MainWindow.cc

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

QGroundControl Open Source Ground Control Station

(c) 2009 - 2013 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 <QNetworkInterface>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
#include <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>
#include <QQuickView>
#include <QDesktopWidget>

#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 "SettingsDialog.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
#include "PrimaryFlightDisplay.h"
#include "SetupView.h"
#include "SerialSettingsDialog.h"
#include "terminalconsole.h"
#include "QGCUASFileViewMulti.h"
#include "QGCApplication.h"
#include "QGCFileDialog.h"
#include "QGCMessageBox.h"
#include "QGCDockWidget.h"

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

#include "LogCompressor.h"

const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET";
const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET";
const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET";
const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET";
const char* MainWindow::_parametersDockWidgetName = "PARAMETER_INTERFACE_DOCKWIDGET";
const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET";
const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET";
const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET";
const char* MainWindow::_hsiDockWidgetName = "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET";
const char* MainWindow::_hdd1DockWidgetName = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
const char* MainWindow::_hdd2DockWidgetName = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET";
const char* MainWindow::_hudDockWidgetName = "HEAD_UP_DISPLAY_DOCKWIDGET";
const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET";
const char* MainWindow::_debugConsoleDockWidgetName = "COMMUNICATION_CONSOLE_DOCKWIDGET";

static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton

MainWindow* MainWindow::_create(QSplashScreen* splashScreen)
{
    Q_ASSERT(_instance == NULL);
    
    new MainWindow(splashScreen);
    
    // _instance is set in constructor
    Q_ASSERT(_instance);

    return _instance;
}

MainWindow* MainWindow::instance(void)
{
    return _instance;
}

void MainWindow::deleteInstance(void)
{
    delete this;
}

/// @brief Private constructor for MainWindow. MainWindow singleton is only ever created
///         by MainWindow::_create method. Hence no other code should have access to
///         constructor.
MainWindow::MainWindow(QSplashScreen* splashScreen) :
    centerStackActionGroup(new QActionGroup(this)),
    autoReconnect(false),
    simulationLink(NULL),
    lowPowerMode(false),
    _currentView(VIEW_FLIGHT),
    _currentViewWidget(NULL),
    _splashScreen(splashScreen)
{
    Q_ASSERT(_instance == NULL);
    _instance = this;
    
    if (splashScreen) {
        connect(this, &MainWindow::initStatusChanged, splashScreen, &QSplashScreen::showMessage);
    }
    
    loadSettings();
    
    // Select the proper view. Default to the flight view or load the last one used if it's supported.
    VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", _currentView).toInt();
    switch (currentViewCandidate) {
        case VIEW_ENGINEER:
        case VIEW_MISSION:
        case VIEW_FLIGHT:
        case VIEW_SIMULATION:
        case VIEW_SETUP:
        case VIEW_TERMINAL:
#ifdef QGC_OSG_ENABLED
        case VIEW_LOCAL3D:
#endif
#ifdef QGC_GOOGLE_EARTH_ENABLED
        case VIEW_GOOGLEEARTH:
#endif
            _currentView = currentViewCandidate;
            break;
            
        default:
            // Leave _currentView to the default
            break;
    }
    
    // Put it back, which will set it to a valid value
    settings.setValue("CURRENT_VIEW", _currentView);

    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

    // Setup user interface
    ui.setupUi(this);
    
    // Setup central widget with a layout to hold the views
    _centralLayout = new QVBoxLayout();
    centralWidget()->setLayout(_centralLayout);

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

    configureWindowName();

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

    // Qt 4 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar.
    // TODO: Check that this is still necessary on Qt5 on Ubuntu
#ifdef Q_OS_LINUX
    menuBar()->setNativeMenuBar(false);
#endif

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

    // Load Toolbar
    toolBar = new QGCToolBar(this);
    this->addToolBar(toolBar);

    // Add the perspectives to the toolbar
    QList<QAction*> actions;
    actions << ui.actionSetup;
    actions << ui.actionMissionView;