More cleanup on threading

src/comm/MAVLinkProtocol.cc

@@ -64,7 +64,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
 
     m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
     loadSettings();
-    //start(QThread::LowPriority);
+    moveToThread(this);
     // Start heartbeat timer, emitting a heartbeat at the configured rate
     connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
     heartbeatTimer->start(1000/heartbeatRate);
@@ -81,6 +81,8 @@ MAVLinkProtocol::MAVLinkProtocol() :
         }
     }
 
+    start(QThread::HighPriority);
+
     emit versionCheckChanged(m_enable_version_check);
 }
 
@@ -166,6 +168,20 @@ MAVLinkProtocol::~MAVLinkProtocol()
         delete m_logfile;
         m_logfile = NULL;
     }
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+}
+
+/**
+ * @brief Runs the thread
+ *
+ **/
+void MAVLinkProtocol::run()
+{
+    exec();
 }
 
 QString MAVLinkProtocol::getLogfileName()

src/comm/MAVLinkProtocol.h

@@ -150,6 +150,8 @@ public:
      */
     virtual void resetMetadataForLink(const LinkInterface *link);
 
+    void run();
+
 public slots:
     /** @brief Receive bytes from a communication interface */
     void receiveBytes(LinkInterface* link, QByteArray b);

src/comm/ProtocolInterface.h

@@ -46,7 +46,7 @@ This file is part of the PIXHAWK project
  * @see LinkManager.
  *
  **/
-class ProtocolInterface : public QObject
+class ProtocolInterface : public QThread
 {
     Q_OBJECT
 public:

src/comm/QGCXPlaneLink.cc

@@ -74,6 +74,11 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
 QGCXPlaneLink::~QGCXPlaneLink()
 {
     storeSettings();
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 //    if(connectState) {
 //       disconnectSimulation();
 //    }

src/comm/SerialLink.cc

@@ -87,6 +87,11 @@ SerialLink::~SerialLink()
     disconnect();
     if(m_port) delete m_port;
     m_port = NULL;
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
 }
 
 QList<QString> SerialLink::getCurrentPorts()
@@ -455,6 +460,7 @@ bool SerialLink::hardwareConnect(QString &type)
 
     qDebug() << "SerialLink: hardwareConnect to " << m_portName;
     m_port = new QSerialPort(m_portName);
+    m_port->moveToThread(this);
 
     if (!m_port) {
         emit communicationUpdate(getName(),"Error opening port: " + m_portName);

src/comm/TCPLink.cc

@@ -56,6 +56,12 @@ TCPLink::TCPLink(QHostAddress hostAddress, quint16 socketPort) :
 TCPLink::~TCPLink()
 {
     disconnect();
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 	deleteLater();
 }
 

src/comm/UDPLink.cc

@@ -60,6 +60,12 @@ UDPLink::UDPLink(QHostAddress host, quint16 port) :
 UDPLink::~UDPLink()
 {
     disconnect();
+
+    // Tell the thread to exit
+    quit();
+    // Wait for it to exit
+    wait();
+
 	this->deleteLater();
 }
 

src/uas/QGCMAVLinkUASFactory.cc

@@ -132,6 +132,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
     UASManager::instance()->addUAS(uas);
 
     worker->start(QThread::HighPriority);
+    connect(uas, SIGNAL(destroyed()), worker, SLOT(quit()));
 
     return uas;
 }

src/uas/UAS.cc

@@ -172,7 +172,6 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         componentMulti[i] = false;
     }
 
-
     // Store a list of available actions for this UAS.
     // Basically everything exposted as a SLOT with no return value or arguments.
 

src/ui/MAVLinkDecoder.cc

@@ -2,7 +2,7 @@
 #include "UASManager.h"
 
 MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
-    QThread(parent)
+    QThread()
 {
     // We're doing it wrong - because the Qt folks got the API wrong:
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/