Merge pull request #101 from Trof/offline-wplist

Offline wplist

src/Waypoint.cc

@@ -55,8 +55,7 @@ Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1,
 }
 
 Waypoint::~Waypoint()
-{
-
+{    
 }
 
 bool Waypoint::isNavigationType()

src/Waypoint.h

@@ -188,7 +188,7 @@ public slots:
 
 signals:
     /** @brief Announces a change to the waypoint data */
-    void changed(Waypoint* wp);
+    void changed(Waypoint* wp);    
 };
 
 #endif // WAYPOINT_H

src/uas/UASWaypointManager.cc

@@ -133,11 +133,20 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
 
         // // qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
 
+        //Clear the old edit-list before receiving the new one
+        if (read_to_edit == true){
+            while(waypointsEditable.size()>0) {
+                Waypoint *t = waypointsEditable[0];
+                waypointsEditable.remove(0);
+                delete t;
+            }
+            emit waypointEditableListChanged();
+        }
+
         if (count > 0) {
             current_count = count;
             current_wp_id = 0;
             current_state = WP_GETLIST_GETWPS;
-
             sendWaypointRequest(current_wp_id);
         } else {
             protocol_timer.stop();
@@ -149,6 +158,8 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
             current_partner_systemid = 0;
             current_partner_compid = 0;
         }
+
+
     } else {
         qDebug("Rejecting message, check mismatch: current_state: %d == %d, system id %d == %d, comp id %d == %d", current_state, WP_GETLIST, current_partner_systemid, systemId, current_partner_compid, compId);
     }
@@ -766,20 +777,25 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
     emit readGlobalWPFromUAS(true);
     if(current_state == WP_IDLE) {
 
+
         //Clear the old view-list before receiving the new one
         while(waypointsViewOnly.size()>0) {
-            delete waypointsViewOnly.back();
-            waypointsViewOnly.pop_back();
+            Waypoint *t = waypointsViewOnly[0];
+            waypointsViewOnly.remove(0);
+            delete t;
         }
-
+        emit waypointViewOnlyListChanged();
+        /* THIS PART WAS MOVED TO handleWaypointCount. THE EDIT-LIST SHOULD NOT BE CLEARED UNLESS THERE IS A RESPONSE FROM UAV.
         //Clear the old edit-list before receiving the new one
         if (read_to_edit == true){
             while(waypointsEditable.size()>0) {
-                delete waypointsEditable.back();
-                waypointsEditable.pop_back();
+                Waypoint *t = waypointsEditable[0];
+                waypointsEditable.remove(0);
+                delete t;
             }
+            emit waypointEditableListChanged();
         }
-
+        */
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
         current_retries = PROTOCOL_MAX_RETRIES;
 

src/ui/WaypointEditableView.cc

@@ -20,10 +20,12 @@
 #include "WaypointEditableView.h"
 #include "ui_WaypointEditableView.h"
 #include "ui_QGCCustomWaypointAction.h"
+#include "ui_QGCMissionDoWidget.h"
 
 WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     QWidget(parent),
     customCommand(new Ui_QGCCustomWaypointAction),
+    doCommand(new Ui_QGCMissionDoWidget),
     viewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_NAV),
     m_ui(new Ui::WaypointEditableView)
 {
@@ -34,6 +36,9 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
 
     // CUSTOM COMMAND WIDGET
     customCommand->setupUi(m_ui->customActionWidget);
+    // DO COMMAND WIDGET
+    //doCommand->setupUi(m_ui->customActionWidget);
+
 
     // add actions
     m_ui->comboBox_action->addItem(tr("NAV: Waypoint"),MAV_CMD_NAV_WAYPOINT);
@@ -43,7 +48,7 @@ WaypointEditableView::WaypointEditableView(Waypoint* wp, QWidget* parent) :
     m_ui->comboBox_action->addItem(tr("NAV: Loiter Turns"),MAV_CMD_NAV_LOITER_TURNS);
     m_ui->comboBox_action->addItem(tr("NAV: Ret. to Launch"),MAV_CMD_NAV_RETURN_TO_LAUNCH);
     m_ui->comboBox_action->addItem(tr("NAV: Land"),MAV_CMD_NAV_LAND);
-//    m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
+    //m_ui->comboBox_action->addItem(tr("NAV: Target"),MAV_CMD_NAV_TARGET);
     //m_ui->comboBox_action->addItem(tr("IF: Delay over"),MAV_CMD_CONDITION_DELAY);
     //m_ui->comboBox_action->addItem(tr("IF: Yaw angle is"),MAV_CMD_CONDITION_YAW);
     //m_ui->comboBox_action->addItem(tr("DO: Jump to Index"),MAV_CMD_DO_JUMP);
@@ -143,6 +148,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->holdTimeSpinBox->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 82);
         m_ui->takeOffAngleSpinBox->show();
         break;
@@ -155,6 +162,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->holdTimeSpinBox->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 26);
         break;
     case MAV_CMD_NAV_RETURN_TO_LAUNCH:
@@ -166,6 +175,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->holdTimeSpinBox->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 26);
         break;
     case MAV_CMD_NAV_WAYPOINT:
@@ -174,6 +185,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->turnsSpinBox->hide();
         m_ui->holdTimeSpinBox->show();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 1);
 
         m_ui->autoContinue->show();
@@ -188,6 +201,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->holdTimeSpinBox->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 25);
         m_ui->orbitSpinBox->show();
         break;
@@ -198,6 +213,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->holdTimeSpinBox->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 20);
         m_ui->orbitSpinBox->show();
         m_ui->turnsSpinBox->show();
@@ -209,6 +226,8 @@ void WaypointEditableView::updateActionView(int action)
         m_ui->autoContinue->hide();
         m_ui->acceptanceSpinBox->hide();
         m_ui->customActionWidget->hide();
+        m_ui->missionDoWidgetSlot->hide();
+        m_ui->missionConditionWidgetSlot->hide();
         m_ui->horizontalLayout->insertStretch(17, 20);
         m_ui->orbitSpinBox->show();
         m_ui->holdTimeSpinBox->show();
@@ -219,7 +238,8 @@ void WaypointEditableView::updateActionView(int action)
 //        m_ui->turnsSpinBox->hide();
 //        m_ui->holdTimeSpinBox->show();
 //        m_ui->customActionWidget->hide();
-
+//        m_ui->missionDoWidgetSlot->hide();
+//        m_ui->missionConditionWidgetSlot->hide();
 //        m_ui->autoContinue->show();
 //        m_ui->acceptanceSpinBox->hide();
 //        m_ui->yawSpinBox->hide();
@@ -260,6 +280,11 @@ void WaypointEditableView::changedAction(int index)
         // Update view
         updateActionView(actionIndex);
         break;
+    case MAV_CMD_DO_JUMP:
+        {
+            changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE_DO);
+            break;
+        }
     case MAV_CMD_ENUM_END:
     default:
         // Switch to mission frame
@@ -276,9 +301,32 @@ void WaypointEditableView::changeViewMode(QGC_WAYPOINTEDITABLEVIEW_MODE mode)
     case QGC_WAYPOINTEDITABLEVIEW_MODE_CONDITION:
         // Hide everything, show condition widget
         // TODO
+        break;
     case QGC_WAYPOINTEDITABLEVIEW_MODE_DO:
+    {
+        // Hide almost everything
+        m_ui->orbitSpinBox->hide();
+        m_ui->takeOffAngleSpinBox->hide();
+        m_ui->yawSpinBox->hide();
+        m_ui->turnsSpinBox->hide();
+        m_ui->holdTimeSpinBox->hide();
+        m_ui->acceptanceSpinBox->hide();
+        m_ui->posDSpinBox->hide();
+        m_ui->posESpinBox->hide();
+        m_ui->posNSpinBox->hide();
+        m_ui->latSpinBox->hide();
+        m_ui->lonSpinBox->hide();
+        m_ui->altSpinBox->hide();
 
+        // Show action widget
+        if (!m_ui->missionDoWidgetSlot->isVisible()) {
+            m_ui->missionDoWidgetSlot->show();
+        }
+        if (!m_ui->autoContinue->isVisible()) {
+            m_ui->autoContinue->show();
+        }
         break;
+    }
     case QGC_WAYPOINTEDITABLEVIEW_MODE_DIRECT_EDITING:
         // Hide almost everything
         m_ui->orbitSpinBox->hide();
@@ -325,6 +373,8 @@ void WaypointEditableView::updateFrameView(int frame)
             // Coordinate frame
             m_ui->comboBox_frame->show();
             m_ui->customActionWidget->hide();
+            m_ui->missionDoWidgetSlot->hide();
+            m_ui->missionConditionWidgetSlot->hide();
         }
         else // do not hide customActionWidget if Command is set to "Other"
         {
@@ -343,6 +393,8 @@ void WaypointEditableView::updateFrameView(int frame)
             // Coordinate frame
             m_ui->comboBox_frame->show();
             m_ui->customActionWidget->hide();
+            m_ui->missionDoWidgetSlot->hide();
+            m_ui->missionConditionWidgetSlot->hide();
         }
         else // do not hide customActionWidget if Command is set to "Other"
         {
@@ -493,7 +545,7 @@ void WaypointEditableView::updateValues()
         if (m_ui->posDSpinBox->value() != wp->getZ()) {
             m_ui->posDSpinBox->setValue(wp->getZ());
         }
-    }
+    }      
     break;
     case MAV_FRAME_GLOBAL:
     case MAV_FRAME_GLOBAL_RELATIVE_ALT: {

src/ui/WaypointEditableView.h

@@ -49,7 +49,7 @@ namespace Ui
 class WaypointEditableView;
 }
 class Ui_QGCCustomWaypointAction;
-
+class Ui_QGCMissionDoWidget;
 class WaypointEditableView : public QWidget
 {
     Q_OBJECT
@@ -84,6 +84,7 @@ protected:
     // Special widgets extendending the
     // waypoint view to mission capabilities
     Ui_QGCCustomWaypointAction* customCommand;
+    Ui_QGCMissionDoWidget* doCommand;
     QGC_WAYPOINTEDITABLEVIEW_MODE viewMode;
 
 private:

src/ui/WaypointEditableView.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>2208</width>
-    <height>39</height>
+    <height>37</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -96,7 +96,7 @@ QPushButton:pressed {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,10,20,5,5,5,5">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="5,5,5,5,50,50,50,50,50,50,5,20,20,5,10,10,0,0,0,20,5,5,5,5">
       <property name="spacing">
        <number>2</number>
       </property>
@@ -121,10 +121,10 @@ QPushButton:pressed {
          <enum>Qt::TabFocus</enum>
         </property>
         <property name="toolTip">
-         <string>Currently selected waypoint</string>
+         <string>Mission Start</string>
         </property>
         <property name="statusTip">
-         <string>Currently selected waypoint</string>
+         <string>Mission Start</string>
         </property>
         <property name="text">
          <string/>
@@ -465,16 +465,16 @@ QPushButton:pressed {
          <enum>Qt::StrongFocus</enum>
         </property>
         <property name="toolTip">
-         <string>Loiter radius</string>
+         <string>Loiter radius. Negative for counter-clockwise</string>
         </property>
         <property name="statusTip">
-         <string>Loiter radius</string>
+         <string>Loiter radius. Negative for counter-clockwise</string>
         </property>
         <property name="suffix">
          <string> m</string>
         </property>
         <property name="minimum">
-         <double>0.050000000000000</double>
+         <double>-5000.000000000000000</double>
         </property>
         <property name="maximum">
          <double>5000.000000000000000</double>
@@ -519,11 +519,10 @@ where to accept this waypoint as reached</string>
          </sizepolicy>
         </property>
         <property name="toolTip">
-         <string>Rotaty wing and ground vehicles only:
-Time to stay at this position before advancing</string>
+         <string>Time to stay/loiter at this position before advancing</string>
         </property>
         <property name="statusTip">
-         <string>Rotaty wing and ground vehicles only: Time to stay at this position before advancing</string>
+         <string>Time to stay/loiter at this position before advancing</string>
         </property>
         <property name="suffix">
          <string> s</string>
@@ -595,7 +594,33 @@ Time to stay at this position before advancing</string>
       <item>
        <widget class="QWidget" name="customActionWidget" native="true">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QWidget" name="missionDoWidgetSlot" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QWidget" name="missionConditionWidgetSlot" native="true">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>

src/ui/WaypointViewOnlyView.h

@@ -31,6 +31,7 @@ protected:
 Waypoint* wp;
 
 private:
+    void hightlightDesiredCurrent(bool hightlight_on);
     Ui::WaypointViewOnlyView *m_ui;
 };