Moving more things off of MainWindow

Moving methods from MainWindow to QGCApplication so that more things
can run without a window. Helpful for testing.

src/LogCompressor.cc

@@ -27,6 +27,9 @@ This file is part of the QGROUNDCONTROL project
  *
  */
 
+#include "LogCompressor.h"
+#include "QGCApplication.h"
+
 #include <QFile>
 #include <QFileInfo>
 #include <QDir>
@@ -34,8 +37,6 @@ This file is part of the QGROUNDCONTROL project
 #include <QStringList>
 #include <QFileInfo>
 #include <QList>
-#include "LogCompressor.h"
-
 #include <QDebug>
 
 /**
@@ -50,6 +51,7 @@ LogCompressor::LogCompressor(QString logFileName, QString outFileName, QString d
     delimiter(delimiter),
     holeFillingEnabled(true)
 {
+    connect(this, &LogCompressor::logProcessingCriticalError, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
 }
 
 void LogCompressor::run()
@@ -57,7 +59,7 @@ void LogCompressor::run()
 	// Verify that the input file is useable
 	QFile infile(logFileName);
 	if (!infile.exists() || !infile.open(QIODevice::ReadOnly | QIODevice::Text)) {
-		emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(infile.fileName()).absoluteFilePath()));
+		_signalCriticalError(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(infile.fileName()).absoluteFilePath()));
 		return;
 	}
 
@@ -74,7 +76,7 @@ void LogCompressor::run()
 	// Verify that the output file is useable
     QFile outTmpFile(outFileName);
     if (!outTmpFile.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Truncate)) {
-		emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outTmpFile.fileName()).absoluteFilePath()));
+		_signalCriticalError(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outTmpFile.fileName()).absoluteFilePath()));
 		return;
 	}
 
@@ -112,7 +114,7 @@ void LogCompressor::run()
     headerLine = headerLine.replace(".", "");
 	outTmpFile.write(headerLine.toLocal8Bit());
 
-    emit logProcessingStatusChanged(tr("Log compressor: Dataset contains dimensions: ") + headerLine);
+    _signalCriticalError(tr("Log compressor: Dataset contains dimensions: ") + headerLine);
 
     // Template list stores a list for populating with data as it's parsed from messages.
     QStringList templateList;
@@ -191,11 +193,8 @@ void LogCompressor::run()
 	// We're now done with the source file
 	infile.close();
 
-    emit logProcessingStatusChanged(tr("Log Compressor: Writing output to file %1").arg(QFileInfo(outFileName).absoluteFilePath()));
-
 	// Clean up and update the status before we return.
 	currentDataLine = 0;
-    emit logProcessingStatusChanged(tr("Log compressor: Finished processing file: %1").arg(outFileName));
 	emit finishedFile(outFileName);
 	running = false;
 }
@@ -219,3 +218,9 @@ int LogCompressor::getCurrentLine()
 {
 	return currentDataLine;
 }
+
+
+void LogCompressor::_signalCriticalError(const QString& msg)
+{
+    emit logProcessingCriticalError(tr("Log Compressor"), msg);
+}

src/LogCompressor.h

@@ -24,15 +24,18 @@ protected:
     bool holeFillingEnabled;        ///< Enables the filling of holes in the dataset with the previous value (or NaN if none exists)
 
 signals:
-    /** @brief This signal is emitted when there is a change in the status of the parsing algorithm. For instance if an error is encountered.
-     * @param status A status message
-     */
-    void logProcessingStatusChanged(QString status);
-
     /** @brief This signal is emitted once a logfile has been finished writing
      * @param fileName The name of the output (CSV) file
      */
     void finishedFile(QString fileName);
+    
+    /// This signal is connected to QGCApplication::showCriticalMessage to show critical errors which come from the thread.
+    /// There is no need for clients to connect to this signal.
+    void logProcessingCriticalError(const QString& title, const QString& msg);
+    
+private:
+    void _signalCriticalError(const QString& msg);
+    
 };
 
 #endif // LOGCOMPRESSOR_H
\ No newline at end of file

src/QGCApplication.cc

@@ -56,6 +56,7 @@
 #include "UASManager.h"
 #include "AutoPilotPluginManager.h"
 #include "QGCTemporaryFile.h"
+#include "QGCFileDialog.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -313,6 +314,10 @@ bool QGCApplication::_initForNormalAppBoot(void)
         }
     }
     
+    // Now that main window is upcheck for lost log files
+    connect(this, &QGCApplication::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    emit checkForLostLogFiles();
+    
     return true;
 }
 
@@ -482,3 +487,30 @@ void QGCApplication::_destroySingletons(void)
     LinkManager::_deleteSingleton();
     GAudioOutput::_deleteSingleton();
 }
+
+void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
+{
+    QGCMessageBox::information(title, msg);
+}
+
+void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
+{
+    QGCMessageBox::warning(title, msg);
+}
+
+void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
+{
+    QGCMessageBox::critical(title, msg);
+}
+
+void QGCApplication::saveTempFlightDataLogOnMainThread(QString tempLogfile)
+{
+    QString saveFilename = QGCFileDialog::getSaveFileName(MainWindow::instance(),
+                                                          tr("Select file to save Flight Data Log"),
+                                                          qgcApp()->mavlinkLogFilesLocation(),
+                                                          tr("Flight Data Log (*.mavlink)"));
+    if (!saveFilename.isEmpty()) {
+        QFile::copy(tempLogfile, saveFilename);
+    }
+    QFile::remove(tempLogfile);
+}

src/QGCApplication.h

@@ -87,7 +87,27 @@ public:
     /// @brief Returns truee if unit test are being run
     bool runningUnitTests(void) { return _runningUnitTests; }
     
+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);
+    
+    /// Save the specified Flight Data Log
+    void saveTempFlightDataLogOnMainThread(QString tempLogfile);
+    
+signals:
+    /// 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);

src/QGCFileDialog.cc

@@ -108,6 +108,8 @@ void QGCFileDialog::_validate(QString* selectedFilter, Options& options)
     // You can't use QGCFileDialog if QGCApplication is not created yet.
     Q_ASSERT(qgcApp());
     
+    Q_ASSERT_X(QThread::currentThread() == qgcApp()->thread(), "Threading issue", "QGCFileDialog can only be called from main thread");
+    
     // Support for selectedFilter is not yet implemented through the unit test framework
     Q_UNUSED(selectedFilter);
     Q_ASSERT(selectedFilter == NULL);

src/QGCMessageBox.h

@@ -92,10 +92,15 @@ private:
         // You can't use QGCMessageBox if QGCApplication is not created yet.
         Q_ASSERT(qgcApp());
         
+        Q_ASSERT_X(QThread::currentThread() == qgcApp()->thread(), "Threading issue", "QGCMessageBox can only be called from main thread");
+        
         parent = _validateParameters(buttons, &defaultButton, parent);
 
         if (MainWindow::instance()) {
             MainWindow::instance()->hideSplashScreen();
+            if (parent == NULL) {
+                parent = MainWindow::instance();
+            }
         }
         
 #ifdef QT_DEBUG

src/comm/LinkInterface.h

@@ -192,7 +192,7 @@ signals:
     void nameChanged(QString name);
 
     /** @brief Communication error occured */
-    void communicationError(const QString& linkname, const QString& error);
+    void communicationError(const QString& title, const QString& error);
 
     void communicationUpdate(const QString& linkname, const QString& text);
 

src/comm/LinkManager.cc

@@ -76,7 +76,7 @@ void LinkManager::addLink(LinkInterface* link)
     
     // MainWindow may be around when doing things like running unit tests
     if (MainWindow::instance()) {
-        connect(link, SIGNAL(communicationError(QString,QString)), MainWindow::instance(), SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection);
+        connect(link, &LinkInterface::communicationError, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
     }
     
     MAVLinkProtocol* mavlink = MAVLinkProtocol::instance();

src/comm/MAVLinkProtocol.cc

@@ -56,8 +56,6 @@ MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
     _logSuspendError(false),
     _logSuspendReplay(false),
     _tempLogFile(QString("%2.%3").arg(_tempLogFileTemplate).arg(_logFileExtension)),
-    _protocolStatusMessageConnected(false),
-    _saveTempFlightDataLogConnected(false),
     _linkMgr(LinkManager::instance()),
     _heartbeatRate(MAVLINK_HEARTBEAT_DEFAULT_RATE),
     _heartbeatsEnabled(true)
@@ -83,6 +81,9 @@ MAVLinkProtocol::MAVLinkProtocol(QObject* parent) :
     connect(&_heartbeatTimer, &QTimer::timeout, this, &MAVLinkProtocol::sendHeartbeat);
     _heartbeatTimer.start(1000/_heartbeatRate);
 
+    connect(this, &MAVLinkProtocol::protocolStatusMessage, qgcApp(), &QGCApplication::criticalMessageBoxOnMainThread);
+    connect(this, &MAVLinkProtocol::saveTempFlightDataLog, qgcApp(), &QGCApplication::saveTempFlightDataLogOnMainThread);
+
     emit versionCheckChanged(m_enable_version_check);
 }
 
@@ -233,7 +234,10 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
             warnedUser = true;
             // Obviously the user tries to use a 0.9 autopilot
             // with QGroundControl built for version 1.0
-            emit protocolStatusMessage("MAVLink Version or Baud Rate Mismatch", "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. Please upgrade the MAVLink version of your autopilot. If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same.");
+            emit protocolStatusMessage(tr("MAVLink Protocol"), tr("There is a MAVLink Version or Baud Rate Mismatch. "
+                                                                  "Your MAVLink device seems to use the deprecated version 0.9, while QGroundControl only supports version 1.0+. "
+                                                                  "Please upgrade the MAVLink version of your autopilot. "
+                                                                  "If your autopilot is using version 1.0, check if the baud rates of QGroundControl and your autopilot are the same."));
         }
 
         if (decodeState == 0 && !decodedFirstPacket)
@@ -250,7 +254,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 else
                 {
                     warnedUserNonMavlink = true;
-                    emit protocolStatusMessage("MAVLink Baud Rate Mismatch", "Please check if the baud rates of QGroundControl and your autopilot are the same.");
+                    emit protocolStatusMessage(tr("MAVLink Protocol"), tr("There is a MAVLink Version or Baud Rate Mismatch. "
+                                                                          "Please check if the baud rates of QGroundControl and your autopilot are the same."));
                 }
             }
         }
@@ -303,7 +308,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 if(_tempLogFile.write(b) != len)
                 {
                     // If there's an error logging data, raise an alert and stop logging.
-                    emit protocolStatusMessage(tr("MAVLink Logging failed"), tr("Could not write to file %1, logging disabled.").arg(_tempLogFile.fileName()));
+                    emit protocolStatusMessage(tr("MAVLink Protocol"), tr("MAVLink Logging failed. Could not write to file %1, logging disabled.").arg(_tempLogFile.fileName()));
                     _stopLogging();
                     _logSuspendError = true;
                 }
@@ -327,7 +332,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // Check if the UAS has the same id like this system
                 if (message.sysid == getSystemId())
                 {
-                    emit protocolStatusMessage(tr("SYSTEM ID CONFLICT!"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
+                    emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Warning: A second system is using the same system id (%1)").arg(getSystemId()));
                 }
 
                 // Create a new UAS based on the heartbeat received
@@ -347,8 +352,9 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                     // Bring up dialog to inform user
                     if (!versionMismatchIgnore)
                     {
-                        emit protocolStatusMessage(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"),
-                                                   tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
+                        emit protocolStatusMessage(tr("MAVLink Protocol"), tr("The MAVLink protocol version on the MAV and QGroundControl mismatch! "
+                                                                              "It is unsafe to use different MAVLink versions. "
+                                                                              "QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
                         versionMismatchIgnore = true;
                     }
 
@@ -649,8 +655,8 @@ void MAVLinkProtocol::_startLogging(void)
 
     if (!_logSuspendReplay) {
         if (!_tempLogFile.open()) {
-            emit protocolStatusMessage(tr("Opening Flight Data file for writing failed"),
-                                       tr("Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
+            emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
+                                                                  "Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
             _closeLogFile();
             _logSuspendError = true;
             return;
@@ -666,7 +672,7 @@ void MAVLinkProtocol::_stopLogging(void)
 {
     if (_closeLogFile()) {
         // If the signals are not connected it means we are running a unit test. In that case just delete log files
-        if (_protocolStatusMessageConnected && _saveTempFlightDataLogConnected && qgcApp()->promptFlightDataSave()) {
+        if (qgcApp()->promptFlightDataSave()) {
             emit saveTempFlightDataLog(_tempLogFile.fileName());
         } else {
             QFile::remove(_tempLogFile.fileName());
@@ -674,28 +680,10 @@ void MAVLinkProtocol::_stopLogging(void)
     }
 }
 
-/// @brief We override this virtual from QObject so that we can track when the
-///         protocolStatusMessage and saveTempFlightDataLog signals are connected.
-///         Once both are connected we can check for lost log files.
-void MAVLinkProtocol::connectNotify(const QMetaMethod& signal)
-{
-    if (signal == QMetaMethod::fromSignal(&MAVLinkProtocol::protocolStatusMessage)) {
-        _protocolStatusMessageConnected = true;
-        if (_saveTempFlightDataLogConnected) {
-            _checkLostLogFiles();
-        }
-    } else if (signal == QMetaMethod::fromSignal(&MAVLinkProtocol::saveTempFlightDataLog)) {
-        _saveTempFlightDataLogConnected = true;
-        if (_protocolStatusMessageConnected) {
-            _checkLostLogFiles();
-        }
-    }
-}
-
 /// @brief Checks the temp directory for log files which may have been left there.
 ///         This could happen if QGC crashes without the temp log file being saved.
 ///         Give the user an option to save these orphaned files.
-void MAVLinkProtocol::_checkLostLogFiles(void)
+void MAVLinkProtocol::checkForLostLogFiles(void)
 {
     QDir tempDir(QStandardPaths::writableLocation(QStandardPaths::TempLocation));
     

src/comm/MAVLinkProtocol.h

@@ -205,11 +205,11 @@ public slots:
     
     /// @brief Deletes any log files which are in the temp directory
     static void deleteTempLogFiles(void);
+    
+    /// Checks for lost log files
+    void checkForLostLogFiles(void);
 
-protected:    
-    // Override from QObject
-    virtual void connectNotify(const QMetaMethod& signal);
-
+protected:
     bool m_multiplexingEnabled; ///< Enable/disable packet multiplexing
     bool m_authEnabled;        ///< Enable authentication token broadcast
     QString m_authKey;         ///< Authentication key
@@ -284,7 +284,6 @@ private:
     bool _closeLogFile(void);
     void _startLogging(void);
     void _stopLogging(void);
-    void _checkLostLogFiles(void);
     
     QList<LinkInterface*> _connectedLinks;  ///< List of all links connected to protocol
     
@@ -295,9 +294,6 @@ private:
     static const char*  _tempLogFileTemplate;    ///< Template for temporary log file
     static const char*  _logFileExtension;       ///< Extension for log files
     
-    bool _protocolStatusMessageConnected;   ///< true: protocolStatusMessage signal has been connected
-    bool _saveTempFlightDataLogConnected;   ///< true: saveTempFlightDataLog signal has been connected
-    
     LinkManager* _linkMgr;
     
     QTimer  _heartbeatTimer;    ///< Timer to emit heartbeats

src/comm/QGCFlightGearLink.cc

@@ -41,7 +41,6 @@ This file is part of the QGROUNDCONTROL project
 
 #include "QGCFlightGearLink.h"
 #include "QGC.h"
-#include "MainWindow.h"
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
 
@@ -553,7 +552,7 @@ bool QGCFlightGearLink::parseUIArguments(QString uiArgs, QStringList& argList)
 					// We have a space that is finishing an argument
 					previousSpace = true;
 					if (inQuotedString) {
-						MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("Mismatched quotes in specified command line options"));
+                        QGCMessageBox::critical(tr("FlightGear HIL"), tr("FlightGear failed to start. There are mismatched quotes in specified command line options"));
 						return false;
 					}
 					if (!currentArg.isEmpty()) {
@@ -643,7 +642,7 @@ bool QGCFlightGearLink::connectSimulation()
     QStringList uiArgList;
     bool mismatchedQuotes = parseUIArguments(startupArguments, uiArgList);
     if (!mismatchedQuotes) {
-        MainWindow::instance()->showCriticalMessage(tr("FlightGear settings"), tr("Mismatched quotes in specified command line options"));
+        QGCMessageBox::critical(tr("FlightGear HIL"), tr("FlightGear failed to start. There are mismatched quotes in specified command line options"));
         return false;
     }
 #ifdef DEBUG_FLIGHTGEAR_CONNECT
@@ -798,7 +797,7 @@ bool QGCFlightGearLink::connectSimulation()
         } else if (fgRootPath.isEmpty()) {
             errMsg = tr("Unable to automatically determine --fg-root directory location. You will need to specify --fg-root=<directory> as an additional command line parameter from ui.");
         }
-        MainWindow::instance()->showCriticalMessage(tr("FlightGear settings"), errMsg);
+        QGCMessageBox::critical(tr("FlightGear HIL"), errMsg);
         return false;
     }
 
@@ -836,7 +835,7 @@ bool QGCFlightGearLink::connectSimulation()
     // Setup and verify directory which contains QGC provided aircraft files
     QString qgcAircraftDir(QApplication::applicationDirPath() + "/files/flightgear/Aircraft");
     if (!QFileInfo(qgcAircraftDir).isDir()) {
-        MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("Aircraft directory is missing: '%1'.").arg(qgcAircraftDir));
+        QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. Aircraft directory is missing: '%1'.").arg(qgcAircraftDir));
         return false;
     }
     _fgArgList += "--fg-aircraft=" + qgcAircraftDir;
@@ -850,14 +849,14 @@ bool QGCFlightGearLink::connectSimulation()
     // Verify directory where FlightGear stores communicaton protocols.
     QDir fgProtocolDir(fgRootPath);
     if (!fgProtocolDir.cd("Protocol")) {
-        MainWindow::instance()->showCriticalMessage(tr("Incorrect FlightGear setup"), tr("Protocol directory is missing: '%1'. Command line parameter for --fg-root may be set incorrectly.").arg(fgProtocolDir.path()));
+        QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect FlightGear setup. Protocol directory is missing: '%1'. Command line parameter for --fg-root may be set incorrectly.").arg(fgProtocolDir.path()));
         return false;
     }
     
     // Verify directory which contains QGC provided FlightGear communication protocol files
     QDir qgcProtocolDir(QApplication::applicationDirPath() + "/files/flightgear/Protocol/");
     if (!qgcProtocolDir.isReadable()) {
-        MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("Protocol directory is missing (%1).").arg(qgcProtocolDir.path()));
+        QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. Protocol directory is missing (%1).").arg(qgcProtocolDir.path()));
         return false;
     }
     
@@ -865,7 +864,7 @@ bool QGCFlightGearLink::connectSimulation()
     QString fgProtocolXmlFile = fgProtocol + ".xml";
     QString qgcProtocolFileFullyQualified = qgcProtocolDir.absoluteFilePath(fgProtocolXmlFile);
     if (!QFileInfo(qgcProtocolFileFullyQualified).exists()) {
-        MainWindow::instance()->showCriticalMessage(tr("Incorrect QGroundControl installation"), tr("FlightGear protocol file missing: %1").arg(qgcProtocolFileFullyQualified));
+        QGCMessageBox::critical(tr("FlightGear HIL"), tr("Incorrect QGroundControl installation. FlightGear protocol file missing: %1").arg(qgcProtocolFileFullyQualified));
         return false;
     }
     

src/comm/QGCJSBSimLink.cc

@@ -33,11 +33,13 @@ This file is part of the QGROUNDCONTROL project
 #include <QList>
 #include <QDebug>
 #include <QMutexLocker>
+#include <QHostInfo>
+
 #include <iostream>
+
 #include "QGCJSBSimLink.h"
 #include "QGC.h"
-#include <QHostInfo>
-#include "MainWindow.h"
+#include "QGCMessageBox.h"
 
 QGCJSBSimLink::QGCJSBSimLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
     socket(NULL),
@@ -122,14 +124,14 @@ void QGCJSBSimLink::run()
     QFileInfo executable(processJSB);
     if (!executable.isExecutable())
     {
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim was not found at %1").arg(processJSB));
+        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim was not found at %1").arg(processJSB));
         sane = false;
     }
 
     QFileInfo root(rootJSB);
     if (!root.isDir())
     {
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("JSBSim data directory was not found at %1").arg(rootJSB));
+        QGCMessageBox::critical("JSBSim", tr("JSBSim failed to start. JSBSim data directory was not found at %1").arg(rootJSB));
         sane = false;
     }
 
@@ -167,28 +169,33 @@ void QGCJSBSimLink::setPort(int port)
 
 void QGCJSBSimLink::processError(QProcess::ProcessError err)
 {
-    switch(err)
-    {
-    case QProcess::FailedToStart:
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Failed to Start"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::Crashed:
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Crashed"), tr("This is a FlightGear-related problem. Please upgrade FlightGear"));
-        break;
-    case QProcess::Timedout:
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Start Timed Out"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::WriteError:
-        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with JSBSim"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::ReadError:
-        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with JSBSim"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::UnknownError:
-    default:
-        MainWindow::instance()->showCriticalMessage(tr("JSBSim Error"), tr("Please check if the path and command is correct."));
-        break;
+    QString msg;
+    
+    switch(err) {
+        case QProcess::FailedToStart:
+            msg = tr("JSBSim Failed to start. Please check if the path and command is correct");
+            break;
+            
+        case QProcess::Crashed:
+            msg = tr("JSBSim crashed. This is a JSBSim-related problem, check for JSBSim upgrade.");
+            break;
+            
+        case QProcess::Timedout:
+            msg = tr("JSBSim start timed out. Please check if the path and command is correct");
+            break;
+            
+        case QProcess::ReadError:
+        case QProcess::WriteError:
+            msg = tr("Could not communicate with JSBSim. Please check if the path and command are correct");
+            break;
+            
+        case QProcess::UnknownError:
+        default:
+            msg = tr("JSBSim error occurred. Please check if the path and command is correct.");
+            break;
     }
+    
+    QGCMessageBox::critical("JSBSim HIL", msg);
 }
 
 /**

src/comm/QGCXPlaneLink.cc

@@ -39,7 +39,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QHostInfo>
 #include "UAS.h"
 #include "UASInterface.h"
-#include "MainWindow.h"
+#include "QGCMessageBox.h"
 
 QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress localHost, quint16 localPort) :
     mav(mav),
@@ -270,28 +270,34 @@ void QGCXPlaneLink::setPort(int localPort)
 
 void QGCXPlaneLink::processError(QProcess::ProcessError err)
 {
-    switch(err)
-    {
-    case QProcess::FailedToStart:
-        MainWindow::instance()->showCriticalMessage(tr("X-Plane Failed to Start"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::Crashed:
-        MainWindow::instance()->showCriticalMessage(tr("X-Plane Crashed"), tr("This is a X-Plane-related problem. Please upgrade X-Plane"));
-        break;
-    case QProcess::Timedout:
-        MainWindow::instance()->showCriticalMessage(tr("X-Plane Start Timed Out"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::WriteError:
-        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::ReadError:
-        MainWindow::instance()->showCriticalMessage(tr("Could not Communicate with X-Plane"), tr("Please check if the path and command is correct"));
-        break;
-    case QProcess::UnknownError:
-    default:
-        MainWindow::instance()->showCriticalMessage(tr("X-Plane Error"), tr("Please check if the path and command is correct."));
-        break;
+    QString msg;
+    
+    switch(err) {
+        case QProcess::FailedToStart:
+            msg = tr("X-Plane Failed to start. Please check if the path and command is correct");
+            break;
+            
+        case QProcess::Crashed:
+            msg = tr("X-Plane crashed. This is an X-Plane-related problem, check for X-Plane upgrade.");
+            break;
+            
+        case QProcess::Timedout:
+            msg = tr("X-Plane start timed out. Please check if the path and command is correct");
+            break;
+            
+        case QProcess::ReadError:
+        case QProcess::WriteError:
+            msg = tr("Could not communicate with X-Plane. Please check if the path and command are correct");
+            break;
+            
+        case QProcess::UnknownError:
+        default:
+            msg = tr("X-Plane error occurred. Please check if the path and command is correct.");
+            break;
     }
+    
+    
+    QGCMessageBox::critical(tr("X-Plane HIL"), msg);
 }
 
 QString QGCXPlaneLink::getRemoteHost()

src/comm/SerialLink.cc

@@ -208,7 +208,7 @@ void SerialLink::run()
         if (m_port) {
             err = m_port->errorString();
         }
-        emit communicationError(getName(),"Error connecting: " + err);
+        _emitLinkError("Error connecting: " + err);
         return;
     }
 
@@ -348,7 +348,7 @@ void SerialLink::writeBytes(const char* data, qint64 size)
         m_writeMutex.unlock();
     } else {
         // Error occured
-        emit communicationError(getName(), tr("Could not send data - link %1 is disconnected!").arg(getName()));
+        _emitLinkError(tr("Could not send data - link %1 is disconnected!").arg(getName()));
     }
 }
 
@@ -902,3 +902,10 @@ void SerialLink::_rerouteDisconnected(void)
 {
     emit disconnected();
 }
+
+void SerialLink::_emitLinkError(const QString& errorMsg)
+{
+    QString msg("Error on link %1. %2");
+    
+    emit communicationError(tr("Link Error"), msg.arg(getName()).arg(errorMsg));
+}
\ No newline at end of file

src/comm/SerialLink.h

@@ -170,6 +170,8 @@ private:
     // From LinkInterface
     virtual bool _connect(void);
     virtual bool _disconnect(void);
+    
+    void _emitLinkError(const QString& errorMsg);
 
     volatile bool m_stopp;
     volatile bool m_reqReset;

src/comm/TCPLink.cc

@@ -232,7 +232,7 @@ bool TCPLink::_hardwareConnect(void)
         // Whether a failed connection emits an error signal or not is platform specific.
         // So in cases where it is not emitted, we emit one ourselves.
         if (errorSpy.count() == 0) {
-            emit communicationError(getName(), "Connection failed");
+            emit communicationError(tr("Link Error"), QString("Error on link %1. Connection failed").arg(getName()));
         }
         delete _socket;
         _socket = NULL;
@@ -248,7 +248,7 @@ bool TCPLink::_hardwareConnect(void)
 void TCPLink::_socketError(QAbstractSocket::SocketError socketError)
 {
     Q_UNUSED(socketError);
-    emit communicationError(getName(), "Error on socket: " + _socket->errorString());
+    emit communicationError(tr("Link Error"), QString("Error on link %1. Error on socket: %2.").arg(getName()).arg(_socket->errorString()));
 }
 
 /**

src/comm/XbeeLink.cpp

@@ -204,7 +204,7 @@ void XbeeLink::writeBytes(const char *bytes, qint64 length)  // TO DO: delete th
 	else
 	{
 		_disconnect();
-		emit communicationError(this->getName(), tr("Could not send data - link %1 is disconnected!").arg(this->getName()));
+		emit communicationError(tr("Link Error"), QString("Error on link: %1. Could not send data - link is disconnected!").arg(getName()));
 	}
 }
 

src/qgcunittest/MavlinkLogTest.cc

@@ -30,6 +30,7 @@
 #include "MainWindow.h"
 #include "MockLink.h"
 #include "QGCTemporaryFile.h"
+#include "QGCApplication.h"
 
 UT_REGISTER_TEST(MavlinkLogTest)
 
@@ -82,20 +83,18 @@ void MavlinkLogTest::_bootLogDetectionCancel_test(void)
 {
     // Create a fake mavlink log
     _createTempLogFile(false);
-
+    
     // We should get a message box, followed by a getSaveFileName dialog.
     setExpectedMessageBox(QMessageBox::Ok);
     setExpectedFileDialog(getSaveFileName, QStringList());
 
-    MainWindow* mainWindow = MainWindow::_create(NULL, MainWindow::CUSTOM_MODE_PX4);
-    Q_CHECK_PTR(mainWindow);
+    // Kick the protocol to check for lost log files and wait for signals to move through
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    emit checkForLostLogFiles();
+    QTest::qWait(1000);
     
     checkExpectedMessageBox();
     checkExpectedFileDialog();
-
-    mainWindow->close();
-    
-    delete mainWindow;
 }
 
 void MavlinkLogTest::_bootLogDetectionSave_test(void)
@@ -109,18 +108,16 @@ void MavlinkLogTest::_bootLogDetectionSave_test(void)
     QString logSaveFile(logSaveDir.filePath(_saveLogFilename));
     setExpectedFileDialog(getSaveFileName, QStringList(logSaveFile));
     
-    MainWindow* mainWindow = MainWindow::_create(NULL, MainWindow::CUSTOM_MODE_PX4);
-    Q_CHECK_PTR(mainWindow);
+    // Kick the protocol to check for lost log files and wait for signals to move through
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    emit checkForLostLogFiles();
+    QTest::qWait(1000);
     
     checkExpectedMessageBox();
     checkExpectedFileDialog();
     
     // Make sure the file is there and delete it
     QCOMPARE(logSaveDir.remove(_saveLogFilename), true);
-    
-    mainWindow->close();
-    
-    delete mainWindow;
 }
 
 void MavlinkLogTest::_bootLogDetectionZeroLength_test(void)
@@ -128,20 +125,16 @@ void MavlinkLogTest::_bootLogDetectionZeroLength_test(void)
     // Create a fake empty mavlink log
     _createTempLogFile(true);
     
-    // Zero length log files should not generate any additional UI pop-ups. It should just be deleted silently.
-    MainWindow* mainWindow = MainWindow::_create(NULL, MainWindow::CUSTOM_MODE_PX4);
-    Q_CHECK_PTR(mainWindow);
-    
-    mainWindow->close();
+    // Kick the protocol to check for lost log files and wait for signals to move through
+    connect(this, &MavlinkLogTest::checkForLostLogFiles, MAVLinkProtocol::instance(), &MAVLinkProtocol::checkForLostLogFiles);
+    emit checkForLostLogFiles();
+    QTest::qWait(1000);
     
-    delete mainWindow;
+    // Zero length log files should not generate any additional UI pop-ups. It should just be deleted silently.
 }
 
 void MavlinkLogTest::_connectLog_test(void)
 {
-    MainWindow* mainWindow = MainWindow::_create(NULL, MainWindow::CUSTOM_MODE_PX4);
-    Q_CHECK_PTR(mainWindow);
-    
     LinkManager* linkMgr = LinkManager::instance();
     Q_CHECK_PTR(linkMgr);
     
@@ -163,10 +156,6 @@ void MavlinkLogTest::_connectLog_test(void)
     
     // Make sure the file is there and delete it
     QCOMPARE(logSaveDir.remove(_saveLogFilename), true);
-    
-    // MainWindow deletes itself on close
-    mainWindow->close();
-    QTest::qWait(1000); // Need to allow signals to move between threads to shutdown MainWindow
 }
 
 void MavlinkLogTest::_deleteTempLogFiles_test(void)

src/qgcunittest/MavlinkLogTest.h

@@ -48,6 +48,9 @@ private slots:
     void _connectLog_test(void);
     void _deleteTempLogFiles_test(void);
     
+signals:
+    void checkForLostLogFiles(void);
+    
 private:
     void _createTempLogFile(bool zeroLength);
     

src/uas/UASWaypointManager.cc

@@ -33,7 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include "UAS.h"
 #include "mavlink_types.h"
 #include "UASManager.h"
-#include "MainWindow.h"
+#include "QGCMessageBox.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 20        ///< minimum delay between sent messages
@@ -50,8 +50,6 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
       currentWaypointEditable(),
       protocol_timer(this)
 {
-    
-    _offlineEditingModeTitle = tr("OFFLINE Waypoint Editing Mode");
     _offlineEditingModeMessage = tr("You are in offline editing mode. Make sure to save your mission to a file before connecting to a system - you will need to load the file into the system, the offline list will be cleared on connect.");
     
     if (uas)
@@ -433,8 +431,9 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
     if (wp)
     {
         // Check if this is the first waypoint in an offline list
-        if (waypointsEditable.count() == 0 && uas == NULL)
-            MainWindow::instance()->showCriticalMessage(_offlineEditingModeTitle, _offlineEditingModeMessage);
+        if (waypointsEditable.count() == 0 && uas == NULL) {
+            QGCMessageBox::critical(tr("Waypoint Manager"),  _offlineEditingModeMessage);
+        }
 
         wp->setId(waypointsEditable.count());
         if (enforceFirstActive && waypointsEditable.count() == 0)
@@ -456,8 +455,9 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
 Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
 {
     // Check if this is the first waypoint in an offline list
-    if (waypointsEditable.count() == 0 && uas == NULL)
-        MainWindow::instance()->showCriticalMessage(_offlineEditingModeTitle, _offlineEditingModeMessage);
+    if (waypointsEditable.count() == 0 && uas == NULL) {
+        QGCMessageBox::critical(tr("Waypoint Manager"),  _offlineEditingModeMessage);
+    }
 
     Waypoint* wp = new Waypoint();
     wp->setId(waypointsEditable.count());

src/uas/UASWaypointManager.h

@@ -190,7 +190,6 @@ private:
     // XXX export to settings
     static const float defaultAltitudeHomeOffset;    ///< Altitude offset in meters from home for new waypoints
     
-    QString _offlineEditingModeTitle;
     QString _offlineEditingModeMessage;
 };
 

src/ui/MainWindow.cc

@@ -128,10 +128,7 @@ MainWindow::MainWindow(QSplashScreen* splashScreen, enum MainWindow::CUSTOM_MODE
     }
     
     connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool)));
-    
-    connect(MAVLinkProtocol::instance(), SIGNAL(protocolStatusMessage(const QString&, const QString&)), this, SLOT(showCriticalMessage(const QString&, const QString&)));
-    connect(MAVLinkProtocol::instance(), SIGNAL(saveTempFlightDataLog(QString)), this, SLOT(_saveTempFlightDataLog(QString)));
-    
+        
     loadSettings();
     
     emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
@@ -931,7 +928,6 @@ void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const
     {
         qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found";
         qDebug() << "Tried with path: " << defaultsDir;
-        showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir));
     }
 
     // Load all custom widgets found in the AP folder
@@ -943,7 +939,6 @@ void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const
             // Will only be loaded if not already a custom widget with
             // the same name is present
             loadCustomWidget(defaultsDir+"/"+file, true);
-            showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file));
         }
     }
 }
@@ -1105,40 +1100,6 @@ bool MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style)
     return success;
 }
 
-/**
- * The status message will be overwritten if a new message is posted to this function
- *
- * @param status message text
- * @param timeout how long the status should be displayed
- */
-void MainWindow::showStatusMessage(const QString& status, int timeout)
-{
-    statusBar()->showMessage(status, timeout);
-}
-
-/**
- * The status message will be overwritten if a new message is posted to this function.
- * it will be automatically hidden after 5 seconds.
- *
- * @param status message text
- */
-void MainWindow::showStatusMessage(const QString& status)
-{
-    statusBar()->showMessage(status, 20000);
-}
-
-void MainWindow::showCriticalMessage(const QString& title, const QString& message)
-{
-    qDebug() << "Critical" << title << message;
-    QGCMessageBox::critical(title, message);
-}
-
-void MainWindow::showInfoMessage(const QString& title, const QString& message)
-{
-    qDebug() << "Information" << title << message;
-    QGCMessageBox::information(title, message);
-}
-
 /**
 * @brief Create all actions associated to the main window
 *
@@ -1741,19 +1702,6 @@ bool MainWindow::dockWidgetTitleBarsEnabled() const
     return menuActionHelper->dockWidgetTitleBarsEnabled();
 }
 
-/// @brief Save the specified Flight Data Log
-void MainWindow::_saveTempFlightDataLog(QString tempLogfile)
-{
-    QString saveFilename = QGCFileDialog::getSaveFileName(this,
-                                                        tr("Select file to save Flight Data Log"),
-                                                        qgcApp()->mavlinkLogFilesLocation(),
-                                                        tr("Flight Data Log (*.mavlink)"));
-    if (!saveFilename.isEmpty()) {
-        QFile::copy(tempLogfile, saveFilename);
-    }
-    QFile::remove(tempLogfile);
-}
-
 /// @brief Hides the spash screen if it is currently being shown
 void MainWindow::hideSplashScreen(void)
 {

src/ui/MainWindow.h

@@ -161,15 +161,6 @@ public:
     void hideSplashScreen(void);
 
 public slots:
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status, int timeout);
-    /** @brief Shows a status message on the bottom status bar */
-    void showStatusMessage(const QString& status);
-    /** @brief Shows a critical message as popup or as widget */
-    void showCriticalMessage(const QString& title, const QString& message);
-    /** @brief Shows an info message as popup or as widget */
-    void showInfoMessage(const QString& title, const QString& message);
-
     /** @brief Show the application settings */
     void showSettings();
     /** @brief Add a communication link */
@@ -452,7 +443,6 @@ protected:
     CUSTOM_MODE customMode;
     
 private slots:
-    void _saveTempFlightDataLog(QString tempLogfile);
     void _addLinkMenu(LinkInterface* link);
 
 private:

src/ui/QGCDataPlot2D.cc

@@ -42,7 +42,6 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCDataPlot2D.h"
 #include "ui_QGCDataPlot2D.h"
 #include "MG.h"
-#include "MainWindow.h"
 #include "QGCFileDialog.h"
 #include "QGCMessageBox.h"
 
@@ -304,7 +303,6 @@ void QGCDataPlot2D::loadRawLog(QString file, QString xAxisName, QString yAxisFil
     // Postprocess log file
     logFile = new QTemporaryFile("qt_qgc_temp_log.XXXXXX.csv");
     compressor = new LogCompressor(file, logFile->fileName());
-    connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
     connect(compressor, SIGNAL(finishedFile(QString)), this, SLOT(loadFile(QString)));
     compressor->startCompression();
 }

src/ui/QGCMAVLinkLogPlayer.cc

@@ -9,6 +9,7 @@
 #include "QGCApplication.h"
 #include "LinkManager.h"
 #include "QGCFileDialog.h"
+#include "QGCMessageBox.h"
 
 QGCMAVLinkLogPlayer::QGCMAVLinkLogPlayer(MAVLinkProtocol* mavlink, QWidget *parent) :
     QWidget(parent),
@@ -257,7 +258,7 @@ void QGCMAVLinkLogPlayer::_selectLogFileForPlayback(void)
     }
     
     if (foundConnection) {
-        MainWindow::instance()->showInfoMessage(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
+        QGCMessageBox::information(tr("Log Replay"), tr("You must close all connections prior to replaying a log."));
         return;
     }
     
@@ -313,7 +314,7 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
     // Now load the new file.
     logFile.setFileName(file);
     if (!logFile.open(QFile::ReadOnly)) {
-        MainWindow::instance()->showCriticalMessage(tr("The selected file is unreadable"), tr("Please make sure that the file %1 is readable or select a different file").arg(file));
+        QGCMessageBox::critical(tr("Log Replay"), tr("The selected file is unreadable. Please make sure that the file %1 is readable or select a different file").arg(file));
         _playbackError();
         return false;
     }
@@ -354,7 +355,7 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
         }
 
         if (endtime == starttime) {
-            MainWindow::instance()->showCriticalMessage(tr("The selected file is corrupt"), tr("No valid timestamps were found at the end of the file.").arg(file));
+            QGCMessageBox::critical(tr("Log Replay"), tr("The selected file is corrupt. No valid timestamps were found at the end of the file.").arg(file));
             _playbackError();
             return false;
         }
@@ -631,7 +632,6 @@ void QGCMAVLinkLogPlayer::_finishPlayback(void)
     
     QString status = tr("Flight Data replay complete");
     ui->logStatsLabel->setText(status);
-    MainWindow::instance()->showStatusMessage(status);
     
     // Note that we explicitly set the slider to 100%, as it may not hit that by itself depending on log file size.
     updatePositionSliderUi(100.0f);

src/ui/linechart/LinechartWidget.cc

@@ -48,7 +48,6 @@ This file is part of the PIXHAWK project
 #include "LinechartWidget.h"
 #include "LinechartPlot.h"
 #include "LogCompressor.h"
-#include "MainWindow.h"
 #include "QGC.h"
 #include "MG.h"
 #include "QGCFileDialog.h"
@@ -488,7 +487,6 @@ void LinechartWidget::stopLogging()
         // Postprocess log file
         compressor = new LogCompressor(logFile->fileName(), logFile->fileName());
         connect(compressor, SIGNAL(finishedFile(QString)), this, SIGNAL(logfileWritten(QString)));
-        connect(compressor, SIGNAL(logProcessingStatusChanged(QString)), MainWindow::instance(), SLOT(showStatusMessage(QString)));
 
         QMessageBox::StandardButton button = QGCMessageBox::question(tr("Starting Log Compression"),
                                                                      tr("Should empty fields (e.g. due to packet drops) be filled with the previous value of the same variable (zero order hold)?"),