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);