MainWindow.cc

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

/**
 * @file
 *   @brief Implementation of class MainWindow
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
 */

#include <QSettings>
#include <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>

#include "MG.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"

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

// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"


#include "LogCompressor.h"

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
MainWindow::MainWindow(QWidget *parent):
        QMainWindow(parent),
        toolsMenuActions(),
        currentView(VIEW_MAVLINK),
        settings()
{
    this->hide();
    this->setVisible(false);

    // Setup user interface
    ui.setupUi(this);

    buildCommonWidgets();

    connectCommonWidgets();

    arrangeCommonCenterStack();

    configureWindowName();

    // Add status bar
    //setStatusBar(createStatusBar());

    // Set the application style (not the same as a style sheet)
    // Set the style to Plastique
    qApp->setStyle("plastique");

    // Set style sheet as last step
    reloadStylesheet();

    // Create actions
    connectCommonActions();

    // Load mavlink view as default widget set
    loadMAVLinkView();

    // Adjust the size
    adjustSize();
}

MainWindow::~MainWindow()
{
    delete statusBar;
    statusBar = NULL;
}

void MainWindow::buildCommonWidgets()
{
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();

    // Dock widgets
    controlDockWidget = new QDockWidget(tr("Control"), this);
    controlDockWidget->setWidget( new UASControlWidget(this) );
    addToToolsMenu (controlDockWidget, tr("UAS Control"), SLOT(showToolWidget()), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea);

    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
    listDockWidget->setWidget( new UASListWidget(this) );
    addToToolsMenu (listDockWidget, tr("UAS List"), SLOT(showToolWidget()), MENU_UAS_LIST, Qt::RightDockWidgetArea);

    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
    addToToolsMenu (waypointsDockWidget, tr("Waypoints List"), SLOT(showToolWidget()), MENU_WAYPOINTS, Qt::BottomDockWidgetArea);

    infoDockWidget = new QDockWidget(tr("Status Details"), this);
    infoDockWidget->setWidget( new UASInfoWidget(this) );
    addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget()), MENU_STATUS, Qt::RightDockWidgetArea);


    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
    debugConsoleDockWidget->setWidget( new DebugConsole(this) );
    addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget()), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea);

    // Center widgets
    mapWidget         = new MapWidget(this);
    addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);

    protocolWidget    = new XMLCommProtocolWidget(this);
    addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL);


}

void MainWindow::buildPxWidgets()
{
    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    acceptList->append("roll IMU");
    acceptList->append("pitch IMU");
    acceptList->append("yaw IMU");
    acceptList->append("rollspeed IMU");
    acceptList->append("pitchspeed IMU");
    acceptList->append("yawspeed IMU");

    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("Battery");
    acceptList2->append("Pressure");

    // Center widgets
    linechartWidget   = new Linecharts(this);
    addToCentralWidgetsMenu(linechartWidget, "Line Plots", SLOT(showCentralWidget()), CENTRAL_LINECHART);


    hudWidget         = new HUD(320, 240, this);
    addToCentralWidgetsMenu(hudWidget, "HUD", SLOT(showCentralWidget()), CENTRAL_HUD);

    dataplotWidget    = new QGCDataPlot2D(this);
    addToCentralWidgetsMenu(dataplotWidget, "Data Plots", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT);

#ifdef QGC_OSG_ENABLED
    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
    addToCentralWidgetsMenu(_3DWidget, "Local 3D", SLOT(showCentralWidget()), CENTRAL_3D_LOCAL);

#endif

#ifdef QGC_OSGEARTH_ENABLED
    _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
    addToCentralWidgetsMenu(_3DMapWidget, "OSG Earth 3D", SLOT(showCentralWidget()), CENTRAL_OSGEARTH);

#endif
#if (defined Q_OS_WIN) | (defined Q_OS_MAC)
    gEarthWidget = new QGCGoogleEarthView(this);
    addToCentralWidgetsMenu(gEarthWidget, "Google Earth", SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH);

#endif

    // Dock widgets
    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
    addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget()), MENU_DETECTION, Qt::RightDockWidgetArea);


    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
    parametersDockWidget->setWidget( new ParameterInterface(this) );
    addToToolsMenu (parametersDockWidget, tr("Onboard Parameters"), SLOT(showToolWidget()), MENU_PARAMETERS, Qt::RightDockWidgetArea);

    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
    addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget()), MENU_WATCHDOG, Qt::BottomDockWidgetArea);


    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    hsiDockWidget->setWidget( new HSIDisplay(this) );
    addToToolsMenu (hsiDockWidget, tr("HSI"), SLOT(showToolWidget()), MENU_HSI, Qt::BottomDockWidgetArea);

    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
    headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
    addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);

    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
    addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);

    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);

    headUpDockWidget = new QDockWidget(tr("HUD"), this);
    headUpDockWidget->setWidget( new HUD(320, 240, this));
    addToToolsMenu (headUpDockWidget, tr("Control Indicator"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);

    // Dialogue widgets
    //FIXME: free memory in destructor
    joystick    = new JoystickInput();

}

void MainWindow::buildSlugsWidgets()
{
    // Center widgets
    linechartWidget   = new Linecharts(this);

    // Dock widgets
    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
    headUpDockWidget->setWidget( new HUD(320, 240, this));
    addToToolsMenu (headUpDockWidget, tr("HUD"), SLOT(showToolWidget()), MENU_HUD, Qt::LeftDockWidgetArea);


    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
    addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget()), MENU_RC_VIEW, Qt::BottomDockWidgetArea);


    // Dialog widgets
    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
    slugsDataWidget->setWidget( new SlugsDataSensorView(this));
    addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget()), MENU_SLUGS_DATA, Qt::RightDockWidgetArea);


    slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
    slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
    addToToolsMenu (slugsPIDControlWidget, tr("PID Configuration"), SLOT(showToolWidget()), MENU_SLUGS_PID, Qt::LeftDockWidgetArea);

    slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
    slugsHilSimWidget->setWidget( new SlugsHilSim(this));
    addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget()), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea);

    slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
    slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
    addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget()), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea);

}


void MainWindow::addToCentralWidgetsMenu ( QWidget* widget,
                                           const QString title,
                                           const char * slotName,
                                           TOOLS_WIDGET_NAMES centralWidget){
  QAction* tempAction;


  // Add the separator that will separate tools from central Widgets
  if (!toolsMenuActions[CENTRAL_SEPARATOR]){
    tempAction = ui.menuTools->addSeparator();
    toolsMenuActions[CENTRAL_SEPARATOR] = tempAction;
    tempAction->setData(CENTRAL_SEPARATOR);
  }

  tempAction = ui.menuTools->addAction(title);

  tempAction->setCheckable(true);
  tempAction->setData(centralWidget);

  // populate the Hashes
  toolsMenuActions[centralWidget] = tempAction;
  dockWidgets[centralWidget] = widget;

  QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView);

  if (!settings.contains(chKey)){
    settings.setValue(chKey,false);
    tempAction->setChecked(false);
  }
//  else {
//    tempAction->setChecked(settings.value(chKey).toBool());
//  }

  // connect the action
  connect(tempAction,SIGNAL(triggered()),this, slotName);

}


void MainWindow::showCentralWidget(){
  QAction* senderAction = qobject_cast<QAction *>(sender());
  int tool = senderAction->data().toInt();
  QString chKey;

  // check the current action

  if (senderAction && dockWidgets[tool]){

    // uncheck all central widget actions
    QHashIterator<int, QAction*> i(toolsMenuActions);
     while (i.hasNext()) {
       i.next();
       qDebug() << "shCW" << i.key() << "read";
       if (i.value() && i.value()->data().toInt() > 255){
           i.value()->setChecked(false);

           // update the settings
           chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.value()->data().toInt()), currentView);
           settings.setValue(chKey,false);
         }
     }

    // check the current action
     qDebug() << senderAction->text();
    senderAction->setChecked(true);

    // update the central widget
    centerStack->setCurrentWidget(dockWidgets[tool]);

    // store the selected central widget
    chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
    settings.setValue(chKey,true);

   presentView();
  }
}

void MainWindow::addToToolsMenu ( QWidget* widget,
                                 const QString title,
                                 const char * slotName,
                                 TOOLS_WIDGET_NAMES tool,
                                 Qt::DockWidgetArea location){
  QAction* tempAction;
  QString posKey, chKey;


  if (toolsMenuActions[CENTRAL_SEPARATOR]){
    tempAction = new QAction(title, this);
    ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR],
                               tempAction);
  } else {
    tempAction = ui.menuTools->addAction(title);
  }

  tempAction->setCheckable(true);
  tempAction->setData(tool);

  // populate the Hashes
  toolsMenuActions[tool] = tempAction;
  dockWidgets[tool] = widget;
  qDebug() << widget;

  posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView);

  if (!settings.contains(posKey)){
    settings.setValue(posKey,location);
    dockWidgetLocations[tool] = location;
  } else {
    dockWidgetLocations[tool] = static_cast <Qt::DockWidgetArea> (settings.value(posKey).toInt());
  }

  chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView);

  if (!settings.contains(chKey)){
    settings.setValue(chKey,false);
    tempAction->setChecked(false);
  } else {
    tempAction->setChecked(settings.value(chKey).toBool());
  }

  // connect the action
  connect(tempAction,SIGNAL(triggered()),this, slotName);

  connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
          SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool)));

  connect(qobject_cast <QDockWidget *>(dockWidgets[tool]),
          SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea)));

}

void MainWindow::showToolWidget(){
  QAction* temp = qobject_cast<QAction *>(sender());
  int tool = temp->data().toInt();


  if (temp && dockWidgets[tool]){
    if (temp->isChecked()){
      addDockWidget(dockWidgetLocations[tool], qobject_cast<QDockWidget *> (dockWidgets[tool]));
      qobject_cast<QDockWidget *>(dockWidgets[tool])->show();
    } else {
      removeDockWidget(qobject_cast<QDockWidget *>(dockWidgets[tool]));
    }
    QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(tool), currentView);
    settings.setValue(chKey,temp->isChecked());
  }
}


void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view){
  bool tempVisible;
  Qt::DockWidgetArea tempLocation;
  QDockWidget* tempWidget = static_cast <QDockWidget *>(dockWidgets[widget]);

  tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,widget,view)).toBool();

  if (tempWidget){
    toolsMenuActions[widget]->setChecked(tempVisible);
  }


  //qDebug() <<  buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible;

  tempLocation = static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view)).toInt());

  if (tempWidget && tempVisible){
    addDockWidget(tempLocation, tempWidget);
    tempWidget->show();
  }

}

QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view){
  // Key is built as follows: autopilot_type/section_menu/view/tool/section
  int apType;

  apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())?
           UASManager::instance()->getActiveUAS()->getAutopilotType():
           -1;

  return (QString::number(apType) + "/" +
          QString::number(SECTION_MENU) + "/" +
          QString::number(view) + "/" +
          QString::number(tool) + "/" +
          QString::number(section) + "/" );
}

void MainWindow::updateVisibilitySettings (bool vis){
  Q_UNUSED(vis);

  // This is commented since when the application closes
  // sets the visibility to false.

  // TODO: A workaround is needed. The QApplication::aboutToQuit
  //       did not work

  /*
  QDockWidget* temp = qobject_cast<QDockWidget *>(sender());

  QHashIterator<int, QWidget*> i(dockWidgets);
  while (i.hasNext()) {
      i.next();
      if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp){
        QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast<TOOLS_WIDGET_NAMES>(i.key()));
        qDebug() << "Key in visibility changed" << chKey;
        settings.setValue(chKey,vis);
        toolsMenuActions[i.key()]->setChecked(vis);
        break;
      }
  }
*/
}

void MainWindow::updateLocationSettings (Qt::DockWidgetArea location){
  QDockWidget* temp = qobject_cast<QDockWidget *>(sender());

  QHashIterator<int, QWidget*> i(dockWidgets);
  while (i.hasNext()) {
      i.next();
      if ((static_cast <QDockWidget *>(dockWidgets[i.key()])) == temp){
        QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast<TOOLS_WIDGET_NAMES>(i.key()), currentView);
        settings.setValue(posKey,location);
        break;
      }
  }
}

/**
 * Connect the signals and slots of the common window widgets
 */
void MainWindow::connectCommonWidgets()
{
    if (infoDockWidget && infoDockWidget->widget())
    {
        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }

    if (mapWidget && waypointsDockWidget->widget())
    {
        // clear path create on the map
        connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearPath()));
        // add Waypoint widget in the WaypointList widget when mouse clicked
        connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));

        // it notifies that a waypoint global goes to do create and a map graphic too
        connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
    }

}

void MainWindow::connectPxWidgets()
{
    if (linechartWidget)
    {
        connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
                linechartWidget, SLOT(addSystem(UASInterface*)));
        connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
                linechartWidget, SLOT(selectSystem(int)));
        connect(linechartWidget, SIGNAL(logfileWritten(QString)),
                this, SLOT(loadDataView(QString)));
    }

}

void MainWindow::connectSlugsWidgets()
{
    if (linechartWidget)
    {
        connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
                linechartWidget, SLOT(addSystem(UASInterface*)));
        connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
                linechartWidget, SLOT(selectSystem(int)));
        connect(linechartWidget, SIGNAL(logfileWritten(QString)),
                this, SLOT(loadDataView(QString)));
    }

    if (slugsHilSimWidget && slugsHilSimWidget->widget()){
      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
              slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
    }

    if (slugsDataWidget && slugsDataWidget->widget()){
      connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
              slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*)));
    }


}

void MainWindow::arrangeCommonCenterStack()
{
    centerStack = new QStackedWidget(this);

    if (!centerStack) return;

    if (mapWidget) centerStack->addWidget(mapWidget);
    if (protocolWidget) centerStack->addWidget(protocolWidget);

    setCentralWidget(centerStack);
}

void MainWindow::arrangePxCenterStack()
{

  if (!centerStack) {
    qDebug() << "Center Stack not Created!";
    return;
  }

    if (linechartWidget) centerStack->addWidget(linechartWidget);

#ifdef QGC_OSG_ENABLED
    if (_3DWidget) centerStack->addWidget(_3DWidget);
#endif
#ifdef QGC_OSGEARTH_ENABLED
    if (_3DMapWidget) centerStack->addWidget(_3DMapWidget);
#endif
#if (defined Q_OS_WIN) | (defined Q_OS_MAC)
    if (gEarthWidget) centerStack->addWidget(gEarthWidget);
#endif
    if (hudWidget) centerStack->addWidget(hudWidget);
    if (dataplotWidget) centerStack->addWidget(dataplotWidget);

}

void MainWindow::arrangeSlugsCenterStack()
{

  if (!centerStack) {
    qDebug() << "Center Stack not Created!";
    return;
  }

  if (linechartWidget) centerStack->addWidget(linechartWidget);


  if (hudWidget) centerStack->addWidget(hudWidget);

}

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
}

QStatusBar* MainWindow::createStatusBar()
{
    QStatusBar* bar = new QStatusBar();
    /* Add status fields and messages */
    /* Enable resize grip in the bottom right corner */
    bar->setSizeGripEnabled(true);
    return bar;
}

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());
    }
}

/**
 * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
 * directory (which by default does not exist). If it fails, it will load the bundled default CSS
 * from memory.
 * To customize the application, just create a qgroundcontrol.css file in the application directory
 */
void MainWindow::reloadStylesheet()
{
    // Load style sheet
    QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":/images/style-mission.css");
    }
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
    {
        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
        qApp->setStyleSheet(style);
    }
    else
    {
        qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
    }
    delete styleSheet;
}

void MainWindow::showStatusMessage(const QString& status, int timeout)
{
    Q_UNUSED(status);
    Q_UNUSED(timeout);
    //statusBar->showMessage(status, timeout);
}

void MainWindow::showStatusMessage(const QString& status)
{
    Q_UNUSED(status);
    //statusBar->showMessage(status, 5);
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{

    // 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*)));

    // 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.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.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
    connect(ui.actionReloadStyle, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));

    // Help Actions
    connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
    connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));

}

void MainWindow::connectPxActions()
{

  ui.actionJoystickSettings->setVisible(true);

  // Joystick configuration
  connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));

}

void MainWindow::connectSlugsActions()
{

}

void MainWindow::showHelp()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/user_guide")))
    {
        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/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()
{
    joystickWidget = new JoystickWidget(joystick, this);
}

void MainWindow::addLink()
{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

    LinkManager::instance()->addProtocol(link, mavlink);

    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);

    ui.menuNetwork->addAction(commWidget->getAction());

    commWidget->show();

    // TODO Implement the link removal!
}

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_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();

            // FIXME: This type checking might be redundant
            // Check which type this UAS is of
//            PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
//            if (mav) loadPixhawkEngineerView();
          } break;

          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;

          loadEngineerView();
        }

    }
}

/**
 * Clears the current view completely
 */
void MainWindow::clearView()
{ 
    // Halt HUD central widget
    if (hudWidget) hudWidget->stop();

    // Disable linechart
    if (linechartWidget) linechartWidget->setActive(false);

    // Halt HDDs
    if (headDown1DockWidget)
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown1DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }

    if (headDown2DockWidget)
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown2DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }

    // Halt HSI
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi) hsi->stop();
    }

    // Halt HUD if in docked widget mode
    if (headUpDockWidget)
    {
        HUD* hud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
        if (hud) hud->stop();
    }