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/*=====================================================================
PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
(c) 2009, 2010 PIXHAWK PROJECT <http://pixhawk.ethz.ch>
This file is part of the PIXHAWK project
PIXHAWK 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.
PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Main application window
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_
#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "LinechartWidget.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "AS4Protocol.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "PFD.h"
#include "GaugePanel.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "DebugConsole.h"
#include "MapWidget.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "LogCompressor.h"
/**
* @brief Main Application Window
*
**/
class MGMainWindow : public QMainWindow {
Q_OBJECT
public:
MGMainWindow(QWidget *parent = 0);
~MGMainWindow();
UASControlWidget* control;
LinechartWidget* linechart;
UASInfoWidget* info;
CameraView* camera;
UASListWidget* list;
WaypointList* waypoints;
ObjectDetectionView* detection;
HUD* hud;
PFD* pfd;
GaugePanel* gaugePanel;
// Popup widgets
JoystickWidget* joystickWidget;
JoystickInput* joystick;
/** User interface actions **/
QAction* connectUASAct;
QAction* disconnectUASAct;
QAction* startUASAct;
QAction* returnUASAct;
QAction* stopUASAct;
QAction* killUASAct;
QAction* simulateUASAct;
public slots:
/**
* @brief Shows a status message on the bottom status bar
*
* 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 showStatusMessage(const QString& status, int timeout);
void setLastAction(QString status);
void setLinkStatus(QString status);
void addLink();
void configure();
void UASCreated(UASInterface* uas);
/** @brief Load view for pilot */
void loadPilotView();
/** @brief Load view for engineer */
void loadEngineerView();
/** @brief Load view for operator */
void loadOperatorView();
/** @brief Load view for general settings */
void loadSettingsView();
void reloadStylesheet();
void runTests();
protected:
QStatusBar* statusBar;
QStatusBar* createStatusBar();
void loadWidgets();
void connectActions();
void clearView();
// TODO Should be moved elsewhere, as the protocol does not belong to the UI
MAVLinkProtocol* mavlink;
AS4Protocol* as4link;
LinkInterface* simulationLink;
LinkInterface* udpLink;
QDockWidget* controlDock;
QStackedWidget* centerStack;
DebugConsole* debugConsole;
MapWidget* map;
ParameterInterface* parameters;
XMLCommProtocolWidget* protocol;
HDDisplay* headDown1;
HDDisplay* headDown2;
LogCompressor* comp;
private:
Ui::MGMainWindow ui;
};
#endif /* _MAINWINDOW_H_ */