MainWindow.h 16.1 KB
Newer Older
1 2 3 4 5 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 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

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

#ifndef _MAINWINDOW_H_
#define _MAINWINDOW_H_

#include <QtGui/QMainWindow>
#include <QStatusBar>
#include <QStackedWidget>
#include <QSettings>
#include <qlist.h>

#include "ui_MainWindow.h"
#include "LinkManager.h"
#include "LinkInterface.h"
#include "UASInterface.h"
#include "UASManager.h"
#include "UASControlWidget.h"
#include "UASInfoWidget.h"
#include "WaypointList.h"
#include "CameraView.h"
#include "UASListWidget.h"
#include "MAVLinkProtocol.h"
#include "MAVLinkSimulationLink.h"
#include "ObjectDetectionView.h"
53
#include "submainwindow.h"
54
#include "input/JoystickInput.h"
55 56
#if (defined MOUSE_ENABLED_WIN) | (defined MOUSE_ENABLED_LINUX)
#include "Mouse6dofInput.h"
57
#endif // MOUSE_ENABLED_WIN
58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85
#include "DebugConsole.h"
#include "ParameterInterface.h"
#include "XMLCommProtocolWidget.h"
#include "HDDisplay.h"
#include "WatchdogControl.h"
#include "HSIDisplay.h"
#include "QGCRemoteControlView.h"
#include "opmapcontrol.h"
#if (defined Q_OS_MAC) | (defined _MSC_VER)
#include "QGCGoogleEarthView.h"
#endif
#include "QGCToolBar.h"
#include "SlugsDataSensorView.h"
#include "LogCompressor.h"

#include "SlugsHilSim.h"

#include "SlugsPadCameraControl.h"
#include "UASControlParameters.h"
#include "QGCMAVLinkInspector.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCVehicleConfig.h"
#include "MAVLinkDecoder.h"

class QGCMapTool;
class QGCMAVLinkMessageSender;
class QGCFirmwareUpdate;
class QSplashScreen;
86
class QGCStatusBar;
87 88
class Linecharts;
class QGCDataPlot2D;
89
class JoystickWidget;
90 91 92 93 94 95 96 97 98 99

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

public:
100 101 102 103 104 105
    /**
     * A static function for obtaining the sole instance of the MainWindow. The screen
     * argument is only important on the FIRST call to this function. The provided splash
     * screen is updated with some status messages that are emitted during init(). This
     * function cannot be used within the MainWindow constructor!
     */
106
    static MainWindow* instance(QSplashScreen* screen = 0);
107 108 109 110 111 112 113 114

    /**
     * Initializes the MainWindow. Some variables are initialized and the widget is hidden.
     * Initialization of the MainWindow class really occurs in init(), which loads the UI
     * and does everything important. The constructor is split in two like this so that
     * the instance() is available for all classes.
     */
    MainWindow(QWidget *parent = NULL);
115 116
    ~MainWindow();

117 118 119 120 121 122 123
    /**
     * This function actually performs the non-trivial initialization of the MainWindow
     * class. This is separate from the constructor because instance() won't work within
     * code executed in the MainWindow constructor.
     */
    void init();

124 125
    enum QGC_MAINWINDOW_STYLE
    {
126
        QGC_MAINWINDOW_STYLE_DARK,
127
        QGC_MAINWINDOW_STYLE_LIGHT
128
    };
129

130 131
    // Declare default dark and light stylesheets. These should be file-resource
    // paths.
132 133 134
    static const QString defaultDarkStyle;
    static const QString defaultLightStyle;

135
    /** @brief Get current visual style */
136
    QGC_MAINWINDOW_STYLE getStyle()
137 138 139
    {
        return currentStyle;
    }
140

141
    /** @brief Get current light visual stylesheet */
142 143 144 145 146
    QString getLightStyleSheet()
    {
        return lightStyleFileName;
    }

147
    /** @brief Get current dark visual stylesheet */
148
    QString getDarkStyleSheet()
149
    {
150
        return darkStyleFileName;
151
    }
152 153 154 155 156 157
    /** @brief Get auto link reconnect setting */
    bool autoReconnectEnabled()
    {
        return autoReconnect;
    }

158 159 160 161 162 163
    /** @brief Get title bar mode setting */
    bool dockWidgetTitleBarsEnabled()
    {
        return dockWidgetTitleBarEnabled;
    }

164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200
    /** @brief Get low power mode setting */
    bool lowPowerModeEnabled()
    {
        return lowPowerMode;
    }

    QList<QAction*> listLinkMenuActions(void);

public slots:
    /** @brief Shows a status message on the bottom status bar */
    void showStatusMessage(const QString& status, int timeout);
    /** @brief Shows a status message on the bottom status bar */
    void showStatusMessage(const QString& status);
    /** @brief Shows a critical message as popup or as widget */
    void showCriticalMessage(const QString& title, const QString& message);
    /** @brief Shows an info message as popup or as widget */
    void showInfoMessage(const QString& title, const QString& message);

    /** @brief Show the application settings */
    void showSettings();
    /** @brief Add a communication link */
    void addLink();
    void addLink(LinkInterface* link);
    void configure();
    /** @brief Set the currently controlled UAS */
    void setActiveUAS(UASInterface* uas);

    /** @brief Add a new UAS */
    void UASCreated(UASInterface* uas);
    /** Delete an UAS */
    void UASDeleted(UASInterface* uas);
    /** @brief Update system specs of a UAS */
    void UASSpecsChanged(int uas);
    void startVideoCapture();
    void stopVideoCapture();
    void saveScreen();

201 202
    /** @brief Sets advanced mode, allowing for editing of tool widget locations */
    void setAdvancedMode();
203 204
    /** @brief Load configuration view */
    void loadConfigurationView();
205 206 207 208
    /** @brief Load default view when no MAV is connected */
    void loadUnconnectedView();
    /** @brief Load view for pilot */
    void loadPilotView();
209 210
    /** @brief Load view for simulation */
    void loadSimulationView();
211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226
    /** @brief Load view for engineer */
    void loadEngineerView();
    /** @brief Load view for operator */
    void loadOperatorView();
    /** @brief Load MAVLink XML generator view */
    void loadMAVLinkView();
    /** @brief Load firmware update view */
    void loadFirmwareUpdateView();

    /** @brief Show the online help for users */
    void showHelp();
    /** @brief Show the authors / credits */
    void showCredits();
    /** @brief Show the project roadmap */
    void showRoadMap();

227 228
    /** @breif Enable title bars on dock widgets when no in advanced mode */
    void enableDockWidgetTitleBars(bool enabled);
229 230 231 232
    /** @brief Automatically reconnect last link */
    void enableAutoReconnect(bool enabled);
    /** @brief Save power by reducing update rates */
    void enableLowPowerMode(bool enabled) { lowPowerMode = enabled; }
233
    /** @brief Load a specific style.
234 235
      * If it's a custom style, load the file indicated by the cssFile path.
      */
236
    bool loadStyle(QGC_MAINWINDOW_STYLE style, QString cssFile);
237 238 239 240 241 242 243 244 245

    /** @brief Add a custom tool widget */
    void createCustomWidget();

    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
    void loadCustomWidget();

    /** @brief Load a custom tool widget from a file */
    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
246
    void loadCustomWidget(const QString& fileName, int view);
247 248 249 250 251 252 253 254 255 256

    /** @brief Load custom widgets from default file */
    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);

    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
    void showHILConfigurationWidget(UASInterface *uas);

    void closeEvent(QCloseEvent* event);

    /** @brief Load data view, allowing to plot flight data */
257
//    void loadDataView(QString fileName);
258 259 260 261 262 263 264 265 266 267

    /**
     * @brief Shows a Docked Widget based on the action sender
     *
     * This slot is written to be used in conjunction with the addTool() function
     * It shows the QDockedWidget based on the action sender
     *
     */
    void showTool(bool visible);

268

269 270 271 272 273 274 275 276 277 278 279 280
    /**
     * @brief Shows a Widget from the center stack based on the action sender
     *
     * This slot is written to be used in conjunction with the addCentralWidget() function
     * It shows the Widget based on the action sender
     *
     */
    void showCentralWidget();

    /** @brief Update the window name */
    void configureWindowName();

281 282
    void commsWidgetDestroyed(QObject *obj);

283
signals:
284
    void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE newTheme);
285
    void initStatusChanged(const QString& message, int alignment, const QColor &color);
286
#ifdef MOUSE_ENABLED_LINUX
287 288
    /** @brief Forward X11Event to catch 3DMouse inputs */
    void x11EventOccured(XEvent *event);
289
#endif //MOUSE_ENABLED_LINUX
290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306

public:
    QGCMAVLinkLogPlayer* getLogPlayer()
    {
        return logPlayer;
    }

    MAVLinkProtocol* getMAVLink()
    {
        return mavlink;
    }

protected:

    typedef enum _VIEW_SECTIONS
    {
        VIEW_ENGINEER,
307 308
        VIEW_MISSION,
        VIEW_FLIGHT,
309
        VIEW_SIMULATION,
310 311
        VIEW_MAVLINK,
        VIEW_FIRMWAREUPDATE,
312
        VIEW_CONFIGURATION,
313 314 315 316 317 318 319 320 321 322 323 324 325 326 327
        VIEW_UNCONNECTED,    ///< View in unconnected mode, when no UAS is available
        VIEW_FULL            ///< All widgets shown at once
    } VIEW_SECTIONS;

    /**
     * @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 QDockWidget being added
     * @param title     The entry that will appear in the Menu and in the QDockedWidget title bar
     * @param location  The default location for the QDockedWidget in case there is no previous key in the settings
     */
328
    void addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area);
329
    void loadDockWidget(QString name);
330
    QDockWidget* createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth=0,int minheight=0);
331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359
    /**
     * @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
     */
    void addCentralWidget(QWidget* widget, const QString& title);

    /** @brief Catch window resize events */
    void resizeEvent(QResizeEvent * event);

    /** @brief Keeps track of the current view */
    VIEW_SECTIONS currentView;
    QGC_MAINWINDOW_STYLE currentStyle;
    bool aboutToCloseFlag;
    bool changingViewsFlag;

    void storeViewState();
    void loadViewState();

    void buildCustomWidget();
    void buildCommonWidgets();
    void connectCommonWidgets();
    void connectCommonActions();
360
    void connectSenseSoarActions();
361 362 363 364 365 366 367 368 369 370 371 372 373 374 375

    void loadSettings();
    void storeSettings();

    // TODO Should be moved elsewhere, as the protocol does not belong to the UI
    MAVLinkProtocol* mavlink;

    MAVLinkSimulationLink* simulationLink;
    LinkInterface* udpLink;

    QSettings settings;
    QStackedWidget *centerStack;
    QActionGroup* centerStackActionGroup;

    // Center widgets
376 377 378
    QPointer<SubMainWindow> plannerView;
    QPointer<SubMainWindow> pilotView;
    QPointer<SubMainWindow> configView;
379
    QPointer<SubMainWindow> mavlinkView;
380 381 382 383
    QPointer<SubMainWindow> engineeringView;
    QPointer<SubMainWindow> simView;

    // Center widgets
384
    QPointer<Linecharts> linechartWidget;
385 386 387 388 389
    //QPointer<HUD> hudWidget;
    //QPointer<QGCVehicleConfig> configWidget;
    //QPointer<QGCMapTool> mapWidget;
    //QPointer<XMLCommProtocolWidget> protocolWidget;
    //QPointer<QGCDataPlot2D> dataplotWidget;
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
#ifdef QGC_OSG_ENABLED
    QPointer<QWidget> _3DWidget;
#endif
#if (defined _MSC_VER) || (defined Q_OS_MAC)
    QPointer<QGCGoogleEarthView> gEarthWidget;
#endif
    QPointer<QGCFirmwareUpdate> firmwareUpdateWidget;

    // Dock widgets
    QPointer<QDockWidget> controlDockWidget;
    QPointer<QDockWidget> controlParameterWidget;
    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;

    QPointer<QDockWidget> headUpDockWidget;
    QPointer<QDockWidget> video1DockWidget;
    QPointer<QDockWidget> video2DockWidget;
    QPointer<QDockWidget> rgbd1DockWidget;
    QPointer<QDockWidget> rgbd2DockWidget;
    QPointer<QDockWidget> logPlayerDockWidget;

    QPointer<QDockWidget> hsiDockWidget;
    QPointer<QDockWidget> rcViewDockWidget;
    QPointer<QDockWidget> hudDockWidget;
    QPointer<QDockWidget> slugsDataWidget;
    QPointer<QDockWidget> slugsHilSimWidget;
    QPointer<QDockWidget> slugsCamControlWidget;

    QPointer<QGCToolBar> toolBar;
427
    QPointer<QGCStatusBar> customStatusBar;
428

429 430
    QPointer<DebugConsole> debugConsole;

431 432 433 434
    QPointer<QDockWidget> mavlinkInspectorWidget;
    QPointer<MAVLinkDecoder> mavlinkDecoder;
    QPointer<QDockWidget> mavlinkSenderWidget;
    QGCMAVLinkLogPlayer* logPlayer;
435
    QMap<int, QDockWidget*> hilDocks;
436 437 438 439 440 441 442

    // Popup widgets
    JoystickWidget* joystickWidget;

    JoystickInput* joystick;

#ifdef MOUSE_ENABLED_WIN
443
    /** @brief 3d Mouse support (WIN only) */
444 445 446 447
    Mouse3DInput* mouseInput;               ///< 3dConnexion 3dMouse SDK
    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
#endif // MOUSE_ENABLED_WIN

448 449 450 451 452 453
#ifdef MOUSE_ENABLED_LINUX
    /** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */
    bool x11Event(XEvent *event);
    Mouse6dofInput* mouse;                  ///< Implementation for 3dMouse input
#endif // MOUSE_ENABLED_LINUX

454 455 456 457 458 459 460 461 462 463 464 465 466
    /** User interface actions **/
    QAction* connectUASAct;
    QAction* disconnectUASAct;
    QAction* startUASAct;
    QAction* returnUASAct;
    QAction* stopUASAct;
    QAction* killUASAct;
    QAction* simulateUASAct;


    LogCompressor* comp;
    QString screenFileName;
    QTimer* videoTimer;
467 468
    QString darkStyleFileName;
    QString lightStyleFileName;
469 470 471 472 473 474 475
    bool autoReconnect;
    Qt::WindowStates windowStateVal;
    bool lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets
    QGCFlightGearLink* fgLink;
    QTimer windowNameUpdateTimer;

private:
476
    QList<QObject*> commsWidgetList;
477
    QMap<QString,QString> customWidgetNameToFilenameMap;
478
    QMap<QAction*,QString > menuToDockNameMap;
479
    QMap<QDockWidget*,QWidget*> dockToTitleBarMap;
480
    QMap<VIEW_SECTIONS,QMap<QString,QWidget*> > centralWidgetToDockWidgetsMap;
481
    bool isAdvancedMode;
482
    bool dockWidgetTitleBarEnabled;
483 484 485 486 487 488 489 490
    Ui::MainWindow ui;

    QString getWindowStateKey();
    QString getWindowGeometryKey();

};

#endif /* _MAINWINDOW_H_ */