Minor cleanups

src/QGCCore.cc

@@ -84,16 +84,20 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
     bool upgraded = false;
     QString lastApplicationVersion("");
-    if (settings.contains("QGC_APPLICATION_VERSION")) {
+    if (settings.contains("QGC_APPLICATION_VERSION"))
+    {
         QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
-        if (qgcVersion != QGC_APPLICATION_VERSION) {
+        if (qgcVersion != QGC_APPLICATION_VERSION)
+        {
             lastApplicationVersion = qgcVersion;
             settings.clear();
             // Write current application version
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;
         }
-    } else {
+    }
+    else
+    {
         // If application version is not set, clear settings anyway
         settings.clear();
         // Write current application version
@@ -117,7 +121,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // Load application font
     QFontDatabase fontDatabase = QFontDatabase();
     const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
-    const QString fontFamilyName = "Bitstream Vera Sans";
+    //const QString fontFamilyName = "Bitstream Vera Sans";
     if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
     fontDatabase.addApplicationFont(fontFileName);
     // Avoid Using setFont(). In the Qt docu you can read the following:
@@ -132,9 +136,6 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     splashScreen->showMessage(tr("Starting UAS Manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
     startUASManager();
 
-    //tarsus = new ViconTarsusProtocol();
-    //tarsus->start();
-
     // Start the user interface
     splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
     // Start UI
@@ -147,17 +148,14 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
     // Listen on Multicast-Address 239.255.77.77, Port 14550
     //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
     //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
-    //mainWindow->addLink(udpLink);
 
 #ifdef OPAL_RT
     // Add OpalRT Link, but do not connect
     OpalLink* opalLink = new OpalLink();
-    //mainWindow->addLink(opalLink);
+    MainWindow::instance()->addLink(opalLink);
 #endif
-    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
     simulationLink->disconnect();
-    //mainWindow->addLink(simulationLink);
 
     mainWindow = MainWindow::instance(splashScreen);
 

src/comm/LinkManager.cc

@@ -63,11 +63,16 @@ LinkManager::LinkManager()
 LinkManager::~LinkManager()
 {
     disconnectAll();
+    foreach (LinkInterface* link, links)
+    {
+        if(link) link->deleteLater();
+    }
 }
 
 void LinkManager::add(LinkInterface* link)
 {
-    if (!links.contains(link)) {
+    if (!links.contains(link))
+    {
         if(!link) return;
         connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
         links.append(link);
@@ -85,7 +90,8 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
 
     // If protocol has not been added before (list length == 0)
     // OR if link has not been added to protocol, add
-    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0) {
+    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0)
+    {
         // Protocol is new, add
         connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
         // Store the connection information in the protocol links map
@@ -104,7 +110,8 @@ bool LinkManager::connectAll()
 {
     bool allConnected = true;
 
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         if(!link) {}
         else if(!link->connect()) allConnected = false;
     }
@@ -116,7 +123,8 @@ bool LinkManager::disconnectAll()
 {
     bool allDisconnected = true;
 
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         //static int i=0;
         if(!link) {}
         else if(!link->disconnect()) allDisconnected = false;
@@ -140,22 +148,27 @@ bool LinkManager::disconnectLink(LinkInterface* link)
 void LinkManager::removeLink(QObject* link)
 {
     LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
-    if (linkInterface) {
+    if (linkInterface)
+    {
         removeLink(linkInterface);
     }
 }
 
 bool LinkManager::removeLink(LinkInterface* link)
 {
-    if(link) {
-        for (int i=0; i < QList<LinkInterface*>(links).size(); i++) {
-            if(link==links.at(i)) {
+    if(link)
+    {
+        for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
+        {
+            if(link==links.at(i))
+            {
                 links.removeAt(i); //remove from link list
             }
         }
         // Remove link from protocol map
         QList<ProtocolInterface* > protocols = protocolLinks.keys(link);
-        foreach (ProtocolInterface* proto, protocols) {
+        foreach (ProtocolInterface* proto, protocols)
+        {
             protocolLinks.remove(proto, link);
         }
         return true;
@@ -171,7 +184,8 @@ bool LinkManager::removeLink(LinkInterface* link)
  */
 LinkInterface* LinkManager::getLinkForId(int id)
 {
-    foreach (LinkInterface* link, links) {
+    foreach (LinkInterface* link, links)
+    {
         if (link->getId() == id) return link;
     }
     return NULL;

src/comm/MAVLinkProtocol.cc

@@ -470,7 +470,7 @@ void MAVLinkProtocol::sendMessage(mavlink_message_t message)
 void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message)
 {
     // Create buffer
-    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+    static uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Rewriting header to ensure correct link ID is set
     static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
     if (link->getId() != 0) mavlink_finalize_message_chan(&message, this->getSystemId(), this->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
@@ -491,12 +491,14 @@ void MAVLinkProtocol::sendMessage(LinkInterface* link, mavlink_message_t message
  */
 void MAVLinkProtocol::sendHeartbeat()
 {
-    if (m_heartbeatsEnabled) {
+    if (m_heartbeatsEnabled)
+    {
         mavlink_message_t beat;
         mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_GCS, MAV_AUTOPILOT_INVALID, MAV_MODE_MANUAL_ARMED, 0, MAV_STATE_ACTIVE);
         sendMessage(beat);
     }
-    if (m_authEnabled) {
+    if (m_authEnabled)
+    {
         mavlink_message_t msg;
         mavlink_auth_key_t auth;
         if (m_authKey.length() != MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN) m_authKey.resize(MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN);

src/comm/MAVLinkSimulationLink.cc

@@ -84,15 +84,19 @@ MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile
     // Comments on the variables can be found in the header file
 
     simulationFile = new QFile(readFile, this);
-    if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text)) {
+    if (simulationFile->exists() && simulationFile->open(QIODevice::ReadOnly | QIODevice::Text))
+    {
         simulationHeader = simulationFile->readLine();
     }
     receiveFile = new QFile(writeFile, this);
     lastSent = QGC::groundTimeMilliseconds();
 
-    if (simulationFile->exists()) {
+    if (simulationFile->exists())
+    {
         this->name = "Simulation: " + QFileInfo(simulationFile->fileName()).fileName();
-    } else {
+    }
+    else
+    {
         this->name = "MAVLink simulation link";
     }
 
@@ -111,6 +115,11 @@ MAVLinkSimulationLink::~MAVLinkSimulationLink()
     //TODO Check destructor
     //    fileStream->flush();
     //    outStream->flush();
+    // Force termination, there is no
+    // need for cleanup since
+    // this thread is not manipulating
+    // any relevant data
+    terminate();
     delete simulationFile;
 }
 
@@ -124,28 +133,26 @@ void MAVLinkSimulationLink::run()
     system.custom_mode = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_SAFETY_ARMED;
     system.system_status = MAV_STATE_UNINIT;
 
-    forever {
-
+    forever
+    {
         static quint64 last = 0;
 
-        if (QGC::groundTimeMilliseconds() - last >= rate) {
-            if (_isConnected) {
+        if (QGC::groundTimeMilliseconds() - last >= rate)
+        {
+            if (_isConnected)
+            {
                 mainloop();
-
-                // FIXME Hacky code to read from packet log file
-//                readyBufferMutex.lock();
-//                for (int i = 0; i < streampointer; i++)
-//                {
-//                    readyBuffer.enqueue(*(stream + i));
-//                }
-//                readyBufferMutex.unlock();
-
                 readBytes();
             }
+            else
+            {
+                // Sleep for substantially longer
+                // if not connected
+                QGC::SLEEP::msleep(500);
+            }
             last = QGC::groundTimeMilliseconds();
         }
         QGC::SLEEP::msleep(3);
-
     }
 }
 
@@ -157,7 +164,8 @@ void MAVLinkSimulationLink::sendMAVLinkMessage(const mavlink_message_t* msg)
 
     // Pack to link buffer
     readyBufferMutex.lock();
-    for (unsigned int i = 0; i < bufferlength; i++) {
+    for (unsigned int i = 0; i < bufferlength; i++)
+    {
         readyBuffer.enqueue(*(buf + i));
     }
     readyBufferMutex.unlock();
@@ -217,14 +225,17 @@ void MAVLinkSimulationLink::mainloop()
 
     static int state = 0;
 
-    if (state == 0) {
+    if (state == 0)
+    {
         state++;
     }
 
 
     // 50 HZ TASKS
-    if (rate50hzCounter == 1000 / rate / 40) {
-        if (simulationFile->isOpen()) {
+    if (rate50hzCounter == 1000 / rate / 40)
+    {
+        if (simulationFile->isOpen())
+        {
             if (simulationFile->atEnd()) {
                 // We reached the end of the file, start from scratch
                 simulationFile->reset();
@@ -916,7 +927,8 @@ void MAVLinkSimulationLink::readBytes()
 bool MAVLinkSimulationLink::disconnect()
 {
 
-    if(isConnected()) {
+    if(isConnected())
+    {
         //        timer->stop();
 
         _isConnected = false;

src/uas/UAS.cc

@@ -142,7 +142,8 @@ void UAS::readSettings()
     this->name = settings.value("NAME", this->name).toString();
     this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
     this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
-    if (settings.contains("BATTERY_SPECS")) {
+    if (settings.contains("BATTERY_SPECS"))
+    {
         setBatterySpecs(settings.value("BATTERY_SPECS").toString());
     }
     settings.endGroup();
@@ -1479,9 +1480,11 @@ void UAS::sendMessage(mavlink_message_t message)
     // Emit message on all links that are currently connected
     foreach (LinkInterface* link, *links)
     {
+        qDebug() << "ITERATING THROUGH LINKS";
         if (link)
         {
             sendMessage(link, message);
+            qDebug() << "SENT MESSAGE";
         }
         else
         {
@@ -1716,6 +1719,7 @@ void UAS::requestParameters()
     mavlink_message_t msg;
     mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
     sendMessage(msg);
+    qDebug() << __FILE__ << __LINE__ << "LOADING PARAM LIST";
 }
 
 void UAS::writeParametersToStorage()

src/ui/MainWindow.cc

@@ -234,8 +234,21 @@ MainWindow::MainWindow(QWidget *parent):
 
 MainWindow::~MainWindow()
 {
+    if (mavlink)
+    {
         delete mavlink;
+        mavlink = NULL;
+    }
+//    if (simulationLink)
+//    {
+//        simulationLink->deleteLater();
+//        simulationLink = NULL;
+//    }
+    if (joystick)
+    {
         delete joystick;
+        joystick = NULL;
+    }
 
     // Get and delete all dockwidgets and contained
     // widgets
@@ -252,10 +265,12 @@ MainWindow::~MainWindow()
             // removeDockWidget(dockWidget);
             // delete dockWidget->widget();
             delete dockWidget;
+            dockWidget = NULL;
         }
-        else if (dynamic_cast<QObject*>(*i))
+        else if (dynamic_cast<QWidget*>(*i))
         {
-            delete dynamic_cast<QObject*>(*i);
+            delete dynamic_cast<QWidget*>(*i);
+            *i = NULL;
         }
     }
     // Delete all UAS objects

src/ui/QGCParamWidget.cc

@@ -590,7 +590,6 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
  */
 void QGCParamWidget::requestParameterList()
 {
-    qDebug() << "LOADING PARAM LIST";
     if (!mav) return;
     // FIXME This call does not belong here
     // Once the comm handling is moved to a new
@@ -606,7 +605,8 @@ void QGCParamWidget::requestParameterList()
     // Clear transmission state
     transmissionListMode = true;
     transmissionListSizeKnown.clear();
-    foreach (int key, transmissionMissingPackets.keys()) {
+    foreach (int key, transmissionMissingPackets.keys())
+    {
         transmissionMissingPackets.value(key)->clear();
     }
     transmissionActive = true;