Attempt to fix GCS crashes on USB disconnect: please confirm on other operating systems it is still working fine in all situations.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3066 ebee16cc-31ac-478f-84a7-5cbb03baadba

ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp

@@ -117,38 +117,32 @@ bool ConnectionManager::connectDevice()
     io_dev->open(QIODevice::ReadWrite);
 
     // check if opening the device worked
-	if (!io_dev->isOpen())
+    if (!io_dev->isOpen()) {
-	{
         qDebug() << "Error: io_dev->isOpen() returned FALSE .. could not open connection to " << connection_device.devName
                  << ": " << io_dev->errorString();
 
         // close the device
-		try
+        // EDOUARD: why do we close if we could not open ???
-		{
+        try {
             connection_device.connection->closeDevice(connection_device.devName);
         }
-		catch (...)
+        catch (...) {	// handle exception
-		{	// handle exception
             qDebug() << "Exception: connection_device.connection->closeDevice(" << connection_device.devName << ")";
         }
-
         return false;
     }
 
     // we appear to have connected to the device OK
-
     // remember the connection/device details
     m_connectionDevice = connection_device;
     m_ioDev = io_dev;
 
     connect(m_connectionDevice.connection, SIGNAL(destroyed(QObject *)), this, SLOT(onConnectionDestroyed(QObject *)), Qt::QueuedConnection);
 
-	m_connectBtn->setText("Disconnect");
-	m_availableDevList->setEnabled(false);
-
     // signal interested plugins that we connected to the device
     emit deviceConnected(m_ioDev);
-
+    m_connectBtn->setText("Disconnect");
+    m_availableDevList->setEnabled(false);
     return true;
 }
 
@@ -158,28 +152,30 @@ bool ConnectionManager::connectDevice()
 */
 bool ConnectionManager::disconnectDevice()
 {
-	if (!m_ioDev)
+    if (!m_ioDev) {
-	{   // apparently we are already disconnected
+        // apparently we are already disconnected: this can
+        // happen if a plugin tries to force a disconnect whereas
+        // we are not connected. Just return.
+        return false;
+    }
+
+    // We are connected - disconnect from the device
+
+    // signal interested plugins that user is disconnecting his device
+    emit deviceAboutToDisconnect();
+
+    try {
+        if (m_connectionDevice.connection)
+            m_connectionDevice.connection->closeDevice(m_connectionDevice.devName);
+    } catch (...) {	// handle exception
+        qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
+    }
 
     m_connectionDevice.connection = NULL;
     m_ioDev = NULL;
 
-		return false;
+    m_connectBtn->setText("Connect");
-	}
+    m_availableDevList->setEnabled(true);
-
-	// we appear to be connected - disconnect from the device
-
-	try
-	{
-		if (m_connectionDevice.connection)
-			m_connectionDevice.connection->closeDevice(m_connectionDevice.devName);
-	}
-	catch (...)
-	{	// handle exception
-		qDebug() << "Exception: m_connectionDevice.connection->closeDevice(" << m_connectionDevice.devName << ")";
-	}
-
-	onConnectionClosed(m_connectionDevice.connection);
 
     return true;
 }
@@ -222,24 +218,11 @@ void ConnectionManager::aboutToRemoveObject(QObject *obj)
 		m_connectionsList.removeAt(m_connectionsList.indexOf(connection));
 }
 
-void ConnectionManager::onConnectionClosed(QObject *obj)	// Pip
-{
-	if (!m_connectionDevice.connection || m_connectionDevice.connection != obj)
-		return;
-
-	m_connectionDevice.connection = NULL;
-	m_ioDev = NULL;
-
-	m_connectBtn->setText("Connect");
-	m_availableDevList->setEnabled(true);
-
-	// signal interested plugins that user is disconnecting his device
-	emit deviceDisconnected();
-}
 
 void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
 {
-	onConnectionClosed(obj);
+        //onConnectionClosed(obj);
+        disconnectDevice();
 }
 
 /**
@@ -247,7 +230,8 @@ void ConnectionManager::onConnectionDestroyed(QObject *obj)	// Pip
 */
 void ConnectionManager::onConnectPressed()
 {
-	if (!m_ioDev || !m_connectionDevice.connection)
+    // Check if we have a ioDev already created:
+    if (!m_ioDev)
     {	// connecting
         connectDevice();
     }
@@ -318,7 +302,8 @@ void ConnectionManager::unregisterAll(IConnection *connection)
 		{
 			if (m_connectionDevice.connection && m_connectionDevice.connection == connection)
 			{	// we are currently using the one we are about to erase
-				onConnectionClosed(m_connectionDevice.connection);
+                                //onConnectionClosed(m_connectionDevice.connection);
+                            disconnectDevice();
 			}
 
 			iter = m_devList.erase(iter);

ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h

@@ -81,7 +81,7 @@ protected:
 
 signals:
     void deviceConnected(QIODevice *dev);
-    void deviceDisconnected();
+    void deviceAboutToDisconnect();
 
 private slots:
     void objectAdded(QObject *obj);
@@ -90,7 +90,7 @@ private slots:
     void onConnectPressed();
     void devChanged(IConnection *connection);
 
-	void onConnectionClosed(QObject *obj);
+//	void onConnectionClosed(QObject *obj);
 	void onConnectionDestroyed(QObject *obj);
 
 protected:

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp

@@ -74,7 +74,7 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
     // running the scopes if we are not connected and not replaying logs
     // Also listen to disconnect actions from the user
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-    connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(stopPlotting()));
+    connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(stopPlotting()));
     connect(cm, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(startPlotting()));
 
     m_csvLoggingStarted=0;
@@ -89,7 +89,7 @@ ScopeGadgetWidget::ScopeGadgetWidget(QWidget *parent) : QwtPlot(parent)
     m_csvLoggingStartTime = QDateTime::currentDateTime();
 
     //Listen to autopilot connection events
-    connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(csvLoggingDisconnect()));
+    connect(cm, SIGNAL(deviceAboutToDisconnect()), this, SLOT(csvLoggingDisconnect()));
     connect(cm, SIGNAL(deviceConnected(QIODevice*)), this, SLOT(csvLoggingConnect()));
 }
 

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

@@ -56,6 +56,7 @@ const quint8 UAVTalk::crc_table[256] = {
 UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
 {
     io = iodev;
+
     this->objMngr = objMngr;
 
     rxState = STATE_SYNC;
@@ -67,23 +68,17 @@ UAVTalk::UAVTalk(QIODevice* iodev, UAVObjectManager* objMngr)
 
     memset(&stats, 0, sizeof(ComStats));
 
-	if (io)	// Pip
     connect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
 UAVTalk::~UAVTalk()
 {
-	// Pip
-	mutex->lock();
-		io = NULL;
-		objMngr = NULL;
-	mutex->unlock();
-
     // According to Qt, it is not necessary to disconnect upon
     // object deletion.
     //disconnect(io, SIGNAL(readyRead()), this, SLOT(processInputStream()));
 }
 
+
 /**
  * Reset the statistics counters
  */
@@ -109,24 +104,9 @@ void UAVTalk::processInputStream()
 {
     quint8 tmp;
 
-	while (true)
+    while (io->bytesAvailable() > 0)
     {
-		mutex->lock();	// Pip
+        io->read((char*)&tmp, 1);
-			if (!io)
-			{
-				mutex->unlock();
-				break;
-			}
-			if (!io->isOpen() || io->bytesAvailable() <= 0)
-			{
-				mutex->unlock();
-				break;
-			}
-			qint64 bytes_read = io->read((char*)&tmp, sizeof(tmp));
-		mutex->unlock();
-
-		if (bytes_read <= 0) break;	// Pip
-
         processInputByte(tmp);
     }
 }
@@ -216,9 +196,6 @@ bool UAVTalk::objectTransaction(UAVObject* obj, quint8 type, bool allInstances)
  */
 bool UAVTalk::processInputByte(quint8 rxbyte)
 {
-	if (!objMngr || !io)	// Pip
-		return false;
-
     // Update stats
     stats.rxBytes++;
 
@@ -429,9 +406,6 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
 {
     Q_UNUSED(length);
 
-	if (!objMngr || !io)	// Pip
-		return false;
-
     UAVObject* obj = NULL;
     bool error = false;
     bool allInstances = (instId == ALL_INSTANCES? true : false);
@@ -531,9 +505,6 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
  */
 UAVObject* UAVTalk::updateObject(quint32 objId, quint16 instId, quint8* data)
 {
-	if (!objMngr || !io)	// Pip
-		return NULL;
-
     // Get object
     UAVObject* obj = objMngr->getObject(objId, instId);
     // If the instance does not exist create it
@@ -589,9 +560,6 @@ void UAVTalk::updateAck(UAVObject* obj)
  */
 bool UAVTalk::transmitObject(UAVObject* obj, quint8 type, bool allInstances)
 {   
-	if (!objMngr || !io)	// Pip
-		return false;
-
     // If all instances are requested on a single instance object it is an error
     if (allInstances && obj->isSingleInstance())
     {
@@ -654,9 +622,6 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     quint16 instId;
     quint16 allInstId = ALL_INSTANCES;
 
-	if (!objMngr || !io)	// Pip
-		return false;
-
     // Setup type and object id fields
     objId = obj->getObjID();
     txBuffer[0] = SYNC_VAL;

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

@@ -31,27 +31,29 @@
 
 UAVTalkPlugin::UAVTalkPlugin()
 {
-	telMngr = NULL;	// Pip
+
 }
 
 UAVTalkPlugin::~UAVTalkPlugin()
 {
-	if (telMngr)	// Pip
+
-		telMngr->stop();
 }
 
 void UAVTalkPlugin::extensionsInitialized()
 {
+    // Get UAVObjectManager instance
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    objMngr = pm->getObject<UAVObjectManager>();
+
     // Create TelemetryManager
     telMngr = new TelemetryManager();
-	if (!telMngr) return;	// Pip
     addAutoReleasedObject(telMngr);
 
     // Connect to connection manager so we get notified when the user connect to his device
     Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
     QObject::connect(cm, SIGNAL(deviceConnected(QIODevice *)),
                      this, SLOT(onDeviceConnect(QIODevice *)));
-    QObject::connect(cm, SIGNAL(deviceDisconnected()),
+    QObject::connect(cm, SIGNAL(deviceAboutToDisconnect()),
                      this, SLOT(onDeviceDisconnect()));
 }
 
@@ -65,17 +67,16 @@ bool UAVTalkPlugin::initialize(const QStringList & arguments, QString * errorStr
 
 void UAVTalkPlugin::shutdown()
 {
+
 }
 
 void UAVTalkPlugin::onDeviceConnect(QIODevice *dev)
 {
-	if (telMngr)	// Pip
     telMngr->start(dev);
 }
 
 void UAVTalkPlugin::onDeviceDisconnect()
 {
-	if (telMngr)	// Pip
     telMngr->stop();
 }
 

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -43,14 +43,6 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
 
-    // Note: remove listening to the connection manager, it overlaps with
-    // listening to the telemetry manager, we should only listen to one, not both.
-
-    // Also listen to disconnect actions from the user:
-    // Core::ConnectionManager *cm = Core::ICore::instance()->connectionManager();
-    // connect(cm, SIGNAL(deviceDisconnected()), this, SLOT(onAutopilotDisconnect()));
-
-
     connect(m_config->haltButton, SIGNAL(clicked()), this, SLOT(goToBootloader()));
     connect(m_config->resetButton, SIGNAL(clicked()), this, SLOT(systemReset()));
     connect(m_config->bootButton, SIGNAL(clicked()), this, SLOT(systemBoot()));