QGCApplication.cc 26.8 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>
pixhawk's avatar
pixhawk committed
27

dogmaphobic's avatar
dogmaphobic committed
28 29 30 31
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

32 33
#include <QDebug>

34
#include "VideoStreaming.h"
Gus Grubba's avatar
Gus Grubba committed
35

36
#include "QGC.h"
Don Gagne's avatar
Don Gagne committed
37
#include "QGCApplication.h"
pixhawk's avatar
pixhawk committed
38
#include "GAudioOutput.h"
39
#include "CmdLineOptParser.h"
40 41
#include "UDPLink.h"
#include "LinkManager.h"
42
#include "HomePositionManager.h"
43
#include "UASMessageHandler.h"
44
#include "AutoPilotPluginManager.h"
45
#include "QGCTemporaryFile.h"
46
#include "QGCPalette.h"
Don Gagne's avatar
Don Gagne committed
47
#include "QGCMapPalette.h"
48
#include "QGCLoggingCategory.h"
Don Gagne's avatar
Don Gagne committed
49 50
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
Don Gagne's avatar
Don Gagne committed
51
#include "CustomCommandWidgetController.h"
Don Gagne's avatar
Don Gagne committed
52 53
#include "PX4AdvancedFlightModesController.h"
#include "PX4SimpleFlightModesController.h"
Don Gagne's avatar
Don Gagne committed
54
#include "APMFlightModesComponentController.h"
Don Gagne's avatar
Don Gagne committed
55 56
#include "AirframeComponentController.h"
#include "SensorsComponentController.h"
Don Gagne's avatar
Don Gagne committed
57
#include "APMSensorsComponentController.h"
58
#include "PowerComponentController.h"
Don Gagne's avatar
Don Gagne committed
59
#include "RadioComponentController.h"
dogmaphobic's avatar
dogmaphobic committed
60
#include "ESP8266ComponentController.h"
Don Gagne's avatar
Don Gagne committed
61
#include "ScreenToolsController.h"
Don Gagne's avatar
Don Gagne committed
62
#include "QGCMobileFileDialogController.h"
Don Gagne's avatar
Don Gagne committed
63
#include "RCChannelMonitorController.h"
64 65
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
Don Gagne's avatar
Don Gagne committed
66
#include "FirmwarePluginManager.h"
67
#include "MultiVehicleManager.h"
68
#include "APM/ArduCopterFirmwarePlugin.h"
69 70
#include "APM/ArduPlaneFirmwarePlugin.h"
#include "APM/ArduRoverFirmwarePlugin.h"
71
#include "APM/APMAirframeComponentController.h"
Don Gagne's avatar
Don Gagne committed
72
#include "PX4/PX4FirmwarePlugin.h"
73
#include "Vehicle.h"
74
#include "MavlinkQmlSingleton.h"
75
#include "JoystickManager.h"
76
#include "QmlObjectListModel.h"
Don Gagne's avatar
Don Gagne committed
77
#include "MissionManager.h"
78 79
#include "QGroundControlQmlGlobal.h"
#include "HomePositionManager.h"
80
#include "FlightMapSettings.h"
81 82
#include "QGCQGeoCoordinate.h"
#include "CoordinateVector.h"
83
#include "MainToolBarController.h"
84
#include "MissionController.h"
Don Gagne's avatar
Don Gagne committed
85
#include "MissionCommands.h"
86 87 88
#include "FlightDisplayViewController.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
dogmaphobic's avatar
dogmaphobic committed
89
#include "LogDownloadController.h"
90
#include "PX4AirframeLoader.h"
91
#include "ValuesWidgetController.h"
92
#include "AppMessages.h"
Jimmy Johnson's avatar
Jimmy Johnson committed
93 94 95
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
96 97 98 99 100 101

#ifndef __ios__
    #include "SerialLink.h"
#endif

#ifndef __mobile__
102 103
    #include "QGCFileDialog.h"
    #include "QGCMessageBox.h"
104 105
    #include "FirmwareUpgradeController.h"
    #include "JoystickConfigController.h"
Don Gagne's avatar
Don Gagne committed
106
    #include "MainWindow.h"
107
#endif
108

109
#ifdef QGC_RTLAB_ENABLED
110
    #include "OpalLink.h"
111
#endif
112

Don Gagne's avatar
Don Gagne committed
113 114 115 116 117 118
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif
119 120

QGCApplication* QGCApplication::_app = NULL;
pixhawk's avatar
pixhawk committed
121

Don Gagne's avatar
Don Gagne committed
122 123 124 125
const char* QGCApplication::parameterFileExtension =    "params";
const char* QGCApplication::missionFileExtension =      "mission";
const char* QGCApplication::telemetryFileExtension =     "tlog";

126 127 128 129 130
const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
const char* QGCApplication::_promptFlightDataSave           = "PromptFLightDataSave";
const char* QGCApplication::_promptFlightDataSaveNotArmed   = "PromptFLightDataSaveNotArmed";
const char* QGCApplication::_styleKey                       = "StyleIsDark";
131 132 133
const char* QGCApplication::_lastKnownHomePositionLatKey    = "LastKnownHomePositionLat";
const char* QGCApplication::_lastKnownHomePositionLonKey    = "LastKnownHomePositionLon";
const char* QGCApplication::_lastKnownHomePositionAltKey    = "LastKnownHomePositionAlt";
Don Gagne's avatar
Don Gagne committed
134

dogmaphobic's avatar
dogmaphobic committed
135 136
const char* QGCApplication::_darkStyleFile          = ":/res/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile         = ":/res/styles/style-light.css";
137

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
}

146 147 148 149 150
static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
{
    return new MavlinkQmlSingleton;
}

151 152
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
153
    // We create this object as a QGCTool even though it isn't in the toolbox
154 155 156 157
    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp());
    qmlGlobal->setToolbox(qgcApp()->toolbox());

    return qmlGlobal;
158 159
}

pixhawk's avatar
pixhawk committed
160 161 162 163 164 165 166 167 168 169
/**
 * @brief Constructor for the main application.
 *
 * This constructor initializes and starts the whole application. It takes standard
 * command-line parameters
 *
 * @param argc The number of command-line parameters
 * @param argv The string array of parameters
 **/

170
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
Don Gagne's avatar
Don Gagne committed
171 172 173 174
#ifdef __mobile__
    : QGuiApplication(argc, argv)
    , _qmlAppEngine(NULL)
#else
175
    : QApplication(argc, argv)
Don Gagne's avatar
Don Gagne committed
176
#endif
177
    , _runningUnitTests(unitTesting)
dogmaphobic's avatar
dogmaphobic committed
178 179 180
#if defined (__mobile__)
    , _styleIsDark(false)
#else
181
    , _styleIsDark(true)
dogmaphobic's avatar
dogmaphobic committed
182
#endif
dogmaphobic's avatar
dogmaphobic committed
183
    , _fakeMobile(false)
184 185 186
#ifdef QT_DEBUG
    , _testHighDPI(false)
#endif
187
    , _toolbox(NULL)
dogmaphobic's avatar
dogmaphobic committed
188
    , _bluetoothAvailable(false)
189
    , _lastKnownHomePosition(37.803784, -122.462276, 0.0)
pixhawk's avatar
pixhawk committed
190
{
191 192
    Q_ASSERT(_app == NULL);
    _app = this;
193

194
    // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
dogmaphobic's avatar
dogmaphobic committed
195
#ifndef __android__
196
    setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
dogmaphobic's avatar
dogmaphobic committed
197
#endif
dogmaphobic's avatar
dogmaphobic committed
198

199 200
#ifdef Q_OS_LINUX
#ifndef __mobile__
201 202 203 204 205 206 207 208 209 210 211 212 213 214
    if (!_runningUnitTests) {
        if (getuid() == 0) {
            QMessageBox msgBox;
            msgBox.setInformativeText("You are runnning QGroundControl as root. "
                                      "You should not do this since it will cause other issues with QGroundControl. "
                                      "QGroundControl will now exit. "
                                      "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
                                      "sudo usermod -a -G dialout $USER\n"
                                      "sudo apt-get remove modemmanager");
            msgBox.setStandardButtons(QMessageBox::Ok);
            msgBox.setDefaultButton(QMessageBox::Ok);
            msgBox.exec();
            _exit(0);
        }
215

216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232
        // 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"))) {
                    QMessageBox msgBox;
                    msgBox.setInformativeText("The current user does not have the correct permissions to access serial devices. "
                                              "You should also remove modemmanager since it also interferes. "
                                              "If you are using Ubuntu, execute the following commands to fix these issues:\n"
                                              "sudo usermod -a -G dialout $USER\n"
                                              "sudo apt-get remove modemmanager");
                    msgBox.setStandardButtons(QMessageBox::Ok);
                    msgBox.setDefaultButton(QMessageBox::Ok);
                    msgBox.exec();
                    break;
                }
233
            }
234
            permFile.close();
235 236 237 238 239
        }
    }
#endif
#endif

240
    // Parse command line options
dogmaphobic's avatar
dogmaphobic committed
241

242
    bool fClearSettingsOptions = false; // Clear stored settings
243 244
    bool logging = false;               // Turn on logging
    QString loggingOptions;
dogmaphobic's avatar
dogmaphobic committed
245

246
    CmdLineOpt_t rgCmdLineOptions[] = {
247 248
        { "--clear-settings",   &fClearSettingsOptions, NULL },
        { "--logging",          &logging,               &loggingOptions },
dogmaphobic's avatar
dogmaphobic committed
249
        { "--fake-mobile",      &_fakeMobile,           NULL },
250
#ifdef QT_DEBUG
251
        { "--test-high-dpi",    &_testHighDPI,          NULL },
252
#endif
253 254
        // Add additional command line option flags here
    };
dogmaphobic's avatar
dogmaphobic committed
255

256
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
257

258
    // Set up timer for delayed missing fact display
Don Gagne's avatar
Don Gagne committed
259 260 261
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
dogmaphobic's avatar
dogmaphobic committed
262

Don Gagne's avatar
Don Gagne committed
263
    // Set application information
264 265 266 267 268 269 270 271 272
    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);
273

274
    QString versionString(GIT_TAG);
Daniel Agar's avatar
Daniel Agar committed
275 276 277 278 279
    // stable versions are on tags (v1.2.3)
    // development versions are full git describe versions (v1.2.3-18-g879e8b3)
    if (versionString.length() > 8) {
        versionString.append(" (Development)");
    }
Don Gagne's avatar
Don Gagne committed
280
    this->setApplicationVersion(versionString);
281

282 283
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
284
    QSettings settings;
285
    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
Don Gagne's avatar
Don Gagne committed
286

287
#ifdef UNITTEST_BUILD
Don Gagne's avatar
Don Gagne committed
288 289 290
    if (!settings.isWritable()) {
        qWarning() << "Setings location is not writable";
    }
291
#endif
292
    // The setting will delete all settings on this boot
Don Gagne's avatar
Don Gagne committed
293
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
294

Don Gagne's avatar
Don Gagne committed
295
    if (_runningUnitTests) {
296
        // Unit tests run with clean settings
Don Gagne's avatar
Don Gagne committed
297 298
        fClearSettingsOptions = true;
    }
299

300 301
    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
302

303
        settings.clear();
304
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
305

306
        // Clear parameter cache
307 308 309
        QDir paramDir(ParameterLoader::parameterCacheDir());
        paramDir.removeRecursively();
        paramDir.mkpath(paramDir.absolutePath());
310
    }
Gus Grubba's avatar
Gus Grubba committed
311

312 313 314
    // Set up our logging filters
    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);

315 316 317
    _lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble());
    _lastKnownHomePosition.setLongitude(settings.value(_lastKnownHomePositionLonKey, -122.462276).toDouble());
    _lastKnownHomePosition.setAltitude(settings.value(_lastKnownHomePositionAltKey, 0.0).toDouble());
Don Gagne's avatar
Don Gagne committed
318

dogmaphobic's avatar
dogmaphobic committed
319 320 321 322 323 324 325 326 327
    // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
    QBluetoothLocalDevice localDevice;
    if (localDevice.isValid())
    {
        _bluetoothAvailable = true;
    }
#endif

328 329
    // Initialize Video Streaming
    initializeVideoStreaming(argc, argv);
330 331

    _toolbox = new QGCToolbox(this);
332 333
}

Don Gagne's avatar
Don Gagne committed
334 335
QGCApplication::~QGCApplication()
{
Don Gagne's avatar
Don Gagne committed
336
#ifndef __mobile__
Don Gagne's avatar
Don Gagne committed
337 338 339 340
    MainWindow* mainWindow = MainWindow::instance();
    if (mainWindow) {
        delete mainWindow;
    }
Don Gagne's avatar
Don Gagne committed
341
#endif
342
    shutdownVideoStreaming();
343
    delete _toolbox;
Don Gagne's avatar
Don Gagne committed
344 345
}

346
void QGCApplication::_initCommon(void)
347 348
{
    QSettings settings;
349

Don Gagne's avatar
Don Gagne committed
350
    // Register our Qml objects
dogmaphobic's avatar
dogmaphobic committed
351

Don Gagne's avatar
Don Gagne committed
352 353
    qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
    qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
dogmaphobic's avatar
dogmaphobic committed
354

Don Gagne's avatar
Don Gagne committed
355 356 357 358 359 360 361
    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                  1, 0, "CoordinateVector",       "Reference only");
    qmlRegisterUncreatableType<MissionCommands>     ("QGroundControl",                  1, 0, "MissionCommands",        "Reference only");
    qmlRegisterUncreatableType<QGCQGeoCoordinate>   ("QGroundControl",                  1, 0, "QGCQGeoCoordinate",      "Reference only");
    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
    qmlRegisterUncreatableType<VideoReceiver>       ("QGroundControl",                  1, 0, "VideoReceiver",          "Reference only");
    qmlRegisterUncreatableType<VideoSurface>        ("QGroundControl",                  1, 0, "VideoSurface",           "Reference only");

362 363 364 365 366 367 368
    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",  1, 0, "AutoPilotPlugin",        "Reference only");
    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",  1, 0, "VehicleComponent",       "Reference only");
    qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",          1, 0, "Vehicle",                "Reference only");
    qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",          1, 0, "MissionItem",            "Reference only");
    qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",          1, 0, "MissionManager",         "Reference only");
    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",  1, 0, "JoystickManager",        "Reference only");
    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",  1, 0, "Joystick",               "Reference only");
Jimmy Johnson's avatar
Jimmy Johnson committed
369
    qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",  1, 0, "QGCPositionManager",  "Reference only");
370

dogmaphobic's avatar
dogmaphobic committed
371
    qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
Don Gagne's avatar
Don Gagne committed
372
    qmlRegisterType<APMFlightModesComponentController>  ("QGroundControl.Controllers", 1, 0, "APMFlightModesComponentController");
Don Gagne's avatar
Don Gagne committed
373 374
    qmlRegisterType<PX4AdvancedFlightModesController>   ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
    qmlRegisterType<PX4SimpleFlightModesController>     ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
375
    qmlRegisterType<APMAirframeComponentController>     ("QGroundControl.Controllers", 1, 0, "APMAirframeComponentController");
Don Gagne's avatar
Don Gagne committed
376
    qmlRegisterType<AirframeComponentController>        ("QGroundControl.Controllers", 1, 0, "AirframeComponentController");
Don Gagne's avatar
Don Gagne committed
377
    qmlRegisterType<APMSensorsComponentController>      ("QGroundControl.Controllers", 1, 0, "APMSensorsComponentController");
Don Gagne's avatar
Don Gagne committed
378 379 380
    qmlRegisterType<SensorsComponentController>         ("QGroundControl.Controllers", 1, 0, "SensorsComponentController");
    qmlRegisterType<PowerComponentController>           ("QGroundControl.Controllers", 1, 0, "PowerComponentController");
    qmlRegisterType<RadioComponentController>           ("QGroundControl.Controllers", 1, 0, "RadioComponentController");
dogmaphobic's avatar
dogmaphobic committed
381
    qmlRegisterType<ESP8266ComponentController>         ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");
Don Gagne's avatar
Don Gagne committed
382 383 384 385
    qmlRegisterType<ScreenToolsController>              ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
    qmlRegisterType<MainToolBarController>              ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
    qmlRegisterType<MissionController>                  ("QGroundControl.Controllers", 1, 0, "MissionController");
    qmlRegisterType<FlightDisplayViewController>        ("QGroundControl.Controllers", 1, 0, "FlightDisplayViewController");
386
    qmlRegisterType<ValuesWidgetController>             ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController");
Don Gagne's avatar
Don Gagne committed
387
    qmlRegisterType<QGCMobileFileDialogController>      ("QGroundControl.Controllers", 1, 0, "QGCMobileFileDialogController");
Don Gagne's avatar
Don Gagne committed
388
    qmlRegisterType<RCChannelMonitorController>         ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
389

Don Gagne's avatar
Don Gagne committed
390
#ifndef __mobile__
391 392
    qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
    qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
393
    qmlRegisterType<FirmwareUpgradeController>      ("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
394
    qmlRegisterType<JoystickConfigController>       ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
dogmaphobic's avatar
dogmaphobic committed
395
    qmlRegisterType<LogDownloadController>          ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
Don Gagne's avatar
Don Gagne committed
396
#endif
dogmaphobic's avatar
dogmaphobic committed
397

398
    // Register Qml Singletons
399 400 401
    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
    qmlRegisterSingletonType<MavlinkQmlSingleton>       ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
402 403 404 405 406
}

bool QGCApplication::_initForNormalAppBoot(void)
{
    QSettings settings;
407

408 409
    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
    _loadCurrentStyle();
Lorenz Meier's avatar
Lorenz Meier committed
410

411
    // Exit main application when last window is closed
412
    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
413

Don Gagne's avatar
Don Gagne committed
414 415 416 417
#ifdef __mobile__
    _qmlAppEngine = new QQmlApplicationEngine(this);
    _qmlAppEngine->addImportPath("qrc:/qml");
    _qmlAppEngine->rootContext()->setContextProperty("joystickManager", toolbox()->joystickManager());
418
    _qmlAppEngine->rootContext()->setContextProperty("debugMessageModel", AppMessages::getModel());
Don Gagne's avatar
Don Gagne committed
419 420
    _qmlAppEngine->load(QUrl(QStringLiteral("qrc:/qml/MainWindowNative.qml")));
#else
pixhawk's avatar
pixhawk committed
421
    // Start the user interface
Lorenz Meier's avatar
Lorenz Meier committed
422
    MainWindow* mainWindow = MainWindow::_create();
Don Gagne's avatar
Don Gagne committed
423
    Q_CHECK_PTR(mainWindow);
424

425
    // Now that main window is up check for lost log files
426
    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
427
    emit checkForLostLogFiles();
Don Gagne's avatar
Don Gagne committed
428
#endif
429 430

    // Load known link configurations
431
    toolbox()->linkManager()->loadLinkConfigurationList();
432

Don Gagne's avatar
Don Gagne committed
433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454
    // Show user an upgrade message if the settings version has been bumped up
    bool settingsUpgraded = false;
    if (settings.contains(_settingsVersionKey)) {
        if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
            settingsUpgraded = true;
        }
    } else if (settings.allKeys().count()) {
        // Settings version key is missing and there are settings. This is an upgrade scenario.
        settingsUpgraded = true;
    } else {
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
    }

    if (settingsUpgraded) {
        settings.clear();
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
        showMessage("The format for QGroundControl saved settings has been modified. "
                    "Your saved settings have been reset to defaults.");
    }

    settings.sync();

455
    return true;
pixhawk's avatar
pixhawk committed
456 457
}

458
bool QGCApplication::_initForUnitTests(void)
pixhawk's avatar
pixhawk committed
459
{
460
    return true;
pixhawk's avatar
pixhawk committed
461 462
}

Don Gagne's avatar
Don Gagne committed
463 464 465 466 467 468 469 470 471 472 473 474 475 476 477
void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

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

bool QGCApplication::promptFlightDataSave(void)
{
    QSettings settings;
478

Don Gagne's avatar
Don Gagne committed
479 480 481
    return settings.value(_promptFlightDataSave, true).toBool();
}

482 483 484 485 486 487 488
bool QGCApplication::promptFlightDataSaveNotArmed(void)
{
    QSettings settings;

    return settings.value(_promptFlightDataSaveNotArmed, false).toBool();
}

Don Gagne's avatar
Don Gagne committed
489 490 491 492 493 494
void QGCApplication::setPromptFlightDataSave(bool promptForSave)
{
    QSettings settings;
    settings.setValue(_promptFlightDataSave, promptForSave);
}

495 496 497 498 499 500
void QGCApplication::setPromptFlightDataSaveNotArmed(bool promptForSave)
{
    QSettings settings;
    settings.setValue(_promptFlightDataSaveNotArmed, promptForSave);
}

Don Gagne's avatar
Don Gagne committed
501 502 503
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
504 505 506 507
    Q_ASSERT(QGCApplication::_app);
    return QGCApplication::_app;
}

508 509
void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
510 511
    Q_UNUSED(title);
    showMessage(msg);
512 513 514 515
}

void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
516 517 518 519
#ifdef __mobile__
    Q_UNUSED(title)
    showMessage(msg);
#else
520
    QGCMessageBox::warning(title, msg);
521
#endif
522 523 524 525
}

void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
526 527 528 529
#ifdef __mobile__
    Q_UNUSED(title)
    showMessage(msg);
#else
530
    QGCMessageBox::critical(title, msg);
531
#endif
532 533
}

534
#ifndef __mobile__
535 536
void QGCApplication::saveTempFlightDataLogOnMainThread(QString tempLogfile)
{
537 538 539 540 541 542
    bool saveError;
    do{
        saveError = false;
        QString saveFilename = QGCFileDialog::getSaveFileName(
            MainWindow::instance(),
            tr("Save Flight Data Log"),
543
            QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
544 545
            tr("Flight Data Log Files (*.mavlink)"),
            "mavlink");
dogmaphobic's avatar
dogmaphobic committed
546

547 548 549
        if (!saveFilename.isEmpty()) {
            // if file exsits already, try to remove it first to overwrite it
            if(QFile::exists(saveFilename) && !QFile::remove(saveFilename)){
550
                // if the file cannot be removed, prompt user and ask new path
551
                saveError = true;
552
                QGCMessageBox::warning("File Error","Could not overwrite existing file.\nPlease provide a different file name to save to.");
553 554 555
            } else if(!QFile::copy(tempLogfile, saveFilename)) {
                // if file could not be copied, prompt user and ask new path
                saveError = true;
556
                QGCMessageBox::warning("File Error","Could not create file.\nPlease provide a different file name to save to.");
557 558 559
            }
        }
    } while(saveError); // if the file could not be overwritten, ask for new file
560 561
    QFile::remove(tempLogfile);
}
562
#endif
563 564 565 566

void QGCApplication::setStyle(bool styleIsDark)
{
    QSettings settings;
567

568 569 570 571 572 573 574 575
    settings.setValue(_styleKey, styleIsDark);
    _styleIsDark = styleIsDark;
    _loadCurrentStyle();
    emit styleChanged(_styleIsDark);
}

void QGCApplication::_loadCurrentStyle(void)
{
Don Gagne's avatar
Don Gagne committed
576
#ifndef __mobile__
577 578
    bool success = true;
    QString styles;
579

580 581 582 583 584 585 586 587 588
    // The dark style sheet is the master. Any other selected style sheet just overrides
    // the colors of the master sheet.
    QFile masterStyleSheet(_darkStyleFile);
    if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
        styles = masterStyleSheet.readAll();
    } else {
        qDebug() << "Unable to load master dark style sheet";
        success = false;
    }
589

590 591 592 593 594 595
    if (success && !_styleIsDark) {
        // Load the slave light stylesheet.
        QFile styleSheet(_lightStyleFile);
        if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
            styles += styleSheet.readAll();
        } else {
596
            qWarning() << "Unable to load slave light sheet:";
597 598 599
            success = false;
        }
    }
dogmaphobic's avatar
dogmaphobic committed
600

601
    setStyleSheet(styles);
602

603 604 605 606
    if (!success) {
        // Fall back to plastique if we can't load our own
        setStyle("plastique");
    }
Don Gagne's avatar
Don Gagne committed
607
#endif
608

609
    QGCPalette::setGlobalTheme(_styleIsDark ? QGCPalette::Dark : QGCPalette::Light);
610
}
Don Gagne's avatar
Don Gagne committed
611

Don Gagne's avatar
Don Gagne committed
612
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
613
{
Don Gagne's avatar
Don Gagne committed
614 615
    _missingParams += QString("%1:%2").arg(componentId).arg(name);
    _missingParamsDelayedDisplayTimer.start();
616
}
617

Don Gagne's avatar
Don Gagne committed
618 619
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
620
{
Don Gagne's avatar
Don Gagne committed
621
    Q_ASSERT(_missingParams.count());
dogmaphobic's avatar
dogmaphobic committed
622

Don Gagne's avatar
Don Gagne committed
623
    QString params;
624
    foreach (const QString &name, _missingParams) {
Don Gagne's avatar
Don Gagne committed
625 626
        if (params.isEmpty()) {
            params += name;
627
        } else {
Don Gagne's avatar
Don Gagne committed
628
            params += QString(", %1").arg(name);
629 630
        }
    }
Don Gagne's avatar
Don Gagne committed
631
    _missingParams.clear();
dogmaphobic's avatar
dogmaphobic committed
632

633
    showMessage(QString("Parameters missing from firmware: %1. You may be running an older version of firmware QGC does not work correctly with or your firmware has a bug in it.").arg(params));
634 635
}

Don Gagne's avatar
Don Gagne committed
636 637 638 639 640
QObject* QGCApplication::_rootQmlObject(void)
{
#ifdef __mobile__
    return _qmlAppEngine->rootObjects()[0];
#else
641 642 643 644 645 646 647 648 649 650
    MainWindow * mainWindow = MainWindow::instance();
    if (mainWindow) {
        return mainWindow->rootQmlObject();
    } else if (runningUnitTests()){
        // Unit test can run without a main window
        return NULL;
    } else {
        qWarning() << "Why is MainWindow missing?";
        return NULL;
    }
Don Gagne's avatar
Don Gagne committed
651 652 653 654
#endif
}


655
void QGCApplication::showMessage(const QString& message)
Don Gagne's avatar
Don Gagne committed
656
{
Don Gagne's avatar
Don Gagne committed
657 658 659 660 661
    // Special case hack for ArduPilot prearm messages. These show up in the center of the map, so no need for popup.
    if (message.contains("PreArm:")) {
        return;
    }

662 663 664 665 666
    QObject* rootQmlObject = _rootQmlObject();

    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
Don Gagne's avatar
Don Gagne committed
667

668 669 670 671 672 673 674 675 676
        QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
#ifndef __mobile__
    } else if (runningUnitTests()){
        // Unit test can run without a main window which will lead to no root qml object. Use QGCMessageBox instead
        QGCMessageBox::information("Unit Test", message);
#endif
    } else {
        qWarning() << "Internal error";
    }
Don Gagne's avatar
Don Gagne committed
677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693
}

void QGCApplication::showFlyView(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showFlyView");
}

void QGCApplication::showPlanView(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showPlanView");
}

void QGCApplication::showSetupView(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
}

694
void QGCApplication::qmlAttemptWindowClose(void)
Don Gagne's avatar
Don Gagne committed
695
{
696
    QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
Don Gagne's avatar
Don Gagne committed
697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720
}


void QGCApplication::_showSetupFirmware(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupFirmware");
}

void QGCApplication::_showSetupParameters(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupParameters");
}

void QGCApplication::_showSetupSummary(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupSummary");
}

void QGCApplication::_showSetupVehicleComponent(VehicleComponent* vehicleComponent)
{
    QVariant varReturn;
    QVariant varComponent = QVariant::fromValue(vehicleComponent);

    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupVehicleComponent", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varComponent));
Don Gagne's avatar
Don Gagne committed
721
}
Don Gagne's avatar
Don Gagne committed
722

723
void QGCApplication::setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition)
Don Gagne's avatar
Don Gagne committed
724 725 726
{
    QSettings settings;

727 728 729 730
    settings.setValue(_lastKnownHomePositionLatKey, lastKnownHomePosition.latitude());
    settings.setValue(_lastKnownHomePositionLonKey, lastKnownHomePosition.longitude());
    settings.setValue(_lastKnownHomePositionAltKey, lastKnownHomePosition.altitude());
    _lastKnownHomePosition = lastKnownHomePosition;
Don Gagne's avatar
Don Gagne committed
731
}