MainWindow.cc 81.1 KB
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/*=====================================================================

QGroundControl Open Source Ground Control Station

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(c) 2009 - 2013 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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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 <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
#include <QSplashScreen>
#include <QGCHilLink.h>
#include <QGCHilConfiguration.h>
#include <QGCHilFlightGearConfiguration.h>
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#include <QDeclarativeView>
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#include "dockwidgettitlebareventfilter.h"
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#include "QGC.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "QGCWaypointListMulti.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
#include "GAudioOutput.h"
#include "QGCToolWidget.h"
#include "QGCMAVLinkLogPlayer.h"
#include "QGCSettingsWidget.h"
#include "QGCMapTool.h"
#include "MAVLinkDecoder.h"
#include "QGCMAVLinkMessageSender.h"
#include "QGCRGBDView.h"
#include "QGCFirmwareUpdate.h"
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#include "QGCStatusBar.h"
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#include "UASQuickView.h"
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#include "QGCDataPlot2D.h"
#include "Linecharts.h"
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#include "UASActionsWidget.h"
#include "QGCTabbedInfoView.h"
#include "UASRawStatusView.h"
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#include "PrimaryFlightDisplay.h"
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#include <apmtoolbar.h>
#include <ApmHardwareConfig.h>
#include <ApmSoftwareConfig.h>
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#include <QGCConfigView.h>
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#include "SerialSettingsDialog.h"
#include "terminalconsole.h"
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#ifdef QGC_OSG_ENABLED
#include "Q3DWidgetFactory.h"
#endif

// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"

#include "LogCompressor.h"

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// Set up some constants
const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css";
const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css";

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MainWindow* MainWindow::instance_mode(QSplashScreen* screen, enum MainWindow::CUSTOM_MODE mode)
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{
    static MainWindow* _instance = 0;
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    if (_instance == 0)
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    {
        _instance = new MainWindow();
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        _instance->setCustomMode(mode);
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        if (screen)
        {
            connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)),
                    screen, SLOT(showMessage(QString,int,QColor)));
        }
        _instance->init();
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    }
    return _instance;
}

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MainWindow* MainWindow::instance(QSplashScreen* screen)
{
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    return instance_mode(screen, CUSTOM_MODE_UNCHANGED);
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}

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/**
* 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()
**/
MainWindow::MainWindow(QWidget *parent):
    QMainWindow(parent),
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    currentView(VIEW_FLIGHT),
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    currentStyle(QGC_MAINWINDOW_STYLE_DARK),
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    aboutToCloseFlag(false),
    changingViewsFlag(false),
    centerStackActionGroup(new QActionGroup(this)),
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    darkStyleFileName(defaultDarkStyle),
    lightStyleFileName(defaultLightStyle),
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    autoReconnect(false),
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    simulationLink(NULL),
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    lowPowerMode(false),
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    isAdvancedMode(false),
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    mavlink(new MAVLinkProtocol()),
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    dockWidgetTitleBarEnabled(true),
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    customMode(CUSTOM_MODE_NONE)
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{
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    this->setAttribute(Qt::WA_DeleteOnClose);
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    //TODO:  move protocol outside UI
    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
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    loadSettings();
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}

void MainWindow::init()
{
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    emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    qApp->setStyle("plastique");
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    if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT)
    {
        loadStyle(currentStyle, lightStyleFileName);
    }
    else
    {
        loadStyle(currentStyle, darkStyleFileName);
    }
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    if (settings.contains("ADVANCED_MODE"))
    {
        isAdvancedMode = settings.value("ADVANCED_MODE").toBool();
    }

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    if (!settings.contains("CURRENT_VIEW"))
    {
        // Set this view as default view
        settings.setValue("CURRENT_VIEW", currentView);
    }
    else
    {
        // LOAD THE LAST VIEW
        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
        if (currentViewCandidate != VIEW_ENGINEER &&
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                currentViewCandidate != VIEW_MISSION &&
                currentViewCandidate != VIEW_FLIGHT &&
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                currentViewCandidate != VIEW_FULL)
        {
            currentView = currentViewCandidate;
        }
    }

    settings.sync();
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    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    // Setup user interface
    ui.setupUi(this);
    hide();

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    // We only need this menu if we have more than one system
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    //    ui.menuConnected_Systems->setEnabled(false);
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    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);

    configureWindowName();

    // Setup corners
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    setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
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    // Setup UI state machines
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    centerStackActionGroup->setExclusive(true);
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    centerStack = new QStackedWidget(this);
    setCentralWidget(centerStack);

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    // Load Toolbar
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    if (!(getCustomMode() == CUSTOM_MODE_APM)) {
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        toolBar = new QGCToolBar(this);
        this->addToolBar(toolBar);

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        ui.actionHardwareConfig->setText(tr("Config"));

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        // Add actions for average users (displayed next to each other)
        QList<QAction*> actions;
        actions << ui.actionFlightView;
        actions << ui.actionMissionView;
        actions << ui.actionHardwareConfig;
        toolBar->setPerspectiveChangeActions(actions);

        // Add actions for advanced users (displayed in dropdown under "advanced")
        QList<QAction*> advancedActions;
        advancedActions << ui.actionSimulation_View;
        advancedActions << ui.actionEngineersView;

        toolBar->setPerspectiveChangeAdvancedActions(advancedActions);
    }
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    customStatusBar = new QGCStatusBar(this);
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    setStatusBar(customStatusBar);
    statusBar()->setSizeGripEnabled(true);
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    emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    buildCommonWidgets();
    connectCommonWidgets();

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    emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    // Create actions
    connectCommonActions();

    // Populate link menu
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    emit initStatusChanged(tr("Populating link menu"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
    foreach(LinkInterface* link, links)
    {
        this->addLink(link);
    }

    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));

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    if (getCustomMode() == CUSTOM_MODE_APM) {
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        // Add the APM 'toolbar'

        APMToolBar *apmToolBar = new APMToolBar(this);
        apmToolBar->setFlightViewAction(ui.actionFlightView);
        apmToolBar->setFlightPlanViewAction(ui.actionMissionView);
        apmToolBar->setHardwareViewAction(ui.actionHardwareConfig);
        apmToolBar->setSoftwareViewAction(ui.actionSoftwareConfig);
        apmToolBar->setSimulationViewAction(ui.actionSimulation_View);
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        apmToolBar->setTerminalViewAction(ui.actionTerminalView);
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        QDockWidget *widget = new QDockWidget(tr("APM Tool Bar"),this);
        widget->setWidget(apmToolBar);
        widget->setMinimumHeight(72);
        widget->setMaximumHeight(72);
        widget->setMinimumWidth(1024);
        widget->setFeatures(QDockWidget::NoDockWidgetFeatures);
        widget->setTitleBarWidget(new QWidget(this)); // Disables the title bar
    //    /*widget*/->setStyleSheet("QDockWidget { border: 0px solid #FFFFFF; border-radius: 0px; border-bottom: 0px;}");
        this->addDockWidget(Qt::TopDockWidgetArea, widget);
    }
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    // Connect user interface devices
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    emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    joystickWidget = 0;
    joystick = new JoystickInput();

#ifdef MOUSE_ENABLED_WIN
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    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    mouseInput = new Mouse3DInput(this);
    mouse = new Mouse6dofInput(mouseInput);
#endif //MOUSE_ENABLED_WIN

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#if MOUSE_ENABLED_LINUX
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    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    mouse = new Mouse6dofInput(this);
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    connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*)));
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#endif //MOUSE_ENABLED_LINUX

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    // Connect link
    if (autoReconnect)
    {
        SerialLink* link = new SerialLink();
        // Add to registry
        LinkManager::instance()->add(link);
        LinkManager::instance()->addProtocol(link, mavlink);
        link->connect();
    }

    // Set low power mode
    enableLowPowerMode(lowPowerMode);

    // Initialize window state
    windowStateVal = windowState();

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    emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    // Restore the window setup
    loadViewState();

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    emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    // Restore the window position and size
    if (settings.contains(getWindowGeometryKey()))
    {
        // Restore the window geometry
        restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
        show();
    }
    else
    {
        // Adjust the size
        const int screenWidth = QApplication::desktop()->width();
        const int screenHeight = QApplication::desktop()->height();

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        if (screenWidth < 1500)
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        {
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            resize(screenWidth, screenHeight - 80);
            show();
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        }
        else
        {
            resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f)));
            show();
        }

    }

    connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName()));
    windowNameUpdateTimer.start(15000);
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    emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    show();
}

MainWindow::~MainWindow()
{
    if (mavlink)
    {
        delete mavlink;
        mavlink = NULL;
    }
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    if (simulationLink)
    {
        delete simulationLink;
        simulationLink = NULL;
    }
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    if (joystick)
    {
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        joystick->shutdown();
        joystick->wait(5000);
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        delete joystick;
        joystick = NULL;
    }

    // Get and delete all dockwidgets and contained
    // widgets
    QObjectList childList(this->children());

    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
    {
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
        {
            // Remove dock widget from main window
            // removeDockWidget(dockWidget);
            // delete dockWidget->widget();
            delete dockWidget;
            dockWidget = NULL;
        }
        else if (dynamic_cast<QWidget*>(*i))
        {
            delete dynamic_cast<QWidget*>(*i);
            *i = NULL;
        }
    }
    // Delete all UAS objects
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    if (debugConsole)
    {
        delete debugConsole;
    }
    for (int i=0;i<commsWidgetList.size();i++)
    {
        commsWidgetList[i]->deleteLater();
    }
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}

void MainWindow::resizeEvent(QResizeEvent * event)
{
    QMainWindow::resizeEvent(event);
}

QString MainWindow::getWindowStateKey()
{
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    if (UASManager::instance()->getActiveUAS())
    {
        return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName();
    }
    else
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        return QString::number(currentView)+"_windowstate";
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}

QString MainWindow::getWindowGeometryKey()
{
    //return QString::number(currentView)+"_geometry";
    return "_geometry";
}

void MainWindow::buildCustomWidget()
{
    // Create custom widgets
    QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);

    if (widgets.size() > 0)
    {
        ui.menuTools->addSeparator();
    }

    for(int i = 0; i < widgets.size(); ++i)
    {
        // Check if this widget already has a parent, do not create it in this case
        QGCToolWidget* tool = widgets.at(i);
        QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
        if (!dock)
        {
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            QSettings settings;
            settings.beginGroup("QGC_MAINWINDOW");

            /*QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
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            dock->setObjectName(tool->objectName()+"_DOCK");
            dock->setWidget(tool);
            connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
            QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
            showAction->setCheckable(true);
            connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
            connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
            widgets.at(i)->setMainMenuAction(showAction);
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            ui.menuTools->addAction(showAction);*/
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            // Load dock widget location (default is bottom)
            Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));

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            //addDockWidget(location, dock);
            //dock->hide();
            int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
            //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);
            settings.endGroup();
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            QDockWidget* dock;

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            switch (view)
            {
            case VIEW_ENGINEER:
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                dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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                break;
            case VIEW_FLIGHT:
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                dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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                break;
            case VIEW_SIMULATION:
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                dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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                break;
            case VIEW_MISSION:
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                dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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                break;
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            case VIEW_MAVLINK:
                dock = createDockWidget(mavlinkView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
                break;
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            default:
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                dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location);
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                break;
            }

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            // XXX temporary "fix"
            dock->hide();

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            //createDockWidget(0,tool,tool->getTitle(),tool->objectName(),view,location);
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        }
    }
}

void MainWindow::buildCommonWidgets()
{
    // Add generic MAVLink decoder
    mavlinkDecoder = new MAVLinkDecoder(mavlink, this);

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    // Log player
    logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar);
    customStatusBar->setLogPlayer(logPlayer);

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    // Center widgets
    if (!plannerView)
    {
        plannerView = new SubMainWindow(this);
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        plannerView->setObjectName("VIEW_MISSION");
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        plannerView->setCentralWidget(new QGCMapTool(this));
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        addToCentralStackedWidget(plannerView, VIEW_MISSION, "Maps");
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    }

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    //pilotView (aka Flight or Mission View)
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    if (!pilotView)
    {
        pilotView = new SubMainWindow(this);
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        pilotView->setObjectName("VIEW_FLIGHT");
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        pilotView->setCentralWidget(new QGCMapTool(this));
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        addToCentralStackedWidget(pilotView, VIEW_FLIGHT, "Pilot");
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    }
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    if (getCustomMode() == CUSTOM_MODE_APM) {
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        if (!configView)
        {
            configView = new SubMainWindow(this);
            configView->setObjectName("VIEW_HARDWARE_CONFIG");
            configView->setCentralWidget(new ApmHardwareConfig(this));
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            addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Hardware");
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        }
        if (!softwareConfigView)
        {
            softwareConfigView = new SubMainWindow(this);
            softwareConfigView->setObjectName("VIEW_SOFTWARE_CONFIG");
            softwareConfigView->setCentralWidget(new ApmSoftwareConfig(this));
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            addToCentralStackedWidget(softwareConfigView, VIEW_SOFTWARE_CONFIG, "Software");
        }
        if (!terminalView)
        {
            terminalView = new SubMainWindow(this);
            terminalView->setObjectName("VIEW_TERMINAL");
            TerminalConsole *terminalConsole = new TerminalConsole(this);
            terminalView->setCentralWidget(terminalConsole);
            addToCentralStackedWidget(terminalView, VIEW_TERMINAL, tr("Terminal View"));
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        }
    } else {
        if (!configView)
        {
            configView = new SubMainWindow(this);
            configView->setObjectName("VIEW_HARDWARE_CONFIG");
            configView->setCentralWidget(new QGCConfigView(this));
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            addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Config");
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        }
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    }
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    if (!engineeringView)
    {
        engineeringView = new SubMainWindow(this);
        engineeringView->setObjectName("VIEW_ENGINEER");
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        engineeringView->setCentralWidget(new QGCDataPlot2D(this));
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        addToCentralStackedWidget(engineeringView, VIEW_ENGINEER, tr("Logfile Plot"));
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    }
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    if (!mavlinkView)
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    {
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        mavlinkView = new SubMainWindow(this);
        mavlinkView->setObjectName("VIEW_MAVLINK");
        mavlinkView->setCentralWidget(new XMLCommProtocolWidget(this));
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        addToCentralStackedWidget(mavlinkView, VIEW_MAVLINK, tr("Mavlink Generator"));
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    }
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    if (!simView)
    {
        simView = new SubMainWindow(this);
        simView->setObjectName("VIEW_SIMULATOR");
        simView->setCentralWidget(new QGCMapTool(this));
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        addToCentralStackedWidget(simView, VIEW_SIMULATION, tr("Simulation View"));
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    }

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    // Dock widgets
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    QAction* tempAction = ui.menuTools->addAction(tr("Control"));
    tempAction->setCheckable(true);
    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));

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    createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea);
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    createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea);
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    createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
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    {
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        //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea);
        QAction* tempAction = ui.menuTools->addAction(tr("Mission Plan"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        menuToDockNameMap[tempAction] = "WAYPOINT_LIST_DOCKWIDGET";
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    }
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    createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
    createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
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    createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea);
    createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea);
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    {
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        QAction* tempAction = ui.menuTools->addAction(tr("Status Details"));
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        menuToDockNameMap[tempAction] = "UAS_STATUS_DETAILS_DOCKWIDGET";
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        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
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    }
    {
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        if (!debugConsole)
        {
            debugConsole = new DebugConsole();
            debugConsole->setWindowTitle("Communications Console");
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            debugConsole->hide();
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            QAction* tempAction = ui.menuTools->addAction(tr("Communication Console"));
            //menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET";
            tempAction->setCheckable(true);
            connect(tempAction,SIGNAL(triggered(bool)),debugConsole,SLOT(setShown(bool)));

        }
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    }
    createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea);
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    {
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        QAction* tempAction = ui.menuTools->addAction(tr("Flight Display"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET";
630
    }
631

632
    {
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        QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET";
637
    }
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    {
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        QAction* tempAction = ui.menuTools->addAction(tr("Radio Control"));
        tempAction->setCheckable(true);
        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
643
    }
644

645
    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);
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    createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea,this->width()/1.5);

    createDockWidget(simView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5);
650
    createDockWidget(pilotView,new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);
651

652
    QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this);
653
    infoview->addSource(mavlinkDecoder);
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    createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);


657 658
    //createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8);

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//    createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
//    createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
//    pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
//    pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);

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    //UASRawStatusView *view = new UASRawStatusView();
    //view->setDecoder(mavlinkDecoder);
    //view->show();
667
    //hddisplay->addSource(mavlinkDecoder);
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    //createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea);
    //pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North);
    //pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]);

672

673
    //createDockWidget(pilotView,new UASActionsWidget(this),tr("Actions"),"UNMANNED_SYSTEM_ACTION_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea);
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    // Custom widgets, added last to all menus and layouts
    buildCustomWidget();


679 680

    /*if (!protocolWidget)
681 682 683
    {
        protocolWidget    = new XMLCommProtocolWidget(this);
        addCentralWidget(protocolWidget, "Mavlink Generator");
684 685
    }*/

686

687 688 689 690 691
    //    if (!firmwareUpdateWidget)
    //    {
    //        firmwareUpdateWidget    = new QGCFirmwareUpdate(this);
    //        addCentralWidget(firmwareUpdateWidget, "Firmware Update");
    //    }
692

693
    /*if (!hudWidget)
694 695 696
    {
        hudWidget         = new HUD(320, 240, this);
        addCentralWidget(hudWidget, tr("Head Up Display"));
697
    }*/
698

699
    /*if (!configWidget)
700 701 702
    {
        configWidget = new QGCVehicleConfig(this);
        addCentralWidget(configWidget, tr("Vehicle Configuration"));
703 704
    }*/

705

706
    /*if (!dataplotWidget)
707 708 709
    {
        dataplotWidget    = new QGCDataPlot2D(this);
        addCentralWidget(dataplotWidget, tr("Logfile Plot"));
710
    }*/
711 712

#ifdef QGC_OSG_ENABLED
713
    if (q3DWidget)
714
    {
715 716 717 718
        q3DWidget = Q3DWidgetFactory::get("PIXHAWK", this);
        q3DWidget->setObjectName("VIEW_3DWIDGET");

        addToCentralStackedWidget(q3DWidget, VIEW_3DWIDGET, tr("Local 3D"));
719 720 721
    }
#endif

722
#if (defined _MSC_VER) /*| (defined Q_OS_MAC) mac os doesn't support gearth right now */
723 724
    if (!gEarthWidget)
    {
725 726
        earthWidget = new QGCGoogleEarthView(this);
        addToCentralStackedWidget(earthWidget,VIEW_GOOGLEEARTH, tr("Google Earth"));
727 728 729 730
    }
#endif
}

731
void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
732
{
733 734
    QList<QAction*> actionlist = ui.menuTools->actions();
    bool found = false;
735
    QAction *targetAction;
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    for (int i=0;i<actionlist.size();i++)
    {
        if (actionlist[i]->text() == title)
        {
            found = true;
741
            targetAction = actionlist[i];
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        }
    }
    if (!found)
    {
        QAction* tempAction = ui.menuTools->addAction(title);
        tempAction->setCheckable(true);
748
        menuToDockNameMap[tempAction] = widget->objectName();
749 750 751 752
        if (!centralWidgetToDockWidgetsMap.contains(view))
        {
            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
        }
753
        centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
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        connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
        tempAction->setChecked(widget->isVisible());
    }
758 759 760 761
    else
    {
        if (!menuToDockNameMap.contains(targetAction))
        {
762 763
            menuToDockNameMap[targetAction] = widget->objectName();
            //menuToDockNameMap[targetAction] = title;
764 765 766 767 768
        }
        if (!centralWidgetToDockWidgetsMap.contains(view))
        {
            centralWidgetToDockWidgetsMap[view] = QMap<QString,QWidget*>();
        }
769
        centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget;
770 771
        connect(widget, SIGNAL(visibilityChanged(bool)), targetAction, SLOT(setChecked(bool)));
    }
772
    parent->addDockWidget(area,widget);
773 774
}

775
QDockWidget* MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
776
{
777
    child->setObjectName(objectname);
778
    QDockWidget *widget = new QDockWidget(title,this);
779 780
    dockWidgets.append(widget);
    setDockWidgetTitleBar(widget);
781
    widget->setObjectName(child->objectName());
782 783 784 785 786 787 788
    widget->setWidget(child);
    if (minheight != 0 || minwidth != 0)
    {
        widget->setMinimumHeight(minheight);
        widget->setMinimumWidth(minwidth);
    }
    addTool(qobject_cast<SubMainWindow*>(parent),view,widget,title,area);
789 790

    return widget;
791
}
792 793 794 795 796 797
void MainWindow::loadDockWidget(QString name)
{
    if (centralWidgetToDockWidgetsMap[currentView].contains(name))
    {
        return;
    }
798 799 800 801 802 803
    if (name.startsWith("HIL_CONFIG"))
    {
        //It's a HIL widget.
        showHILConfigurationWidget(UASManager::instance()->getActiveUAS());
    }
    else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET")
804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828
    {
        createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
    }
    else if (name == "UNMANNED_SYSTEM_LIST_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "WAYPOINT_LIST_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
    }
    else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "PARAMETER_INTERFACE_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET")
    {
829 830 831
        //This is now a permanently detached window.
        //centralWidgetToDockWidgetsMap[currentView][name] = console;
        //createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
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    }
    else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea);
    }
    else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET")
    {
        //FIXME: memory of acceptList will never be freed again
        QStringList* acceptList = new QStringList();
        acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s");
        acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s");
        acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s");
        HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this);
        hddisplay->addSource(mavlinkDecoder);
        createDockWidget(centerStack->currentWidget(),hddisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET")
    {
        //FIXME: memory of acceptList2 will never be freed again
        QStringList* acceptList2 = new QStringList();
        acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500");
        HDDisplay *hddisplay = new HDDisplay(acceptList2,"Actuator Status",this);
        hddisplay->addSource(mavlinkDecoder);
        createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
    else if (name == "Radio Control")
    {
        qDebug() << "Error loading window:" << name << "Unknown window type";
        //createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
    }
862
    else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET")
863
    {
864 865
        // createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
        createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(320,240,this),tr("Primary Flight Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea);
866
    }
867 868 869 870
    else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET")
    {
        createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea);
    }
871 872
    else
    {
873 874 875 876 877 878 879 880 881
        if (customWidgetNameToFilenameMap.contains(name))
        {
            loadCustomWidget(customWidgetNameToFilenameMap[name],currentView);
            //customWidgetNameToFilenameMap.remove(name);
        }
        else
        {
            qDebug() << "Error loading window:" << name;
        }
882 883
    }
}
884

885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916
void MainWindow::setDockWidgetTitleBar(QDockWidget* widget)
{
    QWidget* oldTitleBar = widget->titleBarWidget();

    // In advanced mode, we use the default titlebar provided by Qt.
    if (isAdvancedMode)
    {
        widget->setTitleBarWidget(0);
    }
    // Otherwise, if just a textlabel should be shown, make that the titlebar.
    else if (dockWidgetTitleBarEnabled)
    {
        QLabel* label = new QLabel(this);
        label->setText(widget->windowTitle());
        label->installEventFilter(new DockWidgetTitleBarEventFilter());
        widget->setTitleBarWidget(label);
    }
    // And if nothing should be shown, use an empty widget.
    else
    {
        QWidget* newTitleBar = new QWidget(this);
        widget->setTitleBarWidget(newTitleBar);
    }

    // Be sure to clean up the old titlebar. When using QDockWidget::setTitleBarWidget(),
    // it doesn't delete the old titlebar object.
    if (oldTitleBar)
    {
        delete oldTitleBar;
    }
}

917 918
void MainWindow::showTool(bool show)
{
919 920
    //Called when a menu item is clicked on, regardless of view.

921
    QAction* act = qobject_cast<QAction *>(sender());
922 923 924 925 926 927 928
    if (menuToDockNameMap.contains(act))
    {
        QString name = menuToDockNameMap[act];
        if (centralWidgetToDockWidgetsMap.contains(currentView))
        {
            if (centralWidgetToDockWidgetsMap[currentView].contains(name))
            {
929 930 931 932 933 934 935 936
                if (show)
                {
                    centralWidgetToDockWidgetsMap[currentView][name]->show();
                }
                else
                {
                    centralWidgetToDockWidgetsMap[currentView][name]->hide();
                }
937
            }
938
            else if (show)
939
            {
940
                loadDockWidget(name);
941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956 957
            }
        }
    }
    //QWidget* widget = qVariantValue<QWidget *>(act->data());
    //widget->setVisible(show);
}
/*void addToolByName(QString name,SubMainWindow parent,const QString& title, Qt::DockWidgetArea area)
{
    if (name == "Control")
    {
        QDockWidget *widget = new QDockWidget(tr("Control"),this);
        dockToTitleBarMap[widget] = widget->titleBarWidget();
        widget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
        widget->setWidget(new UASControlWidget(this));
        addTool(parent,VIEW_SIMULATION,widget,tr("Control"),area);
    }
}*/
958
void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title)
959
{
960
    Q_UNUSED(title);
961
    Q_ASSERT(widget->objectName().length() != 0);
962

963 964 965 966
    // Check if this widget already has been added
    if (centerStack->indexOf(widget) == -1)
    {
        centerStack->addWidget(widget);
967
        centralWidgetToDockWidgetsMap[viewSection] = QMap<QString,QWidget*>();
968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983
    }
}


void MainWindow::showCentralWidget()
{
    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    centerStack->setCurrentWidget(widget);
}

void MainWindow::showHILConfigurationWidget(UASInterface* uas)
{
    // Add simulation configuration widget
    UAS* mav = dynamic_cast<UAS*>(uas);

984
    if (mav && !hilDocks.contains(mav->getUASID()))
985
    {
986 987 988
        //QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
        //createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);

989
        QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
990
        QString hilDockName = tr("HIL Config %1").arg(uas->getUASName());
991
        QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea);
992
        hilDocks.insert(mav->getUASID(), hilDock);
993

994 995 996 997
        //        if (currentView != VIEW_SIMULATION)
        //            hilDock->hide();
        //        else
        //            hilDock->show();
998 999 1000 1001 1002 1003 1004
    }
}

void MainWindow::closeEvent(QCloseEvent *event)
{
    if (isVisible()) storeViewState();
    aboutToCloseFlag = true;
1005
    storeSettings();
1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024
    mavlink->storeSettings();
    UASManager::instance()->storeSettings();
    QMainWindow::closeEvent(event);
}

/**
 * Connect the signals and slots of the common window widgets
 */
void MainWindow::connectCommonWidgets()
{
    if (infoDockWidget && infoDockWidget->widget())
    {
        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }
}

void MainWindow::createCustomWidget()
{
1025 1026
    //void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight)
    //QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
1027 1028 1029 1030 1031 1032

    if (QGCToolWidget::instances()->size() < 2)
    {
        // This is the first widget
        ui.menuTools->addSeparator();
    }
1033
    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size()));
1034
    createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea);
1035 1036 1037 1038 1039 1040
    //tool->setObjectName("UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()));
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView);
    settings.endGroup();

1041 1042


1043 1044
    //connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
    //dock->setWidget(tool);
1045

1046 1047 1048 1049 1050 1051 1052 1053
    //QAction* showAction = new QAction(tool->getTitle(), this);
    //showAction->setCheckable(true);
    //connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
    //connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
    //tool->setMainMenuAction(showAction);
    //ui.menuTools->addAction(showAction);
    //this->addDockWidget(Qt::BottomDockWidgetArea, dock);
    //dock->setVisible(true);
1054 1055 1056 1057 1058 1059 1060 1061
}

void MainWindow::loadCustomWidget()
{
    QString widgetFileExtension(".qgw");
    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
    if (fileName != "") loadCustomWidget(fileName);
}
1062 1063 1064 1065 1066 1067 1068 1069 1070
void MainWindow::loadCustomWidget(const QString& fileName, int view)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true))
    {
        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
        switch ((VIEW_SECTIONS)view)
        {
        case VIEW_ENGINEER:
1071
            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082
            break;
        case VIEW_FLIGHT:
            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_SIMULATION:
            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        case VIEW_MISSION:
            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
            break;
        default:
1083 1084 1085 1086 1087 1088 1089 1090 1091 1092
        {
            //Delete tool, create menu item to tie it to.
            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
            tempAction->setCheckable(true);
            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
            tool->deleteLater();
            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
        }
1093 1094 1095 1096 1097 1098 1099 1100
            break;
        }
    }
    else
    {
        return;
    }
}
1101 1102 1103 1104 1105 1106

void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true) || !singleinstance)
    {
1107 1108 1109 1110 1111 1112 1113 1114 1115
        qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName();
        QSettings settings;
        settings.beginGroup("QGC_MAINWINDOW");
        //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView);

        int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt();
        switch (view)
        {
        case VIEW_ENGINEER:
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            createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
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            break;
        case VIEW_FLIGHT:
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            createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
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            break;
        case VIEW_SIMULATION:
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            createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
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            break;
        case VIEW_MISSION:
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            createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
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            break;
        default:
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        {
            //Delete tool, create menu item to tie it to.
            customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName;
            QAction* tempAction = ui.menuTools->addAction(tool->getTitle());
            menuToDockNameMap[tempAction] = tool->objectName()+"DOCK";
            tempAction->setCheckable(true);
            connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
            tool->deleteLater();
            //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea);
        }
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            break;
        }


        settings.endGroup();
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        // Add widget to UI
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        /*QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
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        connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
        dock->setWidget(tool);
        tool->setParent(dock);

        QAction* showAction = new QAction(tool->getTitle(), this);
        showAction->setCheckable(true);
        connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
        connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
        tool->setMainMenuAction(showAction);
        ui.menuTools->addAction(showAction);
        this->addDockWidget(Qt::BottomDockWidgetArea, dock);
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        dock->hide();*/
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    }
    else
    {
        return;
    }
}

void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
{
    QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/";
    QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/";

    QDir widgets(defaultsDir);
    QStringList files = widgets.entryList();
    QDir platformWidgets(platformDir);
    files.append(platformWidgets.entryList());

    if (files.count() == 0)
    {
        qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
        qDebug() << "Tried with path: " << defaultsDir;
        showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
    }

    // Load all custom widgets found in the AP folder
    for(int i = 0; i < files.count(); ++i)
    {
        QString file = files[i];
        if (file.endsWith(".qgw"))
        {
            // Will only be loaded if not already a custom widget with
            // the same name is present
            loadCustomWidget(defaultsDir+"/"+file, true);
            showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
        }
    }
}

void MainWindow::loadSettings()
{
    QSettings settings;
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    settings.sync();
    customMode = static_cast<enum MainWindow::CUSTOM_MODE>(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt());
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    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
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    darkStyleFileName = settings.value("DARK_STYLE_FILENAME", darkStyleFileName).toString();
    lightStyleFileName = settings.value("LIGHT_STYLE_FILENAME", lightStyleFileName).toString();
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    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
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    dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool();
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    settings.endGroup();
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    enableDockWidgetTitleBars(dockWidgetTitleBarEnabled);
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}

void MainWindow::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("AUTO_RECONNECT", autoReconnect);
    settings.setValue("CURRENT_STYLE", currentStyle);
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    settings.setValue("DARK_STYLE_FILENAME", darkStyleFileName);
    settings.setValue("LIGHT_STYLE_FILENAME", lightStyleFileName);
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    settings.endGroup();
    if (!aboutToCloseFlag && isVisible())
    {
        settings.setValue(getWindowGeometryKey(), saveGeometry());
        // Save the last current view in any case
        settings.setValue("CURRENT_VIEW", currentView);
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        // Save the current window state, but only if a system is connected (else no real number of widgets would be present))
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        if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
        // Save the current view only if a UAS is connected
        if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
        // Save the current power mode
    }
    settings.setValue("LOW_POWER_MODE", lowPowerMode);
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    settings.setValue("QGC_CUSTOM_MODE", (int)customMode);
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    settings.sync();
}

void MainWindow::configureWindowName()
{
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;

    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(")");

    setWindowTitle(windowname);

#ifndef Q_WS_MAC
    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
#endif
}

void MainWindow::startVideoCapture()
{
    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);
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
}

void MainWindow::stopVideoCapture()
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

void MainWindow::saveScreen()
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

    if (!screenFileName.isEmpty())
    {
        window.save(screenFileName, format.toAscii());
    }
}
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void MainWindow::enableDockWidgetTitleBars(bool enabled)
{
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    dockWidgetTitleBarEnabled = enabled;
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled);
    settings.endGroup();
    settings.sync();
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    for (int i = 0; i < dockWidgets.size(); i++)
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    {
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        setDockWidgetTitleBar(dockWidgets[i]);
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    }
}
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void MainWindow::enableAutoReconnect(bool enabled)
{
    autoReconnect = enabled;
}

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bool MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style, QString cssFile)
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{
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    // Store the new style classification.
    currentStyle = style;
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    // Load the new stylesheet.
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    QFile styleSheet(cssFile);

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    // Attempt to open the stylesheet.
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    if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text))
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    {
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        // Signal to the user that the app will pause to apply a new stylesheet
        qApp->setOverrideCursor(Qt::WaitCursor);

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        qApp->setStyleSheet(styleSheet.readAll());
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        // And save the new stylesheet path.
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        if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT)
        {
            lightStyleFileName = cssFile;
        }
        else
        {
            darkStyleFileName = cssFile;
        }

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        // And trigger any changes to other UI elements that are watching for
        // theme changes.
        emit styleChanged(style);
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        emit styleChanged();
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        // Finally restore the cursor before returning.
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        qApp->restoreOverrideCursor();
        return true;
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    }
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    // Otherwise alert return a failure code.
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    return false;
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}

/**
 * The status message will be overwritten if a new message is posted to this function
 *
 * @param status message text
 * @param timeout how long the status should be displayed
 */
void MainWindow::showStatusMessage(const QString& status, int timeout)
{
    statusBar()->showMessage(status, timeout);
}

/**
 * The status message will be overwritten if a new message is posted to this function.
 * it will be automatically hidden after 5 seconds.
 *
 * @param status message text
 */
void MainWindow::showStatusMessage(const QString& status)
{
    statusBar()->showMessage(status, 20000);
}

void MainWindow::showCriticalMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(this);
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

void MainWindow::showInfoMessage(const QString& title, const QString& message)
{
    QMessageBox msgBox(this);
    msgBox.setIcon(QMessageBox::Information);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{
    // Bind together the perspective actions
    QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
    perspectives->addAction(ui.actionEngineersView);
    perspectives->addAction(ui.actionMavlinkView);
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    perspectives->addAction(ui.actionFlightView);
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    perspectives->addAction(ui.actionSimulation_View);
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    perspectives->addAction(ui.actionMissionView);
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    //perspectives->addAction(ui.actionConfiguration_2);
    perspectives->addAction(ui.actionHardwareConfig);
    perspectives->addAction(ui.actionSoftwareConfig);
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    perspectives->addAction(ui.actionFirmwareUpdateView);
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    perspectives->addAction(ui.actionTerminalView);
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    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->setExclusive(true);

    // Mark the right one as selected
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    if (currentView == VIEW_ENGINEER)
    {
        ui.actionEngineersView->setChecked(true);
        ui.actionEngineersView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_MAVLINK)
    {
        ui.actionMavlinkView->setChecked(true);
        ui.actionMavlinkView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_FLIGHT)
    {
        ui.actionFlightView->setChecked(true);
        ui.actionFlightView->activate(QAction::Trigger);
    }
    if (currentView == VIEW_SIMULATION)
    {
        ui.actionSimulation_View->setChecked(true);
        ui.actionSimulation_View->activate(QAction::Trigger);
    }
    if (currentView == VIEW_MISSION)
    {
        ui.actionMissionView->setChecked(true);
        ui.actionMissionView->activate(QAction::Trigger);
    }
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    if (currentView == VIEW_HARDWARE_CONFIG)
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    {
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        ui.actionHardwareConfig->setChecked(true);
        ui.actionHardwareConfig->activate(QAction::Trigger);
    }
    if (currentView == VIEW_SOFTWARE_CONFIG)
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    {
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        ui.actionSoftwareConfig->setChecked(true);
        ui.actionSoftwareConfig->activate(QAction::Trigger);
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    }
    if (currentView == VIEW_FIRMWAREUPDATE)
    {
        ui.actionFirmwareUpdateView->setChecked(true);
        ui.actionFirmwareUpdateView->activate(QAction::Trigger);
    }
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    if (currentView == VIEW_TERMINAL)
    {
        ui.actionTerminalView->setChecked(true);
        ui.actionTerminalView->activate(QAction::Trigger);
    }
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    if (currentView == VIEW_UNCONNECTED)
    {
        ui.actionUnconnectedView->setChecked(true);
        ui.actionUnconnectedView->activate(QAction::Trigger);
    }
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    // The UAS actions are not enabled without connection to system
    ui.actionLiftoff->setEnabled(false);
    ui.actionLand->setEnabled(false);
    ui.actionEmergency_Kill->setEnabled(false);
    ui.actionEmergency_Land->setEnabled(false);
    ui.actionShutdownMAV->setEnabled(false);

    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));
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    ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
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    connect(ui.actionAdvanced_Mode,SIGNAL(triggered()),this,SLOT(setAdvancedMode()));
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    // Connect internal actions
    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));

    // Unmanned System 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.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
    connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));

    // Views actions
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    connect(ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
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    connect(ui.actionSimulation_View, SIGNAL(triggered()), this, SLOT(loadSimulationView()));
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    connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
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    connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
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    connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
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    connect(ui.actionHardwareConfig,SIGNAL(triggered()),this,SLOT(loadHardwareConfigView()));
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    if (getCustomMode() == CUSTOM_MODE_APM) {
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        connect(ui.actionSoftwareConfig,SIGNAL(triggered()),this,SLOT(loadSoftwareConfigView()));
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        connect(ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView()));
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    }
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    connect(ui.actionFirmwareUpdateView, SIGNAL(triggered()), this, SLOT(loadFirmwareUpdateView()));
    connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));

    // Help Actions
    connect(ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
    connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
    connect(ui.actionProject_Roadmap_2, SIGNAL(triggered()), this, SLOT(showRoadMap()));

    // Custom widget actions
    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
    connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(loadCustomWidget()));

    // Audio output
    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
    connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));

    // User interaction
    // NOTE: Joystick thread is not started and
    // configuration widget is not instantiated
    // unless it is actually used
    // so no ressources spend on this.
    ui.actionJoystickSettings->setVisible(true);

    // Configuration
    // Joystick
    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
    // Application Settings
    connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
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    connect(ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool)));
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}

void MainWindow::showHelp()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start")))
    {
        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/dev/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();
    }
}

void MainWindow::configure()
{
    if (!joystickWidget)
    {
        if (!joystick->isRunning())
        {
            joystick->start();
        }
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        joystickWidget = new JoystickWidget(joystick, this);
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    }
    joystickWidget->show();
}

void MainWindow::showSettings()
{
    QGCSettingsWidget* settings = new QGCSettingsWidget(this);
    settings->show();
}

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LinkInterface* MainWindow::addLink()
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{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

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

    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

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    const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
    const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
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    foreach (QAction* act, actions)
    {
        if (act->data().toInt() == linkID)
        { // LinkManager::instance()->getLinks().indexOf(link)
            act->trigger();
            break;
        }
    }
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    return link;
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}

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bool MainWindow::configLink(LinkInterface *link)
{
    // Go searching for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

    bool found(false);

    const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
    const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());

    foreach (QAction* action, actions)
    {
        if (action->data().toInt() == linkID)
        { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
            action->trigger(); // Show the Link Config Dialog
        }
    }

    return found;
}

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void MainWindow::addLink(LinkInterface *link)
{
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    qDebug() << "ADD LINK CALLED FROM SOMEWHERE";

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    // IMPORTANT! KEEP THESE TWO LINES
    // THEY MAKE SURE THE LINK IS PROPERLY REGISTERED
    // BEFORE LINKING THE UI AGAINST IT
    // Register (does nothing if already registered)
    LinkManager::instance()->add(link);
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    if (mavlink) {
        qDebug() << "MAVLINK OK";
    } else {
        qDebug() << "MAVLINK FAIL";
    }

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

    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();

    bool found(false);

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    const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link));
    const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId());
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    foreach (QAction* act, actions)
    {
        if (act->data().toInt() == linkID)
        { // LinkManager::instance()->getLinks().indexOf(link)
            found = true;
        }
    }

    if (!found)
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    {
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        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, NULL);
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        commsWidgetList.append(commWidget);
        connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*)));
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        QAction* action = commWidget->getAction();
        ui.menuNetwork->addAction(action);

        // Error handling
        connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
    }
}
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void MainWindow::simulateLink(bool simulate) {
    if (!simulationLink)
        simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
    simulationLink->connectLink(simulate);
}

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//void MainWindow::configLink(LinkInterface *link)
//{

//}
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void MainWindow::commsWidgetDestroyed(QObject *obj)
{
    if (commsWidgetList.contains(obj))
    {
        commsWidgetList.removeOne(obj);
    }
}
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void MainWindow::setActiveUAS(UASInterface* uas)
{
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    Q_UNUSED(uas);
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    // Enable and rename menu
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    //    ui.menuUnmanned_System->setTitle(uas->getUASName());
    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
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    if (settings.contains(getWindowStateKey()))
    {
        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
    }

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}

void MainWindow::UASSpecsChanged(int uas)
{
    UASInterface* activeUAS = UASManager::instance()->getActiveUAS();
    if (activeUAS)
    {
        if (activeUAS->getUASID() == uas)
        {
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            //            ui.menuUnmanned_System->setTitle(activeUAS->getUASName());
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        }
    }
    else
    {
        // Last system deleted
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        //        ui.menuUnmanned_System->setTitle(tr("No System"));
        //        ui.menuUnmanned_System->setEnabled(false);
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    }
}

void MainWindow::UASCreated(UASInterface* uas)
{

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    // Check if this is the 2nd system and we need a switch menu
    if (UASManager::instance()->getUASList().count() > 1)
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        //        ui.menuConnected_Systems->setEnabled(true);
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        // Connect the UAS to the full user interface
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        //if (uas != NULL)
        //{
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        // The pilot, operator and engineer views were not available on startup, enable them now
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        ui.actionFlightView->setEnabled(true);
        ui.actionMissionView->setEnabled(true);
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        ui.actionEngineersView->setEnabled(true);
        // The UAS actions are not enabled without connection to system
        ui.actionLiftoff->setEnabled(true);
        ui.actionLand->setEnabled(true);
        ui.actionEmergency_Kill->setEnabled(true);
        ui.actionEmergency_Land->setEnabled(true);
        ui.actionShutdownMAV->setEnabled(true);

        QIcon icon;
        // Set matching icon
        switch (uas->getSystemType())
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        {
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        case MAV_TYPE_GENERIC:
            icon = QIcon(":files/images/mavs/generic.svg");
            break;
        case MAV_TYPE_FIXED_WING:
            icon = QIcon(":files/images/mavs/fixed-wing.svg");
            break;
        case MAV_TYPE_QUADROTOR:
            icon = QIcon(":files/images/mavs/quadrotor.svg");
            break;
        case MAV_TYPE_COAXIAL:
            icon = QIcon(":files/images/mavs/coaxial.svg");
            break;
        case MAV_TYPE_HELICOPTER:
            icon = QIcon(":files/images/mavs/helicopter.svg");
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            icon = QIcon(":files/images/mavs/antenna-tracker.svg");
            break;
        case MAV_TYPE_GCS:
            icon = QIcon(":files/images/mavs/groundstation.svg");
            break;
        case MAV_TYPE_AIRSHIP:
            icon = QIcon(":files/images/mavs/airship.svg");
            break;
        case MAV_TYPE_FREE_BALLOON:
            icon = QIcon(":files/images/mavs/free-balloon.svg");
            break;
        case MAV_TYPE_ROCKET:
            icon = QIcon(":files/images/mavs/rocket.svg");
            break;
        case MAV_TYPE_GROUND_ROVER:
            icon = QIcon(":files/images/mavs/ground-rover.svg");
            break;
        case MAV_TYPE_SURFACE_BOAT:
            icon = QIcon(":files/images/mavs/surface-boat.svg");
            break;
        case MAV_TYPE_SUBMARINE:
            icon = QIcon(":files/images/mavs/submarine.svg");
            break;
        case MAV_TYPE_HEXAROTOR:
            icon = QIcon(":files/images/mavs/hexarotor.svg");
            break;
        case MAV_TYPE_OCTOROTOR:
            icon = QIcon(":files/images/mavs/octorotor.svg");
            break;
        case MAV_TYPE_TRICOPTER:
            icon = QIcon(":files/images/mavs/tricopter.svg");
            break;
        case MAV_TYPE_FLAPPING_WING:
            icon = QIcon(":files/images/mavs/flapping-wing.svg");
            break;
        case MAV_TYPE_KITE:
            icon = QIcon(":files/images/mavs/kite.svg");
            break;
        default:
            icon = QIcon(":files/images/mavs/unknown.svg");
            break;
        }

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    // XXX The multi-UAS selection menu has been disabled for now,
    // its redundant with right-clicking the UAS in the list.
    // this code piece might be removed later if this is the final
    // conclusion (May 2013)
    //        QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems);
    //        connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
    //        ui.menuConnected_Systems->addAction(uasAction);
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    connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
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    // HIL
    showHILConfigurationWidget(uas);
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    if (!linechartWidget)
    {
        linechartWidget = new Linecharts(this);
        //linechartWidget->hide();
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    }
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    linechartWidget->addSource(mavlinkDecoder);
    if (engineeringView->centralWidget() != linechartWidget)
    {
        engineeringView->setCentralWidget(linechartWidget);
        linechartWidget->show();
    }
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    // Load default custom widgets for this autopilot type
    loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName());
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    if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK)
    {
        // Dock widgets
        if (!detectionDockWidget)
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        {
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            detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
            detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) );
            detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
            //addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
        }
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        if (!watchdogControlDockWidget)
        {
            watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
            watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
            watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
            //addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
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        }
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    }
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    // Change the view only if this is the first UAS
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    // If this is the first connected UAS, it is both created as well as
    // the currently active UAS
    if (UASManager::instance()->getUASList().size() == 1)
    {
        // Load last view if setting is present
        if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED"))
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        {
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            /*int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt();
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                switch (view)
                {
                case VIEW_ENGINEER:
                    loadEngineerView();
                    break;
                case VIEW_MAVLINK:
                    loadMAVLinkView();
                    break;
                case VIEW_FIRMWAREUPDATE:
                    loadFirmwareUpdateView();
                    break;
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                case VIEW_FLIGHT:
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                    loadPilotView();
                    break;
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                case VIEW_SIMULATION:
                    loadSimulationView();
                    break;
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                case VIEW_UNCONNECTED:
                    loadUnconnectedView();
                    break;
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                case VIEW_MISSION:
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                default:
                    loadOperatorView();
                    break;
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                }*/
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        }
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        else
        {
            // loadOperatorView();
        }
    }
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    //}

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    //    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
    //    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
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    // Reload view state in case new widgets were added
    loadViewState();
}

void MainWindow::UASDeleted(UASInterface* uas)
{
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    Q_UNUSED(uas);
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    if (UASManager::instance()->getUASList().count() == 0)
    {
        // Last system deleted
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        //        ui.menuUnmanned_System->setTitle(tr("No System"));
        //        ui.menuUnmanned_System->setEnabled(false);
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    }

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    //    QAction* act;
    //    QList<QAction*> actions = ui.menuConnected_Systems->actions();
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    //    foreach (act, actions)
    //    {
    //        if (act->text().contains(uas->getUASName()))
    //            ui.menuConnected_Systems->removeAction(act);
    //    }
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}

/**
 * Stores the current view state
 */
void MainWindow::storeViewState()
{
    if (!aboutToCloseFlag)
    {
        // Save current state
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        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        QList<QDockWidget*> widgets = win->findChildren<QDockWidget*>();
        QString widgetnames = "";
        for (int i=0;i<widgets.size();i++)
        {
            widgetnames += widgets[i]->objectName() + ",";
        }
        widgetnames = widgetnames.mid(0,widgetnames.length()-1);

        settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames);
        settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()));
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        settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex());
        // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc)
        // therefore this state is stored here and restored after applying the rest of the settings in the new
        // perspective.
        windowStateVal = this->windowState();
        settings.setValue(getWindowGeometryKey(), saveGeometry());
    }
}

void MainWindow::loadViewState()
{
    // Restore center stack state
    int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt();
    // The offline plot view is usually the consequence of a logging run, always show the realtime view first
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    if (centerStack->indexOf(engineeringView) == index)
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    {
        // Rewrite to realtime plot
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        //index = centerStack->indexOf(linechartWidget);
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    }

    if (index != -1)
    {
        centerStack->setCurrentIndex(index);
    }
    else
    {
        // Hide custom widgets
        if (detectionDockWidget) detectionDockWidget->hide();
        if (watchdogControlDockWidget) watchdogControlDockWidget->hide();

        // Load defaults
        switch (currentView)
        {
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        case VIEW_HARDWARE_CONFIG:
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            centerStack->setCurrentWidget(configView);
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            break;
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        case VIEW_SOFTWARE_CONFIG:
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            if (softwareConfigView)
                centerStack->setCurrentWidget(softwareConfigView);
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            break;
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        case VIEW_ENGINEER:
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            centerStack->setCurrentWidget(engineeringView);
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            break;
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        case VIEW_FLIGHT:
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            centerStack->setCurrentWidget(pilotView);
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            break;
        case VIEW_MAVLINK:
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            centerStack->setCurrentWidget(mavlinkView);
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            break;
        case VIEW_FIRMWAREUPDATE:
            centerStack->setCurrentWidget(firmwareUpdateWidget);
            break;
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        case VIEW_MISSION:
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            centerStack->setCurrentWidget(plannerView);
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            break;
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        case VIEW_SIMULATION:
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            centerStack->setCurrentWidget(simView);
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            break;

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        case VIEW_TERMINAL:
            centerStack->setCurrentWidget(terminalView);
            break;

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        case VIEW_UNCONNECTED:
        case VIEW_FULL:
        default:
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            //centerStack->setCurrentWidget(mapWidget);
            if (controlDockWidget)
            {
                controlDockWidget->hide();
            }
            if (listDockWidget)
            {
                listDockWidget->show();
            }
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            break;
        }
    }

    // Restore the widget positions and size
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    if (settings.contains(getWindowStateKey() + "WIDGETS"))
    {
        QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString();
        QStringList split = widgetstr.split(",");
        foreach (QString widgetname,split)
        {
            if (widgetname != "")
            {
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                qDebug() << "Loading widget:" << widgetname;
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                loadDockWidget(widgetname);
            }
        }
    }
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    if (settings.contains(getWindowStateKey()))
    {
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        SubMainWindow *win = qobject_cast<SubMainWindow*>(centerStack->currentWidget());
        //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion()))
        win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion());
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    }
}
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void MainWindow::setAdvancedMode()
{
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    isAdvancedMode = !isAdvancedMode;
    ui.actionAdvanced_Mode->setChecked(isAdvancedMode);
    settings.setValue("ADVANCED_MODE",isAdvancedMode);
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    for (int i = 0; i < dockWidgets.size(); i++)
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    {
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        setDockWidgetTitleBar(dockWidgets[i]);
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    }
}
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void MainWindow::loadEngineerView()
{
    if (currentView != VIEW_ENGINEER)
    {
        storeViewState();
        currentView = VIEW_ENGINEER;
        ui.actionEngineersView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadOperatorView()
{
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    if (currentView != VIEW_MISSION)
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    {
        storeViewState();
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        currentView = VIEW_MISSION;
        ui.actionMissionView->setChecked(true);
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        loadViewState();
    }
}
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void MainWindow::loadHardwareConfigView()
{
    if (currentView != VIEW_HARDWARE_CONFIG)
    {
        storeViewState();
        currentView = VIEW_HARDWARE_CONFIG;
        ui.actionHardwareConfig->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadSoftwareConfigView()
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{
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    if (currentView != VIEW_SOFTWARE_CONFIG)
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    {
        storeViewState();
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        currentView = VIEW_SOFTWARE_CONFIG;
        ui.actionSoftwareConfig->setChecked(true);
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        loadViewState();
    }
}
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void MainWindow::loadTerminalView()
{
    if (currentView != VIEW_TERMINAL)
    {
        storeViewState();
        currentView = VIEW_TERMINAL;
        ui.actionTerminalView->setChecked(true);
        loadViewState();
    }
}


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void MainWindow::loadUnconnectedView()
{
    if (currentView != VIEW_UNCONNECTED)
    {
        storeViewState();
        currentView = VIEW_UNCONNECTED;
        ui.actionUnconnectedView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadPilotView()
{
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    if (currentView != VIEW_FLIGHT)
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    {
        storeViewState();
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        currentView = VIEW_FLIGHT;
        ui.actionFlightView->setChecked(true);
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        loadViewState();
    }
}

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void MainWindow::loadSimulationView()
{
    if (currentView != VIEW_SIMULATION)
    {
        storeViewState();
        currentView = VIEW_SIMULATION;
        ui.actionSimulation_View->setChecked(true);
        loadViewState();
    }
}

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void MainWindow::loadMAVLinkView()
{
    if (currentView != VIEW_MAVLINK)
    {
        storeViewState();
        currentView = VIEW_MAVLINK;
        ui.actionMavlinkView->setChecked(true);
        loadViewState();
    }
}

void MainWindow::loadFirmwareUpdateView()
{
    if (currentView != VIEW_FIRMWAREUPDATE)
    {
        storeViewState();
        currentView = VIEW_FIRMWAREUPDATE;
        ui.actionFirmwareUpdateView->setChecked(true);
        loadViewState();
    }
}

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//void MainWindow::loadDataView(QString fileName)
//{
//    // Plot is now selected, now load data from file
//    if (dataView)
//    {
//        //dataView->setCentralWidget(new QGCDataPlot2D(this));
//        QGCDataPlot2D *plot = qobject_cast<QGCDataPlot2D*>(dataView->centralWidget());
//        if (plot)
//        {
//            plot->loadFile(fileName);
//        }
//    }
//    /*QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
//    if (centerStack)
//    {
//        centerStack->setCurrentWidget(dataView);
//        dataplotWidget->loadFile(fileName);
//    }*/
//}
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QList<QAction*> MainWindow::listLinkMenuActions(void)
{
    return ui.menuNetwork->actions();
}
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#ifdef MOUSE_ENABLED_LINUX
bool MainWindow::x11Event(XEvent *event)
{
    emit x11EventOccured(event);
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    //qDebug("XEvent occured...");
    return false;
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}
#endif // MOUSE_ENABLED_LINUX