WaypointList.cc 18.8 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    PIXHAWK is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Waypoint list widget
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *   @author Benjamin Knecht <mavteam@student.ethz.ch>
30
 *   @author Petri Tanskanen <mavteam@student.ethz.ch>
pixhawk's avatar
pixhawk committed
31 32 33 34 35 36 37 38 39
 *
 */

#include "WaypointList.h"
#include "ui_WaypointList.h"
#include <UASInterface.h>
#include <UASManager.h>
#include <QDebug>
#include <QFileDialog>
40
#include <QMessageBox>
41
#include <QMouseEvent>
pixhawk's avatar
pixhawk committed
42 43

WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
44 45 46 47 48 49 50
    QWidget(parent),
    uas(NULL),
    mavX(0.0),
    mavY(0.0),
    mavZ(0.0),
    mavYaw(0.0),
    m_ui(new Ui::WaypointList)
pixhawk's avatar
pixhawk committed
51 52 53 54
{
    m_ui->setupUi(this);

    listLayout = new QVBoxLayout(m_ui->listWidget);
55
    listLayout->setSpacing(0);
pixhawk's avatar
pixhawk committed
56 57 58 59 60 61 62 63 64
    listLayout->setMargin(0);
    listLayout->setAlignment(Qt::AlignTop);
    m_ui->listWidget->setLayout(listLayout);

    // ADD WAYPOINT
    // Connect add action, set right button icon and connect action to this class
    connect(m_ui->addButton, SIGNAL(clicked()), m_ui->actionAddWaypoint, SIGNAL(triggered()));
    connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(add()));

65 66 67
    // ADD WAYPOINT AT CURRENT POSITION
    connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositonWaypoint()));

pixhawk's avatar
pixhawk committed
68 69 70
    // SEND WAYPOINTS
    connect(m_ui->transmitButton, SIGNAL(clicked()), this, SLOT(transmit()));

71
    // REQUEST WAYPOINTS
72
    connect(m_ui->readButton, SIGNAL(clicked()), this, SLOT(read()));
73

pixhawk's avatar
pixhawk committed
74 75 76 77
    // SAVE/LOAD WAYPOINTS
    connect(m_ui->saveButton, SIGNAL(clicked()), this, SLOT(saveWaypoints()));
    connect(m_ui->loadButton, SIGNAL(clicked()), this, SLOT(loadWaypoints()));

78
    //connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setUAS(UASInterface*)));
pixhawk's avatar
pixhawk committed
79

80 81


pixhawk's avatar
pixhawk committed
82 83
    // SET UAS AFTER ALL SIGNALS/SLOTS ARE CONNECTED
    setUAS(uas);
84 85 86

    // STATUS LABEL
    updateStatusLabel("");
87 88

    this->setVisible(false);
89
    loadFileGlobalWP = false;
90
    readGlobalWP = false;
91 92 93
    centerMapCoordinate.setX(0.0);
    centerMapCoordinate.setY(0.0);

pixhawk's avatar
pixhawk committed
94 95 96 97 98 99 100
}

WaypointList::~WaypointList()
{
    delete m_ui;
}

101
void WaypointList::updatePosition(UASInterface* uas, double x, double y, double z, quint64 usec)
102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118
{
    Q_UNUSED(uas);
    Q_UNUSED(usec);
    mavX = x;
    mavY = y;
    mavZ = z;
}

void WaypointList::updateAttitude(UASInterface* uas, double roll, double pitch, double yaw, quint64 usec)
{
    Q_UNUSED(uas);
    Q_UNUSED(usec);
    Q_UNUSED(roll);
    Q_UNUSED(pitch);
    mavYaw = yaw;
}

pixhawk's avatar
pixhawk committed
119 120
void WaypointList::setUAS(UASInterface* uas)
{
121
    if (this->uas == NULL && uas != NULL) {
pixhawk's avatar
pixhawk committed
122
        this->uas = uas;
pixhawk's avatar
pixhawk committed
123

124
        connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)),  this, SLOT(updatePosition(UASInterface*,double,double,double,quint64)));
125
        connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)),       this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
pixhawk's avatar
pixhawk committed
126

pixhawk's avatar
pixhawk committed
127 128
        connect(uas->getWaypointManager(), SIGNAL(updateStatusString(const QString &)),        this, SLOT(updateStatusLabel(const QString &)));
        connect(uas->getWaypointManager(), SIGNAL(waypointListChanged(void)),                  this, SLOT(waypointListChanged(void)));
129
        connect(uas->getWaypointManager(), SIGNAL(waypointChanged(int,Waypoint*)), this, SLOT(updateWaypoint(int,Waypoint*)));
pixhawk's avatar
pixhawk committed
130
        connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
131 132
        //connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
        //connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
133

pixhawk's avatar
pixhawk committed
134 135 136
    }
}

pixhawk's avatar
pixhawk committed
137 138
void WaypointList::saveWaypoints()
{
139
    if (uas) {
pixhawk's avatar
pixhawk committed
140
        QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./waypoints.txt", tr("Waypoint File (*.txt)"));
pixhawk's avatar
pixhawk committed
141
        uas->getWaypointManager()->saveWaypoints(fileName);
pixhawk's avatar
pixhawk committed
142 143 144 145 146
    }
}

void WaypointList::loadWaypoints()
{
147
    if (uas) {
pixhawk's avatar
pixhawk committed
148
        QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Waypoint File (*.txt)"));
pixhawk's avatar
pixhawk committed
149
        uas->getWaypointManager()->loadWaypoints(fileName);
150
    }
pixhawk's avatar
pixhawk committed
151 152 153 154
}

void WaypointList::transmit()
{
155
    if (uas) {
pixhawk's avatar
pixhawk committed
156
        uas->getWaypointManager()->writeWaypoints();
pixhawk's avatar
pixhawk committed
157 158 159 160 161
    }
}

void WaypointList::read()
{
162
    if (uas) {
pixhawk's avatar
pixhawk committed
163
        uas->getWaypointManager()->readWaypoints();
pixhawk's avatar
pixhawk committed
164 165 166 167 168
    }
}

void WaypointList::add()
{
169 170
    if (uas)
    {
pixhawk's avatar
pixhawk committed
171 172
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
        Waypoint *wp;
173 174
        if (waypoints.size() > 0)
        {
pixhawk's avatar
pixhawk committed
175 176
            // Create waypoint with last frame
            Waypoint *last = waypoints.at(waypoints.size()-1);
lm's avatar
lm committed
177 178
            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());
pixhawk's avatar
pixhawk committed
179
            uas->getWaypointManager()->addWaypoint(wp);
180 181 182 183 184
        }
        else
        {
            // Create first waypoint at current MAV position
            addCurrentPositonWaypoint();
185
        }
pixhawk's avatar
pixhawk committed
186 187 188
    }
}

lm's avatar
lm committed
189 190
void WaypointList::addCurrentPositonWaypoint()
{
pixhawk's avatar
pixhawk committed
191
    if (uas)
pixhawk's avatar
pixhawk committed
192
    {
193 194 195 196
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
        Waypoint *wp;
        Waypoint *last = 0;
        if (waypoints.size() > 0)
pixhawk's avatar
pixhawk committed
197
        {
198 199 200 201 202 203 204 205 206
            last = waypoints.at(waypoints.size()-1);
        }

        if (uas->globalPositionKnown())
        {
            float acceptanceRadiusGlobal = 10.0f;
            float holdTime = 0.0f;
            float yawGlobal = 0.0f;
            if (last)
207
            {
208 209 210
                acceptanceRadiusGlobal = last->getAcceptanceRadius();
                holdTime = last->getHoldTime();
                yawGlobal = last->getYaw();
211
            }
212 213 214
            // Create global frame waypoint per default
            wp = new Waypoint(0, uas->getLatitude(), uas->getLongitude(), uas->getAltitude(), yawGlobal, acceptanceRadiusGlobal, holdTime, 0.0, true, true, MAV_FRAME_GLOBAL_RELATIVE_ALT, MAV_CMD_NAV_WAYPOINT);
            uas->getWaypointManager()->addWaypoint(wp);
lm's avatar
lm committed
215
            updateStatusLabel(tr("Added GLOBAL, ALTITUDE OVER GROUND waypoint"));
216 217 218 219 220 221
        }
        else if (uas->localPositionKnown())
        {
            float acceptanceRadiusLocal = 0.2f;
            float holdTime = 0.5f;
            if (last)
222
            {
223 224
                acceptanceRadiusLocal = last->getAcceptanceRadius();
                holdTime = last->getHoldTime();
225
            }
226
            // Create local frame waypoint as second option
lm's avatar
lm committed
227
            wp = new Waypoint(0, uas->getLocalX(), uas->getLocalY(), uas->getLocalZ(), uas->getYaw(), acceptanceRadiusLocal, holdTime, 0.0, true, true, MAV_FRAME_LOCAL_NED, MAV_CMD_NAV_WAYPOINT);
228
            uas->getWaypointManager()->addWaypoint(wp);
lm's avatar
lm committed
229
            updateStatusLabel(tr("Added LOCAL (NED) waypoint"));
230 231 232 233 234
        }
        else
        {
            // Do nothing
            updateStatusLabel(tr("Not adding waypoint, no position known of MAV known yet."));
pixhawk's avatar
pixhawk committed
235
        }
pixhawk's avatar
pixhawk committed
236 237 238
    }
}

pixhawk's avatar
pixhawk committed
239 240 241 242 243
void WaypointList::updateStatusLabel(const QString &string)
{
    m_ui->statusLabel->setText(string);
}

244
void WaypointList::changeCurrentWaypoint(quint16 seq)
pixhawk's avatar
pixhawk committed
245
{
246 247
    if (uas)
    {
pixhawk's avatar
pixhawk committed
248
        uas->getWaypointManager()->setCurrentWaypoint(seq);
249
    }
pixhawk's avatar
pixhawk committed
250 251
}

252
void WaypointList::currentWaypointChanged(quint16 seq)
253
{
254 255
    if (uas)
    {
pixhawk's avatar
pixhawk committed
256
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
257

258 259 260 261
        if (seq < waypoints.size())
        {
            for(int i = 0; i < waypoints.size(); i++)
            {
262 263
                WaypointView* widget = wpViews.find(waypoints[i]).value();

264 265
                if (waypoints[i]->getId() == seq)
                {
266
                    widget->setCurrent(true);
267 268 269
                }
                else
                {
270 271 272 273 274 275 276
                    widget->setCurrent(false);
                }
            }
        }
    }
}

277 278 279 280 281 282 283
void WaypointList::updateWaypoint(int uas, Waypoint* wp)
{
    Q_UNUSED(uas);
    WaypointView *wpv = wpViews.value(wp);
    wpv->updateValues();
}

284
void WaypointList::waypointListChanged()
pixhawk's avatar
pixhawk committed
285
{
286
    if (uas) {
pixhawk's avatar
pixhawk committed
287 288 289 290
        // Prevent updates to prevent visual flicker
        this->setUpdatesEnabled(false);
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();

291
        if (!wpViews.empty()) {
292 293
            QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
            viewIt.toFront();
294
            while(viewIt.hasNext()) {
295 296 297
                viewIt.next();
                Waypoint *cur = viewIt.key();
                int i;
298 299
                for (i = 0; i < waypoints.size(); i++) {
                    if (waypoints[i] == cur) {
300
                        break;
lm's avatar
lm committed
301 302
                    }
                }
303
                if (i == waypoints.size()) {
304 305 306 307
                    WaypointView* widget = wpViews.find(cur).value();
                    widget->hide();
                    listLayout->removeWidget(widget);
                    wpViews.remove(cur);
lm's avatar
lm committed
308
                }
pixhawk's avatar
pixhawk committed
309 310
            }
        }
311

312
        // then add/update the views for each waypoint in the list
313
        for(int i = 0; i < waypoints.size(); i++) {
314
            Waypoint *wp = waypoints[i];
315
            if (!wpViews.contains(wp)) {
316 317 318 319 320 321 322 323 324 325 326 327
                WaypointView* wpview = new WaypointView(wp, this);
                wpViews.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->insertWidget(i, wpview);
            }
            WaypointView *wpv = wpViews.value(wp);

            //check if ordering has changed
328
            if(listLayout->itemAt(i)->widget() != wpv) {
329 330 331
                listLayout->removeWidget(wpv);
                listLayout->insertWidget(i, wpv);
            }
lm's avatar
lm committed
332

333 334 335
            wpv->updateValues();    // update the values of the ui elements in the view
        }
        this->setUpdatesEnabled(true);
lm's avatar
lm committed
336
        loadFileGlobalWP = false;
337
    }
lm's avatar
lm committed
338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392
}

//void WaypointList::waypointListChanged()
//{
//    if (uas)
//    {
//        // Prevent updates to prevent visual flicker
//        this->setUpdatesEnabled(false);
//        // Get all waypoints
//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();

////        // Store the current state, then check which widgets to update
////        // and which ones to delete
////        QList<Waypoint*> oldWaypoints = wpViews.keys();

////        foreach (Waypoint* wp, waypoints)
////        {
////            WaypointView* wpview;
////            // Create any new waypoint
////            if (!wpViews.contains(wp))
////            {
////                wpview = new WaypointView(wp, this);
////                wpViews.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);
////            }
////            else
////            {
////                // Update existing waypoints
////                wpview = wpViews.value(wp);

////            }
////            // Mark as updated by removing from old list
////            oldWaypoints.removeAt(oldWaypoints.indexOf(wp));

////            wpview->updateValues();    // update the values of the ui elements in the view

////        }

////        // The old list now contains all wps to be deleted
////        foreach (Waypoint* wp, oldWaypoints)
////        {
////            // Delete waypoint view and entry in list
////            WaypointView* wpv = wpViews.value(wp);
////            if (wpv)
////            {
////                listLayout->removeWidget(wpv);
////                delete wpv;
////            }
////            wpViews.remove(wp);
////        }
393

pixhawk's avatar
pixhawk committed
394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412
//        if (!wpViews.empty())
//        {
//            QMapIterator<Waypoint*,WaypointView*> viewIt(wpViews);
//            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())
//                {
//                    WaypointView* widget = wpViews.find(cur).value();
lm's avatar
lm committed
413 414 415 416 417
//                    if (widget)
//                    {
//                        widget->hide();
//                        listLayout->removeWidget(widget);
//                    }
pixhawk's avatar
pixhawk committed
418 419 420 421
//                    wpViews.remove(cur);
//                }
//            }
//        }
422

pixhawk's avatar
pixhawk committed
423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441
//        // 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))
//            {
//                WaypointView* wpview = new WaypointView(wp, this);
//                wpViews.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)));
//            }
//            WaypointView *wpv = wpViews.value(wp);
//            wpv->updateValues();    // update the values of the ui elements in the view
//            listLayout->addWidget(wpv);

//        }
lm's avatar
lm committed
442 443 444 445
//        this->setUpdatesEnabled(true);
//    }
////    loadFileGlobalWP = false;
//}
pixhawk's avatar
pixhawk committed
446

447
void WaypointList::moveUp(Waypoint* wp)
pixhawk's avatar
pixhawk committed
448
{
449
    if (uas) {
pixhawk's avatar
pixhawk committed
450
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
451 452 453

        //get the current position of wp in the local storage
        int i;
454
        for (i = 0; i < waypoints.size(); i++) {
455 456
            if (waypoints[i] == wp)
                break;
457 458
        }

459
        // if wp was found and its not the first entry, move it
460
        if (i < waypoints.size() && i > 0) {
pixhawk's avatar
pixhawk committed
461
            uas->getWaypointManager()->moveWaypoint(i, i-1);
pixhawk's avatar
pixhawk committed
462 463 464 465
        }
    }
}

466
void WaypointList::moveDown(Waypoint* wp)
pixhawk's avatar
pixhawk committed
467
{
468
    if (uas) {
pixhawk's avatar
pixhawk committed
469
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
470

471 472
        //get the current position of wp in the local storage
        int i;
473
        for (i = 0; i < waypoints.size(); i++) {
474 475
            if (waypoints[i] == wp)
                break;
pixhawk's avatar
pixhawk committed
476 477
        }

478
        // if wp was found and its not the last entry, move it
479
        if (i < waypoints.size()-1) {
pixhawk's avatar
pixhawk committed
480
            uas->getWaypointManager()->moveWaypoint(i, i+1);
pixhawk's avatar
pixhawk committed
481 482 483 484 485 486
        }
    }
}

void WaypointList::removeWaypoint(Waypoint* wp)
{
487
    if (uas) {
pixhawk's avatar
pixhawk committed
488
        uas->getWaypointManager()->removeWaypoint(wp->getId());
pixhawk's avatar
pixhawk committed
489 490 491 492 493 494 495 496 497 498 499 500 501 502
    }
}

void WaypointList::changeEvent(QEvent *e)
{
    switch (e->type()) {
    case QEvent::LanguageChange:
        m_ui->retranslateUi(this);
        break;
    default:
        break;
    }
}

503 504 505 506


void WaypointList::on_clearWPListButton_clicked()
{
507

tecnosapiens's avatar
tecnosapiens committed
508

509 510 511 512 513 514
    if (uas) {
        emit clearPathclicked();
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
        while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
            WaypointView* widget = wpViews.find(waypoints[0]).value();
            widget->remove();
515
        }
516
    } else {
lm's avatar
lm committed
517 518 519 520 521
//        if(isGlobalWP)
//        {
//           emit clearPathclicked();
//        }
    }
522 523
}

pixhawk's avatar
pixhawk committed
524
///** @brief The MapWidget informs that a waypoint global was changed on the map */
525

pixhawk's avatar
pixhawk committed
526 527 528 529 530 531 532 533
//void WaypointList::waypointGlobalChanged(QPointF coordinate, int indexWP)
//{
//    if (uas)
//    {
//        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
//        if (waypoints.size() > 0)
//        {
//            Waypoint *temp = waypoints.at(indexWP);
534

pixhawk's avatar
pixhawk committed
535 536
//            temp->setX(coordinate.x());
//            temp->setY(coordinate.y());
537

pixhawk's avatar
pixhawk committed
538 539 540 541
//            //WaypointGlobalView* widget = wpGlobalViews.find(waypoints[indexWP]).value();
//            //widget->updateValues();
//        }
//    }
542 543


pixhawk's avatar
pixhawk committed
544
//}
545

546 547 548 549 550 551 552 553 554 555 556 557 558
///** @brief The MapWidget informs that a waypoint global was changed on the map */

//void WaypointList::waypointGlobalPositionChanged(Waypoint* wp)
//{
//    QPointF coordinate;
//    coordinate.setX(wp->getX());
//    coordinate.setY(wp->getY());

//   emit ChangeWaypointGlobalPosition(wp->getId(), coordinate);


//}

559
void WaypointList::clearWPWidget()
560
{
561 562 563 564 565 566 567
    if (uas) {
        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointList();
        while(!waypoints.isEmpty()) { //for(int i = 0; i <= waypoints.size(); i++)
            WaypointView* widget = wpViews.find(waypoints[0]).value();
            widget->remove();
        }
    }
568
}
569

pixhawk's avatar
pixhawk committed
570 571 572 573
//void WaypointList::setIsLoadFileWP()
//{
//    loadFileGlobalWP = true;
//}
574

pixhawk's avatar
pixhawk committed
575 576 577 578 579 580
//void WaypointList::setIsReadGlobalWP(bool value)
//{
//    // FIXME James Check this
//    Q_UNUSED(value);
//    // readGlobalWP = value;
//}