/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2013 QGROUNDCONTROL PROJECT 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 . ======================================================================*/ /** * @file * @brief Implementation of class MainWindow * @author Lorenz Meier */ #include #include #include #include #include #include #include #include #include #include #include #include "QGC.h" #include "MAVLinkSimulationLink.h" #include "SerialLink.h" #include "UDPLink.h" #include "MAVLinkProtocol.h" #include "CommConfigurationWindow.h" #include "QGCWaypointListMulti.h" #include "MainWindow.h" #include "JoystickWidget.h" #include "GAudioOutput.h" #include "QGCToolWidget.h" #include "QGCMAVLinkLogPlayer.h" #include "SettingsDialog.h" #include "QGCMapTool.h" #include "MAVLinkDecoder.h" #include "QGCMAVLinkMessageSender.h" #include "QGCRGBDView.h" #include "UASQuickView.h" #include "QGCDataPlot2D.h" #include "Linecharts.h" #include "QGCTabbedInfoView.h" #include "UASRawStatusView.h" #include "PrimaryFlightDisplay.h" #include "SetupView.h" #include "SerialSettingsDialog.h" #include "terminalconsole.h" #include "QGCUASFileViewMulti.h" #include "QGCApplication.h" #include "QGCFileDialog.h" #include "QGCMessageBox.h" #include "QGCDockWidget.h" #ifdef UNITTEST_BUILD #include "QmlControls/QmlTestWidget.h" #endif #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif #include "LogCompressor.h" const char* MainWindow::_uasControlDockWidgetName = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET"; const char* MainWindow::_uasListDockWidgetName = "UNMANNED_SYSTEM_LIST_DOCKWIDGET"; const char* MainWindow::_waypointsDockWidgetName = "WAYPOINT_LIST_DOCKWIDGET"; const char* MainWindow::_mavlinkDockWidgetName = "MAVLINK_INSPECTOR_DOCKWIDGET"; const char* MainWindow::_parametersDockWidgetName = "PARAMETER_INTERFACE_DOCKWIDGET"; const char* MainWindow::_filesDockWidgetName = "FILE_VIEW_DOCKWIDGET"; const char* MainWindow::_uasStatusDetailsDockWidgetName = "UAS_STATUS_DETAILS_DOCKWIDGET"; const char* MainWindow::_mapViewDockWidgetName = "MAP_VIEW_DOCKWIDGET"; const char* MainWindow::_hsiDockWidgetName = "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"; const char* MainWindow::_hdd1DockWidgetName = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET"; const char* MainWindow::_hdd2DockWidgetName = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET"; const char* MainWindow::_pfdDockWidgetName = "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET"; const char* MainWindow::_hudDockWidgetName = "HEAD_UP_DISPLAY_DOCKWIDGET"; const char* MainWindow::_uasInfoViewDockWidgetName = "UAS_INFO_INFOVIEW_DOCKWIDGET"; const char* MainWindow::_debugConsoleDockWidgetName = "COMMUNICATION_CONSOLE_DOCKWIDGET"; static MainWindow* _instance = NULL; ///< @brief MainWindow singleton MainWindow* MainWindow::_create(QSplashScreen* splashScreen) { Q_ASSERT(_instance == NULL); new MainWindow(splashScreen); // _instance is set in constructor Q_ASSERT(_instance); return _instance; } MainWindow* MainWindow::instance(void) { return _instance; } void MainWindow::deleteInstance(void) { delete this; } /// @brief Private constructor for MainWindow. MainWindow singleton is only ever created /// by MainWindow::_create method. Hence no other code should have access to /// constructor. MainWindow::MainWindow(QSplashScreen* splashScreen) : centerStackActionGroup(new QActionGroup(this)), autoReconnect(false), simulationLink(NULL), lowPowerMode(false), _currentView(VIEW_FLIGHT), _currentViewWidget(NULL), _splashScreen(splashScreen) { Q_ASSERT(_instance == NULL); _instance = this; if (splashScreen) { connect(this, &MainWindow::initStatusChanged, splashScreen, &QSplashScreen::showMessage); } loadSettings(); // Select the proper view. Default to the flight view or load the last one used if it's supported. VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", _currentView).toInt(); switch (currentViewCandidate) { case VIEW_ENGINEER: case VIEW_MISSION: case VIEW_FLIGHT: case VIEW_SIMULATION: case VIEW_SETUP: case VIEW_TERMINAL: #ifdef QGC_OSG_ENABLED case VIEW_LOCAL3D: #endif #ifdef QGC_GOOGLE_EARTH_ENABLED case VIEW_GOOGLEEARTH: #endif _currentView = currentViewCandidate; break; default: // Leave _currentView to the default break; } // Put it back, which will set it to a valid value settings.setValue("CURRENT_VIEW", _currentView); emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Setup user interface ui.setupUi(this); // Setup central widget with a layout to hold the views _centralLayout = new QVBoxLayout(); centralWidget()->setLayout(_centralLayout); // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); configureWindowName(); // Setup corners setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea); // Qt 4 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar. // TODO: Check that this is still necessary on Qt5 on Ubuntu #ifdef Q_OS_LINUX menuBar()->setNativeMenuBar(false); #endif #ifdef UNITTEST_BUILD QAction* qmlTestAction = new QAction("Test QML palette and controls", NULL); connect(qmlTestAction, &QAction::triggered, this, &MainWindow::_showQmlTestWidget); ui.menuTools->addAction(qmlTestAction); #endif // Setup UI state machines centerStackActionGroup->setExclusive(true); // Load Toolbar toolBar = new QGCToolBar(this); this->addToolBar(toolBar); // Add the perspectives to the toolbar QList actions; actions << ui.actionSetup; actions << ui.actionMissionView; actions << ui.actionFlightView; actions << ui.actionEngineersView; toolBar->setPerspectiveChangeActions(actions); // Add actions for advanced users (displayed in dropdown under "advanced") QList advancedActions; advancedActions << ui.actionGoogleEarthView; advancedActions << ui.actionLocal3DView; advancedActions << ui.actionTerminalView; advancedActions << ui.actionSimulationView; toolBar->setPerspectiveChangeAdvancedActions(advancedActions); setStatusBar(new QStatusBar(this)); statusBar()->setSizeGripEnabled(true); emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); _buildCommonWidgets(); emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Create actions connectCommonActions(); // Populate link menu emit initStatusChanged(tr("Populating link menu"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); QList links = LinkManager::instance()->getLinks(); foreach(LinkInterface* link, links) { _addLinkMenu(link); } connect(LinkManager::instance(), &LinkManager::newLink, this, &MainWindow::_addLinkMenu); // Connect user interface devices emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); joystick = new JoystickInput(); #ifdef QGC_MOUSE_ENABLED_WIN emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); mouseInput = new Mouse3DInput(this); mouse = new Mouse6dofInput(mouseInput); #endif //QGC_MOUSE_ENABLED_WIN #if QGC_MOUSE_ENABLED_LINUX emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); mouse = new Mouse6dofInput(this); connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*))); #endif //QGC_MOUSE_ENABLED_LINUX // Connect link if (autoReconnect) { LinkManager* linkMgr = LinkManager::instance(); Q_ASSERT(linkMgr); SerialLink* link = new SerialLink(); // Add to registry linkMgr->addLink(link); linkMgr->connectLink(link); } // Set low power mode enableLowPowerMode(lowPowerMode); emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window setup _loadCurrentViewState(); emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window position and size if (settings.contains(getWindowGeometryKey())) { // Restore the window geometry restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); } else { // Adjust the size const int screenWidth = QApplication::desktop()->width(); const int screenHeight = QApplication::desktop()->height(); if (screenWidth < 1500) { resize(screenWidth, screenHeight - 80); } else { resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); } } // Make sure the proper fullscreen/normal menu item is checked properly. if (isFullScreen()) { ui.actionFullscreen->setChecked(true); ui.actionNormal->setChecked(false); } else { ui.actionFullscreen->setChecked(false); ui.actionNormal->setChecked(true); } // And that they will stay checked properly after user input QObject::connect(ui.actionFullscreen, SIGNAL(triggered()), this, SLOT(fullScreenActionItemCallback())); QObject::connect(ui.actionNormal, SIGNAL(triggered()), this,SLOT(normalActionItemCallback())); // Set OS dependent keyboard shortcuts for the main window, non OS dependent shortcuts are set in MainWindow.ui #ifdef Q_OS_MACX ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0)); ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0)); ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0)); ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Meta+4", 0)); ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Meta+5", 0)); ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Meta+6", 0)); ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Meta+7", 0)); ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Meta+8", 0)); ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0)); #else ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0)); ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0)); ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0)); ui.actionEngineersView->setShortcut(QApplication::translate("MainWindow", "Ctrl+4", 0)); ui.actionGoogleEarthView->setShortcut(QApplication::translate("MainWindow", "Ctrl+5", 0)); ui.actionLocal3DView->setShortcut(QApplication::translate("MainWindow", "Ctrl+6", 0)); ui.actionTerminalView->setShortcut(QApplication::translate("MainWindow", "Ctrl+7", 0)); ui.actionSimulationView->setShortcut(QApplication::translate("MainWindow", "Ctrl+8", 0)); ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0)); #endif connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName())); windowNameUpdateTimer.start(15000); emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); if (!qgcApp()->runningUnitTests()) { show(); } } MainWindow::~MainWindow() { if (simulationLink) { delete simulationLink; simulationLink = NULL; } if (joystick) { joystick->shutdown(); joystick->wait(5000); delete joystick; joystick = NULL; } // Delete all UAS objects for (int i=0;ideleteLater(); } _instance = NULL; } void MainWindow::resizeEvent(QResizeEvent * event) { QMainWindow::resizeEvent(event); } QString MainWindow::getWindowStateKey() { if (UASManager::instance()->getActiveUAS()) { return QString::number(_currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName(); } else return QString::number(_currentView)+"_windowstate_"; } QString MainWindow::getWindowGeometryKey() { return "_geometry"; } void MainWindow::_buildCustomWidgets(void) { Q_ASSERT(_customWidgets.count() == 0); // Create custom widgets _customWidgets = QGCToolWidget::createWidgetsFromSettings(this); if (_customWidgets.size() > 0) { ui.menuTools->addSeparator(); } foreach(QGCToolWidget* tool, _customWidgets) { // Check if this widget already has a parent, do not create it in this case QDockWidget* dock = dynamic_cast(tool->parentWidget()); if (!dock) { _createDockWidget(tool->getTitle(), tool->objectName(), Qt::BottomDockWidgetArea, tool); } } } void MainWindow::_createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget) { Q_ASSERT(!_mapName2DockWidget.contains(name)); QGCDockWidget* dockWidget = new QGCDockWidget(title, this); Q_CHECK_PTR(dockWidget); dockWidget->setObjectName(name); dockWidget->setVisible (false); if (innerWidget) { // Put inner widget inside QDockWidget innerWidget->setParent(dockWidget); dockWidget->setWidget(innerWidget); innerWidget->setVisible(true); } // Add to menu QAction* action = new QAction(title, NULL); action->setCheckable(true); action->setData(name); connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction); ui.menuTools->addAction(action); _mapName2DockWidget[name] = dockWidget; _mapDockWidget2Action[dockWidget] = action; addDockWidget(area, dockWidget); } void MainWindow::_buildCommonWidgets(void) { // Add generic MAVLink decoder mavlinkDecoder = new MAVLinkDecoder(MAVLinkProtocol::instance(), this); connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64))); // Log player logPlayer = new QGCMAVLinkLogPlayer(MAVLinkProtocol::instance(), statusBar()); statusBar()->addPermanentWidget(logPlayer); // In order for Qt to save and restore state of widgets all widgets must be created ahead of time. We only create the QDockWidget // holders. We do not create the actual inner widget until it is needed. This saves memory and cpu from running widgets that are // never shown. struct DockWidgetInfo { const char* name; const char* title; Qt::DockWidgetArea area; }; static const struct DockWidgetInfo rgDockWidgetInfo[] = { { _uasControlDockWidgetName, "Control", Qt::LeftDockWidgetArea }, { _uasListDockWidgetName, "Unmanned Systems", Qt::RightDockWidgetArea }, { _waypointsDockWidgetName, "Mission Plan", Qt::BottomDockWidgetArea }, { _mavlinkDockWidgetName, "MAVLink Inspector", Qt::RightDockWidgetArea }, { _parametersDockWidgetName, "Onboard Parameters", Qt::RightDockWidgetArea }, { _filesDockWidgetName, "Onboard Files", Qt::RightDockWidgetArea }, { _uasStatusDetailsDockWidgetName, "Status Details", Qt::RightDockWidgetArea }, { _mapViewDockWidgetName, "Map view", Qt::RightDockWidgetArea }, { _hsiDockWidgetName, "Horizontal Situation", Qt::BottomDockWidgetArea }, { _hdd1DockWidgetName, "Flight Display", Qt::RightDockWidgetArea }, { _hdd2DockWidgetName, "Actuator Status", Qt::RightDockWidgetArea }, { _pfdDockWidgetName, "Primary Flight Display", Qt::RightDockWidgetArea }, { _hudDockWidgetName, "Video Downlink", Qt::RightDockWidgetArea }, { _uasInfoViewDockWidgetName, "Info View", Qt::LeftDockWidgetArea }, { _debugConsoleDockWidgetName, "Communications Console", Qt::LeftDockWidgetArea } }; static const size_t cDockWidgetInfo = sizeof(rgDockWidgetInfo) / sizeof(rgDockWidgetInfo[0]); for (size_t i=0; ititle, pDockInfo->name, pDockInfo->area, NULL /* no inner widget yet */); } _buildCustomWidgets(); } void MainWindow::_buildPlannerView(void) { if (!_plannerView) { _plannerView = new QGCMapTool(this); _plannerView->setVisible(false); } } void MainWindow::_buildPilotView(void) { if (!_pilotView) { _pilotView = new PrimaryFlightDisplay(this); _pilotView->setVisible(false); } } void MainWindow::_buildSetupView(void) { if (!_setupView) { _setupView = new SetupView(this); _setupView->setVisible(false); } } void MainWindow::_buildEngineeringView(void) { if (!_engineeringView) { _engineeringView = new QGCDataPlot2D(this); _engineeringView->setVisible(false); } } void MainWindow::_buildSimView(void) { if (!_simView) { _simView = new QGCMapTool(this); _simView->setVisible(false); } } void MainWindow::_buildTerminalView(void) { if (!_terminalView) { _terminalView = new TerminalConsole(this); _terminalView->setVisible(false); } } void MainWindow::_buildGoogleEarthView(void) { #ifdef QGC_GOOGLE_EARTH_ENABLED if (!_googleEarthView) { _googleEarthView = new QGCGoogleEarthView(this); _googleEarthView->setVisible(false); } #endif } void MainWindow::_buildLocal3DView(void) { #ifdef QGC_OSG_ENABLED if (!_local3DView) { _local3DView = Q3DWidgetFactory::get("PIXHAWK", this); _local3DView->setVisible(false); } #endif } /// Shows or hides the specified dock widget, creating if necessary void MainWindow::_showDockWidget(const QString& name, bool show) { if (!_mapName2DockWidget.contains(name)) { qWarning() << "Attempt to show unknown dock widget" << name; return; } // Create the inner widget if we need to if (!_mapName2DockWidget[name]->widget()) { _createInnerDockWidget(name); } Q_ASSERT(_mapName2DockWidget.contains(name)); QDockWidget* dockWidget = _mapName2DockWidget[name]; Q_ASSERT(dockWidget); dockWidget->setVisible(show); Q_ASSERT(_mapDockWidget2Action.contains(dockWidget)); _mapDockWidget2Action[dockWidget]->setChecked(show); } /// Creates the specified inner dock widget and adds to the QDockWidget void MainWindow::_createInnerDockWidget(const QString& widgetName) { Q_ASSERT(_mapName2DockWidget.contains(widgetName)); // QDockWidget should already exist Q_ASSERT(!_mapName2DockWidget[widgetName]->widget()); // Inner widget should not QWidget* widget = NULL; if (widgetName == _uasControlDockWidgetName) { widget = new UASControlWidget(this); } else if (widgetName == _uasListDockWidgetName) { widget = new UASListWidget(this); } else if (widgetName == _waypointsDockWidgetName) { widget = new QGCWaypointListMulti(this); } else if (widgetName == _mavlinkDockWidgetName) { widget = new QGCMAVLinkInspector(MAVLinkProtocol::instance(),this); } else if (widgetName == _parametersDockWidgetName) { widget = new ParameterInterface(this); } else if (widgetName == _filesDockWidgetName) { widget = new QGCUASFileViewMulti(this); } else if (widgetName == _uasStatusDetailsDockWidgetName) { widget = new UASInfoWidget(this); } else if (widgetName == _mapViewDockWidgetName) { widget = new QGCMapTool(this); } else if (widgetName == _hsiDockWidgetName) { widget = new HSIDisplay(this); } else if (widgetName == _hdd1DockWidgetName) { QStringList acceptList; acceptList.append("-3.3,ATTITUDE.roll,rad,+3.3,s"); acceptList.append("-3.3,ATTITUDE.pitch,deg,+3.3,s"); acceptList.append("-3.3,ATTITUDE.yaw,deg,+3.3,s"); HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this); hddisplay->addSource(mavlinkDecoder); widget = hddisplay; } else if (widgetName == _hdd2DockWidgetName) { QStringList acceptList; acceptList.append("0,RAW_PRESSURE.pres_abs,hPa,65500"); HDDisplay *hddisplay = new HDDisplay(acceptList,"Actuator Status",this); hddisplay->addSource(mavlinkDecoder); widget = hddisplay; } else if (widgetName == _pfdDockWidgetName) { widget = new PrimaryFlightDisplay(this); } else if (widgetName == _hudDockWidgetName) { widget = new HUD(320,240,this); } else if (widgetName == _uasInfoViewDockWidgetName) { widget = new QGCTabbedInfoView(this); } else if (widgetName == _debugConsoleDockWidgetName) { widget = new DebugConsole(this); } else { qWarning() << "Attempt to create unknown Inner Dock Widget" << widgetName; } if (widget) { QDockWidget* dockWidget = _mapName2DockWidget[widgetName]; Q_CHECK_PTR(dockWidget); widget->setParent(dockWidget); dockWidget->setWidget(widget); } } void MainWindow::_showHILConfigurationWidgets(void) { UASInterface* uas = UASManager::instance()->getActiveUAS(); if (!uas) { return; } UAS* mav = dynamic_cast(uas); Q_ASSERT(mav); int uasId = mav->getUASID(); if (!_mapUasId2HilDockWidget.contains(uasId)) { // Create QDockWidget QGCDockWidget* dockWidget = new QGCDockWidget(tr("HIL Config %1").arg(uasId), this); Q_CHECK_PTR(dockWidget); dockWidget->setObjectName(tr("HIL_CONFIG_%1").arg(uasId)); dockWidget->setVisible (false); // Create inner widget and set it QWidget* widget = new QGCHilConfiguration(mav, dockWidget); widget->setParent(dockWidget); dockWidget->setWidget(widget); _mapUasId2HilDockWidget[uasId] = dockWidget; addDockWidget(Qt::LeftDockWidgetArea, dockWidget); } if (_currentView == VIEW_SIMULATION) { // HIL dock widgets only show up on simulation view foreach (QDockWidget* dockWidget, _mapUasId2HilDockWidget) { dockWidget->setVisible(true); } } } void MainWindow::fullScreenActionItemCallback() { ui.actionNormal->setChecked(false); } void MainWindow::normalActionItemCallback() { ui.actionFullscreen->setChecked(false); } void MainWindow::closeEvent(QCloseEvent *event) { // Disallow window close if there are active connections bool foundConnections = false; foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { if (link->isConnected()) { foundConnections = true; break; } } if (foundConnections) { QGCMessageBox::StandardButton button = QGCMessageBox::warning(tr("QGroundControl close"), tr("There are still active connections to vehicles. Do you want to disconnect these before closing?"), QMessageBox::Yes | QMessageBox::Cancel, QMessageBox::Cancel); if (button == QMessageBox::Yes) { foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { LinkManager::instance()->disconnectLink(link); } } else { event->ignore(); return; } } // This will process any remaining flight log save dialogs qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); // Should not be any active connections foreach(LinkInterface* link, LinkManager::instance()->getLinks()) { Q_UNUSED(link); Q_ASSERT(!link->isConnected()); } _storeCurrentViewState(); storeSettings(); UASManager::instance()->storeSettings(); event->accept(); } void MainWindow::_createNewCustomWidget(void) { if (QGCToolWidget::instances()->isEmpty()) { // This is the first widget ui.menuTools->addSeparator(); } QString objectName; int customToolIndex = 0; //Find the next unique object name that we can use do { ++customToolIndex; objectName = QString("CUSTOM_TOOL_%1").arg(customToolIndex) + "DOCK"; } while(QGCToolWidget::instances()->contains(objectName)); QString title = tr("Custom Tool %1").arg(customToolIndex ); QGCToolWidget* tool = new QGCToolWidget(objectName, title); tool->resize(100, 100); _createDockWidget(title, objectName, Qt::BottomDockWidgetArea, tool); _mapName2DockWidget[objectName]->setVisible(true); } void MainWindow::_loadCustomWidgetFromFile(void) { QString fileName = QGCFileDialog::getOpenFileName( this, tr("Load Widget File"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), tr("QGroundControl Widgets (*.qgw);;All Files (*)")); if (!fileName.isEmpty()) { QGCToolWidget* tool = new QGCToolWidget("", "", this); if (tool->loadSettings(fileName, true)) { QString objectName = tool->objectName() + "DOCK"; _createDockWidget(tool->getTitle(), objectName, Qt::LeftDockWidgetArea, tool); _mapName2DockWidget[objectName]->widget()->setVisible(true); } } // TODO Add error dialog if widget could not be loaded } void MainWindow::loadSettings() { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool(); lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool(); settings.endGroup(); } void MainWindow::storeSettings() { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue("AUTO_RECONNECT", autoReconnect); settings.setValue("LOW_POWER_MODE", lowPowerMode); settings.endGroup(); settings.setValue(getWindowGeometryKey(), saveGeometry()); // Save the last current view in any case settings.setValue("CURRENT_VIEW", _currentView); // Save the current window state, but only if a system is connected (else no real number of widgets would be present)) if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState()); // Save the current UAS view if a UAS is connected if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", _currentView); // And save any custom weidgets QGCToolWidget::storeWidgetsToSettings(settings); } void MainWindow::configureWindowName() { QList hostAddresses = QNetworkInterface::allAddresses(); QString windowname = qApp->applicationName() + " " + qApp->applicationVersion(); bool prevAddr = false; windowname.append(" (" + QHostInfo::localHostName() + ": "); for (int i = 0; i < hostAddresses.size(); i++) { // Exclude loopback IPv4 and all IPv6 addresses if (hostAddresses.at(i) != QHostAddress("127.0.0.1") && !hostAddresses.at(i).toString().contains(":")) { if(prevAddr) windowname.append("/"); windowname.append(hostAddresses.at(i).toString()); prevAddr = true; } } windowname.append(")"); setWindowTitle(windowname); } void MainWindow::startVideoCapture() { // TODO: What is this? What kind of "Video" is saved to bmp? QString format("bmp"); QString initialPath = QDir::currentPath() + tr("/untitled.") + format; QString screenFileName = QGCFileDialog::getSaveFileName( this, tr("Save Video Capture"), initialPath, tr("%1 Files (*.%2);;All Files (*)") .arg(format.toUpper()) .arg(format), format); delete videoTimer; videoTimer = new QTimer(this); } void MainWindow::stopVideoCapture() { videoTimer->stop(); // TODO Convert raw images to PNG } void MainWindow::saveScreen() { QPixmap window = QPixmap::grabWindow(this->winId()); QString format = "bmp"; if (!screenFileName.isEmpty()) { window.save(screenFileName, format.toLatin1()); } } void MainWindow::enableAutoReconnect(bool enabled) { autoReconnect = enabled; } /** * @brief Create all actions associated to the main window * **/ void MainWindow::connectCommonActions() { // Bind together the perspective actions QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives); perspectives->addAction(ui.actionEngineersView); perspectives->addAction(ui.actionFlightView); perspectives->addAction(ui.actionSimulationView); perspectives->addAction(ui.actionMissionView); perspectives->addAction(ui.actionSetup); perspectives->addAction(ui.actionTerminalView); perspectives->addAction(ui.actionGoogleEarthView); perspectives->addAction(ui.actionLocal3DView); perspectives->setExclusive(true); /* Hide the actions that are not relevant */ #ifndef QGC_GOOGLE_EARTH_ENABLED ui.actionGoogleEarthView->setVisible(false); #endif #ifndef QGC_OSG_ENABLED ui.actionLocal3DView->setVisible(false); #endif // Mark the right one as selected if (_currentView == VIEW_ENGINEER) { ui.actionEngineersView->setChecked(true); ui.actionEngineersView->activate(QAction::Trigger); } if (_currentView == VIEW_FLIGHT) { ui.actionFlightView->setChecked(true); ui.actionFlightView->activate(QAction::Trigger); } if (_currentView == VIEW_SIMULATION) { ui.actionSimulationView->setChecked(true); ui.actionSimulationView->activate(QAction::Trigger); } if (_currentView == VIEW_MISSION) { ui.actionMissionView->setChecked(true); ui.actionMissionView->activate(QAction::Trigger); } if (_currentView == VIEW_SETUP) { ui.actionSetup->setChecked(true); ui.actionSetup->activate(QAction::Trigger); } if (_currentView == VIEW_TERMINAL) { ui.actionTerminalView->setChecked(true); ui.actionTerminalView->activate(QAction::Trigger); } if (_currentView == VIEW_GOOGLEEARTH) { ui.actionGoogleEarthView->setChecked(true); ui.actionGoogleEarthView->activate(QAction::Trigger); } if (_currentView == VIEW_LOCAL3D) { ui.actionLocal3DView->setChecked(true); ui.actionLocal3DView->activate(QAction::Trigger); } // The UAS actions are not enabled without connection to system ui.actionLiftoff->setEnabled(false); ui.actionLand->setEnabled(false); ui.actionEmergency_Kill->setEnabled(false); ui.actionEmergency_Land->setEnabled(false); ui.actionShutdownMAV->setEnabled(false); // Connect actions from ui connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink())); // Connect internal actions connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*))); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); // Unmanned System controls connect(ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS())); connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS())); connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS())); connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS())); connect(ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS())); // Views actions connect(ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView())); connect(ui.actionSimulationView, SIGNAL(triggered()), this, SLOT(loadSimulationView())); connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView())); connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView())); connect(ui.actionSetup,SIGNAL(triggered()),this,SLOT(loadSetupView())); connect(ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView())); connect(ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView())); connect(ui.actionTerminalView,SIGNAL(triggered()),this,SLOT(loadTerminalView())); // Help Actions connect(ui.actionOnline_Documentation, SIGNAL(triggered()), this, SLOT(showHelp())); connect(ui.actionDeveloper_Credits, SIGNAL(triggered()), this, SLOT(showCredits())); connect(ui.actionProject_Roadmap, SIGNAL(triggered()), this, SLOT(showRoadMap())); // Custom widget actions connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(_createNewCustomWidget())); connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(_loadCustomWidgetFromFile())); // Audio output ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted()); connect(GAudioOutput::instance(), SIGNAL(mutedChanged(bool)), ui.actionMuteAudioOutput, SLOT(setChecked(bool))); connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool))); // Application Settings connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings())); connect(ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool))); } void MainWindow::_openUrl(const QString& url, const QString& errorMessage) { if(!QDesktopServices::openUrl(QUrl(url))) { QMessageBox::critical(this, tr("Could not open information in browser"), errorMessage); } } void MainWindow::showHelp() { _openUrl("http://qgroundcontrol.org/users/start", tr("To get to the online help, please open http://qgroundcontrol.org/user_guide in a browser.")); } void MainWindow::showCredits() { _openUrl("http://qgroundcontrol.org/credits", tr("To get to the credits, please open http://qgroundcontrol.org/credits in a browser.")); } void MainWindow::showRoadMap() { _openUrl("http://qgroundcontrol.org/dev/roadmap", tr("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser.")); } void MainWindow::showSettings() { SettingsDialog settings(joystick, this); settings.exec(); } // FIXME: Where is this called from LinkInterface* MainWindow::addLink() { SerialLink* link = new SerialLink(); // TODO This should be only done in the dialog itself LinkManager::instance()->addLink(link); // Go fishing for this link's configuration window QList actions = ui.menuNetwork->actions(); const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link)); const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId()); foreach (QAction* act, actions) { if (act->data().toInt() == linkID) { act->trigger(); break; } } return link; } bool MainWindow::configLink(LinkInterface *link) { // Go searching for this link's configuration window QList actions = ui.menuNetwork->actions(); bool found(false); const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link)); const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId()); foreach (QAction* action, actions) { if (action->data().toInt() == linkID) { found = true; action->trigger(); // Show the Link Config Dialog } } return found; } void MainWindow::_addLinkMenu(LinkInterface *link) { // Go fishing for this link's configuration window QList actions = ui.menuNetwork->actions(); bool alreadyAdded = false; const int32_t& linkIndex(LinkManager::instance()->getLinks().indexOf(link)); const int32_t& linkID(LinkManager::instance()->getLinks()[linkIndex]->getId()); foreach (QAction* act, actions) { if (act->data().toInt() == linkID) { alreadyAdded = true; break; } } if (!alreadyAdded) { CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, this); commsWidgetList.append(commWidget); connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*))); QAction* action = commWidget->getAction(); ui.menuNetwork->addAction(action); } } void MainWindow::simulateLink(bool simulate) { if (simulate) { if (!simulationLink) { simulationLink = new MAVLinkSimulationLink(":/demo-log.txt"); Q_CHECK_PTR(simulationLink); } LinkManager::instance()->connectLink(simulationLink); } else { Q_ASSERT(simulationLink); LinkManager::instance()->disconnectLink(simulationLink); } } void MainWindow::commsWidgetDestroyed(QObject *obj) { // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already // been destroyed. if (commsWidgetList.contains(obj)) { commsWidgetList.removeOne(obj); } } void MainWindow::setActiveUAS(UASInterface* uas) { Q_UNUSED(uas); if (settings.contains(getWindowStateKey())) { restoreState(settings.value(getWindowStateKey()).toByteArray()); } } void MainWindow::UASSpecsChanged(int uas) { Q_UNUSED(uas); // TODO: Update UAS properties if its specs change } void MainWindow::UASCreated(UASInterface* uas) { // The UAS actions are not enabled without connection to system ui.actionLiftoff->setEnabled(true); ui.actionLand->setEnabled(true); ui.actionEmergency_Kill->setEnabled(true); ui.actionEmergency_Land->setEnabled(true); ui.actionShutdownMAV->setEnabled(true); QIcon icon; // Set matching icon switch (uas->getSystemType()) { case MAV_TYPE_GENERIC: icon = QIcon(":files/images/mavs/generic.svg"); break; case MAV_TYPE_FIXED_WING: icon = QIcon(":files/images/mavs/fixed-wing.svg"); break; case MAV_TYPE_QUADROTOR: icon = QIcon(":files/images/mavs/quadrotor.svg"); break; case MAV_TYPE_COAXIAL: icon = QIcon(":files/images/mavs/coaxial.svg"); break; case MAV_TYPE_HELICOPTER: icon = QIcon(":files/images/mavs/helicopter.svg"); break; case MAV_TYPE_ANTENNA_TRACKER: icon = QIcon(":files/images/mavs/antenna-tracker.svg"); break; case MAV_TYPE_GCS: icon = QIcon(":files/images/mavs/groundstation.svg"); break; case MAV_TYPE_AIRSHIP: icon = QIcon(":files/images/mavs/airship.svg"); break; case MAV_TYPE_FREE_BALLOON: icon = QIcon(":files/images/mavs/free-balloon.svg"); break; case MAV_TYPE_ROCKET: icon = QIcon(":files/images/mavs/rocket.svg"); break; case MAV_TYPE_GROUND_ROVER: icon = QIcon(":files/images/mavs/ground-rover.svg"); break; case MAV_TYPE_SURFACE_BOAT: icon = QIcon(":files/images/mavs/surface-boat.svg"); break; case MAV_TYPE_SUBMARINE: icon = QIcon(":files/images/mavs/submarine.svg"); break; case MAV_TYPE_HEXAROTOR: icon = QIcon(":files/images/mavs/hexarotor.svg"); break; case MAV_TYPE_OCTOROTOR: icon = QIcon(":files/images/mavs/octorotor.svg"); break; case MAV_TYPE_TRICOPTER: icon = QIcon(":files/images/mavs/tricopter.svg"); break; case MAV_TYPE_FLAPPING_WING: icon = QIcon(":files/images/mavs/flapping-wing.svg"); break; case MAV_TYPE_KITE: icon = QIcon(":files/images/mavs/kite.svg"); break; default: icon = QIcon(":files/images/mavs/unknown.svg"); break; } connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int))); connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64))); connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*))); // HIL _showHILConfigurationWidgets(); if (!linechartWidget) { linechartWidget = new Linecharts(this); linechartWidget->setVisible(false); } linechartWidget->addSource(mavlinkDecoder); if (_engineeringView != linechartWidget) { _engineeringView = linechartWidget; } // Reload view state in case new widgets were added _loadCurrentViewState(); } void MainWindow::UASDeleted(UASInterface* uas) { Q_UNUSED(uas); // TODO: Update the UI when a UAS is deleted } /// Stores the state of the toolbar, status bar and widgets associated with the current view void MainWindow::_storeCurrentViewState(void) { // HIL dock widgets are dynamic and are not part of the saved state _hideAllHilDockWidgets(); // Save list of visible widgets bool firstWidget = true; QString widgetNames = ""; foreach(QDockWidget* dockWidget, _mapName2DockWidget) { if (dockWidget->isVisible()) { if (!firstWidget) { widgetNames += ","; } widgetNames += dockWidget->objectName(); firstWidget = false; } } settings.setValue(getWindowStateKey() + "WIDGETS", widgetNames); settings.setValue(getWindowStateKey(), saveState()); settings.setValue(getWindowGeometryKey(), saveGeometry()); } /// Restores the state of the toolbar, status bar and widgets associated with the current view void MainWindow::_loadCurrentViewState(void) { QWidget* centerView = NULL; QString defaultWidgets; switch (_currentView) { case VIEW_SETUP: _buildSetupView(); centerView = _setupView; break; case VIEW_ENGINEER: _buildEngineeringView(); centerView = _engineeringView; defaultWidgets = "MAVLINK_INSPECTOR_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,FILE_VIEW_DOCKWIDGET,HEAD_UP_DISPLAY_DOCKWIDGET"; break; case VIEW_FLIGHT: _buildPilotView(); centerView = _pilotView; defaultWidgets = "COMMUNICATION_CONSOLE_DOCKWIDGET,UAS_INFO_INFOVIEW_DOCKWIDGET"; break; case VIEW_MISSION: _buildPlannerView(); centerView = _plannerView; defaultWidgets = "UNMANNED_SYSTEM_LIST_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET"; break; case VIEW_SIMULATION: _buildSimView(); centerView = _simView; defaultWidgets = "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET,WAYPOINT_LIST_DOCKWIDGET,PARAMETER_INTERFACE_DOCKWIDGET,PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET"; break; case VIEW_TERMINAL: _buildTerminalView(); centerView = _terminalView; break; case VIEW_GOOGLEEARTH: _buildGoogleEarthView(); centerView = _googleEarthView; break; case VIEW_LOCAL3D: _buildLocal3DView(); centerView = _local3DView; break; } // Remove old view if (_currentViewWidget) { _currentViewWidget->setVisible(false); Q_ASSERT(_centralLayout->count() == 1); QLayoutItem *child = _centralLayout->takeAt(0); Q_ASSERT(child); delete child; } // Add the new one Q_ASSERT(centerView); Q_ASSERT(_centralLayout->count() == 0); _currentViewWidget = centerView; _centralLayout->addWidget(_currentViewWidget); _currentViewWidget->setVisible(true); // Hide all widgets from previous view _hideAllDockWidgets(); // Restore the widgets for the new view QString widgetNames = settings.value(getWindowStateKey() + "WIDGETS", defaultWidgets).toString(); if (!widgetNames.isEmpty()) { QStringList split = widgetNames.split(","); foreach (QString widgetName, split) { Q_ASSERT(!widgetName.isEmpty()); _showDockWidget(widgetName, true); } } if (settings.contains(getWindowStateKey())) { restoreState(settings.value(getWindowStateKey()).toByteArray()); } // HIL dock widget are dynamic and don't take part in the saved window state, so this // need to happen after we restore state _showHILConfigurationWidgets(); } void MainWindow::_hideAllHilDockWidgets(void) { foreach(QDockWidget* dockWidget, _mapUasId2HilDockWidget) { dockWidget->setVisible(false); } } void MainWindow::_hideAllDockWidgets(void) { foreach(QDockWidget* dockWidget, _mapName2DockWidget) { dockWidget->setVisible(false); } _hideAllHilDockWidgets(); } void MainWindow::_showDockWidgetAction(bool show) { QAction* action = dynamic_cast(QObject::sender()); Q_ASSERT(action); _showDockWidget(action->data().toString(), show); } void MainWindow::handleMisconfiguration(UASInterface* uas) { static QTime lastTime; // We have to debounce this signal if (!lastTime.isValid()) { lastTime.start(); } else { if (lastTime.elapsed() < 10000) { lastTime.start(); return; } } // Ask user if he wants to handle this now QMessageBox::StandardButton button = QGCMessageBox::question(tr("Missing or Invalid Onboard Configuration"), tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?"), QMessageBox::Ok | QMessageBox::Cancel, QMessageBox::Ok); if (button == QMessageBox::Ok) { // He wants to handle it, make sure this system is selected UASManager::instance()->setActiveUAS(uas); // Flick to config view loadSetupView(); } } void MainWindow::loadEngineerView() { if (_currentView != VIEW_ENGINEER) { _storeCurrentViewState(); _currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadOperatorView() { if (_currentView != VIEW_MISSION) { _storeCurrentViewState(); _currentView = VIEW_MISSION; ui.actionMissionView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadSetupView() { if (_currentView != VIEW_SETUP) { _storeCurrentViewState(); _currentView = VIEW_SETUP; ui.actionSetup->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadTerminalView() { if (_currentView != VIEW_TERMINAL) { _storeCurrentViewState(); _currentView = VIEW_TERMINAL; ui.actionTerminalView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadGoogleEarthView() { if (_currentView != VIEW_GOOGLEEARTH) { _storeCurrentViewState(); _currentView = VIEW_GOOGLEEARTH; ui.actionGoogleEarthView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadLocal3DView() { if (_currentView != VIEW_LOCAL3D) { _storeCurrentViewState(); _currentView = VIEW_LOCAL3D; ui.actionLocal3DView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadPilotView() { if (_currentView != VIEW_FLIGHT) { _storeCurrentViewState(); _currentView = VIEW_FLIGHT; ui.actionFlightView->setChecked(true); _loadCurrentViewState(); } } void MainWindow::loadSimulationView() { if (_currentView != VIEW_SIMULATION) { _storeCurrentViewState(); _currentView = VIEW_SIMULATION; ui.actionSimulationView->setChecked(true); _loadCurrentViewState(); } } QList MainWindow::listLinkMenuActions() { return ui.menuNetwork->actions(); } /// @brief Hides the spash screen if it is currently being shown void MainWindow::hideSplashScreen(void) { if (_splashScreen) { _splashScreen->hide(); _splashScreen = NULL; } } #ifdef QGC_MOUSE_ENABLED_LINUX bool MainWindow::x11Event(XEvent *event) { emit x11EventOccured(event); return false; } #endif // QGC_MOUSE_ENABLED_LINUX #ifdef UNITTEST_BUILD void MainWindow::_showQmlTestWidget(void) { new QmlTestWidget(); } #endif