MainWindow.cc

            break;

        case VIEW_FLIGHT:
            _buildFlightView();
            centerView = _flightView;
            defaultWidgets = "COMMUNICATION_CONSOLE_DOCKWIDGET,UAS_INFO_INFOVIEW_DOCKWIDGET";
            break;

        case VIEW_PLAN:
            _buildPlanView();
            centerView = _planView;
            defaultWidgets = "UNMANNED_SYSTEM_LIST_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET";
            break;

        case VIEW_EXPERIMENTAL_PLAN:
            _buildExperimentalPlanView();
            centerView = _experimentalPlanView;
            defaultWidgets.clear();
            break;

        case VIEW_SIMULATION:
            _buildSimView();
            centerView = _simView;
            defaultWidgets = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
            break;

        case VIEW_TERMINAL:
            _buildTerminalView();
            centerView = _terminalView;
            break;
            
        default:
            Q_ASSERT(false);
            break;
    }

    // Remove old view
    if (_currentViewWidget) {
        _currentViewWidget->setVisible(false);
        Q_ASSERT(_centralLayout->count() == 1);
        QLayoutItem *child = _centralLayout->takeAt(0);
        Q_ASSERT(child);
        delete child;
    }

    // Add the new one
    Q_ASSERT(centerView);
    Q_ASSERT(_centralLayout->count() == 0);
    _currentViewWidget = centerView;
    _centralLayout->addWidget(_currentViewWidget);
    _centralLayout->setContentsMargins(0, 0, 0, 0);
    _currentViewWidget->setVisible(true);

    // Hide all widgets from previous view
    _hideAllDockWidgets();

    // Restore the widgets for the new view
    QString widgetNames = settings.value(_getWindowStateKey() + "WIDGETS", defaultWidgets).toString();
    qDebug() << widgetNames;
    if (!widgetNames.isEmpty()) {
        QStringList split = widgetNames.split(",");
        foreach (QString widgetName, split) {
            Q_ASSERT(!widgetName.isEmpty());
            _showDockWidget(widgetName, true);
        }
    }

    if (settings.contains(_getWindowStateKey())) {
        restoreState(settings.value(_getWindowStateKey()).toByteArray());
    }

    // HIL dock widget are dynamic and don't take part in the saved window state, so this
    // need to happen after we restore state
    _showHILConfigurationWidgets();

    // There is a bug in Qt where a Canvas element inside a QQuickWidget does not
    // receive update requests. Here we emit a signal for them to get repainted.
    emit repaintCanvas();
}

void MainWindow::_hideAllHilDockWidgets(void)
{
    foreach(QDockWidget* dockWidget, _mapUasId2HilDockWidget) {
        dockWidget->setVisible(false);
    }
}

void MainWindow::_hideAllDockWidgets(void)
{
    foreach(QDockWidget* dockWidget, _mapName2DockWidget) {
        dockWidget->setVisible(false);
    }
    _hideAllHilDockWidgets();
}

void MainWindow::_showDockWidgetAction(bool show)
{
    QAction* action = dynamic_cast<QAction*>(QObject::sender());
    Q_ASSERT(action);
    _showDockWidget(action->data().toString(), show);
}


void MainWindow::handleMisconfiguration(UASInterface* uas)
{
    static QTime lastTime;
    // We have to debounce this signal
    if (!lastTime.isValid()) {
        lastTime.start();
    } else {
        if (lastTime.elapsed() < 10000) {
            lastTime.start();
            return;
        }
    }
    // Ask user if they want to handle this now
    QMessageBox::StandardButton button =
        QGCMessageBox::question(
            tr("Missing or Invalid Onboard Configuration"),
            tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?"),
            QMessageBox::Ok | QMessageBox::Cancel,
            QMessageBox::Ok);
    if (button == QMessageBox::Ok) {
        // They want to handle it, make sure this system is selected
        UASManager::instance()->setActiveUAS(uas);
        // Flick to config view
        loadSetupView();
    }
}

void MainWindow::loadAnalyzeView()
{
    if (_currentView != VIEW_ANALYZE)
    {
        _storeCurrentViewState();
        _currentView = VIEW_ANALYZE;
        _ui.actionAnalyze->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadPlanView()
{
    if (_currentView != VIEW_PLAN)
    {
        _storeCurrentViewState();
        _currentView = VIEW_PLAN;
        _ui.actionPlan->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadOldPlanView()
{
    if (_currentView != VIEW_EXPERIMENTAL_PLAN)
    {
        _storeCurrentViewState();
        _currentView = VIEW_EXPERIMENTAL_PLAN;
        _ui.actionExperimentalPlanView->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadSetupView()
{
    if (_currentView != VIEW_SETUP)
    {
        _storeCurrentViewState();
        _currentView = VIEW_SETUP;
        _ui.actionSetup->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadTerminalView()
{
    if (_currentView != VIEW_TERMINAL)
    {
        _storeCurrentViewState();
        _currentView = VIEW_TERMINAL;
        _ui.actionTerminalView->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadFlightView()
{
    if (_currentView != VIEW_FLIGHT)
    {
        _storeCurrentViewState();
        _currentView = VIEW_FLIGHT;
        _ui.actionFlight->setChecked(true);
        _loadCurrentViewState();
    }
}

void MainWindow::loadSimulationView()
{
    if (_currentView != VIEW_SIMULATION)
    {
        _storeCurrentViewState();
        _currentView = VIEW_SIMULATION;
        _ui.actionSimulationView->setChecked(true);
        _loadCurrentViewState();
    }
}

/// @brief Hides the spash screen if it is currently being shown
void MainWindow::hideSplashScreen(void)
{
    if (_splashScreen) {
        _splashScreen->hide();
        _splashScreen = NULL;
    }
}

void MainWindow::manageLinks()
{
#ifndef __android__
    SettingsDialog settings(joystick, this, SettingsDialog::ShowCommLinks);
#else
    SettingsDialog settings(this, SettingsDialog::ShowCommLinks);
#endif
    settings.exec();
}

/// @brief Saves the last used connection
void MainWindow::saveLastUsedConnection(const QString connection)
{
    QSettings settings;
    QString key(MAIN_SETTINGS_GROUP);
    key += "/LAST_CONNECTION";
    settings.setValue(key, connection);
}

/// @brief Restore (and connects) the last used connection (if any)
void MainWindow::restoreLastUsedConnection()
{
    // TODO This should check and see of the port/whatever is present
    // first. That is, if the last connection was to a PX4 on some serial
    // port, it should check and see if the port is present before making
    // the connection.
    QSettings settings;
    QString key(MAIN_SETTINGS_GROUP);
    key += "/LAST_CONNECTION";
    if(settings.contains(key)) {
        QString connection = settings.value(key).toString();
        // Create a link for it
        LinkManager::instance()->createConnectedLink(connection);
    }
}

void MainWindow::_linkStateChange(LinkInterface*)
{
    emit repaintCanvas();
}

void MainWindow::setPixelSizeFactor(double size) {
    if(size < 0.1) {
        size = 0.1;
    }
    _pixelFactor = size;
    emit pixelSizeChanged();
}

void MainWindow::setFontSizeFactor(double size) {
    if(size < 0.1) {
        size = 0.1;
    }
    _fontFactor = size;
    emit fontSizeChanged();
}

#ifdef QGC_MOUSE_ENABLED_LINUX
bool MainWindow::x11Event(XEvent *event)
{
    emit x11EventOccured(event);
    return false;
}
#endif // QGC_MOUSE_ENABLED_LINUX

#ifdef UNITTEST_BUILD
void MainWindow::_showQmlTestWidget(void)
{
    new QmlTestWidget();
}
#endif