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