Skip to content

Commit 3026667

Browse files
HTRamseyHTRamsey
committed
Cleanup and Improve QGCApplication
1 parent 241dbed commit 3026667

File tree

9 files changed

+1077
-452
lines changed

9 files changed

+1077
-452
lines changed

‎src/Comms/LinkManager.cc‎

Lines changed: 91 additions & 89 deletions
Original file line numberDiff line numberDiff line change
@@ -461,81 +461,6 @@ void LinkManager::_addMAVLinkForwardingLink()
461461
_createDynamicForwardLink(_mavlinkForwardingLinkName, hostName);
462462
}
463463

464-
#ifdef QGC_ZEROCONF_ENABLED
465-
void LinkManager::_addZeroConfAutoConnectLink()
466-
{
467-
if (!_autoConnectSettings->autoConnectZeroConf()->rawValue().toBool()) {
468-
return;
469-
}
470-
471-
static QSharedPointer<QMdnsEngine::Server> server;
472-
static QSharedPointer<QMdnsEngine::Browser> browser;
473-
server.reset(new QMdnsEngine::Server());
474-
browser.reset(new QMdnsEngine::Browser(server.get(), QMdnsEngine::MdnsBrowseType));
475-
476-
const auto checkIfConnectionLinkExist = [this](LinkConfiguration::LinkType linkType, const QString &linkName) {
477-
QMutexLocker locker(&_linksMutex);
478-
for (const SharedLinkInterfacePtr &link : std::as_const(_rgLinks)) {
479-
const SharedLinkConfigurationPtr linkConfig = link->linkConfiguration();
480-
if (linkConfig && (linkConfig->type() == linkType) && (linkConfig->name() == linkName)) {
481-
return true;
482-
}
483-
}
484-
485-
return false;
486-
};
487-
488-
(void) connect(browser.get(), &QMdnsEngine::Browser::serviceAdded, this, [checkIfConnectionLinkExist, this](const QMdnsEngine::Service &service) {
489-
qCDebug(LinkManagerLog) << "Found Zero-Conf:" << service.type() << service.name() << service.hostname() << service.port() << service.attributes();
490-
491-
if (!service.type().startsWith("_mavlink")) {
492-
qCWarning(LinkManagerLog) << "Invalid ZeroConf SericeType" << service.type();
493-
return;
494-
}
495-
496-
// Windows doesnt accept trailling dots in mdns
497-
// http://www.dns-sd.org/trailingdotsindomainnames.html
498-
QString hostname = service.hostname();
499-
if (hostname.endsWith('.')) {
500-
hostname.chop(1);
501-
}
502-
503-
if (service.type().startsWith("_mavlink._udp")) {
504-
static const QString udpName = QStringLiteral("ZeroConf UDP");
505-
if (checkIfConnectionLinkExist(LinkConfiguration::TypeUdp, udpName)) {
506-
qCDebug(LinkManagerLog) << "Connection already exist";
507-
return;
508-
}
509-
510-
UDPConfiguration *const link = new UDPConfiguration(udpName);
511-
link->addHost(hostname, service.port());
512-
link->setAutoConnect(true);
513-
link->setDynamic(true);
514-
SharedLinkConfigurationPtr config = addConfiguration(link);
515-
if (!createConnectedLink(config)) {
516-
qCWarning(LinkManagerLog) << "Failed to create" << udpName;
517-
}
518-
} else if (service.type().startsWith("_mavlink._tcp")) {
519-
static QString tcpName = QStringLiteral("ZeroConf TCP");
520-
if (checkIfConnectionLinkExist(LinkConfiguration::TypeTcp, tcpName)) {
521-
qCDebug(LinkManagerLog) << "Connection already exist";
522-
return;
523-
}
524-
525-
TCPConfiguration *const link = new TCPConfiguration(tcpName);
526-
link->setHost(hostname);
527-
link->setPort(service.port());
528-
link->setAutoConnect(true);
529-
link->setDynamic(true);
530-
SharedLinkConfigurationPtr config = addConfiguration(link);
531-
if (!createConnectedLink(config)) {
532-
qCWarning(LinkManagerLog) << "Failed to create" << tcpName;
533-
}
534-
}
535-
});
536-
}
537-
#endif
538-
539464
void LinkManager::_updateAutoConnectLinks()
540465
{
541466
if (_connectionsSuspended) {
@@ -798,6 +723,97 @@ void LinkManager::_createDynamicForwardLink(const char *linkName, const QString
798723
qCDebug(LinkManagerLog) << "New dynamic MAVLink forwarding port added:" << linkName << " hostname:" << hostName;
799724
}
800725

726+
void LinkManager::resetMavlinkSigning()
727+
{
728+
// Make a copy under mutex protection to avoid holding lock during signing initialization
729+
QList<SharedLinkInterfacePtr> links;
730+
{
731+
QMutexLocker locker(&_linksMutex);
732+
links = _rgLinks;
733+
}
734+
735+
for (const SharedLinkInterfacePtr &sharedLink: links) {
736+
sharedLink->initMavlinkSigning();
737+
}
738+
}
739+
740+
#ifdef QGC_ZEROCONF_ENABLED
741+
742+
void LinkManager::_addZeroConfAutoConnectLink()
743+
{
744+
if (!_autoConnectSettings->autoConnectZeroConf()->rawValue().toBool()) {
745+
return;
746+
}
747+
748+
static QSharedPointer<QMdnsEngine::Server> server;
749+
static QSharedPointer<QMdnsEngine::Browser> browser;
750+
server.reset(new QMdnsEngine::Server());
751+
browser.reset(new QMdnsEngine::Browser(server.get(), QMdnsEngine::MdnsBrowseType));
752+
753+
const auto checkIfConnectionLinkExist = [this](LinkConfiguration::LinkType linkType, const QString &linkName) {
754+
QMutexLocker locker(&_linksMutex);
755+
for (const SharedLinkInterfacePtr &link : std::as_const(_rgLinks)) {
756+
const SharedLinkConfigurationPtr linkConfig = link->linkConfiguration();
757+
if (linkConfig && (linkConfig->type() == linkType) && (linkConfig->name() == linkName)) {
758+
return true;
759+
}
760+
}
761+
762+
return false;
763+
};
764+
765+
(void) connect(browser.get(), &QMdnsEngine::Browser::serviceAdded, this, [checkIfConnectionLinkExist, this](const QMdnsEngine::Service &service) {
766+
qCDebug(LinkManagerLog) << "Found Zero-Conf:" << service.type() << service.name() << service.hostname() << service.port() << service.attributes();
767+
768+
if (!service.type().startsWith("_mavlink")) {
769+
qCWarning(LinkManagerLog) << "Invalid ZeroConf SericeType" << service.type();
770+
return;
771+
}
772+
773+
// Windows doesnt accept trailling dots in mdns
774+
// http://www.dns-sd.org/trailingdotsindomainnames.html
775+
QString hostname = service.hostname();
776+
if (hostname.endsWith('.')) {
777+
hostname.chop(1);
778+
}
779+
780+
if (service.type().startsWith("_mavlink._udp")) {
781+
static const QString udpName = QStringLiteral("ZeroConf UDP");
782+
if (checkIfConnectionLinkExist(LinkConfiguration::TypeUdp, udpName)) {
783+
qCDebug(LinkManagerLog) << "Connection already exist";
784+
return;
785+
}
786+
787+
UDPConfiguration *const link = new UDPConfiguration(udpName);
788+
link->addHost(hostname, service.port());
789+
link->setAutoConnect(true);
790+
link->setDynamic(true);
791+
SharedLinkConfigurationPtr config = addConfiguration(link);
792+
if (!createConnectedLink(config)) {
793+
qCWarning(LinkManagerLog) << "Failed to create" << udpName;
794+
}
795+
} else if (service.type().startsWith("_mavlink._tcp")) {
796+
static QString tcpName = QStringLiteral("ZeroConf TCP");
797+
if (checkIfConnectionLinkExist(LinkConfiguration::TypeTcp, tcpName)) {
798+
qCDebug(LinkManagerLog) << "Connection already exist";
799+
return;
800+
}
801+
802+
TCPConfiguration *const link = new TCPConfiguration(tcpName);
803+
link->setHost(hostname);
804+
link->setPort(service.port());
805+
link->setAutoConnect(true);
806+
link->setDynamic(true);
807+
SharedLinkConfigurationPtr config = addConfiguration(link);
808+
if (!createConnectedLink(config)) {
809+
qCWarning(LinkManagerLog) << "Failed to create" << tcpName;
810+
}
811+
}
812+
});
813+
}
814+
815+
#endif // QGC_ZEROCONF_ENABLED
816+
801817
bool LinkManager::isLinkUSBDirect(const LinkInterface *link)
802818
{
803819
#ifndef QGC_NO_SERIAL_LINK
@@ -820,20 +836,6 @@ bool LinkManager::isLinkUSBDirect(const LinkInterface *link)
820836
return false;
821837
}
822838

823-
void LinkManager::resetMavlinkSigning()
824-
{
825-
// Make a copy under mutex protection to avoid holding lock during signing initialization
826-
QList<SharedLinkInterfacePtr> links;
827-
{
828-
QMutexLocker locker(&_linksMutex);
829-
links = _rgLinks;
830-
}
831-
832-
for (const SharedLinkInterfacePtr &sharedLink: links) {
833-
sharedLink->initMavlinkSigning();
834-
}
835-
}
836-
837839
#ifndef QGC_NO_SERIAL_LINK // Serial Only Functions
838840

839841
void LinkManager::_filterCompositePorts(QList<QGCSerialPortInfo> &portList)

‎src/Comms/LinkManager.h‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -36,10 +36,10 @@ class SerialLink;
3636
class UDPConfiguration;
3737
class UdpIODevice;
3838

39-
/// @brief Manage communication links
40-
/// The Link Manager organizes the physical Links. It can manage arbitrary
41-
/// links and takes care of connecting them as well assigning the correct
42-
/// protocol instance to transport the link data into the application.
39+
/// Manage communication links
40+
/// The Link Manager organizes the physical Links. It can manage arbitrary
41+
/// links and takes care of connecting them as well assigning the correct
42+
/// protocol instance to transport the link data into the application.
4343
class LinkManager : public QObject
4444
{
4545
Q_OBJECT
@@ -178,9 +178,9 @@ private slots:
178178
Q_PROPERTY(QStringList serialPorts READ serialPorts NOTIFY commPortsChanged)
179179

180180
public:
181-
static QStringList serialBaudRates();
182181
QStringList serialPortStrings();
183182
QStringList serialPorts();
183+
static QStringList serialBaudRates();
184184

185185
signals:
186186
void commPortStringsChanged();

‎src/FactSystem/ParameterManager.cc‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -878,7 +878,8 @@ void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
878878
QDir ParameterManager::parameterCacheDir()
879879
{
880880
const QString spath(QFileInfo(QSettings().fileName()).dir().absolutePath());
881-
return (spath + QDir::separator() + QStringLiteral("ParamCache"));
881+
const QDir cacheDir(spath + QDir::separator() + QStringLiteral("ParamCache"));
882+
return cacheDir;
882883
}
883884

884885
QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)

0 commit comments

Comments
 (0)