MainWindow.cc

    // 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_PILOT) ui.actionPilotsView->setChecked(true);
    if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->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()));

    // 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.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
    connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));

    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)
{

    // 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.actionPilotsView->setEnabled(true);
        ui.actionOperatorsView->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;
        }

        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);

        // 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);
            }
        }

        // Line chart
        if (!linechartWidget)
        {
            // Center widgets
            linechartWidget = new Linecharts(this);
            linechartWidget->addSource(mavlinkDecoder);
            addCentralWidget(linechartWidget, tr("Realtime Plot"));
        }

        // 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_PILOT:
                    loadPilotView();
                    break;
                case VIEW_UNCONNECTED:
                    loadUnconnectedView();
                    break;
                case VIEW_OPERATOR:
                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
        settings.setValue(getWindowStateKey(), 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
    if (centerStack->indexOf(dataplotWidget) == index)
    {
        // Rewrite to realtime plot
        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_ENGINEER:
            centerStack->setCurrentWidget(linechartWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            mavlinkInspectorWidget->show();
            //mavlinkSenderWidget->show();
            parametersDockWidget->show();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_PILOT:
            centerStack->setCurrentWidget(hudWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->hide();
            logPlayerDockWidget->hide();
            mavlinkInspectorWidget->hide();
            parametersDockWidget->hide();
            hsiDockWidget->show();
            headDown1DockWidget->show();
            headDown2DockWidget->show();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_MAVLINK:
            centerStack->setCurrentWidget(protocolWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->hide();
            logPlayerDockWidget->hide();
            mavlinkInspectorWidget->show();
            //mavlinkSenderWidget->show();
            parametersDockWidget->hide();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_FIRMWAREUPDATE:
            centerStack->setCurrentWidget(firmwareUpdateWidget);
            controlDockWidget->hide();
            listDockWidget->hide();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->hide();
            logPlayerDockWidget->hide();
            mavlinkInspectorWidget->hide();
            //mavlinkSenderWidget->hide();
            parametersDockWidget->hide();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->hide();
            video1DockWidget->hide();
            video2DockWidget->hide();
            break;
        case VIEW_OPERATOR:
            centerStack->setCurrentWidget(mapWidget);
            controlDockWidget->hide();
            listDockWidget->show();
            waypointsDockWidget->show();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            parametersDockWidget->hide();
            hsiDockWidget->show();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->show();
            video1DockWidget->hide();
            video2DockWidget->hide();
            mavlinkInspectorWidget->hide();
            break;
        case VIEW_UNCONNECTED:
        case VIEW_FULL:
        default:
            centerStack->setCurrentWidget(mapWidget);
            controlDockWidget->hide();
            listDockWidget->show();
            waypointsDockWidget->hide();
            infoDockWidget->hide();
            debugConsoleDockWidget->show();
            logPlayerDockWidget->show();
            parametersDockWidget->hide();
            hsiDockWidget->hide();
            headDown1DockWidget->hide();
            headDown2DockWidget->hide();
            rcViewDockWidget->hide();
            headUpDockWidget->show();
            video1DockWidget->hide();
            video2DockWidget->hide();
            mavlinkInspectorWidget->show();
            break;
        }
    }

    // Restore the widget positions and size
    if (settings.contains(getWindowStateKey()))
    {
        restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }
}

void MainWindow::loadEngineerView()
{
    if (currentView != VIEW_ENGINEER)
    {
        storeViewState();
        currentView = VIEW_ENGINEER;
        ui.actionEngineersView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadOperatorView()
{
    if (currentView != VIEW_OPERATOR)
    {
        storeViewState();
        currentView = VIEW_OPERATOR;
        ui.actionOperatorsView->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_PILOT)
    {
        storeViewState();
        currentView = VIEW_PILOT;
        ui.actionPilotsView->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);
        loadViewState();
    }
}

void MainWindow::loadDataView(QString fileName)
{
    // Plot is now selected, now load data from file
    if (dataplotWidget)
    {
        dataplotWidget->loadFile(fileName);
    }
    QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
    if (centerStack)
    {
        centerStack->setCurrentWidget(dataplotWidget);
        dataplotWidget->loadFile(fileName);
    }
}


QList<QAction*> MainWindow::listLinkMenuActions(void)
{
    return ui.menuNetwork->actions();
}