Restructure LinkManager/MAVLinkProtocol

src/QGCApplication.cc

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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)
 {