MainWindow.cc

void MainWindow::createCustomWidget()
{
    //void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
    //QDockWidget* dock = new QDockWidget("Unnamed Tool", this);

    if (QGCToolWidget::instances()->size() < 2)
    {
        // This is the first widget
        ui.menuTools->addSeparator();
    }
    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
    createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
    //tool->setObjectName("UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()));
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
    settings.endGroup();



    //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));
    if (fileName != "") loadCustomWidget(fileName);
}
void MainWindow::loadCustomWidget(const QString& fileName, int view)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true))
    {
        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
        switch ((VIEW_SECTIONS)view)
        {
        case VIEW_ENGINEER:
            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_FLIGHT:
            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_SIMULATION:
            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_MISSION:
            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        default:
        {
            //Delete tool, create menu item to tie it to.
            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
            tempAction->setCheckable(true);
            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
            tool->deleteLater();
            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
        }
            break;
        }
    }
    else
    {
        return;
    }
}

void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true) || !singleinstance)
    {
        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
        QSettings settings;
        settings.beginGroup("QGC_MAINWINDOW");
        //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);

        int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
        switch (view)
        {
        case VIEW_ENGINEER:
            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_FLIGHT:
            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_SIMULATION:
            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_MISSION:
            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        default:
        {
            //Delete tool, create menu item to tie it to.
            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
            tempAction->setCheckable(true);
            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
            tool->deleteLater();
            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
        }
            break;
        }


        settings.endGroup();
        // 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(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->hide();*/
    }
    else
    {
        return;
    }
}

void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
    QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";

    QDir widgets(defaultsDir);
    QStringList files = widgets.entryList();
    QDir platformWidgets(platformDir);
    files.append(platformWidgets.entryList());

    if (files.count() == 0)
    {
        qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
        qDebug() << "Tried with path: " << defaultsDir;
        showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
    }

    // Load all custom widgets found in the AP folder
    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();
    dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool();
    settings.endGroup();
    enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
}

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());
    }
}
void MainWindow::enableDockWidgetTitleBars(bool enabled)
{
    dockWidgetTitleBarEnabled = enabled;
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled);
    settings.endGroup();
    settings.sync();
    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());
                i.key()->setTitleBarWidget(label);
                //label->setEnabled(false);
                label->installEventFilter(new DockWidgetTitleBarEventFilter());
            }
        }
        else
        {
            for (QMap<QDockWidget*,QWidget*>::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++)
            {
                i.key()->setTitleBarWidget(new QWidget(this));
            }
        }
    }
}

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);
    //perspectives->addAction(ui.actionConfiguration_2);
    perspectives->addAction(ui.actionHardwareConfig);
    perspectives->addAction(ui.actionSoftwareConfig);
    perspectives->addAction(ui.actionFirmwareUpdateView);
    perspectives->addAction(ui.actionTerminalView);
    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->setExclusive(true);

    // Mark the right one as selected
    if (currentView == VIEW_ENGINEER)
    {
        ui.actionEngineersView->setChecked(true);
        ui.actionEngineersView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_MAVLINK)
    {
        ui.actionMavlinkView->setChecked(true);
        ui.actionMavlinkView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_FLIGHT)
    {
        ui.actionFlightView->setChecked(true);
        ui.actionFlightView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_SIMULATION)
    {
        ui.actionSimulation_View->setChecked(true);
        ui.actionSimulation_View->activate(QAction::Trigger);
    }
    if (currentView == VIEW_MISSION)
    {
        ui.actionMissionView->setChecked(true);
        ui.actionMissionView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_HARDWARE_CONFIG)
    {
        ui.actionHardwareConfig->setChecked(true);
        ui.actionHardwareConfig->activate(QAction::Trigger);
    }
    if (currentView == VIEW_SOFTWARE_CONFIG)
    {
        ui.actionSoftwareConfig->setChecked(true);
        ui.actionSoftwareConfig->activate(QAction::Trigger);
    }
    if (currentView == VIEW_FIRMWAREUPDATE)
    {
        ui.actionFirmwareUpdateView->setChecked(true);
        ui.actionFirmwareUpdateView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_TERMINAL)
    {
        ui.actionTerminalView->setChecked(true);
        ui.actionTerminalView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_UNCONNECTED)
    {
        ui.actionUnconnectedView->setChecked(true);
        ui.actionUnconnectedView->activate(QAction::Trigger);
    }

    // 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()));
    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.actionHardwareConfig,SIGNAL(triggered()),this,SLOT(loadHardwareConfigView()));
    connect(ui.actionSoftwareConfig,SIGNAL(triggered()),this,SLOT(loadSoftwareConfigView()));
    connect(ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView()));

    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();
}

LinkInterface* 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;
        }
    }

    return link;
}


bool MainWindow::configLink(LinkInterface *link)
{
    // Go searching 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* action, actions)
    {
        if (action->data().toInt() == linkID)
        { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
            action->trigger(); // Show the Link Config Dialog
        }
    }

    return found;
}

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, NULL);
        commsWidgetList.append(commWidget);
        connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*)));
        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::configLink(LinkInterface *link)
//{

//}
void MainWindow::commsWidgetDestroyed(QObject *obj)
{
    if (commsWidgetList.contains(obj))
    {
        commsWidgetList.removeOne(obj);
    }
}

void MainWindow::setActiveUAS(UASInterface* uas)
{
    Q_UNUSED(uas);
    // Enable and rename menu
    //    ui.menuUnmanned_System->setTitle(uas->getUASName());
    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
    if (settings.contains(getWindowStateKey()))
    {
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }

}

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);
    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;
    }

    // XXX The multi-UAS selection menu has been disabled for now,
    // its redundant with right-clicking the UAS in the list.
    // this code piece might be removed later if this is the final
    // conclusion (May 2013)
    //        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()));
    //        ui.menuConnected_Systems->addAction(uasAction);


    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));

    // HIL
    showHILConfigurationWidget(uas);

    if (!linechartWidget)
    {
        linechartWidget = new Linecharts(this);
        //linechartWidget->hide();

    }

    linechartWidget->addSource(mavlinkDecoder);
    if (engineeringView->centralWidget() != linechartWidget)
    {
        engineeringView->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");
            //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");
            //addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
        }
    }

    // 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)
{
    Q_UNUSED(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
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        QList<QDockWidget*> widgets = win->findChildren<QDockWidget*>();
        QString widgetnames = "";