/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009, 2010 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 Core * * @author Lorenz Meier * */ #include #include #include #include #include #include #include #include #include #include "configuration.h" #include "Core.h" #include "MG.h" #include "MainWindow.h" #include "GAudioOutput.h" #ifdef OPAL_RT #include "OpalLink.h" #endif #include "UDPLink.h" #include "MAVLinkSimulationLink.h" /** * @brief Constructor for the main application. * * This constructor initializes and starts the whole application. It takes standard * command-line parameters * * @param argc The number of command-line parameters * @param argv The string array of parameters **/ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv) { this->setApplicationName(QGC_APPLICATION_NAME); this->setApplicationVersion(QGC_APPLICATION_VERSION); this->setOrganizationName(QLatin1String("PIXHAWK Association Zurich")); this->setOrganizationDomain("http://qgroundcontrol.org"); // Show splash screen QPixmap splashImage(":images/splash.png"); QSplashScreen* splashScreen = new QSplashScreen(splashImage, Qt::WindowStaysOnTopHint); // Delete splash screen after mainWindow was displayed splashScreen->setAttribute(Qt::WA_DeleteOnClose); splashScreen->show(); splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); QSettings::setDefaultFormat(QSettings::IniFormat); // Exit main application when last window is closed connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit())); // Load application font QFontDatabase fontDatabase = QFontDatabase(); const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app const QString fontFamilyName = "Bitstream Vera Sans"; if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str()); fontDatabase.addApplicationFont(fontFileName); // Avoid Using setFont(). In the Qt docu you can read the following: // "Warning: Do not use this function in conjunction with Qt Style Sheets." // setFont(fontDatabase.font(fontFamilyName, "Roman", 12)); // Start the comm link manager splashScreen->showMessage(tr("Starting Communication Links"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); startLinkManager(); // Start the UAS Manager splashScreen->showMessage(tr("Starting UAS Manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); startUASManager(); //tarsus = new ViconTarsusProtocol(); //tarsus->start(); // Start the user interface splashScreen->showMessage(tr("Starting User Interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Start UI mainWindow = new MainWindow(); // Remove splash screen splashScreen->finish(mainWindow); // Connect links // to make sure that all components are initialized when the // first messages arrive UDPLink* udpLink = new UDPLink(QHostAddress::Any, 14550); // Listen on Multicast-Address 239.255.77.77, Port 14550 //QHostAddress * multicast_udp = new QHostAddress("239.255.77.77"); //UDPLink* udpLink = new UDPLink(*multicast_udp, 14550); mainWindow->addLink(udpLink); // Check if link could be connected if (!udpLink->connect()) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?"); msgBox.setInformativeText("You will not be able to receive data via UDP. Please check that you're running the right executable and then re-start " + qAppName() + ". Do you want to close the application?"); msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No); msgBox.setDefaultButton(QMessageBox::No); int ret = msgBox.exec(); // Close the message box shortly after the click to prevent accidental clicks QTimer::singleShot(5000, &msgBox, SLOT(reject())); // Exit application if (ret == QMessageBox::Yes) { //mainWindow->close(); QTimer::singleShot(200, mainWindow, SLOT(close())); } } #ifdef OPAL_RT // Add OpalRT Link, but do not connect OpalLink* opalLink = new OpalLink(); mainWindow->addLink(opalLink); #endif // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt"); MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt"); mainWindow->addLink(simulationLink); } /** * @brief Destructor for the groundstation. It destroys all loaded instances. * **/ Core::~Core() { // Delete singletons delete LinkManager::instance(); delete UASManager::instance(); } /** * @brief Start the link managing component. * * The link manager keeps track of all communication links and provides the global * packet queue. It is the main communication hub **/ void Core::startLinkManager() { LinkManager::instance(); } /** * @brief Start the Unmanned Air System Manager * **/ void Core::startUASManager() { // Load UAS plugins QDir pluginsDir = QDir(qApp->applicationDirPath()); #if defined(Q_OS_WIN) if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release") pluginsDir.cdUp(); #elif defined(Q_OS_LINUX) if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release") pluginsDir.cdUp(); #elif defined(Q_OS_MAC) if (pluginsDir.dirName() == "MacOS") { pluginsDir.cdUp(); pluginsDir.cdUp(); pluginsDir.cdUp(); } #endif pluginsDir.cd("plugins"); UASManager::instance(); // Load plugins QStringList pluginFileNames; foreach (QString fileName, pluginsDir.entryList(QDir::Files)) { QPluginLoader loader(pluginsDir.absoluteFilePath(fileName)); QObject *plugin = loader.instance(); if (plugin) { //populateMenus(plugin); pluginFileNames += fileName; //printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str()); } } }