/*===================================================================== QGroundControl Open Source Ground Control Station (c) 2009 - 2013 QGROUNDCONTROL PROJECT This file is part of the QGROUNDCONTROL project QGROUNDCONTROL is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. QGROUNDCONTROL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with QGROUNDCONTROL. If not, see . ======================================================================*/ /** * @file * @brief Implementation of class MainWindow * @author Lorenz Meier */ #include #include #include #include #include #include #include #include #include #include #include #include "dockwidgettitlebareventfilter.h" #include "QGC.h" #include "MAVLinkSimulationLink.h" #include "SerialLink.h" #include "UDPLink.h" #include "MAVLinkProtocol.h" #include "CommConfigurationWindow.h" #include "QGCWaypointListMulti.h" #include "MainWindow.h" #include "JoystickWidget.h" #include "GAudioOutput.h" #include "QGCToolWidget.h" #include "QGCMAVLinkLogPlayer.h" #include "QGCSettingsWidget.h" #include "QGCMapTool.h" #include "MAVLinkDecoder.h" #include "QGCMAVLinkMessageSender.h" #include "QGCRGBDView.h" #include "QGCFirmwareUpdate.h" #include "QGCStatusBar.h" #include "UASQuickView.h" #include "QGCDataPlot2D.h" #include "Linecharts.h" #ifdef QGC_OSG_ENABLED #include "Q3DWidgetFactory.h" #endif // FIXME Move #include "PxQuadMAV.h" #include "SlugsMAV.h" #include "LogCompressor.h" // Set up some constants const QString MainWindow::defaultDarkStyle = ":files/styles/style-dark.css"; const QString MainWindow::defaultLightStyle = ":files/styles/style-light.css"; MainWindow* MainWindow::instance(QSplashScreen* screen) { static MainWindow* _instance = 0; if (_instance == 0) { _instance = new MainWindow(); if (screen) { connect(_instance, SIGNAL(initStatusChanged(QString,int,QColor)), screen, SLOT(showMessage(QString,int,QColor))); } _instance->init(); } 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_FLIGHT), currentStyle(QGC_MAINWINDOW_STYLE_DARK), aboutToCloseFlag(false), changingViewsFlag(false), centerStackActionGroup(new QActionGroup(this)), darkStyleFileName(defaultDarkStyle), lightStyleFileName(defaultLightStyle), autoReconnect(false), lowPowerMode(false), dockWidgetTitleBarEnabled(true), isAdvancedMode(false) { hide(); } void MainWindow::init() { emit initStatusChanged(tr("Loading settings"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); loadSettings(); emit initStatusChanged(tr("Loading style"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); qApp->setStyle("plastique"); if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT) { loadStyle(currentStyle, lightStyleFileName); } else { loadStyle(currentStyle, darkStyleFileName); } if (settings.contains("ADVANCED_MODE")) { isAdvancedMode = settings.value("ADVANCED_MODE").toBool(); } if (!settings.contains("CURRENT_VIEW")) { // Set this view as default view settings.setValue("CURRENT_VIEW", currentView); } else { // LOAD THE LAST VIEW VIEW_SECTIONS currentViewCandidate = (VIEW_SECTIONS) settings.value("CURRENT_VIEW", currentView).toInt(); if (currentViewCandidate != VIEW_ENGINEER && currentViewCandidate != VIEW_MISSION && currentViewCandidate != VIEW_FLIGHT && currentViewCandidate != VIEW_FULL) { currentView = currentViewCandidate; } } settings.sync(); emit initStatusChanged(tr("Setting up user interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Setup user interface ui.setupUi(this); hide(); // We only need this menu if we have more than one system // ui.menuConnected_Systems->setEnabled(false); // Set dock options setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks); configureWindowName(); // Setup corners setCorner(Qt::BottomRightCorner, Qt::BottomDockWidgetArea); // Setup UI state machines centerStackActionGroup->setExclusive(true); centerStack = new QStackedWidget(this); setCentralWidget(centerStack); // Load Toolbar toolBar = new QGCToolBar(this); this->addToolBar(toolBar); // Add actions for average users (displayed next to each other) QList actions; actions << ui.actionFlightView; actions << ui.actionMissionView; actions << ui.actionConfiguration_2; toolBar->setPerspectiveChangeActions(actions); // Add actions for advanced users (displayed in dropdown under "advanced") QList advancedActions; advancedActions << ui.actionSimulation_View; advancedActions << ui.actionEngineersView; toolBar->setPerspectiveChangeAdvancedActions(advancedActions); customStatusBar = new QGCStatusBar(this); setStatusBar(customStatusBar); statusBar()->setSizeGripEnabled(true); emit initStatusChanged(tr("Building common widgets"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); buildCommonWidgets(); connectCommonWidgets(); emit initStatusChanged(tr("Building common actions"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Create actions connectCommonActions(); // Populate link menu emit initStatusChanged(tr("Populating link menu"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); QList links = LinkManager::instance()->getLinks(); foreach(LinkInterface* link, links) { this->addLink(link); } connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*))); // Connect user interface devices emit initStatusChanged(tr("Initializing joystick interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); joystickWidget = 0; joystick = new JoystickInput(); #ifdef MOUSE_ENABLED_WIN emit initStatusChanged(tr("Initializing 3D mouse interface", Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); mouseInput = new Mouse3DInput(this); mouse = new Mouse6dofInput(mouseInput); #endif //MOUSE_ENABLED_WIN #if MOUSE_ENABLED_LINUX emit initStatusChanged(tr("Initializing 3D mouse interface"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); mouse = new Mouse6dofInput(this); connect(this, SIGNAL(x11EventOccured(XEvent*)), mouse, SLOT(handleX11Event(XEvent*))); #endif //MOUSE_ENABLED_LINUX // Connect link if (autoReconnect) { SerialLink* link = new SerialLink(); // Add to registry LinkManager::instance()->add(link); LinkManager::instance()->addProtocol(link, mavlink); link->connect(); } // Set low power mode enableLowPowerMode(lowPowerMode); // Initialize window state windowStateVal = windowState(); emit initStatusChanged(tr("Restoring last view state"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window setup loadViewState(); emit initStatusChanged(tr("Restoring last window size"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); // Restore the window position and size if (settings.contains(getWindowGeometryKey())) { // Restore the window geometry restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray()); show(); } else { // Adjust the size const int screenWidth = QApplication::desktop()->width(); const int screenHeight = QApplication::desktop()->height(); if (screenWidth < 1500) { resize(screenWidth, screenHeight - 80); show(); } else { resize(screenWidth*0.67f, qMin(screenHeight, (int)(screenWidth*0.67f*0.67f))); show(); } } connect(&windowNameUpdateTimer, SIGNAL(timeout()), this, SLOT(configureWindowName())); windowNameUpdateTimer.start(15000); emit initStatusChanged(tr("Done"), Qt::AlignLeft | Qt::AlignBottom, QColor(62, 93, 141)); show(); } MainWindow::~MainWindow() { if (mavlink) { delete mavlink; mavlink = NULL; } // if (simulationLink) // { // simulationLink->deleteLater(); // simulationLink = NULL; // } if (joystick) { joystick->shutdown(); joystick->wait(5000); delete joystick; joystick = NULL; } // Get and delete all dockwidgets and contained // widgets QObjectList childList(this->children()); QObjectList::iterator i; QDockWidget* dockWidget; for (i = childList.begin(); i != childList.end(); ++i) { dockWidget = dynamic_cast(*i); if (dockWidget) { // Remove dock widget from main window // removeDockWidget(dockWidget); // delete dockWidget->widget(); delete dockWidget; dockWidget = NULL; } else if (dynamic_cast(*i)) { delete dynamic_cast(*i); *i = NULL; } } // Delete all UAS objects } void MainWindow::resizeEvent(QResizeEvent * event) { if (width() > 1200) { toolBar->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); } else { toolBar->setToolButtonStyle(Qt::ToolButtonIconOnly); } QMainWindow::resizeEvent(event); } QString MainWindow::getWindowStateKey() { if (UASManager::instance()->getActiveUAS()) { return QString::number(currentView)+"_windowstate_" + UASManager::instance()->getActiveUAS()->getAutopilotTypeName(); } else 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) { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); /*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); //dock->hide(); int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt(); //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView); settings.endGroup(); QDockWidget* dock; switch (view) { case VIEW_ENGINEER: dock = createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_FLIGHT: dock = createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_SIMULATION: dock = createDockWidget(simView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_MISSION: dock = createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; case VIEW_MAVLINK: dock = createDockWidget(mavlinkView,tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; default: dock = createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName(),(VIEW_SECTIONS)view,location); break; } // XXX temporary "fix" dock->hide(); //createDockWidget(0,tool,tool->getTitle(),tool->objectName(),view,location); } } } 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); // Log player logPlayer = new QGCMAVLinkLogPlayer(mavlink, customStatusBar); customStatusBar->setLogPlayer(logPlayer); // Center widgets if (!plannerView) { plannerView = new SubMainWindow(this); plannerView->setCentralWidget(new QGCMapTool(this)); //mapWidget = new QGCMapTool(this); addCentralWidget(plannerView, "Maps"); } //pilotView if (!pilotView) { pilotView = new SubMainWindow(this); pilotView->setObjectName("VIEW_FLIGHT"); //pilotView->setCentralWidget(new HUD(320,240,this)); pilotView->setCentralWidget(new QGCMapTool(this)); //hudWidget = new HUD(320, 240, this); //addCentralWidget(hudWidget, tr("Head Up Display")); //mapWidget = new QGCMapTool(this); addCentralWidget(pilotView, "Pilot"); } if (!configView) { configView = new SubMainWindow(this); configView->setObjectName("VIEW_CONFIGURATION"); configView->setCentralWidget(new QGCVehicleConfig(this)); addCentralWidget(configView,"Config"); centralWidgetToDockWidgetsMap[VIEW_CONFIGURATION] = QMap(); } if (!engineeringView) { engineeringView = new SubMainWindow(this); engineeringView->setObjectName("VIEW_ENGINEER"); engineeringView->setCentralWidget(new QGCDataPlot2D(this)); addCentralWidget(engineeringView,tr("Logfile Plot")); } if (!mavlinkView) { mavlinkView = new SubMainWindow(this); mavlinkView->setObjectName("VIEW_MAVLINK"); mavlinkView->setCentralWidget(new XMLCommProtocolWidget(this)); addCentralWidget(mavlinkView,tr("Mavlink Generator")); } if (!simView) { simView = new SubMainWindow(this); simView->setObjectName("VIEW_SIMULATOR"); simView->setCentralWidget(new QGCMapTool(this)); addCentralWidget(simView,tr("Simulation View")); } // Dock widgets QAction* tempAction = ui.menuTools->addAction(tr("Control")); tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); createDockWidget(simView,new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",VIEW_SIMULATION,Qt::LeftDockWidgetArea); createDockWidget(plannerView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_MISSION,Qt::LeftDockWidgetArea); { //createDockWidget(plannerView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_MISSION,Qt::BottomDockWidgetArea); QAction* tempAction = ui.menuTools->addAction(tr("Mission Plan")); tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); menuToDockNameMap[tempAction] = "WAYPOINT_LIST_DOCKWIDGET"; } createDockWidget(simView,new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea); createDockWidget(engineeringView,new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea); createDockWidget(engineeringView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_ENGINEER,Qt::RightDockWidgetArea); createDockWidget(simView,new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea); { QAction* tempAction = ui.menuTools->addAction(tr("Status Details")); menuToDockNameMap[tempAction] = "UAS_STATUS_DETAILS_DOCKWIDGET"; tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); } { QAction* tempAction = ui.menuTools->addAction(tr("Communication Console")); menuToDockNameMap[tempAction] = "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET"; tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); } createDockWidget(simView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_SIMULATION,Qt::BottomDockWidgetArea); { QAction* tempAction = ui.menuTools->addAction(tr("Flight Display")); tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_1_DOCKWIDGET"; } { QAction* tempAction = ui.menuTools->addAction(tr("Actuator Status")); tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); menuToDockNameMap[tempAction] = "HEAD_DOWN_DISPLAY_2_DOCKWIDGET"; } { QAction* tempAction = ui.menuTools->addAction(tr("Radio Control")); tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); } createDockWidget(simView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_SIMULATION,Qt::RightDockWidgetArea,this->width()/1.5); createDockWidget(pilotView,new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",VIEW_FLIGHT,Qt::RightDockWidgetArea); createDockWidget(pilotView,new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea,this->width()/1.8); createDockWidget(pilotView,new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea); createDockWidget(pilotView,new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",VIEW_FLIGHT,Qt::LeftDockWidgetArea); pilotView->setTabPosition(Qt::LeftDockWidgetArea,QTabWidget::North); pilotView->tabifyDockWidget((QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET"],(QDockWidget*)centralWidgetToDockWidgetsMap[VIEW_FLIGHT]["UAS_INFO_QUICKVIEW_DOCKWIDGET"]); // Custom widgets, added last to all menus and layouts buildCustomWidget(); /*if (!protocolWidget) { protocolWidget = new XMLCommProtocolWidget(this); addCentralWidget(protocolWidget, "Mavlink Generator"); }*/ // if (!firmwareUpdateWidget) // { // firmwareUpdateWidget = new QGCFirmwareUpdate(this); // addCentralWidget(firmwareUpdateWidget, "Firmware Update"); // } /*if (!hudWidget) { hudWidget = new HUD(320, 240, this); addCentralWidget(hudWidget, tr("Head Up Display")); }*/ /*if (!configWidget) { configWidget = new QGCVehicleConfig(this); addCentralWidget(configWidget, tr("Vehicle Configuration")); }*/ /*if (!dataplotWidget) { dataplotWidget = new QGCDataPlot2D(this); addCentralWidget(dataplotWidget, tr("Logfile Plot")); }*/ #ifdef QGC_OSG_ENABLED if (!_3DWidget) { _3DWidget = Q3DWidgetFactory::get("PIXHAWK", this); 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(SubMainWindow *parent,VIEW_SECTIONS view,QDockWidget* widget, const QString& title, Qt::DockWidgetArea area) { QList actionlist = ui.menuTools->actions(); bool found = false; QAction *targetAction; for (int i=0;itext() == title) { found = true; targetAction = actionlist[i]; } } if (!found) { QAction* tempAction = ui.menuTools->addAction(title); tempAction->setCheckable(true); menuToDockNameMap[tempAction] = widget->objectName(); if (!centralWidgetToDockWidgetsMap.contains(view)) { centralWidgetToDockWidgetsMap[view] = QMap(); } centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget; connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); connect(widget, SIGNAL(visibilityChanged(bool)), tempAction, SLOT(setChecked(bool))); tempAction->setChecked(widget->isVisible()); } else { if (!menuToDockNameMap.contains(targetAction)) { menuToDockNameMap[targetAction] = widget->objectName(); //menuToDockNameMap[targetAction] = title; } if (!centralWidgetToDockWidgetsMap.contains(view)) { centralWidgetToDockWidgetsMap[view] = QMap(); } centralWidgetToDockWidgetsMap[view][widget->objectName()]= widget; connect(widget, SIGNAL(visibilityChanged(bool)), targetAction, SLOT(setChecked(bool))); } parent->addDockWidget(area,widget); } QDockWidget* MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight) { //if (child->objectName() == "") //{ child->setObjectName(objectname); //} QDockWidget *widget = new QDockWidget(title,this); if (!isAdvancedMode) { if (dockWidgetTitleBarEnabled) { dockToTitleBarMap[widget] = widget->titleBarWidget(); QLabel *label = new QLabel(this); label->setText(title); widget->setTitleBarWidget(label); label->installEventFilter(new DockWidgetTitleBarEventFilter()); } else { dockToTitleBarMap[widget] = widget->titleBarWidget(); widget->setTitleBarWidget(new QWidget(this)); } } else { QLabel *label = new QLabel(this); label->setText(title); dockToTitleBarMap[widget] = label; label->installEventFilter(new DockWidgetTitleBarEventFilter()); label->hide(); } widget->setObjectName(child->objectName()); widget->setWidget(child); if (minheight != 0 || minwidth != 0) { widget->setMinimumHeight(minheight); widget->setMinimumWidth(minwidth); } addTool(qobject_cast(parent),view,widget,title,area); return widget; } void MainWindow::loadDockWidget(QString name) { if (centralWidgetToDockWidgetsMap[currentView].contains(name)) { return; } if (name == "UNMANNED_SYSTEM_CONTROL_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASControlWidget(this),tr("Control"),"UNMANNED_SYSTEM_CONTROL_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea); } else if (name == "UNMANNED_SYSTEM_LIST_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASListWidget(this),tr("Unmanned Systems"),"UNMANNED_SYSTEM_LIST_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "WAYPOINT_LIST_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCWaypointListMulti(this),tr("Mission Plan"),"WAYPOINT_LIST_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea); } else if (name == "MAVLINK_INSPECTOR_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new QGCMAVLinkInspector(mavlink,this),tr("MAVLink Inspector"),"MAVLINK_INSPECTOR_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "PARAMETER_INTERFACE_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new ParameterInterface(this),tr("Onboard Parameters"),"PARAMETER_INTERFACE_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "UAS_STATUS_DETAILS_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASInfoWidget(this),tr("Status Details"),"UAS_STATUS_DETAILS_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new DebugConsole(this),tr("Communication Console"),"COMMUNICATION_DEBUG_CONSOLE_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea); } else if (name == "HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new HSIDisplay(this),tr("Horizontal Situation"),"HORIZONTAL_SITUATION_INDICATOR_DOCKWIDGET",currentView,Qt::BottomDockWidgetArea); } else if (name == "HEAD_DOWN_DISPLAY_1_DOCKWIDGET") { //FIXME: memory of acceptList will never be freed again QStringList* acceptList = new QStringList(); acceptList->append("-3.3,ATTITUDE.roll,rad,+3.3,s"); acceptList->append("-3.3,ATTITUDE.pitch,deg,+3.3,s"); acceptList->append("-3.3,ATTITUDE.yaw,deg,+3.3,s"); HDDisplay *hddisplay = new HDDisplay(acceptList,"Flight Display",this); hddisplay->addSource(mavlinkDecoder); createDockWidget(centerStack->currentWidget(),hddisplay,tr("Flight Display"),"HEAD_DOWN_DISPLAY_1_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "HEAD_DOWN_DISPLAY_2_DOCKWIDGET") { //FIXME: memory of acceptList2 will never be freed again QStringList* acceptList2 = new QStringList(); acceptList2->append("0,RAW_PRESSURE.pres_abs,hPa,65500"); HDDisplay *hddisplay = new HDDisplay(acceptList2,"Actuator Status",this); hddisplay->addSource(mavlinkDecoder); createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEAD_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "Radio Control") { qDebug() << "Error loading window:" << name << "Unknown window type"; //createDockWidget(centerStack->currentWidget(),hddisplay,tr("Actuator Status"),"HEADS_DOWN_DISPLAY_2_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "HEAD_UP_DISPLAY_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new HUD(320,240,this),tr("Head Up Display"),"HEAD_UP_DISPLAY_DOCKWIDGET",currentView,Qt::RightDockWidgetArea); } else if (name == "UAS_INFO_QUICKVIEW_DOCKWIDGET") { createDockWidget(centerStack->currentWidget(),new UASQuickView(this),tr("Quick View"),"UAS_INFO_QUICKVIEW_DOCKWIDGET",currentView,Qt::LeftDockWidgetArea); } else { if (customWidgetNameToFilenameMap.contains(name)) { loadCustomWidget(customWidgetNameToFilenameMap[name],currentView); //customWidgetNameToFilenameMap.remove(name); } else { qDebug() << "Error loading window:" << name; } } } void MainWindow::showTool(bool show) { //Called when a menu item is clicked on, regardless of view. QAction* act = qobject_cast(sender()); if (menuToDockNameMap.contains(act)) { QString name = menuToDockNameMap[act]; if (centralWidgetToDockWidgetsMap.contains(currentView)) { if (centralWidgetToDockWidgetsMap[currentView].contains(name)) { if (show) { centralWidgetToDockWidgetsMap[currentView][name]->show(); } else { centralWidgetToDockWidgetsMap[currentView][name]->hide(); } } else if (show) { loadDockWidget(name); } } } //QWidget* widget = qVariantValue(act->data()); //widget->setVisible(show); } /*void addToolByName(QString name,SubMainWindow parent,const QString& title, Qt::DockWidgetArea area) { if (name == "Control") { QDockWidget *widget = new QDockWidget(tr("Control"),this); dockToTitleBarMap[widget] = widget->titleBarWidget(); widget->setObjectName("UNMANNED_SYSTEM_CONTROL_DOCKWIDGET"); widget->setWidget(new UASControlWidget(this)); addTool(parent,VIEW_SIMULATION,widget,tr("Control"),area); } }*/ void MainWindow::addCentralWidget(QWidget* widget, const QString& title) { Q_UNUSED(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::showHILConfigurationWidget(UASInterface* uas) { // Add simulation configuration widget UAS* mav = dynamic_cast(uas); if (mav && !hilDocks.contains(mav->getUASID())) { QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this); QString hilDockName = tr("HIL Config %1").arg(uas->getUASName()); QDockWidget* hilDock = createDockWidget(simView, hconf,hilDockName, hilDockName.toUpper().replace(" ", "_"),VIEW_SIMULATION,Qt::LeftDockWidgetArea); hilDocks.insert(mav->getUASID(), hilDock); // if (currentView != VIEW_SIMULATION) // hilDock->hide(); // else // hilDock->show(); } } 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() { //void MainWindow::createDockWidget(QWidget *parent,QWidget *child,QString title,QString objectname,VIEW_SECTIONS view,Qt::DockWidgetArea area,int minwidth,int minheight) //QDockWidget* dock = new QDockWidget("Unnamed Tool", this); if (QGCToolWidget::instances()->size() < 2) { // This is the first widget ui.menuTools->addSeparator(); } QGCToolWidget* tool = new QGCToolWidget("Unnamed Tool " + QString::number(ui.menuTools->actions().size())); createDockWidget(centerStack->currentWidget(),tool,"Unnamed Tool " + QString::number(ui.menuTools->actions().size()),"UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())+"DOCK",currentView,Qt::BottomDockWidgetArea); //tool->setObjectName("UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size())); QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue(QString("TOOL_PARENT_") + tool->objectName(),currentView); settings.endGroup(); //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, int view) { QGCToolWidget* tool = new QGCToolWidget("", this); if (tool->loadSettings(fileName, true)) { qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName(); switch ((VIEW_SECTIONS)view) { case VIEW_ENGINEER: createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_FLIGHT: createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_SIMULATION: createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_MISSION: createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; default: { //Delete tool, create menu item to tie it to. customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName; QAction* tempAction = ui.menuTools->addAction(tool->getTitle()); menuToDockNameMap[tempAction] = tool->objectName()+"DOCK"; tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); tool->deleteLater(); //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); } break; } } else { return; } } void MainWindow::loadCustomWidget(const QString& fileName, bool singleinstance) { QGCToolWidget* tool = new QGCToolWidget("", this); if (tool->loadSettings(fileName, true) || !singleinstance) { qDebug() << "Loading custom tool:" << tool->getTitle() << tool->objectName(); QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); //settings.setValue(QString("TOOL_PARENT_") + "UNNAMED_TOOL_" + QString::number(ui.menuTools->actions().size()),currentView); int view = settings.value(QString("TOOL_PARENT_") + tool->objectName(),-1).toInt(); switch (view) { case VIEW_ENGINEER: createDockWidget(engineeringView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_FLIGHT: createDockWidget(pilotView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_SIMULATION: createDockWidget(simView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; case VIEW_MISSION: createDockWidget(plannerView,tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); break; default: { //Delete tool, create menu item to tie it to. customWidgetNameToFilenameMap[tool->objectName()+"DOCK"] = fileName; QAction* tempAction = ui.menuTools->addAction(tool->getTitle()); menuToDockNameMap[tempAction] = tool->objectName()+"DOCK"; tempAction->setCheckable(true); connect(tempAction,SIGNAL(triggered(bool)),this, SLOT(showTool(bool))); tool->deleteLater(); //createDockWidget(centerStack->currentWidget(),tool,tool->getTitle(),tool->objectName()+"DOCK",(VIEW_SECTIONS)view,Qt::LeftDockWidgetArea); } break; } settings.endGroup(); // 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->hide();*/ } else { return; } } void MainWindow::loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType) { QString defaultsDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/widgets/"; QString platformDir = qApp->applicationDirPath() + "/files/" + autopilotType.toLower() + "/" + systemType.toLower() + "/widgets/"; QDir widgets(defaultsDir); QStringList files = widgets.entryList(); QDir platformWidgets(platformDir); files.append(platformWidgets.entryList()); if (files.count() == 0) { qDebug() << "No default custom widgets for system " << systemType << "autopilot" << autopilotType << " found"; qDebug() << "Tried with path: " << defaultsDir; showStatusMessage(tr("Did not find any custom widgets in %1").arg(defaultsDir)); } // Load all custom widgets found in the AP folder for(int i = 0; i < files.count(); ++i) { QString file = files[i]; if (file.endsWith(".qgw")) { // Will only be loaded if not already a custom widget with // the same name is present loadCustomWidget(defaultsDir+"/"+file, true); showStatusMessage(tr("Loaded custom widget %1").arg(defaultsDir+"/"+file)); } } } void MainWindow::loadSettings() { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); autoReconnect = settings.value("AUTO_RECONNECT", autoReconnect).toBool(); currentStyle = (QGC_MAINWINDOW_STYLE)settings.value("CURRENT_STYLE", currentStyle).toInt(); darkStyleFileName = settings.value("DARK_STYLE_FILENAME", darkStyleFileName).toString(); lightStyleFileName = settings.value("LIGHT_STYLE_FILENAME", lightStyleFileName).toString(); lowPowerMode = settings.value("LOW_POWER_MODE", lowPowerMode).toBool(); dockWidgetTitleBarEnabled = settings.value("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled).toBool(); settings.endGroup(); enableDockWidgetTitleBars(dockWidgetTitleBarEnabled); } void MainWindow::storeSettings() { QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue("AUTO_RECONNECT", autoReconnect); settings.setValue("CURRENT_STYLE", currentStyle); settings.setValue("DARK_STYLE_FILENAME", darkStyleFileName); settings.setValue("LIGHT_STYLE_FILENAME", lightStyleFileName); settings.endGroup(); if (!aboutToCloseFlag && isVisible()) { settings.setValue(getWindowGeometryKey(), saveGeometry()); // Save the last current view in any case settings.setValue("CURRENT_VIEW", currentView); // Save the current window state, but only if a system is connected (else no real number of widgets would be present)) if (UASManager::instance()->getUASList().length() > 0) settings.setValue(getWindowStateKey(), saveState(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::enableDockWidgetTitleBars(bool enabled) { dockWidgetTitleBarEnabled = enabled; QSettings settings; settings.beginGroup("QGC_MAINWINDOW"); settings.setValue("DOCK_WIDGET_TITLEBARS",dockWidgetTitleBarEnabled); settings.endGroup(); settings.sync(); if (!isAdvancedMode) { if (enabled) { for (QMap::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++) { QLabel *label = new QLabel(this); label->setText(i.key()->windowTitle()); i.key()->setTitleBarWidget(label); //label->setEnabled(false); label->installEventFilter(new DockWidgetTitleBarEventFilter()); } } else { for (QMap::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++) { i.key()->setTitleBarWidget(new QWidget(this)); } } } } void MainWindow::enableAutoReconnect(bool enabled) { autoReconnect = enabled; } bool MainWindow::loadStyle(QGC_MAINWINDOW_STYLE style, QString cssFile) { // Store the new style classification. currentStyle = style; // Load the new stylesheet. QFile styleSheet(cssFile); // Attempt to open the stylesheet. if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) { // Signal to the user that the app will pause to apply a new stylesheet qApp->setOverrideCursor(Qt::WaitCursor); qApp->setStyleSheet(styleSheet.readAll()); // And save the new stylesheet path. if (currentStyle == QGC_MAINWINDOW_STYLE_LIGHT) { lightStyleFileName = cssFile; } else { darkStyleFileName = cssFile; } // And trigger any changes to other UI elements that are watching for // theme changes. emit styleChanged(style); // Finally restore the cursor before returning. qApp->restoreOverrideCursor(); return true; } // Otherwise alert return a failure code. return false; } /** * The status message will be overwritten if a new message is posted to this function * * @param status message text * @param timeout how long the status should be displayed */ void MainWindow::showStatusMessage(const QString& status, int timeout) { statusBar()->showMessage(status, timeout); } /** * The status message will be overwritten if a new message is posted to this function. * it will be automatically hidden after 5 seconds. * * @param status message text */ void MainWindow::showStatusMessage(const QString& status) { statusBar()->showMessage(status, 20000); } void MainWindow::showCriticalMessage(const QString& title, const QString& message) { QMessageBox msgBox(this); msgBox.setIcon(QMessageBox::Critical); msgBox.setText(title); msgBox.setInformativeText(message); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } void MainWindow::showInfoMessage(const QString& title, const QString& message) { QMessageBox msgBox(this); msgBox.setIcon(QMessageBox::Information); msgBox.setText(title); msgBox.setInformativeText(message); msgBox.setStandardButtons(QMessageBox::Ok); msgBox.setDefaultButton(QMessageBox::Ok); msgBox.exec(); } /** * @brief Create all actions associated to the main window * **/ void MainWindow::connectCommonActions() { // Bind together the perspective actions QActionGroup* perspectives = new QActionGroup(ui.menuPerspectives); perspectives->addAction(ui.actionEngineersView); perspectives->addAction(ui.actionMavlinkView); perspectives->addAction(ui.actionFlightView); perspectives->addAction(ui.actionSimulation_View); perspectives->addAction(ui.actionMissionView); perspectives->addAction(ui.actionConfiguration_2); perspectives->addAction(ui.actionFirmwareUpdateView); perspectives->addAction(ui.actionUnconnectedView); perspectives->setExclusive(true); // Mark the right one as selected if (currentView == VIEW_ENGINEER) { ui.actionEngineersView->setChecked(true); ui.actionEngineersView->activate(QAction::Trigger); } if (currentView == VIEW_MAVLINK) { ui.actionMavlinkView->setChecked(true); ui.actionMavlinkView->activate(QAction::Trigger); } if (currentView == VIEW_FLIGHT) { ui.actionFlightView->setChecked(true); ui.actionFlightView->activate(QAction::Trigger); } if (currentView == VIEW_SIMULATION) { ui.actionSimulation_View->setChecked(true); ui.actionSimulation_View->activate(QAction::Trigger); } if (currentView == VIEW_MISSION) { ui.actionMissionView->setChecked(true); ui.actionMissionView->activate(QAction::Trigger); } if (currentView == VIEW_CONFIGURATION) { ui.actionConfiguration_2->setChecked(true); ui.actionConfiguration_2->activate(QAction::Trigger); } if (currentView == VIEW_FIRMWAREUPDATE) { ui.actionFirmwareUpdateView->setChecked(true); ui.actionFirmwareUpdateView->activate(QAction::Trigger); } if (currentView == VIEW_UNCONNECTED) { ui.actionUnconnectedView->setChecked(true); ui.actionUnconnectedView->activate(QAction::Trigger); } // The UAS actions are not enabled without connection to system ui.actionLiftoff->setEnabled(false); ui.actionLand->setEnabled(false); ui.actionEmergency_Kill->setEnabled(false); ui.actionEmergency_Land->setEnabled(false); ui.actionShutdownMAV->setEnabled(false); // Connect actions from ui connect(ui.actionAdd_Link, SIGNAL(triggered()), this, SLOT(addLink())); connect(ui.actionAdvanced_Mode,SIGNAL(triggered()),this,SLOT(setAdvancedMode())); // Connect internal actions connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(UASCreated(UASInterface*))); connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*))); // Unmanned System controls connect(ui.actionLiftoff, SIGNAL(triggered()), UASManager::instance(), SLOT(launchActiveUAS())); connect(ui.actionLand, SIGNAL(triggered()), UASManager::instance(), SLOT(returnActiveUAS())); connect(ui.actionEmergency_Land, SIGNAL(triggered()), UASManager::instance(), SLOT(stopActiveUAS())); connect(ui.actionEmergency_Kill, SIGNAL(triggered()), UASManager::instance(), SLOT(killActiveUAS())); connect(ui.actionShutdownMAV, SIGNAL(triggered()), UASManager::instance(), SLOT(shutdownActiveUAS())); connect(ui.actionConfiguration, SIGNAL(triggered()), UASManager::instance(), SLOT(configureActiveUAS())); // Views actions connect(ui.actionFlightView, SIGNAL(triggered()), this, SLOT(loadPilotView())); connect(ui.actionSimulation_View, SIGNAL(triggered()), this, SLOT(loadSimulationView())); connect(ui.actionEngineersView, SIGNAL(triggered()), this, SLOT(loadEngineerView())); connect(ui.actionMissionView, SIGNAL(triggered()), this, SLOT(loadOperatorView())); connect(ui.actionUnconnectedView, SIGNAL(triggered()), this, SLOT(loadUnconnectedView())); connect(ui.actionConfiguration_2,SIGNAL(triggered()),this,SLOT(loadConfigurationView())); connect(ui.actionFirmwareUpdateView, SIGNAL(triggered()), this, SLOT(loadFirmwareUpdateView())); connect(ui.actionMavlinkView, SIGNAL(triggered()), this, SLOT(loadMAVLinkView())); // 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(ui.actionSimulate, SIGNAL(triggered(bool)), sim, SLOT(connectLink(bool))); } } } void MainWindow::setActiveUAS(UASInterface* uas) { Q_UNUSED(uas); // Enable and rename menu // ui.menuUnmanned_System->setTitle(uas->getUASName()); // if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true); if (settings.contains(getWindowStateKey())) { SubMainWindow *win = qobject_cast(centerStack->currentWidget()); //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion())) win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); } } void MainWindow::UASSpecsChanged(int uas) { UASInterface* activeUAS = UASManager::instance()->getActiveUAS(); if (activeUAS) { if (activeUAS->getUASID() == uas) { // ui.menuUnmanned_System->setTitle(activeUAS->getUASName()); } } else { // Last system deleted // ui.menuUnmanned_System->setTitle(tr("No System")); // ui.menuUnmanned_System->setEnabled(false); } } void MainWindow::UASCreated(UASInterface* uas) { // Check if this is the 2nd system and we need a switch menu if (UASManager::instance()->getUASList().count() > 1) // ui.menuConnected_Systems->setEnabled(true); // 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.actionFlightView->setEnabled(true); ui.actionMissionView->setEnabled(true); ui.actionEngineersView->setEnabled(true); // The UAS actions are not enabled without connection to system ui.actionLiftoff->setEnabled(true); ui.actionLand->setEnabled(true); ui.actionEmergency_Kill->setEnabled(true); ui.actionEmergency_Land->setEnabled(true); ui.actionShutdownMAV->setEnabled(true); QIcon icon; // Set matching icon switch (uas->getSystemType()) { case MAV_TYPE_GENERIC: icon = QIcon(":files/images/mavs/generic.svg"); break; case MAV_TYPE_FIXED_WING: icon = QIcon(":files/images/mavs/fixed-wing.svg"); break; case MAV_TYPE_QUADROTOR: icon = QIcon(":files/images/mavs/quadrotor.svg"); break; case MAV_TYPE_COAXIAL: icon = QIcon(":files/images/mavs/coaxial.svg"); break; case MAV_TYPE_HELICOPTER: icon = QIcon(":files/images/mavs/helicopter.svg"); break; case MAV_TYPE_ANTENNA_TRACKER: icon = QIcon(":files/images/mavs/antenna-tracker.svg"); break; case MAV_TYPE_GCS: icon = QIcon(":files/images/mavs/groundstation.svg"); break; case MAV_TYPE_AIRSHIP: icon = QIcon(":files/images/mavs/airship.svg"); break; case MAV_TYPE_FREE_BALLOON: icon = QIcon(":files/images/mavs/free-balloon.svg"); break; case MAV_TYPE_ROCKET: icon = QIcon(":files/images/mavs/rocket.svg"); break; case MAV_TYPE_GROUND_ROVER: icon = QIcon(":files/images/mavs/ground-rover.svg"); break; case MAV_TYPE_SURFACE_BOAT: icon = QIcon(":files/images/mavs/surface-boat.svg"); break; case MAV_TYPE_SUBMARINE: icon = QIcon(":files/images/mavs/submarine.svg"); break; case MAV_TYPE_HEXAROTOR: icon = QIcon(":files/images/mavs/hexarotor.svg"); break; case MAV_TYPE_OCTOROTOR: icon = QIcon(":files/images/mavs/octorotor.svg"); break; case MAV_TYPE_TRICOPTER: icon = QIcon(":files/images/mavs/tricopter.svg"); break; case MAV_TYPE_FLAPPING_WING: icon = QIcon(":files/images/mavs/flapping-wing.svg"); break; case MAV_TYPE_KITE: icon = QIcon(":files/images/mavs/kite.svg"); break; default: icon = QIcon(":files/images/mavs/unknown.svg"); break; } // XXX The multi-UAS selection menu has been disabled for now, // its redundant with right-clicking the UAS in the list. // this code piece might be removed later if this is the final // conclusion (May 2013) // QAction* uasAction = new QAction(icon, tr("Select %1 for control").arg(uas->getUASName()), ui.menuConnected_Systems); // connect(uasAction, SIGNAL(triggered()), uas, SLOT(setSelected())); // ui.menuConnected_Systems->addAction(uasAction); connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int))); // HIL showHILConfigurationWidget(uas); if (!linechartWidget) { linechartWidget = new Linecharts(this); //linechartWidget->hide(); } linechartWidget->addSource(mavlinkDecoder); if (engineeringView->centralWidget() != linechartWidget) { engineeringView->setCentralWidget(linechartWidget); linechartWidget->show(); } // Load default custom widgets for this autopilot type loadCustomWidgetsFromDefaults(uas->getSystemTypeName(), uas->getAutopilotTypeName()); if (uas->getAutopilotType() == MAV_AUTOPILOT_PIXHAWK) { // Dock widgets if (!detectionDockWidget) { detectionDockWidget = new QDockWidget(tr("Object Recognition"), this); detectionDockWidget->setWidget( new ObjectDetectionView("files/images/patterns", this) ); detectionDockWidget->setObjectName("OBJECT_DETECTION_DOCK_WIDGET"); //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_FIRMWAREUPDATE: loadFirmwareUpdateView(); break; case VIEW_FLIGHT: loadPilotView(); break; case VIEW_SIMULATION: loadSimulationView(); break; case VIEW_UNCONNECTED: loadUnconnectedView(); break; case VIEW_MISSION: default: loadOperatorView(); break; }*/ } else { // loadOperatorView(); } } //} // if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true); // if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true); // Reload view state in case new widgets were added loadViewState(); } void MainWindow::UASDeleted(UASInterface* uas) { Q_UNUSED(uas); if (UASManager::instance()->getUASList().count() == 0) { // Last system deleted // ui.menuUnmanned_System->setTitle(tr("No System")); // ui.menuUnmanned_System->setEnabled(false); } // QAction* act; // QList actions = ui.menuConnected_Systems->actions(); // foreach (act, actions) // { // if (act->text().contains(uas->getUASName())) // ui.menuConnected_Systems->removeAction(act); // } } /** * Stores the current view state */ void MainWindow::storeViewState() { if (!aboutToCloseFlag) { // Save current state SubMainWindow *win = qobject_cast(centerStack->currentWidget()); QList widgets = win->findChildren(); QString widgetnames = ""; for (int i=0;iobjectName() + ","; } widgetnames = widgetnames.mid(0,widgetnames.length()-1); settings.setValue(getWindowStateKey() + "WIDGETS",widgetnames); settings.setValue(getWindowStateKey(), win->saveState(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(engineeringView) == 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_CONFIGURATION: centerStack->setCurrentWidget(configView); break; case VIEW_ENGINEER: centerStack->setCurrentWidget(engineeringView); break; case VIEW_FLIGHT: centerStack->setCurrentWidget(pilotView); break; case VIEW_MAVLINK: centerStack->setCurrentWidget(mavlinkView); break; case VIEW_FIRMWAREUPDATE: centerStack->setCurrentWidget(firmwareUpdateWidget); break; case VIEW_MISSION: centerStack->setCurrentWidget(plannerView); break; case VIEW_SIMULATION: centerStack->setCurrentWidget(simView); break; case VIEW_UNCONNECTED: case VIEW_FULL: default: //centerStack->setCurrentWidget(mapWidget); if (controlDockWidget) { controlDockWidget->hide(); } if (listDockWidget) { listDockWidget->show(); } break; } } // Restore the widget positions and size if (settings.contains(getWindowStateKey() + "WIDGETS")) { QString widgetstr = settings.value(getWindowStateKey() + "WIDGETS").toString(); QStringList split = widgetstr.split(","); foreach (QString widgetname,split) { if (widgetname != "") { qDebug() << "Loading widget:" << widgetname; loadDockWidget(widgetname); } } } if (settings.contains(getWindowStateKey())) { SubMainWindow *win = qobject_cast(centerStack->currentWidget()); //settings.setValue(getWindowStateKey(), win->saveState(QGC::applicationVersion())) win->restoreState(settings.value(getWindowStateKey()).toByteArray(), QGC::applicationVersion()); } } void MainWindow::setAdvancedMode() { if (!isAdvancedMode) { ui.actionAdvanced_Mode->setChecked(true); isAdvancedMode = true; settings.setValue("ADVANCED_MODE",true); for (QMap::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++) { //QWidget *widget = i.value(); QWidget *widget = i.key()->titleBarWidget(); i.key()->setTitleBarWidget(i.value()); dockToTitleBarMap[i.key()] = widget; } } else { ui.actionAdvanced_Mode->setChecked(false); isAdvancedMode = false; settings.setValue("ADVANCED_MODE",false); for (QMap::const_iterator i=dockToTitleBarMap.constBegin();i!=dockToTitleBarMap.constEnd();i++) { //QWidget *widget = i.value(); QWidget *widget = i.key()->titleBarWidget(); i.key()->setTitleBarWidget(i.value()); dockToTitleBarMap[i.key()] = widget; } } } void MainWindow::loadEngineerView() { if (currentView != VIEW_ENGINEER) { storeViewState(); currentView = VIEW_ENGINEER; ui.actionEngineersView->setChecked(true); loadViewState(); } } void MainWindow::loadOperatorView() { if (currentView != VIEW_MISSION) { storeViewState(); currentView = VIEW_MISSION; ui.actionMissionView->setChecked(true); loadViewState(); } } void MainWindow::loadConfigurationView() { if (currentView != VIEW_CONFIGURATION) { storeViewState(); currentView = VIEW_CONFIGURATION; ui.actionConfiguration_2->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_FLIGHT) { storeViewState(); currentView = VIEW_FLIGHT; ui.actionFlightView->setChecked(true); loadViewState(); } } void MainWindow::loadSimulationView() { if (currentView != VIEW_SIMULATION) { storeViewState(); currentView = VIEW_SIMULATION; ui.actionSimulation_View->setChecked(true); loadViewState(); } } void MainWindow::loadMAVLinkView() { if (currentView != VIEW_MAVLINK) { storeViewState(); currentView = VIEW_MAVLINK; ui.actionMavlinkView->setChecked(true); loadViewState(); } } void MainWindow::loadFirmwareUpdateView() { if (currentView != VIEW_FIRMWAREUPDATE) { storeViewState(); currentView = VIEW_FIRMWAREUPDATE; ui.actionFirmwareUpdateView->setChecked(true); loadViewState(); } } //void MainWindow::loadDataView(QString fileName) //{ // // Plot is now selected, now load data from file // if (dataView) // { // //dataView->setCentralWidget(new QGCDataPlot2D(this)); // QGCDataPlot2D *plot = qobject_cast(dataView->centralWidget()); // if (plot) // { // plot->loadFile(fileName); // } // } // /*QStackedWidget *centerStack = dynamic_cast(centralWidget()); // if (centerStack) // { // centerStack->setCurrentWidget(dataView); // dataplotWidget->loadFile(fileName); // }*/ //} QList MainWindow::listLinkMenuActions(void) { return ui.menuNetwork->actions(); } #ifdef MOUSE_ENABLED_LINUX bool MainWindow::x11Event(XEvent *event) { emit x11EventOccured(event); //qDebug("XEvent occured..."); return false; } #endif // MOUSE_ENABLED_LINUX