From 63a393b25bbc2749f0c071c455398695cc2994bd Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 11 Jun 2015 19:22:23 +0200
Subject: [PATCH] XPlane HIL interface: Fix link deletion logic so no QGC
 reboots are required between runs

---
 src/comm/QGCXPlaneLink.cc | 22 +++++++++++++++-------
 src/uas/UAS.cc            |  2 ++
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 98e7f63d9..302ee5982 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -80,12 +80,12 @@ QGCXPlaneLink::~QGCXPlaneLink()
     storeSettings();
     // Tell the thread to exit
     _should_exit = true;
-    // Wait for it to exit
-    wait();
 
-//    if(connectState) {
-//       disconnectSimulation();
-//    }
+    if (socket) {
+        socket->close();
+        socket->deleteLater();
+        socket = NULL;
+    }
 }
 
 void QGCXPlaneLink::loadSettings()
@@ -169,11 +169,13 @@ void QGCXPlaneLink::run()
 
         emit statusMessage("Binding socket failed!");
 
-        delete socket;
+        socket->deleteLater();
         socket = NULL;
         return;
     }
 
+    emit statusMessage(tr("Waiting for XPlane.."));
+
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
     UAS* uas = dynamic_cast<UAS*>(mav);
@@ -188,6 +190,9 @@ void QGCXPlaneLink::run()
         connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), uas, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), Qt::QueuedConnection);
 
         uas->startHil();
+    } else {
+        emit statusMessage(tr("Failed to connect to drone instance"));
+        return;
     }
 
 #pragma pack(push, 1)
@@ -254,12 +259,16 @@ void QGCXPlaneLink::run()
 
     connectState = false;
 
+    QObject::disconnect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
     socket->close();
     socket->deleteLater();
     socket = NULL;
 
     emit simulationDisconnected();
     emit simulationConnected(false);
+
+    this->deleteLater();
 }
 
 void QGCXPlaneLink::setPort(int localPort)
@@ -908,7 +917,6 @@ bool QGCXPlaneLink::disconnectSimulation()
     if (connectState)
     {
         _should_exit = true;
-        wait();
     } else {
         emit simulationDisconnected();
         emit simulationConnected(false);
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 957bc5004..5d7cb2430 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -242,6 +242,8 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 */
 UAS::~UAS()
 {
+    stopHil();
+    simulation->deleteLater();
     writeSettings();
 }
 
-- 
2.22.0