MainWindow.cc

                                                          .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());
    }
}

/**
 * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
 * directory (which by default does not exist). If it fails, it will load the bundled default CSS
 * from memory.
 * To customize the application, just create a qgroundcontrol.css file in the application directory
 */
void MainWindow::reloadStylesheet()
{
    QString fileName = QCoreApplication::applicationDirPath() + "/style-indoor.css";

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

    if (!fileName.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
    QFile* styleSheet = new QFile(fileName);
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":/images/style-mission.css");
    }
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
    {
        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
        qApp->setStyleSheet(style);
    }
    else
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
        msgBox.setInformativeText(tr("Stylesheet file %1 was not readable").arg(fileName));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
    delete styleSheet;
}

/**
 * The status message will be overwritten if a new message is posted to this function
 *
 * @param status message text
 * @param timeout how long the status should be displayed
 */
void MainWindow::showStatusMessage(const QString& status, int timeout)
{
    statusBar()->showMessage(status, timeout);
}

/**
 * The status message will be overwritten if a new message is posted to this function.
 * it will be automatically hidden after 5 seconds.
 *
 * @param status message text
 */
void MainWindow::showStatusMessage(const QString& status)
{
    statusBar()->showMessage(status, 20000);
}

void MainWindow::showCriticalMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(MainWindow::instance());
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

void MainWindow::showInfoMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(MainWindow::instance());
    msgBox.setIcon(QMessageBox::Information);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{
    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));

    // Connect internal actions
    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    // Unmanned System controls
    connect(ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS()));
    connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
    connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
    connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));

    connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));

    // Views actions
    connect(ui.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));

    connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
    connect(ui.actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));

    // Help Actions
    connect(ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
    connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
    connect(ui.actionProject_Roadmap_2, SIGNAL(triggered()), this, SLOT(showRoadMap()));
}

void MainWindow::connectPxActions()
{
    ui.actionJoystickSettings->setVisible(true);

    // Joystick configuration
    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));

}

void MainWindow::connectSlugsActions()
{

}

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

void MainWindow::showCredits()
{
    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/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()
{
    joystickWidget = new JoystickWidget(joystick, this);
}

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();

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

void MainWindow::addLink(LinkInterface *link)
{
    LinkManager::instance()->add(link);
    LinkManager::instance()->addProtocol(link, mavlink);

    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
    ui.menuNetwork->addAction(commWidget->getAction());

    //qDebug() << "ADDING LINK:" << link->getName() << "ACTION IS: " << commWidget->getAction();

    // 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::UASCreated(UASInterface* uas)
{

    // Connect the UAS to the full user interface

    if (uas != NULL)
    {
        // The pilot view was not available on startup, enable it now
        ui.actionPilotsView->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()));

        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);
            }
        }

        switch (uas->getAutopilotType())
        {
        case (MAV_AUTOPILOT_SLUGS):
            {
                // Build Slugs Widgets
                buildSlugsWidgets();

                // Connect Slugs Widgets
                connectSlugsWidgets();

                // Arrange Slugs Centerstack
                arrangeSlugsCenterStack();

                // Connect Slugs Actions
                connectSlugsActions();

                // FIXME: This type checking might be redundant
                //            if (slugsDataWidget) {
                //              SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
                //              if (dataWidget) {
                //                SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
                //                if (mav2) {
                (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
                //                  //loadSlugsView();
                //                  loadGlobalOperatorView();
                //                }
                //              }
                //            }
            }
            break;
        default:
        case (MAV_AUTOPILOT_GENERIC):
        case (MAV_AUTOPILOT_ARDUPILOTMEGA):
        case (MAV_AUTOPILOT_PIXHAWK):
            {
                // Build Pixhawk Widgets
                buildPxWidgets();

                // Connect Pixhawk Widgets
                connectPxWidgets();

                // Arrange Pixhawk Centerstack
                arrangePxCenterStack();

                // Connect Pixhawk Actions
                connectPxActions();
            }
            break;

        loadOperatorView();
        }

        // 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()->getActiveUAS() == uas)
        {
            //qDebug() << "UPDATING THE VIEW SINCE THIS IS THE FIRST CONNECTED SYSTEM";

            // 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();
                currentView = (VIEW_SECTIONS) view;
                presentView();

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

            }
            else
            {
                loadEngineerView();
            }
        }

    }

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

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

/**
 * Clears the current view completely
 */
void MainWindow::clearView()
{
    // Save current state
    if (UASManager::instance()->getActiveUAS()) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
    settings.setValue(getWindowGeometryKey(), saveGeometry());

    QAction* temp;

    // Set tool widget visibility settings for this view
    foreach (int key, toolsMenuActions.keys())
    {
        temp = toolsMenuActions[key];
        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(key), currentView);

        if (temp)
        {
            //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked();
            settings.setValue(chKey,temp->isChecked());
        }
        else
        {
            //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED";
            settings.setValue(chKey,false);
        }
    }

    changingViewsFlag = true;
    // Remove all dock widgets from main window
    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
            //this->removeDockWidget(dockWidget);
            dockWidget->setVisible(false);
            // Deletion of dockWidget would also delete all child
            // widgets of dockWidget
            // Is there a way to unset a widget from QDockWidget?
        }
    }
    changingViewsFlag = false;
}

void MainWindow::loadEngineerView()
{
    if (currentView != VIEW_ENGINEER)
    {
    clearView();

    currentView = VIEW_ENGINEER;

    presentView();
    }
}

void MainWindow::loadOperatorView()
{
    if (currentView != VIEW_OPERATOR)
    {
    clearView();

    currentView = VIEW_OPERATOR;

    presentView();
    }
}

void MainWindow::loadPilotView()
{
    if (currentView != VIEW_PILOT)
    {
    clearView();

    currentView = VIEW_PILOT;

    presentView();
    }
}

void MainWindow::loadMAVLinkView()
{
    if (currentView != VIEW_MAVLINK)
    {
    clearView();

    currentView = VIEW_MAVLINK;

    presentView();
    }
}

void MainWindow::presentView()
{
    // LINE CHART
    showTheCentralWidget(CENTRAL_LINECHART, currentView);

    // MAP
    showTheCentralWidget(CENTRAL_MAP, currentView);

    // PROTOCOL
    showTheCentralWidget(CENTRAL_PROTOCOL, currentView);

    // HEAD UP DISPLAY
    showTheCentralWidget(CENTRAL_HUD, currentView);

    // GOOGLE EARTH
    showTheCentralWidget(CENTRAL_GOOGLE_EARTH, currentView);

    // LOCAL 3D VIEW
    showTheCentralWidget(CENTRAL_3D_LOCAL, currentView);

    // GLOBAL 3D VIEW
    showTheCentralWidget(CENTRAL_3D_MAP, currentView);

    // DATA PLOT
    showTheCentralWidget(CENTRAL_DATA_PLOT, currentView);



    // Show docked widgets based on current view and autopilot type

    // UAS CONTROL
    showTheWidget(MENU_UAS_CONTROL, currentView);

    // UAS LIST
    showTheWidget(MENU_UAS_LIST, currentView);

    // WAYPOINT LIST
    showTheWidget(MENU_WAYPOINTS, currentView);

    // UAS STATUS
    showTheWidget(MENU_STATUS, currentView);

    // DETECTION
    showTheWidget(MENU_DETECTION, currentView);

    // DEBUG CONSOLE
    showTheWidget(MENU_DEBUG_CONSOLE, currentView);

    // ONBOARD PARAMETERS
    showTheWidget(MENU_PARAMETERS, currentView);

    // WATCHDOG
    showTheWidget(MENU_WATCHDOG, currentView);

    // HUD
    showTheWidget(MENU_HUD, currentView);
    if (headUpDockWidget)
    {
        HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
        if (tmpHud)
        {
            if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool())
            {
                addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
                        headUpDockWidget);
                headUpDockWidget->show();
            }
            else
            {
                headUpDockWidget->hide();
            }
        }
    }


    // RC View
    showTheWidget(MENU_RC_VIEW, currentView);

    // SLUGS DATA
    showTheWidget(MENU_SLUGS_DATA, currentView);

    // SLUGS PID
    showTheWidget(MENU_SLUGS_PID, currentView);

    // SLUGS HIL
    showTheWidget(MENU_SLUGS_HIL, currentView);

    // SLUGS CAMERA
    showTheWidget(MENU_SLUGS_CAMERA, currentView);

    // HORIZONTAL SITUATION INDICATOR
    showTheWidget(MENU_HSI, currentView);

    // HEAD DOWN 1
    showTheWidget(MENU_HDD_1, currentView);

    // HEAD DOWN 2
    showTheWidget(MENU_HDD_2, currentView);

    // MAVLINK LOG PLAYER
    showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView);

    this->show();

}

void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view)
{
    bool tempVisible;
    QWidget* tempWidget = dockWidgets[centralWidget];

    tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view), false).toBool();
    //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
    if (toolsMenuActions[centralWidget])
    {
        toolsMenuActions[centralWidget]->setChecked(tempVisible);
    }

    if (centerStack && tempWidget && tempVisible)
    {
        centerStack->setCurrentWidget(tempWidget);
    }
}

void MainWindow::loadDataView(QString fileName)
{
    clearView();

    // Unload line chart
    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_LINECHART), currentView);
    settings.setValue(chKey,false);

    // Set data plot in settings as current widget and then run usual update procedure
    chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(CENTRAL_DATA_PLOT), currentView);
    settings.setValue(chKey,true);

    presentView();

    // 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);
//        }
//    }
}