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Commit 3d418d31 authored by pixhawk's avatar pixhawk
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UASWaypointManager now implements the protocol described in... 

UASWaypointManager now implements the protocol described in http://qgroundcontrol.org/waypoint_protocol
parent 957f1e05
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Showing with 214 additions and 67 deletions
src/uas/UASWaypointManager.cc
View file @ 3d418d31
...@@ -33,10 +33,12 @@ This file is part of the PIXHAWK project ...@@ -33,10 +33,12 @@ This file is part of the PIXHAWK project
#include "UAS.h" #include "UAS.h"
#define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout #define PROTOCOL_TIMEOUT_MS 2000 ///< maximum time to wait for pending messages until timeout
#define PROTOCOL_DELAY_MS 40 ///< minimum delay between sent messages
#define PROTOCOL_MAX_RETRIES 3 ///< maximum number of send retries (after timeout) #define PROTOCOL_MAX_RETRIES 3 ///< maximum number of send retries (after timeout)
UASWaypointManager::UASWaypointManager(UAS &_uas) UASWaypointManager::UASWaypointManager(UAS &_uas)
: uas(_uas), : uas(_uas),
current_retries(0),
current_wp_id(0), current_wp_id(0),
current_count(0), current_count(0),
current_state(WP_IDLE), current_state(WP_IDLE),
...@@ -49,6 +51,38 @@ UASWaypointManager::UASWaypointManager(UAS &_uas) ...@@ -49,6 +51,38 @@ UASWaypointManager::UASWaypointManager(UAS &_uas)
void UASWaypointManager::timeout() void UASWaypointManager::timeout()
{ {
if (current_retries > 0)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries--;
qDebug() << "Timeout, retrying (retries left:" << current_retries << ")";
if (current_state == WP_GETLIST)
{
sendWaypointRequestList();
}
else if (current_state == WP_GETLIST_GETWPS)
{
sendWaypointRequest(current_wp_id);
}
else if (current_state == WP_SENDLIST)
{
sendWaypointCount();
}
else if (current_state == WP_SENDLIST_SENDWPS)
{
sendWaypoint(current_wp_id);
}
else if (current_state == WP_CLEARLIST)
{
sendWaypointClearAll();
}
else if (current_state == WP_SETCURRENT)
{
sendWaypointSetCurrent(current_wp_id);
}
}
else
{
protocol_timer.stop(); protocol_timer.stop();
qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE"; qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
...@@ -60,14 +94,16 @@ void UASWaypointManager::timeout() ...@@ -60,14 +94,16 @@ void UASWaypointManager::timeout()
current_wp_id = 0; current_wp_id = 0;
current_partner_systemid = 0; current_partner_systemid = 0;
current_partner_compid = 0; current_partner_compid = 0;
}
} }
void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count) void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, quint16 count)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid) if (current_state == WP_GETLIST && systemId == current_partner_systemid && compId == current_partner_compid)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
qDebug() << "got waypoint count (" << count << ") from ID " << systemId; qDebug() << "got waypoint count (" << count << ") from ID " << systemId;
if (count > 0) if (count > 0)
...@@ -88,10 +124,11 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui ...@@ -88,10 +124,11 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp) void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id) if (systemId == current_partner_systemid && compId == current_partner_compid && current_state == WP_GETLIST_GETWPS && wp->seq == current_wp_id)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
if(wp->seq == current_wp_id) if(wp->seq == current_wp_id)
{ {
//update the UI FIXME //update the UI FIXME
...@@ -130,30 +167,32 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_ ...@@ -130,30 +167,32 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa) void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavlink_waypoint_ack_t *wpa)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS); if (systemId == current_partner_systemid && compId == current_partner_compid)
if (systemId == current_partner_systemid && compId == current_partner_compid && (current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS))
{ {
if(current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0) if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && (current_wp_id == waypoint_buffer.count()-1 && wpa->type == 0))
{ {
//all waypoints sent and ack received //all waypoints sent and ack received
current_state = WP_IDLE;
protocol_timer.stop(); protocol_timer.stop();
current_state = WP_IDLE;
emit updateStatusString("done."); emit updateStatusString("done.");
qDebug() << "sent all waypoints to ID " << systemId; qDebug() << "sent all waypoints to ID " << systemId;
} }
else if(current_state == WP_CLEARLIST)
{
protocol_timer.stop();
current_state = WP_IDLE;
emit updateStatusString("done.");
qDebug() << "cleared waypoint list of ID " << systemId;
}
} }
} }
void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr) void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, mavlink_waypoint_request_t *wpr)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1)))) if (systemId == current_partner_systemid && compId == current_partner_compid && ((current_state == WP_SENDLIST && wpr->seq == 0) || (current_state == WP_SENDLIST_SENDWPS && (wpr->seq == current_wp_id || wpr->seq == current_wp_id + 1))))
{ {
qDebug() << "handleWaypointRequest"; protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
if (wpr->seq < waypoint_buffer.count()) if (wpr->seq < waypoint_buffer.count())
{ {
...@@ -180,6 +219,12 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m ...@@ -180,6 +219,12 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
{ {
if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER) if (systemId == uas.getUASID() && compId == MAV_COMP_ID_WAYPOINTPLANNER)
{ {
if (current_state == WP_SETCURRENT)
{
protocol_timer.stop();
current_state = WP_IDLE;
emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
}
qDebug() << "new current waypoint" << wpc->seq; qDebug() << "new current waypoint" << wpc->seq;
emit currentWaypointChanged(wpc->seq); emit currentWaypointChanged(wpc->seq);
} }
...@@ -190,60 +235,57 @@ void UASWaypointManager::clearWaypointList() ...@@ -190,60 +235,57 @@ void UASWaypointManager::clearWaypointList()
if(current_state == WP_IDLE) if(current_state == WP_IDLE)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS); protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
mavlink_message_t message;
mavlink_waypoint_clear_all_t wpca;
wpca.target_system = uas.getUASID();
wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
current_state = WP_CLEARLIST; current_state = WP_CLEARLIST;
current_wp_id = 0; current_wp_id = 0;
current_partner_systemid = uas.getUASID(); current_partner_systemid = uas.getUASID();
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
const QString str = QString("clearing waypoint list..."); sendWaypointClearAll();
emit updateStatusString(str);
mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
uas.sendMessage(message);
} }
} }
void UASWaypointManager::requestWaypoints() void UASWaypointManager::setCurrent(quint16 seq)
{ {
if(current_state == WP_IDLE) if(current_state == WP_IDLE)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS); protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
mavlink_message_t message; current_state = WP_SETCURRENT;
mavlink_waypoint_request_list_t wprl; current_wp_id = seq;
current_partner_systemid = uas.getUASID();
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
wprl.target_system = uas.getUASID(); sendWaypointSetCurrent(current_wp_id);
wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER; }
}
void UASWaypointManager::readWaypoints()
{
if(current_state == WP_IDLE)
{
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
current_state = WP_GETLIST; current_state = WP_GETLIST;
current_wp_id = 0; current_wp_id = 0;
current_partner_systemid = uas.getUASID(); current_partner_systemid = uas.getUASID();
current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER; current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
const QString str = QString("requesting waypoint list..."); sendWaypointRequestList();
emit updateStatusString(str);
mavlink_msg_waypoint_request_list_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wprl);
uas.sendMessage(message);
qDebug() << "sent waypoint list request to ID " << wprl.target_system;
} }
} }
void UASWaypointManager::sendWaypoints() void UASWaypointManager::writeWaypoints()
{ {
if (current_state == WP_IDLE) if (current_state == WP_IDLE)
{ {
if (waypoints.count() > 0) if (waypoints.count() > 0)
{ {
protocol_timer.start(PROTOCOL_TIMEOUT_MS); protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
current_count = waypoints.count(); current_count = waypoints.count();
current_state = WP_SENDLIST; current_state = WP_SENDLIST;
...@@ -281,6 +323,55 @@ void UASWaypointManager::sendWaypoints() ...@@ -281,6 +323,55 @@ void UASWaypointManager::sendWaypoints()
} }
//send the waypoint count to UAS (this starts the send transaction) //send the waypoint count to UAS (this starts the send transaction)
sendWaypointCount();
}
}
else
{
//we're in another transaction, ignore command
qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command";
}
}
void UASWaypointManager::sendWaypointClearAll()
{
mavlink_message_t message;
mavlink_waypoint_clear_all_t wpca;
wpca.target_system = uas.getUASID();
wpca.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
const QString str = QString("clearing waypoint list...");
emit updateStatusString(str);
mavlink_msg_waypoint_clear_all_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpca);
uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint clear all to ID " << wpca.target_system;
}
void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
{
mavlink_message_t message;
mavlink_waypoint_set_current_t wpsc;
wpsc.target_system = uas.getUASID();
wpsc.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
wpsc.seq = seq;
const QString str = QString("Updating target waypoint...");
emit updateStatusString(str);
mavlink_msg_waypoint_set_current_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpsc);
uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system;
}
void UASWaypointManager::sendWaypointCount()
{
mavlink_message_t message; mavlink_message_t message;
mavlink_waypoint_count_t wpc; mavlink_waypoint_count_t wpc;
...@@ -293,15 +384,27 @@ void UASWaypointManager::sendWaypoints() ...@@ -293,15 +384,27 @@ void UASWaypointManager::sendWaypoints()
mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc); mavlink_msg_waypoint_count_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpc);
uas.sendMessage(message); uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system; qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
} }
}
else void UASWaypointManager::sendWaypointRequestList()
{ {
//we're in another transaction, ignore command mavlink_message_t message;
qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command"; mavlink_waypoint_request_list_t wprl;
}
wprl.target_system = uas.getUASID();
wprl.target_component = MAV_COMP_ID_WAYPOINTPLANNER;
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);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint list request to ID " << wprl.target_system;
} }
void UASWaypointManager::sendWaypointRequest(quint16 seq) void UASWaypointManager::sendWaypointRequest(quint16 seq)
...@@ -318,6 +421,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq) ...@@ -318,6 +421,7 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr); mavlink_msg_waypoint_request_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpr);
uas.sendMessage(message); uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system; qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system;
} }
...@@ -339,6 +443,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq) ...@@ -339,6 +443,7 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp); mavlink_msg_waypoint_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, wp);
uas.sendMessage(message); uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system; qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system;
} }
...@@ -355,6 +460,7 @@ void UASWaypointManager::sendWaypointAck(quint8 type) ...@@ -355,6 +460,7 @@ void UASWaypointManager::sendWaypointAck(quint8 type)
mavlink_msg_waypoint_ack_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpa); mavlink_msg_waypoint_ack_encode(uas.mavlink->getSystemId(), uas.mavlink->getComponentId(), &message, &wpa);
uas.sendMessage(message); uas.sendMessage(message);
usleep(PROTOCOL_DELAY_MS * 1000);
qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system; qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system;
} }
src/uas/UASWaypointManager.h
View file @ 3d418d31
...@@ -58,7 +58,8 @@ private: ...@@ -58,7 +58,8 @@ private:
WP_SENDLIST_SENDWPS,///< Sending waypoints WP_SENDLIST_SENDWPS,///< Sending waypoints
WP_GETLIST, ///< Initial state for retrieving wayppoints from the MAV WP_GETLIST, ///< Initial state for retrieving wayppoints from the MAV
WP_GETLIST_GETWPS, ///< Receiving waypoints WP_GETLIST_GETWPS, ///< Receiving waypoints
WP_CLEARLIST ///< Clearing waypoint list on the MAV WP_CLEARLIST, ///< Clearing waypoint list on the MAV
WP_SETCURRENT ///< Setting new current waypoint on the MAV
}; ///< The possible states for the waypoint protocol }; ///< The possible states for the waypoint protocol
public: public:
...@@ -77,15 +78,20 @@ public: ...@@ -77,15 +78,20 @@ public:
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. 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.
private: private:
void sendWaypointClearAll();
void sendWaypointSetCurrent(quint16 seq);
void sendWaypointCount();
void sendWaypointRequestList();
void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq
void sendWaypoint(quint16 seq); ///< Sends a waypoint with sequence number seq void sendWaypoint(quint16 seq); ///< Sends a waypoint with sequence number seq
void sendWaypointAck(quint8 type); ///< Sends a waypoint ack void sendWaypointAck(quint8 type); ///< Sends a waypoint ack
public slots: public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries. 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 clearWaypointList(); ///< Sends the waypoint clear all message to the MAV
void requestWaypoints(); ///< Requests the MAV's current waypoint list void readWaypoints(); ///< Requests the MAV's current waypoint list
void sendWaypoints(); ///< Sends the local waypoint list to the MAV void writeWaypoints(); ///< Sends the local waypoint list to the MAV
signals: signals:
void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget void waypointUpdated(quint16,double,double,double,double,bool,bool,double,int); ///< Adds a waypoint to the waypoint list widget
...@@ -94,6 +100,7 @@ signals: ...@@ -94,6 +100,7 @@ signals:
private: private:
UAS &uas; ///< Reference to the corresponding UAS UAS &uas; ///< Reference to the corresponding UAS
quint32 current_retries; ///< The current number of retries left
quint16 current_wp_id; ///< The last used waypoint ID in the current protocol transaction 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 quint16 current_count; ///< The number of waypoints in the current protocol transaction
WaypointState current_state; ///< The current protocol state WaypointState current_state; ///< The current protocol state
......
src/ui/WaypointList.cc
View file @ 3d418d31
...@@ -126,9 +126,10 @@ void WaypointList::setUAS(UASInterface* uas) ...@@ -126,9 +126,10 @@ void WaypointList::setUAS(UASInterface* uas)
connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(localPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateLocalPosition(UASInterface*,double,double,double,quint64)));
connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64))); connect(uas, SIGNAL(attitudeChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateAttitude(UASInterface*,double,double,double,quint64)));
connect(this, SIGNAL(sendWaypoints()), &uas->getWaypointManager(), SLOT(sendWaypoints())); connect(this, SIGNAL(sendWaypoints()), &uas->getWaypointManager(), SLOT(writeWaypoints()));
connect(this, SIGNAL(requestWaypoints()), &uas->getWaypointManager(), SLOT(requestWaypoints())); connect(this, SIGNAL(requestWaypoints()), &uas->getWaypointManager(), SLOT(readWaypoints()));
connect(this, SIGNAL(clearWaypointList()), &uas->getWaypointManager(), SLOT(clearWaypointList())); connect(this, SIGNAL(clearWaypointList()), &uas->getWaypointManager(), SLOT(clearWaypointList()));
connect(this, SIGNAL(setCurrent(quint16)), &uas->getWaypointManager(), SLOT(setCurrent(quint16)));
} }
} }
...@@ -149,6 +150,35 @@ void WaypointList::waypointReached(quint16 waypointId) ...@@ -149,6 +150,35 @@ void WaypointList::waypointReached(quint16 waypointId)
} }
} }
void WaypointList::changeCurrentWaypoint(quint16 seq)
{
if (this->uas)
{
QVector<Waypoint *> &waypoints = uas->getWaypointManager().getWaypointList();
if (seq < waypoints.size())
{
for(int i = 0; i < waypoints.size(); i++)
{
WaypointView* widget = wpViews.find(waypoints[i]).value();
if (waypoints[i]->getId() == seq)
{
waypoints[i]->setCurrent(true);
widget->setCurrent(true);
emit setCurrent(seq);
}
else
{
waypoints[i]->setCurrent(false);
widget->setCurrent(false);
}
}
redrawList();
}
}
}
void WaypointList::currentWaypointChanged(quint16 seq) void WaypointList::currentWaypointChanged(quint16 seq)
{ {
if (this->uas) if (this->uas)
...@@ -250,6 +280,7 @@ void WaypointList::addWaypoint(Waypoint* wp) ...@@ -250,6 +280,7 @@ void WaypointList::addWaypoint(Waypoint* wp)
connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*))); connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)), this, SLOT(moveUp(Waypoint*)));
connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*))); connect(wpview, SIGNAL(removeWaypoint(Waypoint*)), this, SLOT(removeWaypoint(Waypoint*)));
connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16)));
connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
} }
} }
} }
......
src/ui/WaypointList.h
View file @ 3d418d31
...@@ -72,7 +72,8 @@ public slots: ...@@ -72,7 +72,8 @@ public slots:
/** @brief sets statusLabel string */ /** @brief sets statusLabel string */
void updateStatusLabel(const QString &string); void updateStatusLabel(const QString &string);
void currentWaypointChanged(quint16 seq); 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 setWaypoint(quint16 id, double x, double y, double z, double yaw, bool autocontinue, bool current, double orbit, int holdTime);
void addWaypoint(Waypoint* wp); void addWaypoint(Waypoint* wp);
void removeWaypoint(Waypoint* wp); void removeWaypoint(Waypoint* wp);
...@@ -84,6 +85,7 @@ signals: ...@@ -84,6 +85,7 @@ signals:
void sendWaypoints(); void sendWaypoints();
void requestWaypoints(); void requestWaypoints();
void clearWaypointList(); void clearWaypointList();
void setCurrent(quint16);
protected: protected:
virtual void changeEvent(QEvent *e); virtual void changeEvent(QEvent *e);
......
src/ui/WaypointView.cc
View file @ 3d418d31
...@@ -115,7 +115,7 @@ void WaypointView::changedCurrent(int state) ...@@ -115,7 +115,7 @@ void WaypointView::changedCurrent(int state)
else else
{ {
wp->setCurrent(true); wp->setCurrent(true);
emit currentWaypointChanged(wp->getId()); //the slot currentWayppointChanged() in WaypointList sets all other current flags to false emit changeCurrentWaypoint(wp->getId()); //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
} }
} }
......
src/ui/WaypointView.h
View file @ 3d418d31
...@@ -72,6 +72,7 @@ signals: ...@@ -72,6 +72,7 @@ signals:
void moveDownWaypoint(Waypoint*); void moveDownWaypoint(Waypoint*);
void removeWaypoint(Waypoint*); void removeWaypoint(Waypoint*);
void currentWaypointChanged(quint16); void currentWaypointChanged(quint16);
void changeCurrentWaypoint(quint16);
void setYaw(double); void setYaw(double);
}; };
......
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