QGCApplication.cc 21.3 KB
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 /*=====================================================================
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 QGroundControl Open Source Ground Control Station
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 (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 This file is part of the QGROUNDCONTROL project
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 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.
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 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.
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 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
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 ======================================================================*/
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/**
 * @file
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 *   @brief Implementation of class QGCApplication
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 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QFlags>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>

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#include <QDebug>

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#include "configuration.h"
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#include "QGC.h"
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#include "QGCApplication.h"
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#include "MainWindow.h"
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#include "GAudioOutput.h"
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#include "CmdLineOptParser.h"
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#include "QGCMessageBox.h"
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#include "MainWindow.h"
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "QGCSingleton.h"
#include "LinkManager.h"
#include "UASManager.h"
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#include "UASMessageHandler.h"
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#include "AutoPilotPluginManager.h"
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#include "QGCTemporaryFile.h"
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#include "QGCFileDialog.h"
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#include "QGCPalette.h"
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#include "ScreenTools.h"
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#include "QGCLoggingCategory.h"
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#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
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#ifdef QGC_RTLAB_ENABLED
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#include "OpalLink.h"
#endif
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QGCApplication* QGCApplication::_app = NULL;
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const char* QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey = "SettingsVersion";
const char* QGCApplication::_savedFilesLocationKey = "SavedFilesLocation";
const char* QGCApplication::_promptFlightDataSave = "PromptFLightDataSave";
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const char* QGCApplication::_styleKey = "StyleIsDark";
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const char* QGCApplication::_defaultSavedFileDirectoryName = "QGroundControl";
const char* QGCApplication::_savedFileMavlinkLogDirectoryName = "FlightData";
const char* QGCApplication::_savedFileParameterDirectoryName = "SavedParameters";
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const char* QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
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/**
 * @brief Constructor for the main application.
 *
 * This constructor initializes and starts the whole application. It takes standard
 * command-line parameters
 *
 * @param argc The number of command-line parameters
 * @param argv The string array of parameters
 **/

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QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) :
    QApplication(argc, argv),
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    _runningUnitTests(unitTesting),
    _styleIsDark(true)
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{
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    Q_ASSERT(_app == NULL);
    _app = this;
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    // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
    setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
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#ifdef QT_DEBUG
    // First thing we want to do is set up the qtlogging.ini file. If it doesn't already exist we copy
    // it to the correct location. This way default debug builds will have logging turned off.
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    static const char* qtProjectDir = "QtProject";
    static const char* qtLoggingFile = "qtlogging.ini";
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    bool loggingDirectoryOk = false;
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    QDir iniFileLocation(QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation));
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    if (!iniFileLocation.cd(qtProjectDir)) {
        if (!iniFileLocation.mkdir(qtProjectDir)) {
            qDebug() << "Unable to create qtlogging.ini directory" << iniFileLocation.filePath(qtProjectDir);
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        } else {
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            if (!iniFileLocation.cd(qtProjectDir)) {
                qDebug() << "Unable to access qtlogging.ini directory" << iniFileLocation.filePath(qtProjectDir);;
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            }
            loggingDirectoryOk = true;
        }
    } else {
        loggingDirectoryOk = true;
    }
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    if (loggingDirectoryOk) {
        qDebug () << iniFileLocation;
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        if (!iniFileLocation.exists(qtLoggingFile)) {
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            QFile loggingFile(iniFileLocation.filePath(qtLoggingFile));
            if (loggingFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
                QTextStream out(&loggingFile);
                out << "[Rules]\n";
                out << "*Log=false\n";
                foreach(QString category, QGCLoggingCategoryRegister::instance()->registeredCategories()) {
                    out << category << "=false\n";
                }
            } else {
                qDebug() << "Unable to create logging file" << QString(qtLoggingFile) << "in" << iniFileLocation;
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            }
        }
    }
#endif
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    // Set application information
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    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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    // Version string is build from component parts. Format is:
    //  vMajor.Minor.BuildNumber BuildType
    QString versionString("v%1.%2.%3 %4");
    versionString = versionString.arg(QGC_APPLICATION_VERSION_MAJOR).arg(QGC_APPLICATION_VERSION_MINOR).arg(QGC_APPLICATION_VERSION_BUILDNUMBER).arg(QGC_APPLICATION_VERSION_BUILDTYPE);
    this->setApplicationVersion(versionString);
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    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
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    // Parse command line options
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    bool fClearSettingsOptions = false; // Clear stored settings
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    CmdLineOpt_t rgCmdLineOptions[] = {
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        { "--clear-settings",   &fClearSettingsOptions, QString() },
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        // Add additional command line option flags here
    };
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    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
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    QSettings settings;
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    // The setting will delete all settings on this boot
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    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
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    if (_runningUnitTests) {
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        // Unit tests run with clean settings
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        fClearSettingsOptions = true;
    }
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    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
        settings.clear();
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        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
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    }
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}

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QGCApplication::~QGCApplication()
{
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    _destroySingletons();
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}

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void QGCApplication::_initCommon(void)
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{
    QSettings settings;
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    // Show user an upgrade message if the settings version has been bumped up
    bool settingsUpgraded = false;
    if (settings.contains(_settingsVersionKey)) {
        if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
            settingsUpgraded = true;
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        }
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    } else if (settings.allKeys().count()) {
        // Settings version key is missing and there are settings. This is an upgrade scenario.
        settingsUpgraded = true;
    }
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    if (settingsUpgraded) {
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        settings.clear();
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        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
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        QGCMessageBox::information(tr("Settings Cleared"),
                                   tr("The format for QGroundControl saved settings has been modified. "
                                      "Your saved settings have been reset to defaults."));
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    }
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    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
    _loadCurrentStyle();
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    // Load saved files location and validate
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    QString savedFilesLocation;
    if (settings.contains(_savedFilesLocationKey)) {
        savedFilesLocation = settings.value(_savedFilesLocationKey).toString();
    } else {
        // No location set. Create a default one in Documents standard location.
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        QString documentsLocation = QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation);
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        QDir documentsDir(documentsLocation);
        Q_ASSERT(documentsDir.exists());
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        bool pathCreated = documentsDir.mkpath(_defaultSavedFileDirectoryName);
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        Q_UNUSED(pathCreated);
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        Q_ASSERT(pathCreated);
        savedFilesLocation = documentsDir.filePath(_defaultSavedFileDirectoryName);
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    }
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    if (!savedFilesLocation.isEmpty()) {
        if (!validatePossibleSavedFilesLocation(savedFilesLocation)) {
            savedFilesLocation.clear();
        }
    }
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    settings.setValue(_savedFilesLocationKey, savedFilesLocation);

    // Load application font
    QFontDatabase fontDatabase = QFontDatabase();
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    const QString fontFileName = ":/res/fonts/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
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    //const QString fontFamilyName = "Bitstream Vera Sans";
    if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
    fontDatabase.addApplicationFont(fontFileName);
    // Avoid Using setFont(). In the Qt docu you can read the following:
    //     "Warning: Do not use this function in conjunction with Qt Style Sheets."
    // setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
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    // Register our Qml objects
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    qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
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    qmlRegisterType<ScreenTools>("QGroundControl.ScreenTools", 1, 0, "ScreenTools");
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	qmlRegisterType<ViewWidgetController>("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
	qmlRegisterType<ParameterEditorController>("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
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}

bool QGCApplication::_initForNormalAppBoot(void)
{
    QSettings settings;
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    _createSingletons();
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    // Show splash screen
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    QPixmap splashImage(":/res/SplashScreen");
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    QSplashScreen* splashScreen = new QSplashScreen(splashImage);
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    // Delete splash screen after mainWindow was displayed
    splashScreen->setAttribute(Qt::WA_DeleteOnClose);
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    splashScreen->show();
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    processEvents();
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    splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    // Exit main application when last window is closed
    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));

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    // Start the user interface
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    splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    MainWindow* mainWindow = MainWindow::_create(splashScreen);
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    Q_CHECK_PTR(mainWindow);
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    // If we made it this far and we still don't have a location. Either the specfied location was invalid
    // or we coudn't create a default location. Either way, we need to let the user know and prompt for a new
    /// settings.
    QString savedFilesLocation = settings.value(_savedFilesLocationKey).toString();
    if (savedFilesLocation.isEmpty()) {
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        QGCMessageBox::warning(
            tr("Bad save location"),
            tr("The location to save files to is invalid, or cannot be written to. Please provide a new one."));
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        mainWindow->showSettings();
    }
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    // Remove splash screen
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    splashScreen->finish(mainWindow);
    mainWindow->splashScreenFinished();
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    // Now that main window is upcheck for lost log files
    connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
    emit checkForLostLogFiles();
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    // Load known link configurations
    LinkManager::instance()->loadLinkConfigurationList();

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    return true;
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}

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bool QGCApplication::_initForUnitTests(void)
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{
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    return true;
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}

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void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

void QGCApplication::clearDeleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.remove(_deleteAllSettingsKey);
}

void QGCApplication::setSavedFilesLocation(QString& location)
{
    QSettings settings;
    settings.setValue(_savedFilesLocationKey, location);
}

bool QGCApplication::validatePossibleSavedFilesLocation(QString& location)
{
    // Make sure we can write to the directory
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    QString filename = QDir(location).filePath("QGCTempXXXXXXXX.tmp");
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    QGCTemporaryFile tempFile(filename);
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    if (!tempFile.open()) {
        return false;
    }
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    tempFile.remove();
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    return true;
}

QString QGCApplication::savedFilesLocation(void)
{
    QSettings settings;
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    Q_ASSERT(settings.contains(_savedFilesLocationKey));
    return settings.value(_savedFilesLocationKey).toString();
}

QString QGCApplication::savedParameterFilesLocation(void)
{
    QString location;
    QDir    parentDir(savedFilesLocation());
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    location = parentDir.filePath(_savedFileParameterDirectoryName);
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    if (!QDir(location).exists()) {
        // If directory doesn't exist, try to create it
        if (!parentDir.mkpath(_savedFileParameterDirectoryName)) {
            // Return an error
            location.clear();
        }
    }
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    return location;
}

QString QGCApplication::mavlinkLogFilesLocation(void)
{
    QString location;
    QDir    parentDir(savedFilesLocation());
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    location = parentDir.filePath(_savedFileMavlinkLogDirectoryName);
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    if (!QDir(location).exists()) {
        // If directory doesn't exist, try to create it
        if (!parentDir.mkpath(_savedFileMavlinkLogDirectoryName)) {
            // Return an error
            location.clear();
        }
    }
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    return location;
}

bool QGCApplication::promptFlightDataSave(void)
{
    QSettings settings;
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    return settings.value(_promptFlightDataSave, true).toBool();
}

void QGCApplication::setPromptFlightDataSave(bool promptForSave)
{
    QSettings settings;
    settings.setValue(_promptFlightDataSave, promptForSave);
}

/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
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    Q_ASSERT(QGCApplication::_app);
    return QGCApplication::_app;
}

/// @brief We create all the non-ui based singletons here instead of allowing them to be created randomly
///         by calls to instance. The reason being that depending on boot sequence the singleton may end
///         up being creating on something other than the main thread.
void QGCApplication::_createSingletons(void)
{
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    // The order here is important since the singletons reference each other
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    GAudioOutput* audio = GAudioOutput::_createSingleton();
    Q_UNUSED(audio);
    Q_ASSERT(audio);
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    LinkManager* linkManager = LinkManager::_createSingleton();
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    Q_UNUSED(linkManager);
    Q_ASSERT(linkManager);

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    // Needs LinkManager
    UASManagerInterface* uasManager = UASManager::_createSingleton();
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    Q_UNUSED(uasManager);
    Q_ASSERT(uasManager);

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    // Need UASManager
    AutoPilotPluginManager* pluginManager = AutoPilotPluginManager::_createSingleton();
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    Q_UNUSED(pluginManager);
    Q_ASSERT(pluginManager);
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    // Need UASManager
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    UASMessageHandler* messageHandler = UASMessageHandler::_createSingleton();
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    Q_UNUSED(messageHandler);
    Q_ASSERT(messageHandler);

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    // Needs UASManager
    FactSystem* factSystem = FactSystem::_createSingleton();
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    Q_UNUSED(factSystem);
    Q_ASSERT(factSystem);
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    // Needs everything!
    MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
    Q_UNUSED(mavlink);
    Q_ASSERT(mavlink);
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}

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void QGCApplication::_destroySingletons(void)
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{
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    if (MainWindow::instance()) {
        delete MainWindow::instance();
    }
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    if (LinkManager::instance(true /* nullOk */)) {
        // This will close/delete all connections
        LinkManager::instance()->_shutdown();
    }

    if (UASManager::instance(true /* nullOk */)) {
        // This will delete all uas from the system
        UASManager::instance()->_shutdown();
    }
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    // Let the signals flow through the main thread
    processEvents(QEventLoop::ExcludeUserInputEvents);
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    // Take down singletons in reverse order of creation
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    MAVLinkProtocol::_deleteSingleton();
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    FactSystem::_deleteSingleton();
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    UASMessageHandler::_deleteSingleton();
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    AutoPilotPluginManager::_deleteSingleton();
    UASManager::_deleteSingleton();
    LinkManager::_deleteSingleton();
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    GAudioOutput::_deleteSingleton();
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}
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void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
    QGCMessageBox::information(title, msg);
}

void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
    QGCMessageBox::warning(title, msg);
}

void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
    QGCMessageBox::critical(title, msg);
}

void QGCApplication::saveTempFlightDataLogOnMainThread(QString tempLogfile)
{
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    bool saveError;
    do{
        saveError = false;
        QString saveFilename = QGCFileDialog::getSaveFileName(
            MainWindow::instance(),
            tr("Save Flight Data Log"),
            qgcApp()->mavlinkLogFilesLocation(),
            tr("Flight Data Log Files (*.mavlink)"),
            "mavlink");
    
        if (!saveFilename.isEmpty()) {
            // if file exsits already, try to remove it first to overwrite it
            if(QFile::exists(saveFilename) && !QFile::remove(saveFilename)){
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                // if the file cannot be removed, prompt user and ask new path
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                saveError = true;
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                QGCMessageBox::warning("File Error","Could not overwrite existing file.\nPlease provide a different file name to save to.");
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            } else if(!QFile::copy(tempLogfile, saveFilename)) {
                // if file could not be copied, prompt user and ask new path
                saveError = true;
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                QGCMessageBox::warning("File Error","Could not create file.\nPlease provide a different file name to save to.");
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            }
        }
    } while(saveError); // if the file could not be overwritten, ask for new file
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    QFile::remove(tempLogfile);
}
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void QGCApplication::setStyle(bool styleIsDark)
{
    QSettings settings;
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    settings.setValue(_styleKey, styleIsDark);
    _styleIsDark = styleIsDark;
    _loadCurrentStyle();
    emit styleChanged(_styleIsDark);
}

void QGCApplication::_loadCurrentStyle(void)
{
    bool success = true;
    QString styles;
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    // Signal to the user that the app will pause to apply a new stylesheet
    setOverrideCursor(Qt::WaitCursor);
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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 && !_styleIsDark) {
        qDebug() << "LOADING LIGHT";
        // Load the slave light stylesheet.
        QFile styleSheet(_lightStyleFile);
        if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
            styles += styleSheet.readAll();
        } else {
            qDebug() << "Unable to load slave light sheet:";
            success = false;
        }
    }
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    // Now that we have the styles loaded we need to dpi adjust the font point sizes
    
    QString dpiAdjustedStyles;
    if (success) {
        QTextStream styleStream(&styles, QIODevice::ReadOnly);
        QRegularExpression regex("font-size:.+(\\d\\d)pt;");
        
        while (!styleStream.atEnd()) {
            QString adjustedLine;
            QString line = styleStream.readLine();
            
            QRegularExpressionMatch match = regex.match(line);
            if (match.hasMatch()) {
                //qDebug() << "found:" << line << match.captured(1);
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                adjustedLine = QString("font-size: %1pt;").arg(ScreenTools::adjustFontPointSize_s(match.captured(1).toDouble()));
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                //qDebug() << "adjusted:" << adjustedLine;
            } else {
                adjustedLine = line;
            }
            
            dpiAdjustedStyles += adjustedLine;
        }
    }
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    if (!dpiAdjustedStyles.isEmpty()) {
        setStyleSheet(dpiAdjustedStyles);
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    }
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    if (!success) {
        // Fall back to plastique if we can't load our own
        setStyle("plastique");
    }
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    QGCPalette::setGlobalTheme(_styleIsDark ? QGCPalette::Dark : QGCPalette::Light);
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    // Finally restore the cursor before returning.
    restoreOverrideCursor();
}
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void QGCApplication::reconnectAfterWait(int waitSeconds)
{
    LinkManager* linkManager = LinkManager::instance();
    Q_ASSERT(linkManager);
    
    Q_ASSERT(linkManager->getLinks().count() == 1);
    LinkInterface* link = linkManager->getLinks()[0];
    
    // Save the link configuration so we can restart the link laster
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    _reconnectLinkConfig = LinkConfiguration::duplicateSettings(linkManager->getLinks()[0]->getLinkConfiguration());
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    // Disconnect and wait
    
    linkManager->disconnectLink(link);
    QTimer::singleShot(waitSeconds * 1000, this, &QGCApplication::_reconnect);
}

void QGCApplication::_reconnect(void)
{
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    Q_ASSERT(_reconnectLinkConfig);
    
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    qgcApp()->restoreOverrideCursor();
    LinkManager::instance()->createConnectedLink(_reconnectLinkConfig);
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    _reconnectLinkConfig = NULL;
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}
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void QGCApplication::panicShutdown(const QString& panicMessage)
{
    QGCMessageBox::critical("Panic Shutdown", panicMessage);
    ::exit(0);
}