MainWindow.cc 21.4 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5 6 7
(c) 2009, 2010 QGROUNDCONTROL/PIXHAWK PROJECT
<http://www.qgroundcontrol.org>
<http://pixhawk.ethz.ch>
pixhawk's avatar
pixhawk committed
8

9
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
10

11
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
12 13 14 15
    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.

16
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
17 18 19 20 21
    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
22
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
23 24 25 26 27

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

/**
 * @file
28
 *   @brief Implementation of class MainWindow
29
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48
 */

#include <QSettings>
#include <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>

#include "MG.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
pixhawk's avatar
pixhawk committed
49
#include "GAudioOutput.h"
pixhawk's avatar
pixhawk committed
50

lm's avatar
lm committed
51 52 53 54
// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"

pixhawk's avatar
pixhawk committed
55 56 57 58 59 60 61 62 63 64

#include "LogCompressor.h"

/**
* 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()
**/
65
MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent),
pixhawk's avatar
pixhawk committed
66
settings()
pixhawk's avatar
pixhawk committed
67
{
68 69 70
    this->hide();
    this->setVisible(false);

pixhawk's avatar
pixhawk committed
71 72 73 74 75 76 77
    mavlink = new MAVLinkProtocol();

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

    // Initialize views, NOT show them yet, only initialize model and controller
    centerStack = new QStackedWidget(this);
78
    linechart = new Linecharts(this);
79
    linechart->setActive(false);
80 81
    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), linechart, SLOT(addSystem(UASInterface*)));
    connect(UASManager::instance(), SIGNAL(activeUASSet(int)), linechart, SLOT(selectSystem(int)));
pixhawk's avatar
pixhawk committed
82 83 84 85 86 87 88 89 90 91
    centerStack->addWidget(linechart);
    control = new UASControlWidget(this);
    //controlDock = new QDockWidget(this);
    //controlDock->setWidget(control);
    list = new UASListWidget(this);
    list->setVisible(false);
    waypoints = new WaypointList(this, NULL);
    waypoints->setVisible(false);
    info = new UASInfoWidget(this);
    info->setVisible(false);
lm's avatar
lm committed
92
    detection = new ObjectDetectionView("patterns", this);
pixhawk's avatar
pixhawk committed
93 94 95 96 97 98 99 100 101
    detection->setVisible(false);
    hud = new HUD(640, 480, this);
    hud->setVisible(false);
    debugConsole = new DebugConsole(this);
    debugConsole->setVisible(false);
    map = new MapWidget(this);
    map->setVisible(false);
    protocol = new XMLCommProtocolWidget(this);
    protocol->setVisible(false);
102
    centerStack->addWidget(protocol);
pixhawk's avatar
pixhawk committed
103 104
    parameters = new ParameterInterface(this);
    parameters->setVisible(false);
105
    watchdogControl = new WatchdogControl(this);
106
    watchdogControl->setVisible(false);
107 108
    hsi = new HSIDisplay(this);
    hsi->setVisible(false);
pixhawk's avatar
pixhawk committed
109 110 111 112 113

    QStringList* acceptList = new QStringList();
    acceptList->append("roll IMU");
    acceptList->append("pitch IMU");
    acceptList->append("yaw IMU");
lm's avatar
lm committed
114 115 116
    acceptList->append("rollspeed IMU");
    acceptList->append("pitchspeed IMU");
    acceptList->append("yawspeed IMU");
pixhawk's avatar
pixhawk committed
117
    headDown1 = new HDDisplay(acceptList, this);
pixhawk's avatar
pixhawk committed
118
    headDown1->setVisible(false);
pixhawk's avatar
pixhawk committed
119 120 121 122 123 124

    QStringList* acceptList2 = new QStringList();
    acceptList2->append("Battery");
    acceptList2->append("Pressure");
    headDown2 = new HDDisplay(acceptList2, this);
    headDown2->setVisible(false);
pixhawk's avatar
pixhawk committed
125 126 127 128 129 130 131
    centerStack->addWidget(map);
    centerStack->addWidget(hud);
    setCentralWidget(centerStack);

    // Get IPs
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();

pixhawk's avatar
pixhawk committed
132
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
lm's avatar
lm committed
133

pixhawk's avatar
pixhawk committed
134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164
    windowname.append(" (" + QHostInfo::localHostName() + ": ");
    bool prevAddr = false;
    for (int i = 0; i < hostAddresses.size(); i++)
    {
        // Exclude loopback IPv4 and all IPv6 addresses
        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
        {
            if(prevAddr) windowname.append("/");
            windowname.append(hostAddresses.at(i).toString());
            prevAddr = true;
        }
    }

    windowname.append(")");

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

    // Add status bar
    setStatusBar(createStatusBar());

    // Set the application style (not the same as a style sheet)
    // Set the style to Plastique
    qApp->setStyle("plastique");
    // Set style sheet as last step
    reloadStylesheet();

    joystick = new JoystickInput();

165 166 167
    // Create actions
    connectActions();

168 169 170 171 172
    // Load widgets and show application window
    loadWidgets();

    // Adjust the size
    adjustSize();
lm's avatar
lm committed
173 174

    //
pixhawk's avatar
pixhawk committed
175
    connect(mavlink, SIGNAL(receiveLossChanged(int, float)), info, SLOT(updateSendLoss(int, float)));
pixhawk's avatar
pixhawk committed
176 177
}

pixhawk's avatar
pixhawk committed
178
MainWindow::~MainWindow()
pixhawk's avatar
pixhawk committed
179 180 181 182 183
{
    delete statusBar;
    statusBar = NULL;
}

pixhawk's avatar
pixhawk committed
184
QStatusBar* MainWindow::createStatusBar()
pixhawk's avatar
pixhawk committed
185 186 187 188 189 190 191 192
{
    QStatusBar* bar = new QStatusBar();
    /* Add status fields and messages */
    /* Enable resize grip in the bottom right corner */
    bar->setSizeGripEnabled(true);
    return bar;
}

pixhawk's avatar
pixhawk committed
193
void MainWindow::startVideoCapture()
pixhawk's avatar
pixhawk committed
194 195 196 197 198 199 200 201 202 203 204
{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

    QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
                                                          initialPath,
                                                          tr("%1 Files (*.%2);;All Files (*)")
                                                          .arg(format.toUpper())
                                                          .arg(format));
    delete videoTimer;
    videoTimer = new QTimer(this);
205 206 207
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
pixhawk's avatar
pixhawk committed
208 209
}

pixhawk's avatar
pixhawk committed
210
void MainWindow::stopVideoCapture()
pixhawk's avatar
pixhawk committed
211 212 213 214 215 216
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

pixhawk's avatar
pixhawk committed
217
void MainWindow::saveScreen()
pixhawk's avatar
pixhawk committed
218 219 220 221 222 223 224 225 226 227
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

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

228 229 230 231 232 233
/**
 * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
 * directory (which by default does not exist). If it fails, it will load the bundled default CSS
 * from memory.
 * To customize the application, just create a qgroundcontrol.css file in the application directory
 */
pixhawk's avatar
pixhawk committed
234
void MainWindow::reloadStylesheet()
pixhawk's avatar
pixhawk committed
235 236
{
    // Load style sheet
237 238 239 240 241 242 243 244
    QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":/images/style-mission.css");
    }
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) {
        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
pixhawk's avatar
pixhawk committed
245 246
        qApp->setStyleSheet(style);
    } else {
247
        qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
pixhawk's avatar
pixhawk committed
248
    }
249
    delete styleSheet;
pixhawk's avatar
pixhawk committed
250 251
}

pixhawk's avatar
pixhawk committed
252
void MainWindow::showStatusMessage(const QString& status, int timeout)
pixhawk's avatar
pixhawk committed
253 254 255 256
{
    statusBar->showMessage(status, timeout);
}

257
void MainWindow::showStatusMessage(const QString& status)
pixhawk's avatar
pixhawk committed
258
{
259
    statusBar->showMessage(status, 5);
pixhawk's avatar
pixhawk committed
260 261 262 263 264 265
}

/**
* @brief Create all actions associated to the main window
*
**/
pixhawk's avatar
pixhawk committed
266
void MainWindow::connectActions()
pixhawk's avatar
pixhawk committed
267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286
{
    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));

    // Connect internal actions
    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));

    // Connect user interface controls
    connect(ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS()));
    connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
    connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
    connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));

    connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));

    // User interface actions
    connect(ui.actionPilotView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
    connect(ui.actionSettingsView, SIGNAL(triggered()), this, SLOT(loadSettingsView()));
287
    connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
288
    connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
pixhawk's avatar
pixhawk committed
289 290 291 292 293 294
    connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));

    // Joystick configuration
    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
}

pixhawk's avatar
pixhawk committed
295
void MainWindow::configure()
pixhawk's avatar
pixhawk committed
296 297 298 299
{
    joystickWidget = new JoystickWidget(joystick, this);
}

pixhawk's avatar
pixhawk committed
300
void MainWindow::addLink()
pixhawk's avatar
pixhawk committed
301 302 303 304 305 306 307 308 309 310 311 312 313 314 315
{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

    LinkManager::instance()->addProtocol(link, mavlink);

    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);

    ui.menuNetwork->addAction(commWidget->getAction());

    commWidget->show();

    // TODO Implement the link removal!
}

pixhawk's avatar
pixhawk committed
316 317 318 319 320 321 322 323 324 325
void MainWindow::addLink(LinkInterface *link)
{
    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
    ui.menuNetwork->addAction(commWidget->getAction());
    LinkManager::instance()->addProtocol(link, mavlink);

    // Special case for simulationlink
    MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
    if (sim)
    {
326
        //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
pixhawk's avatar
pixhawk committed
327 328 329 330
        connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
    }
}

pixhawk's avatar
pixhawk committed
331
void MainWindow::UASCreated(UASInterface* uas)
pixhawk's avatar
pixhawk committed
332 333
{
    // Connect the UAS to the full user interface
lm's avatar
lm committed
334
    //ui.menuConnected_Systems->addAction(QIcon(":/images/mavs/generic.svg"), tr("View ") + uas->getUASName(), uas, SLOT(setSelected()));
pixhawk's avatar
pixhawk committed
335

336 337 338
    // FIXME Should be not inside the mainwindow
    connect(uas, SIGNAL(textMessageReceived(int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,QString)));

pixhawk's avatar
pixhawk committed
339 340 341 342 343 344 345 346 347 348 349 350
    // Health / System status indicator
    info->addUAS(uas);

    // UAS List
    list->addUAS(uas);

    // Camera view
    //camera->addUAS(uas);

    // Revalidate UI
    // TODO Stylesheet reloading should in theory not be necessary
    reloadStylesheet();
lm's avatar
lm committed
351 352 353 354 355 356

    // Check which type this UAS is of
    PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
    if (mav) loadPixhawkView();
    SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
    if (mav2) loadSlugsView();
pixhawk's avatar
pixhawk committed
357 358
}

359 360 361
/**
 * Clears the current view completely
 */
pixhawk's avatar
pixhawk committed
362
void MainWindow::clearView()
pixhawk's avatar
pixhawk committed
363 364 365
{ 
    // Halt HUD
    hud->stop();
366
    linechart->setActive(false);
pixhawk's avatar
pixhawk committed
367 368
    headDown1->stop();
    headDown2->stop();
lm's avatar
lm committed
369
    hsi->stop();
pixhawk's avatar
pixhawk committed
370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389

    // Remove all dock widgets
    QList<QObject*> list = this->children();

    QList<QObject*>::iterator i;
    for (i = list.begin(); i != list.end(); ++i)
    {
        QDockWidget* widget = dynamic_cast<QDockWidget*>(*i);
        if (widget)
        {
            // Hide widgets
            QWidget* childWidget = dynamic_cast<QWidget*>(widget->widget());
            if (childWidget) childWidget->setVisible(false);
            // Remove dock widget
            this->removeDockWidget(widget);
            //delete widget;
        }
    }
}

lm's avatar
lm committed
390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481
void MainWindow::loadSlugsView()
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
    linechart->setActive(true);
    centerStack->setCurrentWidget(linechart);

    // UAS CONTROL
    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
    container1->setWidget(control);
    addDockWidget(Qt::LeftDockWidgetArea, container1);

    // UAS LIST
    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
    container4->setWidget(list);
    addDockWidget(Qt::BottomDockWidgetArea, container4);

    // UAS STATUS
    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
    container3->setWidget(info);
    addDockWidget(Qt::LeftDockWidgetArea, container3);

    // HORIZONTAL SITUATION INDICATOR
    QDockWidget* container6 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    container6->setWidget(hsi);
    hsi->start();
    addDockWidget(Qt::LeftDockWidgetArea, container6);

    // WAYPOINT LIST
    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
    container5->setWidget(waypoints);
    addDockWidget(Qt::BottomDockWidgetArea, container5);

    // DEBUG CONSOLE
    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
    container7->setWidget(debugConsole);
    addDockWidget(Qt::BottomDockWidgetArea, container7);

    // ONBOARD PARAMETERS
    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
    containerParams->setWidget(parameters);
    addDockWidget(Qt::RightDockWidgetArea, containerParams);


    this->show();
}

void MainWindow::loadPixhawkView()
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
    linechart->setActive(true);
    centerStack->setCurrentWidget(linechart);

    // UAS CONTROL
    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
    container1->setWidget(control);
    addDockWidget(Qt::LeftDockWidgetArea, container1);

    // UAS LIST
    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
    container4->setWidget(list);
    addDockWidget(Qt::BottomDockWidgetArea, container4);

    // UAS STATUS
    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
    container3->setWidget(info);
    addDockWidget(Qt::LeftDockWidgetArea, container3);

    // WAYPOINT LIST
    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
    container5->setWidget(waypoints);
    addDockWidget(Qt::BottomDockWidgetArea, container5);

    // DEBUG CONSOLE
    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
    container7->setWidget(debugConsole);
    addDockWidget(Qt::BottomDockWidgetArea, container7);

    // ONBOARD PARAMETERS
    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
    containerParams->setWidget(parameters);
    addDockWidget(Qt::RightDockWidgetArea, containerParams);


    this->show();
}

pixhawk's avatar
pixhawk committed
482
void MainWindow::loadPilotView()
pixhawk's avatar
pixhawk committed
483 484 485 486 487 488 489 490
{
    clearView();

    // HEAD UP DISPLAY
    centerStack->setCurrentWidget(hud);
    hud->start();

    //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
pixhawk's avatar
pixhawk committed
491
    QDockWidget* container1 = new QDockWidget(tr("Primary Flight Display"), this);
pixhawk's avatar
pixhawk committed
492 493 494
    container1->setWidget(headDown1);
    addDockWidget(Qt::RightDockWidgetArea, container1);

pixhawk's avatar
pixhawk committed
495
    QDockWidget* container2 = new QDockWidget(tr("Payload Status"), this);
pixhawk's avatar
pixhawk committed
496 497
    container2->setWidget(headDown2);
    addDockWidget(Qt::RightDockWidgetArea, container2);
pixhawk's avatar
pixhawk committed
498 499 500 501

    headDown1->start();
    headDown2->start();

pixhawk's avatar
pixhawk committed
502 503 504
    this->show();
}

pixhawk's avatar
pixhawk committed
505
void MainWindow::loadOperatorView()
pixhawk's avatar
pixhawk committed
506 507 508
{
    clearView();

509
    // MAP
pixhawk's avatar
pixhawk committed
510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531
    centerStack->setCurrentWidget(map);

    // UAS CONTROL
    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
    container1->setWidget(control);
    addDockWidget(Qt::LeftDockWidgetArea, container1);

    // UAS LIST
    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
    container4->setWidget(list);
    addDockWidget(Qt::BottomDockWidgetArea, container4);

    // UAS STATUS
    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
    container3->setWidget(info);
    addDockWidget(Qt::LeftDockWidgetArea, container3);

    // WAYPOINT LIST
    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
    container5->setWidget(waypoints);
    addDockWidget(Qt::BottomDockWidgetArea, container5);

lm's avatar
lm committed
532 533 534 535
    // HORIZONTAL SITUATION INDICATOR
    QDockWidget* container7 = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    container7->setWidget(hsi);
    hsi->start();
pixhawk's avatar
pixhawk committed
536 537 538 539 540 541 542
    addDockWidget(Qt::BottomDockWidgetArea, container7);

    // OBJECT DETECTION
    QDockWidget* container6 = new QDockWidget(tr("Object Recognition"), this);
    container6->setWidget(detection);
    addDockWidget(Qt::RightDockWidgetArea, container6);

pixhawk's avatar
pixhawk committed
543 544 545 546
    // PROCESS CONTROL
    QDockWidget* pControl = new QDockWidget(tr("Process Control"), this);
    pControl->setWidget(watchdogControl);
    addDockWidget(Qt::RightDockWidgetArea, pControl);
pixhawk's avatar
pixhawk committed
547 548 549
    this->show();
}

pixhawk's avatar
pixhawk committed
550
void MainWindow::loadSettingsView()
pixhawk's avatar
pixhawk committed
551 552 553 554
{
    clearView();

    // LINE CHART
555
    linechart->setActive(true);
pixhawk's avatar
pixhawk committed
556 557
    centerStack->setCurrentWidget(linechart);

558
    /*
pixhawk's avatar
pixhawk committed
559 560 561
    // COMM XML
    QDockWidget* container1 = new QDockWidget(tr("MAVLink XML to C Code Generator"), this);
    container1->setWidget(protocol);
562
    addDockWidget(Qt::LeftDockWidgetArea, container1);*/
pixhawk's avatar
pixhawk committed
563 564 565 566 567

    // ONBOARD PARAMETERS
    QDockWidget* container6 = new QDockWidget(tr("Onboard Parameters"), this);
    container6->setWidget(parameters);
    addDockWidget(Qt::RightDockWidgetArea, container6);
568
    this->show();
pixhawk's avatar
pixhawk committed
569 570
}

pixhawk's avatar
pixhawk committed
571
void MainWindow::loadEngineerView()
pixhawk's avatar
pixhawk committed
572 573 574 575 576
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
577
    linechart->setActive(true);
pixhawk's avatar
pixhawk committed
578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594
    centerStack->setCurrentWidget(linechart);

    // UAS CONTROL
    QDockWidget* container1 = new QDockWidget(tr("Control"), this);
    container1->setWidget(control);
    addDockWidget(Qt::LeftDockWidgetArea, container1);

    // UAS LIST
    QDockWidget* container4 = new QDockWidget(tr("Unmanned Systems"), this);
    container4->setWidget(list);
    addDockWidget(Qt::BottomDockWidgetArea, container4);

    // UAS STATUS
    QDockWidget* container3 = new QDockWidget(tr("Status Details"), this);
    container3->setWidget(info);
    addDockWidget(Qt::LeftDockWidgetArea, container3);

lm's avatar
lm committed
595 596 597 598
    // WAYPOINT LIST
    QDockWidget* container5 = new QDockWidget(tr("Waypoint List"), this);
    container5->setWidget(waypoints);
    addDockWidget(Qt::BottomDockWidgetArea, container5);
pixhawk's avatar
pixhawk committed
599 600 601 602 603 604

    // DEBUG CONSOLE
    QDockWidget* container7 = new QDockWidget(tr("Communication Console"), this);
    container7->setWidget(debugConsole);
    addDockWidget(Qt::BottomDockWidgetArea, container7);

lm's avatar
lm committed
605 606 607 608 609 610
    // ONBOARD PARAMETERS
    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
    containerParams->setWidget(parameters);
    addDockWidget(Qt::RightDockWidgetArea, containerParams);


pixhawk's avatar
pixhawk committed
611 612 613
    this->show();
}

614 615 616 617
void MainWindow::loadMAVLinkView()
{
    clearView();
    centerStack->setCurrentWidget(protocol);
618
    this->show();
619 620
}

621 622
void MainWindow::loadAllView()
{
623 624 625 626 627 628 629 630 631
    clearView();

    QDockWidget* containerPFD = new QDockWidget(tr("Primary Flight Display"), this);
    containerPFD->setWidget(headDown1);
    addDockWidget(Qt::RightDockWidgetArea, containerPFD);

    QDockWidget* containerPayload = new QDockWidget(tr("Payload Status"), this);
    containerPayload->setWidget(headDown2);
    addDockWidget(Qt::RightDockWidgetArea, containerPayload);
632

633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675
    headDown1->start();
    headDown2->start();

    // UAS CONTROL
    QDockWidget* containerControl = new QDockWidget(tr("Control"), this);
    containerControl->setWidget(control);
    addDockWidget(Qt::LeftDockWidgetArea, containerControl);

    // UAS LIST
    QDockWidget* containerUASList = new QDockWidget(tr("Unmanned Systems"), this);
    containerUASList->setWidget(list);
    addDockWidget(Qt::BottomDockWidgetArea, containerUASList);

    // UAS STATUS
    QDockWidget* containerStatus = new QDockWidget(tr("Status Details"), this);
    containerStatus->setWidget(info);
    addDockWidget(Qt::LeftDockWidgetArea, containerStatus);

    // WAYPOINT LIST
    QDockWidget* containerWaypoints = new QDockWidget(tr("Waypoint List"), this);
    containerWaypoints->setWidget(waypoints);
    addDockWidget(Qt::BottomDockWidgetArea, containerWaypoints);

    // DEBUG CONSOLE
    QDockWidget* containerComm = new QDockWidget(tr("Communication Console"), this);
    containerComm->setWidget(debugConsole);
    addDockWidget(Qt::BottomDockWidgetArea, containerComm);

    // OBJECT DETECTION
    QDockWidget* containerObjRec = new QDockWidget(tr("Object Recognition"), this);
    containerObjRec->setWidget(detection);
    addDockWidget(Qt::RightDockWidgetArea, containerObjRec);

    // LINE CHART
    linechart->setActive(true);
    centerStack->setCurrentWidget(linechart);

    // ONBOARD PARAMETERS
    QDockWidget* containerParams = new QDockWidget(tr("Onboard Parameters"), this);
    containerParams->setWidget(parameters);
    addDockWidget(Qt::RightDockWidgetArea, containerParams);

    this->show();
676 677
}

pixhawk's avatar
pixhawk committed
678
void MainWindow::loadWidgets()
pixhawk's avatar
pixhawk committed
679
{
680 681
    //loadOperatorView();
    loadEngineerView();
pixhawk's avatar
pixhawk committed
682 683
    //loadPilotView();
}