MainWindow.cc

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

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 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 <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
#include <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>

#include "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "QGCWaypointListMulti.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "QGCFirmwareUpdate.h"
#include "QGCStatusBar.h"

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

// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"


#include "LogCompressor.h"

MainWindow* MainWindow::instance(QSplashScreen* screen)
{
    static MainWindow* _instance = 0;
    if(_instance == 0)
    {
        _instance = new MainWindow();
        if (screen) connect(_instance, SIGNAL(initStatusChanged(QString)), screen, SLOT(showMessage(QString)));

        /* Set the application as parent to ensure that this object
                 * will be destroyed when the main application exits */
        //_instance->setParent(qApp);
    }
    return _instance;
}

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
MainWindow::MainWindow(QWidget *parent):
    QMainWindow(parent),
    currentView(VIEW_UNCONNECTED),
    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
    aboutToCloseFlag(false),
    changingViewsFlag(false),
    centerStackActionGroup(new QActionGroup(this)),
    styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
    autoReconnect(false),
    lowPowerMode(false)
{
    hide();
    isAdvancedMode = false;
    emit initStatusChanged("Loading UI Settings..");
    loadSettings();
    if (!settings.contains("CURRENT_VIEW"))
    {
        // Set this view as default view
        settings.setValue("CURRENT_VIEW", currentView);
    }
    else
    {
        // LOAD THE LAST VIEW
        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
        if (currentViewCandidate != VIEW_ENGINEER &&
                currentViewCandidate != VIEW_MISSION &&
                currentViewCandidate != VIEW_FLIGHT &&
                currentViewCandidate != VIEW_FULL)
        {
            currentView = currentViewCandidate;
        }
    }

    settings.sync();

    emit initStatusChanged("Loading Style.");
    loadStyle(currentStyle);

    emit initStatusChanged("Setting up user interface.");

    // Setup user interface
    ui.setupUi(this);
    hide();

    // We only need this menu if we have more than one system
//    ui.menuConnected_Systems->setEnabled(false);

    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);

    configureWindowName();

    // Setup corners
    setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);

    // Setup UI state machines
	centerStackActionGroup->setExclusive(true);

    centerStack = new QStackedWidget(this);
    setCentralWidget(centerStack);

    // Load Toolbar
    toolBar = new QGCToolBar(this);
    this->addToolBar(toolBar);
    // Add actions (inverted order due to insert)

    QList<QAction*> actions;

    actions << ui.actionMissionView;
    actions << ui.actionFlightView;
    actions << ui.actionEngineersView;
    actions << ui.actionSimulation_View;
    actions << ui.actionConfiguration_2;
    toolBar->setPerspectiveChangeActions(actions);

    customStatusBar = new QGCStatusBar(this);
    setStatusBar(customStatusBar);
    statusBar()->setSizeGripEnabled(true);


    emit initStatusChanged("Building common widgets.");

    buildCommonWidgets();
    connectCommonWidgets();

    emit initStatusChanged("Building common actions.");

    // Create actions
    connectCommonActions();

    // Populate link menu
    emit initStatusChanged("Populating link menu");
    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
    foreach(LinkInterface* link, links)
    {
        this->addLink(link);
    }

    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));

    // Connect user interface devices
    emit initStatusChanged("Initializing joystick interface.");
    joystickWidget = 0;
    joystick = new JoystickInput();

#ifdef MOUSE_ENABLED_WIN
    emit initStatusChanged("Initializing 3D mouse interface.");

    mouseInput = new Mouse3DInput(this);
    mouse = new Mouse6dofInput(mouseInput);
#endif //MOUSE_ENABLED_WIN

#if MOUSE_ENABLED_LINUX
    emit initStatusChanged("Initializing 3D mouse interface.");

    mouse = new Mouse6dofInput(this);
    connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
#endif //MOUSE_ENABLED_LINUX

    // Connect link
    if (autoReconnect)
    {
        SerialLink* link = new SerialLink();
        // Add to registry
        LinkManager::instance()->add(link);
        LinkManager::instance()->addProtocol(link, mavlink);
        link->connect();
    }

    // Set low power mode
    enableLowPowerMode(lowPowerMode);

    // Initialize window state
    windowStateVal = windowState();

    emit initStatusChanged("Restoring last view state.");

    // Restore the window setup
    loadViewState();

    emit initStatusChanged("Restoring last window size.");
    // Restore the window position and size
    if (settings.contains(getWindowGeometryKey()))
    {
        // Restore the window geometry
        restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
        show();
    }
    else
    {
        // Adjust the size
        const int screenWidth = QApplication::desktop()->width();
        const int screenHeight = QApplication::desktop()->height();

        if (screenWidth < 1500)
        {
            resize(screenWidth, screenHeight - 80);
            show();
        }
        else
        {
            resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
            show();
        }

    }

    connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
    windowNameUpdateTimer.start(15000);
    emit initStatusChanged("Done.");
    show();
}

MainWindow::~MainWindow()
{
    if (mavlink)
    {
        delete mavlink;
        mavlink = NULL;
    }
//    if (simulationLink)
//    {
//        simulationLink->deleteLater();
//        simulationLink = NULL;
//    }
    if (joystick)
    {
        joystick->shutdown();
        joystick->wait(5000);
        delete joystick;
        joystick = NULL;
    }

    // Get and delete all dockwidgets and contained
    // widgets
    QObjectList childList(this->children());

    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
    {
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
        {
            // Remove dock widget from main window
            // removeDockWidget(dockWidget);
            // delete dockWidget->widget();
            delete dockWidget;
            dockWidget = NULL;
        }
        else if (dynamic_cast<QWidget*>(*i))
        {
            delete dynamic_cast<QWidget*>(*i);
            *i = NULL;
        }
    }
    // Delete all UAS objects
}

void MainWindow::resizeEvent(QResizeEvent * event)
{
    if (width() > 1200)
    {
        toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
    }
    else
    {
        toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly);
    }

    QMainWindow::resizeEvent(event);
}

QString MainWindow::getWindowStateKey()
{
    return QString::number(currentView)+"_windowstate";
}

QString MainWindow::getWindowGeometryKey()
{
    //return QString::number(currentView)+"_geometry";
    return "_geometry";
}

void MainWindow::buildCustomWidget()
{
    // Create custom widgets
    QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);

    if (widgets.size() > 0)
    {
        ui.menuTools->addSeparator();
    }

    for(int i = 0; i < widgets.size(); ++i)
    {
        // Check if this widget already has a parent, do not create it in this case
        QGCToolWidget* tool = widgets.at(i);
        QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
        if (!dock)
        {
            QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
            dock->setObjectName(tool->objectName()+"_DOCK");
            dock->setWidget(tool);
            connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
            QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
            showAction->setCheckable(true);
            connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
            connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
            widgets.at(i)->setMainMenuAction(showAction);
            ui.menuTools->addAction(showAction);

            // Load dock widget location (default is bottom)
            Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));

            addDockWidget(location, dock);
            dock->hide();
        }
    }
}

void MainWindow::buildCommonWidgets()
{
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
    // Add generic MAVLink decoder
    mavlinkDecoder = new MAVLinkDecoder(mavlink, this);

    // Log player
    logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar);
    customStatusBar->setLogPlayer(logPlayer);


    // Center widgets
    if (!plannerView)
    {
        plannerView = new SubMainWindow(this);
        plannerView->setCentralWidget(new QGCMapTool(this));
        //mapWidget = new QGCMapTool(this);
        addCentralWidget(plannerView, "Maps");
    }

    //pilotView
    if (!pilotView)
    {
        pilotView = new SubMainWindow(this);
        pilotView->setObjectName("VIEW_FLIGHT");
        pilotView->setCentralWidget(new HUD(320,240,this));
        //hudWidget         = new HUD(320, 240, this);
        //addCentralWidget(hudWidget, tr("Head Up Display"));
        //mapWidget = new QGCMapTool(this);
        addCentralWidget(pilotView, "Pilot");
    }
    if (!configView)
    {
        configView = new SubMainWindow(this);
        configView->setObjectName("VIEW_CONFIGURATION");
        configView->setCentralWidget(new QGCVehicleConfig(this));
        addCentralWidget(configView,"Config");
        centralWidgetToDockWidgetsMap[VIEW_CONFIGURATION] = QMap<QString,QWidget*>();

    }
    if (!engineeringView)
    {
        engineeringView = new SubMainWindow(this);
        engineeringView->setObjectName("VIEW_ENGINEER");
        engineeringView->setCentralWidget(new XMLCommProtocolWidget(this));
        addCentralWidget(engineeringView,"Mavlink Generator");
    }
    if (!dataView)
    {
        dataView = new SubMainWindow(this);
        dataView->setObjectName("VIEW_DATA");
        dataView->setCentralWidget(new QGCDataPlot2D(this));
        addCentralWidget(dataView,tr("Logfile Plot"));
    }
    if (!simView)
    {
        simView = new SubMainWindow(this);
        simView->setObjectName("VIEW_SIMULATOR");
        simView->setCentralWidget(new QGCMapTool(this));
        addCentralWidget(simView,tr("Simulation View"));
    }

    // Dock widgets
    QAction* tempAction = ui.menuTools->addAction(tr("Control"));
    tempAction->setCheckable(true);
    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));

        createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
        createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
        createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
        createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
        createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
        createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);

        createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
        createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);


        {
        QAction* tempAction = ui.menuTools->addAction(tr("Status Details"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        }
        {
        QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        }

        createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::BottomDockWidgetArea);
        createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);



    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s");
    acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
    acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s");

    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");


    HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
    hdDisplay->addSource(mavlinkDecoder);
    createDockWidget(pilotView,hdDisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCK_WIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);

    HDDisplay* hdDisplay2 = new HDDisplay(acceptList2, "Actuator Status", this);
    hdDisplay2->addSource(mavlinkDecoder);
    createDockWidget(pilotView,hdDisplay2,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCK_WIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);

    {
    QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
    tempAction->setCheckable(true);
    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
    }
    createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCK_WIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);


    // Custom widgets, added last to all menus and layouts
    buildCustomWidget();



    /*if (!protocolWidget)
    {
        protocolWidget    = new XMLCommProtocolWidget(this);
        addCentralWidget(protocolWidget, "Mavlink Generator");
    }*/


//    if (!firmwareUpdateWidget)
//    {
//        firmwareUpdateWidget    = new QGCFirmwareUpdate(this);
//        addCentralWidget(firmwareUpdateWidget, "Firmware Update");
//    }

    /*if (!hudWidget)
    {
        hudWidget         = new HUD(320, 240, this);
        addCentralWidget(hudWidget, tr("Head Up Display"));
    }*/

    /*if (!configWidget)
    {
        configWidget = new QGCVehicleConfig(this);
        addCentralWidget(configWidget, tr("Vehicle Configuration"));
    }*/


    /*if (!dataplotWidget)
    {
        dataplotWidget    = new QGCDataPlot2D(this);
        addCentralWidget(dataplotWidget, tr("Logfile Plot"));
    }*/

#ifdef QGC_OSG_ENABLED
    if (!_3DWidget)
    {
        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK", this);
        addCentralWidget(_3DWidget, tr("Local 3D"));
    }
#endif

#if (defined _MSC_VER) | (defined Q_OS_MAC)
    if (!gEarthWidget)
    {
        gEarthWidget = new QGCGoogleEarthView(this);
        addCentralWidget(gEarthWidget, tr("Google Earth"));
    }
#endif
}

void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
{
    QList<QAction*> actionlist = ui.menuTools->actions();
    bool found = false;
    QAction *targetAction;
    for (int i=0;i<actionlist.size();i++)
    {
        if (actionlist[i]->text() == title)
        {
            found = true;
            targetAction = actionlist[i];
        }
    }
    if (!found)
    {
        QAction* tempAction = ui.menuTools->addAction(title);
        tempAction->setCheckable(true);
        menuToDockNameMap[tempAction] = title;
        if (!centralWidgetToDockWidgetsMap.contains(view))
        {
            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
        }
        centralWidgetToDockWidgetsMap[view][title]= widget;
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
        tempAction->setChecked(widget->isVisible());
    }
    else
    {
        if (!menuToDockNameMap.contains(targetAction))
        {
            menuToDockNameMap[targetAction] = title;
        }
        if (!centralWidgetToDockWidgetsMap.contains(view))
        {
            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
        }
        centralWidgetToDockWidgetsMap[view][title]= widget;
        connect(widget, SIGNAL(visibilityChanged(bool)), targetAction, SLOT(setChecked(bool)));
    }
    parent->addDockWidget(area,widget);
}

void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
{
    QDockWidget *widget = new QDockWidget(title,this);
    dockToTitleBarMap[widget] = widget->titleBarWidget();
    widget->setTitleBarWidget(new QWidget(this));
    widget->setObjectName(objectname);
    widget->setWidget(child);
    if (minheight != 0 || minwidth != 0)
    {
        widget->setMinimumHeight(minheight);
        widget->setMinimumWidth(minwidth);
    }
    addTool(qobject_cast<SubMainWindow*>(parent),view,widget,title,area);
}

void MainWindow::showTool(bool show)
{
    //Called when a menu item is clicked on, regardless of view.

    QAction* act = qobject_cast<QAction *>(sender());
    if (menuToDockNameMap.contains(act))
    {
        QString name = menuToDockNameMap[act];
        if (centralWidgetToDockWidgetsMap.contains(currentView))
        {
            if (centralWidgetToDockWidgetsMap[currentView].contains(name))
            {
                if (show)
                {
                    centralWidgetToDockWidgetsMap[currentView][name]->show();
                }
                else
                {
                    centralWidgetToDockWidgetsMap[currentView][name]->hide();
                }
            }
            else if (show)
            {
                if (name == "Control")
                {
                    createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
                }
                else if (name == "Unmanned Systems")
                {
                    createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
                }
                else if (name == "Mission Plan")
                {
                    createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
                }
                else if (name == "")
                {

                }

            }
        }
    }
    //QWidget* widget = qVariantValue<QWidget *>(act->data());
    //widget->setVisible(show);
}
/*void addToolByName(QString name,SubMainWindow parent,const QString& title, Qt::DockWidgetArea area)
{
    if (name == "Control")
    {
        QDockWidget *widget = new QDockWidget(tr("Control"),this);
        dockToTitleBarMap[widget] = widget->titleBarWidget();
        widget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
        widget->setWidget(new UASControlWidget(this));
        addTool(parent,VIEW_SIMULATION,widget,tr("Control"),area);
    }
}*/
void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
{
    // Check if this widget already has been added
    if (centerStack->indexOf(widget) == -1)
    {
        centerStack->addWidget(widget);

        QAction* tempAction = ui.menuMain->addAction(title);

        tempAction->setCheckable(true);
        QVariant var;
        var.setValue((QWidget*)widget);
        tempAction->setData(var);
        centerStackActionGroup->addAction(tempAction);
        connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
        //connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
        tempAction->setChecked(widget->isVisible());
    }
}


void MainWindow::showCentralWidget()
{
    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    centerStack->setCurrentWidget(widget);
}

void MainWindow::showHILConfigurationWidget(UASInterface* uas)
{
    // Add simulation configuration widget
    UAS* mav = dynamic_cast<UAS*>(uas);

    if (mav && !hilDocks.contains(mav->getUASID()))
    {
        QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
        QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
        QDockWidget* hilDock = new QDockWidget(hilDockName, this);
        hilDock->setWidget(hconf);
        hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
        //addTool(hilDock, hilDockName, Qt::LeftDockWidgetArea);
        hilDocks.insert(mav->getUASID(), hilDock);

        if (currentView != VIEW_SIMULATION)
            hilDock->hide();
        else
            hilDock->show();
    }
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    if (isVisible()) storeViewState();
    storeSettings();
    aboutToCloseFlag = true;
    mavlink->storeSettings();
    UASManager::instance()->storeSettings();
    QMainWindow::closeEvent(event);
}

/**
 * Connect the signals and slots of the common window widgets
 */
void MainWindow::connectCommonWidgets()
{
    if (infoDockWidget && infoDockWidget->widget())
    {
        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }
}

void MainWindow::createCustomWidget()
{
    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock);

    if (QGCToolWidget::instances()->size() < 2)
    {
        // This is the first widget
        ui.menuTools->addSeparator();
    }

    connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
    dock->setWidget(tool);

    QAction* showAction = new QAction(tool->getTitle(), this);
    showAction->setCheckable(true);
    connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
    connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
    tool->setMainMenuAction(showAction);
    ui.menuTools->addAction(showAction);
    this->addDockWidget(Qt::BottomDockWidgetArea, dock);
    dock->setVisible(true);
}

void MainWindow::loadCustomWidget()
{
    QString widgetFileExtension(".qgw");
    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
    if (fileName != "") loadCustomWidget(fileName);
}

void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true) || !singleinstance)
    {
        // Add widget to UI
        QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
        connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
        dock->setWidget(tool);
        tool->setParent(dock);

        QAction* showAction = new QAction(tool->getTitle(), this);
        showAction->setCheckable(true);
        connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
        connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
        tool->setMainMenuAction(showAction);
        ui.menuTools->addAction(showAction);
        this->addDockWidget(Qt::BottomDockWidgetArea, dock);
        dock->hide();
    }
    else
    {
        return;
    }
}

void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
    QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";

    QDir widgets(defaultsDir);
    QStringList files = widgets.entryList();
    QDir platformWidgets(platformDir);
    files.append(platformWidgets.entryList());

    if (files.count() == 0)
    {
        qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
        qDebug() << "Tried with path: " << defaultsDir;
        showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
    }

    // Load all custom widgets found in the AP folder
    for(int i = 0; i < files.count(); ++i)
    {
        QString file = files[i];
        if (file.endsWith(".qgw"))
        {
            // Will only be loaded if not already a custom widget with
            // the same name is present
            loadCustomWidget(defaultsDir+"/"+file, true);
            showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
        }
    }
}

void MainWindow::loadSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
    settings.endGroup();
}

void MainWindow::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("AUTO_RECONNECT", autoReconnect);
    settings.setValue("CURRENT_STYLE", currentStyle);
    settings.endGroup();
    if (!aboutToCloseFlag && isVisible())
    {
        settings.setValue(getWindowGeometryKey(), saveGeometry());
        // Save the last current view in any case
        settings.setValue("CURRENT_VIEW", currentView);
        // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
        if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
        // Save the current view only if a UAS is connected
        if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
        // Save the current power mode
    }
    settings.setValue("LOW_POWER_MODE", lowPowerMode);
    settings.sync();
}

void MainWindow::configureWindowName()
{
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;

    windowname.append(" (" + QHostInfo::localHostName() + ": ");

    for (int i = 0; i < hostAddresses.size(); i++)
    {
        // Exclude loopback IPv4 and all IPv6 addresses
        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
        {
            if(prevAddr) windowname.append("/");
            windowname.append(hostAddresses.at(i).toString());
            prevAddr = true;
        }
    }

    windowname.append(")");

    setWindowTitle(windowname);

#ifndef Q_WS_MAC
    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
#endif
}

void MainWindow::startVideoCapture()
{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

    QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
                                                          initialPath,
                                                          tr("%1 Files (*.%2);;All Files (*)")
                                                          .arg(format.toUpper())
                                                          .arg(format));
    delete videoTimer;
    videoTimer = new QTimer(this);
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
}

void MainWindow::stopVideoCapture()
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

void MainWindow::saveScreen()
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

    if (!screenFileName.isEmpty())
    {
        window.save(screenFileName, format.toAscii());
    }
}

void MainWindow::enableAutoReconnect(bool enabled)
{
    autoReconnect = enabled;
}

void MainWindow::loadNativeStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_NATIVE);
}

void MainWindow::loadIndoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_INDOOR);
}

void MainWindow::loadOutdoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_OUTDOOR);
}

void MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style)
{
    switch (style) {
    case QGC_MAINWINDOW_STYLE_NATIVE: {
        // Native mode means setting no style
        // so if we were already in native mode
        // take no action
        // Only if a style was set, remove it.
        if (style != currentStyle) {
            qApp->setStyleSheet("");
            showInfoMessage(tr("Please restart QGroundControl"), tr("Please restart QGroundControl to switch to fully native look and feel. Currently you have loaded Qt's plastique style."));
        }
    }
    break;
    case QGC_MAINWINDOW_STYLE_INDOOR:
	qApp->setStyle("plastique");
        styleFileName = ":files/styles/style-indoor.css";
        reloadStylesheet();
        break;
    case QGC_MAINWINDOW_STYLE_OUTDOOR:
	qApp->setStyle("plastique");
        styleFileName = ":files/styles/style-outdoor.css";
        reloadStylesheet();
        break;
    }
    currentStyle = style;
}

void MainWindow::selectStylesheet()
{
    // Let user select style sheet
    styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));

    if (!styleFileName.endsWith(".css"))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
        msgBox.setInformativeText(tr("No suitable .css file selected. Please select a valid .css file."));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
        return;
    }

    // Load style sheet
    reloadStylesheet();
}

void MainWindow::reloadStylesheet()
{
    // Load style sheet
    QFile* styleSheet = new QFile(styleFileName);
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":files/styles/style-indoor.css");
    }
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))