/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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 <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Implementation of class QGCCore
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#include <QFile>
#include <QFlags>
#include <QThread>
#include <QSplashScreen>
#include <QPixmap>
#include <QDesktopWidget>
#include <QPainter>
#include <QStyleFactory>
#include <QAction>
#include <QDebug>
#include "configuration.h"
#include "QGC.h"
#include "QGCCore.h"
#include "MainWindow.h"
#include "QGCWelcomeMainWindow.h"
#include "GAudioOutput.h"
#include "CmdLineOptParser.h"
#ifdef QGC_RTLAB_ENABLED
#include "OpalLink.h"
#endif
#include "UDPLink.h"
#include "MAVLinkSimulationLink.h"
#include "SerialLink.h"
/**
* @brief Constructor for the main application.
*
* This constructor initializes and starts the whole application. It takes standard
* command-line parameters
*
* @param argc The number of command-line parameters
* @param argv The string array of parameters
**/
QGCCore::QGCCore(bool firstStart, int &argc, char* argv[]) : QApplication(argc, argv),
restartRequested(false),
welcome(NULL)
{
// Exit main application when last window is closed
connect(this, SIGNAL(lastWindowClosed()), this, SLOT(quit()));
// Set application name
this->setApplicationName(QGC_APPLICATION_NAME);
this->setApplicationVersion(QGC_APPLICATION_VERSION);
this->setOrganizationName(QGC::ORG_NAME);
this->setOrganizationDomain(QGC::ORG_DOMAIN);
// Set settings format
QSettings::setDefaultFormat(QSettings::IniFormat);
// Parse command line options
bool fClearSettingsOptions = false; // Clear stored settings
CmdLineOpt_t rgCmdLineOptions[] = {
{ "--clear-settings", &fClearSettingsOptions },
// Add additional command line option flags here
};
ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
QSettings settings;
if (fClearSettingsOptions) {
// User requested settings to be cleared on command line
settings.clear();
}
// Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
bool upgraded = false;
enum MainWindow::CUSTOM_MODE mode = MainWindow::CUSTOM_MODE_NONE;
QString lastApplicationVersion("");
if (settings.contains("QGC_APPLICATION_VERSION"))
{
QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
if (qgcVersion != QGC_APPLICATION_VERSION)
{
lastApplicationVersion = qgcVersion;
settings.clear(); // Clear settings from different version
// Write current application version
settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
upgraded = true;
}
else
{
mode = (enum MainWindow::CUSTOM_MODE) settings.value("QGC_CUSTOM_MODE", (int)MainWindow::CUSTOM_MODE_NONE).toInt();
}
}
else
{
// If application version is not set, clear settings anyway
settings.clear();
// Write current application version
settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
}
settings.sync();
// "Bootload" the application
if ((!settings.contains("QGC_CUSTOM_MODE_STORED") || settings.value("QGC_CUSTOM_MODE_STORED") == false) && firstStart)
{
welcome = new QGCWelcomeMainWindow();
connect(welcome, SIGNAL(customViewModeSelected(MainWindow::CUSTOM_MODE)), this, SLOT(customViewModeSelected(MainWindow::CUSTOM_MODE)));
restartRequested = true;
return;
}
// Show splash screen
QPixmap splashImage(":/files/images/splash.png");
QSplashScreen* splashScreen = new QSplashScreen(splashImage);
// Delete splash screen after mainWindow was displayed
splashScreen->setAttribute(Qt::WA_DeleteOnClose);
splashScreen->show();
processEvents();
splashScreen->showMessage(tr("Loading application fonts"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// Load application font
QFontDatabase fontDatabase = QFontDatabase();
const QString fontFileName = ":/general/vera.ttf"; ///< Font file is part of the QRC file and compiled into the app
//const QString fontFamilyName = "Bitstream Vera Sans";
if(!QFile::exists(fontFileName)) printf("ERROR! font file: %s DOES NOT EXIST!\n", fontFileName.toStdString().c_str());
fontDatabase.addApplicationFont(fontFileName);
// Avoid Using setFont(). In the Qt docu you can read the following:
// "Warning: Do not use this function in conjunction with Qt Style Sheets."
// setFont(fontDatabase.font(fontFamilyName, "Roman", 12));
// Start the comm link manager
splashScreen->showMessage(tr("Starting communication links"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
startLinkManager();
// Start the UAS Manager
splashScreen->showMessage(tr("Starting UAS manager"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
startUASManager();
// Start the user interface
splashScreen->showMessage(tr("Starting user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141));
// The first call to instance() creates the MainWindow, so make sure it's passed the splashScreen.
mainWindow = MainWindow::instance_mode(splashScreen, mode);
UDPLink* udpLink = NULL;
if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_WIFI)
{
// Connect links
// to make sure that all components are initialized when the
// first messages arrive
udpLink = new UDPLink(QHostAddress::Any, 14550);
LinkManager::instance()->add(udpLink);
} else if (mainWindow->getCustomMode() == MainWindow::CUSTOM_MODE_PX4) {
udpLink = new UDPLink(QHostAddress::Any, 14550);
LinkManager::instance()->add(udpLink);
SerialLink *slink = new SerialLink();
LinkManager::instance()->add(slink);
} else {
// We want to have a default serial link available for "quick" connecting.
SerialLink *slink = new SerialLink();
LinkManager::instance()->add(slink);
}
#ifdef QGC_RTLAB_ENABLED
// Add OpalRT Link, but do not connect
OpalLink* opalLink = new OpalLink();
MainWindow::instance()->addLink(opalLink);
#endif
// Remove splash screen
splashScreen->finish(mainWindow);
if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"),
tr("qgroundcontrol has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
// Check if link could be connected
if (udpLink && !udpLink->connect())
{
QMessageBox msgBox;
msgBox.setIcon(QMessageBox::Critical);
msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
msgBox.setInformativeText("It is recommended to close the application and stop all instances. Click Yes to close.");
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
msgBox.setDefaultButton(QMessageBox::No);
int ret = msgBox.exec();
// Close the message box shortly after the click to prevent accidental clicks
QTimer::singleShot(15000, &msgBox, SLOT(reject()));
// Exit application
if (ret == QMessageBox::Yes)
{
//mainWindow->close();
QTimer::singleShot(200, mainWindow, SLOT(close()));
}
}
}
/**
* @brief Destructor for the groundstation. It destroys all loaded instances.
*
**/
QGCCore::~QGCCore()
{
if (welcome)
{
delete welcome;
} else {
//mainWindow->storeSettings();
//mainWindow->close();
//mainWindow->deleteLater();
// Delete singletons
// First systems
delete UASManager::instance();
// then links
delete LinkManager::instance();
// Finally the main window
//delete MainWindow::instance();
//The main window now autodeletes on close.
}
}
/**
* @brief Start the link managing component.
*
* The link manager keeps track of all communication links and provides the global
* packet queue. It is the main communication hub
**/
void QGCCore::startLinkManager()
{
LinkManager::instance();
}
/**
* @brief Start the Unmanned Air System Manager
*
**/
void QGCCore::startUASManager()
{
// Load UAS plugins
QDir pluginsDir = QDir(qApp->applicationDirPath());
#if defined(Q_OS_WIN)
if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
pluginsDir.cdUp();
#elif defined(Q_OS_LINUX)
if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
pluginsDir.cdUp();
#elif defined(Q_OS_MAC)
if (pluginsDir.dirName() == "MacOS") {
pluginsDir.cdUp();
pluginsDir.cdUp();
pluginsDir.cdUp();
}
#endif
pluginsDir.cd("plugins");
UASManager::instance();
// Load plugins
QStringList pluginFileNames;
foreach (QString fileName, pluginsDir.entryList(QDir::Files)) {
QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
QObject *plugin = loader.instance();
if (plugin) {
//populateMenus(plugin);
pluginFileNames += fileName;
//printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());
}
}
}
void QGCCore::customViewModeSelected(enum MainWindow::CUSTOM_MODE mode)
{
QSettings settings;
settings.setValue("QGC_CUSTOM_MODE", (unsigned int)mode);
// Store settings only if requested by user
settings.setValue("QGC_CUSTOM_MODE_STORED", welcome->getStoreSettings());
settings.sync();
welcome->close();
}