MainWindow.cc 41.12 KiB
/*===================================================================
======================================================================*/
/**
* @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),
settings()
{
this->hide();
this->setVisible(false);
// Setup user interface
ui.setupUi(this);
buildWidgets();
connectWidgets();
arrangeCenterStack();
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
connectActions();
// Load widgets and show application windowa
loadWidgets();
// Adjust the size
adjustSize();
// Set menu
QMenu* widgetMenu = createDockWidgetMenu();
widgetMenu->setTitle("Widgets");
ui.menuBar->addMenu(widgetMenu);
// QMenu* centerMenu = createCenterWidgetMenu();
// centerMenu->setTitle("Center");
// ui.menuBar->addMenu(centerMenu);
this->show();
}
MainWindow::~MainWindow()
{
delete statusBar;
statusBar = NULL;
}
QMenu* MainWindow::createCenterWidgetMenu()
{
QMenu* menu = NULL;
QStackedWidget* centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
if (centerStack->count() > 0)
{
menu = new QMenu(this);
for (int i = 0; i < centerStack->count(); ++i)
{
//menu->addAction(centerStack->widget(i)->actions())
}
}
}
return menu;
}
QMenu* MainWindow::createDockWidgetMenu()
{
QMenu *menu = 0;
#ifndef QT_NO_DOCKWIDGET
QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
if (dockwidgets.size())
{
menu = new QMenu(this);
for (int i = 0; i < dockwidgets.size(); ++i)
{
QDockWidget *dockWidget = dockwidgets.at(i);
if (dockWidget->parentWidget() == this)
{
menu->addAction(dockwidgets.at(i)->toggleViewAction());
}
}
menu->addSeparator();
}
#endif
return menu;
}
//QList<QWidget* >* MainWindow::getMainWidgets()
//{
//}
//QMenu* QMainWindow::getDockWidgetMenu()
//{
// Q_D(QMainWindow);
// QMenu *menu = 0;
//#ifndef QT_NO_DOCKWIDGET
// QList<QDockWidget *> dockwidgets = qFindChildren<QDockWidget *>(this);
// if (dockwidgets.size()) {
// menu = new QMenu(this);
// for (int i = 0; i < dockwidgets.size(); ++i) {
// QDockWidget *dockWidget = dockwidgets.at(i);
// if (dockWidget->parentWidget() == this
// && d->layout->contains(dockWidget)) {
// menu->addAction(dockwidgets.at(i)->toggleViewAction());
// }
// }
// menu->addSeparator();
// }
//#endif // QT_NO_DOCKWIDGET
//#ifndef QT_NO_TOOLBAR
// QList<QToolBar *> toolbars = qFindChildren<QToolBar *>(this);
// if (toolbars.size()) {
// if (!menu)
// menu = new QMenu(this);
// for (int i = 0; i < toolbars.size(); ++i) {
// QToolBar *toolBar = toolbars.at(i);
// if (toolBar->parentWidget() == this
// && d->layout->contains(toolBar)) {
// menu->addAction(toolbars.at(i)->toggleViewAction());
// }
// }
// }
//#endif
// Q_UNUSED(d);
// return menu;
//}
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) );
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->hide();
infoDockWidget = new QDockWidget(tr("Status Details"), this);
infoDockWidget->setWidget( new UASInfoWidget(this) );
addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
//infoDockWidget->hide();
listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
listDockWidget->setWidget( new UASListWidget(this) );
addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
listDockWidget->hide();
waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->hide();
detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
detectionDockWidget->hide();
debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
debugConsoleDockWidget->setWidget( new DebugConsole(this) );
addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
parametersDockWidget->setWidget( new ParameterInterface(this) );
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
watchdogControlDockWidget->hide();
hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
hsiDockWidget->setWidget( new HSIDisplay(this) );
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
rcViewDockWidget->hide();
headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
headUpDockWidget->setWidget( new HUD(320, 240, this));
this->addDockWidget(Qt::LeftDockWidgetArea, headUpDockWidget);
// SLUGS
slugsDataWidget = new QDockWidget(tr("Slugs Data"), this);
slugsDataWidget->setWidget( new SlugsDataSensorView(this)); addDockWidget(Qt::LeftDockWidgetArea, slugsDataWidget);
slugsDataWidget->hide();
slugsPIDControlWidget = new QDockWidget(tr("Slugs PID Control"), this);
slugsPIDControlWidget->setWidget(new SlugsPIDControl(this));
addDockWidget(Qt::BottomDockWidgetArea, slugsPIDControlWidget);
slugsPIDControlWidget->hide();
slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this);
slugsHilSimWidget->setWidget( new SlugsHilSim(this));
addDockWidget(Qt::BottomDockWidgetArea, slugsHilSimWidget);
slugsHilSimWidget->hide();
slugsCamControlWidget = new QDockWidget(tr("Slugs Video Camera Control"), this);
slugsCamControlWidget->setWidget(new SlugsVideoCamControl(this));
addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
slugsCamControlWidget->hide();
//FIXME: free memory in destructor
joystick = new JoystickInput();
}
/**
* Connect all signals and slots of the main window widgets
*/
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);
}
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
}
QStatusBar* MainWindow::createStatusBar()
{
QStatusBar* bar = new QStatusBar();
/* Add status fields and messages */
/* Enable resize grip in the bottom right corner */
bar->setSizeGripEnabled(true);
return bar;
}
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());
}
}
/**
* Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
* directory (which by default does not exist). If it fails, it will load the bundled default CSS
* from memory.
* To customize the application, just create a qgroundcontrol.css file in the application directory
*/
void MainWindow::reloadStylesheet()
{
// Load style sheet
QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
if (!styleSheet->exists())
{
styleSheet = new QFile(":/images/style-mission.css");
}
if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
{
QString style = QString(styleSheet->readAll());
style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
qApp->setStyleSheet(style);
}
else
{
qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
}
delete styleSheet;
}
void MainWindow::showStatusMessage(const QString& status, int timeout)
{
Q_UNUSED(status);
Q_UNUSED(timeout);
//statusBar->showMessage(status, timeout);
}
void MainWindow::showStatusMessage(const QString& status)
{
Q_UNUSED(status);
//statusBar->showMessage(status, 5);
}
/*** @brief Create all actions associated to the main window
*
**/
void MainWindow::connectActions()
{
// 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()));
#else
ui.menuWindow->removeAction(ui.action3DView);
#endif
#ifdef QGC_OSGEARTH_ENABLED
connect(ui.action3DMapView, SIGNAL(triggered()), this, SLOT(load3DMapView()));
#else
ui.menuWindow->removeAction(ui.action3DMapView);
#endif
connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));
#if (defined Q_OS_WIN) | (defined Q_OS_MAC)
connect(ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView()));
#else
ui.menuWindow->removeAction(ui.actionGoogleEarthView);
#endif
// Joystick configuration
connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
// Slugs View
connect(ui.actionShow_Slugs_View, SIGNAL(triggered()), this, SLOT(loadSlugsView()));
//GlobalOperatorView
// connect(ui.actionGlobalOperatorView,SIGNAL(triggered()),waypointsDockWidget->widget(),SLOT())
}
void MainWindow::showHelp()
{
if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/user_guide")))
{
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/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()
{
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();
// Check which type this UAS is of
PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
if (mav) loadPixhawkView();
if (slugsDataWidget) {
SlugsDataSensorView* dataWidget = dynamic_cast<SlugsDataSensorView*>(slugsDataWidget->widget());
if (dataWidget) {
SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
if (mav2) {
dataWidget->addUAS(uas);
//loadSlugsView();
loadGlobalOperatorView();
}
}
}
}
}
/**
* Clears the current view completely
*/
void MainWindow::clearView()
{
// Halt HUD
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();
}
// 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::loadSlugsView()
{
clearView();
// Engineer view, used in EMAV2009
// LINE CHART
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// 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();
}
// Slugs Data View
if (slugsDataWidget)
{
addDockWidget(Qt::RightDockWidgetArea, slugsDataWidget);
slugsDataWidget->show();
}
// Slugs Data View
if (slugsHilSimWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, slugsHilSimWidget);
slugsHilSimWidget->show();
}
}
void MainWindow::loadPixhawkView()
{
clearView();
// Engineer view, used in EMAV2009
#ifdef QGC_OSG_ENABLED
// 3D map
if (_3DWidget) {
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
//map3DWidget->setActive(true);
centerStack->setCurrentWidget(_3DWidget);
}
}
#endif
// UAS CONTROL
if (controlDockWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
controlDockWidget->show();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
hsi->start();
addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
hsiDockWidget->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();
}
// ONBOARD PARAMETERS
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
}
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::loadPilotView()
{
clearView();
// HEAD UP DISPLAY
if (hudWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(hudWidget);
hudWidget->start();
}
}
//connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
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();
}
}
}
void MainWindow::loadOperatorView()
{
clearView();
// MAP
if (mapWidget)
{ QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(mapWidget);
}
}
// 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();
}
// HORIZONTAL SITUATION INDICATOR
if (hsiDockWidget)
{
HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
if (hsi)
{
addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
hsiDockWidget->show();
hsi->start();
}
}
// OBJECT DETECTION
if (detectionDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
detectionDockWidget->show();
}
// PROCESS CONTROL
if (watchdogControlDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
watchdogControlDockWidget->show();
}
}
void MainWindow::loadGlobalOperatorView()
{
clearView();
// MAP
if (mapWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget()); if (centerStack)
{
centerStack->setCurrentWidget(mapWidget);
}
}
// WAYPOINT LIST
if (waypointsDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
waypointsDockWidget->show();
}
// Slugs Data View
if (slugsDataWidget)
{
addDockWidget(Qt::RightDockWidgetArea, slugsDataWidget);
slugsDataWidget->show();
}
// Slugs Data View
if (slugsPIDControlWidget)
{
addDockWidget(Qt::LeftDockWidgetArea, slugsPIDControlWidget);
slugsPIDControlWidget->show();
}
if (slugsCamControlWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, slugsCamControlWidget);
slugsCamControlWidget->show();
}
}
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
}
void MainWindow::loadEngineerView()
{
clearView();
// Engineer view, used in EMAV2009
// LINE CHART
if (linechartWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
linechartWidget->setActive(true);
centerStack->setCurrentWidget(linechartWidget);
}
}
// 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();
}
// ONBOARD PARAMETERS
if (parametersDockWidget)
{
addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
parametersDockWidget->show();
}
// RADIO CONTROL VIEW
if (rcViewDockWidget)
{
addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
rcViewDockWidget->show();
}
}
void MainWindow::loadMAVLinkView()
{
clearView();
if (protocolWidget)
{
QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
if (centerStack)
{
centerStack->setCurrentWidget(protocolWidget);
}
}
}
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();
}
}
// 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()
{
//loadEngineerView();
}