Merge pull request #2310 from DonLakeFlyer/ACFix

Change disconnect model for vehicles

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -138,7 +138,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
         QGC::SLEEP::usleep(500);
         qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
     }
-    qgcApp()->toolbox()->linkManager()->disconnectAll(false /* disconnectAutoconnectLink */);
+    qgcApp()->toolbox()->linkManager()->disconnectAll();
     qgcApp()->restoreOverrideCursor();
 }
 

src/FlightDisplay/FlightDisplayView.qml

@@ -228,8 +228,6 @@ Item {
 
         QGCMapPalette { id: mapPal; lightColors: !isBackgroundDark }
 
-        Component.onCompleted: console.log("test", mapPal)
-
         MultiPointTouchArea {
             anchors.fill:       parent
             touchPoints: [
@@ -254,7 +252,6 @@ Item {
 
                 var point1
                 if (touchPoints.length > 0) {
-                    //console.log("Point1", touchPoints[0].x, touchPoints[0].y)
                     point1 = touchPoints[0]
                     if (pointInRect(leftRect, point1)) {
                         point1Location = -1
@@ -265,7 +262,6 @@ Item {
 
                 var point2
                 if (touchPoints.length == 2) {
-                    //console.log("Point2", touchPoints[1].x, touchPoints[1].y)
                     point2 = touchPoints[1]
                     if (pointInRect(leftRect, point2)) {
                         point2Location = -1

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -81,7 +81,7 @@ void QGroundControlQmlGlobal::_startMockLink(MockConfiguration* mockConfig)
     mockConfig->setDynamic(true);
     linkManager->linkConfigurations()->append(mockConfig);
 
-    linkManager->createConnectedLink(mockConfig, false /* autoconnectLink */);
+    linkManager->createConnectedLink(mockConfig);
 }
 #endif
 
@@ -155,7 +155,7 @@ void QGroundControlQmlGlobal::stopAllMockLinks(void)
         MockLink* mockLink = qobject_cast<MockLink*>(link);
 
         if (mockLink) {
-            linkManager->disconnectLink(mockLink, false /* disconnectAutoconnectLink */);
+            linkManager->disconnectLink(mockLink);
         }
     }
 #endif

src/Vehicle/Vehicle.cc

@@ -44,7 +44,6 @@ QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
 const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
 const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
 const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";
-const char* Vehicle::_communicationInactivityKey =  "CommunicationInactivity";
 
 Vehicle::Vehicle(LinkInterface*             link,
                  int                        vehicleId,
@@ -102,7 +101,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _base_mode(0)
     , _custom_mode(0)
     , _nextSendMessageMultipleIndex(0)
-    , _communicationInactivityTimeoutMSecs(_communicationInactivityTimeoutMSecsDefault)
     , _firmwarePluginManager(firmwarePluginManager)
     , _autopilotPluginManager(autopilotPluginManager)
     , _joystickManager(joystickManager)
@@ -182,10 +180,6 @@ Vehicle::Vehicle(LinkInterface*             link,
 
     _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
     connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
-
-    _communicationInactivityTimer.setInterval(_communicationInactivityTimeoutMSecs);
-    connect(&_communicationInactivityTimer, &QTimer::timeout, this, &Vehicle::_communicationInactivityTimedOut);
-    _communicationInactivityTimer.start();
 }
 
 Vehicle::~Vehicle()
@@ -209,8 +203,6 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
         return;
     }
 
-    _communicationInactivityTimer.start();
-
     if (!_containsLink(link)) {
         _addLink(link);
     }
@@ -311,6 +303,7 @@ void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
     _links.removeOne(link);
 
     if (_links.count() == 0 && !_allLinksInactiveSent) {
+        qCDebug(VehicleLog) << "All links inactive";
         // Make sure to not send this more than one time
         _allLinksInactiveSent = true;
         emit allLinksInactive(this);
@@ -771,7 +764,6 @@ void Vehicle::_loadSettings(void)
     }
 
     _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
-    _communicationInactivityTimeoutMSecs = settings.value(_communicationInactivityKey, _communicationInactivityTimeoutMSecsDefault).toInt();
 }
 
 void Vehicle::_saveSettings(void)
@@ -782,7 +774,6 @@ void Vehicle::_saveSettings(void)
 
     settings.setValue(_joystickModeSettingsKey, _joystickMode);
     settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
-    settings.setValue(_communicationInactivityKey, _communicationInactivityTimeoutMSecs);
 }
 
 int Vehicle::joystickMode(void)
@@ -1035,13 +1026,13 @@ void Vehicle::_parametersReady(bool parametersReady)
     }
 }
 
-void Vehicle::_communicationInactivityTimedOut(void)
+void Vehicle::disconnectInactiveVehicle(void)
 {
-    // Vehicle is no longer communicating with us, disconnect all links inactive
+    // Vehicle is no longer communicating with us, disconnect all links
 
     LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
     for (int i=0; i<_links.count(); i++) {
-        linkMgr->disconnectLink(_links[i], false /* disconnectAutoconnectLink */);
+        linkMgr->disconnectLink(_links[i]);
     }
 }
 

src/Vehicle/Vehicle.h

@@ -125,6 +125,7 @@ public:
     Q_INVOKABLE void        resetMessages();
 
     Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
+    Q_INVOKABLE void disconnectInactiveVehicle(void);
 
     // Property accessors
 
@@ -311,7 +312,6 @@ private slots:
     void _sendMessageMultipleNext(void);
     void _addNewMapTrajectoryPoint(void);
     void _parametersReady(bool parametersReady);
-    void _communicationInactivityTimedOut(void);
     void _remoteControlRSSIChanged(uint8_t rssi);
 
     void _handleTextMessage                 (int newCount);
@@ -436,10 +436,6 @@ private:
     bool                _mapTrajectoryHaveFirstCoordinate;
     static const int    _mapTrajectoryMsecsBetweenPoints = 1000;
 
-    QTimer              _communicationInactivityTimer;
-    int                 _communicationInactivityTimeoutMSecs;
-    static const int    _communicationInactivityTimeoutMSecsDefault = 30 * 1000;
-
     FirmwarePluginManager*      _firmwarePluginManager;
     AutoPilotPluginManager*     _autopilotPluginManager;
     JoystickManager*            _joystickManager;
@@ -452,6 +448,5 @@ private:
     static const char* _settingsGroup;
     static const char* _joystickModeSettingsKey;
     static const char* _joystickEnabledSettingsKey;
-    static const char* _communicationInactivityKey;
 };
 #endif

src/VehicleSetup/FirmwareUpgrade.qml

@@ -67,6 +67,8 @@ QGCView {
         progressBar:    progressBar
         statusLog:      statusTextArea
 
+        property var activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
+
         Component.onCompleted: {
             controllerCompleted = true
             if (qgcView.completedSignalled) {
@@ -75,20 +77,30 @@ QGCView {
             }
         }
 
+        onActiveVehicleChanged: {
+            if (!activeVehicle) {
+                statusTextArea.append(plugInText)
+            }
+        }
+
         onNoBoardFound: {
             initialBoardSearch = false
-            statusTextArea.append(plugInText)
+            if (!QGroundControl.multiVehicleManager.activeVehicleAvailable) {
+                statusTextArea.append(plugInText)
+            }
         }
 
         onBoardGone: {
             initialBoardSearch = false
-            statusTextArea.append(plugInText)
+            if (!QGroundControl.multiVehicleManager.activeVehicleAvailable) {
+                statusTextArea.append(plugInText)
+            }
         }
 
         onBoardFound: {
             if (initialBoardSearch) {
                 // Board was found right away, so something is already plugged in before we've started upgrade
-                if (QGroundControl.linkManager.anyActiveLinks) {
+                if (QGroundControl.multiVehicleManager.activeVehicleAvailable) {
                     statusTextArea.append(qgcDisconnectText)
                 } else {
                     statusTextArea.append(usbUnplugText.replace('{0}', controller.boardType))

src/VehicleSetup/SetupView.qml

@@ -159,7 +159,7 @@ Rectangle {
                 horizontalAlignment:    Text.AlignHCenter
                 wrapMode:               Text.WordWrap
                 font.pixelSize:         ScreenTools.largeFontPixelSize
-                text:                   "Click Connect on the top right to Fly. Click Firmware on the left to upgrade your vehicle."
+                text:                   "Connect vehicle to your device and QGroundControl will automatically detect to it. Click Firmware on the left to upgrade your vehicle."
 
                 onLinkActivated: Qt.openUrlExternally(link)
             }

src/comm/LinkInterface.h

@@ -57,12 +57,9 @@ class LinkInterface : public QThread
     friend class LinkManager;
 
 public:
-    Q_PROPERTY(bool autoconnect READ autoconnect    WRITE setAutoconnect    NOTIFY autoconnectChanged)
     Q_PROPERTY(bool active      READ active         WRITE setActive         NOTIFY activeChanged)
 
     // Property accessors
-    bool autoconnect(void)                  { return _autoconnect; }
-    void setAutoconnect(bool autoconnect)   { _autoconnect = autoconnect; emit autoconnectChanged(autoconnect); }
     bool active(void)                       { return _active; }
     void setActive(bool active)             { _active = active; emit activeChanged(active); }
 
@@ -198,7 +195,6 @@ protected:
     LinkInterface() :
         QThread(0)
         , _mavlinkChannelSet(false)
-        , _autoconnect(false)
         , _active(false)
     {
         // Initialize everything for the data rate calculation buffers.
@@ -361,7 +357,6 @@ private:
     
     mutable QMutex _dataRateMutex; // Mutex for accessing the data rate member variables
 
-    bool _autoconnect;  ///< true: Link is an autoconnect connection and should never be disconnected
     bool _active;       ///< true: link is actively receiving mavlink messages
 };
 

src/comm/LinkManager.h

@@ -73,9 +73,7 @@ public:
     ~LinkManager();
 
     Q_PROPERTY(bool anyActiveLinks                      READ anyActiveLinks                                                     NOTIFY anyActiveLinksChanged)
-    Q_PROPERTY(bool anyNonAutoconnectActiveLinks        READ anyNonAutoconnectActiveLinks                                       NOTIFY anyNonAutoconnectActiveLinksChanged)
     Q_PROPERTY(bool anyConnectedLinks                   READ anyConnectedLinks                                                  NOTIFY anyConnectedLinksChanged)
-    Q_PROPERTY(bool anyNonAutoconnectConnectedLinks     READ anyNonAutoconnectConnectedLinks                                    NOTIFY anyNonAutoconnectConnectedLinksChanged)
     Q_PROPERTY(bool autoconnectUDP                      READ autoconnectUDP                     WRITE setAutoconnectUDP         NOTIFY autoconnectUDPChanged)
     Q_PROPERTY(bool autoconnectPixhawk                  READ autoconnectPixhawk                 WRITE setAutoconnectPixhawk     NOTIFY autoconnectPixhawkChanged)
     Q_PROPERTY(bool autoconnect3DRRadio                 READ autoconnect3DRRadio                WRITE setAutoconnect3DRRadio    NOTIFY autoconnect3DRRadioChanged)
@@ -88,9 +86,7 @@ public:
     // Property accessors
 
     bool anyConnectedLinks(void);
-    bool anyNonAutoconnectConnectedLinks(void);
     bool anyActiveLinks(void);
-    bool anyNonAutoconnectActiveLinks(void);
     bool autoconnectUDP(void)       { return _autoconnectUDP; }
     bool autoconnectPixhawk(void)   { return _autoconnectPixhawk; }
     bool autoconnect3DRRadio(void)  { return _autoconnect3DRRadio; }
@@ -123,24 +119,19 @@ public:
 
     /// Creates, connects (and adds) a link  based on the given configuration instance.
     /// Link takes ownership of config.
-    Q_INVOKABLE LinkInterface* createConnectedLink(LinkConfiguration* config, bool persistenLink = false);
+    Q_INVOKABLE LinkInterface* createConnectedLink(LinkConfiguration* config);
 
     /// Creates, connects (and adds) a link  based on the given configuration name.
-    LinkInterface* createConnectedLink(const QString& name, bool persistenLink = false);
+    LinkInterface* createConnectedLink(const QString& name);
 
-    /// Disconnects all existing links, including persistent links.
-    ///     @param disconnectAutoconnectLink See disconnectLink
-    void disconnectAll(bool disconnectAutoconnectLink);
+    /// Disconnects all existing links
+    void disconnectAll(void);
 
     /// Connect the specified link
     bool connectLink(LinkInterface* link);
 
-    /// Disconnect the specified link.
-    ///     @param disconnectAutoconnectLink
-    ///                 true: link is disconnected no matter what type
-    ///                 false: if autoconnect link, link is marked as inactive and linkInactive is signalled
-    ///                 false: if not autoconnect link, link is disconnected
-    Q_INVOKABLE bool disconnectLink(LinkInterface* link, bool disconnectAutoconnectLink);
+    /// Disconnect the specified link
+    Q_INVOKABLE void disconnectLink(LinkInterface* link);
 
     /// Called to notify that a heartbeat was received with the specified information. Will transition
     /// a link to active as needed.
@@ -163,9 +154,7 @@ public:
 
 signals:
     void anyActiveLinksChanged(bool anyActiveLinks);
-    void anyNonAutoconnectActiveLinksChanged(bool anyNonAutoconnectActiveLinks);
     void anyConnectedLinksChanged(bool anyConnectedLinks);
-    void anyNonAutoconnectConnectedLinksChanged(bool anyNoAutoconnectConnectedLinks);
     void autoconnectUDPChanged(bool autoconnect);
     void autoconnectPixhawkChanged(bool autoconnect);
     void autoconnect3DRRadioChanged(bool autoconnect);
@@ -216,7 +205,8 @@ private:
     QmlObjectListModel  _links;
     QmlObjectListModel  _linkConfigurations;
     QmlObjectListModel  _autoconnectConfigurations;
-    UDPConfiguration*   _autoconnectUDPConfig;
+
+    QStringList _autoconnectWaitList;
 
     bool _autoconnectUDP;
     bool _autoconnectPixhawk;
@@ -228,6 +218,7 @@ private:
     static const char* _autoconnectPixhawkKey;
     static const char* _autoconnect3DRRadioKey;
     static const char* _autoconnectPX4FlowKey;
+    static const char* _defaultUPDLinkName;
 };
 
 #endif

src/comm/SerialLink.cc

@@ -211,9 +211,6 @@ bool SerialLink::_hardwareConnect(QString &type)
         return false; // couldn't create serial port.
     }
 
-    // We need to catch this signal and then emit disconnected. You can't connect
-    // signal to signal otherwise disonnected will have the wrong QObject::Sender
-    QObject::connect(_port, SIGNAL(aboutToClose()), this, SLOT(_rerouteDisconnected()));
     QObject::connect(_port, SIGNAL(error(QSerialPort::SerialPortError)), this, SLOT(linkError(QSerialPort::SerialPortError)));
     QObject::connect(_port, &QIODevice::readyRead, this, &SerialLink::_readBytes);
 
@@ -361,11 +358,6 @@ void SerialLink::_resetConfiguration()
     }
 }
 
-void SerialLink::_rerouteDisconnected(void)
-{
-    emit disconnected();
-}
-
 void SerialLink::_emitLinkError(const QString& errorMsg)
 {
     QString msg("Error on link %1. %2");

src/comm/SerialLink.h

@@ -150,7 +150,6 @@ protected:
     QString _type;
 
 private slots:
-    void _rerouteDisconnected(void);
     void _readBytes(void);
 
 private:

src/qgcunittest/UnitTest.cc

@@ -387,7 +387,7 @@ void UnitTest::_disconnectMockLink(void)
     if (_mockLink) {
         QSignalSpy  linkSpy(_linkManager, SIGNAL(linkDeleted(LinkInterface*)));
 
-        _linkManager->disconnectLink(_mockLink, false /* disconnectAutoconnectLink */);
+        _linkManager->disconnectLink(_mockLink);
 
         // Wait for link to go away
         linkSpy.wait(1000);

src/ui/QGCLinkConfiguration.cc

@@ -73,7 +73,7 @@ void QGCLinkConfiguration::on_delLinkButton_clicked()
                 // Get link attached to this configuration (if any)
                 LinkInterface* iface = config->link();
                 if(iface) {
-                    qgcApp()->toolbox()->linkManager()->disconnectLink(iface, false /* disconnectAutoconnectLink */);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(iface);
                 }
                 _viewModel->beginChange();
 
@@ -106,7 +106,7 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
             if(link) {
                 // Disconnect Link
                 if (link->isConnected()) {
-                    qgcApp()->toolbox()->linkManager()->disconnectLink(link, false /* disconnectAutoconnectLink */);
+                    qgcApp()->toolbox()->linkManager()->disconnectLink(link);
                 }
             } else {
                 LinkInterface* link = qgcApp()->toolbox()->linkManager()->createConnectedLink(config);

src/ui/toolbar/MainToolBar.qml

@@ -152,10 +152,6 @@ Rectangle {
         toolBarMessageArea.visible = true
     }
 
-    function showMavStatus() {
-         return (multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout === 0);
-    }
-
     function getBatteryColor() {
         if(activeVehicle) {
             if(activeVehicle.batteryPercent > 75) {
@@ -554,29 +550,40 @@ Rectangle {
 
     Item {
         id:                     vehicleIndicators
-        visible:                showMavStatus() && !connectionStatus.visible
         height:                 mainWindow.tbCellHeight
-        width:                  (toolBar.width - viewRow.width)
-        anchors.left:           viewRow.right
         anchors.leftMargin:     mainWindow.tbSpacing * 2
+        anchors.left:           viewRow.right
+        anchors.right:          parent.right
         anchors.verticalCenter: parent.verticalCenter
+
+        property bool vehicleInactive: activeVehicle ? activeVehicle.heartbeatTimeout != 0 : false
+
         Loader {
-            source:             multiVehicleManager.activeVehicleAvailable ? "MainToolBarIndicators.qml" : ""
-            anchors.left:       parent.left
-            anchors.verticalCenter:   parent.verticalCenter
+            source:                 activeVehicle && !parent.vehicleInactive ? "MainToolBarIndicators.qml" : ""
+            anchors.left:           parent.left
+            anchors.verticalCenter: parent.verticalCenter
         }
-    }
 
-    QGCLabel {
-        id:             connectionStatus
-        visible:        (_controller.connectionCount > 0 && multiVehicleManager.activeVehicleAvailable && activeVehicle.heartbeatTimeout != 0)
-        text:           "CONNECTION LOST"
-        font.pixelSize: tbFontLarge
-        font.weight:    Font.DemiBold
-        color:          colorRed
-        anchors.left:           viewRow.right
-        anchors.leftMargin:     mainWindow.tbSpacing * 2
-        anchors.verticalCenter: parent.verticalCenter
+        QGCLabel {
+            id:                     connectionLost
+            text:                   "CONNECTION LOST"
+            font.pixelSize:         tbFontLarge
+            font.weight:            Font.DemiBold
+            color:                  colorRed
+            anchors.left:           parent.left
+            anchors.verticalCenter: parent.verticalCenter
+            visible:                parent.vehicleInactive
+
+        }
+
+        QGCButton {
+            anchors.rightMargin:     mainWindow.tbSpacing * 2
+            anchors.right:          parent.right
+            anchors.verticalCenter: parent.verticalCenter
+            text:                   "Disconnect"
+            visible:                parent.vehicleInactive
+            onClicked:              activeVehicle.disconnectInactiveVehicle()
+        }
     }
 
     // Progress bar

src/ui/toolbar/MainToolBarIndicators.qml

@@ -322,7 +322,7 @@ Row {
 
             MenuItem {
                 checkable:      true
-                checked:        vehicle.active
+                checked:        vehicle ? vehicle.active : false
                 onTriggered:    multiVehicleManager.activeVehicle = vehicle
 
                 property int vehicleId: Number(text.split(" ")[1])
@@ -360,6 +360,7 @@ Row {
     //-- Mode Selector
 
     Item {
+        id:     flightModeSelector
         width:  selectorRow.width * 1.1
         height: mainWindow.tbCellHeight
         anchors.verticalCenter: parent.verticalCenter
@@ -425,7 +426,7 @@ Row {
 
         Connections {
             target:                 multiVehicleManager
-            onActiveVehicleChanged: parent.updateFlightModesMenu
+            onActiveVehicleChanged: flightModeSelector.updateFlightModesMenu
         }
 
         MouseArea {