QGCApplication.h 7.6 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
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/**
 * @file
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 *   @brief Definition of main class
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 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

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#ifndef QGCAPPLICATION_H
#define QGCAPPLICATION_H
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#include <QApplication>
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#include <QTimer>
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#include <QQmlApplicationEngine>
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#include "LinkConfiguration.h"
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#include "LinkManager.h"
#include "MAVLinkProtocol.h"
#include "FlightMapSettings.h"
#include "HomePositionManager.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "JoystickManager.h"
#include "GAudioOutput.h"
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
#include "FactSystem.h"
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#ifdef QGC_RTLAB_ENABLED
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#include "OpalLink.h"
#endif
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// Work around circular header includes
class QGCSingleton;
class MainWindow;
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class QGCToolbox;
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/**
 * @brief The main application and management class.
 *
 * This class is started by the main method and provides
 * the central management unit of the groundstation application.
 *
 **/
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class QGCApplication : public
#ifdef __mobile__
    QGuiApplication // Native Qml based application
#else
    QApplication    // QtWidget based application
#endif
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{
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    Q_OBJECT
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public:
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    QGCApplication(int &argc, char* argv[], bool unitTesting);
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    ~QGCApplication();
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    static const char* parameterFileExtension;
    static const char* missionFileExtension;
    static const char* telemetryFileExtension;

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    /// @brief Sets the persistent flag to delete all settings the next time QGroundControl is started.
    void deleteAllSettingsNextBoot(void);
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    /// @brief Clears the persistent flag to delete all settings the next time QGroundControl is started.
    void clearDeleteAllSettingsNextBoot(void);
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    /// @return true: Prompt to save log file when vehicle goes away
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    bool promptFlightDataSave(void);
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    /// @return true: Prompt to save log file even if vehicle was not armed
    bool promptFlightDataSaveNotArmed(void);

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    void setPromptFlightDataSave(bool promptForSave);
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    void setPromptFlightDataSaveNotArmed(bool promptForSave);
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    /// @brief Returns truee if unit test are being run
    bool runningUnitTests(void) { return _runningUnitTests; }
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    /// @return true: dark ui style, false: light ui style
    bool styleIsDark(void) { return _styleIsDark; }
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    /// Set the current UI style
    void setStyle(bool styleIsDark);
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    /// Used to report a missing Parameter. Warning will be displayed to user. Method may be called
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    /// multiple times.
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    void reportMissingParameter(int componentId, const QString& name);
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    /// Show a non-modal message to the user
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    void showMessage(const QString& message);
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    /// @return true: Fake ui into showing mobile interface
    bool fakeMobile(void) { return _fakeMobile; }

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#ifdef QT_DEBUG
    bool testHighDPI(void) { return _testHighDPI; }
#endif
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    // Still working on getting rid of this and using dependency injection instead for everything
    QGCToolbox* toolbox(void) { return _toolbox; }
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    /// Do we have Bluetooth Support?
    bool isBluetoothAvailable() { return _bluetoothAvailable; }

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    QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; }
    void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition);
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public slots:
    /// You can connect to this slot to show an information message box from a different thread.
    void informationMessageBoxOnMainThread(const QString& title, const QString& msg);
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    /// You can connect to this slot to show a warning message box from a different thread.
    void warningMessageBoxOnMainThread(const QString& title, const QString& msg);
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    /// You can connect to this slot to show a critical message box from a different thread.
    void criticalMessageBoxOnMainThread(const QString& title, const QString& msg);
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    void showFlyView(void);
    void showPlanView(void);
    void showSetupView(void);

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    void qmlAttemptWindowClose(void);
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#ifndef __mobile__
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    /// Save the specified Flight Data Log
    void saveTempFlightDataLogOnMainThread(QString tempLogfile);
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#endif
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signals:
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    /// Signals that the style has changed
    ///     @param darkStyle true: dark style, false: light style
    void styleChanged(bool darkStyle);
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    /// This is connected to MAVLinkProtocol::checkForLostLogFiles. We signal this to ourselves to call the slot
    /// on the MAVLinkProtocol thread;
    void checkForLostLogFiles(void);
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public:
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    // Although public, these methods are internal and should only be called by UnitTest code
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    /// @brief Perform initialize which is common to both normal application running and unit tests.
    ///         Although public should only be called by main.
    void _initCommon(void);

    /// @brief Intialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForNormalAppBoot(void);
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    /// @brief Intialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForUnitTests(void);
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    void _showSetupFirmware(void);
    void _showSetupParameters(void);
    void _showSetupSummary(void);
    void _showSetupVehicleComponent(VehicleComponent* vehicleComponent);
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    static QGCApplication*  _app;   ///< Our own singleton. Should be reference directly by qgcApp
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private slots:
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    void _missingParamsDisplay(void);
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private:
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    void _loadCurrentStyle(void);
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    QObject* _rootQmlObject(void);

#ifdef __mobile__
    QQmlApplicationEngine* _qmlAppEngine;
#endif
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    bool _runningUnitTests; ///< true: running unit tests, false: normal app
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    static const char*  _darkStyleFile;
    static const char*  _lightStyleFile;
    bool                _styleIsDark;      ///< true: dark style, false: light style
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    static const int    _missingParamsDelayedDisplayTimerTimeout = 1000;  ///< Timeout to wait for next missing fact to come in before display
    QTimer              _missingParamsDelayedDisplayTimer;                ///< Timer use to delay missing fact display
    QStringList         _missingParams;                                  ///< List of missing facts to be displayed
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    bool				_fakeMobile;	///< true: Fake ui into displaying mobile interface

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#ifdef QT_DEBUG
    bool _testHighDPI;  ///< true: double fonts sizes for simulating high dpi devices
#endif
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    QGCToolbox* _toolbox;

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    bool _bluetoothAvailable;

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    QGeoCoordinate _lastKnownHomePosition;    ///< Map position when all other sources fail
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    static const char* _settingsVersionKey;             ///< Settings key which hold settings version
    static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted
    static const char* _promptFlightDataSave;           ///< Settings key for promptFlightDataSave
    static const char* _promptFlightDataSaveNotArmed;   ///< Settings key for promptFlightDataSaveNotArmed
    static const char* _styleKey;                       ///< Settings key for UI style
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    static const char* _lastKnownHomePositionLatKey;
    static const char* _lastKnownHomePositionLonKey;
    static const char* _lastKnownHomePositionAltKey;
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    /// Unit Test have access to creating and destroying singletons
    friend class UnitTest;
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};

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/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void);

#endif