Convert LinkManager to Singleton

src/AutoPilotPlugins/PX4/AirframeComponentController.cc

@@ -127,7 +127,7 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
         QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
     }
     QGuiApplication::restoreOverrideCursor();
-    qgcApp()->toolbox()->linkManager()->disconnectAll();
+    LinkManager::instance()->disconnectAll();
 }
 
 AirframeType::AirframeType(const QString& name, const QString& imageResource, QObject* parent) :

src/Comms/CMakeLists.txt

@@ -26,14 +26,14 @@ target_link_libraries(Comms
         Qt6::Test
         MockLink
         PositionManager
+        QGC
         Settings
         Vehicle
     PUBLIC
         Qt6::Core
         Qt6::Network
         AirLink
         MAVLink
-        QGC
         QmlControls
         Utilities
 )

src/Comms/LinkInterface.cc

@@ -83,7 +83,7 @@ bool LinkInterface::_allocateMavlinkChannel()
         return true;
     }
 
-    _mavlinkChannel = qgcApp()->toolbox()->linkManager()->allocateMavlinkChannel();
+    _mavlinkChannel = LinkManager::instance()->allocateMavlinkChannel();
 
     if (!mavlinkChannelIsSet()) {
         qCWarning(LinkInterfaceLog) << Q_FUNC_INFO << "failed";
@@ -105,7 +105,7 @@ void LinkInterface::_freeMavlinkChannel()
         return;
     }
 
-    qgcApp()->toolbox()->linkManager()->freeMavlinkChannel(_mavlinkChannel);
+    LinkManager::instance()->freeMavlinkChannel(_mavlinkChannel);
     _mavlinkChannel = LinkManager::invalidMavlinkChannel();
 }
 

src/Comms/LinkManager.cc

@@ -47,22 +47,38 @@
 #include <qmdnsengine/service.h>
 #endif
 
+#include <QtCore/qapplicationstatic.h>
 #include <QtCore/QTimer>
 #include <QtQml/qqml.h>
 
 QGC_LOGGING_CATEGORY(LinkManagerLog, "qgc.comms.linkmanager")
 QGC_LOGGING_CATEGORY(LinkManagerVerboseLog, "qgc.comms.linkmanager:verbose")
 
-LinkManager::LinkManager(QGCApplication *app, QGCToolbox *toolbox)
-    : QGCTool(app, toolbox)
+Q_APPLICATION_STATIC(LinkManager, _linkManagerInstance);
+
+LinkManager::LinkManager(QObject *parent)
+    : QObject(parent)
     , _portListTimer(new QTimer(this))
     , _qmlConfigurations(new QmlObjectListModel(this))
 #ifndef NO_SERIAL_LINK
     , _nmeaSocket(new UdpIODevice(this))
 #endif
 {
     // qCDebug(LinkManagerLog) << Q_FUNC_INFO << this;
+}
 
+LinkManager::~LinkManager()
+{
+    // qCDebug(LinkManagerLog) << Q_FUNC_INFO << this;
+}
+
+LinkManager *LinkManager::instance()
+{
+    return _linkManagerInstance();
+}
+
+void LinkManager::registerQmlTypes()
+{
     (void) qmlRegisterUncreatableType<LinkManager>("QGroundControl",       1, 0, "LinkManager",         "Reference only");
     (void) qmlRegisterUncreatableType<LinkConfiguration>("QGroundControl", 1, 0, "LinkConfiguration",   "Reference only");
     (void) qmlRegisterUncreatableType<LinkInterface>("QGroundControl",     1, 0, "LinkInterface",       "Reference only");
@@ -78,16 +94,9 @@ LinkManager::LinkManager(QGCApplication *app, QGCToolbox *toolbox)
 #endif
 }
 
-LinkManager::~LinkManager()
-{
-    // qCDebug(LinkManagerLog) << Q_FUNC_INFO << this;
-}
-
-void LinkManager::setToolbox(QGCToolbox *toolbox)
+void LinkManager::init()
 {
-    QGCTool::setToolbox(toolbox);
-
-    _autoConnectSettings = toolbox->settingsManager()->autoConnectSettings();
+    _autoConnectSettings = qgcApp()->toolbox()->settingsManager()->autoConnectSettings();
 
     if (!qgcApp()->runningUnitTests()) {
         (void) connect(_portListTimer, &QTimer::timeout, this, &LinkManager::_updateAutoConnectLinks);
@@ -160,7 +169,7 @@ bool LinkManager::createConnectedLink(SharedLinkConfigurationPtr &config)
     (void) _rgLinks.append(link);
     config->setLink(link);
 
-    (void) connect(link.get(), &LinkInterface::communicationError, _app, &QGCApplication::criticalMessageBoxOnMainThread);
+    (void) connect(link.get(), &LinkInterface::communicationError, qgcApp(), &QGCApplication::showAppMessage);
     (void) connect(link.get(), &LinkInterface::bytesReceived, MAVLinkProtocol::instance(), &MAVLinkProtocol::receiveBytes);
     (void) connect(link.get(), &LinkInterface::bytesSent, MAVLinkProtocol::instance(), &MAVLinkProtocol::logSentBytes);
     (void) connect(link.get(), &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
@@ -218,7 +227,7 @@ void LinkManager::_linkDisconnected()
         return;
     }
 
-    (void) disconnect(link, &LinkInterface::communicationError, _app, &QGCApplication::criticalMessageBoxOnMainThread);
+    (void) disconnect(link, &LinkInterface::communicationError, qgcApp(), &QGCApplication::showAppMessage);
     (void) disconnect(link, &LinkInterface::bytesReceived, MAVLinkProtocol::instance(), &MAVLinkProtocol::receiveBytes);
     (void) disconnect(link, &LinkInterface::bytesSent, MAVLinkProtocol::instance(), &MAVLinkProtocol::logSentBytes);
     (void) disconnect(link, &LinkInterface::disconnected, this, &LinkManager::_linkDisconnected);
@@ -227,7 +236,7 @@ void LinkManager::_linkDisconnected()
 
     for (auto it = _rgLinks.begin(); it != _rgLinks.end(); ++it) {
         if (it->get() == link) {
-            qCDebug(LinkManagerLog) << "LinkManager::_linkDisconnected" << it->get()->linkConfiguration()->name() << it->use_count();
+            qCDebug(LinkManagerLog) << Q_FUNC_INFO << it->get()->linkConfiguration()->name() << it->use_count();
             SharedLinkConfigurationPtr config = it->get()->linkConfiguration();
             config->setLink(nullptr);
             (void) _rgLinks.erase(it);
@@ -391,7 +400,7 @@ void LinkManager::_addUDPAutoConnectLink()
 
 void LinkManager::_addMAVLinkForwardingLink()
 {
-    if (!_toolbox->settingsManager()->appSettings()->forwardMavlink()->rawValue().toBool()) {
+    if (!qgcApp()->toolbox()->settingsManager()->appSettings()->forwardMavlink()->rawValue().toBool()) {
         return;
     }
 
@@ -403,7 +412,7 @@ void LinkManager::_addMAVLinkForwardingLink()
         }
     }
 
-    const QString hostName = _toolbox->settingsManager()->appSettings()->forwardMavlinkHostName()->rawValue().toString();
+    const QString hostName = qgcApp()->toolbox()->settingsManager()->appSettings()->forwardMavlinkHostName()->rawValue().toString();
     _createDynamicForwardLink(_mavlinkForwardingLinkName, hostName);
 }
 
@@ -502,7 +511,7 @@ void LinkManager::shutdown()
     disconnectAll();
 
     // Wait for all the vehicles to go away to ensure an orderly shutdown and deletion of all objects
-    while (_toolbox->multiVehicleManager()->vehicles()->count()) {
+    while (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count()) {
         QCoreApplication::processEvents(QEventLoop::ExcludeUserInputEvents);
     }
 }
@@ -608,7 +617,7 @@ void LinkManager::removeConfiguration(LinkConfiguration *config)
 
 void LinkManager::createMavlinkForwardingSupportLink()
 {
-    const QString hostName = _toolbox->settingsManager()->appSettings()->forwardMavlinkAPMSupportHostName()->rawValue().toString();
+    const QString hostName = qgcApp()->toolbox()->settingsManager()->appSettings()->forwardMavlinkAPMSupportHostName()->rawValue().toString();
     _createDynamicForwardLink(_mavlinkForwardingSupportLinkName, hostName);
     _mavlinkSupportForwardingEnabled = true;
     emit mavlinkSupportForwardingEnabledChanged();

src/Comms/LinkManager.h

@@ -15,7 +15,6 @@
 
 #include <limits>
 
-#include "QGCToolbox.h"
 #include "LinkConfiguration.h"
 #include "LinkInterface.h"
 #ifndef NO_SERIAL_LINK
@@ -28,7 +27,6 @@ Q_DECLARE_LOGGING_CATEGORY(LinkManagerVerboseLog)
 class AutoConnectSettings;
 class LogReplayLink;
 class MAVLinkProtocol;
-class QGCApplication;
 class QmlObjectListModel;
 class QTimer;
 class SerialLink;
@@ -39,7 +37,7 @@ class UdpIODevice;
 ///        The Link Manager organizes the physical Links. It can manage arbitrary
 ///        links and takes care of connecting them as well assigning the correct
 ///        protocol instance to transport the link data into the application.
-class LinkManager : public QGCTool
+class LinkManager : public QObject
 {
     Q_OBJECT
     Q_MOC_INCLUDE("QmlObjectListModel.h")
@@ -49,11 +47,13 @@ class LinkManager : public QGCTool
     Q_PROPERTY(bool mavlinkSupportForwardingEnabled READ mavlinkSupportForwardingEnabled NOTIFY mavlinkSupportForwardingEnabledChanged)
 
 public:
-    LinkManager(QGCApplication *app, QGCToolbox *toolbox);
+    LinkManager(QObject *parent = nullptr);
     ~LinkManager();
 
-    // Override from QGCTool
-    void setToolbox(QGCToolbox *toolbox) final;
+    static LinkManager *instance();
+    static void registerQmlTypes();
+
+    void init();
 
     /// Create/Edit Link Configuration
     Q_INVOKABLE LinkConfiguration *createConfiguration(int type, const QString &name);
@@ -141,23 +141,23 @@ private slots:
     void _addZeroConfAutoConnectLink();
 #endif
 
+    QTimer *_portListTimer = nullptr;
+    QmlObjectListModel *_qmlConfigurations = nullptr;
+    AutoConnectSettings *_autoConnectSettings = nullptr;
+
     bool _configUpdateSuspended = false;            ///< true: stop updating configuration list
     bool _configurationsLoaded = false;             ///< true: Link configurations have been loaded
     bool _connectionsSuspended = false;             ///< true: all new connections should not be allowed
     bool _mavlinkSupportForwardingEnabled = false;
     uint32_t _mavlinkChannelsUsedBitMask = 1;
     QString _connectionsSuspendedReason;            ///< User visible reason for suspension
 
-    AutoConnectSettings *_autoConnectSettings = nullptr;
-    QTimer *_portListTimer = nullptr;
-    QmlObjectListModel *_qmlConfigurations = nullptr;
-
     QList<SharedLinkInterfacePtr> _rgLinks;
     QList<SharedLinkConfigurationPtr> _rgLinkConfigs;
 
-    static constexpr const char* _defaultUDPLinkName = "UDP Link (AutoConnect)";
-    static constexpr const char* _mavlinkForwardingLinkName = "MAVLink Forwarding Link";
-    static constexpr const char* _mavlinkForwardingSupportLinkName = "MAVLink Support Forwarding Link";
+    static constexpr const char *_defaultUDPLinkName = "UDP Link (AutoConnect)";
+    static constexpr const char *_mavlinkForwardingLinkName = "MAVLink Forwarding Link";
+    static constexpr const char *_mavlinkForwardingSupportLinkName = "MAVLink Support Forwarding Link";
 
     static constexpr int _autoconnectUpdateTimerMSecs = 1000;
 #ifdef Q_OS_WIN
@@ -168,11 +168,12 @@ private slots:
 #endif
 
 #ifndef NO_SERIAL_LINK
-public:
+private:
     Q_PROPERTY(QStringList serialBaudRates   READ serialBaudRates   CONSTANT)
     Q_PROPERTY(QStringList serialPortStrings READ serialPortStrings NOTIFY commPortStringsChanged)
     Q_PROPERTY(QStringList serialPorts       READ serialPorts       NOTIFY commPortsChanged)
 
+public:
     static QStringList serialBaudRates();
     QStringList serialPortStrings();
     QStringList serialPorts();
@@ -188,6 +189,7 @@ private slots:
     void _addSerialAutoConnectLink();
     bool _portAlreadyConnected(const QString &portName) const;
 
+    UdpIODevice *_nmeaSocket = nullptr;
     QMap<QString, int> _autoconnectPortWaitList;   ///< key: QGCSerialPortInfo::systemLocation, value: wait count
     QList<SerialLink*> _activeLinkCheckList;       ///< List of links we are waiting for a vehicle to show up on
     QStringList _commPortList;
@@ -196,6 +198,5 @@ private slots:
     QString _nmeaDeviceName;
     uint32_t _nmeaBaud = 0;
     QSerialPort *_nmeaPort = nullptr;
-    UdpIODevice *_nmeaSocket = nullptr;
 #endif // NO_SERIAL_LINK
 };

src/Comms/LogReplayLink.cc

@@ -358,7 +358,7 @@ void LogReplayLink::_readNextLogEntry(void)
 
 void LogReplayLink::_play(void)
 {
-    qgcApp()->toolbox()->linkManager()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
+    LinkManager::instance()->setConnectionsSuspended(tr("Connect not allowed during Flight Data replay."));
 #ifndef __mobile__
     MAVLinkProtocol::instance()->suspendLogForReplay(true);
 #endif
@@ -377,7 +377,7 @@ void LogReplayLink::_play(void)
 
 void LogReplayLink::_pause(void)
 {
-    qgcApp()->toolbox()->linkManager()->setConnectionsAllowed();
+    LinkManager::instance()->setConnectionsAllowed();
 #ifndef __mobile__
     MAVLinkProtocol::instance()->suspendLogForReplay(false);
 #endif

src/Comms/MAVLinkProtocol.cc

@@ -16,6 +16,7 @@
 #include "QGCToolbox.h"
 #include "SettingsManager.h"
 
+#include <QtCore/qapplicationstatic.h>
 #include <QtCore/QDir>
 #include <QtCore/QFileInfo>
 #include <QtCore/QMetaType>
@@ -54,7 +55,7 @@ MAVLinkProtocol *MAVLinkProtocol::instance()
 
 void MAVLinkProtocol::setVersion(unsigned version)
 {
-    const QList<SharedLinkInterfacePtr> sharedLinks = qgcApp()->toolbox()->linkManager()->links();
+    const QList<SharedLinkInterfacePtr> sharedLinks = LinkManager::instance()->links();
     for (const SharedLinkInterfacePtr &interface : sharedLinks) {
         mavlink_set_proto_version(interface.get()->mavlinkChannel(), version / 100);
     }
@@ -127,7 +128,7 @@ void MAVLinkProtocol::logSentBytes(const LinkInterface *link, const QByteArray &
 
 void MAVLinkProtocol::receiveBytes(LinkInterface *link, const QByteArray &data)
 {
-    const SharedLinkInterfacePtr linkPtr = qgcApp()->toolbox()->linkManager()->sharedLinkInterfacePointerForLink(link);
+    const SharedLinkInterfacePtr linkPtr = LinkManager::instance()->sharedLinkInterfacePointerForLink(link);
     if (!linkPtr) {
         qCDebug(MAVLinkProtocolLog) << "receiveBytes: link gone!" << data.size() << "bytes arrived too late";
         return;
@@ -213,7 +214,7 @@ void MAVLinkProtocol::_forward(const mavlink_message_t &message)
         return;
     }
 
-    SharedLinkInterfacePtr forwardingLink = qgcApp()->toolbox()->linkManager()->mavlinkForwardingLink();
+    SharedLinkInterfacePtr forwardingLink = LinkManager::instance()->mavlinkForwardingLink();
     if (!forwardingLink) {
         return;
     }
@@ -229,11 +230,11 @@ void MAVLinkProtocol::_forwardSupport(const mavlink_message_t &message)
         return;
     }
 
-    if (!qgcApp()->toolbox()->linkManager()->mavlinkSupportForwardingEnabled()) {
+    if (!LinkManager::instance()->mavlinkSupportForwardingEnabled()) {
         return;
     }
 
-    SharedLinkInterfacePtr forwardingSupportLink = qgcApp()->toolbox()->linkManager()->mavlinkForwardingSupportLink();
+    SharedLinkInterfacePtr forwardingSupportLink = LinkManager::instance()->mavlinkForwardingSupportLink();
     if (!forwardingSupportLink) {
         return;
     }

src/Comms/MockLink/MockLink.cc

@@ -148,8 +148,7 @@ bool MockLink::_allocateMavlinkChannel()
         return false;
     }
 
-    auto mgr = qgcApp()->toolbox()->linkManager();
-    _mavlinkAuxChannel = mgr->allocateMavlinkChannel();
+    _mavlinkAuxChannel = LinkManager::instance()->allocateMavlinkChannel();
     if (!mavlinkAuxChannelIsSet()) {
         qCWarning(MockLinkLog) << "_allocateMavlinkChannel failed";
         LinkInterface::_freeMavlinkChannel();
@@ -167,8 +166,7 @@ void MockLink::_freeMavlinkChannel()
         return;
     }
 
-    auto mgr = qgcApp()->toolbox()->linkManager();
-    mgr->freeMavlinkChannel(_mavlinkAuxChannel);
+    LinkManager::instance()->freeMavlinkChannel(_mavlinkAuxChannel);
     LinkInterface::_freeMavlinkChannel();
 }
 
@@ -1501,12 +1499,10 @@ void MockConfiguration::loadSettings(QSettings& settings, const QString& root)
 
 MockLink* MockLink::_startMockLink(MockConfiguration* mockConfig)
 {
-    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
-
     mockConfig->setDynamic(true);
-    SharedLinkConfigurationPtr config = linkMgr->addConfiguration(mockConfig);
+    SharedLinkConfigurationPtr config = LinkManager::instance()->addConfiguration(mockConfig);
 
-    if (linkMgr->createConnectedLink(config)) {
+    if (LinkManager::instance()->createConnectedLink(config)) {
         return qobject_cast<MockLink*>(config->link());
     } else {
         return nullptr;

src/Comms/SerialLink.cc

@@ -82,7 +82,7 @@ void SerialLink::disconnect(void)
     }
 
 #ifdef Q_OS_ANDROID
-    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(false);
+    LinkManager::instance()->suspendConfigurationUpdates(false);
 #endif
 }
 
@@ -96,7 +96,7 @@ bool SerialLink::_connect(void)
     }
 
 #ifdef Q_OS_ANDROID
-    qgcApp()->toolbox()->linkManager()->suspendConfigurationUpdates(true);
+    LinkManager::instance()->suspendConfigurationUpdates(true);
 #endif
 
     QSerialPort::SerialPortError    error;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -1174,7 +1174,7 @@ uint8_t APMFirmwarePlugin::_reencodeMavlinkChannel()
     _channelMutex.lock();
     static uint8_t channel{LinkManager::invalidMavlinkChannel()};
     if (LinkManager::invalidMavlinkChannel() == channel) {
-        channel = qgcApp()->toolbox()->linkManager()->allocateMavlinkChannel();
+        channel = LinkManager::instance()->allocateMavlinkChannel();
     }
     _channelMutex.unlock();
     return channel;