From ebdd072e57774ad4c1d0198c0c4794dede979cd6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 24 May 2014 16:11:30 +0200
Subject: [PATCH] Fix up threading of UAS object, WIP
---
qgroundcontrol.pro | 6 ++++--
src/uas/QGCMAVLinkUASFactory.cc | 3 ++-
src/uas/QGCUASWorker.cc | 12 ++++++++++++
src/uas/QGCUASWorker.h | 15 +++++++++++++++
src/uas/UAS.cc | 12 ++++++------
5 files changed, 39 insertions(+), 9 deletions(-)
create mode 100644 src/uas/QGCUASWorker.cc
create mode 100644 src/uas/QGCUASWorker.h
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 135006d..f52faf0 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -562,7 +562,8 @@ HEADERS += \
src/ui/designer/QGCXYPlot.h \
src/ui/menuactionhelper.h \
src/uas/UASManagerInterface.h \
- src/uas/QGCUASParamManagerInterface.h
+ src/uas/QGCUASParamManagerInterface.h \
+ src/uas/QGCUASWorker.h
SOURCES += \
src/main.cc \
@@ -745,4 +746,5 @@ SOURCES += \
src/ui/px4_configuration/QGCPX4MulticopterConfig.cc \
src/ui/px4_configuration/QGCPX4SensorCalibration.cc \
src/ui/designer/QGCXYPlot.cc \
- src/ui/menuactionhelper.cpp
+ src/ui/menuactionhelper.cpp \
+ src/uas/QGCUASWorker.cc
diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc
index b7658ae..c55648c 100644
--- a/src/uas/QGCMAVLinkUASFactory.cc
+++ b/src/uas/QGCMAVLinkUASFactory.cc
@@ -1,5 +1,6 @@
#include "QGCMAVLinkUASFactory.h"
#include "UASManager.h"
+#include "QGCUASWorker.h"
QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
QObject(parent)
@@ -21,7 +22,7 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
UASInterface* uas;
- QThread* worker = new QThread();
+ QGCUASWorker* worker = new QGCUASWorker();
switch (heartbeat->autopilot)
{
diff --git a/src/uas/QGCUASWorker.cc b/src/uas/QGCUASWorker.cc
new file mode 100644
index 0000000..6fb74b1
--- /dev/null
+++ b/src/uas/QGCUASWorker.cc
@@ -0,0 +1,12 @@
+#include "QGCUASWorker.h"
+
+#include <QGC.h>
+
+QGCUASWorker::QGCUASWorker() : QThread()
+{
+}
+
+void QGCUASWorker::run()
+{
+ QGC::SLEEP::msleep(100);
+}
diff --git a/src/uas/QGCUASWorker.h b/src/uas/QGCUASWorker.h
new file mode 100644
index 0000000..a486728
--- /dev/null
+++ b/src/uas/QGCUASWorker.h
@@ -0,0 +1,15 @@
+#ifndef QGCUASWORKER_H
+#define QGCUASWORKER_H
+
+#include <QThread>
+
+class QGCUASWorker : public QThread
+{
+public:
+ QGCUASWorker();
+
+protected:
+ void run();
+};
+
+#endif // QGCUASWORKER_H
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 0ff565d..fbc4bb3 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -51,7 +51,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
commStatus(COMM_DISCONNECTED),
receiveDropRate(0),
sendDropRate(0),
- statusTimeout(new QTimer(this)),
+ statusTimeout(new QTimer()),
name(""),
type(MAV_TYPE_GENERIC),
@@ -138,7 +138,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
airSpeed(std::numeric_limits<double>::quiet_NaN()),
groundSpeed(std::numeric_limits<double>::quiet_NaN()),
- waypointManager(this),
+ waypointManager(),
attitudeKnown(false),
attitudeStamped(false),
@@ -153,7 +153,7 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
paramsOnceRequested(false),
- paramMgr(this),
+ paramMgr(),
simulation(0),
// The protected members.
@@ -180,17 +180,17 @@ UAS::UAS(MAVLinkProtocol* protocol, QThread* thread, int id) : UASInterface(),
// Store a list of available actions for this UAS.
// Basically everything exposed as a SLOT with no return value or arguments.
- QAction* newAction = new QAction(tr("Arm"), this);
+ QAction* newAction = new QAction(tr("Arm"), thread);
newAction->setToolTip(tr("Enable the UAS so that all actuators are online"));
connect(newAction, SIGNAL(triggered()), this, SLOT(armSystem()));
actions.append(newAction);
- newAction = new QAction(tr("Disarm"), this);
+ newAction = new QAction(tr("Disarm"), thread);
newAction->setToolTip(tr("Disable the UAS so that all actuators are offline"));
connect(newAction, SIGNAL(triggered()), this, SLOT(disarmSystem()));
actions.append(newAction);
- newAction = new QAction(tr("Toggle armed"), this);
+ newAction = new QAction(tr("Toggle armed"), thread);
newAction->setToolTip(tr("Toggle between armed and disarmed"));
connect(newAction, SIGNAL(triggered()), this, SLOT(toggleAutonomy()));
actions.append(newAction);