MainWindow.h 13.7 KB
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/*=====================================================================

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QGroundControl Open Source Ground Control Station
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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This file is part of the QGROUNDCONTROL project
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    QGROUNDCONTROL is free software: you can redistribute it and/or modify
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    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.

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    QGROUNDCONTROL is distributed in the hope that it will be useful,
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    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
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    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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======================================================================*/

/**
 * @file
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 *   @brief Definition of class MainWindow
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 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_

#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
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#include <QSettings>
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#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
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#include "Linecharts.h"
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#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
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#include "MAVLinkSimulationLink.h"
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#include "AS4Protocol.h"
#include "ObjectDetectionView.h"
#include "HUD.h"
#include "JoystickWidget.h"
#include "input/JoystickInput.h"
#include "DebugConsole.h"
#include "MapWidget.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
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#include "WatchdogControl.h"
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#include "HSIDisplay.h"
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#include "QGCDataPlot2D.h"
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#include "QGCRemoteControlView.h"
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#if (defined Q_OS_MAC) | (defined _MSC_VER)
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#include "QGCGoogleEarthView.h"
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#endif
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//#include "QMap3DWidget.h"
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#include "SlugsDataSensorView.h"
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#include "LogCompressor.h"
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#include "SlugsPIDControl.h"
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#include "SlugsHilSim.h"
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#include "SlugsVideoCamControl.h"

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/**
 * @brief Main Application Window
 *
 **/
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class MainWindow : public QMainWindow {
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    Q_OBJECT

public:
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    static MainWindow* instance();
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    ~MainWindow();
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    enum QGC_MAINWINDOW_STYLE
    {
        QGC_MAINWINDOW_STYLE_NATIVE,
        QGC_MAINWINDOW_STYLE_INDOOR,
        QGC_MAINWINDOW_STYLE_OUTDOOR
    };

    /** @brief Get current visual style */
    int getStyle() { return currentStyle; }
    /** @brief Get auto link reconnect setting */
    bool autoReconnectEnabled() { return autoReconnect; }

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public slots:
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//    /** @brief Store the mainwindow settings */
//    void storeSettings();
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    /** @brief Shows a status message on the bottom status bar */
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    void showStatusMessage(const QString& status, int timeout);
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    /** @brief Shows a status message on the bottom status bar */
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    void showStatusMessage(const QString& status);
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    /** @brief Shows a critical message as popup or as widget */
    void showCriticalMessage(const QString& title, const QString& message);
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    /** @brief Shows an info message as popup or as widget */
    void showInfoMessage(const QString& title, const QString& message);
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    /** @brief Show the application settings */
    void showSettings();
    /** @brief Add a communication link */
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    void addLink();
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    void addLink(LinkInterface* link);
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    void configure();
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    /** @brief Set the currently controlled UAS */
    void setActiveUAS(UASInterface* uas);
    /** @brief Add a new UAS */
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    void UASCreated(UASInterface* uas);
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    /** @brief Update system specs of a UAS */
    void UASSpecsChanged(int uas);
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    void startVideoCapture();
    void stopVideoCapture();
    void saveScreen();
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    /** @brief Load default view when no MAV is connected */
    void loadUnconnectedView();
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    /** @brief Load view for pilot */
    void loadPilotView();
    /** @brief Load view for engineer */
    void loadEngineerView();
    /** @brief Load view for operator */
    void loadOperatorView();
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    /** @brief Load MAVLink XML generator view */
    void loadMAVLinkView();
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    /** @brief Show the online help for users */
    void showHelp();
    /** @brief Show the authors / credits */
    void showCredits();
    /** @brief Show the project roadmap */
    void showRoadMap();
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    /** @brief Shows the widgets based on configuration and current view and autopilot */
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    void presentView();

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    /** @brief Reload the CSS style sheet */
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    void reloadStylesheet();
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    /** @brief Let the user select the CSS style sheet */
    void selectStylesheet();
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    /** @brief Automatically reconnect last link */
    void enableAutoReconnect(bool enabled);
    /** @brief Switch to native application style */
    void loadNativeStyle();
    /** @brief Switch to indoor mission style */
    void loadIndoorStyle();
    /** @brief Switch to outdoor mission style */
    void loadOutdoorStyle();
    /** @brief Load a specific style */
    void loadStyle(QGC_MAINWINDOW_STYLE style);
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    /** @brief Add a custom tool widget */
    void createCustomWidget();

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    void closeEvent(QCloseEvent* event);

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    /** @brief Load data view, allowing to plot flight data */
    void loadDataView(QString fileName);

    /**
     * @brief Shows a Docked Widget based on the action sender
     *
     * This slot is written to be used in conjunction with the addToToolsMenu function
     * It shows the QDockedWidget based on the action sender
     *
     */
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    void showToolWidget(bool visible);
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    /**
     * @brief Shows a Widget from the center stack based on the action sender
     *
     * This slot is written to be used in conjunction with the addToCentralWidgetsMenu function
     * It shows the Widget based on the action sender
     *
     */
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    void showCentralWidget();
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    /** @brief Change actively a QDockWidgets visibility by an action */
    void showDockWidget(bool vis);
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    /** @brief Updates a QDockWidget's checked status based on its visibility */
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    void updateVisibilitySettings(bool vis);
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    /** @brief Updates a QDockWidget's location */
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    void updateLocationSettings (Qt::DockWidgetArea location);
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protected:
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    MainWindow(QWidget *parent = 0);

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    /** @brief Set default window settings for the current autopilot type */
    void setDefaultSettingsForAp();

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    // These defines are used to save the settings when selecting with
    // which widgets populate the views
    // FIXME: DO NOT PUT CUSTOM VALUES IN THIS ENUM since it is iterated over
    // this will be fixed in a future release.
    typedef enum _TOOLS_WIDGET_NAMES {
      MENU_UAS_CONTROL,
      MENU_UAS_INFO,
      MENU_CAMERA,
      MENU_UAS_LIST,
      MENU_WAYPOINTS,
      MENU_STATUS,
      MENU_DETECTION,
      MENU_DEBUG_CONSOLE,
      MENU_PARAMETERS,
      MENU_HDD_1,
      MENU_HDD_2,
      MENU_WATCHDOG,
      MENU_HUD,
      MENU_HSI,
      MENU_RC_VIEW,
      MENU_SLUGS_DATA,
      MENU_SLUGS_PID,
      MENU_SLUGS_HIL,
      MENU_SLUGS_CAMERA,
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      MENU_MAVLINK_LOG_PLAYER,
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      MENU_VIDEO_STREAM_1,
      MENU_VIDEO_STREAM_2,
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      CENTRAL_SEPARATOR= 255, // do not change
      CENTRAL_LINECHART,
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      CENTRAL_PROTOCOL,
      CENTRAL_MAP,
      CENTRAL_3D_LOCAL,
      CENTRAL_3D_MAP,
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      CENTRAL_OSGEARTH,
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      CENTRAL_GOOGLE_EARTH,
      CENTRAL_HUD,
      CENTRAL_DATA_PLOT,
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    }TOOLS_WIDGET_NAMES;

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    typedef enum _SETTINGS_SECTIONS
    {
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      SECTION_MENU,
      SUB_SECTION_CHECKED,
      SUB_SECTION_LOCATION,
    } SETTINGS_SECTIONS;

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    typedef enum _VIEW_SECTIONS
    {
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      VIEW_ENGINEER,
      VIEW_OPERATOR,
      VIEW_PILOT,
      VIEW_MAVLINK,
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      VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
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    } VIEW_SECTIONS;

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    QHash<int, QAction*> toolsMenuActions; // Holds ptr to the Menu Actions
    QHash<int, QWidget*> dockWidgets;  // Holds ptr to the Actual Dock widget
    QHash<int, Qt::DockWidgetArea> dockWidgetLocations; // Holds the location

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    /**
     * @brief Adds an already instantiated QDockedWidget to the Tools Menu
     *
     * This function does all the hosekeeping to have a QDockedWidget added to the
     * tools menu and connects the QMenuAction to a slot that shows the widget and
     * checks/unchecks the tools menu item
     *
     * @param widget    The QDockedWidget being added
     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
     * @param slotName  The slot to which the triggered() signal of the menu action will be connected.
     * @param tool      The ENUM defined in MainWindow.h that is associated to the widget
     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
     */
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    void addToToolsMenu (QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location=Qt::RightDockWidgetArea);
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    /**
     * @brief Determines if a QDockWidget needs to be show and if so, shows it
     *
     *  Based on the the autopilot and the current view it queries the settings and shows the
     *  widget if necessary
     *
     * @param widget    The QDockWidget requested to be shown
     * @param view      The view for which the QDockWidget is requested
     */
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    void showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view = VIEW_MAVLINK);
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    /**
     * @brief Adds an already instantiated QWidget to the center stack
     *
     * This function does all the hosekeeping to have a QWidget added to the tools menu
     * tools menu and connects the QMenuAction to a slot that shows the widget and
     * checks/unchecks the tools menu item. This is used for all the central widgets (those in
     * the center stack.
     *
     * @param widget        The QWidget being added
     * @param title         The entry that will appear in the Menu
     * @param slotName      The slot to which the triggered() signal of the menu action will be connected.
     * @param centralWidget The ENUM defined in MainWindow.h that is associated to the widget
     */
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    void addToCentralWidgetsMenu ( QWidget* widget, const QString title,const char * slotName, TOOLS_WIDGET_NAMES centralWidget);
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    /**
     * @brief Determines if a QWidget needs to be show and if so, shows it
     *
     *  Based on the the autopilot and the current view it queries the settings and shows the
     *  widget if necessary
     *
     * @param centralWidget    The QWidget requested to be shown
     * @param view             The view for which the QWidget is requested
     */
    void showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view);

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    /** @brief Catch window resize events */
    void resizeEvent(QResizeEvent * event);
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    /** @brief Keeps track of the current view */
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    VIEW_SECTIONS currentView;
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    bool aboutToCloseFlag;
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    bool changingViewsFlag;
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    void clearView();
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    void buildCustomWidget();
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    void buildCommonWidgets();
    void buildPxWidgets();
    void buildSlugsWidgets();

    void connectCommonWidgets();
    void connectPxWidgets();
    void connectSlugsWidgets();

    void arrangeCommonCenterStack();
    void arrangePxCenterStack();
    void arrangeSlugsCenterStack();

    void connectCommonActions();
    void connectPxActions();
    void connectSlugsActions();


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    void configureWindowName();
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    void loadSettings();
    void storeSettings();
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    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
    MAVLinkProtocol* mavlink;
    AS4Protocol* as4link;

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    MAVLinkSimulationLink* simulationLink;
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    LinkInterface* udpLink;

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    QSettings settings;
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    QStackedWidget *centerStack;

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    // Center widgets
    QPointer<Linecharts> linechartWidget;
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    QPointer<HUD> hudWidget;
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    QPointer<MapWidget> mapWidget;
    QPointer<XMLCommProtocolWidget> protocolWidget;
    QPointer<QGCDataPlot2D> dataplotWidget;
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    #ifdef QGC_OSG_ENABLED
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    QPointer<QWidget> _3DWidget;
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    #endif
    #ifdef QGC_OSGEARTH_ENABLED
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    QPointer<QWidget> _3DMapWidget;
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    #endif
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#if (defined _MSC_VER) || (defined Q_OS_MAC)
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    QPointer<QGCGoogleEarthView> gEarthWidget;
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#endif
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    // Dock widgets
    QPointer<QDockWidget> controlDockWidget;
    QPointer<QDockWidget> infoDockWidget;
    QPointer<QDockWidget> cameraDockWidget;
    QPointer<QDockWidget> listDockWidget;
    QPointer<QDockWidget> waypointsDockWidget;
    QPointer<QDockWidget> detectionDockWidget;
    QPointer<QDockWidget> debugConsoleDockWidget;
    QPointer<QDockWidget> parametersDockWidget;
    QPointer<QDockWidget> headDown1DockWidget;
    QPointer<QDockWidget> headDown2DockWidget;
    QPointer<QDockWidget> watchdogControlDockWidget;
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    QPointer<QDockWidget> headUpDockWidget;
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    QPointer<QDockWidget> video1DockWidget;
    QPointer<QDockWidget> video2DockWidget;
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    QPointer<QDockWidget> logPlayerDockWidget;
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    QPointer<QDockWidget> hsiDockWidget;
    QPointer<QDockWidget> rcViewDockWidget;
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    QPointer<QDockWidget> hudDockWidget;
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    QPointer<QDockWidget> slugsDataWidget;
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    QPointer<QDockWidget> slugsPIDControlWidget;
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    QPointer<QDockWidget> slugsHilSimWidget;
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    QPointer<QDockWidget> slugsCamControlWidget;
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    // Popup widgets
    JoystickWidget* joystickWidget;

    JoystickInput* joystick;

    /** User interface actions **/
    QAction* connectUASAct;
    QAction* disconnectUASAct;
    QAction* startUASAct;
    QAction* returnUASAct;
    QAction* stopUASAct;
    QAction* killUASAct;
    QAction* simulateUASAct;
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    LogCompressor* comp;
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    QString screenFileName;
    QTimer* videoTimer;
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    QString styleFileName;
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    bool autoReconnect;
    QGC_MAINWINDOW_STYLE currentStyle;
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private:
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    Ui::MainWindow ui;
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    QString buildMenuKey (SETTINGS_SECTIONS section , TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view);
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    QString getWindowStateKey();
    QString getWindowGeometryKey();
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};

#endif /* _MAINWINDOW_H_ */