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Commit 8bb1f9d7 authored by Don Gagne's avatar Don Gagne
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Merge pull request #2676 from DonLakeFlyer/MultipleVehicles 

Fix multiple vehicles on same link
parents b867851a fcb1ce1a
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Showing with 42 additions and 113 deletions
src/Vehicle/MultiVehicleManager.cc
View file @ 8bb1f9d7
......@@ -69,34 +69,45 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<MultiVehicleManager>("QGroundControl.MultiVehicleManager", 1, 0, "MultiVehicleManager", "Reference only");
connect(_toolbox->linkManager(), &LinkManager::linkActive, this, &MultiVehicleManager::_linkActive);
connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &MultiVehicleManager::_vehicleHeartbeatInfo);
}
void MultiVehicleManager::_linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType)
void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
{
if (!getVehicleById(vehicleId)) {
qCDebug(MultiVehicleManagerLog) << "Adding new vehicle linkName:vehicleId:vehicleFirmwareType:vehicleType"
<< link->getName()
<< vehicleId
<< vehicleFirmwareType
<< vehicleType;
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
if (!vehicle) {
qWarning() << "New Vehicle allocation failed";
return;
}
connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
if (_ignoreVehicleIds.contains(vehicleId) || getVehicleById(vehicleId)) {
return;
}
_vehicles.append(vehicle);
qCDebug(MultiVehicleManagerLog()) << "Adding new vehicle link:vehicleId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
<< link->getName()
<< vehicleId
<< vehicleMavlinkVersion
<< vehicleFirmwareType
<< vehicleType;
emit vehicleAdded(vehicle);
if (vehicleId == _mavlinkProtocol->getSystemId()) {
_app->showMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
}
setActiveVehicle(vehicle);
QSettings settings;
bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
_ignoreVehicleIds += vehicleId;
_app->showMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
"It is unsafe to use different MAVLink versions. "
"QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
return;
}
Vehicle* vehicle = new Vehicle(link, vehicleId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, _autopilotPluginManager, _joystickManager);
connect(vehicle, &Vehicle::allLinksInactive, this, &MultiVehicleManager::_deleteVehiclePhase1);
connect(vehicle->autopilotPlugin(), &AutoPilotPlugin::parametersReadyChanged, this, &MultiVehicleManager::_autopilotParametersReadyChanged);
_vehicles.append(vehicle);
emit vehicleAdded(vehicle);
setActiveVehicle(vehicle);
}
/// This slot is connected to the Vehicle::allLinksDestroyed signal such that the Vehicle is deleted
......
src/Vehicle/MultiVehicleManager.h
View file @ 8bb1f9d7
......@@ -95,8 +95,8 @@ private slots:
void _deleteVehiclePhase2(void);
void _setActiveVehiclePhase2(void);
void _autopilotParametersReadyChanged(bool parametersReady);
void _linkActive(LinkInterface* link, int vehicleId, int vehicleFirmwareType, int vehicleType);
void _sendGCSHeartbeat(void);
void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
private:
bool _vehicleExists(int vehicleId);
......
src/VehicleSetup/FirmwareUpgradeController.cc
View file @ 8bb1f9d7
......@@ -85,10 +85,12 @@ void FirmwareUpgradeController::startBoardSearch(void)
linkMgr->setConnectionsSuspended(tr("Connect not allowed during Firmware Upgrade."));
if (!linkMgr->anyActiveLinks()) {
// FIXME: Why did we get here with active vehicle?
if (!qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
// We have to disconnect any inactive links
linkMgr->disconnectAll();
}
_bootloaderFound = false;
_startFlashWhenBootloaderFound = false;
_threadController->startFindBoardLoop();
......
src/comm/LinkManager.cc
View file @ 8bb1f9d7
......@@ -91,9 +91,7 @@ LinkManager::LinkManager(QGCApplication* app)
LinkManager::~LinkManager()
{
if (anyActiveLinks()) {
qWarning() << "Why are there still active links?";
}
}
void LinkManager::setToolbox(QGCToolbox *toolbox)
......@@ -101,7 +99,6 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
QGCTool::setToolbox(toolbox);
_mavlinkProtocol = _toolbox->mavlinkProtocol();
connect(_mavlinkProtocol, &MAVLinkProtocol::vehicleHeartbeatInfo, this, &LinkManager::_vehicleHeartbeatInfo);
connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
_portListTimer.start(_autoconnectUpdateTimerMSecs); // timeout must be long enough to get past bootloader on second pass
......@@ -219,16 +216,7 @@ bool LinkManager::connectLink(LinkInterface* link)
return false;
}
bool previousAnyConnectedLinks = anyConnectedLinks();
if (link->_connect()) {
if (!previousAnyConnectedLinks) {
emit anyConnectedLinksChanged(true);
}
return true;
} else {
return false;
}
return link->_connect();
}
void LinkManager::disconnectLink(LinkInterface* link)
......@@ -579,69 +567,6 @@ void LinkManager::_updateAutoConnectLinks(void)
#endif // __ios__
}
bool LinkManager::anyConnectedLinks(void)
{
bool found = false;
for (int i=0; i<_links.count(); i++) {
LinkInterface* link = _links.value<LinkInterface*>(i);
if (link && link->isConnected()) {
found = true;
break;
}
}
return found;
}
bool LinkManager::anyActiveLinks(void)
{
bool found = false;
for (int i=0; i<_links.count(); i++) {
LinkInterface* link = _links.value<LinkInterface*>(i);
if (link && link->active()) {
found = true;
break;
}
}
return found;
}
void LinkManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType)
{
if (!link->active() && !_ignoreVehicleIds.contains(vehicleId)) {
qCDebug(LinkManagerLog) << "New heartbeat on link:vehicleId:vehicleMavlinkVersion:vehicleFirmwareType:vehicleType "
<< link->getName()
<< vehicleId
<< vehicleMavlinkVersion
<< vehicleFirmwareType
<< vehicleType;
if (vehicleId == _mavlinkProtocol->getSystemId()) {
_app->showMessage(QString("Warning: A vehicle is using the same system id as QGroundControl: %1").arg(vehicleId));
}
QSettings settings;
bool mavlinkVersionCheck = settings.value("VERSION_CHECK_ENABLED", true).toBool();
if (mavlinkVersionCheck && vehicleMavlinkVersion != MAVLINK_VERSION) {
_ignoreVehicleIds += vehicleId;
_app->showMessage(QString("The MAVLink protocol version on vehicle #%1 and QGroundControl differ! "
"It is unsafe to use different MAVLink versions. "
"QGroundControl therefore refuses to connect to vehicle #%1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(vehicleId).arg(vehicleMavlinkVersion).arg(MAVLINK_VERSION));
return;
}
bool previousAnyActiveLinks = anyActiveLinks();
link->setActive(true);
emit linkActive(link, vehicleId, vehicleFirmwareType, vehicleType);
if (!previousAnyActiveLinks) {
emit anyActiveLinksChanged(true);
}
}
}
void LinkManager::shutdown(void)
{
setConnectionsSuspended("Shutdown");
......
src/comm/LinkManager.h
View file @ 8bb1f9d7
......@@ -74,8 +74,6 @@ public:
LinkManager(QGCApplication* app);
~LinkManager();
Q_PROPERTY(bool anyActiveLinks READ anyActiveLinks NOTIFY anyActiveLinksChanged)
Q_PROPERTY(bool anyConnectedLinks READ anyConnectedLinks NOTIFY anyConnectedLinksChanged)
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)
......@@ -105,8 +103,6 @@ public:
// Property accessors
bool anyConnectedLinks (void);
bool anyActiveLinks (void);
bool autoconnectUDP (void) { return _autoconnectUDP; }
bool autoconnectPixhawk (void) { return _autoconnectPixhawk; }
bool autoconnect3DRRadio (void) { return _autoconnect3DRRadio; }
......@@ -185,8 +181,6 @@ public:
virtual void setToolbox(QGCToolbox *toolbox);
signals:
void anyActiveLinksChanged(bool anyActiveLinks);
void anyConnectedLinksChanged(bool anyConnectedLinks);
void autoconnectUDPChanged(bool autoconnect);
void autoconnectPixhawkChanged(bool autoconnect);
void autoconnect3DRRadioChanged(bool autoconnect);
......@@ -216,7 +210,6 @@ signals:
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
void _vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int vehicleMavlinkVersion, int vehicleFirmwareType, int vehicleType);
private:
bool _connectionsSuspendedMsg(void);
......@@ -236,7 +229,6 @@ private:
uint32_t _mavlinkChannelsUsedBitMask;
MAVLinkProtocol* _mavlinkProtocol;
QList<int> _ignoreVehicleIds; ///< List of vehicle id for which we ignore further communication
QmlObjectListModel _links;
QmlObjectListModel _linkConfigurations;
......
src/comm/LogReplayLink.cc
View file @ 8bb1f9d7
......@@ -102,7 +102,7 @@ LogReplayLink::~LogReplayLink(void)
bool LogReplayLink::_connect(void)
{
// Disallow replay when any links are connected
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
emit communicationError(_errorTitle, "You must close all connections prior to replaying a log.");
return false;
}
......
src/ui/MainWindow.cc
View file @ 8bb1f9d7
......@@ -425,7 +425,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
}
// Should not be any active connections
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
qWarning() << "All links should be disconnected by now";
}
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ 8bb1f9d7
......@@ -60,7 +60,7 @@ void QGCMAVLinkLogPlayer::_pause(void)
void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
{
// Disallow replay when any links are connected
if (qgcApp()->toolbox()->linkManager()->anyActiveLinks()) {
if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
return;
}
......
src/ui/toolbar/MainToolBarIndicators.qml
View file @ 8bb1f9d7
......@@ -325,7 +325,6 @@ Row {
MenuItem {
checkable: true
checked: vehicle ? vehicle.active : false
onTriggered: multiVehicleManager.activeVehicle = vehicle
property int vehicleId: Number(text.split(" ")[1])
......@@ -355,7 +354,7 @@ Row {
Connections {
target: multiVehicleManager.vehicles
onCountChanged: vehicleSelectorButton.updateVehicleMenu
onCountChanged: vehicleSelectorButton.updateVehicleMenu()
}
}
......
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