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 "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "QGCWaypointListMulti.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h"
#include "QGCMapTool.h"

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

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


#include "LogCompressor.h"

MainWindow* MainWindow::instance()
{
    static MainWindow* _instance = 0;
    if(_instance == 0) {
        _instance = new MainWindow();

        /* Set the application as parent to ensure that this object
                 * will be destroyed when the main application exits */
        //_instance->setParent(qApp);
    }
    return _instance;
}

/**
* 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_UNCONNECTED),
    aboutToCloseFlag(false),
    changingViewsFlag(false),
    styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
    autoReconnect(false),
    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
    lowPowerMode(false)
{
    loadSettings();
    if (!settings.contains("CURRENT_VIEW")) {
        // Set this view as default view
        settings.setValue("CURRENT_VIEW", currentView);
    } else {
        // LOAD THE LAST VIEW
        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
        if (currentViewCandidate != VIEW_ENGINEER &&
                currentViewCandidate != VIEW_OPERATOR &&
                currentViewCandidate != VIEW_PILOT) {
            currentView = currentViewCandidate;
        }
    }

    setDefaultSettingsForAp();

    settings.sync();

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

    setVisible(false);

    buildCommonWidgets();

    connectCommonWidgets();

    arrangeCommonCenterStack();

    configureWindowName();

    loadStyle(currentStyle);

    // Create actions
    connectCommonActions();

    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);

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

    statusBar()->setSizeGripEnabled(true);

    // Restore the window position and size
    if (settings.contains(getWindowGeometryKey())) {
        // Restore the window geometry
        restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
    } else {
        // Adjust the size
        adjustSize();
    }

    // Populate link menu
    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
    foreach(LinkInterface* link, links) {
        this->addLink(link);
    }

    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));

    // Connect user interface devices
    joystickWidget = 0;
    joystick = new JoystickInput();

    // Enable and update view
    presentView();

    // Connect link
    if (autoReconnect) {
        SerialLink* link = new SerialLink();
        // Add to registry
        LinkManager::instance()->add(link);
        LinkManager::instance()->addProtocol(link, mavlink);
        link->connect();
    }

    // Set low power mode
    enableLowPowerMode(lowPowerMode);

    // Initialize window state
    windowStateVal = windowState();
}

MainWindow::~MainWindow()
{
    // Store settings
    storeSettings();

    delete mavlink;
    delete joystick;

    // Get and delete all dockwidgets and contained
    // widgets
    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
            removeDockWidget(dockWidget);
            delete dockWidget->widget();
            delete dockWidget;
        }
    }
}

/**
 * Set default settings for this AP type.
 */
void MainWindow::setDefaultSettingsForAp()
{
    // Check if the settings exist, instantiate defaults if necessary

    // UNCONNECTED VIEW DEFAULT
    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
    if (!settings.contains(centralKey)) {
        settings.setValue(centralKey,true);

        // ENABLE UAS LIST
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
        // ENABLE COMMUNICATION CONSOLE
        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);