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main.cpp
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main.cpp
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/*
Copyright 2016 - 2023 Benjamin Vedder benjamin@vedder.se
This file is part of VESC Tool.
VESC Tool 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.
VESC Tool 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 this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "mainwindow.h"
#include "boardsetupwindow.h"
#include "mobile/qmlui.h"
#include "mobile/fwhelper.h"
#include "mobile/vesc3ditem.h"
#include "mobile/logwriter.h"
#include "mobile/logreader.h"
#include "tcpserversimple.h"
#include "pages/pagemotorcomparison.h"
#include "codeloader.h"
#include "configparam.h"
#include "utility.h"
#include <QApplication>
#include <QStyleFactory>
#include <QSettings>
#include <QDesktopWidget>
#include <QFontDatabase>
#include <QPixmapCache>
#include "tcphub.h"
#ifndef HAS_BLUETOOTH
#include "bleuartdummy.h"
#endif
#ifdef Q_OS_IOS
#include "ios/src/setIosParameters.h"
#endif
#ifdef Q_OS_LINUX
#include <signal.h>
#endif
#ifndef USE_MOBILE
#include <QProxyStyle>
#include <QtConcurrent/QtConcurrent>
// Disables focus drawing for all widgets
class Style_tweaks : public QProxyStyle
{
public:
using QProxyStyle::QProxyStyle;
void drawPrimitive(PrimitiveElement element, const QStyleOption *option,
QPainter *painter, const QWidget *widget) const
{
if (element == QStyle::PE_FrameFocusRect) return;
QProxyStyle::drawPrimitive(element, option, painter, widget);
}
};
static void showHelp()
{
qDebug() << "Arguments";
qDebug() << "-h, --help : Show help text";
qDebug() << "--tcpServer [port] : Connect to VESC and start TCP server on [port]";
qDebug() << "--loadQml [file] : Load QML UI from file instead of the regular VESC Tool UI";
qDebug() << "--loadQmlVesc : Load QML UI from the connected VESC instead of the regular VESC Tool UI";
qDebug() << "--qmlAutoConn : Connect over USB before loading the QML UI";
qDebug() << "--qmlFullscreen : Run QML UI in fullscreen mode";
qDebug() << "--qmlOtherScreen : Run QML UI on other screen";
qDebug() << "--qmlRotation [deg] : Rotate screen by deg degrees";
qDebug() << "--qmlWindowSize [width:height] : Specify qml window size";
qDebug() << "--retryConn : Keep trying to reconnect to the VESC when the connection fails";
qDebug() << "--useMobileUi : Start the mobile UI instead of the full desktop UI";
qDebug() << "--tcpHub [port] : Start a TCP hub for remote access to connected VESCs";
qDebug() << "--buildPkg [pkgPath:lispPath:qmlPath:isFullscreen:optMd:optName] : Build VESC Package";
qDebug() << "--useBoardSetupWindow : Start board setup window instead of the main UI";
qDebug() << "--xmlConfToCode [xml-file] : Generate C code from XML configuration file (the files are saved in the same directory as the XML)";
qDebug() << "--vescPort [port] : VESC Port for commands that connect, e.g. /dev/ttyACM0. If this command is left out autoconnect will be used.";
qDebug() << "--canFwd [canId] : Can ID for CAN forwarding";
qDebug() << "--getMcConf [confPath] : Connect and read motor configuration and store the XML to confPath.";
qDebug() << "--setMcConf [confPath] : Connect and write motor configuration XML from confPath.";
qDebug() << "--debugOutFile [path] : Print debug output to file with path.";
}
#ifdef Q_OS_LINUX
static void m_cleanup(int sig)
{
(void)sig;
qApp->quit();
}
#endif
#endif
QFile m_debug_msg_file;
void myMessageOutput(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
(void)type;
(void)context;
if (m_debug_msg_file.isOpen()) {
m_debug_msg_file.write(msg.toUtf8());
m_debug_msg_file.write("\n");
m_debug_msg_file.flush();
}
}
static void addFonts() {
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans-Bold.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans-BoldOblique.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSans-Oblique.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSansMono.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSansMono-Bold.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSansMono-BoldOblique.ttf");
QFontDatabase::addApplicationFont("://res/fonts/DejaVuSansMono-Oblique.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Roboto/Roboto-Regular.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Roboto/Roboto-Medium.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Roboto/Roboto-Bolf.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Roboto/Roboto-BoldItalic.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Roboto/Roboto-Italic.ttf");
QFontDatabase::addApplicationFont(":/res/fonts/Roboto/RobotoMono-VariableFont_wght.ttf");
QFontDatabase::addApplicationFont("://res/fonts/Exan-Regular.ttf");
qApp->setFont(QFont("Roboto", 12));
}
int main(int argc, char *argv[])
{
// Settings
QCoreApplication::setOrganizationName("VESC");
QCoreApplication::setOrganizationDomain("vesc-project.com");
QCoreApplication::setApplicationName("VESC Tool");
QSettings set;
bool isDark = set.value("darkMode", true).toBool();
Utility::setDarkMode(isDark);
QPixmapCache::setCacheLimit(256000);
if (isDark) {
qputenv("QT_QUICK_CONTROLS_CONF", ":/qtquickcontrols2_dark.conf");
Utility::setAppQColor("lightestBackground", QColor(80,80,80));
Utility::setAppQColor("lightBackground", QColor(72,72,72));
Utility::setAppQColor("normalBackground", QColor(48,48,48));
Utility::setAppQColor("darkBackground", QColor(39,39,39));
Utility::setAppQColor("plotBackground", QColor(39,39,39));
Utility::setAppQColor("normalText", QColor(180,180,180));
Utility::setAppQColor("lightText", QColor(215,215,215));
Utility::setAppQColor("disabledText", QColor(127,127,127));
Utility::setAppQColor("lightAccent", QColor(0,161,221));
Utility::setAppQColor("tertiary1",QColor(229, 207, 51));
Utility::setAppQColor("tertiary2",QColor(51, 180, 229));
Utility::setAppQColor("tertiary3",QColor(136, 51, 229));
Utility::setAppQColor("midAccent", QColor(0,98,153));
Utility::setAppQColor("darkAccent", QColor(0,69,112));
Utility::setAppQColor("pink", QColor(219,98,139));
Utility::setAppQColor("red", QColor(200,52,52));
Utility::setAppQColor("orange", QColor(206,125,44));
Utility::setAppQColor("yellow", QColor(210,210,127));
Utility::setAppQColor("green", QColor(127,200,127));
Utility::setAppQColor("cyan",QColor(79,203,203));
Utility::setAppQColor("blue", QColor(77,127,196));
Utility::setAppQColor("magenta", QColor(157,127,210));
Utility::setAppQColor("white", QColor(255,255,255));
Utility::setAppQColor("black", QColor(0,0,0));
} else {
qputenv("QT_QUICK_CONTROLS_CONF", ":/qtquickcontrols2.conf");
Utility::setAppQColor("lightestBackground", QColor(200,200,200));
Utility::setAppQColor("lightBackground", QColor(225,225,225));
Utility::setAppQColor("normalBackground", QColor(240,240,240));
Utility::setAppQColor("darkBackground", QColor(255,255,255));
Utility::setAppQColor("plotBackground", QColor(250,250,250));
Utility::setAppQColor("normalText", QColor(60,20,60));
Utility::setAppQColor("lightText", QColor(33,33,33));
Utility::setAppQColor("disabledText", QColor(110,110,110));
Utility::setAppQColor("lightAccent", QColor(0,114,178));
Utility::setAppQColor("tertiary1",QColor(229, 207, 51));
Utility::setAppQColor("tertiary2",QColor(51, 180, 229));
Utility::setAppQColor("tertiary3",QColor(136, 51, 229));
Utility::setAppQColor("midAccent", QColor(0,114,178));
Utility::setAppQColor("darkAccent", QColor(0,161,221));
Utility::setAppQColor("pink", QColor(219,98,139));
Utility::setAppQColor("red", QColor(200,52,52));
Utility::setAppQColor("orange", QColor(206,125,44));
Utility::setAppQColor("yellow", QColor(210,210,127));
Utility::setAppQColor("green", QColor(127,200,127));
Utility::setAppQColor("cyan",QColor(79,203,203));
Utility::setAppQColor("blue", QColor(77,127,196));
Utility::setAppQColor("magenta", QColor(157,127,210));
Utility::setAppQColor("white", QColor(255,255,255));
Utility::setAppQColor("black", QColor(0,0,0));
}
// DPI settings
// TODO: http://www.qcustomplot.com/index.php/support/forum/1344
QCoreApplication::setAttribute(Qt::AA_UseHighDpiPixmaps);
#ifdef HAS_BLUETOOTH
qmlRegisterType<BleUart>("Vedder.vesc.bleuart", 1, 0, "BleUart");
#else
qmlRegisterType<BleUartDummy>("Vedder.vesc.bleuart", 1, 0, "BleUart");
#endif
qmlRegisterType<Commands>("Vedder.vesc.commands", 1, 0, "Commands");
qmlRegisterType<ConfigParams>("Vedder.vesc.configparams", 1, 0, "ConfigParams");
qmlRegisterType<FwHelper>("Vedder.vesc.fwhelper", 1, 0, "FwHelper");
qmlRegisterType<TcpServerSimple>("Vedder.vesc.tcpserversimple", 1, 0, "TcpServerSimple");
qmlRegisterType<UdpServerSimple>("Vedder.vesc.udpserversimple", 1, 0, "UdpServerSimple");
qmlRegisterType<Vesc3dItem>("Vedder.vesc.vesc3ditem", 1, 0, "Vesc3dItem");
qmlRegisterType<LogWriter>("Vedder.vesc.logwriter", 1, 0, "LogWriter");
qmlRegisterType<LogReader>("Vedder.vesc.logreader", 1, 0, "LogReader");
qmlRegisterType<TcpHub>("Vedder.vesc.tcphub", 1, 0, "TcpHub");
qmlRegisterType<CodeLoader>("Vedder.vesc.codeloader", 1, 0, "CodeLoader");
qRegisterMetaType<VSerialInfo_t>();
qRegisterMetaType<MCCONF_TEMP>();
qRegisterMetaType<MC_VALUES>();
qRegisterMetaType<BMS_VALUES>();
qRegisterMetaType<FW_RX_PARAMS>();
qRegisterMetaType<PSW_STATUS>();
qRegisterMetaType<IO_BOARD_VALUES>();
qRegisterMetaType<MotorData>();
qRegisterMetaType<ENCODER_DETECT_RES>();
qRegisterMetaType<FILE_LIST_ENTRY>();
qRegisterMetaType<VescPackage>();
qRegisterMetaType<TCP_HUB_DEVICE>();
qRegisterMetaType<ConfigParam>();
qRegisterMetaType<GNSS_DATA>();
#ifdef USE_MOBILE
#ifndef DEBUG_BUILD
QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
#endif
#else
QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling);
#ifdef Q_OS_LINUX
signal(SIGINT, m_cleanup);
signal(SIGTERM, m_cleanup);
#endif
// Parse command line arguments
QStringList args;
for (int i = 0;i < argc;i++) {
args.append(argv[i]);
}
bool useTcp = false;
bool retryConn = false;
int tcpPort = 65102;
QString loadQml = "";
bool qmlAutoConn = false;
bool qmlFullscreen = false;
bool loadQmlVesc = false;
bool qmlOtherScreen = false;
bool useMobileUi = false;
bool useBoardSetupWindow = false;
double qmlRot = 0.0;
bool isTcpHub = false;
QStringList pkgArgs;
QString xmlCodePath = "";
QString vescPort = "";
int canFwd = -1;
QString getMcConfPath = "";
QString setMcConfPath = "";
QSize qmlWindowSize = QSize(-1, -1);
// Arguments can be hard-coded in a build like this:
// qmlWindowSize = QSize(400, 800);
// loadQmlVesc = true;
// retryConn = true;
for (int i = 0;i < args.size();i++) {
// Skip the program argument
if (i == 0) {
continue;
}
QString str = args.at(i);
// Skip path argument
if (i >= args.size() && args.size() >= 3) {
break;
}
bool dash = str.startsWith("-") && !str.startsWith("--");
bool found = false;
if ((dash && str.contains('h')) || str == "--help") {
showHelp();
return 0;
}
if (str == "--tcpServer") {
if ((i + 1) < args.size()) {
i++;
tcpPort = args.at(i).toInt();
useTcp = true;
found = true;
}
}
if (str == "--retryConn") {
retryConn = true;
found = true;
}
if (str == "--loadQml") {
if ((i + 1) < args.size()) {
i++;
loadQml = args.at(i);
found = true;
} else {
i++;
qCritical() << "No path to qml UI file";
return 1;
}
}
if (str == "--loadQmlVesc") {
loadQmlVesc = true;
found = true;
}
if (str == "--qmlAutoConn") {
qmlAutoConn = true;
found = true;
}
if (str == "--qmlFullscreen") {
qmlFullscreen = true;
found = true;
}
if (str == "--qmlOtherScreen") {
qmlOtherScreen = true;
found = true;
}
if (str == "--useMobileUi") {
useMobileUi = true;
found = true;
}
if (str == "--useBoardSetupWindow") {
useBoardSetupWindow = true;
found = true;
}
if (str.startsWith("-qmljsdebugger")) {
found = true;
}
if (str == "--qmlRotation") {
if ((i + 1) < args.size()) {
i++;
qmlRot = args.at(i).toDouble();
found = true;
} else {
i++;
qCritical() << "No rotation specified";
return 1;
}
}
if (str == "--qmlWindowSize") {
if ((i + 1) < args.size()) {
i++;
auto p = args.at(i).split(":");
if (p.size() == 2) {
qmlWindowSize.setWidth(p.at(0).toInt());
qmlWindowSize.setHeight(p.at(1).toInt());
} else {
qCritical() << "Invalid size specified";
return 1;
}
found = true;
} else {
i++;
qCritical() << "No size specified";
return 1;
}
}
if (str == "--tcpHub") {
if ((i + 1) < args.size()) {
i++;
tcpPort = args.at(i).toInt();
isTcpHub = true;
found = true;
}
}
if (str == "--buildPkg") {
if ((i + 1) < args.size()) {
i++;
pkgArgs = args.at(i).split(":");
found = true;
}
}
if (str == "--xmlConfToCode") {
if ((i + 1) < args.size()) {
i++;
xmlCodePath = args.at(i);
found = true;
} else {
i++;
qCritical() << "No path to xml file";
return 1;
}
}
if (str == "--vescPort") {
if ((i + 1) < args.size()) {
i++;
vescPort = args.at(i);
found = true;
} else {
i++;
qCritical() << "No port specified";
return 1;
}
}
if (str == "--canFwd") {
if ((i + 1) < args.size()) {
i++;
canFwd = args.at(i).toInt(),
found = true;
} else {
i++;
qCritical() << "No can id specified";
return 1;
}
}
if (str == "--getMcConf") {
if ((i + 1) < args.size()) {
i++;
getMcConfPath = args.at(i);
found = true;
} else {
i++;
qCritical() << "No path specified";
return 1;
}
}
if (str == "--setMcConf") {
if ((i + 1) < args.size()) {
i++;
setMcConfPath = args.at(i);
found = true;
} else {
i++;
qCritical() << "No path specified";
return 1;
}
}
if (str == "--debugOutFile") {
if ((i + 1) < args.size()) {
i++;
if (!m_debug_msg_file.isOpen()) {
m_debug_msg_file.setFileName(args.at(i));
if (m_debug_msg_file.open(QIODevice::WriteOnly | QIODevice::Text)) {
qInstallMessageHandler(myMessageOutput);
}
}
found = true;
} else {
i++;
qCritical() << "No path specified";
return 1;
}
}
if (!found) {
if (dash) {
qCritical() << "At least one of the flags is invalid:" << str;
} else {
qCritical() << "Invalid option:" << str;
}
showHelp();
return 1;
}
}
if (!xmlCodePath.isEmpty()) {
ConfigParams conf;
if (!conf.loadParamsXml(xmlCodePath)) {
qCritical() << "Could not parse XML-file" << xmlCodePath;
return 1;
}
QString nameConfig = "device_config";
if (conf.hasParam("config_name") && conf.getParam("config_name")->type == CFG_T_QSTRING) {
nameConfig = conf.getParamQString("config_name");
}
QFileInfo fi(xmlCodePath);
xmlCodePath.chop(fi.fileName().length());
QString pathDefines = xmlCodePath + "conf_default.h";
QString pathParser = xmlCodePath + "confparser.c";
QString pathCompressed = xmlCodePath + "confxml.c";
Utility::createCompressedConfigC(&conf, nameConfig, pathCompressed);
Utility::createParamParserC(&conf, nameConfig, pathParser);
conf.saveCDefines(pathDefines, true);
qDebug() << "Done!";
return 0;
}
if (!pkgArgs.isEmpty()) {
if (pkgArgs.size() < 4) {
qWarning() << "Invalid arguments";
return 1;
}
CodeLoader loader;
QString pkgPath = pkgArgs.at(0);
QString lispPath = pkgArgs.at(1);
QString qmlPath = pkgArgs.at(2);
bool isFullscreen = pkgArgs.at(3).toInt();
QString mdPath;
QString name;
VescPackage pkg;
if (pkgArgs.size() >= 6) {
mdPath = pkgArgs.at(4);
name = pkgArgs.at(5);
QFile f(mdPath);
if (!f.open(QIODevice::ReadOnly | QIODevice::Text)) {
qWarning() << "Could not open markdown file for reading.";
return 1;
}
qputenv("QT_QPA_PLATFORM", "offscreen");
QApplication a(argc, argv);
addFonts();
QTextDocument d;
d.setMarkdown(QString::fromUtf8(f.readAll()));
f.close();
pkg.name = name;
pkg.description = d.toHtml();
} else {
QFile f(pkgPath);
if (!f.open(QIODevice::ReadOnly)) {
qWarning() << QString("Could not open %1 for reading.").arg(pkgPath);
return 1;
}
pkg = loader.unpackVescPackage(f.readAll());
f.close();
qDebug() << "Opened package" << pkg.name;
}
QFile file(pkgPath);
if (!file.open(QIODevice::WriteOnly)) {
qWarning() << QString("Could not open %1 for writing.").arg(pkgPath);
return 1;
}
if (!lispPath.isEmpty()) {
QFile f(lispPath);
if (!f.open(QIODevice::ReadOnly)) {
qWarning() << "Could not open lisp file for reading.";
return 1;
}
QFileInfo fi(f);
pkg.lispData = loader.lispPackImports(f.readAll(), fi.canonicalPath());
f.close();
qDebug() << "Read lisp script done";
}
if (!qmlPath.isEmpty()) {
QFile f(qmlPath);
if (!f.open(QIODevice::ReadOnly)) {
qWarning() << "Could not open qml file for reading.";
return 1;
}
pkg.qmlFile = f.readAll();
pkg.qmlIsFullscreen =isFullscreen;
f.close();
qDebug() << "Read qml script done";
}
file.write(loader.packVescPackage(pkg));
file.close();
qDebug() << "Package Saved!";
return 0;
}
double scale = set.value("app_scale_factor", 1.0).toDouble();
#ifdef Q_OS_ANDROID
scale = 1.0;
#endif
if (scale > 1.01) {
qputenv("QT_SCALE_FACTOR", QString::number(scale).toLocal8Bit());
}
#endif
QCoreApplication *app;
#ifdef USE_MOBILE
QApplication *a = new QApplication(argc, argv);
app = a;
addFonts();
QmlUi *qml = new QmlUi;
qml->startQmlUi();
// As background running is allowed, make sure to not update the GUI when
// running in the background.
QObject::connect(a, &QApplication::applicationStateChanged, [&qml](Qt::ApplicationState state) {
if(state == Qt::ApplicationHidden) {
qml->setVisible(false);
} else {
qml->setVisible(true);
}
});
#else
VescInterface *vesc = nullptr;
TcpHub *tcpHub = nullptr;
MainWindow *w = nullptr;
BoardSetupWindow *bw = nullptr;
QmlUi *qmlUi = nullptr;
QString qmlStr;
QTimer connTimer;
connTimer.setInterval(1000);
QObject::connect(&connTimer, &QTimer::timeout, [&]() {
if (!vesc->isPortConnected()) {
if (qmlUi != nullptr) {
qmlUi->clearQmlCache();
QTimer::singleShot(10, [&]() {
qmlUi->emitReloadCustomGui("qrc:/res/qml/DynamicLoader.qml");
});
}
bool ok = false;
if (vescPort.isEmpty()) {
ok = vesc->autoconnect();
} else {
ok = vesc->connectSerial(vescPort);
}
if (ok) {
qDebug() << "Connected";
} else {
qDebug() << "Could not connect";
if (!retryConn) {
qApp->quit();
}
}
}
});
if (!getMcConfPath.isEmpty() || !setMcConfPath.isEmpty()) {
qputenv("QT_QPA_PLATFORM", "offscreen");
app = new QCoreApplication(argc, argv);
vesc = new VescInterface;
vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
Utility::configLoadLatest(vesc);
QTimer::singleShot(10, [&]() {
bool ok = false;
if (vescPort.isEmpty()) {
ok = vesc->autoconnect();
} else {
ok = vesc->connectSerial(vescPort);
}
if (ok) {
qDebug() << "Connected";
if (canFwd >= 0) {
vesc->commands()->setSendCan(true, canFwd);
}
auto res = Utility::waitSignal(vesc, SIGNAL(customConfigLoadDone()), 4000);
if (res) {
ConfigParams *p = vesc->mcConfig();
vesc->commands()->getMcconf();
res = Utility::waitSignal(p, SIGNAL(updated()), 4000);
if (res) {
if (!setMcConfPath.isEmpty()) {
res = p->loadXml(setMcConfPath, "MCConfiguration");
if (res) {
vesc->commands()->setMcconf(false);
res = Utility::waitSignal(vesc->commands(), SIGNAL(ackReceived(QString)), 4000);
if (res) {
qDebug() << "Wrote XML from" << setMcConfPath;
qApp->exit();
} else {
qWarning() << "Could not write config";
qApp->exit(-4);
}
} else {
qWarning() << "Could not load XML from" << setMcConfPath;
qApp->exit(-3);
}
} else {
res = p->saveXml(getMcConfPath, "MCConfiguration");
if (res) {
qDebug() << "Saved XML to" << getMcConfPath;
qApp->exit();
} else {
qWarning() << "Could not save XML";
qApp->exit(-3);
}
}
} else {
qWarning() << "Could not load config";
qApp->exit(-2);
}
} else {
qWarning() << "Could not load config";
qApp->exit(-1);
}
} else {
qWarning() << "Could not connect";
qApp->exit(-1);
}
});
QObject::connect(vesc, &VescInterface::statusMessage, [&](QString msg, bool isGood) {
if (isGood) {
qDebug() << msg;
} else {
qWarning() << msg;
}
});
} else if (useTcp) {
qputenv("QT_QPA_PLATFORM", "offscreen");
app = new QCoreApplication(argc, argv);
vesc = new VescInterface;
vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
Utility::configLoadLatest(vesc);
QTimer::singleShot(10, [&]() {
if (vesc->tcpServerStart(tcpPort)) {
connTimer.start();
} else {
qCritical() << "Could not start TCP server on port" << tcpPort;
qApp->quit();
}
});
QObject::connect(vesc, &VescInterface::statusMessage, [&](QString msg, bool isGood) {
if (isGood) {
qDebug() << msg;
} else {
qWarning() << msg;
}
});
} else if (isTcpHub) {
qputenv("QT_QPA_PLATFORM", "offscreen");
app = new QCoreApplication(argc, argv);
tcpHub = new TcpHub;
if (tcpHub->start(tcpPort)) {
qDebug() << "TcpHub started";
} else {
qCritical() << "Could not start TcpHub on port" << tcpPort;
qApp->quit();
}
} else {
QApplication *a = new QApplication(argc, argv);
app = a;
addFonts();
// Style
qApp->setStyleSheet("QListView::item::selected {background: qlineargradient(x1: 1.0, y1: 0.0, x2: 0, y2: 0, stop: 0 " +
Utility::getAppHexColor("lightAccent") +
", stop: 0.4 " + Utility::getAppHexColor("darkAccent") + ");" +
" border: none;} ");
QStyle *myStyle = new Style_tweaks("Fusion");
a->setStyle(myStyle);
if (isDark) {
QPalette darkPalette;
//QPalette::Inactive
darkPalette.setColor(QPalette::Window,Utility::getAppQColor("darkBackground"));
darkPalette.setColor(QPalette::WindowText,Utility::getAppQColor("lightText"));
darkPalette.setColor(QPalette::Disabled,QPalette::WindowText,Utility::getAppQColor("disabledText"));
darkPalette.setColor(QPalette::Base,Utility::getAppQColor("normalBackground"));
darkPalette.setColor(QPalette::AlternateBase,Utility::getAppQColor("lightBackground"));
darkPalette.setColor(QPalette::ToolTipBase,Utility::getAppQColor("lightestBackground"));
darkPalette.setColor(QPalette::ToolTipText,Utility::getAppQColor("lightText"));
darkPalette.setColor(QPalette::Text,Utility::getAppQColor("lightText"));
darkPalette.setColor(QPalette::Disabled,QPalette::Text,Utility::getAppQColor("disabledText"));
darkPalette.setColor(QPalette::Dark,QColor(35,35,35));
darkPalette.setColor(QPalette::Shadow,QColor(20,20,20));
darkPalette.setColor(QPalette::Button,Utility::getAppQColor("normalBackground"));
darkPalette.setColor(QPalette::ButtonText,Utility::getAppQColor("lightText"));
darkPalette.setColor(QPalette::Disabled,QPalette::ButtonText,Utility::getAppQColor("disabledText"));
darkPalette.setColor(QPalette::Disabled,QPalette::Highlight,Utility::getAppQColor("lightestBackground"));
darkPalette.setColor(QPalette::HighlightedText,Utility::getAppQColor("white"));
darkPalette.setColor(QPalette::Inactive,QPalette::Highlight,Utility::getAppQColor("midAccent"));
darkPalette.setColor(QPalette::Active,QPalette::Highlight,Utility::getAppQColor("darkAccent"));
darkPalette.setColor(QPalette::Disabled,QPalette::HighlightedText,Utility::getAppQColor("disabledText"));
darkPalette.setColor(QPalette::Link, QColor(150,150,255));
darkPalette.setColor(QPalette::LinkVisited, QColor(220,150,255));
qApp->setPalette(darkPalette);
} else {
QPalette lightPalette = qApp->style()->standardPalette();
lightPalette.setColor(QPalette::Inactive,QPalette::Highlight,Utility::getAppQColor("darkAccent"));
lightPalette.setColor(QPalette::Active,QPalette::Highlight,Utility::getAppQColor("midAccent"));
qApp->setPalette(lightPalette);
}
// Register this to not stop on the import statement when reusing components
// from the mobile UI. In the mobile UI these are provided as singletons, whereas
// in the desktop GUI they are provided as context properties.
qmlRegisterType<VescInterface>("Vedder.vesc.vescinterface", 1, 0, "VescIf2");
qmlRegisterType<Utility>("Vedder.vesc.utility", 1, 0, "Utility2");
if (!loadQml.isEmpty() || loadQmlVesc) {
vesc = new VescInterface;
vesc->fwConfig()->loadParamsXml("://res/config/fw.xml");
Utility::configLoadLatest(vesc);
if (loadQmlVesc) {
QObject::connect(vesc, &VescInterface::qmlLoadDone, [&]() {
if (vesc->qmlAppLoaded()) {
qmlStr = vesc->qmlApp();
} else if (vesc->qmlHwLoaded()) {
qmlStr = vesc->qmlHw();
} else {
qmlStr = "";
}
qmlUi->clearQmlCache();
QTimer::singleShot(10, [&]() {
qmlUi->emitReloadCustomGui("qrc:/res/qml/DynamicLoader.qml");
});
QTimer::singleShot(1000, [&]() {
qmlUi->emitReloadQml(qmlStr);
});
});
connTimer.start();
} else {
QFile qmlFile(loadQml);
if (qmlFile.exists() && qmlFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
QFileInfo fi(loadQml);
qmlStr = QString::fromUtf8(qmlFile.readAll());
qmlFile.close();
qmlStr.prepend("import \"qrc:/mobile\";");
qmlStr.prepend("import Vedder.vesc.vescinterface 1.0;");
qmlStr.prepend("import \"file:/" + fi.canonicalPath() + "\";");
QTimer::singleShot(10, [&]() {
qmlUi->emitReloadCustomGui("qrc:/res/qml/DynamicLoader.qml");
});
QTimer::singleShot(1000, [&]() {
qmlUi->emitReloadQml(qmlStr);
if (qmlAutoConn) {
connTimer.start();
}
});
} else {
qCritical() << "Could not open" << loadQml;
delete app;
delete vesc;
return -1;
}
}
qmlUi = new QmlUi;
qmlUi->startCustomGui(vesc, "qrc:/res/qml/MainLoader.qml",
qmlWindowSize.width(), qmlWindowSize.height());
if (qmlFullscreen) {
qmlUi->emitToggleFullscreen();
}
if (qmlOtherScreen) {
qmlUi->emitMoveToOtherScreen();
}
qmlUi->emitRotateScreen(qmlRot);
QObject::connect(vesc, &VescInterface::statusMessage, [&](QString msg, bool isGood) {
if (isGood) {
qDebug() << msg;
} else {
qWarning() << msg;
}
});
} else if (useMobileUi) {
qmlUi = new QmlUi;
qmlUi->startQmlUi();
} else if (useBoardSetupWindow){
bw = new BoardSetupWindow;
bw->show();
} else {
QPixmapCache::setCacheLimit(256000);
w = new MainWindow;
w->show();
}
}
#endif
#ifdef Q_OS_IOS
SetIosParams();
#endif
int res = app->exec();
#ifdef USE_MOBILE
delete qml;
#else
if (vesc) {
delete vesc;
}
if (tcpHub) {
delete tcpHub;
}
if (w) {
delete w;
}
if (qmlUi) {
delete qmlUi;
}
#endif
delete app;
if (m_debug_msg_file.isOpen()) {
m_debug_msg_file.close();
}
return res;
}