Added a lot of "

view only" functions and renamed some of the old functions. This version compiles, but has a lot of bugs.

src/uas/UASWaypointManager.cc

@@ -46,7 +46,7 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
       current_partner_systemid(0),
       current_partner_compid(0),
       protocol_timer(this),
-      currentWaypoint(NULL)
+      currentWaypointEditable(NULL)
 {
     connect(&protocol_timer, SIGNAL(timeout()), this, SLOT(timeout()));
     connect(&uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(handleLocalPositionChanged(UASInterface*,double,double,double,quint64)));
@@ -92,11 +92,11 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
 {
     Q_UNUSED(mav);
     Q_UNUSED(time);
-    if (waypoints.count() > 0 && currentWaypoint && (currentWaypoint->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypoint->getFrame() == MAV_FRAME_LOCAL_ENU))
+    if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU))
     {
-        double xdiff = x-currentWaypoint->getX();
-        double ydiff = y-currentWaypoint->getY();
-        double zdiff = z-currentWaypoint->getZ();
+        double xdiff = x-currentWaypointEditable->getX();
+        double ydiff = y-currentWaypointEditable->getY();
+        double zdiff = z-currentWaypointEditable->getZ();
         double dist = sqrt(xdiff*xdiff + ydiff*ydiff + zdiff*zdiff);
         emit waypointDistanceChanged(dist);
     }
@@ -144,9 +144,17 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
         if(wp->seq == current_wp_id) {
             //// // qDebug() << "Got WP: " << wp->seq << wp->x <<  wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command;
-            Waypoint *lwp = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
-            addWaypointEditable(lwp, false);
-            if (wp->current == 1) currentWaypoint = lwp;
+
+            Waypoint *lwp_vo = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
+            addWaypointViewOnly(lwp_vo);
+
+
+            if (read_to_edit == true) {
+                Waypoint *lwp_ed = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
+                addWaypointEditable(lwp_ed, false);
+                if (wp->current == 1) currentWaypointEditable = lwp_ed;
+            }
+
 
             //get next waypoint
             current_wp_id++;
@@ -165,7 +173,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
                 protocol_timer.stop();
                 emit readGlobalWPFromUAS(false);
-                if (currentWaypoint) emit currentWaypointChanged(currentWaypoint->getId());
+                if (currentWaypointEditable) emit currentWaypointChanged(currentWaypointEditable->getId());
                 emit updateStatusString("done.");
 
                 // // qDebug() << "got all waypoints from ID " << systemId;
@@ -230,14 +238,13 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
             current_state = WP_IDLE;
 
             // update the local main storage
-            if (wpc->seq < waypoints.size()) {
-                for(int i = 0; i < waypoints.size(); i++) {
-                    if (waypoints[i]->getId() == wpc->seq) {
-                        waypoints[i]->setCurrent(true);
-                        currentWaypoint = waypoints[i];
-
+            if (wpc->seq < waypointsViewOnly.size()) {
+                for(int i = 0; i < waypointsViewOnly.size(); i++) {
+                    if (waypointsViewOnly[i]->getId() == wpc->seq) {
+                        waypointsViewOnly[i]->setCurrent(true);
+                        //currentWaypointEditable = waypoints[i];
                     } else {
-                        waypoints[i]->setCurrent(false);
+                        waypointsViewOnly[i]->setCurrent(false);
                     }
                 }
             }
@@ -268,15 +275,15 @@ void UASWaypointManager::notifyOfChangeEditable(Waypoint* wp)
 
 int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 {
-    if (seq < waypoints.size()) {
+    if (seq < waypointsViewOnly.size()) {
         if(current_state == WP_IDLE) {
             //update local main storage
-            for(int i = 0; i < waypoints.size(); i++) {
-                if (waypoints[i]->getId() == seq) {
-                    waypoints[i]->setCurrent(true);
-                    currentWaypoint = waypoints[i];
+            for(int i = 0; i < waypointsViewOnly.size(); i++) {
+                if (waypointsViewOnly[i]->getId() == seq) {
+                    waypointsViewOnly[i]->setCurrent(true);
+                    //currentWaypointEditable = waypoints[i];
                 } else {
-                    waypoints[i]->setCurrent(false);
+                    waypointsViewOnly[i]->setCurrent(false);
                 }
             }
 
@@ -301,6 +308,26 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
     return -1;
 }
 
+
+void UASWaypointManager::addWaypointViewOnly(Waypoint *wp)
+{
+    if (wp)
+    {
+        wp->setId(waypointsViewOnly.size());
+        if (waypointsEditable.size() == 0)
+        {
+            wp->setCurrent(true);
+            //currentWaypointEditable = wp;
+        }
+        waypointsViewOnly.insert(waypointsViewOnly.size(), wp);
+        connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeViewOnly(Waypoint*)));
+
+        emit waypointViewOnlyListChanged();
+        emit waypointViewOnlyListChanged(uas.getUASID());
+    }
+}
+
+
 /**
  * @warning Make sure the waypoint stays valid for the whole application lifecycle!
  * @param enforceFirstActive Enforces that the first waypoint is set as active
@@ -310,13 +337,13 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
 {
     if (wp)
     {
-        wp->setId(waypoints.size());
-        if (enforceFirstActive && waypoints.size() == 0)
+        wp->setId(waypointsEditable.size());
+        if (enforceFirstActive && waypointsEditable.size() == 0)
         {
             wp->setCurrent(true);
-            currentWaypoint = wp;
+            currentWaypointEditable = wp;
         }
-        waypoints.insert(waypoints.size(), wp);
+        waypointsEditable.insert(waypointsEditable.size(), wp);
         connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*)));
 
         emit waypointEditableListChanged();
@@ -330,13 +357,13 @@ void UASWaypointManager::addWaypointEditable(Waypoint *wp, bool enforceFirstActi
 Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
 {
     Waypoint* wp = new Waypoint();
-    wp->setId(waypoints.size());
-    if (enforceFirstActive && waypoints.size() == 0)
+    wp->setId(waypointsEditable.size());
+    if (enforceFirstActive && waypointsEditable.size() == 0)
     {
         wp->setCurrent(true);
-        currentWaypoint = wp;
+        currentWaypointEditable = wp;
     }
-    waypoints.insert(waypoints.size(), wp);
+    waypointsEditable.insert(waypointsEditable.size(), wp);
     connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeEditable(Waypoint*)));
 
     emit waypointEditableListChanged();
@@ -346,16 +373,16 @@ Waypoint* UASWaypointManager::createWaypoint(bool enforceFirstActive)
 
 int UASWaypointManager::removeWaypoint(quint16 seq)
 {
-    if (seq < waypoints.size())
+    if (seq < waypointsEditable.size())
     {
-        Waypoint *t = waypoints[seq];
-        waypoints.remove(seq);
+        Waypoint *t = waypointsEditable[seq];
+        waypointsEditable.remove(seq);
         delete t;
         t = NULL;
 
-        for(int i = seq; i < waypoints.size(); i++)
+        for(int i = seq; i < waypointsEditable.size(); i++)
         {
-            waypoints[i]->setId(i);
+            waypointsEditable[i]->setId(i);
         }
 
         emit waypointEditableListChanged();
@@ -367,23 +394,23 @@ int UASWaypointManager::removeWaypoint(quint16 seq)
 
 void UASWaypointManager::moveWaypoint(quint16 cur_seq, quint16 new_seq)
 {
-    if (cur_seq != new_seq && cur_seq < waypoints.size() && new_seq < waypoints.size())
+    if (cur_seq != new_seq && cur_seq < waypointsEditable.size() && new_seq < waypointsEditable.size())
     {
-        Waypoint *t = waypoints[cur_seq];
+        Waypoint *t = waypointsEditable[cur_seq];
         if (cur_seq < new_seq) {
             for (int i = cur_seq; i < new_seq; i++)
             {
-                waypoints[i] = waypoints[i+1];
+                waypointsEditable[i] = waypointsEditable[i+1];
             }
         }
         else
         {
             for (int i = cur_seq; i > new_seq; i--)
             {
-                waypoints[i] = waypoints[i-1];
+                waypointsEditable[i] = waypointsEditable[i-1];
             }
         }
-        waypoints[new_seq] = t;
+        waypointsEditable[new_seq] = t;
 
         emit waypointEditableListChanged();
         emit waypointEditableListChanged(uas.getUASID());
@@ -401,10 +428,10 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile)
     //write the waypoint list version to the first line for compatibility check
     out << "QGC WPL 110\r\n";
 
-    for (int i = 0; i < waypoints.size(); i++)
+    for (int i = 0; i < waypointsEditable.size(); i++)
     {
-        waypoints[i]->setId(i);
-        waypoints[i]->save(out);
+        waypointsEditable[i]->setId(i);
+        waypointsEditable[i]->save(out);
     }
     file.close();
 }
@@ -415,9 +442,9 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
         return;
 
-    while(waypoints.size()>0) {
-        Waypoint *t = waypoints[0];
-        waypoints.remove(0);
+    while(waypointsEditable.size()>0) {
+        Waypoint *t = waypointsEditable[0];
+        waypointsEditable.remove(0);
         delete t;
     }
 
@@ -436,8 +463,8 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
             Waypoint *t = new Waypoint();
             if(t->load(in))
             {
-                t->setId(waypoints.size());
-                waypoints.insert(waypoints.size(), t);
+                t->setId(waypointsEditable.size());
+                waypointsEditable.insert(waypointsEditable.size(), t);
             }
             else
             {
@@ -477,7 +504,7 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameWaypointList()
     // with complete waypoint list
     // instead of filtering on each request
     QVector<Waypoint*> wps;
-    foreach (Waypoint* wp, waypoints)
+    foreach (Waypoint* wp, waypointsEditable)
     {
         if (wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
@@ -493,7 +520,7 @@ const QVector<Waypoint *> UASWaypointManager::getGlobalFrameAndNavTypeWaypointLi
     // with complete waypoint list
     // instead of filtering on each request
     QVector<Waypoint*> wps;
-    foreach (Waypoint* wp, waypoints)
+    foreach (Waypoint* wp, waypointsEditable)
     {
         if ((wp->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && wp->isNavigationType())
         {
@@ -509,7 +536,7 @@ const QVector<Waypoint *> UASWaypointManager::getNavTypeWaypointList()
     // with complete waypoint list
     // instead of filtering on each request
     QVector<Waypoint*> wps;
-    foreach (Waypoint* wp, waypoints)
+    foreach (Waypoint* wp, waypointsEditable)
     {
         if (wp->isNavigationType())
         {
@@ -521,15 +548,15 @@ const QVector<Waypoint *> UASWaypointManager::getNavTypeWaypointList()
 
 int UASWaypointManager::getIndexOf(Waypoint* wp)
 {
-    return waypoints.indexOf(wp);
+    return waypointsEditable.indexOf(wp);
 }
 
 int UASWaypointManager::getGlobalFrameIndexOf(Waypoint* wp)
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypointsEditable) {
         if (p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
             if (p == wp)
@@ -545,10 +572,10 @@ int UASWaypointManager::getGlobalFrameIndexOf(Waypoint* wp)
 
 int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp)
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypointsEditable) {
         if ((p->getFrame() == MAV_FRAME_GLOBAL || wp->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
         {
             if (p == wp)
@@ -564,10 +591,10 @@ int UASWaypointManager::getGlobalFrameAndNavTypeIndexOf(Waypoint* wp)
 
 int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp)
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints)
+    foreach (Waypoint* p, waypointsEditable)
     {
         if (p->isNavigationType())
         {
@@ -584,10 +611,10 @@ int UASWaypointManager::getNavTypeIndexOf(Waypoint* wp)
 
 int UASWaypointManager::getGlobalFrameCount()
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints)
+    foreach (Waypoint* p, waypointsEditable)
     {
         if (p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT)
         {
@@ -600,10 +627,10 @@ int UASWaypointManager::getGlobalFrameCount()
 
 int UASWaypointManager::getGlobalFrameAndNavTypeCount()
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypointsEditable) {
         if ((p->getFrame() == MAV_FRAME_GLOBAL || p->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT) && p->isNavigationType())
         {
             i++;
@@ -615,10 +642,10 @@ int UASWaypointManager::getGlobalFrameAndNavTypeCount()
 
 int UASWaypointManager::getNavTypeCount()
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints) {
+    foreach (Waypoint* p, waypointsEditable) {
         if (p->isNavigationType()) {
             i++;
         }
@@ -629,10 +656,10 @@ int UASWaypointManager::getNavTypeCount()
 
 int UASWaypointManager::getLocalFrameCount()
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in global frame
     int i = 0;
-    foreach (Waypoint* p, waypoints)
+    foreach (Waypoint* p, waypointsEditable)
     {
         if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
         {
@@ -645,10 +672,10 @@ int UASWaypointManager::getLocalFrameCount()
 
 int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp)
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in local frame
     int i = 0;
-    foreach (Waypoint* p, waypoints)
+    foreach (Waypoint* p, waypointsEditable)
     {
         if (p->getFrame() == MAV_FRAME_LOCAL_NED || p->getFrame() == MAV_FRAME_LOCAL_ENU)
         {
@@ -665,10 +692,10 @@ int UASWaypointManager::getLocalFrameIndexOf(Waypoint* wp)
 
 int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp)
 {
-    // Search through all waypoints,
+    // Search through all waypointsEditable,
     // counting only those in mission frame
     int i = 0;
-    foreach (Waypoint* p, waypoints)
+    foreach (Waypoint* p, waypointsEditable)
     {
         if (p->getFrame() == MAV_FRAME_MISSION)
         {
@@ -683,13 +710,18 @@ int UASWaypointManager::getMissionFrameIndexOf(Waypoint* wp)
     return -1;
 }
 
-void UASWaypointManager::readWaypoints()
+
+/**
+ * @param readToEdit If true, incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab.
+ */
+void UASWaypointManager::readWaypoints(bool readToEdit)
 {
+    read_to_edit = readToEdit;
     emit readGlobalWPFromUAS(true);
     if(current_state == WP_IDLE) {
-        while(waypoints.size()>0) {
-            delete waypoints.back();
-            waypoints.pop_back();
+        while(waypointsEditable.size()>0) {
+            delete waypointsEditable.back();
+            waypointsEditable.pop_back();
 
         }
 
@@ -710,11 +742,11 @@ void UASWaypointManager::writeWaypoints()
 {
     if (current_state == WP_IDLE) {
         // Send clear all if count == 0
-        if (waypoints.count() > 0) {
+        if (waypointsEditable.count() > 0) {
             protocol_timer.start(PROTOCOL_TIMEOUT_MS);
             current_retries = PROTOCOL_MAX_RETRIES;
 
-            current_count = waypoints.count();
+            current_count = waypointsEditable.count();
             current_state = WP_SENDLIST;
             current_wp_id = 0;
             current_partner_systemid = uas.getUASID();
@@ -736,7 +768,7 @@ void UASWaypointManager::writeWaypoints()
                 waypoint_buffer.push_back(new mavlink_mission_item_t);
                 mavlink_mission_item_t *cur_d = waypoint_buffer.back();
                 memset(cur_d, 0, sizeof(mavlink_mission_item_t));   //initialize with zeros
-                const Waypoint *cur_s = waypoints.at(i);
+                const Waypoint *cur_s = waypointsEditable.at(i);
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent() & noCurrent;   //make sure only one current waypoint is selected, the first selected will be chosen
@@ -763,7 +795,7 @@ void UASWaypointManager::writeWaypoints()
             //send the waypoint count to UAS (this starts the send transaction)
             sendWaypointCount();
         }
-    } else if (waypoints.count() == 0) {
+    } else if (waypointsEditable.count() == 0) {
         sendWaypointClearAll();
     } else {
         //we're in another transaction, ignore command

src/uas/UASWaypointManager.h

@@ -79,15 +79,19 @@ public:
     /** @name Remote operations */
     /*@{*/
     void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
-    void readWaypoints();                           ///< Requests the MAV's current waypoint list
+
+    void readWaypoints(bool read_to_edit=false);    ///< Requests the MAV's current waypoint list.
     void writeWaypoints();                          ///< Sends the waypoint list to the MAV
     int setCurrentWaypoint(quint16 seq);            ///< Changes the current waypoint and sends the sequence number of the waypoint that should get the new target waypoint to the UAS
     /*@}*/
 
     /** @name Waypoint list operations */
     /*@{*/
-    const QVector<Waypoint *> &getWaypointList(void) {
-        return waypoints;    ///< Returns a const reference to the waypoint list.
+    const QVector<Waypoint *> &getWaypointEditableList(void) {
+        return waypointsEditable;    ///< Returns a const reference to the waypoint list.
+    }
+    const QVector<Waypoint *> &getWaypointViewOnlyList(void) {
+        return waypointsViewOnly;    ///< Returns a const reference to the waypoint list.
     }
     const QVector<Waypoint *> getGlobalFrameWaypointList();  ///< Returns a global waypoint list
     const QVector<Waypoint *> getGlobalFrameAndNavTypeWaypointList(); ///< Returns a global waypoint list containing only waypoints suitable for navigation. Actions and other mission items are filtered out.
@@ -125,6 +129,7 @@ public slots:
     /** @name Waypoint list operations */
     /*@{*/
     void addWaypointEditable(Waypoint *wp, bool enforceFirstActive=true);                 ///< adds a new waypoint to the end of the editable list and changes its sequence number accordingly
+    void addWaypointViewOnly(Waypoint *wp);                                               ///< adds a new waypoint to the end of the view-only list and changes its sequence number accordingly
     Waypoint* createWaypoint(bool enforceFirstActive=true);     ///< Creates a waypoint
     int removeWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
     void moveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
@@ -140,6 +145,9 @@ signals:
     void waypointEditableListChanged(void);                 ///< emits signal that the list of editable waypoints has been changed
     void waypointEditableListChanged(int uasid);            ///< emits signal that the list of editable waypoints has been changed
     void waypointEditableChanged(int uasid, Waypoint* wp);  ///< emits signal that a single editable waypoint has been changed
+    void waypointViewOnlyListChanged(void);                 ///< emits signal that the list of editable waypoints has been changed
+    void waypointViewOnlyListChanged(int uasid);            ///< emits signal that the list of editable waypoints has been changed
+    void waypointViewOnlyChanged(int uasid, Waypoint* wp);  ///< emits signal that a single editable waypoint has been changed
     void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
     void updateStatusString(const QString &);       ///< emits the current status string
     void waypointDistanceChanged(double distance);   ///< Distance to next waypoint changed (in meters)
@@ -155,9 +163,11 @@ private:
     WaypointState current_state;                    ///< The current protocol state
     quint8 current_partner_systemid;                ///< The current protocol communication target system
     quint8 current_partner_compid;                  ///< The current protocol communication target component
+    bool read_to_edit;                              ///< If true, after readWaypoints() incoming waypoints will be copied both to "edit"-tab and "view"-tab. Otherwise, only to "view"-tab.
 
-    QVector<Waypoint *> waypoints;                  ///< local waypoint list (main storage)
-    Waypoint* currentWaypoint;                      ///< The currently used waypoint
+    QVector<Waypoint *> waypointsViewOnly;                  ///< local copy of current waypoint list on MAV
+    QVector<Waypoint *> waypointsEditable;                  ///< local editable waypoint list
+    Waypoint* currentWaypointEditable;                      ///< The currently used waypoint
     QVector<mavlink_mission_item_t *> waypoint_buffer;  ///< buffer for waypoints during communication
     QTimer protocol_timer;                          ///< Timer to catch timeouts
 };

src/ui/HSIDisplay.cc

@@ -954,7 +954,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 {
     if (uas)
     {
-        const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint*>& list = uas->getWaypointManager()->getWaypointEditableList();
 
         QColor color;
         painter.setBrush(Qt::NoBrush);

src/ui/WaypointList.cc

@@ -51,11 +51,13 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 {
     m_ui->setupUi(this);
 
-    listLayout = new QVBoxLayout(m_ui->editableListWidget);
-    listLayout->setSpacing(0);
-    listLayout->setMargin(0);
-    listLayout->setAlignment(Qt::AlignTop);
-    m_ui->editableListWidget->setLayout(listLayout);
+    //EDIT TAB
+
+    editableListLayout = new QVBoxLayout(m_ui->editableListWidget);
+    editableListLayout->setSpacing(0);
+    editableListLayout->setMargin(0);
+    editableListLayout->setAlignment(Qt::AlignTop);
+    m_ui->editableListWidget->setLayout(editableListLayout);
 
     // ADD WAYPOINT
     // Connect add action, set right button icon and connect action to this class
@@ -77,6 +79,17 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
 
     //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
 
+    //VIEW TAB
+
+    viewOnlyListLayout = new QVBoxLayout(m_ui->viewOnlyListWidget);
+    viewOnlyListLayout->setSpacing(0);
+    viewOnlyListLayout->setMargin(0);
+    viewOnlyListLayout->setAlignment(Qt::AlignTop);
+    m_ui->viewOnlyListWidget->setLayout(viewOnlyListLayout);
+
+    // REFRESH VIEW TAB
+
+     connect(m_ui->refreshButton, SIGNAL(clicked()), this, SLOT(refresh()));
 
 
     // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
@@ -128,6 +141,8 @@ void WaypointList::setUAS(UASInterface* uas)
         connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
         connect(uas->getWaypointManager(), SIGNAL(waypointEditableListChanged(void)),                  this, SLOT(waypointEditableListChanged(void)));
         connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
+        connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
+        connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
         connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
         //connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
         //connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
@@ -164,15 +179,45 @@ void WaypointList::read()
 {
     if (uas)
     {
-        uas->getWaypointManager()->readWaypoints();
+        uas->getWaypointManager()->readWaypoints(true);
+    }
+}
+
+void WaypointList::refresh()
+{
+    if (uas)
+    {
+        uas->getWaypointManager()->readWaypoints(false);
     }
 }
 
-void WaypointList::add()
+void WaypointList::addEditable()
 {
     if (uas)
     {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
+        Waypoint *wp;
+        if (waypoints.size() > 0)
+        {
+            // Create waypoint with last frame
+            Waypoint *last = waypoints.at(waypoints.size()-1);
+            wp = new Waypoint(0, last->getX(), last->getY(), last->getZ(), last->getParam1(), last->getParam2(), last->getParam3(), last->getParam4(),
+                              last->getAutoContinue(), false, last->getFrame(), last->getAction());
+            uas->getWaypointManager()->addWaypointEditable(wp);
+        }
+        else
+        {
+            // Create first waypoint at current MAV position
+            addCurrentPositionWaypoint();
+        }
+    }
+}
+
+void WaypointList::addViewOnly()
+{
+    if (uas)
+    {
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList();
         Waypoint *wp;
         if (waypoints.size() > 0)
         {
@@ -194,7 +239,7 @@ void WaypointList::addCurrentPositionWaypoint()
 {
     if (uas)
     {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
         Waypoint *wp;
         Waypoint *last = 0;
         if (waypoints.size() > 0)
@@ -257,13 +302,13 @@ void WaypointList::currentWaypointChanged(quint16 seq)
 {
     if (uas)
     {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 
         if (seq < waypoints.size())
         {
             for(int i = 0; i < waypoints.size(); i++)
             {
-                WaypointEditableView* widget = wpViews.find(waypoints[i]).value();
+                WaypointEditableView* widget = wpEditableViews.find(waypoints[i]).value();
 
                 if (waypoints[i]->getId() == seq)
                 {
@@ -281,19 +326,72 @@ void WaypointList::currentWaypointChanged(quint16 seq)
 void WaypointList::updateWaypoint(int uas, Waypoint* wp)
 {
     Q_UNUSED(uas);
-    WaypointEditableView *wpv = wpViews.value(wp);
+    WaypointEditableView *wpv = wpEditableViews.value(wp);
     wpv->updateValues();
 }
 
+void WaypointList::waypointViewOnlyListChanged()
+{
+    if (uas) {
+        // Prevent updates to prevent visual flicker
+        this->setUpdatesEnabled(false);
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList();
+
+        if (!wpViewOnlyViews.empty()) {
+            QMapIterator<Waypoint*,WaypointViewOnlyView*> viewIt(wpViewOnlyViews);
+            viewIt.toFront();
+            while(viewIt.hasNext()) {
+                viewIt.next();
+                Waypoint *cur = viewIt.key();
+                int i;
+                for (i = 0; i < waypoints.size(); i++) {
+                    if (waypoints[i] == cur) {
+                        break;
+                    }
+                }
+                if (i == waypoints.size()) {
+                    WaypointViewOnlyView* widget = wpViewOnlyViews.find(cur).value();
+                    widget->hide();
+                    editableListLayout->removeWidget(widget);
+                    wpViewOnlyViews.remove(cur);
+                }
+            }
+        }
+
+        // then add/update the views for each waypoint in the list
+        for(int i = 0; i < waypoints.size(); i++) {
+            Waypoint *wp = waypoints[i];
+            if (!wpViewOnlyViews.contains(wp)) {
+                WaypointViewOnlyView* wpview = new WaypointViewOnlyView(wp, this);
+                wpViewOnlyViews.insert(wp, wpview);
+                connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
+                viewOnlyListLayout->insertWidget(i, wpview);
+            }
+            WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp);
+
+            //check if ordering has changed
+            if(viewOnlyListLayout->itemAt(i)->widget() != wpv) {
+                viewOnlyListLayout->removeWidget(wpv);
+                viewOnlyListLayout->insertWidget(i, wpv);
+            }
+
+            wpv->updateValues();    // update the values of the ui elements in the view
+        }
+        this->setUpdatesEnabled(true);
+        loadFileGlobalWP = false;
+    }
+}
+
+
 void WaypointList::waypointEditableListChanged()
 {
     if (uas) {
         // Prevent updates to prevent visual flicker
         this->setUpdatesEnabled(false);
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 
-        if (!wpViews.empty()) {
-            QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpViews);
+        if (!wpEditableViews.empty()) {
+            QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpEditableViews);
             viewIt.toFront();
             while(viewIt.hasNext()) {
                 viewIt.next();
@@ -305,10 +403,10 @@ void WaypointList::waypointEditableListChanged()
                     }
                 }
                 if (i == waypoints.size()) {
-                    WaypointEditableView* widget = wpViews.find(cur).value();
+                    WaypointEditableView* widget = wpEditableViews.find(cur).value();
                     widget->hide();
-                    listLayout->removeWidget(widget);
-                    wpViews.remove(cur);
+                    editableListLayout->removeWidget(widget);
+                    wpEditableViews.remove(cur);
                 }
             }
         }
@@ -316,22 +414,22 @@ void WaypointList::waypointEditableListChanged()
         // then add/update the views for each waypoint in the list
         for(int i = 0; i < waypoints.size(); i++) {
             Waypoint *wp = waypoints[i];
-            if (!wpViews.contains(wp)) {
+            if (!wpEditableViews.contains(wp)) {
                 WaypointEditableView* wpview = new WaypointEditableView(wp, this);
-                wpViews.insert(wp, wpview);
+                wpEditableViews.insert(wp, wpview);
                 connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
                 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))); commented, because unused
-                connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
-                listLayout->insertWidget(i, wpview);
+                //connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
+                editableListLayout->insertWidget(i, wpview);
             }
-            WaypointEditableView *wpv = wpViews.value(wp);
+            WaypointEditableView *wpv = wpEditableViews.value(wp);
 
             //check if ordering has changed
-            if(listLayout->itemAt(i)->widget() != wpv) {
-                listLayout->removeWidget(wpv);
-                listLayout->insertWidget(i, wpv);
+            if(editableListLayout->itemAt(i)->widget() != wpv) {
+                editableListLayout->removeWidget(wpv);
+                editableListLayout->insertWidget(i, wpv);
             }
 
             wpv->updateValues();    // update the values of the ui elements in the view
@@ -348,31 +446,31 @@ void WaypointList::waypointEditableListChanged()
 //        // Prevent updates to prevent visual flicker
 //        this->setUpdatesEnabled(false);
 //        // Get all waypoints
-//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 
 ////        // Store the current state, then check which widgets to update
 ////        // and which ones to delete
-////        QList<Waypoint*> oldWaypoints = wpViews.keys();
+////        QList<Waypoint*> oldWaypoints = wpEditableViews.keys();
 
 ////        foreach (Waypoint* wp, waypoints)
 ////        {
 ////            WaypointEditableView* wpview;
 ////            // Create any new waypoint
-////            if (!wpViews.contains(wp))
+////            if (!wpEditableViews.contains(wp))
 ////            {
 ////                wpview = new WaypointEditableView(wp, this);
-////                wpViews.insert(wp, wpview);
+////                wpEditableViews.insert(wp, wpview);
 ////                connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
 ////                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)));
-////                listLayout->addWidget(wpview);
+////                editableListLayout->addWidget(wpview);
 ////            }
 ////            else
 ////            {
 ////                // Update existing waypoints
-////                wpview = wpViews.value(wp);
+////                wpview = wpEditableViews.value(wp);
 
 ////            }
 ////            // Mark as updated by removing from old list
@@ -386,18 +484,18 @@ void WaypointList::waypointEditableListChanged()
 ////        foreach (Waypoint* wp, oldWaypoints)
 ////        {
 ////            // Delete waypoint view and entry in list
-////            WaypointEditableView* wpv = wpViews.value(wp);
+////            WaypointEditableView* wpv = wpEditableViews.value(wp);
 ////            if (wpv)
 ////            {
-////                listLayout->removeWidget(wpv);
+////                editableListLayout->removeWidget(wpv);
 ////                delete wpv;
 ////            }
-////            wpViews.remove(wp);
+////            wpEditableViews.remove(wp);
 ////        }
 
-//        if (!wpViews.empty())
+//        if (!wpEditableViews.empty())
 //        {
-//            QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpViews);
+//            QMapIterator<Waypoint*,WaypointEditableView*> viewIt(wpEditableViews);
 //            viewIt.toFront();
 //            while(viewIt.hasNext())
 //            {
@@ -413,13 +511,13 @@ void WaypointList::waypointEditableListChanged()
 //                }
 //                if (i == waypoints.size())
 //                {
-//                    WaypointEditableView* widget = wpViews.find(cur).value();
+//                    WaypointEditableView* widget = wpEditableViews.find(cur).value();
 //                    if (widget)
 //                    {
 //                        widget->hide();
-//                        listLayout->removeWidget(widget);
+//                        editableListLayout->removeWidget(widget);
 //                    }
-//                    wpViews.remove(cur);
+//                    wpEditableViews.remove(cur);
 //                }
 //            }
 //        }
@@ -428,19 +526,19 @@ void WaypointList::waypointEditableListChanged()
 //        for(int i = 0; i < waypoints.size(); i++)
 //        {
 //            Waypoint *wp = waypoints[i];
-//            if (!wpViews.contains(wp))
+//            if (!wpEditableViews.contains(wp))
 //            {
 //                WaypointEditableView* wpview = new WaypointEditableView(wp, this);
-//                wpViews.insert(wp, wpview);
+//                wpEditableViews.insert(wp, wpview);
 //                connect(wpview, SIGNAL(moveDownWaypoint(Waypoint*)),    this, SLOT(moveDown(Waypoint*)));
 //                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)));
 //            }
-//            WaypointEditableView *wpv = wpViews.value(wp);
+//            WaypointEditableView *wpv = wpEditableViews.value(wp);
 //            wpv->updateValues();    // update the values of the ui elements in the view
-//            listLayout->addWidget(wpv);
+//            editableListLayout->addWidget(wpv);
 
 //        }
 //        this->setUpdatesEnabled(true);
@@ -451,7 +549,7 @@ void WaypointList::waypointEditableListChanged()
 void WaypointList::moveUp(Waypoint* wp)
 {
     if (uas) {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 
         //get the current position of wp in the local storage
         int i;
@@ -470,7 +568,7 @@ void WaypointList::moveUp(Waypoint* wp)
 void WaypointList::moveDown(Waypoint* wp)
 {
     if (uas) {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 
         //get the current position of wp in the local storage
         int i;
@@ -512,9 +610,9 @@ void WaypointList::on_clearWPListButton_clicked()
 
     if (uas) {
         emit clearPathclicked();
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
         while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
-            WaypointEditableView* widget = wpViews.find(waypoints[0]).value();
+            WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
             widget->remove();
         }
     } else {
@@ -531,7 +629,7 @@ void WaypointList::on_clearWPListButton_clicked()
 //{
 //    if (uas)
 //    {
-//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
 //        if (waypoints.size() > 0)
 //        {
 //            Waypoint *temp = waypoints.at(indexWP);
@@ -563,9 +661,9 @@ void WaypointList::on_clearWPListButton_clicked()
 void WaypointList::clearWPWidget()
 {
     if (uas) {
-        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointEditableList();
         while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
-            WaypointEditableView* widget = wpViews.find(waypoints[0]).value();
+            WaypointEditableView* widget = wpEditableViews.find(waypoints[0]).value();
             widget->remove();
         }
     }

src/ui/WaypointList.h

@@ -69,10 +69,14 @@ public slots:
     void loadWaypoints();
     /** @brief Transmit the local waypoint list to the UAS */
     void transmit();
-    /** @brief Read the remote waypoint list */
+    /** @brief Read the remote waypoint list to both tabs */
     void read();
-    /** @brief Add a waypoint */
-    void add();
+    /** @brief Read the remote waypoint list to "view"-tab only*/
+    void refresh();
+    /** @brief Add a waypoint to "edit"-tab */
+    void addEditable();
+    /** @brief Add a waypoint to "view"-tab */
+    void addViewOnly();
     /** @brief Add a waypoint at the current MAV position */
     void addCurrentPositionWaypoint();
     /** @brief Add a waypoint by mouse click over the map */
@@ -86,8 +90,10 @@ public slots:
     void currentWaypointChanged(quint16 seq);
     /** @brief The waypoint manager informs that one waypoint was changed */
     void updateWaypoint(int uas, Waypoint* wp);
-    /** @brief The waypoint manager informs that the waypoint list was changed */
+    /** @brief The waypoint manager informs that the editable waypoint list was changed */
     void waypointEditableListChanged(void);
+    /** @brief The waypoint manager informs that the waypoint list on the MAV was changed */
+    void waypointViewOnlyListChanged(void);
 
 //    /** @brief The MapWidget informs that a waypoint global was changed on the map */
 //    void waypointGlobalChanged(const QPointF coordinate, const int indexWP);
@@ -115,8 +121,10 @@ protected:
     virtual void changeEvent(QEvent *e);
 
 protected:
-    QMap<Waypoint*, WaypointEditableView*> wpViews;
-    QVBoxLayout* listLayout;
+    QMap<Waypoint*, WaypointEditableView*> wpEditableViews;
+    QMap<Waypoint*, WaypointViewOnlyView*> wpViewOnlyViews;
+    QVBoxLayout* viewOnlyListLayout;
+    QVBoxLayout* editableListLayout;
     UASInterface* uas;
     double mavX;
     double mavY;

src/ui/map3D/Pixhawk3DWidget.cc

@@ -294,7 +294,7 @@ Pixhawk3DWidget::setWaypoint(void)
 {
     if (uas) {
         const QVector<Waypoint *> waypoints =
-            uas->getWaypointManager()->getWaypointList();
+            uas->getWaypointManager()->getWaypointEditableList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         if (frame == MAV_FRAME_GLOBAL) {
@@ -341,7 +341,7 @@ Pixhawk3DWidget::setWaypointAltitude(void)
     if (uas) {
         bool ok;
         const QVector<Waypoint *> waypoints =
-            uas->getWaypointManager()->getWaypointList();
+            uas->getWaypointManager()->getWaypointEditableList();
         Waypoint* waypoint = waypoints.at(selectedWpIndex);
 
         double altitude = waypoint->getZ();
@@ -367,7 +367,7 @@ Pixhawk3DWidget::clearAllWaypoints(void)
 {
     if (uas) {
         const QVector<Waypoint *> waypoints =
-            uas->getWaypointManager()->getWaypointList();
+            uas->getWaypointManager()->getWaypointEditableList();
         for (int i = waypoints.size() - 1; i >= 0; --i) {
             uas->getWaypointManager()->removeWaypoint(i);
         }

src/ui/map3D/WaypointGroupNode.cc

@@ -73,7 +73,7 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
             removeChild(0, getNumChildren());
         }
 
-        const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointList();
+        const QVector<Waypoint *>& list = uas->getWaypointManager()->getWaypointEditableList();
 
         for (int i = 0; i < list.size(); i++) {
             Waypoint* wp = list.at(i);