QGCApplication.cc 17.5 KB
Newer Older
1
 /*=====================================================================
Don Gagne's avatar
Don Gagne committed
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
 QGROUNDCONTROL is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
 QGROUNDCONTROL is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 
 You should have received a copy of the GNU General Public License
 along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
pixhawk's avatar
pixhawk committed
23 24 25

/**
 * @file
Don Gagne's avatar
Don Gagne committed
26
 *   @brief Implementation of class QGCApplication
pixhawk's avatar
pixhawk committed
27 28 29 30 31 32 33 34 35 36 37 38 39 40
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

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

41 42
#include <QDebug>

lm's avatar
lm committed
43
#include "configuration.h"
44
#include "QGC.h"
Don Gagne's avatar
Don Gagne committed
45
#include "QGCApplication.h"
pixhawk's avatar
pixhawk committed
46
#include "MainWindow.h"
pixhawk's avatar
pixhawk committed
47
#include "GAudioOutput.h"
48
#include "CmdLineOptParser.h"
Don Gagne's avatar
Don Gagne committed
49
#include "QGCMessageBox.h"
50 51 52 53 54 55 56 57
#include "MainWindow.h"
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "QGCSingleton.h"
#include "LinkManager.h"
#include "UASManager.h"
#include "AutoPilotPluginManager.h"
58
#include "QGCTemporaryFile.h"
59
#include "QGCFileDialog.h"
pixhawk's avatar
pixhawk committed
60

61
#ifdef QGC_RTLAB_ENABLED
62 63
#include "OpalLink.h"
#endif
64 65 66


QGCApplication* QGCApplication::_app = NULL;
pixhawk's avatar
pixhawk committed
67

Don Gagne's avatar
Don Gagne committed
68 69 70 71
const char* QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey = "SettingsVersion";
const char* QGCApplication::_savedFilesLocationKey = "SavedFilesLocation";
const char* QGCApplication::_promptFlightDataSave = "PromptFLightDataSave";
72
const char* QGCApplication::_styleKey = "StyleIsDark";
Don Gagne's avatar
Don Gagne committed
73 74 75 76

const char* QGCApplication::_defaultSavedFileDirectoryName = "QGroundControl";
const char* QGCApplication::_savedFileMavlinkLogDirectoryName = "FlightData";
const char* QGCApplication::_savedFileParameterDirectoryName = "SavedParameters";
pixhawk's avatar
pixhawk committed
77

78 79 80
const char* QGCApplication::_darkStyleFile = ":files/styles/style-dark.css";
const char* QGCApplication::_lightStyleFile = ":files/styles/style-light.css";

pixhawk's avatar
pixhawk committed
81 82 83 84 85 86 87 88 89 90
/**
 * @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
 **/

91

Don Gagne's avatar
Don Gagne committed
92 93
QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting) :
    QApplication(argc, argv),
94 95
    _runningUnitTests(unitTesting),
    _styleIsDark(true)
pixhawk's avatar
pixhawk committed
96
{
97 98 99
    Q_ASSERT(_app == NULL);
    _app = this;
    
100 101 102 103 104
    
#ifdef QT_DEBUG
    // First thing we want to do is set up the qtlogging.ini file. If it doesn't already exist we copy
    // it to the correct location. This way default debug builds will have logging turned off.
    
Don Gagne's avatar
Don Gagne committed
105 106
    static const char* qtProjectDir = "QtProject";
    static const char* qtLoggingFile = "qtlogging.ini";
107
    bool loggingDirectoryOk = false;
Don Gagne's avatar
Don Gagne committed
108
    
109
    QDir iniFileLocation(QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation));
Don Gagne's avatar
Don Gagne committed
110 111 112
    if (!iniFileLocation.cd(qtProjectDir)) {
        if (!iniFileLocation.mkdir(qtProjectDir)) {
            qDebug() << "Unable to create qtlogging.ini directory" << iniFileLocation.filePath(qtProjectDir);
113
        } else {
Don Gagne's avatar
Don Gagne committed
114 115
            if (!iniFileLocation.cd(qtProjectDir)) {
                qDebug() << "Unable to access qtlogging.ini directory" << iniFileLocation.filePath(qtProjectDir);;
116 117 118 119 120 121 122 123 124
            }
            loggingDirectoryOk = true;
        }
    } else {
        loggingDirectoryOk = true;
    }
    
    if (loggingDirectoryOk) {
        qDebug () << iniFileLocation;
Don Gagne's avatar
Don Gagne committed
125 126 127
        if (!iniFileLocation.exists(qtLoggingFile)) {
            if (!QFile::copy(":QLoggingCategory/qtlogging.ini", iniFileLocation.filePath(qtLoggingFile))) {
                qDebug() << "Unable to copy" << QString(qtLoggingFile) << "to" << iniFileLocation;
128 129 130 131 132
            }
        }
    }
#endif
    
Don Gagne's avatar
Don Gagne committed
133
    // Set application information
134 135 136 137 138 139 140 141 142
    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);
Don Gagne's avatar
Don Gagne committed
143 144 145 146 147 148
    
    // Version string is build from component parts. Format is:
    //  vMajor.Minor.BuildNumber BuildType
    QString versionString("v%1.%2.%3 %4");
    versionString = versionString.arg(QGC_APPLICATION_VERSION_MAJOR).arg(QGC_APPLICATION_VERSION_MINOR).arg(QGC_APPLICATION_VERSION_BUILDNUMBER).arg(QGC_APPLICATION_VERSION_BUILDTYPE);
    this->setApplicationVersion(versionString);
149
    
150 151
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
152 153 154 155 156 157
    
    // Parse command line options
    
    bool fClearSettingsOptions = false; // Clear stored settings
    
    CmdLineOpt_t rgCmdLineOptions[] = {
Don Gagne's avatar
Don Gagne committed
158
        { "--clear-settings",   &fClearSettingsOptions, QString() },
159 160
        // Add additional command line option flags here
    };
161
    
162 163
    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
    
164
    QSettings settings;
165
    
166
    // The setting will delete all settings on this boot
Don Gagne's avatar
Don Gagne committed
167
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
168
    
Don Gagne's avatar
Don Gagne committed
169
    if (_runningUnitTests) {
170
        // Unit tests run with clean settings
Don Gagne's avatar
Don Gagne committed
171 172 173
        fClearSettingsOptions = true;
    }
    
174 175 176
    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
        settings.clear();
177
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
178
    }
179 180
}

Don Gagne's avatar
Don Gagne committed
181 182
QGCApplication::~QGCApplication()
{
Don Gagne's avatar
Don Gagne committed
183
    _destroySingletons();
Don Gagne's avatar
Don Gagne committed
184 185
}

186
void QGCApplication::_initCommon(void)
187 188 189
{
    QSettings settings;
    
190 191 192 193 194
    // Show user an upgrade message if the settings version has been bumped up
    bool settingsUpgraded = false;
    if (settings.contains(_settingsVersionKey)) {
        if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
            settingsUpgraded = true;
195
        }
196 197 198 199 200 201
    } else if (settings.allKeys().count()) {
        // Settings version key is missing and there are settings. This is an upgrade scenario.
        settingsUpgraded = true;
    }
    
    if (settingsUpgraded) {
202
        settings.clear();
203
        settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
204 205 206
        QGCMessageBox::information(tr("Settings Cleared"),
                                   tr("The format for QGroundControl saved settings has been modified. "
                                      "Your saved settings have been reset to defaults."));
207
    }
208
    
209 210 211
    _styleIsDark = settings.value(_styleKey, _styleIsDark).toBool();
    _loadCurrentStyle();
    
Don Gagne's avatar
Don Gagne committed
212 213 214 215 216 217 218 219 220 221 222 223 224
    // Load saved files location and validate
    
    QString savedFilesLocation;
    if (settings.contains(_savedFilesLocationKey)) {
        savedFilesLocation = settings.value(_savedFilesLocationKey).toString();
    } else {
        // No location set. Create a default one in Documents standard location.
        
        QString documentsLocation = QStandardPaths::writableLocation(QStandardPaths::DocumentsLocation);
        
        QDir documentsDir(documentsLocation);
        Q_ASSERT(documentsDir.exists());
        
225
        bool pathCreated = documentsDir.mkpath(_defaultSavedFileDirectoryName);
226
        Q_UNUSED(pathCreated);
227 228
        Q_ASSERT(pathCreated);
        savedFilesLocation = documentsDir.filePath(_defaultSavedFileDirectoryName);
Don Gagne's avatar
Don Gagne committed
229 230 231 232 233 234 235
    }
    
    if (!savedFilesLocation.isEmpty()) {
        if (!validatePossibleSavedFilesLocation(savedFilesLocation)) {
            savedFilesLocation.clear();
        }
    }
236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251
    settings.setValue(_savedFilesLocationKey, savedFilesLocation);

    // Load 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);
    // 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));
}

bool QGCApplication::_initForNormalAppBoot(void)
{
    QSettings settings;
Don Gagne's avatar
Don Gagne committed
252
    
253 254
    _createSingletons();
    
255
    // Show splash screen
256
    QPixmap splashImage(":/files/images/splash.png");
257
    QSplashScreen* splashScreen = new QSplashScreen(splashImage);
258 259
    // Delete splash screen after mainWindow was displayed
    splashScreen->setAttribute(Qt::WA_DeleteOnClose);
260
    splashScreen->show();
lm's avatar
lm committed
261
    processEvents();
262
    splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
263
    
264 265 266
    // Exit main application when last window is closed
    connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));

pixhawk's avatar
pixhawk committed
267
    // Start the user interface
268
    splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
269
    MainWindow* mainWindow = MainWindow::_create(splashScreen);
Don Gagne's avatar
Don Gagne committed
270
    Q_CHECK_PTR(mainWindow);
271
    
272 273 274 275 276 277 278 279 280 281
    // If we made it this far and we still don't have a location. Either the specfied location was invalid
    // or we coudn't create a default location. Either way, we need to let the user know and prompt for a new
    /// settings.
    QString savedFilesLocation = settings.value(_savedFilesLocationKey).toString();
    if (savedFilesLocation.isEmpty()) {
        QGCMessageBox::warning(tr("Bad save location"),
                               tr("The location to save files to is invalid, or cannot be written to. Please provide a new one."));
        mainWindow->showSettings();
    }
    
lm's avatar
lm committed
282
    // Remove splash screen
Don Gagne's avatar
Don Gagne committed
283 284
    splashScreen->finish(mainWindow);
    mainWindow->splashScreenFinished();
285

286 287 288 289
    // Now that main window is upcheck for lost log files
    connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
    emit checkForLostLogFiles();
    
290
    return true;
pixhawk's avatar
pixhawk committed
291 292
}

293
bool QGCApplication::_initForUnitTests(void)
pixhawk's avatar
pixhawk committed
294
{
295
    return true;
pixhawk's avatar
pixhawk committed
296 297
}

Don Gagne's avatar
Don Gagne committed
298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318
void QGCApplication::deleteAllSettingsNextBoot(void)
{
    QSettings settings;
    settings.setValue(_deleteAllSettingsKey, true);
}

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

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

bool QGCApplication::validatePossibleSavedFilesLocation(QString& location)
{
    // Make sure we can write to the directory
319
    
Don Gagne's avatar
Don Gagne committed
320
    QString filename = QDir(location).filePath("QGCTempXXXXXXXX.tmp");
321
    QGCTemporaryFile tempFile(filename);
Don Gagne's avatar
Don Gagne committed
322 323 324 325
    if (!tempFile.open()) {
        return false;
    }
    
326 327
    tempFile.remove();
    
Don Gagne's avatar
Don Gagne committed
328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390
    return true;
}

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

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

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

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

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

/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void)
{
391 392 393 394 395 396 397 398 399
    Q_ASSERT(QGCApplication::_app);
    return QGCApplication::_app;
}

/// @brief We create all the non-ui based singletons here instead of allowing them to be created randomly
///         by calls to instance. The reason being that depending on boot sequence the singleton may end
///         up being creating on something other than the main thread.
void QGCApplication::_createSingletons(void)
{
Don Gagne's avatar
Don Gagne committed
400
    // The order here is important since the singletons reference each other
401 402 403 404 405
    
    GAudioOutput* audio = GAudioOutput::_createSingleton();
    Q_UNUSED(audio);
    Q_ASSERT(audio);
    
Don Gagne's avatar
Don Gagne committed
406
    LinkManager* linkManager = LinkManager::_createSingleton();
407 408 409
    Q_UNUSED(linkManager);
    Q_ASSERT(linkManager);

Don Gagne's avatar
Don Gagne committed
410 411
    // Needs LinkManager
    UASManagerInterface* uasManager = UASManager::_createSingleton();
412 413 414
    Q_UNUSED(uasManager);
    Q_ASSERT(uasManager);

Don Gagne's avatar
Don Gagne committed
415 416
    // Need UASManager
    AutoPilotPluginManager* pluginManager = AutoPilotPluginManager::_createSingleton();
417 418
    Q_UNUSED(pluginManager);
    Q_ASSERT(pluginManager);
Don Gagne's avatar
Don Gagne committed
419

Don Gagne's avatar
Don Gagne committed
420 421
    // Needs UASManager
    FactSystem* factSystem = FactSystem::_createSingleton();
Don Gagne's avatar
Don Gagne committed
422 423
    Q_UNUSED(factSystem);
    Q_ASSERT(factSystem);
424 425 426 427 428
    
    // Needs everything!
    MAVLinkProtocol* mavlink = MAVLinkProtocol::_createSingleton();
    Q_UNUSED(mavlink);
    Q_ASSERT(mavlink);
429 430
}

Don Gagne's avatar
Don Gagne committed
431
void QGCApplication::_destroySingletons(void)
432
{
433 434 435 436
    if (MainWindow::instance()) {
        delete MainWindow::instance();
    }
    
437 438 439 440 441 442 443 444 445 446 447 448 449
    if (LinkManager::instance(true /* nullOk */)) {
        // This will close/delete all connections
        LinkManager::instance()->_shutdown();
    }

    if (UASManager::instance(true /* nullOk */)) {
        // This will delete all uas from the system
        UASManager::instance()->_shutdown();
    }
    
    // Let the signals flow through the main thread
    processEvents(QEventLoop::ExcludeUserInputEvents);
    
Don Gagne's avatar
Don Gagne committed
450
    // Take down singletons in reverse order of creation
451

452
    MAVLinkProtocol::_deleteSingleton();
Don Gagne's avatar
Don Gagne committed
453 454 455 456
    FactSystem::_deleteSingleton();
    AutoPilotPluginManager::_deleteSingleton();
    UASManager::_deleteSingleton();
    LinkManager::_deleteSingleton();
457
    GAudioOutput::_deleteSingleton();
Don Gagne's avatar
Don Gagne committed
458
}
459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485

void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
{
    QGCMessageBox::information(title, msg);
}

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

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

void QGCApplication::saveTempFlightDataLogOnMainThread(QString tempLogfile)
{
    QString saveFilename = QGCFileDialog::getSaveFileName(MainWindow::instance(),
                                                          tr("Select file to save Flight Data Log"),
                                                          qgcApp()->mavlinkLogFilesLocation(),
                                                          tr("Flight Data Log (*.mavlink)"));
    if (!saveFilename.isEmpty()) {
        QFile::copy(tempLogfile, saveFilename);
    }
    QFile::remove(tempLogfile);
}
486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538

void QGCApplication::setStyle(bool styleIsDark)
{
    QSettings settings;
    
    settings.setValue(_styleKey, styleIsDark);
    _styleIsDark = styleIsDark;
    _loadCurrentStyle();
    emit styleChanged(_styleIsDark);
}

void QGCApplication::_loadCurrentStyle(void)
{
    bool success = true;
    QString styles;
    
    // Signal to the user that the app will pause to apply a new stylesheet
    setOverrideCursor(Qt::WaitCursor);
    
    // 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;
    }
    
    if (success && !_styleIsDark) {
        qDebug() << "LOADING LIGHT";
        // Load the slave light stylesheet.
        QFile styleSheet(_lightStyleFile);
        if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
            styles += styleSheet.readAll();
        } else {
            qDebug() << "Unable to load slave light sheet:";
            success = false;
        }
    }
    
    if (!styles.isEmpty()) {
        setStyleSheet(styles);
    }
    
    if (!success) {
        // Fall back to plastique if we can't load our own
        setStyle("plastique");
    }
    
    // Finally restore the cursor before returning.
    restoreOverrideCursor();
}