MainWindow.cc

    // 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.sync();
    customMode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt());
    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
    darkStyleFileName = settings.value("DARK_STYLE_FILENAME", darkStyleFileName).toString();
    lightStyleFileName = settings.value("LIGHT_STYLE_FILENAME", lightStyleFileName).toString();
    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
    bool dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",menuActionHelper->dockWidgetTitleBarsEnabled()).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.setValue("DARK_STYLE_FILENAME", darkStyleFileName);
    settings.setValue("LIGHT_STYLE_FILENAME", lightStyleFileName);
    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.setValue("QGC_CUSTOM_MODE", (int)customMode);
    QGCToolWidget::storeWidgetsToSettings(settings);
    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);
}

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);
}

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.toLatin1());
    }
}
void MainWindow::enableDockWidgetTitleBars(bool enabled)
{
    menuActionHelper->setDockWidgetTitleBarsEnabled(enabled);
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("DOCK_WIDGET_TITLEBARS",enabled);
    settings.endGroup();
    settings.sync();
}

void MainWindow::enableAutoReconnect(bool enabled)
{
    autoReconnect = enabled;
}

bool MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style, QString cssFile)
{
    // Store the new style classification.
    currentStyle = style;

    // Load the new stylesheet.
    QFile styleSheet(cssFile);

    // Attempt to open the stylesheet.
    if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text))
    {
        // Signal to the user that the app will pause to apply a new stylesheet
        qApp->setOverrideCursor(Qt::WaitCursor);

        qApp->setStyleSheet(styleSheet.readAll());

        // And save the new stylesheet path.
        if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT)
        {
            lightStyleFileName = cssFile;
        }
        else
        {
            darkStyleFileName = cssFile;
        }

        // And trigger any changes to other UI elements that are watching for
        // theme changes.
        emit styleChanged(style);

        // Finally restore the cursor before returning.
        qApp->restoreOverrideCursor();
        return true;
    }

    // Otherwise alert return a failure code.
    return false;
}

/**
 * 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.actionSimulationView);
    perspectives->addAction(ui.actionMissionView);
    perspectives->addAction(ui.actionHardwareConfig);
    perspectives->addAction(ui.actionSoftwareConfig);
    perspectives->addAction(ui.actionTerminalView);
    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->addAction(ui.actionGoogleEarthView);
    perspectives->addAction(ui.actionLocal3DView);
    perspectives->setExclusive(true);

    /* Hide the actions that are not relevant */
    ui.actionSoftwareConfig->setVisible(getCustomMode() == CUSTOM_MODE_APM);
#ifndef QGC_MAVGEN_ENABLED
    ui.actionMavlinkView->setVisible(false);
#endif
#ifndef QGC_GOOGLE_EARTH_ENABLED
    ui.actionGoogleEarthView->setVisible(false);
#endif
#ifndef QGC_OSG_ENABLED
    ui.actionLocal3DView->setVisible(false);
#endif

    // 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.actionSimulationView->setChecked(true);
        ui.actionSimulationView->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_TERMINAL)
    {
        ui.actionTerminalView->setChecked(true);
        ui.actionTerminalView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_GOOGLEEARTH)
    {
        ui.actionGoogleEarthView->setChecked(true);
        ui.actionGoogleEarthView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_LOCAL3D)
    {
        ui.actionLocal3DView->setChecked(true);
        ui.actionLocal3DView->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()));
    ui.actionAdvanced_Mode->setChecked(menuActionHelper->isAdvancedMode());
    connect(ui.actionAdvanced_Mode,SIGNAL(toggled(bool)),this,SLOT(setAdvancedMode(bool)));

    // 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.actionSimulationView, 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.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView()));
    connect(ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView()));
    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.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));

    // 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()));

    connect(ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool)));
}

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, this);
    }
    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)
        {
            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)
        {
            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)
        {
            found = true;
        }
    }

    if (!found)
    {
        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
        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);
    }
}

void MainWindow::simulateLink(bool simulate) {
    if (!simulationLink)
        simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
    simulationLink->connectLink(simulate);
}

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

void MainWindow::setActiveUAS(UASInterface* uas)
{
    Q_UNUSED(uas);
    if (settings.contains(getWindowStateKey()))
    {
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }

}

void MainWindow::UASSpecsChanged(int uas)
{
    Q_UNUSED(uas);
    // TODO: Update UAS properties if its specs change
}

void MainWindow::UASCreated(UASInterface* uas)
{
    // 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;
    }


    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
    connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
    connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*)));

    // HIL
    showHILConfigurationWidget(uas);

    if (!linechartWidget)
    {
        linechartWidget = new Linecharts(this);
    }

    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");
        }

        if (!watchdogControlDockWidget)
        {
            watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
            watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
            watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
        }
    }

    // Reload view state in case new widgets were added
    loadViewState();
}

void MainWindow::UASDeleted(UASInterface* uas)
{
    Q_UNUSED(uas);
    // TODO: Update the UI when a UAS is deleted
}

/**
 * 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 = "";
        for (int i=0;i<widgets.size();i++)
        {
            widgetnames += widgets[i]->objectName() + ",";
        }
        widgetnames = widgetnames.mid(0,widgetnames.length()-1);

        settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames);
        settings.setValue(getWindowStateKey(), win->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();

    if (index != -1)
    {
        centerStack->setCurrentIndex(index);
    }
    else
    {
        // Hide custom widgets
        if (detectionDockWidget) detectionDockWidget->hide();
        if (watchdogControlDockWidget) watchdogControlDockWidget->hide();

        // Load defaults
        switch (currentView)
        {
        case VIEW_HARDWARE_CONFIG:
            centerStack->setCurrentWidget(configView);
            break;
        case VIEW_SOFTWARE_CONFIG:
            if (softwareConfigView)
                centerStack->setCurrentWidget(softwareConfigView);
            break;
        case VIEW_ENGINEER:
            centerStack->setCurrentWidget(engineeringView);
            break;
        case VIEW_FLIGHT:
            centerStack->setCurrentWidget(pilotView);
            break;
        case VIEW_MAVLINK:
            centerStack->setCurrentWidget(mavlinkView);
            break;
        case VIEW_MISSION:
            centerStack->setCurrentWidget(plannerView);
            break;

        case VIEW_SIMULATION:
            centerStack->setCurrentWidget(simView);
            break;

        case VIEW_TERMINAL:
            centerStack->setCurrentWidget(terminalView);
            break;
        case VIEW_GOOGLEEARTH:
            centerStack->setCurrentWidget(googleEarthView);
            break;
        case VIEW_LOCAL3D:
            centerStack->setCurrentWidget(local3DView);
            break;
        case VIEW_UNCONNECTED:
        case VIEW_FULL:
        default:
            if (controlDockWidget)
            {
                controlDockWidget->hide();
            }
            if (listDockWidget)
            {
                listDockWidget->show();
            }
            break;
        }
    }

    // Restore the widget positions and size
    if (settings.contains(getWindowStateKey() + "WIDGETS"))
    {
        QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString();
        QStringList split = widgetstr.split(",");
        foreach (QString widgetname,split)
        {
            if (widgetname != "")
            {
                qDebug() << "Loading widget:" << widgetname;
                loadDockWidget(widgetname);
            }
        }
    }
    if (settings.contains(getWindowStateKey()))
    {
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }
}
void MainWindow::setAdvancedMode(bool isAdvancedMode)
{
    menuActionHelper->setAdvancedMode(isAdvancedMode);
    ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
    settings.setValue("ADVANCED_MODE",isAdvancedMode);
}

void MainWindow::handleMisconfiguration(UASInterface* uas)
{
    static QTime lastTime;
    
    // We have to debounce this signal
    if (!lastTime.isValid()) {
        lastTime.start();
    } else {
        if (lastTime.elapsed() < 10000) {
            lastTime.start();
            return;
        }
    }
    // Ask user if he wants to handle this now
    QMessageBox msgBox(this);
    msgBox.setIcon(QMessageBox::Information);
    msgBox.setText(tr("Missing or Invalid Onboard Configuration"));
    msgBox.setInformativeText(tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?"));
    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Ok);
    int val = msgBox.exec();

    if (val == QMessageBox::Ok) {
        // He wants to handle it, make sure this system is selected
        UASManager::instance()->setActiveUAS(uas);

        // Flick to config view
        loadHardwareConfigView();
    }
}

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

void MainWindow::loadOperatorView()
{
    if (currentView != VIEW_MISSION)
    {
        storeViewState();
        currentView = VIEW_MISSION;
        ui.actionMissionView->setChecked(true);
        loadViewState();
    }
}
void MainWindow::loadHardwareConfigView()
{
    if (currentView != VIEW_HARDWARE_CONFIG)
    {
        storeViewState();
        currentView = VIEW_HARDWARE_CONFIG;
        ui.actionHardwareConfig->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadSoftwareConfigView()
{
    if (currentView != VIEW_SOFTWARE_CONFIG)
    {
        storeViewState();
        currentView = VIEW_SOFTWARE_CONFIG;
        ui.actionSoftwareConfig->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadTerminalView()
{
    if (currentView != VIEW_TERMINAL)
    {
        storeViewState();
        currentView = VIEW_TERMINAL;
        ui.actionTerminalView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadGoogleEarthView()
{
    if (currentView != VIEW_GOOGLEEARTH)
    {
        storeViewState();
        currentView = VIEW_GOOGLEEARTH;
        ui.actionGoogleEarthView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadLocal3DView()
{
    if (currentView != VIEW_LOCAL3D)
    {
        storeViewState();
        currentView = VIEW_LOCAL3D;
        ui.actionLocal3DView->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_FLIGHT)
    {
        storeViewState();
        currentView = VIEW_FLIGHT;
        ui.actionFlightView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadSimulationView()
{
    if (currentView != VIEW_SIMULATION)
    {
        storeViewState();
        currentView = VIEW_SIMULATION;
        ui.actionSimulationView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadMAVLinkView()
{
    if (currentView != VIEW_MAVLINK)
    {
        storeViewState();
        currentView = VIEW_MAVLINK;
        ui.actionMavlinkView->setChecked(true);
        loadViewState();
    }
}

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

bool MainWindow::dockWidgetTitleBarsEnabled() const
{
    return menuActionHelper->dockWidgetTitleBarsEnabled();
}

#ifdef QGC_MOUSE_ENABLED_LINUX
bool MainWindow::x11Event(XEvent *event)
{
    emit x11EventOccured(event);
    return false;
}
#endif // QGC_MOUSE_ENABLED_LINUX