/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2011 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 "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 "QGCRGBDView.h" #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif // FIXME Move #include "PxQuadMAV.h" #include "SlugsMAV.h" #include "LogCompressor.h" MainWindow* MainWindow::instance(QSplashScreen* screen) { static MainWindow* _instance = 0; if(_instance == 0) { _instance = new MainWindow(); if (screen) connect(_instance, SIGNAL(initStatusChanged(QString)), screen, SLOT(showMessage(QString))); /* Set the application as parent to ensure that this object * will be destroyed when the main application exits */ //_instance->setParent(qApp); } return _instance; } /** * 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_UNCONNECTED), currentStyle(QGC_MAINWINDOW_STYLE_INDOOR), aboutToCloseFlag(false), changingViewsFlag(false), centerStackActionGroup(new QActionGroup(this)), styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"), autoReconnect(false), lowPowerMode(false) { hide(); emit initStatusChanged("Loading UI Settings.."); loadSettings(); 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_OPERATOR && currentViewCandidate != VIEW_PILOT && currentViewCandidate != VIEW_FULL) { currentView = currentViewCandidate; } } settings.sync(); emit initStatusChanged("Loading Style."); loadStyle(currentStyle); emit initStatusChanged("Setting up user interface."); // Setup user interface ui.setupUi(this); hide(); // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); statusBar()->setSizeGripEnabled(true); configureWindowName(); // Setup corners setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea); // Setup UI state machines centerStackActionGroup->setExclusive(true); centerStack = new QStackedWidget(this); setCentralWidget(centerStack); // Load Toolbar toolBar = new QGCToolBar(this); this->addToolBar(toolBar); // Add actions toolBar->addPerspectiveChangeAction(ui.actionOperatorsView); toolBar->addPerspectiveChangeAction(ui.actionEngineersView); toolBar->addPerspectiveChangeAction(ui.actionPilotsView); emit initStatusChanged("Building common widgets."); buildCommonWidgets(); connectCommonWidgets(); emit initStatusChanged("Building common actions."); // Create actions connectCommonActions(); // Populate link menu emit initStatusChanged("Populating link menu"); 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("Initializing joystick interface."); joystickWidget = 0; joystick = new JoystickInput(); // 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("Restoring last view state."); // Restore the window setup loadViewState(); emit initStatusChanged("Restoring last window size."); // 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 < 1200) { showFullScreen(); } else { resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); show(); } } connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName())); windowNameUpdateTimer.start(15000); emit initStatusChanged("Done."); show(); } MainWindow::~MainWindow() { delete mavlink; delete joystick; // 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; } else { delete dynamic_cast(*i); } } // Delete all UAS objects } void MainWindow::resizeEvent(QResizeEvent * event) { if (height() < 800) { ui.statusBar->setVisible(false); } else { ui.statusBar->setVisible(true); ui.statusBar->setSizeGripEnabled(true); } if (width() > 1200) { toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); } else { toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly); } QMainWindow::resizeEvent(event); } QString MainWindow::getWindowStateKey() { return QString::number(currentView)+"_windowstate"; } QString MainWindow::getWindowGeometryKey() { //return QString::number(currentView)+"_geometry"; 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) { QDockWidget* dock = new QDockWidget(tool->windowTitle(), this); dock->setObjectName(tool->objectName()+"_DOCK"); dock->setWidget(tool); connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); QAction* showAction = new QAction(widgets.at(i)->windowTitle(), this); showAction->setCheckable(true); connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); widgets.at(i)->setMainMenuAction(showAction); ui.menuTools->addAction(showAction); // Load dock widget location (default is bottom) Qt::DockWidgetArea location = static_cast (tool->getDockWidgetArea(currentView)); addDockWidget(location, dock); } } } void MainWindow::buildCommonWidgets() { //TODO: move protocol outside UI mavlink = new MAVLinkProtocol(); connect(mavlink, SIGNAL(protocolStatusMessage(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); // Add generic MAVLink decoder mavlinkDecoder = new MAVLinkDecoder(mavlink, this); // Dock widgets if (!controlDockWidget) { controlDockWidget = new QDockWidget(tr("Control"), this); controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET"); controlDockWidget->setWidget( new UASControlWidget(this) ); addTool(controlDockWidget, tr("Control"), Qt::LeftDockWidgetArea); } if (!listDockWidget) { listDockWidget = new QDockWidget(tr("Unmanned Systems"), this); listDockWidget->setWidget( new UASListWidget(this) ); listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET"); addTool(listDockWidget, tr("Unmanned Systems"), Qt::RightDockWidgetArea); } if (!waypointsDockWidget) { waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this); waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) ); waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET"); addTool(waypointsDockWidget, tr("Mission Plan"), Qt::BottomDockWidgetArea); } if (!infoDockWidget) { infoDockWidget = new QDockWidget(tr("Status Details"), this); infoDockWidget->setWidget( new UASInfoWidget(this) ); infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET"); addTool(infoDockWidget, tr("Status Details"), Qt::RightDockWidgetArea); } if (!debugConsoleDockWidget) { debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this); debugConsoleDockWidget->setWidget( new DebugConsole(this) ); debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET"); DebugConsole *debugConsole = dynamic_cast(debugConsoleDockWidget->widget()); connect(mavlinkDecoder, SIGNAL(textMessageReceived(int, int, int, const QString)), debugConsole, SLOT(receiveTextMessage(int, int, int, const QString))); addTool(debugConsoleDockWidget, tr("Communication Console"), Qt::BottomDockWidgetArea); } if (!logPlayerDockWidget) { logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this); logPlayer = new QGCMAVLinkLogPlayer(mavlink, this); toolBar->setLogPlayer(logPlayer); logPlayerDockWidget->setWidget(logPlayer); logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET"); addTool(logPlayerDockWidget, tr("MAVLink Log Replay"), Qt::RightDockWidgetArea); } if (!mavlinkInspectorWidget) { mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this); mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) ); mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET"); addTool(mavlinkInspectorWidget, tr("MAVLink Inspector"), Qt::RightDockWidgetArea); } //FIXME: memory of acceptList will never be freed again QStringList* acceptList = new QStringList(); acceptList->append("-105,roll deg,deg,+105,s"); acceptList->append("-105,pitch deg,deg,+105,s"); acceptList->append("-105,heading deg,deg,+105,s"); //FIXME: memory of acceptList2 will never be freed again QStringList* acceptList2 = new QStringList(); acceptList2->append("0,abs pressure,hPa,65500"); if (!parametersDockWidget) { parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); addTool(parametersDockWidget, tr("Calibration and Parameters"), Qt::RightDockWidgetArea); } if (!hsiDockWidget) { hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); hsiDockWidget->setWidget( new HSIDisplay(this) ); hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); addTool(hsiDockWidget, tr("Horizontal Situation"), Qt::BottomDockWidgetArea); } if (!headDown1DockWidget) { headDown1DockWidget = new QDockWidget(tr("Flight Display"), this); HDDisplay* hdDisplay = new HDDisplay(acceptList, "Flight Display", this); hdDisplay->addSource(mavlinkDecoder); headDown1DockWidget->setWidget(hdDisplay); headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET"); addTool(headDown1DockWidget, tr("Flight Display"), Qt::RightDockWidgetArea); } if (!headDown2DockWidget) { headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this); HDDisplay* hdDisplay = new HDDisplay(acceptList2, "Actuator Status", this); hdDisplay->addSource(mavlinkDecoder); headDown2DockWidget->setWidget(hdDisplay); headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET"); addTool(headDown2DockWidget, tr("Actuator Status"), Qt::RightDockWidgetArea); } if (!rcViewDockWidget) { rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); addTool(rcViewDockWidget, tr("Radio Control"), Qt::BottomDockWidgetArea); } if (!headUpDockWidget) { headUpDockWidget = new QDockWidget(tr("HUD"), this); headUpDockWidget->setWidget( new HUD(320, 240, this)); headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); addTool(headUpDockWidget, tr("Head Up Display"), Qt::RightDockWidgetArea); } if (!video1DockWidget) { video1DockWidget = new QDockWidget(tr("Video Stream 1"), this); QGCRGBDView* video1 = new QGCRGBDView(160, 120, this); video1->enableHUDInstruments(false); video1->enableVideo(false); // FIXME select video stream as well video1DockWidget->setWidget(video1); video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET"); addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea); } if (!video2DockWidget) { video2DockWidget = new QDockWidget(tr("Video Stream 2"), this); QGCRGBDView* video2 = new QGCRGBDView(160, 120, this); video2->enableHUDInstruments(false); video2->enableVideo(false); // FIXME select video stream as well video2DockWidget->setWidget(video2); video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET"); addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea); } // if (!rgbd1DockWidget) { // rgbd1DockWidget = new QDockWidget(tr("Video Stream 1"), this); // HUD* video1 = new HUD(160, 120, this); // video1->enableHUDInstruments(false); // video1->enableVideo(true); // // FIXME select video stream as well // video1DockWidget->setWidget(video1); // video1DockWidget->setObjectName("VIDEO_STREAM_1_DOCK_WIDGET"); // addTool(video1DockWidget, tr("Video Stream 1"), Qt::LeftDockWidgetArea); // } // if (!rgbd2DockWidget) { // video2DockWidget = new QDockWidget(tr("Video Stream 2"), this); // HUD* video2 = new HUD(160, 120, this); // video2->enableHUDInstruments(false); // video2->enableVideo(true); // // FIXME select video stream as well // video2DockWidget->setWidget(video2); // video2DockWidget->setObjectName("VIDEO_STREAM_2_DOCK_WIDGET"); // addTool(video2DockWidget, tr("Video Stream 2"), Qt::LeftDockWidgetArea); // } // Custom widgets, added last to all menus and layouts buildCustomWidget(); // Center widgets if (!mapWidget) { mapWidget = new QGCMapTool(this); addCentralWidget(mapWidget, "Maps"); } if (!protocolWidget) { protocolWidget = new XMLCommProtocolWidget(this); addCentralWidget(protocolWidget, "Mavlink Generator"); } if (!hudWidget) { hudWidget = new HUD(320, 240, this); addCentralWidget(hudWidget, tr("Head Up Display")); } if (!dataplotWidget) { dataplotWidget = new QGCDataPlot2D(this); addCentralWidget(dataplotWidget, tr("Logfile Plot")); } #ifdef QGC_OSG_ENABLED if (!_3DWidget) { _3DWidget = Q3DWidgetFactory::get("PIXHAWK"); addCentralWidget(_3DWidget, tr("Local 3D")); } #endif #if (defined _MSC_VER) | (defined Q_OS_MAC) if (!gEarthWidget) { gEarthWidget = new QGCGoogleEarthView(this); addCentralWidget(gEarthWidget, tr("Google Earth")); } #endif } void MainWindow::addTool(QDockWidget* widget, const QString& title, Qt::DockWidgetArea area) { QAction* tempAction = ui.menuTools->addAction(title); tempAction->setCheckable(true); QVariant var; var.setValue((QWidget*)widget); tempAction->setData(var); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool))); tempAction->setChecked(widget->isVisible()); addDockWidget(area, widget); } void MainWindow::showTool(bool show) { QAction* act = qobject_cast(sender()); QWidget* widget = qVariantValue(act->data()); widget->setVisible(show); } void MainWindow::addCentralWidget(QWidget* widget, const QString& title) { // Check if this widget already has been added if (centerStack->indexOf(widget) == -1) { centerStack->addWidget(widget); QAction* tempAction = ui.menuMain->addAction(title); tempAction->setCheckable(true); QVariant var; var.setValue((QWidget*)widget); tempAction->setData(var); centerStackActionGroup->addAction(tempAction); connect(tempAction,SIGNAL(triggered()),this, SLOT(showCentralWidget())); connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool))); tempAction->setChecked(widget->isVisible()); } } void MainWindow::showCentralWidget() { QAction* act = qobject_cast(sender()); QWidget* widget = qVariantValue(act->data()); centerStack->setCurrentWidget(widget); } void MainWindow::closeEvent(QCloseEvent *event) { if (isVisible()) storeViewState(); storeSettings(); aboutToCloseFlag = true; 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() { QDockWidget* dock = new QDockWidget("Unnamed Tool", this); QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool", dock); if (QGCToolWidget::instances()->size() < 2) { // This is the first widget ui.menuTools->addSeparator(); } connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); dock->setWidget(tool); QAction* showAction = new QAction(tool->getTitle(), this); showAction->setCheckable(true); connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); tool->setMainMenuAction(showAction); ui.menuTools->addAction(showAction); this->addDockWidget(Qt::BottomDockWidgetArea, dock); dock->setVisible(true); } void MainWindow::loadCustomWidget() { QString widgetFileExtension(".qgw"); QString fileName = QFileDialog::getOpenFileName(this, tr("Specify Widget File Name"), QDesktopServices::storageLocation(QDesktopServices::DesktopLocation), tr("QGroundControl Widget (*%1);;").arg(widgetFileExtension)); if (fileName != "") loadCustomWidget(fileName); } void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance) { QGCToolWidget* tool = new QGCToolWidget("", this); if (tool->loadSettings(fileName, true) || !singleinstance) { // Add widget to UI QDockWidget* dock = new QDockWidget(tool->getTitle(), this); connect(tool, SIGNAL(destroyed()), dock, SLOT(deleteLater())); dock->setWidget(tool); tool->setParent(dock); QAction* showAction = new QAction(tool->getTitle(), this); showAction->setCheckable(true); connect(dock, SIGNAL(visibilityChanged(bool)), showAction, SLOT(setChecked(bool))); connect(showAction, SIGNAL(triggered(bool)), dock, SLOT(setVisible(bool))); tool->setMainMenuAction(showAction); ui.menuTools->addAction(showAction); this->addDockWidget(Qt::BottomDockWidgetArea, dock); dock->setVisible(true); } else { return; } } void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType) { QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; QDir widgets(defaultsDir); QStringList files = widgets.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.beginGroup("QGC_MAINWINDOW"); autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool(); currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt(); 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("CURRENT_STYLE", currentStyle); 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(QGC::applicationVersion())); // 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.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); #ifndef Q_WS_MAC //qApp->setWindowIcon(QIcon(":/core/images/qtcreator_logo_128.png")); #endif } 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); //videoTimer->setInterval(40); //connect(videoTimer, SIGNAL(timeout()), this, SLOT(saveScreen())); //videoTimer->stop(); } 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.toAscii()); } } void MainWindow::enableAutoReconnect(bool enabled) { autoReconnect = enabled; } void MainWindow::loadNativeStyle() { loadStyle(QGC_MAINWINDOW_STYLE_NATIVE); } void MainWindow::loadIndoorStyle() { loadStyle(QGC_MAINWINDOW_STYLE_INDOOR); } void MainWindow::loadOutdoorStyle() { loadStyle(QGC_MAINWINDOW_STYLE_OUTDOOR); } void MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style) { switch (style) { case QGC_MAINWINDOW_STYLE_NATIVE: { // Native mode means setting no style // so if we were already in native mode // take no action // Only if a style was set, remove it. if (style != currentStyle) { qApp->setStyleSheet(""); showInfoMessage(tr("Please restart QGroundControl"), tr("Please restart QGroundControl to switch to fully native look and feel. Currently you have loaded Qt's plastique style.")); } } break; case QGC_MAINWINDOW_STYLE_INDOOR: qApp->setStyle("plastique"); styleFileName = ":/images/style-mission.css"; reloadStylesheet(); break; case QGC_MAINWINDOW_STYLE_OUTDOOR: qApp->setStyle("plastique"); styleFileName = ":/images/style-outdoor.css"; reloadStylesheet(); break; } currentStyle = style; } void MainWindow::selectStylesheet() { // Let user select style sheet styleFileName = QFileDialog::getOpenFileName(this, tr("Specify stylesheet"), styleFileName, tr("CSS Stylesheet (*.css);;")); if (!styleFileName.endsWith(".css")) { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Information); msgBox.setText(tr("QGroundControl did lot load a new style")); msgBox.setInformativeText(tr("No suitable .css file selected. Please select a valid .css file.")); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); return; } // Load style sheet reloadStylesheet(); } void MainWindow::reloadStylesheet() { // Load style sheet QFile* styleSheet = new QFile(styleFileName); if (!styleSheet->exists()) { styleSheet = new QFile(":/images/style-mission.css"); } if (styleSheet->open(QIODevice::ReadOnly | QIODevice::Text)) { QString style = QString(styleSheet->readAll()); style.replace("ICONDIR", QCoreApplication::applicationDirPath()+ "/images/"); qApp->setStyleSheet(style); } else { QMessageBox msgBox; msgBox.setIcon(QMessageBox::Information); msgBox.setText(tr("QGroundControl did lot load a new style")); msgBox.setInformativeText(tr("Stylesheet file %1 was not readable").arg(styleFileName)); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } delete styleSheet; } /** * 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.actionMavlinkView); perspectives->addAction(ui.actionPilotsView); perspectives->addAction(ui.actionOperatorsView); perspectives->addAction(ui.actionUnconnectedView); perspectives->setExclusive(true); // Mark the right one as selected if (currentView == VIEW_ENGINEER) ui.actionEngineersView->setChecked(true); if (currentView == VIEW_MAVLINK) ui.actionMavlinkView->setChecked(true); if (currentView == VIEW_PILOT) ui.actionPilotsView->setChecked(true); if (currentView == VIEW_OPERATOR) ui.actionOperatorsView->setChecked(true); if (currentView == VIEW_UNCONNECTED) ui.actionUnconnectedView->setChecked(true); // 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())); connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS())); // Views actions connect(ui.actionPilotsView, SIGNAL(triggered()), this, SLOT(loadPilotView())); connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView())); connect(ui.actionOperatorsView, SIGNAL(triggered()), this, SLOT(loadOperatorView())); connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView())); connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView())); connect(ui.actionReloadStylesheet, SIGNAL(triggered()), this, SLOT(reloadStylesheet())); connect(ui.actionSelectStylesheet, SIGNAL(triggered()), this, SLOT(selectStylesheet())); // 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); // Configuration // Joystick connect(ui.actionJoystickSettings, SIGNAL(triggered()), this, SLOT(configure())); // Application Settings connect(ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings())); } 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::configure() { if (!joystickWidget) { if (!joystick->isRunning()) { joystick->start(); } joystickWidget = new JoystickWidget(joystick); } joystickWidget->show(); } void MainWindow::showSettings() { QGCSettingsWidget* settings = new QGCSettingsWidget(this); settings->show(); } void 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) { // LinkManager::instance()->getLinks().indexOf(link) act->trigger(); break; } } } 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) { // LinkManager::instance()->getLinks().indexOf(link) found = true; } } //UDPLink* udp = dynamic_cast(link); if (!found) { // || udp CommConfigurationWindow* commWidget = new CommConfigurationWindow(link, mavlink, this); QAction* action = commWidget->getAction(); ui.menuNetwork->addAction(action); // Error handling connect(link, SIGNAL(communicationError(QString,QString)), this, SLOT(showCriticalMessage(QString,QString)), Qt::QueuedConnection); // Special case for simulationlink MAVLinkSimulationLink* sim = dynamic_cast(link); if (sim) { //connect(sim, SIGNAL(valueChanged(int,QString,double,quint64)), linechart, SLOT(appendData(int,QString,double,quint64))); connect(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool))); } } } void MainWindow::setActiveUAS(UASInterface* uas) { // Enable and rename menu ui.menuUnmanned_System->setTitle(uas->getUASName()); if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true); } void MainWindow::UASSpecsChanged(int uas) { UASInterface* activeUAS = UASManager::instance()->getActiveUAS(); if (activeUAS) { if (activeUAS->getUASID() == uas) { ui.menuUnmanned_System->setTitle(activeUAS->getUASName()); } } } void MainWindow::UASCreated(UASInterface* uas) { // Connect the UAS to the full user interface if (uas != NULL) { // The pilot, operator and engineer views were not available on startup, enable them now ui.actionPilotsView->setEnabled(true); ui.actionOperatorsView->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 0: icon = QIcon(":/images/mavs/generic.svg"); break; case 1: icon = QIcon(":/images/mavs/fixed-wing.svg"); break; case 2: icon = QIcon(":/images/mavs/quadrotor.svg"); break; case 3: icon = QIcon(":/images/mavs/coaxial.svg"); break; case 4: icon = QIcon(":/images/mavs/helicopter.svg"); break; case 5: icon = QIcon(":/images/mavs/groundstation.svg"); break; default: icon = QIcon(":/images/mavs/unknown.svg"); break; } QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems); connect(uas, SIGNAL(systemRemoved()), uasAction, SLOT(deleteLater())); connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected())); connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int))); ui.menuConnected_Systems->addAction(uasAction); // FIXME Should be not inside the mainwindow if (debugConsoleDockWidget) { DebugConsole *debugConsole = dynamic_cast(debugConsoleDockWidget->widget()); if (debugConsole) { connect(uas, SIGNAL(textMessageReceived(int,int,int,QString)), debugConsole, SLOT(receiveTextMessage(int,int,int,QString))); } } // Health / System status indicator if (infoDockWidget) { UASInfoWidget *infoWidget = dynamic_cast(infoDockWidget->widget()); if (infoWidget) { infoWidget->addUAS(uas); } } // UAS List if (listDockWidget) { UASListWidget *listWidget = dynamic_cast(listDockWidget->widget()); if (listWidget) { listWidget->addUAS(uas); } } // Line chart if (!linechartWidget) { // Center widgets linechartWidget = new Linecharts(this); linechartWidget->addSource(mavlinkDecoder); addCentralWidget(linechartWidget, tr("Realtime Plot")); } // 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("images/patterns", this) ); detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); addTool(detectionDockWidget, tr("Object Recognition"), Qt::RightDockWidgetArea); } if (!watchdogControlDockWidget) { watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); addTool(watchdogControlDockWidget, tr("Process Control"), Qt::BottomDockWidgetArea); } } // Change the view only if this is the first UAS // If this is the first connected UAS, it is both created as well as // the currently active UAS if (UASManager::instance()->getUASList().size() == 1) { // Load last view if setting is present if (settings.contains("CURRENT_VIEW_WITH_UAS_CONNECTED")) { int view = settings.value("CURRENT_VIEW_WITH_UAS_CONNECTED").toInt(); switch (view) { case VIEW_ENGINEER: loadEngineerView(); break; case VIEW_MAVLINK: loadMAVLinkView(); break; case VIEW_PILOT: loadPilotView(); break; case VIEW_UNCONNECTED: loadUnconnectedView(); break; case VIEW_OPERATOR: default: loadOperatorView(); break; } } else { loadOperatorView(); } } } if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true); // Reload view state in case new widgets were added loadViewState(); } /** * Stores the current view state */ void MainWindow::storeViewState() { if (!aboutToCloseFlag) { // Save current state settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); 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(); // The offline plot view is usually the consequence of a logging run, always show the realtime view first if (centerStack->indexOf(dataplotWidget) == index) { // Rewrite to realtime plot index = centerStack->indexOf(linechartWidget); } if (index != -1) { centerStack->setCurrentIndex(index); } else { // Hide custom widgets if (detectionDockWidget) detectionDockWidget->hide(); if (watchdogControlDockWidget) watchdogControlDockWidget->hide(); // Load defaults switch (currentView) { case VIEW_ENGINEER: centerStack->setCurrentWidget(linechartWidget); controlDockWidget->hide(); listDockWidget->hide(); waypointsDockWidget->hide(); infoDockWidget->hide(); debugConsoleDockWidget->show(); logPlayerDockWidget->show(); mavlinkInspectorWidget->show(); parametersDockWidget->show(); hsiDockWidget->hide(); headDown1DockWidget->hide(); headDown2DockWidget->hide(); rcViewDockWidget->hide(); headUpDockWidget->hide(); video1DockWidget->hide(); video2DockWidget->hide(); break; case VIEW_PILOT: centerStack->setCurrentWidget(hudWidget); controlDockWidget->hide(); listDockWidget->hide(); waypointsDockWidget->hide(); infoDockWidget->hide(); debugConsoleDockWidget->hide(); logPlayerDockWidget->hide(); mavlinkInspectorWidget->hide(); parametersDockWidget->hide(); hsiDockWidget->show(); headDown1DockWidget->show(); headDown2DockWidget->show(); rcViewDockWidget->hide(); headUpDockWidget->hide(); video1DockWidget->hide(); video2DockWidget->hide(); break; case VIEW_MAVLINK: centerStack->setCurrentWidget(protocolWidget); controlDockWidget->hide(); listDockWidget->hide(); waypointsDockWidget->hide(); infoDockWidget->hide(); debugConsoleDockWidget->hide(); logPlayerDockWidget->hide(); mavlinkInspectorWidget->hide(); parametersDockWidget->hide(); hsiDockWidget->hide(); headDown1DockWidget->hide(); headDown2DockWidget->hide(); rcViewDockWidget->hide(); headUpDockWidget->hide(); video1DockWidget->hide(); video2DockWidget->hide(); break; case VIEW_OPERATOR: centerStack->setCurrentWidget(mapWidget); controlDockWidget->hide(); listDockWidget->show(); waypointsDockWidget->show(); infoDockWidget->hide(); debugConsoleDockWidget->show(); logPlayerDockWidget->show(); parametersDockWidget->hide(); hsiDockWidget->show(); headDown1DockWidget->hide(); headDown2DockWidget->hide(); rcViewDockWidget->hide(); headUpDockWidget->show(); video1DockWidget->hide(); video2DockWidget->hide(); mavlinkInspectorWidget->hide(); break; case VIEW_UNCONNECTED: case VIEW_FULL: default: centerStack->setCurrentWidget(mapWidget); controlDockWidget->hide(); listDockWidget->show(); waypointsDockWidget->hide(); infoDockWidget->hide(); debugConsoleDockWidget->show(); logPlayerDockWidget->show(); parametersDockWidget->hide(); hsiDockWidget->hide(); headDown1DockWidget->hide(); headDown2DockWidget->hide(); rcViewDockWidget->hide(); headUpDockWidget->show(); video1DockWidget->hide(); video2DockWidget->hide(); mavlinkInspectorWidget->show(); break; } } // Restore the widget positions and size if (settings.contains(getWindowStateKey())) { restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); } } void MainWindow::loadEngineerView() { if (currentView != VIEW_ENGINEER) { storeViewState(); currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); loadViewState(); } } void MainWindow::loadOperatorView() { if (currentView != VIEW_OPERATOR) { storeViewState(); currentView = VIEW_OPERATOR; ui.actionOperatorsView->setChecked(true); loadViewState(); } } void MainWindow::loadUnconnectedView() { if (currentView != VIEW_UNCONNECTED) { storeViewState(); currentView = VIEW_UNCONNECTED; ui.actionUnconnectedView->setChecked(true); loadViewState(); } } void MainWindow::loadPilotView() { if (currentView != VIEW_PILOT) { storeViewState(); currentView = VIEW_PILOT; ui.actionPilotsView->setChecked(true); loadViewState(); } } void MainWindow::loadMAVLinkView() { if (currentView != VIEW_MAVLINK) { storeViewState(); currentView = VIEW_MAVLINK; ui.actionMavlinkView->setChecked(true); loadViewState(); } } void MainWindow::loadDataView(QString fileName) { // Plot is now selected, now load data from file if (dataplotWidget) { dataplotWidget->loadFile(fileName); } QStackedWidget *centerStack = dynamic_cast(centralWidget()); if (centerStack) { centerStack->setCurrentWidget(dataplotWidget); dataplotWidget->loadFile(fileName); } } QList MainWindow::listLinkMenuActions(void) { return ui.menuNetwork->actions(); }