Return AutoPilotPlugin as QSharedPointer

If Facts are referenced from FactPanelController, we need to reference
count the AutoPilotPlugin such that it doesn’t get destroyed until
after the FactPanelController is destroyed.

src/AutoPilotPlugins/AutoPilotPlugin.cc

@@ -43,6 +43,11 @@ AutoPilotPlugin::AutoPilotPlugin(UASInterface* uas, QObject* parent) :
 	connect(this, &AutoPilotPlugin::pluginReadyChanged, this, &AutoPilotPlugin::_pluginReadyChanged);
 }
 
+AutoPilotPlugin::~AutoPilotPlugin()
+{
+    
+}
+
 void AutoPilotPlugin::_uasDisconnected(void)
 {
 	_pluginReady = false;

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -51,6 +51,7 @@ class AutoPilotPlugin : public QObject
 
 public:
     AutoPilotPlugin(UASInterface* uas, QObject* parent);
+    ~AutoPilotPlugin();
     
 	/// true: plugin is ready for use, plugin should no longer be used
 	Q_PROPERTY(bool pluginReady READ pluginReady NOTIFY pluginReadyChanged)

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -74,13 +74,13 @@ void AutoPilotPluginManager::_uasCreated(UASInterface* uas)
         case MAV_AUTOPILOT_PX4:
             plugin = new PX4AutoPilotPlugin(uas, this);
             Q_CHECK_PTR(plugin);
-            _pluginMap[MAV_AUTOPILOT_PX4][uasId] = plugin;
+            _pluginMap[MAV_AUTOPILOT_PX4][uasId] = QSharedPointer<AutoPilotPlugin>(plugin);
             break;
         case MAV_AUTOPILOT_GENERIC:
         default:
             plugin = new GenericAutoPilotPlugin(uas, this);
             Q_CHECK_PTR(plugin);
-            _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = plugin;
+            _pluginMap[MAV_AUTOPILOT_GENERIC][uasId] = QSharedPointer<AutoPilotPlugin>(plugin);
     }
 }
 
@@ -94,12 +94,12 @@ void AutoPilotPluginManager::_uasDeleted(UASInterface* uas)
     Q_ASSERT(uasId != 0);
     
     if (_pluginMap.contains(autopilotType) && _pluginMap[autopilotType].contains(uasId)) {
-        delete _pluginMap[autopilotType][uasId];
+        _pluginMap[autopilotType][uasId].clear();
         _pluginMap[autopilotType].remove(uasId);
     }
 }
 
-AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
+QSharedPointer<AutoPilotPlugin> AutoPilotPluginManager::getInstanceForAutoPilotPlugin(UASInterface* uas)
 {
     Q_ASSERT(uas);
     

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -47,9 +47,10 @@ class AutoPilotPluginManager : public QGCSingleton
     DECLARE_QGC_SINGLETON(AutoPilotPluginManager, AutoPilotPluginManager)
 
 public:
-    /// Returns the singleton AutoPilotPlugin instance for the specified uas.
+    /// Returns the singleton AutoPilotPlugin instance for the specified uas. Returned as QSharedPointer
+    /// to prevent shutdown ordering problems with Qml destruction happening after Facts are destroyed.
     ///     @param uas Uas to get plugin for
-    AutoPilotPlugin* getInstanceForAutoPilotPlugin(UASInterface* uas);
+    QSharedPointer<AutoPilotPlugin> getInstanceForAutoPilotPlugin(UASInterface* uas);
     
     typedef struct {
         uint8_t baseMode;
@@ -73,7 +74,7 @@ private:
     
     MAV_AUTOPILOT _installedAutopilotType(MAV_AUTOPILOT autopilot);
     
-    QMap<MAV_AUTOPILOT, QMap<int, AutoPilotPlugin*> > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
+    QMap<MAV_AUTOPILOT, QMap<int, QSharedPointer<AutoPilotPlugin> > > _pluginMap; ///< Map of AutoPilot plugins _pluginMap[MAV_TYPE][UASid]
 };
 
 #endif

src/FactSystem/FactControls/FactPanelController.h

@@ -62,8 +62,8 @@ protected:
     /// Report a missing parameter to the FactPanel Qml element
     void _reportMissingParameter(int componentId, const QString& name);
     
-    UASInterface*       _uas;
-	AutoPilotPlugin*    _autopilot;
+    UASInterface*                   _uas;
+	QSharedPointer<AutoPilotPlugin> _autopilot;
     
 private slots:
     void _checkForMissingFactPanel(void);

src/FactSystem/FactSystemTestBase.cc

@@ -64,7 +64,7 @@ void FactSystemTestBase::_init(MAV_AUTOPILOT autopilot)
     AutoPilotPluginManager* pluginMgr = AutoPilotPluginManager::instance();
     Q_ASSERT(pluginMgr);
     
-    _plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas);
+    _plugin = pluginMgr->getInstanceForAutoPilotPlugin(_uas).data();
     Q_ASSERT(_plugin);
 
     // Wait for the plugin to be ready

src/QmlControls/ParameterEditor.qml

@@ -83,7 +83,7 @@ QGCView {
                     }
 
                     Repeater {
-                        model: autopilot ? controller.getFactsForGroup(componentId, group) : 0
+                        model: controller.getFactsForGroup(componentId, group)
 
                         Column {
                             property Fact modelFact: controller.getParameterFact(componentId, modelData)

src/QmlControls/ParameterEditorController.cc

@@ -42,6 +42,11 @@ ParameterEditorController::ParameterEditorController(void)
 	}
 }
 
+ParameterEditorController::~ParameterEditorController()
+{
+    
+}
+
 QStringList ParameterEditorController::getGroupsForComponent(int componentId)
 {
 	const QMap<int, QMap<QString, QStringList> >& groupMap = _autopilot->getGroupMap();

src/QmlControls/ParameterEditorController.h

@@ -40,6 +40,7 @@ class ParameterEditorController : public FactPanelController
     
 public:
     ParameterEditorController(void);
+    ~ParameterEditorController();
 
     Q_PROPERTY(QStringList componentIds MEMBER _componentIds CONSTANT)
 	

src/VehicleSetup/SetupView.cc

@@ -84,7 +84,7 @@ void SetupView::_setActiveUAS(UASInterface* uas)
     _uasCurrent = uas;
     
     if (_uasCurrent) {
-        _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent);
+        _autoPilotPlugin = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uasCurrent).data();
         _pluginReadyChanged(_autoPilotPlugin->pluginReady());
         connect(_autoPilotPlugin, &AutoPilotPlugin::pluginReadyChanged, this, &SetupView::_pluginReadyChanged);
     }

src/VehicleSetup/SetupViewTest.cc

@@ -71,7 +71,7 @@ void SetupViewTest::_clickThrough_test(void)
     linkMgr->connectLink(link);
     QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
 
-    AutoPilotPlugin* autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS());
+    AutoPilotPlugin* autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()).data();
     Q_ASSERT(autopilot);
     
     QSignalSpy spyPlugin(autopilot, SIGNAL(pluginReadyChanged(bool)));

src/ViewWidgets/ViewWidgetController.cc

@@ -41,13 +41,13 @@ void ViewWidgetController::_activeUasChanged(UASInterface* currentUas)
 		if (_uas) {
 			disconnect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged);
 			_uas = NULL;
-			_autopilot =  NULL;
+			_autopilot = NULL;
 			emit pluginDisconnected();
 		}
 		
 		if (currentUas) {
 			_uas = currentUas;
-			_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(currentUas);
+			_autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(currentUas).data();
 			Q_ASSERT(_autopilot);
 			
 			connect(_autopilot, &AutoPilotPlugin::pluginReadyChanged, this, &ViewWidgetController::_pluginReadyChanged);

src/ViewWidgets/ViewWidgetController.h

@@ -48,9 +48,9 @@ private slots:
 	void _pluginReadyChanged(bool pluginReady);
 
 private:
-	AutoPilotPlugin*		_autopilot;
-	UASManagerInterface*	_uasManager;
-	UASInterface*			_uas;
+	AutoPilotPlugin*        _autopilot;
+	UASManagerInterface*    _uasManager;
+	UASInterface*           _uas;
 };
 
 #endif

src/qgcunittest/PX4RCCalibrationTest.cc

@@ -151,7 +151,7 @@ void PX4RCCalibrationTest::init(void)
     LinkManager::instance()->connectLink(_mockLink);
     QTest::qWait(5000); // Give enough time for UI to settle and heartbeats to go through
     
-    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS());
+    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(UASManager::instance()->getActiveUAS()).data();
     Q_ASSERT(_autopilot);
     
     QSignalSpy spyPlugin(_autopilot, SIGNAL(pluginReadyChanged(bool)));

src/ui/QGCMapRCToParamDialog.cpp

@@ -101,7 +101,7 @@ ParamLoader::ParamLoader(QString paramName, UASInterface* uas, QObject* parent)
     _paramName(paramName),
     _paramReceived(false)
 {
-    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas);
+    _autopilot = AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_uas).data();
     Q_ASSERT(_autopilot);
 }
 

src/ui/px4_configuration/PX4RCCalibration.h

@@ -256,8 +256,8 @@ private:
     RCValueWidget* _rgRCValueMonitorWidget[_chanMax];   ///< Array of radio channel value widgets
     QLabel* _rgRCValueMonitorLabel[_chanMax];           ///< Array of radio channel value labels
 
-    UASInterface*       _uas;
-    AutoPilotPlugin*    _autopilot;
+    UASInterface*                   _uas;
+    QSharedPointer<AutoPilotPlugin> _autopilot;
     
     Ui::PX4RCCalibration* _ui;
     

src/ui/toolbar/MainToolBar.cc

@@ -282,7 +282,7 @@ void MainToolBar::_forgetUAS(UASInterface* uas)
     if (_mav != NULL && _mav == uas) {
         disconnect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged,  this, &MainToolBar::_handleTextMessage);
         disconnect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged);
-        disconnect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
+        disconnect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav).data(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
         _mav = NULL;
     }
 }
@@ -302,7 +302,7 @@ void MainToolBar::_setActiveUAS(UASInterface* active)
     {
         connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &MainToolBar::_handleTextMessage);
         connect(_mav, &UASInterface::remoteControlRSSIChanged, this, &MainToolBar::_remoteControlRSSIChanged);
-        connect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
+        connect(AutoPilotPluginManager::instance()->getInstanceForAutoPilotPlugin(_mav).data(), &AutoPilotPlugin::parameterListProgress, this, &MainToolBar::_setProgressBarValue);
     }
 }