QGCCore.h 2.07 KB
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/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK 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.

    PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
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 *   @brief Definition of main class
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 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */


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#ifndef QGC_CORE_H
#define QGC_CORE_H
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#include <QApplication>

#include "MainWindow.h"
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#include "QGCWelcomeMainWindow.h"
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#include "UASManager.h"
#include "LinkManager.h"
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/*#include "ViconTarsusProtocol.h" */
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#ifdef QGC_RTLAB_ENABLED
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#include "OpalLink.h"

#endif
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/**
 * @brief The main application and management class.
 *
 * This class is started by the main method and provides
 * the central management unit of the groundstation application.
 *
 **/
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class QGCCore : public QApplication
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{
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    Q_OBJECT
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public:
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    QGCCore(bool firstStart, int &argc, char* argv[]);
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    ~QGCCore();
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    bool getRestartRequested()
    {
        return restartRequested;
    }

public slots:
    void customViewModeSelected(enum MainWindow::CUSTOM_MODE mode);

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protected:
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    void startLinkManager();
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    /**
     * @brief Start the robot managing system
     *
     * The robot manager keeps track of the configured robots.
     **/
    void startUASManager();
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private:
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    MainWindow* mainWindow;
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    bool restartRequested;
    QGCWelcomeMainWindow* welcome;
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};

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#endif /* _CORE_H_ */