)
{
this->addLink(link);
_addLinkMenu(link);
}
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
connect(LinkManager::instance(), &LinkManager::newLink, this, &MainWindow::_addLinkMenu);
// Connect user interface devices
emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
joystick = new JoystickInput();
......@@ -274,8 +273,7 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
SerialLink* link = new SerialLink();
// Add to registry
linkMgr->add(link);
linkMgr->addProtocol(link, mavlink);
linkMgr->addLink(link);
linkMgr->connectLink(link);
}
......@@ -365,11 +363,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
MainWindow::~MainWindow()
{
if (mavlink)
{
delete mavlink;
mavlink = NULL;
}
if (simulationLink)
{
delete simulationLink;
......@@ -496,12 +489,12 @@ void MainWindow::buildCustomWidget()
void MainWindow::buildCommonWidgets()
{
// Add generic MAVLink decoder
mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
mavlinkDecoder = new MAVLinkDecoder(LinkManager::instance()->mavlink(), this);
connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
// Log player
logPlayer = new QGCMAVLinkLogPlayer(mavlink, statusBar());
logPlayer = new QGCMAVLinkLogPlayer(LinkManager::instance()->mavlink(), statusBar());
statusBar()->addPermanentWidget(logPlayer);
// Initialize all of the views, if they haven't been already, and add their central widgets
......@@ -588,7 +581,7 @@ void MainWindow::buildCommonWidgets()
createDockWidget(simView, new PrimaryFlightDisplay(this), tr("Primary Flight Display"), "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET", VIEW_SIMULATION, Qt::RightDockWidgetArea);
// Add dock widgets for the engineering view
createDockWidget(engineeringView, new QGCMAVLinkInspector(mavlink, this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
createDockWidget(engineeringView, new QGCMAVLinkInspector(LinkManager::instance()->mavlink(), this), tr("MAVLink Inspector"), "MAVLINK_INSPECTOR_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
createDockWidget(engineeringView, new ParameterInterface(this), tr("Onboard Parameters"), "PARAMETER_INTERFACE_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
createDockWidget(engineeringView, new QGCUASFileViewMulti(this), tr("Onboard Files"), "FILE_VIEW_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
createDockWidget(engineeringView, new HUD(320, 240, this), tr("Video Downlink"), "HEAD_UP_DISPLAY_DOCKWIDGET", VIEW_ENGINEER, Qt::RightDockWidgetArea);
......@@ -669,7 +662,7 @@ void MainWindow::loadDockWidget(const QString& name)
}
else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(LinkManager::instance()->mavlink(),this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
{
......@@ -800,7 +793,6 @@ void MainWindow::closeEvent(QCloseEvent *event)
storeViewState();
storeSettings();
mavlink->storeSettings();
UASManager::instance()->storeSettings();
event->accept();
}
......@@ -812,7 +804,7 @@ void MainWindow::connectCommonWidgets()
{
if (infoDockWidget && infoDockWidget->widget())
{
connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
connect(LinkManager::instance()->mavlink(), SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
}
}
......@@ -1290,13 +1282,13 @@ void MainWindow::showSettings()
settings.exec();
}
// FIXME: Where is this called from
LinkInterface* MainWindow::addLink()
{
SerialLink* link = new SerialLink();
// TODO This should be only done in the dialog itself
LinkManager::instance()->add(link);
LinkManager::instance()->addProtocol(link, mavlink);
LinkManager::instance()->addLink(link);
// Go fishing for this link's configuration window
QList<QAction*> actions = ui.menuNetwork->actions();
......@@ -1339,41 +1331,29 @@ bool MainWindow::configLink(LinkInterface *link)
return found;
}
void MainWindow::addLink(LinkInterface *link)
void MainWindow::_addLinkMenu(LinkInterface *link)
{
// IMPORTANT! KEEP THESE TWO LINES
// THEY MAKE SURE THE LINK IS PROPERLY REGISTERED
// BEFORE LINKING THE UI AGAINST IT
// Register (does nothing if already registered)
LinkManager::instance()->add(link);
LinkManager::instance()->addProtocol(link, mavlink);
// Go fishing for this link's configuration window
QList<QAction*> actions = ui.menuNetwork->actions();
bool found(false);
bool alreadyAdded = false;
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions)
{
if (act->data().toInt() == linkID)
{
found = true;
foreach (QAction* act, actions) {
if (act->data().toInt() == linkID) {
alreadyAdded = true;
break;
}
}
if (!found)
{
CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
if (!alreadyAdded) {
CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, this);
commsWidgetList.append(commWidget);
connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*)));
QAction* action = commWidget->getAction();
ui.menuNetwork->addAction(action);
// Error handling
connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
}
}
......@@ -1750,6 +1730,7 @@ bool MainWindow::dockWidgetTitleBarsEnabled() const
return menuActionHelper->dockWidgetTitleBarsEnabled();
}
/// @brief Save the specified Flight Data Log
void MainWindow::_saveTempFlightDataLog(QString tempLogfile)
{
QString saveFilename = QGCFileDialog::getSaveFileName(this,
......
src/ui/MainWindow.h
View file @ 42351ee0
......@@ -46,7 +46,6 @@ This file is part of the QGROUNDCONTROL project
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "submainwindow.h"
#include "input/JoystickInput.h"
......@@ -175,7 +174,6 @@ public slots:
void showSettings();
/** @brief Add a communication link */
LinkInterface* addLink();
void addLink(LinkInterface* link);
bool configLink(LinkInterface *link);
/** @brief Simulate a link */
void simulateLink(bool simulate);
......@@ -293,11 +291,6 @@ public:
return logPlayer;
}
MAVLinkProtocol* getMAVLink()
{
return mavlink;
}
protected:
typedef enum _VIEW_SECTIONS
......@@ -360,8 +353,6 @@ protected:
void loadSettings();
void storeSettings();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
QPointer<MAVLinkProtocol> mavlink;
LinkInterface* udpLink;
......@@ -461,8 +452,8 @@ protected:
CUSTOM_MODE customMode;
private slots:
/// @brief Save the specified Flight Data Log
void _saveTempFlightDataLog(QString tempLogfile);
void _addLinkMenu(LinkInterface* link);
private:
/// Constructor is private since all creation should be through MainWindow::_create
......
src/ui/OpalLinkConfigurationWindow.cc
View file @ 42351ee0
......@@ -14,11 +14,22 @@ OpalLinkConfigurationWindow::OpalLinkConfigurationWindow(OpalLink* link,
ui.opalInstIDSpinBox->setValue(this->link->getOpalInstID());
connect(ui.opalInstIDSpinBox, SIGNAL(valueChanged(int)), link, SLOT(setOpalInstID(int)));
connect(link, SIGNAL(connected(bool)), this, SLOT(allowSettingsAccess(bool)));
connect(link, &LinkInterface::connected, this, OpalLinkConfigurationWindow::_linkConnected);
connect(link, &LinkInterface::disconnected, this, OpalLinkConfigurationWindow::_linkDisConnected);
this->show();
}
void OpalLinkConfigurationWindow::allowSettingsAccess(bool enabled)
void OpalLinkConfigurationWindow::_linkConnected(void)
{
_allowSettingsAccess(true);
}
void OpalLinkConfigurationWindow::_linkConnected(void)
{
_allowSettingsAccess(false);
}
void OpalLinkConfigurationWindow::_allowSettingsAccess(bool enabled)
{
ui.paramFileButton->setEnabled(enabled);
ui.servoConfigFileButton->setEnabled(enabled);
......
src/ui/OpalLinkConfigurationWindow.h
View file @ 42351ee0
......@@ -15,11 +15,13 @@ public:
explicit OpalLinkConfigurationWindow(OpalLink* link, QWidget *parent = 0, Qt::WindowFlags flags = Qt::Sheet);
signals:
public slots:
void allowSettingsAccess(bool enabled);
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
private:
void _allowSettingsAccess(bool enabled);
Ui::OpalLinkSettings ui;
OpalLink* link;
};
......
src/ui/QGCToolBar.cc
View file @ 42351ee0
......@@ -661,8 +661,8 @@ void QGCToolBar::addLink(LinkInterface* link)
toolBarBaudAction->setVisible(true);
currentLink = link;
connect(currentLink, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
updateLinkState(link->isConnected());
connect(currentLink, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
_updateLinkState(link->isConnected());
qDebug() << "ADD LINK";
......@@ -683,7 +683,7 @@ void QGCToolBar::removeLink(LinkInterface* link)
// Update GUI according to scan result
if (currentLink) {
updateLinkState(currentLink->isConnected());
_updateLinkState(currentLink->isConnected());
} else {
connectButton->setText(tr("New Serial Link"));
portComboBox->hide();
......@@ -740,7 +740,17 @@ void QGCToolBar::updateComboBox()
}
}
void QGCToolBar::updateLinkState(bool connected)
void QGCToolBar::_linkConnected(void)
{
_updateLinkState(true);
}
void QGCToolBar::_linkDisconnected(void)
{
_updateLinkState(false);
}
void QGCToolBar::_updateLinkState(bool connected)
{
Q_UNUSED(connected);
if (currentLink && currentLink->isConnected() && portComboBox->isVisible())
......@@ -767,32 +777,32 @@ void QGCToolBar::updateLinkState(bool connected)
}
}
void QGCToolBar::connectLink(bool connect)
void QGCToolBar::connectLink(bool connectLink)
{
LinkManager* linkMgr = LinkManager::instance();
Q_ASSERT(linkMgr);
// No serial port yet present
if (connect && linkMgr->getSerialLinks().count() == 0) {
if (connectLink && linkMgr->getSerialLinks().count() == 0) {
MainWindow::instance()->addLink();
currentLink = linkMgr->getLinks().last();
} else if (connect) {
} else if (connectLink) {
SerialLink *link = qobject_cast<SerialLink*>(currentLink);
if (link) {
link->setPortName(portComboBox->itemData(portComboBox->currentIndex()).toString().trimmed());
int baud = baudcomboBox->currentText().toInt();
link->setBaudRate(baud);
QObject::connect(link, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
connect(link, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
linkMgr->connectLink(link);
}
} else if (!connect && currentLink) {
} else if (!connectLink && currentLink) {
linkMgr->disconnectLink(currentLink);
QObject::disconnect(currentLink, SIGNAL(connected(bool)), this, SLOT(updateLinkState(bool)));
disconnect(currentLink, &LinkInterface::connected, this, &QGCToolBar::_linkConnected);
}
if (currentLink) {
updateLinkState(currentLink->isConnected());
_updateLinkState(currentLink->isConnected());
}
}
......
src/ui/QGCToolBar.h
View file @ 42351ee0
......@@ -52,8 +52,6 @@ public slots:
void addLink(LinkInterface* link);
/** @brief Remove link which is currently handled */
void removeLink(LinkInterface* link);
/** @brief Update the link state */
void updateLinkState(bool connected);
/** @brief Set the system state */
void updateState(UASInterface* system, QString name, QString description);
/** @brief Set the system mode */
......@@ -146,6 +144,14 @@ protected:
QAction* firstAction;
QToolButton *advancedButton;
QButtonGroup *group;
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
private:
/** @brief Update the link state */
void _updateLinkState(bool connected);
};
#endif // QGCTOOLBAR_H
src/ui/SerialConfigurationWindow.cc
View file @ 42351ee0
......@@ -137,10 +137,6 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
ui.advCheckBox->setChecked(false);
ui.advGroupBox->setVisible(false);
//connect(this->link, SIGNAL(connected(bool)), this, SLOT());
//ui.portName->setSizeAdjustPolicy(QComboBox::AdjustToContentsOnFirstShow);
//ui.baudRate->setSizeAdjustPolicy(QComboBox::AdjustToContentsOnFirstShow);
switch(this->link->getParityType()) {
case 0:
ui.parNone->setChecked(true);
......
src/ui/SettingsDialog.cc
View file @ 42351ee0
......@@ -52,15 +52,8 @@ _ui(new Ui::SettingsDialog)
// Add the joystick settings pane
_ui->tabWidget->addTab(new JoystickWidget(joystick, this), "Controllers");
// Add all protocols
QList<ProtocolInterface*> protocols = LinkManager::instance()->getProtocols();
foreach (ProtocolInterface* protocol, protocols) {
MAVLinkProtocol* mavlink = dynamic_cast<MAVLinkProtocol*>(protocol);
if (mavlink) {
MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(mavlink, this);
_ui->tabWidget->addTab(msettings, "MAVLink");
}
}
MAVLinkSettingsWidget* msettings = new MAVLinkSettingsWidget(LinkManager::instance()->mavlink(), this);
_ui->tabWidget->addTab(msettings, "MAVLink");
this->window()->setWindowTitle(tr("QGroundControl Settings"));
......
src/ui/uas/UASListWidget.cc
View file @ 42351ee0
......@@ -124,20 +124,20 @@ void UASListWidget::updateStatus()
if (!link)
continue;
ProtocolInterface* p = LinkManager::instance()->getProtocolForLink(link);
MAVLinkProtocol* mavlink = LinkManager::instance()->mavlink();
// Build the tooltip out of the protocol parsing data: received, dropped, and parsing errors.
QString displayString("");
int c;
if ((c = p->getReceivedPacketCount(link)) != -1)
if ((c = mavlink->getReceivedPacketCount(link)) != -1)
{
displayString += QString(tr("<br/>Received: %2")).arg(QString::number(c));
}
if ((c = p->getDroppedPacketCount(link)) != -1)
if ((c = mavlink->getDroppedPacketCount(link)) != -1)
{
displayString += QString(tr("<br/>Dropped: %2")).arg(QString::number(c));
}
if ((c = p->getParsingErrorCount(link)) != -1)
if ((c = mavlink->getParsingErrorCount(link)) != -1)
{
displayString += QString(tr("<br/>Errors: %2")).arg(QString::number(c));
}
......
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