QGCCore.cc 8.87 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

pixhawk's avatar
pixhawk committed
3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

pixhawk's avatar
pixhawk committed
5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

pixhawk's avatar
pixhawk committed
7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

pixhawk's avatar
pixhawk committed
9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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's avatar
pixhawk committed
14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
pixhawk's avatar
pixhawk committed
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

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

/**
 * @file
lm's avatar
lm committed
26
 *   @brief Implementation of class QGCCore
pixhawk's avatar
pixhawk committed
27 28 29 30 31 32 33 34 35 36 37 38 39 40 41
 *
 *   @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>

42 43
#include <QDebug>

lm's avatar
lm committed
44
#include "configuration.h"
45
#include "QGC.h"
lm's avatar
lm committed
46
#include "QGCCore.h"
pixhawk's avatar
pixhawk committed
47 48
#include "MG.h"
#include "MainWindow.h"
pixhawk's avatar
pixhawk committed
49
#include "GAudioOutput.h"
pixhawk's avatar
pixhawk committed
50

51 52 53
#ifdef OPAL_RT
#include "OpalLink.h"
#endif
pixhawk's avatar
pixhawk committed
54 55 56
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"

pixhawk's avatar
pixhawk committed
57 58 59 60 61 62 63 64 65 66 67

/**
 * @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
 **/

68

lm's avatar
lm committed
69
QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
pixhawk's avatar
pixhawk committed
70
{
71 72


73
    // Set application name
lm's avatar
lm committed
74 75
    this->setApplicationName(QGC_APPLICATION_NAME);
    this->setApplicationVersion(QGC_APPLICATION_VERSION);
76
    this->setOrganizationName(QLatin1String("OPENMAV"));
77 78 79 80
    this->setOrganizationDomain("org.qgroundcontrol");

    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
81

82 83 84 85
    // Check application settings
    // clear them if they mismatch
    // QGC then falls back to default
    QSettings settings;
lm's avatar
lm committed
86

lm's avatar
lm committed
87
    // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
lm's avatar
lm committed
88 89
    bool upgraded = false;
    QString lastApplicationVersion("");
90
    if (settings.contains("QGC_APPLICATION_VERSION")) {
91
        QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
92
        if (qgcVersion != QGC_APPLICATION_VERSION) {
lm's avatar
lm committed
93
            lastApplicationVersion = qgcVersion;
94
            settings.clear();
95 96
            // Write current application version
            settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
lm's avatar
lm committed
97
            upgraded = true;
98
        }
99
    } else {
100 101
        // If application version is not set, clear settings anyway
        settings.clear();
102 103
        // Write current application version
        settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
104
    }
105

106 107
    settings.sync();

108 109 110
    // Show splash screen
    QPixmap splashImage(":images/splash.png");
    QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint);
111 112
    // Delete splash screen after mainWindow was displayed
    splashScreen->setAttribute(Qt::WA_DeleteOnClose);
113 114 115
    splashScreen->show();
    splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));

pixhawk's avatar
pixhawk committed
116 117 118
    // Exit main application when last window is closed
    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));

119
    // Load application font
pixhawk's avatar
pixhawk committed
120 121 122
    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";
Hugo Vincent's avatar
Hugo Vincent committed
123
    if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
pixhawk's avatar
pixhawk committed
124
    fontDatabase.addApplicationFont(fontFileName);
125 126 127
    // 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));
pixhawk's avatar
pixhawk committed
128 129

    // Start the comm link manager
130
    splashScreen->showMessage(tr("Starting Communication Links"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
pixhawk's avatar
pixhawk committed
131 132 133
    startLinkManager();

    // Start the UAS Manager
134
    splashScreen->showMessage(tr("Starting UAS Manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
pixhawk's avatar
pixhawk committed
135 136
    startUASManager();

pixhawk's avatar
pixhawk committed
137 138
    //tarsus = new ViconTarsusProtocol();
    //tarsus->start();
pixhawk's avatar
pixhawk committed
139 140

    // Start the user interface
141
    splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
142
    // Start UI
pixhawk's avatar
pixhawk committed
143

pixhawk's avatar
pixhawk committed
144 145 146 147
    // Connect links
    // to make sure that all components are initialized when the
    // first messages arrive
    UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550);
pixhawk's avatar
pixhawk committed
148 149 150
    // Listen on Multicast-Address 239.255.77.77, Port 14550
    //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77");
    //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550);
151 152 153 154 155 156 157 158 159
    //mainWindow->addLink(udpLink);

#ifdef OPAL_RT
    // Add OpalRT Link, but do not connect
    OpalLink* opalLink = new OpalLink();
    //mainWindow->addLink(opalLink);
#endif
    // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
    MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
160
    simulationLink->disconnect();
161 162
    //mainWindow->addLink(simulationLink);

lm's avatar
lm committed
163
    mainWindow = MainWindow::instance();
lm's avatar
lm committed
164 165

    // Remove splash screen
lm's avatar
lm committed
166 167
    splashScreen->finish(mainWindow);

lm's avatar
lm committed
168 169
    if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));

pixhawk's avatar
pixhawk committed
170
    // Check if link could be connected
171
    if (!udpLink->connect()) {
pixhawk's avatar
pixhawk committed
172 173
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
174
        msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
175
        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?");
lm's avatar
lm committed
176 177
        msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
        msgBox.setDefaultButton(QMessageBox::No);
pixhawk's avatar
pixhawk committed
178 179 180 181 182 183
        int ret = msgBox.exec();

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

        // Exit application
184
        if (ret == QMessageBox::Yes) {
185 186
            //mainWindow->close();
            QTimer::singleShot(200, mainWindow, SLOT(close()));
pixhawk's avatar
pixhawk committed
187 188
        }
    }
189 190 191 192 193 194 195 196 197

//    forever
//    {
//        QGC::SLEEP::msleep(5000);
//    }

//    mainWindow->close();
//    mainWindow->deleteLater();
//    QGC::SLEEP::msleep(200);
pixhawk's avatar
pixhawk committed
198 199 200 201 202 203
}

/**
 * @brief Destructor for the groundstation. It destroys all loaded instances.
 *
 **/
lm's avatar
lm committed
204
QGCCore::~QGCCore()
pixhawk's avatar
pixhawk committed
205
{
lm's avatar
lm committed
206
    //mainWindow->storeSettings();
LM's avatar
LM committed
207
    mainWindow->close();
208
    mainWindow->deleteLater();
pixhawk's avatar
pixhawk committed
209 210 211 212 213 214 215 216 217 218 219
    // 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
 **/
lm's avatar
lm committed
220
void QGCCore::startLinkManager()
pixhawk's avatar
pixhawk committed
221 222 223 224 225 226 227 228
{
    LinkManager::instance();
}

/**
 * @brief Start the Unmanned Air System Manager
 *
 **/
lm's avatar
lm committed
229
void QGCCore::startUASManager()
pixhawk's avatar
pixhawk committed
230
{
231 232 233 234 235 236 237 238 239 240
    // 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)
241
    if (pluginsDir.dirName() == "MacOS") {
242 243 244 245 246 247 248
        pluginsDir.cdUp();
        pluginsDir.cdUp();
        pluginsDir.cdUp();
    }
#endif
    pluginsDir.cd("plugins");

lm's avatar
lm committed
249
    UASManager::instance();
250 251 252 253 254

    // Load plugins

    QStringList pluginFileNames;

255
    foreach (QString fileName, pluginsDir.entryList(QDir::Files)) {
256 257
        QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
        QObject *plugin = loader.instance();
258
        if (plugin) {
259 260
            //populateMenus(plugin);
            pluginFileNames += fileName;
lm's avatar
lm committed
261
            //printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
262 263
        }
    }
pixhawk's avatar
pixhawk committed
264 265 266
}