Make sure timer start/stop happens on class thread

src/uas/UASParameterCommsMgr.cc

@@ -19,8 +19,9 @@ UASParameterCommsMgr::UASParameterCommsMgr(QObject *parent) :
     silenceTimeout(1000),
     transmissionListMode(false)
 {
-
-
+    // We signal to ourselves to start/stop timer on our own thread
+    connect(this, SIGNAL(_startSilenceTimer(void)), this, SLOT(_startSilenceTimerOnThisThread(void)));
+    connect(this, SIGNAL(_stopSilenceTimer(void)), this, SLOT(_stopSilenceTimerOnThisThread(void)));
 }
 
 UASParameterCommsMgr* UASParameterCommsMgr::initWithUAS(UASInterface* uas)
@@ -254,7 +255,7 @@ void UASParameterCommsMgr::silenceTimerExpired()
         qDebug() << "maxSilenceTimeout exceeded: " << totalElapsed;
         int missingReads, missingWrites;
         clearRetransmissionLists(missingReads,missingWrites);
-        silenceTimer.stop();
+        emit _stopSilenceTimer(); // Stop timer on our thread;
         lastReceiveTime = 0;
         lastSilenceTimerReset = curTime;
         setParameterStatusMsg(tr("TIMEOUT: Abandoning %1 reads %2 writes after %3 seconds").arg(missingReads).arg(missingWrites).arg(totalElapsed/1000));
@@ -370,13 +371,14 @@ void UASParameterCommsMgr::updateSilenceTimer()
         if (0 == lastReceiveTime) {
             lastReceiveTime = lastSilenceTimerReset;
         }
-        silenceTimer.start(silenceTimeout);
+        // We signal this to ourselves so timer is started on the right thread
+        emit _startSilenceTimer();
     }
     else {
         //all parameters have been received, broadcast to UI
         emit parameterListUpToDate();
         resetAfterListReceive();
-        silenceTimer.stop();
+        emit _stopSilenceTimer(); // Stop timer on our thread;
         lastReceiveTime = 0;
     }
 
@@ -547,3 +549,12 @@ UASParameterCommsMgr::~UASParameterCommsMgr()
 
 }
 
+void UASParameterCommsMgr::_startSilenceTimerOnThisThread(void)
+{
+    silenceTimer.start(silenceTimeout);
+}
+
+void UASParameterCommsMgr::_stopSilenceTimerOnThisThread(void)
+{
+    silenceTimer.stop();
+}

src/uas/UASParameterCommsMgr.h

@@ -69,6 +69,11 @@ signals:
     /** @brief We updated the parameter status message */
     void parameterStatusMsgUpdated(QString msg, int level);
     
+    
+    /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
+    void _startSilenceTimer(void);
+    void _stopSilenceTimer(void);
+
 public slots:
     /** @brief  Iterate through all components, through all pending parameters and send them to UAS */
     virtual void sendPendingParameters(bool copyToPersistent = false, bool forceSend = false);
@@ -113,7 +118,10 @@ protected:
     bool transmissionListMode;       ///< Currently requesting list
     QMap<int, QMap<QString, QVariant>* > writesWaiting; ///< All writes that have not yet been ack'd, by component ID
 
-
+private slots:
+    /// @brief We signal this to ourselves in order to get timer started/stopped on our own thread.
+    void _startSilenceTimerOnThisThread(void);
+    void _stopSilenceTimerOnThisThread(void);
 };
     
 

src/uas/UASWaypointManager.cc

@@ -61,6 +61,10 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
     {
         uasid = 0;
     }
+    
+    // We signal to ourselves here so that tiemrs are started and stopped on correct thread
+    connect(this, SIGNAL(_startProtocolTimer(void)), this, SLOT(_startProtocolTimerOnThisThread(void)));
+    connect(this, SIGNAL(_stopProtocolTimer(void)), this, SLOT(_stopProtocolTimerOnThisThread(void)));
 }
 
 UASWaypointManager::~UASWaypointManager()
@@ -133,7 +137,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
 void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
 {
     if (current_state == WP_GETLIST && systemId == current_partner_systemid) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on correct thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         //Clear the old edit-list before receiving the new one
@@ -152,7 +156,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
             current_state = WP_GETLIST_GETWPS;
             sendWaypointRequest(current_wp_id);
         } else {
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop the time on our thread
             QTime time = QTime::currentTime();
             emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
             current_state = WP_IDLE;
@@ -171,7 +175,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_mission_item_t *wp)
 {
     if (systemId == current_partner_systemid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         if(wp->seq == current_wp_id) {
@@ -202,7 +206,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_partner_systemid = 0;
                 current_partner_compid = 0;
 
-                protocol_timer.stop();
+                emit _stopProtocolTimer(); // Stop timer on our thread
                 emit readGlobalWPFromUAS(false);
                 QTime time = QTime::currentTime();
                 emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
@@ -230,7 +234,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
     if (compId == current_partner_compid || compId == MAV_COMP_ID_ALL) {
         if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0)) {
             //all waypoints sent and ack received
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
             readWaypoints(false); //Update "Onboard Waypoints"-tab immediately after the waypoint list has been sent.
             QTime time = QTime::currentTime();
@@ -269,10 +273,10 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
                 emit updateStatusString(tr("ERROR: Unspecified error"));
                 break;
             }
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
         } else if(current_state == WP_CLEARLIST) {
-            protocol_timer.stop();
+            emit _stopProtocolTimer(); // Stop timer on our thread
             current_state = WP_IDLE;
             QTime time = QTime::currentTime();
             emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
@@ -283,7 +287,7 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
 void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_mission_request_t *wpr)
 {
     if (systemId == current_partner_systemid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer();  // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         if (wpr->seq < waypoint_buffer.count()) {
@@ -314,7 +318,7 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
     if (systemId == uasid) {
         // FIXME Petri
         if (current_state == WP_SETCURRENT) {
-            protocol_timer.stop();
+            emit _stopProtocolTimer();  // Stop timer on our thread
             current_state = WP_IDLE;
 
             // update the local main storage
@@ -362,7 +366,7 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
         if(current_state == WP_IDLE) {
 
             //send change to UAS - important to note: if the transmission fails, we have inconsistencies
-            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+            emit _startProtocolTimer();  // Start timer on our thread
             current_retries = PROTOCOL_MAX_RETRIES;
 
             current_state = WP_SETCURRENT;
@@ -594,7 +598,7 @@ void UASWaypointManager::clearWaypointList()
 {
     if (current_state == WP_IDLE)
     {
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        emit _startProtocolTimer(); // Start timer on our thread
         current_retries = PROTOCOL_MAX_RETRIES;
 
         current_state = WP_CLEARLIST;
@@ -847,7 +851,10 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
             emit waypointEditableListChanged();
         }
         */
-        protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+        
+        // We are signalling ourselves here so that the timer gets started on the right thread
+        emit _startProtocolTimer();
+
         current_retries = PROTOCOL_MAX_RETRIES;
 
         current_state = WP_GETLIST;
@@ -899,7 +906,7 @@ void UASWaypointManager::writeWaypoints()
     if (current_state == WP_IDLE) {
         // Send clear all if count == 0
         if (waypointsEditable.count() > 0) {
-            protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+            emit _startProtocolTimer();  // Start timer on our thread
             current_retries = PROTOCOL_MAX_RETRIES;
 
             current_count = waypointsEditable.count();
@@ -1128,3 +1135,14 @@ float UASWaypointManager::getHomeAltitudeOffsetDefault()
 {
     return defaultAltitudeHomeOffset;
 }
+
+
+void UASWaypointManager::_startProtocolTimerOnThisThread(void)
+{
+    protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+}
+
+void UASWaypointManager::_stopProtocolTimerOnThisThread(void)
+{
+    protocol_timer.stop();
+}

src/uas/UASWaypointManager.h

@@ -161,6 +161,13 @@ signals:
     void loadWPFile();                              ///< emits signal that a file wp has been load
     void readGlobalWPFromUAS(bool value);           ///< emits signal when finish to read Global WP from UAS
     
+    void _startProtocolTimer(void);                 ///< emits signal to start protocol timer
+    void _stopProtocolTimer(void);                 ///< emits signal to stop protocol timer
+    
+private slots:
+    void _startProtocolTimerOnThisThread(void);                 ///< Starts the protocol timer
+    void _stopProtocolTimerOnThisThread(void);                 ///< Starts the protocol timer
+
 private:
     UAS* uas;                                       ///< Reference to the corresponding UAS
     quint32 current_retries;                        ///< The current number of retries left