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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Main class
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <Core.h>
#include <MG.h>
#include <MainWindow.h>
#include "AudioOutput.h"
/**
* @brief Constructor for the main application.
*
* This constructor initializes and starts the whole application. It takes standard
* command-line parameters
*
* @param argc The number of command-line parameters
* @param argv The string array of parameters
**/
MGCore::MGCore(int &argc, char* argv[]) : QApplication(argc, argv)
{
this->setApplicationName("OpenMAV Ground Control Station");
this->setApplicationVersion("v. 0.0.5");
this->setOrganizationName(QLatin1String("OpenMAV Association"));
QSettings::setDefaultFormat(QSettings::IniFormat);
// Exit main application when last window is closed
connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
// Set application font
QFontDatabase fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toAscii().data());
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fontDatabase.addApplicationFont(fontFileName);
setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Show splash screen
QPixmap splashImage(MG::DIR::getIconDirectory() + "/groundstation-splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
splashScreen->show();
// Start the comm link manager
splashScreen->showMessage(tr("Starting Communication Links"));
startLinkManager();
// Start the UAS Manager
splashScreen->showMessage(tr("Starting UAS Manager"));
startUASManager();
// Start audio output
AudioOutput* audio = new AudioOutput();
audio->say("Ground Control Station started", 1);
// Start the user interface
splashScreen->showMessage(tr("Starting User Interface"));
startUI();
// Remove splash screen
splashScreen->finish(mainWindow);
}
/**
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
MGCore::~MGCore()
{
// Delete singletons
delete LinkManager::instance();
delete UASManager::instance();
}
/**
* @brief Start the link managing component.
*
* The link manager keeps track of all communication links and provides the global
* packet queue. It is the main communication hub
**/
void MGCore::startLinkManager()
{
LinkManager::instance();
}
/**
* @brief Start the Unmanned Air System Manager
*
**/
void MGCore::startUASManager()
{
UASManager::instance();
}
/**
* @brief Start and show the user interface.
**/
void MGCore::startUI()
{
// Start UI
mainWindow = new MGMainWindow();
// Make UI visible
mainWindow->show();
}