MainWindow.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009 - 2013 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Implementation of class MainWindow
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
 */

#include <QSettings>
#include <QNetworkInterface>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
#include <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>
#include <QQuickView>
#include <QDesktopWidget>

#include "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "MAVLinkProtocol.h"
#include "QGCWaypointListMulti.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "SettingsDialog.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
#include "PrimaryFlightDisplay.h"
#include "SetupView.h"
#include "SerialSettingsDialog.h"
#include "terminalconsole.h"
#include "QGCUASFileViewMulti.h"
#include "QGCApplication.h"
#include "QGCFileDialog.h"
#include "QGCMessageBox.h"
#include "QGCDockWidget.h"

#ifdef UNITTEST_BUILD
#include "QmlControls/QmlTestWidget.h"
#endif

#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
#endif

#include "LogCompressor.h"

/// The key under which the Main Window settings are saved
const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";

const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET";
const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
const char* MainWindow::_parametersDockWidgetName = "PARAMETER_INTERFACE_DOCKWIDGET";
const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET";
const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET";
const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET";
const char* MainWindow::_hsiDockWidgetName = "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET";
const char* MainWindow::_hdd1DockWidgetName = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
const char* MainWindow::_hdd2DockWidgetName = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
const char* MainWindow::_hudDockWidgetName = "HEAD_UP_DISPLAY_DOCKWIDGET";
const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET";
const char* MainWindow::_debugConsoleDockWidgetName = "COMMUNICATION_CONSOLE_DOCKWIDGET";

static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton

MainWindow* MainWindow::_create(QSplashScreen* splashScreen)
{
    Q_ASSERT(_instance == NULL);
    new MainWindow(splashScreen);
    // _instance is set in constructor
    Q_ASSERT(_instance);
    return _instance;
}

MainWindow* MainWindow::instance(void)
{
    return _instance;
}

void MainWindow::deleteInstance(void)
{
    delete this;
}

/// @brief Private constructor for MainWindow. MainWindow singleton is only ever created
///         by MainWindow::_create method. Hence no other code should have access to
///         constructor.
MainWindow::MainWindow(QSplashScreen* splashScreen)
    : _autoReconnect(false)
    , _lowPowerMode(false)
    , _centerStackActionGroup(new QActionGroup(this))
    , _simulationLink(NULL)
    , _centralLayout(NULL)
    , _currentViewWidget(NULL)
    , _splashScreen(splashScreen)
    , _currentView(VIEW_SETUP)
{
    Q_ASSERT(_instance == NULL);
    _instance = this;

    if (splashScreen) {
        connect(this, &MainWindow::initStatusChanged, splashScreen, &QSplashScreen::showMessage);
    }

    // Setup user interface
    loadSettings();
    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    _ui.setupUi(this);
    // Make sure tool bar elements all fit before changing minimum width
    setMinimumWidth(926);
    configureWindowName();

    // Setup central widget with a layout to hold the views
    _centralLayout = new QVBoxLayout();
    centralWidget()->setLayout(_centralLayout);
    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
    // Setup corners
    setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);

    // Qt 4 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar.
    // TODO: Check that this is still necessary on Qt5 on Ubuntu
#ifdef Q_OS_LINUX
    menuBar()->setNativeMenuBar(false);
#endif
    
#ifdef UNITTEST_BUILD
    QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
    connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
    _ui.menuTools->addAction(qmlTestAction);
#endif

    // Load QML Toolbar
    QDockWidget* widget = new QDockWidget(this);
    widget->setObjectName("ToolBarDockWidget");
    qmlRegisterType<MainToolBar>("QGroundControl.MainToolBar", 1, 0, "MainToolBar");
    _mainToolBar = new MainToolBar(widget);
    widget->setWidget(_mainToolBar);
    widget->setFeatures(QDockWidget::NoDockWidgetFeatures);
    widget->setTitleBarWidget(new QWidget(this)); // Disables the title bar
    addDockWidget(Qt::TopDockWidgetArea, widget);

    // Setup UI state machines
    _centerStackActionGroup->setExclusive(true);
    // Status Bar
    setStatusBar(new QStatusBar(this));
    statusBar()->setSizeGripEnabled(true);

    emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    _buildCommonWidgets();
    emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    // Create actions
    connectCommonActions();
    // Connect user interface devices
    emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    joystick = new JoystickInput();

#ifdef QGC_MOUSE_ENABLED_WIN
    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    mouseInput = new Mouse3DInput(this);
    mouse = new Mouse6dofInput(mouseInput);
#endif //QGC_MOUSE_ENABLED_WIN