OP-101: re-work of UAVTalk + HiTL threading code.

Telemetry and HiTL now run in the same global high priority thread.
Threads are managed by a new class ThreadManager in icore as suggested by PeterG


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1193 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/src/plugins/coreplugin/coreimpl.cpp

@@ -102,6 +102,11 @@ VariableManager *CoreImpl::variableManager() const
     return m_mainwindow->variableManager();
 }
 
+ThreadManager *CoreImpl::threadManager() const
+{
+    return m_mainwindow->threadManager();
+}
+
 ModeManager *CoreImpl::modeManager() const
 {
     return m_mainwindow->modeManager();

ground/src/plugins/coreplugin/coreimpl.h

@@ -58,6 +58,7 @@ public:
     ConnectionManager *connectionManager() const;
     UAVGadgetInstanceManager *uavGadgetInstanceManager() const;
     VariableManager *variableManager() const;
+    ThreadManager *threadManager() const;
     ModeManager *modeManager() const;
     MimeDatabase *mimeDatabase() const;
 

ground/src/plugins/coreplugin/coreplugin.pro

@@ -40,6 +40,7 @@ SOURCES += mainwindow.cpp \
     baseview.cpp \
     coreplugin.cpp \
     variablemanager.cpp \
+    threadmanager.cpp \
     modemanager.cpp \
     coreimpl.cpp \
     plugindialog.cpp \
@@ -100,6 +101,7 @@ HEADERS += mainwindow.h \
     baseview.h \
     coreplugin.h \
     variablemanager.h \
+    threadmanager.h \
     modemanager.h \
     coreimpl.h \
     plugindialog.h \

ground/src/plugins/coreplugin/icore.cpp

@@ -147,6 +147,15 @@
     can be resolved/expanded from anywhere in the application.
 */
 
+/*!
+    \fn ThreadManager *ICore::threadManager() const
+    \brief Returns the application's thread manager.
+
+    The thread manager is used to manage application wide QThread objects,
+    allowing certain critical objects to synchronize directly within the same
+    real time thread - anywhere in the application.
+*/
+
 /*!
     \fn ModeManager *ICore::modeManager() const
     \brief Returns the application's mode manager.

ground/src/plugins/coreplugin/icore.h

@@ -50,6 +50,7 @@ class ModeManager;
 class SettingsDatabase;
 class UniqueIDManager;
 class VariableManager;
+class ThreadManager;
 class UAVGadgetManager;
 class UAVGadgetInstanceManager;
 
@@ -77,6 +78,7 @@ public:
     virtual UniqueIDManager *uniqueIDManager() const = 0;
     virtual MessageManager *messageManager() const = 0;
     virtual VariableManager *variableManager() const = 0;
+    virtual ThreadManager *threadManager() const = 0;
     virtual ModeManager *modeManager() const = 0;
     virtual ConnectionManager *connectionManager() const = 0;
     virtual UAVGadgetInstanceManager *uavGadgetInstanceManager() const = 0;

ground/src/plugins/coreplugin/mainwindow.cpp

@@ -51,6 +51,7 @@
 
 #include "settingsdialog.h"
 #include "variablemanager.h"
+#include "threadmanager.h"
 #include "versiondialog.h"
 #include "viewmanager.h"
 #include "uniqueidmanager.h"
@@ -115,6 +116,7 @@ MainWindow::MainWindow() :
                                             this)),
     m_actionManager(new ActionManagerPrivate(this)),
     m_variableManager(new VariableManager(this)),
+    m_threadManager(new ThreadManager(this)),
     m_viewManager(0),
     m_modeManager(0),
     m_connectionManager(0),
@@ -771,6 +773,11 @@ VariableManager *MainWindow::variableManager() const
      return m_variableManager;
 }
 
+ThreadManager *MainWindow::threadManager() const
+{
+     return m_threadManager;
+}
+
 ConnectionManager *MainWindow::connectionManager() const
 {
     return m_connectionManager;

ground/src/plugins/coreplugin/mainwindow.h

@@ -57,6 +57,7 @@ class RightPaneWidget;
 class SettingsDatabase;
 class UniqueIDManager;
 class VariableManager;
+class ThreadManager;
 class ViewManagerInterface;
 class UAVGadgetManager;
 class UAVGadgetInstanceManager;
@@ -100,6 +101,7 @@ public:
     UAVGadgetInstanceManager *uavGadgetInstanceManager() const;
     Core::ConnectionManager *connectionManager() const;
     Core::VariableManager *variableManager() const;
+    Core::ThreadManager *threadManager() const;
     Core::ModeManager *modeManager() const;
     Core::MimeDatabase *mimeDatabase() const;
 
@@ -171,6 +173,7 @@ private:
     ActionManagerPrivate *m_actionManager;
     MessageManager *m_messageManager;
     VariableManager *m_variableManager;
+    ThreadManager *m_threadManager;
     ViewManager *m_viewManager;
     ModeManager *m_modeManager;
     QList<UAVGadgetManager*> m_uavGadgetManagers;

ground/src/plugins/coreplugin/threadmanager.cpp

@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ *
+ * @file       threadmanager.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup CorePlugin Core Plugin
+ * @{
+ * @brief The Core GCS plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "threadmanager.h"
+
+
+using namespace Core;
+
+ThreadManager *ThreadManager::m_instance = 0;
+
+ThreadManager::ThreadManager(QObject *parent) : QObject(parent)
+{
+    m_instance = this;
+    realTimeThread= new QThread(this);
+    realTimeThread->start(QThread::TimeCriticalPriority);
+}
+
+ThreadManager::~ThreadManager()
+{
+    realTimeThread->quit();
+    realTimeThread->wait();
+    m_instance = 0;
+}
+
+QThread *ThreadManager::getRealTimeThread()
+{
+	return realTimeThread;
+}

ground/src/plugins/coreplugin/threadmanager.h

@@ -0,0 +1,62 @@
+/**
+ ******************************************************************************
+ *
+ * @file       threadmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *             Parts by Nokia Corporation (qt-info@nokia.com) Copyright (C) 2009.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup CorePlugin Core Plugin
+ * @{
+ * @brief The Core GCS plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef THREADMANAGER_H
+#define THREADMANAGER_H
+
+#include "core_global.h"
+
+#include <QtCore/QObject>
+#include <QtCore/QThread>
+
+QT_BEGIN_NAMESPACE
+QT_END_NAMESPACE
+
+namespace Core {
+
+class CORE_EXPORT ThreadManager : public QObject
+{
+    Q_OBJECT
+
+public:
+    ThreadManager(QObject *parent);
+    ~ThreadManager();
+
+    static ThreadManager* instance() { return m_instance; }
+
+    QThread *getRealTimeThread();
+
+
+private:
+    QThread *realTimeThread;
+    static ThreadManager *m_instance;
+};
+
+} // namespace Core
+
+#endif // THREADMANAGER_H

ground/src/plugins/hitl/flightgearbridge.cpp

@@ -27,14 +27,20 @@
 
 #include "flightgearbridge.h"
 #include "extensionsystem/pluginmanager.h"
+#include "coreplugin/icore.h"
+#include "coreplugin/threadmanager.h"
 
 FlightGearBridge::FlightGearBridge()
 {
-    // start thread
-    start(QThread::TimeCriticalPriority);
+    // move to thread
+    moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
+
+    connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
+    emit myStart();
+
 }
 
-void FlightGearBridge::run()
+void FlightGearBridge::onStart()
 {
 
     // Init fields
@@ -86,13 +92,10 @@ void FlightGearBridge::run()
     fgTimer->setInterval(fgTimeout);
     fgTimer->start();
 
-    exec();
 }
 
 FlightGearBridge::~FlightGearBridge()
 {
-    quit();
-    wait();
     delete inSocket;
     delete outSocket;
     delete txTimer;

ground/src/plugins/hitl/flightgearbridge.h

@@ -29,7 +29,6 @@
 #define FLIGHTGEARBRIDGE_H
 
 #include <QObject>
-#include <QThread>
 #include <QUdpSocket>
 #include <QTimer>
 #include <math.h>
@@ -41,7 +40,7 @@
 #include "uavobjects/positionactual.h"
 #include "uavobjects/gcstelemetrystats.h"
 
-class FlightGearBridge: public QThread
+class FlightGearBridge: public QObject
 {
     Q_OBJECT
 
@@ -51,15 +50,16 @@ public:
 
     bool isAutopilotConnected();
     bool isFGConnected();
-    void run();
 
 signals:
+    void myStart();
     void autopilotConnected();
     void autopilotDisconnected();
     void fgConnected();
     void fgDisconnected();
 
 private slots:
+    void onStart();
     void transmitUpdate();
     void receiveUpdate();
     void onAutopilotConnect();

ground/src/plugins/hitlil2/il2bridge.cpp

@@ -61,6 +61,8 @@
  */
 #include "il2bridge.h"
 #include "extensionsystem/pluginmanager.h"
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
 #include <math.h>
 
 Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QString il2Longitude)
@@ -74,12 +76,19 @@ Il2Bridge::Il2Bridge(QString il2HostName, int il2Port, QString il2Latitude, QStr
     il2ConnectionStatus = false;
     latitude=il2Latitude.toFloat();
     longitude=il2Longitude.toFloat();
-    // start thread
-    start(QThread::TimeCriticalPriority);
 
+    
+
+    // move to thread
+    moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
+
+    connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
+    emit myStart();
 }
+    
+void Il2Bridge::onStart()
+{
 
-void Il2Bridge::run() {
     // Get required UAVObjects
     ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
@@ -124,13 +133,11 @@ void Il2Bridge::run() {
     time->start();
 
     current.T=0;
-    exec();
+
 }
 
 Il2Bridge::~Il2Bridge()
 {
-    quit();
-    wait();
     delete outSocket;
     delete txTimer;
     delete il2Timer;

ground/src/plugins/hitlil2/il2bridge.h

@@ -29,7 +29,6 @@
 #define IL2BRIDGE_H
 
 #include <QObject>
-#include <QThread>
 #include <QUdpSocket>
 #include <QTimer>
 #include <QTime>
@@ -76,7 +75,7 @@ struct flightParams {
 };
 
 
-class Il2Bridge: public QThread
+class Il2Bridge: public QObject
 {
     Q_OBJECT
 
@@ -86,15 +85,16 @@ public:
 
     bool isAutopilotConnected();
     bool isIl2Connected();
-    void run();
 
 signals:
+    void myStart();
     void autopilotConnected();
     void autopilotDisconnected();
     void il2Connected();
     void il2Disconnected();
 
 private slots:
+    void onStart();
     void transmitUpdate();
     void receiveUpdate();
     void onAutopilotConnect();

ground/src/plugins/uavtalk/telemetrymanager.cpp

@@ -27,14 +27,12 @@
 
 #include "telemetrymanager.h"
 #include <extensionsystem/pluginmanager.h>
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
 
 TelemetryManager::TelemetryManager()
 {
-	QThread::start(QThread::TimeCriticalPriority);
-	moveToThread(this);
-}
-
-void TelemetryManager::run() {
+    moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
     // Get UAVObjectManager instance
     ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
     objMngr = pm->getObject<UAVObjectManager>();
@@ -42,13 +40,10 @@ void TelemetryManager::run() {
     // connect to start stop signals
     connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
     connect(this, SIGNAL(myStop()), this, SLOT(onStop()),Qt::QueuedConnection);
-    exec();
 }
 
 TelemetryManager::~TelemetryManager()
 {
-	quit();
-	wait();
 }
 
 void TelemetryManager::start(QIODevice *dev)

ground/src/plugins/uavtalk/telemetrymanager.h

@@ -35,9 +35,8 @@
 #include "uavobjects/uavobjectmanager.h"
 #include <QIODevice>
 #include <QObject>
-#include <QThread>
 
-class UAVTALK_EXPORT TelemetryManager: public QThread
+class UAVTALK_EXPORT TelemetryManager: public QObject
 {
     Q_OBJECT
 
@@ -47,7 +46,6 @@ public:
 
     void start(QIODevice *dev);
     void stop();
-    void run();
 
 signals:
     void connected();