Convert MultiVehicleManager to Singleton

src/AnalyzeView/LogDownloadController.cc

@@ -34,10 +34,9 @@ LogDownloadController::LogDownloadController(void)
     , _retries(0)
     , _apmOneBased(0)
 {
-    MultiVehicleManager *manager = qgcApp()->toolbox()->multiVehicleManager();
-    connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &LogDownloadController::_setActiveVehicle);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &LogDownloadController::_setActiveVehicle);
     connect(&_timer, &QTimer::timeout, this, &LogDownloadController::_processDownload);
-    _setActiveVehicle(manager->activeVehicle());
+    _setActiveVehicle(MultiVehicleManager::instance()->activeVehicle());
 }
 
 //----------------------------------------------------------------------------------------
@@ -600,7 +599,7 @@ LogDownloadController::eraseAll(void)
                         MAVLinkProtocol::getComponentId(),
                         sharedLink->mavlinkChannel(),
                         &msg,
-                        qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->id(), qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()->defaultComponentId());
+                        MultiVehicleManager::instance()->activeVehicle()->id(), MultiVehicleManager::instance()->activeVehicle()->defaultComponentId());
             _vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), msg);
         }
         refresh();

src/AnalyzeView/MAVLinkConsoleController.cc

@@ -27,10 +27,9 @@ MAVLinkConsoleController::MAVLinkConsoleController(QObject *parent)
 {
     // qCDebug(MAVLinkConsoleControllerLog) << Q_FUNC_INFO << this;
 
-    MultiVehicleManager *const manager = qgcApp()->toolbox()->multiVehicleManager();
-    (void) connect(manager, &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkConsoleController::_setActiveVehicle);
+    (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkConsoleController::_setActiveVehicle);
 
-    _setActiveVehicle(manager->activeVehicle());
+    _setActiveVehicle(MultiVehicleManager::instance()->activeVehicle());
 }
 
 MAVLinkConsoleController::~MAVLinkConsoleController()

src/AnalyzeView/MAVLinkInspectorController.cc

@@ -24,10 +24,9 @@ QGC_LOGGING_CATEGORY(MAVLinkInspectorControllerLog, "qgc.analyzeview.mavlinkinsp
 //-----------------------------------------------------------------------------
 MAVLinkInspectorController::MAVLinkInspectorController()
 {
-    MultiVehicleManager* multiVehicleManager = qgcApp()->toolbox()->multiVehicleManager();
-    connect(multiVehicleManager, &MultiVehicleManager::vehicleAdded,   this, &MAVLinkInspectorController::_vehicleAdded);
-    connect(multiVehicleManager, &MultiVehicleManager::vehicleRemoved, this, &MAVLinkInspectorController::_vehicleRemoved);
-    connect(multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkInspectorController::_setActiveVehicle);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded,   this, &MAVLinkInspectorController::_vehicleAdded);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MAVLinkInspectorController::_vehicleRemoved);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &MAVLinkInspectorController::_setActiveVehicle);
     connect(MAVLinkProtocol::instance(), &MAVLinkProtocol::messageReceived, this, &MAVLinkInspectorController::_receiveMessage);
     connect(&_updateFrequencyTimer, &QTimer::timeout, this, &MAVLinkInspectorController::_refreshFrequency);
     _updateFrequencyTimer.start(1000);
@@ -256,13 +255,10 @@ void MAVLinkInspectorController::setMessageInterval(int32_t rate)
 {
     if(!_activeSystem) return;
 
-    MultiVehicleManager* multiVehicleManager = qgcApp()->toolbox()->multiVehicleManager();
-    if(!multiVehicleManager) return;
-
     const uint8_t sysId = _selectedSystemID();
     if(sysId == 0) return;
 
-    Vehicle* vehicle = multiVehicleManager->getVehicleById(sysId);
+    Vehicle* vehicle = MultiVehicleManager::instance()->getVehicleById(sysId);
     if(!vehicle) return;
 
     QGCMAVLinkMessage* msg = _activeSystem->selectedMsg();

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -85,7 +85,7 @@ AirframeComponentController::~AirframeComponentController()
 
 void AirframeComponentController::changeAutostart(void)
 {
-    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
+    if (MultiVehicleManager::instance()->vehicles()->count() > 1) {
         qgcApp()->showAppMessage(tr("You cannot change airframe configuration while connected to multiple vehicles."));
 		return;
 	}

src/Camera/QGCCameraManager.cc

@@ -50,7 +50,7 @@ QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
 
     _addCameraControlToLists(_simulatedCameraControl);
 
-    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &QGCCameraManager::_vehicleReady);
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, this, &QGCCameraManager::_mavlinkMessageReceived);
     connect(&_camerasLostHeartbeatTimer, &QTimer::timeout, this, &QGCCameraManager::_checkForLostCameras);
 
@@ -87,7 +87,7 @@ void QGCCameraManager::_vehicleReady(bool ready)
 {
     qCDebug(CameraManagerLog) << "_vehicleReady(" << ready << ")";
     if(ready) {
-        if(qgcApp()->toolbox()->multiVehicleManager()->activeVehicle() == _vehicle) {
+        if(MultiVehicleManager::instance()->activeVehicle() == _vehicle) {
             _vehicleReadyState = true;
             _activeJoystickChanged(JoystickManager::instance()->activeJoystick());
             connect(JoystickManager::instance(), &JoystickManager::activeJoystickChanged, this, &QGCCameraManager::_activeJoystickChanged);

src/Comms/LinkManager.cc

@@ -237,8 +237,6 @@ void LinkManager::_linkDisconnected()
     for (auto it = _rgLinks.begin(); it != _rgLinks.end(); ++it) {
         if (it->get() == link) {
             qCDebug(LinkManagerLog) << Q_FUNC_INFO << it->get()->linkConfiguration()->name() << it->use_count();
-            SharedLinkConfigurationPtr config = it->get()->linkConfiguration();
-            config->setLink(nullptr);
             (void) _rgLinks.erase(it);
             return;
         }
@@ -511,7 +509,7 @@ void LinkManager::shutdown()
     disconnectAll();
 
     // Wait for all the vehicles to go away to ensure an orderly shutdown and deletion of all objects
-    while (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count()) {
+    while (MultiVehicleManager::instance()->vehicles()->count()) {
         QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
     }
 }

src/Comms/LogReplayLink.cc

@@ -103,7 +103,7 @@ LogReplayLink::~LogReplayLink(void)
 bool LogReplayLink::_connect(void)
 {
     // Disallow replay when any links are connected
-    if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
+    if (MultiVehicleManager::instance()->activeVehicle()) {
         emit communicationError(_errorTitle, tr("You must close all connections prior to replaying a log."));
         return false;
     }

src/Comms/MAVLinkProtocol.cc

@@ -15,6 +15,7 @@
 #include "QGCTemporaryFile.h"
 #include "QGCToolbox.h"
 #include "SettingsManager.h"
+#include "QmlObjectListModel.h"
 
 #include <QtCore/qapplicationstatic.h>
 #include <QtCore/QDir>
@@ -25,19 +26,13 @@
 
 QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "qgc.comms.mavlinkprotocol")
 
-Q_APPLICATION_STATIC(MAVLinkProtocol, _mavlinkProtocol);
+Q_APPLICATION_STATIC(MAVLinkProtocol, _mavlinkProtocolInstance);
 
 MAVLinkProtocol::MAVLinkProtocol(QObject *parent)
     : QObject(parent)
     , _tempLogFile(new QGCTemporaryFile(QStringLiteral("%2.%3").arg(_tempLogFileTemplate, _logFileExtension), this))
 {
     // qCDebug(MAVLinkProtocolLog) << Q_FUNC_INFO << this;
-
-    (void) memset(_firstMessage, 1, sizeof(_firstMessage));
-
-    (void) connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &MAVLinkProtocol::_vehicleCountChanged);
-
-    _loadSettings();
 }
 
 MAVLinkProtocol::~MAVLinkProtocol()
@@ -50,7 +45,22 @@ MAVLinkProtocol::~MAVLinkProtocol()
 
 MAVLinkProtocol *MAVLinkProtocol::instance()
 {
-    return _mavlinkProtocol();
+    return _mavlinkProtocolInstance();
+}
+
+void MAVLinkProtocol::init()
+{
+    if (_initialized) {
+        return;
+    }
+
+    (void) memset(_firstMessage, 1, sizeof(_firstMessage));
+
+    (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &MAVLinkProtocol::_vehicleCountChanged);
+
+    _loadSettings();
+
+    _initialized = true;
 }
 
 void MAVLinkProtocol::setVersion(unsigned version)
@@ -476,7 +486,7 @@ void MAVLinkProtocol::enableVersionCheck(bool enabled)
 
 void MAVLinkProtocol::_vehicleCountChanged()
 {
-    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() == 0) {
+    if (MultiVehicleManager::instance()->vehicles()->count() == 0) {
         _stopLogging();
     }
 }

src/Comms/MAVLinkProtocol.h

@@ -40,6 +40,8 @@ class MAVLinkProtocol : public QObject
     ///     @return The singleton instance.
     static MAVLinkProtocol *instance();
 
+    void init();
+
     /// Get the human-friendly name of this protocol
     static QString getName() { return QStringLiteral("MAVLink protocol"); }
 
@@ -143,6 +145,7 @@ private slots:
 
     int _systemId = kMaxSysId;
     unsigned _currentVersion = 100;
+    bool _initialized = false;
 
     static constexpr const char *_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file
     static constexpr const char *_logFileExtension = "mavlink";             ///< Extension for log files

src/FactSystem/FactControls/FactPanelController.cc

@@ -25,11 +25,11 @@ QGC_LOGGING_CATEGORY(FactPanelControllerLog, "FactPanelControllerLog")
 FactPanelController::FactPanelController(QObject *parent)
     : QObject(parent)
 {
-    _vehicle = qgcApp()->toolbox()->multiVehicleManager()->activeVehicle();
+    _vehicle = MultiVehicleManager::instance()->activeVehicle();
     if (_vehicle) {
         _autopilot = _vehicle->autopilotPlugin();
     } else {
-        _vehicle = qgcApp()->toolbox()->multiVehicleManager()->offlineEditingVehicle();
+        _vehicle = MultiVehicleManager::instance()->offlineEditingVehicle();
     }
 
     _missingParametersTimer.setInterval(500);

src/FollowMe/FollowMe.cc

@@ -60,18 +60,18 @@ void FollowMe::_settingsChanged(QVariant value)
 
     switch (_currentMode) {
     case MODE_NEVER:
-        (void) disconnect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
-        (void) disconnect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
+        (void) disconnect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
+        (void) disconnect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
         _disableFollowSend();
         break;
     case MODE_ALWAYS:
-        (void) connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
-        (void) connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
+        (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
+        (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
         _enableFollowSend();
         break;
     case MODE_FOLLOWME:
-        (void) connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
-        (void) connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
+        (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &FollowMe::_vehicleAdded);
+        (void) connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleRemoved, this, &FollowMe::_vehicleRemoved);
         _enableIfVehicleInFollow();
         break;
     }
@@ -106,7 +106,7 @@ void FollowMe::_sendGCSMotionReport()
     if (_currentMode == MODE_ALWAYS) {
         needFollowMe = true;
     } else if (_currentMode == MODE_FOLLOWME) {
-        QmlObjectListModel* const vehicles = qgcApp()->toolbox()->multiVehicleManager()->vehicles();
+        QmlObjectListModel* const vehicles = MultiVehicleManager::instance()->vehicles();
         for (int i = 0; i < vehicles->count(); i++) {
             const Vehicle* const vehicle = vehicles->value<const Vehicle*>(i);
             if (_isFollowFlightMode(vehicle, vehicle->flightMode())) {
@@ -162,7 +162,7 @@ void FollowMe::_sendGCSMotionReport()
         motionReport.vyMetersPerSec = 0;
     }
 
-    QmlObjectListModel* const vehicles = qgcApp()->toolbox()->multiVehicleManager()->vehicles();
+    QmlObjectListModel* const vehicles = MultiVehicleManager::instance()->vehicles();
 
     for (int i = 0; i < vehicles->count(); i++) {
         Vehicle* const vehicle = vehicles->value<Vehicle*>(i);
@@ -192,7 +192,7 @@ void FollowMe::_enableIfVehicleInFollow()
     }
 
     // Any vehicle in follow mode will enable the system
-    QmlObjectListModel* const vehicles = qgcApp()->toolbox()->multiVehicleManager()->vehicles();
+    QmlObjectListModel* const vehicles = MultiVehicleManager::instance()->vehicles();
 
     for (int i = 0; i < vehicles->count(); i++) {
         const Vehicle* const vehicle = vehicles->value<const Vehicle*>(i);

src/GPS/RTCMMavlink.cc

@@ -66,7 +66,7 @@ void RTCMMavlink::RTCMDataUpdate(QByteArrayView data)
 
 void RTCMMavlink::_sendMessageToVehicle(const mavlink_gps_rtcm_data_t &data)
 {
-    QmlObjectListModel* const vehicles = qgcApp()->toolbox()->multiVehicleManager()->vehicles();
+    QmlObjectListModel* const vehicles = MultiVehicleManager::instance()->vehicles();
     for (qsizetype i = 0; i < vehicles->count(); i++) {
         Vehicle* const vehicle = qobject_cast<Vehicle*>(vehicles->get(i));
         const SharedLinkInterfacePtr sharedLink = vehicle->vehicleLinkManager()->primaryLink().lock();

src/Joystick/Joystick.cc

@@ -41,14 +41,13 @@ AssignableButtonAction::AssignableButtonAction(QObject* parent, QString action_,
 {
 }
 
-Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager)
+Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatCount)
     : _name                 (name)
     , _axisCount            (axisCount)
     , _buttonCount          (buttonCount)
     , _hatCount             (hatCount)
     , _hatButtonCount       (4 * hatCount)
     , _totalButtonCount     (_buttonCount+_hatButtonCount)
-    , _multiVehicleManager  (multiVehicleManager)
     , _customActionManager  (qgcApp()->toolbox()->settingsManager()->customMavlinkActionsSettings()->joystickActionsFile())
 {
     // qCDebug(JoystickLog) << Q_FUNC_INFO << this;
@@ -65,11 +64,11 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
         _rgButtonValues[i] = BUTTON_UP;
         _buttonActionArray.append(nullptr);
     }
-    _buildActionList(_multiVehicleManager->activeVehicle());
-    _updateTXModeSettingsKey(_multiVehicleManager->activeVehicle());
+    _buildActionList(MultiVehicleManager::instance()->activeVehicle());
+    _updateTXModeSettingsKey(MultiVehicleManager::instance()->activeVehicle());
     _loadSettings();
-    connect(_multiVehicleManager, &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
-    connect(qgcApp()->toolbox()->multiVehicleManager()->vehicles(), &QmlObjectListModel::countChanged, this, &Joystick::_vehicleCountChanged);
+    connect(MultiVehicleManager::instance(), &MultiVehicleManager::activeVehicleChanged, this, &Joystick::_activeVehicleChanged);
+    connect(MultiVehicleManager::instance()->vehicles(), &QmlObjectListModel::countChanged, this, &Joystick::_vehicleCountChanged);
 }
 
 void Joystick::stop()
@@ -186,7 +185,7 @@ void Joystick::_loadSettings()
 {
     QSettings settings;
     settings.beginGroup(_settingsGroup);
-    Vehicle* activeVehicle = _multiVehicleManager->activeVehicle();
+    Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
 
     if(_txModeSettingsKey && activeVehicle)
         _transmitterMode = settings.value(_txModeSettingsKey, activeVehicle->firmwarePlugin()->defaultJoystickTXMode()).toInt();
@@ -953,7 +952,7 @@ void Joystick::setCalibrationMode(bool calibrating)
     _calibrationMode = calibrating;
     if (calibrating && !isRunning()) {
         _pollingStartedForCalibration = true;
-        startPolling(_multiVehicleManager->activeVehicle());
+        startPolling(MultiVehicleManager::instance()->activeVehicle());
     }
     else if (_pollingStartedForCalibration) {
         stopPolling();

src/Joystick/Joystick.h

@@ -26,7 +26,6 @@
 Q_DECLARE_LOGGING_CATEGORY(JoystickValuesLog)
 Q_DECLARE_METATYPE(GRIPPER_ACTIONS)
 
-class MultiVehicleManager;
 class Vehicle;
 class QmlObjectListModel;
 
@@ -63,7 +62,7 @@ class Joystick : public QThread
     Q_MOC_INCLUDE("QmlObjectListModel.h")
     Q_MOC_INCLUDE("Vehicle.h")
 public:
-    Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager);
+    Joystick(const QString& name, int axisCount, int buttonCount, int hatCount);
 
     virtual ~Joystick();
 
@@ -307,7 +306,6 @@ class Joystick : public QThread
     QmlObjectListModel              _assignableButtonActions;
     QList<AssignedButtonAction*>    _buttonActionArray;
     QStringList                     _availableActionTitles;
-    MultiVehicleManager*            _multiVehicleManager = nullptr;
 
     CustomActionManager _customActionManager;
 

src/Joystick/JoystickAndroid.cc

@@ -9,7 +9,6 @@
 
 #include "JoystickAndroid.h"
 #include "JoystickManager.h"
-#include "MultiVehicleManager.h"
 #include "QGCLoggingCategory.h"
 
 #include <QtCore/QJniEnvironment>
@@ -32,8 +31,8 @@ static void clear_jni_exception()
     }
 }
 
-JoystickAndroid::JoystickAndroid(const QString& name, int axisCount, int buttonCount, int id, MultiVehicleManager* multiVehicleManager)
-    : Joystick(name,axisCount,buttonCount,0,multiVehicleManager)
+JoystickAndroid::JoystickAndroid(const QString& name, int axisCount, int buttonCount, int id)
+    : Joystick(name,axisCount,buttonCount,0)
     , deviceId(id)
 {
     int i;
@@ -95,7 +94,7 @@ JoystickAndroid::~JoystickAndroid() {
 }
 
 
-QMap<QString, Joystick*> JoystickAndroid::discover(MultiVehicleManager* _multiVehicleManager) {
+QMap<QString, Joystick*> JoystickAndroid::discover() {
     static QMap<QString, Joystick*> ret;
 
     QMutexLocker lock(&m_mutex);
@@ -144,7 +143,7 @@ QMap<QString, Joystick*> JoystickAndroid::discover(MultiVehicleManager* _multiVe
 
         qCDebug(JoystickLog) << "\t" << name << "id:" << buff[i] << "axes:" << axisCount << "buttons:" << buttonCount;
 
-        ret[name] = new JoystickAndroid(name, axisCount, buttonCount, buff[i], _multiVehicleManager);
+        ret[name] = new JoystickAndroid(name, axisCount, buttonCount, buff[i]);
     }
 
     for (auto i = ret.begin(); i != ret.end();) {