Newer
Older
for(int i = 0; i < files.count(); ++i)
{
QString file = files[i];
if (file.endsWith(".qgw"))
{
// Will only be loaded if not already a custom widget with
// the same name is present
loadCustomWidget(defaultsDir+"/"+file, true);
showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
}
}
}
void MainWindow::loadSettings()
{
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
Michael Carpenter
committed
dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool();
settings.endGroup();
Michael Carpenter
committed
enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
}
void MainWindow::storeSettings()
{
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
settings.setValue("AUTO_RECONNECT", autoReconnect);
settings.setValue("CURRENT_STYLE", currentStyle);
settings.endGroup();
if (!aboutToCloseFlag && isVisible())
{
settings.setValue(getWindowGeometryKey(), saveGeometry());
// Save the last current view in any case
settings.setValue("CURRENT_VIEW", currentView);
// Save the current window state, but only if a system is connected (else no real number of widgets would be present)
if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
// Save the current view only if a UAS is connected
if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
// Save the current power mode
}
settings.setValue("LOW_POWER_MODE", lowPowerMode);
settings.sync();
}
void MainWindow::configureWindowName()
{
QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
bool prevAddr = false;
windowname.append(" (" + QHostInfo::localHostName() + ": ");
for (int i = 0; i < hostAddresses.size(); i++)
{
// Exclude loopback IPv4 and all IPv6 addresses
if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
{
if(prevAddr) windowname.append("/");
windowname.append(hostAddresses.at(i).toString());
prevAddr = true;
}
}
windowname.append(")");
setWindowTitle(windowname);
#ifndef Q_WS_MAC
//qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
#endif
}
void MainWindow::startVideoCapture()
{
QString format = "bmp";
QString initialPath = QDir::currentPath() + tr("/untitled.") + format;
QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
initialPath,
tr("%1 Files (*.%2);;All Files (*)")
.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());
}
}
Michael Carpenter
committed
void MainWindow::enableDockWidgetTitleBars(bool enabled)
{
dockWidgetTitleBarEnabled = enabled;
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled);
settings.endGroup();
settings.sync();
Michael Carpenter
committed
if (!isAdvancedMode)
{
if (enabled)
{
for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
{
QLabel *label = new QLabel(this);
label->setText(i.key()->windowTitle());
Michael Carpenter
committed
i.key()->setTitleBarWidget(label);
//label->setEnabled(false);
label->installEventFilter(new DockWidgetTitleBarEventFilter());
Michael Carpenter
committed
}
}
else
{
for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
{
i.key()->setTitleBarWidget(new QWidget(this));
Michael Carpenter
committed
}
}
}
}
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
void MainWindow::enableAutoReconnect(bool enabled)
{
autoReconnect = enabled;
}
void MainWindow::loadNativeStyle()
{
loadStyle(QGC_MAINWINDOW_STYLE_NATIVE);
}
void MainWindow::loadIndoorStyle()
{
loadStyle(QGC_MAINWINDOW_STYLE_INDOOR);
}
void MainWindow::loadOutdoorStyle()
{
loadStyle(QGC_MAINWINDOW_STYLE_OUTDOOR);
}
void MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style)
{
switch (style) {
case QGC_MAINWINDOW_STYLE_NATIVE: {
// Native mode means setting no style
// so if we were already in native mode
// take no action
// Only if a style was set, remove it.
if (style != currentStyle) {
qApp->setStyleSheet("");
showInfoMessage(tr("Please restart QGroundControl"), tr("Please restart QGroundControl to switch to fully native look and feel. Currently you have loaded Qt's plastique style."));
}
}
break;
case QGC_MAINWINDOW_STYLE_INDOOR:
qApp->setStyle("plastique");
styleFileName = ":files/styles/style-indoor.css";
reloadStylesheet();
break;
case QGC_MAINWINDOW_STYLE_OUTDOOR:
qApp->setStyle("plastique");
styleFileName = ":files/styles/style-outdoor.css";
reloadStylesheet();
break;
}
currentStyle = style;
}
void MainWindow::selectStylesheet()
{
// Let user select style sheet
styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));
if (!styleFileName.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
reloadStylesheet();
}
void MainWindow::reloadStylesheet()
{
// Load style sheet
QFile* styleSheet = new QFile(styleFileName);
if (!styleSheet->exists())
{
styleSheet = new QFile(":files/styles/style-indoor.css");
}
if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
{
QString style = QString(styleSheet->readAll());
style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "files/styles/");
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(styleFileName));
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(this);
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(this);
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()
{
// Bind together the perspective actions
QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
perspectives->addAction(ui.actionEngineersView);
perspectives->addAction(ui.actionMavlinkView);
perspectives->addAction(ui.actionFlightView);
perspectives->addAction(ui.actionSimulation_View);
perspectives->addAction(ui.actionMissionView);
Michael Carpenter
committed
perspectives->addAction(ui.actionConfiguration_2);
perspectives->addAction(ui.actionFirmwareUpdateView);
perspectives->addAction(ui.actionUnconnectedView);
perspectives->setExclusive(true);
// Mark the right one as selected
if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
if (currentView == VIEW_FLIGHT) ui.actionFlightView->setChecked(true);
if (currentView == VIEW_SIMULATION) ui.actionSimulation_View->setChecked(true);
if (currentView == VIEW_MISSION) ui.actionMissionView->setChecked(true);
if (currentView == VIEW_CONFIGURATION) ui.actionConfiguration_2->setChecked(true);
if (currentView == VIEW_FIRMWAREUPDATE) ui.actionFirmwareUpdateView->setChecked(true);
if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(false);
ui.actionLand->setEnabled(false);
ui.actionEmergency_Kill->setEnabled(false);
ui.actionEmergency_Land->setEnabled(false);
ui.actionShutdownMAV->setEnabled(false);
// Connect actions from ui
connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
Michael Carpenter
committed
connect(ui.actionAdvanced_Mode,SIGNAL(triggered()),this,SLOT(setAdvancedMode()));
// 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.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));
// Views actions
connect(ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
connect(ui.actionSimulation_View, SIGNAL(triggered()), this, SLOT(loadSimulationView()));
connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
connect(ui.actionConfiguration_2,SIGNAL(triggered()),this,SLOT(loadConfigurationView()));
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
connect(ui.actionFirmwareUpdateView, SIGNAL(triggered()), this, SLOT(loadFirmwareUpdateView()));
connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet()));
// 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()));
// Custom widget actions
connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(loadCustomWidget()));
// Audio output
ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
// User interaction
// NOTE: Joystick thread is not started and
// configuration widget is not instantiated
// unless it is actually used
// so no ressources spend on this.
ui.actionJoystickSettings->setVisible(true);
// Configuration
// Joystick
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
// Application Settings
connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
}
void MainWindow::showHelp()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start")))
{
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/dev/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()
{
if (!joystickWidget)
{
if (!joystick->isRunning())
{
joystick->start();
}
joystickWidget = new JoystickWidget(joystick);
}
joystickWidget->show();
}
void MainWindow::showSettings()
{
QGCSettingsWidget* settings = new QGCSettingsWidget(this);
settings->show();
}
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();
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions)
{
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
act->trigger();
break;
}
}
}
void MainWindow::addLink(LinkInterface *link)
{
// IMPORTANT! KEEP THESE TWO LINES
// THEY MAKE SURE THE LINK IS PROPERLY REGISTERED
// BEFORE LINKING THE UI AGAINST IT
// Register (does nothing if already registered)
LinkManager::instance()->add(link);
LinkManager::instance()->addProtocol(link, mavlink);
// Go fishing for this link's configuration window
QList<QAction*> actions = ui.menuNetwork->actions();
bool found(false);
const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
foreach (QAction* act, actions)
{
if (act->data().toInt() == linkID)
{ // LinkManager::instance()->getLinks().indexOf(link)
found = true;
}
}
//UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (!found)
{ // || udp
CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
QAction* action = commWidget->getAction();
ui.menuNetwork->addAction(action);
// Error handling
connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
// Special case for simulationlink
MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
if (sim)
{
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::UASSpecsChanged(int uas)
{
UASInterface* activeUAS = UASManager::instance()->getActiveUAS();
if (activeUAS)
{
if (activeUAS->getUASID() == uas)
{
// ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
}
}
else
{
// Last system deleted
// ui.menuUnmanned_System->setTitle(tr("No System"));
// ui.menuUnmanned_System->setEnabled(false);
}
}
void MainWindow::UASCreated(UASInterface* uas)
{
// Check if this is the 2nd system and we need a switch menu
if (UASManager::instance()->getUASList().count() > 1)
// ui.menuConnected_Systems->setEnabled(true);
// Connect the UAS to the full user interface
//if (uas != NULL)
//{
// The pilot, operator and engineer views were not available on startup, enable them now
ui.actionFlightView->setEnabled(true);
ui.actionMissionView->setEnabled(true);
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
ui.actionEngineersView->setEnabled(true);
// The UAS actions are not enabled without connection to system
ui.actionLiftoff->setEnabled(true);
ui.actionLand->setEnabled(true);
ui.actionEmergency_Kill->setEnabled(true);
ui.actionEmergency_Land->setEnabled(true);
ui.actionShutdownMAV->setEnabled(true);
QIcon icon;
// Set matching icon
switch (uas->getSystemType())
{
case MAV_TYPE_GENERIC:
icon = QIcon(":files/images/mavs/generic.svg");
break;
case MAV_TYPE_FIXED_WING:
icon = QIcon(":files/images/mavs/fixed-wing.svg");
break;
case MAV_TYPE_QUADROTOR:
icon = QIcon(":files/images/mavs/quadrotor.svg");
break;
case MAV_TYPE_COAXIAL:
icon = QIcon(":files/images/mavs/coaxial.svg");
break;
case MAV_TYPE_HELICOPTER:
icon = QIcon(":files/images/mavs/helicopter.svg");
break;
case MAV_TYPE_ANTENNA_TRACKER:
icon = QIcon(":files/images/mavs/antenna-tracker.svg");
break;
case MAV_TYPE_GCS:
icon = QIcon(":files/images/mavs/groundstation.svg");
break;
case MAV_TYPE_AIRSHIP:
icon = QIcon(":files/images/mavs/airship.svg");
break;
case MAV_TYPE_FREE_BALLOON:
icon = QIcon(":files/images/mavs/free-balloon.svg");
break;
case MAV_TYPE_ROCKET:
icon = QIcon(":files/images/mavs/rocket.svg");
break;
case MAV_TYPE_GROUND_ROVER:
icon = QIcon(":files/images/mavs/ground-rover.svg");
break;
case MAV_TYPE_SURFACE_BOAT:
icon = QIcon(":files/images/mavs/surface-boat.svg");
break;
case MAV_TYPE_SUBMARINE:
icon = QIcon(":files/images/mavs/submarine.svg");
break;
case MAV_TYPE_HEXAROTOR:
icon = QIcon(":files/images/mavs/hexarotor.svg");
break;
case MAV_TYPE_OCTOROTOR:
icon = QIcon(":files/images/mavs/octorotor.svg");
break;
case MAV_TYPE_TRICOPTER:
icon = QIcon(":files/images/mavs/tricopter.svg");
break;
case MAV_TYPE_FLAPPING_WING:
icon = QIcon(":files/images/mavs/flapping-wing.svg");
break;
case MAV_TYPE_KITE:
icon = QIcon(":files/images/mavs/kite.svg");
break;
default:
icon = QIcon(":files/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()));
connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
// ui.menuConnected_Systems->addAction(uasAction);
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
// 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);
}
}
// HIL
showHILConfigurationWidget(uas);
Michael Carpenter
committed
if (!linechartWidget)
{
linechartWidget = new Linecharts(this);
Michael Carpenter
committed
//linechartWidget->hide();
}
// Line chart
//if (!linechartWidget)
//{
// Center widgets
//linechartWidget->addSystem(uas);
linechartWidget->addSource(mavlinkDecoder);
Michael Carpenter
committed
//addCentralWidget(linechartWidget, tr("Realtime Plot"));
if (dataView->centralWidget() != linechartWidget)
{
dataView->setCentralWidget(linechartWidget);
linechartWidget->show();
}
//dataView->setCentralWidget(linechartWidget);
//linechartWidget->show();
//}
// Load default custom widgets for this autopilot type
loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
{
// Dock widgets
if (!detectionDockWidget)
{
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) );
detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
Michael Carpenter
committed
//addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
}
if (!watchdogControlDockWidget)
{
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
Michael Carpenter
committed
//addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
}
}
// 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()->getUASList().size() == 1)
{
// 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();
switch (view)
{
case VIEW_ENGINEER:
loadEngineerView();
break;
case VIEW_MAVLINK:
loadMAVLinkView();
break;
case VIEW_FIRMWAREUPDATE:
loadFirmwareUpdateView();
break;
case VIEW_FLIGHT:
loadPilotView();
break;
case VIEW_SIMULATION:
loadSimulationView();
break;
case VIEW_UNCONNECTED:
loadUnconnectedView();
break;
case VIEW_MISSION:
default:
loadOperatorView();
break;
}
}
else
{
loadOperatorView();
}
}
//}
// if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
// if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
// Reload view state in case new widgets were added
loadViewState();
}
void MainWindow::UASDeleted(UASInterface* uas)
{
if (UASManager::instance()->getUASList().count() == 0)
{
// Last system deleted
// ui.menuUnmanned_System->setTitle(tr("No System"));
// ui.menuUnmanned_System->setEnabled(false);
// QAction* act;
// QList<QAction*> actions = ui.menuConnected_Systems->actions();
// foreach (act, actions)
// {
// if (act->text().contains(uas->getUASName()))
// ui.menuConnected_Systems->removeAction(act);
// }
}
/**
* Stores the current view state
*/
void MainWindow::storeViewState()
{
if (!aboutToCloseFlag)
{
// Save current state
Michael Carpenter
committed
SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
QList<QDockWidget*> widgets = win->findChildren<QDockWidget*>();
QString widgetnames = "";
for (int i=0;i<widgets.size();i++)
{
widgetnames += widgets[i]->objectName() + ",";
}
widgetnames = widgetnames.mid(0,widgetnames.length()-1);
settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames);
settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()));
settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
// Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
// therefore this state is stored here and restored after applying the rest of the settings in the new
// perspective.
windowStateVal = this->windowState();
settings.setValue(getWindowGeometryKey(), saveGeometry());
}
}
void MainWindow::loadViewState()
{
// Restore center stack state
int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
// The offline plot view is usually the consequence of a logging run, always show the realtime view first
Michael Carpenter
committed
if (centerStack->indexOf(dataView) == index)
{
// Rewrite to realtime plot
Michael Carpenter
committed
//index = centerStack->indexOf(linechartWidget);
}
if (index != -1)
{
centerStack->setCurrentIndex(index);
}
else
{
// Hide custom widgets
if (detectionDockWidget) detectionDockWidget->hide();
if (watchdogControlDockWidget) watchdogControlDockWidget->hide();
// Load defaults
switch (currentView)
{
case VIEW_CONFIGURATION:
Michael Carpenter
committed
centerStack->setCurrentWidget(configView);
break;
case VIEW_ENGINEER:
Michael Carpenter
committed
centerStack->setCurrentWidget(dataView);
case VIEW_FLIGHT:
Michael Carpenter
committed
centerStack->setCurrentWidget(pilotView);
break;
case VIEW_MAVLINK:
Michael Carpenter
committed
centerStack->setCurrentWidget(engineeringView);
break;
case VIEW_FIRMWAREUPDATE:
centerStack->setCurrentWidget(firmwareUpdateWidget);
break;
case VIEW_MISSION:
Michael Carpenter
committed
centerStack->setCurrentWidget(plannerView);
case VIEW_SIMULATION:
Michael Carpenter
committed
centerStack->setCurrentWidget(simView);
case VIEW_UNCONNECTED:
case VIEW_FULL:
default:
Michael Carpenter
committed
//centerStack->setCurrentWidget(mapWidget);
if (controlDockWidget)
{
controlDockWidget->hide();
}
if (listDockWidget)
{
listDockWidget->show();
}
break;
}
}
// Restore the widget positions and size
Michael Carpenter
committed
if (settings.contains(getWindowStateKey() + "WIDGETS"))
{
QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString();
QStringList split = widgetstr.split(",");
foreach (QString widgetname,split)
{
if (widgetname != "")
{
Michael Carpenter
committed
qDebug() << "Loading widget:" << widgetname;
Michael Carpenter
committed
loadDockWidget(widgetname);
}
}
}
if (settings.contains(getWindowStateKey()))
{
Michael Carpenter
committed
SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
//settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
Michael Carpenter
committed
void MainWindow::setAdvancedMode()
{
if (!isAdvancedMode)
{
ui.actionAdvanced_Mode->setChecked(true);
isAdvancedMode = true;
Michael Carpenter
committed
settings.setValue("ADVANCED_MODE",true);
Michael Carpenter
committed
for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
{
//QWidget *widget = i.value();
QWidget *widget = i.key()->titleBarWidget();
i.key()->setTitleBarWidget(i.value());
dockToTitleBarMap[i.key()] = widget;
}
}
else
{
ui.actionAdvanced_Mode->setChecked(false);
isAdvancedMode = false;
Michael Carpenter
committed
settings.setValue("ADVANCED_MODE",false);
Michael Carpenter
committed
for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
{
//QWidget *widget = i.value();
QWidget *widget = i.key()->titleBarWidget();
i.key()->setTitleBarWidget(i.value());
dockToTitleBarMap[i.key()] = widget;
}
}
}
void MainWindow::loadEngineerView()
{
if (currentView != VIEW_ENGINEER)
{
storeViewState();
currentView = VIEW_ENGINEER;
ui.actionEngineersView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadOperatorView()
{
if (currentView != VIEW_MISSION)
{
storeViewState();
currentView = VIEW_MISSION;
ui.actionMissionView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadConfigurationView()
{
if (currentView != VIEW_CONFIGURATION)
{
storeViewState();
currentView = VIEW_CONFIGURATION;
ui.actionConfiguration_2->setChecked(true);
loadViewState();
}
}
void MainWindow::loadUnconnectedView()
{
if (currentView != VIEW_UNCONNECTED)
{
storeViewState();
currentView = VIEW_UNCONNECTED;
ui.actionUnconnectedView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadPilotView()
{
if (currentView != VIEW_FLIGHT)
{
storeViewState();
currentView = VIEW_FLIGHT;
ui.actionFlightView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadSimulationView()
{
if (currentView != VIEW_SIMULATION)
{
storeViewState();
currentView = VIEW_SIMULATION;
ui.actionSimulation_View->setChecked(true);
loadViewState();
}
}
void MainWindow::loadMAVLinkView()
{
if (currentView != VIEW_MAVLINK)
{
storeViewState();
currentView = VIEW_MAVLINK;
ui.actionMavlinkView->setChecked(true);
loadViewState();
}
}
void MainWindow::loadFirmwareUpdateView()
{
if (currentView != VIEW_FIRMWAREUPDATE)
{
storeViewState();
currentView = VIEW_FIRMWAREUPDATE;
ui.actionFirmwareUpdateView->setChecked(true);