MainWindow.cc

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);

#ifndef Q_WS_MAC
    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
#endif
}

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());
    }
}
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.actionSimulation_View);
    perspectives->addAction(ui.actionMissionView);
    //perspectives->addAction(ui.actionConfiguration_2);
    perspectives->addAction(ui.actionHardwareConfig);
    if (getCustomMode() == CUSTOM_MODE_APM) {
        perspectives->addAction(ui.actionSoftwareConfig);
    }
    perspectives->addAction(ui.actionTerminalView);
    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->setExclusive(true);

    // 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.actionSimulation_View->setChecked(true);
        ui.actionSimulation_View->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_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.actionSimulation_View, 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()));

    if (getCustomMode() == CUSTOM_MODE_APM) {
        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)
        { // LinkManager::instance()->getLinks().indexOf(link)
            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)
        { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
            action->trigger(); // Show the Link Config Dialog
        }
    }

    return found;
}

void MainWindow::addLink(LinkInterface *link)
{

    qDebug() << "ADD LINK CALLED FROM SOMEWHERE";

    // 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);

    if (mavlink) {
        qDebug() << "MAVLINK OK";
    } else {
        qDebug() << "MAVLINK FAIL";
    }

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

    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

    bool found(false);

    const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
    const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());

    foreach (QAction* act, actions)
    {
        if (act->data().toInt() == linkID)
        { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
        }
    }

    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::configLink(LinkInterface *link)
//{

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

void MainWindow::setActiveUAS(UASInterface* uas)
{
    Q_UNUSED(uas);
    // Enable and rename menu
    //    ui.menuUnmanned_System->setTitle(uas->getUASName());
    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
    if (settings.contains(getWindowStateKey()))
    {
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }

}

void MainWindow::UASSpecsChanged(int uas)
{
    UASInterface* activeUAS = UASManager::instance()->getActiveUAS();
    if (activeUAS)
    {
        if (activeUAS->getUASID() == uas)
        {
            //            ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
        }
    }
    else
    {
        // Last system deleted
        //        ui.menuUnmanned_System->setTitle(tr("No System"));
        //        ui.menuUnmanned_System->setEnabled(false);
    }
}

void MainWindow::UASCreated(UASInterface* uas)
{

    // Check if this is the 2nd system and we need a switch menu
    if (UASManager::instance()->getUASList().count() > 1)
        //        ui.menuConnected_Systems->setEnabled(true);

        // Connect the UAS to the full user interface

        //if (uas != NULL)
        //{
        // The pilot, operator and engineer views were not available on startup, enable them now
        ui.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;
        }

    // XXX The multi-UAS selection menu has been disabled for now,
    // its redundant with right-clicking the UAS in the list.
    // this code piece might be removed later if this is the final
    // conclusion (May 2013)
    //        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
    //        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
    //        ui.menuConnected_Systems->addAction(uasAction);


    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)));

    // HIL
    showHILConfigurationWidget(uas);

    if (!linechartWidget)
    {
        linechartWidget = new Linecharts(this);
        //linechartWidget->hide();

    }

    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");
            //addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
        }

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

    // Change the view only if this is the first UAS

    // If this is the first connected UAS, it is both created as well as
    // the currently active UAS
    if (UASManager::instance()->getUASList().size() == 1)
    {
        // Load last view if setting is present
        if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
        {
            /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
                switch (view)
                {
                case VIEW_ENGINEER:
                    loadEngineerView();
                    break;
                case VIEW_MAVLINK:
                    loadMAVLinkView();
                    break;
                case VIEW_FIRMWAREUPDATE:
                    loadFirmwareUpdateView();
                    break;
                case VIEW_FLIGHT:
                    loadPilotView();
                    break;
                case VIEW_SIMULATION:
                    loadSimulationView();
                    break;
                case VIEW_UNCONNECTED:
                    loadUnconnectedView();
                    break;
                case VIEW_MISSION:
                default:
                    loadOperatorView();
                    break;
                }*/
        }
        else
        {
            // loadOperatorView();
        }
    }

    //}

    //    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);

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

void MainWindow::UASDeleted(UASInterface* uas)
{
    Q_UNUSED(uas);
    if (UASManager::instance()->getUASList().count() == 0)
    {
        // Last system deleted
        //        ui.menuUnmanned_System->setTitle(tr("No System"));
        //        ui.menuUnmanned_System->setEnabled(false);
    }

    //    QAction* act;
    //    QList<QAction*> actions = ui.menuConnected_Systems->actions();

    //    foreach (act, actions)
    //    {
    //        if (act->text().contains(uas->getUASName()))
    //            ui.menuConnected_Systems->removeAction(act);
    //    }
}

/**
 * Stores the current view state
 */
void MainWindow::storeViewState()
{
    if (!aboutToCloseFlag)
    {
        // Save current state
        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();
    // The offline plot view is usually the consequence of a logging run, always show the realtime view first
    if (centerStack->indexOf(engineeringView) == index)
    {
        // Rewrite to realtime plot
        //index = centerStack->indexOf(linechartWidget);
    }

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

        // Load defaults
        switch (currentView)
        {
        case VIEW_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_FIRMWAREUPDATE:
//            centerStack->setCurrentWidget(firmwareUpdateWidget);
//            break;
        case VIEW_MISSION:
            centerStack->setCurrentWidget(plannerView);
            break;

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

        case VIEW_TERMINAL:
            centerStack->setCurrentWidget(terminalView);
            break;

        case VIEW_UNCONNECTED:
        case VIEW_FULL:
        default:
            //centerStack->setCurrentWidget(mapWidget);
            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());
        //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
        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::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::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.actionSimulation_View->setChecked(true);
        loadViewState();
    }
}

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

//void MainWindow::loadDataView(QString fileName)
//{
//    // Plot is now selected, now load data from file
//    if (dataView)
//    {
//        //dataView->setCentralWidget(new QGCDataPlot2D(this));
//        QGCDataPlot2D *plot = qobject_cast<QGCDataPlot2D*>(dataView->centralWidget());
//        if (plot)
//        {
//            plot->loadFile(fileName);
//        }
//    }
//    /*QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
//    if (centerStack)
//    {