MainWindow.cc

        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) {
                  (dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget()))->addUAS(uas);
              }
            }
          } 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();
    }

    // Remove all dock widgets from main window
    QObjectList childList( this->children() );

    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
    {
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
        {
            // Remove dock widget from main window
            //this->removeDockWidget(dockWidget);
            dockWidget->setVisible(false);
            // Deletion of dockWidget would also delete all child
            // widgets of dockWidget
            // Is there a way to unset a widget from QDockWidget?
        }
    }
}

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

  currentView = VIEW_ENGINEER;

  presentView();
}

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

    currentView = VIEW_OPERATOR;

    presentView();
}

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

    currentView = VIEW_PILOT;

    presentView();
}

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

    currentView = VIEW_MAVLINK;

    presentView();
//=======
//    // Slugs Data View
//    if (slugsHilSimWidget)
//    {
//        addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
//        slugsHilSimWidget->show();
//    }
//>>>>>>> master
}

void MainWindow::presentView() {


#ifdef QGC_OSG_ENABLED
  // 3D map
  if (_3DWidget)
  {
      if (centerStack)
      {
          //map3DWidget->setActive(true);
          centerStack->setCurrentWidget(_3DWidget);
      }
  }
#endif

  qDebug() << "LC";
  showTheCentralWidget(CENTRAL_LINECHART, currentView);
  if (linechartWidget){
    qDebug () << buildMenuKey (SUB_SECTION_CHECKED,CENTRAL_LINECHART,currentView) <<
        settings.value(buildMenuKey (SUB_SECTION_CHECKED,CENTRAL_LINECHART,currentView)).toBool() ;
    if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,CENTRAL_LINECHART,currentView)).toBool()){
      if (centerStack) {
          linechartWidget->setActive(true);
          centerStack->setCurrentWidget(linechartWidget);
      }
    } else {
      linechartWidget->setActive(false);
    }
  }



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

  // PROTOCOL
  qDebug() << "CP";
  showTheCentralWidget(CENTRAL_PROTOCOL, currentView);

  // HEAD UP DISPLAY
  showTheCentralWidget(CENTRAL_HUD, currentView);
  qDebug() << "HUD";
  if (hudWidget){
    qDebug() << buildMenuKey(SUB_SECTION_CHECKED,CENTRAL_HUD,currentView) <<
        settings.value(buildMenuKey (SUB_SECTION_CHECKED,CENTRAL_HUD,currentView)).toBool();
    if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,CENTRAL_HUD,currentView)).toBool()){
      if (centerStack) {
          centerStack->setCurrentWidget(hudWidget);
          hudWidget->start();
      }
    } else {
      hudWidget->stop();
    }
  }

  // Show docked widgets based on current view and autopilot type

  // UAS CONTROL
  showTheWidget(MENU_UAS_CONTROL, currentView);

  // UAS LIST
  showTheWidget(MENU_UAS_LIST, currentView);

  // WAYPOINT LIST
  showTheWidget(MENU_WAYPOINTS, currentView);

  // UAS STATUS
  showTheWidget(MENU_STATUS, currentView);

  // DETECTION
  showTheWidget(MENU_DETECTION, currentView);

  // DEBUG CONSOLE
  showTheWidget(MENU_DEBUG_CONSOLE, currentView);

  // ONBOARD PARAMETERS
  showTheWidget(MENU_PARAMETERS, currentView);

  // WATCHDOG
  showTheWidget(MENU_WATCHDOG, currentView);

  // HUD
  showTheWidget(MENU_HUD, currentView);
  if (headUpDockWidget)
  {
      HUD* tmpHud = dynamic_cast<HUD*>( headUpDockWidget->widget() );
      if (tmpHud){
        if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()){
          tmpHud->start();
          addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()),
                        headUpDockWidget);
          headUpDockWidget->show();
        } else {
          tmpHud->stop();
          headUpDockWidget->hide();
        }
      }
  }


  // RC View
  showTheWidget(MENU_RC_VIEW, currentView);

  // SLUGS DATA
  showTheWidget(MENU_SLUGS_DATA, currentView);

  // SLUGS PID
  showTheWidget(MENU_SLUGS_PID, currentView);

  // SLUGS HIL
  showTheWidget(MENU_SLUGS_HIL, currentView);

  // SLUGS CAMERA
  showTheWidget(MENU_SLUGS_CAMERA, currentView);

  // HORIZONTAL SITUATION INDICATOR
  showTheWidget(MENU_HSI, currentView);
  if (hsiDockWidget)
  {
      HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
      if (hsi){
        if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HSI,currentView)).toBool()){
          hsi->start();
          addDockWidget(static_cast <Qt::DockWidgetArea>(settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HSI, currentView)).toInt()),
                        hsiDockWidget);
          hsiDockWidget->show();
        } else {
          hsi->stop();
          hsiDockWidget->hide();
        }
      }
  }

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

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

  this->show();

}

void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view){
  bool tempVisible;
  QWidget* tempWidget = dockWidgets[centralWidget];
//=======
//    // ONBOARD PARAMETERS
//    if (parametersDockWidget)
//    {
//        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
//        parametersDockWidget->show();
//    }
//}
//>>>>>>> master

  tempVisible =  settings.value(buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view)).toBool();
  qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible;
  if (toolsMenuActions[centralWidget]){
    toolsMenuActions[centralWidget]->setChecked(tempVisible);
  }

  if (centerStack && tempWidget && tempVisible){
    centerStack->setCurrentWidget(tempWidget);
  }
}



/*
==========================================================
              Potentially Deprecated
==========================================================
*/

void MainWindow::loadPixhawkEngineerView()
{

}


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

    if (headDown1DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
            headDown1DockWidget->show();
            hdd->start();
        }

    }
    if (headDown2DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
            headDown2DockWidget->show();
            hdd->start();
        }
    }
//<<<<<<< HEAD
//=======
//}

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

//    // MAP
//    if (mapWidget)
//    {
//        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
//        if (centerStack)
//        {
//            centerStack->setCurrentWidget(mapWidget);
//        }
//    }
//>>>>>>> master

    // UAS CONTROL
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }

    // UAS LIST
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }

    // UAS STATUS
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }

    // WAYPOINT LIST
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }

    // DEBUG CONSOLE
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }

    // OBJECT DETECTION
    if (detectionDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
        detectionDockWidget->show();
    }

    // LINE CHART
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }

    // ONBOARD PARAMETERS
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
}

void MainWindow::loadWidgets()
{
    //loadOperatorView();
    loadMAVLinkView();
    //loadPilotView();
}

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

    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
            centerStack->setCurrentWidget(dataplotWidget);
    }
}

void MainWindow::loadDataView(QString fileName)
{
    clearView();

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

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

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

            // UAS CONTROL
            if (controlDockWidget)
            {
                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
                controlDockWidget->show();
            }

            // UAS LIST
            if (listDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
                listDockWidget->show();
            }

            // WAYPOINT LIST
            if (waypointsDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
                waypointsDockWidget->show();
            }

            // HORIZONTAL SITUATION INDICATOR
            if (hsiDockWidget)
            {
                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
                if (hsi)
                {
                    hsi->start();
                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
                    hsiDockWidget->show();
                }
            }
#endif
}

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

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

            // UAS CONTROL
            if (controlDockWidget)
            {
                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
                controlDockWidget->show();
            }

            // UAS LIST
            if (listDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
                listDockWidget->show();
            }

            // WAYPOINT LIST
            if (waypointsDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
                waypointsDockWidget->show();
            }

            // HORIZONTAL SITUATION INDICATOR
            if (hsiDockWidget)
            {
                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
                if (hsi)
                {
                    hsi->start();
                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
                    hsiDockWidget->show();
                }
            }
#endif

}

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

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

            // UAS CONTROL
            if (controlDockWidget)
            {
                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
                controlDockWidget->show();
            }

            // UAS LIST
            if (listDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
                listDockWidget->show();
            }

            // WAYPOINT LIST
            if (waypointsDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
                waypointsDockWidget->show();
            }

            // HORIZONTAL SITUATION INDICATOR
            if (hsiDockWidget)
            {
                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
                if (hsi)
                {
                    hsi->start();
                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
                    hsiDockWidget->show();
                }
            }
#endif
}

/*
 ==================================
 ========== ATTIC =================
 ==================================

void MainWindow::buildWidgets()
{
    //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");

    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();

    // Center widgets
    linechartWidget   = new Linecharts(this);
    hudWidget         = new HUD(320, 240, this);
    mapWidget         = new MapWidget(this);
    protocolWidget    = new XMLCommProtocolWidget(this);
    dataplotWidget    = new QGCDataPlot2D(this);
#ifdef QGC_OSG_ENABLED
    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
#endif

#ifdef QGC_OSGEARTH_ENABLED
    _3DMapWidget = Q3DWidgetFactory::get("MAP3D");
#endif
#if (defined Q_OS_WIN) | (defined Q_OS_MAC)
    gEarthWidget = new QGCGoogleEarthView(this);
#endif

    // Dock widgets
    controlDockWidget = new QDockWidget(tr("Control"), this);
    controlDockWidget->setWidget( new UASControlWidget(this) );

    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
    listDockWidget->setWidget( new UASListWidget(this) );

<<<<<<< HEAD
    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );

    infoDockWidget = new QDockWidget(tr("Status Details"), this);
    infoDockWidget->setWidget( new UASInfoWidget(this) );
=======
    // RADIO CONTROL VIEW
    if (rcViewDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
        rcViewDockWidget->show();
    }
}
>>>>>>> master

    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );

<<<<<<< HEAD
    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
    debugConsoleDockWidget->setWidget( new DebugConsole(this) );

    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
    parametersDockWidget->setWidget( new ParameterInterface(this) );

    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );

    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    hsiDockWidget->setWidget( new HSIDisplay(this) );

    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
    headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );

    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );

    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );

    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
    headUpDockWidget->setWidget( new HUD(320, 240, this));

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

    slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
    slugsDataWidget->setWidget( new SlugsDataSensorView(this));

    slugsPIDControlWidget = new QDockWidget(tr("PID Control"), this);
    slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));

    slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
    slugsHilSimWidget->setWidget( new SlugsHilSim(this));

    slugsCamControlWidget = new QDockWidget(tr("Video Camera Control"), this);
    slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));

=======
    if (protocolWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(protocolWidget);
        }
    }
>>>>>>> master
}

void MainWindow::connectWidgets()
{
    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 (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
        //connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
        //connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );

        // 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)));
        // it notifies that a waypoint global change it¥s position by spinBox on Widget WaypointView
        //connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
       // connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));

        connect(slugsCamControlWidget->widget(),SIGNAL(viewCamBorderAtMap(bool)),mapWidget,SLOT(drawBorderCamAtMap(bool)));
         connect(slugsCamControlWidget->widget(),SIGNAL(changeCamPosition(double,double,QString)),mapWidget,SLOT(updateCameraPosition(double,double, 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::arrangeCenterStack()
{

    QStackedWidget *centerStack = new QStackedWidget(this);
    if (!centerStack) return;
    if (linechartWidget) centerStack->addWidget(linechartWidget);
    if (protocolWidget) centerStack->addWidget(protocolWidget);
    if (mapWidget) centerStack->addWidget(mapWidget);
#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);

    setCentralWidget(centerStack);
=======
    // ONBOARD PARAMETERS
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
>>>>>>> master
}

void MainWindow::connectActions()
{
<<<<<<< HEAD
    // 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 user interface 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()));

    // User interface actions
    connect(ui.actionPilotView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
#ifdef QGC_OSG_ENABLED
    connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));