OP-706 Added code to handle isKnown for requested and retrieved UAVObjects.

ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp

@@ -33,20 +33,22 @@
 #include <stdlib.h>
 #include <QDebug>
 
+#define VERBOSE_TELEMETRY = 1;
 /**
  * Constructor
  */
-Telemetry::Telemetry(TelemetryManager *telemetryManager, UAVTalk *utalk, UAVObjectManager *objMngr) : objMngr(objMngr), utalk(utalk)
+Telemetry::Telemetry(UAVTalk *utalk, UAVObjectManager *objMngr) : objMngr(objMngr), utalk(utalk)
 {
     mutex = new QMutex(QMutex::Recursive);
 
-    connect(this, SIGNAL(onKnownObjectsChanged(UAVObject *, bool)), telemetryManager, SLOT(onKnownObjectsChanged(UAVObject *, bool)));
-
     // Register all objects in the list
-    QList< QList<UAVObject *> > objs = objMngr->getObjects();
+    foreach(QList<UAVObject *> instances, objMngr->getObjects()) {
-    for (int objidx = 0; objidx < objs.length(); ++objidx) {
+        foreach(UAVObject * object, instances) {
+            // make sure we 'forget' all objects before we request it from the flight side
+            object->setIsKnown(false);
+        }
         // we only need to register one instance per object type
-        registerObject(objs[objidx][0]);
+        registerObject(instances.first());
     }
 
     // Listen to new object creations
@@ -76,6 +78,12 @@ Telemetry::Telemetry(TelemetryManager *telemetryManager, UAVTalk *utalk, UAVObje
 Telemetry::~Telemetry()
 {
     closeAllTransactions();
+    foreach(QList<UAVObject *> instances, objMngr->getObjects()) {
+        foreach(UAVObject * object, instances) {
+            // make sure we 'forget' all objects before we request it from the flight side
+            object->setIsKnown(false);
+        }
+    }
 }
 
 /**
@@ -83,9 +91,6 @@ Telemetry::~Telemetry()
  */
 void Telemetry::registerObject(UAVObject *obj)
 {
-    // Forget this object
-    emit onKnownObjectsChanged(obj, false);
-
     // Setup object for periodic updates
     addObject(obj);
 
@@ -241,13 +246,13 @@ void Telemetry::transactionCompleted(UAVObject *obj, bool success)
     if (transInfo) {
         if (success) {
             // We now know tat the flight side knows of this object.
-            emit onKnownObjectsChanged(obj, true);
+            obj->setIsKnown(true);
 
 #ifdef VERBOSE_TELEMETRY
             qDebug() << "Telemetry - transaction successful for object" << obj->toStringBrief();
 #endif
         } else {
-            emit onKnownObjectsChanged(obj, false);
+            obj->setIsKnown(false);
             qWarning() << "Telemetry - !!! transaction failed for object" << obj->toStringBrief();
         }
 

ground/openpilotgcs/src/plugins/uavtalk/telemetry.h

@@ -31,7 +31,6 @@
 #include "uavtalk.h"
 #include "uavobjectmanager.h"
 #include "gcstelemetrystats.h"
-#include "telemetrymanager.h"
 #include <QMutex>
 #include <QMutexLocker>
 #include <QTimer>
@@ -74,15 +73,12 @@ public:
         quint32 rxCrcErrors;
     } TelemetryStats;
 
-    Telemetry(TelemetryManager *telemetryManager, UAVTalk *utalk, UAVObjectManager *objMngr);
+    Telemetry(UAVTalk *utalk, UAVObjectManager *objMngr);
     ~Telemetry();
     TelemetryStats getStats();
     void resetStats();
     void transactionTimeout(ObjectTransactionInfo *info);
 
-signals:
-    void onKnownObjectsChanged(UAVObject *object, bool known);
-
 private:
     // Constants
     static const int REQ_TIMEOUT_MS = 250;

ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.cpp

@@ -52,11 +52,6 @@ bool TelemetryManager::isConnected()
     return m_isAutopilotConnected;
 }
 
-bool TelemetryManager::isObjectKnown(UAVObject *object) const
-{
-    return m_knownObjects.contains(object);
-}
-
 void TelemetryManager::start(QIODevice *dev)
 {
     m_telemetryDevice = dev;
@@ -93,7 +88,7 @@ void TelemetryManager::onStart()
         connect(m_telemetryDevice, SIGNAL(readyRead()), m_uavTalk, SLOT(processInputStream()));
     }
 
-    m_telemetry = new Telemetry(this, m_uavTalk, m_uavobjectManager);
+    m_telemetry = new Telemetry(m_uavTalk, m_uavobjectManager);
     m_telemetryMonitor = new TelemetryMonitor(m_uavobjectManager, m_telemetry);
 
     connect(m_telemetryMonitor, SIGNAL(connected()), this, SLOT(onConnect()));
@@ -113,9 +108,6 @@ void TelemetryManager::stop()
 
 void TelemetryManager::onStop()
 {
-    foreach(UAVObject * object, m_knownObjects) {
-        onKnownObjectsChanged(object, false);
-    }
     m_telemetryMonitor->disconnect(this);
     delete m_telemetryMonitor;
     delete m_telemetry;
@@ -123,19 +115,6 @@ void TelemetryManager::onStop()
     onDisconnect();
 }
 
-void TelemetryManager::onKnownObjectsChanged(UAVObject *object, bool known)
-{
-    bool contains = m_knownObjects.contains(object);
-
-    if (known && !contains) {
-        m_knownObjects.insert(object);
-        emit knownObjectsChanged(object, known);
-    } else if (contains) {
-        m_knownObjects.remove(object);
-        emit knownObjectsChanged(object, known);
-    }
-}
-
 void TelemetryManager::onConnect()
 {
     m_isAutopilotConnected = true;

ground/openpilotgcs/src/plugins/uavtalk/telemetrymanager.h

@@ -47,7 +47,6 @@ public:
     void start(QIODevice *dev);
     void stop();
     bool isConnected();
-    bool isObjectKnown(UAVObject *object) const;
 
 signals:
     void connected();
@@ -55,7 +54,6 @@ signals:
     void telemetryUpdated(double txRate, double rxRate);
     void myStart();
     void myStop();
-    void knownObjectsChanged(UAVObject *object, bool known);
 
 private slots:
     void onConnect();
@@ -73,7 +71,6 @@ private:
     QIODevice *m_telemetryDevice;
     bool m_isAutopilotConnected;
     QThread m_telemetryReaderThread;
-    QSet<UAVObject *> m_knownObjects;
 };