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Cleanup and Improve QGCApplication #13397

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180 changes: 91 additions & 89 deletions src/Comms/LinkManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -461,81 +461,6 @@ void LinkManager::_addMAVLinkForwardingLink()
_createDynamicForwardLink(_mavlinkForwardingLinkName, hostName);
}

#ifdef QGC_ZEROCONF_ENABLED
void LinkManager::_addZeroConfAutoConnectLink()
{
if (!_autoConnectSettings->autoConnectZeroConf()->rawValue().toBool()) {
return;
}

static QSharedPointer<QMdnsEngine::Server> server;
static QSharedPointer<QMdnsEngine::Browser> browser;
server.reset(new QMdnsEngine::Server());
browser.reset(new QMdnsEngine::Browser(server.get(), QMdnsEngine::MdnsBrowseType));

const auto checkIfConnectionLinkExist = [this](LinkConfiguration::LinkType linkType, const QString &linkName) {
QMutexLocker locker(&_linksMutex);
for (const SharedLinkInterfacePtr &link : std::as_const(_rgLinks)) {
const SharedLinkConfigurationPtr linkConfig = link->linkConfiguration();
if (linkConfig && (linkConfig->type() == linkType) && (linkConfig->name() == linkName)) {
return true;
}
}

return false;
};

(void) connect(browser.get(), &QMdnsEngine::Browser::serviceAdded, this, [checkIfConnectionLinkExist, this](const QMdnsEngine::Service &service) {
qCDebug(LinkManagerLog) << "Found Zero-Conf:" << service.type() << service.name() << service.hostname() << service.port() << service.attributes();

if (!service.type().startsWith("_mavlink")) {
qCWarning(LinkManagerLog) << "Invalid ZeroConf SericeType" << service.type();
return;
}

// Windows doesnt accept trailling dots in mdns
// http://www.dns-sd.org/trailingdotsindomainnames.html
QString hostname = service.hostname();
if (hostname.endsWith('.')) {
hostname.chop(1);
}

if (service.type().startsWith("_mavlink._udp")) {
static const QString udpName = QStringLiteral("ZeroConf UDP");
if (checkIfConnectionLinkExist(LinkConfiguration::TypeUdp, udpName)) {
qCDebug(LinkManagerLog) << "Connection already exist";
return;
}

UDPConfiguration *const link = new UDPConfiguration(udpName);
link->addHost(hostname, service.port());
link->setAutoConnect(true);
link->setDynamic(true);
SharedLinkConfigurationPtr config = addConfiguration(link);
if (!createConnectedLink(config)) {
qCWarning(LinkManagerLog) << "Failed to create" << udpName;
}
} else if (service.type().startsWith("_mavlink._tcp")) {
static QString tcpName = QStringLiteral("ZeroConf TCP");
if (checkIfConnectionLinkExist(LinkConfiguration::TypeTcp, tcpName)) {
qCDebug(LinkManagerLog) << "Connection already exist";
return;
}

TCPConfiguration *const link = new TCPConfiguration(tcpName);
link->setHost(hostname);
link->setPort(service.port());
link->setAutoConnect(true);
link->setDynamic(true);
SharedLinkConfigurationPtr config = addConfiguration(link);
if (!createConnectedLink(config)) {
qCWarning(LinkManagerLog) << "Failed to create" << tcpName;
}
}
});
}
#endif

void LinkManager::_updateAutoConnectLinks()
{
if (_connectionsSuspended) {
Expand Down Expand Up @@ -798,6 +723,97 @@ void LinkManager::_createDynamicForwardLink(const char *linkName, const QString
qCDebug(LinkManagerLog) << "New dynamic MAVLink forwarding port added:" << linkName << " hostname:" << hostName;
}

void LinkManager::resetMavlinkSigning()
{
// Make a copy under mutex protection to avoid holding lock during signing initialization
QList<SharedLinkInterfacePtr> links;
{
QMutexLocker locker(&_linksMutex);
links = _rgLinks;
}

for (const SharedLinkInterfacePtr &sharedLink: links) {
sharedLink->initMavlinkSigning();
}
}

#ifdef QGC_ZEROCONF_ENABLED

void LinkManager::_addZeroConfAutoConnectLink()
{
if (!_autoConnectSettings->autoConnectZeroConf()->rawValue().toBool()) {
return;
}

static QSharedPointer<QMdnsEngine::Server> server;
static QSharedPointer<QMdnsEngine::Browser> browser;
server.reset(new QMdnsEngine::Server());
browser.reset(new QMdnsEngine::Browser(server.get(), QMdnsEngine::MdnsBrowseType));

const auto checkIfConnectionLinkExist = [this](LinkConfiguration::LinkType linkType, const QString &linkName) {
QMutexLocker locker(&_linksMutex);
for (const SharedLinkInterfacePtr &link : std::as_const(_rgLinks)) {
const SharedLinkConfigurationPtr linkConfig = link->linkConfiguration();
if (linkConfig && (linkConfig->type() == linkType) && (linkConfig->name() == linkName)) {
return true;
}
}

return false;
};

(void) connect(browser.get(), &QMdnsEngine::Browser::serviceAdded, this, [checkIfConnectionLinkExist, this](const QMdnsEngine::Service &service) {
qCDebug(LinkManagerLog) << "Found Zero-Conf:" << service.type() << service.name() << service.hostname() << service.port() << service.attributes();

if (!service.type().startsWith("_mavlink")) {
qCWarning(LinkManagerLog) << "Invalid ZeroConf SericeType" << service.type();
return;
}

// Windows doesnt accept trailling dots in mdns
// http://www.dns-sd.org/trailingdotsindomainnames.html
QString hostname = service.hostname();
if (hostname.endsWith('.')) {
hostname.chop(1);
}

if (service.type().startsWith("_mavlink._udp")) {
static const QString udpName = QStringLiteral("ZeroConf UDP");
if (checkIfConnectionLinkExist(LinkConfiguration::TypeUdp, udpName)) {
qCDebug(LinkManagerLog) << "Connection already exist";
return;
}

UDPConfiguration *const link = new UDPConfiguration(udpName);
link->addHost(hostname, service.port());
link->setAutoConnect(true);
link->setDynamic(true);
SharedLinkConfigurationPtr config = addConfiguration(link);
if (!createConnectedLink(config)) {
qCWarning(LinkManagerLog) << "Failed to create" << udpName;
}
} else if (service.type().startsWith("_mavlink._tcp")) {
static QString tcpName = QStringLiteral("ZeroConf TCP");
if (checkIfConnectionLinkExist(LinkConfiguration::TypeTcp, tcpName)) {
qCDebug(LinkManagerLog) << "Connection already exist";
return;
}

TCPConfiguration *const link = new TCPConfiguration(tcpName);
link->setHost(hostname);
link->setPort(service.port());
link->setAutoConnect(true);
link->setDynamic(true);
SharedLinkConfigurationPtr config = addConfiguration(link);
if (!createConnectedLink(config)) {
qCWarning(LinkManagerLog) << "Failed to create" << tcpName;
}
}
});
}

#endif // QGC_ZEROCONF_ENABLED

bool LinkManager::isLinkUSBDirect(const LinkInterface *link)
{
#ifndef QGC_NO_SERIAL_LINK
Expand All @@ -820,20 +836,6 @@ bool LinkManager::isLinkUSBDirect(const LinkInterface *link)
return false;
}

void LinkManager::resetMavlinkSigning()
{
// Make a copy under mutex protection to avoid holding lock during signing initialization
QList<SharedLinkInterfacePtr> links;
{
QMutexLocker locker(&_linksMutex);
links = _rgLinks;
}

for (const SharedLinkInterfacePtr &sharedLink: links) {
sharedLink->initMavlinkSigning();
}
}

#ifndef QGC_NO_SERIAL_LINK // Serial Only Functions

void LinkManager::_filterCompositePorts(QList<QGCSerialPortInfo> &portList)
Expand Down
10 changes: 5 additions & 5 deletions src/Comms/LinkManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,10 @@ class SerialLink;
class UDPConfiguration;
class UdpIODevice;

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

public:
static QStringList serialBaudRates();
QStringList serialPortStrings();
QStringList serialPorts();
static QStringList serialBaudRates();

signals:
void commPortStringsChanged();
Expand Down
3 changes: 2 additions & 1 deletion src/FactSystem/ParameterManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -878,7 +878,8 @@ void ParameterManager::_writeLocalParamCache(int vehicleId, int componentId)
QDir ParameterManager::parameterCacheDir()
{
const QString spath(QFileInfo(QSettings().fileName()).dir().absolutePath());
return (spath + QDir::separator() + QStringLiteral("ParamCache"));
const QDir cacheDir(spath + QDir::separator() + QStringLiteral("ParamCache"));
return cacheDir;
}

QString ParameterManager::parameterCacheFile(int vehicleId, int componentId)
Expand Down
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