Merge pull request #1892 from DonLakeFlyer/MissionManager

Take MissionManager off separate thread

src/MissionEditor/MissionEditor.qml

@@ -167,6 +167,20 @@ QGCView {
 
                                 onTriggered: controller.saveMissionToFile()
                             }
+
+                            MenuSeparator { }
+
+                            MenuItem {
+                                text:       "Move to current vehicle position"
+                                enabled:    activeVehicle && activeVehicle.latitude != 0 && activeVehicle.longitude != 0
+
+                                property var activeVehicle: multiVehicleManager.activeVehicle
+
+                                onTriggered: {
+                                    editorMap.latitude = activeVehicle.latitude
+                                    editorMap.longitude = activeVehicle.longitude
+                                }
+                            }
                         }
                     }
 

src/MissionManager/MissionManager.cc

@@ -31,44 +31,26 @@
 QGC_LOGGING_CATEGORY(MissionManagerLog, "MissionManagerLog")
 
 MissionManager::MissionManager(Vehicle* vehicle)
-    : QThread()
-    , _vehicle(vehicle)
+    : _vehicle(vehicle)
     , _cMissionItems(0)
     , _canEdit(true)
     , _ackTimeoutTimer(NULL)
     , _retryAck(AckNone)
 {
-    moveToThread(this);
-    
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &MissionManager::_mavlinkMessageReceived);
     
-    connect(this, &MissionManager::_writeMissionItemsOnThread, this, &MissionManager::_writeMissionItems);
-    connect(this, &MissionManager::_requestMissionItemsOnThread, this, &MissionManager::_requestMissionItems);
-    
-    start();
-}
-
-MissionManager::~MissionManager()
-{
-
-}
-
-void MissionManager::run(void)
-{
     _ackTimeoutTimer = new QTimer(this);
     _ackTimeoutTimer->setSingleShot(true);
     _ackTimeoutTimer->setInterval(_ackTimeoutMilliseconds);
     
     connect(_ackTimeoutTimer, &QTimer::timeout, this, &MissionManager::_ackTimeout);
     
-    _requestMissionItems();
-    
-    exec();
+    requestMissionItems();
 }
 
-void MissionManager::requestMissionItems(void)
+MissionManager::~MissionManager()
 {
-    emit _requestMissionItemsOnThread();
+
 }
 
 void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
@@ -78,10 +60,28 @@ void MissionManager::writeMissionItems(const QmlObjectListModel& missionItems)
         _missionItems.append(new MissionItem(*qobject_cast<const MissionItem*>(missionItems[i])));
     }
 
-    emit _writeMissionItemsOnThread();
+    qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
+    
+    if (inProgress()) {
+        qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
+        // FIXME: Better error handling
+        return;
+    }
+    
+    mavlink_message_t       message;
+    mavlink_mission_count_t missionCount;
+    
+    missionCount.target_system = _vehicle->id();
+    missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
+    missionCount.count = _missionItems.count();
+    
+    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
+    
+    _vehicle->sendMessage(message);
+    _startAckTimeout(AckMissionRequest, message);
 }
 
-void MissionManager::_requestMissionItems(void)
+void MissionManager::requestMissionItems(void)
 {
     qCDebug(MissionManagerLog) << "_requestMissionItems";
     
@@ -173,7 +173,7 @@ void MissionManager::_handleMissionCount(const mavlink_message_t& message)
     qCDebug(MissionManagerLog) << "_handleMissionCount count:" << _cMissionItems;
     
     if (_cMissionItems == 0) {
-        _sendTransactionComplete();
+        emit newMissionItemsAvailable();
     } else {
         _requestNextMissionItem(0);
     }
@@ -251,29 +251,6 @@ void MissionManager::_clearMissionItems(void)
     _missionItems.clear();
 }
 
-void MissionManager::_writeMissionItems(void)
-{
-    qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
-    
-    if (inProgress()) {
-        qCDebug(MissionManagerLog) << "writeMissionItems called while transaction in progress";
-        // FIXME: Better error handling
-        return;
-    }
-    
-    mavlink_message_t       message;
-    mavlink_mission_count_t missionCount;
-    
-    missionCount.target_system = _vehicle->id();
-    missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
-    missionCount.count = _missionItems.count();
-    
-    mavlink_msg_mission_count_encode(MAVLinkProtocol::instance()->getSystemId(), MAVLinkProtocol::instance()->getComponentId(), &message, &missionCount);
-    
-    _vehicle->sendMessage(message);
-    _startAckTimeout(AckMissionRequest, message);
-}
-
 void MissionManager::_handleMissionRequest(const mavlink_message_t& message)
 {
     mavlink_mission_request_t missionRequest;

src/MissionManager/MissionManager.h

@@ -38,7 +38,7 @@ class Vehicle;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionManagerLog)
 
-class MissionManager : public QThread
+class MissionManager : public QObject
 {
     Q_OBJECT
     
@@ -73,10 +73,6 @@ signals:
     void canEditChanged(bool canEdit);
     void newMissionItemsAvailable(void);
     
-    // Internal signals
-    void _requestMissionItemsOnThread(void);
-    void _writeMissionItemsOnThread(void);
-    
 private slots:
     void _mavlinkMessageReceived(const mavlink_message_t& message);
     void _ackTimeout(void);
@@ -98,12 +94,7 @@ private:
     void _handleMissionAck(const mavlink_message_t& message);
     void _requestNextMissionItem(int sequenceNumber);
     void _clearMissionItems(void);
-    void _requestMissionItems(void);
-    void _writeMissionItems(void);
 
-    // Overrides from QThread
-    void run(void);
-    
 private:
     Vehicle*            _vehicle;