MainWindow.cc 20.2 KB
Newer Older
1
2
3
4
/*=====================================================================

QGroundControl Open Source Ground Control Station

5
(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34

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 <QNetworkInterface>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
35
#include <QQuickView>
36
#include <QDesktopWidget>
37
38
#include <QScreen>
#include <QDesktopServices>
39
#include <QDockWidget>
40
#include <QMenuBar>
41

42
43
44
45
#include "QGC.h"
#include "MAVLinkProtocol.h"
#include "MainWindow.h"
#include "GAudioOutput.h"
dogmaphobic's avatar
dogmaphobic committed
46
#ifndef __mobile__
47
#include "QGCMAVLinkLogPlayer.h"
dogmaphobic's avatar
dogmaphobic committed
48
#endif
49
#include "MAVLinkDecoder.h"
Don Gagne's avatar
Don Gagne committed
50
#include "QGCApplication.h"
51
#include "MultiVehicleManager.h"
Don Gagne's avatar
Don Gagne committed
52
#include "HomePositionManager.h"
53
#include "LogCompressor.h"
Don Gagne's avatar
Don Gagne committed
54
#include "UAS.h"
dogmaphobic's avatar
dogmaphobic committed
55
#include "QGCImageProvider.h"
56
57

#ifndef __mobile__
58
#include "SettingsDialog.h"
Don Gagne's avatar
Don Gagne committed
59
60
#include "QGCDataPlot2D.h"
#include "Linecharts.h"
61
62
63
64
65
66
#include "QGCUASFileViewMulti.h"
#include "UASQuickView.h"
#include "QGCTabbedInfoView.h"
#include "CustomCommandWidget.h"
#include "QGCDockWidget.h"
#include "UASInfoWidget.h"
67
#include "HILDockWidget.h"
dogmaphobic's avatar
dogmaphobic committed
68
#include "LogDownload.h"
69
70
71
72
73
#endif

#ifndef __ios__
#include "SerialLink.h"
#endif
74

75
76
77
78
#ifdef UNITTEST_BUILD
#include "QmlControls/QmlTestWidget.h"
#endif

79
80
81
/// The key under which the Main Window settings are saved
const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";

82
#ifndef __mobile__
83
84
85
enum DockWidgetTypes {
    MAVLINK_INSPECTOR,
    CUSTOM_COMMAND,
Tomaz Canabrava's avatar
Tomaz Canabrava committed
86
87
88
89
    ONBOARD_FILES,
    STATUS_DETAILS,
    INFO_VIEW,
    HIL_CONFIG,
dogmaphobic's avatar
dogmaphobic committed
90
91
    ANALYZE,
    LOG_DOWNLOAD
Tomaz Canabrava's avatar
Tomaz Canabrava committed
92
93
94
95
96
97
98
99
100
};

static const char *rgDockWidgetNames[] = {
    "MAVLink Inspector",
    "Custom Command",
    "Onboard Files",
    "Status Details",
    "Info View",
    "HIL Config",
dogmaphobic's avatar
dogmaphobic committed
101
102
    "Analyze",
    "Log Download"
Tomaz Canabrava's avatar
Tomaz Canabrava committed
103
104
105
};

#define ARRAY_SIZE(ARRAY) (sizeof(ARRAY) / sizeof(ARRAY[0]))
106
107

static const char* _visibleWidgetsKey = "VisibleWidgets";
108
#endif
109

Don Gagne's avatar
Don Gagne committed
110
111
static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton

Lorenz Meier's avatar
Lorenz Meier committed
112
MainWindow* MainWindow::_create()
113
{
Don Gagne's avatar
Don Gagne committed
114
    Q_ASSERT(_instance == NULL);
Lorenz Meier's avatar
Lorenz Meier committed
115
    new MainWindow();
Don Gagne's avatar
Don Gagne committed
116
117
    // _instance is set in constructor
    Q_ASSERT(_instance);
118
119
120
    return _instance;
}

Don Gagne's avatar
Don Gagne committed
121
MainWindow* MainWindow::instance(void)
122
{
Don Gagne's avatar
Don Gagne committed
123
    return _instance;
124
125
}

Don Gagne's avatar
Don Gagne committed
126
127
void MainWindow::deleteInstance(void)
{
Don Gagne's avatar
Don Gagne committed
128
    delete this;
Don Gagne's avatar
Don Gagne committed
129
130
}

Don Gagne's avatar
Don Gagne committed
131
132
133
/// @brief Private constructor for MainWindow. MainWindow singleton is only ever created
///         by MainWindow::_create method. Hence no other code should have access to
///         constructor.
Lorenz Meier's avatar
Lorenz Meier committed
134
MainWindow::MainWindow()
135
    : _lowPowerMode(false)
136
    , _showStatusBar(false)
137
    , _mainQmlWidgetHolder(NULL)
138
    , _forceClose(false)
139
{
Don Gagne's avatar
Don Gagne committed
140
141
    Q_ASSERT(_instance == NULL);
    _instance = this;
142

143
144
145
146
    // Qt 4/5 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar.
#ifdef Q_OS_LINUX
    menuBar()->setNativeMenuBar(false);
#endif
dogmaphobic's avatar
dogmaphobic committed
147
    // Setup user interface
148
    loadSettings();
149
    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
150

dogmaphobic's avatar
dogmaphobic committed
151
152
    _ui.setupUi(this);
    // Make sure tool bar elements all fit before changing minimum width
dogmaphobic's avatar
dogmaphobic committed
153
    setMinimumWidth(1008);
dogmaphobic's avatar
dogmaphobic committed
154
    configureWindowName();
155

156
157
    // Setup central widget with a layout to hold the views
    _centralLayout = new QVBoxLayout();
158
    _centralLayout->setContentsMargins(0, 0, 0, 0);
159
    centralWidget()->setLayout(_centralLayout);
160
161
162
163
164

    _mainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), NULL, this);
    _centralLayout->addWidget(_mainQmlWidgetHolder);
    _mainQmlWidgetHolder->setVisible(true);

165
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
166
    _mainQmlWidgetHolder->setContextPropertyObject("controller", this);
Don Gagne's avatar
Don Gagne committed
167
    _mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
168

dogmaphobic's avatar
dogmaphobic committed
169
170
171
172
    // Image provider
    QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
    _mainQmlWidgetHolder->getEngine()->addImageProvider(QLatin1String("QGCImages"), pImgProvider);

173
    // Set dock options
174
    setDockOptions(0);
175
    // Setup corners
176
    setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
177

dogmaphobic's avatar
dogmaphobic committed
178
179
180
    // On Mobile devices, we don't want any main menus at all.
#ifdef __mobile__
    menuBar()->setNativeMenuBar(false);
dogmaphobic's avatar
dogmaphobic committed
181
#endif
dogmaphobic's avatar
dogmaphobic committed
182

183
184
185
#ifdef UNITTEST_BUILD
    QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
    connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
186
    _ui.menuWidgets->addAction(qmlTestAction);
187
#endif
Lorenz Meier's avatar
Lorenz Meier committed
188

dogmaphobic's avatar
dogmaphobic committed
189
    // Status Bar
Don Gagne's avatar
Don Gagne committed
190
    setStatusBar(new QStatusBar(this));
191
    statusBar()->setSizeGripEnabled(true);
192

193
#ifndef __mobile__
194
    emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
195
    _buildCommonWidgets();
196
    emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
197
#endif
198

199
200
201
    // Create actions
    connectCommonActions();
    // Connect user interface devices
202
#ifdef QGC_MOUSE_ENABLED_WIN
203
    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
204
205
    mouseInput = new Mouse3DInput(this);
    mouse = new Mouse6dofInput(mouseInput);
206
#endif //QGC_MOUSE_ENABLED_WIN
207

208
#if QGC_MOUSE_ENABLED_LINUX
209
    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
210
211

    mouse = new Mouse6dofInput(this);
Tomaz Canabrava's avatar
Tomaz Canabrava committed
212
    connect(this, &MainWindow::x11EventOccured, mouse, &Mouse6dofInput::handleX11Event);
213
#endif //QGC_MOUSE_ENABLED_LINUX
214

215
    // Set low power mode
dogmaphobic's avatar
dogmaphobic committed
216
    enableLowPowerMode(_lowPowerMode);
217
    emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
218

dogmaphobic's avatar
dogmaphobic committed
219
#ifndef __mobile__
220

221
    // Restore the window position and size
dogmaphobic's avatar
dogmaphobic committed
222
223
    emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    if (settings.contains(_getWindowGeometryKey()))
224
    {
dogmaphobic's avatar
dogmaphobic committed
225
        restoreGeometry(settings.value(_getWindowGeometryKey()).toByteArray());
226
227
228
229
    }
    else
    {
        // Adjust the size
dogmaphobic's avatar
dogmaphobic committed
230
231
232
        QScreen* scr = QApplication::primaryScreen();
        QSize scrSize = scr->availableSize();
        if (scrSize.width() <= 1280)
233
        {
dogmaphobic's avatar
dogmaphobic committed
234
            resize(scrSize.width(), scrSize.height());
235
236
237
        }
        else
        {
dogmaphobic's avatar
dogmaphobic committed
238
239
240
            int w = scrSize.width()  > 1600 ? 1600 : scrSize.width();
            int h = scrSize.height() >  800 ?  800 : scrSize.height();
            resize(w, h);
241
            move((scrSize.width() - w) / 2, (scrSize.height() - h) / 2);
242
243
        }
    }
244
245
#endif

246
    connect(_ui.actionStatusBar,  &QAction::triggered, this, &MainWindow::showStatusBarCallback);
247

248
    // Set OS dependent keyboard shortcuts for the main window, non OS dependent shortcuts are set in MainWindow.ui
dogmaphobic's avatar
dogmaphobic committed
249
#ifdef __macos__
dogmaphobic's avatar
dogmaphobic committed
250
    _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0));
251
252
    _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0));
    _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0));
253
#else
dogmaphobic's avatar
dogmaphobic committed
254
    _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0));
Gus Grubba's avatar
Gus Grubba committed
255
    _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0));
256
    _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0));
257
258
#endif

259
260
    _ui.actionFlight->setChecked(true);

Tomaz Canabrava's avatar
Tomaz Canabrava committed
261
    connect(&windowNameUpdateTimer, &QTimer::timeout, this, &MainWindow::configureWindowName);
262
    windowNameUpdateTimer.start(15000);
263
    emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
264
265

    if (!qgcApp()->runningUnitTests()) {
266
267
        _ui.actionStatusBar->setChecked(_showStatusBar);
        showStatusBarCallback(_showStatusBar);
dogmaphobic's avatar
dogmaphobic committed
268
#ifdef __mobile__
269
270
        menuBar()->hide();
#endif
271
        show();
dogmaphobic's avatar
dogmaphobic committed
272
#ifdef __macos__
dogmaphobic's avatar
dogmaphobic committed
273
274
275
276
277
278
279
280
281
282
283
284
285
286
        // TODO HACK
        // This is a really ugly hack. For whatever reason, by having a QQuickWidget inside a
        // QDockWidget (MainToolBar above), the main menu is not shown when the app first
        // starts. I looked everywhere and I could not find a solution. What I did notice was
        // that if any other window gets focus, the menu comes up when you come back to QGC.
        // That is, if you were to click on another window and then back to QGC, the menus
        // would appear. This hack below creates a 0x0 dialog and immediately closes it.
        // That works around the issue and it will do until I find the root of the problem.
        QDialog qd(this);
        qd.show();
        qd.raise();
        qd.activateWindow();
        qd.close();
#endif
287
    }
288

Don Gagne's avatar
Don Gagne committed
289
290
291
#ifndef __mobile__
    _loadVisibleWidgetsSettings();
#endif
292
293
294
295
}

MainWindow::~MainWindow()
{
Don Gagne's avatar
Don Gagne committed
296
    _instance = NULL;
297
298
}

dogmaphobic's avatar
dogmaphobic committed
299
QString MainWindow::_getWindowGeometryKey()
300
301
302
303
{
    return "_geometry";
}

304
#ifndef __mobile__
305
void MainWindow::_buildCommonWidgets(void)
306
307
{
    // Add generic MAVLink decoder
dogmaphobic's avatar
dogmaphobic committed
308
    // TODO: This is never deleted
309
    mavlinkDecoder = new MAVLinkDecoder(qgcApp()->toolbox()->mavlinkProtocol(), this);
310
    connect(mavlinkDecoder.data(), &MAVLinkDecoder::valueChanged, this, &MainWindow::valueChanged);
311

312
    // Log player
dogmaphobic's avatar
dogmaphobic committed
313
    // TODO: Make this optional with a preferences setting or under a "View" menu
Don Gagne's avatar
Don Gagne committed
314
    logPlayer = new QGCMAVLinkLogPlayer(statusBar());
Don Gagne's avatar
Don Gagne committed
315
    statusBar()->addPermanentWidget(logPlayer);
316

Tomaz Canabrava's avatar
Tomaz Canabrava committed
317
318
    for (int i = 0, end = ARRAY_SIZE(rgDockWidgetNames); i < end; i++) {

Don Gagne's avatar
Don Gagne committed
319
        const char* pDockWidgetName = rgDockWidgetNames[i];
320

Don Gagne's avatar
Don Gagne committed
321
        // Add to menu
322
        QAction* action = new QAction(tr(pDockWidgetName), NULL);
Don Gagne's avatar
Don Gagne committed
323
        action->setCheckable(true);
Tomaz Canabrava's avatar
Tomaz Canabrava committed
324
        action->setData(i);
Don Gagne's avatar
Don Gagne committed
325
326
327
        connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
        _ui.menuWidgets->addAction(action);
        _mapName2Action[pDockWidgetName] = action;
328
    }
329
}
330

331
332
/// Shows or hides the specified dock widget, creating if necessary
void MainWindow::_showDockWidget(const QString& name, bool show)
333
{
334
    // Create the inner widget if we need to
Don Gagne's avatar
Don Gagne committed
335
    if (!_mapName2DockWidget.contains(name)) {
dogmaphobic's avatar
dogmaphobic committed
336
337
338
339
        if(!_createInnerDockWidget(name)) {
            qWarning() << "Trying to load non existing widget:" << name;
            return;
        }
340
    }
341
    Q_ASSERT(_mapName2DockWidget.contains(name));
Don Gagne's avatar
Don Gagne committed
342
    QGCDockWidget* dockWidget = _mapName2DockWidget[name];
343
344
    Q_ASSERT(dockWidget);
    dockWidget->setVisible(show);
Don Gagne's avatar
Don Gagne committed
345
346
    Q_ASSERT(_mapName2Action.contains(name));
    _mapName2Action[name]->setChecked(show);
347
348
349
}

/// Creates the specified inner dock widget and adds to the QDockWidget
dogmaphobic's avatar
dogmaphobic committed
350
bool MainWindow::_createInnerDockWidget(const QString& widgetName)
351
{
Don Gagne's avatar
Don Gagne committed
352
    QGCDockWidget* widget = NULL;
Tomaz Canabrava's avatar
Tomaz Canabrava committed
353
    QAction *action = _mapName2Action[widgetName];
dogmaphobic's avatar
dogmaphobic committed
354
355
356
357
358
359
360
361
362
363
364
    if(action) {
        switch(action->data().toInt()) {
            case MAVLINK_INSPECTOR:
                widget = new QGCMAVLinkInspector(widgetName, action, qgcApp()->toolbox()->mavlinkProtocol(),this);
                break;
            case CUSTOM_COMMAND:
                widget = new CustomCommandWidget(widgetName, action, this);
                break;
            case ONBOARD_FILES:
                widget = new QGCUASFileViewMulti(widgetName, action, this);
                break;
365
366
367
            case LOG_DOWNLOAD:
                widget = new LogDownload(widgetName, action, this);
                break;
dogmaphobic's avatar
dogmaphobic committed
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
            case STATUS_DETAILS:
                widget = new UASInfoWidget(widgetName, action, this);
                break;
            case HIL_CONFIG:
                widget = new HILDockWidget(widgetName, action, this);
                break;
            case ANALYZE:
                widget = new Linecharts(widgetName, action, mavlinkDecoder, this);
                break;
            case INFO_VIEW:
                widget= new QGCTabbedInfoView(widgetName, action, this);
                break;
        }
        if(action->data().toInt() == INFO_VIEW) {
            qobject_cast<QGCTabbedInfoView*>(widget)->addSource(mavlinkDecoder);
        }
        if(widget) {
            _mapName2DockWidget[widgetName] = widget;
        }
Tomaz Canabrava's avatar
Tomaz Canabrava committed
387
    }
dogmaphobic's avatar
dogmaphobic committed
388
    return widget != NULL;
389
}
390

391
392
void MainWindow::_hideAllDockWidgets(void)
{
Don Gagne's avatar
Don Gagne committed
393
    foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) {
394
395
396
397
398
399
        dockWidget->setVisible(false);
    }
}

void MainWindow::_showDockWidgetAction(bool show)
{
400
    QAction* action = qobject_cast<QAction*>(QObject::sender());
401
    Q_ASSERT(action);
Tomaz Canabrava's avatar
Tomaz Canabrava committed
402
    _showDockWidget(rgDockWidgetNames[action->data().toInt()], show);
403
404
405
}
#endif

406
407
408
409
410
411
void MainWindow::showStatusBarCallback(bool checked)
{
    _showStatusBar = checked;
    checked ? statusBar()->show() : statusBar()->hide();
}

412
void MainWindow::reallyClose(void)
413
{
414
415
    _forceClose = true;
    close();
416
417
}

418
419
void MainWindow::closeEvent(QCloseEvent *event)
{
420
421
422
    if (!_forceClose) {
        // Attemp close from within the root Qml item
        qgcApp()->qmlAttemptWindowClose();
423
424
        event->ignore();
        return;
425
426
427
    }

    // Should not be any active connections
Don Gagne's avatar
Don Gagne committed
428
    if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
Don Gagne's avatar
Don Gagne committed
429
430
        qWarning() << "All links should be disconnected by now";
    }
431

432
    _storeCurrentViewState();
433
    storeSettings();
434

dogmaphobic's avatar
dogmaphobic committed
435
436
    //-- TODO: This effectively causes the QGCApplication destructor to not being able
    //   to access the pointer it is trying to delete.
437
    _instance = NULL;
dogmaphobic's avatar
dogmaphobic committed
438

439
    emit mainWindowClosed();
440
441
442
443
}

void MainWindow::loadSettings()
{
444
    // Why the screaming?
445
    QSettings settings;
446
    settings.beginGroup(MAIN_SETTINGS_GROUP);
447
448
    _lowPowerMode   = settings.value("LOW_POWER_MODE",      _lowPowerMode).toBool();
    _showStatusBar  = settings.value("SHOW_STATUSBAR",      _showStatusBar).toBool();
449
450
451
452
453
454
    settings.endGroup();
}

void MainWindow::storeSettings()
{
    QSettings settings;
455
    settings.beginGroup(MAIN_SETTINGS_GROUP);
456
457
    settings.setValue("LOW_POWER_MODE",     _lowPowerMode);
    settings.setValue("SHOW_STATUSBAR",     _showStatusBar);
458
    settings.endGroup();
dogmaphobic's avatar
dogmaphobic committed
459
    settings.setValue(_getWindowGeometryKey(), saveGeometry());
460

Don Gagne's avatar
Don Gagne committed
461
462
463
#ifndef __mobile__
    _storeVisibleWidgetsSettings();
#endif
464
465
466
467
468
469
}

void MainWindow::configureWindowName()
{
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
Lorenz Meier's avatar
Lorenz Meier committed
470
471
472
473
474

    // XXX we do have UDP MAVLink heartbeat broadcast now in SITL and will have it on the
    // WIFI radio, so people should not be in need any more of knowing their IP.
    // this can go once we are certain its not needed any more.
    #if 0
Lorenz Meier's avatar
Lorenz Meier committed
475
    bool prevAddr = false;
476
477
478
479
480
481
482
483
484
485
486
487
    windowname.append(" (" + QHostInfo::localHostName() + ": ");
    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(")");
Lorenz Meier's avatar
Lorenz Meier committed
488
    #endif
489
490
491
492
493
494
495
496
497
498
    setWindowTitle(windowname);
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{
    // Audio output
499
    _ui.actionMuteAudioOutput->setChecked(qgcApp()->toolbox()->audioOutput()->isMuted());
Tomaz Canabrava's avatar
Tomaz Canabrava committed
500
501
    connect(qgcApp()->toolbox()->audioOutput(), &GAudioOutput::mutedChanged, _ui.actionMuteAudioOutput, &QAction::setChecked);
    connect(_ui.actionMuteAudioOutput, &QAction::triggered, qgcApp()->toolbox()->audioOutput(), &GAudioOutput::mute);
502
503

    // Application Settings
Tomaz Canabrava's avatar
Tomaz Canabrava committed
504
    connect(_ui.actionSettings, &QAction::triggered, this, &MainWindow::showSettings);
505

506
    // Views actions
Don Gagne's avatar
Don Gagne committed
507
508
509
510
511
512
    connect(_ui.actionFlight,   &QAction::triggered,    qgcApp(),   &QGCApplication::showFlyView);
    connect(_ui.actionPlan,     &QAction::triggered,    qgcApp(),   &QGCApplication::showPlanView);
    connect(_ui.actionSetup,    &QAction::triggered,    qgcApp(),   &QGCApplication::showSetupView);
    connect(_ui.actionFlight,   &QAction::triggered,    this,       &MainWindow::handleActiveViewActionState);
    connect(_ui.actionPlan,     &QAction::triggered,    this,       &MainWindow::handleActiveViewActionState);
    connect(_ui.actionSetup,    &QAction::triggered,    this,       &MainWindow::handleActiveViewActionState);
513
514

    // Connect internal actions
515
    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
516
517
}

518
519
520
521
522
523
524
525
526
void MainWindow::handleActiveViewActionState(bool triggered)
{
    Q_UNUSED(triggered);
    QAction *triggeredAction = qobject_cast<QAction*>(sender());
    _ui.actionFlight->setChecked(triggeredAction == _ui.actionFlight);
    _ui.actionPlan->setChecked(triggeredAction == _ui.actionPlan);
    _ui.actionSetup->setChecked(triggeredAction == _ui.actionSetup);
}

Don Gagne's avatar
Don Gagne committed
527
void MainWindow::_openUrl(const QString& url, const QString& errorMessage)
528
{
Don Gagne's avatar
Don Gagne committed
529
    if(!QDesktopServices::openUrl(QUrl(url))) {
530
        qgcApp()->showMessage(QString("Could not open information in browser: %1").arg(errorMessage));
531
532
533
    }
}

534
#ifndef __mobile__
535
536
void MainWindow::showSettings()
{
537
    SettingsDialog settings(this);
Don Gagne's avatar
Don Gagne committed
538
    settings.exec();
539
}
540
541
#endif

542
void MainWindow::_vehicleAdded(Vehicle* vehicle)
543
{
Tomaz Canabrava's avatar
Tomaz Canabrava committed
544
    connect(vehicle->uas(), &UAS::valueChanged, this, &MainWindow::valueChanged);
545
546
}

547
548
/// Stores the state of the toolbar, status bar and widgets associated with the current view
void MainWindow::_storeCurrentViewState(void)
549
{
Don Gagne's avatar
Don Gagne committed
550
#ifndef __mobile__
Don Gagne's avatar
Don Gagne committed
551
552
    foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) {
        dockWidget->saveSettings();
553
    }
Don Gagne's avatar
Don Gagne committed
554
#endif
555

dogmaphobic's avatar
dogmaphobic committed
556
    settings.setValue(_getWindowGeometryKey(), saveGeometry());
557
558
}

559
560
561
562
563
564
565
566
567
/// @brief Saves the last used connection
void MainWindow::saveLastUsedConnection(const QString connection)
{
    QSettings settings;
    QString key(MAIN_SETTINGS_GROUP);
    key += "/LAST_CONNECTION";
    settings.setValue(key, connection);
}

568
#ifdef QGC_MOUSE_ENABLED_LINUX
569
570
571
bool MainWindow::x11Event(XEvent *event)
{
    emit x11EventOccured(event);
572
    return false;
573
}
574
#endif // QGC_MOUSE_ENABLED_LINUX
575
576
577
578
579
580
581

#ifdef UNITTEST_BUILD
void MainWindow::_showQmlTestWidget(void)
{
    new QmlTestWidget();
}
#endif
Don Gagne's avatar
Don Gagne committed
582
583
584
585
586

#ifndef __mobile__
void MainWindow::_loadVisibleWidgetsSettings(void)
{
    QSettings settings;
587

Don Gagne's avatar
Don Gagne committed
588
    QString widgets = settings.value(_visibleWidgetsKey).toString();
589

Don Gagne's avatar
Don Gagne committed
590
591
    if (!widgets.isEmpty()) {
        QStringList nameList = widgets.split(",");
592

593
        foreach (const QString &name, nameList) {
Don Gagne's avatar
Don Gagne committed
594
595
596
597
598
599
600
601
602
            _showDockWidget(name, true);
        }
    }
}

void MainWindow::_storeVisibleWidgetsSettings(void)
{
    QString widgetNames;
    bool firstWidget = true;
603

604
    foreach (const QString &name, _mapName2DockWidget.keys()) {
Don Gagne's avatar
Don Gagne committed
605
606
607
608
609
610
        if (_mapName2DockWidget[name]->isVisible()) {
            if (!firstWidget) {
                widgetNames += ",";
            } else {
                firstWidget = false;
            }
611

Don Gagne's avatar
Don Gagne committed
612
613
614
            widgetNames += name;
        }
    }
615

Don Gagne's avatar
Don Gagne committed
616
    QSettings settings;
617

Don Gagne's avatar
Don Gagne committed
618
619
620
    settings.setValue(_visibleWidgetsKey, widgetNames);
}
#endif
621

Don Gagne's avatar
Don Gagne committed
622
QObject* MainWindow::rootQmlObject(void)
623
{
Don Gagne's avatar
Don Gagne committed
624
    return _mainQmlWidgetHolder->getRootObject();
625
}