QGCApplication.cc 25.3 KB
Newer Older
1 2 3 4 5 6 7 8
 /****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
9

pixhawk's avatar
pixhawk committed
10 11 12

/**
 * @file
Don Gagne's avatar
Don Gagne committed
13
 *   @brief Implementation of class QGCApplication
pixhawk's avatar
pixhawk committed
14 15 16 17 18 19 20 21 22 23 24 25
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QFlags>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
26
#include <QStringListModel>
pixhawk's avatar
pixhawk committed
27

dogmaphobic's avatar
dogmaphobic committed
28 29 30 31
#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

32 33
#include <QDebug>

34
#include "VideoStreaming.h"
Gus Grubba's avatar
Gus Grubba committed
35

36
#include "QGC.h"
Don Gagne's avatar
Don Gagne committed
37
#include "QGCApplication.h"
pixhawk's avatar
pixhawk committed
38
#include "GAudioOutput.h"
39
#include "CmdLineOptParser.h"
40 41
#include "UDPLink.h"
#include "LinkManager.h"
42
#include "UASMessageHandler.h"
43
#include "QGCTemporaryFile.h"
44
#include "QGCPalette.h"
Don Gagne's avatar
Don Gagne committed
45
#include "QGCMapPalette.h"
46
#include "QGCLoggingCategory.h"
Don Gagne's avatar
Don Gagne committed
47 48
#include "ViewWidgetController.h"
#include "ParameterEditorController.h"
Don Gagne's avatar
Don Gagne committed
49
#include "CustomCommandWidgetController.h"
dogmaphobic's avatar
dogmaphobic committed
50
#include "ESP8266ComponentController.h"
Don Gagne's avatar
Don Gagne committed
51
#include "ScreenToolsController.h"
Don Gagne's avatar
Don Gagne committed
52
#include "QGCMobileFileDialogController.h"
Don Gagne's avatar
Don Gagne committed
53
#include "RCChannelMonitorController.h"
54 55
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
Don Gagne's avatar
Don Gagne committed
56
#include "FirmwarePluginManager.h"
57 58
#include "MultiVehicleManager.h"
#include "Vehicle.h"
59
#include "MavlinkQmlSingleton.h"
60
#include "JoystickConfigController.h"
61
#include "JoystickManager.h"
62
#include "QmlObjectListModel.h"
Don Gagne's avatar
Don Gagne committed
63
#include "MissionManager.h"
64
#include "QGroundControlQmlGlobal.h"
65
#include "FlightMapSettings.h"
66
#include "CoordinateVector.h"
67
#include "MainToolBarController.h"
68
#include "MissionController.h"
69 70
#include "GeoFenceController.h"
#include "RallyPointController.h"
71
#include "VideoManager.h"
72 73
#include "VideoSurface.h"
#include "VideoReceiver.h"
dogmaphobic's avatar
dogmaphobic committed
74
#include "LogDownloadController.h"
75
#include "ValuesWidgetController.h"
76
#include "AppMessages.h"
Jimmy Johnson's avatar
Jimmy Johnson committed
77 78 79
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
80
#include "MissionCommandTree.h"
81
#include "QGCMapPolygon.h"
82
#include "ParameterManager.h"
83

Gus Grubba's avatar
Gus Grubba committed
84
#ifndef NO_SERIAL_LINK
85 86 87 88
    #include "SerialLink.h"
#endif

#ifndef __mobile__
89 90
    #include "QGCFileDialog.h"
    #include "QGCMessageBox.h"
91
    #include "FirmwareUpgradeController.h"
Don Gagne's avatar
Don Gagne committed
92
    #include "MainWindow.h"
Don Gagne's avatar
Don Gagne committed
93
    #include "GeoTagController.h"
94
#endif
95

96
#ifdef QGC_RTLAB_ENABLED
97
    #include "OpalLink.h"
98
#endif
99

Don Gagne's avatar
Don Gagne committed
100 101 102 103 104 105
#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif
106

dogmaphobic's avatar
dogmaphobic committed
107 108
#include "QGCMapEngine.h"

109
QGCApplication* QGCApplication::_app = NULL;
pixhawk's avatar
pixhawk committed
110

Don Gagne's avatar
Don Gagne committed
111 112
const char* QGCApplication::parameterFileExtension =    "params";
const char* QGCApplication::missionFileExtension =      "mission";
113
const char* QGCApplication::fenceFileExtension =        "fence";
114
const char* QGCApplication::rallyPointFileExtension =   "rally";
Don Gagne's avatar
Don Gagne committed
115 116
const char* QGCApplication::telemetryFileExtension =     "tlog";

117 118 119 120 121
const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
const char* QGCApplication::_promptFlightDataSave           = "PromptFLightDataSave";
const char* QGCApplication::_promptFlightDataSaveNotArmed   = "PromptFLightDataSaveNotArmed";
const char* QGCApplication::_styleKey                       = "StyleIsDark";
122 123 124
const char* QGCApplication::_lastKnownHomePositionLatKey    = "LastKnownHomePositionLat";
const char* QGCApplication::_lastKnownHomePositionLonKey    = "LastKnownHomePositionLon";
const char* QGCApplication::_lastKnownHomePositionAltKey    = "LastKnownHomePositionAlt";
Don Gagne's avatar
Don Gagne committed
125

dogmaphobic's avatar
dogmaphobic committed
126 127
const char* QGCApplication::_darkStyleFile          = ":/res/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile         = ":/res/styles/style-light.css";
128

129 130 131
// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];

132
// Qml Singleton factories
133

Don Gagne's avatar
Don Gagne committed
134
static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
135
{
Don Gagne's avatar
Don Gagne committed
136 137
    ScreenToolsController* screenToolsController = new ScreenToolsController;
    return screenToolsController;
138 139
}

140 141 142 143 144
static QObject* mavlinkQmlSingletonFactory(QQmlEngine*, QJSEngine*)
{
    return new MavlinkQmlSingleton;
}

145 146
static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
147
    // We create this object as a QGCTool even though it isn't in the toolbox
148 149 150 151
    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp());
    qmlGlobal->setToolbox(qgcApp()->toolbox());

    return qmlGlobal;
152 153
}

pixhawk's avatar
pixhawk committed
154 155 156 157 158 159 160 161 162 163
/**
 * @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
 **/

164
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
Don Gagne's avatar
Don Gagne committed
165 166 167 168
#ifdef __mobile__
    : QGuiApplication(argc, argv)
    , _qmlAppEngine(NULL)
#else
169
    : QApplication(argc, argv)
Don Gagne's avatar
Don Gagne committed
170
#endif
171
    , _runningUnitTests(unitTesting)
dogmaphobic's avatar
dogmaphobic committed
172 173 174
#if defined (__mobile__)
    , _styleIsDark(false)
#else
175
    , _styleIsDark(true)
dogmaphobic's avatar
dogmaphobic committed
176
#endif
dogmaphobic's avatar
dogmaphobic committed
177
    , _fakeMobile(false)
178
    , _settingsUpgraded(false)
179 180 181
#ifdef QT_DEBUG
    , _testHighDPI(false)
#endif
182
    , _toolbox(NULL)
dogmaphobic's avatar
dogmaphobic committed
183
    , _bluetoothAvailable(false)
184
    , _lastKnownHomePosition(37.803784, -122.462276, 0.0)
pixhawk's avatar
pixhawk committed
185
{
186 187
    Q_ASSERT(_app == NULL);
    _app = this;
188

189
    // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
dogmaphobic's avatar
dogmaphobic committed
190
#ifndef __android__
191
    setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
dogmaphobic's avatar
dogmaphobic committed
192
#endif
dogmaphobic's avatar
dogmaphobic committed
193

194 195 196
    // Setup for network proxy support
    QNetworkProxyFactory::setUseSystemConfiguration(true);

197 198
#ifdef Q_OS_LINUX
#ifndef __mobile__
199 200 201
    if (!_runningUnitTests) {
        if (getuid() == 0) {
            QMessageBox msgBox;
Ricardo de Almeida Gonzaga's avatar
Ricardo de Almeida Gonzaga committed
202
            msgBox.setInformativeText("You are running QGroundControl as root. "
203 204 205 206 207 208 209 210 211 212
                                      "You should not do this since it will cause other issues with QGroundControl. "
                                      "QGroundControl will now exit. "
                                      "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
                                      "sudo usermod -a -G dialout $USER\n"
                                      "sudo apt-get remove modemmanager");
            msgBox.setStandardButtons(QMessageBox::Ok);
            msgBox.setDefaultButton(QMessageBox::Ok);
            msgBox.exec();
            _exit(0);
        }
213

214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230
        // Determine if we have the correct permissions to access USB serial devices
        QFile permFile("/etc/group");
        if(permFile.open(QIODevice::ReadOnly)) {
            while(!permFile.atEnd()) {
                QString line = permFile.readLine();
                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
                    QMessageBox msgBox;
                    msgBox.setInformativeText("The current user does not have the correct permissions to access serial devices. "
                                              "You should also remove modemmanager since it also interferes. "
                                              "If you are using Ubuntu, execute the following commands to fix these issues:\n"
                                              "sudo usermod -a -G dialout $USER\n"
                                              "sudo apt-get remove modemmanager");
                    msgBox.setStandardButtons(QMessageBox::Ok);
                    msgBox.setDefaultButton(QMessageBox::Ok);
                    msgBox.exec();
                    break;
                }
231
            }
232
            permFile.close();
233 234 235 236 237
        }
    }
#endif
#endif

238
    // Parse command line options
dogmaphobic's avatar
dogmaphobic committed
239

240
    bool fClearSettingsOptions = false; // Clear stored settings
241 242
    bool logging = false;               // Turn on logging
    QString loggingOptions;
dogmaphobic's avatar
dogmaphobic committed
243

244
    CmdLineOpt_t rgCmdLineOptions[] = {
245 246
        { "--clear-settings",   &fClearSettingsOptions, NULL },
        { "--logging",          &logging,               &loggingOptions },
dogmaphobic's avatar
dogmaphobic committed
247
        { "--fake-mobile",      &_fakeMobile,           NULL },
248
#ifdef QT_DEBUG
249
        { "--test-high-dpi",    &_testHighDPI,          NULL },
250
#endif
251 252
        // Add additional command line option flags here
    };
dogmaphobic's avatar
dogmaphobic committed
253

254
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
255

256
    // Set up timer for delayed missing fact display
Don Gagne's avatar
Don Gagne committed
257 258 259
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
dogmaphobic's avatar
dogmaphobic committed
260

Don Gagne's avatar
Don Gagne committed
261
    // Set application information
262 263 264 265 266 267 268 269 270
    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);
271

Daniel Agar's avatar
Daniel Agar committed
272
    this->setApplicationVersion(QString(GIT_VERSION));
273

274 275
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
276
    QSettings settings;
277
    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
Don Gagne's avatar
Don Gagne committed
278

279
#ifdef UNITTEST_BUILD
Don Gagne's avatar
Don Gagne committed
280 281 282
    if (!settings.isWritable()) {
        qWarning() << "Setings location is not writable";
    }
283
#endif
284
    // The setting will delete all settings on this boot
Don Gagne's avatar
Don Gagne committed
285
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
286

Don Gagne's avatar
Don Gagne committed
287
    if (_runningUnitTests) {
288
        // Unit tests run with clean settings
Don Gagne's avatar
Don Gagne committed
289 290
        fClearSettingsOptions = true;
    }
291

292 293
    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
294

295
        settings.clear();
296
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
297

298
        // Clear parameter cache
299
        QDir paramDir(ParameterManager::parameterCacheDir());
300 301
        paramDir.removeRecursively();
        paramDir.mkpath(paramDir.absolutePath());
302 303 304 305 306 307 308 309 310 311 312 313 314
    } else {
        // Determine if upgrade message for settings version bump is required. Check must happen before toolbox is started since
        // that will write some settings.
        if (settings.contains(_settingsVersionKey)) {
            if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
                _settingsUpgraded = true;
            }
        } else if (settings.allKeys().count()) {
            // Settings version key is missing and there are settings. This is an upgrade scenario.
            _settingsUpgraded = true;
        } else {
            settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
        }
315
    }
Gus Grubba's avatar
Gus Grubba committed
316

317 318 319
    // Set up our logging filters
    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);

320 321 322
    _lastKnownHomePosition.setLatitude(settings.value(_lastKnownHomePositionLatKey, 37.803784).toDouble());
    _lastKnownHomePosition.setLongitude(settings.value(_lastKnownHomePositionLonKey, -122.462276).toDouble());
    _lastKnownHomePosition.setAltitude(settings.value(_lastKnownHomePositionAltKey, 0.0).toDouble());
Don Gagne's avatar
Don Gagne committed
323

dogmaphobic's avatar
dogmaphobic committed
324 325 326 327 328 329 330 331 332
    // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
    QBluetoothLocalDevice localDevice;
    if (localDevice.isValid())
    {
        _bluetoothAvailable = true;
    }
#endif

333 334
    // Initialize Video Streaming
    initializeVideoStreaming(argc, argv);
335 336

    _toolbox = new QGCToolbox(this);
337
    _toolbox->setChildToolboxes();
338 339
}

Don Gagne's avatar
Don Gagne committed
340 341
QGCApplication::~QGCApplication()
{
Don Gagne's avatar
Don Gagne committed
342
#ifndef __mobile__
Don Gagne's avatar
Don Gagne committed
343 344 345 346
    MainWindow* mainWindow = MainWindow::instance();
    if (mainWindow) {
        delete mainWindow;
    }
Don Gagne's avatar
Don Gagne committed
347
#endif
348
    shutdownVideoStreaming();
349
    delete _toolbox;
Don Gagne's avatar
Don Gagne committed
350 351
}

352
void QGCApplication::_initCommon(void)
353 354
{
    QSettings settings;
355

Don Gagne's avatar
Don Gagne committed
356
    // Register our Qml objects
dogmaphobic's avatar
dogmaphobic committed
357

Don Gagne's avatar
Don Gagne committed
358 359
    qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
    qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
dogmaphobic's avatar
dogmaphobic committed
360

Don Gagne's avatar
Don Gagne committed
361 362 363 364
    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                  1, 0, "CoordinateVector",       "Reference only");
    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                  1, 0, "QmlObjectListModel",     "Reference only");
    qmlRegisterUncreatableType<VideoReceiver>       ("QGroundControl",                  1, 0, "VideoReceiver",          "Reference only");
    qmlRegisterUncreatableType<VideoSurface>        ("QGroundControl",                  1, 0, "VideoSurface",           "Reference only");
365
    qmlRegisterUncreatableType<MissionCommandTree>  ("QGroundControl",                  1, 0, "MissionCommandTree",     "Reference only");
Don Gagne's avatar
Don Gagne committed
366

367 368 369 370 371
    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",        "Reference only");
    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",       "Reference only");
    qmlRegisterUncreatableType<Vehicle>             ("QGroundControl.Vehicle",              1, 0, "Vehicle",                "Reference only");
    qmlRegisterUncreatableType<MissionItem>         ("QGroundControl.Vehicle",              1, 0, "MissionItem",            "Reference only");
    qmlRegisterUncreatableType<MissionManager>      ("QGroundControl.Vehicle",              1, 0, "MissionManager",         "Reference only");
372
    qmlRegisterUncreatableType<ParameterManager>    ("QGroundControl.Vehicle",              1, 0, "ParameterManager",       "Reference only");
373 374 375
    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",        "Reference only");
    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",               "Reference only");
    qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",     "Reference only");
376
    qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",          "Reference only");
377

dogmaphobic's avatar
dogmaphobic committed
378
    qmlRegisterType<ParameterEditorController>          ("QGroundControl.Controllers", 1, 0, "ParameterEditorController");
dogmaphobic's avatar
dogmaphobic committed
379
    qmlRegisterType<ESP8266ComponentController>         ("QGroundControl.Controllers", 1, 0, "ESP8266ComponentController");
Don Gagne's avatar
Don Gagne committed
380 381 382
    qmlRegisterType<ScreenToolsController>              ("QGroundControl.Controllers", 1, 0, "ScreenToolsController");
    qmlRegisterType<MainToolBarController>              ("QGroundControl.Controllers", 1, 0, "MainToolBarController");
    qmlRegisterType<MissionController>                  ("QGroundControl.Controllers", 1, 0, "MissionController");
383 384
    qmlRegisterType<GeoFenceController>                 ("QGroundControl.Controllers", 1, 0, "GeoFenceController");
    qmlRegisterType<RallyPointController>               ("QGroundControl.Controllers", 1, 0, "RallyPointController");
385
    qmlRegisterType<ValuesWidgetController>             ("QGroundControl.Controllers", 1, 0, "ValuesWidgetController");
Don Gagne's avatar
Don Gagne committed
386
    qmlRegisterType<QGCMobileFileDialogController>      ("QGroundControl.Controllers", 1, 0, "QGCMobileFileDialogController");
Don Gagne's avatar
Don Gagne committed
387
    qmlRegisterType<RCChannelMonitorController>         ("QGroundControl.Controllers", 1, 0, "RCChannelMonitorController");
388
    qmlRegisterType<JoystickConfigController>           ("QGroundControl.Controllers", 1, 0, "JoystickConfigController");
Don Gagne's avatar
Don Gagne committed
389
#ifndef __mobile__
390 391
    qmlRegisterType<ViewWidgetController>           ("QGroundControl.Controllers", 1, 0, "ViewWidgetController");
    qmlRegisterType<CustomCommandWidgetController>  ("QGroundControl.Controllers", 1, 0, "CustomCommandWidgetController");
392
    qmlRegisterType<FirmwareUpgradeController>      ("QGroundControl.Controllers", 1, 0, "FirmwareUpgradeController");
dogmaphobic's avatar
dogmaphobic committed
393
    qmlRegisterType<LogDownloadController>          ("QGroundControl.Controllers", 1, 0, "LogDownloadController");
Don Gagne's avatar
Don Gagne committed
394
    qmlRegisterType<GeoTagController>               ("QGroundControl.Controllers", 1, 0, "GeoTagController");
Don Gagne's avatar
Don Gagne committed
395
#endif
dogmaphobic's avatar
dogmaphobic committed
396

397
    // Register Qml Singletons
398 399 400
    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
    qmlRegisterSingletonType<MavlinkQmlSingleton>       ("QGroundControl.Mavlink",                  1, 0, "Mavlink",                mavlinkQmlSingletonFactory);
401 402 403 404 405
}

bool QGCApplication::_initForNormalAppBoot(void)
{
    QSettings settings;
406

407 408
    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
    _loadCurrentStyle();
Lorenz Meier's avatar
Lorenz Meier committed
409

410
    // Exit main application when last window is closed
411
    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
412

Don Gagne's avatar
Don Gagne committed
413 414 415 416
#ifdef __mobile__
    _qmlAppEngine = new QQmlApplicationEngine(this);
    _qmlAppEngine->addImportPath("qrc:/qml");
    _qmlAppEngine->rootContext()->setContextProperty("joystickManager", toolbox()->joystickManager());
417
    _qmlAppEngine->rootContext()->setContextProperty("debugMessageModel", AppMessages::getModel());
Don Gagne's avatar
Don Gagne committed
418 419
    _qmlAppEngine->load(QUrl(QStringLiteral("qrc:/qml/MainWindowNative.qml")));
#else
pixhawk's avatar
pixhawk committed
420
    // Start the user interface
Lorenz Meier's avatar
Lorenz Meier committed
421
    MainWindow* mainWindow = MainWindow::_create();
Don Gagne's avatar
Don Gagne committed
422
    Q_CHECK_PTR(mainWindow);
423

424
    // Now that main window is up check for lost log files
425
    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
426
    emit checkForLostLogFiles();
Don Gagne's avatar
Don Gagne committed
427
#endif
428 429

    // Load known link configurations
430
    toolbox()->linkManager()->loadLinkConfigurationList();
431

432 433 434
    // Probe for joysticks - TODO: manage on a timer or use events to deal with hotplug
    toolbox()->joystickManager()->discoverJoysticks();

435
    if (_settingsUpgraded) {
Don Gagne's avatar
Don Gagne committed
436 437 438 439 440 441
        settings.clear();
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
        showMessage("The format for QGroundControl saved settings has been modified. "
                    "Your saved settings have been reset to defaults.");
    }

dogmaphobic's avatar
dogmaphobic committed
442 443 444 445 446
    if (getQGCMapEngine()->wasCacheReset()) {
        showMessage("The Offline Map Cache database has been upgraded. "
                    "Your old map cache sets have been reset.");
    }

Don Gagne's avatar
Don Gagne committed
447
    settings.sync();
448
    return true;
pixhawk's avatar
pixhawk committed
449 450
}

451
bool QGCApplication::_initForUnitTests(void)
pixhawk's avatar
pixhawk committed
452
{
453
    return true;
pixhawk's avatar
pixhawk committed
454 455
}

Don Gagne's avatar
Don Gagne committed
456 457 458 459 460 461 462 463 464 465 466 467 468 469 470
void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

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

bool QGCApplication::promptFlightDataSave(void)
{
    QSettings settings;
471

Don Gagne's avatar
Don Gagne committed
472 473 474
    return settings.value(_promptFlightDataSave, true).toBool();
}

475 476 477 478 479 480 481
bool QGCApplication::promptFlightDataSaveNotArmed(void)
{
    QSettings settings;

    return settings.value(_promptFlightDataSaveNotArmed, false).toBool();
}

Don Gagne's avatar
Don Gagne committed
482 483 484 485 486 487
void QGCApplication::setPromptFlightDataSave(bool promptForSave)
{
    QSettings settings;
    settings.setValue(_promptFlightDataSave, promptForSave);
}

488 489 490 491 492 493
void QGCApplication::setPromptFlightDataSaveNotArmed(bool promptForSave)
{
    QSettings settings;
    settings.setValue(_promptFlightDataSaveNotArmed, promptForSave);
}

Don Gagne's avatar
Don Gagne committed
494 495 496
/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
497 498 499 500
    Q_ASSERT(QGCApplication::_app);
    return QGCApplication::_app;
}

501 502
void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
503 504
    Q_UNUSED(title);
    showMessage(msg);
505 506 507 508
}

void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
{
509 510 511 512
#ifdef __mobile__
    Q_UNUSED(title)
    showMessage(msg);
#else
513
    QGCMessageBox::warning(title, msg);
514
#endif
515 516 517 518
}

void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
{
519 520 521 522
#ifdef __mobile__
    Q_UNUSED(title)
    showMessage(msg);
#else
523
    QGCMessageBox::critical(title, msg);
524
#endif
525 526
}

527
#ifndef __mobile__
528 529
void QGCApplication::saveTempFlightDataLogOnMainThread(QString tempLogfile)
{
530 531 532 533 534 535
    bool saveError;
    do{
        saveError = false;
        QString saveFilename = QGCFileDialog::getSaveFileName(
            MainWindow::instance(),
            tr("Save Flight Data Log"),
536
            QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation),
537 538
            tr("Flight Data Log Files (*.mavlink)"),
            "mavlink");
dogmaphobic's avatar
dogmaphobic committed
539

540 541 542
        if (!saveFilename.isEmpty()) {
            // if file exsits already, try to remove it first to overwrite it
            if(QFile::exists(saveFilename) && !QFile::remove(saveFilename)){
543
                // if the file cannot be removed, prompt user and ask new path
544
                saveError = true;
545
                QGCMessageBox::warning("File Error","Could not overwrite existing file.\nPlease provide a different file name to save to.");
546 547 548
            } else if(!QFile::copy(tempLogfile, saveFilename)) {
                // if file could not be copied, prompt user and ask new path
                saveError = true;
549
                QGCMessageBox::warning("File Error","Could not create file.\nPlease provide a different file name to save to.");
550 551 552
            }
        }
    } while(saveError); // if the file could not be overwritten, ask for new file
553 554
    QFile::remove(tempLogfile);
}
555
#endif
556 557 558 559

void QGCApplication::setStyle(bool styleIsDark)
{
    QSettings settings;
560

561 562 563 564 565 566
    settings.setValue(_styleKey, styleIsDark);
    _styleIsDark = styleIsDark;
    _loadCurrentStyle();
    emit styleChanged(_styleIsDark);
}

Gus Grubba's avatar
Gus Grubba committed
567
void QGCApplication::_loadCurrentStyle()
568
{
Don Gagne's avatar
Don Gagne committed
569
#ifndef __mobile__
570 571
    bool success = true;
    QString styles;
572

573 574 575 576 577 578 579 580 581
    // 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;
    }
582

583 584 585 586 587 588
    if (success && !_styleIsDark) {
        // Load the slave light stylesheet.
        QFile styleSheet(_lightStyleFile);
        if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
            styles += styleSheet.readAll();
        } else {
589
            qWarning() << "Unable to load slave light sheet:";
590 591 592
            success = false;
        }
    }
dogmaphobic's avatar
dogmaphobic committed
593

594
    setStyleSheet(styles);
595

596 597 598 599
    if (!success) {
        // Fall back to plastique if we can't load our own
        setStyle("plastique");
    }
Don Gagne's avatar
Don Gagne committed
600
#endif
601

602
    QGCPalette::setGlobalTheme(_styleIsDark ? QGCPalette::Dark : QGCPalette::Light);
603
}
Don Gagne's avatar
Don Gagne committed
604

Don Gagne's avatar
Don Gagne committed
605
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
606
{
Don Gagne's avatar
Don Gagne committed
607 608
    _missingParams += QString("%1:%2").arg(componentId).arg(name);
    _missingParamsDelayedDisplayTimer.start();
609
}
610

Don Gagne's avatar
Don Gagne committed
611 612
/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void)
613
{
Don Gagne's avatar
Don Gagne committed
614
    Q_ASSERT(_missingParams.count());
dogmaphobic's avatar
dogmaphobic committed
615

Don Gagne's avatar
Don Gagne committed
616
    QString params;
617
    foreach (const QString &name, _missingParams) {
Don Gagne's avatar
Don Gagne committed
618 619
        if (params.isEmpty()) {
            params += name;
620
        } else {
Don Gagne's avatar
Don Gagne committed
621
            params += QString(", %1").arg(name);
622 623
        }
    }
Don Gagne's avatar
Don Gagne committed
624
    _missingParams.clear();
dogmaphobic's avatar
dogmaphobic committed
625

626
    showMessage(QString("Parameters missing from firmware: %1. You may be running an older version of firmware QGC does not work correctly with or your firmware has a bug in it.").arg(params));
627 628
}

Gus Grubba's avatar
Gus Grubba committed
629
QObject* QGCApplication::_rootQmlObject()
Don Gagne's avatar
Don Gagne committed
630 631 632 633
{
#ifdef __mobile__
    return _qmlAppEngine->rootObjects()[0];
#else
634 635 636 637 638 639 640 641 642 643
    MainWindow * mainWindow = MainWindow::instance();
    if (mainWindow) {
        return mainWindow->rootQmlObject();
    } else if (runningUnitTests()){
        // Unit test can run without a main window
        return NULL;
    } else {
        qWarning() << "Why is MainWindow missing?";
        return NULL;
    }
Don Gagne's avatar
Don Gagne committed
644 645 646 647
#endif
}


648
void QGCApplication::showMessage(const QString& message)
Don Gagne's avatar
Don Gagne committed
649
{
Don Gagne's avatar
Don Gagne committed
650 651 652 653 654
    // Special case hack for ArduPilot prearm messages. These show up in the center of the map, so no need for popup.
    if (message.contains("PreArm:")) {
        return;
    }

655 656 657 658 659
    QObject* rootQmlObject = _rootQmlObject();

    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
Don Gagne's avatar
Don Gagne committed
660

661 662 663 664 665 666 667 668 669
        QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
#ifndef __mobile__
    } else if (runningUnitTests()){
        // Unit test can run without a main window which will lead to no root qml object. Use QGCMessageBox instead
        QGCMessageBox::information("Unit Test", message);
#endif
    } else {
        qWarning() << "Internal error";
    }
Don Gagne's avatar
Don Gagne committed
670 671 672 673 674 675 676
}

void QGCApplication::showSetupView(void)
{
    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
}

677
void QGCApplication::qmlAttemptWindowClose(void)
Don Gagne's avatar
Don Gagne committed
678
{
679
    QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
Don Gagne's avatar
Don Gagne committed
680 681 682
}


683
void QGCApplication::setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition)
Don Gagne's avatar
Don Gagne committed
684 685 686
{
    QSettings settings;

687 688 689 690
    settings.setValue(_lastKnownHomePositionLatKey, lastKnownHomePosition.latitude());
    settings.setValue(_lastKnownHomePositionLonKey, lastKnownHomePosition.longitude());
    settings.setValue(_lastKnownHomePositionAltKey, lastKnownHomePosition.altitude());
    _lastKnownHomePosition = lastKnownHomePosition;
Don Gagne's avatar
Don Gagne committed
691
}