From 8bad8c69c3d367318df1a4b14bab70976e0f024b Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 1 Dec 2015 12:14:52 -0800
Subject: [PATCH] Fix autoconnect/re-autoconnect, plus windows connect

---
 src/comm/LinkManager.cc | 31 +++++++++++++++++++++++++------
 src/comm/LinkManager.h  | 19 ++++++++++++-------
 2 files changed, 37 insertions(+), 13 deletions(-)

diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index f8d4771c2..f7116385e 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -55,6 +55,14 @@ const char* LinkManager::_autoconnect3DRRadioKey =  "Autoconnect3DRRadio";
 const char* LinkManager::_autoconnectPX4FlowKey =   "AutoconnectPX4Flow";
 const char* LinkManager::_defaultUPDLinkName =      "Default UDP Link";
 
+const int LinkManager::_autoconnectUpdateTimerMSecs =   1000;
+#ifdef Q_OS_WIN
+// Have to manually let the bootloader go by on Windows to get a working connect
+const int LinkManager::_autoconnectConnectDelayMSecs =  6000;
+#else
+const int LinkManager::_autoconnectConnectDelayMSecs =  1000;
+#endif
+
 LinkManager::LinkManager(QGCApplication* app)
     : QGCTool(app)
     , _configUpdateSuspended(false)
@@ -96,7 +104,7 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
    connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &LinkManager::_vehicleHeartbeatInfo);
 
     connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
-    _portListTimer.start(6000); // timeout must be long enough to get past bootloader on second pass
+    _portListTimer.start(_autoconnectUpdateTimerMSecs); // timeout must be long enough to get past bootloader on second pass
 
 }
 
@@ -220,10 +228,16 @@ void LinkManager::disconnectLink(LinkInterface* link)
 
     link->_disconnect();
     LinkConfiguration* config = link->getLinkConfiguration();
-    if(config) {
-        config->setLink(NULL);
+    if (config) {
+        if (_autoconnectConfigurations.contains(config)) {
+            config->setLink(NULL);
+        }
     }
     _deleteLink(link);
+    if (_autoconnectConfigurations.contains(config)) {
+        _autoconnectConfigurations.removeOne(config);
+        delete config;
+    }
 }
 
 void LinkManager::_deleteLink(LinkInterface* link)
@@ -465,11 +479,11 @@ void LinkManager::_updateAutoConnectLinks(void)
                 // are in the bootloader is flaky from a cross-platform standpoint. So by putting it on a wait list
                 // and only connect on the second pass we leave enough time for the board to boot up.
                 qCDebug(LinkManagerLog) << "Waiting for next autoconnect pass" << portInfo.systemLocation();
-                _autoconnectWaitList.append(portInfo.systemLocation());
-            } else {
+                _autoconnectWaitList[portInfo.systemLocation()] = 1;
+            } else if (++_autoconnectWaitList[portInfo.systemLocation()] * _autoconnectUpdateTimerMSecs > _autoconnectConnectDelayMSecs) {
                 SerialConfiguration* pSerialConfig = NULL;
 
-                _autoconnectWaitList.removeOne(portInfo.systemLocation());
+                _autoconnectWaitList.remove(portInfo.systemLocation());
 
                 switch (boardType) {
                 case QGCSerialPortInfo::BoardTypePX4FMUV1:
@@ -707,3 +721,8 @@ QStringList LinkManager::serialBaudRates(void)
     return SerialConfiguration::supportedBaudRates();
 #endif
 }
+
+bool LinkManager::isAutoconnectLink(LinkInterface* link)
+{
+    return _autoconnectConfigurations.contains(link->getLinkConfiguration());
+}
diff --git a/src/comm/LinkManager.h b/src/comm/LinkManager.h
index a93fa1988..f38a4085c 100644
--- a/src/comm/LinkManager.h
+++ b/src/comm/LinkManager.h
@@ -158,6 +158,9 @@ public:
     // Called to signal app shutdown. Disconnects all links while turning off auto-connect.
     void shutdown(void);
 
+    /// @return true: specified link is an autoconnect link
+    bool isAutoconnectLink(LinkInterface* link);
+
     // Override from QGCTool
     virtual void setToolbox(QGCToolbox *toolbox);
 
@@ -216,7 +219,7 @@ private:
     QmlObjectListModel  _linkConfigurations;
     QmlObjectListModel  _autoconnectConfigurations;
 
-    QStringList _autoconnectWaitList;
+    QMap<QString, int>  _autoconnectWaitList;   ///< key: QGCSerialPortInfo.systemLocation, value: wait count
     QStringList _commPortList;
 
     bool _autoconnectUDP;
@@ -224,12 +227,14 @@ private:
     bool _autoconnect3DRRadio;
     bool _autoconnectPX4Flow;
 
-    static const char* _settingsGroup;
-    static const char* _autoconnectUDPKey;
-    static const char* _autoconnectPixhawkKey;
-    static const char* _autoconnect3DRRadioKey;
-    static const char* _autoconnectPX4FlowKey;
-    static const char* _defaultUPDLinkName;
+    static const char*  _settingsGroup;
+    static const char*  _autoconnectUDPKey;
+    static const char*  _autoconnectPixhawkKey;
+    static const char*  _autoconnect3DRRadioKey;
+    static const char*  _autoconnectPX4FlowKey;
+    static const char*  _defaultUPDLinkName;
+    static const int    _autoconnectUpdateTimerMSecs;
+    static const int    _autoconnectConnectDelayMSecs;
 };
 
 #endif
-- 
2.22.0