Merge pull request #1159 from DonLakeFlyer/MainWindowDockWidget

Main window central view and dock widget re-architecture

files/pixhawk/hexarotor/widgets/mavconn.qgw

-[MAVCONN%20Control]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=DO: Control Video
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=CAPTURE
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=200
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=2
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=DO: Control Video
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=STOP
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=200
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=PREFLIGHT: Calibration
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=CALIBRATE
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\4\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_DESCRIPTION=Setpoint ON<->OFF
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_PARAMID=
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_COMPONENTID=0
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MIN=1
-QGC_TOOL_WIDGET_ITEMS\4\QGC_PARAM_SLIDER_MAX=0
-QGC_TOOL_WIDGET_ITEMS\5\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_DESCRIPTION=Glob. Loc ON<->OFF
-QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_PARAMID=
-QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_COMPONENTID=0
-QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MIN=1
-QGC_TOOL_WIDGET_ITEMS\5\QGC_PARAM_SLIDER_MAX=0
-QGC_TOOL_WIDGET_ITEMS\6\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_DESCRIPTION=GPS ENU HL<->ASL
-QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_PARAMID=
-QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_COMPONENTID=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\6\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\7\TYPE=SLIDER
-QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_DESCRIPTION=Yaw PX<->ASL
-QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_PARAMID=
-QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_COMPONENTID=0
-QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MIN=0
-QGC_TOOL_WIDGET_ITEMS\7\QGC_PARAM_SLIDER_MAX=1
-QGC_TOOL_WIDGET_ITEMS\size=7

files/pixhawk/quadrotor/parameter_tooltips/tooltips.txt

-EEPROM,variable name,Min,Max,Default,Multiplier,Enabled (0 = no, 1 = yes),Comment
-HDNG2RLL_P, 0, 5, 0.7, 1, 1, NAV_ROLL_P - Navigation control gains. Tuning values for the navigation control PID loops. The P term is the primary tuning value. This determines how the control deflection varies in proportion to the required correction.
-SYS_TYPE, 0, 15, 1, 1, 1, System type (airframe)
\ No newline at end of file

files/pixhawk/quadrotor/widgets/mavconn.qgw

-[MAVCONN%20Control]
-QGC_TOOL_WIDGET_ITEMS\1\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_DESCRIPTION=START Recording
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_BUTTONTEXT=CAPTURE
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_COMMANDID=200
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM4=2
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\1\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\2\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_DESCRIPTION=STOP Recording
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_BUTTONTEXT=STOP
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_COMMANDID=200
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM1=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\2\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\3\TYPE=COMMANDBUTTON
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_DESCRIPTION=PREFLIGHT: Calibration
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_BUTTONTEXT=CALIBRATE
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_COMMANDID=241
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAMS_VISIBLE=false
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM1=1
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM2=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM3=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM4=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM5=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM6=0
-QGC_TOOL_WIDGET_ITEMS\3\QGC_COMMAND_BUTTON_PARAM7=0
-QGC_TOOL_WIDGET_ITEMS\size=3

files/px4/parameter_tooltips/tooltips.txt

-^ Name            ^ Min    ^ Max    ^ Default  ^ Multiplier  ^ Enabled ^  Comment ^
-| BAT_V_EMPTY     | 0.9    | 100.0  | 3.2      | 1           | 1       | Voltage of an empty battery cell  |
-| BAT_V_FULL      | 1.0    | 200.0  | 4.05     | 1           | 1       | Voltage of a full battery cell    |
-| BAT_N_CELLS     | 1      | 100    | 3        | 1           | 1       | Number of SERIAL battery cells. Typically this ranges from 2S to 6S in small-scale UAVs  |
-| BAT_V_SCALING   | 0.001  | 1.0    | 0.00838  | 1           | 1       | Conversion from ADC ticks to battery voltage. Depends on the connected board, calibrate with a multimeter.  |
-| MC_ATTRATE_P    | 0.0    | 20.0   | 0.20     | 1           | 1       | Multirotor attitude rate control P gain. This gain controls how much of the motor thrust should be used to control angular velocity. A larger number will increase the control response, but will make the system also more twitchy. |
-| MC_ATTRATE_D    | 0.0    | 20.0   | 0.05     | 1           | 1       | Multirotor attitude rate control D gain. A large value will allow to damp oscillations due to a high P gain, but will make the system response suspectible to noise.|
-| MC_ATT_P    | 0.0    | 20.0   | 0.20     | 1           | 1       | Multirotor attitude control proportional (P) gain. This defines how strong the response of the system will be to an attitude error|
-| MC_ATT_D    | 0.0    | 20.0   | 0.05     | 1           | 1       | Multirotor attitude control D gain. A large value will allow to damp oscillations due to a high P gain, but will make the system response suspectible to noise.|
-| FW_ROLLRATE_P    | 0.0    | 20.0   | 0.30     | 1           | 1       | Fixed wing roll rate control P gain. This gain controls how strong the ailerons or rudder should be actuated in order to achieve a certain roll rate. A larger number will increase the control response, but will make the system also more twitchy. |
-| FW_HEADING_P    | 0.0    | 20.0   | 4.00     | 1           | 1       | Fixed wing heading error to bank angle gain |
\ No newline at end of file

qgroundcontrol.pro

@@ -452,7 +452,6 @@ HEADERS += \
     src/ui/QGCHilFlightGearConfiguration.h \
     src/ui/QGCHilJSBSimConfiguration.h \
     src/ui/QGCHilXPlaneConfiguration.h \
-    src/ui/submainwindow.h \
     src/ui/uas/UASQuickView.h \
     src/ui/uas/UASQuickViewItem.h \
     src/ui/linechart/ChartPlot.h \
@@ -481,7 +480,6 @@ HEADERS += \
     src/ui/px4_configuration/PX4Bootloader.h \
     src/ui/px4_configuration/PX4FirmwareUpgradeThread.h \
     src/ui/px4_configuration/PX4FirmwareUpgrade.h \
-    src/ui/menuactionhelper.h \
     src/uas/UASManagerInterface.h \
     src/uas/QGCUASParamManagerInterface.h \
     src/uas/QGCUASFileManager.h \
@@ -497,7 +495,8 @@ HEADERS += \
     src/QGCPalette.h \
     src/QGCQmlWidgetHolder.h \
     src/ui/QGCParamTreeWidget.h \
-    src/ui/QGCMapRCToParamDialog.h
+    src/ui/QGCMapRCToParamDialog.h \
+    src/QGCDockWidget.h \
 
 SOURCES += \
     src/main.cc \
@@ -598,7 +597,6 @@ SOURCES += \
     src/ui/QGCHilFlightGearConfiguration.cc \
     src/ui/QGCHilJSBSimConfiguration.cc \
     src/ui/QGCHilXPlaneConfiguration.cc \
-    src/ui/submainwindow.cpp \
     src/ui/uas/UASQuickViewItem.cc \
     src/ui/uas/UASQuickView.cc \
     src/ui/linechart/ChartPlot.cc \
@@ -627,7 +625,6 @@ SOURCES += \
     src/ui/px4_configuration/PX4Bootloader.cc \
     src/ui/px4_configuration/PX4FirmwareUpgradeThread.cc \
     src/ui/px4_configuration/PX4FirmwareUpgrade.cc \
-    src/ui/menuactionhelper.cpp \
     src/uas/QGCUASFileManager.cc \
     src/ui/QGCUASFileView.cc \
     src/CmdLineOptParser.cc \
@@ -640,7 +637,8 @@ SOURCES += \
     src/QGCPalette.cc \
     src/QGCQmlWidgetHolder.cpp \
     src/ui/QGCParamTreeWidget.cpp \
-    src/ui/QGCMapRCToParamDialog.cpp
+    src/ui/QGCMapRCToParamDialog.cpp \
+    src/QGCDockWidget.cc \
 
 #
 # Unit Test specific configuration goes here

src/QGCConfig.h

@@ -12,7 +12,7 @@
 
 // If you need to make an incompatible changes to stored settings, bump this version number
 // up by 1. This will caused store settings to be cleared on next boot.
-#define QGC_SETTINGS_VERSION 2
+#define QGC_SETTINGS_VERSION 3
 
 #define QGC_APPLICATION_NAME "QGroundControl"
 #define QGC_ORG_NAME "QGroundControl.org"

src/QGCDockWidget.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#include "QGCDockWidget.h"
+
+#include <QCloseEvent>
+
+QGCDockWidget::QGCDockWidget(const QString& title, QWidget *parent, Qt::WindowFlags flags) :
+    QDockWidget(title, parent, flags)
+{
+    
+}
+
+// Instead of destroying the widget just hide it
+void QGCDockWidget::closeEvent(QCloseEvent* event)
+{
+    event->ignore();
+    setVisible(false);
+}

src/QGCDockWidget.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 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/>.
+ 
+ ======================================================================*/
+
+#ifndef QGCDockWidget_h
+#define QGCDockWidget_h
+
+#include <QDockWidget>
+
+/// @file
+///     @brief Subclass of QDockWidget so we can intercept the closeEvent.
+///
+///     @author Don Gagne <don@thegagnes.com>
+
+class QGCDockWidget : public QDockWidget {
+    Q_OBJECT
+    
+public:
+    QGCDockWidget(const QString& title, QWidget *parent = 0, Qt::WindowFlags flags = 0);
+
+    void closeEvent(QCloseEvent* event);
+};
+
+
+#endif

src/VehicleSetup/SetupView.cc

@@ -51,7 +51,7 @@ SetupView::SetupView(QWidget* parent) :
     
     setResizeMode(SizeRootObjectToView);
     
-    _setActiveUAS(NULL);
+    _setActiveUAS(UASManager::instance()->getActiveUAS());
 }
 
 SetupView::~SetupView()

src/ui/MainWindow.ui

@@ -62,7 +62,6 @@
     <addaction name="separator"/>
     <addaction name="actionMuteAudioOutput"/>
     <addaction name="actionSettings"/>
-    <addaction name="actionAdvanced_Mode"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
    </widget>

src/ui/QGCUASFileView.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>414</width>
+    <width>200</width>
     <height>518</height>
    </rect>
   </property>

src/ui/QGCUASFileViewMulti.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
+    <width>200</width>
     <height>300</height>
    </rect>
   </property>

src/ui/SettingsDialog.cc

@@ -70,10 +70,6 @@ _ui(new Ui::SettingsDialog)
     _ui->lowPowerCheckBox->setChecked(_mainWindow->lowPowerModeEnabled());
     connect(_ui->lowPowerCheckBox, SIGNAL(clicked(bool)), _mainWindow, SLOT(enableLowPowerMode(bool)));
     
-    // Dock widget title bars
-    _ui->titleBarCheckBox->setChecked(_mainWindow->dockWidgetTitleBarsEnabled());
-    connect(_ui->titleBarCheckBox,SIGNAL(clicked(bool)),_mainWindow,SLOT(enableDockWidgetTitleBars(bool)));
-    
     connect(_ui->deleteSettings, &QAbstractButton::toggled, this, &SettingsDialog::_deleteSettingsToggled);
     
     // Application color style

src/ui/menuactionhelper.cpp

-#include "menuactionhelper.h"
-
-MenuActionHelper::MenuActionHelper(QObject *parent) : QObject(parent),
-    m_isAdvancedMode(false),
-    m_dockWidgetTitleBarsEnabled(true),
-    m_addedCustomSeperator(false)
-{
-}
-
-QAction *MenuActionHelper::createToolAction(const QString &title, const QString &name)
-{
-    QAction *action = m_menuToDockNameMap.key(name);  //For sanity, check that the action is not NULL
-    if(action) {
-            qWarning() << "createToolAction was called for action" << name << "which already exists in the menu";
-            return action;
-    }
-
-    action = new QAction(title, NULL);
-    action->setCheckable(true);
-    connect(action,SIGNAL(triggered(bool)),this,SLOT(showTool(bool)));
-    m_menuToDockNameMap[action] = name;
-    m_menu->addAction(action);
-    return action;
-}
-
-void MenuActionHelper::removeDockWidget()
-{
-    // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already
-    // been destroyed.
-
-    QObject *dockWidget = QObject::sender();
-    Q_ASSERT(dockWidget);
-
-    //qDebug() << "Dockwidget:"  << dockWidget->objectName() << "of type" << dockWidget->metaObject()->className();
-
-    QAction *action = m_menuToDockNameMap.key(dockWidget->objectName());
-    if(action) {
-        m_menuToDockNameMap.remove(action);
-        action->deleteLater();
-    }
-    QMap<MainWindow::VIEW_SECTIONS,QMap<QString,QDockWidget*> >::iterator it;
-    for (it = m_centralWidgetToDockWidgetsMap.begin(); it != m_centralWidgetToDockWidgetsMap.end(); ++it) {
-        QMap<QString,QDockWidget*>::iterator it2 = it.value().begin();
-        while( it2 != it.value().end()) {
-            if(it2.value() == dockWidget)
-                it2 = it.value().erase(it2);
-            else
-                ++it2;
-        }
-    }
-    //Don't delete the dockWidget because this could have been called from the dockWidget destructor
-    m_dockWidgets.removeAll(static_cast<QDockWidget*>(dockWidget));
-}
-
-QAction *MenuActionHelper::createToolActionForCustomDockWidget(const QString &title, const QString& name, QDockWidget* dockWidget, MainWindow::VIEW_SECTIONS view) {
-    bool found = false;
-    QAction *action = NULL;
-    foreach(QAction *act, m_menuToDockNameMap.keys()) {
-        if(act->text() == title) {
-            found = true;
-            action = act;
-        }
-    }
-
-    if(!found)
-        action = createToolAction(title, name);
-    else
-        m_menuToDockNameMap[action] = name;
-
-    m_centralWidgetToDockWidgetsMap[view][name] = dockWidget;
-    connect(dockWidget, SIGNAL(destroyed()), SLOT(removeDockWidget()),Qt::UniqueConnection); //Use UniqueConnection since we might have already created this connection in createDockWidget
-    connect(dockWidget, SIGNAL(visibilityChanged(bool)), action, SLOT(setChecked(bool)));
-    action->setChecked(dockWidget->isVisible());
-    return action;
-}
-
-QDockWidget* MenuActionHelper::createDockWidget(const QString& title,const QString& name)
-{
-    QDockWidget *dockWidget = new QDockWidget(title);
-    m_dockWidgets.append(dockWidget);
-    setDockWidgetTitleBar(dockWidget);
-    dockWidget->setObjectName(name);
-    connect(dockWidget, SIGNAL(destroyed()), SLOT(removeDockWidget()));
-
-    return dockWidget;
-}
-
-bool MenuActionHelper::containsDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const {
-
-    return m_centralWidgetToDockWidgetsMap.contains(view) && m_centralWidgetToDockWidgetsMap[view].contains(name);
-}
-
-QDockWidget *MenuActionHelper::getDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const {
-    if(!m_centralWidgetToDockWidgetsMap.contains(view))
-        return NULL;
-    return m_centralWidgetToDockWidgetsMap[view].value(name);
-}
-
-void MenuActionHelper::showTool(bool show) {
-    //Called when a menu item is clicked on, regardless of view.
-    QAction* act = qobject_cast<QAction *>(sender());
-    Q_ASSERT(act);
-    if (m_menuToDockNameMap.contains(act)) {
-        QString name = m_menuToDockNameMap[act];
-        emit needToShowDockWidget(name, show);
-    }
-}
-
-void MenuActionHelper::setDockWidgetTitleBarsEnabled(bool enabled)
-{
-    m_dockWidgetTitleBarsEnabled = enabled;
-    for (int i = 0; i < m_dockWidgets.size(); i++)
-        setDockWidgetTitleBar(m_dockWidgets[i]);
-}
-
-
-void MenuActionHelper::setAdvancedMode(bool advancedMode)
-{
-    m_isAdvancedMode = advancedMode;
-    for (int i = 0; i < m_dockWidgets.size(); i++)
-        setDockWidgetTitleBar(m_dockWidgets[i]);
-}
-
-void MenuActionHelper::setDockWidgetTitleBar(QDockWidget* widget)
-{
-    Q_ASSERT(widget);
-    QWidget* oldTitleBar = widget->titleBarWidget();
-
-    // In advanced mode, we use the default titlebar provided by Qt.
-    if (m_isAdvancedMode)
-    {
-        widget->setTitleBarWidget(0);
-    }
-    // Otherwise, if just a textlabel should be shown, make that the titlebar.
-    else if (m_dockWidgetTitleBarsEnabled)
-    {
-        QLabel* label = new QLabel(widget);
-        label->setText(widget->windowTitle());
-        label->installEventFilter(this); //Ignore mouse clicks
-        widget->installEventFilter(this); //Update label if window title changes. See eventFilter below
-        widget->setTitleBarWidget(label);
-    }
-    // And if nothing should be shown, use an empty widget.
-    else
-    {
-        QWidget* newTitleBar = new QWidget(widget);
-        widget->setTitleBarWidget(newTitleBar);
-    }
-
-    // Be sure to clean up the old titlebar. When using QDockWidget::setTitleBarWidget(),
-    // it doesn't delete the old titlebar object.
-    delete oldTitleBar;
-}
-
-bool MenuActionHelper::eventFilter(QObject *object,QEvent *event)
-{
-    if (event->type() == QEvent::WindowTitleChange)
-    {
-        QDockWidget *dock = qobject_cast<QDockWidget *>(object);
-        if(dock) {
-            // Update the dock title bar label
-            QLabel *label = dynamic_cast<QLabel *>(dock->titleBarWidget());
-            if(label)
-                label->setText(dock->windowTitle());
-            // Now update the action label
-            QString oldObjectName = dock->objectName();
-            QAction *action = m_menuToDockNameMap.key(oldObjectName);
-            if(action)
-                action->setText(dock->windowTitle());
-            //Now modify the object name - it is a strange naming scheme..
-        }
-    } else if (event->type() == QEvent::MouseButtonPress || event->type() == QEvent::MouseButtonRelease)
-    {
-        if(qobject_cast<QLabel *>(object))
-            return true;
-    }
-    return QObject::eventFilter(object,event);
-}

src/ui/menuactionhelper.h

-#ifndef MENUACTIONHELPER_H
-#define MENUACTIONHELPER_H
-
-#include "MainWindow.h"
-#include <QDockWidget>
-
-class MenuActionHelper : public QObject
-{
-    Q_OBJECT
-public:
-    MenuActionHelper(QObject *parent = NULL);
-    ~MenuActionHelper() {}
-
-    /** @brief Get title bar mode setting */
-    bool dockWidgetTitleBarsEnabled() const { return m_dockWidgetTitleBarsEnabled; }
-    void setDockWidgetTitleBarsEnabled(bool enabled);
-    bool isAdvancedMode() const { return m_isAdvancedMode; }
-    void setAdvancedMode(bool advancedMode);
-    QAction *createToolAction(const QString &title, const QString &name = QString());
-    QAction *createToolActionForCustomDockWidget(const QString& title, const QString& name, QDockWidget* dockWidget, MainWindow::VIEW_SECTIONS view);
-    QDockWidget *createDockWidget(const QString& title, const QString& name);
-    bool containsDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const;
-    QDockWidget *getDockWidget(MainWindow::VIEW_SECTIONS view, const QString &name) const;
-
-    /** QMenu to add QActions to */
-    void setMenu(QMenu *menu) { m_menu = menu; }
-
-protected:
-    virtual bool eventFilter(QObject *object,QEvent *event);
-
-private slots:
-    void removeDockWidget();
-    /** @brief Shows a Docked Widget based on the action sender */
-    void showTool(bool show);
-
-signals:
-    void needToShowDockWidget(const QString& name, bool show);
-private:
-    QMap<QAction*,QString > m_menuToDockNameMap;
-    QList<QDockWidget*> m_dockWidgets;
-    QMap<MainWindow::VIEW_SECTIONS,QMap<QString,QDockWidget*> > m_centralWidgetToDockWidgetsMap;
-    bool m_isAdvancedMode; ///< If enabled dock widgets can be moved and floated.
-    bool m_dockWidgetTitleBarsEnabled; ///< If enabled, dock widget titlebars are displayed when NOT in advanced mode.
-    QMenu *m_menu; ///< \see setMenu()
-    bool m_addedCustomSeperator; ///< Whether we have added a seperator between the actions and the custom actions
-
-    void setDockWidgetTitleBar(QDockWidget* widget);
-
-};
-
-#endif // MENUACTIONHELPER_H

src/ui/submainwindow.cpp

-#include "submainwindow.h"
-
-SubMainWindow::SubMainWindow(QWidget *parent) : QMainWindow(parent)
-{
-
-}

src/ui/submainwindow.h

-#ifndef SUBMAINWINDOW_H
-#define SUBMAINWINDOW_H
-
-#include <QMainWindow>
-
-class SubMainWindow : public QMainWindow
-{
-	Q_OBJECT
-public:
-	explicit SubMainWindow(QWidget *parent = 0);
-signals:
-	
-public slots:
-	
-};
-
-#endif // SUBMAINWINDOW_H

src/ui/uas/UASView.cc

@@ -118,7 +118,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(removeAction, SIGNAL(triggered()), this, SLOT(triggerUASDeletion()));
     connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-    connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
     connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
     connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
 
@@ -553,11 +552,6 @@ void UASView::selectAirframe()
     }
 }
 
-void UASView::showHILUi()
-{
-     MainWindow::instance()->showHILConfigurationWidget(uas);
-}
-
 void UASView::triggerUASDeletion()
 {
     refreshTimer->stop();

src/ui/uas/UASView.h

@@ -65,7 +65,6 @@ public slots:
     void updateMode(int sysId, QString status, QString description);
     void updateLoad(UASInterface* uas, double load);
     //void receiveValue(int uasid, QString id, double value, quint64 time);
-    void showHILUi();
     /**
      * Request that the UASManager deletes this UAS. This doesn't delete this widget
      * yet, it waits for the approprait uasDeleted signal.