Changed UDP link

src/QGCCore.cc

@@ -145,6 +145,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // to make sure that all components are initialized when the
     // first messages arrive
     UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
+	MainWindow::instance()->addLink(udpLink);
     // Listen on Multicast-Address 239.255.77.77, Port 14550
     //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
     //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);

src/comm/UDPLink.cc

@@ -40,19 +40,22 @@ This file is part of the QGROUNDCONTROL project
 //#include <netinet/in.h>
 
 UDPLink::UDPLink(QHostAddress host, quint16 port)
+	: socket(NULL)
 {
     this->host = host;
     this->port = port;
     this->connectState = false;
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
-    this->name = tr("UDP Link (port:%1)").arg(14550);
-    LinkManager::instance()->add(this);
+	this->name = tr("UDP Link (port:%1)").arg(this->port);
+	emit nameChanged(this->name);
+    // LinkManager::instance()->add(this);
 }
 
 UDPLink::~UDPLink()
 {
     disconnect();
+	this->deleteLater();
 }
 
 /**
@@ -61,23 +64,39 @@ UDPLink::~UDPLink()
  **/
 void UDPLink::run()
 {
-//    forever
-//    {
-//        QGC::SLEEP::msleep(5000);
-//    }
-    exec();
+	exec();
 }
 
-void UDPLink::setAddress(QString address)
+void UDPLink::setAddress(QHostAddress host)
 {
-    Q_UNUSED(address);
+    bool reconnect(false);
+	if(this->isConnected())
+	{
+		disconnect();
+		reconnect = true;
+	}
+	this->host = host;
+	if(reconnect)
+	{
+		connect();
+	}
 }
 
 void UDPLink::setPort(int port)
 {
+	bool reconnect(false);
+	if(this->isConnected())
+	{
+		disconnect();
+		reconnect = true;
+	}
     this->port = port;
-    disconnect();
-    connect();
+	this->name = tr("UDP Link (port:%1)").arg(this->port);
+	emit nameChanged(this->name);
+	if(reconnect)
+	{
+		connect();
+	}
 }
 
 /**
@@ -104,9 +123,11 @@ void UDPLink::addHost(const QString& host)
                 }
             }
             hosts.append(address);
+			this->setAddress(address);
             //qDebug() << "Address:" << address.toString();
             // Set port according to user input
             ports.append(host.split(":").last().toInt());
+			this->setPort(host.split(":").last().toInt());
         }
     }
     else
@@ -245,8 +266,14 @@ qint64 UDPLink::bytesAvailable()
  **/
 bool UDPLink::disconnect()
 {
-    delete socket;
-    socket = NULL;
+	this->quit();
+	this->wait();
+
+	if(socket)
+	{
+		delete socket;
+		socket = NULL;
+	}
 
     connectState = false;
 
@@ -262,7 +289,19 @@ bool UDPLink::disconnect()
  **/
 bool UDPLink::connect()
 {
-    socket = new QUdpSocket(this);
+	if(this->isRunning())
+	{
+		this->quit();
+		this->wait();
+	}
+	this->hardwareConnect();
+    start(HighPriority);
+    return true;
+}
+
+bool UDPLink::hardwareConnect(void)
+{
+	socket = new QUdpSocket();
 
     //Check if we are using a multicast-address
 //    bool multicast = false;
@@ -309,11 +348,10 @@ bool UDPLink::connect()
         emit connected();
         connectionStartTime = QGC::groundTimeUsecs()/1000;
     }
-
-    start(HighPriority);
-    return connectState;
+	return connectState;
 }
 
+
 /**
  * @brief Check if connection is active.
  *

src/comm/UDPLink.h

@@ -87,7 +87,7 @@ public:
     int getId();
 
 public slots:
-    void setAddress(QString address);
+    void setAddress(QHostAddress host);
     void setPort(int port);
     /** @brief Add a new host to broadcast messages to */
     void addHost(const QString& host);
@@ -128,8 +128,11 @@ protected:
 
     void setName(QString name);
 
+private:
+	bool hardwareConnect(void);
+
 signals:
-    // Signals are defined by LinkInterface
+    //Signals are defined by LinkInterface
 
 };
 

src/ui/CommConfigurationWindow.cc

@@ -232,14 +232,14 @@ void CommConfigurationWindow::setLinkType(int linktype)
 				break;
 			}
 #endif // XBEELINK
-/*		case 1:
+		case 1:
 			{
 				UDPLink *udp = new UDPLink();
 				tmpLink = udp;
 				MainWindow::instance()->addLink(tmpLink);
 				break;
 			}
-			*/
+			
 #ifdef OPAL_RT
 		case 3:
 			{
@@ -261,11 +261,13 @@ void CommConfigurationWindow::setLinkType(int linktype)
 			}
 	}
 	// trigger new window
+
+	const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(tmpLink));
+	const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
+
 	QList<QAction*> actions = MainWindow::instance()->listLinkMenuActions();
 	foreach (QAction* act, actions) 
 	{
-		const int& linkIndex(LinkManager::instance()->getLinks().indexOf(tmpLink));
-		const int& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
         if (act->data().toInt() == linkID) 
 		{
             act->trigger();

src/ui/MainWindow.cc

@@ -1492,8 +1492,8 @@ void MainWindow::addLink()
     // Go fishing for this link's configuration window
     QList<QAction*> actions = ui.menuNetwork->actions();
 
-	const int& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
-	const int& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
+	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) { // LinkManager::instance()->getLinks().indexOf(link)
@@ -1517,8 +1517,8 @@ void MainWindow::addLink(LinkInterface *link)
 
     bool found(false);
 
-	const int& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
-	const int& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
+	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) { // LinkManager::instance()->getLinks().indexOf(link)