/*===================================================================== 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 #include "QGC.h" #include "MAVLinkProtocol.h" #include "MainWindow.h" #include "GAudioOutput.h" #include "QGCMAVLinkLogPlayer.h" #include "SettingsDialog.h" #include "MAVLinkDecoder.h" #include "QGCApplication.h" #include "QGCFileDialog.h" #include "QGCMessageBox.h" #include "MultiVehicleManager.h" #include "HomePositionManager.h" #include "LogCompressor.h" #include "UAS.h" #ifndef __mobile__ #include "QGCDataPlot2D.h" #include "Linecharts.h" #include "QGCUASFileViewMulti.h" #include "UASQuickView.h" #include "QGCTabbedInfoView.h" #include "UASRawStatusView.h" #include "CustomCommandWidget.h" #include "QGCDockWidget.h" #include "FlightDisplayWidget.h" #include "UASInfoWidget.h" #include "HILDockWidget.h" #endif #ifndef __ios__ #include "SerialLink.h" #endif #ifdef UNITTEST_BUILD #include "QmlControls/QmlTestWidget.h" #endif #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif /// The key under which the Main Window settings are saved const char* MAIN_SETTINGS_GROUP = "QGC_MAINWINDOW"; #ifndef __mobile__ const char* MainWindow::_mavlinkDockWidgetName = "MAVLink Inspector"; const char* MainWindow::_customCommandWidgetName = "Custom Command"; const char* MainWindow::_filesDockWidgetName = "Onboard Files"; const char* MainWindow::_uasStatusDetailsDockWidgetName = "Status Details"; const char* MainWindow::_pfdDockWidgetName = "Primary Flight Display"; const char* MainWindow::_uasInfoViewDockWidgetName = "Info View"; const char* MainWindow::_hilDockWidgetName = "HIL Config"; const char* MainWindow::_analyzeDockWidgetName = "Analyze"; const char* MainWindow::_visibleWidgetsKey = "VisibleWidgets"; #endif 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) : _autoReconnect(false) , _lowPowerMode(false) , _showStatusBar(false) , _splashScreen(splashScreen) , _mainQmlWidgetHolder(NULL) { Q_ASSERT(_instance == NULL); _instance = this; if (splashScreen) { connect(this, &MainWindow::initStatusChanged, splashScreen, &QSplashScreen::showMessage); } // Qt 4/5 on Ubuntu does place the native menubar correctly so on Linux we revert back to in-window menu bar. #ifdef Q_OS_LINUX menuBar()->setNativeMenuBar(false); #endif // Setup user interface loadSettings(); emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); _ui.setupUi(this); // Make sure tool bar elements all fit before changing minimum width setMinimumWidth(1008); configureWindowName(); // Setup central widget with a layout to hold the views _centralLayout = new QVBoxLayout(); _centralLayout->setContentsMargins(0, 0, 0, 0); centralWidget()->setLayout(_centralLayout); _mainQmlWidgetHolder = new QGCQmlWidgetHolder(QString(), NULL, this); _centralLayout->addWidget(_mainQmlWidgetHolder); _mainQmlWidgetHolder->setVisible(true); _mainQmlWidgetHolder->setContextPropertyObject("controller", this); _mainQmlWidgetHolder->setSource(QUrl::fromUserInput("qrc:qml/MainWindow.qml")); // Set dock options setDockOptions(0); // Setup corners setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea); // On Mobile devices, we don't want any main menus at all. #ifdef __mobile__ 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.menuWidgets->addAction(qmlTestAction); #endif // Status Bar setStatusBar(new QStatusBar(this)); statusBar()->setSizeGripEnabled(true); #ifndef __mobile__ 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)); #endif // Create actions connectCommonActions(); // Connect user interface devices #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 // These also cause the screen to redraw so we need to update any OpenGL canvases in QML controls connect(LinkManager::instance(), &LinkManager::linkConnected, this, &MainWindow::_linkStateChange); connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &MainWindow::_linkStateChange); // Connect link if (_autoReconnect) { restoreLastUsedConnection(); } // Set low power mode enableLowPowerMode(_lowPowerMode); emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); #ifndef __mobile__ // Restore the window position and size emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); if (settings.contains(_getWindowGeometryKey())) { restoreGeometry(settings.value(_getWindowGeometryKey()).toByteArray()); } else { // Adjust the size QScreen* scr = QApplication::primaryScreen(); QSize scrSize = scr->availableSize(); if (scrSize.width() <= 1280) { resize(scrSize.width(), scrSize.height()); } else { int w = scrSize.width() > 1600 ? 1600 : scrSize.width(); int h = scrSize.height() > 800 ? 800 : scrSize.height(); resize(w, h); move((scrSize.width() - w) / 2, (scrSize.height() - h) / 2); } } // 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 connect(_ui.actionFullscreen, &QAction::triggered, this, &MainWindow::fullScreenActionItemCallback); connect(_ui.actionNormal, &QAction::triggered, this, &MainWindow::normalActionItemCallback); #endif connect(_ui.actionStatusBar, &QAction::triggered, this, &MainWindow::showStatusBarCallback); // 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.actionPlan->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0)); _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Meta+3", 0)); _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0)); #else _ui.actionSetup->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0)); _ui.actionPlan->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0)); _ui.actionFlight->setShortcut(QApplication::translate("MainWindow", "Ctrl+3", 0)); _ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Ctrl+Return", 0)); #endif _ui.actionFlight->setChecked(true); 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()) { _ui.actionStatusBar->setChecked(_showStatusBar); showStatusBarCallback(_showStatusBar); #ifdef __mobile__ menuBar()->hide(); #endif show(); #ifdef Q_OS_MAC // TODO HACK // This is a really ugly hack. For whatever reason, by having a QQuickWidget inside a // QDockWidget (MainToolBar above), the main menu is not shown when the app first // starts. I looked everywhere and I could not find a solution. What I did notice was // that if any other window gets focus, the menu comes up when you come back to QGC. // That is, if you were to click on another window and then back to QGC, the menus // would appear. This hack below creates a 0x0 dialog and immediately closes it. // That works around the issue and it will do until I find the root of the problem. QDialog qd(this); qd.show(); qd.raise(); qd.activateWindow(); qd.close(); #endif } #ifndef __mobile__ _loadVisibleWidgetsSettings(); #endif } MainWindow::~MainWindow() { _instance = NULL; } QString MainWindow::_getWindowGeometryKey() { return "_geometry"; } #ifndef __mobile__ void MainWindow::_buildCommonWidgets(void) { // Add generic MAVLink decoder // TODO: This is never deleted 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 // TODO: Make this optional with a preferences setting or under a "View" menu logPlayer = new QGCMAVLinkLogPlayer(statusBar()); statusBar()->addPermanentWidget(logPlayer); static const char* rgDockWidgetNames[] = { _mavlinkDockWidgetName, _customCommandWidgetName, _filesDockWidgetName, _uasStatusDetailsDockWidgetName, _pfdDockWidgetName, _uasInfoViewDockWidgetName, _hilDockWidgetName, _analyzeDockWidgetName, }; static const size_t cDockWidgetNames = sizeof(rgDockWidgetNames) / sizeof(rgDockWidgetNames[0]); for (size_t i=0; isetCheckable(true); action->setData(pDockWidgetName); connect(action, &QAction::triggered, this, &MainWindow::_showDockWidgetAction); _ui.menuWidgets->addAction(action); _mapName2Action[pDockWidgetName] = action; } } /// Shows or hides the specified dock widget, creating if necessary void MainWindow::_showDockWidget(const QString& name, bool show) { // Create the inner widget if we need to if (!_mapName2DockWidget.contains(name)) { _createInnerDockWidget(name); } Q_ASSERT(_mapName2DockWidget.contains(name)); QGCDockWidget* dockWidget = _mapName2DockWidget[name]; Q_ASSERT(dockWidget); dockWidget->setVisible(show); Q_ASSERT(_mapName2Action.contains(name)); _mapName2Action[name]->setChecked(show); } /// Creates the specified inner dock widget and adds to the QDockWidget void MainWindow::_createInnerDockWidget(const QString& widgetName) { QGCDockWidget* widget = NULL; if (widgetName == _mavlinkDockWidgetName) { widget = new QGCMAVLinkInspector(widgetName, _mapName2Action[widgetName], MAVLinkProtocol::instance(),this); } else if (widgetName == _customCommandWidgetName) { widget = new CustomCommandWidget(widgetName, _mapName2Action[widgetName], this); } else if (widgetName == _filesDockWidgetName) { widget = new QGCUASFileViewMulti(widgetName, _mapName2Action[widgetName], this); } else if (widgetName == _uasStatusDetailsDockWidgetName) { widget = new UASInfoWidget(widgetName, _mapName2Action[widgetName], this); } else if (widgetName == _pfdDockWidgetName) { widget = new FlightDisplayWidget(widgetName, _mapName2Action[widgetName], this); } else if (widgetName == _hilDockWidgetName) { widget = new HILDockWidget(widgetName, _mapName2Action[widgetName], this); } else if (widgetName == _analyzeDockWidgetName) { widget = new Linecharts(widgetName, _mapName2Action[widgetName], mavlinkDecoder, this); } else if (widgetName == _uasInfoViewDockWidgetName) { QGCTabbedInfoView* pInfoView = new QGCTabbedInfoView(widgetName, _mapName2Action[widgetName], this); pInfoView->addSource(mavlinkDecoder); widget = pInfoView; } else { qWarning() << "Attempt to create unknown Inner Dock Widget" << widgetName; } _mapName2DockWidget[widgetName] = widget; } void MainWindow::_hideAllDockWidgets(void) { foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) { dockWidget->setVisible(false); } } void MainWindow::_showDockWidgetAction(bool show) { QAction* action = dynamic_cast(QObject::sender()); Q_ASSERT(action); _showDockWidget(action->text(), show); } #endif void MainWindow::fullScreenActionItemCallback(bool) { _ui.actionNormal->setChecked(false); } void MainWindow::normalActionItemCallback(bool) { _ui.actionFullscreen->setChecked(false); } void MainWindow::showStatusBarCallback(bool checked) { _showStatusBar = checked; checked ? statusBar()->show() : statusBar()->hide(); } void MainWindow::closeEvent(QCloseEvent *event) { // Disallow window close if there are active connections if (LinkManager::instance()->anyConnectedLinks()) { 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) { LinkManager::instance()->disconnectAll(); // The above disconnect causes a flurry of activity as the vehicle components are removed. This in turn // causes the Windows Version of Qt to crash if you allow the close event to be accepted. In order to prevent // the crash, we ignore the close event and setup a delayed timer to close the window after things settle down. QTimer::singleShot(1500, this, &MainWindow::_closeWindow); } event->ignore(); return; } // This will process any remaining flight log save dialogs qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents); // Should not be any active connections Q_ASSERT(!LinkManager::instance()->anyConnectedLinks()); // We have to pull out the QmlWidget from the main window and delete it here, before // the MainWindow ends up getting deleted. Otherwise the Qml has a reference to MainWindow // inside it which in turn causes a shutdown crash. _centralLayout->removeWidget(_mainQmlWidgetHolder); delete _mainQmlWidgetHolder; _mainQmlWidgetHolder = NULL; _storeCurrentViewState(); storeSettings(); event->accept(); } void MainWindow::loadSettings() { // Why the screaming? QSettings settings; settings.beginGroup(MAIN_SETTINGS_GROUP); _autoReconnect = settings.value("AUTO_RECONNECT", _autoReconnect).toBool(); _lowPowerMode = settings.value("LOW_POWER_MODE", _lowPowerMode).toBool(); _showStatusBar = settings.value("SHOW_STATUSBAR", _showStatusBar).toBool(); settings.endGroup(); } void MainWindow::storeSettings() { QSettings settings; settings.beginGroup(MAIN_SETTINGS_GROUP); settings.setValue("AUTO_RECONNECT", _autoReconnect); settings.setValue("LOW_POWER_MODE", _lowPowerMode); settings.setValue("SHOW_STATUSBAR", _showStatusBar); settings.endGroup(); settings.setValue(_getWindowGeometryKey(), saveGeometry()); #ifndef __mobile__ _storeVisibleWidgetsSettings(); #endif } 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::enableAutoReconnect(bool enabled) { _autoReconnect = enabled; } /** * @brief Create all actions associated to the main window * **/ void MainWindow::connectCommonActions() { // Connect actions from ui connect(_ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(manageLinks())); // 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())); // Views actions connect(_ui.actionFlight, &QAction::triggered, this, &MainWindow::showFlyView); connect(_ui.actionPlan, &QAction::triggered, this, &MainWindow::showPlanView); connect(_ui.actionSetup, &QAction::triggered, this, &MainWindow::showSetupView); // Connect internal actions connect(MultiVehicleManager::instance(), &MultiVehicleManager::vehicleAdded, this, &MainWindow::_vehicleAdded); } 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::showSettings() { SettingsDialog settings(this); settings.exec(); } void MainWindow::_vehicleAdded(Vehicle* vehicle) { connect(vehicle->uas(), SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64))); } /// Stores the state of the toolbar, status bar and widgets associated with the current view void MainWindow::_storeCurrentViewState(void) { #ifndef __mobile__ foreach(QGCDockWidget* dockWidget, _mapName2DockWidget) { dockWidget->saveSettings(); } #endif settings.setValue(_getWindowGeometryKey(), saveGeometry()); } /// @brief Hides the spash screen if it is currently being shown void MainWindow::hideSplashScreen(void) { if (_splashScreen) { _splashScreen->hide(); _splashScreen = NULL; } } void MainWindow::manageLinks() { SettingsDialog settings(this, SettingsDialog::ShowCommLinks); settings.exec(); } /// @brief Saves the last used connection void MainWindow::saveLastUsedConnection(const QString connection) { QSettings settings; QString key(MAIN_SETTINGS_GROUP); key += "/LAST_CONNECTION"; settings.setValue(key, connection); } /// @brief Restore (and connects) the last used connection (if any) void MainWindow::restoreLastUsedConnection() { // TODO This should check and see of the port/whatever is present // first. That is, if the last connection was to a PX4 on some serial // port, it should check and see if the port is present before making // the connection. QSettings settings; QString key(MAIN_SETTINGS_GROUP); key += "/LAST_CONNECTION"; if(settings.contains(key)) { QString connection = settings.value(key).toString(); // Create a link for it LinkManager::instance()->createConnectedLink(connection); } } void MainWindow::_linkStateChange(LinkInterface*) { emit repaintCanvas(); } #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 #ifndef __mobile__ void MainWindow::_loadVisibleWidgetsSettings(void) { QSettings settings; QString widgets = settings.value(_visibleWidgetsKey).toString(); if (!widgets.isEmpty()) { QStringList nameList = widgets.split(","); foreach (QString name, nameList) { _showDockWidget(name, true); } } } void MainWindow::_storeVisibleWidgetsSettings(void) { QString widgetNames; bool firstWidget = true; foreach (QString name, _mapName2DockWidget.keys()) { if (_mapName2DockWidget[name]->isVisible()) { if (!firstWidget) { widgetNames += ","; } else { firstWidget = false; } widgetNames += name; } } QSettings settings; settings.setValue(_visibleWidgetsKey, widgetNames); } #endif