Convert FirmwarePluginManager to Singleton

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -14,54 +14,67 @@
 #include "FirmwarePluginManager.h"
 #include "FirmwarePlugin.h"
 #include "FirmwarePluginFactory.h"
+#include "QGCLoggingCategory.h"
 
-FirmwarePluginManager::FirmwarePluginManager(QGCApplication* app, QGCToolbox* toolbox)
-    : QGCTool(app, toolbox)
-    , _genericFirmwarePlugin(nullptr)
-{
+#include <QtCore/qapplicationstatic.h>
+
+QGC_LOGGING_CATEGORY(FirmwarePluginManagerLog, "qgc.firmwareplugin.firmwarepluginmanager");
+
+Q_APPLICATION_STATIC(FirmwarePluginManager, _firmwarePluginManagerInstance);
 
+FirmwarePluginManager::FirmwarePluginManager(QObject *parent)
+    : QObject(parent)
+{
+    // qCDebug(FirmwarePluginManagerLog) << Q_FUNC_INFO << this;
 }
 
 FirmwarePluginManager::~FirmwarePluginManager()
 {
+    // qCDebug(FirmwarePluginManagerLog) << Q_FUNC_INFO << this;
+
     delete _genericFirmwarePlugin;
 }
 
-QList<QGCMAVLink::FirmwareClass_t> FirmwarePluginManager::supportedFirmwareClasses(void)
+FirmwarePluginManager *FirmwarePluginManager::instance()
+{
+    return _firmwarePluginManagerInstance();
+}
+
+QList<QGCMAVLink::FirmwareClass_t> FirmwarePluginManager::supportedFirmwareClasses()
 {
     if (_supportedFirmwareClasses.isEmpty()) {
-        QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
-        for (int i = 0; i < factoryList.count(); i++) {
-            _supportedFirmwareClasses.append(factoryList[i]->supportedFirmwareClasses());
+        const QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
+        for (const FirmwarePluginFactory *factory: factoryList) {
+            _supportedFirmwareClasses.append(factory->supportedFirmwareClasses());
         }
         _supportedFirmwareClasses.append(QGCMAVLink::FirmwareClassGeneric);
     }
+
     return _supportedFirmwareClasses;
 }
 
 QList<QGCMAVLink::VehicleClass_t> FirmwarePluginManager::supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass)
 {
     QList<QGCMAVLink::VehicleClass_t> vehicleClasses;
-
-    FirmwarePluginFactory* factory = _findPluginFactory(firmwareClass);
+    const FirmwarePluginFactory *const factory = _findPluginFactory(firmwareClass);
 
     if (factory) {
         vehicleClasses = factory->supportedVehicleClasses();
     } else if (firmwareClass == QGCMAVLink::FirmwareClassGeneric) {
         // Generic supports all specific vehicle class
         vehicleClasses = QGCMAVLink::allVehicleClasses();
-        vehicleClasses.removeOne(QGCMAVLink::VehicleClassGeneric);
+        (void) vehicleClasses.removeOne(QGCMAVLink::VehicleClassGeneric);
     } else {
-        qWarning() << "Request for unknown firmware plugin factory" << firmwareClass;
+        qCWarning(FirmwarePluginManagerLog) << "Request for unknown firmware plugin factory" << firmwareClass;
     }
 
     return vehicleClasses;
 }
 
-FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
+FirmwarePlugin *FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
 {
-    FirmwarePluginFactory*  factory = _findPluginFactory(firmwareType);
-    FirmwarePlugin*         plugin = nullptr;
+    FirmwarePluginFactory *const factory = _findPluginFactory(firmwareType);
+    FirmwarePlugin *plugin = nullptr;
 
     if (factory) {
         plugin = factory->firmwarePluginForAutopilot(firmwareType, vehicleType);
@@ -70,21 +83,20 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
     if (!plugin) {
         // Default plugin fallback
         if (!_genericFirmwarePlugin) {
-            _genericFirmwarePlugin = new FirmwarePlugin;
+            _genericFirmwarePlugin = new FirmwarePlugin();
         }
         plugin = _genericFirmwarePlugin;
     }
 
     return plugin;
 }
 
-FirmwarePluginFactory* FirmwarePluginManager::_findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass)
+FirmwarePluginFactory *FirmwarePluginManager::_findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass)
 {
-    QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
+    const QList<FirmwarePluginFactory*> factoryList = FirmwarePluginFactoryRegister::instance()->pluginFactories();
 
     // Find the plugin which supports this vehicle
-    for (int i=0; i<factoryList.count(); i++) {
-        FirmwarePluginFactory* factory = factoryList[i];
+    for (FirmwarePluginFactory *factory: factoryList) {
         if (factory->supportedFirmwareClasses().contains(firmwareClass)) {
             return factory;
         }

src/FirmwarePlugin/FirmwarePluginManager.h

@@ -9,28 +9,35 @@
 
 #pragma once
 
+#include <QtCore/QLoggingCategory>
 #include <QtCore/QObject>
 
 #include "QGCMAVLink.h"
-#include "QGCToolbox.h"
 
-
-class QGCApplication;
 class FirmwarePlugin;
 class FirmwarePluginFactory;
 
-/// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
+Q_DECLARE_LOGGING_CATEGORY(FirmwarePluginManagerLog)
 
-class FirmwarePluginManager : public QGCTool
+/// FirmwarePluginManager is a singleton which is used to return the correct FirmwarePlugin for a MAV_AUTOPILOT type.
+class FirmwarePluginManager : public QObject
 {
     Q_OBJECT
 
 public:
-    FirmwarePluginManager(QGCApplication* app, QGCToolbox* toolbox);
+    /// Constructs an FirmwarePluginManager object.
+    ///     @param parent The parent QObject.
+    explicit FirmwarePluginManager(QObject *parent = nullptr);
+
+    /// Destructor for the FirmwarePluginManager class.
     ~FirmwarePluginManager();
 
+    /// Gets the singleton instance of FirmwarePluginManager.
+    ///     @return The singleton instance.
+    static FirmwarePluginManager *instance();
+
     /// Returns list of firmwares which are supported by the system
-    QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses(void);
+    QList<QGCMAVLink::FirmwareClass_t> supportedFirmwareClasses();
 
     /// Returns the list of supported vehicle types for the specified firmware
     QList<QGCMAVLink::VehicleClass_t> supportedVehicleClasses(QGCMAVLink::FirmwareClass_t firmwareClass);
@@ -39,11 +46,11 @@ class FirmwarePluginManager : public QGCTool
     ///     @param firmwareType Type of firmwware to return plugin for.
     ///     @param vehicleType Vehicle type to return plugin for.
     /// @return Singleton FirmwarePlugin instance for the specified MAV_AUTOPILOT.
-    FirmwarePlugin* firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
+    FirmwarePlugin *firmwarePluginForAutopilot(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType);
 
 private:
-    FirmwarePluginFactory* _findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass);
+    FirmwarePluginFactory *_findPluginFactory(QGCMAVLink::FirmwareClass_t firmwareClass);
 
-    FirmwarePlugin*                     _genericFirmwarePlugin;
-    QList<QGCMAVLink::FirmwareClass_t>  _supportedFirmwareClasses;
+    FirmwarePlugin *_genericFirmwarePlugin = nullptr;
+    QList<QGCMAVLink::FirmwareClass_t> _supportedFirmwareClasses;
 };

src/MissionManager/MissionCommandTree.cc

@@ -43,8 +43,8 @@ void MissionCommandTree::setToolbox(QGCToolbox* toolbox)
     } else {
 #endif
         // Load all levels of hierarchy
-        for (const QGCMAVLink::FirmwareClass_t firmwareClass: _toolbox->firmwarePluginManager()->supportedFirmwareClasses()) {
-            FirmwarePlugin* plugin = _toolbox->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), MAV_TYPE_QUADROTOR);
+        for (const QGCMAVLink::FirmwareClass_t firmwareClass: FirmwarePluginManager::instance()->supportedFirmwareClasses()) {
+            FirmwarePlugin* plugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), MAV_TYPE_QUADROTOR);
 
             for (const QGCMAVLink::VehicleClass_t vehicleClass: QGCMAVLink::allVehicleClasses()) {
                 QString overrideFile = plugin->missionCommandOverrides(vehicleClass);
@@ -209,7 +209,7 @@ QVariantList MissionCommandTree::getCommandsForCategory(Vehicle* vehicle, const
 
     // vehicle can be null in which case _firmwareAndVehicleClassInfo will tell of the firmware/vehicle type for the offline editing vehicle.
     // We then use that to get a firmware plugin so we can get the list of supported commands.
-    FirmwarePlugin* firmwarePlugin = qgcApp()->toolbox()->firmwarePluginManager()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
+    FirmwarePlugin* firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(QGCMAVLink::firmwareClassToAutopilot(firmwareClass), QGCMAVLink::vehicleClassToMavType(vehicleClass));
     QList<MAV_CMD>  supportedCommands = firmwarePlugin->supportedMissionCommands(vehicleClass);
 
     QVariantList list;

src/MissionManager/PlanMasterController.cc

@@ -34,7 +34,7 @@ QGC_LOGGING_CATEGORY(PlanMasterControllerLog, "PlanMasterControllerLog")
 PlanMasterController::PlanMasterController(QObject* parent)
     : QObject               (parent)
     , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
-    , _controllerVehicle    (new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK, qgcApp()->toolbox()->firmwarePluginManager(), this))
+    , _controllerVehicle    (new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK, this))
     , _managerVehicle       (_controllerVehicle)
     , _missionController    (this)
     , _geoFenceController   (this)
@@ -47,7 +47,7 @@ PlanMasterController::PlanMasterController(QObject* parent)
 PlanMasterController::PlanMasterController(MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType, QObject* parent)
     : QObject               (parent)
     , _multiVehicleMgr      (qgcApp()->toolbox()->multiVehicleManager())
-    , _controllerVehicle    (new Vehicle(firmwareType, vehicleType, qgcApp()->toolbox()->firmwarePluginManager()))
+    , _controllerVehicle    (new Vehicle(firmwareType, vehicleType))
     , _managerVehicle       (_controllerVehicle)
     , _missionController    (this)
     , _geoFenceController   (this)

src/QGCApplication.cc

@@ -46,7 +46,6 @@
 #include "SyslinkComponentController.h"
 #include "AutoPilotPlugin.h"
 #include "VehicleComponent.h"
-#include "FirmwarePluginManager.h"
 #include "MultiVehicleManager.h"
 #include "Vehicle.h"
 #include "JoystickConfigController.h"

src/QGCToolbox.cc

@@ -8,7 +8,6 @@
  ****************************************************************************/
 
 
-#include "FirmwarePluginManager.h"
 #include "LinkManager.h"
 #include "MAVLinkProtocol.h"
 #include "MissionCommandTree.h"
@@ -38,7 +37,6 @@ QGCToolbox::QGCToolbox(QGCApplication* app)
 
     //-- Scan and load plugins
     _scanAndLoadPlugins(app);
-    _firmwarePluginManager  = new FirmwarePluginManager     (app, this);
     _linkManager            = new LinkManager               (app, this);
     _mavlinkProtocol        = new MAVLinkProtocol           (app, this);
     _missionCommandTree     = new MissionCommandTree        (app, this);
@@ -60,7 +58,6 @@ void QGCToolbox::setChildToolboxes(void)
     _settingsManager->setToolbox(this);
 
     _corePlugin->setToolbox(this);
-    _firmwarePluginManager->setToolbox(this);
     _linkManager->setToolbox(this);
     _mavlinkProtocol->setToolbox(this);
     _missionCommandTree->setToolbox(this);

src/QGCToolbox.h

@@ -13,7 +13,6 @@
 
 #include <QtCore/QObject>
 
-class FirmwarePluginManager;
 class LinkManager;
 class MAVLinkProtocol;
 class MissionCommandTree;
@@ -37,7 +36,6 @@ class QGCToolbox : public QObject {
 public:
     QGCToolbox(QGCApplication* app);
 
-    FirmwarePluginManager*      firmwarePluginManager   () { return _firmwarePluginManager; }
     LinkManager*                linkManager             () { return _linkManager; }
     MAVLinkProtocol*            mavlinkProtocol         () { return _mavlinkProtocol; }
     MissionCommandTree*         missionCommandTree      () { return _missionCommandTree; }
@@ -57,7 +55,6 @@ class QGCToolbox : public QObject {
     void setChildToolboxes(void);
     void _scanAndLoadPlugins(QGCApplication *app);
 
-    FirmwarePluginManager*      _firmwarePluginManager  = nullptr;
     LinkManager*                _linkManager            = nullptr;
     MAVLinkProtocol*            _mavlinkProtocol        = nullptr;
     MissionCommandTree*         _missionCommandTree     = nullptr;

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -83,7 +83,6 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
     _videoManager           = toolbox->videoManager();
     _mavlinkLogManager      = toolbox->mavlinkLogManager();
     _corePlugin             = toolbox->corePlugin();
-    _firmwarePluginManager  = toolbox->firmwarePluginManager();
     _settingsManager        = toolbox->settingsManager();
 #ifndef NO_SERIAL_LINK
     _gpsRtkFactGroup        = GPSManager::instance()->gpsRtk()->gpsRtkFactGroup();
@@ -209,26 +208,26 @@ void QGroundControlQmlGlobal::setMavlinkSystemID(int id)
 
 bool QGroundControlQmlGlobal::singleFirmwareSupport(void)
 {
-    return _firmwarePluginManager->supportedFirmwareClasses().count() == 1;
+    return FirmwarePluginManager::instance()->supportedFirmwareClasses().count() == 1;
 }
 
 bool QGroundControlQmlGlobal::singleVehicleSupport(void)
 {
     if (singleFirmwareSupport()) {
-        return _firmwarePluginManager->supportedVehicleClasses(_firmwarePluginManager->supportedFirmwareClasses()[0]).count() == 1;
+        return FirmwarePluginManager::instance()->supportedVehicleClasses(FirmwarePluginManager::instance()->supportedFirmwareClasses()[0]).count() == 1;
     }
 
     return false;
 }
 
 bool QGroundControlQmlGlobal::px4ProFirmwareSupported()
 {
-    return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassPX4);
+    return FirmwarePluginManager::instance()->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassPX4);
 }
 
 bool QGroundControlQmlGlobal::apmFirmwareSupported()
 {
-    return _firmwarePluginManager->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassArduPilot);
+    return FirmwarePluginManager::instance()->supportedFirmwareClasses().contains(QGCMAVLink::FirmwareClassArduPilot);
 }
 
 bool QGroundControlQmlGlobal::linesIntersect(QPointF line1A, QPointF line1B, QPointF line2A, QPointF line2B)

src/QmlControls/QGroundControlQmlGlobal.h

@@ -268,7 +268,6 @@ class QGroundControlQmlGlobal : public QGCTool
     VideoManager*           _videoManager           = nullptr;
     MAVLinkLogManager*      _mavlinkLogManager      = nullptr;
     QGCCorePlugin*          _corePlugin             = nullptr;
-    FirmwarePluginManager*  _firmwarePluginManager  = nullptr;
     SettingsManager*        _settingsManager        = nullptr;
 #ifndef NO_SERIAL_LINK
     FactGroup*              _gpsRtkFactGroup        = nullptr;

src/Vehicle/Components/CompInfoParam.cc

@@ -144,16 +144,15 @@ FactMetaData* CompInfoParam::factMetaDataForName(const QString& name, FactMetaDa
 
 FirmwarePlugin* CompInfoParam::_anyVehicleTypeFirmwarePlugin(MAV_AUTOPILOT firmwareType)
 {
-    FirmwarePluginManager* const pluginMgr = qgcApp()->toolbox()->firmwarePluginManager();
     const QGCMAVLink::FirmwareClass_t firmwareClass = QGCMAVLink::firmwareClass(firmwareType);
-    const QList<QGCMAVLink::VehicleClass_t> supportedClasses = pluginMgr->supportedVehicleClasses(firmwareClass);
+    const QList<QGCMAVLink::VehicleClass_t> supportedClasses = FirmwarePluginManager::instance()->supportedVehicleClasses(firmwareClass);
     MAV_TYPE anySupportedVehicleType;
     if (!supportedClasses.isEmpty()) {
         anySupportedVehicleType = QGCMAVLink::vehicleClassToMavType(supportedClasses[0]);
     } else {
         anySupportedVehicleType = MAV_TYPE_GENERIC;
     }
-    return pluginMgr->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
+    return FirmwarePluginManager::instance()->firmwarePluginForAutopilot(firmwareType, anySupportedVehicleType);
 }
 
 QString CompInfoParam::_parameterMetaDataFile(Vehicle* vehicle, MAV_AUTOPILOT firmwareType, int& majorVersion, int& minorVersion)

src/Vehicle/MultiVehicleManager.cc

@@ -31,7 +31,6 @@ MultiVehicleManager::MultiVehicleManager(QGCApplication* app, QGCToolbox* toolbo
     , _parameterReadyVehicleAvailable(false)
     , _activeVehicle(nullptr)
     , _offlineEditingVehicle(nullptr)
-    , _firmwarePluginManager(nullptr)
     , _mavlinkProtocol(nullptr)
     , _gcsHeartbeatEnabled(true)
 {
@@ -45,7 +44,6 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
 {
     QGCTool::setToolbox(toolbox);
 
-    _firmwarePluginManager =     _toolbox->firmwarePluginManager();
     _mavlinkProtocol =           _toolbox->mavlinkProtocol();
 
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
@@ -62,7 +60,7 @@ void MultiVehicleManager::setToolbox(QGCToolbox *toolbox)
         _gcsHeartbeatTimer.start();
     }
 
-    _offlineEditingVehicle = new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK, _firmwarePluginManager, this);
+    _offlineEditingVehicle = new Vehicle(Vehicle::MAV_AUTOPILOT_TRACK, Vehicle::MAV_TYPE_TRACK, this);
 }
 
 void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicleId, int componentId, int vehicleFirmwareType, int vehicleType)
@@ -117,7 +115,7 @@ void MultiVehicleManager::_vehicleHeartbeatInfo(LinkInterface* link, int vehicle
         _app->showAppMessage(tr("Warning: A vehicle is using the same system id as %1: %2").arg(QCoreApplication::applicationName()).arg(vehicleId));
     }
 
-    Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, _firmwarePluginManager, this);
+    Vehicle* vehicle = new Vehicle(link, vehicleId, componentId, (MAV_AUTOPILOT)vehicleFirmwareType, (MAV_TYPE)vehicleType, this);
     connect(vehicle,                        &Vehicle::requestProtocolVersion,           this, &MultiVehicleManager::_requestProtocolVersion);
     connect(vehicle->vehicleLinkManager(),  &VehicleLinkManager::allLinksRemoved,       this, &MultiVehicleManager::_deleteVehiclePhase1);
     connect(vehicle->parameterManager(),    &ParameterManager::parametersReadyChanged,  this, &MultiVehicleManager::_vehicleParametersReadyChanged);

src/Vehicle/MultiVehicleManager.h

@@ -20,7 +20,6 @@
 #include "QGCToolbox.h"
 #include "QmlObjectListModel.h"
 
-class FirmwarePluginManager;
 class QGCApplication;
 class MAVLinkProtocol;
 class LinkInterface;
@@ -109,7 +108,6 @@ private slots:
 
     QmlObjectListModel  _vehicles;
 
-    FirmwarePluginManager*      _firmwarePluginManager;
     MAVLinkProtocol*            _mavlinkProtocol;
     QGeoCoordinate              _lastKnownLocation;