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  • Don Gagne's avatar
    · 7abbe1b9
    Don Gagne authored 
    Preserve clockwise winding when adjusting vertices
    7abbe1b9
QGCApplication.h 7.61 KiB
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/****************************************************************************
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 *
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 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 *
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 * QGroundControl is licensed according to the terms in the file
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 * COPYING.md in the root of the source code directory.
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 *
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 ****************************************************************************/
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/**
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 * @file
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 *   @brief Definition of main class
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 *
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 *   @author Lorenz Meier <mavteam@student.ethz.ch>
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 *
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 */
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#ifndef QGCAPPLICATION_H
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#define QGCAPPLICATION_H
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#include <QApplication>
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#include <QTimer>
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#include <QQmlApplicationEngine>
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#include "LinkConfiguration.h"
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#include "LinkManager.h"
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#include "MAVLinkProtocol.h"
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#include "FlightMapSettings.h"
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#include "FirmwarePluginManager.h"
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#include "MultiVehicleManager.h"
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#include "JoystickManager.h"
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#include "GAudioOutput.h"
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#include "UASMessageHandler.h"
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#include "FactSystem.h"
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#ifdef QGC_RTLAB_ENABLED
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#include "OpalLink.h"
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#endif
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// Work around circular header includes
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class QGCSingleton;
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class MainWindow;
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class QGCToolbox;
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/**
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 * @brief The main application and management class.
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 *
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 * This class is started by the main method and provides
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 * the central management unit of the groundstation application.
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 *
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 **/
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class QGCApplication : public
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#ifdef __mobile__
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    QGuiApplication // Native Qml based application
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#else
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    QApplication    // QtWidget based application
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#endif
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{
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    Q_OBJECT
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public:
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    QGCApplication(int &argc, char* argv[], bool unitTesting);
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    ~QGCApplication();
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    static const char* parameterFileExtension;
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    static const char* missionFileExtension;
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    static const char* fenceFileExtension;
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    static const char* rallyPointFileExtension;
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    static const char* telemetryFileExtension;
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/// @brief Sets the persistent flag to delete all settings the next time QGroundControl is started. void deleteAllSettingsNextBoot(void); /// @brief Clears the persistent flag to delete all settings the next time QGroundControl is started. void clearDeleteAllSettingsNextBoot(void); /// @return true: Prompt to save log file when vehicle goes away bool promptFlightDataSave(void); /// @return true: Prompt to save log file even if vehicle was not armed bool promptFlightDataSaveNotArmed(void); void setPromptFlightDataSave(bool promptForSave); void setPromptFlightDataSaveNotArmed(bool promptForSave); /// @brief Returns truee if unit test are being run bool runningUnitTests(void) { return _runningUnitTests; } /// @return true: dark ui style, false: light ui style bool styleIsDark(void) { return _styleIsDark; } /// Set the current UI style void setStyle(bool styleIsDark); /// Used to report a missing Parameter. Warning will be displayed to user. Method may be called /// multiple times. void reportMissingParameter(int componentId, const QString& name); /// Show a non-modal message to the user void showMessage(const QString& message); /// @return true: Fake ui into showing mobile interface bool fakeMobile(void) { return _fakeMobile; } #ifdef QT_DEBUG bool testHighDPI(void) { return _testHighDPI; } #endif // Still working on getting rid of this and using dependency injection instead for everything QGCToolbox* toolbox(void) { return _toolbox; } /// Do we have Bluetooth Support? bool isBluetoothAvailable() { return _bluetoothAvailable; } QGeoCoordinate lastKnownHomePosition(void) { return _lastKnownHomePosition; } void setLastKnownHomePosition(QGeoCoordinate& lastKnownHomePosition); public slots: /// You can connect to this slot to show an information message box from a different thread. void informationMessageBoxOnMainThread(const QString& title, const QString& msg); /// You can connect to this slot to show a warning message box from a different thread. void warningMessageBoxOnMainThread(const QString& title, const QString& msg); /// You can connect to this slot to show a critical message box from a different thread. void criticalMessageBoxOnMainThread(const QString& title, const QString& msg); void showSetupView(void); void qmlAttemptWindowClose(void); #ifndef __mobile__ /// Save the specified Flight Data Log void saveTempFlightDataLogOnMainThread(QString tempLogfile); #endif signals: /// Signals that the style has changed /// @param darkStyle true: dark style, false: light style
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void styleChanged(bool darkStyle); /// This is connected to MAVLinkProtocol::checkForLostLogFiles. We signal this to ourselves to call the slot /// on the MAVLinkProtocol thread; void checkForLostLogFiles(void); public: // Although public, these methods are internal and should only be called by UnitTest code /// @brief Perform initialize which is common to both normal application running and unit tests. /// Although public should only be called by main. void _initCommon(void); /// @brief Intialize the application for normal application boot. Or in other words we are not going to run /// unit tests. Although public should only be called by main. bool _initForNormalAppBoot(void); /// @brief Intialize the application for normal application boot. Or in other words we are not going to run /// unit tests. Although public should only be called by main. bool _initForUnitTests(void); static QGCApplication* _app; ///< Our own singleton. Should be reference directly by qgcApp private slots: void _missingParamsDisplay(void); private: void _loadCurrentStyle (); QObject* _rootQmlObject (); #ifdef __mobile__ QQmlApplicationEngine* _qmlAppEngine; #endif bool _runningUnitTests; ///< true: running unit tests, false: normal app static const char* _darkStyleFile; static const char* _lightStyleFile; bool _styleIsDark; ///< true: dark style, false: light style static const int _missingParamsDelayedDisplayTimerTimeout = 1000; ///< Timeout to wait for next missing fact to come in before display QTimer _missingParamsDelayedDisplayTimer; ///< Timer use to delay missing fact display QStringList _missingParams; ///< List of missing facts to be displayed bool _fakeMobile; ///< true: Fake ui into displaying mobile interface bool _settingsUpgraded; ///< true: Settings format has been upgrade to new version #ifdef QT_DEBUG bool _testHighDPI; ///< true: double fonts sizes for simulating high dpi devices #endif QGCToolbox* _toolbox; bool _bluetoothAvailable; QGeoCoordinate _lastKnownHomePosition; ///< Map position when all other sources fail static const char* _settingsVersionKey; ///< Settings key which hold settings version static const char* _deleteAllSettingsKey; ///< If this settings key is set on boot, all settings will be deleted static const char* _promptFlightDataSave; ///< Settings key for promptFlightDataSave static const char* _promptFlightDataSaveNotArmed; ///< Settings key for promptFlightDataSaveNotArmed static const char* _styleKey; ///< Settings key for UI style static const char* _lastKnownHomePositionLatKey; static const char* _lastKnownHomePositionLonKey; static const char* _lastKnownHomePositionAltKey; /// Unit Test have access to creating and destroying singletons friend class UnitTest; }; /// @brief Returns the QGCApplication object singleton.
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QGCApplication* qgcApp(void); #endif