/*===================================================================== 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 "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" #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif // FIXME Move #include "PxQuadMAV.h" #include "SlugsMAV.h" #include "LogCompressor.h" MainWindow* MainWindow::instance() { static MainWindow* _instance = 0; if(_instance == 0) { _instance = new MainWindow(); /* 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), toolsMenuActions(), currentView(VIEW_UNCONNECTED), aboutToCloseFlag(false), changingViewsFlag(false), styleFileName(QCoreApplication::applicationDirPath() + "/style-indoor.css"), autoReconnect(false), currentStyle(QGC_MAINWINDOW_STYLE_INDOOR), lowPowerMode(false) { 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) { currentView = currentViewCandidate; } } setDefaultSettingsForAp(); settings.sync(); // Setup user interface ui.setupUi(this); setVisible(false); buildCommonWidgets(); connectCommonWidgets(); arrangeCommonCenterStack(); configureWindowName(); loadStyle(currentStyle); // Create actions connectCommonActions(); // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); // Load mavlink view as default widget set //loadMAVLinkView(); statusBar()->setSizeGripEnabled(true); // Restore the window position and size if (settings.contains(getWindowGeometryKey())) { // Restore the window geometry restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); } else { // Adjust the size adjustSize(); } // Populate 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 joystickWidget = 0; joystick = new JoystickInput(); // Load Toolbar toolBar = new QGCToolBar(this); this->addToolBar(toolBar); // Add actions toolBar->addPerspectiveChangeAction(ui.actionOperatorsView); toolBar->addPerspectiveChangeAction(ui.actionEngineersView); toolBar->addPerspectiveChangeAction(ui.actionPilotsView); // Enable and update view presentView(); // 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(); } MainWindow::~MainWindow() { // Store settings storeSettings(); 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; } } } /** * Set default settings for this AP type. */ void MainWindow::setDefaultSettingsForAp() { // Check if the settings exist, instantiate defaults if necessary // UNCONNECTED VIEW DEFAULT QString centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_UNCONNECTED); if (!settings.contains(centralKey)) { settings.setValue(centralKey,true); // ENABLE UAS LIST settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST, VIEW_UNCONNECTED), true); // ENABLE COMMUNICATION CONSOLE settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_DEBUG_CONSOLE, VIEW_UNCONNECTED), true); } // OPERATOR VIEW DEFAULT centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_MAP, VIEW_OPERATOR); if (!settings.contains(centralKey)) { settings.setValue(centralKey,true); // ENABLE UAS LIST settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_UAS_LIST,VIEW_OPERATOR), true); // ENABLE HUD TOOL WIDGET settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HUD,VIEW_OPERATOR), true); // ENABLE WAYPOINTS settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_WAYPOINTS,VIEW_OPERATOR), true); } // ENGINEER VIEW DEFAULT centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_LINECHART, VIEW_ENGINEER); if (!settings.contains(centralKey)) { settings.setValue(centralKey,true); // Enable Parameter widget settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_PARAMETERS,VIEW_ENGINEER), true); } // MAVLINK VIEW DEFAULT centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_PROTOCOL, VIEW_MAVLINK); if (!settings.contains(centralKey)) { settings.setValue(centralKey,true); } // PILOT VIEW DEFAULT centralKey = buildMenuKey(SUB_SECTION_CHECKED, CENTRAL_HUD, VIEW_PILOT); if (!settings.contains(centralKey)) { settings.setValue(centralKey,true); // Enable Flight display settings.setValue(buildMenuKey(SUB_SECTION_CHECKED,MainWindow::MENU_HDD_1,VIEW_PILOT), true); } } void MainWindow::resizeEvent(QResizeEvent * event) { Q_UNUSED(event); if (height() < 800) { ui.statusBar->setVisible(false); } else { ui.statusBar->setVisible(true); ui.statusBar->setSizeGripEnabled(true); } } QString MainWindow::getWindowStateKey() { return QString::number(currentView)+"_windowstate"; } QString MainWindow::getWindowGeometryKey() { //return QString::number(currentView)+"_geometry"; return "_geometry"; } void MainWindow::buildCustomWidget() { // Show custom widgets only if UAS is connected if (UASManager::instance()->getActiveUAS() != NULL) { // Enable custom widgets ui.actionNewCustomWidget->setEnabled(true); // 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 visibility for view (default is off) dock->setVisible(tool->isVisible(currentView)); // 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); // Dock widgets if (!controlDockWidget) { controlDockWidget = new QDockWidget(tr("Control"), this); controlDockWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET"); controlDockWidget->setWidget( new UASControlWidget(this) ); addToToolsMenu (controlDockWidget, tr("Control"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL, Qt::LeftDockWidgetArea); } if (!listDockWidget) { listDockWidget = new QDockWidget(tr("Unmanned Systems"), this); listDockWidget->setWidget( new UASListWidget(this) ); listDockWidget->setObjectName("UNMANNED_SYSTEMS_LIST_DOCKWIDGET"); addToToolsMenu (listDockWidget, tr("Unmanned Systems"), SLOT(showToolWidget(bool)), MENU_UAS_LIST, Qt::RightDockWidgetArea); } if (!waypointsDockWidget) { waypointsDockWidget = new QDockWidget(tr("Mission Plan"), this); waypointsDockWidget->setWidget( new QGCWaypointListMulti(this) ); waypointsDockWidget->setObjectName("WAYPOINT_LIST_DOCKWIDGET"); addToToolsMenu (waypointsDockWidget, tr("Mission Plan"), SLOT(showToolWidget(bool)), MENU_WAYPOINTS, Qt::BottomDockWidgetArea); } if (!infoDockWidget) { infoDockWidget = new QDockWidget(tr("Status Details"), this); infoDockWidget->setWidget( new UASInfoWidget(this) ); infoDockWidget->setObjectName("UAS_STATUS_DETAILS_DOCKWIDGET"); addToToolsMenu (infoDockWidget, tr("Status Details"), SLOT(showToolWidget(bool)), MENU_STATUS, Qt::RightDockWidgetArea); } if (!debugConsoleDockWidget) { debugConsoleDockWidget = new QDockWidget(tr("Communication Console"), this); debugConsoleDockWidget->setWidget( new DebugConsole(this) ); debugConsoleDockWidget->setObjectName("COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET"); addToToolsMenu (debugConsoleDockWidget, tr("Communication Console"), SLOT(showToolWidget(bool)), MENU_DEBUG_CONSOLE, Qt::BottomDockWidgetArea); } if (!logPlayerDockWidget) { logPlayerDockWidget = new QDockWidget(tr("MAVLink Log Player"), this); logPlayerDockWidget->setWidget( new QGCMAVLinkLogPlayer(mavlink, this) ); logPlayerDockWidget->setObjectName("MAVLINK_LOG_PLAYER_DOCKWIDGET"); addToToolsMenu(logPlayerDockWidget, tr("MAVLink Log Replay"), SLOT(showToolWidget(bool)), MENU_MAVLINK_LOG_PLAYER, Qt::RightDockWidgetArea); } if (!mavlinkInspectorWidget) { mavlinkInspectorWidget = new QDockWidget(tr("MAVLink Message Inspector"), this); mavlinkInspectorWidget->setWidget( new QGCMAVLinkInspector(mavlink, this) ); mavlinkInspectorWidget->setObjectName("MAVLINK_INSPECTOR_DOCKWIDGET"); addToToolsMenu(mavlinkInspectorWidget, tr("MAVLink Inspector"), SLOT(showToolWidget(bool)), MENU_MAVLINK_INSPECTOR, Qt::RightDockWidgetArea); } // Center widgets if (!mapWidget) { mapWidget = new QGCMapTool(this); addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP); } if (!protocolWidget) { protocolWidget = new XMLCommProtocolWidget(this); addToCentralWidgetsMenu (protocolWidget, "Mavlink Generator", SLOT(showCentralWidget()),CENTRAL_PROTOCOL); } if (!dataplotWidget) { dataplotWidget = new QGCDataPlot2D(this); addToCentralWidgetsMenu (dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()),CENTRAL_DATA_PLOT); } } void MainWindow::buildPxWidgets() { //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"); acceptList->append("-60,rollspeed d/s,deg/s,+60,s"); acceptList->append("-60,pitchspeed d/s,deg/s,+60,s"); acceptList->append("-60,yawspeed d/s,deg/s,+60,s"); acceptList->append("0,airspeed,m/s,30"); acceptList->append("0,groundspeed,m/s,30"); acceptList->append("0,climbrate,m/s,30"); acceptList->append("0,throttle,%,100"); //FIXME: memory of acceptList2 will never be freed again QStringList* acceptList2 = new QStringList(); acceptList2->append("900,servo #1,us,2100,s"); acceptList2->append("900,servo #2,us,2100,s"); acceptList2->append("900,servo #3,us,2100,s"); acceptList2->append("900,servo #4,us,2100,s"); acceptList2->append("900,servo #5,us,2100,s"); acceptList2->append("900,servo #6,us,2100,s"); acceptList2->append("900,servo #7,us,2100,s"); acceptList2->append("900,servo #8,us,2100,s"); acceptList2->append("0,abs pressure,hPa,65500"); //acceptList2->append("-2048,accel. x,raw,2048,s"); //acceptList2->append("-2048,accel. y,raw,2048,s"); //acceptList2->append("-2048,accel. z,raw,2048,s"); if (!linechartWidget) { // Center widgets linechartWidget = new Linecharts(this); addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); } if (!hudWidget) { hudWidget = new HUD(320, 240, this); addToCentralWidgetsMenu(hudWidget, tr("Head Up Display"), SLOT(showCentralWidget()), CENTRAL_HUD); } if (!dataplotWidget) { dataplotWidget = new QGCDataPlot2D(this); addToCentralWidgetsMenu(dataplotWidget, "Logfile Plot", SLOT(showCentralWidget()), CENTRAL_DATA_PLOT); } #ifdef QGC_OSG_ENABLED if (!_3DWidget) { _3DWidget = Q3DWidgetFactory::get("PIXHAWK"); addToCentralWidgetsMenu(_3DWidget, tr("Local 3D"), SLOT(showCentralWidget()), CENTRAL_3D_LOCAL); } #endif #ifdef QGC_OSGEARTH_ENABLED if (!_3DMapWidget) { _3DMapWidget = Q3DWidgetFactory::get("MAP3D"); addToCentralWidgetsMenu(_3DMapWidget, tr("OSG Earth 3D"), SLOT(showCentralWidget()), CENTRAL_OSGEARTH); } #endif #if (defined _MSC_VER) | (defined Q_OS_MAC) if (!gEarthWidget) { gEarthWidget = new QGCGoogleEarthView(this); addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH); } #endif // Dock widgets if (!detectionDockWidget) { detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); detectionDockWidget->setWidget( new ObjectDetectionView("images/patterns", this) ); detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); addToToolsMenu (detectionDockWidget, tr("Object Recognition"), SLOT(showToolWidget(bool)), MENU_DETECTION, Qt::RightDockWidgetArea); } if (!parametersDockWidget) { parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); } if (!watchdogControlDockWidget) { watchdogControlDockWidget = new QDockWidget(tr("Process Control"), this); watchdogControlDockWidget->setWidget( new WatchdogControl(this) ); watchdogControlDockWidget->setObjectName("WATCHDOG_CONTROL_DOCKWIDGET"); addToToolsMenu (watchdogControlDockWidget, tr("Process Control"), SLOT(showToolWidget(bool)), MENU_WATCHDOG, Qt::BottomDockWidgetArea); } if (!hsiDockWidget) { hsiDockWidget = new QDockWidget(tr("Horizontal Situation Indicator"), this); hsiDockWidget->setWidget( new HSIDisplay(this) ); hsiDockWidget->setObjectName("HORIZONTAL_SITUATION_INDICATOR_DOCK_WIDGET"); addToToolsMenu (hsiDockWidget, tr("Horizontal Situation"), SLOT(showToolWidget(bool)), MENU_HSI, Qt::BottomDockWidgetArea); } if (!headDown1DockWidget) { headDown1DockWidget = new QDockWidget(tr("Flight Display"), this); headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) ); headDown1DockWidget->setObjectName("HEAD_DOWN_DISPLAY_1_DOCK_WIDGET"); addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget(bool)), MENU_HDD_1, Qt::RightDockWidgetArea); } if (!headDown2DockWidget) { headDown2DockWidget = new QDockWidget(tr("Actuator Status"), this); headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Actuator Status", this) ); headDown2DockWidget->setObjectName("HEAD_DOWN_DISPLAY_2_DOCK_WIDGET"); addToToolsMenu (headDown2DockWidget, tr("Actuator Status"), SLOT(showToolWidget(bool)), MENU_HDD_2, Qt::RightDockWidgetArea); } if (!rcViewDockWidget) { rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); } if (!headUpDockWidget) { headUpDockWidget = new QDockWidget(tr("HUD"), this); headUpDockWidget->setWidget( new HUD(320, 240, this)); headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::RightDockWidgetArea); } if (!video1DockWidget) { video1DockWidget = 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"); addToToolsMenu (video1DockWidget, tr("Video Stream 1"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_1, Qt::LeftDockWidgetArea); } if (!video2DockWidget) { 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"); addToToolsMenu (video2DockWidget, tr("Video Stream 2"), SLOT(showToolWidget(bool)), MENU_VIDEO_STREAM_2, Qt::LeftDockWidgetArea); } // Dialogue widgets //FIXME: free memory in destructor } void MainWindow::buildSlugsWidgets() { if (!linechartWidget) { // Center widgets linechartWidget = new Linecharts(this); addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART); } if (!headUpDockWidget) { // Dock widgets headUpDockWidget = new QDockWidget(tr("Control Indicator"), this); headUpDockWidget->setWidget( new HUD(320, 240, this)); headUpDockWidget->setObjectName("HEAD_UP_DISPLAY_DOCK_WIDGET"); addToToolsMenu (headUpDockWidget, tr("Head Up Display"), SLOT(showToolWidget(bool)), MENU_HUD, Qt::LeftDockWidgetArea); } if (!rcViewDockWidget) { rcViewDockWidget = new QDockWidget(tr("Radio Control"), this); rcViewDockWidget->setWidget( new QGCRemoteControlView(this) ); rcViewDockWidget->setObjectName("RADIO_CONTROL_CHANNELS_DOCK_WIDGET"); addToToolsMenu (rcViewDockWidget, tr("Radio Control"), SLOT(showToolWidget(bool)), MENU_RC_VIEW, Qt::BottomDockWidgetArea); } #if (defined _MSC_VER) | (defined Q_OS_MAC) if (!gEarthWidget) { gEarthWidget = new QGCGoogleEarthView(this); addToCentralWidgetsMenu(gEarthWidget, tr("Google Earth"), SLOT(showCentralWidget()), CENTRAL_GOOGLE_EARTH); } #endif if (!slugsDataWidget) { // Dialog widgets slugsDataWidget = new QDockWidget(tr("Slugs Data"), this); slugsDataWidget->setWidget( new SlugsDataSensorView(this)); slugsDataWidget->setObjectName("SLUGS_DATA_DOCK_WIDGET"); addToToolsMenu (slugsDataWidget, tr("Telemetry Data"), SLOT(showToolWidget(bool)), MENU_SLUGS_DATA, Qt::RightDockWidgetArea); } if (!slugsHilSimWidget) { slugsHilSimWidget = new QDockWidget(tr("Slugs Hil Sim"), this); slugsHilSimWidget->setWidget( new SlugsHilSim(this)); slugsHilSimWidget->setObjectName("SLUGS_HIL_SIM_DOCK_WIDGET"); addToToolsMenu (slugsHilSimWidget, tr("HIL Sim Configuration"), SLOT(showToolWidget(bool)), MENU_SLUGS_HIL, Qt::LeftDockWidgetArea); } if (!controlParameterWidget) { controlParameterWidget = new QDockWidget(tr("Control Parameters"), this); controlParameterWidget->setObjectName("UNMANNED_SYSTEM_CONTROL_PARAMETERWIDGET"); controlParameterWidget->setWidget( new UASControlParameters(this) ); addToToolsMenu (controlParameterWidget, tr("Control Parameters"), SLOT(showToolWidget(bool)), MENU_UAS_CONTROL_PARAM, Qt::LeftDockWidgetArea); } if (!parametersDockWidget) { parametersDockWidget = new QDockWidget(tr("Calibration and Onboard Parameters"), this); parametersDockWidget->setWidget( new ParameterInterface(this) ); parametersDockWidget->setObjectName("PARAMETER_INTERFACE_DOCKWIDGET"); addToToolsMenu (parametersDockWidget, tr("Calibration and Parameters"), SLOT(showToolWidget(bool)), MENU_PARAMETERS, Qt::RightDockWidgetArea); } if (!slugsCamControlWidget) { slugsCamControlWidget = new QDockWidget(tr("Camera Control"), this); slugsCamControlWidget->setWidget(new SlugsPadCameraControl(this)); slugsCamControlWidget->setObjectName("SLUGS_CAM_CONTROL_DOCK_WIDGET"); addToToolsMenu (slugsCamControlWidget, tr("Camera Control"), SLOT(showToolWidget(bool)), MENU_SLUGS_CAMERA, Qt::BottomDockWidgetArea); } } void MainWindow::addToCentralWidgetsMenu ( QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES centralWidget) { QAction* tempAction; // Not needed any more - separate menu now available // // Add the separator that will separate tools from central Widgets // if (!toolsMenuActions[CENTRAL_SEPARATOR]) // { // tempAction = ui.menuTools->addSeparator(); // toolsMenuActions[CENTRAL_SEPARATOR] = tempAction; // tempAction->setData(CENTRAL_SEPARATOR); // } tempAction = ui.menuMain->addAction(title); tempAction->setCheckable(true); tempAction->setData(centralWidget); // populate the Hashes toolsMenuActions[centralWidget] = tempAction; dockWidgets[centralWidget] = widget; QString chKey = buildMenuKey(SUB_SECTION_CHECKED, centralWidget, currentView); if (!settings.contains(chKey)) { settings.setValue(chKey,false); tempAction->setChecked(false); } else { tempAction->setChecked(settings.value(chKey).toBool()); } // connect the action connect(tempAction,SIGNAL(triggered(bool)),this, slotName); } void MainWindow::showCentralWidget() { QAction* senderAction = qobject_cast(sender()); // Block sender action while manipulating state senderAction->blockSignals(true); int tool = senderAction->data().toInt(); QString chKey; // check the current action if (senderAction && dockWidgets[tool]) { // uncheck all central widget actions QHashIterator i(toolsMenuActions); while (i.hasNext()) { i.next(); //qDebug() << "shCW" << i.key() << "read"; if (i.value() && i.value()->data().toInt() > 255) { // Block signals and uncheck action // firing would be unneccesary i.value()->blockSignals(true); i.value()->setChecked(false); i.value()->blockSignals(false); // update the settings chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.value()->data().toInt()), currentView); settings.setValue(chKey,false); } } // check the current action //qDebug() << senderAction->text(); senderAction->setChecked(true); // update the central widget centerStack->setCurrentWidget(dockWidgets[tool]); // store the selected central widget chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(tool), currentView); settings.setValue(chKey,true); // Unblock sender action senderAction->blockSignals(false); presentView(); } } /** * Adds a widget to the tools menu and sets it visible if it was * enabled last time. */ void MainWindow::addToToolsMenu ( QWidget* widget, const QString title, const char * slotName, TOOLS_WIDGET_NAMES tool, Qt::DockWidgetArea location) { QAction* tempAction; QString posKey, chKey; if (toolsMenuActions[CENTRAL_SEPARATOR]) { tempAction = new QAction(title, this); ui.menuTools->insertAction(toolsMenuActions[CENTRAL_SEPARATOR], tempAction); } else { tempAction = ui.menuTools->addAction(title); } tempAction->setCheckable(true); tempAction->setData(tool); // populate the Hashes toolsMenuActions[tool] = tempAction; dockWidgets[tool] = widget; //qDebug() << widget; posKey = buildMenuKey (SUB_SECTION_LOCATION,tool, currentView); if (!settings.contains(posKey)) { settings.setValue(posKey,location); dockWidgetLocations[tool] = location; } else { dockWidgetLocations[tool] = static_cast (settings.value(posKey, Qt::RightDockWidgetArea).toInt()); } chKey = buildMenuKey(SUB_SECTION_CHECKED,tool, currentView); if (!settings.contains(chKey)) { settings.setValue(chKey,false); tempAction->setChecked(false); widget->setVisible(false); } else { tempAction->setChecked(settings.value(chKey, false).toBool()); widget->setVisible(settings.value(chKey, false).toBool()); } // connect the action connect(tempAction,SIGNAL(toggled(bool)),this, slotName); connect(qobject_cast (dockWidgets[tool]), SIGNAL(visibilityChanged(bool)), this, SLOT(showToolWidget(bool))); // connect(qobject_cast (dockWidgets[tool]), // SIGNAL(visibilityChanged(bool)), this, SLOT(updateVisibilitySettings(bool))); connect(qobject_cast (dockWidgets[tool]), SIGNAL(dockLocationChanged(Qt::DockWidgetArea)), this, SLOT(updateLocationSettings(Qt::DockWidgetArea))); } void MainWindow::showToolWidget(bool visible) { if (!aboutToCloseFlag && !changingViewsFlag) { QAction* action = qobject_cast(sender()); // Prevent this to fire if undocked if (action) { int tool = action->data().toInt(); QDockWidget* dockWidget = qobject_cast (dockWidgets[tool]); if (dockWidget && dockWidget->isVisible() != visible) { if (visible) { addDockWidget(dockWidgetLocations[tool], dockWidget); dockWidget->show(); } else { removeDockWidget(dockWidget); } QHashIterator i(dockWidgets); while (i.hasNext()) { i.next(); if ((static_cast (dockWidgets[i.key()])) == dockWidget) { QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); settings.setValue(chKey,visible); //qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible; break; } } } } QDockWidget* dockWidget = qobject_cast(QObject::sender()); //qDebug() << "Trying to cast dockwidget" << dockWidget << "isvisible" << visible; if (dockWidget) { // Get action int tool = dockWidgets.key(dockWidget); //qDebug() << "Updating widget setting" << tool << "to" << visible; QAction* action = toolsMenuActions[tool]; action->blockSignals(true); action->setChecked(visible); action->blockSignals(false); QHashIterator i(dockWidgets); while (i.hasNext()) { i.next(); if ((static_cast (dockWidgets[i.key()])) == dockWidget) { QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); settings.setValue(chKey,visible); // qDebug() << "showToolWidget(): Set key" << chKey << "to" << visible; break; } } } } } void MainWindow::showTheWidget (TOOLS_WIDGET_NAMES widget, VIEW_SECTIONS view) { bool tempVisible; Qt::DockWidgetArea tempLocation; QDockWidget* tempWidget = static_cast (dockWidgets[widget]); tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,widget,view), false).toBool(); //qDebug() << "showTheWidget(): Set key" << buildMenuKey(SUB_SECTION_CHECKED,widget,view) << "to" << tempVisible; if (tempWidget) { toolsMenuActions[widget]->setChecked(tempVisible); } //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,widget,view) << tempVisible; tempLocation = static_cast (settings.value(buildMenuKey (SUB_SECTION_LOCATION,widget, view), QVariant(Qt::RightDockWidgetArea)).toInt()); if (tempWidget != NULL) { if (tempVisible) { addDockWidget(tempLocation, tempWidget); tempWidget->show(); } } } QString MainWindow::buildMenuKey(SETTINGS_SECTIONS section, TOOLS_WIDGET_NAMES tool, VIEW_SECTIONS view) { // Key is built as follows: autopilot_type/section_menu/view/tool/section int apType; // apType = (UASManager::instance() && UASManager::instance()->silentGetActiveUAS())? // UASManager::instance()->getActiveUAS()->getAutopilotType(): // -1; apType = 1; return (QString::number(apType) + "_" + QString::number(SECTION_MENU) + "_" + QString::number(view) + "_" + QString::number(tool) + "_" + QString::number(section) + "_" ); } void MainWindow::closeEvent(QCloseEvent *event) { storeSettings(); aboutToCloseFlag = true; mavlink->storeSettings(); UASManager::instance()->storeSettings(); QMainWindow::closeEvent(event); } void MainWindow::showDockWidget (bool vis) { if (!aboutToCloseFlag && !changingViewsFlag) { QDockWidget* temp = qobject_cast(sender()); if (temp) { QHashIterator i(dockWidgets); while (i.hasNext()) { i.next(); if ((static_cast (dockWidgets[i.key()])) == temp) { QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); settings.setValue(chKey,vis); toolsMenuActions[i.key()]->setChecked(vis); break; } } } } } void MainWindow::updateVisibilitySettings (bool vis) { if (!aboutToCloseFlag && !changingViewsFlag) { QDockWidget* temp = qobject_cast(sender()); if (temp) { QHashIterator i(dockWidgets); while (i.hasNext()) { i.next(); if ((static_cast (dockWidgets[i.key()])) == temp) { QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(i.key()), currentView); settings.setValue(chKey,vis); toolsMenuActions[i.key()]->setChecked(vis); break; } } } } } void MainWindow::updateLocationSettings (Qt::DockWidgetArea location) { QDockWidget* temp = qobject_cast(sender()); QHashIterator i(dockWidgets); while (i.hasNext()) { i.next(); if ((static_cast (dockWidgets[i.key()])) == temp) { QString posKey = buildMenuKey (SUB_SECTION_LOCATION,static_cast(i.key()), currentView); settings.setValue(posKey,location); break; } } } /** * 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))); } // //TODO temporaly debug // if (slugsHilSimWidget && slugsHilSimWidget->widget()) { // connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), // slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); // } } 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.length() > 0) { QGCToolWidget* tool = new QGCToolWidget("", this); tool->loadSettings(fileName); if (QGCToolWidget::instances()->size() < 2) { // This is the first widget ui.menuTools->addSeparator(); } // 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); } } void MainWindow::connectPxWidgets() { // No special connections necessary at this point } void MainWindow::connectSlugsWidgets() { if (slugsHilSimWidget && slugsHilSimWidget->widget()) { connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), slugsHilSimWidget->widget(), SLOT(activeUasSet(UASInterface*))); } if (slugsDataWidget && slugsDataWidget->widget()) { connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), slugsDataWidget->widget(), SLOT(setActiveUAS(UASInterface*))); } if (controlParameterWidget && controlParameterWidget->widget()) { connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), controlParameterWidget->widget(), SLOT(activeUasSet(UASInterface*))); } if(controlDockWidget && controlParameterWidget) { connect(controlDockWidget->widget(), SIGNAL(changedMode(int)), controlParameterWidget->widget(), SLOT(changedMode(int))); } } void MainWindow::arrangeCommonCenterStack() { centerStack = new QStackedWidget(this); centerStack->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); if (!centerStack) return; if (mapWidget && (centerStack->indexOf(mapWidget) == -1)) centerStack->addWidget(mapWidget); if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); if (protocolWidget && (centerStack->indexOf(protocolWidget) == -1)) centerStack->addWidget(protocolWidget); setCentralWidget(centerStack); } void MainWindow::arrangePxCenterStack() { if (!centerStack) { qDebug() << "Center Stack not Created!"; return; } if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); #ifdef QGC_OSG_ENABLED if (_3DWidget && (centerStack->indexOf(_3DWidget) == -1)) centerStack->addWidget(_3DWidget); #endif #ifdef QGC_OSGEARTH_ENABLED if (_3DMapWidget && (centerStack->indexOf(_3DMapWidget) == -1)) centerStack->addWidget(_3DMapWidget); #endif #if (defined _MSC_VER) | (defined Q_OS_MAC) if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); #endif if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); if (dataplotWidget && (centerStack->indexOf(dataplotWidget) == -1)) centerStack->addWidget(dataplotWidget); } void MainWindow::arrangeSlugsCenterStack() { if (!centerStack) { qDebug() << "Center Stack not Created!"; return; } if (linechartWidget && (centerStack->indexOf(linechartWidget) == -1)) centerStack->addWidget(linechartWidget); if (hudWidget && (centerStack->indexOf(hudWidget) == -1)) centerStack->addWidget(hudWidget); #if (defined _MSC_VER) | (defined Q_OS_MAC) if (gEarthWidget && (centerStack->indexOf(gEarthWidget) == -1)) centerStack->addWidget(gEarthWidget); #endif } 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(); 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() { ui.actionNewCustomWidget->setEnabled(false); // 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 pilot, engineer and operator view are not available on startup // since they only make sense with a system connected. ui.actionPilotsView->setEnabled(false); ui.actionOperatorsView->setEnabled(false); ui.actionEngineersView->setEnabled(false); // 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::connectPxActions() { } void MainWindow::connectSlugsActions() { } void MainWindow::showHelp() { if(!QDesktopServices::openUrl(QUrl("http://qgroundcontrol.org/users/"))) { 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/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(); foreach (QAction* act, actions) { if (act->data().toInt() == 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; foreach (QAction* act, actions) { if (act->data().toInt() == 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) { // Set default settings setDefaultSettingsForAp(); // 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); } } switch (uas->getAutopilotType()) { case (MAV_AUTOPILOT_SLUGS): { // Build Slugs Widgets buildSlugsWidgets(); // Connect Slugs Widgets connectSlugsWidgets(); // Arrange Slugs Centerstack arrangeSlugsCenterStack(); // Connect Slugs Actions connectSlugsActions(); // if(slugsDataWidget) // { // SlugsDataSensorView *mm = dynamic_cast(slugsDataWidget->widget()); // if(mm) // { // mm->addUAS(uas); // } // } // FIXME: This type checking might be redundant // // if (slugsDataWidget) { // // SlugsDataSensorView* dataWidget = dynamic_cast(slugsDataWidget->widget()); // // if (dataWidget) { // // SlugsMAV* mav2 = dynamic_cast(uas); // // if (mav2) { // (dynamic_cast(slugsDataWidget->widget()))->addUAS(uas); // // //loadSlugsView(); // // loadGlobalOperatorView(); // // } // // } // // } } break; default: case (MAV_AUTOPILOT_GENERIC): case (MAV_AUTOPILOT_ARDUPILOTMEGA): case (MAV_AUTOPILOT_PIXHAWK): { // Build Pixhawk Widgets buildPxWidgets(); // Connect Pixhawk Widgets connectPxWidgets(); // Arrange Pixhawk Centerstack arrangePxCenterStack(); // Connect Pixhawk Actions connectPxActions(); } break; } // 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")) { clearView(); 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); // Custom widgets, added last to all menus and layouts buildCustomWidget(); // Restore the mainwindow size if (settings.contains(getWindowGeometryKey())) { restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); } } /** * Clears the current view completely */ void MainWindow::clearView() { // Save current state if (UASManager::instance()->getUASList().count() > 0) settings.setValue(getWindowStateKey(), saveState(QGC::applicationVersion())); // 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()); QAction* temp; // Set tool widget visibility settings for this view foreach (int key, toolsMenuActions.keys()) { temp = toolsMenuActions[key]; QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(key), currentView); if (temp) { //qDebug() << "TOOL:" << chKey << "IS:" << temp->isChecked(); settings.setValue(chKey,temp->isChecked()); } else { //qDebug() << "TOOL:" << chKey << "IS DEFAULT AND UNCHECKED"; settings.setValue(chKey,false); } } changingViewsFlag = true; // Remove all dock widgets from main window 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); dockWidget->hide(); //dockWidget->setVisible(false); } } changingViewsFlag = false; } void MainWindow::loadEngineerView() { if (currentView != VIEW_ENGINEER) { clearView(); currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); presentView(); } } void MainWindow::loadOperatorView() { if (currentView != VIEW_OPERATOR) { clearView(); currentView = VIEW_OPERATOR; ui.actionOperatorsView->setChecked(true); presentView(); } } void MainWindow::loadUnconnectedView() { if (currentView != VIEW_UNCONNECTED) { clearView(); currentView = VIEW_UNCONNECTED; ui.actionUnconnectedView->setChecked(true); presentView(); } } void MainWindow::loadPilotView() { if (currentView != VIEW_PILOT) { clearView(); currentView = VIEW_PILOT; ui.actionPilotsView->setChecked(true); presentView(); } } void MainWindow::loadMAVLinkView() { if (currentView != VIEW_MAVLINK) { clearView(); currentView = VIEW_MAVLINK; ui.actionMavlinkView->setChecked(true); presentView(); } } void MainWindow::presentView() { // LINE CHART showTheCentralWidget(CENTRAL_LINECHART, currentView); // MAP showTheCentralWidget(CENTRAL_MAP, currentView); // PROTOCOL showTheCentralWidget(CENTRAL_PROTOCOL, currentView); // HEAD UP DISPLAY showTheCentralWidget(CENTRAL_HUD, currentView); // GOOGLE EARTH showTheCentralWidget(CENTRAL_GOOGLE_EARTH, currentView); // LOCAL 3D VIEW showTheCentralWidget(CENTRAL_3D_LOCAL, currentView); // GLOBAL 3D VIEW showTheCentralWidget(CENTRAL_3D_MAP, currentView); // DATA PLOT showTheCentralWidget(CENTRAL_DATA_PLOT, currentView); // Show docked widgets based on current view and autopilot type // UAS CONTROL showTheWidget(MENU_UAS_CONTROL, currentView); showTheWidget(MENU_UAS_CONTROL_PARAM, currentView); // UAS LIST showTheWidget(MENU_UAS_LIST, currentView); // WAYPOINT LIST showTheWidget(MENU_WAYPOINTS, currentView); // UAS STATUS showTheWidget(MENU_STATUS, currentView); // DETECTION showTheWidget(MENU_DETECTION, currentView); // DEBUG CONSOLE showTheWidget(MENU_DEBUG_CONSOLE, currentView); // ONBOARD PARAMETERS showTheWidget(MENU_PARAMETERS, currentView); // WATCHDOG showTheWidget(MENU_WATCHDOG, currentView); // HUD showTheWidget(MENU_HUD, currentView); if (headUpDockWidget) { HUD* tmpHud = dynamic_cast( headUpDockWidget->widget() ); if (tmpHud) { if (settings.value(buildMenuKey (SUB_SECTION_CHECKED,MENU_HUD,currentView)).toBool()) { addDockWidget(static_cast (settings.value(buildMenuKey (SUB_SECTION_LOCATION,MENU_HUD, currentView)).toInt()), headUpDockWidget); headUpDockWidget->show(); } else { headUpDockWidget->hide(); } } } // RC View showTheWidget(MENU_RC_VIEW, currentView); // SLUGS DATA showTheWidget(MENU_SLUGS_DATA, currentView); // SLUGS PID showTheWidget(MENU_SLUGS_PID, currentView); // SLUGS HIL showTheWidget(MENU_SLUGS_HIL, currentView); // SLUGS CAMERA showTheWidget(MENU_SLUGS_CAMERA, currentView); // HORIZONTAL SITUATION INDICATOR showTheWidget(MENU_HSI, currentView); // HEAD DOWN 1 showTheWidget(MENU_HDD_1, currentView); // HEAD DOWN 2 showTheWidget(MENU_HDD_2, currentView); // MAVLINK LOG PLAYER showTheWidget(MENU_MAVLINK_LOG_PLAYER, currentView); // VIDEO 1 showTheWidget(MENU_VIDEO_STREAM_1, currentView); // VIDEO 2 showTheWidget(MENU_VIDEO_STREAM_2, currentView); // Restore window state if (UASManager::instance()->getUASList().count() > 0) { // // Restore the mainwindow size // if (settings.contains(getWindowGeometryKey())) // { // restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); // } // Restore the widget positions and size if (settings.contains(getWindowStateKey())) { restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); } } // ACTIVATE HUD WIDGET if (headUpDockWidget) { HUD* tmpHud = dynamic_cast( headUpDockWidget->widget() ); if (tmpHud) { } } this->setWindowState(windowStateVal); this->show(); } void MainWindow::showTheCentralWidget (TOOLS_WIDGET_NAMES centralWidget, VIEW_SECTIONS view) { bool tempVisible; QWidget* tempWidget = dockWidgets[centralWidget]; tempVisible = settings.value(buildMenuKey(SUB_SECTION_CHECKED,centralWidget,view), false).toBool(); //qDebug() << buildMenuKey (SUB_SECTION_CHECKED,centralWidget,view) << tempVisible; if (toolsMenuActions[centralWidget]) { //qDebug() << "SETTING TO:" << tempVisible; toolsMenuActions[centralWidget]->setChecked(tempVisible); } if (centerStack && tempWidget && tempVisible) { //qDebug() << "ACTIVATING MAIN WIDGET"; centerStack->setCurrentWidget(tempWidget); } } void MainWindow::loadDataView(QString fileName) { clearView(); // Unload line chart QString chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(CENTRAL_LINECHART), currentView); settings.setValue(chKey,false); // Set data plot in settings as current widget and then run usual update procedure chKey = buildMenuKey (SUB_SECTION_CHECKED,static_cast(CENTRAL_DATA_PLOT), currentView); settings.setValue(chKey,true); presentView(); // 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(); }