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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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*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif
#include "VideoStreaming.h"
#include "QGC.h"
#include "UDPLink.h"
#include "LinkManager.h"
#include "UASMessageHandler.h"
#include "QGCLoggingCategory.h"
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
#include "QGCFileDialogController.h"
#include "SyslinkComponentController.h"
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
#include "MultiVehicleManager.h"
#include "Vehicle.h"
#include "JoystickManager.h"
#include "QmlObjectListModel.h"
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#include "QGCGeoBoundingCube.h"
#include "PlanMasterController.h"
#include "VideoSurface.h"
#include "VideoReceiver.h"
#include "AppMessages.h"
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "ParameterManager.h"
#include "VisualMissionItem.h"
#include "EditPositionDialogController.h"
#include "FactValueSliderListModel.h"
#include "QGCQFileDialog.h"
#include "QGCMessageBox.h"
#include "FirmwareUpgradeController.h"
#include "MainWindow.h"
#include "GeoTagController.h"
#ifdef QGC_RTLAB_ENABLED
#endif
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif
QGCApplication* QGCApplication::_app = nullptr;
const char* QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey = "SettingsVersion";
const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
ScreenToolsController* screenToolsController = new ScreenToolsController;
return screenToolsController;
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
// We create this object as a QGCTool even though it isn't in the toolbox
QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
qmlGlobal->setToolbox(qgcApp()->toolbox());
return qmlGlobal;
static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
, _runningUnitTests (unitTesting)
, _logOutput (false)
, _fakeMobile (false)
, _settingsUpgraded (false)
, _majorVersion (0)
, _minorVersion (0)
, _buildVersion (0)
, _currentVersionDownload (nullptr)
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QLocale locale = QLocale::system();
//-- Some forced locales for testing
//QLocale locale = QLocale(QLocale::German);
//QLocale locale = QLocale(QLocale::French);
//QLocale locale = QLocale(QLocale::Chinese);
#if defined (__macos__)
locale = QLocale(locale.name());
#endif
//-- Our localization
if(_QGCTranslator.load(locale, "qgc_", "", ":/localization"))
_app->installTranslator(&_QGCTranslator);
// This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
// Setup for network proxy support
QNetworkProxyFactory::setUseSystemConfiguration(true);
if (!_runningUnitTests) {
if (getuid() == 0) {
QMessageBox msgBox;
msgBox.setInformativeText(tr("You are running %1 as root. "
"You should not do this since it will cause other issues with %1. "
"If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
_exit(0);
}
// Determine if we have the correct permissions to access USB serial devices
QFile permFile("/etc/group");
if(permFile.open(QIODevice::ReadOnly)) {
while(!permFile.atEnd()) {
QString line = permFile.readLine();
if (line.contains("dialout") && !line.contains(getenv("USER"))) {
QMessageBox msgBox;
msgBox.setInformativeText("The current user does not have the correct permissions to access serial devices. "
"You should also remove modemmanager since it also interferes. "
"If you are using Ubuntu, execute the following commands to fix these issues:\n"
"sudo usermod -a -G dialout $USER\n"
"sudo apt-get remove modemmanager");
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
break;
}
bool fClearSettingsOptions = false; // Clear stored settings
bool logging = false; // Turn on logging
QString loggingOptions;
{ "--clear-settings", &fClearSettingsOptions, nullptr },
{ "--logging", &logging, &loggingOptions },
{ "--fake-mobile", &_fakeMobile, nullptr },
{ "--log-output", &_logOutput, nullptr },
// Add additional command line option flags here
};
ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
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// Set up timer for delayed missing fact display
_missingParamsDelayedDisplayTimer.setSingleShot(true);
_missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
if (_runningUnitTests) {
// We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
// name. Also we want to run unit tests with clean settings every time.
setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
} else {
setApplicationName(QGC_APPLICATION_NAME);
}
setOrganizationName(QGC_ORG_NAME);
setOrganizationDomain(QGC_ORG_DOMAIN);
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this->setApplicationVersion(QString(GIT_VERSION));
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// Set settings format
QSettings::setDefaultFormat(QSettings::IniFormat);
QSettings settings;
qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
if (!settings.isWritable()) {
qWarning() << "Setings location is not writable";
}
// The setting will delete all settings on this boot
fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
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// Unit tests run with clean settings
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if (fClearSettingsOptions) {
// User requested settings to be cleared on command line
settings.clear();
QDir paramDir(ParameterManager::parameterCacheDir());
paramDir.removeRecursively();
paramDir.mkpath(paramDir.absolutePath());
// Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
// that will write some settings.
if (settings.contains(_settingsVersionKey)) {
if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
_settingsUpgraded = true;
}
} else if (settings.allKeys().count()) {
// Settings version key is missing and there are settings. This is an upgrade scenario.
settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
if (fClearCache) {
QDir dir(ParameterManager::parameterCacheDir());
dir.removeRecursively();
// Set up our logging filters
QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);
// Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
QBluetoothLocalDevice localDevice;
if (localDevice.isValid())
{
_bluetoothAvailable = true;
}
#endif
// Gstreamer debug settings
#if defined(__ios__) || defined(__android__)
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, nullptr, nullptr);
#else
QString savePath, gstDebugLevel;
if (settings.contains(AppSettings::savePathName)) {
savePath = settings.value(AppSettings::savePathName).toString();
if(savePath.isEmpty()) {
savePath = "/tmp";
}
savePath = savePath + "/Logs/gst";
if (!QDir(savePath).exists()) {
QDir().mkpath(savePath);
}
if (settings.contains(AppSettings::gstDebugLevelName)) {
gstDebugLevel = "*:" + settings.value(AppSettings::gstDebugLevelName).toString();
// Initialize Video Streaming
initializeVideoStreaming(argc, argv, savePath.toUtf8().data(), gstDebugLevel.toUtf8().data());
#ifndef __mobile__
_gpsRtkFactGroup = new GPSRTKFactGroup(this);
GPSManager *gpsManager = _toolbox->gpsManager();
if (gpsManager) {
connect(gpsManager, &GPSManager::onConnect, this, &QGCApplication::_onGPSConnect);
connect(gpsManager, &GPSManager::onDisconnect, this, &QGCApplication::_onGPSDisconnect);
connect(gpsManager, &GPSManager::surveyInStatus, this, &QGCApplication::_gpsSurveyInStatus);
connect(gpsManager, &GPSManager::satelliteUpdate, this, &QGCApplication::_gpsNumSatellites);
}
#endif /* __mobile__ */
// This code is specifically not in the destructor since the application object may not be available in the destructor.
// This cause problems for deleting object like settings which are in the toolbox which may have qml references. By
// moving them here and having main.cc call this prior to deleting the app object we make sure app object is still
// around while these things are shutting down.
MainWindow* mainWindow = MainWindow::instance();
if (mainWindow) {
delete mainWindow;
}
shutdownVideoStreaming();
QGCApplication::~QGCApplication()
{
// Place shutdown code in _shutdown
static const char* kRefOnly = "Reference only";
static const char* kQGCControllers = "QGroundControl.Controllers";
static const char* kQGCVehicle = "QGroundControl.Vehicle";
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qmlRegisterType<QGCPalette> ("QGroundControl.Palette", 1, 0, "QGCPalette");
qmlRegisterType<QGCMapPalette> ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
qmlRegisterUncreatableType<Vehicle> (kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
qmlRegisterUncreatableType<MissionItem> (kQGCVehicle, 1, 0, "MissionItem", kRefOnly);
qmlRegisterUncreatableType<MissionManager> (kQGCVehicle, 1, 0, "MissionManager", kRefOnly);
qmlRegisterUncreatableType<ParameterManager> (kQGCVehicle, 1, 0, "ParameterManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraManager> (kQGCVehicle, 1, 0, "QGCCameraManager", kRefOnly);
qmlRegisterUncreatableType<QGCCameraControl> (kQGCVehicle, 1, 0, "QGCCameraControl", kRefOnly);
qmlRegisterUncreatableType<LinkInterface> (kQGCVehicle, 1, 0, "LinkInterface", kRefOnly);
qmlRegisterUncreatableType<MissionController> (kQGCControllers, 1, 0, "MissionController", kRefOnly);
qmlRegisterUncreatableType<GeoFenceController> (kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
qmlRegisterUncreatableType<RallyPointController>(kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
qmlRegisterUncreatableType<VisualMissionItem> (kQGCControllers, 1, 0, "VisualMissionItem", kRefOnly);
qmlRegisterUncreatableType<CoordinateVector> ("QGroundControl", 1, 0, "CoordinateVector", kRefOnly);
qmlRegisterUncreatableType<QmlObjectListModel> ("QGroundControl", 1, 0, "QmlObjectListModel", kRefOnly);
qmlRegisterUncreatableType<MissionCommandTree> ("QGroundControl", 1, 0, "MissionCommandTree", kRefOnly);
qmlRegisterUncreatableType<CameraCalc> ("QGroundControl", 1, 0, "CameraCalc", kRefOnly);
qmlRegisterUncreatableType<AutoPilotPlugin> ("QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", kRefOnly);
qmlRegisterUncreatableType<VehicleComponent> ("QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", kRefOnly);
qmlRegisterUncreatableType<JoystickManager> ("QGroundControl.JoystickManager", 1, 0, "JoystickManager", kRefOnly);
qmlRegisterUncreatableType<Joystick> ("QGroundControl.JoystickManager", 1, 0, "Joystick", kRefOnly);
qmlRegisterUncreatableType<QGCPositionManager> ("QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager", kRefOnly);
qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls", 1, 0, "FactValueSliderListModel", kRefOnly);
qmlRegisterUncreatableType<QGCMapPolygon> ("QGroundControl.FlightMap", 1, 0, "QGCMapPolygon", kRefOnly);
qmlRegisterUncreatableType<QGCGeoBoundingCube> ("QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
qmlRegisterType<QGCMapCircle> ("QGroundControl.FlightMap", 1, 0, "QGCMapCircle");
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qmlRegisterType<ParameterEditorController> (kQGCControllers, 1, 0, "ParameterEditorController");
qmlRegisterType<ESP8266ComponentController> (kQGCControllers, 1, 0, "ESP8266ComponentController");
qmlRegisterType<ScreenToolsController> (kQGCControllers, 1, 0, "ScreenToolsController");
qmlRegisterType<PlanMasterController> (kQGCControllers, 1, 0, "PlanMasterController");
qmlRegisterType<ValuesWidgetController> (kQGCControllers, 1, 0, "ValuesWidgetController");
qmlRegisterType<QGCFileDialogController> (kQGCControllers, 1, 0, "QGCFileDialogController");
qmlRegisterType<RCChannelMonitorController> (kQGCControllers, 1, 0, "RCChannelMonitorController");
qmlRegisterType<JoystickConfigController> (kQGCControllers, 1, 0, "JoystickConfigController");
qmlRegisterType<LogDownloadController> (kQGCControllers, 1, 0, "LogDownloadController");
qmlRegisterType<SyslinkComponentController> (kQGCControllers, 1, 0, "SyslinkComponentController");
qmlRegisterType<EditPositionDialogController> (kQGCControllers, 1, 0, "EditPositionDialogController");
qmlRegisterType<ViewWidgetController> (kQGCControllers, 1, 0, "ViewWidgetController");
qmlRegisterType<CustomCommandWidgetController> (kQGCControllers, 1, 0, "CustomCommandWidgetController");
#ifndef NO_SERIAL_LINK
qmlRegisterType<FirmwareUpgradeController> (kQGCControllers, 1, 0, "FirmwareUpgradeController");
qmlRegisterType<GeoTagController> (kQGCControllers, 1, 0, "GeoTagController");
qmlRegisterType<MavlinkConsoleController> (kQGCControllers, 1, 0, "MavlinkConsoleController");
qmlRegisterSingletonType<QGroundControlQmlGlobal> ("QGroundControl", 1, 0, "QGroundControl", qgroundcontrolQmlGlobalSingletonFactory);
qmlRegisterSingletonType<ScreenToolsController> ("QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController", screenToolsControllerSingletonFactory);
qmlRegisterSingletonType<ShapeFileHelper> ("QGroundControl.ShapeFileHelper", 1, 0, "ShapeFileHelper", shapeFileHelperSingletonFactory);
}
bool QGCApplication::_initForNormalAppBoot(void)
{
QSettings settings;
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// Exit main application when last window is closed
connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
_qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
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// Now that main window is up check for lost log files
connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
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// Load known link configurations
toolbox()->linkManager()->loadLinkConfigurationList();
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// Probe for joysticks
toolbox()->joystickManager()->init();
showMessage(QString(tr("The format for %1 saved settings has been modified. "
"Your saved settings have been reset to defaults.")).arg(applicationName()));
// Connect links with flag AutoconnectLink
toolbox()->linkManager()->startAutoConnectedLinks();
showMessage(tr("The Offline Map Cache database has been upgraded. "
"Your old map cache sets have been reset."));
bool QGCApplication::_initForUnitTests(void)
void QGCApplication::deleteAllSettingsNextBoot(void)
{
QSettings settings;
settings.setValue(_deleteAllSettingsKey, true);
}
void QGCApplication::clearDeleteAllSettingsNextBoot(void)
{
QSettings settings;
settings.remove(_deleteAllSettingsKey);
}
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
Q_UNUSED(title);
showMessage(msg);
}
void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
#ifdef __mobile__
Q_UNUSED(title)
showMessage(msg);
#else
}
void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
#ifdef __mobile__
Q_UNUSED(title)
showMessage(msg);
#else
void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile)
// The vehicle is gone now and we are shutting down so we need to use a message box for errors to hold shutdown and show the error
if (_checkTelemetrySavePath(true /* useMessageBox */)) {
QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
QDir saveDir(saveDirPath);
QString nameFormat("%1%2.%3");
QString dtFormat("yyyy-MM-dd hh-mm-ss");
int tryIndex = 1;
QString saveFileName = nameFormat.arg(
QDateTime::currentDateTime().toString(dtFormat)).arg("").arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
while (saveDir.exists(saveFileName)) {
saveFileName = nameFormat.arg(
QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral(".%1").arg(tryIndex++)).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
}
QString saveFilePath = saveDir.absoluteFilePath(saveFileName);
QFile tempFile(tempLogfile);
if (!tempFile.copy(saveFilePath)) {
QString error = tr("Unable to save telemetry log. Error copying telemetry to '%1': '%2'.").arg(saveFilePath).arg(tempFile.errorString());
QGCMessageBox::warning(tr("Telemetry Save Error"), error);
void QGCApplication::checkTelemetrySavePathOnMainThread(void)
{
// This is called with an active vehicle so don't pop message boxes which holds ui thread
_checkTelemetrySavePath(false /* useMessageBox */);
}
bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox)
{
QString errorTitle = tr("Telemetry save error");
QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
if (saveDirPath.isEmpty()) {
QString error = tr("Unable to save telemetry log. Application save directory is not set.");
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
#endif
Q_UNUSED(useMessageBox);
return false;
}
QDir saveDir(saveDirPath);
if (!saveDir.exists()) {
QString error = tr("Unable to save telemetry log. Telemetry save directory \"%1\" does not exist.").arg(saveDirPath);
if (useMessageBox) {
QGCMessageBox::warning(errorTitle, error);
} else {
return false;
}
return true;
}
void QGCApplication::_loadCurrentStyleSheet(void)
bool success = true;
QString styles;
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// The dark style sheet is the master. Any other selected style sheet just overrides
// the colors of the master sheet.
QFile masterStyleSheet(_darkStyleFile);
if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles = masterStyleSheet.readAll();
} else {
qDebug() << "Unable to load master dark style sheet";
success = false;
}
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if (success && !_toolbox->settingsManager()->appSettings()->indoorPalette()->rawValue().toBool()) {
// Load the slave light stylesheet.
QFile styleSheet(_lightStyleFile);
if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
styles += styleSheet.readAll();
} else {
qWarning() << "Unable to load slave light sheet:";
success = false;
}
}
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if (!success) {
// Fall back to plastique if we can't load our own
setStyle("plastique");
}
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
_missingParams += QString("%1:%2").arg(componentId).arg(name);
_missingParamsDelayedDisplayTimer.start();
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
if (_missingParams.count()) {
QString params;
foreach (const QString &name, _missingParams) {
if (params.isEmpty()) {
params += name;
} else {
params += QString(", %1").arg(name);
}
showMessage(tr("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
if(_qmlAppEngine && _qmlAppEngine->rootObjects().size())
return _qmlAppEngine->rootObjects()[0];
return nullptr;
MainWindow * mainWindow = MainWindow::instance();
if (mainWindow) {
return mainWindow->rootQmlObject();
} else if (runningUnitTests()){
// Unit test can run without a main window
} else {
qWarning() << "Why is MainWindow missing?";
void QGCApplication::showMessage(const QString& message)
if (message.startsWith(QStringLiteral("PreArm")) || message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
QObject* rootQmlObject = _rootQmlObject();
if (rootQmlObject) {
QVariant varReturn;
QVariant varMessage = QVariant::fromValue(message);
QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
#ifndef __mobile__
} else if (runningUnitTests()){
// Unit test can run without a main window which will lead to no root qml object. Use QGCMessageBox instead
QGCMessageBox::information("Unit Test", message);
#endif
} else {
qWarning() << "Internal error";
}
}
void QGCApplication::showSetupView(void)
{
if(_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
}
void QGCApplication::qmlAttemptWindowClose(void)
if(_rootQmlObject()) {
QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
}
bool QGCApplication::isInternetAvailable()
{
return getQGCMapEngine()->isInternetActive();
}
void QGCApplication::_checkForNewVersion(void)
{
#ifndef __mobile__
if (!_runningUnitTests) {
if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion, _buildVersion)) {
QString versionCheckFile = toolbox()->corePlugin()->stableVersionCheckFileUrl();
if (!versionCheckFile.isEmpty()) {
_currentVersionDownload = new QGCFileDownload(this);
connect(_currentVersionDownload, &QGCFileDownload::downloadFinished, this, &QGCApplication::_currentVersionDownloadFinished);
connect(_currentVersionDownload, &QGCFileDownload::error, this, &QGCApplication::_currentVersionDownloadError);
_currentVersionDownload->download(versionCheckFile);
}
}
}
#endif
}
void QGCApplication::_currentVersionDownloadFinished(QString remoteFile, QString localFile)
{
Q_UNUSED(remoteFile);
QFile versionFile(localFile);
if (versionFile.open(QIODevice::ReadOnly)) {
QTextStream textStream(&versionFile);
QString version = textStream.readLine();
qDebug() << version;
int majorVersion, minorVersion, buildVersion;
if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
if (_majorVersion < majorVersion ||
(_majorVersion == majorVersion && _minorVersion < minorVersion) ||
(_majorVersion == majorVersion && _minorVersion == minorVersion && _buildVersion < buildVersion)) {
QGCMessageBox::information(tr("New Version Available"), tr("There is a newer version of %1 available. You can download it from %2.").arg(applicationName()).arg(toolbox()->corePlugin()->stableDownloadLocation()));
}
}
}
_currentVersionDownload->deleteLater();
}
void QGCApplication::_currentVersionDownloadError(QString errorMsg)
{
Q_UNUSED(errorMsg);
_currentVersionDownload->deleteLater();
}
bool QGCApplication::_parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion)
{
QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
QRegularExpressionMatch match = regExp.match(versionString);
if (match.hasMatch() && match.lastCapturedIndex() == 3) {
majorVersion = match.captured(1).toInt();
minorVersion = match.captured(2).toInt();
buildVersion = match.captured(3).toInt();
return true;
}
return false;
}
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void QGCApplication::_onGPSConnect()
{
_gpsRtkFactGroup->connected()->setRawValue(true);
}
void QGCApplication::_onGPSDisconnect()
{
_gpsRtkFactGroup->connected()->setRawValue(false);
}
void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active)
{
_gpsRtkFactGroup->currentDuration()->setRawValue(duration);
_gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM/1000.0);
_gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
_gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
_gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
_gpsRtkFactGroup->valid()->setRawValue(valid);
_gpsRtkFactGroup->active()->setRawValue(active);
}
void QGCApplication::_gpsNumSatellites(int numSatellites)
{
_gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
}
QString QGCApplication::cachedParameterMetaDataFile(void)
{
QSettings settings;
QDir parameterDir = QFileInfo(settings.fileName()).dir();
return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
}
QString QGCApplication::cachedAirframeMetaDataFile(void)
{
QSettings settings;
QDir airframeDir = QFileInfo(settings.fileName()).dir();
return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}