QGC源码阅读-2

QGCApplication

//QGCApplication.h
#pragma once

#include <QApplication>
#include <QTimer>
#include <QElapsedTimer>
#include <QMap>
#include <QSet>
#include <QMetaMethod>
#include <QMetaObject>

// These private headers are require to implement the signal compress support below
#include <private/qthread_p.h>
#include <private/qobject_p.h>

#include "LinkConfiguration.h"
#include "MAVLinkProtocol.h"
#include "FlightMapSettings.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "JoystickManager.h"
#include "AudioOutput.h"
#include "UASMessageHandler.h"
#include "FactSystem.h"
#include "GPSRTKFactGroup.h"

#ifdef QGC_RTLAB_ENABLED
#include "OpalLink.h"
#endif

// Work around circular header includes
class QQmlApplicationEngine;
class QGCSingleton;
class QGCToolbox;

/**
 * @brief The main application and management class.
 *
 * This class is started by the main method and provides
 * the central management unit of the groundstation application.
 *
 * Needs QApplication base to support QtCharts module. This way
 * we avoid application crashing on 5.12 when using the module.
 *
 * Note: `lastWindowClosed` will be sent by MessageBox popups and other
 * dialogs, that are spawned in QML, when they are closed
**/
class QGCApplication : public QApplication
{
    Q_OBJECT
public:
    QGCApplication(int &argc, char* argv[], bool unitTesting);
    ~QGCApplication();

    /// @brief Sets the persistent flag to delete all settings the next time QGroundControl is started.
    void deleteAllSettingsNextBoot(void);

    /// @brief Clears the persistent flag to delete all settings the next time QGroundControl is started.
    void clearDeleteAllSettingsNextBoot(void);

    /// @brief Returns true if unit tests are being run
    bool runningUnitTests(void) const{ return _runningUnitTests; }

    /// @brief Returns true if Qt debug output should be logged to a file
    bool logOutput(void) const{ return _logOutput; }

    /// Used to report a missing Parameter. Warning will be displayed to user. Method may be called
    /// multiple times.
    void reportMissingParameter(int componentId, const QString& name);

    /// @return true: Fake ui into showing mobile interface
    bool fakeMobile(void) const { return _fakeMobile; }

    // Still working on getting rid of this and using dependency injection instead for everything
    QGCToolbox* toolbox(void) { return _toolbox; }

    /// Do we have Bluetooth Support?
    bool isBluetoothAvailable() const{ return _bluetoothAvailable; }

    /// Is Internet available?
    bool isInternetAvailable();

    FactGroup* gpsRtkFactGroup(void)  { return _gpsRtkFactGroup; }

    QTranslator& qgcJSONTranslator(void) { return _qgcTranslatorJSON; }

    void            setLanguage();
    QQuickWindow*   mainRootWindow();
    uint64_t        msecsSinceBoot(void) { return _msecsElapsedTime.elapsed(); }

    /// Registers the signal such that only the last duplicate signal added is left in the queue.
    void addCompressedSignal(const QMetaMethod & method);

    void removeCompressedSignal(const QMetaMethod & method);

    bool event(QEvent *e) override;

    static QString cachedParameterMetaDataFile(void);
    static QString cachedAirframeMetaDataFile(void);

public slots:
    /// You can connect to this slot to show an information message box from a different thread.
    void informationMessageBoxOnMainThread(const QString& title, const QString& msg);

    /// You can connect to this slot to show a warning message box from a different thread.
    void warningMessageBoxOnMainThread(const QString& title, const QString& msg);

    /// You can connect to this slot to show a critical message box from a different thread.
    void criticalMessageBoxOnMainThread(const QString& title, const QString& msg);

    void showSetupView();

    void qmlAttemptWindowClose();

    /// Save the specified telemetry Log
    void saveTelemetryLogOnMainThread(QString tempLogfile);

    /// Check that the telemetry save path is set correctly
    void checkTelemetrySavePathOnMainThread();

    /// Get current language
    const QLocale getCurrentLanguage() { return _locale; }

    /// Show non-modal vehicle message to the user
    void showCriticalVehicleMessage(const QString& message);

    /// Show modal application message to the user
    void showAppMessage(const QString& message, const QString& title = QString());

    /// Show command application message to the user
    void showCommandDialog(const QString& message, int timeout);

    /// Show modal application message to the user about the need for a reboot. Multiple messages will be supressed if they occur
    /// one after the other.
    void showRebootAppMessage(const QString& message, const QString& title = QString());

signals:
    /// This is connected to MAVLinkProtocol::checkForLostLogFiles. We signal this to ourselves to call the slot
    /// on the MAVLinkProtocol thread;
    void checkForLostLogFiles   ();

    void languageChanged        (const QLocale locale);

public:
    // Although public, these methods are internal and should only be called by UnitTest code

    /// @brief Perform initialize which is common to both normal application running and unit tests.
    ///         Although public should only be called by main.
    void _initCommon();

    /// @brief Initialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForNormalAppBoot();

    /// @brief Initialize the application for normal application boot. Or in other words we are not going to run
    ///         unit tests. Although public should only be called by main.
    bool _initForUnitTests();

    static QGCApplication*  _app;   ///< Our own singleton. Should be reference directly by qgcApp

    bool    isErrorState() const { return _error; }

    QQmlApplicationEngine* qmlAppEngine() { return _qmlAppEngine; }

public:
    // Although public, these methods are internal and should only be called by UnitTest code

    /// Shutdown the application object
    void _shutdown();

    bool _checkTelemetrySavePath(bool useMessageBox);

private slots:
    void _missingParamsDisplay                      (void);
    void _qgcCurrentStableVersionDownloadComplete   (QString remoteFile, QString localFile, QString errorMsg);
    bool _parseVersionText                          (const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion);
    void _onGPSConnect                              (void);
    void _onGPSDisconnect                           (void);
    void _gpsSurveyInStatus                         (float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
    void _gpsNumSatellites                          (int numSatellites);
    void _showDelayedAppMessages                    (void);

private:
    QObject*    _rootQmlObject          ();
    void        _checkForNewVersion     ();
    void        _exitWithError          (QString errorMessage);

    // Overrides from QApplication
    bool compressEvent(QEvent *event, QObject *receiver, QPostEventList *postedEvents) override;

    bool                        _runningUnitTests;                                  ///< true: running unit tests, false: normal app
    static const int            _missingParamsDelayedDisplayTimerTimeout = 1000;    ///< Timeout to wait for next missing fact to come in before display
    QTimer                      _missingParamsDelayedDisplayTimer;                  ///< Timer use to delay missing fact display
    QList<QPair<int,QString>>   _missingParams;                                     ///< List of missing parameter component id:name

    QQmlApplicationEngine* _qmlAppEngine        = nullptr;
    bool                _logOutput              = false;    ///< true: Log Qt debug output to file
    bool				_fakeMobile             = false;    ///< true: Fake ui into displaying mobile interface
    bool                _settingsUpgraded       = false;    ///< true: Settings format has been upgrade to new version
    int                 _majorVersion           = 0;
    int                 _minorVersion           = 0;
    int                 _buildVersion           = 0;
    GPSRTKFactGroup*    _gpsRtkFactGroup        = nullptr;
    QGCToolbox*         _toolbox                = nullptr;
    QQuickWindow*       _mainRootWindow         = nullptr;
    bool                _bluetoothAvailable     = false;
    QTranslator         _qgcTranslatorSourceCode;           ///< translations for source code C++/Qml
    QTranslator         _qgcTranslatorJSON;                 ///< translations for json files
    QTranslator         _qgcTranslatorQtLibs;               ///< tranlsations for Qt libraries
    QLocale             _locale;
    bool                _error                  = false;
    QElapsedTimer       _msecsElapsedTime;

    QList<QPair<QString /* title */, QString /* message */>> _delayedAppMessages;

    class CompressedSignalList {
        Q_DISABLE_COPY(CompressedSignalList)

    public:
        CompressedSignalList() {}

        void add        (const QMetaMethod & method);
        void remove     (const QMetaMethod & method);
        bool contains   (const QMetaObject * metaObject, int signalIndex);

    private:
        static int _signalIndex(const QMetaMethod & method);

        QMap<const QMetaObject*, QSet<int> > _signalMap;
    };

    CompressedSignalList _compressedSignals;

    static const char* _settingsVersionKey;             ///< Settings key which hold settings version
    static const char* _deleteAllSettingsKey;           ///< If this settings key is set on boot, all settings will be deleted

    /// Unit Test have access to creating and destroying singletons
    friend class UnitTest;
};

/// @brief Returns the QGCApplication object singleton.
QGCApplication* qgcApp(void);


//QGCApplication.cc
/**
 * @file
 *   @brief Implementation of class QGCApplication
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QFile>
#include <QRegularExpression>
#include <QFontDatabase>
#include <QQuickWindow>
#include <QQuickImageProvider>
#include <QQuickStyle>

#ifdef QGC_ENABLE_BLUETOOTH
#include <QBluetoothLocalDevice>
#endif

#include <QDebug>

#if defined(QGC_GST_STREAMING)
#include "GStreamer.h"
#endif

#include "QGC.h"
#include "QGCApplication.h"
#include "CmdLineOptParser.h"
#include "UDPLink.h"
#include "LinkManager.h"
#include "UASMessageHandler.h"
#include "QGCTemporaryFile.h"
#include "QGCPalette.h"
#include "QGCMapPalette.h"
#include "QGCLoggingCategory.h"
#include "ParameterEditorController.h"
#include "ESP8266ComponentController.h"
#include "ScreenToolsController.h"
#include "QGCFileDialogController.h"
#include "RCChannelMonitorController.h"
#include "SyslinkComponentController.h"
#include "AutoPilotPlugin.h"
#include "VehicleComponent.h"
#include "FirmwarePluginManager.h"
#include "MultiVehicleManager.h"
#include "Vehicle.h"
#include "JoystickConfigController.h"
#include "JoystickManager.h"
#include "QmlObjectListModel.h"
#include "QGCGeoBoundingCube.h"
#include "MissionManager.h"
#include "QGroundControlQmlGlobal.h"
#include "FlightMapSettings.h"
#include "FlightPathSegment.h"
#include "PlanMasterController.h"
#include "VideoManager.h"
#include "VideoReceiver.h"
#include "LogDownloadController.h"
#if !defined(QGC_DISABLE_MAVLINK_INSPECTOR)
#include "MAVLinkInspectorController.h"
#endif
#include "HorizontalFactValueGrid.h"
#include "InstrumentValueData.h"
#include "AppMessages.h"
#include "SimulatedPosition.h"
#include "PositionManager.h"
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "QGCMapPolygon.h"
#include "QGCMapCircle.h"
#include "ParameterManager.h"
#include "SettingsManager.h"
#include "QGCCorePlugin.h"
#include "QGCCameraManager.h"
#include "CameraCalc.h"
#include "VisualMissionItem.h"
#include "EditPositionDialogController.h"
#include "FactValueSliderListModel.h"
#include "ShapeFileHelper.h"
#include "QGCFileDownload.h"
#include "FirmwareImage.h"
#include "MavlinkConsoleController.h"
#include "GeoTagController.h"
#include "LogReplayLink.h"
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#include "RCToParamDialogController.h"
#include "QGCImageProvider.h"
#include "TerrainProfile.h"
#include "ToolStripAction.h"
#include "ToolStripActionList.h"
#include "QGCMAVLink.h"
#include "VehicleLinkManager.h"
#include "Autotune.h"

#include "CsvDataModel.h"   /// 新增表格处理

#if defined(QGC_ENABLE_PAIRING)
#include "PairingManager.h"
#endif

#ifndef __mobile__
#include "FirmwareUpgradeController.h"
#endif

#ifndef NO_SERIAL_LINK
#include "SerialLink.h"
#endif

#ifndef __mobile__
#include "GPS/GPSManager.h"
#endif

#ifdef QGC_RTLAB_ENABLED
#include "OpalLink.h"
#endif

#ifdef Q_OS_LINUX
#ifndef __mobile__
#include <unistd.h>
#include <sys/types.h>
#endif
#endif

#include "QGCMapEngine.h"

class FinishVideoInitialization : public QRunnable
{
public:
  FinishVideoInitialization(VideoManager* manager)
      : _manager(manager)
  {}

  void run () {
      _manager->_initVideo();
  }

private:
  VideoManager* _manager;
};


QGCApplication* QGCApplication::_app = nullptr;

const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";

// Mavlink status structures for entire app
mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];

// Qml Singleton factories

static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
{
    ScreenToolsController* screenToolsController = new ScreenToolsController;
    return screenToolsController;
}

static QObject* mavlinkSingletonFactory(QQmlEngine*, QJSEngine*)
{
    return new QGCMAVLink();
}

static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
{
    // We create this object as a QGCTool even though it isn't in the toolbox
    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
    qmlGlobal->setToolbox(qgcApp()->toolbox());

    return qmlGlobal;
}

static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
{
    return new ShapeFileHelper;
}

QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
    : QApplication          (argc, argv)
    , _runningUnitTests     (unitTesting)
{
    _app = this;
    _msecsElapsedTime.start();

#ifdef Q_OS_LINUX
#ifndef __mobile__
    if (!_runningUnitTests) {
        if (getuid() == 0) {
            _exitWithError(QString(
                tr("You are running %1 as root. "
                    "You should not do this since it will cause other issues with %1."
                    "%1 will now exit.<br/><br/>"
                    "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:<br/>"
                    "<pre>sudo usermod -a -G dialout $USER<br/>"
                    "sudo apt-get remove modemmanager</pre>").arg(qgcApp()->applicationName())));
            return;
        }
        // Determine if we have the correct permissions to access USB serial devices
        QFile permFile("/etc/group");
        if(permFile.open(QIODevice::ReadOnly)) {
            while(!permFile.atEnd()) {
                QString line = permFile.readLine();
                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
                    permFile.close();
                    _exitWithError(QString(
                        tr("The current user does not have the correct permissions to access serial devices. "
                           "You should also remove modemmanager since it also interferes.<br/><br/>"
                           "If you are using Ubuntu, execute the following commands to fix these issues:<br/>"
                           "<pre>sudo usermod -a -G dialout $USER<br/>"
                           "sudo apt-get remove modemmanager</pre>")));
                    return;
                }
            }
            permFile.close();
        }

        // Always set style to default, this way QT_QUICK_CONTROLS_STYLE environment variable doesn't cause random changes in ui
        QQuickStyle::setStyle("Default");
    }
#endif
#endif

    // Setup for network proxy support
    QNetworkProxyFactory::setUseSystemConfiguration(true);

    // Parse command line options

    bool fClearSettingsOptions = false; // Clear stored settings
    bool fClearCache = false;           // Clear parameter/airframe caches
    bool logging = false;               // Turn on logging
    QString loggingOptions;

    CmdLineOpt_t rgCmdLineOptions[] = {
        { "--clear-settings",   &fClearSettingsOptions, nullptr },
        { "--clear-cache",      &fClearCache,           nullptr },
        { "--logging",          &logging,               &loggingOptions },
        { "--fake-mobile",      &_fakeMobile,           nullptr },
        { "--log-output",       &_logOutput,            nullptr },
        // Add additional command line option flags here
    };

    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);

    // Set up timer for delayed missing fact display
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);

    // Set application information
    QString applicationName;
    if (_runningUnitTests) {
        // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
        // name. Also we want to run unit tests with clean settings every time.
        applicationName = QStringLiteral("%1_unittest").arg(QGC_APPLICATION_NAME);
    } else {
#ifdef DAILY_BUILD
        // This gives daily builds their own separate settings space. Allowing you to use daily and stable builds
        // side by side without daily screwing up your stable settings.
        applicationName = QStringLiteral("%1 Daily").arg(QGC_APPLICATION_NAME);
#else
        applicationName = QGC_APPLICATION_NAME;
#endif
    }
    setApplicationName(applicationName);
    setOrganizationName(QGC_ORG_NAME);
    setOrganizationDomain(QGC_ORG_DOMAIN);

    this->setApplicationVersion(QString(APP_VERSION_STR));

    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
    QSettings settings;
    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();

#ifdef UNITTEST_BUILD
    if (!settings.isWritable()) {
        qWarning() << "Setings location is not writable";
    }
#endif
    // The setting will delete all settings on this boot
    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);

    if (_runningUnitTests) {
        // Unit tests run with clean settings
        fClearSettingsOptions = true;
    }

    if (fClearSettingsOptions) {
        // User requested settings to be cleared on command line
        settings.clear();

        // Clear parameter cache
        QDir paramDir(ParameterManager::parameterCacheDir());
        paramDir.removeRecursively();
        paramDir.mkpath(paramDir.absolutePath());
    } else {
        // Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
        // that will write some settings.
        if (settings.contains(_settingsVersionKey)) {
            if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
                settings.clear();
                _settingsUpgraded = true;
            }
        }
    }
    settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);

    if (fClearCache) {
        QDir dir(ParameterManager::parameterCacheDir());
        dir.removeRecursively();
        QFile airframe(cachedAirframeMetaDataFile());
        airframe.remove();
        QFile parameter(cachedParameterMetaDataFile());
        parameter.remove();
    }

    // Set up our logging filters
    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);

    // Initialize Bluetooth
#ifdef QGC_ENABLE_BLUETOOTH
    QBluetoothLocalDevice localDevice;
    if (localDevice.isValid())
    {
        _bluetoothAvailable = true;
    }
#endif

    // Gstreamer debug settings
    int gstDebugLevel = 0;
    if (settings.contains(AppSettings::gstDebugLevelName)) {
        gstDebugLevel = settings.value(AppSettings::gstDebugLevelName).toInt();
    }

#if defined(QGC_GST_STREAMING)
    // Initialize Video Receiver
    GStreamer::initialize(argc, argv, gstDebugLevel);
#else
    Q_UNUSED(gstDebugLevel)
#endif

    // We need to set language as early as possible prior to loading on JSON files.
    setLanguage();

    _toolbox = new QGCToolbox(this);
    _toolbox->setChildToolboxes();

#ifndef __mobile__
    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
   GPSManager *gpsManager = _toolbox->gpsManager();
   if (gpsManager) {
       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
   }
#endif /* __mobile__ */

    _checkForNewVersion();
}

void QGCApplication::_exitWithError(QString errorMessage)
{
    _error = true;
    QQmlApplicationEngine* pEngine = new QQmlApplicationEngine(this);
    pEngine->addImportPath("qrc:/qml");
    pEngine->rootContext()->setContextProperty("errorMessage", errorMessage);
    pEngine->load(QUrl(QStringLiteral("qrc:/qml/ExitWithErrorWindow.qml")));
    // Exit main application when last window is closed
    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
}

void QGCApplication::setLanguage()
{
    _locale = QLocale::system();
    qDebug() << "System reported locale:" << _locale << "; Name" << _locale.name() << "; Preffered (used in maps): " << (QLocale::system().uiLanguages().length() > 0 ? QLocale::system().uiLanguages()[0] : "None");

    QLocale::Language possibleLocale = AppSettings::_qLocaleLanguageID();
    if (possibleLocale != QLocale::AnyLanguage) {
        _locale = QLocale(possibleLocale);
    }
    //-- We have specific fonts for Korean
    if(_locale == QLocale::Korean) {
        qCDebug(LocalizationLog) << "Loading Korean fonts" <<