diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 44da836..d8e8015 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -91,11 +91,6 @@ WaypointList::~WaypointList()
delete m_ui;
}
-void WaypointList::updateStatusLabel(const QString &string)
-{
- m_ui->statusLabel->setText(string);
-}
-
void WaypointList::updateLocalPosition(UASInterface* uas, double x, double y, double z, quint64 usec)
{
Q_UNUSED(uas);
@@ -129,17 +124,86 @@ void WaypointList::setUAS(UASInterface* uas)
}
}
-void WaypointList::waypointReached(quint16 waypointId)
+void WaypointList::saveWaypoints()
+{
+ if (uas)
+ {
+ QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
+ uas->getWaypointManager().localSaveWaypoints(fileName);
+ }
+}
+
+void WaypointList::loadWaypoints()
+{
+ if (uas)
+ {
+ QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
+ uas->getWaypointManager().localLoadWaypoints(fileName);
+ }
+}
+
+void WaypointList::transmit()
+{
+ if (uas)
+ {
+ uas->getWaypointManager().writeWaypoints();
+ }
+}
+
+void WaypointList::read()
+{
+ if (uas)
+ {
+ uas->getWaypointManager().readWaypoints();
+ }
+}
+
+void WaypointList::add()
+{
+ if (uas)
+ {
+ const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+ if (waypoints.size() > 0)
+ {
+ Waypoint *last = waypoints.at(waypoints.size()-1);
+ Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+ uas->getWaypointManager().localAddWaypoint(wp);
+ }
+ else
+ {
+ Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
+ uas->getWaypointManager().localAddWaypoint(wp);
+ }
+ }
+}
+
+void WaypointList::addCurrentPositonWaypoint()
{
- if (this->uas)
+ if (uas)
{
- updateStatusLabel(QString("Waypoint %1 reached.").arg(waypointId));
+ const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+ if (waypoints.size() > 0)
+ {
+ Waypoint *last = waypoints.at(waypoints.size()-1);
+ Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
+ uas->getWaypointManager().localAddWaypoint(wp);
+ }
+ else
+ {
+ Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
+ uas->getWaypointManager().localAddWaypoint(wp);
+ }
}
}
+void WaypointList::updateStatusLabel(const QString &string)
+{
+ m_ui->statusLabel->setText(string);
+}
+
void WaypointList::changeCurrentWaypoint(quint16 seq)
{
- if (this->uas)
+ if (uas)
{
uas->getWaypointManager().setCurrentWaypoint(seq);
}
@@ -147,7 +211,7 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
void WaypointList::currentWaypointChanged(quint16 seq)
{
- if (this->uas)
+ if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
@@ -172,7 +236,7 @@ void WaypointList::currentWaypointChanged(quint16 seq)
void WaypointList::waypointListChanged()
{
- if (this->uas)
+ if (uas)
{
const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
@@ -203,6 +267,7 @@ void WaypointList::waypointListChanged()
}
}
+ // then add/update the views for each waypoint in the list
for(int i = 0; i < waypoints.size(); i++)
{
Waypoint *wp = waypoints[i];
@@ -224,61 +289,6 @@ void WaypointList::waypointListChanged()
}
}
-void WaypointList::read()
-{
- if (uas)
- {
- uas->getWaypointManager().readWaypoints();
- }
-}
-
-void WaypointList::transmit()
-{
- if (uas)
- {
- uas->getWaypointManager().writeWaypoints();
- }
-}
-
-void WaypointList::add()
-{
- // Only add waypoints if UAS is present
- if (uas)
- {
- const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
- if (waypoints.size() > 0)
- {
- Waypoint *last = waypoints.at(waypoints.size()-1);
- Waypoint *wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getYaw(), last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
- uas->getWaypointManager().localAddWaypoint(wp);
- }
- else
- {
- Waypoint *wp = new Waypoint(0, 1.1, 1.1, -0.8, 0.0, true, true, 0.15, 2000);
- uas->getWaypointManager().localAddWaypoint(wp);
- }
- }
-}
-
-void WaypointList::addCurrentPositonWaypoint()
-{
- if (uas)
- {
- const QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
- if (waypoints.size() > 0)
- {
- Waypoint *last = waypoints.at(waypoints.size()-1);
- Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., last->getAutoContinue(), false, last->getOrbit(), last->getHoldTime());
- uas->getWaypointManager().localAddWaypoint(wp);
- }
- else
- {
- Waypoint *wp = new Waypoint(0, (qRound(mavX*100))/100., (qRound(mavY*100))/100., (qRound(mavZ*100))/100., (qRound(mavYaw*100))/100., true, true, 0.15, 2000);
- uas->getWaypointManager().localAddWaypoint(wp);
- }
- }
-}
-
void WaypointList::moveUp(Waypoint* wp)
{
if (uas)
@@ -342,21 +352,3 @@ void WaypointList::changeEvent(QEvent *e)
}
}
-void WaypointList::saveWaypoints()
-{
- if (uas)
- {
- QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
- uas->getWaypointManager().localSaveWaypoints(fileName);
- }
-}
-
-void WaypointList::loadWaypoints()
-{
- if (uas)
- {
- QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
- uas->getWaypointManager().localLoadWaypoints(fileName);
- }
-}
-
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index 0d3ff27..defa1ed 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -54,31 +54,39 @@ class WaypointList : public QWidget {
virtual ~WaypointList();
public slots:
+ void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
+ void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
+
void setUAS(UASInterface* uas);
- //UI Buttons
+ //Waypoint list operations
+ /** @brief Save the local waypoint list to a file */
void saveWaypoints();
+ /** @brief Load a waypoint list from a file */
void loadWaypoints();
+ /** @brief Transmit the local waypoint list to the UAS */
void transmit();
+ /** @brief Read the remote waypoint list */
void read();
/** @brief Add a waypoint */
void add();
/** @brief Add a waypoint at the current MAV position */
void addCurrentPositonWaypoint();
- void moveUp(Waypoint* wp);
- void moveDown(Waypoint* wp);
+ //Update events
/** @brief sets statusLabel string */
void updateStatusLabel(const QString &string);
-
- void changeCurrentWaypoint(quint16 seq); ///< The user wants to change the current waypoint
- void currentWaypointChanged(quint16 seq); ///< The waypoint planner changed the current waypoint
- void waypointListChanged(void); ///< The waypoint manager informs that the waypoint list was changed
-
+ /** @brief The user wants to change the current waypoint */
+ void changeCurrentWaypoint(quint16 seq);
+ /** @brief The waypoint planner changed the current waypoint */
+ void currentWaypointChanged(quint16 seq);
+ /** @brief The waypoint manager informs that the waypoint list was changed */
+ void waypointListChanged(void);
+
+ // Waypoint operations
+ void moveUp(Waypoint* wp);
+ void moveDown(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
- void waypointReached(quint16 waypointId);
- void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
- void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
protected:
virtual void changeEvent(QEvent *e);