MainWindow.cc 33.3 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

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

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

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

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.

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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25

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

/**
 * @file
26
 *   @brief Implementation of class MainWindow
27
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
 */

#include <QSettings>
#include <QDockWidget>
#include <QNetworkInterface>
#include <QMessageBox>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>

#include "MG.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
#include "WaypointList.h"
#include "MainWindow.h"
#include "JoystickWidget.h"
pixhawk's avatar
pixhawk committed
47
#include "GAudioOutput.h"
48
#include "Q3DWidgetFactory.h"
pixhawk's avatar
pixhawk committed
49

lm's avatar
lm committed
50 51 52 53
// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"

pixhawk's avatar
pixhawk committed
54 55 56 57 58 59 60 61 62 63

#include "LogCompressor.h"

/**
* Create new mainwindow. The constructor instantiates all parts of the user
* interface. It does NOT show the mainwindow. To display it, call the show()
* method.
*
* @see QMainWindow::show()
**/
64
MainWindow::MainWindow(QWidget *parent) :
pixhawk's avatar
pixhawk committed
65 66
        QMainWindow(parent),
        settings()
pixhawk's avatar
pixhawk committed
67
{
68 69 70
    this->hide();
    this->setVisible(false);

pixhawk's avatar
pixhawk committed
71 72 73
    // Setup user interface
    ui.setupUi(this);

74 75 76 77 78 79 80
    buildWidgets();

    connectWidgets();

    arrangeCenterStack();

    configureWindowName();
pixhawk's avatar
pixhawk committed
81 82 83 84 85 86 87

    // Add status bar
    setStatusBar(createStatusBar());

    // Set the application style (not the same as a style sheet)
    // Set the style to Plastique
    qApp->setStyle("plastique");
88

pixhawk's avatar
pixhawk committed
89 90 91 92
    // Set style sheet as last step
    reloadStylesheet();


93 94 95
    // Create actions
    connectActions();

96
    // Load widgets and show application windowa
97 98 99 100
    loadWidgets();

    // Adjust the size
    adjustSize();
pixhawk's avatar
pixhawk committed
101 102
}

pixhawk's avatar
pixhawk committed
103
MainWindow::~MainWindow()
pixhawk's avatar
pixhawk committed
104 105 106 107 108
{
    delete statusBar;
    statusBar = NULL;
}

109 110 111

void MainWindow::buildWidgets()
{
pixhawk's avatar
pixhawk committed
112 113 114 115 116 117 118 119
    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
    acceptList->append("roll IMU");
    acceptList->append("pitch IMU");
    acceptList->append("yaw IMU");
    acceptList->append("rollspeed IMU");
    acceptList->append("pitchspeed IMU");
    acceptList->append("yawspeed IMU");
120

pixhawk's avatar
pixhawk committed
121 122 123 124
    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
    acceptList2->append("Battery");
    acceptList2->append("Pressure");
125

pixhawk's avatar
pixhawk committed
126 127
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
128

pixhawk's avatar
pixhawk committed
129 130 131 132 133 134
    // Center widgets
    linechartWidget   = new Linecharts(this);
    hudWidget         = new HUD(640, 480, this);
    mapWidget         = new MapWidget(this);
    protocolWidget    = new XMLCommProtocolWidget(this);
    dataplotWidget    = new QGCDataPlot2D(this);
135
    _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
136

pixhawk's avatar
pixhawk committed
137 138 139
    // Dock widgets
    controlDockWidget = new QDockWidget(tr("Control"), this);
    controlDockWidget->setWidget( new UASControlWidget(this) );
140

pixhawk's avatar
pixhawk committed
141 142
    listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
    listDockWidget->setWidget( new UASListWidget(this) );
143

pixhawk's avatar
pixhawk committed
144 145
    waypointsDockWidget = new QDockWidget(tr("Waypoint List"), this);
    waypointsDockWidget->setWidget( new WaypointList(this, NULL) );
146

pixhawk's avatar
pixhawk committed
147 148
    infoDockWidget = new QDockWidget(tr("Status Details"), this);
    infoDockWidget->setWidget( new UASInfoWidget(this) );
149

pixhawk's avatar
pixhawk committed
150 151
    detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
    detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
152

pixhawk's avatar
pixhawk committed
153 154
    debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
    debugConsoleDockWidget->setWidget( new DebugConsole(this) );
155

pixhawk's avatar
pixhawk committed
156 157
    parametersDockWidget = new QDockWidget(tr("Onboard Parameters"), this);
    parametersDockWidget->setWidget( new ParameterInterface(this) );
158

pixhawk's avatar
pixhawk committed
159 160
    watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
    watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
161

pixhawk's avatar
pixhawk committed
162 163
    hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
    hsiDockWidget->setWidget( new HSIDisplay(this) );
164

pixhawk's avatar
pixhawk committed
165 166
    headDown1DockWidget = new QDockWidget(tr("Primary Flight Display"), this);
    headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
167

pixhawk's avatar
pixhawk committed
168 169
    headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
    headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
170

pixhawk's avatar
pixhawk committed
171 172
    rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
    rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
173

174 175 176
    headUpDockWidget = new QDockWidget(tr("Control Indicator"), this);
    headUpDockWidget->setWidget( new HUD(320, 240, this));

pixhawk's avatar
pixhawk committed
177 178 179
    // Dialogue widgets
    //FIXME: free memory in destructor
    joystick    = new JoystickInput();
180

181 182
}

pixhawk's avatar
pixhawk committed
183 184 185
/**
 * Connect all signals and slots of the main window widgets
 */
186 187
void MainWindow::connectWidgets()
{
pixhawk's avatar
pixhawk committed
188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208
    if (linechartWidget)
    {
        connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
                linechartWidget, SLOT(addSystem(UASInterface*)));
        connect(UASManager::instance(), SIGNAL(activeUASSet(int)),
                linechartWidget, SLOT(selectSystem(int)));
        connect(linechartWidget, SIGNAL(logfileWritten(QString)),
                this, SLOT(loadDataView(QString)));
    }
    if (infoDockWidget && infoDockWidget->widget())
    {
        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }
    if (mapWidget && waypointsDockWidget->widget())
    {
        // clear path create on the map
        connect(waypointsDockWidget->widget(), SIGNAL(clearPathclicked()), mapWidget, SLOT(clearPath()));
        // add Waypoint widget in the WaypointList widget when mouse clicked
        connect(mapWidget, SIGNAL(captureMapCoordinateClick(QPointF)), waypointsDockWidget->widget(), SLOT(addWaypointMouse(QPointF)));
        // it notifies that a waypoint global goes to do create
209
        connect(mapWidget, SIGNAL(createGlobalWP(bool, QPointF)), waypointsDockWidget->widget(), SLOT(setIsWPGlobal(bool, QPointF)));
pixhawk's avatar
pixhawk committed
210
        connect(mapWidget, SIGNAL(sendGeometryEndDrag(QPointF,int)), waypointsDockWidget->widget(), SLOT(waypointGlobalChanged(QPointF,int)) );
211 212 213 214 215

        // it notifies that a waypoint global goes to do create and a map graphic too
        connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
        // it notifies that a waypoint global change its position by spinBox on Widget WaypointView
        connect(waypointsDockWidget->widget(), SIGNAL(changePositionWPGlobalBySpinBox(int,float,float)), mapWidget, SLOT(changeGlobalWaypointPositionBySpinBox(int,float,float)));
pixhawk's avatar
pixhawk committed
216
    }
217 218
}

219 220
void MainWindow::arrangeCenterStack()
{
221

pixhawk's avatar
pixhawk committed
222 223 224 225 226
    QStackedWidget *centerStack = new QStackedWidget(this);
    if (!centerStack) return;
    if (linechartWidget) centerStack->addWidget(linechartWidget);
    if (protocolWidget) centerStack->addWidget(protocolWidget);
    if (mapWidget) centerStack->addWidget(mapWidget);
227
    if (_3DWidget) centerStack->addWidget(_3DWidget);
pixhawk's avatar
pixhawk committed
228 229
    if (hudWidget) centerStack->addWidget(hudWidget);
    if (dataplotWidget) centerStack->addWidget(dataplotWidget);
230

pixhawk's avatar
pixhawk committed
231
    setCentralWidget(centerStack);
232 233
}

234 235
void MainWindow::configureWindowName()
{
pixhawk's avatar
pixhawk committed
236 237 238
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;
239

pixhawk's avatar
pixhawk committed
240
    windowname.append(" (" + QHostInfo::localHostName() + ": ");
241

pixhawk's avatar
pixhawk committed
242 243 244 245 246 247 248 249 250 251
    for (int i = 0; i < hostAddresses.size(); i++)
    {
        // Exclude loopback IPv4 and all IPv6 addresses
        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":"))
        {
            if(prevAddr) windowname.append("/");
            windowname.append(hostAddresses.at(i).toString());
            prevAddr = true;
        }
    }
252

pixhawk's avatar
pixhawk committed
253
    windowname.append(")");
254

pixhawk's avatar
pixhawk committed
255
    setWindowTitle(windowname);
256 257

#ifndef Q_WS_MAC
pixhawk's avatar
pixhawk committed
258
    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
259 260 261
#endif
}

pixhawk's avatar
pixhawk committed
262
QStatusBar* MainWindow::createStatusBar()
pixhawk's avatar
pixhawk committed
263 264 265 266 267 268 269 270
{
    QStatusBar* bar = new QStatusBar();
    /* Add status fields and messages */
    /* Enable resize grip in the bottom right corner */
    bar->setSizeGripEnabled(true);
    return bar;
}

pixhawk's avatar
pixhawk committed
271
void MainWindow::startVideoCapture()
pixhawk's avatar
pixhawk committed
272 273 274 275 276 277 278 279 280 281 282
{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

    QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"),
                                                          initialPath,
                                                          tr("%1 Files (*.%2);;All Files (*)")
                                                          .arg(format.toUpper())
                                                          .arg(format));
    delete videoTimer;
    videoTimer = new QTimer(this);
283 284 285
    //videoTimer->setInterval(40);
    //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen()));
    //videoTimer->stop();
pixhawk's avatar
pixhawk committed
286 287
}

pixhawk's avatar
pixhawk committed
288
void MainWindow::stopVideoCapture()
pixhawk's avatar
pixhawk committed
289 290 291 292 293 294
{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

pixhawk's avatar
pixhawk committed
295
void MainWindow::saveScreen()
pixhawk's avatar
pixhawk committed
296 297 298 299 300 301 302 303 304 305
{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

    if (!screenFileName.isEmpty())
    {
        window.save(screenFileName, format.toAscii());
    }
}

306 307 308 309 310 311
/**
 * Reload the style sheet from disk. The function tries to load "qgroundcontrol.css" from the application
 * directory (which by default does not exist). If it fails, it will load the bundled default CSS
 * from memory.
 * To customize the application, just create a qgroundcontrol.css file in the application directory
 */
pixhawk's avatar
pixhawk committed
312
void MainWindow::reloadStylesheet()
pixhawk's avatar
pixhawk committed
313 314
{
    // Load style sheet
315 316 317 318 319
    QFile* styleSheet = new QFile(QCoreApplication::applicationDirPath() + "/qgroundcontrol.css");
    if (!styleSheet->exists())
    {
        styleSheet = new QFile(":/images/style-mission.css");
    }
320 321
    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text))
    {
322 323
        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
pixhawk's avatar
pixhawk committed
324
        qApp->setStyleSheet(style);
325 326 327
    }
    else
    {
328
        qDebug() << "Style not set:" << styleSheet->fileName() << "opened: " << styleSheet->isOpen();
pixhawk's avatar
pixhawk committed
329
    }
330
    delete styleSheet;
pixhawk's avatar
pixhawk committed
331 332
}

pixhawk's avatar
pixhawk committed
333
void MainWindow::showStatusMessage(const QString& status, int timeout)
pixhawk's avatar
pixhawk committed
334 335 336 337
{
    statusBar->showMessage(status, timeout);
}

338
void MainWindow::showStatusMessage(const QString& status)
pixhawk's avatar
pixhawk committed
339
{
340
    statusBar->showMessage(status, 5);
pixhawk's avatar
pixhawk committed
341 342 343 344 345 346
}

/**
* @brief Create all actions associated to the main window
*
**/
pixhawk's avatar
pixhawk committed
347
void MainWindow::connectActions()
pixhawk's avatar
pixhawk committed
348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366
{
    // Connect actions from ui
    connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink()));

    // Connect internal actions
    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*)));

    // Connect user interface controls
    connect(ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS()));
    connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS()));
    connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS()));
    connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS()));

    connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));

    // User interface actions
    connect(ui.actionPilotView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
    connect(ui.actionEngineerView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
    connect(ui.actionOperatorView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
367
    connect(ui.action3DView, SIGNAL(triggered()), this, SLOT(load3DView()));
368
    connect(ui.actionShow_full_view, SIGNAL(triggered()), this, SLOT(loadAllView()));
369
    connect(ui.actionShow_MAVLink_view, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
370
    connect(ui.actionShow_data_analysis_view, SIGNAL(triggered()), this, SLOT(loadDataView()));
pixhawk's avatar
pixhawk committed
371
    connect(ui.actionStyleConfig, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
372
    connect(ui.actionGlobalOperatorView, SIGNAL(triggered()), this, SLOT(loadGlobalOperatorView()));
373 374 375 376
    connect(ui.actionOnline_documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
    connect(ui.actionCredits_Developers, SIGNAL(triggered()), this, SLOT(showCredits()));
    connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap()));

pixhawk's avatar
pixhawk committed
377 378
    // Joystick configuration
    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
379 380


pixhawk's avatar
pixhawk committed
381 382
}

383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424
void MainWindow::showHelp()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/user_guide")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open help in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/user_guide in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::showCredits()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open credits in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/credits in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

void MainWindow::showRoadMap()
{
    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/roadmap")))
    {
        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Critical);
        msgBox.setText("Could not open roadmap in browser");
        msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser.");
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
    }
}

pixhawk's avatar
pixhawk committed
425
void MainWindow::configure()
pixhawk's avatar
pixhawk committed
426 427 428 429
{
    joystickWidget = new JoystickWidget(joystick, this);
}

pixhawk's avatar
pixhawk committed
430
void MainWindow::addLink()
pixhawk's avatar
pixhawk committed
431 432 433 434 435 436 437 438 439 440 441 442 443 444 445
{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

    LinkManager::instance()->addProtocol(link, mavlink);

    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);

    ui.menuNetwork->addAction(commWidget->getAction());

    commWidget->show();

    // TODO Implement the link removal!
}

pixhawk's avatar
pixhawk committed
446 447
void MainWindow::addLink(LinkInterface *link)
{
448
    LinkManager::instance()->addProtocol(link, mavlink);
pixhawk's avatar
pixhawk committed
449 450 451 452 453 454 455
    CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
    ui.menuNetwork->addAction(commWidget->getAction());

    // Special case for simulationlink
    MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
    if (sim)
    {
456
        //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
pixhawk's avatar
pixhawk committed
457 458 459 460
        connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
    }
}

pixhawk's avatar
pixhawk committed
461
void MainWindow::UASCreated(UASInterface* uas)
pixhawk's avatar
pixhawk committed
462 463 464
{
    // Connect the UAS to the full user interface

465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496
    if (uas != NULL)
    {
        QIcon icon;
        // Set matching icon
        switch (uas->getSystemType())
        {
        case 0:
            icon = QIcon(":/images/mavs/generic.svg");
            break;
        case 1:
            icon = QIcon(":/images/mavs/fixed-wing.svg");
            break;
        case 2:
            icon = QIcon(":/images/mavs/quadrotor.svg");
            break;
        case 3:
            icon = QIcon(":/images/mavs/coaxial.svg");
            break;
        case 4:
            icon = QIcon(":/images/mavs/helicopter.svg");
            break;
        case 5:
            icon = QIcon(":/images/mavs/groundstation.svg");
            break;
        default:
            icon = QIcon(":/images/mavs/unknown.svg");
            break;
        }

        ui.menuConnected_Systems->addAction(icon, tr("Select %1 for control").arg(uas->getUASName()), uas, SLOT(setSelected()));

        // FIXME Should be not inside the mainwindow
497 498
        if (debugConsoleDockWidget)
        {
pixhawk's avatar
pixhawk committed
499 500 501 502 503 504
            DebugConsole *debugConsole = dynamic_cast<DebugConsole*>(debugConsoleDockWidget->widget());
            if (debugConsole)
            {
                connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)),
                        debugConsole, SLOT(receiveTextMessage(int,int,int,QString)));
            }
505
        }
506 507

        // Health / System status indicator
508 509
        if (infoDockWidget)
        {
pixhawk's avatar
pixhawk committed
510 511 512 513 514
            UASInfoWidget *infoWidget = dynamic_cast<UASInfoWidget*>(infoDockWidget->widget());
            if (infoWidget)
            {
                infoWidget->addUAS(uas);
            }
515
        }
516 517

        // UAS List
518 519
        if (listDockWidget)
        {
pixhawk's avatar
pixhawk committed
520 521 522 523 524
            UASListWidget *listWidget = dynamic_cast<UASListWidget*>(listDockWidget->widget());
            if (listWidget)
            {
                listWidget->addUAS(uas);
            }
525
        }
526 527 528 529 530 531 532 533 534 535 536 537 538

        // Camera view
        //camera->addUAS(uas);

        // Revalidate UI
        // TODO Stylesheet reloading should in theory not be necessary
        reloadStylesheet();

        // Check which type this UAS is of
        PxQuadMAV* mav = dynamic_cast<PxQuadMAV*>(uas);
        if (mav) loadPixhawkView();
        SlugsMAV* mav2 = dynamic_cast<SlugsMAV*>(uas);
        if (mav2) loadSlugsView();
lm's avatar
lm committed
539

540
    }
pixhawk's avatar
pixhawk committed
541 542
}

543 544 545
/**
 * Clears the current view completely
 */
pixhawk's avatar
pixhawk committed
546
void MainWindow::clearView()
pixhawk's avatar
pixhawk committed
547 548
{ 
    // Halt HUD
549 550 551 552 553 554 555 556 557
    if (hudWidget) hudWidget->stop();
    // Disable linechart
    if (linechartWidget) linechartWidget->setActive(false);
    // Halt HDDs
    if (headDown1DockWidget)
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown1DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }
pixhawk's avatar
pixhawk committed
558
    if (headDown2DockWidget)
559 560 561 562 563 564 565 566 567 568
    {
        HDDisplay* hddWidget = dynamic_cast<HDDisplay*>( headDown2DockWidget->widget() );
        if (hddWidget) hddWidget->stop();
    }
    // Halt HSI
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi) hsi->stop();
    }
pixhawk's avatar
pixhawk committed
569

570 571
    // Remove all dock widgets from main window
    QObjectList childList( this->children() );
pixhawk's avatar
pixhawk committed
572

573 574 575
    QObjectList::iterator i;
    QDockWidget* dockWidget;
    for (i = childList.begin(); i != childList.end(); ++i)
pixhawk's avatar
pixhawk committed
576
    {
577 578
        dockWidget = dynamic_cast<QDockWidget*>(*i);
        if (dockWidget)
pixhawk's avatar
pixhawk committed
579
        {
580 581 582 583 584
            // Remove dock widget from main window
            this->removeDockWidget(dockWidget);
            // Deletion of dockWidget would also delete all child
            // widgets of dockWidget
            // Is there a way to unset a widget from QDockWidget?
pixhawk's avatar
pixhawk committed
585 586 587 588
        }
    }
}

lm's avatar
lm committed
589 590 591 592 593 594
void MainWindow::loadSlugsView()
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
595 596 597 598 599 600 601 602 603
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
lm's avatar
lm committed
604 605

    // UAS CONTROL
606 607 608 609 610
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
lm's avatar
lm committed
611 612

    // UAS LIST
613 614 615 616 617
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
lm's avatar
lm committed
618 619

    // UAS STATUS
620 621 622 623 624
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
lm's avatar
lm committed
625 626

    // HORIZONTAL SITUATION INDICATOR
627 628 629 630 631 632 633 634 635 636
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            hsi->start();
            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
        }
    }
lm's avatar
lm committed
637 638

    // WAYPOINT LIST
639 640 641 642 643
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
lm's avatar
lm committed
644 645

    // DEBUG CONSOLE
646 647 648 649 650
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
lm's avatar
lm committed
651 652

    // ONBOARD PARAMETERS
653 654 655 656 657
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
658 659 660 661 662 663 664 665 666

    this->show();
}

void MainWindow::loadPixhawkView()
{
    clearView();
    // Engineer view, used in EMAV2009

667
    // 3D map
668
    if (_3DWidget)
669 670 671 672
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
673
            //map3DWidget->setActive(true);
674
            centerStack->setCurrentWidget(_3DWidget);
675 676
        }
    }
lm's avatar
lm committed
677 678

    // UAS CONTROL
679 680 681 682 683
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
lm's avatar
lm committed
684

685 686 687 688 689 690 691 692 693 694 695 696
    // HORIZONTAL SITUATION INDICATOR
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            hsi->start();
            addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
        }
    }

lm's avatar
lm committed
697
    // UAS LIST
698 699 700 701 702
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
lm's avatar
lm committed
703 704

    // UAS STATUS
705 706 707 708 709
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
lm's avatar
lm committed
710 711

    // WAYPOINT LIST
712 713 714 715 716
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
lm's avatar
lm committed
717 718

    // DEBUG CONSOLE
719 720 721 722 723
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
lm's avatar
lm committed
724 725

    // ONBOARD PARAMETERS
726 727 728 729 730
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
731 732 733 734

    this->show();
}

735 736 737
void MainWindow::loadDataView()
{
    clearView();
738 739 740 741 742 743 744 745

    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
            centerStack->setCurrentWidget(dataplotWidget);
    }
746 747
}

748 749 750
void MainWindow::loadDataView(QString fileName)
{
    clearView();
pixhawk's avatar
pixhawk committed
751

752 753 754 755 756 757 758 759 760 761
    // DATAPLOT
    if (dataplotWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(dataplotWidget);
            dataplotWidget->loadFile(fileName);
        }
    }
762 763
}

pixhawk's avatar
pixhawk committed
764
void MainWindow::loadPilotView()
pixhawk's avatar
pixhawk committed
765 766 767 768
{
    clearView();

    // HEAD UP DISPLAY
769 770 771 772 773 774 775 776 777
    if (hudWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(hudWidget);
            hudWidget->start();
        }
    }
pixhawk's avatar
pixhawk committed
778 779

    //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), pfd, SLOT(setActiveUAS(UASInterface*)));
780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800
    if (headDown1DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
            headDown1DockWidget->show();
            hdd->start();
        }
        
    }
    if (headDown2DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
            headDown2DockWidget->show();
            hdd->start();
        }
    }
pixhawk's avatar
pixhawk committed
801

pixhawk's avatar
pixhawk committed
802 803 804
    this->show();
}

pixhawk's avatar
pixhawk committed
805
void MainWindow::loadOperatorView()
pixhawk's avatar
pixhawk committed
806 807 808
{
    clearView();

809
    // MAP
810 811 812 813 814 815 816 817
    if (mapWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(mapWidget);
        }
    }
pixhawk's avatar
pixhawk committed
818 819

    // UAS CONTROL
820 821 822 823 824
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
825 826

    // UAS LIST
827 828 829 830 831
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
832 833

    // UAS STATUS
834 835 836 837 838
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
839 840

    // WAYPOINT LIST
841 842 843 844 845
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
846

lm's avatar
lm committed
847
    // HORIZONTAL SITUATION INDICATOR
848 849 850 851 852 853 854 855 856 857
    if (hsiDockWidget)
    {
        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
        if (hsi)
        {
            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
            hsiDockWidget->show();
            hsi->start();
        }
    }
pixhawk's avatar
pixhawk committed
858 859

    // OBJECT DETECTION
860 861 862 863 864
    if (detectionDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
        detectionDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
865

pixhawk's avatar
pixhawk committed
866
    // PROCESS CONTROL
867 868 869 870 871 872
    if (watchdogControlDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
        watchdogControlDockWidget->show();
    }

pixhawk's avatar
pixhawk committed
873 874 875
    this->show();
}

876 877 878 879 880
void MainWindow::loadGlobalOperatorView()
{
    clearView();

    // MAP
881 882 883 884 885 886 887 888
    if (mapWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(mapWidget);
        }
    }
889 890

    // UAS CONTROL
891 892 893 894 895
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
896 897

    // UAS LIST
898 899 900 901 902
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
903 904

    // UAS STATUS
905 906 907 908 909
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
910 911

    // WAYPOINT LIST
912 913 914 915 916
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
917

918 919 920 921 922 923 924 925 926 927 928
//    // HORIZONTAL SITUATION INDICATOR
//    if (hsiDockWidget)
//    {
//        HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
//        if (hsi)
//        {
//            addDockWidget(Qt::BottomDockWidgetArea, hsiDockWidget);
//            hsiDockWidget->show();
//            hsi->start();
//        }
//    }
929 930

    // PROCESS CONTROL
931 932 933 934 935
    if (watchdogControlDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, watchdogControlDockWidget);
        watchdogControlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
936

937 938 939 940 941 942
    // HEAD UP DISPLAY
    if (headUpDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, headUpDockWidget);
        // FIXME Replace with default ->show() call
        HUD* hud = dynamic_cast<HUD*>(headUpDockWidget->widget());
pixhawk's avatar
pixhawk committed
943

944 945 946 947 948 949
        if (hud)
        {
            headUpDockWidget->show();
            hud->start();
        }
    }
pixhawk's avatar
pixhawk committed
950 951 952

}

953
void MainWindow::load3DView()
pixhawk's avatar
pixhawk committed
954
{
955
            clearView();
pixhawk's avatar
pixhawk committed
956

957
            // 3D map
958
            if (_3DWidget)
959 960 961 962 963
            {
                QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
                if (centerStack)
                {
                    //map3DWidget->setActive(true);
964
                    centerStack->setCurrentWidget(_3DWidget);
965 966
                }
            }
pixhawk's avatar
pixhawk committed
967

968 969 970 971 972 973
            // UAS CONTROL
            if (controlDockWidget)
            {
                addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
                controlDockWidget->show();
            }
pixhawk's avatar
pixhawk committed
974

975 976 977 978 979 980
            // UAS LIST
            if (listDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
                listDockWidget->show();
            }
981

982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002
            // WAYPOINT LIST
            if (waypointsDockWidget)
            {
                addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
                waypointsDockWidget->show();
            }

            // HORIZONTAL SITUATION INDICATOR
            if (hsiDockWidget)
            {
                HSIDisplay* hsi = dynamic_cast<HSIDisplay*>( hsiDockWidget->widget() );
                if (hsi)
                {
                    hsi->start();
                    addDockWidget(Qt::LeftDockWidgetArea, hsiDockWidget);
                    hsiDockWidget->show();
                }
            }

            this->show();
        }
pixhawk's avatar
pixhawk committed
1003

pixhawk's avatar
pixhawk committed
1004
void MainWindow::loadEngineerView()
pixhawk's avatar
pixhawk committed
1005 1006 1007 1008 1009
{
    clearView();
    // Engineer view, used in EMAV2009

    // LINE CHART
1010 1011 1012 1013 1014 1015 1016 1017 1018
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
pixhawk's avatar
pixhawk committed
1019 1020

    // UAS CONTROL
1021 1022 1023 1024 1025
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1026 1027

    // UAS LIST
1028 1029 1030 1031 1032
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1033 1034

    // UAS STATUS
1035 1036 1037 1038 1039
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1040

lm's avatar
lm committed
1041
    // WAYPOINT LIST
1042 1043 1044 1045 1046
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1047 1048

    // DEBUG CONSOLE
1049 1050 1051 1052 1053
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
pixhawk's avatar
pixhawk committed
1054

lm's avatar
lm committed
1055
    // ONBOARD PARAMETERS
1056 1057 1058 1059 1060
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
lm's avatar
lm committed
1061

1062 1063 1064 1065 1066 1067 1068
    // RADIO CONTROL VIEW
    if (rcViewDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, rcViewDockWidget);
        rcViewDockWidget->show();
    }

pixhawk's avatar
pixhawk committed
1069 1070 1071
    this->show();
}

1072 1073 1074
void MainWindow::loadMAVLinkView()
{
    clearView();
1075 1076 1077 1078 1079 1080 1081 1082 1083 1084

    if (protocolWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            centerStack->setCurrentWidget(protocolWidget);
        }
    }

1085
    this->show();
1086 1087
}

1088 1089
void MainWindow::loadAllView()
{
1090 1091
    clearView();

1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112
    if (headDown1DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown1DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown1DockWidget);
            headDown1DockWidget->show();
            hdd->start();
        }
        
    }
    if (headDown2DockWidget)
    {
        HDDisplay *hdd = dynamic_cast<HDDisplay*>(headDown2DockWidget->widget());
        if (hdd)
        {
            addDockWidget(Qt::RightDockWidgetArea, headDown2DockWidget);
            headDown2DockWidget->show();
            hdd->start();
        }
    }
1113 1114

    // UAS CONTROL
1115 1116 1117 1118 1119
    if (controlDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, controlDockWidget);
        controlDockWidget->show();
    }
1120 1121

    // UAS LIST
1122 1123 1124 1125 1126
    if (listDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, listDockWidget);
        listDockWidget->show();
    }
1127 1128

    // UAS STATUS
1129 1130 1131 1132 1133
    if (infoDockWidget)
    {
        addDockWidget(Qt::LeftDockWidgetArea, infoDockWidget);
        infoDockWidget->show();
    }
1134 1135

    // WAYPOINT LIST
1136 1137 1138 1139 1140
    if (waypointsDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, waypointsDockWidget);
        waypointsDockWidget->show();
    }
1141 1142

    // DEBUG CONSOLE
1143 1144 1145 1146 1147
    if (debugConsoleDockWidget)
    {
        addDockWidget(Qt::BottomDockWidgetArea, debugConsoleDockWidget);
        debugConsoleDockWidget->show();
    }
1148 1149

    // OBJECT DETECTION
1150 1151
    if (detectionDockWidget)
    {
pixhawk's avatar
pixhawk committed
1152 1153
        addDockWidget(Qt::RightDockWidgetArea, detectionDockWidget);
        detectionDockWidget->show();
1154
    }
1155 1156

    // LINE CHART
1157 1158 1159 1160 1161 1162 1163 1164 1165
    if (linechartWidget)
    {
        QStackedWidget *centerStack = dynamic_cast<QStackedWidget*>(centralWidget());
        if (centerStack)
        {
            linechartWidget->setActive(true);
            centerStack->setCurrentWidget(linechartWidget);
        }
    }
1166 1167

    // ONBOARD PARAMETERS
1168 1169 1170 1171 1172
    if (parametersDockWidget)
    {
        addDockWidget(Qt::RightDockWidgetArea, parametersDockWidget);
        parametersDockWidget->show();
    }
1173 1174

    this->show();
1175 1176
}

pixhawk's avatar
pixhawk committed
1177
void MainWindow::loadWidgets()
pixhawk's avatar
pixhawk committed
1178
{
1179 1180
    //loadOperatorView();
    loadEngineerView();
pixhawk's avatar
pixhawk committed
1181 1182
    //loadPilotView();
}