MainWindow.cc 18.5 KB
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/*=====================================================================

QGroundControl Open Source Ground Control Station

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(c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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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/>.

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

/**
 * @file
 *   @brief Implementation of class MainWindow
 *   @author Lorenz Meier <mail@qgroundcontrol.org>
 */

#include <QSettings>
#include <QNetworkInterface>
#include <QDebug>
#include <QTimer>
#include <QHostInfo>
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#include <QQuickView>
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#include <QDesktopWidget>
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#include <QScreen>
#include <QDesktopServices>
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#include <QDockWidget>
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#include <QMenuBar>
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#include "QGC.h"
#include "MAVLinkProtocol.h"
#include "MainWindow.h"
#include "GAudioOutput.h"
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#ifndef __mobile__
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#include "QGCMAVLinkLogPlayer.h"
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#endif
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#include "MAVLinkDecoder.h"
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#include "QGCApplication.h"
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#include "MultiVehicleManager.h"
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#include "HomePositionManager.h"
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#include "LogCompressor.h"
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#include "UAS.h"
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#include "QGCImageProvider.h"
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#ifndef __mobile__
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#include "SettingsDialog.h"
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#include "QGCDataPlot2D.h"
#include "Linecharts.h"
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#include "QGCUASFileViewMulti.h"
#include "UASQuickView.h"
#include "QGCTabbedInfoView.h"
#include "CustomCommandWidget.h"
#include "QGCDockWidget.h"
#include "UASInfoWidget.h"
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#include "HILDockWidget.h"
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#include "LogDownload.h"
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#endif

#ifndef __ios__
#include "SerialLink.h"
#endif
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#ifdef UNITTEST_BUILD
#include "QmlControls/QmlTestWidget.h"
#endif

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/// The key under which the Main Window settings are saved
const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW";

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#ifndef __mobile__
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enum DockWidgetTypes {
    MAVLINK_INSPECTOR,
    CUSTOM_COMMAND,
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    ONBOARD_FILES,
    STATUS_DETAILS,
    INFO_VIEW,
    HIL_CONFIG,
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    ANALYZE,
    LOG_DOWNLOAD
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};

static const char *rgDockWidgetNames[] = {
    "MAVLink Inspector",
    "Custom Command",
    "Onboard Files",
    "Status Details",
    "Info View",
    "HIL Config",
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    "Analyze",
    "Log Download"
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};

#define ARRAY_SIZE(ARRAY) (sizeof(ARRAY) / sizeof(ARRAY[0]))
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static const char* _visibleWidgetsKey = "VisibleWidgets";
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#endif
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static MainWindow* _instance = NULL;   ///< @brief MainWindow singleton

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MainWindow* MainWindow::_create()
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{
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    Q_ASSERT(_instance == NULL);
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    new MainWindow();
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    // _instance is set in constructor
    Q_ASSERT(_instance);
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    return _instance;
}

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MainWindow* MainWindow::instance(void)
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{
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    return _instance;
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}

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void MainWindow::deleteInstance(void)
{
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    delete this;
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}

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/// @brief Private constructor for MainWindow. MainWindow singleton is only ever created
///         by MainWindow::_create method. Hence no other code should have access to
///         constructor.
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MainWindow::MainWindow()
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    : _lowPowerMode(false)
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    , _showStatusBar(false)
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    , _mainQmlWidgetHolder(NULL)
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    , _forceClose(false)
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{
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    Q_ASSERT(_instance == NULL);
    _instance = this;
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    // Qt 4/5 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar.
#ifdef Q_OS_LINUX
    menuBar()->setNativeMenuBar(false);
#endif
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    // Setup user interface
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    loadSettings();
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    emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    _ui.setupUi(this);
    // Make sure tool bar elements all fit before changing minimum width
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    setMinimumWidth(1008);
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    configureWindowName();
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    // Setup central widget with a layout to hold the views
    _centralLayout = new QVBoxLayout();
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    _centralLayout->setContentsMargins(0, 0, 0, 0);
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    centralWidget()->setLayout(_centralLayout);
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    _mainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), NULL, this);
    _centralLayout->addWidget(_mainQmlWidgetHolder);
    _mainQmlWidgetHolder->setVisible(true);

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    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
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    _mainQmlWidgetHolder->setContextPropertyObject("controller", this);
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    _mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindowHybrid.qml"));
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    // Image provider
    QQuickImageProvider* pImgProvider = dynamic_cast<QQuickImageProvider*>(qgcApp()->toolbox()->imageProvider());
    _mainQmlWidgetHolder->getEngine()->addImageProvider(QLatin1String("QGCImages"), pImgProvider);

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    // Set dock options
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    setDockOptions(0);
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    // Setup corners
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    setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea);
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    // On Mobile devices, we don't want any main menus at all.
#ifdef __mobile__
    menuBar()->setNativeMenuBar(false);
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#endif
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#ifdef UNITTEST_BUILD
    QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL);
    connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget);
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    _ui.menuWidgets->addAction(qmlTestAction);
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#endif
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    // Status Bar
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    setStatusBar(new QStatusBar(this));
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    statusBar()->setSizeGripEnabled(true);
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#ifndef __mobile__
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    emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    _buildCommonWidgets();
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    emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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#endif
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    // Create actions
    connectCommonActions();
    // Connect user interface devices
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#ifdef QGC_MOUSE_ENABLED_WIN
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    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    mouseInput = new Mouse3DInput(this);
    mouse = new Mouse6dofInput(mouseInput);
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#endif //QGC_MOUSE_ENABLED_WIN
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#if QGC_MOUSE_ENABLED_LINUX
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    emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    mouse = new Mouse6dofInput(this);
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    connect(this, &MainWindow::x11EventOccured, mouse, &Mouse6dofInput::handleX11Event);
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#endif //QGC_MOUSE_ENABLED_LINUX
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    // Set low power mode
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    enableLowPowerMode(_lowPowerMode);
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    emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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#ifndef __mobile__
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    // Restore the window position and size
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    emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
    if (settings.contains(_getWindowGeometryKey()))
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    {
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        restoreGeometry(settings.value(_getWindowGeometryKey()).toByteArray());
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    }
    else
    {
        // Adjust the size
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        QScreen* scr = QApplication::primaryScreen();
        QSize scrSize = scr->availableSize();
        if (scrSize.width() <= 1280)
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        {
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            resize(scrSize.width(), scrSize.height());
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        }
        else
        {
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            int w = scrSize.width()  > 1600 ? 1600 : scrSize.width();
            int h = scrSize.height() >  800 ?  800 : scrSize.height();
            resize(w, h);
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            move((scrSize.width() - w) / 2, (scrSize.height() - h) / 2);
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        }
    }
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#endif

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    connect(_ui.actionStatusBar,  &QAction::triggered, this, &MainWindow::showStatusBarCallback);
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    connect(&windowNameUpdateTimer, &QTimer::timeout, this, &MainWindow::configureWindowName);
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    windowNameUpdateTimer.start(15000);
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    emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
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    if (!qgcApp()->runningUnitTests()) {
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        _ui.actionStatusBar->setChecked(_showStatusBar);
        showStatusBarCallback(_showStatusBar);
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#ifdef __mobile__
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        menuBar()->hide();
#endif
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        show();
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#ifdef __macos__
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        // TODO HACK
        // This is a really ugly hack. For whatever reason, by having a QQuickWidget inside a
        // QDockWidget (MainToolBar above), the main menu is not shown when the app first
        // starts. I looked everywhere and I could not find a solution. What I did notice was
        // that if any other window gets focus, the menu comes up when you come back to QGC.
        // That is, if you were to click on another window and then back to QGC, the menus
        // would appear. This hack below creates a 0x0 dialog and immediately closes it.
        // That works around the issue and it will do until I find the root of the problem.
        QDialog qd(this);
        qd.show();
        qd.raise();
        qd.activateWindow();
        qd.close();
#endif
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    }
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#ifndef __mobile__
    _loadVisibleWidgetsSettings();
#endif
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}

MainWindow::~MainWindow()
{
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    _instance = NULL;
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}

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QString MainWindow::_getWindowGeometryKey()
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{
    return "_geometry";
}

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#ifndef __mobile__
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void MainWindow::_buildCommonWidgets(void)
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{
    // Add generic MAVLink decoder
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    // TODO: This is never deleted
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    mavlinkDecoder = new MAVLinkDecoder(qgcApp()->toolbox()->mavlinkProtocol(), this);
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    connect(mavlinkDecoder.data(), &MAVLinkDecoder::valueChanged, this, &MainWindow::valueChanged);
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    // Log player
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    // TODO: Make this optional with a preferences setting or under a "View" menu
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    logPlayer = new QGCMAVLinkLogPlayer(statusBar());
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    statusBar()->addPermanentWidget(logPlayer);
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    for (int i = 0, end = ARRAY_SIZE(rgDockWidgetNames); i < end; i++) {

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        const char* pDockWidgetName = rgDockWidgetNames[i];
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        // Add to menu
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        QAction* action = new QAction(tr(pDockWidgetName), NULL);
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        action->setCheckable(true);
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        action->setData(i);
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        connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction);
        _ui.menuWidgets->addAction(action);
        _mapName2Action[pDockWidgetName] = action;
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    }
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}
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/// Shows or hides the specified dock widget, creating if necessary
void MainWindow::_showDockWidget(const QString& name, bool show)
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{
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    // Create the inner widget if we need to
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    if (!_mapName2DockWidget.contains(name)) {
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        if(!_createInnerDockWidget(name)) {
            qWarning() << "Trying to load non existing widget:" << name;
            return;
        }
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    }
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    Q_ASSERT(_mapName2DockWidget.contains(name));
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    QGCDockWidget* dockWidget = _mapName2DockWidget[name];
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    Q_ASSERT(dockWidget);
    dockWidget->setVisible(show);
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    Q_ASSERT(_mapName2Action.contains(name));
    _mapName2Action[name]->setChecked(show);
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}

/// Creates the specified inner dock widget and adds to the QDockWidget
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bool MainWindow::_createInnerDockWidget(const QString& widgetName)
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{
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    QGCDockWidget* widget = NULL;
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    QAction *action = _mapName2Action[widgetName];
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    if(action) {
        switch(action->data().toInt()) {
            case MAVLINK_INSPECTOR:
                widget = new QGCMAVLinkInspector(widgetName, action, qgcApp()->toolbox()->mavlinkProtocol(),this);
                break;
            case CUSTOM_COMMAND:
                widget = new CustomCommandWidget(widgetName, action, this);
                break;
            case ONBOARD_FILES:
                widget = new QGCUASFileViewMulti(widgetName, action, this);
                break;
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            case LOG_DOWNLOAD:
                widget = new LogDownload(widgetName, action, this);
                break;
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            case STATUS_DETAILS:
                widget = new UASInfoWidget(widgetName, action, this);
                break;
            case HIL_CONFIG:
                widget = new HILDockWidget(widgetName, action, this);
                break;
            case ANALYZE:
                widget = new Linecharts(widgetName, action, mavlinkDecoder, this);
                break;
            case INFO_VIEW:
                widget= new QGCTabbedInfoView(widgetName, action, this);
                break;
        }
        if(action->data().toInt() == INFO_VIEW) {
            qobject_cast<QGCTabbedInfoView*>(widget)->addSource(mavlinkDecoder);
        }
        if(widget) {
            _mapName2DockWidget[widgetName] = widget;
        }
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    }
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    return widget != NULL;
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}
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void MainWindow::_hideAllDockWidgets(void)
{
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    foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) {
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        dockWidget->setVisible(false);
    }
}

void MainWindow::_showDockWidgetAction(bool show)
{
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    QAction* action = qobject_cast<QAction*>(QObject::sender());
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    Q_ASSERT(action);
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    _showDockWidget(rgDockWidgetNames[action->data().toInt()], show);
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}
#endif

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void MainWindow::showStatusBarCallback(bool checked)
{
    _showStatusBar = checked;
    checked ? statusBar()->show() : statusBar()->hide();
}

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void MainWindow::reallyClose(void)
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{
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    _forceClose = true;
    close();
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}

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void MainWindow::closeEvent(QCloseEvent *event)
{
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    if (!_forceClose) {
        // Attemp close from within the root Qml item
        qgcApp()->qmlAttemptWindowClose();
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        event->ignore();
        return;
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    }

    // Should not be any active connections
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    if (qgcApp()->toolbox()->multiVehicleManager()->activeVehicle()) {
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        qWarning() << "All links should be disconnected by now";
    }
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    _storeCurrentViewState();
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    storeSettings();
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    //-- TODO: This effectively causes the QGCApplication destructor to not being able
    //   to access the pointer it is trying to delete.
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    _instance = NULL;
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    emit mainWindowClosed();
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}

void MainWindow::loadSettings()
{
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    // Why the screaming?
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    QSettings settings;
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    settings.beginGroup(MAIN_SETTINGS_GROUP);
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    _lowPowerMode   = settings.value("LOW_POWER_MODE",      _lowPowerMode).toBool();
    _showStatusBar  = settings.value("SHOW_STATUSBAR",      _showStatusBar).toBool();
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    settings.endGroup();
}

void MainWindow::storeSettings()
{
    QSettings settings;
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    settings.beginGroup(MAIN_SETTINGS_GROUP);
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    settings.setValue("LOW_POWER_MODE",     _lowPowerMode);
    settings.setValue("SHOW_STATUSBAR",     _showStatusBar);
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    settings.endGroup();
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    settings.setValue(_getWindowGeometryKey(), saveGeometry());
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#ifndef __mobile__
    _storeVisibleWidgetsSettings();
#endif
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}

void MainWindow::configureWindowName()
{
    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
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    // XXX we do have UDP MAVLink heartbeat broadcast now in SITL and will have it on the
    // WIFI radio, so people should not be in need any more of knowing their IP.
    // this can go once we are certain its not needed any more.
    #if 0
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    bool prevAddr = false;
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    windowname.append(" (" + QHostInfo::localHostName() + ": ");
    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;
        }
    }
    windowname.append(")");
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    #endif
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    setWindowTitle(windowname);
}

/**
* @brief Create all actions associated to the main window
*
**/
void MainWindow::connectCommonActions()
{
    // Audio output
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    _ui.actionMuteAudioOutput->setChecked(qgcApp()->toolbox()->audioOutput()->isMuted());
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    connect(qgcApp()->toolbox()->audioOutput(), &GAudioOutput::mutedChanged, _ui.actionMuteAudioOutput, &QAction::setChecked);
    connect(_ui.actionMuteAudioOutput, &QAction::triggered, qgcApp()->toolbox()->audioOutput(), &GAudioOutput::mute);
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    // Application Settings
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    connect(_ui.actionSettings, &QAction::triggered, this, &MainWindow::showSettings);
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    // Connect internal actions
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    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded);
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}

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void MainWindow::_openUrl(const QString& url, const QString& errorMessage)
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{
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    if(!QDesktopServices::openUrl(QUrl(url))) {
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        qgcApp()->showMessage(QString("Could not open information in browser: %1").arg(errorMessage));
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    }
}

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#ifndef __mobile__
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void MainWindow::showSettings()
{
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    SettingsDialog settings(this);
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    settings.exec();
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}
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#endif

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void MainWindow::_vehicleAdded(Vehicle* vehicle)
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{
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    connect(vehicle->uas(), &UAS::valueChanged, this, &MainWindow::valueChanged);
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}

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/// Stores the state of the toolbar, status bar and widgets associated with the current view
void MainWindow::_storeCurrentViewState(void)
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{
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#ifndef __mobile__
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    foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) {
        dockWidget->saveSettings();
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    }
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#endif
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    settings.setValue(_getWindowGeometryKey(), saveGeometry());
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}

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/// @brief Saves the last used connection
void MainWindow::saveLastUsedConnection(const QString connection)
{
    QSettings settings;
    QString key(MAIN_SETTINGS_GROUP);
    key += "/LAST_CONNECTION";
    settings.setValue(key, connection);
}

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#ifdef QGC_MOUSE_ENABLED_LINUX
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bool MainWindow::x11Event(XEvent *event)
{
    emit x11EventOccured(event);
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    return false;
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}
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#endif // QGC_MOUSE_ENABLED_LINUX
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#ifdef UNITTEST_BUILD
void MainWindow::_showQmlTestWidget(void)
{
    new QmlTestWidget();
}
#endif
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#ifndef __mobile__
void MainWindow::_loadVisibleWidgetsSettings(void)
{
    QSettings settings;
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    QString widgets = settings.value(_visibleWidgetsKey).toString();
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    if (!widgets.isEmpty()) {
        QStringList nameList = widgets.split(",");
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        foreach (const QString &name, nameList) {
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            _showDockWidget(name, true);
        }
    }
}

void MainWindow::_storeVisibleWidgetsSettings(void)
{
    QString widgetNames;
    bool firstWidget = true;
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    foreach (const QString &name, _mapName2DockWidget.keys()) {
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        if (_mapName2DockWidget[name]->isVisible()) {
            if (!firstWidget) {
                widgetNames += ",";
            } else {
                firstWidget = false;
            }
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            widgetNames += name;
        }
    }
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    QSettings settings;
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    settings.setValue(_visibleWidgetsKey, widgetNames);
}
#endif
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QObject* MainWindow::rootQmlObject(void)
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{
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    return _mainQmlWidgetHolder->getRootObject();
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}