Merge pull request #6110 from mavlink/udpChange

UDP Change

src/MissionManager/MissionController.cc

@@ -493,6 +493,7 @@ void MissionController::removeAll(void)
 {
     if (_visualItems) {
         _deinitAllVisualItems();
+        _visualItems->clearAndDeleteContents();
         _visualItems->deleteLater();
         _settingsItem = NULL;
         _visualItems = new QmlObjectListModel(this);

src/MissionManager/SurveyMissionItem.h

@@ -296,7 +296,7 @@ private:
     static const char* _jsonFixedValueIsAltitudeKey;
     static const char* _jsonRefly90DegreesKey;
 
-    static const int _hoverAndCaptureDelaySeconds = 1;
+    static const int _hoverAndCaptureDelaySeconds = 2;
 };
 
 #endif

src/QGC.cc

@@ -61,14 +61,14 @@ double limitAngleToPMPId(double angle)
         {
             while (angle < -M_PI)
             {
-                angle += M_PI;
+                angle += 2.0f * M_PI;
             }
         }
         else if (angle > M_PI)
         {
             while (angle > M_PI)
             {
-                angle -= M_PI;
+                angle -= 2.0f * M_PI;
             }
         }
     }

src/Terrain.cc

@@ -33,6 +33,8 @@ TerrainBatchManager::TerrainBatchManager(void)
 void TerrainBatchManager::addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates)
 {
     if (coordinates.length() > 0) {
+        qCDebug(ElevationProviderLog) << "addQuery: elevationProvider:coordinates.count" << elevationProvider << coordinates.count();
+        connect(elevationProvider, &ElevationProvider::destroyed, this, &TerrainBatchManager::_elevationProviderDestroyed);
         QueuedRequestInfo_t queuedRequestInfo = { elevationProvider, coordinates };
         _requestQueue.append(queuedRequestInfo);
         if (!_batchTimer.isActive()) {
@@ -43,7 +45,7 @@ void TerrainBatchManager::addQuery(ElevationProvider* elevationProvider, const Q
 
 void TerrainBatchManager::_sendNextBatch(void)
 {
-    qCDebug(ElevationProviderLog) << "_sendNextBatch _state:_requestQueue.count" << (int)_state << _requestQueue.count();
+    qCDebug(ElevationProviderLog) << "_sendNextBatch _state:_requestQueue.count:_sentRequests.count" << _stateToString(_state) << _requestQueue.count() << _sentRequests.count();
 
     if (_state != State::Idle) {
         // Waiting for last download the complete, wait some more
@@ -60,7 +62,7 @@ void TerrainBatchManager::_sendNextBatch(void)
     // Convert coordinates to point strings for json query
     QString points;
     foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
-        SentRequestInfo_t sentRequestInfo = { requestInfo.elevationProvider, requestInfo.coordinates.count() };
+        SentRequestInfo_t sentRequestInfo = { requestInfo.elevationProvider, false, requestInfo.coordinates.count() };
         qCDebug(ElevationProviderLog) << "Building request: coordinate count" << requestInfo.coordinates.count();
         _sentRequests.append(sentRequestInfo);
 
@@ -100,20 +102,23 @@ void TerrainBatchManager::_batchFailed(void)
     QList<float>    noAltitudes;
 
     foreach (const SentRequestInfo_t& sentRequestInfo, _sentRequests) {
-        sentRequestInfo.elevationProvider->_signalTerrainData(false, noAltitudes);
+        if (!sentRequestInfo.providerDestroyed) {
+            disconnect(sentRequestInfo.elevationProvider, &ElevationProvider::destroyed, this, &TerrainBatchManager::_elevationProviderDestroyed);
+            sentRequestInfo.elevationProvider->_signalTerrainData(false, noAltitudes);
+        }
     }
     _sentRequests.clear();
 }
 
 void TerrainBatchManager::_requestFinished()
 {
-    qCDebug(ElevationProviderLog) << "_requestFinished";
     QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());
 
     _state = State::Idle;
 
     // When an error occurs we still end up here
     if (reply->error() != QNetworkReply::NoError) {
+        qCDebug(ElevationProviderLog) << "_requestFinished error:" << reply->error();
         _batchFailed();
         reply->deleteLater();
         return;
@@ -124,6 +129,7 @@ void TerrainBatchManager::_requestFinished()
     QJsonParseError parseError;
     QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
     if (parseError.error != QJsonParseError::NoError) {
+        qCDebug(ElevationProviderLog) << "_requestFinished unable to parse json:" << parseError.errorString();
         _batchFailed();
         reply->deleteLater();
         return;
@@ -132,6 +138,7 @@ void TerrainBatchManager::_requestFinished()
     QJsonObject rootObject = responseJson.object();
     QString status = rootObject["status"].toString();
     if (status != "success") {
+        qCDebug(ElevationProviderLog) << "_requestFinished status != success:" << status;
         _batchFailed();
         reply->deleteLater();
         return;
@@ -145,15 +152,56 @@ void TerrainBatchManager::_requestFinished()
 
     int currentIndex = 0;
     foreach (const SentRequestInfo_t& sentRequestInfo, _sentRequests) {
-        QList<float> requestAltitudes = altitudes.mid(currentIndex, sentRequestInfo.cCoord);
-        sentRequestInfo.elevationProvider->_signalTerrainData(true, requestAltitudes);
-        currentIndex += sentRequestInfo.cCoord;
+        if (!sentRequestInfo.providerDestroyed) {
+            disconnect(sentRequestInfo.elevationProvider, &ElevationProvider::destroyed, this, &TerrainBatchManager::_elevationProviderDestroyed);
+            QList<float> requestAltitudes = altitudes.mid(currentIndex, sentRequestInfo.cCoord);
+            sentRequestInfo.elevationProvider->_signalTerrainData(true, requestAltitudes);
+            currentIndex += sentRequestInfo.cCoord;
+        }
     }
     _sentRequests.clear();
 
     reply->deleteLater();
 }
 
+void TerrainBatchManager::_elevationProviderDestroyed(QObject* elevationProvider)
+{
+    // Remove/Mark deleted objects queries from queues
+
+    qCDebug(ElevationProviderLog) << "_elevationProviderDestroyed elevationProvider" << elevationProvider;
+
+    int i = 0;
+    while (i < _requestQueue.count()) {
+        const QueuedRequestInfo_t& requestInfo = _requestQueue[i];
+        if (requestInfo.elevationProvider == elevationProvider) {
+            qCDebug(ElevationProviderLog) << "Removing deleted provider from _requestQueue index:elevationProvider" << i << requestInfo.elevationProvider;
+            _requestQueue.removeAt(i);
+        } else {
+            i++;
+        }
+    }
+
+    for (int i=0; i<_sentRequests.count(); i++) {
+        SentRequestInfo_t& sentRequestInfo = _sentRequests[i];
+        if (sentRequestInfo.elevationProvider == elevationProvider) {
+            qCDebug(ElevationProviderLog) << "Zombieing deleted provider from _sentRequests index:elevatationProvider" << sentRequestInfo.elevationProvider;
+            sentRequestInfo.providerDestroyed = true;
+        }
+    }
+}
+
+QString TerrainBatchManager::_stateToString(State state)
+{
+    switch (state) {
+    case State::Idle:
+        return QStringLiteral("Idle");
+    case State::Downloading:
+        return QStringLiteral("Downloading");
+    }
+
+    return QStringLiteral("State unknown");
+}
+
 ElevationProvider::ElevationProvider(QObject* parent)
     : QObject(parent)
 {
@@ -161,7 +209,6 @@ ElevationProvider::ElevationProvider(QObject* parent)
 }
 void ElevationProvider::queryTerrainData(const QList<QGeoCoordinate>& coordinates)
 {
-    qCDebug(ElevationProviderLog) << "queryTerrainData: coordinate count" << coordinates.count();
     if (coordinates.length() == 0) {
         return;
     }

src/Terrain.h

@@ -30,8 +30,9 @@ public:
     void addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates);
 
 private slots:
-    void _sendNextBatch     (void);
-    void _requestFinished   (void);
+    void _sendNextBatch                 (void);
+    void _requestFinished               (void);
+    void _elevationProviderDestroyed    (QObject* elevationProvider);
 
 private:
     typedef struct {
@@ -41,6 +42,7 @@ private:
 
     typedef struct {
         ElevationProvider*      elevationProvider;
+        bool                    providerDestroyed;
         int                     cCoord;
     } SentRequestInfo_t;
 
@@ -51,6 +53,7 @@ private:
     };
 
     void _batchFailed(void);
+    QString _stateToString(State state);
 
     QList<QueuedRequestInfo_t>  _requestQueue;
     QList<SentRequestInfo_t>    _sentRequests;

src/comm/UDPLink.h

@@ -34,10 +34,23 @@
 #include "QGCConfig.h"
 #include "LinkManager.h"
 
+class UDPCLient {
+public:
+    UDPCLient(const QHostAddress& address_, quint16 port_)
+        : address(address_)
+        , port(port_)
+    {}
+    UDPCLient(const UDPCLient* other)
+        : address(other->address)
+        , port(other->port)
+    {}
+    QHostAddress    address;
+    quint16         port;
+};
+
 class UDPConfiguration : public LinkConfiguration
 {
     Q_OBJECT
-
 public:
 
     Q_PROPERTY(quint16      localPort   READ localPort  WRITE setLocalPort  NOTIFY localPortChanged)
@@ -61,30 +74,7 @@ public:
      */
     UDPConfiguration(UDPConfiguration* source);
 
-    /*!
-     * @brief Begin iteration through the list of target hosts
-     *
-     * @param[out] host Host name
-     * @param[out] port Port number
-     * @return Returns false if list is empty
-     */
-    bool firstHost      (QString& host, int& port);
-
-    /*!
-     * @brief Continues iteration through the list of target hosts
-     *
-     * @param[out] host Host name
-     * @param[out] port Port number
-     * @return Returns false if reached the end of the list (in which case, both host and port are unchanged)
-     */
-    bool nextHost       (QString& host, int& port);
-
-    /*!
-     * @brief Get the number of target hosts
-     *
-     * @return Number of hosts in list
-     */
-    int hostCount       () { return _hosts.count(); }
+    ~UDPConfiguration();
 
     /*!
      * @brief The UDP port we bind to
@@ -106,7 +96,7 @@ public:
      * @param[in] host Host name, e.g. localhost or 192.168.1.1
      * @param[in] port Port number
      */
-    void addHost        (const QString& host, int port);
+    void addHost        (const QString& host, quint16 port);
 
     /*!
      * @brief Remove a target host from the list
@@ -127,6 +117,8 @@ public:
      */
     QStringList hostList    () { return _hostList; }
 
+    const QList<UDPCLient*> targetHosts() { return _targetHosts; }
+
     /// From LinkConfiguration
     LinkType    type                 () { return LinkConfiguration::TypeUdp; }
     void        copyFrom             (LinkConfiguration* source);
@@ -142,13 +134,13 @@ signals:
 
 private:
     void _updateHostList    ();
+    void _clearTargetHosts  ();
+    void _copyFrom          (LinkConfiguration *source);
 
 private:
-    QMutex _confMutex;
-    QMap<QString, int>::iterator _it;
-    QMap<QString, int> _hosts;  ///< ("host", port)
-    QStringList _hostList;      ///< Exposed to QML
-    quint16 _localPort;
+    QList<UDPCLient*>   _targetHosts;
+    QStringList         _hostList;      ///< Exposed to QML
+    quint16             _localPort;
 };
 
 class UDPLink : public LinkInterface
@@ -159,32 +151,28 @@ class UDPLink : public LinkInterface
     friend class LinkManager;
 
 public:
-    void requestReset() { }
-    bool isConnected() const;
-    QString getName() const;
+    void    requestReset            () override { }
+    bool    isConnected             () const override;
+    QString getName                 () const override;
 
     // Extensive statistics for scientific purposes
-    qint64 getConnectionSpeed() const;
-    qint64 getCurrentInDataRate() const;
-    qint64 getCurrentOutDataRate() const;
+    qint64  getConnectionSpeed      () const override;
+    qint64  getCurrentInDataRate    () const;
+    qint64  getCurrentOutDataRate   () const;
 
-    void run();
+    // Thread
+    void    run                     () override;
 
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
-    bool connect(void);
-    bool disconnect(void);
+    bool    connect                 (void);
+    bool    disconnect              (void);
 
 public slots:
-    /*! @brief Add a new host to broadcast messages to */
-    void addHost    (const QString& host);
-    /*! @brief Remove a host from broadcasting messages to */
-    void removeHost (const QString& host);
-
-    void readBytes();
+    void    readBytes               ();
 
 private slots:
-    void _writeBytes(const QByteArray data);
+    void    _writeBytes             (const QByteArray data) override;
 
 private:
     // Links are only created/destroyed by LinkManager so constructor/destructor is not public
@@ -192,14 +180,14 @@ private:
     ~UDPLink();
 
     // From LinkInterface
-    virtual bool _connect(void);
-    virtual void _disconnect(void);
+    bool    _connect                (void) override;
+    void    _disconnect             (void) override;
 
-    bool _hardwareConnect();
-    void _restartConnection();
-
-    void _registerZeroconf(uint16_t port, const std::string& regType);
-    void _deregisterZeroconf();
+    bool    _hardwareConnect        ();
+    void    _restartConnection      ();
+    void    _registerZeroconf       (uint16_t port, const std::string& regType);
+    void    _deregisterZeroconf     ();
+    void    _writeDataGram          (const QByteArray data, const UDPCLient* target);
 
 #if defined(QGC_ZEROCONF_ENABLED)
     DNSServiceRef  _dnssServiceRef;
@@ -209,6 +197,8 @@ private:
     QUdpSocket*         _socket;
     UDPConfiguration*   _udpConfig;
     bool                _connectState;
+    QList<UDPCLient*>   _sessionTargets;
+
 };
 
 #endif // UDPLINK_H