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Commit 5f632826 authored by Jessica's avatar Jessica
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Removed unneccessary check of uas in UASWaypointManger.

parent 7bdfcd4f
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Showing with 2 additions and 41 deletions
src/uas/UASWaypointManager.cc
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......@@ -72,7 +72,7 @@ void UASWaypointManager::timeout()
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries--;
emit updateStatusString(tr("Timeout, retrying (retries left: %1)").arg(current_retries));
// // qDebug() << "Timeout, retrying (retries left:" << current_retries << ")";
if (current_state == WP_GETLIST) {
sendWaypointRequestList();
} else if (current_state == WP_GETLIST_GETWPS) {
......@@ -89,8 +89,6 @@ void UASWaypointManager::timeout()
} else {
protocol_timer.stop();
// // qDebug() << "Waypoint transaction (state=" << current_state << ") timed out going to state WP_IDLE";
emit updateStatusString("Operation timed out.");
current_state = WP_IDLE;
......@@ -136,8 +134,6 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
protocol_timer.start(PROTOCOL_TIMEOUT_MS);
current_retries = PROTOCOL_MAX_RETRIES;
// // 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) {
......@@ -156,7 +152,6 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
} else {
protocol_timer.stop();
emit updateStatusString("done.");
// // qDebug() << "No waypoints on UAS " << systemId;
current_state = WP_IDLE;
current_count = 0;
current_wp_id = 0;
......@@ -177,7 +172,6 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
current_retries = PROTOCOL_MAX_RETRIES;
if(wp->seq == current_wp_id) {
//// // qDebug() << "Got WP: " << wp->seq << wp->x << wp->y << wp->z << wp->param4 << "auto:" << wp->autocontinue << "curr:" << wp->current << wp->param1 << wp->param2 << "Frame:"<< (MAV_FRAME) wp->frame << "Command:" << (MAV_CMD) wp->command;
Waypoint *lwp_vo = new Waypoint(wp->seq, wp->x, wp->y, wp->z, wp->param1, wp->param2, wp->param3, wp->param4, wp->autocontinue, wp->current, (MAV_FRAME) wp->frame, (MAV_CMD) wp->command);
addWaypointViewOnly(lwp_vo);
......@@ -207,10 +201,8 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
protocol_timer.stop();
emit readGlobalWPFromUAS(false);
//if (currentWaypointEditable) emit currentWaypointChanged(currentWaypointEditable->getId());
emit updateStatusString("done.");
// // qDebug() << "got all waypoints from ID " << systemId;
}
} else {
emit updateStatusString(tr("Waypoint ID mismatch, rejecting waypoint"));
......@@ -229,12 +221,10 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
current_state = WP_IDLE;
readWaypoints(false); //Update "Onboard Waypoints"-tab immidiately after the waypoint list has been sent.
emit updateStatusString("done.");
// // 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;
}
}
}
......@@ -281,7 +271,6 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
for(int i = 0; i < waypointsViewOnly.size(); i++) {
if (waypointsViewOnly[i]->getId() == wpc->seq) {
waypointsViewOnly[i]->setCurrent(true);
//currentWaypointEditable = waypoints[i];
} else {
waypointsViewOnly[i]->setCurrent(false);
}
......@@ -296,7 +285,6 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
void UASWaypointManager::notifyOfChangeEditable(Waypoint* wp)
{
// // qDebug() << "WAYPOINT CHANGED: ID:" << wp->getId();
// If only one waypoint was changed, emit only WP signal
if (wp != NULL) {
emit waypointEditableChanged(uasid, wp);
......@@ -333,8 +321,6 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
sendWaypointSetCurrent(current_wp_id);
//emit waypointListChanged();
return 0;
}
}
......@@ -349,7 +335,6 @@ int UASWaypointManager::setCurrentEditable(quint16 seq)
for(int i = 0; i < waypointsEditable.size(); i++) {
if (waypointsEditable[i]->getId() == seq) {
waypointsEditable[i]->setCurrent(true);
//currentWaypointEditable = waypoints[i];
} else {
waypointsEditable[i]->setCurrent(false);
}
......@@ -531,7 +516,6 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
else
{
emit updateStatusString(tr("The waypoint file is corrupted. Load operation only partly succesful."));
//MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),);
break;
}
}
......@@ -894,11 +878,9 @@ void UASWaypointManager::sendWaypointClearAll()
emit updateStatusString(QString("Clearing waypoint list..."));
mavlink_msg_mission_clear_all_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpca);
// if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint clear all to ID " << wpca.target_system;
}
void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
......@@ -914,11 +896,8 @@ void UASWaypointManager::sendWaypointSetCurrent(quint16 seq)
emit updateStatusString(QString("Updating target waypoint..."));
mavlink_msg_mission_set_current_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpsc);
// if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint set current (" << wpsc.seq << ") to ID " << wpsc.target_system;
}
void UASWaypointManager::sendWaypointCount()
......@@ -931,15 +910,11 @@ void UASWaypointManager::sendWaypointCount()
wpc.target_component = MAV_COMP_ID_MISSIONPLANNER;
wpc.count = current_count;
// // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
emit updateStatusString(QString("Starting to transmit waypoints..."));
mavlink_msg_mission_count_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpc);
//if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint count (" << wpc.count << ") to ID " << wpc.target_system;
}
void UASWaypointManager::sendWaypointRequestList()
......@@ -954,13 +929,8 @@ void UASWaypointManager::sendWaypointRequestList()
emit updateStatusString(QString("Requesting waypoint list..."));
mavlink_msg_mission_request_list_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wprl);
// if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint list request to ID " << wprl.target_system;
}
void UASWaypointManager::sendWaypointRequest(quint16 seq)
......@@ -976,18 +946,14 @@ void UASWaypointManager::sendWaypointRequest(quint16 seq)
emit updateStatusString(QString("Retrieving waypoint ID %1 of %2 total").arg(wpr.seq).arg(current_count));
mavlink_msg_mission_request_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpr);
//if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint request (" << wpr.seq << ") to ID " << wpr.target_system;
}
void UASWaypointManager::sendWaypoint(quint16 seq)
{
if (!uas) return;
mavlink_message_t message;
// // qDebug() <<" WP Buffer count: "<<waypoint_buffer.count();
if (seq < waypoint_buffer.count()) {
......@@ -1000,10 +966,8 @@ void UASWaypointManager::sendWaypoint(quint16 seq)
emit updateStatusString(QString("Sending waypoint ID %1 of %2 total").arg(wp->seq).arg(current_count));
// // qDebug() << "sent waypoint (" << wp->seq << ") to ID " << wp->target_system<<" WP Buffer count: "<<waypoint_buffer.count();
mavlink_msg_mission_item_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, wp);
// if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
}
......@@ -1020,9 +984,6 @@ void UASWaypointManager::sendWaypointAck(quint8 type)
wpa.type = type;
mavlink_msg_mission_ack_encode(uas->mavlink->getSystemId(), uas->mavlink->getComponentId(), &message, &wpa);
// if (uas)
uas->sendMessage(message);
QGC::SLEEP::msleep(PROTOCOL_DELAY_MS);
// // qDebug() << "sent waypoint ack (" << wpa.type << ") to ID " << wpa.target_system;
}
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