/*===================================================================== 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 "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 "QGCSettingsWidget.h" #include "QGCMapTool.h" #include "MAVLinkDecoder.h" #include "QGCMAVLinkMessageSender.h" #include "QGCRGBDView.h" #include "QGCStatusBar.h" #include "UASQuickView.h" #include "QGCDataPlot2D.h" #include "Linecharts.h" #include "UASActionsWidget.h" #include "QGCTabbedInfoView.h" #include "UASRawStatusView.h" #include "PrimaryFlightDisplay.h" #include #include "SerialSettingsDialog.h" #include "terminalconsole.h" #include "menuactionhelper.h" #include "QGCUASFileViewMulti.h" #include #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif // FIXME Move #include "PxQuadMAV.h" #include "LogCompressor.h" // Set up some constants const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css"; const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css"; MainWindow* MainWindow::instance_mode(QSplashScreen* screen, enum MainWindow::CUSTOM_MODE mode) { static MainWindow* _instance = 0; if (_instance == 0) { _instance = new MainWindow(); _instance->setCustomMode(mode); if (screen) { connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)), screen, SLOT(showMessage(QString,int,QColor))); } _instance->init(); } return _instance; } MainWindow* MainWindow::instance(QSplashScreen* screen) { return instance_mode(screen, CUSTOM_MODE_UNCHANGED); } /** * Create new mainwindow. The constructor instantiates all parts of the user * interface. It does NOT show the mainwindow. To display it, call the show() * method. * * @see QMainWindow::show() **/ MainWindow::MainWindow(QWidget *parent): QMainWindow(parent), currentView(VIEW_FLIGHT), currentStyle(QGC_MAINWINDOW_STYLE_DARK), aboutToCloseFlag(false), changingViewsFlag(false), mavlink(new MAVLinkProtocol()), centerStackActionGroup(new QActionGroup(this)), darkStyleFileName(defaultDarkStyle), lightStyleFileName(defaultLightStyle), autoReconnect(false), simulationLink(NULL), lowPowerMode(false), customMode(CUSTOM_MODE_NONE), menuActionHelper(new MenuActionHelper()) { this->setAttribute(Qt::WA_DeleteOnClose); connect(menuActionHelper, SIGNAL(needToShowDockWidget(QString,bool)),SLOT(showDockWidget(QString,bool))); //TODO: move protocol outside UI connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); loadSettings(); } void MainWindow::init() { emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); qApp->setStyle("plastique"); if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT) { loadStyle(currentStyle, lightStyleFileName); } else { loadStyle(currentStyle, darkStyleFileName); } if (settings.contains("ADVANCED_MODE")) { menuActionHelper->setAdvancedMode(settings.value("ADVANCED_MODE").toBool()); } if (!settings.contains("CURRENT_VIEW")) { // Set this view as default view settings.setValue("CURRENT_VIEW", currentView); } else { // LOAD THE LAST VIEW VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt(); if (currentViewCandidate != VIEW_ENGINEER && currentViewCandidate != VIEW_MISSION && currentViewCandidate != VIEW_FLIGHT && currentViewCandidate != VIEW_DEFAULT) { currentView = currentViewCandidate; } } settings.sync(); emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Setup user interface ui.setupUi(this); menuActionHelper->setMenu(ui.menuTools); // 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 // Setup UI state machines centerStackActionGroup->setExclusive(true); centerStack = new QStackedWidget(this); setCentralWidget(centerStack); // Load Toolbar toolBar = new QGCToolBar(this); this->addToolBar(toolBar); // Add actions for average users (displayed next to each other) QList actions; actions << ui.actionMissionView; actions << ui.actionFlightView; actions << ui.actionHardwareConfig; toolBar->setPerspectiveChangeActions(actions); // Add actions for advanced users (displayed in dropdown under "advanced") QList advancedActions; advancedActions << ui.actionEngineersView; advancedActions << ui.actionGoogleEarthView; advancedActions << ui.actionLocal3DView; advancedActions << ui.actionSoftwareConfig; advancedActions << ui.actionTerminalView; advancedActions << ui.actionSimulationView; toolBar->setPerspectiveChangeAdvancedActions(advancedActions); customStatusBar = new QGCStatusBar(this); setStatusBar(customStatusBar); statusBar()->setSizeGripEnabled(true); emit initStatusChanged(tr("Building common widgets."), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); buildCommonWidgets(); connectCommonWidgets(); 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) { this->addLink(link); } connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*))); // 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) { SerialLink* link = new SerialLink(); // Add to registry LinkManager::instance()->add(link); LinkManager::instance()->addProtocol(link, mavlink); link->connect(); } // Set low power mode enableLowPowerMode(lowPowerMode); // Initialize window state windowStateVal = windowState(); emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window setup loadViewState(); 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()); show(); } else { // Adjust the size const int screenWidth = QApplication::desktop()->width(); const int screenHeight = QApplication::desktop()->height(); if (screenWidth < 1500) { resize(screenWidth, screenHeight - 80); show(); } else { resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); show(); } } // 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.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Meta+1", 0)); ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Meta+2", 0)); ui.actionHardwareConfig->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.actionFirmwareUpdateView->setShortcut(QApplication::translate("MainWindow", "Meta+9", 0)); ui.actionFullscreen->setShortcut(QApplication::translate("MainWindow", "Meta+Return", 0)); #else ui.actionMissionView->setShortcut(QApplication::translate("MainWindow", "Ctrl+1", 0)); ui.actionFlightView->setShortcut(QApplication::translate("MainWindow", "Ctrl+2", 0)); ui.actionHardwareConfig->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.actionFirmwareUpdateView->setShortcut(QApplication::translate("MainWindow", "Ctrl+9", 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)); show(); } MainWindow::~MainWindow() { if (mavlink) { delete mavlink; mavlink = NULL; } if (simulationLink) { delete simulationLink; simulationLink = NULL; } if (joystick) { joystick->shutdown(); joystick->wait(5000); delete joystick; joystick = NULL; } // Get and delete all dockwidgets and contained // widgets QObjectList childList(this->children()); QObjectList::iterator i; QDockWidget* dockWidget; for (i = childList.begin(); i != childList.end(); ++i) { dockWidget = dynamic_cast(*i); if (dockWidget) { // Remove dock widget from main window // removeDockWidget(dockWidget); // delete dockWidget->widget(); delete dockWidget; dockWidget = NULL; } else if (dynamic_cast(*i)) { delete dynamic_cast(*i); *i = NULL; } } // Delete all UAS objects delete menuActionHelper; for (int i=0;ideleteLater(); } } void MainWindow::resizeEvent(QResizeEvent * event) { QMainWindow::resizeEvent(event); } QString MainWindow::getWindowStateKey() { if (UASManager::instance()->getActiveUAS()) { return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode()) + "_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName(); } else return QString::number(currentView)+"_windowstate_" + QString::number(getCustomMode()); } QString MainWindow::getWindowGeometryKey() { return "_geometry"; } void MainWindow::buildCustomWidget() { // Create custom widgets QList widgets = QGCToolWidget::createWidgetsFromSettings(this); if (widgets.size() > 0) { ui.menuTools->addSeparator(); } for(int i = 0; i < widgets.size(); ++i) { // Check if this widget already has a parent, do not create it in this case QGCToolWidget* tool = widgets.at(i); QDockWidget* dock = dynamic_cast(tool->parentWidget()); if (!dock) { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); // Load dock widget location (default is bottom) Qt::DockWidgetArea location = tool->getDockWidgetArea(currentView); int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt(); settings.endGroup(); QDockWidget* dock; switch (view) { case VIEW_ENGINEER: dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_FLIGHT: dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_SIMULATION: dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_MISSION: dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_GOOGLEEARTH: dock = createDockWidget(googleEarthView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_LOCAL3D: dock = createDockWidget(local3DView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; default: dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; } // XXX temporary "fix" dock->hide(); } } } void MainWindow::buildCommonWidgets() { // Add generic MAVLink decoder mavlinkDecoder = new MAVLinkDecoder(mavlink, this); connect(mavlinkDecoder, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64))); // Log player logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar); customStatusBar->setLogPlayer(logPlayer); // Center widgets if (!plannerView) { plannerView = new SubMainWindow(this); plannerView->setObjectName("VIEW_MISSION"); plannerView->setCentralWidget(new QGCMapTool(this)); addToCentralStackedWidget(plannerView, VIEW_MISSION, "Maps"); } //pilotView (aka Flight or Mission View) if (!pilotView) { pilotView = new SubMainWindow(this); pilotView->setObjectName("VIEW_FLIGHT"); pilotView->setCentralWidget(new PrimaryFlightDisplay(this)); addToCentralStackedWidget(pilotView, VIEW_FLIGHT, "Pilot"); } if (!terminalView) { terminalView = new SubMainWindow(this); terminalView->setObjectName("VIEW_TERMINAL"); TerminalConsole *terminalConsole = new TerminalConsole(this); terminalView->setCentralWidget(terminalConsole); addToCentralStackedWidget(terminalView, VIEW_TERMINAL, tr("Terminal View")); } if (!configView) { configView = new SubMainWindow(this); configView->setObjectName("VIEW_HARDWARE_CONFIG"); configView->setCentralWidget(new QGCConfigView(this)); addToCentralStackedWidget(configView, VIEW_HARDWARE_CONFIG, "Config"); } if (!engineeringView) { engineeringView = new SubMainWindow(this); engineeringView->setObjectName("VIEW_ENGINEER"); engineeringView->setCentralWidget(new QGCDataPlot2D(this)); addToCentralStackedWidget(engineeringView, VIEW_ENGINEER, tr("Logfile Plot")); } #ifdef QGC_GOOGLE_EARTH_ENABLED if (!googleEarthView) { googleEarthView = new SubMainWindow(this); googleEarthView->setObjectName("VIEW_GOOGLEEARTH"); googleEarthView->setCentralWidget(new QGCGoogleEarthView(this)); addToCentralStackedWidget(googleEarthView, VIEW_GOOGLEEARTH, tr("Google Earth View")); } #endif #ifdef QGC_OSG_ENABLED if (!local3DView) { q3DWidget = Q3DWidgetFactory::get("PIXHAWK", this); q3DWidget->setObjectName("VIEW_3DWIDGET"); local3DView = new SubMainWindow(this); local3DView->setObjectName("VIEW_LOCAL3D"); local3DView->setCentralWidget(q3DWidget); addToCentralStackedWidget(local3DView, VIEW_LOCAL3D, tr("Local 3D View")); } #endif if (!simView) { simView = new SubMainWindow(this); simView->setObjectName("VIEW_SIMULATOR"); simView->setCentralWidget(new QGCMapTool(this)); addToCentralStackedWidget(simView, VIEW_SIMULATION, tr("Simulation View")); } // Dock widgets createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea); createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea); createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea); createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea); createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea); createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea); createDockWidget(engineeringView,new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea); createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea); menuActionHelper->createToolAction(tr("Map View"), "MAP_VIEW_DOCKWIDGET"); menuActionHelper->createToolAction(tr("Status Details"), "UAS_STATUS_DETAILS_DOCKWIDGET"); createDockWidget(pilotView, new DebugConsole(this), tr("Communications Console"), "COMMUNICATION_CONSOLE_DOCKWIDGET", VIEW_FLIGHT, Qt::LeftDockWidgetArea); menuActionHelper->createToolAction(tr("Flight Display"), "HEAD_DOWN_DISPLAY_1_DOCKWIDGET"); menuActionHelper->createToolAction(tr("Actuator Status"), "HEAD_DOWN_DISPLAY_2_DOCKWIDGET"); menuActionHelper->createToolAction(tr("Radio Control")); createDockWidget(engineeringView,new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea); createDockWidget(simView,new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea); createDockWidget(plannerView,new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea); QGCTabbedInfoView *infoview = new QGCTabbedInfoView(this); infoview->addSource(mavlinkDecoder); createDockWidget(pilotView,infoview,tr("Info View"),"UAS_INFO_INFOVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea); // Custom widgets, added last to all menus and layouts buildCustomWidget(); } void MainWindow::addTool(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area) { menuActionHelper->createToolActionForCustomDockWidget(title, widget->objectName(), widget, view); parent->addDockWidget(area,widget); } QDockWidget* MainWindow::createDockWidget(QWidget *subMainWindowParent,QWidget *child,const QString& title,const QString& objectName,VIEW_SECTIONS view,Qt::DockWidgetArea area,const QSize& minSize) { SubMainWindow *parent = qobject_cast(subMainWindowParent); Q_ASSERT(parent); QDockWidget* dockWidget = menuActionHelper->createDockWidget(title, objectName); child->setObjectName(objectName); dockWidget->setWidget(child); //Set child objectName before setting dockwidget, since the dock widget might react to object name changes connect(child, SIGNAL(destroyed()), dockWidget, SLOT(deleteLater())); //Our dockwidget only has only child widget, so kill the dock widget if the child is deleted if (minSize.height() >= 0) dockWidget->setMinimumHeight(minSize.height()); if (minSize.width() >= 0) dockWidget->setMinimumWidth(minSize.width()); addTool(parent,view,dockWidget,title,area); return dockWidget; } void MainWindow::showDockWidget(const QString& name, bool show) { QDockWidget *dockWidget = menuActionHelper->getDockWidget(currentView, name); if(dockWidget) dockWidget->setVisible(show); else if (show) loadDockWidget(name); } void MainWindow::fullScreenActionItemCallback() { ui.actionNormal->setChecked(false); } void MainWindow::normalActionItemCallback() { ui.actionFullscreen->setChecked(false); } void MainWindow::loadDockWidget(const QString& name) { if(menuActionHelper->containsDockWidget(currentView, name)) return; if (name.startsWith("HIL_CONFIG")) { //It's a HIL widget. showHILConfigurationWidget(UASManager::instance()->getActiveUAS()); } else if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea); } else if (name == "UNMANNED_SYSTEM_LIST_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "WAYPOINT_LIST_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea); } else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "PARAMETER_INTERFACE_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "FILE_VIEW_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCUASFileViewMulti(this),tr("Onboard Files"),"FILE_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "MAP_VIEW_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCMapTool(this),tr("Map view"),"MAP_VIEW_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET") { //This is now a permanently detached window. } else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea); } else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET") { 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); createDockWidget(centerStack->currentWidget(),hddisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET") { QStringList acceptList; acceptList.append("0,RAW_PRESSURE.pres_abs,hPa,65500"); HDDisplay *hddisplay = new HDDisplay(acceptList,"Actuator Status",this); hddisplay->addSource(mavlinkDecoder); createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "Radio Control") { qDebug() << "Error loading window:" << name << "Unknown window type"; } else if (name == "PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new PrimaryFlightDisplay(this),tr("Primary Flight Display"),"PRIMARY_FLIGHT_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Video Downlink"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea); } else { if (customWidgetNameToFilenameMap.contains(name)) { loadCustomWidget(customWidgetNameToFilenameMap[name],currentView); } else { qDebug() << "Error loading window:" << name; } } } void MainWindow::addToCentralStackedWidget(QWidget* widget, VIEW_SECTIONS viewSection, const QString& title) { Q_UNUSED(viewSection); Q_UNUSED(title); Q_ASSERT(widget->objectName().length() != 0); // Check if this widget already has been added if (centerStack->indexOf(widget) == -1) { centerStack->addWidget(widget); } } void MainWindow::showCentralWidget() { QAction* act = qobject_cast(sender()); QWidget* widget = act->data().value(); centerStack->setCurrentWidget(widget); } void MainWindow::showHILConfigurationWidget(UASInterface* uas) { // Add simulation configuration widget UAS* mav = dynamic_cast(uas); if (mav && !hilDocks.contains(mav->getUASID())) { QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this); QString hilDockName = tr("HIL Config %1").arg(uas->getUASName()); QString hilDockObjectName = QString("HIL_CONFIG_%1").arg(uas->getUASName().toUpper().replace(' ','_')); QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockObjectName,VIEW_SIMULATION,Qt::LeftDockWidgetArea); hilDocks.insert(mav->getUASID(), hilDock); } } void MainWindow::closeEvent(QCloseEvent *event) { if (isVisible()) storeViewState(); aboutToCloseFlag = true; storeSettings(); mavlink->storeSettings(); UASManager::instance()->storeSettings(); QMainWindow::closeEvent(event); } /** * Connect the signals and slots of the common window widgets */ void MainWindow::connectCommonWidgets() { if (infoDockWidget && infoDockWidget->widget()) { connect(mavlink, SIGNAL(receiveLossChanged(int, float)), infoDockWidget->widget(), SLOT(updateSendLoss(int, float))); } } void MainWindow::createCustomWidget() { 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); createDockWidget(centerStack->currentWidget(),tool,title,objectName,currentView,Qt::BottomDockWidgetArea); QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView); settings.endGroup(); } void MainWindow::loadCustomWidget() { QString widgetFileExtension(".qgw"); QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QStandardPaths::writableLocation(QStandardPaths::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension)); if (fileName != "") loadCustomWidget(fileName); } void MainWindow::loadCustomWidget(const QString& fileName, int view) { QGCToolWidget* tool = new QGCToolWidget("", "", this); if (tool->loadSettings(fileName, true)) { qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName(); switch ((VIEW_SECTIONS)view) { case VIEW_ENGINEER: createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_FLIGHT: createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_SIMULATION: createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_MISSION: createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; default: { //Delete tool, create menu item to tie it to. customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName; menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK"); tool->deleteLater(); } break; } } else { return; } } void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance) { QGCToolWidget* tool = new QGCToolWidget("", "", this); if (tool->loadSettings(fileName, true) || !singleinstance) { qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName(); QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt(); switch (view) { case VIEW_ENGINEER: createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_FLIGHT: createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_SIMULATION: createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_MISSION: createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; default: { //Delete tool, create menu item to tie it to. customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName; QAction *action = menuActionHelper->createToolAction(tool->getTitle(), tool->objectName()+"DOCK"); ui.menuTools->addAction(action); tool->deleteLater(); } break; } settings.endGroup(); } else { return; } } void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType) { QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/"; QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; QDir widgets(defaultsDir); QStringList files = widgets.entryList(); QDir platformWidgets(platformDir); files.append(platformWidgets.entryList()); if (files.count() == 0) { 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 for(int i = 0; i < files.count(); ++i) { QString file = files[i]; if (file.endsWith(".qgw")) { // 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)); } } } void MainWindow::loadSettings() { QSettings settings; settings.sync(); customMode = static_cast(settings.value("QGC_CUSTOM_MODE", (unsigned int)MainWindow::CUSTOM_MODE_NONE).toInt()); settings.beginGroup("QGC_MAINWINDOW"); autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool(); currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt(); darkStyleFileName = settings.value("DARK_STYLE_FILENAME", darkStyleFileName).toString(); lightStyleFileName = settings.value("LIGHT_STYLE_FILENAME", lightStyleFileName).toString(); lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool(); bool dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",menuActionHelper->dockWidgetTitleBarsEnabled()).toBool(); settings.endGroup(); enableDockWidgetTitleBars(dockWidgetTitleBarEnabled); } void MainWindow::storeSettings() { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue("AUTO_RECONNECT", autoReconnect); settings.setValue("CURRENT_STYLE", currentStyle); settings.setValue("DARK_STYLE_FILENAME", darkStyleFileName); settings.setValue("LIGHT_STYLE_FILENAME", lightStyleFileName); settings.endGroup(); if (!aboutToCloseFlag && isVisible()) { 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 view only if a UAS is connected if (UASManager::instance()->getUASList().length() > 0) settings.setValue("CURRENT_VIEW_WITH_UAS_CONNECTED", currentView); // Save the current power mode } settings.setValue("LOW_POWER_MODE", lowPowerMode); settings.setValue("QGC_CUSTOM_MODE", (int)customMode); QGCToolWidget::storeWidgetsToSettings(settings); settings.sync(); } 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() { QString format = "bmp"; QString initialPath = QDir::currentPath() + tr("/untitled.") + format; QString screenFileName = QFileDialog::getSaveFileName(this, tr("Save As"), initialPath, tr("%1 Files (*.%2);;All Files (*)") .arg(format.toUpper()) .arg(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::enableDockWidgetTitleBars(bool enabled) { menuActionHelper->setDockWidgetTitleBarsEnabled(enabled); QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue("DOCK_WIDGET_TITLEBARS",enabled); settings.endGroup(); settings.sync(); } void MainWindow::enableAutoReconnect(bool enabled) { autoReconnect = enabled; } bool MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style, QString cssFile) { // Store the new style classification. currentStyle = style; // Load the new stylesheet. QFile styleSheet(cssFile); // Attempt to open the stylesheet. if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) { // Signal to the user that the app will pause to apply a new stylesheet qApp->setOverrideCursor(Qt::WaitCursor); qApp->setStyleSheet(styleSheet.readAll()); // And save the new stylesheet path. if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT) { lightStyleFileName = cssFile; } else { darkStyleFileName = cssFile; } // And trigger any changes to other UI elements that are watching for // theme changes. emit styleChanged(style); // Finally restore the cursor before returning. qApp->restoreOverrideCursor(); return true; } // Otherwise alert return a failure code. return false; } /** * 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) { QMessageBox msgBox(this); msgBox.setIcon(QMessageBox::Critical); msgBox.setText(title); msgBox.setInformativeText(message); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } void MainWindow::showInfoMessage(const QString& title, const QString& message) { QMessageBox msgBox(this); msgBox.setIcon(QMessageBox::Information); msgBox.setText(title); msgBox.setInformativeText(message); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } /** * @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.actionHardwareConfig); 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_HARDWARE_CONFIG) { ui.actionHardwareConfig->setChecked(true); ui.actionHardwareConfig->activate(QAction::Trigger); } if (currentView == VIEW_SOFTWARE_CONFIG) { ui.actionSoftwareConfig->setChecked(true); ui.actionSoftwareConfig->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())); ui.actionAdvanced_Mode->setChecked(menuActionHelper->isAdvancedMode()); connect(ui.actionAdvanced_Mode,SIGNAL(toggled(bool)),this,SLOT(setAdvancedMode(bool))); // 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())); connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS())); // 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.actionHardwareConfig,SIGNAL(triggered()),this,SLOT(loadHardwareConfigView())); connect(ui.actionGoogleEarthView, SIGNAL(triggered()), this, SLOT(loadGoogleEarthView())); connect(ui.actionLocal3DView, SIGNAL(triggered()), this, SLOT(loadLocal3DView())); connect(ui.actionHardwareConfig, SIGNAL(triggered()), this, SLOT(loadHardwareConfigView())); connect(ui.actionSoftwareConfig,SIGNAL(triggered()),this,SLOT(loadSoftwareConfigView())); 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_2, SIGNAL(triggered()), this, SLOT(showRoadMap())); // Custom widget actions connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget())); connect(ui.actionLoadCustomWidgetFile, SIGNAL(triggered()), this, SLOT(loadCustomWidget())); // 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))); // User interaction // NOTE: Joystick thread is not started and // configuration widget is not instantiated // unless it is actually used // so no ressources spend on this. ui.actionJoystickSettings->setVisible(true); // Application Settings connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings())); connect(ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool))); } void MainWindow::showHelp() { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/start"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open help in browser"); msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/user_guide in a browser."); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } } void MainWindow::showCredits() { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/credits"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open credits in browser"); msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/credits in a browser."); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } } void MainWindow::showRoadMap() { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/dev/roadmap"))) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Critical); msgBox.setText("Could not open roadmap in browser"); msgBox.setInformativeText("To get to the online help, please open http://qgroundcontrol.org/roadmap in a browser."); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } } void MainWindow::showSettings() { QGCSettingsWidget* settings = new QGCSettingsWidget(joystick, this); settings->show(); } LinkInterface* MainWindow::addLink() { SerialLink* link = new SerialLink(); // TODO This should be only done in the dialog itself LinkManager::instance()->add(link); LinkManager::instance()->addProtocol(link, mavlink); // 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::addLink(LinkInterface *link) { // IMPORTANT! KEEP THESE TWO LINES // THEY MAKE SURE THE LINK IS PROPERLY REGISTERED // BEFORE LINKING THE UI AGAINST IT // Register (does nothing if already registered) LinkManager::instance()->add(link); LinkManager::instance()->addProtocol(link, mavlink); // Go fishing 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* act, actions) { if (act->data().toInt() == linkID) { found = true; } } if (!found) { CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this); commsWidgetList.append(commWidget); connect(commWidget,SIGNAL(destroyed(QObject*)),this,SLOT(commsWidgetDestroyed(QObject*))); QAction* action = commWidget->getAction(); ui.menuNetwork->addAction(action); // Error handling connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); } } void MainWindow::simulateLink(bool simulate) { if (!simulationLink) simulationLink = new MAVLinkSimulationLink(":/demo-log.txt"); simulationLink->connectLink(simulate); } void MainWindow::commsWidgetDestroyed(QObject *obj) { if (commsWidgetList.contains(obj)) { commsWidgetList.removeOne(obj); } } void MainWindow::setActiveUAS(UASInterface* uas) { Q_UNUSED(uas); if (settings.contains(getWindowStateKey())) { SubMainWindow *win = qobject_cast(centerStack->currentWidget()); win->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 pilot, operator and engineer views were not available on startup, enable them now ui.actionFlightView->setEnabled(true); ui.actionMissionView->setEnabled(true); ui.actionEngineersView->setEnabled(true); // 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 showHILConfigurationWidget(uas); if (!linechartWidget) { linechartWidget = new Linecharts(this); } linechartWidget->addSource(mavlinkDecoder); if (engineeringView->centralWidget() != linechartWidget) { engineeringView->setCentralWidget(linechartWidget); linechartWidget->show(); } // Load default custom widgets for this autopilot type loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName()); if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK) { // Dock widgets if (!detectionDockWidget) { detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) ); detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); } if (!watchdogControlDockWidget) { watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); } } // Reload view state in case new widgets were added loadViewState(); } void MainWindow::UASDeleted(UASInterface* uas) { Q_UNUSED(uas); // TODO: Update the UI when a UAS is deleted } /** * Stores the current view state */ void MainWindow::storeViewState() { if (!aboutToCloseFlag) { // Save current state SubMainWindow *win = qobject_cast(centerStack->currentWidget()); QList widgets = win->findChildren(); QString widgetnames = ""; for (int i=0;iobjectName() + ","; } widgetnames = widgetnames.mid(0,widgetnames.length()-1); settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames); settings.setValue(getWindowStateKey(), win->saveState()); settings.setValue(getWindowStateKey()+"CENTER_WIDGET", centerStack->currentIndex()); // Although we want save the state of the window, we do not want to change the top-leve state (minimized, maximized, etc) // therefore this state is stored here and restored after applying the rest of the settings in the new // perspective. windowStateVal = this->windowState(); settings.setValue(getWindowGeometryKey(), saveGeometry()); } } void MainWindow::loadViewState() { // Restore center stack state int index = settings.value(getWindowStateKey()+"CENTER_WIDGET", -1).toInt(); if (index != -1) { centerStack->setCurrentIndex(index); } else { // Hide custom widgets if (detectionDockWidget) detectionDockWidget->hide(); if (watchdogControlDockWidget) watchdogControlDockWidget->hide(); // Load defaults switch (currentView) { case VIEW_HARDWARE_CONFIG: centerStack->setCurrentWidget(configView); break; case VIEW_SOFTWARE_CONFIG: if (softwareConfigView) centerStack->setCurrentWidget(softwareConfigView); break; case VIEW_ENGINEER: centerStack->setCurrentWidget(engineeringView); break; case VIEW_FLIGHT: centerStack->setCurrentWidget(pilotView); break; case VIEW_MISSION: centerStack->setCurrentWidget(plannerView); break; case VIEW_SIMULATION: centerStack->setCurrentWidget(simView); break; case VIEW_TERMINAL: centerStack->setCurrentWidget(terminalView); break; case VIEW_GOOGLEEARTH: centerStack->setCurrentWidget(googleEarthView); break; case VIEW_LOCAL3D: centerStack->setCurrentWidget(local3DView); break; case VIEW_DEFAULT: default: if (controlDockWidget) { controlDockWidget->hide(); } if (listDockWidget) { listDockWidget->show(); } break; } } // Restore the widget positions and size if (settings.contains(getWindowStateKey() + "WIDGETS")) { QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString(); QStringList split = widgetstr.split(","); foreach (QString widgetname,split) { if (widgetname != "") { qDebug() << "Loading widget:" << widgetname; loadDockWidget(widgetname); } } } if (settings.contains(getWindowStateKey())) { SubMainWindow *win = qobject_cast(centerStack->currentWidget()); win->restoreState(settings.value(getWindowStateKey()).toByteArray()); } } void MainWindow::setAdvancedMode(bool isAdvancedMode) { menuActionHelper->setAdvancedMode(isAdvancedMode); ui.actionAdvanced_Mode->setChecked(isAdvancedMode); settings.setValue("ADVANCED_MODE",isAdvancedMode); } 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 msgBox(this); msgBox.setIcon(QMessageBox::Information); msgBox.setText(tr("Missing or Invalid Onboard Configuration")); msgBox.setInformativeText(tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?")); msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); msgBox.setDefaultButton(QMessageBox::Ok); int val = msgBox.exec(); if (val == QMessageBox::Ok) { // He wants to handle it, make sure this system is selected UASManager::instance()->setActiveUAS(uas); // Flick to config view loadHardwareConfigView(); } } void MainWindow::loadEngineerView() { if (currentView != VIEW_ENGINEER) { storeViewState(); currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); loadViewState(); } } void MainWindow::loadOperatorView() { if (currentView != VIEW_MISSION) { storeViewState(); currentView = VIEW_MISSION; ui.actionMissionView->setChecked(true); loadViewState(); } } void MainWindow::loadHardwareConfigView() { if (currentView != VIEW_HARDWARE_CONFIG) { storeViewState(); currentView = VIEW_HARDWARE_CONFIG; ui.actionHardwareConfig->setChecked(true); loadViewState(); } } void MainWindow::loadSoftwareConfigView() { if (currentView != VIEW_SOFTWARE_CONFIG) { storeViewState(); currentView = VIEW_SOFTWARE_CONFIG; ui.actionSoftwareConfig->setChecked(true); loadViewState(); } } void MainWindow::loadTerminalView() { if (currentView != VIEW_TERMINAL) { storeViewState(); currentView = VIEW_TERMINAL; ui.actionTerminalView->setChecked(true); loadViewState(); } } void MainWindow::loadGoogleEarthView() { if (currentView != VIEW_GOOGLEEARTH) { storeViewState(); currentView = VIEW_GOOGLEEARTH; ui.actionGoogleEarthView->setChecked(true); loadViewState(); } } void MainWindow::loadLocal3DView() { if (currentView != VIEW_LOCAL3D) { storeViewState(); currentView = VIEW_LOCAL3D; ui.actionLocal3DView->setChecked(true); loadViewState(); } } void MainWindow::loadPilotView() { if (currentView != VIEW_FLIGHT) { storeViewState(); currentView = VIEW_FLIGHT; ui.actionFlightView->setChecked(true); loadViewState(); } } void MainWindow::loadSimulationView() { if (currentView != VIEW_SIMULATION) { storeViewState(); currentView = VIEW_SIMULATION; ui.actionSimulationView->setChecked(true); loadViewState(); } } QList MainWindow::listLinkMenuActions() { return ui.menuNetwork->actions(); } bool MainWindow::dockWidgetTitleBarsEnabled() const { return menuActionHelper->dockWidgetTitleBarsEnabled(); } #ifdef QGC_MOUSE_ENABLED_LINUX bool MainWindow::x11Event(XEvent *event) { emit x11EventOccured(event); return false; } #endif // QGC_MOUSE_ENABLED_LINUX