Merge pull request mavlink#1662 from mavlink/hilfix

XPlane HIL interface: Fix link deletion logic so no QGC reboots are r…
EdwinGJ · Jun 22, 2015 · 2c7bf3a · 2c7bf3a
2 parents 36493ff + f528a64
commit 2c7bf3a
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Showing 2 changed files with 19 additions and 7 deletions.
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
@@ -80,12 +80,12 @@ QGCXPlaneLink::~QGCXPlaneLink()
     storeSettings();
     // Tell the thread to exit
     _should_exit = true;
-    // Wait for it to exit
-    wait();
 
-//    if(connectState) {
-//       disconnectSimulation();
-//    }
+    if (socket) {
+        socket->close();
+        socket->deleteLater();
+        socket = NULL;
+    }
 }
 
 void QGCXPlaneLink::loadSettings()
@@ -169,11 +169,13 @@ void QGCXPlaneLink::run()
 
         emit statusMessage("Binding socket failed!");
 
-        delete socket;
+        socket->deleteLater();
         socket = NULL;
         return;
     }
 
+    emit statusMessage(tr("Waiting for XPlane.."));
+
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
     UAS* uas = dynamic_cast<UAS*>(mav);
@@ -188,6 +190,9 @@ void QGCXPlaneLink::run()
         connect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), uas, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), Qt::QueuedConnection);
 
         uas->startHil();
+    } else {
+        emit statusMessage(tr("Failed to connect to drone instance"));
+        return;
     }
 
 #pragma pack(push, 1)
@@ -254,6 +259,8 @@ void QGCXPlaneLink::run()
 
     connectState = false;
 
+    QObject::disconnect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
+
     socket->close();
     socket->deleteLater();
     socket = NULL;
@@ -908,7 +915,6 @@ bool QGCXPlaneLink::disconnectSimulation()
     if (connectState)
     {
         _should_exit = true;
-        wait();
     } else {
         emit simulationDisconnected();
         emit simulationConnected(false);

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
@@ -242,6 +242,12 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
 */
 UAS::~UAS()
 {
+    stopHil();
+    if (simulation) {
+        // wait for the simulator to exit
+        simulation->wait();
+        simulation->deleteLater();
+    }
     writeSettings();
 }