QGCApplication.h 7.64 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
dogmaphobic's avatar
dogmaphobic committed
9

pixhawk's avatar
pixhawk committed
10 11 12

/**
 * @file
13
 *   @brief Definition of main class
pixhawk's avatar
pixhawk committed
14 15 16 17 18
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

Don Gagne's avatar
Don Gagne committed
19 20
#ifndef QGCAPPLICATION_H
#define QGCAPPLICATION_H
pixhawk's avatar
pixhawk committed
21 22

#include <QApplication>
23
#include <QTimer>
Don Gagne's avatar
Don Gagne committed
24
#include <QQmlApplicationEngine>
pixhawk's avatar
pixhawk committed
25

Don Gagne's avatar
Don Gagne committed
26
#include "LinkConfiguration.h"
27 28 29 30 31 32 33 34 35 36
#include "LinkManager.h"
#include "MAVLinkProtocol.h"
#include "FlightMapSettings.h"
#include "HomePositionManager.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "JoystickManager.h"
#include "GAudioOutput.h"
#include "UASMessageHandler.h"
#include "FactSystem.h"
Don Gagne's avatar
Don Gagne committed
37

38
#ifdef QGC_RTLAB_ENABLED
39 40
#include "OpalLink.h"
#endif
41

42 43 44
// Work around circular header includes
class QGCSingleton;
class MainWindow;
45
class QGCToolbox;
Don Gagne's avatar
Don Gagne committed
46

pixhawk's avatar
pixhawk committed
47 48 49 50 51 52 53
/**
 * @brief The main application and management class.
 *
 * This class is started by the main method and provides
 * the central management unit of the groundstation application.
 *
 **/
Don Gagne's avatar
Don Gagne committed
54 55 56 57 58 59
class QGCApplication : public
#ifdef __mobile__
    QGuiApplication // Native Qml based application
#else
    QApplication    // QtWidget based application
#endif
pixhawk's avatar
pixhawk committed
60
{
61
    Q_OBJECT
dogmaphobic's avatar
dogmaphobic committed
62

pixhawk's avatar
pixhawk committed
63
public:
Don Gagne's avatar
Don Gagne committed
64
    QGCApplication(int &argc, char* argv[], bool unitTesting);
Don Gagne's avatar
Don Gagne committed
65
    ~QGCApplication();
dogmaphobic's avatar
dogmaphobic committed
66

Don Gagne's avatar
Don Gagne committed
67 68
    static const char* parameterFileExtension;
    static const char* missionFileExtension;
69
    static const char* fenceFileExtension;
70
    static const char* rallyPointFileExtension;
Don Gagne's avatar
Don Gagne committed
71 72
    static const char* telemetryFileExtension;

Don Gagne's avatar
Don Gagne committed
73 74
    /// @brief Sets the persistent flag to delete all settings the next time QGroundControl is started.
    void deleteAllSettingsNextBoot(void);
dogmaphobic's avatar
dogmaphobic committed
75

Don Gagne's avatar
Don Gagne committed
76 77
    /// @brief Clears the persistent flag to delete all settings the next time QGroundControl is started.
    void clearDeleteAllSettingsNextBoot(void);
dogmaphobic's avatar
dogmaphobic committed
78

79
    /// @return true: Prompt to save log file when vehicle goes away
Don Gagne's avatar
Don Gagne committed
80
    bool promptFlightDataSave(void);
dogmaphobic's avatar
dogmaphobic committed
81

82 83 84
    /// @return true: Prompt to save log file even if vehicle was not armed
    bool promptFlightDataSaveNotArmed(void);

Don Gagne's avatar
Don Gagne committed
85
    void setPromptFlightDataSave(bool promptForSave);
86
    void setPromptFlightDataSaveNotArmed(bool promptForSave);
87

Don Gagne's avatar
Don Gagne committed
88 89
    /// @brief Returns truee if unit test are being run
    bool runningUnitTests(void) { return _runningUnitTests; }
dogmaphobic's avatar
dogmaphobic committed
90

91 92
    /// @return true: dark ui style, false: light ui style
    bool styleIsDark(void) { return _styleIsDark; }
dogmaphobic's avatar
dogmaphobic committed
93

94 95
    /// Set the current UI style
    void setStyle(bool styleIsDark);
dogmaphobic's avatar
dogmaphobic committed
96

Don Gagne's avatar
Don Gagne committed
97
    /// Used to report a missing Parameter. Warning will be displayed to user. Method may be called
98
    /// multiple times.
Don Gagne's avatar
Don Gagne committed
99
    void reportMissingParameter(int componentId, const QString& name);
100

Don Gagne's avatar
Don Gagne committed
101
    /// Show a non-modal message to the user
102
    void showMessage(const QString& message);
103

dogmaphobic's avatar
dogmaphobic committed
104 105 106
    /// @return true: Fake ui into showing mobile interface
    bool fakeMobile(void) { return _fakeMobile; }

107 108 109
#ifdef QT_DEBUG
    bool testHighDPI(void) { return _testHighDPI; }
#endif
110 111 112

    // Still working on getting rid of this and using dependency injection instead for everything
    QGCToolbox* toolbox(void) { return _toolbox; }
dogmaphobic's avatar
dogmaphobic committed
113 114 115 116

    /// Do we have Bluetooth Support?
    bool isBluetoothAvailable() { return _bluetoothAvailable; }

117 118
    QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; }
    void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition);
Don Gagne's avatar
Don Gagne committed
119

120 121 122
public slots:
    /// You can connect to this slot to show an information message box from a different thread.
    void informationMessageBoxOnMainThread(const QString& title, const QString& msg);
dogmaphobic's avatar
dogmaphobic committed
123

124 125
    /// You can connect to this slot to show a warning message box from a different thread.
    void warningMessageBoxOnMainThread(const QString& title, const QString& msg);
dogmaphobic's avatar
dogmaphobic committed
126

127 128
    /// You can connect to this slot to show a critical message box from a different thread.
    void criticalMessageBoxOnMainThread(const QString& title, const QString& msg);
dogmaphobic's avatar
dogmaphobic committed
129

Don Gagne's avatar
Don Gagne committed
130 131
    void showSetupView(void);

132
    void qmlAttemptWindowClose(void);
Don Gagne's avatar
Don Gagne committed
133

134
#ifndef __mobile__
135 136
    /// Save the specified Flight Data Log
    void saveTempFlightDataLogOnMainThread(QString tempLogfile);
137
#endif
138

139
signals:
140 141 142
    /// Signals that the style has changed
    ///     @param darkStyle true: dark style, false: light style
    void styleChanged(bool darkStyle);
dogmaphobic's avatar
dogmaphobic committed
143

144 145 146
    /// This is connected to MAVLinkProtocol::checkForLostLogFiles. We signal this to ourselves to call the slot
    /// on the MAVLinkProtocol thread;
    void checkForLostLogFiles(void);
dogmaphobic's avatar
dogmaphobic committed
147

148
public:
149
    // Although public, these methods are internal and should only be called by UnitTest code
dogmaphobic's avatar
dogmaphobic committed
150

151 152 153 154 155 156 157
    /// @brief Perform initialize which is common to both normal application running and unit tests.
    ///         Although public should only be called by main.
    void _initCommon(void);

    /// @brief Intialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForNormalAppBoot(void);
dogmaphobic's avatar
dogmaphobic committed
158

159 160 161
    /// @brief Intialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForUnitTests(void);
Don Gagne's avatar
Don Gagne committed
162

163
    static QGCApplication*  _app;   ///< Our own singleton. Should be reference directly by qgcApp
dogmaphobic's avatar
dogmaphobic committed
164

Don Gagne's avatar
Don Gagne committed
165
private slots:
Don Gagne's avatar
Don Gagne committed
166
    void _missingParamsDisplay(void);
dogmaphobic's avatar
dogmaphobic committed
167

pixhawk's avatar
pixhawk committed
168
private:
Gus Grubba's avatar
Gus Grubba committed
169 170
    void        _loadCurrentStyle   ();
    QObject*    _rootQmlObject      ();
Don Gagne's avatar
Don Gagne committed
171 172 173 174

#ifdef __mobile__
    QQmlApplicationEngine* _qmlAppEngine;
#endif
dogmaphobic's avatar
dogmaphobic committed
175

Don Gagne's avatar
Don Gagne committed
176
    bool _runningUnitTests; ///< true: running unit tests, false: normal app
dogmaphobic's avatar
dogmaphobic committed
177

178 179
    static const char*  _darkStyleFile;
    static const char*  _lightStyleFile;
180 181 182 183 184 185
    bool                _styleIsDark;                                       ///< true: dark style, false: light style
    static const int    _missingParamsDelayedDisplayTimerTimeout = 1000;    ///< Timeout to wait for next missing fact to come in before display
    QTimer              _missingParamsDelayedDisplayTimer;                  ///< Timer use to delay missing fact display
    QStringList         _missingParams;                                     ///< List of missing facts to be displayed
    bool				_fakeMobile;                                        ///< true: Fake ui into displaying mobile interface
    bool                _settingsUpgraded;                                  ///< true: Settings format has been upgrade to new version
dogmaphobic's avatar
dogmaphobic committed
186

187 188 189
#ifdef QT_DEBUG
    bool _testHighDPI;  ///< true: double fonts sizes for simulating high dpi devices
#endif
190

191 192
    QGCToolbox* _toolbox;

dogmaphobic's avatar
dogmaphobic committed
193 194
    bool _bluetoothAvailable;

195
    QGeoCoordinate _lastKnownHomePosition;    ///< Map position when all other sources fail
Don Gagne's avatar
Don Gagne committed
196 197 198 199 200 201

    static const char* _settingsVersionKey;             ///< Settings key which hold settings version
    static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted
    static const char* _promptFlightDataSave;           ///< Settings key for promptFlightDataSave
    static const char* _promptFlightDataSaveNotArmed;   ///< Settings key for promptFlightDataSaveNotArmed
    static const char* _styleKey;                       ///< Settings key for UI style
202 203 204
    static const char* _lastKnownHomePositionLatKey;
    static const char* _lastKnownHomePositionLonKey;
    static const char* _lastKnownHomePositionAltKey;
Don Gagne's avatar
Don Gagne committed
205

Don Gagne's avatar
Don Gagne committed
206 207
    /// Unit Test have access to creating and destroying singletons
    friend class UnitTest;
Gus Grubba's avatar
Gus Grubba committed
208

pixhawk's avatar
pixhawk committed
209 210
};

Don Gagne's avatar
Don Gagne committed
211 212 213 214
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void);

#endif