MainWindow.cc 68.31 KiB
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2013 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @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 <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>
#include <QQuickView>
#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"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "QGCStatusBar.h"
#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
#include "UASActionsWidget.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
#include "PrimaryFlightDisplay.h"
#include <apmtoolbar.h>
#include <ApmHardwareConfig.h>
#include <ApmSoftwareConfig.h>
#include <QGCConfigView.h>#include "SerialSettingsDialog.h"
#include "terminalconsole.h"
#include "menuactionhelper.h"
#include "QGCUASFileViewMulti.h"
#include <QDesktopWidget>
#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
#endif
// FIXME Move
#include "PxQuadMAV.h"
#include "LogCompressor.h"
// Set up some constants
const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css";
const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css";
MainWindow* MainWindow::instance_mode(QSplashScreen* screen, enum MainWindow::CUSTOM_MODE mode)
{
static MainWindow* _instance = 0;
if (_instance == 0)
{
_instance = new MainWindow();
_instance->setCustomMode(mode);
if (screen)
{
connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)),
screen, SLOT(showMessage(QString,int,QColor)));
}
_instance->init();
}
return _instance;
}
MainWindow* MainWindow::instance(QSplashScreen* screen)
{
return instance_mode(screen, CUSTOM_MODE_UNCHANGED);
}
/**
* 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),
currentView(VIEW_FLIGHT),
currentStyle(QGC_MAINWINDOW_STYLE_DARK),
aboutToCloseFlag(false),
changingViewsFlag(false),
mavlink(new MAVLinkProtocol()),
centerStackActionGroup(new QActionGroup(this)),
darkStyleFileName(defaultDarkStyle),
lightStyleFileName(defaultLightStyle),
autoReconnect(false),
simulationLink(NULL),
lowPowerMode(false),
customMode(CUSTOM_MODE_NONE),
menuActionHelper(new MenuActionHelper())
{
this->setAttribute(Qt::WA_DeleteOnClose);
connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
//TODO: move protocol outside UI
connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
loadSettings();
}
void MainWindow::init()
{
emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
qApp->setStyle("plastique");
if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT)
{
loadStyle(currentStyle, lightStyleFileName);
}
else
{
loadStyle(currentStyle, darkStyleFileName);
}
if (settings.contains("ADVANCED_MODE"))
{
menuActionHelper->setAdvancedMode(settings.value("ADVANCED_MODE").toBool());
}
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_MISSION &&
currentViewCandidate != VIEW_FLIGHT &&
currentViewCandidate != VIEW_DEFAULT)
{
currentView = currentViewCandidate;
}
}
settings.sync();
emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// Setup user interface
ui.setupUi(this);
menuActionHelper->setMenu(ui.menuTools);
// Set dock options
setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
configureWindowName();
// Setup corners
setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
// Qt 4 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar.
// TODO: Check that this is still necessary on Qt5 on Ubuntu
#ifdef Q_OS_LINUX
menuBar()->setNativeMenuBar(false);
#endif
// Setup UI state machines
centerStackActionGroup->setExclusive(true);
centerStack = new QStackedWidget(this);
setCentralWidget(centerStack);
// Load Toolbar
if (!(getCustomMode() == CUSTOM_MODE_APM)) {
toolBar = new QGCToolBar(this);
this->addToolBar(toolBar);
// Add actions for average users (displayed next to each other)
QList<QAction*> actions;
actions << ui.actionMissionView;
actions << ui.actionFlightView;
actions << ui.actionHardwareConfig;
toolBar->setPerspectiveChangeActions(actions);
// Add actions for advanced users (displayed in dropdown under "advanced")
QList<QAction*> advancedActions;
advancedActions << ui.actionEngineersView;
advancedActions << ui.actionGoogleEarthView;
advancedActions << ui.actionLocal3DView;
advancedActions << ui.actionSoftwareConfig;
advancedActions << ui.actionTerminalView;
advancedActions << ui.actionSimulationView;
toolBar->setPerspectiveChangeAdvancedActions(advancedActions);
} else {
ui.actionHardwareConfig->setText(tr("Hardware"));
}
customStatusBar = new QGCStatusBar(this);
setStatusBar(customStatusBar);
statusBar()->setSizeGripEnabled(true);
emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
buildCommonWidgets();
connectCommonWidgets();
emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// Create actions
connectCommonActions();
// Populate link menu
emit initStatusChanged(tr("Populating link menu"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
QList<LinkInterface*> links = LinkManager::instance()->getLinks();
foreach(LinkInterface* link, links)
{
this->addLink(link);
}
connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
if (getCustomMode() == CUSTOM_MODE_APM) {
// Add the APM 'toolbar'
APMToolBar *apmToolBar = new APMToolBar();
apmToolBar->setFlightViewAction(ui.actionFlightView);
apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
apmToolBar->setSimulationViewAction(ui.actionSimulationView);
apmToolBar->setTerminalViewAction(ui.actionTerminalView);
QDockWidget *widget = new QDockWidget(tr("APM Tool Bar"),this);
QWidget *toolbarWidget = QWidget::createWindowContainer(apmToolBar, this);
widget->setWidget(toolbarWidget);
widget->setMinimumHeight(72);
widget->setMaximumHeight(72);
widget->setMinimumWidth(1024);
widget->setFeatures(QDockWidget::NoDockWidgetFeatures);
widget->setTitleBarWidget(new QWidget(this)); // Disables the title bar
this->addDockWidget(Qt::TopDockWidgetArea, widget);
}
// Connect user interface devices emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
joystick = new JoystickInput();
#ifdef QGC_MOUSE_ENABLED_WIN
emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
mouseInput = new Mouse3DInput(this);
mouse = new Mouse6dofInput(mouseInput);
#endif //QGC_MOUSE_ENABLED_WIN
#if QGC_MOUSE_ENABLED_LINUX
emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
mouse = new Mouse6dofInput(this);
connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
#endif //QGC_MOUSE_ENABLED_LINUX
// 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();
emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// Restore the window setup
loadViewState();
emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// Restore the window position and size
if (settings.contains(getWindowGeometryKey()))
{
// Restore the window geometry
restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
show();
}
else
{
// Adjust the size
const int screenWidth = QApplication::desktop()->width();
const int screenHeight = QApplication::desktop()->height();
if (screenWidth < 1500)
{
resize(screenWidth, screenHeight - 80);
show();
}
else
{
resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
show();
}
}
// Make sure the proper fullscreen/normal menu item is checked properly.
if (isFullScreen())
{
ui.actionFullscreen->setChecked(true);
ui.actionNormal->setChecked(false); }
else
{
ui.actionFullscreen->setChecked(false);
ui.actionNormal->setChecked(true);
}
// And that they will stay checked properly after user input
QObject::connect(ui.actionFullscreen, SIGNAL(triggered()), this, SLOT(fullScreenActionItemCallback()));
QObject::connect(ui.actionNormal, SIGNAL(triggered()), this,SLOT(normalActionItemCallback()));
// Set OS dependent keyboard shortcuts for the main window, non OS dependent shortcuts are set in MainWindow.ui
#ifdef Q_OS_MACX
ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0));
ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
ui.actionHardwareConfig->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0));
ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0));
ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0));
ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+7", 0));
ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+8", 0));
ui.actionFirmwareUpdateView->setShortcut(QApplication::translate("MainWindow", "Meta+9", 0));
ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0));
#else
ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0));
ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0));
ui.actionHardwareConfig->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0));
ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0));
ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0));
ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0));
ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+7", 0));
ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+8", 0));
ui.actionFirmwareUpdateView->setShortcut(QApplication::translate("MainWindow", "Ctrl+9", 0));
ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0));
#endif
connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
windowNameUpdateTimer.start(15000);
emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
show();
}
MainWindow::~MainWindow()
{
if (mavlink)
{
delete mavlink;
mavlink = NULL;
}
if (simulationLink)
{
delete simulationLink;
simulationLink = NULL;
}
if (joystick)
{
joystick->shutdown();
joystick->wait(5000);
delete joystick;
joystick = NULL;
}
// 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;
dockWidget = NULL;
}
else if (dynamic_cast<QWidget*>(*i))
{
delete dynamic_cast<QWidget*>(*i);
*i = NULL;
}
}
// Delete all UAS objects
delete menuActionHelper;
for (int i=0;i<commsWidgetList.size();i++)
{
commsWidgetList[i]->deleteLater();
}
}
void MainWindow::resizeEvent(QResizeEvent * event)
{
QMainWindow::resizeEvent(event);
}
QString MainWindow::getWindowStateKey()
{
if (UASManager::instance()->getActiveUAS())
{
return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode()) + "_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
}
else
return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode());
}
QString MainWindow::getWindowGeometryKey()
{
return "_geometry";
}
void MainWindow::buildCustomWidget()
{
// Create custom widgets
QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);
if (widgets.size() > 0)
{
ui.menuTools->addSeparator();
}
for(int i = 0; i < widgets.size(); ++i)
{
// Check if this widget already has a parent, do not create it in this case
QGCToolWidget* tool = widgets.at(i);
QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
if (!dock)
{
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
// Load dock widget location (default is bottom)
Qt::DockWidgetArea location = tool->getDockWidgetArea(currentView);
int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
settings.endGroup();
QDockWidget* dock;
switch (view)
{
case VIEW_ENGINEER:
dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
case VIEW_FLIGHT:
dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
case VIEW_SIMULATION:
dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
case VIEW_MISSION:
dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
case VIEW_GOOGLEEARTH:
dock = createDockWidget(googleEarthView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
case VIEW_LOCAL3D:
dock = createDockWidget(local3DView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
default:
dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
}
// XXX temporary "fix"
dock->hide();
}
}
}
void MainWindow::buildCommonWidgets()
{
// Add generic MAVLink decoder
mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)),
this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
// Log player
logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar);
customStatusBar->setLogPlayer(logPlayer);
// Center widgets
if (!plannerView)
{
plannerView = new SubMainWindow(this);
plannerView->setObjectName("VIEW_MISSION");
plannerView->setCentralWidget(new QGCMapTool(this));
addToCentralStackedWidget(plannerView, VIEW_MISSION, "Maps");
}
//pilotView (aka Flight or Mission View)
if (!pilotView)
{
pilotView = new SubMainWindow(this);
pilotView->setObjectName("VIEW_FLIGHT");
pilotView->setCentralWidget(new PrimaryFlightDisplay(this));
addToCentralStackedWidget(pilotView, VIEW_FLIGHT, "Pilot");
}
if (!terminalView)
{
terminalView = new SubMainWindow(this);
terminalView->setObjectName("VIEW_TERMINAL");
TerminalConsole *terminalConsole = new TerminalConsole(this);
terminalView->setCentralWidget(terminalConsole);
addToCentralStackedWidget(terminalView, VIEW_TERMINAL, tr("Terminal View"));
}
if (getCustomMode() == CUSTOM_MODE_APM) {
if (!configView)
{
configView = new SubMainWindow(this);
configView->setObjectName("VIEW_HARDWARE_CONFIG");
configView->setCentralWidget(new ApmHardwareConfig(this));
addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Hardware");
}
if (!softwareConfigView)
{
softwareConfigView = new SubMainWindow(this);
softwareConfigView->setObjectName("VIEW_SOFTWARE_CONFIG");
softwareConfigView->setCentralWidget(new ApmSoftwareConfig(this));
addToCentralStackedWidget(softwareConfigView, VIEW_SOFTWARE_CONFIG, "Software");
}
} else {
if (!configView)
{
configView = new SubMainWindow(this);
configView->setObjectName("VIEW_HARDWARE_CONFIG");
configView->setCentralWidget(new QGCConfigView(this));
addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Config");
}
}
if (!engineeringView)
{
engineeringView = new SubMainWindow(this);
engineeringView->setObjectName("VIEW_ENGINEER");
engineeringView->setCentralWidget(new QGCDataPlot2D(this));
addToCentralStackedWidget(engineeringView, VIEW_ENGINEER, tr("Logfile Plot"));
}
#ifdef QGC_GOOGLE_EARTH_ENABLED
if (!googleEarthView)
{
googleEarthView = new SubMainWindow(this);
googleEarthView->setObjectName("VIEW_GOOGLEEARTH");
googleEarthView->setCentralWidget(new QGCGoogleEarthView(this));
addToCentralStackedWidget(googleEarthView, VIEW_GOOGLEEARTH, tr("Google Earth View"));
}
#endif
#ifdef QGC_OSG_ENABLED
if (!local3DView)
{
q3DWidget = Q3DWidgetFactory::get("PIXHAWK", this);
q3DWidget->setObjectName("VIEW_3DWIDGET");
local3DView = new SubMainWindow(this);
local3DView->setObjectName("VIEW_LOCAL3D");
local3DView->setCentralWidget(q3DWidget);
addToCentralStackedWidget(local3DView, VIEW_LOCAL3D, tr("Local 3D View"));
}
#endif
if (!simView)
{
simView = new SubMainWindow(this);
simView->setObjectName("VIEW_SIMULATOR");
simView->setCentralWidget(new QGCMapTool(this));
addToCentralStackedWidget(simView, VIEW_SIMULATION, tr("Simulation View"));
}
// Dock widgets
createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
createDockWidget(engineeringView,new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
menuActionHelper->createToolAction(tr("Map View"), "MAP_VIEW_DOCKWIDGET");
menuActionHelper->createToolAction(tr("Status Details"), "UAS_STATUS_DETAILS_DOCKWIDGET");
createDockWidget(pilotView, new DebugConsole(this), tr("Communications Console"), "COMMUNICATION_CONSOLE_DOCKWIDGET", VIEW_FLIGHT, Qt::LeftDockWidgetArea);
menuActionHelper->createToolAction(tr("Flight Display"), "HEAD_DOWN_DISPLAY_1_DOCKWIDGET");
menuActionHelper->createToolAction(tr("Actuator Status"), "HEAD_DOWN_DISPLAY_2_DOCKWIDGET");
menuActionHelper->createToolAction(tr("Radio Control"));
createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
createDockWidget(simView,new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
createDockWidget(plannerView,new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
infoview->addSource(mavlinkDecoder);
createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
// Custom widgets, added last to all menus and layouts
buildCustomWidget();
}
void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
{
menuActionHelper->createToolActionForCustomDockWidget(title, widget->objectName(), widget, view);
parent->addDockWidget(area,widget);
}
QDockWidget* MainWindow::createDockWidget(QWidget *subMainWindowParent,QWidget *child,const QString& title,const QString& objectName,VIEW_SECTIONS view,Qt::DockWidgetArea area,const QSize& minSize)
{
SubMainWindow *parent = qobject_cast<SubMainWindow*>(subMainWindowParent);
Q_ASSERT(parent);
QDockWidget* dockWidget = menuActionHelper->createDockWidget(title, objectName);
child->setObjectName(objectName);
dockWidget->setWidget(child); //Set child objectName before setting dockwidget, since the dock widget might react to object name changes
connect(child, SIGNAL(destroyed()), dockWidget, SLOT(deleteLater())); //Our dockwidget only has only child widget, so kill the dock widget if the child is deleted
if (minSize.height() >= 0)
dockWidget->setMinimumHeight(minSize.height());
if (minSize.width() >= 0)
dockWidget->setMinimumWidth(minSize.width());
addTool(parent,view,dockWidget,title,area);
return dockWidget;
}
void MainWindow::showDockWidget(const QString& name, bool show)
{
QDockWidget *dockWidget = menuActionHelper->getDockWidget(currentView, name);
if(dockWidget)
dockWidget->setVisible(show);
else if (show)
loadDockWidget(name);
}
void MainWindow::fullScreenActionItemCallback()
{
ui.actionNormal->setChecked(false);
}
void MainWindow::normalActionItemCallback()
{
ui.actionFullscreen->setChecked(false);
}
void MainWindow::loadDockWidget(const QString& name)
{
if(menuActionHelper->containsDockWidget(currentView, name))
return;
if (name.startsWith("HIL_CONFIG"))
{
//It's a HIL widget.
showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
}
else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
}
else if (name == "UNMANNED_SYSTEM_LIST_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "WAYPOINT_LIST_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
}
else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "FILE_VIEW_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "MAP_VIEW_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new QGCMapTool(this),tr("Map view"),"MAP_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
{
//This is now a permanently detached window.
}
else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
}
else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET")
{
QStringList acceptList;
acceptList.append("-3.3,ATTITUDE.roll,rad,+3.3,s");
acceptList.append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
acceptList.append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this);
hddisplay->addSource(mavlinkDecoder);
createDockWidget(centerStack->currentWidget(),hddisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET")
{
QStringList acceptList;
acceptList.append("0,RAW_PRESSURE.pres_abs,hPa,65500");
HDDisplay *hddisplay = new HDDisplay(acceptList,"Actuator Status",this); hddisplay->addSource(mavlinkDecoder);
createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "Radio Control")
{
qDebug() << "Error loading window:" << name << "Unknown window type";
}
else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
}
else
{
if (customWidgetNameToFilenameMap.contains(name))
{
loadCustomWidget(customWidgetNameToFilenameMap[name],currentView);
}
else
{
qDebug() << "Error loading window:" << name;
}
}
}
void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title)
{
Q_UNUSED(viewSection);
Q_UNUSED(title);
Q_ASSERT(widget->objectName().length() != 0);
// Check if this widget already has been added
if (centerStack->indexOf(widget) == -1)
{
centerStack->addWidget(widget);
}
}
void MainWindow::showCentralWidget()
{
QAction* act = qobject_cast<QAction *>(sender());
QWidget* widget = act->data().value<QWidget *>();
centerStack->setCurrentWidget(widget);
}
void MainWindow::showHILConfigurationWidget(UASInterface* uas)
{
// Add simulation configuration widget
UAS* mav = dynamic_cast<UAS*>(uas);
if (mav && !hilDocks.contains(mav->getUASID()))
{
QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
QString hilDockObjectName = QString("HIL_CONFIG_%1").arg(uas->getUASName().toUpper().replace(' ','_'));
QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockObjectName,VIEW_SIMULATION,Qt::LeftDockWidgetArea);
hilDocks.insert(mav->getUASID(), hilDock);
}
}
void MainWindow::closeEvent(QCloseEvent *event)
{ if (isVisible()) storeViewState();
aboutToCloseFlag = true;
storeSettings();
mavlink->storeSettings();
UASManager::instance()->storeSettings();
QMainWindow::closeEvent(event);
}
/**
* Connect the signals and slots of the common window widgets
*/
void MainWindow::connectCommonWidgets()
{
if (infoDockWidget && infoDockWidget->widget())
{
connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
}
}
void MainWindow::createCustomWidget()
{
if (QGCToolWidget::instances()->isEmpty())
{
// This is the first widget
ui.menuTools->addSeparator();
}
QString objectName;
int customToolIndex = 0;
//Find the next unique object name that we can use
do {
++customToolIndex;
objectName = QString("CUSTOM_TOOL_%1").arg(customToolIndex) + "DOCK";
} while(QGCToolWidget::instances()->contains(objectName));
QString title = tr("Custom Tool %1").arg(customToolIndex );
QGCToolWidget* tool = new QGCToolWidget(objectName, title);
createDockWidget(centerStack->currentWidget(),tool,title,objectName,currentView,Qt::BottomDockWidgetArea);
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
settings.endGroup();
}
void MainWindow::loadCustomWidget()
{
QString widgetFileExtension(".qgw");
QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
if (fileName != "") loadCustomWidget(fileName);
}
void MainWindow::loadCustomWidget(const QString& fileName, int view)
{
QGCToolWidget* tool = new QGCToolWidget("", "", this);
if (tool->loadSettings(fileName, true))
{
qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
switch ((VIEW_SECTIONS)view)
{
case VIEW_ENGINEER:
createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_FLIGHT:
createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_SIMULATION:
createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_MISSION: createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
default:
{
//Delete tool, create menu item to tie it to.
customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK");
tool->deleteLater();
}
break;
}
}
else
{
return;
}
}
void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
QGCToolWidget* tool = new QGCToolWidget("", "", this);
if (tool->loadSettings(fileName, true) || !singleinstance)
{
qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
switch (view)
{
case VIEW_ENGINEER:
createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_FLIGHT:
createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_SIMULATION:
createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
case VIEW_MISSION:
createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
break;
default:
{
//Delete tool, create menu item to tie it to.
customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
QAction *action = menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK");
ui.menuTools->addAction(action);
tool->deleteLater();
}
break;
}
settings.endGroup();
}
else
{
return;
}
}
void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";
QDir widgets(defaultsDir);
QStringList files = widgets.entryList();
QDir platformWidgets(platformDir); files.append(platformWidgets.entryList());
if (files.count() == 0)
{
qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
qDebug() << "Tried with path: " << defaultsDir;
showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
}
// 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.actionFlightView);
perspectives->addAction(ui.actionSimulationView);
perspectives->addAction(ui.actionMissionView);
perspectives->addAction(ui.actionHardwareConfig);
perspectives->addAction(ui.actionSoftwareConfig);
perspectives->addAction(ui.actionTerminalView);
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_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_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);
}
// 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.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()));
// 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);
// 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::showSettings()
{
QGCSettingsWidget* settings = new QGCSettingsWidget(joystick, 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_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_DEFAULT:
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::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();
}
}
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