From 8f87c7bbcb2abda81623635a249cd25fbdc953bb Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Wed, 10 Feb 2016 15:09:40 -0800
Subject: [PATCH] Add autoDisconnect support

---
 src/Vehicle/Vehicle.cc | 4 ++++
 src/Vehicle/Vehicle.h  | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index a0ace46f0..f8a4a2a57 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -97,6 +97,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _updateCount(0)
     , _rcRSSI(0)
     , _rcRSSIstore(100.0)
+    , _autoDisconnect(false)
     , _connectionLost(false)
     , _connectionLostEnabled(true)
     , _missionManager(NULL)
@@ -1316,6 +1317,9 @@ void Vehicle::_connectionLostTimeout(void)
         _heardFrom = false;
         emit connectionLostChanged(true);
         _say(QString("connection lost to vehicle %1").arg(id()), GAudioOutput::AUDIO_SEVERITY_NOTICE);
+        if (_autoDisconnect) {
+            disconnectInactiveVehicle();
+        }
     }
 }
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 4f35bc05a..0e299ac79 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -124,6 +124,7 @@ public:
     Q_PROPERTY(uint                 messagesLost            READ messagesLost                           NOTIFY messagesLostChanged)
     Q_PROPERTY(bool                 fixedWing               READ fixedWing                              CONSTANT)
     Q_PROPERTY(bool                 multiRotor              READ multiRotor                             CONSTANT)
+    Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                      NOTIFY autoDisconnectChanged)
 
     /// Resets link status counters
     Q_INVOKABLE void resetCounters  ();
@@ -318,6 +319,7 @@ signals:
     void missingParametersChanged(bool missingParameters);
     void connectionLostChanged(bool connectionLost);
     void connectionLostEnabledChanged(bool connectionLostEnabled);
+    void autoDisconnectChanged(bool autoDisconnectChanged);
 
     void messagesReceivedChanged    ();
     void messagesSentChanged        ();
@@ -480,6 +482,7 @@ private:
     QString         _formatedMessage;
     int             _rcRSSI;
     double          _rcRSSIstore;
+    bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
 
     // Lost connection handling
     bool                _connectionLost;
-- 
2.22.0