MainWindow.cc 47.9 KB
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/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009 - 2011 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/>.

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

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

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

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#include "QGC.h"
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#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
#include "UDPLink.h"
#include "MAVLinkProtocol.h"
#include "CommConfigurationWindow.h"
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#include "QGCWaypointListMulti.h"
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#include "MainWindow.h"
#include "JoystickWidget.h"
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#include "GAudioOutput.h"
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#include "QGCToolWidget.h"
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#include "QGCMAVLinkLogPlayer.h"
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#include "QGCSettingsWidget.h"
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#include "QGCMapTool.h"
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#ifdef QGC_OSG_ENABLED
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#include "Q3DWidgetFactory.h"
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#endif
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// FIXME Move
#include "PxQuadMAV.h"
#include "SlugsMAV.h"

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#include "LogCompressor.h"
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MainWindow* MainWindow::instance()
{
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    static MainWindow* _instance = 0;
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    if(_instance == 0)
    {
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        _instance = new MainWindow();
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        /* Set the application as parent to ensure that this object
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                 * will be destroyed when the main application exits */
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        //_instance->setParent(qApp);
    }
    return _instance;
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}

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/**
* 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()
**/
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MainWindow::MainWindow(QWidget *parent):
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    QMainWindow(parent),
    toolsMenuActions(),
    currentView(VIEW_UNCONNECTED),
    aboutToCloseFlag(false),
    changingViewsFlag(false),
    styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"),
    autoReconnect(false),
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    currentStyle(QGC_MAINWINDOW_STYLE_INDOOR),
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    lowPowerMode(false),
    centerStackActionGroup(this)
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{
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    hide();
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    loadSettings();
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    if (!settings.contains("CURRENT_VIEW"))
    {
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        // Set this view as default view
        settings.setValue("CURRENT_VIEW", currentView);
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    }
    else
    {
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        // LOAD THE LAST VIEW
        VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt();
        if (currentViewCandidate != VIEW_ENGINEER &&
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                currentViewCandidate != VIEW_OPERATOR &&
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                currentViewCandidate != VIEW_PILOT &&
                currentViewCandidate != VIEW_FULL)
        {
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            currentView = currentViewCandidate;
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        }
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    }

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    setDefaultSettingsForAp();
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    settings.sync();

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    // Setup UI state machines
    centerStackActionGroup.setExclusive(true);

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    // Setup user interface
    ui.setupUi(this);

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    centerStack = new QStackedWidget(this);
    setCentralWidget(centerStack);
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    buildCommonWidgets();
    connectCommonWidgets();
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    configureWindowName();
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    loadStyle(currentStyle);
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    // Create actions
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    connectCommonActions();
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    // Set dock options
    setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);

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    // Load mavlink view as default widget set
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    //loadMAVLinkView();
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    statusBar()->setSizeGripEnabled(true);

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    // Restore the window setup
    if (settings.contains(getWindowStateKey()))
    {
        loadViewState();
    }

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    // Restore the window position and size
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    if (settings.contains(getWindowGeometryKey()))
    {
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        // Restore the window geometry
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        restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
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    }
    else
    {
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        // Adjust the size
        adjustSize();
    }
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    // Populate link menu
    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
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    foreach(LinkInterface* link, links)
    {
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        this->addLink(link);
    }
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    connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));

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    // Connect user interface devices
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    joystickWidget = 0;
    joystick = new JoystickInput();
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    // Connect flighgear test link
    // FIXME MOVE INTO UAV OBJECT
    fgLink = new QGCFlightGearLink();
    fgLink->connectSimulation();

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    // Load Toolbar
    toolBar = new QGCToolBar(this);
    this->addToolBar(toolBar);
    // Add actions
    toolBar->addPerspectiveChangeAction(ui.actionOperatorsView);
    toolBar->addPerspectiveChangeAction(ui.actionEngineersView);
    toolBar->addPerspectiveChangeAction(ui.actionPilotsView);

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    // Connect link
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    if (autoReconnect)
    {
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        SerialLink* link = new SerialLink();
        // Add to registry
        LinkManager::instance()->add(link);
        LinkManager::instance()->addProtocol(link, mavlink);
        link->connect();
    }
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    // Set low power mode
    enableLowPowerMode(lowPowerMode);

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    // Initialize window state
    windowStateVal = windowState();
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    show();
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}

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MainWindow::~MainWindow()
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{
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    // Store settings
    storeSettings();

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    delete mavlink;
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    delete joystick;
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    // Get and delete all dockwidgets and contained
    // widgets
    QObjectList childList( this->children() );

    QObjectList::iterator i;
    QDockWidget* dockWidget;
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    for (i = childList.begin(); i != childList.end(); ++i)
    {
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        dockWidget = dynamic_cast<QDockWidget*>(*i);
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        if (dockWidget)
        {
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            // Remove dock widget from main window
            removeDockWidget(dockWidget);
            delete dockWidget->widget();
            delete dockWidget;
        }
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        else
        {
            delete dynamic_cast<QObject*>(*i);
        }
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    }
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    // Delete all UAS objects
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}

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/**
 * Set default settings for this AP type.
 */
void MainWindow::setDefaultSettingsForAp()
{
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    // Check if the settings exist, instantiate defaults if necessary
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//    // UNCONNECTED VIEW DEFAULT
////    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
//    if (!settings.contains(centralKey)) {
//        settings.setValue(centralKey,true);
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//        // ENABLE UAS LIST
////        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true);
//        // ENABLE COMMUNICATION CONSOLE
////        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true);
//    }
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//    // OPERATOR VIEW DEFAULT
////    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR);
//    if (!settings.contains(centralKey)) {
////        settings.setValue(centralKey,true);

//        // ENABLE UAS LIST
////        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true);
//        // ENABLE HUD TOOL WIDGET
////        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true);
//        // ENABLE WAYPOINTS
////        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true);
//    }
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//    // ENGINEER VIEW DEFAULT
//    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER);
//    if (!settings.contains(centralKey)) {
//        settings.setValue(centralKey,true);
//        // Enable Parameter widget
//        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true);
//    }

//    // MAVLINK VIEW DEFAULT
//    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK);
//    if (!settings.contains(centralKey)) {
//        settings.setValue(centralKey,true);
//    }

//    // PILOT VIEW DEFAULT
//    centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT);
//    if (!settings.contains(centralKey)) {
//        settings.setValue(centralKey,true);
//        // Enable Flight display
//        settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true);
//    }
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}

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void MainWindow::resizeEvent(QResizeEvent * event)
{
    Q_UNUSED(event);
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    if (height() < 800)
    {
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        ui.statusBar->setVisible(false);
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    }
    else
    {
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        ui.statusBar->setVisible(true);
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        ui.statusBar->setSizeGripEnabled(true);
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    }
}

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QString MainWindow::getWindowStateKey()
{
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    return QString::number(currentView)+"_windowstate";
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}

QString MainWindow::getWindowGeometryKey()
{
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    //return QString::number(currentView)+"_geometry";
    return "_geometry";
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}

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void MainWindow::buildCustomWidget()
{
    // Show custom widgets only if UAS is connected
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    if (UASManager::instance()->getActiveUAS() != NULL)
    {
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        // Enable custom widgets
        ui.actionNewCustomWidget->setEnabled(true);

        // Create custom widgets
        QList<QGCToolWidget*> widgets = QGCToolWidget::createWidgetsFromSettings(this);

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        if (widgets.size() > 0)
        {
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            ui.menuTools->addSeparator();
        }

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        for(int i = 0; i < widgets.size(); ++i)
        {
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            // Check if this widget already has a parent, do not create it in this case
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            QGCToolWidget* tool = widgets.at(i);
            QDockWidget* dock = dynamic_cast<QDockWidget*>(tool->parentWidget());
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            if (!dock)
            {
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                QDockWidget* dock = new QDockWidget(tool->windowTitle(), this);
                dock->setObjectName(tool->objectName()+"_DOCK");
                dock->setWidget(tool);
                connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
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                QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this);
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                showAction->setCheckable(true);
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                connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
                connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
                widgets.at(i)->setMainMenuAction(showAction);
                ui.menuTools->addAction(showAction);
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//                // Load visibility for view (default is off)
//                dock->setVisible(tool->isVisible(currentView));
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                // Load dock widget location (default is bottom)
                Qt::DockWidgetArea location = static_cast <Qt::DockWidgetArea>(tool->getDockWidgetArea(currentView));

                addDockWidget(location, dock);
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            }
        }
    }
}

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void MainWindow::buildCommonWidgets()
{
    //TODO:  move protocol outside UI
    mavlink     = new MAVLinkProtocol();
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    connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
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    // Dock widgets
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    if (!controlDockWidget)
    {
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        controlDockWidget = new QDockWidget(tr("Control"), this);
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        controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET");
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        controlDockWidget->setWidget( new UASControlWidget(this) );
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        addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea);
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    }
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    if (!listDockWidget)
    {
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        listDockWidget = new QDockWidget(tr("Unmanned Systems"), this);
        listDockWidget->setWidget( new UASListWidget(this) );
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        listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET");
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        addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea);
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    }
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    if (!waypointsDockWidget)
    {
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        waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this);
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        waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) );
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        waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET");
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        addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea);
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    }
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    if (!infoDockWidget)
    {
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        infoDockWidget = new QDockWidget(tr("Status Details"), this);
        infoDockWidget->setWidget( new UASInfoWidget(this) );
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        infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET");
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        addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea);
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    }
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    if (!debugConsoleDockWidget)
    {
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        debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this);
        debugConsoleDockWidget->setWidget( new DebugConsole(this) );
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        debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET");
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        addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea);
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    }
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    if (!logPlayerDockWidget)
    {
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        logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this);
        logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) );
        logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET");
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        addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea);
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    }

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    // Center widgets
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    if (!mapWidget)
    {
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        mapWidget = new QGCMapTool(this);
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        addCentralWidget(mapWidget, "Maps");
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    }
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    if (!protocolWidget)
    {
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        protocolWidget    = new XMLCommProtocolWidget(this);
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        addCentralWidget(protocolWidget, "Mavlink Generator");
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    }
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    if (!dataplotWidget)
    {
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        dataplotWidget    = new QGCDataPlot2D(this);
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        addCentralWidget(dataplotWidget, "Logfile Plot");
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    }
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    //FIXME: memory of acceptList will never be freed again
    QStringList* acceptList = new QStringList();
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    acceptList->append("-105,roll deg,deg,+105,s");
    acceptList->append("-105,pitch deg,deg,+105,s");
    acceptList->append("-105,heading deg,deg,+105,s");
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    acceptList->append("-60,rollspeed d/s,deg/s,+60,s");
    acceptList->append("-60,pitchspeed d/s,deg/s,+60,s");
    acceptList->append("-60,yawspeed d/s,deg/s,+60,s");
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    acceptList->append("0,airspeed,m/s,30");
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    acceptList->append("0,groundspeed,m/s,30");
    acceptList->append("0,climbrate,m/s,30");
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    acceptList->append("0,throttle,%,100");
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    //FIXME: memory of acceptList2 will never be freed again
    QStringList* acceptList2 = new QStringList();
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    acceptList2->append("900,servo #1,us,2100,s");
    acceptList2->append("900,servo #2,us,2100,s");
    acceptList2->append("900,servo #3,us,2100,s");
    acceptList2->append("900,servo #4,us,2100,s");
    acceptList2->append("900,servo #5,us,2100,s");
    acceptList2->append("900,servo #6,us,2100,s");
    acceptList2->append("900,servo #7,us,2100,s");
    acceptList2->append("900,servo #8,us,2100,s");
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    acceptList2->append("0,abs pressure,hPa,65500");
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    //acceptList2->append("-2048,accel. x,raw,2048,s");
    //acceptList2->append("-2048,accel. y,raw,2048,s");
    //acceptList2->append("-2048,accel. z,raw,2048,s");
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    if (!hudWidget) {
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        hudWidget         = new HUD(320, 240, this);
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        addCentralWidget(hudWidget, tr("Head Up Display"));
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    }
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    if (!dataplotWidget) {
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        dataplotWidget    = new QGCDataPlot2D(this);
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        addCentralWidget(dataplotWidget, tr("Logfile Plot"));
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    }
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#ifdef QGC_OSG_ENABLED
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    if (!_3DWidget) {
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        _3DWidget         = Q3DWidgetFactory::get("PIXHAWK");
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        addCentralWidget(_3DWidget, tr("Local 3D"));
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    }
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#endif
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#if (defined _MSC_VER) | (defined Q_OS_MAC)
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    if (!gEarthWidget) {
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        gEarthWidget = new QGCGoogleEarthView(this);
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        addCentralWidget(gEarthWidget, tr("Google Earth"));
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    }
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#endif
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    // Dock widgets
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    if (!detectionDockWidget) {
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        detectionDockWidget = new QDockWidget(tr("Object Recognition"), this);
        detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) );
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        detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET");
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        addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea);
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    }
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    if (!parametersDockWidget) {
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        parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this);
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        parametersDockWidget->setWidget( new ParameterInterface(this) );
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        parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET");
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        addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea);
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    }
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    if (!watchdogControlDockWidget) {
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        watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this);
        watchdogControlDockWidget->setWidget( new WatchdogControl(this) );
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        watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET");
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        addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea);
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    }
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    if (!hsiDockWidget) {
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        hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this);
        hsiDockWidget->setWidget( new HSIDisplay(this) );
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        hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET");
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        addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea);
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    }
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    if (!headDown1DockWidget) {
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        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
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        headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET");
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        addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea);
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    }
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    if (!headDown2DockWidget) {
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        headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this);
        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) );
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        headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET");
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        addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea);
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    }
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    if (!rcViewDockWidget) {
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        rcViewDockWidget = new QDockWidget(tr("Radio Control"), this);
        rcViewDockWidget->setWidget( new QGCRemoteControlView(this) );
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        rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET");
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        addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea);
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    }
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    if (!headUpDockWidget) {
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        headUpDockWidget = new QDockWidget(tr("HUD"), this);
        headUpDockWidget->setWidget( new HUD(320, 240, this));
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        headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET");
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        addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea);
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    }
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    if (!video1DockWidget) {
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        video1DockWidget = new QDockWidget(tr("Video Stream 1"), this);
        HUD* video1 =  new HUD(160, 120, this);
        video1->enableHUDInstruments(false);
        video1->enableVideo(true);
        // FIXME select video stream as well
        video1DockWidget->setWidget(video1);
        video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET");
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        addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea);
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    }

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    if (!video2DockWidget) {
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        video2DockWidget = new QDockWidget(tr("Video Stream 2"), this);
        HUD* video2 =  new HUD(160, 120, this);
        video2->enableHUDInstruments(false);
        video2->enableVideo(true);
        // FIXME select video stream as well
        video2DockWidget->setWidget(video2);
        video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET");
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        addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea);
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    }
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    // Custom widgets, added last to all menus and layouts
    buildCustomWidget();

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    // Dialogue widgets
    //FIXME: free memory in destructor
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}
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void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area)
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{
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    QAction* tempAction = ui.menuTools->addAction(title);
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    tempAction->setCheckable(true);
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    QVariant var;
    var.setValue((QWidget*)widget);
    tempAction->setData(var);
    connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
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    connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
    tempAction->setChecked(widget->isVisible());
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    addDockWidget(area, widget);
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}


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void MainWindow::showTool(bool show)
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{
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    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    widget->setVisible(show);
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}
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void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
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{
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    // Check if this widget already has been added
    if (centerStack->indexOf(widget) == -1)
    {
        centerStack->addWidget(widget);
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        QAction* tempAction = ui.menuMain->addAction(title);
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        tempAction->setCheckable(true);
        QVariant var;
        var.setValue((QWidget*)widget);
        tempAction->setData(var);
        centerStackActionGroup.addAction(tempAction);
        connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
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        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
        tempAction->setChecked(widget->isVisible());
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    }
}


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void MainWindow::showCentralWidget()
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{
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    QAction* act = qobject_cast<QAction *>(sender());
    QWidget* widget = qVariantValue<QWidget *>(act->data());
    centerStack->setCurrentWidget(widget);
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}

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void MainWindow::closeEvent(QCloseEvent *event)
{
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    storeSettings();
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    aboutToCloseFlag = true;
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    mavlink->storeSettings();
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    UASManager::instance()->storeSettings();
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    QMainWindow::closeEvent(event);
}
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/**
 * Connect the signals and slots of the common window widgets
 */
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void MainWindow::connectCommonWidgets()
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{
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    if (infoDockWidget && infoDockWidget->widget()) {
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        connect(mavlink, SIGNAL(receiveLossChanged(int, float)),
                infoDockWidget->widget(), SLOT(updateSendLoss(int, float)));
    }
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//    //TODO temporaly debug
//    if (slugsHilSimWidget && slugsHilSimWidget->widget()) {
//        connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)),
//                slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*)));
//    }
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}
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void MainWindow::createCustomWidget()
{
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    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
    QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock);
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    if (QGCToolWidget::instances()->size() < 2) {
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        // This is the first widget
        ui.menuTools->addSeparator();
    }

    connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
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    dock->setWidget(tool);
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    QAction* showAction = new QAction(tool->getTitle(), this);
    showAction->setCheckable(true);
    connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
    connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
    tool->setMainMenuAction(showAction);
    ui.menuTools->addAction(showAction);
    this->addDockWidget(Qt::BottomDockWidgetArea, dock);
    dock->setVisible(true);
}

void MainWindow::loadCustomWidget()
{
    QString widgetFileExtension(".qgw");
    QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension));
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    loadCustomWidget(fileName);
}
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void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
{
    QGCToolWidget* tool = new QGCToolWidget("", this);
    if (tool->loadSettings(fileName, true) || !singleinstance)
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    {
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        // Add widget to UI
        QDockWidget* dock = new QDockWidget(tool->getTitle(), this);
        connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater()));
        dock->setWidget(tool);
        tool->setParent(dock);

        QAction* showAction = new QAction("Show Unnamed Tool", this);
        showAction->setCheckable(true);
        connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool)));
        connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool)));
        tool->setMainMenuAction(showAction);
        ui.menuTools->addAction(showAction);
        this->addDockWidget(Qt::BottomDockWidgetArea, dock);
        dock->setVisible(true);
    }
    else
    {
        return;
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    }
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}

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void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
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{
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    QString defaultsDir = qApp->applicationDirPath() + "/files/" + systemType.toLower() + "/" + autopilotType.toLower() + "/widgets/";
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    QDir widgets(defaultsDir);
    QStringList files = widgets.entryList();
    if (files.count() == 0)
    {
        qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
        qDebug() << "Tried with path: " << defaultsDir;
    }

    // Load all custom widgets found in the AP folder
    for(int i = 0; i < files.count(); ++i)
    {
        QString file = files[i];
        if (file.endsWith(".qgw"))
        {
            // Will only be loaded if not already a custom widget with
            // the same name is present
            loadCustomWidget(file, true);
        }
    }
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}

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void MainWindow::loadSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool();
    currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt();
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    lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool();
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    settings.endGroup();
}

void MainWindow::storeSettings()
{
    QSettings settings;
    settings.beginGroup("QGC_MAINWINDOW");
    settings.setValue("AUTO_RECONNECT", autoReconnect);
    settings.setValue("CURRENT_STYLE", currentStyle);
    settings.endGroup();
    settings.setValue(getWindowGeometryKey(), saveGeometry());
    // Save the last current view in any case
    settings.setValue("CURRENT_VIEW", currentView);
    // Save the current window state, but only if a system is connected (else no real number of widgets would be present)
    if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion()));
    // Save the current view only if a UAS is connected
    if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView);
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    // Save the current power mode
    settings.setValue("LOW_POWER_MODE", lowPowerMode);
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    settings.sync();
}

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void MainWindow::configureWindowName()
{
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    QList<QHostAddress> hostAddresses = QNetworkInterface::allAddresses();
    QString windowname = qApp->applicationName() + " " + qApp->applicationVersion();
    bool prevAddr = false;
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    windowname.append(" (" + QHostInfo::localHostName() + ": ");
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    for (int i = 0; i < hostAddresses.size(); i++) {
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        // Exclude loopback IPv4 and all IPv6 addresses
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        if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) {
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            if(prevAddr) windowname.append("/");
            windowname.append(hostAddresses.at(i).toString());
            prevAddr = true;
        }
    }
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    windowname.append(")");
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    setWindowTitle(windowname);
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#ifndef Q_WS_MAC
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    //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png"));
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#endif
}

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void MainWindow::startVideoCapture()
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{
    QString format = "bmp";
    QString initialPath = QDir::currentPath() + tr("/untitled.") + format;

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

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void MainWindow::stopVideoCapture()
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{
    videoTimer->stop();

    // TODO Convert raw images to PNG
}

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void MainWindow::saveScreen()
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{
    QPixmap window = QPixmap::grabWindow(this->winId());
    QString format = "bmp";

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

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void MainWindow::enableAutoReconnect(bool enabled)
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{
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    autoReconnect = enabled;
}
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void MainWindow::loadNativeStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_NATIVE);
}

void MainWindow::loadIndoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_INDOOR);
}

void MainWindow::loadOutdoorStyle()
{
    loadStyle(QGC_MAINWINDOW_STYLE_OUTDOOR);
}

void MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style)
{
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    switch (style) {
    case QGC_MAINWINDOW_STYLE_NATIVE: {
        // Native mode means setting no style
        // so if we were already in native mode
        // take no action
        // Only if a style was set, remove it.
        if (style != currentStyle) {
            qApp->setStyleSheet("");
            showInfoMessage(tr("Please restart QGroundControl"), tr("Please restart QGroundControl to switch to fully native look and feel. Currently you have loaded Qt's plastique style."));
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        }
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    }
    break;
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    case QGC_MAINWINDOW_STYLE_INDOOR:
        qApp->setStyle("plastique");
        styleFileName = ":/images/style-mission.css";
        reloadStylesheet();
        break;
    case QGC_MAINWINDOW_STYLE_OUTDOOR:
        qApp->setStyle("plastique");
        styleFileName = ":/images/style-outdoor.css";
        reloadStylesheet();
        break;
    }
    currentStyle = style;
}

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void MainWindow::selectStylesheet()
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{
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    // Let user select style sheet
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    styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;"));
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    if (!styleFileName.endsWith(".css")) {
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        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
        msgBox.setInformativeText(tr("No suitable .css file selected. Please select a valid .css file."));
        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
        return;
    }

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    // Load style sheet
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    reloadStylesheet();
}

void MainWindow::reloadStylesheet()
{
    // Load style sheet
    QFile* styleSheet = new QFile(styleFileName);
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    if (!styleSheet->exists()) {
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        styleSheet = new QFile(":/images/style-mission.css");
    }
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    if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) {
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        QString style = QString(styleSheet->readAll());
        style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/");
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        qApp->setStyleSheet(style);
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    } else {
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        QMessageBox msgBox;
        msgBox.setIcon(QMessageBox::Information);
        msgBox.setText(tr("QGroundControl did lot load a new style"));
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        msgBox.setInformativeText(tr("Stylesheet file %1 was not readable").arg(styleFileName));
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        msgBox.setStandardButtons(QMessageBox::Ok);
        msgBox.setDefaultButton(QMessageBox::Ok);
        msgBox.exec();
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    }
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    delete styleSheet;
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}

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/**
 * The status message will be overwritten if a new message is posted to this function
 *
 * @param status message text
 * @param timeout how long the status should be displayed
 */
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void MainWindow::showStatusMessage(const QString& status, int timeout)
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{
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    statusBar()->showMessage(status, timeout);
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}

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/**
 * The status message will be overwritten if a new message is posted to this function.
 * it will be automatically hidden after 5 seconds.
 *
 * @param status message text
 */
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void MainWindow::showStatusMessage(const QString& status)
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{
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    statusBar()->showMessage(status, 20000);
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}

void MainWindow::showCriticalMessage(const QString& title, const QString& message)
{
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    QMessageBox msgBox(this);
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    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
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}

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void MainWindow::showInfoMessage(const QString& title, const QString& message)
{
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    QMessageBox msgBox(this);
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    msgBox.setIcon(QMessageBox::Information);
    msgBox.setText(title);
    msgBox.setInformativeText(message);
    msgBox.setStandardButtons(QMessageBox::Ok);
    msgBox.setDefaultButton(QMessageBox::Ok);
    msgBox.exec();
}

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/**
* @brief Create all actions associated to the main window
*
**/
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void MainWindow::connectCommonActions()
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{
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    ui.actionNewCustomWidget->setEnabled(false);

    // Bind together the perspective actions
    QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives);
    perspectives->addAction(ui.actionEngineersView);
    perspectives->addAction(ui.actionMavlinkView);
    perspectives->addAction(ui.actionPilotsView);
    perspectives->addAction(ui.actionOperatorsView);
    perspectives->addAction(ui.actionUnconnectedView);
    perspectives->setExclusive(true);

    // Mark the right one as selected
    if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true);
    if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true);
    if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true);
    if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true);
    if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true);

    // The pilot, engineer and operator view are not available on startup
    // since they only make sense with a system connected.
    ui.actionPilotsView->setEnabled(false);
    ui.actionOperatorsView->setEnabled(false);
    ui.actionEngineersView->setEnabled(false);
    // The UAS actions are not enabled without connection to system
    ui.actionLiftoff->setEnabled(false);
    ui.actionLand->setEnabled(false);
    ui.actionEmergency_Kill->setEnabled(false);
    ui.actionEmergency_Land->setEnabled(false);
    ui.actionShutdownMAV->setEnabled(false);

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    // 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*)));
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    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
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    // Unmanned System controls
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    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()));
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    connect(ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS()));
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    connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS()));

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    // Views actions
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    connect(ui.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView()));
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    connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView()));
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    connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView()));
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    connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView()));
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    connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView()));
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    connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet()));
    connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet()));
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    // Help Actions
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    connect(ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp()));
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    connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits()));
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    connect(ui.actionProject_Roadmap_2, SIGNAL(triggered()), this, SLOT(showRoadMap()));
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    // Custom widget actions
    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
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    connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(loadCustomWidget()));
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    // Audio output
    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
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    connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui.actionMuteAudioOutput, SLOT(setChecked(bool)));
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    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
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    // User interaction
    // NOTE: Joystick thread is not started and
    // configuration widget is not instantiated
    // unless it is actually used
    // so no ressources spend on this.
    ui.actionJoystickSettings->setVisible(true);
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    // Configuration
    // Joystick
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    connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure()));
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    // Application Settings
    connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
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}

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void MainWindow::showHelp()
{
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    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) {
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        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()
{
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    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) {
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        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()
{
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    if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) {
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        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();
    }
}

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void MainWindow::configure()
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{
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    if (!joystickWidget) {
        if (!joystick->isRunning()) {
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            joystick->start();
        }
        joystickWidget = new JoystickWidget(joystick);
    }
    joystickWidget->show();
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}

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void MainWindow::showSettings()
{
    QGCSettingsWidget* settings = new QGCSettingsWidget(this);
    settings->show();
}

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void MainWindow::addLink()
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{
    SerialLink* link = new SerialLink();
    // TODO This should be only done in the dialog itself

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

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    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();
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    foreach (QAction* act, actions) {
        if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link)) {
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            act->trigger();
            break;
        }
    }
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}

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void MainWindow::addLink(LinkInterface *link)
{
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    // IMPORTANT! KEEP THESE TWO LINES
    // THEY MAKE SURE THE LINK IS PROPERLY REGISTERED
    // BEFORE LINKING THE UI AGAINST IT
    // Register (does nothing if already registered)
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    LinkManager::instance()->add(link);
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    LinkManager::instance()->addProtocol(link, mavlink);
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    // Go fishing for this link's configuration window
    QList<QAction*> actions = ui.menuNetwork->actions();
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    bool found = false;
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    foreach (QAction* act, actions) {
        if (act->data().toInt() == LinkManager::instance()->getLinks().indexOf(link)) {
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            found = true;
        }
    }

    UDPLink* udp = dynamic_cast<UDPLink*>(link);
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    if (!found || udp) {
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        CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this);
        QAction* action = commWidget->getAction();
        ui.menuNetwork->addAction(action);

        // Error handling
        connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
        // Special case for simulationlink
        MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
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        if (sim) {
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            //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64)));
            connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool)));
        }
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