From 765d4f729bc97929ea12fc919c5c8af616841b09 Mon Sep 17 00:00:00 2001
From: corvus <corvus>
Date: Mon, 19 Jul 2010 16:47:06 +0000
Subject: [PATCH] OP-101 : Put Low level telemetry and HiTL into high priority
 threads - detached from the user interface.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1139 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/hitl/flightgearbridge.cpp  | 25 +++++++++++++-----
 ground/src/plugins/hitl/flightgearbridge.h    |  4 ++-
 ground/src/plugins/hitlil2/il2bridge.cpp      |  1 +
 .../src/plugins/uavtalk/telemetrymanager.cpp  | 26 +++++++++++++++++--
 ground/src/plugins/uavtalk/telemetrymanager.h |  9 ++++++-
 5 files changed, 54 insertions(+), 11 deletions(-)

diff --git a/ground/src/plugins/hitl/flightgearbridge.cpp b/ground/src/plugins/hitl/flightgearbridge.cpp
index b7aced44b..8327a41b0 100644
--- a/ground/src/plugins/hitl/flightgearbridge.cpp
+++ b/ground/src/plugins/hitl/flightgearbridge.cpp
@@ -30,6 +30,13 @@
 
 FlightGearBridge::FlightGearBridge()
 {
+    // start thread
+    start(QThread::TimeCriticalPriority);
+}
+
+void FlightGearBridge::run()
+{
+
     // Init fields
     fgHost = QHostAddress("127.0.0.1");
     inPort = 5500;
@@ -62,26 +69,30 @@ FlightGearBridge::FlightGearBridge()
     }
 
     // Setup local ports
-    inSocket = new QUdpSocket(this);
-    outSocket = new QUdpSocket(this);
+    inSocket = new QUdpSocket();
+    outSocket = new QUdpSocket();
     inSocket->bind(QHostAddress::Any, inPort);
-    connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()));
+    connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);
 
     // Setup transmit timer
-    txTimer = new QTimer(this);
-    connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()));
+    txTimer = new QTimer();
+    connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
     txTimer->setInterval(updatePeriod);
     txTimer->start();
 
     // Setup FG connection timer
-    fgTimer = new QTimer(this);
-    connect(fgTimer, SIGNAL(timeout()), this, SLOT(onFGConnectionTimeout()));
+    fgTimer = new QTimer();
+    connect(fgTimer, SIGNAL(timeout()), this, SLOT(onFGConnectionTimeout()),Qt::DirectConnection);
     fgTimer->setInterval(fgTimeout);
     fgTimer->start();
+
+    exec();
 }
 
 FlightGearBridge::~FlightGearBridge()
 {
+    quit();
+    wait();
     delete inSocket;
     delete outSocket;
     delete txTimer;
diff --git a/ground/src/plugins/hitl/flightgearbridge.h b/ground/src/plugins/hitl/flightgearbridge.h
index 7391d93bb..f6c31d800 100644
--- a/ground/src/plugins/hitl/flightgearbridge.h
+++ b/ground/src/plugins/hitl/flightgearbridge.h
@@ -29,6 +29,7 @@
 #define FLIGHTGEARBRIDGE_H
 
 #include <QObject>
+#include <QThread>
 #include <QUdpSocket>
 #include <QTimer>
 #include <math.h>
@@ -40,7 +41,7 @@
 #include "uavobjects/positionactual.h"
 #include "uavobjects/gcstelemetrystats.h"
 
-class FlightGearBridge: public QObject
+class FlightGearBridge: public QThread
 {
     Q_OBJECT
 
@@ -50,6 +51,7 @@ public:
 
     bool isAutopilotConnected();
     bool isFGConnected();
+    void run();
 
 signals:
     void autopilotConnected();
diff --git a/ground/src/plugins/hitlil2/il2bridge.cpp b/ground/src/plugins/hitlil2/il2bridge.cpp
index 1e2eea875..74c81ca09 100644
--- a/ground/src/plugins/hitlil2/il2bridge.cpp
+++ b/ground/src/plugins/hitlil2/il2bridge.cpp
@@ -130,6 +130,7 @@ void Il2Bridge::run() {
 Il2Bridge::~Il2Bridge()
 {
     quit();
+    wait();
     delete outSocket;
     delete txTimer;
     delete il2Timer;
diff --git a/ground/src/plugins/uavtalk/telemetrymanager.cpp b/ground/src/plugins/uavtalk/telemetrymanager.cpp
index ad6fa4d55..2167e6941 100644
--- a/ground/src/plugins/uavtalk/telemetrymanager.cpp
+++ b/ground/src/plugins/uavtalk/telemetrymanager.cpp
@@ -30,19 +30,36 @@
 
 TelemetryManager::TelemetryManager()
 {
+	QThread::start(QThread::TimeCriticalPriority);
+	moveToThread(this);
+}
+
+void TelemetryManager::run() {
     // Get UAVObjectManager instance
     ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
     objMngr = pm->getObject<UAVObjectManager>();
+
+    // 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)
 {
-    utalk = new UAVTalk(dev, objMngr);
+    device=dev;
+    emit myStart();
+}
+
+void TelemetryManager::onStart()
+{
+    utalk = new UAVTalk(device, objMngr);
     telemetry = new Telemetry(utalk, objMngr);
     telemetryMon = new TelemetryMonitor(objMngr, telemetry);
     connect(telemetryMon, SIGNAL(connected()), this, SLOT(onConnect()));
@@ -50,6 +67,11 @@ void TelemetryManager::start(QIODevice *dev)
 }
 
 void TelemetryManager::stop()
+{
+    emit myStop();
+}
+
+void TelemetryManager::onStop()
 {
     telemetryMon->disconnect(this);
     delete telemetryMon;
diff --git a/ground/src/plugins/uavtalk/telemetrymanager.h b/ground/src/plugins/uavtalk/telemetrymanager.h
index 2cc0b9749..c81eda976 100644
--- a/ground/src/plugins/uavtalk/telemetrymanager.h
+++ b/ground/src/plugins/uavtalk/telemetrymanager.h
@@ -35,8 +35,9 @@
 #include "uavobjects/uavobjectmanager.h"
 #include <QIODevice>
 #include <QObject>
+#include <QThread>
 
-class UAVTALK_EXPORT TelemetryManager: public QObject
+class UAVTALK_EXPORT TelemetryManager: public QThread
 {
     Q_OBJECT
 
@@ -46,20 +47,26 @@ public:
 
     void start(QIODevice *dev);
     void stop();
+    void run();
 
 signals:
     void connected();
     void disconnected();
+    void myStart();
+    void myStop();
 
 private slots:
     void onConnect();
     void onDisconnect();
+    void onStart();
+    void onStop();
 
 private:
     UAVObjectManager* objMngr;
     UAVTalk* utalk;
     Telemetry* telemetry;
     TelemetryMonitor* telemetryMon;
+    QIODevice *device;
 };
 
 #endif // TELEMETRYMANAGER_H