Core.cc

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

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
 *   @brief Implementation of class Core
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */


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

#include "configuration.h"
#include "Core.h"
#include "MG.h"
#include "MainWindow.h"
#include "GAudioOutput.h"

#ifdef OPAL_RT
#include "OpalLink.h"
#endif
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"


/**
 * @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
 **/

Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
{
    this->setApplicationName(QGC_APPLICATION_NAME);
    this->setApplicationVersion(QGC_APPLICATION_VERSION);
    this->setOrganizationName(QLatin1String("PIXHAWK Association Zurich"));
    this->setOrganizationDomain("http://qgroundcontrol.org");

    // Show splash screen
    QPixmap splashImage(":images/splash.png");
    QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
    splashScreen->show();
    splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

    QSettings::setDefaultFormat(QSettings::IniFormat);
    // Exit main application when last window is closed
    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));

    // Set application font
    QFontDatabase fontDatabase = QFontDatabase();
    const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
    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);
    setFont(fontDatabase.font(fontFamilyName, "Roman", 12));

    // Start the comm link manager
    splashScreen->showMessage(tr("Starting Communication Links"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    startLinkManager();

    // Start the UAS Manager
    splashScreen->showMessage(tr("Starting UAS Manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    startUASManager();

    //tarsus = new ViconTarsusProtocol();
    //tarsus->start();

    // Start the user interface
    splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    // Start UI
    mainWindow = new MainWindow();

    // Remove splash screen
    splashScreen->finish(mainWindow);

    // Connect links
    // to make sure that all components are initialized when the
    // first messages arrive
    UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
    mainWindow->addLink(udpLink);

    // Check if link could be connected
    if (!udpLink->connect())
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
        msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?");
        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
        msgBox.setDefaultButton(QMessageBox::Cancel);
        int ret = msgBox.exec();

        // Close the message box shortly after the click to prevent accidental clicks
        QTimer::singleShot(5000, &msgBox, SLOT(reject()));

        // Exit application
        if (ret == QMessageBox::Yes)
        {
            //mainWindow->close();
            QTimer::singleShot(200, mainWindow, SLOT(close()));
        }
    }

#ifdef OPAL_RT
    // Add OpalRT Link, but do not connect
    OpalLink* opalLink = new OpalLink();
    mainWindow->addLink(opalLink);
    opalLink->connect();
#warning OPAL LINK NOW AUTO CONNECTING IN CORE.CC
#endif
    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
    mainWindow->addLink(simulationLink);
}

/**
 * @brief Destructor for the groundstation. It destroys all loaded instances.
 *
 **/
Core::~Core()
{
    // Delete singletons
    delete LinkManager::instance();
    delete UASManager::instance();
}

/**
 * @brief Start the link managing component.
 *
 * The link manager keeps track of all communication links and provides the global
 * packet queue. It is the main communication hub
 **/
void Core::startLinkManager()
{
    LinkManager::instance();
}

/**
 * @brief Start the Unmanned Air System Manager
 *
 **/
void Core::startUASManager()
{
    // Load UAS plugins
    QDir pluginsDir = QDir(qApp->applicationDirPath());

#if defined(Q_OS_WIN)
    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
        pluginsDir.cdUp();
#elif defined(Q_OS_LINUX)
    if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
        pluginsDir.cdUp();
#elif defined(Q_OS_MAC)
    if (pluginsDir.dirName() == "MacOS")
    {
        pluginsDir.cdUp();
        pluginsDir.cdUp();
        pluginsDir.cdUp();
    }
#endif
    pluginsDir.cd("plugins");

    UASManager::instance();

    // Load plugins

    QStringList pluginFileNames;

    foreach (QString fileName, pluginsDir.entryList(QDir::Files))
    {
        QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
        QObject *plugin = loader.instance();
        if (plugin)
        {
            //populateMenus(plugin);
            pluginFileNames += fileName;
            //printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
        }
    }
}