Partway through refactoring of UAS deletion. This is in order to actually support removing UASes from QGC, which is currently impossible.

src/comm/MAVLinkSimulationLink.cc

@@ -684,7 +684,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
         if (mavlink_parse_char(this->id, data[i], &msg, &comm))
         {
             // MESSAGE RECEIVED!
-            qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
+//            qDebug() << "SIMULATION LINK RECEIVED MESSAGE!";
             emit messageReceived(msg);
 
             switch (msg.msgid)
@@ -722,7 +722,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 mavlink_command_long_t action;
                 mavlink_msg_command_long_decode(&msg, &action);
 
-                qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
+//                qDebug() << "SIM" << "received action" << action.command << "for system" << action.target_system;
 
                 // FIXME MAVLINKV10PORTINGNEEDED
 //                switch (action.action) {
@@ -756,13 +756,13 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             case MAVLINK_MSG_ID_MANUAL_CONTROL: {
                 mavlink_manual_control_t control;
                 mavlink_msg_manual_control_decode(&msg, &control);
-                qDebug() << "\n" << "ROLL:" << control.x << "PITCH:" << control.y;
+//                qDebug() << "\n" << "ROLL:" << control.x << "PITCH:" << control.y;
             }
             break;
 #endif
             case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
             {
-                qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
+//                qDebug() << "GCS REQUESTED PARAM LIST FROM SIMULATION";
                 mavlink_param_request_list_t read;
                 mavlink_msg_param_request_list_decode(&msg, &read);
                 if (read.target_system == systemId)
@@ -785,7 +785,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                         j++;
                     }
 
-                    qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
+//                    qDebug() << "SIMULATION SENT PARAMETERS TO GCS";
                 }
             }
                 break;
@@ -794,7 +794,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
                 // Drop on even milliseconds
                 if (QGC::groundTimeMilliseconds() % 2 == 0)
                 {
-                    qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
+//                    qDebug() << "SIMULATION RECEIVED COMMAND TO SET PARAMETER";
                     mavlink_param_set_t set;
                     mavlink_msg_param_set_decode(&msg, &set);
                     //                    if (set.target_system == systemId)
@@ -819,7 +819,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             break;
             case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
             {
-                qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
+//                qDebug() << "SIMULATION RECEIVED COMMAND TO SEND PARAMETER";
                 mavlink_param_request_read_t read;
                 mavlink_msg_param_request_read_decode(&msg, &read);
                 QByteArray bytes((char*)read.param_id, MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN);

src/comm/MAVLinkSimulationMAV.cc

@@ -130,7 +130,7 @@ void MAVLinkSimulationMAV::mainloop()
                 y = nextSPY;
                 z = nextSPZ;
                 firstWP = false;
-                qDebug() << "INIT STEP";
+//                qDebug() << "INIT STEP";
             }
         }
         else
@@ -139,7 +139,6 @@ void MAVLinkSimulationMAV::mainloop()
 
         }
 
-
         // GLOBAL POSITION
         mavlink_message_t msg;
         mavlink_global_position_int_t pos;
@@ -395,7 +394,7 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
     if (msg.sysid != systemid)
     {
         print_message(&msg);
-        qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
+//        qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
     }
 
     switch(msg.msgid) {

src/uas/UASInterface.h

@@ -394,9 +394,6 @@ signals:
      * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
      */
     void statusChanged(UASInterface* uas, QString status, QString description);
-    /** @brief System has been removed / disconnected / shutdown cleanly, remove */
-    void systemRemoved(UASInterface* uas);
-    void systemRemoved();
     /**
      * @brief Received a plain text message from the robot
      * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT

src/uas/UASManager.cc

@@ -269,7 +269,6 @@ void UASManager::addUAS(UASInterface* uas)
     if (!systems.contains(uas))
     {
         systems.append(uas);
-        connect(uas, SIGNAL(destroyed(QObject*)), this, SLOT(removeUAS(QObject*)));
         // Set home position on UAV if set in UI
         // - this is done on a per-UAV basis
         // Set home position in UI if UAV chooses a new one (caution! if multiple UAVs are connected, take care!)
@@ -300,14 +299,19 @@ void UASManager::addUAS(UASInterface* uas)
     }
 }
 
-void UASManager::removeUAS(QObject* uas)
+/**
+ * @brief The function that should be used when removing UASes from QGC. emits UASDeletect(UASInterface*) when triggered
+ *        so that UI elements can update accordingly.
+ * @param uas The UAS to remove
+ */
+void UASManager::removeUAS(UASInterface* uas)
 {
-    UASInterface* mav = qobject_cast<UASInterface*>(uas);
-
-    if (mav) {
-        int listindex = systems.indexOf(mav);
+    if (uas)
+    {
+        int listindex = systems.indexOf(uas);
 
-        if (mav == activeUAS)
+        // If this is the active UAS, select a new one.
+        if (uas == activeUAS)
         {
             if (systems.count() > 1)
             {
@@ -334,8 +338,14 @@ void UASManager::removeUAS(QObject* uas)
                 // XXX Not emitting the null pointer yet
             }
         }
+
+        // Finally delete a local reference to this UAS
         systems.removeAt(listindex);
-        emit UASDeleted(mav);
+
+        // Notify other UI elements that a UAS is being deleted before finally deleting it.
+        qDebug() << "Deleting UAS object: " << uas->getUASName();
+        emit UASDeleted(uas);
+        uas->deleteLater();
     }
 }
 

src/uas/UASManager.h

@@ -151,8 +151,8 @@ public slots:
      **/
     void addUAS(UASInterface* UAS);
 
-    /** @brief Remove a system from the list */
-    void removeUAS(QObject* uas);
+    /** @brief Remove a system from the list. Also triggers the UAS to kill itself. */
+    void removeUAS(UASInterface* uas);
 
 
     /**

src/ui/HSIDisplay.cc

@@ -184,6 +184,9 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
         setActiveUAS(UASManager::instance()->getActiveUAS());
     }
 
+    // Listen for the removal of the active UAS.
+    setActiveUAS(UASManager::instance()->getActiveUAS());
+
     setFocusPolicy(Qt::StrongFocus);
 }
 
@@ -981,6 +984,12 @@ void HSIDisplay::setActiveUAS(UASInterface* uas)
     resetMAVState();
 }
 
+void HSIDisplay::removeUAS(UASInterface* uas)
+{
+    this->uas = NULL;
+    resetMAVState();
+}
+
 void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz, quint64 time)
 {
     Q_UNUSED(uas);

src/ui/HSIDisplay.h

@@ -52,6 +52,7 @@ public:
 
 public slots:
     void setActiveUAS(UASInterface* uas);
+    void removeUAS(UASInterface* uas);
     /** @brief Set the width in meters this widget shows from top */
     void setMetricWidth(double width);
     void updateSatellite(int uasid, int satid, float azimuth, float direction, float snr, bool used);

src/ui/MainWindow.cc

@@ -1744,7 +1744,6 @@ void MainWindow::UASCreated(UASInterface* uas)
     // 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()));
     //        ui.menuConnected_Systems->addAction(uasAction);
 

src/ui/QGCToolBar.cc

@@ -31,7 +31,6 @@ This file is part of the QGROUNDCONTROL project
 QGCToolBar::QGCToolBar(QWidget *parent) :
     QToolBar(parent),
     mav(NULL),
-    player(NULL),
     changed(true),
     batteryPercent(0),
     batteryVoltage(0),
@@ -91,28 +90,28 @@ void QGCToolBar::createUI()
     symbolLabel = new QLabel(this);
     addWidget(symbolLabel);
 
-    toolBarNameLabel = new QLabel("------", this);
+    toolBarNameLabel = new QLabel(this);
     toolBarNameLabel->setToolTip(tr("Currently controlled vehicle"));
     toolBarNameLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarNameLabel);
 
-    toolBarTimeoutLabel = new QLabel("UNCONNECTED", this);
+    toolBarTimeoutLabel = new QLabel(this);
     toolBarTimeoutLabel->setToolTip(tr("System timed out, interval since last message"));
     toolBarTimeoutLabel->setAlignment(Qt::AlignCenter);
     toolBarTimeoutLabel->setObjectName("toolBarTimeoutLabel");
     addWidget(toolBarTimeoutLabel);
 
-    toolBarSafetyLabel = new QLabel("----", this);
+    toolBarSafetyLabel = new QLabel(this);
     toolBarSafetyLabel->setToolTip(tr("Vehicle safety state"));
     toolBarSafetyLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarSafetyLabel);
 
-    toolBarModeLabel = new QLabel("------", this);
+    toolBarModeLabel = new QLabel(this);
     toolBarModeLabel->setToolTip(tr("Vehicle mode"));
     toolBarModeLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarModeLabel);
 
-    toolBarStateLabel = new QLabel("------", this);
+    toolBarStateLabel = new QLabel(this);
     toolBarStateLabel->setToolTip(tr("Vehicle state"));
     toolBarStateLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarStateLabel);
@@ -122,28 +121,27 @@ void QGCToolBar::createUI()
     toolBarBatteryBar->setMaximum(100);
     toolBarBatteryBar->setMinimumWidth(20);
     toolBarBatteryBar->setMaximumWidth(100);
-    toolBarBatteryBar->setValue(0);
     toolBarBatteryBar->setToolTip(tr("Battery charge level"));
     toolBarBatteryBar->setObjectName("toolBarBatteryBar");
     addWidget(toolBarBatteryBar);
 
-    toolBarBatteryVoltageLabel = new QLabel("xx.x V");
+    toolBarBatteryVoltageLabel = new QLabel(this);
     toolBarBatteryVoltageLabel->setObjectName("toolBarBatteryVoltageLabel");
     toolBarBatteryVoltageLabel->setToolTip(tr("Battery voltage"));
     toolBarBatteryVoltageLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarBatteryVoltageLabel);
 
-    toolBarWpLabel = new QLabel("WP--", this);
+    toolBarWpLabel = new QLabel(this);
     toolBarWpLabel->setToolTip(tr("Current waypoint"));
     toolBarWpLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarWpLabel);
 
-    toolBarDistLabel = new QLabel("--- ---- m", this);
+    toolBarDistLabel = new QLabel(this);
     toolBarDistLabel->setToolTip(tr("Distance to current waypoint"));
     toolBarDistLabel->setAlignment(Qt::AlignCenter);
     addWidget(toolBarDistLabel);
 
-    toolBarMessageLabel = new QLabel("", this);
+    toolBarMessageLabel = new QLabel(this);
     toolBarMessageLabel->setToolTip(tr("Most recent system message"));
     addWidget(toolBarMessageLabel);
 
@@ -158,11 +156,17 @@ void QGCToolBar::createUI()
     addWidget(connectButton);
     connect(connectButton, SIGNAL(clicked(bool)), this, SLOT(connectLink(bool)));
 
+    resetToolbarUI();
+
     // DONE INITIALIZING BUTTONS
 
+    // Set the toolbar to be updated every 2s
+    connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
+
     // Configure the toolbar for the current default UAS
     setActiveUAS(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(UASManager::instance(), SIGNAL(UASDeleted(UASInterface*)), this, SLOT(removeUAS(UASInterface*)));
 
     if (LinkManager::instance()->getLinks().count() > 2)
         addLink(LinkManager::instance()->getLinks().last());
@@ -175,15 +179,33 @@ void QGCToolBar::createUI()
         connectButton->setText(tr("New Link"));
     }
 
-    // Set the toolbar to be updated every 2s
-    connect(&updateViewTimer, SIGNAL(timeout()), this, SLOT(updateView()));
-    updateViewTimer.start(2000);
-
     loadSettings();
 
     changed = false;
 }
 
+/**
+ * Reset all the labels and stuff for the toolbar to a pristine state. Done at startup after
+ * all UI has been created and also when the last UAS has been deleted.
+ **/
+void QGCToolBar::resetToolbarUI()
+{
+    toolBarNameLabel->setText("------");
+    toolBarNameLabel->setStyleSheet("");
+    toolBarTimeoutLabel->setText(tr("UNCONNECTED"));
+    toolBarSafetyLabel->setText("----");
+    toolBarModeLabel->setText("------");
+    toolBarStateLabel->setText("------");
+    toolBarBatteryBar->setValue(0);
+    toolBarBatteryBar->setDisabled(true);
+    toolBarBatteryVoltageLabel->setText("xx.x V");
+    toolBarWpLabel->setText("WP--");
+    toolBarDistLabel->setText("--- ---- m");
+    toolBarMessageLabel->clear();
+    symbolLabel->setStyleSheet("");
+    symbolLabel->clear();
+}
+
 void QGCToolBar::setPerspectiveChangeActions(const QList<QAction*> &actions)
 {
     if (actions.count() > 1)
@@ -269,9 +291,9 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     // Do nothing if system is the same or NULL
     if ((active == NULL) || mav == active) return;
 
+    // If switching UASes, disconnect the only one.
     if (mav)
     {
-        // Disconnect old system
         disconnect(mav, SIGNAL(statusChanged(UASInterface*,QString,QString)), this, SLOT(updateState(UASInterface*,QString,QString)));
         disconnect(mav, SIGNAL(modeChanged(int,QString,QString)), this, SLOT(updateMode(int,QString,QString)));
         disconnect(mav, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
@@ -287,6 +309,11 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
             disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
         }
     }
+    else
+    {
+        // Only update the UI once a UAS has been selected.
+        updateViewTimer.start(2000);
+    }
 
     // Connect new system
     mav = active;
@@ -315,9 +342,24 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
     toolBarStateLabel->setText(mav->getShortState());
     toolBarTimeoutLabel->setText("");
     toolBarDistLabel->setText("");
+    toolBarBatteryBar->setEnabled(true);
     setSystemType(mav, mav->getSystemType());
 }
 
+/**
+ * @brief Handle removal of the UAS that is currently being displayed.
+ * Stop updating the UI periodically, reset the UI, and reset our stored UAS.
+ * @param uas The UAS to remove.
+ */
+void QGCToolBar::removeUAS(UASInterface* uas)
+{
+    if (mav == uas) {
+        updateViewTimer.stop();
+        resetToolbarUI();
+        mav = NULL;
+    }
+}
+
 void QGCToolBar::createCustomWidgets()
 {
 

src/ui/QGCToolBar.h

@@ -46,6 +46,8 @@ public:
 public slots:
     /** @brief Set the system that is currently displayed by this widget */
     void setActiveUAS(UASInterface* active);
+    /** @brief Remove the provided UAS if it's currently active from the toolbar */
+    void removeUAS(UASInterface* uas);
     /** @brief Set the link which is currently handled with connecting / disconnecting */
     void addLink(LinkInterface* link);
     /** @brief Remove link which is currently handled */
@@ -88,6 +90,7 @@ protected:
     void storeSettings();
     void loadSettings();
     void createUI();
+    void resetToolbarUI();
 
     UASInterface* mav;
     QLabel* symbolLabel;
@@ -102,7 +105,6 @@ protected:
     QPushButton* connectButton;
     QProgressBar* toolBarBatteryBar;
     QLabel* toolBarBatteryVoltageLabel;
-    QGCMAVLinkLogPlayer* player;
     bool changed;
     float batteryPercent;
     float batteryVoltage;

src/ui/uas/UASListWidget.cc

@@ -146,32 +146,32 @@ void UASListWidget::activeUAS(UASInterface* uas)
  * If the UAS was removed, check to see if it was the last one in the QGroupBox and delete
  * the QGroupBox if so.
  */
-void UASListWidget::removeUASView(QObject* widget)
+void UASListWidget::removeUAS(UASInterface* uas)
 {
-    UASView* view = (UASView*)widget;
-    if (view) {
-        int views = view->parentWidget()->findChildren<UASView*>().size();
-        if (views == 0) {
-            // Delete the groupbox
-            view->parentWidget()->deleteLater();
-
-            // Remove the associated UAS from our list.
-            UASInterface* uas = uasViews.key(view, NULL);
-            if (uas)
-            {
-                uasViews.remove(uas);
-            }
+    // Remove the UAS from our data structures and
+    // the global listing.
+    uasViews.remove(uas);
+
+    // Check all groupboxes for all links this uas had and check if they're empty.
+    // Delete them if they are.
+    QListIterator<LinkInterface*> i = *uas->getLinks();
+    while (i.hasNext())
+    {
+        LinkInterface* link = i.next();
 
-            // And remove this GroupBox from our mapping.
-            LinkInterface* link = linkToBoxMapping.key((QGroupBox*)view->parentWidget(), NULL);
-            if (link)
-            {
+        QGroupBox* box = linkToBoxMapping[link];
+        if (box)
+        {
+            // If this was the last UAS in the GroupBox, remove it and its corresponding link.
+            int views = box->findChildren<UASView*>().size();
+            if (views == 0) {
+                box->deleteLater();
                 linkToBoxMapping.remove(link);
             }
-
-            // And put the initial widget back.
-            uWidget = new QGCUnconnectedInfoWidget(this);
-            m_ui->verticalLayout->addWidget(uWidget);
         }
     }
+
+    // And if no QGroupBoxes are left, put the initial widget back.
+    uWidget = new QGCUnconnectedInfoWidget(this);
+    m_ui->verticalLayout->addWidget(uWidget);
 }

src/ui/uas/UASListWidget.h

@@ -51,7 +51,7 @@ public:
 public slots:
     void addUAS(UASInterface* uas);
     void activeUAS(UASInterface* uas);
-    void removeUASView(QObject* widget);
+    void removeUAS(UASInterface* uas);
 
 protected:
     // Keep a mapping from Links to GroupBoxes for adding new links.

src/ui/uas/UASView.cc

@@ -117,13 +117,12 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));
 
     // Allow to delete this widget
-    connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
+    connect(removeAction, SIGNAL(triggered()), this, SLOT(prepareForDeletion()));
     connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
     connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
     connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
     connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
-    connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
 
     // Name changes
     connect(uas, SIGNAL(nameChanged(QString)), this, SLOT(updateName(QString)));
@@ -563,6 +562,16 @@ void UASView::showHILUi()
      MainWindow::instance()->showHILConfigurationWidget(uas);
 }
 
+/**
+ * @brief Stop updating this UASView, queue it for deletion, and also tell the UASManager to delete the UAS.
+ */
+void UASView::prepareForDeletion()
+{
+    refreshTimer->stop();
+    UASManager::instance()->removeUAS(uas);
+    deleteLater();
+}
+
 void UASView::refresh()
 {
     //setUpdatesEnabled(false);
@@ -570,7 +579,6 @@ void UASView::refresh()
     //repaint();
     //qDebug() << "UPDATING UAS WIDGET!" << uas->getUASName();
 
-
     if (generalUpdateCount == 4)
     {
 #if (QGC_EVENTLOOP_DEBUG)

src/ui/uas/UASView.h

@@ -65,6 +65,8 @@ public slots:
     void updateLoad(UASInterface* uas, double load);
     //void receiveValue(int uasid, QString id, double value, quint64 time);
     void showHILUi();
+    /** @brief Disables the widget from accessing the UAS object in preparation for being deleted */
+    void prepareForDeletion();
     void refresh();
     /** @brief Receive new waypoint information */
     void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);