Comms: Update MockLink Threading

src/Comms/MockLink/CMakeLists.txt

@@ -13,6 +13,8 @@ if(CMAKE_BUILD_TYPE STREQUAL "Debug")
             MockLink.h
             MockLinkFTP.cc
             MockLinkFTP.h
+            MockLinkWorker.cc
+            MockLinkWorker.h
             MockLinkMissionItemHandler.cc
             MockLinkMissionItemHandler.h
     )

src/Comms/MockLink/MockLink.cc

@@ -8,9 +8,9 @@
  ****************************************************************************/
 
 #include "MockLink.h"
-
 #include "LinkManager.h"
 #include "MockLinkFTP.h"
+#include "MockLinkWorker.h"
 #include "QGCApplication.h"
 #include "QGCLoggingCategory.h"
 
@@ -61,10 +61,15 @@ MockLink::MockLink(SharedLinkConfigurationPtr &config, QObject *parent)
 
     (void) QObject::connect(this, &MockLink::writeBytesQueuedSignal, this, &MockLink::_writeBytesQueued, Qt::QueuedConnection);
 
-    (void) moveToThread(this);
-
     _loadParams();
     _runningTime.start();
+
+    _workerThread = new QThread(this);
+    _worker = new MockLinkWorker(this);
+    _worker->moveToThread(_workerThread);
+    (void) connect(_workerThread, &QThread::started, _worker, &MockLinkWorker::startWork);
+    (void) connect(_workerThread, &QThread::finished, _worker, &QObject::deleteLater);
+    _workerThread->start();
 }
 
 MockLink::~MockLink()
@@ -75,6 +80,11 @@ MockLink::~MockLink()
         QFile::remove(_logDownloadFilename);
     }
 
+    if (_workerThread) {
+        _workerThread->quit();
+        _workerThread->wait();
+    }
+
     // qCDebug(MockLinkLog) << Q_FUNC_INFO << this;
 }
 
@@ -86,7 +96,6 @@ bool MockLink::_connect()
         mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
         mavlink_status_t *const auxStatus = mavlink_get_channel_status(_getMavlinkAuxChannel());
         auxStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
-        start();
         emit connected();
     }
 
@@ -95,51 +104,15 @@ bool MockLink::_connect()
 
 void MockLink::disconnect()
 {
+    _missionItemHandler->shutdown();
+
     if (_connected) {
         _connected = false;
-        quit();
-        wait();
         emit disconnected();
     }
 }
 
-void MockLink::run()
-{
-    QTimer timer1HzTasks;
-    QTimer timer10HzTasks;
-    QTimer timer500HzTasks;
-    QTimer timerStatusText;
-
-    (void) QObject::connect(&timer1HzTasks,   &QTimer::timeout, this, &MockLink::_run1HzTasks);
-    (void) QObject::connect(&timer10HzTasks,  &QTimer::timeout, this, &MockLink::_run10HzTasks);
-    (void) QObject::connect(&timer500HzTasks, &QTimer::timeout, this, &MockLink::_run500HzTasks);
-    (void) QObject::connect(&timerStatusText, &QTimer::timeout, this, &MockLink::_sendStatusTextMessages);
-
-    timer1HzTasks.start(1000);
-    timer10HzTasks.start(100);
-    timer500HzTasks.start(2);
-
-    // Wait a little bit for the ui to finish loading up before sending out status text messages
-    if (_sendStatusText) {
-        timerStatusText.setSingleShot(true);
-        timerStatusText.start(10000);
-    }
-
-    // Send first set right away
-    _run1HzTasks();
-    _run10HzTasks();
-    _run500HzTasks();
-
-    exec();
-
-    (void) QObject::disconnect(&timer1HzTasks,  &QTimer::timeout, this, &MockLink::_run1HzTasks);
-    (void) QObject::disconnect(&timer10HzTasks, &QTimer::timeout, this, &MockLink::_run10HzTasks);
-    (void) QObject::disconnect(&timer500HzTasks, &QTimer::timeout, this, &MockLink::_run500HzTasks);
-
-    _missionItemHandler->shutdown();
-}
-
-void MockLink::_run1HzTasks()
+void MockLink::run1HzTasks()
 {
     if (!_mavlinkStarted || !_connected) {
         return;
@@ -168,7 +141,7 @@ void MockLink::_run1HzTasks()
     }
 }
 
-void MockLink::_run10HzTasks()
+void MockLink::run10HzTasks()
 {
     if (linkConfiguration()->isHighLatency()) {
         return;
@@ -187,7 +160,7 @@ void MockLink::_run10HzTasks()
     }
 }
 
-void MockLink::_run500HzTasks()
+void MockLink::run500HzTasks()
 {
     if (linkConfiguration()->isHighLatency()) {
         return;
@@ -199,6 +172,11 @@ void MockLink::_run500HzTasks()
     }
 }
 
+void MockLink::sendStatusTextMessages()
+{
+    _sendStatusTextMessages();
+}
+
 bool MockLink::_allocateMavlinkChannel()
 {
     // should only be called by the LinkManager during setup

src/Comms/MockLink/MockLink.h

@@ -22,6 +22,8 @@
 #include <QtPositioning/QGeoCoordinate>
 
 class MockLinkFTP;
+class MockLinkWorker;
+class QThread;
 
 Q_DECLARE_LOGGING_CATEGORY(MockLinkLog)
 Q_DECLARE_LOGGING_CATEGORY(MockLinkVerboseLog)
@@ -34,6 +36,13 @@ class MockLink : public LinkInterface
     explicit MockLink(SharedLinkConfigurationPtr &config, QObject *parent = nullptr);
     virtual ~MockLink();
 
+    void run1HzTasks();
+    void run10HzTasks();
+    void run500HzTasks();
+    void sendStatusTextMessages();
+
+    bool shouldSendStatusText() const { return _sendStatusText; }
+
     bool isConnected() const final { return _connected; }
     void disconnect() final;
 
@@ -109,20 +118,13 @@ class MockLink : public LinkInterface
 private slots:
     /// Called when QGC wants to write bytes to the MAV
     void _writeBytes(const QByteArray &bytes) final;
-
     void _writeBytesQueued(const QByteArray &bytes);
-    void _run1HzTasks();
-    void _run10HzTasks();
-    void _run500HzTasks();
-    void _sendStatusTextMessages();
 
 private:
     bool _connect() final;
     bool _allocateMavlinkChannel() final;
     void _freeMavlinkChannel() final;
 
-    void run() final;
-
     uint8_t _getMavlinkAuxChannel() const { return _mavlinkAuxChannel; }
     bool _mavlinkAuxChannelIsSet() const;
 
@@ -163,6 +165,7 @@ private slots:
     void _sendSysStatus();
     void _sendBatteryStatus();
     void _sendChunkedStatusText(uint16_t chunkId, bool missingChunks);
+    void _sendStatusTextMessages();
     void _respondWithAutopilotVersion();
     void _sendRCChannels();
     /// Sends the next parameter to the vehicle
@@ -181,6 +184,9 @@ private slots:
     /// @return Fully qualified path to created file
     static QString _createRandomFile(uint32_t byteCount);
 
+    QThread *_workerThread = nullptr;
+    MockLinkWorker *_worker = nullptr;
+
     const MockConfiguration *_mockConfig = nullptr;
     const MAV_AUTOPILOT _firmwareType = MAV_AUTOPILOT_PX4;
     const MAV_TYPE _vehicleType = MAV_TYPE_QUADROTOR;
@@ -263,4 +269,3 @@ private slots:
 
     static constexpr bool _mavlinkStarted = true;
 };
-

src/Comms/MockLink/MockLinkWorker.cc

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "MockLinkWorker.h"
+#include "MockLink.h"
+
+#include <QtCore/QTimer>
+
+MockLinkWorker::MockLinkWorker(MockLink *link, QObject *parent)
+    : QObject(parent)
+    , _mockLink(link)
+{
+
+}
+
+MockLinkWorker::~MockLinkWorker()
+{
+    stopWork();
+}
+
+void MockLinkWorker::startWork()
+{
+    _timer1Hz = new QTimer(this);
+    _timer10Hz = new QTimer(this);
+    _timer500Hz = new QTimer(this);
+    _timerStatusText = new QTimer(this);
+
+    (void) connect(_timer1Hz, &QTimer::timeout, this, &MockLinkWorker::run1HzTasks);
+    (void) connect(_timer10Hz, &QTimer::timeout, this, &MockLinkWorker::run10HzTasks);
+    (void) connect(_timer500Hz, &QTimer::timeout, this, &MockLinkWorker::run500HzTasks);
+    (void) connect(_timerStatusText, &QTimer::timeout, this, &MockLinkWorker::sendStatusTextMessages);
+
+    _timer1Hz->start(1000);
+    _timer10Hz->start(100);
+    _timer500Hz->start(2);
+
+    if (_mockLink->shouldSendStatusText()) {
+        _timerStatusText->setSingleShot(true);
+        _timerStatusText->start(10000);
+    }
+
+    run1HzTasks();
+    run10HzTasks();
+    run500HzTasks();
+}
+
+void MockLinkWorker::stopWork()
+{
+    _timer1Hz->stop();
+    _timer10Hz->stop();
+    _timer500Hz->stop();
+    _timerStatusText->stop();
+}
+
+void MockLinkWorker::run1HzTasks()
+{
+    _mockLink->run1HzTasks();
+}
+
+void MockLinkWorker::run10HzTasks()
+{
+    _mockLink->run10HzTasks();
+}
+
+void MockLinkWorker::run500HzTasks()
+{
+    _mockLink->run500HzTasks();
+}
+
+void MockLinkWorker::sendStatusTextMessages()
+{
+    _mockLink->sendStatusTextMessages();
+}

src/Comms/MockLink/MockLinkWorker.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QtCore/QObject>
+
+class MockLink;
+class QTimer;
+
+class MockLinkWorker : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit MockLinkWorker(MockLink *link, QObject *parent = nullptr);
+    ~MockLinkWorker();
+
+public slots:
+    void startWork();
+    void stopWork();
+
+private slots:
+    void run1HzTasks();
+    void run10HzTasks();
+    void run500HzTasks();
+
+    void sendStatusTextMessages();
+
+private:
+    MockLink *_mockLink = nullptr;
+    QTimer *_timer1Hz = nullptr;
+    QTimer *_timer10Hz = nullptr;
+    QTimer *_timer500Hz = nullptr;
+    QTimer *_timerStatusText = nullptr;
+};