Fixed merge conflict

qgroundcontrol.pro

@@ -3,9 +3,9 @@
 # from http://github.com/pixhawk/qmapcontrol/
 # over bundled version in lib directory
 # Version from GIT repository is preferred
-include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
+#include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
 # Include bundled version if necessary
-#include(lib/QMapControl/QMapControl.pri)
+include(lib/QMapControl/QMapControl.pri)
 #message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
 
 

src/Waypoint.cc

@@ -26,29 +26,21 @@ This file is part of the PIXHAWK project
  *   @brief Waypoint class
  *
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
 #include "Waypoint.h"
 
-Waypoint::Waypoint(QString name, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
+Waypoint::Waypoint(quint16 id, float x, float y, float z, float yaw, bool autocontinue, bool current)
 {
     this->id = id;
-
     this->x = x;
     this->y = y;
     this->z = z;
-
     this->yaw = yaw;
     this->autocontinue = autocontinue;
     this->current = current;
-
-    this->name = name;
-}
-
-int Waypoint::getId()
-{
-    return id;
 }
 
 Waypoint::~Waypoint()
@@ -56,27 +48,27 @@ Waypoint::~Waypoint()
 
 }
 
-void Waypoint::setName(QString name)
+void Waypoint::setId(quint16 id)
 {
-    this->name = name;
+    this->id = id;
 }
 
-void Waypoint::setX(double x)
+void Waypoint::setX(float x)
 {
     this->x = x;
 }
 
-void Waypoint::setY(double y)
+void Waypoint::setY(float y)
 {
     this->y = y;
 }
 
-void Waypoint::setZ(double z)
+void Waypoint::setZ(float z)
 {
     this->z = z;
 }
 
-void Waypoint::setYaw(double yaw)
+void Waypoint::setYaw(float yaw)
 {
     this->yaw = yaw;
 }
@@ -90,3 +82,23 @@ void Waypoint::setCurrent(bool current)
 {
     this->current = current;
 }
+
+void Waypoint::setX(double x)
+{
+    this->x = x;
+}
+
+void Waypoint::setY(double y)
+{
+    this->y = y;
+}
+
+void Waypoint::setZ(double z)
+{
+    this->z = z;
+}
+
+void Waypoint::setYaw(double yaw)
+{
+    this->yaw = yaw;
+}

src/Waypoint.h

@@ -26,6 +26,7 @@ This file is part of the PIXHAWK project
  *   @brief Waypoint class
  *
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
@@ -38,35 +39,42 @@ This file is part of the PIXHAWK project
 class Waypoint : public QObject
 {
     Q_OBJECT
+
 public:
-    Waypoint(QString name, int id = 0, double x = 0.0f, double y = 0.0f, double z = 0.0f, double yaw = 0.0f, bool autocontinue = false, bool current = false);
+    Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false, bool current = false);
     ~Waypoint();
 
-    int getId();
-
-    int id;
-
-    double x;
-    double y;
-    double z;
-
-    double yaw;
+    quint16 getId() const { return id; }
+    float getX() const { return x; }
+    float getY() const { return y; }
+    float getZ() const { return z; }
+    float getYaw() const { return yaw; }
+    bool getAutoContinue() const { return autocontinue; }
+    bool getCurrent() const { return current; }
+
+private:
+    quint16 id;
+    float x;
+    float y;
+    float z;
+    float yaw;
     bool autocontinue;
     bool current;
 
-    QString name;
-
-
 public slots:
-    void setName(QString name);
+    void setId(quint16 id);
+    void setX(float x);
+    void setY(float y);
+    void setZ(float z);
+    void setYaw(float yaw);
+    void setAutocontinue(bool autoContinue);
+    void setCurrent(bool current);
+
+    //for QDoubleSpin
     void setX(double x);
     void setY(double y);
     void setZ(double z);
     void setYaw(double yaw);
-    void setAutocontinue(bool autoContinue);
-    void setCurrent(bool current);
-
-
 };
 
 #endif // WAYPOINT_H

src/uas/UASWaypointManager.cc

@@ -15,22 +15,13 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 {
     if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
     {
-        qDebug() << "handleWaypointCount";
+        qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
 
         current_count = count;
-
-        mavlink_message_t message;
-        mavlink_waypoint_request_t wpr;
-
-        wpr.target_system = uas.getUASID();
-        wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
-        wpr.seq = 0;
-
         current_wp_id = 0;
         current_state = WP_GETLIST_GETWPS;
 
-        mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
-        uas.sendMessage(message);
+        sendWaypointRequest(current_wp_id);
     }
 }
 
@@ -38,7 +29,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 {
     if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
     {
-        qDebug() << "handleWaypoint";
+        qDebug() << "got waypoint (" << wp->seq << ") from ID " << systemId;
 
         if(wp->seq == current_wp_id)
         {
@@ -50,15 +41,7 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
 
             if(current_wp_id < current_count)
             {
-                mavlink_message_t message;
-                mavlink_waypoint_request_t wpr;
-
-                wpr.target_system = uas.getUASID();
-                wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
-                wpr.seq = current_wp_id;
-
-                mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
-                uas.sendMessage(message);
+                sendWaypointRequest(current_wp_id);
             }
             else
             {
@@ -68,6 +51,10 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
                 current_wp_id = 0;
                 current_partner_systemid = 0;
                 current_partner_compid = 0;
+
+                emit updateStatusString("done.");
+
+                qDebug() << "got all waypoints from from ID " << systemId;
             }
         }
         else
@@ -83,7 +70,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
     {
         qDebug() << "handleWaypointRequest";
 
-        if (wpr->seq > 0)
+        if (wpr->seq < waypoint_buffer.count())
         {
             //TODO: send waypoint
         }
@@ -99,12 +86,12 @@ void UASWaypointManager::clearWaypointList()
 
 }
 
-void UASWaypointManager::currentWaypointChanged(int)
+void UASWaypointManager::currentWaypointChanged(quint16)
 {
 
 }
 
-void UASWaypointManager::removeWaypointId(int)
+void UASWaypointManager::removeWaypointId(quint16)
 {
 
 }
@@ -113,7 +100,6 @@ void UASWaypointManager::requestWaypoints()
 {
     if(current_state == WP_IDLE)
     {
-        qDebug() << "requestWaypoints";
         mavlink_message_t message;
         mavlink_waypoint_request_list_t wprl;
 
@@ -125,27 +111,80 @@ void UASWaypointManager::requestWaypoints()
         current_partner_systemid = uas.getUASID();
         current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
 
+        qDebug() << "sent waypoint list request to ID " << wprl.target_system;
+
+        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);
+        uas.sendMessage(message);        
     }
 }
 
-void UASWaypointManager::sendWaypoints(void)
+void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
 {
-    mavlink_message_t message;
-    mavlink_waypoint_count_t wpc;
+    if (current_state == WP_IDLE)
+    {
+        current_count = list.count();
+        current_state = WP_SENDLIST;
+        current_wp_id = 0;
 
-    wpc.target_system = uas.getUASID();
-    wpc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
-    wpc.count = 0;  //TODO
+        //copy waypoint data to local buffer
+        for (int i=0; i < current_count; i++)
+        {
+            waypoint_buffer.push_back(new mavlink_waypoint_t);
+            mavlink_waypoint_t *cur_d = waypoint_buffer.back();
+            memset(cur_d, 0, sizeof(mavlink_waypoint_t));   //initialize with zeros
+            const Waypoint *cur_s = list.at(i);
+
+           cur_d->autocontinue = cur_s->getAutoContinue();
+           cur_d->current = cur_s->getCurrent();
+           cur_d->seq = i;
+           cur_d->x = cur_s->getX();
+           cur_d->y = cur_s->getY();
+           cur_d->z = cur_s->getZ();
+           cur_d->yaw = cur_s->getYaw();
+        }
 
-    mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
-    uas.sendMessage(message);
+        //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;
+
+        qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
+
+        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);        
+    }
+    else
+    {
+        //we're in another transaction, ignore command
+        qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command";
+    }
 }
 
-void UASWaypointManager::getWaypoint(quint16 seq)
+void UASWaypointManager::sendWaypointRequest(quint16 seq)
 {
+    mavlink_message_t message;
+    mavlink_waypoint_request_t wpr;
+
+    wpr.target_system = uas.getUASID();
+    wpr.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
+    wpr.seq = seq;
+
+    mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
+    uas.sendMessage(message);
+
+    qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system;
 
+    const QString str = QString("retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count);
+    emit updateStatusString(str);
 }
 
 void UASWaypointManager::waypointChanged(Waypoint*)

src/uas/UASWaypointManager.h

@@ -2,6 +2,7 @@
 #define UASWAYPOINTMANAGER_H
 
 #include <QObject>
+#include <QVector>
 #include "Waypoint.h"
 #include <mavlink.h>
 class UAS;
@@ -26,26 +27,29 @@ public:
     void handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr);
 
 private:
-    void getWaypoint(quint16 seq);
+    void sendWaypointRequest(quint16 seq);
 
 public slots:
     void clearWaypointList();
-    void currentWaypointChanged(int);
-    void removeWaypointId(int);
+    void currentWaypointChanged(quint16);
+    void removeWaypointId(quint16);
     void requestWaypoints();
-    void sendWaypoints(void);
+    void sendWaypoints(const QVector<Waypoint *> &list);
     void waypointChanged(Waypoint*);
 
 signals:
-    void waypointUpdated(int,int,double,double,double,double,bool,bool);
+    void waypointUpdated(int,quint16,double,double,double,double,bool,bool);    ///< Adds a waypoint to the waypoint list widget
+    void updateStatusString(const QString &);                         ///< updates the current status string
 
 private:
-    UAS &uas;
-    quint16 current_wp_id;                 ///< The last used waypoint ID
-    quint16 current_count;
-    WaypointState current_state;        ///< The current state
-    quint8 current_partner_systemid;
-    quint8 current_partner_compid;
+    UAS &uas;                                       ///< Reference to the corresponding UAS
+    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
+    quint8 current_partner_systemid;                ///< The current protocol communication target system
+    quint8 current_partner_compid;                  ///< The current protocol communication target component
+
+    QVector<mavlink_waypoint_t *> waypoint_buffer;  ///< communication buffer for waypoints
 };
 
 #endif // UASWAYPOINTMANAGER_H

src/ui/WaypointList.cc

@@ -27,6 +27,7 @@ This file is part of the PIXHAWK project
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
@@ -74,6 +75,9 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
     connect(transmitDelay, SIGNAL(timeout()), this, SLOT(reenableTransmit()));
 
+    // STATUS LABEL
+    updateStatusLabel("");
+
     // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
     setUAS(uas);
 }
@@ -83,46 +87,48 @@ WaypointList::~WaypointList()
     delete m_ui;
 }
 
+void WaypointList::updateStatusLabel(const QString &string)
+{
+    m_ui->statusLabel->setText(string);
+}
+
 void WaypointList::setUAS(UASInterface* uas)
 {
     if (this->uas == NULL && uas != NULL)
     {
         this->uas = uas;
-        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,int,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,int,double,double,double,double,bool,bool)));
-        connect(&uas->getWaypointManager(), SIGNAL(waypointReached(UASInterface*,int)), this, SLOT(waypointReached(UASInterface*,int)));
-        connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
-        connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(int)));
-        connect(this, SIGNAL(requestWaypoints()),           &uas->getWaypointManager(), SLOT(requestWaypoints()));
-        connect(this, SIGNAL(clearWaypointList()),          &uas->getWaypointManager(), SLOT(clearWaypointList()));
+        connect(&uas->getWaypointManager(), SIGNAL(waypointUpdated(int,quint16,double,double,double,double,bool,bool)), this, SLOT(setWaypoint(int,quint16,double,double,double,double,bool,bool)));
+        //connect(this, SIGNAL(waypointChanged(Waypoint*)),   &uas->getWaypointManager(), SLOT(setWaypoint(Waypoint*)));
+        //connect(this, SIGNAL(currentWaypointChanged(int)),  &uas->getWaypointManager(), SLOT(setWaypointActive(quint16)));
+        connect(this, SIGNAL(sendWaypoints(const QVector<Waypoint*> &)),    &uas->getWaypointManager(), SLOT(sendWaypoints(const QVector<Waypoint*> &)));
+        connect(this, SIGNAL(requestWaypoints()),                           &uas->getWaypointManager(), SLOT(requestWaypoints()));
+        connect(this, SIGNAL(clearWaypointList()),                          &uas->getWaypointManager(), SLOT(clearWaypointList()));
+
+        connect(&uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)), this, SLOT(updateStatusLabel(const QString &)));
 
         // This slot is not implemented in UAS: connect(this, SIGNAL(removeWaypointId(int)), uas, SLOT(removeWaypoint(Waypoint*)));
 
-        qDebug() << "Requesting waypoints";
-        emit requestWaypoints();
+        //qDebug() << "Requesting waypoints";
+        //emit requestWaypoints();
     }
 }
 
-void WaypointList::setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current)
+void WaypointList::setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current)
 {
     if (uasId == this->uas->getUASID())
     {
         transmitDelay->start(1000);
-        QString string = "New waypoint";
-
-        if (waypointNames.contains(id))
-        {
-            string = waypointNames.value(id);
-        }
-
-        Waypoint* wp = new Waypoint(string, id, x, y, z, yaw, autocontinue, current);
+        Waypoint* wp = new Waypoint(id, x, y, z, yaw, autocontinue, current);
         addWaypoint(wp);
     }
 }
 
-void WaypointList::waypointReached(UASInterface* uas, int waypointId)
+void WaypointList::waypointReached(UASInterface* uas, quint16 waypointId)
 {
     Q_UNUSED(uas);
-    if (waypoints.size() > waypointId)
+    qDebug() << "Waypoint reached: " << waypointId;
+
+    /*if (waypoints.size() > waypointId)
     {
         if (waypoints[waypointId]->autocontinue == true)
         {
@@ -149,7 +155,7 @@ void WaypointList::waypointReached(UASInterface* uas, int waypointId)
 
             qDebug() << "NEW WAYPOINT SET";
         }
-    }
+    }*/
 }
 
 void WaypointList::transmit()
@@ -157,15 +163,17 @@ void WaypointList::transmit()
     transmitDelay->start(1000);
     m_ui->transmitButton->setEnabled(false);
     emit clearWaypointList();
-    waypointNames.clear();
+
     for(int i = 0; i < waypoints.size(); i++)
     {
-        Waypoint* wp = waypoints[i];
-        waypointNames.insert(wp->id, wp->name);
-        emit waypointChanged(wp);
-        if (wp->current)
-            emit currentWaypointChanged(wp->id);
+        //Waypoint* wp = waypoints[i];
+        //emit waypointChanged(wp);
+        //if (wp->current)
+        //    emit currentWaypointChanged(wp->id);
     }
+
+    emit sendWaypoints(waypoints);
+
     while(waypoints.size()>0)
     {
         removeWaypoint(waypoints[0]);
@@ -180,11 +188,11 @@ void WaypointList::add()
     {
         if (waypoints.size() > 0)
         {
-            addWaypoint(new Waypoint("New waypoint", waypoints.size(), 0.0, 0.1, -0.5, 0.0, false, false));
+            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.1, -0.5, 0.0, false, false));
         }
         else
         {
-            addWaypoint(new Waypoint("New waypoint", waypoints.size(), 0.0, 0.0, -0.5, 360.0, false, true));
+            addWaypoint(new Waypoint(waypoints.size(), 0.0, 0.0, -0.5, 360.0, false, true));
         }
     }
 }
@@ -196,7 +204,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         removeWaypoint(wp);
     }
 
-    waypoints.insert(wp->id, wp);
+    waypoints.insert(wp->getId(), wp);
 
     if (!wpViews.contains(wp))
     {
@@ -205,7 +213,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         listLayout->addWidget(wpViews.value(wp));
         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(removeWaypointAndName(Waypoint*)));
+        connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
         connect(wpview, SIGNAL(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
         connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
     }
@@ -231,17 +239,9 @@ void WaypointList::redrawList()
     }
 }
 
-void WaypointList::debugOutputWaypoints()
-{
-    for (int i = 0; i < waypoints.size(); i++)
-    {
-        qDebug() << i << " " << waypoints[i]->name;
-    }
-}
-
 void WaypointList::moveUp(Waypoint* wp)
 {
-    int id = wp->id;
+    int id = wp->getId();
     if (waypoints.size() > 1 && waypoints.size() > id)
     {
         Waypoint* temp = waypoints[id];
@@ -249,15 +249,15 @@ void WaypointList::moveUp(Waypoint* wp)
         {
             waypoints[id] = waypoints[id-1];
             waypoints[id-1] = temp;
-            waypoints[id-1]->id = id-1;
-            waypoints[id]->id = id;
+            waypoints[id-1]->setId(id-1);
+            waypoints[id]->setId(id);
         }
         else
         {
             waypoints[id] = waypoints[waypoints.size()-1];
             waypoints[waypoints.size()-1] = temp;
-            waypoints[waypoints.size()-1]->id = waypoints.size()-1;
-            waypoints[id]->id = id;
+            waypoints[waypoints.size()-1]->setId(waypoints.size()-1);
+            waypoints[id]->setId(id);
         }
         redrawList();
     }
@@ -265,7 +265,7 @@ void WaypointList::moveUp(Waypoint* wp)
 
 void WaypointList::moveDown(Waypoint* wp)
 {
-    int id = wp->id;
+    int id = wp->getId();
     if (waypoints.size() > 1 && waypoints.size() > id)
     {
         Waypoint* temp = waypoints[id];
@@ -273,34 +273,33 @@ void WaypointList::moveDown(Waypoint* wp)
         {
             waypoints[id] = waypoints[id+1];
             waypoints[id+1] = temp;
-            waypoints[id+1]->id = id+1;
-            waypoints[id]->id = id;
+            waypoints[id+1]->setId(id+1);
+            waypoints[id]->setId(id);
         }
         else
         {
             waypoints[id] = waypoints[0];
             waypoints[0] = temp;
-            waypoints[0]->id = 0;
-            waypoints[id]->id = id;
+            waypoints[0]->setId(0);
+            waypoints[id]->setId(id);
         }
         redrawList();
     }
 }
 
-void WaypointList::removeWaypointAndName(Waypoint* wp)
+/*void WaypointList::removeWaypointAndName(Waypoint* wp)
 {
-    waypointNames.remove(wp->id);
     removeWaypoint(wp);
-}
+}*/
 
 void WaypointList::removeWaypoint(Waypoint* wp)
 {
     // Delete from list
     if (wp != NULL){
-        waypoints.remove(wp->id);
-        for(int i = wp->id; i < waypoints.size(); i++)
+        waypoints.remove(wp->getId());
+        for(int i = wp->getId(); i < waypoints.size(); i++)
         {
-            waypoints[i]->id = i;
+            waypoints[i]->setId(i);
         }
 
         // Remove from view
@@ -318,15 +317,15 @@ void WaypointList::setCurrentWaypoint(Waypoint* wp)
     {
         if (waypoints[i] == wp)
         {
-            waypoints[i]->current = true;
+            waypoints[i]->setCurrent(true);
             // Retransmit waypoint
             //uas->getWaypointManager().setWaypointActive(i);
         }
         else
         {
-            if (waypoints[i]->current)
+            if (waypoints[i]->getCurrent())
             {
-                waypoints[i]->current = false;
+                waypoints[i]->setCurrent(false);
                 WaypointView* widget = wpViews.find(waypoints[i]).value();
                 widget->removeCurrentCheck();
             }
@@ -361,7 +360,7 @@ void WaypointList::saveWaypoints()
     for (int i = 0; i < waypoints.size(); i++)
     {
         Waypoint* wp = waypoints[i];
-        in << wp->name << "~" << wp->id << "~" << wp->x << "~" << wp->y << "~" << wp->z << "~" << wp->yaw << "~" << wp->autocontinue << "~" << wp->current << "\n";
+        in << "~" << wp->getId() << "~" << wp->getX() << "~" << wp->getY()  << "~" << wp->getZ()  << "~" << wp->getYaw()  << "~" << wp->getAutoContinue() << "~" << wp->getCurrent() << "\n";
         in.flush();
     }
     file.close();
@@ -376,7 +375,7 @@ void WaypointList::loadWaypoints()
 
     while(waypoints.size()>0)
     {
-        removeWaypointAndName(waypoints[0]);
+        removeWaypoint(waypoints[0]);
     }
 
     QTextStream in(&file);
@@ -384,7 +383,7 @@ void WaypointList::loadWaypoints()
     {
         QStringList wpParams = in.readLine().split("~");
         if (wpParams.size() == 8)
-            addWaypoint(new Waypoint(wpParams[0], wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false)));
+            addWaypoint(new Waypoint(wpParams[1].toInt(), wpParams[2].toDouble(), wpParams[3].toDouble(), wpParams[4].toDouble(), wpParams[5].toDouble(), (wpParams[6].toInt() == 1 ? true : false), (wpParams[7].toInt() == 1 ? true : false)));
     }
     file.close();
 }

src/ui/WaypointList.h

@@ -27,6 +27,7 @@ This file is part of the PIXHAWK project
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
@@ -66,18 +67,19 @@ public slots:
     void moveDown(Waypoint* wp);
     void setCurrentWaypoint(Waypoint* wp);
 
+    /** @brief sets statusLabel string */
+    void updateStatusLabel(const QString &string);
+
     //To be moved to UASWaypointManager (?)
-    void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);
+    void setWaypoint(int uasId, quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current);
     void addWaypoint(Waypoint* wp);
-    void removeWaypointAndName(Waypoint* wp);
-    void waypointReached(UASInterface* uas, int waypointId);
+    void removeWaypoint(Waypoint* wp);
+    void waypointReached(UASInterface* uas, quint16 waypointId);
 
 protected:
     virtual void changeEvent(QEvent *e);
-    void debugOutputWaypoints();
 
     QVector<Waypoint*> waypoints;
-    QMap<int, QString> waypointNames;
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
     QTimer* transmitDelay;
@@ -85,12 +87,12 @@ protected:
 
 private:
     Ui::WaypointList *m_ui;
-    void removeWaypoint(Waypoint* wp);
 
 signals:
-    void waypointChanged(Waypoint*);
-    void currentWaypointChanged(int);
-    void removeWaypointId(int);
+    //void waypointChanged(Waypoint*);
+    //void currentWaypointChanged(int);
+    //void removeWaypointId(int);
+    void sendWaypoints(const QVector<Waypoint*> &);
     void requestWaypoints();
     void clearWaypointList();
 };

src/ui/WaypointList.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>419</width>
-    <height>206</height>
+    <width>476</width>
+    <height>218</height>
    </rect>
   </property>
   <property name="minimumSize">
@@ -19,14 +19,14 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout" rowstretch="100,0">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="100,0,0,0">
    <property name="margin">
     <number>4</number>
    </property>
    <property name="spacing">
     <number>4</number>
    </property>
-   <item row="0" column="0" colspan="7">
+   <item row="0" column="0" colspan="8">
     <widget class="QScrollArea" name="scrollArea">
      <property name="widgetResizable">
       <bool>true</bool>
@@ -36,8 +36,8 @@
        <rect>
         <x>0</x>
         <y>0</y>
-        <width>409</width>
-        <height>158</height>
+        <width>466</width>
+        <height>148</height>
        </rect>
       </property>
       <layout class="QHBoxLayout" name="horizontalLayout">
@@ -54,66 +54,73 @@
      </widget>
     </widget>
    </item>
-   <item row="1" column="0">
-    <spacer name="horizontalSpacer">
-     <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>127</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="1" column="3">
-    <widget class="QToolButton" name="addButton">
+   <item row="2" column="6">
+    <widget class="QPushButton" name="readButton">
      <property name="text">
-      <string>...</string>
+      <string>Read</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
+       <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="1" column="1">
-    <widget class="QPushButton" name="saveButton">
+   <item row="2" column="7">
+    <widget class="QPushButton" name="transmitButton">
      <property name="text">
-      <string>Save WPs</string>
+      <string>Write</string>
+     </property>
+     <property name="icon">
+      <iconset resource="../../mavground.qrc">
+       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="1" column="2">
-    <widget class="QPushButton" name="loadButton">
+   <item row="3" column="0" colspan="8">
+    <widget class="QLabel" name="statusLabel">
      <property name="text">
-      <string>Load WPs</string>
+      <string>TextLabel</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
-    <widget class="QPushButton" name="readButton">
+   <item row="2" column="5">
+    <widget class="QToolButton" name="addButton">
      <property name="text">
-      <string>Read</string>
+      <string>...</string>
      </property>
      <property name="icon">
       <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/status/software-update-available.svg</normaloff>:/images/status/software-update-available.svg</iconset>
+       <normaloff>:/images/actions/list-add.svg</normaloff>:/images/actions/list-add.svg</iconset>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
-    <widget class="QPushButton" name="transmitButton">
+   <item row="2" column="3">
+    <widget class="QPushButton" name="loadButton">
      <property name="text">
-      <string>Write</string>
+      <string>Load WPs</string>
      </property>
-     <property name="icon">
-      <iconset resource="../../mavground.qrc">
-       <normaloff>:/images/devices/network-wireless.svg</normaloff>:/images/devices/network-wireless.svg</iconset>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="saveButton">
+     <property name="text">
+      <string>Save WPs</string>
      </property>
     </widget>
    </item>
+   <item row="2" column="4">
+    <spacer name="horizontalSpacer">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>127</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
   </layout>
   <action name="actionAddWaypoint">
    <property name="icon">

src/ui/WaypointView.cc

@@ -27,6 +27,7 @@ This file is part of the PIXHAWK project
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
@@ -45,13 +46,13 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     this->wp = wp;
 
     // Read values and set user interface
-    m_ui->name->setText(wp->name);
-    m_ui->xSpinBox->setValue(wp->x);
-    m_ui->ySpinBox->setValue(wp->y);
-    m_ui->zSpinBox->setValue(wp->z);
-    m_ui->yawSpinBox->setValue(wp->yaw);
-    m_ui->selectedBox->setChecked(wp->current);
-    m_ui->autoContinue->setChecked(wp->autocontinue);
+    m_ui->xSpinBox->setValue(wp->getX());
+    m_ui->ySpinBox->setValue(wp->getY());
+    m_ui->zSpinBox->setValue(wp->getZ());
+    m_ui->yawSpinBox->setValue(wp->getYaw());
+    m_ui->selectedBox->setChecked(wp->getCurrent());
+    m_ui->autoContinue->setChecked(wp->getAutoContinue());
+    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));
 
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
@@ -64,7 +65,6 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
 
     connect(m_ui->autoContinue, SIGNAL(stateChanged(int)), this, SLOT(setAutoContinue(int)));
     connect(m_ui->selectedBox, SIGNAL(clicked()), this, SLOT(setCurrent()));
-    connect(m_ui->name, SIGNAL(editingFinished()), this, SLOT(setText()));
 }
 
 void WaypointView::moveUp()
@@ -86,9 +86,9 @@ void WaypointView::remove()
 void WaypointView::setAutoContinue(int state)
 {
     if (state == 0)
-        wp->autocontinue = false;
+        wp->setAutocontinue(false);
     else
-        wp->autocontinue = true;
+        wp->setAutocontinue(true);
     emit waypointUpdated(wp);
 }
 
@@ -105,11 +105,6 @@ void WaypointView::setCurrent()
         m_ui->selectedBox->setCheckState(Qt::Checked);
 }
 
-void WaypointView::setText()
-{
-    wp->name = m_ui->name->text();
-}
-
 WaypointView::~WaypointView()
 {
     delete m_ui;

src/ui/WaypointView.h

@@ -27,6 +27,7 @@ This file is part of the PIXHAWK project
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *   @author Benjamin Knecht <mavteam@student.ethz.ch>
+ *   @author Petri Tanskanen <mavteam@student.ethz.ch>
  *
  */
 
@@ -56,7 +57,7 @@ public slots:
     void remove();
     void setAutoContinue(int);
     void setCurrent();
-    void setText();
+    //void setText();
 
 protected:
     virtual void changeEvent(QEvent *e);

src/ui/WaypointView.ui

@@ -155,7 +155,7 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,25,5,0,0,0,0,0,0,0,0">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0,5,0,0,0,0,0,0,0,0">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -179,9 +179,9 @@ QProgressBar::chunk#thrustBar {
        </widget>
       </item>
       <item>
-       <widget class="QLineEdit" name="name">
+       <widget class="QLabel" name="idLabel">
         <property name="text">
-         <string>Name</string>
+         <string>TextLabel</string>
         </property>
        </widget>
       </item>

src/ui/watchdog/WatchdogControl.cc

@@ -58,7 +58,7 @@ void WatchdogControl::updateWatchdog(int systemId, int watchdogId, unsigned int
     // start the timeout timer
     //watchdog.timeoutTimer_.reset();
 
-    qDebug() << "WATCHDOG RECEIVED";
+    //qDebug() << "WATCHDOG RECEIVED";
     //qDebug() << "<-- received mavlink_watchdog_heartbeat_t " << msg->sysid << " / " << payload.watchdog_id << " / " << payload.process_count << std::endl;
 }