MainWindow.cc

    commWidget->show();
}

void MainWindow::addLink(LinkInterface *link)
{
    LinkManager::instance()->addProtocol(link, mavlink);
    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
    ui.menuNetwork->addAction(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::UASCreated(UASInterface* uas)
{
    // Connect the UAS to the full user interface

    if (uas != NULL)
    {
        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;
        }

        ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));

        // 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);
            }
        }

        // Camera view
        //camera->addUAS(uas);

        // Revalidate UI
        // TODO Stylesheet reloading should in theory not be necessary
        reloadStylesheet();

        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;

        }

        // 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("VIEW_ON_APPLICATION_CLOSE"))
            {
                int view = settings.value("VIEW_ON_APPLICATION_CLOSE").toInt();
                currentView = (VIEW_SECTIONS) view;
                presentView();
            }
            else
            {
                loadEngineerView();
            }
        }

    }
}

/**
 * Clears the current view completely
 */
void MainWindow::clearView()
{
    // 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?
        }
    }
}

void MainWindow::loadEngineerView()
{
    clearView();

    currentView = VIEW_ENGINEER;

    presentView();
}

void MainWindow::loadOperatorView()
{
    clearView();

    currentView = VIEW_OPERATOR;

    presentView();
}

void MainWindow::loadPilotView()
{
    clearView();

    currentView = VIEW_PILOT;

    presentView();
}

void MainWindow::loadMAVLinkView()
{
    clearView();

    currentView = VIEW_MAVLINK;

    presentView();
}

void MainWindow::presentView()
{
    qDebug() << "LC";
    showTheCentralWidget(CENTRAL_LINECHART, currentView);

    // MAP
    qDebug() << "MAP";
    showTheCentralWidget(CENTRAL_MAP, currentView);

    // PROTOCOL
    qDebug() << "CP";
    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);



    // 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()),
                              hsiDockWidget);
                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);
    //    if (hsiDockWidget)
    //    {
    //        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
    //        if (hsi){
    //            if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HSI,currentView)).toBool()){
    //                addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HSI, currentView)).toInt()),
    //                              hsiDockWidget);
    //            }
    //        }
    //    }

    // HEAD DOWN 1
    showTheWidget(MENU_HDD_1, currentView);
    //    if (headDown1DockWidget)
    //    {
    //        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
    //        if (hdd) {
    //            if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_1,currentView)).toBool()) {
    //                addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_1, currentView)).toInt()),
    //                              headDown1DockWidget);
    //                headDown1DockWidget->show();
    //                hdd->start();
    //            } else {
    //                headDown1DockWidget->hide();;
    //                hdd->stop();
    //            }
    //        }
    //    }

    // HEAD DOWN 2
    showTheWidget(MENU_HDD_2, currentView);
    //    if (headDown2DockWidget)
    //    {
    //        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
    //        if (hdd){
    //            if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HDD_2,currentView)).toBool()){
    //                addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HDD_2, currentView)).toInt()),
    //                              headDown2DockWidget);
    //                headDown2DockWidget->show();
    //                hdd->start();
    //            } else {
    //                headDown2DockWidget->hide();
    //                hdd->stop();
    //            }
    //        }
    //    }

    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)).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::loadWidgets()
{
    loadOperatorView();
    //loadMAVLinkView();
    //loadPilotView();
}

void MainWindow::loadDataView(QString fileName)
{
    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(dataplotWidget);
            dataplotWidget->loadFile(fileName);
        }
    }
}

void MainWindow::load3DMapView()
{
#ifdef QGC_OSGEARTH_ENABLED
    clearView();

    // 3D map
    if (_3DMapWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            //map3DWidget->setActive(true);
            centerStack->setCurrentWidget(_3DMapWidget);
        }
    }
#endif
}

void MainWindow::loadGoogleEarthView()
{
#if (defined _MSC_VER) | (defined Q_OS_MAC)
    clearView();

    // 3D map
    if (gEarthWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(gEarthWidget);
        }
    }
#endif

}

void MainWindow::load3DView()
{
#ifdef QGC_OSG_ENABLED
    clearView();

    // 3D map
    if (_3DWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            //map3DWidget->setActive(true);
            centerStack->setCurrentWidget(_3DWidget);
        }
    }
#endif
}