MainWindow.cc

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

/**
 * @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 "MG.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"

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

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


#include "LogCompressor.h"

MainWindow* MainWindow::instance()
{
    static MainWindow* _instance = 0;
    if(_instance == 0) {
        _instance = new MainWindow();

        /* 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),
    toolsMenuActions(),
    currentView(VIEW_UNCONNECTED),
    aboutToCloseFlag(false),
    changingViewsFlag(false),
    styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
    autoReconnect(false),
    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
    lowPowerMode(false)
{
    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_OPERATOR &&
                currentViewCandidate != VIEW_PILOT) {
            currentView = currentViewCandidate;
        }
    }

    setDefaultSettingsForAp();

    settings.sync();

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

    setVisible(false);

    buildCommonWidgets();

    connectCommonWidgets();

    arrangeCommonCenterStack();

    configureWindowName();

    loadStyle(currentStyle);

    // Create actions
    connectCommonActions();

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

    // Load mavlink view as default widget set
    //loadMAVLinkView();

    statusBar()->setSizeGripEnabled(true);

    // Restore the window position and size
    if (settings.contains(getWindowGeometryKey())) {
        // Restore the window geometry
        restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
    } else {
        // Adjust the size
        adjustSize();
    }

    // Populate 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
    joystickWidget = 0;
    joystick = new JoystickInput();

    // Enable and update view
    presentView();

    // 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();
}

MainWindow::~MainWindow()
{
    // Store settings
    storeSettings();

    delete mavlink;
    delete joystick;

    // 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;
        }
    }
}

/**
 * Set default settings for this AP type.
 */
void MainWindow::setDefaultSettingsForAp()
{
    // Check if the settings exist, instantiate defaults if necessary

    // UNCONNECTED VIEW DEFAULT
    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);

        // ENABLE UAS LIST
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
        // ENABLE COMMUNICATION CONSOLE
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
    }

    // OPERATOR VIEW DEFAULT
    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);

        // ENABLE UAS LIST
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
        // ENABLE HUD TOOL WIDGET
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
        // ENABLE WAYPOINTS
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true);
    }

    // ENGINEER VIEW DEFAULT
    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);
        // Enable Parameter widget
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
    }

    // MAVLINK VIEW DEFAULT
    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);
    }

    // PILOT VIEW DEFAULT
    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);
        // Enable Flight display
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
    }
}

void MainWindow::resizeEvent(QResizeEvent * event)
{
    Q_UNUSED(event);
    if (height() < 800) {
        ui.statusBar->setVisible(false);
    } else {
        ui.statusBar->setVisible(true);
        ui.statusBar->setSizeGripEnabled(true);
    }
}

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

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

void MainWindow::buildCustomWidget()
{
    // Show custom widgets only if UAS is connected
    if (UASManager::instance()->getActiveUAS() != NULL) {
        // Enable custom widgets
        ui.actionNewCustomWidget->setEnabled(true);

        // 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 visibility for view (default is off)
                dock->setVisible(tool->isVisible(currentView));

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

                addDockWidget(location, dock);
            }
        }
    }
}

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

    // Dock widgets
    if (!controlDockWidget) {
        controlDockWidget = new QDockWidget(tr("Control"), this);
        controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
        controlDockWidget->setWidget( new UASControlWidget(this) );
        addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);
    }

    if (!listDockWidget) {
        listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
        listDockWidget->setWidget( new UASListWidget(this) );
        listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
        addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea);
    }

    if (!waypointsDockWidget) {
        waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this);
        waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) );
        waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
        addToToolsMenu (waypointsDockWidget, tr("Mission Plan"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);
    }

    if (!infoDockWidget) {
        infoDockWidget = new QDockWidget(tr("Status Details"), this);
        infoDockWidget->setWidget( new UASInfoWidget(this) );
        infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
        addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea);
    }

    if (!debugConsoleDockWidget) {
        debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
        debugConsoleDockWidget->setWidget( new DebugConsole(this) );
        debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
        addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);
    }

    if (!logPlayerDockWidget) {
        logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
        logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
        logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
        addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea);
    }

    // Center widgets
    if (!mapWidget)
    {
        mapWidget = new QGCMapTool(this);
        addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
    }

    if (!protocolWidget) {
        protocolWidget    = new XMLCommProtocolWidget(this);
        addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);
    }

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


}


void MainWindow::buildPxWidgets()
{
    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    acceptList->append("-105,roll deg,deg,+105,s");
    acceptList->append("-105,pitch deg,deg,+105,s");
    acceptList->append("-105,heading deg,deg,+105,s");

    acceptList->append("-60,rollspeed d/s,deg/s,+60,s");
    acceptList->append("-60,pitchspeed d/s,deg/s,+60,s");
    acceptList->append("-60,yawspeed d/s,deg/s,+60,s");
    acceptList->append("0,airspeed,m/s,30");
    acceptList->append("0,groundspeed,m/s,30");
    acceptList->append("0,climbrate,m/s,30");
    acceptList->append("0,throttle,%,100");

    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("900,servo #1,us,2100,s");
    acceptList2->append("900,servo #2,us,2100,s");
    acceptList2->append("900,servo #3,us,2100,s");
    acceptList2->append("900,servo #4,us,2100,s");
    acceptList2->append("900,servo #5,us,2100,s");
    acceptList2->append("900,servo #6,us,2100,s");
    acceptList2->append("900,servo #7,us,2100,s");
    acceptList2->append("900,servo #8,us,2100,s");
    acceptList2->append("0,abs pressure,hPa,65500");
    //acceptList2->append("-2048,accel. x,raw,2048,s");
    //acceptList2->append("-2048,accel. y,raw,2048,s");
    //acceptList2->append("-2048,accel. z,raw,2048,s");

    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 (!detectionDockWidget) {
        detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
        detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
        detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
        addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea);
    }

    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 (!watchdogControlDockWidget) {
        watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
        watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
        watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
        addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea);
    }

    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 (!headDown1DockWidget) {
        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
        headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
        addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea);
    }

    if (!headDown2DockWidget) {
        headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) );
        headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
        addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea);
    }

    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);
    }

    if (!video1DockWidget) {
        video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
        HUD* video1 =  new HUD(160, 120, this);
        video1->enableHUDInstruments(false);
        video1->enableVideo(true);
        // FIXME select video stream as well
        video1DockWidget->setWidget(video1);
        video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
        addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea);
    }

    if (!video2DockWidget) {
        video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
        HUD* video2 =  new HUD(160, 120, this);
        video2->enableHUDInstruments(false);
        video2->enableVideo(true);
        // FIXME select video stream as well
        video2DockWidget->setWidget(video2);
        video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
        addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea);
    }

    // Dialogue widgets
    //FIXME: free memory in destructor
}

void MainWindow::buildSlugsWidgets()
{
    if (!linechartWidget) {
        // Center widgets
        linechartWidget   = new Linecharts(this);
        addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
    }

    if (!headUpDockWidget) {
        // Dock widgets
        headUpDockWidget = new QDockWidget(tr("Control Indicator"), 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::LeftDockWidgetArea);
    }

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

#endif

    if (!slugsDataWidget) {
        // Dialog widgets
        slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
        slugsDataWidget->setWidget( new SlugsDataSensorView(this));
        slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET");
        addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);
    }


    if (!slugsHilSimWidget) {
        slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
        slugsHilSimWidget->setWidget( new SlugsHilSim(this));
        slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET");
        addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);
    }

    if (!controlParameterWidget) {
        controlParameterWidget = new QDockWidget(tr("Control Parameters"), this);
        controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET");
        controlParameterWidget->setWidget( new UASControlParameters(this) );
        addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea);
    }

    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 (!slugsCamControlWidget) {
        slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this);
        slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this));
        slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET");
        addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);
    }

}


void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
        const QString title,
        const char * slotName,
        TOOLS_WIDGET_NAMES centralWidget)
{
    QAction* tempAction;


// Not needed any more - separate menu now available

//    // Add the separator that will separate tools from central Widgets
//    if (!toolsMenuActions[CENTRAL_SEPARATOR])
//    {
//        tempAction = ui.menuTools->addSeparator();
//        toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
//        tempAction->setData(CENTRAL_SEPARATOR);
//    }

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

    tempAction->setCheckable(true);
    tempAction->setData(centralWidget);

    // populate the Hashes
    toolsMenuActions[centralWidget] = tempAction;
    dockWidgets[centralWidget] = widget;

    QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView);

    if (!settings.contains(chKey)) {
        settings.setValue(chKey,false);
        tempAction->setChecked(false);
    } else {
        tempAction->setChecked(settings.value(chKey).toBool());
    }

    // connect the action
    connect(tempAction,SIGNAL(triggered(bool)),this, slotName);
}


void MainWindow::showCentralWidget()
{
    QAction* senderAction = qobject_cast<QAction *>(sender());

    // Block sender action while manipulating state
    senderAction->blockSignals(true);

    int tool = senderAction->data().toInt();
    QString chKey;

    // check the current action

    if (senderAction && dockWidgets[tool]) {
        // uncheck all central widget actions
        QHashIterator<int, QAction*> i(toolsMenuActions);
        while (i.hasNext()) {
            i.next();
            //qDebug() << "shCW" << i.key() << "read";
            if (i.value() && i.value()->data().toInt() > 255) {
                // Block signals and uncheck action
                // firing would be unneccesary
                i.value()->blockSignals(true);
                i.value()->setChecked(false);
                i.value()->blockSignals(false);

                // update the settings
                chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
                settings.setValue(chKey,false);
            }
        }

        // check the current action
        //qDebug() << senderAction->text();
        senderAction->setChecked(true);

        // update the central widget
        centerStack->setCurrentWidget(dockWidgets[tool]);

        // store the selected central widget
        chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
        settings.setValue(chKey,true);

        // Unblock sender action
        senderAction->blockSignals(false);

        presentView();
    }
}

/**
 * Adds a widget to the tools menu and sets it visible if it was
 * enabled last time.
 */
void MainWindow::addToToolsMenu ( QWidget* widget,
                                  const QString title,
                                  const char * slotName,
                                  TOOLS_WIDGET_NAMES tool,
                                  Qt::DockWidgetArea location)
{
    QAction* tempAction;
    QString posKey, chKey;


    if (toolsMenuActions[CENTRAL_SEPARATOR]) {
        tempAction = new QAction(title, this);
        ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR],
                                   tempAction);
    } else {
        tempAction = ui.menuTools->addAction(title);
    }

    tempAction->setCheckable(true);
    tempAction->setData(tool);

    // populate the Hashes
    toolsMenuActions[tool] = tempAction;
    dockWidgets[tool] = widget;
    //qDebug() << widget;

    posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView);

    if (!settings.contains(posKey)) {
        settings.setValue(posKey,location);
        dockWidgetLocations[tool] = location;
    } else {
        dockWidgetLocations[tool] = static_cast <Qt::DockWidgetArea> (settings.value(posKey, Qt::RightDockWidgetArea).toInt());
    }

    chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView);

    if (!settings.contains(chKey)) {
        settings.setValue(chKey,false);
        tempAction->setChecked(false);
        widget->setVisible(false);
    } else {
        tempAction->setChecked(settings.value(chKey, false).toBool());
        widget->setVisible(settings.value(chKey, false).toBool());
    }

    // connect the action
    connect(tempAction,SIGNAL(toggled(bool)),this, slotName);

    connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
            SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool)));

    //  connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
    //          SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));

    connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
            SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));
}

void MainWindow::showToolWidget(bool visible)
{
    if (!aboutToCloseFlag && !changingViewsFlag) {
        QAction* action = qobject_cast<QAction *>(sender());

        // Prevent this to fire if undocked
        if (action) {
            int tool = action->data().toInt();

            QDockWidget* dockWidget = qobject_cast<QDockWidget *> (dockWidgets[tool]);

            if (dockWidget && dockWidget->isVisible() != visible) {
                if (visible) {
                    addDockWidget(dockWidgetLocations[tool], dockWidget);
                    dockWidget->show();
                } else {
                    removeDockWidget(dockWidget);
                }

                QHashIterator<int, QWidget*> i(dockWidgets);
                while (i.hasNext()) {
                    i.next();
                    if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
                        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                        settings.setValue(chKey,visible);
                        //qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
                        break;
                    }
                }
            }
        }

        QDockWidget* dockWidget = qobject_cast<QDockWidget*>(QObject::sender());

        //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible;

        if (dockWidget) {
            // Get action
            int tool = dockWidgets.key(dockWidget);

            //qDebug() << "Updating widget setting" << tool << "to" << visible;

            QAction* action = toolsMenuActions[tool];
            action->blockSignals(true);
            action->setChecked(visible);
            action->blockSignals(false);

            QHashIterator<int, QWidget*> i(dockWidgets);
            while (i.hasNext()) {
                i.next();
                if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == dockWidget) {
                    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                    settings.setValue(chKey,visible);
                    // qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible;
                    break;
                }
            }
        }
    }
}


void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view)
{
    bool tempVisible;
    Qt::DockWidgetArea tempLocation;
    QDockWidget* tempWidget = static_cast <QDockWidget *>(dockWidgets[widget]);

    tempVisible =  settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool();

    //qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible;

    if (tempWidget) {
        toolsMenuActions[widget]->setChecked(tempVisible);
    }


    //qDebug() <<  buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible;

    tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt());

    if (tempWidget != NULL) {
        if (tempVisible) {
            addDockWidget(tempLocation, tempWidget);
            tempWidget->show();
        }
    }
}

QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view)
{
    // Key is built as follows: autopilot_type/section_menu/view/tool/section
    int apType;

//    apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
//             UASManager::instance()->getActiveUAS()->getAutopilotType():
//             -1;

    apType = 1;

    return (QString::number(apType) + "_" +
            QString::number(SECTION_MENU) + "_" +
            QString::number(view) + "_" +
            QString::number(tool) + "_" +
            QString::number(section) + "_" );
}

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

void MainWindow::showDockWidget (bool vis)
{
    if (!aboutToCloseFlag && !changingViewsFlag) {
        QDockWidget* temp = qobject_cast<QDockWidget *>(sender());

        if (temp) {
            QHashIterator<int, QWidget*> i(dockWidgets);
            while (i.hasNext()) {
                i.next();
                if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
                    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                    settings.setValue(chKey,vis);
                    toolsMenuActions[i.key()]->setChecked(vis);
                    break;
                }
            }
        }
    }
}

void MainWindow::updateVisibilitySettings (bool vis)
{
    if (!aboutToCloseFlag && !changingViewsFlag) {
        QDockWidget* temp = qobject_cast<QDockWidget *>(sender());

        if (temp) {
            QHashIterator<int, QWidget*> i(dockWidgets);
            while (i.hasNext()) {
                i.next();
                if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
                    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
                    settings.setValue(chKey,vis);
                    toolsMenuActions[i.key()]->setChecked(vis);
                    break;
                }
            }
        }
    }
}

void MainWindow::updateLocationSettings (Qt::DockWidgetArea location)
{
    QDockWidget* temp = qobject_cast<QDockWidget *>(sender());

    QHashIterator<int, QWidget*> i(dockWidgets);
    while (i.hasNext()) {
        i.next();
        if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp) {
            QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
            settings.setValue(posKey,location);
            break;
        }
    }
}


/**
 * 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)));
    }
//    //TODO temporaly debug
//    if (slugsHilSimWidget && slugsHilSimWidget->widget()) {
//        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
//                slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
//    }
}

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));
    QGCToolWidget* tool = new QGCToolWidget("", this);
    tool->loadSettings(fileName);

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

    // 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("Show Unnamed Tool", 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::connectPxWidgets()
{
    // No special connections necessary at this point
}

void MainWindow::connectSlugsWidgets()
{
    if (slugsHilSimWidget && slugsHilSimWidget->widget()) {
        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
                slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
    }