QGCApplication.cc 33.6 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.
 *
 ****************************************************************************/
9

pixhawk's avatar
pixhawk committed
10 11 12

/**
 * @file
Don Gagne's avatar
Don Gagne committed
13
 *   @brief Implementation of class QGCApplication
pixhawk's avatar
pixhawk committed
14 15 16 17 18 19 20 21 22 23 24 25
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QFlags>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
26
#include <QStringListModel>
Don Gagne's avatar
Don Gagne committed
27
#include <QRegularExpression>
Gus Grubba's avatar
Gus Grubba committed
28
#include <QFontDatabase>
pixhawk's avatar
pixhawk committed
29

dogmaphobic's avatar
dogmaphobic committed
30 31 32 33
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

34 35
#include <QDebug>

36
#include "VideoStreaming.h"
Gus Grubba's avatar
Gus Grubba committed
37

38
#include "QGC.h"
Don Gagne's avatar
Don Gagne committed
39
#include "QGCApplication.h"
40
#include "CmdLineOptParser.h"
41 42
#include "UDPLink.h"
#include "LinkManager.h"
43
#include "UASMessageHandler.h"
44
#include "QGCTemporaryFile.h"
45
#include "QGCPalette.h"
Don Gagne's avatar
Don Gagne committed
46
#include "QGCMapPalette.h"
47
#include "QGCLoggingCategory.h"
Don Gagne's avatar
Don Gagne committed
48 49
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
Don Gagne's avatar
Don Gagne committed
50
#include "CustomCommandWidgetController.h"
dogmaphobic's avatar
dogmaphobic committed
51
#include "ESP8266ComponentController.h"
Don Gagne's avatar
Don Gagne committed
52
#include "ScreenToolsController.h"
53
#include "QGCFileDialogController.h"
Don Gagne's avatar
Don Gagne committed
54
#include "RCChannelMonitorController.h"
55
#include "SyslinkComponentController.h"
56 57
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
Don Gagne's avatar
Don Gagne committed
58
#include "FirmwarePluginManager.h"
59 60
#include "MultiVehicleManager.h"
#include "Vehicle.h"
61
#include "JoystickConfigController.h"
62
#include "JoystickManager.h"
63
#include "QmlObjectListModel.h"
64
#include "QGCGeoBoundingCube.h"
Don Gagne's avatar
Don Gagne committed
65
#include "MissionManager.h"
66
#include "QGroundControlQmlGlobal.h"
67
#include "FlightMapSettings.h"
68
#include "CoordinateVector.h"
69
#include "PlanMasterController.h"
70
#include "VideoManager.h"
71 72
#include "VideoSurface.h"
#include "VideoReceiver.h"
dogmaphobic's avatar
dogmaphobic committed
73
#include "LogDownloadController.h"
74
#include "MAVLinkInspectorController.h"
75
#include "ValuesWidgetController.h"
76
#include "AppMessages.h"
Jimmy Johnson's avatar
Jimmy Johnson committed
77 78 79
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
80
#include "MissionCommandTree.h"
81
#include "QGCMapPolygon.h"
82
#include "QGCMapCircle.h"
83
#include "ParameterManager.h"
84
#include "SettingsManager.h"
85
#include "QGCCorePlugin.h"
86
#include "QGCCameraManager.h"
87
#include "CameraCalc.h"
88
#include "VisualMissionItem.h"
89
#include "EditPositionDialogController.h"
90
#include "FactValueSliderListModel.h"
91
#include "ShapeFileHelper.h"
Don Gagne's avatar
Don Gagne committed
92
#include "QGCFileDownload.h"
Don Gagne's avatar
Don Gagne committed
93
#include "FirmwareImage.h"
94
#include "MavlinkConsoleController.h"
95
#include "MAVLinkInspectorController.h"
96
#include "GeoTagController.h"
97
#include "LogReplayLink.h"
Gus Grubba's avatar
Gus Grubba committed
98
#include "VehicleObjectAvoidance.h"
99
#include "TrajectoryPoints.h"
100

Gus Grubba's avatar
Gus Grubba committed
101 102 103 104
#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif

Gus Grubba's avatar
Gus Grubba committed
105 106 107
#ifndef __mobile__
#include "FirmwareUpgradeController.h"
#endif
108

Gus Grubba's avatar
Gus Grubba committed
109
#ifndef NO_SERIAL_LINK
110
#include "SerialLink.h"
111 112 113
#endif

#ifndef __mobile__
114
#include "GPS/GPSManager.h"
115
#endif
116

117
#ifdef QGC_RTLAB_ENABLED
118
#include "OpalLink.h"
119
#endif
120

Don Gagne's avatar
Don Gagne committed
121 122 123 124 125 126
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif
127

dogmaphobic's avatar
dogmaphobic committed
128 129
#include "QGCMapEngine.h"

130
QGCApplication* QGCApplication::_app = nullptr;
pixhawk's avatar
pixhawk committed
131

132 133
const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
Don Gagne's avatar
Don Gagne committed
134

135 136 137
// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];

138
// Qml Singleton factories
139

Don Gagne's avatar
Don Gagne committed
140
static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
141
{
Don Gagne's avatar
Don Gagne committed
142 143
    ScreenToolsController* screenToolsController = new ScreenToolsController;
    return screenToolsController;
144 145
}

146 147
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
148
    // We create this object as a QGCTool even though it isn't in the toolbox
149
    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
150 151 152
    qmlGlobal->setToolbox(qgcApp()->toolbox());

    return qmlGlobal;
153 154
}

155
static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
156
{
157
    return new ShapeFileHelper;
158
}
pixhawk's avatar
pixhawk committed
159

160
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
161
  #if defined(__mobile__)
162
    : QGuiApplication       (argc, argv)
163 164 165
  #else
    : QApplication          (argc, argv)
  #endif
166
    , _runningUnitTests     (unitTesting)
pixhawk's avatar
pixhawk committed
167
{
168
    _app = this;
169 170
    _msecsElapsedTime.start();

171 172
#ifdef Q_OS_LINUX
#ifndef __mobile__
173 174
    if (!_runningUnitTests) {
        if (getuid() == 0) {
175 176 177 178 179 180 181 182
            _exitWithError(QString(
                tr("You are running %1 as root. "
                    "You should not do this since it will cause other issues with %1."
                    "%1 will now exit.<br/><br/>"
                    "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:<br/>"
                    "<pre>sudo usermod -a -G dialout $USER<br/>"
                    "sudo apt-get remove modemmanager</pre>").arg(qgcApp()->applicationName())));
            return;
183 184 185 186 187 188 189
        }
        // Determine if we have the correct permissions to access USB serial devices
        QFile permFile("/etc/group");
        if(permFile.open(QIODevice::ReadOnly)) {
            while(!permFile.atEnd()) {
                QString line = permFile.readLine();
                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
190 191 192 193 194 195 196 197
                    permFile.close();
                    _exitWithError(QString(
                        tr("The current user does not have the correct permissions to access serial devices. "
                           "You should also remove modemmanager since it also interferes.<br/><br/>"
                           "If you are using Ubuntu, execute the following commands to fix these issues:<br/>"
                           "<pre>sudo usermod -a -G dialout $USER<br/>"
                           "sudo apt-get remove modemmanager</pre>")));
                    return;
198
                }
199
            }
200
            permFile.close();
201 202 203 204 205
        }
    }
#endif
#endif

206 207 208
    // Setup for network proxy support
    QNetworkProxyFactory::setUseSystemConfiguration(true);

209
    // Parse command line options
dogmaphobic's avatar
dogmaphobic committed
210

211
    bool fClearSettingsOptions = false; // Clear stored settings
Don Gagne's avatar
Don Gagne committed
212
    bool fClearCache = false;           // Clear parameter/airframe caches
213 214
    bool logging = false;               // Turn on logging
    QString loggingOptions;
dogmaphobic's avatar
dogmaphobic committed
215

216
    CmdLineOpt_t rgCmdLineOptions[] = {
217
        { "--clear-settings",   &fClearSettingsOptions, nullptr },
Don Gagne's avatar
Don Gagne committed
218
        { "--clear-cache",      &fClearCache,           nullptr },
219
        { "--logging",          &logging,               &loggingOptions },
220 221
        { "--fake-mobile",      &_fakeMobile,           nullptr },
        { "--log-output",       &_logOutput,            nullptr },
222 223
        // Add additional command line option flags here
    };
dogmaphobic's avatar
dogmaphobic committed
224

225
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
226

227
    // Set up timer for delayed missing fact display
Don Gagne's avatar
Don Gagne committed
228 229 230
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
dogmaphobic's avatar
dogmaphobic committed
231

Don Gagne's avatar
Don Gagne committed
232
    // Set application information
233 234 235 236 237 238 239 240 241
    if (_runningUnitTests) {
        // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
        // name. Also we want to run unit tests with clean settings every time.
        setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
    } else {
        setApplicationName(QGC_APPLICATION_NAME);
    }
    setOrganizationName(QGC_ORG_NAME);
    setOrganizationDomain(QGC_ORG_DOMAIN);
242

Daniel Agar's avatar
Daniel Agar committed
243
    this->setApplicationVersion(QString(GIT_VERSION));
244

245 246
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
247
    QSettings settings;
248
    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
Don Gagne's avatar
Don Gagne committed
249

250
#ifdef UNITTEST_BUILD
Don Gagne's avatar
Don Gagne committed
251 252 253
    if (!settings.isWritable()) {
        qWarning() << "Setings location is not writable";
    }
254
#endif
255
    // The setting will delete all settings on this boot
Don Gagne's avatar
Don Gagne committed
256
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
257

Don Gagne's avatar
Don Gagne committed
258
    if (_runningUnitTests) {
259
        // Unit tests run with clean settings
Don Gagne's avatar
Don Gagne committed
260 261
        fClearSettingsOptions = true;
    }
262

263 264 265
    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
        settings.clear();
266

267
        // Clear parameter cache
268
        QDir paramDir(ParameterManager::parameterCacheDir());
269 270
        paramDir.removeRecursively();
        paramDir.mkpath(paramDir.absolutePath());
271
    } else {
272
        // Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
273 274 275
        // that will write some settings.
        if (settings.contains(_settingsVersionKey)) {
            if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
276
                settings.clear();
277 278 279 280
                _settingsUpgraded = true;
            }
        } else if (settings.allKeys().count()) {
            // Settings version key is missing and there are settings. This is an upgrade scenario.
281
            settings.clear();
282 283
            _settingsUpgraded = true;
        }
284
    }
285
    settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
Gus Grubba's avatar
Gus Grubba committed
286

Don Gagne's avatar
Don Gagne committed
287 288 289
    if (fClearCache) {
        QDir dir(ParameterManager::parameterCacheDir());
        dir.removeRecursively();
290
        QFile airframe(cachedAirframeMetaDataFile());
Don Gagne's avatar
Don Gagne committed
291
        airframe.remove();
292
        QFile parameter(cachedParameterMetaDataFile());
Don Gagne's avatar
Don Gagne committed
293 294 295
        parameter.remove();
    }

296 297 298
    // Set up our logging filters
    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);

dogmaphobic's avatar
dogmaphobic committed
299 300 301 302 303 304 305 306 307
    // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
    QBluetoothLocalDevice localDevice;
    if (localDevice.isValid())
    {
        _bluetoothAvailable = true;
    }
#endif

308 309 310 311 312
    // Gstreamer debug settings
#if defined(__ios__) || defined(__android__)
    // Initialize Video Streaming
    initializeVideoStreaming(argc, argv, nullptr, nullptr);
#else
313 314
    QString savePath, gstDebugLevel;
    if (settings.contains(AppSettings::savePathName)) {
315
        savePath = settings.value(AppSettings::savePathName).toString();
316
    }
317 318 319 320 321 322 323 324 325
    if(savePath.isEmpty()) {
        savePath = "/tmp";
    }
    savePath = savePath + "/Logs/gst";
    if (!QDir(savePath).exists()) {
        QDir().mkpath(savePath);
    }
    if (settings.contains(AppSettings::gstDebugLevelName)) {
        gstDebugLevel = "*:" + settings.value(AppSettings::gstDebugLevelName).toString();
326
    }
327
    // Initialize Video Streaming
328
    initializeVideoStreaming(argc, argv, savePath.toUtf8().data(), gstDebugLevel.toUtf8().data());
329
#endif
330 331

    _toolbox = new QGCToolbox(this);
332
    _toolbox->setChildToolboxes();
Don Gagne's avatar
Don Gagne committed
333

334 335 336 337 338 339 340 341 342 343 344
#ifndef __mobile__
    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
   GPSManager *gpsManager = _toolbox->gpsManager();
   if (gpsManager) {
       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
   }
#endif /* __mobile__ */

345
   setLanguage();
Don Gagne's avatar
Don Gagne committed
346
    _checkForNewVersion();
347 348
}

349 350 351 352 353 354 355 356 357 358 359
void QGCApplication::_exitWithError(QString errorMessage)
{
    _error = true;
    QQmlApplicationEngine* pEngine = new QQmlApplicationEngine(this);
    pEngine->addImportPath("qrc:/qml");
    pEngine->rootContext()->setContextProperty("errorMessage", errorMessage);
    pEngine->load(QUrl(QStringLiteral("qrc:/qml/ExitWithErrorWindow.qml")));
    // Exit main application when last window is closed
    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
}

360 361
void QGCApplication::setLanguage()
{
362 363
    _locale = QLocale::system();
    qDebug() << "System reported locale:" << _locale << _locale.name();
364
    int langID = toolbox()->settingsManager()->appSettings()->language()->rawValue().toInt();
Gus Grubba's avatar
Gus Grubba committed
365
    //-- See App.SettinsGroup.json for index
366 367 368
    if(langID) {
        switch(langID) {
        case 1:
369
            _locale = QLocale(QLocale::Bulgarian);
370 371
            break;
        case 2:
372
            _locale = QLocale(QLocale::Chinese);
373 374
            break;
        case 3:
375
            _locale = QLocale(QLocale::Dutch);
376 377
            break;
        case 4:
378
            _locale = QLocale(QLocale::English);
379 380
            break;
        case 5:
381
            _locale = QLocale(QLocale::Finnish);
382 383
            break;
        case 6:
384
            _locale = QLocale(QLocale::French);
385 386
            break;
        case 7:
387
            _locale = QLocale(QLocale::German);
388 389
            break;
        case 8:
390
            _locale = QLocale(QLocale::Greek);
Gus Grubba's avatar
Gus Grubba committed
391 392
            break;
        case 9:
393
            _locale = QLocale(QLocale::Hebrew);
394 395
            break;
        case 10:
396
            _locale = QLocale(QLocale::Italian);
397 398
            break;
        case 11:
399
            _locale = QLocale(QLocale::Japanese);
400 401
            break;
        case 12:
402
            _locale = QLocale(QLocale::Korean);
403 404
            break;
        case 13:
405
            _locale = QLocale(QLocale::Norwegian);
406 407
            break;
        case 14:
408
            _locale = QLocale(QLocale::Polish);
409 410
            break;
        case 15:
411
            _locale = QLocale(QLocale::Portuguese);
412 413
            break;
        case 16:
414
            _locale = QLocale(QLocale::Russian);
415 416
            break;
        case 17:
417
            _locale = QLocale(QLocale::Spanish);
418 419
            break;
        case 18:
420
            _locale = QLocale(QLocale::Swedish);
421 422
            break;
        case 19:
423
            _locale = QLocale(QLocale::Turkish);
424 425 426
            break;
        }
    }
427
    //-- We have specific fonts for Korean
428 429
    if(_locale == QLocale::Korean) {
        qDebug() << "Loading Korean fonts" << _locale.name();
430 431 432 433 434 435 436
        if(QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Regular") < 0) {
            qWarning() << "Could not load /fonts/NanumGothic-Regular font";
        }
        if(QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Bold") < 0) {
            qWarning() << "Could not load /fonts/NanumGothic-Bold font";
        }
    }
437
    qDebug() << "Loading localization for" << _locale.name();
438 439
    _app->removeTranslator(&_QGCTranslator);
    _app->removeTranslator(&_QGCTranslatorQt);
440
    if(_QGCTranslatorQt.load("qt_" + _locale.name(), QLibraryInfo::location(QLibraryInfo::TranslationsPath))) {
441 442
        _app->installTranslator(&_QGCTranslatorQt);
    } else {
Gus Grubba's avatar
Gus Grubba committed
443
        qDebug() << "Qt localization for" << _locale.name() << "is not present";
444
    }
445 446
    if(_QGCTranslator.load(_locale, QLatin1String("qgc_"), "", ":/i18n")) {
        QLocale::setDefault(_locale);
447
        _app->installTranslator(&_QGCTranslator);
448
    } else {
449
        qDebug() << "Error loading application localization for" << _locale.name();
450 451 452
    }
    if(_qmlAppEngine)
        _qmlAppEngine->retranslate();
453
    emit languageChanged(_locale);
454 455
}

456
void QGCApplication::_shutdown()
Don Gagne's avatar
Don Gagne committed
457
{
458 459 460
    // Close out all Qml before we delete toolbox. This way we don't get all sorts of null reference complaints from Qml.
    delete _qmlAppEngine;

461
    shutdownVideoStreaming();
462
    delete _toolbox;
Don Gagne's avatar
Don Gagne committed
463 464
}

Don Gagne's avatar
Don Gagne committed
465 466 467
QGCApplication::~QGCApplication()
{
    // Place shutdown code in _shutdown
468
    _app = nullptr;
Don Gagne's avatar
Don Gagne committed
469 470
}

471
void QGCApplication::_initCommon()
472
{
473
    static const char* kRefOnly         = "Reference only";
DonLakeFlyer's avatar
DonLakeFlyer committed
474
    static const char* kQGroundControl  = "QGroundControl";
475 476 477
    static const char* kQGCControllers  = "QGroundControl.Controllers";
    static const char* kQGCVehicle      = "QGroundControl.Vehicle";

478
    QSettings settings;
479

Don Gagne's avatar
Don Gagne committed
480
    // Register our Qml objects
dogmaphobic's avatar
dogmaphobic committed
481

Don Gagne's avatar
Don Gagne committed
482 483
    qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
    qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
dogmaphobic's avatar
dogmaphobic committed
484

Gus Grubba's avatar
Gus Grubba committed
485 486 487 488 489 490 491 492 493 494 495
    qmlRegisterUncreatableType<Vehicle>                 (kQGCVehicle,                       1, 0, "Vehicle",                    kRefOnly);
    qmlRegisterUncreatableType<MissionManager>          (kQGCVehicle,                       1, 0, "MissionManager",             kRefOnly);
    qmlRegisterUncreatableType<ParameterManager>        (kQGCVehicle,                       1, 0, "ParameterManager",           kRefOnly);
    qmlRegisterUncreatableType<VehicleObjectAvoidance>  (kQGCVehicle,                       1, 0, "VehicleObjectAvoidance",     kRefOnly);
    qmlRegisterUncreatableType<QGCCameraManager>        (kQGCVehicle,                       1, 0, "QGCCameraManager",           kRefOnly);
    qmlRegisterUncreatableType<QGCCameraControl>        (kQGCVehicle,                       1, 0, "QGCCameraControl",           kRefOnly);
    qmlRegisterUncreatableType<QGCVideoStreamInfo>      (kQGCVehicle,                       1, 0, "QGCVideoStreamInfo",         kRefOnly);
    qmlRegisterUncreatableType<LinkInterface>           (kQGCVehicle,                       1, 0, "LinkInterface",              kRefOnly);
    qmlRegisterUncreatableType<MissionController>       (kQGCControllers,                   1, 0, "MissionController",          kRefOnly);
    qmlRegisterUncreatableType<GeoFenceController>      (kQGCControllers,                   1, 0, "GeoFenceController",         kRefOnly);
    qmlRegisterUncreatableType<RallyPointController>    (kQGCControllers,                   1, 0, "RallyPointController",       kRefOnly);
496

DonLakeFlyer's avatar
DonLakeFlyer committed
497 498 499 500 501 502 503 504
    qmlRegisterUncreatableType<MissionItem>         (kQGroundControl,                       1, 0, "MissionItem",                kRefOnly);
    qmlRegisterUncreatableType<VisualMissionItem>   (kQGroundControl,                       1, 0, "VisualMissionItem",          kRefOnly);
    qmlRegisterUncreatableType<CoordinateVector>    (kQGroundControl,                       1, 0, "CoordinateVector",           kRefOnly);
    qmlRegisterUncreatableType<QmlObjectListModel>  (kQGroundControl,                       1, 0, "QmlObjectListModel",         kRefOnly);
    qmlRegisterUncreatableType<MissionCommandTree>  (kQGroundControl,                       1, 0, "MissionCommandTree",         kRefOnly);
    qmlRegisterUncreatableType<CameraCalc>          (kQGroundControl,                       1, 0, "CameraCalc",                 kRefOnly);
    qmlRegisterUncreatableType<LogReplayLink>       (kQGroundControl,                       1, 0, "LogReplayLink",              kRefOnly);
    qmlRegisterType<LogReplayLinkController>        (kQGroundControl,                       1, 0, "LogReplayLinkController");
Gus Grubba's avatar
Gus Grubba committed
505
#if defined(QGC_ENABLE_PAIRING)
DonLakeFlyer's avatar
DonLakeFlyer committed
506
    qmlRegisterUncreatableType<PairingManager>      (kQGroundControl,                       1, 0, "PairingManager",             kRefOnly);
Gus Grubba's avatar
Gus Grubba committed
507
#endif
508

509 510 511 512 513 514 515 516 517
    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",            kRefOnly);
    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",           kRefOnly);
    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",            kRefOnly);
    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",                   kRefOnly);
    qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",         kRefOnly);
    qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls",     1, 0, "FactValueSliderListModel",   kRefOnly);

    qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",              kRefOnly);
    qmlRegisterUncreatableType<QGCGeoBoundingCube>  ("QGroundControl.FlightMap",            1, 0, "QGCGeoBoundingCube",         kRefOnly);
518
    qmlRegisterUncreatableType<TrajectoryPoints>    ("QGroundControl.FlightMap",            1, 0, "TrajectoryPoints",           kRefOnly);
519

520
    qmlRegisterType<QGCMapCircle>                   ("QGroundControl.FlightMap",            1, 0, "QGCMapCircle");
521

522 523 524 525 526 527 528 529 530
    qmlRegisterType<ParameterEditorController>      (kQGCControllers,                       1, 0, "ParameterEditorController");
    qmlRegisterType<ESP8266ComponentController>     (kQGCControllers,                       1, 0, "ESP8266ComponentController");
    qmlRegisterType<ScreenToolsController>          (kQGCControllers,                       1, 0, "ScreenToolsController");
    qmlRegisterType<PlanMasterController>           (kQGCControllers,                       1, 0, "PlanMasterController");
    qmlRegisterType<ValuesWidgetController>         (kQGCControllers,                       1, 0, "ValuesWidgetController");
    qmlRegisterType<QGCFileDialogController>        (kQGCControllers,                       1, 0, "QGCFileDialogController");
    qmlRegisterType<RCChannelMonitorController>     (kQGCControllers,                       1, 0, "RCChannelMonitorController");
    qmlRegisterType<JoystickConfigController>       (kQGCControllers,                       1, 0, "JoystickConfigController");
    qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
531
    qmlRegisterType<MAVLinkInspectorController>     (kQGCControllers,                       1, 0, "MAVLinkInspectorController");
532 533
    qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
    qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
534

Don Gagne's avatar
Don Gagne committed
535
#ifndef __mobile__
536
#ifndef NO_SERIAL_LINK
537
    qmlRegisterType<FirmwareUpgradeController>      (kQGCControllers,                       1, 0, "FirmwareUpgradeController");
538
#endif
Don Gagne's avatar
Don Gagne committed
539
#endif
540
    qmlRegisterType<GeoTagController>               (kQGCControllers,                       1, 0, "GeoTagController");
541
    qmlRegisterType<MavlinkConsoleController>       (kQGCControllers,                       1, 0, "MavlinkConsoleController");
542
    qmlRegisterType<MAVLinkInspectorController>     (kQGCControllers,                       1, 0, "MAVLinkInspectorController");
dogmaphobic's avatar
dogmaphobic committed
543

544
    // Register Qml Singletons
545 546
    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
547
    qmlRegisterSingletonType<ShapeFileHelper>           ("QGroundControl.ShapeFileHelper",          1, 0, "ShapeFileHelper",        shapeFileHelperSingletonFactory);
548 549
}

550
bool QGCApplication::_initForNormalAppBoot()
551
{
552

553 554 555 556 557
    if(QFontDatabase::addApplicationFont(":/fonts/opensans") < 0) {
        qWarning() << "Could not load /fonts/opensans font";
    }
    if(QFontDatabase::addApplicationFont(":/fonts/opensans-demibold") < 0) {
        qWarning() << "Could not load /fonts/opensans-demibold font";
Gus Grubba's avatar
Gus Grubba committed
558 559
    }

560
    QSettings settings;
561

562
    _qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
563

564 565 566 567 568
    // Safe to show popup error messages now that main window is created
    UASMessageHandler* msgHandler = qgcApp()->toolbox()->uasMessageHandler();
    if (msgHandler) {
        msgHandler->showErrorsInToolbar();
    }
569

570
    // Now that main window is up check for lost log files
571
    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
572
    emit checkForLostLogFiles();
573 574

    // Load known link configurations
575
    toolbox()->linkManager()->loadLinkConfigurationList();
576

Jacob Walser's avatar
Jacob Walser committed
577 578
    // Probe for joysticks
    toolbox()->joystickManager()->init();
579

580
    if (_settingsUpgraded) {
581 582
        showMessage(QString(tr("The format for %1 saved settings has been modified. "
                    "Your saved settings have been reset to defaults.")).arg(applicationName()));
Don Gagne's avatar
Don Gagne committed
583 584
    }

585 586 587
    // Connect links with flag AutoconnectLink
    toolbox()->linkManager()->startAutoConnectedLinks();

dogmaphobic's avatar
dogmaphobic committed
588
    if (getQGCMapEngine()->wasCacheReset()) {
589 590
        showMessage(tr("The Offline Map Cache database has been upgraded. "
                    "Your old map cache sets have been reset."));
dogmaphobic's avatar
dogmaphobic committed
591 592
    }

Don Gagne's avatar
Don Gagne committed
593
    settings.sync();
594
    return true;
pixhawk's avatar
pixhawk committed
595 596
}

597
bool QGCApplication::_initForUnitTests()
pixhawk's avatar
pixhawk committed
598
{
599
    return true;
pixhawk's avatar
pixhawk committed
600 601
}

Don Gagne's avatar
Don Gagne committed
602 603 604 605 606 607 608 609 610 611 612 613 614 615 616
void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

void QGCApplication::clearDeleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.remove(_deleteAllSettingsKey);
}

/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
617 618 619
    return QGCApplication::_app;
}

620 621
void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
622 623
    Q_UNUSED(title);
    showMessage(msg);
624 625 626 627
}

void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
628 629
    Q_UNUSED(title)
    showMessage(msg);
630 631 632 633
}

void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
634 635
    Q_UNUSED(title)
    showMessage(msg);
636 637
}

638
void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile)
639
{
640 641 642 643 644 645 646 647
    // The vehicle is gone now and we are shutting down so we need to use a message box for errors to hold shutdown and show the error
    if (_checkTelemetrySavePath(true /* useMessageBox */)) {

        QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
        QDir saveDir(saveDirPath);

        QString nameFormat("%1%2.%3");
        QString dtFormat("yyyy-MM-dd hh-mm-ss");
648

649 650
        int tryIndex = 1;
        QString saveFileName = nameFormat.arg(
651
            QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral("")).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
652 653 654 655 656 657 658 659 660 661
        while (saveDir.exists(saveFileName)) {
            saveFileName = nameFormat.arg(
                QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral(".%1").arg(tryIndex++)).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
        }
        QString saveFilePath = saveDir.absoluteFilePath(saveFileName);

        QFile tempFile(tempLogfile);
        if (!tempFile.copy(saveFilePath)) {
            QString error = tr("Unable to save telemetry log. Error copying telemetry to '%1': '%2'.").arg(saveFilePath).arg(tempFile.errorString());
            showMessage(error);
662
        }
663
    }
664 665
    QFile::remove(tempLogfile);
}
666

667
void QGCApplication::checkTelemetrySavePathOnMainThread()
668 669 670 671 672 673 674
{
    // This is called with an active vehicle so don't pop message boxes which holds ui thread
    _checkTelemetrySavePath(false /* useMessageBox */);
}

bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox)
{
675
    QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
676
    if (saveDirPath.isEmpty()) {
677
        QString error = tr("Unable to save telemetry log. Application save directory is not set.");
Gus Grubba's avatar
Gus Grubba committed
678 679
        Q_UNUSED(useMessageBox);
        showMessage(error);
680 681 682 683 684 685
        return false;
    }

    QDir saveDir(saveDirPath);
    if (!saveDir.exists()) {
        QString error = tr("Unable to save telemetry log. Telemetry save directory \"%1\" does not exist.").arg(saveDirPath);
Gus Grubba's avatar
Gus Grubba committed
686
        showMessage(error);
687 688 689 690 691
        return false;
    }

    return true;
}
692

Don Gagne's avatar
Don Gagne committed
693
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
694
{
695 696 697 698 699
    QPair<int, QString>  missingParam(componentId, name);

    if (!_missingParams.contains(missingParam)) {
        _missingParams.append(missingParam);
    }
Don Gagne's avatar
Don Gagne committed
700
    _missingParamsDelayedDisplayTimer.start();
701
}
702

Don Gagne's avatar
Don Gagne committed
703 704
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
705
{
DonLakeFlyer's avatar
DonLakeFlyer committed
706 707
    if (_missingParams.count()) {
        QString params;
708 709
        for (QPair<int, QString>& missingParam: _missingParams) {
            QString param = QStringLiteral("%1:%2").arg(missingParam.first).arg(missingParam.second);
DonLakeFlyer's avatar
DonLakeFlyer committed
710
            if (params.isEmpty()) {
711
                params += param;
DonLakeFlyer's avatar
DonLakeFlyer committed
712
            } else {
713
                params += QStringLiteral(", %1").arg(param);
DonLakeFlyer's avatar
DonLakeFlyer committed
714
            }
715

716
        }
DonLakeFlyer's avatar
DonLakeFlyer committed
717
        _missingParams.clear();
dogmaphobic's avatar
dogmaphobic committed
718

719
        showMessage(tr("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
DonLakeFlyer's avatar
DonLakeFlyer committed
720
    }
721 722
}

Gus Grubba's avatar
Gus Grubba committed
723
QObject* QGCApplication::_rootQmlObject()
Don Gagne's avatar
Don Gagne committed
724
{
725 726 727
    if(_qmlAppEngine && _qmlAppEngine->rootObjects().size())
        return _qmlAppEngine->rootObjects()[0];
    return nullptr;
Don Gagne's avatar
Don Gagne committed
728 729 730
}


731
void QGCApplication::showMessage(const QString& message)
Don Gagne's avatar
Don Gagne committed
732
{
733
    // PreArm messages are handled by Vehicle and shown in Map
734
    if (message.startsWith(QStringLiteral("PreArm")) || message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
Don Gagne's avatar
Don Gagne committed
735 736
        return;
    }
737 738 739 740 741
    QObject* rootQmlObject = _rootQmlObject();
    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
        QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
Don Gagne's avatar
Don Gagne committed
742 743 744
    } else if (runningUnitTests()) {
        // Unit tests can run without UI
        qDebug() << "QGCApplication::showMessage unittest" << message;
745 746 747
    } else {
        qWarning() << "Internal error";
    }
Don Gagne's avatar
Don Gagne committed
748 749
}

750
QQuickItem* QGCApplication::mainRootWindow()
751
{
752
    if(!_mainRootWindow) {
753
        _mainRootWindow = reinterpret_cast<QQuickItem*>(_rootQmlObject());
754
    }
755
    return _mainRootWindow;
756 757 758
}

void QGCApplication::showSetupView()
Don Gagne's avatar
Don Gagne committed
759
{
760 761 762
    if(_rootQmlObject()) {
        QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
    }
Don Gagne's avatar
Don Gagne committed
763 764
}

765
void QGCApplication::qmlAttemptWindowClose()
Don Gagne's avatar
Don Gagne committed
766
{
767 768 769
    if(_rootQmlObject()) {
        QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
    }
Don Gagne's avatar
Don Gagne committed
770
}
771 772 773

bool QGCApplication::isInternetAvailable()
{
774 775 776
    if(_toolbox->settingsManager()->appSettings()->checkInternet()->rawValue().toBool())
        return getQGCMapEngine()->isInternetActive();
    return true;
777
}
Don Gagne's avatar
Don Gagne committed
778

779
void QGCApplication::_checkForNewVersion()
Don Gagne's avatar
Don Gagne committed
780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799
{
#ifndef __mobile__
    if (!_runningUnitTests) {
        if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion, _buildVersion)) {
            QString versionCheckFile = toolbox()->corePlugin()->stableVersionCheckFileUrl();
            if (!versionCheckFile.isEmpty()) {
                _currentVersionDownload = new QGCFileDownload(this);
                connect(_currentVersionDownload, &QGCFileDownload::downloadFinished, this, &QGCApplication::_currentVersionDownloadFinished);
                connect(_currentVersionDownload, &QGCFileDownload::error, this, &QGCApplication::_currentVersionDownloadError);
                _currentVersionDownload->download(versionCheckFile);
            }
        }
    }
#endif
}

void QGCApplication::_currentVersionDownloadFinished(QString remoteFile, QString localFile)
{
    Q_UNUSED(remoteFile);

Don Gagne's avatar
Don Gagne committed
800 801 802
#ifdef __mobile__
    Q_UNUSED(localFile);
#else
Don Gagne's avatar
Don Gagne committed
803 804 805 806 807 808 809 810 811 812 813 814
    QFile versionFile(localFile);
    if (versionFile.open(QIODevice::ReadOnly)) {
        QTextStream textStream(&versionFile);
        QString version = textStream.readLine();

        qDebug() << version;

        int majorVersion, minorVersion, buildVersion;
        if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
            if (_majorVersion < majorVersion ||
                    (_majorVersion == majorVersion && _minorVersion < minorVersion) ||
                    (_majorVersion == majorVersion && _minorVersion == minorVersion && _buildVersion < buildVersion)) {
Gus Grubba's avatar
Gus Grubba committed
815 816
                //-- TODO
                ///QGCMessageBox::information(tr("New Version Available"), tr("There is a newer version of %1 available. You can download it from %2.").arg(applicationName()).arg(toolbox()->corePlugin()->stableDownloadLocation()));
Don Gagne's avatar
Don Gagne committed
817 818 819 820 821
            }
        }
    }

    _currentVersionDownload->deleteLater();
Don Gagne's avatar
Don Gagne committed
822
#endif
Don Gagne's avatar
Don Gagne committed
823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843
}

void QGCApplication::_currentVersionDownloadError(QString errorMsg)
{
    Q_UNUSED(errorMsg);
    _currentVersionDownload->deleteLater();
}

bool QGCApplication::_parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion)
{
    QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
    QRegularExpressionMatch match = regExp.match(versionString);
    if (match.hasMatch() && match.lastCapturedIndex() == 3) {
        majorVersion = match.captured(1).toInt();
        minorVersion = match.captured(2).toInt();
        buildVersion = match.captured(3).toInt();
        return true;
    }

    return false;
}
844 845 846 847 848 849 850 851 852 853 854 855 856 857 858


void QGCApplication::_onGPSConnect()
{
    _gpsRtkFactGroup->connected()->setRawValue(true);
}

void QGCApplication::_onGPSDisconnect()
{
    _gpsRtkFactGroup->connected()->setRawValue(false);
}

void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
{
    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
859
    _gpsRtkFactGroup->currentAccuracy()->setRawValue(static_cast<double>(accuracyMM) / 1000.0);
860 861 862 863 864 865 866 867 868 869 870 871
    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
    _gpsRtkFactGroup->valid()->setRawValue(valid);
    _gpsRtkFactGroup->active()->setRawValue(active);
}

void QGCApplication::_gpsNumSatellites(int numSatellites)
{
    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
}

872 873 874 875 876 877 878 879 880 881 882 883 884
QString QGCApplication::cachedParameterMetaDataFile(void)
{
    QSettings settings;
    QDir parameterDir = QFileInfo(settings.fileName()).dir();
    return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
}

QString QGCApplication::cachedAirframeMetaDataFile(void)
{
    QSettings settings;
    QDir airframeDir = QFileInfo(settings.fileName()).dir();
    return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}