Commit

qgroundcontrol.pro

@@ -702,6 +702,7 @@ HEADERS+= \
     src/VehicleSetup/VehicleSetupButton.h \
     src/VehicleSetup/VehicleComponentButton.h \
     src/VehicleSetup/VehicleComponent.h \
+    src/AutoPilotPlugins/AutoPilotPluginManager.h \
     src/AutoPilotPlugins/AutoPilotPlugin.h \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h \
@@ -716,7 +717,7 @@ SOURCES += \
     src/VehicleSetup/SummaryPage.cc \
     src/VehicleSetup/ParameterEditor.cc \
     src/VehicleSetup/VehicleComponent.cc \
-    src/AutoPilotPlugins/AutoPilotPlugin.cc \
+    src/AutoPilotPlugins/AutoPilotPluginManager.cc \
     src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc \
     src/AutoPilotPlugins/PX4/PX4Component.cc \

src/AutoPilotPlugins/AutoPilotPlugin.h

@@ -43,10 +43,6 @@ class AutoPilotPlugin : public QObject
     Q_OBJECT
 
 public:
-    /// @brief Returns the singleton AutoPilot instance for the specified auto pilot type.
-    /// @param autopilotType Specified using the MAV_AUTOPILOT_* values.
-    static AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType);
-    
     /// @brief Returns the list of VehicleComponent objects associated with the AutoPilot.
     virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const = 0;
     
@@ -63,7 +59,7 @@ public:
     
 protected:
     // All access to AutoPilotPugin objects is through getInstanceForAutoPilotPlugin
-    AutoPilotPlugin(void);
+    AutoPilotPlugin(QObject* parent = NULL) : QObject(parent) { }
 };
 
 #endif

src/AutoPilotPlugins/AutoPilotPluginManager.cc

@@ -24,33 +24,30 @@
 /// @file
 ///     @author Don Gagne <don@thegagnes.com>
 
-#include "AutoPilotPlugin.h"
+#include "AutoPilotPluginManager.h"
 #include "PX4/PX4AutoPilotPlugin.h"
 #include "Generic/GenericAutoPilotPlugin.h"
 
-static AutoPilotPlugin* PX4_AutoPilot = NULL;       ///< Singleton plugin for MAV_AUTOPILOT_PX4
-static AutoPilotPlugin* Generic_AutoPilot = NULL;   ///< Singleton plugin for AutoPilots which do not have a specifically implemented plugin
-
-AutoPilotPlugin::AutoPilotPlugin(void)
+AutoPilotPluginManager::AutoPilotPluginManager(QObject* parent) :
+    QObject(parent)
 {
-    
+    // All plugins are constructed here so that they end up on the correct thread
+    _pluginMap[MAV_AUTOPILOT_PX4] = new PX4AutoPilotPlugin(this);
+    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
+
+    _pluginMap[MAV_AUTOPILOT_GENERIC] = new GenericAutoPilotPlugin(this);
+    Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
 }
 
-AutoPilotPlugin* AutoPilotPlugin::getInstanceForAutoPilotPlugin(int autopilotType)
+AutoPilotPlugin* AutoPilotPluginManager::getInstanceForAutoPilotPlugin(int autopilotType)
 {
     switch (autopilotType) {
         case MAV_AUTOPILOT_PX4:
-            if (PX4_AutoPilot == NULL) {
-                PX4_AutoPilot = new PX4AutoPilotPlugin;
-            }
-            Q_ASSERT(PX4_AutoPilot);
-            return PX4_AutoPilot;
+            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_PX4));
+            return _pluginMap[MAV_AUTOPILOT_PX4];
             
         default:
-            if (Generic_AutoPilot == NULL) {
-                Generic_AutoPilot = new GenericAutoPilotPlugin;
-            }
-            Q_ASSERT(Generic_AutoPilot);
-            return Generic_AutoPilot;
+            Q_ASSERT(_pluginMap.contains(MAV_AUTOPILOT_GENERIC));
+            return _pluginMap[MAV_AUTOPILOT_GENERIC];
     }
 }

src/AutoPilotPlugins/AutoPilotPluginManager.h

@@ -0,0 +1,63 @@
+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+#ifndef AUTOPILOTPLUGINMANAGER_H
+#define AUTOPILOTPLUGINMANAGER_H
+
+#include <QObject>
+#include <QList>
+#include <QString>
+
+#include "UASInterface.h"
+#include "VehicleComponent.h"
+#include "QGCApplication.h"
+#include "AutoPilotPlugin.h"
+
+/// @file
+///     @brief The AutoPilotPlugin manager is a singleton which maintains the list of AutoPilotPlugin objects.
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class AutoPilotPluginManager : public QObject
+{
+    Q_OBJECT
+
+public:
+    
+    /// @brief Returns the singleton AutoPilot instance for the specified auto pilot type.
+    /// @param autopilotType Specified using the MAV_AUTOPILOT_* values.
+    AutoPilotPlugin* getInstanceForAutoPilotPlugin(int autopilotType);
+    
+private:
+    /// @brief Only QGCQpplication is allowed to call constructor. All access to singleton is through
+    ///         QGCApplication::singletonAutoPilotPluginManager.
+    AutoPilotPluginManager(QObject* parent = NULL);
+    
+    /// @brief Only QGCQpplication is allowed to call constructor. All access to singleton is through
+    ///         QGCApplication::singletonAutoPilotPluginManager.
+    friend class QGCApplication;
+    
+    QMap<int, AutoPilotPlugin*> _pluginMap;
+};
+
+#endif

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.cc

@@ -26,7 +26,8 @@
 
 #include "GenericAutoPilotPlugin.h"
 
-GenericAutoPilotPlugin::GenericAutoPilotPlugin(void)
+GenericAutoPilotPlugin::GenericAutoPilotPlugin(QObject* parent) :
+    AutoPilotPlugin(parent)
 {
     
 }

src/AutoPilotPlugins/Generic/GenericAutoPilotPlugin.h

@@ -36,7 +36,7 @@ class GenericAutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    GenericAutoPilotPlugin(void);
+    GenericAutoPilotPlugin(QObject* parent = NULL);
     
     virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
     virtual QList<FullMode_t> getModes(void) const;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc

@@ -26,6 +26,7 @@
 #include "RadioComponent.h"
 #include "SensorsComponent.h"
 #include "FlightModesComponent.h"
+#include "AutoPilotPluginManager.h"
 
 /// @file
 ///     @brief This is the AutoPilotPlugin implementatin for the MAV_AUTOPILOT_PX4 type.
@@ -61,7 +62,8 @@ union px4_custom_mode {
     float data_float;
 };
 
-PX4AutoPilotPlugin::PX4AutoPilotPlugin(void)
+PX4AutoPilotPlugin::PX4AutoPilotPlugin(QObject* parent) :
+    AutoPilotPlugin(parent)
 {
     
 }
@@ -165,7 +167,7 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
             mode = "|OFFBOARD";
         }
     } else {
-        mode = AutoPilotPlugin::getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
+        mode = qgcApp()->singletonAutoPilotPluginManager()->getInstanceForAutoPilotPlugin(MAV_AUTOPILOT_GENERIC)->getShortModeText(baseMode, customMode);
     }
     
     return mode;

src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h

@@ -35,7 +35,7 @@ class PX4AutoPilotPlugin : public AutoPilotPlugin
     Q_OBJECT
 
 public:
-    PX4AutoPilotPlugin(void);
+    PX4AutoPilotPlugin(QObject* parent);
     
     virtual QList<VehicleComponent*> getVehicleComponents(UASInterface* uas) const ;
     virtual QList<FullMode_t> getModes(void) const;