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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2013 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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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 "dockwidgettitlebareventfilter.h"
#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"
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#include "UASQuickView.h"
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
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#include "UASActionsWidget.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
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#include "PrimaryFlightDisplay.h"
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#include <apmtoolbar.h>
#include <ApmHardwareConfig.h>
#include <ApmSoftwareConfig.h>
#include "SerialSettingsDialog.h"
#include "terminalconsole.h"
#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
#endif
// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.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),
centerStackActionGroup(new QActionGroup(this)),
darkStyleFileName(defaultDarkStyle),
lightStyleFileName(defaultLightStyle),
autoReconnect(false),
lowPowerMode(false),
isAdvancedMode(false),
dockWidgetTitleBarEnabled(true),
customMode(CUSTOM_MODE_NONE)
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this->setAttribute(Qt::WA_DeleteOnClose);
//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);
}
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if (settings.contains("ADVANCED_MODE"))
{
isAdvancedMode = 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_FULL)
{
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);
hide();
// We only need this menu if we have more than one system
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// ui.menuConnected_Systems->setEnabled(false);
// Set dock options
setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
configureWindowName();
// Setup corners
setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
// Setup UI state machines
centerStackActionGroup->setExclusive(true);
centerStack = new QStackedWidget(this);
setCentralWidget(centerStack);
if (!(getCustomMode() == CUSTOM_MODE_APM)) {
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toolBar = new QGCToolBar(this);
this->addToolBar(toolBar);
ui.actionHardwareConfig->setText(tr("Config"));
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// Add actions for average users (displayed next to each other)
QList<QAction*> actions;
actions << ui.actionFlightView;
actions << ui.actionMissionView;
actions << ui.actionHardwareConfig;
toolBar->setPerspectiveChangeActions(actions);
// Add actions for advanced users (displayed in dropdown under "advanced")
QList<QAction*> advancedActions;
advancedActions << ui.actionSimulation_View;
advancedActions << ui.actionEngineersView;
toolBar->setPerspectiveChangeAdvancedActions(advancedActions);
}
customStatusBar = new QGCStatusBar(this);
setStatusBar(customStatusBar);
statusBar()->setSizeGripEnabled(true);
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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) {
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// Add the APM 'toolbar'
APMToolBar *apmToolBar = new APMToolBar(this);
apmToolBar->setFlightViewAction(ui.actionFlightView);
apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
apmToolBar->setSimulationViewAction(ui.actionSimulation_View);
apmToolBar->setTerminalViewAction(ui.actionTerminalView);
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QDockWidget *widget = new QDockWidget(tr("APM Tool Bar"),this);
widget->setWidget(apmToolBar);
widget->setMinimumHeight(72);
widget->setMaximumHeight(72);
widget->setMinimumWidth(1024);
widget->setFeatures(QDockWidget::NoDockWidgetFeatures);
widget->setTitleBarWidget(new QWidget(this)); // Disables the title bar
// /*widget*/->setStyleSheet("QDockWidget { border: 0px solid #FFFFFF; border-radius: 0px; border-bottom: 0px;}");
this->addDockWidget(Qt::TopDockWidgetArea, widget);
}
// Connect user interface devices
emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
joystickWidget = 0;
joystick = new JoystickInput();
#ifdef 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 //MOUSE_ENABLED_WIN
#if MOUSE_ENABLED_LINUX
emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
mouse = new Mouse6dofInput(this);
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connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
#endif //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();
resize(screenWidth, screenHeight - 80);
show();
}
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(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);
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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
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if (debugConsole)
{
delete debugConsole;
}
for (int i=0;i<commsWidgetList.size();i++)
{
commsWidgetList[i]->deleteLater();
}
}
void MainWindow::resizeEvent(QResizeEvent * event)
{
QMainWindow::resizeEvent(event);
}
QString MainWindow::getWindowStateKey()
{
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if (UASManager::instance()->getActiveUAS())
{
return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
}
else
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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)
{
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QSettings settings;
settings.beginGroup("QGC_MAINWINDOW");
/*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);
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ui.menuTools->addAction(showAction);*/
// Load dock widget location (default is bottom)
Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));
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//addDockWidget(location, dock);
//dock->hide();
int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
//settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);
settings.endGroup();
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switch (view)
{
case VIEW_ENGINEER:
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dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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break;
case VIEW_FLIGHT:
dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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break;
case VIEW_SIMULATION:
dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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break;
case VIEW_MISSION:
dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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break;
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case VIEW_MAVLINK:
dock = createDockWidget(mavlinkView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
break;
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default:
dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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break;
}
// XXX temporary "fix"
dock->hide();
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//createDockWidget(0,tool,tool->getTitle(),tool->objectName(),view,location);
}
}
}
void MainWindow::buildCommonWidgets()
{
// Add generic MAVLink decoder
mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
// Log player
logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar);
customStatusBar->setLogPlayer(logPlayer);
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// Center widgets
if (!plannerView)
{
plannerView = new SubMainWindow(this);
plannerView->setObjectName("VIEW_MISSION");
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plannerView->setCentralWidget(new QGCMapTool(this));
addToCentralStackedWidget(plannerView, VIEW_MISSION, "Maps");
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}
//pilotView (aka Flight or Mission View)
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if (!pilotView)
{
pilotView = new SubMainWindow(this);
pilotView->setObjectName("VIEW_FLIGHT");
pilotView->setCentralWidget(new QGCMapTool(this));
addToCentralStackedWidget(pilotView, VIEW_FLIGHT, "Pilot");
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}
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");
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}
if (!softwareConfigView)
{
softwareConfigView = new SubMainWindow(this);
softwareConfigView->setObjectName("VIEW_SOFTWARE_CONFIG");
softwareConfigView->setCentralWidget(new ApmSoftwareConfig(this));
addToCentralStackedWidget(softwareConfigView, VIEW_SOFTWARE_CONFIG, "Software");
}
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"));
}
} else {
if (!configView)
{
configView = new SubMainWindow(this);
configView->setObjectName("VIEW_HARDWARE_CONFIG");
configView->setCentralWidget(new QGCConfigView(this));
addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Config");
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}
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if (!engineeringView)
{
engineeringView = new SubMainWindow(this);
engineeringView->setObjectName("VIEW_ENGINEER");
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engineeringView->setCentralWidget(new QGCDataPlot2D(this));
addToCentralStackedWidget(engineeringView, VIEW_ENGINEER, tr("Logfile Plot"));
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}
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if (!mavlinkView)
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{
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mavlinkView = new SubMainWindow(this);
mavlinkView->setObjectName("VIEW_MAVLINK");
mavlinkView->setCentralWidget(new XMLCommProtocolWidget(this));
addToCentralStackedWidget(mavlinkView, VIEW_MAVLINK, tr("Mavlink Generator"));
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}
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if (!simView)
{
simView = new SubMainWindow(this);
simView->setObjectName("VIEW_SIMULATOR");
simView->setCentralWidget(new QGCMapTool(this));
addToCentralStackedWidget(simView, VIEW_SIMULATION, tr("Simulation View"));
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}
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QAction* tempAction = ui.menuTools->addAction(tr("Control"));
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
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createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
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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);
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{
//createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
QAction* tempAction = ui.menuTools->addAction(tr("Mission Plan"));
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
menuToDockNameMap[tempAction] = "WAYPOINT_LIST_DOCKWIDGET";
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}
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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);
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createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
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{
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QAction* tempAction = ui.menuTools->addAction(tr("Status Details"));
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menuToDockNameMap[tempAction] = "UAS_STATUS_DETAILS_DOCKWIDGET";
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tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
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}
{
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if (!debugConsole)
{
debugConsole = new DebugConsole();
debugConsole->setWindowTitle("Communications Console");
debugConsole->hide();
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QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
//menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),debugConsole,SLOT(setShown(bool)));
}
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}
createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
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QAction* tempAction = ui.menuTools->addAction(tr("Flight Display"));
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
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QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status"));
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
{
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QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
tempAction->setCheckable(true);
connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
}
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createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
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QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
infoview->addSource(mavlinkDecoder);
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createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
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//createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
// createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
// createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
// pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
// pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
//UASRawStatusView *view = new UASRawStatusView();
//view->setDecoder(mavlinkDecoder);
//view->show();
//hddisplay->addSource(mavlinkDecoder);
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//createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
//pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
//pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);
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//createDockWidget(pilotView,new UASActionsWidget(this),tr("Actions"),"UNMANNED_SYSTEM_ACTION_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
// Custom widgets, added last to all menus and layouts
buildCustomWidget();
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/*if (!protocolWidget)
{
protocolWidget = new XMLCommProtocolWidget(this);
addCentralWidget(protocolWidget, "Mavlink Generator");
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}*/
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// if (!firmwareUpdateWidget)
// {
// firmwareUpdateWidget = new QGCFirmwareUpdate(this);
// addCentralWidget(firmwareUpdateWidget, "Firmware Update");
// }
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/*if (!hudWidget)
{
hudWidget = new HUD(320, 240, this);
addCentralWidget(hudWidget, tr("Head Up Display"));
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}*/
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/*if (!configWidget)
{
configWidget = new QGCVehicleConfig(this);
addCentralWidget(configWidget, tr("Vehicle Configuration"));
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}*/
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/*if (!dataplotWidget)
{
dataplotWidget = new QGCDataPlot2D(this);
addCentralWidget(dataplotWidget, tr("Logfile Plot"));
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}*/
#ifdef QGC_OSG_ENABLED
q3DWidget = Q3DWidgetFactory::get("PIXHAWK", this);
q3DWidget->setObjectName("VIEW_3DWIDGET");
addToCentralStackedWidget(q3DWidget, VIEW_3DWIDGET, tr("Local 3D"));
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#if (defined _MSC_VER) /*| (defined Q_OS_MAC) mac os doesn't support gearth right now */
if (!gEarthWidget)
{
earthWidget = new QGCGoogleEarthView(this);
addToCentralStackedWidget(earthWidget,VIEW_GOOGLEEARTH, tr("Google Earth"));
}
#endif
}
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void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
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QList<QAction*> actionlist = ui.menuTools->actions();
bool found = false;
QAction *targetAction;
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for (int i=0;i<actionlist.size();i++)
{
if (actionlist[i]->text() == title)
{
found = true;
targetAction = actionlist[i];
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}
}
if (!found)
{
QAction* tempAction = ui.menuTools->addAction(title);
tempAction->setCheckable(true);
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menuToDockNameMap[tempAction] = widget->objectName();
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if (!centralWidgetToDockWidgetsMap.contains(view))
{
centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
}
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centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
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connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
tempAction->setChecked(widget->isVisible());
}
else
{
if (!menuToDockNameMap.contains(targetAction))
{
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menuToDockNameMap[targetAction] = widget->objectName();
//menuToDockNameMap[targetAction] = title;
}
if (!centralWidgetToDockWidgetsMap.contains(view))
{
centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
}
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centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
connect(widget, SIGNAL(visibilityChanged(bool)), targetAction, SLOT(setChecked(bool)));
}
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parent->addDockWidget(area,widget);
QDockWidget* MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
{
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child->setObjectName(objectname);
QDockWidget *widget = new QDockWidget(title,this);
dockWidgets.append(widget);
setDockWidgetTitleBar(widget);
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widget->setObjectName(child->objectName());
widget->setWidget(child);
if (minheight != 0 || minwidth != 0)
{
widget->setMinimumHeight(minheight);
widget->setMinimumWidth(minwidth);
}
addTool(qobject_cast<SubMainWindow*>(parent),view,widget,title,area);
}
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void MainWindow::loadDockWidget(QString name)
{
if (centralWidgetToDockWidgetsMap[currentView].contains(name))
{
return;
}
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if (name.startsWith("HIL_CONFIG"))
{
//It's a HIL widget.
showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
}
else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
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{
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 == "UAS_STATUS_DETAILS_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
{
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//This is now a permanently detached window.
//centralWidgetToDockWidgetsMap[currentView][name] = console;
//createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
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}
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")
{
//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");
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")
{
//FIXME: memory of acceptList2 will never be freed again
QStringList* acceptList2 = new QStringList();
acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");
HDDisplay *hddisplay = new HDDisplay(acceptList2,"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";
//createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
}
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else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
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{
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// createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
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}
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else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
{
createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
}
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else
{
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if (customWidgetNameToFilenameMap.contains(name))
{
loadCustomWidget(customWidgetNameToFilenameMap[name],currentView);
//customWidgetNameToFilenameMap.remove(name);
}
else
{
qDebug() << "Error loading window:" << name;
}
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}
}
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void MainWindow::setDockWidgetTitleBar(QDockWidget* widget)
{
QWidget* oldTitleBar = widget->titleBarWidget();
// In advanced mode, we use the default titlebar provided by Qt.
if (isAdvancedMode)
{
widget->setTitleBarWidget(0);
}
// Otherwise, if just a textlabel should be shown, make that the titlebar.
else if (dockWidgetTitleBarEnabled)
{
QLabel* label = new QLabel(this);
label->setText(widget->windowTitle());
label->installEventFilter(new DockWidgetTitleBarEventFilter());
widget->setTitleBarWidget(label);
}
// And if nothing should be shown, use an empty widget.
else
{
QWidget* newTitleBar = new QWidget(this);
widget->setTitleBarWidget(newTitleBar);
}
// Be sure to clean up the old titlebar. When using QDockWidget::setTitleBarWidget(),
// it doesn't delete the old titlebar object.
if (oldTitleBar)
{
delete oldTitleBar;
}
}
void MainWindow::showTool(bool show)
{
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//Called when a menu item is clicked on, regardless of view.
QAction* act = qobject_cast<QAction *>(sender());
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if (menuToDockNameMap.contains(act))
{
QString name = menuToDockNameMap[act];
if (centralWidgetToDockWidgetsMap.contains(currentView))
{
if (centralWidgetToDockWidgetsMap[currentView].contains(name))
{
if (show)
{
centralWidgetToDockWidgetsMap[currentView][name]->show();
}
else
{
centralWidgetToDockWidgetsMap[currentView][name]->hide();
}
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}
else if (show)
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{
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loadDockWidget(name);
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}
}
}
//QWidget* widget = qVariantValue<QWidget *>(act->data());
//widget->setVisible(show);
}
/*void addToolByName(QString name,SubMainWindow parent,const QString& title, Qt::DockWidgetArea area)
{
if (name == "Control")
{
QDockWidget *widget = new QDockWidget(tr("Control"),this);
dockToTitleBarMap[widget] = widget->titleBarWidget();
widget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
widget->setWidget(new UASControlWidget(this));
addTool(parent,VIEW_SIMULATION,widget,tr("Control"),area);
}
}*/
void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title)
Q_ASSERT(widget->objectName().length() != 0);
// Check if this widget already has been added
if (centerStack->indexOf(widget) == -1)
{
centerStack->addWidget(widget);
centralWidgetToDockWidgetsMap[viewSection] = QMap<QString,QWidget*>();
}
}
void MainWindow::showCentralWidget()
{
QAction* act = qobject_cast<QAction *>(sender());
QWidget* widget = qVariantValue<QWidget *>(act->data());
centerStack->setCurrentWidget(widget);
}
void MainWindow::showHILConfigurationWidget(UASInterface* uas)
{
// Add simulation configuration widget
UAS* mav = dynamic_cast<UAS*>(uas);
if (mav && !hilDocks.contains(mav->getUASID()))
//QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
//createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
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QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
hilDocks.insert(mav->getUASID(), hilDock);
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// if (currentView != VIEW_SIMULATION)
// hilDock->hide();
// else
// hilDock->show();
}
}
void MainWindow::closeEvent(QCloseEvent *event)