QGCApplication.cc

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#include "QGCApplication.h"
 
#include <QtCore/QEvent>
#include <QtCore/QFile>
#include <QtCore/QMetaMethod>
#include <QtCore/QMetaObject>
#include <QtCore/private/qthread_p.h>
#include <QtGui/QFontDatabase>
#include <QtGui/QIcon>
#include <QtQml/QQmlApplicationEngine>
#include <QtQml/QQmlContext>
#include <QtQuick/QQuickImageProvider>
#include <QtQuick/QQuickWindow>
#include <QtQuickControls2/QQuickStyle>
#include <QtSvg/QSvgRenderer>
 
#include "AppSettings.h"
#include "AudioOutput.h"
#include "ColoredSvgImageProvider.h"
#include "FollowMe.h"
#include "GPSManager.h"
#include "GraphicsSetup.h"
#include "JoystickManager.h"
#include "JsonParsing.h"
#include "LinkManager.h"
#include "LogManager.h"
#include "MAVLinkProtocol.h"
#include "MavlinkSettings.h"
#include "MultiVehicleManager.h"
#include "ParameterManager.h"
#include "QGCCommandLineParser.h"
#include "QGCCorePlugin.h"
#include "QGCImageProvider.h"
#include "QGCLoggingCategory.h"
#include "QGCLoggingCategoryManager.h"
#include "QGCNetworkHelper.h"
#include "QGCVersionCheck.h"
#include "SettingsManager.h"
#include "Vehicle.h"
#include "VideoManager.h"
#include "qgc_version.h"
 
#ifndef QGC_NO_SERIAL_LINK
#include "SerialLink.h"
#endif
 
QGC_LOGGING_CATEGORY(QGCApplicationLog, "API.QGCApplication")
QGC_LOGGING_CATEGORY(QGCAppMessageLog, "API.QGCApplication.AppMessage")
 
QGCApplication::QGCApplication(int& argc, char* argv[], const QGCCommandLineParser::CommandLineParseResult& cli)
    : QGuiApplication(argc, argv),
      _runningUnitTests(cli.runningUnitTests),
      _simpleBootTest(cli.simpleBootTest),
      _fakeMobile(cli.fakeMobile),
      _logOutput(cli.logOutput),
      _systemId(cli.systemId.value_or(0))
{
    _msecsElapsedTime.start();
 
    // Setup for network proxy support
    QGCNetworkHelper::initializeProxySupport();
 
    bool fClearSettingsOptions = cli.clearSettingsOptions;  // Clear stored settings
    const bool fClearCache = cli.clearCache;                // Clear parameter/airframe caches
    const QString loggingOptions = cli.loggingOptions.value_or(QString(""));
 
    // Set up timer for delayed missing fact display
    _missingParamsDelayedDisplayTimer.setSingleShot(true);
    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
    (void) connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
 
    // Set application information
    QString applicationName;
    if (_runningUnitTests || _simpleBootTest) {
        // 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.
        // Include test name or PID to prevent settings file conflicts when tests run in parallel
        if (!cli.unitTests.isEmpty()) {
            applicationName = QStringLiteral("%1_unittest_%2").arg(QGC_APP_NAME, cli.unitTests.first());
        } else {
            applicationName =
                QStringLiteral("%1_unittest_%2").arg(QGC_APP_NAME).arg(QCoreApplication::applicationPid());
        }
    } else {
#ifdef QGC_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_APP_NAME);
#else
        applicationName = QGC_APP_NAME;
#endif
    }
    setApplicationName(applicationName);
    setDesktopFileName(QGC_PACKAGE_NAME);
    setOrganizationName(QGC_ORG_NAME);
    setOrganizationDomain(QGC_ORG_DOMAIN);
    setApplicationVersion(QString(QGC_APP_VERSION_STR));
 
    // Set settings format
    QSettings::setDefaultFormat(QSettings::IniFormat);
    QSettings settings;
    qCDebug(QGCApplicationLog) << "Settings location" << settings.fileName()
                               << "Is writable?:" << settings.isWritable();
 
    if (!settings.isWritable()) {
        qCWarning(QGCApplicationLog) << "Settings location is not writable";
    }
 
    // The setting will delete all settings on this boot
    fClearSettingsOptions |= settings.value(AppSettings::clearSettingsNextBootKey, false).toBool();
 
    if (_runningUnitTests || _simpleBootTest) {
        // 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 parameter(cachedParameterMetaDataFile());
        parameter.remove();
        QFile airframe(cachedAirframeMetaDataFile());
        airframe.remove();
 
        // Clear versioned parameter metadata cache
        const QString metaDataCachePath =
            QStandardPaths::writableLocation(QStandardPaths::CacheLocation) + QStringLiteral("/ParameterMetaData");
        QDir(metaDataCachePath).removeRecursively();
    }
 
    // Set up our logging filters
    QGCLoggingCategoryManager::init();
    QGCLoggingCategoryManager::instance()->installFilter(loggingOptions);
 
    if (_runningUnitTests) {
        // Enable the AppMessage category so showAppMessage() debug logs are visible during unit tests.
        QGCLoggingCategoryManager::instance()->setCategoryEnabled(QStringLiteral("API.QGCApplication.AppMessage"),
                                                                  true);
    }
 
    // We need to set language as early as possible prior to loading on JSON files.
    setLanguage();
 
    // Force old SVG Tiny 1.2 behavior for compatibility
    QSvgRenderer::setDefaultOptions(QtSvg::Tiny12FeaturesOnly);
}
 
void QGCApplication::setLanguage()
{
    _locale = QLocale::system();
    qCDebug(QGCApplicationLog) << "System reported locale:" << _locale << "; Name" << _locale.name()
                               << "; Preferred (used in maps): "
                               << (QLocale::system().uiLanguages().length() > 0 ? QLocale::system().uiLanguages()[0]
                                                                                : "None");
 
    QLocale::Language possibleLocale = AppSettings::_qLocaleLanguageEarlyAccess();
    if (possibleLocale != QLocale::AnyLanguage) {
        _locale = QLocale(possibleLocale);
    }
    //-- We have specific fonts for Korean
    if (_locale == QLocale::Korean) {
        qCDebug(QGCApplicationLog) << "Loading Korean fonts" << _locale.name();
        if (QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Regular") < 0) {
            qCWarning(QGCApplicationLog) << "Could not load /fonts/NanumGothic-Regular font";
        }
        if (QFontDatabase::addApplicationFont(":/fonts/NanumGothic-Bold") < 0) {
            qCWarning(QGCApplicationLog) << "Could not load /fonts/NanumGothic-Bold font";
        }
    }
    qCDebug(QGCApplicationLog) << "Loading localizations for" << _locale.name();
    removeTranslator(JsonParsing::translator());
    removeTranslator(&_qgcTranslatorSourceCode);
    removeTranslator(&_qgcTranslatorQtLibs);
    if (_locale.name() != "en_US") {
        QLocale::setDefault(_locale);
        if (_qgcTranslatorQtLibs.load("qt_" + _locale.name(), QLibraryInfo::path(QLibraryInfo::TranslationsPath))) {
            installTranslator(&_qgcTranslatorQtLibs);
        } else {
            qCWarning(QGCApplicationLog) << "Qt lib localization for" << _locale.name() << "is not present";
        }
        if (_qgcTranslatorSourceCode.load(_locale, QLatin1String("qgc_source_"), "", ":/i18n")) {
            installTranslator(&_qgcTranslatorSourceCode);
        } else {
            qCWarning(QGCApplicationLog) << "Error loading source localization for" << _locale.name();
        }
        if (JsonParsing::translator()->load(_locale, QLatin1String("qgc_json_"), "", ":/i18n")) {
            installTranslator(JsonParsing::translator());
        } else {
            qCWarning(QGCApplicationLog) << "Error loading json localization for" << _locale.name();
        }
    }
 
    if (_qmlAppEngine) {
        _qmlAppEngine->retranslate();
    }
 
    emit languageChanged(_locale);
}
 
QGCApplication::~QGCApplication() {}
 
void QGCApplication::init()
{
    SettingsManager::instance()->init();
    if (_systemId > 0) {
        qCDebug(QGCApplicationLog) << "Setting MAVLink System ID to:" << _systemId;
        SettingsManager::instance()->mavlinkSettings()->gcsMavlinkSystemID()->setRawValue(_systemId);
    }
 
    LogManager::instance()->init();
 
    // Although this should really be in _initForNormalAppBoot putting it here allowws us to create unit tests which pop
    // up more easily
    if (QFontDatabase::addApplicationFont(":/fonts/opensans") < 0) {
        qCWarning(QGCApplicationLog) << "Could not load /fonts/opensans font";
    }
 
    if (QFontDatabase::addApplicationFont(":/fonts/opensans-demibold") < 0) {
        qCWarning(QGCApplicationLog) << "Could not load /fonts/opensans-demibold font";
    }
 
    if (_simpleBootTest) {
        // Since GStream builds are so problematic we initialize video during the simple boot test
        // to make sure it works and verfies plugin availability.
        const bool videoInitialized = _initVideo();
        const bool qmlRootLoaded = _initQmlRootWindow();
        _bootTestPassed = videoInitialized && qmlRootLoaded;
    } else if (!_runningUnitTests) {
        _initForNormalAppBoot();
    }
}
 
bool QGCApplication::_initVideo()
{
#ifdef QGC_GST_STREAMING
    qCDebug(QGCApplicationLog) << "Using default graphics API for appsink → VideoOutput video path";
#endif
 
    QGCCorePlugin::instance();  // CorePlugin must be initialized before VideoManager for Video Cleanup
    VideoManager* videoManager = VideoManager::instance();
    videoManager->startVideoBackendInit();
    const bool initSucceeded = !_simpleBootTest || videoManager->waitForVideoBackendReady();
    _videoManagerInitialized = true;
    return initSucceeded;
}
 
bool QGCApplication::_initQmlRootWindow()
{
    QQuickStyle::setStyle("Basic");
    QGCCorePlugin::instance()->init();
    MAVLinkProtocol::instance()->init();
    MultiVehicleManager::instance()->init();
    _qmlAppEngine = QGCCorePlugin::instance()->createQmlApplicationEngine(this);
    QObject::connect(_qmlAppEngine, &QQmlApplicationEngine::objectCreationFailed, this, QCoreApplication::quit,
                     Qt::QueuedConnection);
 
    // Must register before createRootWindow — root QML references QGCColoredImage which resolves image://coloredsvg/...
    // at load time.
    _qmlAppEngine->addImageProvider(_qgcImageProviderId, new QGCImageProvider());
    _qmlAppEngine->addImageProvider(QLatin1String(ColoredSvgImageProvider::ProviderId), new ColoredSvgImageProvider());
 
    QGCCorePlugin::instance()->createRootWindow(_qmlAppEngine);
 
    // The root QQuickWindow exists now (load() is synchronous) but its scene graph has not been
    // initialized yet -- the only safe point to apply RHI graphics config / forced device.
    GraphicsSetup::configureMainWindow(mainRootWindow());
 
    return mainRootWindow() != nullptr;
}
 
void QGCApplication::_initForNormalAppBoot()
{
    (void) _initVideo();
 
    (void) _initQmlRootWindow();
 
    AudioOutput::instance()->init(SettingsManager::instance()->appSettings()->audioVolume(),
                                  SettingsManager::instance()->appSettings()->audioMuted());
    FollowMe::instance()->init();
    LinkManager::instance()->init();
    GPSManager::instance()->init();
    VideoManager::instance()->init(mainRootWindow());
 
    // Set the window icon now that custom plugin has a chance to override it
#ifdef Q_OS_LINUX
    QUrl windowIcon = QUrl("qrc:/res/qgroundcontrol.ico");
    windowIcon = _qmlAppEngine->interceptUrl(windowIcon, QQmlAbstractUrlInterceptor::UrlString);
    // The interceptor needs "qrc:/path" but QIcon expects ":/path"
    setWindowIcon(QIcon(":" + windowIcon.path()));
#endif
 
    // Safe to show popup error messages now that main window is created
    _showErrorsInToolbar = true;
 
#ifdef Q_OS_LINUX
#ifndef Q_OS_ANDROID
#ifndef QGC_NO_SERIAL_LINK
    if (!_runningUnitTests) {
        // Determine if we have the correct permissions to access USB serial devices
        QFile permFile("/etc/group");
        if (permFile.open(QIODevice::ReadOnly)) {
            while (!permFile.atEnd()) {
                const QString line = permFile.readLine();
                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
                    permFile.close();
                    showAppMessage(
                        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>"));
                    break;
                }
            }
            permFile.close();
        }
    }
#endif
#endif
#endif
 
    // Now that main window is up check for lost log files
    MAVLinkProtocol::instance()->checkForLostLogFiles();
 
    // Load known link configurations
    LinkManager::instance()->loadLinkConfigurationList();
    QGCCorePlugin::instance()->linkConfigurationsLoaded(LinkManager::instance());
 
    // Probe for joysticks
    JoystickManager::instance()->init();
 
    if (_settingsUpgraded) {
        showAppMessage(tr("The format for %1 saved settings has been modified. "
                          "Your saved settings have been reset to defaults.")
                           .arg(applicationName()));
    }
 
    // Connect links with flag AutoconnectLink
    LinkManager::instance()->startAutoConnectedLinks();
 
#ifndef QGC_DAILY_BUILD
    QGCVersionCheck::instance()->start();
#endif
}
 
void QGCApplication::reportMissingParameter(int componentId, const QString& name)
{
    const QPair<int, QString> missingParam(componentId, name);
 
    if (!_missingParams.contains(missingParam)) {
        _missingParams.append(missingParam);
    }
    _missingParamsDelayedDisplayTimer.start();
}
 
void QGCApplication::_missingParamsDisplay()
{
    if (_missingParams.isEmpty()) {
        return;
    }
 
    QString params;
    for (QPair<int, QString>& missingParam : _missingParams) {
        const QString param = QStringLiteral("%1:%2").arg(missingParam.first).arg(missingParam.second);
        if (params.isEmpty()) {
            params += param;
        } else {
            params += QStringLiteral(", %1").arg(param);
        }
    }
    _missingParams.clear();
 
    showAppMessage(tr("Parameters are missing from firmware. You may be running a version of firmware which is not "
                      "fully supported or your firmware has a bug in it. Missing params: %1")
                       .arg(params));
}
 
QObject* QGCApplication::_rootQmlObject()
{
    if (_qmlAppEngine && _qmlAppEngine->rootObjects().size()) {
        return _qmlAppEngine->rootObjects()[0];
    }
 
    return nullptr;
}
 
void QGCApplication::showCriticalVehicleMessage(const QString& message)
{
    // PreArm messages are handled by Vehicle and shown in Map
    if (message.startsWith(QStringLiteral("PreArm")) ||
        message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
        return;
    }
 
    QObject* const rootQmlObject = _rootQmlObject();
    if (rootQmlObject && _showErrorsInToolbar) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
        QMetaObject::invokeMethod(rootQmlObject, "showCriticalVehicleMessage", Q_RETURN_ARG(QVariant, varReturn),
                                  Q_ARG(QVariant, varMessage));
    } else if (runningUnitTests() || !_showErrorsInToolbar) {
        // Unit tests can run without UI
        qCDebug(QGCApplicationLog) << "QGCApplication::showCriticalVehicleMessage unittest" << message;
    } else {
        qCWarning(QGCApplicationLog) << "Internal error";
    }
}
 
void QGCApplication::showAppMessage(const QString& message, const QString& title)
{
    const QString dialogTitle = title.isEmpty() ? applicationName() : title;
 
    if (runningUnitTests()) {
        // Logged under QGCAppMessageLog so tests can assert expected dialogs via
        // expectAppMessage() without matching against the general QGCApplication category.
        qCDebug(QGCAppMessageLog) << "showAppMessage:" << dialogTitle << "-" << message;
        if (!_uiTestMode) {
            // Headless test: there is no QML root to host the dialog and the delayed-message
            // timer would retry forever, so the log is the only record.
            return;
        }
        // UI tests fall through: the message dialog is a non-blocking QML popup, so show it
        // for real and let the test handle it the same way a user would.
    }
 
    QObject* const rootQmlObject = _rootQmlObject();
    if (rootQmlObject) {
        QVariant varReturn;
        QVariant varMessage = QVariant::fromValue(message);
        QMetaObject::invokeMethod(rootQmlObject, "_showMessageDialog", Q_RETURN_ARG(QVariant, varReturn),
                                  Q_ARG(QVariant, dialogTitle), Q_ARG(QVariant, varMessage));
    } else {
        // UI isn't ready yet
        _delayedAppMessages.append(QPair<QString, QString>(dialogTitle, message));
        QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
    }
}
 
bool QGCApplication::_rebootMessageDebounced()
{
    const QTime currentTime = QTime::currentTime();
    const QTime previousTime = _lastRebootMessageTime;
    _lastRebootMessageTime = currentTime;
 
    return previousTime.isValid() && (previousTime.msecsTo(currentTime) < (60 * 1000 * 2));
}
 
void QGCApplication::showRebootAppMessage(const QString& message, const QString& title)
{
    if (_rebootMessageDebounced()) {
        return;
    }
 
    showAppMessage(message, title);
}
 
void QGCApplication::_showDelayedAppMessages()
{
    if (_rootQmlObject()) {
        for (const QPair<QString, QString>& appMsg : _delayedAppMessages) {
            showAppMessage(appMsg.second, appMsg.first);
        }
        _delayedAppMessages.clear();
    } else {
        QTimer::singleShot(200, this, &QGCApplication::_showDelayedAppMessages);
    }
}
 
QQuickWindow* QGCApplication::mainRootWindow()
{
    if (!_mainRootWindow) {
        _mainRootWindow = qobject_cast<QQuickWindow*>(_rootQmlObject());
    }
 
    return _mainRootWindow;
}
 
void QGCApplication::qmlAttemptWindowClose()
{
    if (_rootQmlObject()) {
        QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
    }
}
 
QString QGCApplication::cachedParameterMetaDataFile()
{
    QSettings settings;
    const QDir parameterDir = QFileInfo(settings.fileName()).dir();
    return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.json"));
}
 
QString QGCApplication::cachedAirframeMetaDataFile()
{
    QSettings settings;
    const QDir airframeDir = QFileInfo(settings.fileName()).dir();
    return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
}
 
int QGCApplication::CompressedSignalList::_signalIndex(const QMetaMethod& method)
{
    if (method.methodType() != QMetaMethod::Signal) {
        qCWarning(QGCApplicationLog) << "Internal error:" << Q_FUNC_INFO << "not a signal" << method.methodType();
        return -1;
    }
 
    int index = -1;
    const QMetaObject* metaObject = method.enclosingMetaObject();
    for (int i = 0; i <= method.methodIndex(); i++) {
        if (metaObject->method(i).methodType() != QMetaMethod::Signal) {
            continue;
        }
        index++;
    }
 
    return index;
}
 
void QGCApplication::CompressedSignalList::add(const QMetaMethod& method)
{
    const QMetaObject* metaObject = method.enclosingMetaObject();
    const int signalIndex = _signalIndex(method);
 
    if (signalIndex != -1 && !contains(metaObject, signalIndex)) {
        _signalMap[method.enclosingMetaObject()].insert(signalIndex);
    }
}
 
void QGCApplication::CompressedSignalList::remove(const QMetaMethod& method)
{
    const int signalIndex = _signalIndex(method);
    const QMetaObject* const metaObject = method.enclosingMetaObject();
 
    if (signalIndex != -1 && _signalMap.contains(metaObject) && _signalMap[metaObject].contains(signalIndex)) {
        _signalMap[metaObject].remove(signalIndex);
        if (_signalMap[metaObject].count() == 0) {
            _signalMap.remove(metaObject);
        }
    }
}
 
bool QGCApplication::CompressedSignalList::contains(const QMetaObject* metaObject, int signalIndex)
{
    return _signalMap.contains(metaObject) && _signalMap[metaObject].contains(signalIndex);
}
 
void QGCApplication::addCompressedSignal(const QMetaMethod& method)
{
    _compressedSignals.add(method);
}
 
void QGCApplication::removeCompressedSignal(const QMetaMethod& method)
{
    _compressedSignals.remove(method);
}
 
QT_WARNING_PUSH
 
QT_WARNING_DISABLE_DEPRECATED
bool QGCApplication::compressEvent(QEvent* event, QObject* receiver, QPostEventList* postedEvents)
{
    if (event->type() != QEvent::MetaCall) {
        return QGuiApplication::compressEvent(event, receiver, postedEvents);
    }
 
    const QMetaCallEvent* mce = static_cast<QMetaCallEvent*>(event);
    if (!mce->sender() || !_compressedSignals.contains(mce->sender()->metaObject(), mce->signalId())) {
        return QGuiApplication::compressEvent(event, receiver, postedEvents);
    }
 
    // QMetaCallEvent::id() was removed in 6.11; its protected Data is reachable from a derived helper.
    struct MetaCallHelper : public QMetaCallEvent {
        int id() const { return d.method_offset_ + d.method_relative_; }
    };
    const auto methodId = [](const QMetaCallEvent *e) { return static_cast<const MetaCallHelper*>(e)->id(); };
 
    for (QPostEventList::iterator it = postedEvents->begin(); it != postedEvents->end(); ++it) {
        QPostEvent& cur = *it;
        if (cur.receiver != receiver || cur.event == 0 || cur.event->type() != event->type()) {
            continue;
        }
        const QMetaCallEvent* cur_mce = static_cast<QMetaCallEvent*>(cur.event);
        if (cur_mce->sender() != mce->sender() || cur_mce->signalId() != mce->signalId() ||
            methodId(cur_mce) != methodId(mce)) {
            continue;
        }
 
        /* Keep The Newest Call */
        // We can't merely qSwap the existing posted event with the new one, since QEvent
        // keeps track of whether it has been posted. Deletion of a formerly posted event
        // takes the posted event list mutex and does a useless search of the posted event
        // list upon deletion. We thus clear the QEvent::posted flag before deletion.
        struct EventHelper : private QEvent
        {
            static void clearPostedFlag(QEvent* ev)
            {
                (&static_cast<EventHelper*>(ev)->t)[1] &= ~0x8001;  // Hack to clear QEvent::posted
            }
        };
 
        EventHelper::clearPostedFlag(cur.event);
        delete cur.event;
        cur.event = event;
        return true;
    }
 
    return false;
}
 
QT_WARNING_POP
 
bool QGCApplication::event(QEvent* e)
{
    if (e->type() == QEvent::Quit) {
        if (!_mainRootWindow) {
            return QGuiApplication::event(e);
        }
        // On OSX if the user selects Quit from the menu (or Command-Q) the ApplicationWindow does not signal closing.
        // Instead you get a Quit event here only. This in turn causes the standard QGC shutdown sequence to not run. So
        // in this case we close the window ourselves such that the signal is sent and the normal shutdown sequence
        // runs.
        const bool forceClose = _mainRootWindow->property("_forceClose").toBool();
        qCDebug(QGCApplicationLog) << "Quit event" << forceClose;
        // forceClose
        //  true:   Standard QGC shutdown sequence is complete. Let the app quit normally by falling through to the base
        //  class processing. false:  QGC shutdown sequence has not been run yet. Don't let this event close the app
        //  yet. Close the main window to kick off the normal shutdown.
        if (!forceClose) {
            //
            _mainRootWindow->close();
            e->ignore();
            return true;
        }
    }
 
    return QGuiApplication::event(e);
}
 
QGCImageProvider* QGCApplication::qgcImageProvider()
{
    return dynamic_cast<QGCImageProvider*>(_qmlAppEngine->imageProvider(_qgcImageProviderId));
}
 
void QGCApplication::shutdown()
{
    GPSManager::instance()->shutdown();
    qCDebug(QGCApplicationLog) << "Exit";
 
    if (_videoManagerInitialized) {
        VideoManager::instance()->cleanup();
    }
 
    // Engines from createQmlApplicationEngine must die through the destroy hook so the plugin
    // can release per-engine state; parent-based teardown in ~QGCApplication would bypass it.
    if (_qmlAppEngine) {
        QGCCorePlugin::instance()->destroyQmlApplicationEngine(_qmlAppEngine);
        _qmlAppEngine = nullptr;
    }
 
    QGCCorePlugin::instance()->cleanup();
 
    if (_runningUnitTests || _simpleBootTest) {
        const QSettings settings;
        const QString settingsFile = settings.fileName();
        if (QFile::exists(settingsFile)) {
            if (QFile::remove(settingsFile)) {
                qCDebug(QGCApplicationLog) << "Removed test run settings file:" << settingsFile;
            } else {
                qCWarning(QGCApplicationLog) << "Failed to remove test run settings file:" << settingsFile;
            }
        }
 
        // Remove the app-specific settings directory (parent of ParamCache)
        QDir settingsAppDir(ParameterManager::parameterCacheDir());
        settingsAppDir.cdUp();
        if (settingsAppDir.exists()) {
            if (settingsAppDir.removeRecursively()) {
                qCDebug(QGCApplicationLog) << "Removed test run settings directory:" << settingsAppDir.absolutePath();
            } else {
                qCWarning(QGCApplicationLog)
                    << "Failed to remove test run settings directory:" << settingsAppDir.absolutePath();
            }
        }
 
        QDir appDir(SettingsManager::instance()->appSettings()->savePath()->rawValue().toString());
        if (appDir.exists()) {
            if (appDir.removeRecursively()) {
                qCDebug(QGCApplicationLog) << "Removed test run app data directory:" << appDir.absolutePath();
            } else {
                qCWarning(QGCApplicationLog)
                    << "Failed to remove test run app data directory:" << appDir.absolutePath();
            }
        }
    }
 
    // This is bad, but currently qobject inheritances are incorrect and cause crashes on exit without
    delete _qmlAppEngine;
}