Merge pull request #5116 from DonLakeFlyer/FirmwareInstanceData

Correctly place firmware plugin instance data with Vehicle

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -139,9 +139,15 @@ QString APMCustomMode::modeString() const
     return mode;
 }
 
+APMFirmwarePluginInstanceData::APMFirmwarePluginInstanceData(QObject* parent)
+    : QObject(parent)
+    , textSeverityAdjustmentNeeded(false)
+{
+
+}
+
 APMFirmwarePlugin::APMFirmwarePlugin(void)
     : _coaxialMotors(false)
-    , _textSeverityAdjustmentNeeded(false)
 {
     qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
     qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
@@ -321,6 +327,7 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
 bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_message_t* message)
 {
     QString messageText;
+    APMFirmwarePluginInstanceData* instanceData = qobject_cast<APMFirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
 
     mavlink_statustext_t statusText;
     mavlink_msg_statustext_decode(message, &statusText);
@@ -334,7 +341,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
             if (messageText.contains(APM_COPTER_REXP) || messageText.contains(APM_PLANE_REXP) || messageText.contains(APM_ROVER_REXP) || messageText.contains(APM_SUB_REXP)) {
                 // found version string
                 APMFirmwareVersion firmwareVersion(messageText);
-                _textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion);
+                instanceData->textSeverityAdjustmentNeeded = _isTextSeverityAdjustmentNeeded(firmwareVersion);
 
                 vehicle->setFirmwareVersion(firmwareVersion.majorNumber(), firmwareVersion.minorNumber(), firmwareVersion.patchNumber());
 
@@ -378,7 +385,7 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
     }
 
     // adjust mesasge if needed
-    if (_textSeverityAdjustmentNeeded) {
+    if (instanceData->textSeverityAdjustmentNeeded) {
         _adjustSeverity(message);
     }
 
@@ -416,10 +423,10 @@ bool APMFirmwarePlugin::_handleIncomingStatusText(Vehicle* vehicle, mavlink_mess
     if (messageText.startsWith("PreArm")) {
         // ArduPilot PreArm messages can come across very frequently especially on Solo, which seems to send them once a second.
         // Filter them out if they come too quickly.
-        if (_noisyPrearmMap.contains(messageText) && _noisyPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
+        if (instanceData->noisyPrearmMap.contains(messageText) && instanceData->noisyPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
             return false;
         }
-        _noisyPrearmMap[messageText] = QTime::currentTime();
+        instanceData->noisyPrearmMap[messageText] = QTime::currentTime();
 
         vehicle->setPrearmError(messageText);
     }
@@ -578,6 +585,8 @@ void APMFirmwarePlugin::_adjustCalibrationMessageSeverity(mavlink_message_t* mes
 
 void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
 {
+    vehicle->setFirmwarePluginInstanceData(new APMFirmwarePluginInstanceData);
+
     if (vehicle->isOfflineEditingVehicle()) {
         switch (vehicle->vehicleType()) {
         case MAV_TYPE_QUADROTOR:

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -120,13 +120,24 @@ private:
     void _handleOutgoingParamSet(Vehicle* vehicle, LinkInterface* outgoingLink, mavlink_message_t* message);
     void _soloVideoHandshake(Vehicle* vehicle);
 
-    bool                    _textSeverityAdjustmentNeeded;
+    // Any instance data here must be global to all vehicles
+    // Vehicle specific data should go into APMFirmwarePluginInstanceData
+
     QList<APMCustomMode>    _supportedModes;
-    QMap<QString, QTime>    _noisyPrearmMap;
 
     static const char*      _artooIP;
     static const int        _artooVideoHandshakePort;
+};
+
+class APMFirmwarePluginInstanceData : public QObject
+{
+    Q_OBJECT
+
+public:
+    APMFirmwarePluginInstanceData(QObject* parent = NULL);
 
+    bool                    textSeverityAdjustmentNeeded;
+    QMap<QString, QTime>    noisyPrearmMap;
 };
 
 #endif

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -26,6 +26,13 @@
 
 #include "px4_custom_mode.h"
 
+PX4FirmwarePluginInstanceData::PX4FirmwarePluginInstanceData(QObject* parent)
+    : QObject(parent)
+    , versionNotified(false)
+{
+
+}
+
 PX4FirmwarePlugin::PX4FirmwarePlugin(void)
     : _manualFlightMode(tr("Manual"))
     , _acroFlightMode(tr("Acro"))
@@ -43,7 +50,6 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
     , _rtgsFlightMode(tr("Return to Groundstation"))
     , _followMeFlightMode(tr("Follow Me"))
     , _simpleFlightMode(tr("Simple"))
-    , _versionNotified(false)
 {
     qmlRegisterType<PX4AdvancedFlightModesController>   ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
     qmlRegisterType<PX4SimpleFlightModesController>     ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
@@ -229,9 +235,7 @@ bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities c
 
 void PX4FirmwarePlugin::initializeVehicle(Vehicle* vehicle)
 {
-    Q_UNUSED(vehicle);
-
-    // PX4 Flight Stack doesn't need to do any extra work
+    vehicle->setFirmwarePluginInstanceData(new PX4FirmwarePluginInstanceData);
 }
 
 bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
@@ -500,7 +504,8 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 {
     Q_UNUSED(vehicle);
 
-    if (!_versionNotified) {
+    PX4FirmwarePluginInstanceData* instanceData = qobject_cast<PX4FirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
+    if (!instanceData->versionNotified) {
         bool notifyUser = false;
         int supportedMajorVersion = 1;
         int supportedMinorVersion = 4;
@@ -530,7 +535,7 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
         }
 
         if (notifyUser) {
-            _versionNotified = true;
+            instanceData->versionNotified = true;
             qgcApp()->showMessage(QString("QGroundControl supports PX4 Pro firmware Version %1.%2.%3 and above. You are using a version prior to that which will lead to unpredictable results. Please upgrade your firmware.").arg(supportedMajorVersion).arg(supportedMinorVersion).arg(supportedPatchVersion));
         }
     }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -108,7 +108,18 @@ private slots:
 private:
     void _handleAutopilotVersion(Vehicle* vehicle, mavlink_message_t* message);
 
-    bool _versionNotified;  ///< true: user notified over version issue
+    // Any instance data here must be global to all vehicles
+    // Vehicle specific data should go into PX4FirmwarePluginInstanceData
+};
+
+class PX4FirmwarePluginInstanceData : public QObject
+{
+    Q_OBJECT
+
+public:
+    PX4FirmwarePluginInstanceData(QObject* parent = NULL);
+
+    bool versionNotified;  ///< true: user notified over version issue
 };
 
 #endif