MainWindow.cc 33.5 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

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

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

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

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

/**
 * @file
26
 *   @brief Implementation of class MainWindow
27
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
 */

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

#include "MG.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
pixhawk's avatar
pixhawk committed
47
#include "GAudioOutput.h"
48

49 50
#ifdef QGC_OSG_ENABLED
#include "QMap3D.h"
51
#endif
pixhawk's avatar
pixhawk committed
52

lm's avatar
lm committed
53 54 55 56
// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"

pixhawk's avatar
pixhawk committed
57 58 59 60 61 62 63 64 65 66

#include "LogCompressor.h"

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
67
MainWindow::MainWindow(QWidget *parent) :
pixhawk's avatar
pixhawk committed
68 69
        QMainWindow(parent),
        settings()
pixhawk's avatar
pixhawk committed
70
{
71 72 73
    this->hide();
    this->setVisible(false);

pixhawk's avatar
pixhawk committed
74 75 76
    // Setup user interface
    ui.setupUi(this);

77 78 79 80 81 82 83
    buildWidgets();

    connectWidgets();

    arrangeCenterStack();

    configureWindowName();
pixhawk's avatar
pixhawk committed
84 85 86 87 88 89 90

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

    // Set the application style (not the same as a style sheet)
    // Set the style to Plastique
    qApp->setStyle("plastique");
91

pixhawk's avatar
pixhawk committed
92 93 94 95
    // Set style sheet as last step
    reloadStylesheet();


96 97 98
    // Create actions
    connectActions();

99
    // Load widgets and show application windowa
100 101 102 103
    loadWidgets();

    // Adjust the size
    adjustSize();
pixhawk's avatar
pixhawk committed
104 105
}

pixhawk's avatar
pixhawk committed
106
MainWindow::~MainWindow()
pixhawk's avatar
pixhawk committed
107 108 109 110 111
{
    delete statusBar;
    statusBar = NULL;
}

112 113 114

void MainWindow::buildWidgets()
{
pixhawk's avatar
pixhawk committed
115 116 117 118 119 120 121 122
    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    acceptList->append("roll IMU");
    acceptList->append("pitch IMU");
    acceptList->append("yaw IMU");
    acceptList->append("rollspeed IMU");
    acceptList->append("pitchspeed IMU");
    acceptList->append("yawspeed IMU");
123

pixhawk's avatar
pixhawk committed
124 125 126 127
    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("Battery");
    acceptList2->append("Pressure");
128

pixhawk's avatar
pixhawk committed
129 130
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
131

pixhawk's avatar
pixhawk committed
132 133 134 135 136 137
    // Center widgets
    linechartWidget   = new Linecharts(this);
    hudWidget         = new HUD(640, 480, this);
    mapWidget         = new MapWidget(this);
    protocolWidget    = new XMLCommProtocolWidget(this);
    dataplotWidget    = new QGCDataPlot2D(this);
138
    #ifdef QGC_OSG_ENABLED
139 140 141
    //_3DWidget         = Q3DWidgetFactory::get(QGC_MAP3D_OSGEARTH);
    _3DWidget = new QMap3D(this);
    #endif
142

pixhawk's avatar
pixhawk committed
143 144 145
    // Dock widgets
    controlDockWidget = new QDockWidget(tr("Control"), this);
    controlDockWidget->setWidget( new UASControlWidget(this) );
146

pixhawk's avatar
pixhawk committed
147 148
    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
    listDockWidget->setWidget( new UASListWidget(this) );
149

pixhawk's avatar
pixhawk committed
150 151
    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
152

pixhawk's avatar
pixhawk committed
153 154
    infoDockWidget = new QDockWidget(tr("Status Details"), this);
    infoDockWidget->setWidget( new UASInfoWidget(this) );
155

pixhawk's avatar
pixhawk committed
156 157
    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
158

pixhawk's avatar
pixhawk committed
159 160
    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
    debugConsoleDockWidget->setWidget( new DebugConsole(this) );
161

pixhawk's avatar
pixhawk committed
162 163
    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
    parametersDockWidget->setWidget( new ParameterInterface(this) );
164

pixhawk's avatar
pixhawk committed
165 166
    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
167

pixhawk's avatar
pixhawk committed
168 169
    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    hsiDockWidget->setWidget( new HSIDisplay(this) );
170

pixhawk's avatar
pixhawk committed
171 172
    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
    headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
173

pixhawk's avatar
pixhawk committed
174 175
    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
176

pixhawk's avatar
pixhawk committed
177 178
    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
179

180 181 182
    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
    headUpDockWidget->setWidget( new HUD(320, 240, this));

pixhawk's avatar
pixhawk committed
183 184 185
    // Dialogue widgets
    //FIXME: free memory in destructor
    joystick    = new JoystickInput();
186

187 188
}

pixhawk's avatar
pixhawk committed
189 190 191
/**
 * Connect all signals and slots of the main window widgets
 */
192 193
void MainWindow::connectWidgets()
{
pixhawk's avatar
pixhawk committed
194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214
    if (linechartWidget)
    {
        connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
                linechartWidget, SLOT(addSystem(UASInterface*)));
        connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
                linechartWidget, SLOT(selectSystem(int)));
        connect(linechartWidget, SIGNAL(logfileWritten(QString)),
                this, SLOT(loadDataView(QString)));
    }
    if (infoDockWidget && infoDockWidget->widget())
    {
        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }
    if (mapWidget && waypointsDockWidget->widget())
    {
        // clear path create on the map
        connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearPath()));
        // add Waypoint widget in the WaypointList widget when mouse clicked
        connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
        // it notifies that a waypoint global goes to do create
215 216
        //connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
        //connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
217 218 219 220

        // it notifies that a waypoint global goes to do create and a map graphic too
        connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
        // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
221
        //connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
pixhawk's avatar
pixhawk committed
222
    }
223 224
}

225 226
void MainWindow::arrangeCenterStack()
{
227

pixhawk's avatar
pixhawk committed
228 229 230 231 232
    QStackedWidget *centerStack = new QStackedWidget(this);
    if (!centerStack) return;
    if (linechartWidget) centerStack->addWidget(linechartWidget);
    if (protocolWidget) centerStack->addWidget(protocolWidget);
    if (mapWidget) centerStack->addWidget(mapWidget);
233
    #ifdef QGC_OSG_ENABLED
234
    if (_3DWidget) centerStack->addWidget(_3DWidget);
235
    #endif
pixhawk's avatar
pixhawk committed
236 237
    if (hudWidget) centerStack->addWidget(hudWidget);
    if (dataplotWidget) centerStack->addWidget(dataplotWidget);
238

pixhawk's avatar
pixhawk committed
239
    setCentralWidget(centerStack);
240 241
}

242 243
void MainWindow::configureWindowName()
{
pixhawk's avatar
pixhawk committed
244 245 246
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;
247

pixhawk's avatar
pixhawk committed
248
    windowname.append(" (" + QHostInfo::localHostName() + ": ");
249

pixhawk's avatar
pixhawk committed
250 251 252 253 254 255 256 257 258 259
    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;
        }
    }
260

pixhawk's avatar
pixhawk committed
261
    windowname.append(")");
262

pixhawk's avatar
pixhawk committed
263
    setWindowTitle(windowname);
264 265

#ifndef Q_WS_MAC
pixhawk's avatar
pixhawk committed
266
    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
267 268 269
#endif
}

pixhawk's avatar
pixhawk committed
270
QStatusBar* MainWindow::createStatusBar()
pixhawk's avatar
pixhawk committed
271 272 273 274 275 276 277 278
{
    QStatusBar* bar = new QStatusBar();
    /* Add status fields and messages */
    /* Enable resize grip in the bottom right corner */
    bar->setSizeGripEnabled(true);
    return bar;
}

pixhawk's avatar
pixhawk committed
279
void MainWindow::startVideoCapture()
pixhawk's avatar
pixhawk committed
280 281 282 283 284 285 286 287 288 289 290
{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

    QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
                                                          initialPath,
                                                          tr("%1 Files (*.%2);;All Files (*)")
                                                          .arg(format.toUpper())
                                                          .arg(format));
    delete videoTimer;
    videoTimer = new QTimer(this);
291 292 293
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
pixhawk's avatar
pixhawk committed
294 295
}

pixhawk's avatar
pixhawk committed
296
void MainWindow::stopVideoCapture()
pixhawk's avatar
pixhawk committed
297 298 299 300 301 302
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

pixhawk's avatar
pixhawk committed
303
void MainWindow::saveScreen()
pixhawk's avatar
pixhawk committed
304 305 306 307 308 309 310 311 312 313
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

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

314 315 316 317 318 319
/**
 * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
 * directory (which by default does not exist). If it fails, it will load the bundled default CSS
 * from memory.
 * To customize the application, just create a qgroundcontrol.css file in the application directory
 */
pixhawk's avatar
pixhawk committed
320
void MainWindow::reloadStylesheet()
pixhawk's avatar
pixhawk committed
321 322
{
    // Load style sheet
323 324 325 326 327
    QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":/images/style-mission.css");
    }
328 329
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
    {
330 331
        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
pixhawk's avatar
pixhawk committed
332
        qApp->setStyleSheet(style);
333 334 335
    }
    else
    {
336
        qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
pixhawk's avatar
pixhawk committed
337
    }
338
    delete styleSheet;
pixhawk's avatar
pixhawk committed
339 340
}

pixhawk's avatar
pixhawk committed
341
void MainWindow::showStatusMessage(const QString& status, int timeout)
pixhawk's avatar
pixhawk committed
342 343 344 345
{
    statusBar->showMessage(status, timeout);
}

346
void MainWindow::showStatusMessage(const QString& status)
pixhawk's avatar
pixhawk committed
347
{
348
    statusBar->showMessage(status, 5);
pixhawk's avatar
pixhawk committed
349 350 351 352 353 354
}

/**
* @brief Create all actions associated to the main window
*
**/
pixhawk's avatar
pixhawk committed
355
void MainWindow::connectActions()
pixhawk's avatar
pixhawk committed
356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374
{
    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));

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

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

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

    // User interface actions
    connect(ui.actionPilotView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
375
    connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));
376
    connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
377
    connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
378
    connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
pixhawk's avatar
pixhawk committed
379
    connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
380
    connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
381 382 383 384
    connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
    connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));

pixhawk's avatar
pixhawk committed
385 386
    // Joystick configuration
    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
387 388


pixhawk's avatar
pixhawk committed
389 390
}

391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432
void MainWindow::showHelp()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/user_guide")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open help in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/user_guide in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::showCredits()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open credits in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/credits in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::showRoadMap()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/roadmap")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open roadmap in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

pixhawk's avatar
pixhawk committed
433
void MainWindow::configure()
pixhawk's avatar
pixhawk committed
434 435 436 437
{
    joystickWidget = new JoystickWidget(joystick, this);
}

pixhawk's avatar
pixhawk committed
438
void MainWindow::addLink()
pixhawk's avatar
pixhawk committed
439 440 441 442 443 444 445 446 447 448 449 450 451 452 453
{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

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

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

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

    commWidget->show();

    // TODO Implement the link removal!
}

pixhawk's avatar
pixhawk committed
454 455
void MainWindow::addLink(LinkInterface *link)
{
456
    LinkManager::instance()->addProtocol(link, mavlink);
pixhawk's avatar
pixhawk committed
457 458 459 460 461 462 463
    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
    ui.menuNetwork->addAction(commWidget->getAction());

    // Special case for simulationlink
    MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
    if (sim)
    {
464
        //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
pixhawk's avatar
pixhawk committed
465 466 467 468
        connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
    }
}

pixhawk's avatar
pixhawk committed
469
void MainWindow::UASCreated(UASInterface* uas)
pixhawk's avatar
pixhawk committed
470 471 472
{
    // Connect the UAS to the full user interface

473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504
    if (uas != NULL)
    {
        QIcon icon;
        // Set matching icon
        switch (uas->getSystemType())
        {
        case 0:
            icon = QIcon(":/images/mavs/generic.svg");
            break;
        case 1:
            icon = QIcon(":/images/mavs/fixed-wing.svg");
            break;
        case 2:
            icon = QIcon(":/images/mavs/quadrotor.svg");
            break;
        case 3:
            icon = QIcon(":/images/mavs/coaxial.svg");
            break;
        case 4:
            icon = QIcon(":/images/mavs/helicopter.svg");
            break;
        case 5:
            icon = QIcon(":/images/mavs/groundstation.svg");
            break;
        default:
            icon = QIcon(":/images/mavs/unknown.svg");
            break;
        }

        ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));

        // FIXME Should be not inside the mainwindow
505 506
        if (debugConsoleDockWidget)
        {
pixhawk's avatar
pixhawk committed
507 508 509 510 511 512
            DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
            if (debugConsole)
            {
                connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
                        debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
            }
513
        }
514 515

        // Health / System status indicator
516 517
        if (infoDockWidget)
        {
pixhawk's avatar
pixhawk committed
518 519 520 521 522
            UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
            if (infoWidget)
            {
                infoWidget->addUAS(uas);
            }
523
        }
524 525

        // UAS List
526 527
        if (listDockWidget)
        {
pixhawk's avatar
pixhawk committed
528 529 530 531 532
            UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
            if (listWidget)
            {
                listWidget->addUAS(uas);
            }
533
        }
534 535 536 537 538 539 540 541 542 543 544 545 546

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

        // Revalidate UI
        // TODO Stylesheet reloading should in theory not be necessary
        reloadStylesheet();

        // Check which type this UAS is of
        PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
        if (mav) loadPixhawkView();
        SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
        if (mav2) loadSlugsView();
lm's avatar
lm committed
547

548
    }
pixhawk's avatar
pixhawk committed
549 550
}

551 552 553
/**
 * Clears the current view completely
 */
pixhawk's avatar
pixhawk committed
554
void MainWindow::clearView()
pixhawk's avatar
pixhawk committed
555 556
{ 
    // Halt HUD
557 558 559 560 561 562 563 564 565
    if (hudWidget) hudWidget->stop();
    // Disable linechart
    if (linechartWidget) linechartWidget->setActive(false);
    // Halt HDDs
    if (headDown1DockWidget)
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown1DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }
pixhawk's avatar
pixhawk committed
566
    if (headDown2DockWidget)
567 568 569 570 571 572 573 574 575 576
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown2DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }
    // Halt HSI
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi) hsi->stop();
    }
pixhawk's avatar
pixhawk committed
577

578 579
    // Remove all dock widgets from main window
    QObjectList childList( this->children() );
pixhawk's avatar
pixhawk committed
580

581 582 583
    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
pixhawk's avatar
pixhawk committed
584
    {
585 586
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
pixhawk's avatar
pixhawk committed
587
        {
588 589 590 591 592
            // Remove dock widget from main window
            this->removeDockWidget(dockWidget);
            // Deletion of dockWidget would also delete all child
            // widgets of dockWidget
            // Is there a way to unset a widget from QDockWidget?
pixhawk's avatar
pixhawk committed
593 594 595 596
        }
    }
}

lm's avatar
lm committed
597 598 599 600 601 602
void MainWindow::loadSlugsView()
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
603 604 605 606 607 608 609 610 611
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
lm's avatar
lm committed
612 613

    // UAS CONTROL
614 615 616 617 618
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
lm's avatar
lm committed
619 620

    // UAS LIST
621 622 623 624 625
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
lm's avatar
lm committed
626 627

    // UAS STATUS
628 629 630 631 632
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
lm's avatar
lm committed
633 634

    // HORIZONTAL SITUATION INDICATOR
635 636 637 638 639 640 641 642 643 644
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            hsi->start();
            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
        }
    }
lm's avatar
lm committed
645 646

    // WAYPOINT LIST
647 648 649 650 651
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
lm's avatar
lm committed
652 653

    // DEBUG CONSOLE
654 655 656 657 658
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
lm's avatar
lm committed
659 660

    // ONBOARD PARAMETERS
661 662 663 664 665
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
666 667 668 669 670 671 672 673 674

    this->show();
}

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

675
        #ifdef QGC_OSG_ENABLED
676
    // 3D map
677
    if (_3DWidget)
678 679 680 681
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
682
            //map3DWidget->setActive(true);
683
            centerStack->setCurrentWidget(_3DWidget);
684 685
        }
    }
686
#endif
lm's avatar
lm committed
687 688

    // UAS CONTROL
689 690 691 692 693
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
lm's avatar
lm committed
694

695 696 697 698 699 700 701 702 703 704 705 706
    // HORIZONTAL SITUATION INDICATOR
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            hsi->start();
            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
        }
    }

lm's avatar
lm committed
707
    // UAS LIST
708 709 710 711 712
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
lm's avatar
lm committed
713 714

    // UAS STATUS
715 716 717 718 719
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
lm's avatar
lm committed
720 721

    // WAYPOINT LIST
722 723 724 725 726
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
lm's avatar
lm committed
727 728

    // DEBUG CONSOLE
729 730 731 732 733
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
lm's avatar
lm committed
734 735

    // ONBOARD PARAMETERS
736 737 738 739 740
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
741 742 743 744

    this->show();
}

745 746 747
void MainWindow::loadDataView()
{
    clearView();
748 749 750 751 752 753 754 755

    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
            centerStack->setCurrentWidget(dataplotWidget);
    }
756 757
}

758 759 760
void MainWindow::loadDataView(QString fileName)
{
    clearView();
pixhawk's avatar
pixhawk committed
761

762 763 764 765 766 767 768 769 770 771
    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(dataplotWidget);
            dataplotWidget->loadFile(fileName);
        }
    }
772 773
}

pixhawk's avatar
pixhawk committed
774
void MainWindow::loadPilotView()
pixhawk's avatar
pixhawk committed
775 776 777 778
{
    clearView();

    // HEAD UP DISPLAY
779 780 781 782 783 784 785 786 787
    if (hudWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(hudWidget);
            hudWidget->start();
        }
    }
pixhawk's avatar
pixhawk committed
788 789

    //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810
    if (headDown1DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
            headDown1DockWidget->show();
            hdd->start();
        }
        
    }
    if (headDown2DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
            headDown2DockWidget->show();
            hdd->start();
        }
    }
pixhawk's avatar
pixhawk committed
811

pixhawk's avatar
pixhawk committed
812 813 814
    this->show();
}

pixhawk's avatar
pixhawk committed
815
void MainWindow::loadOperatorView()
pixhawk's avatar
pixhawk committed
816 817 818
{
    clearView();

819
    // MAP
820 821 822 823 824 825 826 827
    if (mapWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(mapWidget);
        }
    }
pixhawk's avatar
pixhawk committed
828 829

    // UAS CONTROL
830 831 832 833 834
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
835 836

    // UAS LIST
837 838 839 840 841
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
842 843

    // UAS STATUS
844 845 846 847 848
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
849 850

    // WAYPOINT LIST
851 852 853 854 855
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
856

lm's avatar
lm committed
857
    // HORIZONTAL SITUATION INDICATOR
858 859 860 861 862 863 864 865 866 867
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
            hsi->start();
        }
    }
pixhawk's avatar
pixhawk committed
868 869

    // OBJECT DETECTION
870 871 872 873 874
    if (detectionDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
        detectionDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
875

pixhawk's avatar
pixhawk committed
876
    // PROCESS CONTROL
877 878 879 880 881 882
    if (watchdogControlDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
        watchdogControlDockWidget->show();
    }

pixhawk's avatar
pixhawk committed
883 884 885
    this->show();
}

886 887 888 889 890
void MainWindow::loadGlobalOperatorView()
{
    clearView();

    // MAP
891 892 893 894 895 896 897 898
    if (mapWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(mapWidget);
        }
    }
899 900

    // UAS CONTROL
901 902 903 904 905
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
906 907

    // UAS LIST
908 909 910 911 912
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
913 914

    // UAS STATUS
915 916 917 918 919
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
920 921

    // WAYPOINT LIST
922 923 924 925 926
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
927

928 929 930 931 932 933 934 935 936 937 938
//    // HORIZONTAL SITUATION INDICATOR
//    if (hsiDockWidget)
//    {
//        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
//        if (hsi)
//        {
//            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
//            hsiDockWidget->show();
//            hsi->start();
//        }
//    }
939 940

    // PROCESS CONTROL
941 942 943 944 945
    if (watchdogControlDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
        watchdogControlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
946

947 948 949 950 951 952
    // HEAD UP DISPLAY
    if (headUpDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, headUpDockWidget);
        // FIXME Replace with default ->show() call
        HUD* hud = dynamic_cast<HUD*>(headUpDockWidget->widget());
pixhawk's avatar
pixhawk committed
953

954 955 956 957 958 959
        if (hud)
        {
            headUpDockWidget->show();
            hud->start();
        }
    }
pixhawk's avatar
pixhawk committed
960 961 962

}

963
void MainWindow::load3DView()
pixhawk's avatar
pixhawk committed
964
{
965
        #ifdef QGC_OSG_ENABLED
966
            clearView();
pixhawk's avatar
pixhawk committed
967

968
            // 3D map
969
            if (_3DWidget)
970 971 972 973 974
            {
                QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
                if (centerStack)
                {
                    //map3DWidget->setActive(true);
975
                    centerStack->setCurrentWidget(_3DWidget);
976 977
                }
            }
pixhawk's avatar
pixhawk committed
978

979 980 981 982 983 984
            // UAS CONTROL
            if (controlDockWidget)
            {
                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
                controlDockWidget->show();
            }
pixhawk's avatar
pixhawk committed
985

986 987 988 989 990 991
            // UAS LIST
            if (listDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
                listDockWidget->show();
            }
992

993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010
            // WAYPOINT LIST
            if (waypointsDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
                waypointsDockWidget->show();
            }

            // HORIZONTAL SITUATION INDICATOR
            if (hsiDockWidget)
            {
                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
                if (hsi)
                {
                    hsi->start();
                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
                    hsiDockWidget->show();
                }
            }
1011
#endif
1012
            this->show();
1013

1014
        }
pixhawk's avatar
pixhawk committed
1015

pixhawk's avatar
pixhawk committed
1016
void MainWindow::loadEngineerView()
pixhawk's avatar
pixhawk committed
1017 1018 1019 1020 1021
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
1022 1023 1024 1025 1026 1027 1028 1029 1030
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
pixhawk's avatar
pixhawk committed
1031 1032

    // UAS CONTROL
1033 1034 1035 1036 1037
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1038 1039

    // UAS LIST
1040 1041 1042 1043 1044
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1045 1046

    // UAS STATUS
1047 1048 1049 1050 1051
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1052

lm's avatar
lm committed
1053
    // WAYPOINT LIST
1054 1055 1056 1057 1058
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1059 1060

    // DEBUG CONSOLE
1061 1062 1063 1064 1065
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1066

lm's avatar
lm committed
1067
    // ONBOARD PARAMETERS
1068 1069 1070 1071 1072
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
1073

1074 1075 1076 1077 1078 1079 1080
    // RADIO CONTROL VIEW
    if (rcViewDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
        rcViewDockWidget->show();
    }

pixhawk's avatar
pixhawk committed
1081 1082 1083
    this->show();
}

1084 1085 1086
void MainWindow::loadMAVLinkView()
{
    clearView();
1087 1088 1089 1090 1091 1092 1093 1094 1095 1096

    if (protocolWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(protocolWidget);
        }
    }

1097
    this->show();
1098 1099
}

1100 1101
void MainWindow::loadAllView()
{
1102 1103
    clearView();

1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124
    if (headDown1DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
            headDown1DockWidget->show();
            hdd->start();
        }
        
    }
    if (headDown2DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
            headDown2DockWidget->show();
            hdd->start();
        }
    }
1125 1126

    // UAS CONTROL
1127 1128 1129 1130 1131
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
1132 1133

    // UAS LIST
1134 1135 1136 1137 1138
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
1139 1140

    // UAS STATUS
1141 1142 1143 1144 1145
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
1146 1147

    // WAYPOINT LIST
1148 1149 1150 1151 1152
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
1153 1154

    // DEBUG CONSOLE
1155 1156 1157 1158 1159
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
1160 1161

    // OBJECT DETECTION
1162 1163
    if (detectionDockWidget)
    {
pixhawk's avatar
pixhawk committed
1164 1165
        addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
        detectionDockWidget->show();
1166
    }
1167 1168

    // LINE CHART
1169 1170 1171 1172 1173 1174 1175 1176 1177
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
1178 1179

    // ONBOARD PARAMETERS
1180 1181 1182 1183 1184
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
1185 1186

    this->show();
1187 1188
}

pixhawk's avatar
pixhawk committed
1189
void MainWindow::loadWidgets()
pixhawk's avatar
pixhawk committed
1190
{
1191 1192
    //loadOperatorView();
    loadEngineerView();
pixhawk's avatar
pixhawk committed
1193 1194
    //loadPilotView();
}