Fix UT only shutdown ordering crash

src/GAudioOutput.cc

@@ -55,7 +55,6 @@ GAudioOutput::GAudioOutput(QObject *parent) :
     
     worker->moveToThread(thread);
     connect(this, &GAudioOutput::textToSpeak, worker, &QGCAudioWorker::say);
-    connect(this, &GAudioOutput::beepOnce, worker, &QGCAudioWorker::beep);
     connect(thread, &QThread::finished, thread, &QObject::deleteLater);
     connect(thread, &QThread::finished, worker, &QObject::deleteLater);
     thread->start();
@@ -82,28 +81,10 @@ bool GAudioOutput::isMuted()
     return muted;
 }
 
-bool GAudioOutput::say(QString text, int severity)
+bool GAudioOutput::say(const QString& text, int severity)
 {
     if (!muted) {
         emit textToSpeak(text, severity);
     }
     return true;
 }
-
-/**
- * @param text This message will be played after the alert beep
- */
-bool GAudioOutput::alert(QString text)
-{
-    if (!muted) {
-        emit textToSpeak(text, 1);
-    }
-    return true;
-}
-
-void GAudioOutput::beep()
-{
-    if (!muted) {
-        emit beepOnce();
-    }
-}

src/GAudioOutput.h

@@ -77,11 +77,7 @@ public:
 
 public slots:
     /** @brief Say this text if current output priority matches */
-    bool say(QString text, int severity = 6);
-    /** @brief Play alert sound and say notification message */
-    bool alert(QString text);
-    /** @brief Play emergency sound once */
-    void beep();
+    bool say(const QString& text, int severity = 6);
     /** @brief Mute/unmute sound */
     void mute(bool mute);
 

src/uas/UAS.cc

@@ -348,7 +348,7 @@ void UAS::updateState()
         connectionLost = true;
         receivedMode = false;
         QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_ALERT);
+        _say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_ALERT);
     }
 
     // Update connection loss time on each iteration
@@ -362,7 +362,7 @@ void UAS::updateState()
     if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
     {
         QString audiostring = QString("Link regained to system %1").arg(this->getUASID());
-        GAudioOutput::instance()->say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_NOTICE);
+        _say(audiostring.toLower(), GAudioOutput::AUDIO_SEVERITY_NOTICE);
         connectionLost = false;
         connectionLossTime = 0;
         emit heartbeatTimeout(false, 0);
@@ -553,12 +553,12 @@ void UAS::receiveMessage(mavlink_message_t message)
 
             if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
             {
-                GAudioOutput::instance()->say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
+                _say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                 QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
             }
             else if (modechanged || statechanged)
             {
-                GAudioOutput::instance()->say(audiostring.toLower());
+                _say(audiostring.toLower());
             }
         }
 
@@ -621,7 +621,7 @@ void UAS::receiveMessage(mavlink_message_t message)
                     /* warn only every 12 seconds */
                     && (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000)
             {
-                GAudioOutput::instance()->say(QString("Voltage warning for system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
+                _say(QString("Voltage warning for system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
                 lastVoltageWarning = QGC::groundTimeUsecs();
                 lastTickVoltageValue = tickLowpassVoltage;
             }
@@ -1198,7 +1198,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             mavlink_msg_mission_item_reached_decode(&message, &wpr);
             waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
             QString text = QString("System %1 reached waypoint %2").arg(getUASID()).arg(wpr.seq);
-            GAudioOutput::instance()->say(text);
+            _say(text);
             emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, text);
         }
             break;
@@ -1247,7 +1247,7 @@ void UAS::receiveMessage(mavlink_message_t message)
             {
                 text.remove("#");
                 emit textMessageReceived(uasId, message.compid, severity, text);
-                GAudioOutput::instance()->say(text.toLower(), severity);
+                _say(text.toLower(), severity);
             }
             else
             {
@@ -3393,7 +3393,7 @@ void UAS::startLowBattAlarm()
 {
     if (!lowBattAlarm)
     {
-        GAudioOutput::instance()->alert(tr("System %1 has low battery").arg(getUASID()));
+        _say(tr("System %1 has low battery").arg(getUASID()));
         lowBattAlarm = true;
     }
 }
@@ -3465,3 +3465,13 @@ void UAS::unsetRCToParameterMap()
         _vehicle->sendMessage(message);
     }
 }
+
+void UAS::_say(const QString& text, int severity)
+{
+#ifndef UNITTEST_BUILD    
+    GAudioOutput::instance()->say(text, severity);
+#else
+    Q_UNUSED(text)
+    Q_UNUSED(severity)
+#endif
+}

src/uas/UAS.h

@@ -982,6 +982,9 @@ protected slots:
     void readSettings();
     
 private:
+    void _say(const QString& text, int severity = 6);
+    
+private:
     Vehicle* _vehicle;
 };