Major refactoring of the waypoint code. The new design fits the...

Major refactoring of the waypoint code. The new design fits the model-view-controller pattern better.

src/Waypoint.cc

@@ -31,6 +31,7 @@ This file is part of the PIXHAWK project
  */
 
 #include "Waypoint.h"
+#include <QStringList>
 
 Waypoint::Waypoint(quint16 _id, float _x, float _y, float _z, float _yaw, bool _autocontinue, bool _current, float _orbit, int _holdTime)
 : id(_id),
@@ -50,6 +51,30 @@ Waypoint::~Waypoint()
 
 }
 
+void Waypoint::save(QTextStream &saveStream)
+{
+    saveStream << "\t" << this->getId() << "\t" << this->getX() << "\t" << this->getY()  << "\t" << this->getZ()  << "\t" << this->getYaw()  << "\t" << this->getAutoContinue() << "\t" << this->getCurrent() << "\t" << this->getOrbit() << "\t" << this->getHoldTime() << "\n";
+}
+
+bool Waypoint::load(QTextStream &loadStream)
+{
+    const QStringList &wpParams = loadStream.readLine().split("\t");
+    if (wpParams.size() == 10)
+    {
+        this->id = wpParams[1].toInt();
+        this->x = wpParams[2].toDouble();
+        this->y = wpParams[3].toDouble();
+        this->z = wpParams[4].toDouble();
+        this->yaw = wpParams[5].toDouble();
+        this->autocontinue = (wpParams[6].toInt() == 1 ? true : false);
+        this->current = (wpParams[7].toInt() == 1 ? true : false);
+        this->orbit = wpParams[8].toDouble();
+        this->holdTime = wpParams[9].toInt();
+        return true;
+    }
+    return false;
+}
+
 void Waypoint::setId(quint16 id)
 {
     this->id = id;

src/Waypoint.h

@@ -35,6 +35,7 @@ This file is part of the PIXHAWK project
 
 #include <QObject>
 #include <QString>
+#include <QTextStream>
 
 class Waypoint : public QObject
 {
@@ -54,6 +55,10 @@ public:
     float getOrbit() const { return orbit; }
     float getHoldTime() const { return holdTime; }
 
+    void save(QTextStream &saveStream);
+    bool load(QTextStream &loadStream);
+
+
 private:
     quint16 id;
     float x;

src/uas/UASWaypointManager.h

@@ -75,7 +75,23 @@ public:
     void handleWaypointCurrent(quint8 systemId, quint8 compId, mavlink_waypoint_current_t *wpc);        ///< Handles received set current waypoint messages
     /*@}*/
 
-    QVector<Waypoint *> &getWaypointList(void) { return waypoints; }    ///< Returns a reference to the local waypoint list. Gives full access to the internal data structure - Subject to change: Public const access and friend access for the waypoint list widget.
+    /** @name Remote operations */
+    /*@{*/
+    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
+    void readWaypoints();                           ///< Requests the MAV's current waypoint list
+    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
+    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 Local waypoint list operations */
+    /*@{*/
+    const QVector<Waypoint *> &getWaypointList(void) { return waypoints; }  ///< Returns a const reference to the local waypoint list.
+    void localAddWaypoint(Waypoint *wp);                        ///< locally adds a new waypoint to the end of the list and changes its sequence number accordingly
+    int localRemoveWaypoint(quint16 seq);                       ///< locally remove the specified waypoint from the storage
+    void localMoveWaypoint(quint16 cur_seq, quint16 new_seq);   ///< locally move a waypoint from its current position cur_seq to a new position new_seq
+    void localSaveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
+    void localLoadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
+    /*@}*/
 
 private:
     /** @name Message send functions */
@@ -91,15 +107,11 @@ private:
 
 public slots:
     void timeout();                                 ///< Called by the timer if a response times out. Handles send retries.
-    void setCurrent(quint16 seq);                   ///< Sends the sequence number of the waypoint that should get the new target waypoint
-    void clearWaypointList();                       ///< Sends the waypoint clear all message to the MAV
-    void readWaypoints();                           ///< Requests the MAV's current waypoint list
-    void writeWaypoints();                          ///< Sends the local waypoint list to the MAV
 
 signals:
-    void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
-    void currentWaypointChanged(quint16);                                           ///< emits the new current waypoint sequence number
-    void updateStatusString(const QString &);                                       ///< emits the current status string
+    void waypointListChanged(void);                 ///< emits signal that the local waypoint list has been changed
+    void currentWaypointChanged(quint16);           ///< emits the new current waypoint sequence number
+    void updateStatusString(const QString &);       ///< emits the current status string
 
 private:
     UAS &uas;                                       ///< Reference to the corresponding UAS

src/ui/HSIDisplay.cc

@@ -632,7 +632,7 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 {
     if (uas)
     {
-        QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
+        const QVector<Waypoint*>& list = uas->getWaypointManager().getWaypointList();
 
         QColor color;
         painter.setBrush(Qt::NoBrush);

src/ui/WaypointList.h

@@ -55,7 +55,6 @@ class WaypointList : public QWidget {
 
 public slots:
     void setUAS(UASInterface* uas);
-    void redrawList();
 
     //UI Buttons
     void saveWaypoints();
@@ -73,23 +72,18 @@ public slots:
     void updateStatusLabel(const QString &string);
 
     void changeCurrentWaypoint(quint16 seq);    ///< The user wants to change the current waypoint
-    void currentWaypointChanged(quint16 seq);   ///< The waypointplanner changed the current waypoint
-    void setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
-    void addWaypoint(Waypoint* wp);
+    void currentWaypointChanged(quint16 seq);   ///< The waypoint planner changed the current waypoint
+    void waypointListChanged(void);             ///< The waypoint manager informs that the waypoint list was changed
+
     void removeWaypoint(Waypoint* wp);
     void waypointReached(quint16 waypointId);
     void updateLocalPosition(UASInterface*, double x, double y, double z, quint64 usec);
     void updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
 
-signals:
-    void sendWaypoints();
-    void requestWaypoints();
-    void clearWaypointList();
-    void setCurrent(quint16);
-
 protected:
     virtual void changeEvent(QEvent *e);
 
+protected:
     QMap<Waypoint*, WaypointView*> wpViews;
     QVBoxLayout* listLayout;
     UASInterface* uas;

src/ui/WaypointView.cc

@@ -48,15 +48,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     this->wp = wp;
 
     // Read values and set user interface
-    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_PI*180.);
-    m_ui->selectedBox->setChecked(wp->getCurrent());
-    m_ui->autoContinue->setChecked(wp->getAutoContinue());
-    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
-    m_ui->orbitSpinBox->setValue(wp->getOrbit());
-    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+    updateValues();
 
     connect(m_ui->xSpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setX(double)));
     connect(m_ui->ySpinBox, SIGNAL(valueChanged(double)), wp, SLOT(setY(double)));
@@ -110,15 +102,30 @@ void WaypointView::changedCurrent(int state)
 {
     if (state == 0)
     {
-        wp->setCurrent(false);
+        //m_ui->selectedBox->setChecked(true);
+        //m_ui->selectedBox->setCheckState(Qt::Checked);
+        //wp->setCurrent(false);
     }
     else
     {
-        wp->setCurrent(true);
+        //wp->setCurrent(true);
         emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
     }
 }
 
+void WaypointView::updateValues()
+{
+    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_PI*180.);
+    m_ui->selectedBox->setChecked(wp->getCurrent());
+    m_ui->autoContinue->setChecked(wp->getAutoContinue());
+    m_ui->idLabel->setText(QString("%1").arg(wp->getId()));\
+    m_ui->orbitSpinBox->setValue(wp->getOrbit());
+    m_ui->holdTimeSpinBox->setValue(wp->getHoldTime());
+}
+
 void WaypointView::setCurrent(bool state)
 {
     if (state)

src/ui/WaypointView.h

@@ -57,6 +57,7 @@ public slots:
     void remove();
     void changedAutoContinue(int);
     void changedCurrent(int);
+    void updateValues(void);
 
     void setYaw(int);   //hidden degree to radian conversion