MainWindow.cc

/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 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 "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 "QGCFirmwareUpdate.h"

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

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


#include "LogCompressor.h"

MainWindow* MainWindow::instance(QSplashScreen* screen)
{
    static MainWindow* _instance = 0;
    if(_instance == 0)
    {
        _instance = new MainWindow();
        if (screen) connect(_instance, SIGNAL(initStatusChanged(QString)), screen, SLOT(showMessage(QString)));

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

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
MainWindow::MainWindow(QWidget *parent):
    QMainWindow(parent),
    currentView(VIEW_UNCONNECTED),
    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
    aboutToCloseFlag(false),
    changingViewsFlag(false),
    centerStackActionGroup(new QActionGroup(this)),
    styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
    autoReconnect(false),
    lowPowerMode(false)
{
    hide();
    emit initStatusChanged("Loading UI Settings..");
    loadSettings();
    if (!settings.contains("CURRENT_VIEW"))
    {
        // Set this view as default view
        settings.setValue("CURRENT_VIEW", currentView);
    }
    else
    {
        // LOAD THE LAST VIEW
        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
        if (currentViewCandidate != VIEW_ENGINEER &&
                currentViewCandidate != VIEW_OPERATOR &&
                currentViewCandidate != VIEW_PILOT &&
                currentViewCandidate != VIEW_FULL)
        {
            currentView = currentViewCandidate;
        }
    }

    settings.sync();

    emit initStatusChanged("Loading Style.");
    loadStyle(currentStyle);

    emit initStatusChanged("Setting up user interface.");

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

    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
    statusBar()->setSizeGripEnabled(true);

    configureWindowName();

    // Setup corners
    setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea);

    // Setup UI state machines
	centerStackActionGroup->setExclusive(true);

    centerStack = new QStackedWidget(this);
    setCentralWidget(centerStack);

    // Load Toolbar
    toolBar = new QGCToolBar(this);
    this->addToolBar(toolBar);
    // Add actions
    toolBar->addPerspectiveChangeAction(ui.actionOperatorsView);
    toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
    toolBar->addPerspectiveChangeAction(ui.actionPilotsView);

    emit initStatusChanged("Building common widgets.");

    buildCommonWidgets();
    connectCommonWidgets();

    emit initStatusChanged("Building common actions.");

    // Create actions
    connectCommonActions();

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

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

    // Connect user interface devices
    emit initStatusChanged("Initializing joystick interface.");
    joystickWidget = 0;
    joystick = new JoystickInput();

    // 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("Restoring last view state.");

    // Restore the window setup
    loadViewState();

    emit initStatusChanged("Restoring last window size.");
    // 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 < 1200)
        {
            showFullScreen();
        }
        else
        {
            resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
            show();
        }

    }

    connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
    windowNameUpdateTimer.start(15000);
    emit initStatusChanged("Done.");
    show();
}

MainWindow::~MainWindow()
{
    delete mavlink;
    delete joystick;

    // Get and delete all dockwidgets and contained
    // widgets
    QObjectList childList(this->children());

    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
    {
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
        {
            // Remove dock widget from main window
            // removeDockWidget(dockWidget);
            // delete dockWidget->widget();
            delete dockWidget;
        }
        else if (dynamic_cast<QObject*>(*i))
        {
            delete dynamic_cast<QObject*>(*i);
        }
    }
    // Delete all UAS objects
}

void MainWindow::resizeEvent(QResizeEvent * event)
{
    if (height() < 800)
    {
        ui.statusBar->setVisible(false);
    }
    else
    {
        ui.statusBar->setVisible(true);
        ui.statusBar->setSizeGripEnabled(true);
    }

    if (width() > 1200)
    {
        toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
    }
    else
    {
        toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly);
    }

    QMainWindow::resizeEvent(event);
}

QString MainWindow::getWindowStateKey()
{
    return QString::number(currentView)+"_windowstate";
}

QString MainWindow::getWindowGeometryKey()
{
    //return QString::number(currentView)+"_geometry";
    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)
        {
            QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
            dock->setObjectName(tool->objectName()+"_DOCK");
            dock->setWidget(tool);
            connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
            QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
            showAction->setCheckable(true);
            connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
            connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
            widgets.at(i)->setMainMenuAction(showAction);
            ui.menuTools->addAction(showAction);

            // Load dock widget location (default is bottom)
            Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));

            addDockWidget(location, dock);
        }
    }
}

void MainWindow::buildCommonWidgets()
{
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
    // Add generic MAVLink decoder
    mavlinkDecoder = new MAVLinkDecoder(mavlink, this);

    // Dock widgets
    if (!controlDockWidget)
    {
        controlDockWidget = new QDockWidget(tr("Control"), this);
        controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
        controlDockWidget->setWidget( new UASControlWidget(this) );
        addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea);
    }

    if (!listDockWidget)
    {
        listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
        listDockWidget->setWidget( new UASListWidget(this) );
        listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
        addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea);
    }

    if (!waypointsDockWidget)
    {
        waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this);
        waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) );
        waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
        addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea);
    }

    if (!infoDockWidget)
    {
        infoDockWidget = new QDockWidget(tr("Status Details"), this);
        infoDockWidget->setWidget( new UASInfoWidget(this) );
        infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
        addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea);
    }

    if (!debugConsoleDockWidget)
    {
        debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
        debugConsoleDockWidget->setWidget( new DebugConsole(this) );
        debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");

        DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
        connect(mavlinkDecoder, SIGNAL(textMessageReceived(int, int, int, const QString)), debugConsole, SLOT(receiveTextMessage(int, int, int, const QString)));

        addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea);
    }

    if (!logPlayerDockWidget)
    {
        logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
        logPlayer = new QGCMAVLinkLogPlayer(mavlink, this);
        toolBar->setLogPlayer(logPlayer);
        logPlayerDockWidget->setWidget(logPlayer);
        logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
        addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
    }

    if (!mavlinkInspectorWidget)
    {
        mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this);
        mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) );
        mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET");
        addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea);
    }

    if (!mavlinkSenderWidget)
    {
        mavlinkSenderWidget = new QDockWidget(tr("MAVLink Message Sender"), this);
        mavlinkSenderWidget->setWidget( new QGCMAVLinkMessageSender(mavlink, this) );
        mavlinkSenderWidget->setObjectName("MAVLINK_SENDER_DOCKWIDGET");
        addTool(mavlinkSenderWidget, tr("MAVLink Sender"), Qt::RightDockWidgetArea);
    }

    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    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");

    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");

    if (!parametersDockWidget)
    {
        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
        parametersDockWidget->setWidget( new ParameterInterface(this) );
        parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
        addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea);
    }
	
    if (!hsiDockWidget)
    {
        hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
        hsiDockWidget->setWidget( new HSIDisplay(this) );
        hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
        addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea);
    }
	
    if (!headDown1DockWidget)
    {
        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
        HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this);
        hdDisplay->addSource(mavlinkDecoder);
        headDown1DockWidget->setWidget(hdDisplay);
        headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
        addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea);
    }

    if (!headDown2DockWidget)
    {
        headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
        HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this);
        hdDisplay->addSource(mavlinkDecoder);
        headDown2DockWidget->setWidget(hdDisplay);
        headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
        addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
    }
	
    if (!rcViewDockWidget)
    {
        rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
        rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
        rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
        addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea);
    }

    if (!headUpDockWidget)
    {
        headUpDockWidget = new QDockWidget(tr("HUD"), this);
        headUpDockWidget->setWidget( new HUD(320, 240, this));
        headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
        addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea);
    }

    if (!video1DockWidget)
    {
        video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
        QGCRGBDView* video1 =  new QGCRGBDView(160, 120, this);
        video1->enableHUDInstruments(false);
        video1->enableVideo(false);
        // FIXME select video stream as well
        video1DockWidget->setWidget(video1);
        video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
        addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea);
    }

    if (!video2DockWidget)
    {
        video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
        QGCRGBDView* video2 =  new QGCRGBDView(160, 120, this);
        video2->enableHUDInstruments(false);
        video2->enableVideo(false);
        // FIXME select video stream as well
        video2DockWidget->setWidget(video2);
        video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
        addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea);
    }

//    if (!rgbd1DockWidget) {
//        rgbd1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
//        HUD* video1 =  new HUD(160, 120, this);
//        video1->enableHUDInstruments(false);
//        video1->enableVideo(true);
//        // FIXME select video stream as well
//        video1DockWidget->setWidget(video1);
//        video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
//        addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea);
//    }

//    if (!rgbd2DockWidget) {
//        video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
//        HUD* video2 =  new HUD(160, 120, this);
//        video2->enableHUDInstruments(false);
//        video2->enableVideo(true);
//        // FIXME select video stream as well
//        video2DockWidget->setWidget(video2);
//        video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
//        addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea);
//    }

    // Custom widgets, added last to all menus and layouts
    buildCustomWidget();

    // Center widgets
    if (!mapWidget)
    {
        mapWidget = new QGCMapTool(this);
        addCentralWidget(mapWidget, "Maps");
    }

    if (!protocolWidget)
    {
        protocolWidget    = new XMLCommProtocolWidget(this);
        addCentralWidget(protocolWidget, "Mavlink Generator");
    }

    if (!firmwareUpdateWidget)
    {
        firmwareUpdateWidget    = new QGCFirmwareUpdate(this);
        addCentralWidget(firmwareUpdateWidget, "Firmware Update");
    }

    if (!hudWidget) {
        hudWidget         = new HUD(320, 240, this);
        addCentralWidget(hudWidget, tr("Head Up Display"));
    }

    if (!dataplotWidget) {
        dataplotWidget    = new QGCDataPlot2D(this);
        addCentralWidget(dataplotWidget, tr("Logfile Plot"));
    }

#ifdef QGC_OSG_ENABLED
    if (!_3DWidget) {
        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK", this);
        addCentralWidget(_3DWidget, tr("Local 3D"));
    }
#endif

#if (defined _MSC_VER) | (defined Q_OS_MAC)
    if (!gEarthWidget) {
        gEarthWidget = new QGCGoogleEarthView(this);
        addCentralWidget(gEarthWidget, tr("Google Earth"));
    }
#endif
}

void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
{
    QAction* tempAction = ui.menuTools->addAction(title);

    tempAction->setCheckable(true);
    QVariant var;
    var.setValue((QWidget*)widget);
    tempAction->setData(var);
    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
    connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
    tempAction->setChecked(widget->isVisible());
    addDockWidget(area, widget);
}


void MainWindow::showTool(bool show)
{
    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    widget->setVisible(show);
}

void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
{
    // Check if this widget already has been added
    if (centerStack->indexOf(widget) == -1)
    {
        centerStack->addWidget(widget);

        QAction* tempAction = ui.menuMain->addAction(title);

        tempAction->setCheckable(true);
        QVariant var;
        var.setValue((QWidget*)widget);
        tempAction->setData(var);
        centerStackActionGroup->addAction(tempAction);
        connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
        tempAction->setChecked(widget->isVisible());
    }
}


void MainWindow::showCentralWidget()
{
    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    centerStack->setCurrentWidget(widget);
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    if (isVisible()) storeViewState();
    storeSettings();
    aboutToCloseFlag = true;
    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()
{
    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock);

    if (QGCToolWidget::instances()->size() < 2)
    {
        // This is the first widget
        ui.menuTools->addSeparator();
    }

    connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
    dock->setWidget(tool);

    QAction* showAction = new QAction(tool->getTitle(), this);
    showAction->setCheckable(true);
    connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
    connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
    tool->setMainMenuAction(showAction);
    ui.menuTools->addAction(showAction);
    this->addDockWidget(Qt::BottomDockWidgetArea, dock);
    dock->setVisible(true);
}

void MainWindow::loadCustomWidget()
{
    QString widgetFileExtension(".qgw");
    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
    if (fileName != "") loadCustomWidget(fileName);
}

void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true) || !singleinstance)
    {
        // Add widget to UI
        QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
        connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
        dock->setWidget(tool);
        tool->setParent(dock);

        QAction* showAction = new QAction(tool->getTitle(), this);
        showAction->setCheckable(true);
        connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
        connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
        tool->setMainMenuAction(showAction);
        ui.menuTools->addAction(showAction);
        this->addDockWidget(Qt::BottomDockWidgetArea, dock);
        dock->setVisible(true);
    }
    else
    {
        return;
    }
}

void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";

    QDir widgets(defaultsDir);
    QStringList files = widgets.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.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
    settings.endGroup();
}

void MainWindow::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("AUTO_RECONNECT", autoReconnect);
    settings.setValue("CURRENT_STYLE", currentStyle);
    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.sync();
}

void MainWindow::configureWindowName()
{
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;

    windowname.append(" (" + QHostInfo::localHostName() + ": ");

    for (int i = 0; i < hostAddresses.size(); i++)
    {
        // Exclude loopback IPv4 and all IPv6 addresses
        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
        {
            if(prevAddr) windowname.append("/");
            windowname.append(hostAddresses.at(i).toString());
            prevAddr = true;
        }
    }

    windowname.append(")");

    setWindowTitle(windowname);

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

void MainWindow::startVideoCapture()
{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

    QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
                                                          initialPath,
                                                          tr("%1 Files (*.%2);;All Files (*)")
                                                          .arg(format.toUpper())
                                                          .arg(format));
    delete videoTimer;
    videoTimer = new QTimer(this);
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
}

void MainWindow::stopVideoCapture()
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

void MainWindow::saveScreen()
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

    if (!screenFileName.isEmpty())
    {
        window.save(screenFileName, format.toAscii());
    }
}

void MainWindow::enableAutoReconnect(bool enabled)
{
    autoReconnect = enabled;
}

void MainWindow::loadNativeStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_NATIVE);
}

void MainWindow::loadIndoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_INDOOR);
}

void MainWindow::loadOutdoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_OUTDOOR);
}

void MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style)
{
    switch (style) {
    case QGC_MAINWINDOW_STYLE_NATIVE: {
        // Native mode means setting no style
        // so if we were already in native mode
        // take no action
        // Only if a style was set, remove it.
        if (style != currentStyle) {
            qApp->setStyleSheet("");
            showInfoMessage(tr("Please restart QGroundControl"), tr("Please restart QGroundControl to switch to fully native look and feel. Currently you have loaded Qt's plastique style."));
        }
    }
    break;
    case QGC_MAINWINDOW_STYLE_INDOOR:
        qApp->setStyle("plastique");
        styleFileName = ":/images/style-mission.css";
        reloadStylesheet();
        break;
    case QGC_MAINWINDOW_STYLE_OUTDOOR:
        qApp->setStyle("plastique");
        styleFileName = ":/images/style-outdoor.css";
        reloadStylesheet();
        break;
    }
    currentStyle = style;
}

void MainWindow::selectStylesheet()
{
    // Let user select style sheet
    styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));

    if (!styleFileName.endsWith(".css"))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
        msgBox.setInformativeText(tr("No suitable .css file selected. Please select a valid .css file."));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
        return;
    }

    // Load style sheet
    reloadStylesheet();
}

void MainWindow::reloadStylesheet()
{
    // Load style sheet
    QFile* styleSheet = new QFile(styleFileName);
    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
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
        msgBox.setInformativeText(tr("Stylesheet file %1 was not readable").arg(styleFileName));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
    delete styleSheet;
}

/**
 * The status message will be overwritten if a new message is posted to this function
 *
 * @param status message text
 * @param timeout how long the status should be displayed
 */
void MainWindow::showStatusMessage(const QString& status, int timeout)
{
    statusBar()->showMessage(status, timeout);
}

/**
 * The status message will be overwritten if a new message is posted to this function.
 * it will be automatically hidden after 5 seconds.
 *
 * @param status message text
 */
void MainWindow::showStatusMessage(const QString& status)
{
    statusBar()->showMessage(status, 20000);
}

void MainWindow::showCriticalMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(this);
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

void MainWindow::showInfoMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(this);
    msgBox.setIcon(QMessageBox::Information);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{
    // Bind together the perspective actions
    QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
    perspectives->addAction(ui.actionEngineersView);
    perspectives->addAction(ui.actionMavlinkView);
    perspectives->addAction(ui.actionPilotsView);
    perspectives->addAction(ui.actionOperatorsView);
    perspectives->addAction(ui.actionFirmwareUpdateView);
    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->setExclusive(true);

    // Mark the right one as selected
    if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
    if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
    if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
    if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
    if (currentView == VIEW_FIRMWAREUPDATE) ui.actionFirmwareUpdateView->setChecked(true);
    if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);

    // 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()));

    // 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()));