Comms: Convert MAVLinkProtocol to Singleton

mavlink · Nov 23, 2024 · ee80815 · ee80815
1 parent 76ee1c1
commit ee80815
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Showing 37 changed files with 590 additions and 757 deletions.
diff --git a/src/AnalyzeView/LogDownloadController.cc b/src/AnalyzeView/LogDownloadController.cc
@@ -394,8 +394,8 @@ LogDownloadController::_requestLogData(uint16_t id, uint32_t offset, uint32_t co
             qCDebug(LogDownloadControllerLog) << "Request log data (id:" << id << "offset:" << offset << "size:" << count << "retryCount" << retryCount << ")";
             mavlink_message_t msg;
             mavlink_msg_log_request_data_pack_chan(
-                        qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                        MAVLinkProtocol::instance()->getSystemId(),
+                        MAVLinkProtocol::instance()->getComponentId(),
                         sharedLink->mavlinkChannel(),
                         &msg,
                         _vehicle->id(), _vehicle->defaultComponentId(),
@@ -425,8 +425,8 @@ LogDownloadController::_requestLogList(uint32_t start, uint32_t end)
         if (sharedLink) {
             mavlink_message_t msg;
             mavlink_msg_log_request_list_pack_chan(
-                        qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                        MAVLinkProtocol::instance()->getSystemId(),
+                        MAVLinkProtocol::instance()->getComponentId(),
                         sharedLink->mavlinkChannel(),
                         &msg,
                         _vehicle->id(),
@@ -596,8 +596,8 @@ LogDownloadController::eraseAll(void)
         if (sharedLink) {
             mavlink_message_t msg;
             mavlink_msg_log_erase_pack_chan(
-                        qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                        MAVLinkProtocol::instance()->getSystemId(),
+                        MAVLinkProtocol::instance()->getComponentId(),
                         sharedLink->mavlinkChannel(),
                         &msg,
                         qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId());

diff --git a/src/AnalyzeView/MAVLinkConsoleController.cc b/src/AnalyzeView/MAVLinkConsoleController.cc
@@ -159,12 +159,10 @@ void MAVLinkConsoleController::_sendSerialData(const QByteArray &data, bool clos
 
         const uint8_t flags = close ? 0 : SERIAL_CONTROL_FLAG_EXCLUSIVE |  SERIAL_CONTROL_FLAG_RESPOND | SERIAL_CONTROL_FLAG_MULTI;
 
-        MAVLinkProtocol *const protocol = qgcApp()->toolbox()->mavlinkProtocol();
-
         mavlink_message_t msg;
         (void) mavlink_msg_serial_control_pack_chan(
-            protocol->getSystemId(),
-            protocol->getComponentId(),
+            MAVLinkProtocol::instance()->getSystemId(),
+            MAVLinkProtocol::instance()->getComponentId(),
             sharedLink->mavlinkChannel(),
             &msg,
             SERIAL_CONTROL_DEV_SHELL,

diff --git a/src/AnalyzeView/MAVLinkInspectorController.cc b/src/AnalyzeView/MAVLinkInspectorController.cc
@@ -28,8 +28,7 @@ MAVLinkInspectorController::MAVLinkInspectorController()
     connect(multiVehicleManager, &MultiVehicleManager::vehicleAdded,   this, &MAVLinkInspectorController::_vehicleAdded);
     connect(multiVehicleManager, &MultiVehicleManager::vehicleRemoved, this, &MAVLinkInspectorController::_vehicleRemoved);
     connect(multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkInspectorController::_setActiveVehicle);
-    MAVLinkProtocol* mavlinkProtocol = qgcApp()->toolbox()->mavlinkProtocol();
-    connect(mavlinkProtocol, &MAVLinkProtocol::messageReceived, this, &MAVLinkInspectorController::_receiveMessage);
+    connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &MAVLinkInspectorController::_receiveMessage);
     connect(&_updateFrequencyTimer, &QTimer::timeout, this, &MAVLinkInspectorController::_refreshFrequency);
     _updateFrequencyTimer.start(1000);
     _timeScaleSt.append(new TimeScale_st(this, tr("5 Sec"),   5 * 1000));

diff --git a/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc b/src/AutoPilotPlugins/APM/APMSensorsComponentController.cc
@@ -103,7 +103,7 @@ void APMSensorsComponentController::_startLogCalibration(void)
     }
     _cancelButton->setEnabled(_calTypeInProgress == QGCMAVLink::CalibrationMag);
 
-    connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
+    connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
 }
 
 void APMSensorsComponentController::_startVisualCalibration(void)
@@ -116,7 +116,7 @@ void APMSensorsComponentController::_startVisualCalibration(void)
 
     _progressBar->setProperty("value", 0);
 
-    connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
+    connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
 }
 
 void APMSensorsComponentController::_resetInternalState(void)
@@ -147,7 +147,7 @@ void APMSensorsComponentController::_resetInternalState(void)
 
 void APMSensorsComponentController::_stopCalibration(APMSensorsComponentController::StopCalibrationCode code)
 {
-    disconnect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
+    disconnect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &APMSensorsComponentController::_mavlinkMessageReceived);
     _vehicle->vehicleLinkManager()->setCommunicationLostEnabled(true);
 
     disconnect(_vehicle, &Vehicle::textMessageReceived, this, &APMSensorsComponentController::_handleUASTextMessage);
@@ -462,8 +462,8 @@ void APMSensorsComponentController::nextClicked(void)
     if (sharedLink) {
         mavlink_message_t       msg;
 
-        mavlink_msg_command_ack_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-                                          qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+        mavlink_msg_command_ack_pack_chan(MAVLinkProtocol::instance()->getSystemId(),
+                                          MAVLinkProtocol::instance()->getComponentId(),
                                           sharedLink->mavlinkChannel(),
                                           &msg,
                                           0,    // command

diff --git a/src/Camera/QGCCameraIO.cc b/src/Camera/QGCCameraIO.cc
@@ -10,8 +10,6 @@
 #include "MavlinkCameraControl.h"
 #include "QGCCameraIO.h"
 #include "QGCLoggingCategory.h"
-#include "QGCApplication.h"
-#include "QGCToolbox.h"
 #include "LinkInterface.h"
 #include "MAVLinkProtocol.h"
 #include "Vehicle.h"
@@ -47,7 +45,6 @@ QGCCameraParamIO::QGCCameraParamIO(MavlinkCameraControl *control, Fact* fact, Ve
     connect(&_paramWriteTimer,   &QTimer::timeout, this, &QGCCameraParamIO::_paramWriteTimeout);
     connect(_fact, &Fact::rawValueChanged, this, &QGCCameraParamIO::_factChanged);
     connect(_fact, &Fact::_containerRawValueChanged, this, &QGCCameraParamIO::_containerRawValueChanged);
-    _pMavlink = qgcApp()->toolbox()->mavlinkProtocol();
     //-- TODO: Even though we don't use anything larger than 32-bit, this should
     //   probably be updated.
     switch (_fact->type()) {
@@ -196,8 +193,8 @@ QGCCameraParamIO::_sendParameter()
         p.target_component  = static_cast<uint8_t>(_control->compID());
         strncpy(p.param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_ID_LEN);
         mavlink_msg_param_ext_set_encode_chan(
-                    static_cast<uint8_t>(_pMavlink->getSystemId()),
-                    static_cast<uint8_t>(_pMavlink->getComponentId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getComponentId()),
                     sharedLink->mavlinkChannel(),
                     &msg,
                     &p);
@@ -369,8 +366,8 @@ QGCCameraParamIO::paramRequest(bool reset)
         strncpy(param_id, _fact->name().toStdString().c_str(), MAVLINK_MSG_PARAM_EXT_REQUEST_READ_FIELD_PARAM_ID_LEN);
         mavlink_message_t msg;
         mavlink_msg_param_ext_request_read_pack_chan(
-                    static_cast<uint8_t>(_pMavlink->getSystemId()),
-                    static_cast<uint8_t>(_pMavlink->getComponentId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getComponentId()),
                     sharedLink->mavlinkChannel(),
                     &msg,
                     static_cast<uint8_t>(_vehicle->id()),

diff --git a/src/Camera/QGCCameraIO.h b/src/Camera/QGCCameraIO.h
@@ -15,7 +15,6 @@
 class MavlinkCameraControl;
 class Fact;
 class Vehicle;
-class MAVLinkProtocol;
 
 Q_DECLARE_LOGGING_CATEGORY(CameraIOLog)
 Q_DECLARE_LOGGING_CATEGORY(CameraIOLogVerbose)
@@ -77,7 +76,6 @@ private slots:
     bool                _done;
     bool                _updateOnSet;
     MAV_PARAM_EXT_TYPE  _mavParamType;
-    MAVLinkProtocol*    _pMavlink;
     bool                _forceUIUpdate;
 };
 
diff --git a/src/Camera/VehicleCameraControl.cc b/src/Camera/VehicleCameraControl.cc
@@ -1155,11 +1155,10 @@ VehicleCameraControl::_requestAllParameters()
     }
     SharedLinkInterfacePtr sharedLink = _vehicle->vehicleLinkManager()->primaryLink().lock();
     if (sharedLink) {
-        MAVLinkProtocol* mavlink = qgcApp()->toolbox()->mavlinkProtocol();
         mavlink_message_t msg;
         mavlink_msg_param_ext_request_list_pack_chan(
-                    static_cast<uint8_t>(mavlink->getSystemId()),
-                    static_cast<uint8_t>(mavlink->getComponentId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getSystemId()),
+                    static_cast<uint8_t>(MAVLinkProtocol::instance()->getComponentId()),
                     sharedLink->mavlinkChannel(),
                     &msg,
                     static_cast<uint8_t>(_vehicle->id()),

diff --git a/src/Comms/AirLink/AirLinkLink.cc b/src/Comms/AirLink/AirLinkLink.cc
@@ -61,7 +61,7 @@ void AirLinkLink::disconnect()
 bool AirLinkLink::_connect()
 {
     std::shared_ptr<QMetaObject::Connection> conn = std::make_shared<QMetaObject::Connection>();
-    *conn = connect(qgcApp()->toolbox()->mavlinkProtocol(), &MAVLinkProtocol::messageReceived, this, [this, conn] (const LinkInterface* linkSrc, const mavlink_message_t &message) {
+    *conn = connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, [this, conn] (const LinkInterface* linkSrc, const mavlink_message_t &message) {
         if (this != linkSrc || message.msgid != MAVLINK_MSG_ID_AIRLINK_AUTH_RESPONSE) {
             return;
         }

diff --git a/src/Comms/LinkManager.cc b/src/Comms/LinkManager.cc
@@ -88,7 +88,6 @@ void LinkManager::setToolbox(QGCToolbox *toolbox)
     QGCTool::setToolbox(toolbox);
 
     _autoConnectSettings = toolbox->settingsManager()->autoConnectSettings();
-    _mavlinkProtocol = _toolbox->mavlinkProtocol();
 
     if (!qgcApp()->runningUnitTests()) {
         (void) connect(_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
@@ -162,12 +161,12 @@ bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
     config->setLink(link);
 
     (void) connect(link.get(), &LinkInterface::communicationError, _app, &QGCApplication::criticalMessageBoxOnMainThread);
-    (void) connect(link.get(), &LinkInterface::bytesReceived, _mavlinkProtocol, &MAVLinkProtocol::receiveBytes);
-    (void) connect(link.get(), &LinkInterface::bytesSent, _mavlinkProtocol, &MAVLinkProtocol::logSentBytes);
+    (void) connect(link.get(), &LinkInterface::bytesReceived, MAVLinkProtocol::instance(), &MAVLinkProtocol::receiveBytes);
+    (void) connect(link.get(), &LinkInterface::bytesSent, MAVLinkProtocol::instance(), &MAVLinkProtocol::logSentBytes);
     (void) connect(link.get(), &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 
-    _mavlinkProtocol->resetMetadataForLink(link.get());
-    _mavlinkProtocol->setVersion(_mavlinkProtocol->getCurrentVersion());
+    MAVLinkProtocol::instance()->resetMetadataForLink(link.get());
+    MAVLinkProtocol::instance()->setVersion(MAVLinkProtocol::instance()->getCurrentVersion());
 
     if (!link->_connect()) {
         link->_freeMavlinkChannel();
@@ -220,8 +219,8 @@ void LinkManager::_linkDisconnected()
     }
 
     (void) disconnect(link, &LinkInterface::communicationError, _app, &QGCApplication::criticalMessageBoxOnMainThread);
-    (void) disconnect(link, &LinkInterface::bytesReceived, _mavlinkProtocol, &MAVLinkProtocol::receiveBytes);
-    (void) disconnect(link, &LinkInterface::bytesSent, _mavlinkProtocol, &MAVLinkProtocol::logSentBytes);
+    (void) disconnect(link, &LinkInterface::bytesReceived, MAVLinkProtocol::instance(), &MAVLinkProtocol::receiveBytes);
+    (void) disconnect(link, &LinkInterface::bytesSent, MAVLinkProtocol::instance(), &MAVLinkProtocol::logSentBytes);
     (void) disconnect(link, &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
 
     link->_freeMavlinkChannel();

diff --git a/src/Comms/LinkManager.h b/src/Comms/LinkManager.h
@@ -149,7 +149,6 @@ private slots:
     QString _connectionsSuspendedReason;            ///< User visible reason for suspension
 
     AutoConnectSettings *_autoConnectSettings = nullptr;
-    MAVLinkProtocol *_mavlinkProtocol = nullptr;
     QTimer *_portListTimer = nullptr;
     QmlObjectListModel *_qmlConfigurations = nullptr;
 

diff --git a/src/Comms/LogReplayLink.cc b/src/Comms/LogReplayLink.cc
@@ -360,7 +360,7 @@ void LogReplayLink::_play(void)
 {
     qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
 #ifndef __mobile__
-    qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(true);
+    MAVLinkProtocol::instance()->suspendLogForReplay(true);
 #endif
 
     // Make sure we aren't at the end of the file, if we are, reset to the beginning and play from there.
@@ -379,7 +379,7 @@ void LogReplayLink::_pause(void)
 {
     qgcApp()->toolbox()->linkManager()->setConnectionsAllowed();
 #ifndef __mobile__
-    qgcApp()->toolbox()->mavlinkProtocol()->suspendLogForReplay(false);
+    MAVLinkProtocol::instance()->suspendLogForReplay(false);
 #endif
 
     _readTickTimer.stop();