* LinkManager::createConnectedLink: use make_shared to avoid separate allocation
Also avoids some memory leaks when returning early.
* fix LinkManager: set setAutoConnect()
* fix MAVLinkProtocol: use a weak_ptr to check if the link stays valid
It is not enough to check if the link is valid only on entering the method.
If message handling called VehicleLinkManager::closeVehicle(), the link
was removed, and possibly deleted. If more mavlink messages were in the
same buffer, the link was accessed again, triggering a segfault.
This happened for example when rebooting the vehicle from parameter editor.
* Vehicle: fix uninitialized variable _capabilityBits
From valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x5B5F18: GeoFenceController::supported() const (GeoFenceController.cc:495)
==690288== by 0x5B309E: GeoFenceController::_managerVehicleChanged(Vehicle*) (GeoFenceController.cc:125)
==690288== by 0x5B79AF: QtPrivate::FunctorCall<QtPrivate::IndexesList<0>, QtPrivate::List<Vehicle*>, void, void (GeoFenceController::*)(Vehicle*)>::call(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x5B7797: void QtPrivate::FunctionPointer<void (GeoFenceController::*)(Vehicle*)>::call<QtPrivate::List<Vehicle*>, void>(void (GeoFenceController::*)(Vehicle*), GeoFenceController*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x5B7325: QtPrivate::QSlotObject<void (GeoFenceController::*)(Vehicle*), QtPrivate::List<Vehicle*>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x913C9C: PlanMasterController::managerVehicleChanged(Vehicle*) (moc_PlanMasterController.cpp:544)
==690288== by 0x5FF00B: PlanMasterController::_activeVehicleChanged(Vehicle*) (PlanMasterController.cc:160)
==690288== by 0x5FE9A4: PlanMasterController::startStaticActiveVehicle(Vehicle*, bool) (PlanMasterController.cc:116)
==690288== by 0x912EB9: PlanMasterController::qt_static_metacall(QObject*, QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:267)
==690288== by 0x913A2A: PlanMasterController::qt_metacall(QMetaObject::Call, int, void**) (moc_PlanMasterController.cpp:473)
==690288== by 0x880E5C8: QQmlObjectOrGadget::metacall(QMetaObject::Call, int, void**) const (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Qml.so.5.12.5)
* FTPManager: fix uninitialized variable & message filter logic
From Valgrind:
==690288== Conditional jump or move depends on uninitialised value(s)
==690288== at 0x6E74E6: FTPManager::_mavlinkMessageReceived(__mavlink_message const&) (FTPManager.cc:108)
==690288== by 0x70D164: Vehicle::_mavlinkMessageReceived(LinkInterface*, __mavlink_message) (Vehicle.cc:603)
==690288== by 0x726F53: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, __mavlink_message>, void, void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x725990: void QtPrivate::FunctionPointer<void (Vehicle::*)(LinkInterface*, __mavlink_message)>::call<QtPrivate::List<LinkInterface*, __mavlink_message>, void>(void (Vehicle::*)(LinkInterface*, __mavlink_message), Vehicle*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x723B4B: QtPrivate::QSlotObject<void (Vehicle::*)(LinkInterface*, __mavlink_message), QtPrivate::List<LinkInterface*, __mavlink_message>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
==690288== by 0x95DE46: MAVLinkProtocol::messageReceived(LinkInterface*, __mavlink_message) (moc_MAVLinkProtocol.cpp:346)
==690288== by 0x757522: MAVLinkProtocol::receiveBytes(LinkInterface*, QByteArray) (MAVLinkProtocol.cc:362)
==690288== by 0x74C71E: QtPrivate::FunctorCall<QtPrivate::IndexesList<0, 1>, QtPrivate::List<LinkInterface*, QByteArray>, void, void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:152)
==690288== by 0x74BAB4: void QtPrivate::FunctionPointer<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray)>::call<QtPrivate::List<LinkInterface*, QByteArray>, void>(void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), MAVLinkProtocol*, void**) (qobjectdefs_impl.h:185)
==690288== by 0x74B3B7: QtPrivate::QSlotObject<void (MAVLinkProtocol::*)(LinkInterface*, QByteArray), QtPrivate::List<LinkInterface*, QByteArray>, void>::impl(int, QtPrivate::QSlotObjectBase*, QObject*, void**, bool*) (qobjectdefs_impl.h:414)
==690288== by 0x9D43DF5: QMetaObject::activate(QObject*, int, int, void**) (in /opt/install/qt/5.12.5/gcc_64/lib/libQt5Core.so.5.12.5)
* FTPManager: fix uninitialized Request
- Parts of the header were uninit
- zero init the payload allows for mavlink trimming
* Fix ~TerrainTile: use delete[] for arrays
* FactGroup: fix expensive & unnecessary object creation and map lookups
Every mavlink message reception was leading to creation of a list and
key lookup for each of the keys. This can easily be avoided and results
in noticeable reduction of CPU load (I'm seeing overall around 4% with
a pixhawk on USB).
The same pattern exists elsewhere as well
Beat Küng
Don Gagne
DonLakeFlyer