Hotfix: Fixed widget / UAS initialization order which led to text messages...

Hotfix: Fixed widget / UAS initialization order which led to text messages (and other updates) being ignored if the widget was not open when the UAS was created

src/uas/UAS.cc

@@ -1148,13 +1148,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_STATUSTEXT:
         {
             QByteArray b;
-            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
+            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
             mavlink_msg_statustext_get_text(&message, b.data());
-            //b.append('\0');
+            // Ensure NUL-termination
+            b[b.length()-1] = '\0';
             QString text = QString(b);
             int severity = mavlink_msg_statustext_get_severity(&message);
-            //qDebug() << "RECEIVED STATUS:" << text;false
-            //emit statusTextReceived(severity, text);
 
             if (text.startsWith("#audio:"))
             {

src/ui/DebugConsole.cc

@@ -93,14 +93,23 @@ DebugConsole::DebugConsole(QWidget *parent) :
     // Update measurements the first time
     updateTrafficMeasurements();
 
+    // First connect management slots, then make sure to add all existing objects
+    // Connect to link manager to get notified about new links
+    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
+    // Connect to UAS manager to get notified about new UAS
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(uasCreated(UASInterface*)));
+
     // Get a list of all existing links
     links = QList<LinkInterface*>();
     foreach (LinkInterface* link, LinkManager::instance()->getLinks()) {
         addLink(link);
     }
 
-    // Connect to link manager to get notified about new links
-    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
+    // Get a list of all existing UAS
+    foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+        uasCreated(uas);
+    }
+
     // Connect link combo box
     connect(m_ui->linkComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(linkSelected(int)));
     // Connect send button
@@ -169,6 +178,12 @@ void DebugConsole::storeSettings()
     //qDebug() << "Storing settings!";
 }
 
+void DebugConsole::uasCreated(UASInterface* uas)
+{
+    connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
+            this, SLOT(receiveTextMessage(int,int,int,QString)), Qt::UniqueConnection);
+}
+
 /**
  * Add a link to the debug console output
  */
@@ -183,8 +198,8 @@ void DebugConsole::addLink(LinkInterface* link)
     linkSelected(m_ui->linkComboBox->currentIndex());
 
     // Register for name changes
-    connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)));
-    connect(link, SIGNAL(deleteLink(LinkInterface* const)), this, SLOT(removeLink(LinkInterface* const)));
+    connect(link, SIGNAL(nameChanged(QString)), this, SLOT(updateLinkName(QString)), Qt::UniqueConnection);
+    connect(link, SIGNAL(deleteLink(LinkInterface* const)), this, SLOT(removeLink(LinkInterface* const)), Qt::UniqueConnection);
 }
 
 void DebugConsole::removeLink(LinkInterface* const linkInterface)

src/ui/DebugConsole.h

@@ -45,6 +45,8 @@ namespace Ui
 class DebugConsole;
 }
 
+class UASInterface;
+
 /**
  * @brief Shows a debug console
  *
@@ -61,6 +63,8 @@ public:
 public slots:
     /** @brief Add a link to the list of monitored links */
     void addLink(LinkInterface* link);
+    /** @brief Add a UAS to the list of monitored UAS */
+    void uasCreated(UASInterface* uas);
     /** @brief Remove a link from the list */
     void removeLink(LinkInterface* const link);
     /** @brief Update a link name */

src/ui/MainWindow.cc

@@ -1725,43 +1725,17 @@ void MainWindow::UASCreated(UASInterface* uas)
             break;
         }
 
+        // XXX The multi-UAS selection menu has been disabled for now,
+        // its redundant with right-clicking the UAS in the list.
+        // this code piece might be removed later if this is the final
+        // conclusion (May 2013)
 //        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
 //        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
 //        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
-
 //        ui.menuConnected_Systems->addAction(uasAction);
 
-        // FIXME Should be not inside the mainwindow
-        if (debugConsoleDockWidget)
-        {
-            DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
-            if (debugConsole)
-            {
-                connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
-                        debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
-            }
-        }
-
-        // Health / System status indicator
-        if (infoDockWidget)
-        {
-            UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
-            if (infoWidget)
-            {
-                infoWidget->addUAS(uas);
-            }
-        }
 
-        // UAS List
-        if (listDockWidget)
-        {
-            UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
-            if (listWidget)
-            {
-                listWidget->addUAS(uas);
-            }
-        }
+        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
 
         // HIL
         showHILConfigurationWidget(uas);
@@ -1773,25 +1747,12 @@ void MainWindow::UASCreated(UASInterface* uas)
 
         }
 
-
-        // Line chart
-        //if (!linechartWidget)
-        //{
-
-            // Center widgets
-
-            //linechartWidget->addSystem(uas);
-
-            linechartWidget->addSource(mavlinkDecoder);
-            //addCentralWidget(linechartWidget, tr("Realtime Plot"));
-            if (dataView->centralWidget() != linechartWidget)
-            {
-                dataView->setCentralWidget(linechartWidget);
-                linechartWidget->show();
-            }
-            //dataView->setCentralWidget(linechartWidget);
-            //linechartWidget->show();
-        //}
+        linechartWidget->addSource(mavlinkDecoder);
+        if (dataView->centralWidget() != linechartWidget)
+        {
+            dataView->setCentralWidget(linechartWidget);
+            linechartWidget->show();
+        }
 
         // Load default custom widgets for this autopilot type
         loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());

src/ui/uas/UASInfoWidget.cc

@@ -34,7 +34,7 @@ This file is part of the PIXHAWK project
 #include <float.h>
 #include <UASInfoWidget.h>
 #include <UASManager.h>
-#include <MG.h>
+#include <QGC.h>
 #include <QTimer>
 #include <QDir>
 #include <cstdlib>
@@ -46,20 +46,12 @@ UASInfoWidget::UASInfoWidget(QWidget *parent, QString name) : QWidget(parent)
 {
     ui.setupUi(this);
     this->name = name;
-
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
-
     activeUAS = NULL;
 
-    //instruments = new QMap<QString, QProgressBar*>();
-
-    // Set default battery type
-    //    setBattery(0, LIPOLY, 3);
-    startTime = MG::TIME::getGroundTimeNow();
-    //    startVoltage = 0.0f;
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    setActiveUAS(UASManager::instance()->getActiveUAS());
 
-    //    lastChargeLevel = 0.5f;
-    //    lastRemainingTime = 1;
+    startTime = QGC::groundTimeMilliseconds();
 
     // Set default values
     /** Set two voltage decimals and zero charge level decimals **/
@@ -117,7 +109,8 @@ void UASInfoWidget::addUAS(UASInterface* uas)
 
 void UASInfoWidget::setActiveUAS(UASInterface* uas)
 {
-    activeUAS = uas;
+    if (uas)
+        activeUAS = uas;
 }
 
 void UASInfoWidget::updateBattery(UASInterface* uas, double voltage, double percent, int seconds)

src/ui/uas/UASListWidget.cc

@@ -67,6 +67,11 @@ UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent), m_ui(new Ui::UA
     this->setVisible(false);
 
     connect(UASManager::instance(),SIGNAL(UASCreated(UASInterface*)),this,SLOT(addUAS(UASInterface*)));
+
+    // Get a list of all existing UAS
+    foreach (UASInterface* uas, UASManager::instance()->getUASList()) {
+        addUAS(uas);
+    }
 }
 
 UASListWidget::~UASListWidget()