Merge branch 'dev-lin' of https://github.com/pixhawk/qgroundcontrol into dev

src/QGCCore.cc

@@ -204,7 +204,7 @@ QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 QGCCore::~QGCCore()
 {
     //mainWindow->storeSettings();
-    mainWindow->hide();
+    mainWindow->close();
     mainWindow->deleteLater();
     // Delete singletons
     delete LinkManager::instance();

src/apps/mavlinkgen/ui/XMLCommProtocolWidget.h

@@ -66,6 +66,22 @@ protected:
     DomModel* model;
     void changeEvent(QEvent *e);
 
+signals:
+    void visibilityChanged(bool visible);
+
+protected:
+    void showEvent(QShowEvent* event)
+    {
+        QWidget::showEvent(event);
+        emit visibilityChanged(true);
+    }
+
+    void hideEvent(QHideEvent* event)
+    {
+        QWidget::hideEvent(event);
+        emit visibilityChanged(false);
+    }
+
 private:
     Ui::XMLCommProtocolWidget *m_ui;
 };

src/uas/UASInterface.h

@@ -176,14 +176,64 @@ public:
 
     /** @brief Get the type of the system (airplane, quadrotor, helicopter,..)*/
     virtual int getSystemType() = 0;
+    /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
+    virtual int getAutopilotType() = 0;
+    virtual void setAutopilotType(int apType)= 0;
+
+    QString getSystemTypeString(int type)
+    {
+        switch (type)
+        {
+        default:
+        case 0:
+            return "MAV_TYPE_GENERIC";
+        case 1:
+            return "MAV_TYPE_FIXED_WING";
+        case 2:
+            return "MAV_TYPE_QUADROTOR";
+        case 3:
+            return "MAV_TYPE_COAXIAL";
+        case 4:
+            return "MAV_TYPE_HELICOPTER";
+        case 5:
+            return "MAV_TYPE_GROUND";
+        case 6:
+            return "MAV_TYPE_GCS";
+        case 7:
+            return "MAV_TYPE_AIRSHIP";
+        case 8:
+            return "MAV_TYPE_FREE_BALLOON";
+        case 9:
+            return "MAV_TYPE_ROCKET";
+        case 10:
+            return "MAV_TYPE_UGV_GROUND_ROVER";
+        case 11:
+            return "MAV_TYPE_UGV_SURFACE_SHIP";
+        }
+    }
+
+    QString getAutopilotTypeString(int type)
+    {
+        switch (type)
+        {
+        default:
+        case 0:
+            return "MAV_AUTOPILOT_GENERIC";
+        case 1:
+            return "MAV_AUTOPILOT_PIXHAWK";
+        case 2:
+            return "MAV_AUTOPILOT_SLUGS";
+        case 3:
+            return "MAV_AUTOPILOT_ARDUPILOTMEGA";
+        case 4:
+            return "MAV_AUTOPILOT_OPENPILOT";
+        }
+    }
 
     QColor getColor() {
         return color;
     }
 
-    virtual int getAutopilotType() = 0;
-    virtual void setAutopilotType(int apType)= 0;
-
 public slots:
 
     /** @brief Set a new name for the system */

src/ui/HUD.cc

@@ -200,14 +200,16 @@ void HUD::showEvent(QShowEvent* event)
     // events
     QGLWidget::showEvent(event);
     refreshTimer->start(updateInterval);
+    emit visibilityChanged(true);
 }
 
 void HUD::hideEvent(QHideEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    QGLWidget::hideEvent(event);
     refreshTimer->stop();
+    QGLWidget::hideEvent(event);
+    emit visibilityChanged(false);
 }
 
 void HUD::contextMenuEvent (QContextMenuEvent* event)

src/ui/HUD.h

@@ -113,6 +113,9 @@ protected slots:
 
     void drawPolygon(QPolygonF refPolygon, QPainter* painter);
 
+signals:
+    void visibilityChanged(bool visible);
+
 protected:
     void commitRawDataToGL();
     /** @brief Convert reference coordinates to screen coordinates */

src/ui/MainWindow.cc

@@ -128,11 +128,8 @@ MainWindow::MainWindow(QWidget *parent):
     setCentralWidget(centerStack);
 
     buildCommonWidgets();
-
     connectCommonWidgets();
 
-    arrangeCommonCenterStack();
-
     configureWindowName();
 
     loadStyle(currentStyle);
@@ -235,7 +232,13 @@ MainWindow::~MainWindow()
             delete dockWidget->widget();
             delete dockWidget;
         }
+        else
+        {
+            delete dynamic_cast<QObject*>(*i);
+        }
     }
+
+    // Delete all UAS objects
 }
 
 /**
@@ -243,11 +246,9 @@ MainWindow::~MainWindow()
  */
 void MainWindow::setDefaultSettingsForAp()
 {
+    // Check if the settings exist, instantiate defaults if necessary
 
 
-
-//    // Check if the settings exist, instantiate defaults if necessary
-
 //    // UNCONNECTED VIEW DEFAULT
 ////    QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED);
 //    if (!settings.contains(centralKey)) {
@@ -574,6 +575,9 @@ void MainWindow::buildCommonWidgets()
         addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea);
     }
 
+    // Custom widgets, added last to all menus and layouts
+    buildCustomWidget();
+
     // Dialogue widgets
     //FIXME: free memory in destructor
 
@@ -588,6 +592,8 @@ void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidg
     var.setValue((QWidget*)widget);
     tempAction->setData(var);
     connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool)));
+    connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
+    tempAction->setChecked(widget->isVisible());
     addDockWidget(area, widget);
 }
 
@@ -614,6 +620,8 @@ void MainWindow::addCentralWidget(QWidget* widget, const QString& title)
         tempAction->setData(var);
         centerStackActionGroup.addAction(tempAction);
         connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget()));
+        connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool)));
+        tempAction->setChecked(widget->isVisible());
     }
 }
 
@@ -677,34 +685,58 @@ 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));
-    QGCToolWidget* tool = new QGCToolWidget("", this);
-    tool->loadSettings(fileName);
+    loadCustomWidget(fileName);
+}
 
-    if (QGCToolWidget::instances()->size() < 2)
+void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance)
+{
+    QGCToolWidget* tool = new QGCToolWidget("", this);
+    if (tool->loadSettings(fileName, true) || !singleinstance)
     {
-        // This is the first widget
-        ui.menuTools->addSeparator();
+        // 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;
     }
-
-    // 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);
 }
 
-void MainWindow::arrangeCommonCenterStack()
+void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType)
 {
+    QString defaultsDir = qApp->applicationDirPath() + "/files/" + systemType.toLower() + "/" + autopilotType.toLower() + "/widgets/";
 
+    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);
+        }
+    }
 }
 
 void MainWindow::loadSettings()
@@ -1155,10 +1187,8 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     // Connect the UAS to the full user interface
 
-    if (uas != NULL) {
-        // Set default settings
-        setDefaultSettingsForAp();
-
+    if (uas != NULL)
+    {
         // The pilot, operator and engineer views were not available on startup, enable them now
         ui.actionPilotsView->setEnabled(true);
         ui.actionOperatorsView->setEnabled(true);
@@ -1236,6 +1266,11 @@ void MainWindow::UASCreated(UASInterface* uas)
             addCentralWidget(linechartWidget, tr("Realtime Plot"));
         }
 
+        // Load default custom widgets for this autopilot type
+        loadCustomWidgetsFromDefaults(uas->getSystemTypeString(uas->getSystemType()), uas->getAutopilotTypeString(uas->getAutopilotType()));
+
+
+
         // Change the view only if this is the first UAS
 
         // If this is the first connected UAS, it is both created as well as
@@ -1275,10 +1310,9 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
 
-    // Custom widgets, added last to all menus and layouts
-    buildCustomWidget();
     // Restore the mainwindow size
-    if (settings.contains(getWindowGeometryKey())) {
+    if (settings.contains(getWindowGeometryKey()))
+    {
         restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
     }
 }
@@ -1302,7 +1336,13 @@ void MainWindow::loadViewState()
 {
     // Restore center stack state
     int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex()).toInt();
-    centerStack->setCurrentIndex(index);
+    // The offline plot view is usually the consequence of a logging run, always show the realtime view first
+    if (centerStack->indexOf(dataplotWidget) == index)
+    {
+        // Rewrite to realtime plot
+        index = centerStack->indexOf(linechartWidget);
+    }
+    if (index != -1) centerStack->setCurrentIndex(index);
 
     // Restore the widget positions and size
     if (settings.contains(getWindowStateKey()))

src/ui/MainWindow.h

@@ -178,9 +178,15 @@ public slots:
     /** @brief Add a custom tool widget */
     void createCustomWidget();
 
-    /** @brief Load a custom tool widget from a file */
+    /** @brief Load a custom tool widget from a file chosen by user (QFileDialog) */
     void loadCustomWidget();
 
+    /** @brief Load a custom tool widget from a file */
+    void loadCustomWidget(const QString& fileName, bool singleinstance=false);
+
+    /** @brief Load custom widgets from default file */
+    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+
     void closeEvent(QCloseEvent* event);
 
     /** @brief Load data view, allowing to plot flight data */
@@ -275,21 +281,8 @@ protected:
 
     void buildCustomWidget();
     void buildCommonWidgets();
-//    void buildPxWidgets();
-//    void buildSlugsWidgets();
-
     void connectCommonWidgets();
-//    void connectPxWidgets();
-//    void connectSlugsWidgets();
-
-    void arrangeCommonCenterStack();
-//    void arrangePxCenterStack();
-//    void arrangeSlugsCenterStack();
-
     void connectCommonActions();
-//    void connectPxActions();
-//    void connectSlugsActions();
-
 
     void configureWindowName();
     void loadSettings();
@@ -307,9 +300,7 @@ protected:
 
     // Center widgets
     QPointer<Linecharts> linechartWidget;
-
     QPointer<HUD> hudWidget;
-
     QPointer<QGCMapTool> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
@@ -322,6 +313,7 @@ protected:
 #if (defined _MSC_VER) || (defined Q_OS_MAC)
     QPointer<QGCGoogleEarthView> gEarthWidget;
 #endif
+
     // Dock widgets
     QPointer<QDockWidget> controlDockWidget;
     QPointer<QDockWidget> controlParameterWidget;

src/ui/QGCDataPlot2D.h

@@ -46,7 +46,22 @@ public slots:
     /** @brief Calculate and display regression function*/
     bool calculateRegression();
 
+signals:
+    void visibilityChanged(bool visible);
+
 protected:
+    void showEvent(QShowEvent* event)
+    {
+        QWidget::showEvent(event);
+        emit visibilityChanged(true);
+    }
+
+    void hideEvent(QHideEvent* event)
+    {
+        QWidget::hideEvent(event);
+        emit visibilityChanged(false);
+    }
+
     void changeEvent(QEvent *e);
     IncrementalPlot* plot;
     LogCompressor* compressor;

src/ui/designer/QGCToolWidget.cc

@@ -109,14 +109,19 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
     return instances()->values();
 }
 
-void QGCToolWidget::loadSettings(const QString& settings)
+/**
+ * @param singleinstance If this is set to true, the widget settings will only be loaded if not another widget with the same title exists
+ */
+bool QGCToolWidget::loadSettings(const QString& settings, bool singleinstance)
 {
     QSettings set(settings, QSettings::IniFormat);
     QStringList groups = set.childGroups();
     QString widgetName = groups.first();
+    if (singleinstance && QGCToolWidget::instances()->keys().contains(widgetName)) return false;
     setTitle(widgetName);
     qDebug() << "WIDGET TITLE LOADED: " << widgetName;
     loadSettings(set);
+    return true;
 }
 
 void QGCToolWidget::loadSettings(QSettings& settings)

src/ui/designer/QGCToolWidget.h

@@ -47,7 +47,7 @@ public slots:
     /** @brief Load this widget from a QSettings object */
     void loadSettings(QSettings& settings);
     /** @brief Load this widget from a settings file */
-    void loadSettings(const QString& settings);
+    bool loadSettings(const QString& settings, bool singleinstance=false);
     /** @brief Store this widget to a QSettings object */
     void storeSettings(QSettings& settings);
     /** @brief Store this widget to a settings file */

src/ui/linechart/Linecharts.cc

@@ -30,32 +30,35 @@ void Linecharts::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    Q_UNUSED(event) {
-        QWidget* prevWidget = currentWidget();
-        if (prevWidget) {
-            LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
-            if (chart) {
-                this->active = true;
-                chart->setActive(true);
-            }
+    Q_UNUSED(event)
+    QWidget* prevWidget = currentWidget();
+    if (prevWidget)
+    {
+        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+        if (chart) {
+            this->active = true;
+            chart->setActive(true);
         }
     }
+    QWidget::showEvent(event);
+    emit visibilityChanged(true);
 }
 
 void Linecharts::hideEvent(QHideEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    Q_UNUSED(event) {
-        QWidget* prevWidget = currentWidget();
-        if (prevWidget) {
-            LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
-            if (chart) {
-                this->active = false;
-                chart->setActive(false);
-            }
+    Q_UNUSED(event)
+    QWidget* prevWidget = currentWidget();
+    if (prevWidget) {
+        LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
+        if (chart) {
+            this->active = false;
+            chart->setActive(false);
         }
     }
+    QWidget::hideEvent(event);
+    emit visibilityChanged(false);
 }
 
 void Linecharts::selectSystem(int systemid)

src/ui/linechart/Linecharts.h

@@ -16,6 +16,7 @@ public:
 signals:
     /** @brief This signal is emitted once a logfile has been finished writing */
     void logfileWritten(QString fileName);
+    void visibilityChanged(bool visible);
 
 public slots:
     /** @brief Select plot for one system */
@@ -24,6 +25,7 @@ public slots:
     void addSystem(UASInterface* uas);
 
 protected:
+
     QMap<int, LinechartWidget*> plots;
     bool active;
     /** @brief Start updating widget */

src/ui/map/QGCMapTool.h

@@ -20,6 +20,22 @@ public slots:
     /** @brief Update slider zoom from map change */
     void setZoom(int zoom);
 
+signals:
+    void visibilityChanged(bool visible);
+
+protected:
+    void showEvent(QShowEvent* event)
+    {
+        QWidget::showEvent(event);
+        emit visibilityChanged(true);
+    }
+
+    void hideEvent(QHideEvent* event)
+    {
+        QWidget::hideEvent(event);
+        emit visibilityChanged(false);
+    }
+
 private:
     Ui::QGCMapTool *ui;
 };

src/ui/map3D/QGCGoogleEarthView.cc

@@ -376,18 +376,20 @@ void QGCGoogleEarthView::moveToPosition()
 
 void QGCGoogleEarthView::hideEvent(QHideEvent* event)
 {
-    Q_UNUSED(event);
     updateTimer->stop();
+    QWidget::hideEvent(event);
+    emit visibilityChanged(false);
 }
 
 void QGCGoogleEarthView::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    Q_UNUSED(event)
+    QWidget::showEvent(event);
     // Enable widget, initialize on first run
 
-    if (!webViewInitialized) {
+    if (!webViewInitialized)
+    {
 #if (defined Q_OS_MAC)
         webViewMac->setPage(new QGCWebPage(webViewMac));
         webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
@@ -404,9 +406,12 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
         gEarthInitialized = false;
 
         QTimer::singleShot(3000, this, SLOT(initializeGoogleEarth()));
-    } else {
+    }
+    else
+    {
         updateTimer->start(refreshRateMs);
     }
+    emit visibilityChanged(true);
 }
 
 void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)

src/ui/map3D/QGCGoogleEarthView.h

@@ -137,6 +137,9 @@ public:
     /** @brief Get a document element */
     QVariant documentElement(QString name);
 
+signals:
+    void visibilityChanged(bool visible);
+
 protected:
     void changeEvent(QEvent *e);
     QTimer* updateTimer;