diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index b7d6a33..04fb7a4 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -37,16 +37,17 @@ message(Qt version $$[QT_VERSION])
macx {
HARDWARE_PLATFORM = $$system(uname -a)
- contains( HARDWARE_PLATFORM, 9.8.0 ) {
+ contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || || contains( HARDWARE_PLATFORM, 9.9.0 )
+ {
# x86 Mac OS X Leopard 10.5 and earlier
CONFIG += x86 cocoa phonon
message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
- # Enable function-profiling with the OS X saturn tool
- debug {
+ # Enable function-profiling with the OS X saturn tool
+ debug {
#QMAKE_CXXFLAGS += -finstrument-functions
#LIBS += -lSaturn
- }
+ }
} else {
# x64 Mac OS X Snow Leopard 10.6 and later
CONFIG += x86_64 cocoa
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index ee19485..cc0f235 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -437,6 +437,17 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
+ case MAVLINK_MSG_ID_WAYPOINT_ACK:
+ {
+ mavlink_waypoint_ack_t wpa;
+ mavlink_msg_waypoint_ack_decode(&message, &wpa);
+ if(wpa.target_system == mavlink->getSystemId() && wpa.target_component == mavlink->getComponentId())
+ {
+ waypointManager.handleWaypointAck(message.sysid, message.compid, &wpa);
+ }
+ }
+ break;
+
case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
{
mavlink_waypoint_request_t wpr;
@@ -456,11 +467,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
}
break;
- case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
+ case MAVLINK_MSG_ID_WAYPOINT_CURRENT:
{
- mavlink_waypoint_set_current_t wpsc;
- mavlink_msg_waypoint_set_current_decode(&message, &wpsc);
- waypointManager.handleWaypointSetCurrent(message.sysid, message.compid, &wpsc);
+ mavlink_waypoint_current_t wpc;
+ mavlink_msg_waypoint_current_decode(&message, &wpc);
+ waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc);
}
break;
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index c15601b..5e7a3d6 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -32,10 +32,13 @@ This file is part of the PIXHAWK project
#include "UASWaypointManager.h"
#include "UAS.h"
-#define PROTOCOL_TIMEOUT_MS 2000
+#define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout
+#define PROTOCOL_DELAY_MS 40 ///< minimum delay between sent messages
+#define PROTOCOL_MAX_RETRIES 3 ///< maximum number of send retries (after timeout)
UASWaypointManager::UASWaypointManager(UAS &_uas)
: uas(_uas),
+ current_retries(0),
current_wp_id(0),
current_count(0),
current_state(WP_IDLE),
@@ -48,25 +51,59 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
void UASWaypointManager::timeout()
{
- protocol_timer.stop();
+ if (current_retries > 0)
+ {
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries--;
+ qDebug() << "Timeout, retrying (retries left:" << current_retries << ")";
+ if (current_state == WP_GETLIST)
+ {
+ sendWaypointRequestList();
+ }
+ else if (current_state == WP_GETLIST_GETWPS)
+ {
+ sendWaypointRequest(current_wp_id);
+ }
+ else if (current_state == WP_SENDLIST)
+ {
+ sendWaypointCount();
+ }
+ else if (current_state == WP_SENDLIST_SENDWPS)
+ {
+ sendWaypoint(current_wp_id);
+ }
+ else if (current_state == WP_CLEARLIST)
+ {
+ sendWaypointClearAll();
+ }
+ else if (current_state == WP_SETCURRENT)
+ {
+ sendWaypointSetCurrent(current_wp_id);
+ }
+ }
+ else
+ {
+ protocol_timer.stop();
- qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
+ qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
- emit updateStatusString("Operation timed out.");
+ emit updateStatusString("Operation timed out.");
- current_state = WP_IDLE;
- current_count = 0;
- current_wp_id = 0;
- current_partner_systemid = 0;
- current_partner_compid = 0;
+ current_state = WP_IDLE;
+ current_count = 0;
+ current_wp_id = 0;
+ current_partner_systemid = 0;
+ current_partner_compid = 0;
+ }
}
void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
{
- protocol_timer.start(PROTOCOL_TIMEOUT_MS);
-
if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
{
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
+
qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
if (count > 0)
@@ -87,10 +124,11 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp)
{
- protocol_timer.start(PROTOCOL_TIMEOUT_MS);
-
if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
{
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
+
if(wp->seq == current_wp_id)
{
//update the UI FIXME
@@ -105,6 +143,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
}
else
{
+ sendWaypointAck(0);
+
// all waypoints retrieved, change state to idle
current_state = WP_IDLE;
current_count = 0;
@@ -125,30 +165,40 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
}
}
-void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
+void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa)
{
- protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ if (systemId == current_partner_systemid && compId == current_partner_compid)
+ {
+ if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0))
+ {
+ //all waypoints sent and ack received
+ protocol_timer.stop();
+ current_state = WP_IDLE;
+ emit updateStatusString("done.");
+ qDebug() << "sent all waypoints to ID " << systemId;
+ }
+ else if(current_state == WP_CLEARLIST)
+ {
+ protocol_timer.stop();
+ current_state = WP_IDLE;
+ emit updateStatusString("done.");
+ qDebug() << "cleared waypoint list of ID " << systemId;
+ }
+ }
+}
- if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)) || (current_state == WP_IDLE && wpr->seq == current_count-1)))
+void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
+{
+ if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1))))
{
- qDebug() << "handleWaypointRequest";
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
if (wpr->seq < waypoint_buffer.count())
{
current_state = WP_SENDLIST_SENDWPS;
current_wp_id = wpr->seq;
sendWaypoint(current_wp_id);
-
- if(current_wp_id == waypoint_buffer.count()-1)
- {
- //all waypoints sent, but we still have to wait for a possible rerequest of the last waypoint
- current_state = WP_IDLE;
-
- protocol_timer.stop();
- emit updateStatusString("done.");
-
- qDebug() << "send all waypoints to ID " << systemId;
- }
}
else
{
@@ -165,54 +215,77 @@ void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, m
}
}
-void UASWaypointManager::handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr)
+void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc)
{
if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
{
- qDebug() << "new current waypoint" << wpr->seq;
- emit currentWaypointChanged(wpr->seq);
+ if (current_state == WP_SETCURRENT)
+ {
+ protocol_timer.stop();
+ current_state = WP_IDLE;
+ emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
+ }
+ qDebug() << "new current waypoint" << wpc->seq;
+ emit currentWaypointChanged(wpc->seq);
}
}
void UASWaypointManager::clearWaypointList()
{
+ if(current_state == WP_IDLE)
+ {
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
+ current_state = WP_CLEARLIST;
+ current_wp_id = 0;
+ current_partner_systemid = uas.getUASID();
+ current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
+
+ sendWaypointClearAll();
+ }
}
-void UASWaypointManager::requestWaypoints()
+void UASWaypointManager::setCurrent(quint16 seq)
{
if(current_state == WP_IDLE)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
+
+ current_state = WP_SETCURRENT;
+ current_wp_id = seq;
+ current_partner_systemid = uas.getUASID();
+ current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
- mavlink_message_t message;
- mavlink_waypoint_request_list_t wprl;
+ sendWaypointSetCurrent(current_wp_id);
+ }
+}
- wprl.target_system = uas.getUASID();
- wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+void UASWaypointManager::readWaypoints()
+{
+ if(current_state == WP_IDLE)
+ {
+ protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
current_state = WP_GETLIST;
current_wp_id = 0;
current_partner_systemid = uas.getUASID();
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
- const QString str = QString("requesting waypoint list...");
- emit updateStatusString(str);
-
- mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
- uas.sendMessage(message);
-
- qDebug() << "sent waypoint list request to ID " << wprl.target_system;
+ sendWaypointRequestList();
}
}
-void UASWaypointManager::sendWaypoints()
+void UASWaypointManager::writeWaypoints()
{
if (current_state == WP_IDLE)
{
if (waypoints.count() > 0)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
+ current_retries = PROTOCOL_MAX_RETRIES;
current_count = waypoints.count();
current_state = WP_SENDLIST;
@@ -250,20 +323,7 @@ void UASWaypointManager::sendWaypoints()
}
//send the waypoint count to UAS (this starts the send transaction)
- mavlink_message_t message;
- mavlink_waypoint_count_t wpc;
-
- wpc.target_system = uas.getUASID();
- wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
- wpc.count = current_count;
-
- const QString str = QString("start transmitting waypoints...");
- emit updateStatusString(str);
-
- mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
- uas.sendMessage(message);
-
- qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
+ sendWaypointCount();
}
}
else
@@ -273,6 +333,80 @@ void UASWaypointManager::sendWaypoints()
}
}
+void UASWaypointManager::sendWaypointClearAll()
+{
+ mavlink_message_t message;
+ mavlink_waypoint_clear_all_t wpca;
+
+ wpca.target_system = uas.getUASID();
+ wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+
+ const QString str = QString("clearing waypoint list...");
+ emit updateStatusString(str);
+
+ mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
+ uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
+
+ qDebug() << "sent waypoint clear all to ID " << wpca.target_system;
+}
+
+void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
+{
+ mavlink_message_t message;
+ mavlink_waypoint_set_current_t wpsc;
+
+ wpsc.target_system = uas.getUASID();
+ wpsc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+ wpsc.seq = seq;
+
+ const QString str = QString("Updating target waypoint...");
+ emit updateStatusString(str);
+
+ mavlink_msg_waypoint_set_current_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpsc);
+ uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
+
+ qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system;
+}
+
+void UASWaypointManager::sendWaypointCount()
+{
+ mavlink_message_t message;
+ mavlink_waypoint_count_t wpc;
+
+ wpc.target_system = uas.getUASID();
+ wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+ wpc.count = current_count;
+
+ const QString str = QString("start transmitting waypoints...");
+ emit updateStatusString(str);
+
+ mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
+ uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
+
+ qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
+}
+
+void UASWaypointManager::sendWaypointRequestList()
+{
+ mavlink_message_t message;
+ mavlink_waypoint_request_list_t wprl;
+
+ wprl.target_system = uas.getUASID();
+ wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+
+ const QString str = QString("requesting waypoint list...");
+ emit updateStatusString(str);
+
+ mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
+ uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
+
+ qDebug() << "sent waypoint list request to ID " << wprl.target_system;
+}
+
void UASWaypointManager::sendWaypointRequest(quint16 seq)
{
mavlink_message_t message;
@@ -287,6 +421,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system;
}
@@ -308,7 +443,24 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
}
}
+
+void UASWaypointManager::sendWaypointAck(quint8 type)
+{
+ mavlink_message_t message;
+ mavlink_waypoint_ack_t wpa;
+
+ wpa.target_system = uas.getUASID();
+ wpa.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+ wpa.type = type;
+
+ mavlink_msg_waypoint_ack_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpa);
+ uas.sendMessage(message);
+ usleep(PROTOCOL_DELAY_MS * 1000);
+
+ qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system;
+}
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index f8432d3..4ccd724 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -39,38 +39,59 @@ This file is part of the PIXHAWK project
#include <mavlink.h>
class UAS;
+/**
+ * @brief Implementation of the MAVLINK waypoint protocol
+ *
+ * This class handles the communication with a waypoint manager on the MAV.
+ * All waypoints are stored in the QVector waypoints, modifications can be done with the WaypointList widget.
+ * Notice that currently the access to the internal waypoint storage is not guarded nor thread-safe. This works as long as no other widget alters the data.
+ *
+ * See http://qgroundcontrol.org/waypoint_protocol for more information about the protocol and the states.
+ */
class UASWaypointManager : public QObject
{
Q_OBJECT
private:
enum WaypointState {
- WP_IDLE = 0,
- WP_SENDLIST,
- WP_SENDLIST_SENDWPS,
- WP_GETLIST,
- WP_GETLIST_GETWPS
+ WP_IDLE = 0, ///< Waiting for commands
+ WP_SENDLIST, ///< Initial state for sending waypoints to the MAV
+ WP_SENDLIST_SENDWPS,///< Sending waypoints
+ WP_GETLIST, ///< Initial state for retrieving wayppoints from the MAV
+ WP_GETLIST_GETWPS, ///< Receiving waypoints
+ WP_CLEARLIST, ///< Clearing waypoint list on the MAV
+ WP_SETCURRENT ///< Setting new current waypoint on the MAV
}; ///< The possible states for the waypoint protocol
public:
- UASWaypointManager(UAS&);
+ UASWaypointManager(UAS&); ///< Standard constructor.
- void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count);
- void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp);
- void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);
- void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr);
- void handleWaypointSetCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_set_current_t *wpr);
+ /** @name Protocol handlers */
+ /*@{*/
+ void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count); ///< Handles received waypoint count messages
+ void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp); ///< Handles received waypoint messages
+ void handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa); ///< Handles received waypoint ack messages
+ void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr); ///< Handles received waypoint request messages
+ void handleWaypointReached(quint8 systemId, quint8 compId, mavlink_waypoint_reached_t *wpr); ///< Handles received waypoint reached messages
+ void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc); ///< Handles received set current waypoint messages
+ /*@}*/
- QVector<Waypoint *> &getWaypointList(void) { return waypoints; }
+ QVector<Waypoint *> &getWaypointList(void) { return waypoints; } ///< Returns a reference to the local waypoint list. Gives full access to the internal data structure - Subject to change: Public const access and friend access for the waypoint list widget.
private:
- void sendWaypointRequest(quint16 seq);
- void sendWaypoint(quint16 seq);
+ void sendWaypointClearAll();
+ void sendWaypointSetCurrent(quint16 seq);
+ void sendWaypointCount();
+ void sendWaypointRequestList();
+ void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq
+ void sendWaypoint(quint16 seq); ///< Sends a waypoint with sequence number seq
+ void sendWaypointAck(quint8 type); ///< Sends a waypoint ack
public slots:
- void timeout();
- void clearWaypointList();
- void requestWaypoints();
- void sendWaypoints();
+ void timeout(); ///< Called by the timer if a response times out. Handles send retries.
+ void setCurrent(quint16 seq); ///< Sends the sequence number of the waypoint that should get the new target waypoint
+ void clearWaypointList(); ///< Sends the waypoint clear all message to the MAV
+ void readWaypoints(); ///< Requests the MAV's current waypoint list
+ void writeWaypoints(); ///< Sends the local waypoint list to the MAV
signals:
void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
@@ -79,6 +100,7 @@ signals:
private:
UAS &uas; ///< Reference to the corresponding UAS
+ quint32 current_retries; ///< The current number of retries left
quint16 current_wp_id; ///< The last used waypoint ID in the current protocol transaction
quint16 current_count; ///< The number of waypoints in the current protocol transaction
WaypointState current_state; ///< The current protocol state
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 74da7f1..6c3828f 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -126,9 +126,10 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
- connect(this, SIGNAL(sendWaypoints()), &uas->getWaypointManager(), SLOT(sendWaypoints()));
- connect(this, SIGNAL(requestWaypoints()), &uas->getWaypointManager(), SLOT(requestWaypoints()));
+ connect(this, SIGNAL(sendWaypoints()), &uas->getWaypointManager(), SLOT(writeWaypoints()));
+ connect(this, SIGNAL(requestWaypoints()), &uas->getWaypointManager(), SLOT(readWaypoints()));
connect(this, SIGNAL(clearWaypointList()), &uas->getWaypointManager(), SLOT(clearWaypointList()));
+ connect(this, SIGNAL(setCurrent(quint16)), &uas->getWaypointManager(), SLOT(setCurrent(quint16)));
}
}
@@ -149,6 +150,35 @@ void WaypointList::waypointReached(quint16 waypointId)
}
}
+void WaypointList::changeCurrentWaypoint(quint16 seq)
+{
+ if (this->uas)
+ {
+ QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
+
+ if (seq < waypoints.size())
+ {
+ for(int i = 0; i < waypoints.size(); i++)
+ {
+ WaypointView* widget = wpViews.find(waypoints[i]).value();
+
+ if (waypoints[i]->getId() == seq)
+ {
+ waypoints[i]->setCurrent(true);
+ widget->setCurrent(true);
+ emit setCurrent(seq);
+ }
+ else
+ {
+ waypoints[i]->setCurrent(false);
+ widget->setCurrent(false);
+ }
+ }
+ redrawList();
+ }
+ }
+}
+
void WaypointList::currentWaypointChanged(quint16 seq)
{
if (this->uas)
@@ -250,6 +280,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
+ connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
}
}
}
diff --git a/src/ui/WaypointList.h b/src/ui/WaypointList.h
index 111f7a8..4b1236f 100644
--- a/src/ui/WaypointList.h
+++ b/src/ui/WaypointList.h
@@ -72,7 +72,8 @@ public slots:
/** @brief sets statusLabel string */
void updateStatusLabel(const QString &string);
- void currentWaypointChanged(quint16 seq);
+ void changeCurrentWaypoint(quint16 seq); ///< The user wants to change the current waypoint
+ void currentWaypointChanged(quint16 seq); ///< The waypointplanner changed the current waypoint
void setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp);
@@ -84,6 +85,7 @@ signals:
void sendWaypoints();
void requestWaypoints();
void clearWaypointList();
+ void setCurrent(quint16);
protected:
virtual void changeEvent(QEvent *e);
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index bb79f74..a9ec214 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -115,7 +115,7 @@ void WaypointView::changedCurrent(int state)
else
{
wp->setCurrent(true);
- emit currentWaypointChanged(wp->getId()); //the slot currentWayppointChanged() in WaypointList sets all other current flags to false
+ emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
}
}
diff --git a/src/ui/WaypointView.h b/src/ui/WaypointView.h
index bf4fb1b..bee5e18 100644
--- a/src/ui/WaypointView.h
+++ b/src/ui/WaypointView.h
@@ -72,6 +72,7 @@ signals:
void moveDownWaypoint(Waypoint*);
void removeWaypoint(Waypoint*);
void currentWaypointChanged(quint16);
+ void changeCurrentWaypoint(quint16);
void setYaw(double);
};
diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc
index b23175e..c02f64f 100644
--- a/src/ui/linechart/LinechartWidget.cc
+++ b/src/ui/linechart/LinechartWidget.cc
@@ -415,6 +415,7 @@ QWidget* LinechartWidget::createCurveItem(QString curve)
**/
void LinechartWidget::removeCurve(QString curve)
{
+ Q_UNUSED(curve)
//TODO @todo Ensure that the button for a curve gets deleted when the original curve is deleted
// Remove name
}