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377 lines
13 KiB
377 lines
13 KiB
/*===================================================================== |
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QGroundControl Open Source Ground Control Station |
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(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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This file is part of the QGROUNDCONTROL project |
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QGROUNDCONTROL is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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QGROUNDCONTROL is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>. |
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======================================================================*/ |
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/** |
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* @file |
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* @brief Definition of class MainWindow |
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* @author Lorenz Meier <mavteam@student.ethz.ch> |
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* |
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*/ |
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#ifndef _MAINWINDOW_H_ |
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#define _MAINWINDOW_H_ |
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#include <QMainWindow> |
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#include <QStatusBar> |
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#include <QStackedWidget> |
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#include <QSettings> |
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#include <qlist.h> |
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#include "ui_MainWindow.h" |
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#include "LinkManager.h" |
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#include "LinkInterface.h" |
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#include "UASInterface.h" |
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#include "UASManager.h" |
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#include "UASControlWidget.h" |
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#include "UASInfoWidget.h" |
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#include "WaypointList.h" |
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#include "CameraView.h" |
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#include "UASListWidget.h" |
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#include "MAVLinkSimulationLink.h" |
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#include "input/JoystickInput.h" |
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#if (defined QGC_MOUSE_ENABLED_WIN) | (defined QGC_MOUSE_ENABLED_LINUX) |
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#include "Mouse6dofInput.h" |
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#endif // QGC_MOUSE_ENABLED_WIN |
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#include "DebugConsole.h" |
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#include "ParameterInterface.h" |
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#include "HDDisplay.h" |
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#include "HSIDisplay.h" |
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#include "opmapcontrol.h" |
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#include "MainToolBar.h" |
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#include "LogCompressor.h" |
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#include "QGCMAVLinkInspector.h" |
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#include "QGCMAVLinkLogPlayer.h" |
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#include "MAVLinkDecoder.h" |
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#include "QGCUASFileViewMulti.h" |
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#include "QGCFlightGearLink.h" |
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#include "QGCToolWidget.h" |
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class QGCMapTool; |
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class QGCMAVLinkMessageSender; |
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class QGCFirmwareUpdate; |
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class QSplashScreen; |
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class QGCStatusBar; |
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class Linecharts; |
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class QGCDataPlot2D; |
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class QGCUASFileViewMulti; |
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/** |
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* @brief Main Application Window |
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* |
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**/ |
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class MainWindow : public QMainWindow |
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{ |
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friend class MainToolBar; |
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Q_OBJECT |
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public: |
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/// @brief Returns the MainWindow singleton. Will not create the MainWindow if it has not already |
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/// been created. |
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static MainWindow* instance(void); |
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/// @brief Deletes the MainWindow singleton |
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void deleteInstance(void); |
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/// @brief Creates the MainWindow singleton. Should only be called once by QGCApplication. |
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static MainWindow* _create(QSplashScreen* splashScreen); |
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/// @brief Called to indicate that splash screen is no longer being displayed. |
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void splashScreenFinished(void) { _splashScreen = NULL; } |
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~MainWindow(); |
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/** @brief Get auto link reconnect setting */ |
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bool autoReconnectEnabled() const |
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{ |
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return _autoReconnect; |
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} |
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/** @brief Get low power mode setting */ |
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bool lowPowerModeEnabled() const |
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{ |
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return _lowPowerMode; |
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} |
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void hideSplashScreen(void); |
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/// @brief Saves the last used connection |
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void saveLastUsedConnection(const QString connection); |
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/// @brief Restore (and connects) the last used connection (if any) |
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void restoreLastUsedConnection(); |
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/// @brief Gets a pointer to the Main Tool Bar |
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MainToolBar* getMainToolBar(void) { return _mainToolBar; } |
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QWidget* getCurrentViewWidget(void) { return _currentViewWidget; } |
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public slots: |
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/** @brief Show the application settings */ |
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void showSettings(); |
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/** @brief Simulate a link */ |
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void simulateLink(bool simulate); |
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/** @brief Set the currently controlled UAS */ |
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void setActiveUAS(UASInterface* uas); |
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/** @brief Add a new UAS */ |
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void UASCreated(UASInterface* uas); |
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/** Delete an UAS */ |
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void UASDeleted(UASInterface* uas); |
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/** @brief Update system specs of a UAS */ |
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void UASSpecsChanged(int uas); |
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void handleMisconfiguration(UASInterface* uas); |
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/** @brief Load configuration views */ |
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void loadSetupView(); |
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/** @brief Load view for pilot */ |
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void loadFlightView(); |
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/** @brief Load view for simulation */ |
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void loadSimulationView(); |
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/** @brief Load view for engineer */ |
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void loadAnalyzeView(); |
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/** @brief Load New (QtQuick) Map View (Mission) */ |
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void loadPlanView(); |
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/** @brief Load Old (Qt Widget) Map View (Mission) */ |
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void loadOldPlanView(); |
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/** @brief Load Terminal Console views */ |
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void loadTerminalView(); |
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/** @brief Load local 3D view */ |
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void loadLocal3DView(); |
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/** @brief Manage Links */ |
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void manageLinks(); |
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/** @brief Show the online help for users */ |
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void showHelp(); |
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/** @brief Show the authors / credits */ |
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void showCredits(); |
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/** @brief Show the project roadmap */ |
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void showRoadMap(); |
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/** @brief Automatically reconnect last link */ |
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void enableAutoReconnect(bool enabled); |
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/** @brief Save power by reducing update rates */ |
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void enableLowPowerMode(bool enabled) { _lowPowerMode = enabled; } |
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void closeEvent(QCloseEvent* event); |
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/** @brief Update the window name */ |
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void configureWindowName(); |
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void commsWidgetDestroyed(QObject *obj); |
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protected slots: |
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/** |
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* @brief Unchecks the normalActionItem. |
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* Used as a triggered() callback by the fullScreenAction to make sure only one of it or the |
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* normalAction are checked at a time, as they're mutually exclusive. |
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*/ |
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void fullScreenActionItemCallback(bool); |
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/** |
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* @brief Unchecks the fullScreenActionItem. |
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* Used as a triggered() callback by the normalAction to make sure only one of it or the |
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* fullScreenAction are checked at a time, as they're mutually exclusive. |
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*/ |
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void normalActionItemCallback(bool); |
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/** |
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* @brief Enable/Disable Status Bar |
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*/ |
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void showStatusBarCallback(bool checked); |
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signals: |
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void initStatusChanged(const QString& message, int alignment, const QColor &color); |
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/** Emitted when any value changes from any source */ |
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void valueChanged(const int uasId, const QString& name, const QString& unit, const QVariant& value, const quint64 msec); |
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/** Emitted when any the Canvas elements within QML wudgets need updating */ |
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void repaintCanvas(); |
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#ifdef QGC_MOUSE_ENABLED_LINUX |
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/** @brief Forward X11Event to catch 3DMouse inputs */ |
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void x11EventOccured(XEvent *event); |
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#endif //QGC_MOUSE_ENABLED_LINUX |
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public: |
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QGCMAVLinkLogPlayer* getLogPlayer() |
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{ |
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return logPlayer; |
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} |
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protected: |
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typedef enum _VIEW_SECTIONS |
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{ |
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VIEW_ANALYZE, // Engineering/Analyze view mode. Used for analyzing data and modifying onboard parameters |
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VIEW_PLAN, // New (QtQuick) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands. |
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VIEW_FLIGHT, // Flight/Fly/Operate view mode. Used for 1st-person observation of the vehicle. |
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VIEW_SIMULATION, // HIL Simulation view. Useful overview of the entire system when doing hardware-in-the-loop simulations. |
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VIEW_SETUP, // Setup view. Used for initializing the system for operation. Includes UI for calibration, firmware updating/checking, and parameter modifcation. |
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VIEW_TERMINAL, // Terminal interface. Used for communicating with the remote system, usually in a special configuration input mode. |
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VIEW_LOCAL3D, // A local 3D view. Provides a local 3D view that makes visualizing 3D attitude/orientation/pose easy while in operation. |
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VIEW_EXPERIMENTAL_PLAN, // Original (Qt Widget) Mission/Map/Plan view mode. Used for setting mission waypoints and high-level system commands. |
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} VIEW_SECTIONS; |
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/** @brief Catch window resize events */ |
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void resizeEvent(QResizeEvent * event); |
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void connectCommonActions(); |
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void loadSettings(); |
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void storeSettings(); |
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QSettings settings; |
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// Center widgets |
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QPointer<Linecharts> linechartWidget; |
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#ifdef QGC_OSG_ENABLED |
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QPointer<QWidget> q3DWidget; |
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#endif |
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QPointer<QGCFirmwareUpdate> firmwareUpdateWidget; |
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QPointer<MainToolBar> _mainToolBar; |
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QPointer<QDockWidget> mavlinkInspectorWidget; |
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QPointer<MAVLinkDecoder> mavlinkDecoder; |
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QPointer<QDockWidget> mavlinkSenderWidget; |
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QGCMAVLinkLogPlayer* logPlayer; |
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QPointer<QGCUASFileViewMulti> fileWidget; |
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JoystickInput* joystick; ///< The joystick manager for QGC |
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#ifdef QGC_MOUSE_ENABLED_WIN |
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/** @brief 3d Mouse support (WIN only) */ |
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Mouse3DInput* mouseInput; ///< 3dConnexion 3dMouse SDK |
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Mouse6dofInput* mouse; ///< Implementation for 3dMouse input |
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#endif // QGC_MOUSE_ENABLED_WIN |
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#ifdef QGC_MOUSE_ENABLED_LINUX |
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/** @brief Reimplementation of X11Event to handle 3dMouse Events (magellan) */ |
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bool x11Event(XEvent *event); |
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Mouse6dofInput* mouse; ///< Implementation for 3dMouse input |
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#endif // QGC_MOUSE_ENABLED_LINUX |
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/** User interface actions **/ |
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QAction* connectUASAct; |
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QAction* disconnectUASAct; |
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QAction* startUASAct; |
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QAction* returnUASAct; |
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QAction* stopUASAct; |
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QAction* killUASAct; |
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QAction* simulateUASAct; |
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LogCompressor* comp; |
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QTimer* videoTimer; |
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QGCFlightGearLink* fgLink; |
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QTimer windowNameUpdateTimer; |
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private slots: |
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void _showDockWidgetAction(bool show); |
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void _loadCustomWidgetFromFile(void); |
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void _createNewCustomWidget(void); |
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void _linkStateChange(LinkInterface*); |
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#ifdef UNITTEST_BUILD |
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void _showQmlTestWidget(void); |
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#endif |
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private: |
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/// Constructor is private since all creation should be through MainWindow::_create |
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MainWindow(QSplashScreen* splashScreen); |
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void _openUrl(const QString& url, const QString& errorMessage); |
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// Center widgets |
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QPointer<QWidget> _planView; |
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QPointer<QWidget> _experimentalPlanView; |
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QPointer<QWidget> _flightView; |
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QPointer<QWidget> _setupView; |
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QPointer<QWidget> _analyzeView; |
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QPointer<QWidget> _simView; |
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QPointer<QWidget> _terminalView; |
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QPointer<QWidget> _local3DView; |
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// Dock widget names |
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static const char* _uasControlDockWidgetName; |
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static const char* _uasListDockWidgetName; |
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static const char* _waypointsDockWidgetName; |
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static const char* _mavlinkDockWidgetName; |
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static const char* _parametersDockWidgetName; |
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static const char* _filesDockWidgetName; |
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static const char* _uasStatusDetailsDockWidgetName; |
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static const char* _mapViewDockWidgetName; |
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static const char* _hsiDockWidgetName; |
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static const char* _hdd1DockWidgetName; |
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static const char* _hdd2DockWidgetName; |
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static const char* _pfdDockWidgetName; |
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static const char* _hudDockWidgetName; |
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static const char* _uasInfoViewDockWidgetName; |
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static const char* _debugConsoleDockWidgetName; |
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QMap<QString, QDockWidget*> _mapName2DockWidget; |
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QMap<int, QDockWidget*> _mapUasId2HilDockWidget; |
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QMap<QDockWidget*, QAction*> _mapDockWidget2Action; |
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void _buildPlanView(void); |
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void _buildExperimentalPlanView(void); |
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void _buildFlightView(void); |
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void _buildSetupView(void); |
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void _buildAnalyzeView(void); |
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void _buildSimView(void); |
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void _buildTerminalView(void); |
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void _buildLocal3DView(void); |
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void _storeCurrentViewState(void); |
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void _loadCurrentViewState(void); |
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void _createDockWidget(const QString& title, const QString& name, Qt::DockWidgetArea area, QWidget* innerWidget); |
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void _createInnerDockWidget(const QString& widgetName); |
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void _buildCustomWidgets(void); |
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void _buildCommonWidgets(void); |
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void _hideAllHilDockWidgets(void); |
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void _hideAllDockWidgets(void); |
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void _showDockWidget(const QString &name, bool show); |
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void _showHILConfigurationWidgets(void); |
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bool _autoReconnect; |
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bool _lowPowerMode; ///< If enabled, QGC reduces the update rates of all widgets |
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bool _showStatusBar; |
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QActionGroup* _centerStackActionGroup; |
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MAVLinkSimulationLink* _simulationLink; |
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QList<QGCToolWidget*> _customWidgets; |
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QVBoxLayout* _centralLayout; |
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QList<QObject*> _commsWidgetList; |
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QWidget* _currentViewWidget; ///< Currently displayed view widget |
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QSplashScreen* _splashScreen; ///< Splash screen, NULL is splash screen not currently being shown |
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VIEW_SECTIONS _currentView; ///< Currently displayed view |
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Ui::MainWindow _ui; |
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QString _screenFileName; |
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QString _getWindowStateKey(); |
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QString _getWindowGeometryKey(); |
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}; |
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#endif /* _MAINWINDOW_H_ */
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