Skip to content

Q
qgroundcontrol
Commit aa1b3191 authored by Don Gagne's avatar Don Gagne
Browse files
Options

Merge pull request #1382 from DonLakeFlyer/LinkDelete 

Use QSharedPointer for cross-thread Link references
parents 86268aeb 1d737cb8
Hide whitespace changes
Inline Side-by-side
Showing with 236 additions and 253 deletions
src/FactSystem/FactSystemTestBase.cc
View file @ aa1b3191
......@@ -48,7 +48,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
MockLink* link = new MockLink();
link->setAutopilotType(autopilot);
_linkMgr->addLink(link);
_linkMgr->_addLink(link);
_linkMgr->connectLink(link);
// Wait for the uas to work it's way through the various threads
......
src/VehicleSetup/SetupViewButtons.qml
View file @ aa1b3191
......@@ -35,7 +35,7 @@ Rectangle {
QGCLabel {
width: parent.width
text: "You must be connected to your board to use all available setup options."
text: "Full setup options are only available when connected to vehicle and full parameter list has completed downloading."
wrapMode: Text.WordWrap
horizontalAlignment: Text.AlignHCenter
}
......
src/VehicleSetup/SetupViewTest.cc
View file @ aa1b3191
......@@ -64,7 +64,7 @@ void SetupViewTest::_clickThrough_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
link->setAutopilotType(MAV_AUTOPILOT_PX4);
LinkManager::instance()->addLink(link);
LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
......
src/comm/LinkInterface.h
View file @ aa1b3191
......@@ -37,6 +37,7 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
#include <QMutex>
#include <QMutexLocker>
#include <QMetaType>
#include <QSharedPointer>
class LinkManager;
class LinkConfiguration;
......@@ -50,38 +51,10 @@ class LinkInterface : public QThread
{
Q_OBJECT
// Only LinkManager is allowed to _connect, _disconnect or delete a link
// Only LinkManager is allowed to create/delete or _connect/_disconnect a link
friend class LinkManager;
public:
LinkInterface() :
QThread(0),
_ownedByLinkManager(false),
_deletedByLinkManager(false),
_flaggedForDeletion(false)
{
// Initialize everything for the data rate calculation buffers.
inDataIndex = 0;
outDataIndex = 0;
// Initialize our data rate buffers.
memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts));
memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes));
memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts));
memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes));
qRegisterMetaType<LinkInterface*>("LinkInterface*");
}
/**
* @brief Destructor
* LinkManager take ownership of Links once they are added to it. Once added to LinkManager
* use LinkManager::deleteLink to remove if necessary.
**/
virtual ~LinkInterface() {
Q_ASSERT(!_ownedByLinkManager || _deletedByLinkManager);
}
/**
* @brief Get link configuration (if used)
* @return A pointer to the instance of LinkConfiguration if supported. NULL otherwise.
......@@ -169,7 +142,25 @@ public slots:
* @param length The length of the data array
**/
virtual void writeBytes(const char *bytes, qint64 length) = 0;
protected:
// Links are only created by LinkManager so constructor is not public
LinkInterface() :
QThread(0)
{
// Initialize everything for the data rate calculation buffers.
inDataIndex = 0;
outDataIndex = 0;
// Initialize our data rate buffers.
memset(inDataWriteAmounts, 0, sizeof(inDataWriteAmounts));
memset(inDataWriteTimes, 0, sizeof(inDataWriteTimes));
memset(outDataWriteAmounts,0, sizeof(outDataWriteAmounts));
memset(outDataWriteTimes, 0, sizeof(outDataWriteTimes));
qRegisterMetaType<LinkInterface*>("LinkInterface*");
}
signals:
/**
......@@ -338,10 +329,8 @@ private:
* @return True if connection could be terminated, false otherwise
**/
virtual bool _disconnect(void) = 0;
bool _ownedByLinkManager; ///< true: This link has been added to LinkManager, false: Link not added to LinkManager
bool _deletedByLinkManager; ///< true: Link being deleted from LinkManager, false: error, Links should only be deleted from LinkManager
bool _flaggedForDeletion; ///< true: Garbage colletion ready
};
typedef QSharedPointer<LinkInterface> SharedLinkInterface;
#endif // _LINKINTERFACE_H_
src/comm/LinkManager.cc
View file @ aa1b3191
......@@ -52,6 +52,7 @@ LinkManager::LinkManager(QObject* parent)
, _configUpdateSuspended(false)
, _configurationsLoaded(false)
, _connectionsSuspended(false)
, _nullSharedLink(NULL)
{
connect(&_portListTimer, &QTimer::timeout, this, &LinkManager::_updateConfigurationList);
_portListTimer.start(1000);
......@@ -68,7 +69,7 @@ LinkManager::~LinkManager()
Q_ASSERT_X(_links.count() == 0, "LinkManager", "LinkManager::_shutdown should have been called previously");
}
LinkInterface* LinkManager::createLink(LinkConfiguration* config)
LinkInterface* LinkManager::createConnectedLink(LinkConfiguration* config)
{
Q_ASSERT(config);
LinkInterface* pLink = NULL;
......@@ -89,33 +90,31 @@ LinkInterface* LinkManager::createLink(LinkConfiguration* config)
#endif
}
if(pLink) {
addLink(pLink);
_addLink(pLink);
connectLink(pLink);
}
return pLink;
}
LinkInterface* LinkManager::createLink(const QString& name)
LinkInterface* LinkManager::createConnectedLink(const QString& name)
{
Q_ASSERT(name.isEmpty() == false);
for(int i = 0; i < _linkConfigurations.count(); i++) {
LinkConfiguration* conf = _linkConfigurations.at(i);
if(conf && conf->name() == name)
return createLink(conf);
return createConnectedLink(conf);
}
return NULL;
}
void LinkManager::addLink(LinkInterface* link)
void LinkManager::_addLink(LinkInterface* link)
{
Q_ASSERT(link);
// Take ownership for delete
link->_ownedByLinkManager = true;
_linkListMutex.lock();
if (!_links.contains(link)) {
_links.append(link);
if (!containsLink(link)) {
_links.append(QSharedPointer<LinkInterface>(link));
_linkListMutex.unlock();
emit newLink(link);
} else {
......@@ -145,14 +144,12 @@ bool LinkManager::connectAll()
bool allConnected = true;
_linkListMutex.lock();
foreach (LinkInterface* link, _links) {
Q_ASSERT(link);
if (!link->_connect()) {
foreach (SharedLinkInterface sharedLink, _links) {
Q_ASSERT(sharedLink.data());
if (!sharedLink.data()->_connect()) {
allConnected = false;
}
}
_linkListMutex.unlock();
return allConnected;
}
......@@ -161,15 +158,12 @@ bool LinkManager::disconnectAll()
{
bool allDisconnected = true;
_linkListMutex.lock();
foreach (LinkInterface* link, _links)
{
Q_ASSERT(link);
if (!link->_disconnect()) {
foreach (SharedLinkInterface sharedLink, _links) {
Q_ASSERT(sharedLink.data());
if (!sharedLink.data()->_disconnect()) {
allDisconnected = false;
}
}
_linkListMutex.unlock();
return allDisconnected;
}
......@@ -197,51 +191,34 @@ bool LinkManager::disconnectLink(LinkInterface* link)
if(config) {
config->setLink(NULL);
}
// Link is now done and over with. We can't yet delete it because it
// takes a while for the MAVLink protocol to take notice of it. We
// flag it for delayed deletion for final clean up.
link->_flaggedForDeletion = true;
QTimer::singleShot(1000, this, &LinkManager::_delayedDeleteLink);
_deleteLink(link);
return true;
} else {
return false;
}
}
void LinkManager::_delayedDeleteLink()
{
_linkListMutex.lock();
foreach (LinkInterface* link, _links)
{
Q_ASSERT(link);
if (link->_flaggedForDeletion) {
qDebug() << "Link deleted: " << link->getName();
_linkListMutex.unlock();
deleteLink(link);
return;
}
}
_linkListMutex.unlock();
}
void LinkManager::deleteLink(LinkInterface* link)
void LinkManager::_deleteLink(LinkInterface* link)
{
Q_ASSERT(link);
_linkListMutex.lock();
Q_ASSERT(_links.contains(link));
_links.removeOne(link);
Q_ASSERT(!_links.contains(link));
bool found = false;
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
_links.removeAt(i);
found = true;
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
_linkListMutex.unlock();
// Emit removal of link
emit linkDeleted(link);
Q_ASSERT(link->_ownedByLinkManager);
link->_deletedByLinkManager = true; // Signal that this is a valid delete
delete link;
}
/**
......@@ -249,29 +226,13 @@ void LinkManager::deleteLink(LinkInterface* link)
*/
const QList<LinkInterface*> LinkManager::getLinks()
{
_linkListMutex.lock();
QList<LinkInterface*> ret(_links);
_linkListMutex.unlock();
return ret;
}
const QList<SerialLink *> LinkManager::getSerialLinks()
{
_linkListMutex.lock();
QList<SerialLink*> s;
foreach (LinkInterface* link, _links)
{
Q_ASSERT(link);
SerialLink* serialLink = qobject_cast<SerialLink*>(link);
if (serialLink)
s.append(serialLink);
QList<LinkInterface*> list;
foreach (SharedLinkInterface sharedLink, _links) {
list << sharedLink.data();
}
_linkListMutex.unlock();
return s;
return list;
}
/// @brief If all new connections should be suspended a message is displayed to the user and true
......@@ -296,10 +257,8 @@ void LinkManager::setConnectionsSuspended(QString reason)
void LinkManager::_shutdown(void)
{
QList<LinkInterface*> links = _links;
foreach(LinkInterface* link, links) {
disconnectLink(link);
deleteLink(link);
while (_links.count() != 0) {
disconnectLink(_links[0].data());
}
}
......@@ -489,3 +448,43 @@ void LinkManager::_updateConfigurationList(void)
}
}
bool LinkManager::containsLink(LinkInterface* link)
{
bool found = false;
foreach (SharedLinkInterface sharedLink, _links) {
if (sharedLink.data() == link) {
found = true;
break;
}
}
return found;
}
bool LinkManager::anyConnectedLinks(void)
{
bool found = false;
foreach (SharedLinkInterface sharedLink, _links) {
if (sharedLink.data()->isConnected()) {
found = true;
break;
}
}
return found;
}
SharedLinkInterface& LinkManager::sharedPointerForLink(LinkInterface* link)
{
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
return _links[i];
}
}
// This should never happen
Q_ASSERT(false);
return _nullSharedLink;
}
src/comm/LinkManager.h
View file @ aa1b3191
......@@ -103,21 +103,18 @@ public:
/// Sets the flag to allow new connections to be made
void setConnectionsAllowed(void) { _connectionsSuspended = false; }
/// Creates (and adds) a link based on the given configuration instance. LinkManager takes ownership of this object. To delete
/// it, call LinkManager::deleteLink.
LinkInterface* createLink(LinkConfiguration* config);
/// Creates, connects (and adds) a link based on the given configuration instance.
LinkInterface* createConnectedLink(LinkConfiguration* config);
/// Creates (and adds) a link based on the given configuration name. LinkManager takes ownership of this object. To delete
/// it, call LinkManager::deleteLink.
LinkInterface* createLink(const QString& name);
/// Creates, connects (and adds) a link based on the given configuration name.
LinkInterface* createConnectedLink(const QString& name);
/// Adds the link to the LinkManager. LinkManager takes ownership of this object. To delete
/// it, call LinkManager::deleteLink.
void addLink(LinkInterface* link);
/// Deletes the specified link. Will disconnect if connected.
// TODO Will also crash if called. MAVLink protocol is not handling the disconnect properly.
void deleteLink(LinkInterface* link);
/// Returns true if the link manager is holding this link
bool containsLink(LinkInterface* link);
/// Returns the QSharedPointer for this link. You must use SharedLinkInterface if you are going to
/// keep references to a link in a thread other than the main ui thread.
SharedLinkInterface& sharedPointerForLink(LinkInterface* link);
/// Re-connects all existing links
bool connectAll();
......@@ -130,6 +127,14 @@ public:
/// Disconnect the specified link
bool disconnectLink(LinkInterface* link);
/// Returns true if there are any connected links
bool anyConnectedLinks(void);
// The following APIs are public but should not be called in normal use. The are mainly exposed
// here for unit test code.
void _deleteLink(LinkInterface* link);
void _addLink(LinkInterface* link);
signals:
void newLink(LinkInterface* link);
......@@ -141,13 +146,12 @@ signals:
private slots:
void _linkConnected(void);
void _linkDisconnected(void);
void _delayedDeleteLink();
private:
/// All access to LinkManager is through LinkManager::instance
LinkManager(QObject* parent = NULL);
~LinkManager();
virtual void _shutdown(void);
bool _connectionsSuspendedMsg(void);
......@@ -155,7 +159,12 @@ private:
SerialConfiguration* _findSerialConfiguration(const QString& portName);
QList<LinkConfiguration*> _linkConfigurations; ///< List of configured links
QList<LinkInterface*> _links; ///< List of available links
/// List of available links kept as QSharedPointers. We use QSharedPointer since
/// there are other objects that maintain copies of these links in other threads.
/// The reference counting allows for orderly deletion.
QList<SharedLinkInterface> _links;
QMutex _linkListMutex; ///< Mutex for thread safe access to _links list
bool _configUpdateSuspended; ///< true: stop updating configuration list
......@@ -163,6 +172,8 @@ private:
bool _connectionsSuspended; ///< true: all new connections should not be allowed
QString _connectionsSuspendedReason; ///< User visible reason for suspension
QTimer _portListTimer;
SharedLinkInterface _nullSharedLink;
};
#endif
src/comm/MAVLinkProtocol.cc
View file @ aa1b3191
......@@ -175,8 +175,12 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
Q_ASSERT(link);
if (connected) {
Q_ASSERT(!_connectedLinks.contains(link));
_connectedLinks.append(link);
foreach (SharedLinkInterface sharedLink, _connectedLinks) {
Q_ASSERT(sharedLink.data() != link);
}
// Use the same shared pointer as LinkManager
_connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
if (_connectedLinks.count() == 1) {
// This is the first link, we need to start logging
......@@ -192,8 +196,16 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
link->writeBytes(cmd, strlen(cmd));
link->writeBytes(init, 4);
} else {
Q_ASSERT(_connectedLinks.contains(link));
_connectedLinks.removeOne(link);
bool found = false;
for (int i=0; i<_connectedLinks.count(); i++) {
if (_connectedLinks[i].data() == link) {
found = true;
_connectedLinks.removeAt(i);
break;
}
}
Q_UNUSED(found);
Q_ASSERT(found);
if (_connectedLinks.count() == 0) {
// Last link is gone, close out logging
......
src/comm/MAVLinkProtocol.h
View file @ aa1b3191
......@@ -285,7 +285,10 @@ private:
void _startLogging(void);
void _stopLogging(void);
QList<LinkInterface*> _connectedLinks; ///< List of all links connected to protocol
/// List of all links connected to protocol. We keep SharedLinkInterface objects
/// which are QSharedPointer's in order to maintain reference counts across threads.
/// This way Link deletion works correctly.
QList<SharedLinkInterface> _connectedLinks;
bool _logSuspendError; ///< true: Logging suspended due to error
bool _logSuspendReplay; ///< true: Logging suspended due to replay
......
src/comm/MAVLinkSimulationLink.cc
View file @ aa1b3191
......@@ -106,7 +106,7 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
srand(QTime::currentTime().msec());
maxTimeNoise = 0;
this->id = getNextLinkId();
LinkManager::instance()->addLink(this);
LinkManager::instance()->_addLink(this);
}
MAVLinkSimulationLink::~MAVLinkSimulationLink()
......
src/comm/SerialLink.h
View file @ aa1b3191
......@@ -102,12 +102,11 @@ private:
class SerialLink : public LinkInterface
{
Q_OBJECT
friend class SerialConfiguration;
friend class LinkManager;
public:
SerialLink(SerialConfiguration* config);
~SerialLink();
// LinkInterface
LinkConfiguration* getLinkConfiguration();
......@@ -154,9 +153,13 @@ private slots:
void _rerouteDisconnected(void);
private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
SerialLink(SerialConfiguration* config);
~SerialLink();
// From LinkInterface
bool _connect(void);
bool _disconnect(void);
virtual bool _connect(void);
virtual bool _disconnect(void);
// Internal methods
void _emitLinkError(const QString& errorMsg);
......
src/comm/TCPLink.h
View file @ aa1b3191
......@@ -115,12 +115,12 @@ private:
class TCPLink : public LinkInterface
{
Q_OBJECT
friend class TCPLinkUnitTest;
friend class TCPConfiguration;
public:
TCPLink(TCPConfiguration* config);
~TCPLink();
friend class LinkManager;
public:
QTcpSocket* getSocket(void) { return _socket; }
void signalBytesWritten(void);
......@@ -159,9 +159,13 @@ protected:
virtual void run(void);
private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
TCPLink(TCPConfiguration* config);
~TCPLink();
// From LinkInterface
bool _connect(void);
bool _disconnect(void);
virtual bool _connect(void);
virtual bool _disconnect(void);
bool _hardwareConnect();
void _restartConnection();
......
src/comm/UDPLink.h
View file @ aa1b3191
......@@ -143,11 +143,11 @@ private:
class UDPLink : public LinkInterface
{
Q_OBJECT
friend class UDPConfiguration;
friend class LinkManager;
public:
UDPLink(UDPConfiguration* config);
~UDPLink();
void requestReset() { }
bool isConnected() const;
QString getName() const;
......@@ -192,6 +192,10 @@ protected:
int _id;
private:
// Links are only created/destroyed by LinkManager so constructor/destructor is not public
UDPLink(UDPConfiguration* config);
~UDPLink();
// From LinkInterface
virtual bool _connect(void);
virtual bool _disconnect(void);
......
src/qgcunittest/LinkManagerTest.cc
View file @ aa1b3191
......@@ -78,7 +78,7 @@ void LinkManagerTest::_add_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
_linkMgr->addLink(link);
_linkMgr->_addLink(link);
QList<LinkInterface*> links = _linkMgr->getLinks();
QCOMPARE(links.count(), 1);
......@@ -91,8 +91,8 @@ void LinkManagerTest::_delete_test(void)
Q_ASSERT(_linkMgr->getLinks().count() == 0);
MockLink* link = new MockLink();
_linkMgr->addLink(link);
_linkMgr->deleteLink(link);
_linkMgr->_addLink(link);
_linkMgr->_deleteLink(link);
QCOMPARE(_linkMgr->getLinks().count(), 0);
}
......@@ -104,7 +104,7 @@ void LinkManagerTest::_addSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
_linkMgr->addLink(link);
_linkMgr->_addLink(link);
QCOMPARE(_multiSpy->checkOnlySignalByMask(newLinkSignalMask), true);
QSignalSpy* spy = _multiSpy->getSpyByIndex(newLinkSignalIndex);
......@@ -125,10 +125,10 @@ void LinkManagerTest::_deleteSignals_test(void)
Q_ASSERT(_multiSpy->checkNoSignals() == true);
MockLink* link = new MockLink();
_linkMgr->addLink(link);
_linkMgr->_addLink(link);
_multiSpy->clearAllSignals();
_linkMgr->deleteLink(link);
_linkMgr->_deleteLink(link);
QCOMPARE(_multiSpy->checkOnlySignalByMask(linkDeletedSignalMask), true);
QSignalSpy* spy = _multiSpy->getSpyByIndex(linkDeletedSignalIndex);
......
src/qgcunittest/MainWindowTest.cc
View file @ aa1b3191
......@@ -67,7 +67,7 @@ void MainWindowTest::_connectWindowClose_test(MAV_AUTOPILOT autopilot)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
link->setAutopilotType(autopilot);
LinkManager::instance()->addLink(link);
LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
......
src/qgcunittest/MavlinkLogTest.cc
View file @ aa1b3191
......@@ -140,7 +140,7 @@ void MavlinkLogTest::_connectLog_test(void)
MockLink* link = new MockLink();
Q_CHECK_PTR(link);
LinkManager::instance()->addLink(link);
LinkManager::instance()->_addLink(link);
linkMgr->connectLink(link);
QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
......
src/uas/UAS.cc
View file @ aa1b3191
......@@ -380,8 +380,7 @@ bool UAS::getSelected() const
void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
if (!links.contains(link))
{
if (!_containsLink(link)) {
addLink(link);
// qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
}
......@@ -873,8 +872,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
positionLock = true;
isGlobalPositionKnown = true;
//TODO fix this hack for forwarding of global position for patch antenna tracking
//forwardMessage(message);
}
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
......@@ -1725,49 +1722,21 @@ void UAS::sendMessage(mavlink_message_t message)
return;
}
if (links.count() < 1) {
if (_links.count() < 1) {
qDebug() << "NO LINK AVAILABLE TO SEND!";
}
// Emit message on all links that are currently connected
foreach (LinkInterface* link, links) {
foreach (SharedLinkInterface sharedLink, _links) {
LinkInterface* link = sharedLink.data();
Q_ASSERT(link);
if (link->isConnected()) {
sendMessage(link, message);
}
}
}
/**
* Forward a message to all links that are currently connected.
* @param message that is to be forwarded
*/
void UAS::forwardMessage(mavlink_message_t message)
{
// Emit message on all links that are currently connected
QList<LinkInterface*>link_list = LinkManager::instance()->getLinks();
foreach(LinkInterface* link, link_list)
{
if (link)
{
SerialLink* serial = dynamic_cast<SerialLink*>(link);
if(serial != 0)
{
for(int i=0; i<links.size(); i++)
{
if(serial != links.at(i))
{
if (link->isConnected()) {
qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
sendMessage(serial, message);
}
}
}
}
}
}
}
/**
* Send a message to the link that is connected.
* @param link that the message will be sent to
......@@ -3274,9 +3243,9 @@ const QString& UAS::getShortMode() const
*/
void UAS::addLink(LinkInterface* link)
{
if (!links.contains(link))
if (!_containsLink(link))
{
links.append(link);
_links.append(LinkManager::instance()->sharedPointerForLink(link));
qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
}
......@@ -3285,16 +3254,16 @@ void UAS::addLink(LinkInterface* link)
void UAS::removeLink(QObject* object)
{
qCDebug(UASLog) << "removeLink:" << QString("%1").arg((ulong)object, 0, 16);
qCDebug(UASLog) << "link count:" << links.count();
qCDebug(UASLog) << "link count:" << _links.count();
// Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already
// been destroyed.
LinkInterface* link = dynamic_cast<LinkInterface*>(object);
LinkInterface* link = (LinkInterface*)object;
int index = links.indexOf(link);
Q_ASSERT(index != -1);
links.removeAt(index);
for (int i=0; i<_links.count(); i++) {
if (_links[i].data() == link) {
_links.removeAt(i);
break;
}
}
}
/**
......@@ -3302,7 +3271,13 @@ void UAS::removeLink(QObject* object)
*/
QList<LinkInterface*> UAS::getLinks()
{
return links;
QList<LinkInterface*> list;
foreach (SharedLinkInterface sharedLink, _links) {
list << sharedLink.data();
}
return list;
}
/**
......@@ -3429,3 +3404,14 @@ void UAS::unsetRCToParameterMap()
sendMessage(message);
}
}
bool UAS::_containsLink(LinkInterface* link)
{
foreach (SharedLinkInterface sharedLink, _links) {
if (sharedLink.data() == link) {
return true;
}
}
return false;
}
src/uas/UAS.h
View file @ aa1b3191
......@@ -341,7 +341,11 @@ protected: //COMMENTS FOR TEST UNIT
/// LINK ID AND STATUS
int uasId; ///< Unique system ID
QMap<int, QString> components;///< IDs and names of all detected onboard components
QList<LinkInterface*> links; ///< List of links this UAS can be reached by
/// List of all links associated with this UAS. We keep SharedLinkInterface objects which are QSharedPointer's in order to
/// maintain reference counts across threads. This way Link deletion works correctly.
QList<SharedLinkInterface> _links;
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
CommStatus commStatus; ///< Communication status
......@@ -812,9 +816,6 @@ public slots:
/** @brief Send a message over all links this UAS can be reached with (!= all links) */
void sendMessage(mavlink_message_t message);
/** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
void forwardMessage(mavlink_message_t message);
/** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
void setSelected();
......@@ -951,6 +952,9 @@ protected slots:
void writeSettings();
/** @brief Read settings from disk */
void readSettings();
private:
bool _containsLink(LinkInterface* link);
};
......
src/ui/MainWindow.cc
View file @ aa1b3191
......@@ -642,15 +642,7 @@ void MainWindow::normalActionItemCallback()
void MainWindow::closeEvent(QCloseEvent *event)
{
// Disallow window close if there are active connections
bool foundConnections = false;
foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
if (link->isConnected()) {
foundConnections = true;
break;
}
}
if (foundConnections) {
if (LinkManager::instance()->anyConnectedLinks()) {
QGCMessageBox::StandardButton button =
QGCMessageBox::warning(
tr("QGroundControl close"),
......@@ -658,9 +650,7 @@ void MainWindow::closeEvent(QCloseEvent *event)
QMessageBox::Yes | QMessageBox::Cancel,
QMessageBox::Cancel);
if (button == QMessageBox::Yes) {
foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
LinkManager::instance()->disconnectLink(link);
}
LinkManager::instance()->disconnectAll();
} else {
event->ignore();
return;
......@@ -669,11 +659,10 @@ void MainWindow::closeEvent(QCloseEvent *event)
// This will process any remaining flight log save dialogs
qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
// Should not be any active connections
foreach(LinkInterface* link, LinkManager::instance()->getLinks()) {
Q_UNUSED(link);
Q_ASSERT(!link->isConnected());
}
Q_ASSERT(!LinkManager::instance()->anyConnectedLinks());
_storeCurrentViewState();
storeSettings();
UASManager::instance()->storeSettings();
......@@ -1355,11 +1344,7 @@ void MainWindow::restoreLastUsedConnection()
if(settings.contains(key)) {
QString connection = settings.value(key).toString();
// Create a link for it
LinkInterface* link = LinkManager::instance()->createLink(connection);
if(link) {
// Connect it
LinkManager::instance()->connectLink(link);
}
LinkManager::instance()->createConnectedLink(connection);
}
}
......
src/ui/QGCLinkConfiguration.cc
View file @ aa1b3191
......@@ -104,10 +104,8 @@ void QGCLinkConfiguration::on_connectLinkButton_clicked()
LinkManager::instance()->disconnectLink(link);
}
} else {
LinkInterface* link = LinkManager::instance()->createLink(config);
LinkInterface* link = LinkManager::instance()->createConnectedLink(config);
if(link) {
// Connect it
LinkManager::instance()->connectLink(link);
// Now go hunting for the parent so we can shut this down
QWidget* pQw = parentWidget();
while(pQw) {
......
src/ui/QGCMAVLinkLogPlayer.cc
View file @ aa1b3191
......@@ -246,18 +246,7 @@ void QGCMAVLinkLogPlayer::updatePositionSliderUi(float percent)
void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
{
// Disallow replay when any links are connected
bool foundConnection = false;
LinkManager* linkMgr = LinkManager::instance();
QList<LinkInterface*> links = linkMgr->getLinks();
foreach(LinkInterface* link, links) {
if (link->isConnected()) {
foundConnection = true;
break;
}
}
if (foundConnection) {
if (LinkManager::instance()->anyConnectedLinks()) {
QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
return;
}
......@@ -326,7 +315,7 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
// If there's an existing MAVLinkSimulationLink() being used for an old file,
// we replace it.
if (logLink) {
LinkManager::instance()->deleteLink(logLink);
LinkManager::instance()->_deleteLink(logLink);
}
logLink = new MAVLinkSimulationLink("");
......
src/ui/QGCToolBar.cc
View file @ aa1b3191
......@@ -676,10 +676,8 @@ void QGCToolBar::_connectButtonClicked(bool checked)
// Get the configuration name
QString confName = _linkCombo->currentText();
// Create a link for it
LinkInterface* link = _linkMgr->createLink(confName);
LinkInterface* link = _linkMgr->createConnectedLink(confName);
if(link) {
// Connect it
_linkMgr->connectLink(link);
// Save last used connection
MainWindow::instance()->saveLastUsedConnection(confName);
}
......
src/ui/toolbar/MainToolBar.cc
View file @ aa1b3191
......@@ -163,10 +163,8 @@ void MainToolBar::onConnect(QString conf)
// We don't want the combo box updating under our feet
LinkManager::instance()->suspendConfigurationUpdates(true);
// Create a link
LinkInterface* link = LinkManager::instance()->createLink(_currentConfig);
LinkInterface* link = LinkManager::instance()->createConnectedLink(_currentConfig);
if(link) {
// Connect it
LinkManager::instance()->connectLink(link);
// Save last used connection
MainWindow::instance()->saveLastUsedConnection(_currentConfig);
}
......
src/ui/uas/UASListWidget.cc
View file @ aa1b3191
......@@ -118,7 +118,7 @@ void UASListWidget::updateStatus()
LinkInterface* link = i.key();
// Paranoid sanity check
if (!LinkManager::instance()->getLinks().contains(link))
if (!LinkManager::instance()->containsLink(link))
continue;
if (!link)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment