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Threading improvements

QGC4.4
Lorenz Meier 11 years ago
parent
e972eb38b4
commit
246bb3e8c8
4 changed files with 12 additions and 6 deletions
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  1. 1
      src/comm/MAVLinkProtocol.cc
  2. 3
      src/comm/QGCFlightGearLink.cc
  3. 1
      src/comm/QGCJSBSimLink.cc
  4. 13
      src/comm/QGCXPlaneLink.cc

1
src/comm/MAVLinkProtocol.cc
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@ -65,6 +65,7 @@ MAVLinkProtocol::MAVLinkProtocol() : @@ -65,6 +65,7 @@ MAVLinkProtocol::MAVLinkProtocol() :
m_authKey = "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx";
loadSettings();
moveToThread(this);
heartbeatTimer.moveToThread(this);
// Start heartbeat timer, emitting a heartbeat at the configured rate
connect(&heartbeatTimer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
heartbeatTimer.start(1000/heartbeatRate);

3
src/comm/QGCFlightGearLink.cc
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@ -80,12 +80,15 @@ void QGCFlightGearLink::run() @@ -80,12 +80,15 @@ void QGCFlightGearLink::run()
if (!mav) return;
socket = new QUdpSocket(this);
socket->moveToThread(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
process = new QProcess(this);
process->moveToThread(this);
terraSync = new QProcess(this);
terraSync->moveToThread(this);
connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
connect(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)));

1
src/comm/QGCJSBSimLink.cc
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@ -75,6 +75,7 @@ void QGCJSBSimLink::run() @@ -75,6 +75,7 @@ void QGCJSBSimLink::run()
if (!mav) return;
socket = new QUdpSocket(this);
socket->moveToThread(this);
connectState = socket->bind(host, port);
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));

13
src/comm/QGCXPlaneLink.cc
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@ -154,18 +154,19 @@ void QGCXPlaneLink::run() @@ -154,18 +154,19 @@ void QGCXPlaneLink::run()
if (connectState) return;
socket = new QUdpSocket(this);
socket->moveToThread(this);
connectState = socket->bind(localHost, localPort);
if (!connectState) return;
QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
connect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
connect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)), Qt::QueuedConnection);
connect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)), Qt::QueuedConnection);
connect(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)));
connect(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)));
connect(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)));
connect(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)));
connect(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)), Qt::QueuedConnection);
connect(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)), Qt::QueuedConnection);
connect(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)), Qt::QueuedConnection);
connect(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)), Qt::QueuedConnection);
UAS* uas = dynamic_cast<UAS*>(mav);
if (uas)

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