Merge pull request #1647 from mavlink/hil_fixes

Hil fixes

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -40,7 +40,7 @@ AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
     
     // We need to track uas coming and going so that we can instantiate plugins for each uas
     connect(uasMgr, &UASManagerInterface::UASCreated, this, &AutoPilotPluginManager::_uasCreated);
-    connect(uasMgr, &UASManagerInterface::UASDeleted, this, &AutoPilotPluginManager::_uasDeleted);
+    connect(uasMgr, SIGNAL(UASDeleted(UASInterface*)), this, SLOT(_uasDeleted(UASInterface*)));
 }
 
 AutoPilotPluginManager::~AutoPilotPluginManager()

src/comm/QGCXPlaneLink.cc

@@ -237,15 +237,16 @@ void QGCXPlaneLink::run()
         QGC::SLEEP::msleep(5);
     }
 
-    if (mav)
+    uas = dynamic_cast<UAS*>(mav);
+    if (uas)
     {
-        disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-        disconnect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
+        disconnect(uas, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+        disconnect(uas, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
 
-        disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), mav, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
-        disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+        disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+        disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), uas, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+        disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), uas, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
+        disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), uas, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
 
         // Do not toggle HIL state on the UAS - this is not the job of this link, but of the
         // UAS object

src/uas/UASManager.cc

@@ -340,6 +340,7 @@ void UASManager::removeUAS(UASInterface* uas)
         // Notify other UI elements that a UAS is being deleted before finally deleting it.
         qDebug() << "Deleting UAS object: " << uas->getUASName();
         emit UASDeleted(uas);
+        emit UASDeleted(uas->getUASID());
         uas->deleteLater();
     }
 }

src/uas/UASManagerInterface.h

@@ -98,6 +98,8 @@ signals:
     void UASCreated(UASInterface* UAS);
     /** A system was deleted */
     void UASDeleted(UASInterface* UAS);
+    /** A system was deleted */
+    void UASDeleted(int systemId);
     /** @brief The UAS currently under main operator control changed */
     void activeUASSet(UASInterface* UAS);
     /** @brief The UAS currently under main operator control changed */

src/ui/MainWindow.cc

@@ -796,6 +796,7 @@ void MainWindow::connectCommonActions()
 
     // Connect internal actions
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(UASDeleted(int)), this, SLOT(UASDeleted(int)));
 
     // Unmanned System controls
     connect(_ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS()));
@@ -909,6 +910,14 @@ void MainWindow::UASCreated(UASInterface* uas)
     }
 }
 
+void MainWindow::UASDeleted(int uasId)
+{
+    if (_mapUasId2HilDockWidget.contains(uasId)) {
+        _mapUasId2HilDockWidget[uasId]->deleteLater();
+        _mapUasId2HilDockWidget.remove(uasId);
+    }
+}
+
 /// Stores the state of the toolbar, status bar and widgets associated with the current view
 void MainWindow::_storeCurrentViewState(void)
 {

src/ui/MainWindow.h

@@ -146,6 +146,9 @@ public slots:
     /** @brief Add a new UAS */
     void UASCreated(UASInterface* uas);
 
+    /** @brief Remove an old UAS */
+    void UASDeleted(int uasID);
+
     void handleMisconfiguration(UASInterface* uas);
     /** @brief Load configuration views */
     void loadSetupView();

src/ui/QGCHilConfiguration.cc

@@ -29,6 +29,8 @@ QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
     }
 
     settings.endGroup();
+
+    connect(mav, SIGNAL(destroyed()), this, SLOT(deleteLater()));
 }
 
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)