From 0303d34627e58a0a1a79cb38acda26f31e1d4069 Mon Sep 17 00:00:00 2001
From: pixhawk <mavteam@student.ethz.ch>
Date: Wed, 16 Jun 2010 17:32:03 +0200
Subject: [PATCH] worked on waypoints

---
 src/uas/UAS.cc                |  1 +
 src/uas/UASWaypointManager.cc |  4 +++-
 src/uas/UASWaypointManager.h  |  2 +-
 src/ui/WaypointList.cc        | 13 ++++---------
 4 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index deadfb708..19b168616 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -428,6 +428,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_waypoint_t wp;
                 mavlink_msg_waypoint_decode(&message, &wp);
+                qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
                 if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
                 {
                     waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index ec5db6b7b..8784eb39d 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -37,7 +37,7 @@ 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() << "got waypoint (" << wp->seq << ") from ID " << systemId;
+        qDebug() << "got waypoint (" << wp->seq << ") from ID " << systemId << " x=" << wp->x << " y=" << wp->y << " z=" << wp->z;
 
         if(wp->seq == current_wp_id)
         {
@@ -170,6 +170,8 @@ void UASWaypointManager::sendWaypoints(const QVector<Waypoint*> &list)
 
                 cur_d->autocontinue = cur_s->getAutoContinue();
                 cur_d->current = cur_s->getCurrent();
+                cur_d->orbit = 0.1f;    //FIXME
+                cur_d->type = 1;        //FIXME
                 cur_d->seq = i;
                 cur_d->x = cur_s->getX();
                 cur_d->y = cur_s->getY();
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index cced749d8..b5cad1706 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -40,7 +40,7 @@ public slots:
 
 signals:
     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
+    void updateStatusString(const QString &);                                   ///< updates the current status string
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index 5b608f028..5a7d4209e 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -160,6 +160,7 @@ void WaypointList::read()
         removeWaypoint(waypoints[0]);
     }
     
+    redrawList();
     emit requestWaypoints();
 }
 
@@ -189,13 +190,6 @@ void WaypointList::add()
 
 void WaypointList::addWaypoint(Waypoint* wp)
 {
-    if (waypoints.contains(wp))
-    {
-        removeWaypoint(wp);
-    }
-
-    waypoints.insert(wp->getId(), wp);
-
     if (!wpViews.contains(wp))
     {
         WaypointView* wpview = new WaypointView(wp, this);
@@ -205,7 +199,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
         connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
         connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
         connect(wpview, SIGNAL(setCurrentWaypoint(Waypoint*)), this, SLOT(setCurrentWaypoint(Waypoint*)));
-        connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
+        //connect(wpview, SIGNAL(waypointUpdated(Waypoint*)), this, SIGNAL(waypointChanged(Waypoint*)));
     }
 }
 
@@ -280,7 +274,8 @@ void WaypointList::moveDown(Waypoint* wp)
 void WaypointList::removeWaypoint(Waypoint* wp)
 {
     // Delete from list
-    if (wp != NULL){
+    if (wp != NULL)
+    {
         waypoints.remove(wp->getId());
         for(int i = wp->getId(); i < waypoints.size(); i++)
         {
-- 
2.22.0