QGCApplication.cc

/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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

#include <QAction>
#include <QDesktopWidget>
#include <QFile>
#include <QFlags>
#include <QFontDatabase>
#include <QPainter>
#include <QPixmap>
#include <QQuickImageProvider>
#include <QQuickStyle>
#include <QQuickWindow>
#include <QRegularExpression>
#include <QStringListModel>
#include <QStyleFactory>

#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

#include <QDebug>

#if defined(QGC_GST_STREAMING)
#include "GStreamer.h"
#endif

#include "AutoPilotPlugin.h"
#include "CmdLineOptParser.h"
#include "ESP8266ComponentController.h"
#include "FirmwarePluginManager.h"
#include "FlightMapSettings.h"
#include "FlightPathSegment.h"
#include "JoystickConfigController.h"
#include "JoystickManager.h"
#include "LinkManager.h"
#include "LogDownloadController.h"
#include "MissionManager.h"
#include "MultiVehicleManager.h"
#include "ParameterEditorController.h"
#include "PlanMasterController.h"
#include "QGC.h"
#include "QGCApplication.h"
#include "QGCFileDialogController.h"
#include "QGCGeoBoundingCube.h"
#include "QGCLoggingCategory.h"
#include "QGCMapPalette.h"
#include "QGCPalette.h"
#include "QGCTemporaryFile.h"
#include "QGroundControlQmlGlobal.h"
#include "QmlObjectListModel.h"
#include "RCChannelMonitorController.h"
#include "ScreenToolsController.h"
#include "SyslinkComponentController.h"
#include "UASMessageHandler.h"
#include "UDPLink.h"
#include "Vehicle.h"
#include "VehicleComponent.h"
#include "VideoManager.h"
#include "VideoReceiver.h"
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
#include "MAVLinkInspectorController.h"
#endif
#include "AppMessages.h"
#include "CameraCalc.h"
#include "EditPositionDialogController.h"
#include "FactValueSliderListModel.h"
#include "FirmwareImage.h"
#include "FollowMe.h"
#include "GeoTagController.h"
#include "HorizontalFactValueGrid.h"
#include "InstrumentValueData.h"
#include "LogReplayLink.h"
#include "MavlinkConsoleController.h"
#include "MissionCommandTree.h"
#include "ParameterManager.h"
#include "PositionManager.h"
#include "QGCCameraManager.h"
#include "QGCCorePlugin.h"
#include "QGCFileDownload.h"
#include "QGCImageProvider.h"
#include "QGCMAVLink.h"
#include "QGCMapCircle.h"
#include "QGCMapPolygon.h"
#include "RCToParamDialogController.h"
#include "SettingsManager.h"
#include "ShapeFileHelper.h"
#include "SimulatedPosition.h"
#include "TerrainProfile.h"
#include "ToolStripAction.h"
#include "ToolStripActionList.h"
#include "TrajectoryPoints.h"
#include "VehicleLinkManager.h"
#include "VehicleObjectAvoidance.h"
#include "VisualMissionItem.h"

#include "AreaData.h"
#include "CircularGenerator.h"
#include "LinearGenerator.h"
#include "NemoInterface.h"

#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif

#ifndef __mobile__
#include "FirmwareUpgradeController.h"
#endif

#ifndef NO_SERIAL_LINK
#include "SerialLink.h"
#endif

#ifndef __mobile__
#include "GPS/GPSManager.h"
#endif

#ifdef QGC_RTLAB_ENABLED
#include "OpalLink.h"
#endif

#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <sys/types.h>
#include <unistd.h>
#endif
#endif

#include "QGCMapEngine.h"

class FinishVideoInitialization : public QRunnable {
public:
  FinishVideoInitialization(VideoManager *manager) : _manager(manager) {}

  void run() { _manager->_initVideo(); }

private:
  VideoManager *_manager;
};

QGCApplication *QGCApplication::_app = nullptr;

const char *QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
const char *QGCApplication::_settingsVersionKey = "SettingsVersion";

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

// Qml Singleton factories

static QObject *screenToolsControllerSingletonFactory(QQmlEngine *,
                                                      QJSEngine *) {
  ScreenToolsController *screenToolsController = new ScreenToolsController;
  return screenToolsController;
}

static QObject *mavlinkSingletonFactory(QQmlEngine *, QJSEngine *) {
  return new QGCMAVLink();
}

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

  return qmlGlobal;
}

static QObject *shapeFileHelperSingletonFactory(QQmlEngine *, QJSEngine *) {
  return new ShapeFileHelper;
}

QObject *getNemoInterface(QQmlEngine *engine, QJSEngine *) {
  engine->setObjectOwnership(pNemoInterface, QQmlEngine::CppOwnership);
  return pNemoInterface;
}

QGCApplication::QGCApplication(int &argc, char *argv[], bool unitTesting)
    : QApplication(argc, argv), _runningUnitTests(unitTesting) {
  _app = this;
  _msecsElapsedTime.start();

#ifdef Q_OS_LINUX
#ifndef __mobile__
  if (!_runningUnitTests) {
    if (getuid() == 0) {
      _exitWithError(QString(
          tr("You are running %1 as root. "
             "You should not do this since it will cause other issues with %1."
             "%1 will now exit.<br/><br/>"
             "If you are having serial port issues on Ubuntu, execute the "
             "following commands to fix most issues:<br/>"
             "<pre>sudo usermod -a -G dialout $USER<br/>"
             "sudo apt-get remove modemmanager</pre>")
              .arg(qgcApp()->applicationName())));
      return;
    }
    // Determine if we have the correct permissions to access USB serial devices
    QFile permFile("/etc/group");
    if (permFile.open(QIODevice::ReadOnly)) {
      while (!permFile.atEnd()) {
        QString line = permFile.readLine();
        if (line.contains("dialout") && !line.contains(getenv("USER"))) {
          permFile.close();
          _exitWithError(
              QString(tr("The current user does not have the correct "
                         "permissions to access serial devices. "
                         "You should also remove modemmanager since it also "
                         "interferes.<br/><br/>"
                         "If you are using Ubuntu, execute the following "
                         "commands to fix these issues:<br/>"
                         "<pre>sudo usermod -a -G dialout $USER<br/>"
                         "sudo apt-get remove modemmanager</pre>")));
          return;
        }
      }
      permFile.close();
    }

    // Always set style to default, this way QT_QUICK_CONTROLS_STYLE environment
    // variable doesn't cause random changes in ui
    QQuickStyle::setStyle("Default");
  }
#endif
#endif

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

  // Parse command line options

  bool fClearSettingsOptions = false; // Clear stored settings
  bool fClearCache = false;           // Clear parameter/airframe caches
  bool logging = false;               // Turn on logging
  QString loggingOptions;

  CmdLineOpt_t rgCmdLineOptions[] = {
      {"--clear-settings", &fClearSettingsOptions, nullptr},
      {"--clear-cache", &fClearCache, nullptr},
      {"--logging", &logging, &loggingOptions},
      {"--fake-mobile", &_fakeMobile, nullptr},
      {"--log-output", &_logOutput, nullptr},
      // Add additional command line option flags here
  };

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

  // Set up timer for delayed missing fact display
  _missingParamsDelayedDisplayTimer.setSingleShot(true);
  _missingParamsDelayedDisplayTimer.setInterval(
      _missingParamsDelayedDisplayTimerTimeout);
  connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this,
          &QGCApplication::_missingParamsDisplay);

  // Set application information
  QString applicationName;
  if (_runningUnitTests) {
    // We don't want unit tests to use the same QSettings space as the normal
    // app. So we tweak the app name. Also we want to run unit tests with clean
    // settings every time.
    applicationName = QStringLiteral("%1_unittest").arg(QGC_APPLICATION_NAME);
  } else {
#ifdef DAILY_BUILD
    // This gives daily builds their own separate settings space. Allowing you
    // to use daily and stable builds side by side without daily screwing up
    // your stable settings.
    applicationName = QStringLiteral("%1 Daily").arg(QGC_APPLICATION_NAME);
#else
    applicationName = QGC_APPLICATION_NAME;
#endif
  }
  setApplicationName(applicationName);
  setOrganizationName(QGC_ORG_NAME);
  setOrganizationDomain(QGC_ORG_DOMAIN);

  this->setApplicationVersion(QString(GIT_VERSION));

  // Set settings format
  QSettings::setDefaultFormat(QSettings::IniFormat);
  QSettings settings;
  qDebug() << "Settings location" << settings.fileName()
           << "Is writable?:" << settings.isWritable();

#ifdef UNITTEST_BUILD
  if (!settings.isWritable()) {
    qWarning() << "Setings location is not writable";
  }
#endif
  // The setting will delete all settings on this boot
  fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);

  if (_runningUnitTests) {
    // Unit tests run with clean settings
    fClearSettingsOptions = true;
  }

  if (fClearSettingsOptions) {
    // User requested settings to be cleared on command line
    settings.clear();

    // Clear parameter cache
    QDir paramDir(ParameterManager::parameterCacheDir());
    paramDir.removeRecursively();
    paramDir.mkpath(paramDir.absolutePath());
  } else {
    // Determine if upgrade message for settings version bump is required. Check
    // and clear must happen before toolbox is started since that will write
    // some settings.
    if (settings.contains(_settingsVersionKey)) {
      if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
        settings.clear();
        _settingsUpgraded = true;
      }
    }
  }
  settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);

  if (fClearCache) {
    QDir dir(ParameterManager::parameterCacheDir());
    dir.removeRecursively();
    QFile airframe(cachedAirframeMetaDataFile());
    airframe.remove();
    QFile parameter(cachedParameterMetaDataFile());
    parameter.remove();
  }

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

  // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
  QBluetoothLocalDevice localDevice;
  if (localDevice.isValid()) {
    _bluetoothAvailable = true;
  }
#endif

  // Gstreamer debug settings
  int gstDebugLevel = 0;
  if (settings.contains(AppSettings::gstDebugLevelName)) {
    gstDebugLevel = settings.value(AppSettings::gstDebugLevelName).toInt();
  }

#if defined(QGC_GST_STREAMING)
  // Initialize Video Receiver
  GStreamer::initialize(argc, argv, gstDebugLevel);
#else
  Q_UNUSED(gstDebugLevel)
#endif

  // We need to set language as early as possible prior to loading on JSON
  // files.
  setLanguage();

  _toolbox = new QGCToolbox(this);
  _toolbox->setChildToolboxes();

#ifndef __mobile__
  _gpsRtkFactGroup = new GPSRTKFactGroup(this);
  GPSManager *gpsManager = _toolbox->gpsManager();
  if (gpsManager) {
    connect(gpsManager, &GPSManager::onConnect, this,
            &QGCApplication::_onGPSConnect);
    connect(gpsManager, &GPSManager::onDisconnect, this,
            &QGCApplication::_onGPSDisconnect);
    connect(gpsManager, &GPSManager::surveyInStatus, this,
            &QGCApplication::_gpsSurveyInStatus);
    connect(gpsManager, &GPSManager::satelliteUpdate, this,
            &QGCApplication::_gpsNumSatellites);
  }
#endif /* __mobile__ */

  _checkForNewVersion();
}

void QGCApplication::_exitWithError(QString errorMessage) {
  _error = true;
  QQmlApplicationEngine *pEngine = new QQmlApplicationEngine(this);
  pEngine->addImportPath("qrc:/qml");
  pEngine->rootContext()->setContextProperty("errorMessage", errorMessage);
  pEngine->load(QUrl(QStringLiteral("qrc:/qml/ExitWithErrorWindow.qml")));
  // Exit main application when last window is closed
  connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
}

void QGCApplication::setLanguage() {
  _locale = QLocale::system();
  qDebug() << "System reported locale:" << _locale << "; Name" << _locale.name()
           << "; Preffered (used in maps): "
           << (QLocale::system().uiLanguages().length() > 0
                   ? QLocale::system().uiLanguages()[0]
                   : "None");

  int langID = AppSettings::_languageID();
  //-- See App.SettinsGroup.json for index
  if (langID) {
    switch (langID) {
    case 1:
      _locale = QLocale(QLocale::Bulgarian);
      break;
    case 2:
      _locale = QLocale(QLocale::Chinese);
      break;
    case 3:
      _locale = QLocale(QLocale::Dutch);
      break;
    case 4:
      _locale = QLocale(QLocale::English);
      break;
    case 5:
      _locale = QLocale(QLocale::Finnish);
      break;
    case 6:
      _locale = QLocale(QLocale::French);
      break;
    case 7:
      _locale = QLocale(QLocale::German);
      break;
    case 8:
      _locale = QLocale(QLocale::Greek);
      break;
    case 9:
      _locale = QLocale(QLocale::Hebrew);
      break;
    case 10:
      _locale = QLocale(QLocale::Italian);
      break;
    case 11:
      _locale = QLocale(QLocale::Japanese);
      break;
    case 12:
      _locale = QLocale(QLocale::Korean);
      break;
    case 13:
      _locale = QLocale(QLocale::Norwegian);
      break;
    case 14:
      _locale = QLocale(QLocale::Polish);
      break;
    case 15:
      _locale = QLocale(QLocale::Portuguese);
      break;
    case 16:
      _locale = QLocale(QLocale::Russian);
      break;
    case 17:
      _locale = QLocale(QLocale::Spanish);
      break;
    case 18:
      _locale = QLocale(QLocale::Swedish);
      break;
    case 19:
      _locale = QLocale(QLocale::Turkish);
      break;
    case 20:
      _locale = QLocale(QLocale::Azerbaijani);
      break;
    }
  }
  //-- We have specific fonts for Korean
  if (_locale == QLocale::Korean) {
    qCDebug(LocalizationLog) << "Loading Korean fonts" << _locale.name();
    if (QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Regular") < 0) {
      qCWarning(LocalizationLog)
          << "Could not load /fonts/NanumGothic-Regular font";
    }
    if (QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Bold") < 0) {
      qCWarning(LocalizationLog)
          << "Could not load /fonts/NanumGothic-Bold font";
    }
  }
  qCDebug(LocalizationLog) << "Loading localizations for" << _locale.name();
  _app->removeTranslator(&_qgcTranslatorJSON);
  _app->removeTranslator(&_qgcTranslatorSourceCode);
  _app->removeTranslator(&_qgcTranslatorQtLibs);
  if (_locale.name() != "en_US") {
    QLocale::setDefault(_locale);
    if (_qgcTranslatorQtLibs.load(
            "qt_" + _locale.name(),
            QLibraryInfo::location(QLibraryInfo::TranslationsPath))) {
      _app->installTranslator(&_qgcTranslatorQtLibs);
    } else {
      qCWarning(LocalizationLog)
          << "Qt lib localization for" << _locale.name() << "is not present";
    }
    if (_qgcTranslatorSourceCode.load(_locale, QLatin1String("qgc_source_"), "",
                                      ":/i18n")) {
      _app->installTranslator(&_qgcTranslatorSourceCode);
    } else {
      qCWarning(LocalizationLog)
          << "Error loading source localization for" << _locale.name();
    }
    if (_qgcTranslatorJSON.load(_locale, QLatin1String("qgc_json_"), "",
                                ":/i18n")) {
      _app->installTranslator(&_qgcTranslatorJSON);
    } else {
      qCWarning(LocalizationLog)
          << "Error loading json localization for" << _locale.name();
    }
  }
  if (_qmlAppEngine)
    _qmlAppEngine->retranslate();
  emit languageChanged(_locale);
}

void QGCApplication::_shutdown() {
  // Close out all Qml before we delete toolbox. This way we don't get all sorts
  // of null reference complaints from Qml.
  delete _qmlAppEngine;
  delete _toolbox;
  delete _gpsRtkFactGroup;
}

QGCApplication::~QGCApplication() {
  // Place shutdown code in _shutdown
  _app = nullptr;
}

void QGCApplication::_initCommon() {
  static const char *kRefOnly = "Reference only";
  static const char *kQGroundControl = "QGroundControl";
  static const char *kQGCControllers = "QGroundControl.Controllers";
  static const char *kQGCVehicle = "QGroundControl.Vehicle";
  static const char *kQGCTemplates = "QGroundControl.Templates";

  QSettings settings;

  // Register our Qml objects

  qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
  qmlRegisterType<QGCMapPalette>("QGroundControl.Palette", 1, 0,
                                 "QGCMapPalette");

  qmlRegisterUncreatableType<Vehicle>(kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
  qmlRegisterUncreatableType<MissionManager>(kQGCVehicle, 1, 0,
                                             "MissionManager", kRefOnly);
  qmlRegisterUncreatableType<ParameterManager>(kQGCVehicle, 1, 0,
                                               "ParameterManager", kRefOnly);
  qmlRegisterUncreatableType<VehicleObjectAvoidance>(
      kQGCVehicle, 1, 0, "VehicleObjectAvoidance", kRefOnly);
  qmlRegisterUncreatableType<QGCCameraManager>(kQGCVehicle, 1, 0,
                                               "QGCCameraManager", kRefOnly);
  qmlRegisterUncreatableType<QGCCameraControl>(kQGCVehicle, 1, 0,
                                               "QGCCameraControl", kRefOnly);
  qmlRegisterUncreatableType<QGCVideoStreamInfo>(
      kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
  qmlRegisterUncreatableType<LinkInterface>(kQGCVehicle, 1, 0, "LinkInterface",
                                            kRefOnly);
  qmlRegisterUncreatableType<VehicleLinkManager>(
      kQGCVehicle, 1, 0, "VehicleLinkManager", kRefOnly);

  qmlRegisterUncreatableType<MissionController>(kQGCControllers, 1, 0,
                                                "MissionController", kRefOnly);
  qmlRegisterUncreatableType<GeoFenceController>(
      kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
  qmlRegisterUncreatableType<RallyPointController>(
      kQGCControllers, 1, 0, "RallyPointController", kRefOnly);

  qmlRegisterUncreatableType<MissionItem>(kQGroundControl, 1, 0, "MissionItem",
                                          kRefOnly);
  qmlRegisterUncreatableType<VisualMissionItem>(kQGroundControl, 1, 0,
                                                "VisualMissionItem", kRefOnly);
  qmlRegisterUncreatableType<FlightPathSegment>(kQGroundControl, 1, 0,
                                                "FlightPathSegment", kRefOnly);
  qmlRegisterUncreatableType<QmlObjectListModel>(
      kQGroundControl, 1, 0, "QmlObjectListModel", kRefOnly);
  qmlRegisterUncreatableType<MissionCommandTree>(
      kQGroundControl, 1, 0, "MissionCommandTree", kRefOnly);
  qmlRegisterUncreatableType<CameraCalc>(kQGroundControl, 1, 0, "CameraCalc",
                                         kRefOnly);
  qmlRegisterUncreatableType<LogReplayLink>(kQGroundControl, 1, 0,
                                            "LogReplayLink", kRefOnly);
  qmlRegisterUncreatableType<InstrumentValueData>(
      kQGroundControl, 1, 0, "InstrumentValueData", kRefOnly);
  qmlRegisterType<LogReplayLinkController>(kQGroundControl, 1, 0,
                                           "LogReplayLinkController");
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
  qmlRegisterUncreatableType<MAVLinkChartController>(kQGroundControl, 1, 0,
                                                     "MAVLinkChart", kRefOnly);
#endif
#if defined(QGC_ENABLE_PAIRING)
  qmlRegisterUncreatableType<PairingManager>(kQGroundControl, 1, 0,
                                             "PairingManager", kRefOnly);
#endif

  qmlRegisterUncreatableType<AutoPilotPlugin>(
      "QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", kRefOnly);
  qmlRegisterUncreatableType<VehicleComponent>(
      "QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", kRefOnly);
  qmlRegisterUncreatableType<JoystickManager>(
      "QGroundControl.JoystickManager", 1, 0, "JoystickManager", kRefOnly);
  qmlRegisterUncreatableType<Joystick>("QGroundControl.JoystickManager", 1, 0,
                                       "Joystick", kRefOnly);
  qmlRegisterUncreatableType<QGCPositionManager>(
      "QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager",
      kRefOnly);
  qmlRegisterUncreatableType<FactValueSliderListModel>(
      "QGroundControl.FactControls", 1, 0, "FactValueSliderListModel",
      kRefOnly);

  qmlRegisterUncreatableType<QGCMapPolygon>("QGroundControl.FlightMap", 1, 0,
                                            "QGCMapPolygon", kRefOnly);
  qmlRegisterUncreatableType<QGCGeoBoundingCube>(
      "QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
  qmlRegisterUncreatableType<TrajectoryPoints>("QGroundControl.FlightMap", 1, 0,
                                               "TrajectoryPoints", kRefOnly);

  qmlRegisterUncreatableType<FactValueGrid>(kQGCTemplates, 1, 0,
                                            "FactValueGrid", kRefOnly);
  qmlRegisterType<HorizontalFactValueGrid>(kQGCTemplates, 1, 0,
                                           "HorizontalFactValueGrid");

  qmlRegisterType<QGCMapCircle>("QGroundControl.FlightMap", 1, 0,
                                "QGCMapCircle");

  qmlRegisterType<ParameterEditorController>(kQGCControllers, 1, 0,
                                             "ParameterEditorController");
  qmlRegisterType<ESP8266ComponentController>(kQGCControllers, 1, 0,
                                              "ESP8266ComponentController");
  qmlRegisterType<ScreenToolsController>(kQGCControllers, 1, 0,
                                         "ScreenToolsController");
  qmlRegisterType<PlanMasterController>(kQGCControllers, 1, 0,
                                        "PlanMasterController");
  qmlRegisterType<QGCFileDialogController>(kQGCControllers, 1, 0,
                                           "QGCFileDialogController");
  qmlRegisterType<RCChannelMonitorController>(kQGCControllers, 1, 0,
                                              "RCChannelMonitorController");
  qmlRegisterType<JoystickConfigController>(kQGCControllers, 1, 0,
                                            "JoystickConfigController");
  qmlRegisterType<LogDownloadController>(kQGCControllers, 1, 0,
                                         "LogDownloadController");
  qmlRegisterType<SyslinkComponentController>(kQGCControllers, 1, 0,
                                              "SyslinkComponentController");
  qmlRegisterType<EditPositionDialogController>(kQGCControllers, 1, 0,
                                                "EditPositionDialogController");
  qmlRegisterType<RCToParamDialogController>(kQGCControllers, 1, 0,
                                             "RCToParamDialogController");

  qmlRegisterType<TerrainProfile>("QGroundControl.Controls", 1, 0,
                                  "TerrainProfile");
  qmlRegisterType<ToolStripAction>("QGroundControl.Controls", 1, 0,
                                   "ToolStripAction");
  qmlRegisterType<ToolStripActionList>("QGroundControl.Controls", 1, 0,
                                       "ToolStripActionList");

#ifndef __mobile__
#ifndef NO_SERIAL_LINK
  qmlRegisterType<FirmwareUpgradeController>(kQGCControllers, 1, 0,
                                             "FirmwareUpgradeController");
#endif
#endif

  qmlRegisterUncreatableType<routing::LinearGenerator>(
      "MeasurementComplexItem", 1, 0, "LinearGenerator", kRefOnly);
  qmlRegisterType<AreaData>("MeasurementComplexItem", 1, 0, "AreaData");
  qmlRegisterSingletonType<NemoInterface>("MeasurementComplexItem", 1, 0,
                                          "NemoInterface", getNemoInterface);
  qmlRegisterInterface<routing::GeneratorBase>("GeneratorBase");
  qmlRegisterUncreatableType<routing::CircularGenerator>(
      "MeasurementComplexItem", 1, 0, "CircularGenerator", kRefOnly);

  qmlRegisterType<GeoTagController>(kQGCControllers, 1, 0, "GeoTagController");
  qmlRegisterType<MavlinkConsoleController>(kQGCControllers, 1, 0,
                                            "MavlinkConsoleController");
#if defined(QGC_ENABLE_MAVLINK_INSPECTOR)
  qmlRegisterType<MAVLinkInspectorController>(kQGCControllers, 1, 0,
                                              "MAVLinkInspectorController");
#endif

  // Register Qml Singletons
  qmlRegisterSingletonType<QGroundControlQmlGlobal>(
      "QGroundControl", 1, 0, "QGroundControl",
      qgroundcontrolQmlGlobalSingletonFactory);
  qmlRegisterSingletonType<ScreenToolsController>(
      "QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController",
      screenToolsControllerSingletonFactory);
  qmlRegisterSingletonType<ShapeFileHelper>("QGroundControl.ShapeFileHelper", 1,
                                            0, "ShapeFileHelper",
                                            shapeFileHelperSingletonFactory);
  qmlRegisterSingletonType<ShapeFileHelper>("MAVLink", 1, 0, "MAVLink",
                                            mavlinkSingletonFactory);

  // Although this should really be in _initForNormalAppBoot putting it here
  // allowws us to create unit tests which pop up more easily
  if (QFontDatabase::addApplicationFont(":/fonts/opensans") < 0) {
    qWarning() << "Could not load /fonts/opensans font";
  }
  if (QFontDatabase::addApplicationFont(":/fonts/opensans-demibold") < 0) {
    qWarning() << "Could not load /fonts/opensans-demibold font";
  }
}

bool QGCApplication::_initForNormalAppBoot() {
  QSettings settings;

  _qmlAppEngine = toolbox()->corePlugin()->createQmlApplicationEngine(this);
  toolbox()->corePlugin()->createRootWindow(_qmlAppEngine);

  // Image provider for PX4 Flow
  QQuickImageProvider *pImgProvider =
      dynamic_cast<QQuickImageProvider *>(qgcApp()->toolbox()->imageProvider());
  _qmlAppEngine->addImageProvider(QStringLiteral("QGCImages"), pImgProvider);

  QQuickWindow *rootWindow = (QQuickWindow *)qgcApp()->mainRootWindow();

  if (rootWindow) {
    rootWindow->scheduleRenderJob(
        new FinishVideoInitialization(toolbox()->videoManager()),
        QQuickWindow::BeforeSynchronizingStage);
  }

  // Safe to show popup error messages now that main window is created
  UASMessageHandler *msgHandler = qgcApp()->toolbox()->uasMessageHandler();
  if (msgHandler) {
    msgHandler->showErrorsInToolbar();
  }

  // Now that main window is up check for lost log files
  connect(this, &QGCApplication::checkForLostLogFiles,
          toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
  emit checkForLostLogFiles();

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

  // Probe for joysticks
  toolbox()->joystickManager()->init();

  if (_settingsUpgraded) {
    showAppMessage(
        QString(tr("The format for %1 saved settings has been modified. "
                   "Your saved settings have been reset to defaults."))
            .arg(applicationName()));
  }

  // Connect links with flag AutoconnectLink
  toolbox()->linkManager()->startAutoConnectedLinks();

  if (getQGCMapEngine()->wasCacheReset()) {
    showAppMessage(tr("The Offline Map Cache database has been upgraded. "
                      "Your old map cache sets have been reset."));
  }

  settings.sync();
  return true;
}

bool QGCApplication::_initForUnitTests() { return true; }

void QGCApplication::deleteAllSettingsNextBoot(void) {
  QSettings settings;
  settings.setValue(_deleteAllSettingsKey, true);
}

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

/// @brief Returns the QGCApplication object singleton.
QGCApplication *qgcApp(void) { return QGCApplication::_app; }

void QGCApplication::informationMessageBoxOnMainThread(
    const QString & /*title*/, const QString &msg) {
  showAppMessage(msg);
}

void QGCApplication::warningMessageBoxOnMainThread(const QString & /*title*/,
                                                   const QString &msg) {
  showAppMessage(msg);
}

void QGCApplication::criticalMessageBoxOnMainThread(const QString & /*title*/,
                                                    const QString &msg) {
  showAppMessage(msg);
}

void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile) {
  // The vehicle is gone now and we are shutting down so we need to use a
  // message box for errors to hold shutdown and show the error
  if (_checkTelemetrySavePath(true /* useMessageBox */)) {

    QString saveDirPath =
        _toolbox->settingsManager()->appSettings()->telemetrySavePath();
    QDir saveDir(saveDirPath);

    QString nameFormat("%1%2.%3");
    QString dtFormat("yyyy-MM-dd hh-mm-ss");

    int tryIndex = 1;
    QString saveFileName =
        nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
            .arg(QStringLiteral(""))
            .arg(toolbox()
                     ->settingsManager()
                     ->appSettings()
                     ->telemetryFileExtension);
    while (saveDir.exists(saveFileName)) {
      saveFileName =
          nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
              .arg(QStringLiteral(".%1").arg(tryIndex++))
              .arg(toolbox()
                       ->settingsManager()
                       ->appSettings()
                       ->telemetryFileExtension);
    }
    QString saveFilePath = saveDir.absoluteFilePath(saveFileName);

    QFile tempFile(tempLogfile);
    if (!tempFile.copy(saveFilePath)) {
      QString error = tr("Unable to save telemetry log. Error copying "
                         "telemetry to '%1': '%2'.")
                          .arg(saveFilePath)
                          .arg(tempFile.errorString());
      showAppMessage(error);
    }
  }
  QFile::remove(tempLogfile);
}

void QGCApplication::checkTelemetrySavePathOnMainThread() {
  // This is called with an active vehicle so don't pop message boxes which
  // holds ui thread
  _checkTelemetrySavePath(false /* useMessageBox */);
}

bool QGCApplication::_checkTelemetrySavePath(bool /*useMessageBox*/) {
  QString saveDirPath =
      _toolbox->settingsManager()->appSettings()->telemetrySavePath();
  if (saveDirPath.isEmpty()) {
    QString error = tr(
        "Unable to save telemetry log. Application save directory is not set.");
    showAppMessage(error);
    return false;
  }

  QDir saveDir(saveDirPath);
  if (!saveDir.exists()) {
    QString error = tr("Unable to save telemetry log. Telemetry save directory "
                       "\"%1\" does not exist.")
                        .arg(saveDirPath);
    showAppMessage(error);
    return false;
  }

  return true;
}

void QGCApplication::reportMissingParameter(int componentId,
                                            const QString &name) {
  QPair<int, QString> missingParam(componentId, name);

  if (!_missingParams.contains(missingParam)) {
    _missingParams.append(missingParam);
  }
  _missingParamsDelayedDisplayTimer.start();
}

/// Called when the delay timer fires to show the missing parameters warning
void QGCApplication::_missingParamsDisplay(void) {
  if (_missingParams.count()) {
    QString params;
    for (QPair<int, QString> &missingParam : _missingParams) {
      QString param = QStringLiteral("%1:%2")
                          .arg(missingParam.first)
                          .arg(missingParam.second);
      if (params.isEmpty()) {
        params += param;
      } else {
        params += QStringLiteral(", %1").arg(param);
      }
    }
    _missingParams.clear();

    showAppMessage(
        tr("Parameters are missing from firmware. You may be running a version "
           "of firmware which is not fully supported or your firmware has a "
           "bug in it. Missing params: %1")
            .arg(params));
  }
}

QObject *QGCApplication::_rootQmlObject() {
  if (_qmlAppEngine && _qmlAppEngine->rootObjects().size())
    return _qmlAppEngine->rootObjects()[0];
  return nullptr;
}

void QGCApplication::showCriticalVehicleMessage(const QString &message) {
  // PreArm messages are handled by Vehicle and shown in Map
  if (message.startsWith(QStringLiteral("PreArm")) ||
      message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
    return;
  }
  QObject *rootQmlObject = _rootQmlObject();
  if (rootQmlObject) {
    QVariant varReturn;
    QVariant varMessage = QVariant::fromValue(message);
    QMetaObject::invokeMethod(_rootQmlObject(), "showCriticalVehicleMessage",
                              Q_RETURN_ARG(QVariant, varReturn),
                              Q_ARG(QVariant, varMessage));
  } else if (runningUnitTests()) {
    // Unit tests can run without UI
    qDebug() << "QGCApplication::showCriticalVehicleMessage unittest"
             << message;
  } else {
    qWarning() << "Internal error";
  }
}

void QGCApplication::showAppMessage(const QString &message,
                                    const QString &title) {
  QString dialogTitle = title.isEmpty() ? applicationName() : title;

  QObject *rootQmlObject = _rootQmlObject();
  if (rootQmlObject) {
    QVariant varReturn;
    QVariant varMessage = QVariant::fromValue(message);
    QMetaObject::invokeMethod(_rootQmlObject(), "showMessageDialog",
                              Q_RETURN_ARG(QVariant, varReturn),
                              Q_ARG(QVariant, dialogTitle),
                              Q_ARG(QVariant, varMessage));
  } else if (runningUnitTests()) {
    // Unit tests can run without UI
    qDebug() << "QGCApplication::showAppMessage unittest title:message"
             << dialogTitle << message;
  } else {
    // UI isn't ready yet
    _delayedAppMessages.append(QPair<QString, QString>(dialogTitle, message));
    QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
  }
}

void QGCApplication::_showDelayedAppMessages(void) {
  if (_rootQmlObject()) {
    for (const QPair<QString, QString> &appMsg : _delayedAppMessages) {
      showAppMessage(appMsg.second, appMsg.first);
    }
    _delayedAppMessages.clear();
  } else {
    QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
  }
}

QQuickItem *QGCApplication::mainRootWindow() {
  if (!_mainRootWindow) {
    _mainRootWindow = reinterpret_cast<QQuickItem *>(_rootQmlObject());
  }
  return _mainRootWindow;
}

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

void QGCApplication::qmlAttemptWindowClose() {
  if (_rootQmlObject()) {
    QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
  }
}

bool QGCApplication::isInternetAvailable() {
  if (_toolbox->settingsManager()
          ->appSettings()
          ->checkInternet()
          ->rawValue()
          .toBool())
    return getQGCMapEngine()->isInternetActive();
  return true;
}

void QGCApplication::_checkForNewVersion() {
#ifndef __mobile__
  if (!_runningUnitTests) {
    if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion,
                          _buildVersion)) {
      QString versionCheckFile =
          toolbox()->corePlugin()->stableVersionCheckFileUrl();
      if (!versionCheckFile.isEmpty()) {
        QGCFileDownload *download = new QGCFileDownload(this);
        connect(download, &QGCFileDownload::downloadComplete, this,
                &QGCApplication::_qgcCurrentStableVersionDownloadComplete);
        download->download(versionCheckFile);
      }
    }
  }
#endif
}

void QGCApplication::_qgcCurrentStableVersionDownloadComplete(
    QString /*remoteFile*/, QString localFile, QString errorMsg) {
#ifdef __mobile__
  Q_UNUSED(localFile)
  Q_UNUSED(errorMsg)
#else
  if (errorMsg.isEmpty()) {
    QFile versionFile(localFile);
    if (versionFile.open(QIODevice::ReadOnly)) {
      QTextStream textStream(&versionFile);
      QString version = textStream.readLine();

      qDebug() << version;

      int majorVersion, minorVersion, buildVersion;
      if (_parseVersionText(version, majorVersion, minorVersion,
                            buildVersion)) {
        if (_majorVersion < majorVersion ||
            (_majorVersion == majorVersion && _minorVersion < minorVersion) ||
            (_majorVersion == majorVersion && _minorVersion == minorVersion &&
             _buildVersion < buildVersion)) {
          showAppMessage(
              tr("There is a newer version of %1 available. You can download "
                 "it from %2.")
                  .arg(applicationName())
                  .arg(toolbox()->corePlugin()->stableDownloadLocation()),
              tr("New Version Available"));
        }
      }
    }
  } else {
    qDebug() << "Download QGC stable version failed" << errorMsg;
  }

  sender()->deleteLater();
#endif
}

bool QGCApplication::_parseVersionText(const QString &versionString,
                                       int &majorVersion, int &minorVersion,
                                       int &buildVersion) {
  QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
  QRegularExpressionMatch match = regExp.match(versionString);
  if (match.hasMatch() && match.lastCapturedIndex() == 3) {
    majorVersion = match.captured(1).toInt();
    minorVersion = match.captured(2).toInt();
    buildVersion = match.captured(3).toInt();
    return true;
  }

  return false;
}

void QGCApplication::_onGPSConnect() {
  _gpsRtkFactGroup->connected()->setRawValue(true);
}

void QGCApplication::_onGPSDisconnect() {
  _gpsRtkFactGroup->connected()->setRawValue(false);
}

void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,
                                        double latitude, double longitude,
                                        float altitude, bool valid,
                                        bool active) {
  _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
  _gpsRtkFactGroup->currentAccuracy()->setRawValue(
      static_cast<double>(accuracyMM) / 1000.0);
  _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
  _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
  _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
  _gpsRtkFactGroup->valid()->setRawValue(valid);
  _gpsRtkFactGroup->active()->setRawValue(active);
}

void QGCApplication::_gpsNumSatellites(int numSatellites) {
  _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
}

QString QGCApplication::cachedParameterMetaDataFile(void) {
  QSettings settings;
  QDir parameterDir = QFileInfo(settings.fileName()).dir();
  return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
}

QString QGCApplication::cachedAirframeMetaDataFile(void) {
  QSettings settings;
  QDir airframeDir = QFileInfo(settings.fileName()).dir();
  return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}