MainWindow.cc

    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open credits in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/credits in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::showRoadMap()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open roadmap in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::configure()
{
    if (!joystickWidget) {
        if (!joystick->isRunning()) {
            joystick->start();
        }
        joystickWidget = new JoystickWidget(joystick);
    }
    joystickWidget->show();
}

void MainWindow::showSettings()
{
    QGCSettingsWidget* settings = new QGCSettingsWidget(this);
    settings->show();
}

void MainWindow::addLink()
{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

    LinkManager::instance()->add(link);
    LinkManager::instance()->addProtocol(link, mavlink);

    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

	const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
	const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());

    foreach (QAction* act, actions) {
        if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link)
            act->trigger();
            break;
        }
    }
}

void MainWindow::addLink(LinkInterface *link)
{
    // IMPORTANT! KEEP THESE TWO LINES
    // THEY MAKE SURE THE LINK IS PROPERLY REGISTERED
    // BEFORE LINKING THE UI AGAINST IT
    // Register (does nothing if already registered)
    LinkManager::instance()->add(link);
    LinkManager::instance()->addProtocol(link, mavlink);

    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

    bool found(false);

	const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
	const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());

    foreach (QAction* act, actions) {
        if (act->data().toInt() == linkID) { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
        }
    }

    //UDPLink* udp = dynamic_cast<UDPLink*>(link);

    if (!found) {  //  || udp
        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
        QAction* action = commWidget->getAction();
        ui.menuNetwork->addAction(action);

        // Error handling
        connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
        // Special case for simulationlink
        MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
        if (sim)
        {
            //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
            connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
        }
    }
}

void MainWindow::setActiveUAS(UASInterface* uas)
{
    // Enable and rename menu
    ui.menuUnmanned_System->setTitle(uas->getUASName());
    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
}

void MainWindow::UASSpecsChanged(int uas)
{
    UASInterface* activeUAS = UASManager::instance()->getActiveUAS();
    if (activeUAS)
    {
        if (activeUAS->getUASID() == uas)
        {
            ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
        }
    }
}

void MainWindow::UASCreated(UASInterface* uas)
{

    // Connect the UAS to the full user interface

    if (uas != NULL)
    {
        // The pilot, operator and engineer views were not available on startup, enable them now
        ui.actionPilotsView->setEnabled(true);
        ui.actionOperatorsView->setEnabled(true);
        ui.actionEngineersView->setEnabled(true);
        // The UAS actions are not enabled without connection to system
        ui.actionLiftoff->setEnabled(true);
        ui.actionLand->setEnabled(true);
        ui.actionEmergency_Kill->setEnabled(true);
        ui.actionEmergency_Land->setEnabled(true);
        ui.actionShutdownMAV->setEnabled(true);

        QIcon icon;
        // Set matching icon
        switch (uas->getSystemType()) {
        case 0:
            icon = QIcon(":/images/mavs/generic.svg");
            break;
        case 1:
            icon = QIcon(":/images/mavs/fixed-wing.svg");
            break;
        case 2:
            icon = QIcon(":/images/mavs/quadrotor.svg");
            break;
        case 3:
            icon = QIcon(":/images/mavs/coaxial.svg");
            break;
        case 4:
            icon = QIcon(":/images/mavs/helicopter.svg");
            break;
        case 5:
            icon = QIcon(":/images/mavs/groundstation.svg");
            break;
        default:
            icon = QIcon(":/images/mavs/unknown.svg");
            break;
        }

        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
        connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater()));
        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
        connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));

        ui.menuConnected_Systems->addAction(uasAction);

        // FIXME Should be not inside the mainwindow
        if (debugConsoleDockWidget)
        {
            DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
            if (debugConsole)
            {
                connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
                        debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
            }
        }

        // Health / System status indicator
        if (infoDockWidget)
        {
            UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
            if (infoWidget)
            {
                infoWidget->addUAS(uas);
            }
        }

        // UAS List
        if (listDockWidget)
        {
            UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
            if (listWidget)
            {
                listWidget->addUAS(uas);
            }
        }

        // Line chart
        if (!linechartWidget)
        {
            // Center widgets
            linechartWidget = new Linecharts(this);
            linechartWidget->addSource(mavlinkDecoder);
            addCentralWidget(linechartWidget, tr("Realtime Plot"));
        }

        // Load default custom widgets for this autopilot type
        loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());


        if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
        {
            // Dock widgets
            if (!detectionDockWidget)
            {
                detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
                detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
                detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
                addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
            }

            if (!watchdogControlDockWidget)
            {
                watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
                watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
                watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
                addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
            }
        }

        // Change the view only if this is the first UAS

        // If this is the first connected UAS, it is both created as well as
        // the currently active UAS
        if (UASManager::instance()->getUASList().size() == 1)
        {
            // Load last view if setting is present
            if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
            {
                int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
                switch (view) {
                case VIEW_ENGINEER:
                    loadEngineerView();
                    break;
                case VIEW_MAVLINK:
                    loadMAVLinkView();
                    break;
                case VIEW_PILOT:
                    loadPilotView();
                    break;
                case VIEW_UNCONNECTED:
                    loadUnconnectedView();
                    break;
                case VIEW_OPERATOR:
                default:
                    loadOperatorView();
                    break;
                }
            }
            else
            {
                loadOperatorView();
            }
        }

    }

    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);

    // Reload view state in case new widgets were added
    loadViewState();
}

/**
 * Stores the current view state
 */
void MainWindow::storeViewState()
{
    if (!aboutToCloseFlag)
    {
        // Save current state
        settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
        settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
        // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
        // therefore this state is stored here and restored after applying the rest of the settings in the new
        // perspective.
        windowStateVal = this->windowState();
        settings.setValue(getWindowGeometryKey(), saveGeometry());
    }
}

void MainWindow::loadViewState()
{
    // Restore center stack state
    int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
    // The offline plot view is usually the consequence of a logging run, always show the realtime view first
    if (centerStack->indexOf(dataplotWidget) == index)
    {
        // Rewrite to realtime plot
        index = centerStack->indexOf(linechartWidget);
    }

    if (index != -1)
    {
        centerStack->setCurrentIndex(index);
    }
    else
    {
        // Hide custom widgets
        if (detectionDockWidget) detectionDockWidget->hide();
        if (watchdogControlDockWidget) watchdogControlDockWidget->hide();

        // Load defaults
        switch (currentView)
        {
        case VIEW_ENGINEER:
            centerStack->setCurrentWidget(linechartWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            mavlinkInspectorWidget->show();
            parametersDockWidget->show();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_PILOT:
            centerStack->setCurrentWidget(hudWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->hide();
            logPlayerDockWidget->hide();
            mavlinkInspectorWidget->hide();
            parametersDockWidget->hide();
            hsiDockWidget->show();
            headDown1DockWidget->show();
            headDown2DockWidget->show();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_MAVLINK:
            centerStack->setCurrentWidget(protocolWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->hide();
            logPlayerDockWidget->hide();
            mavlinkInspectorWidget->hide();
            parametersDockWidget->hide();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_OPERATOR:
            centerStack->setCurrentWidget(mapWidget);
            controlDockWidget->hide();
            listDockWidget->show();
            waypointsDockWidget->show();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            parametersDockWidget->hide();
            hsiDockWidget->show();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->show();
            video1DockWidget->hide();
            video2DockWidget->hide();
            mavlinkInspectorWidget->hide();
            break;
        case VIEW_UNCONNECTED:
        case VIEW_FULL:
        default:
            centerStack->setCurrentWidget(mapWidget);
            controlDockWidget->hide();
            listDockWidget->show();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            parametersDockWidget->hide();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->show();
            video1DockWidget->hide();
            video2DockWidget->hide();
            mavlinkInspectorWidget->show();
            break;
        }
    }

    // Restore the widget positions and size
    if (settings.contains(getWindowStateKey()))
    {
        restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }
}

void MainWindow::loadEngineerView()
{
    if (currentView != VIEW_ENGINEER)
    {
        storeViewState();
        currentView = VIEW_ENGINEER;
        ui.actionEngineersView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadOperatorView()
{
    if (currentView != VIEW_OPERATOR)
    {
        storeViewState();
        currentView = VIEW_OPERATOR;
        ui.actionOperatorsView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadUnconnectedView()
{
    if (currentView != VIEW_UNCONNECTED)
    {
        storeViewState();
        currentView = VIEW_UNCONNECTED;
        ui.actionUnconnectedView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadPilotView()
{
    if (currentView != VIEW_PILOT)
    {
        storeViewState();
        currentView = VIEW_PILOT;
        ui.actionPilotsView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadMAVLinkView()
{
    if (currentView != VIEW_MAVLINK)
    {
        storeViewState();
        currentView = VIEW_MAVLINK;
        ui.actionMavlinkView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadDataView(QString fileName)
{
    // Plot is now selected, now load data from file
    if (dataplotWidget)
    {
        dataplotWidget->loadFile(fileName);
    }
    QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
    if (centerStack)
    {
        centerStack->setCurrentWidget(dataplotWidget);
        dataplotWidget->loadFile(fileName);
    }
}


QList<QAction*> MainWindow::listLinkMenuActions(void)
{
    return ui.menuNetwork->actions();
}
/*
void MainWindow::buildSenseSoarWidgets()
{
	if (!linechartWidget) 
	{
        // Center widgets
        linechartWidget   = new Linecharts(this);
        addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
    }

    if (!hudWidget) 
	{
        hudWidget         = new HUD(320, 240, this);
        addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD);
    }

    if (!dataplotWidget) {
        dataplotWidget    = new QGCDataPlot2D(this);
        addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);
    }

#ifdef QGC_OSG_ENABLED
    if (!_3DWidget) {
        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
        addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);
    }
#endif

#ifdef QGC_OSGEARTH_ENABLED
    if (!_3DMapWidget) {
        _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
        addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH);
    }
#endif

#if (defined _MSC_VER) | (defined Q_OS_MAC)
    if (!gEarthWidget) {
        gEarthWidget = new QGCGoogleEarthView(this);
        addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);
    }

#endif

    // Dock widgets

    if (!parametersDockWidget) {
        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
        parametersDockWidget->setWidget( new ParameterInterface(this) );
        parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
        addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea);
    }

    if (!hsiDockWidget) {
        hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
        hsiDockWidget->setWidget( new HSIDisplay(this) );
        hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
        addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea);
    }
	
    if (!rcViewDockWidget) {
        rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
        rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
        rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
        addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea);
    }

    if (!headUpDockWidget) {
        headUpDockWidget = new QDockWidget(tr("HUD"), this);
        headUpDockWidget->setWidget( new HUD(320, 240, this));
        headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
        addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea);
    }
}

void MainWindow::connectSenseSoarWidgets()
{
}

void MainWindow::arrangeSenseSoarCenterStack()
{
	if (!centerStack) {
        qDebug() << "Center Stack not Created!";
        return;
    }


    if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget);

#ifdef QGC_OSG_ENABLED
    if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget);
#endif
#ifdef QGC_OSGEARTH_ENABLED
    if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget);
#endif
#if (defined _MSC_VER) | (defined Q_OS_MAC)
    if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget);
#endif
    if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget);
    if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget);
}

void MainWindow::connectSenseSoarActions()
{
}
*/