Changed waypoint list file format (old files are not compatible anymore!),...

Changed waypoint list file format (old files are not compatible anymore!), added file version check, now all waypoint entries should have an entry in the waypoint list file - although qgc does not use/read the orbit_direction and param1 fields. QGC writes the value of orbit into param1 and 0 to orbit_direction (this should and will be changed later!)

src/Waypoint.cc

@@ -55,23 +55,27 @@ 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";
+    saveStream << this->getId() << "\t" << this->getFrame() << "\t" << this->getAction() << "\t"  << this->getOrbit() << "\t" << /*Orbit Direction*/ 0 << "\t" << this->getOrbit() << "\t" << this->getHoldTime() << "\t" << this->getCurrent() << "\t" << this->getX() << "\t" << this->getY()  << "\t" << this->getZ()  << "\t" << this->getYaw()  << "\t" << this->getAutoContinue() << "\r\n";
 }
 
 bool Waypoint::load(QTextStream &loadStream)
 {
     const QStringList &wpParams = loadStream.readLine().split("\t");
-    if (wpParams.size() == 10)
+    if (wpParams.size() == 13)
     {
-        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->id = wpParams[0].toInt();
+        this->frame = (MAV_FRAME) wpParams[1].toInt();
+        this->action = (MAV_ACTION) wpParams[2].toInt();
+        this->orbit = wpParams[3].toDouble();
+        //TODO: orbit direction
+        //TODO: param1
+        this->holdTime = wpParams[6].toInt();
         this->current = (wpParams[7].toInt() == 1 ? true : false);
-        this->orbit = wpParams[8].toDouble();
-        this->holdTime = wpParams[9].toInt();
+        this->x = wpParams[8].toDouble();
+        this->y = wpParams[9].toDouble();
+        this->z = wpParams[10].toDouble();
+        this->yaw = wpParams[11].toDouble();
+        this->autocontinue = (wpParams[12].toInt() == 1 ? true : false);
         return true;
     }
     return false;

src/Waypoint.h

@@ -44,7 +44,7 @@ class Waypoint : public QObject
 
 public:
     Waypoint(quint16 id = 0, float x = 0.0f, float y = 0.0f, float z = 0.0f, float yaw = 0.0f, bool autocontinue = false,
-             bool current = false, float orbit = 0.1f, int holdTime = 2000,
+             bool current = false, float orbit = 0.15f, int holdTime = 0,
              MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_ACTION action=MAV_ACTION_NAVIGATE);
     ~Waypoint();
 

src/uas/UASWaypointManager.cc

@@ -31,6 +31,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "UASWaypointManager.h"
 #include "UAS.h"
+#include "MainWindow.h"
 
 #define PROTOCOL_TIMEOUT_MS 2000    ///< maximum time to wait for pending messages until timeout
 #define PROTOCOL_DELAY_MS 40        ///< minimum delay between sent messages
@@ -355,6 +356,10 @@ void UASWaypointManager::saveWaypoints(const QString &saveFile)
         return;
 
     QTextStream out(&file);
+
+    //write the waypoint list version to the first line for compatibility check
+    out << "QGC WPL 100\r\n";
+
     for (int i = 0; i < waypoints.size(); i++)
     {
         waypoints[i]->save(out);
@@ -376,20 +381,35 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
     }
 
     QTextStream in(&file);
-    while (!in.atEnd())
+
+    const QStringList &version = in.readLine().split(" ");
+
+    if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "100"))
     {
-        Waypoint *t = new Waypoint();
-        if(t->load(in))
+        MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),tr("The waypoint file is not compatible with the current version of QGroundControl."));
+    }
+    else
+    {
+        while (!in.atEnd())
         {
-            t->setId(waypoints.size());
-            waypoints.insert(waypoints.size(), t);
+            Waypoint *t = new Waypoint();
+            if(t->load(in))
+            {
+                t->setId(waypoints.size());
+                waypoints.insert(waypoints.size(), t);
+            }
+            else
+            {
+                MainWindow::instance()->showCriticalMessage(tr("Error loading waypoint file"),tr("The waypoint file is corrupted. Load operation only partly succesful."));
+                break;
+            }
         }
     }
+
     file.close();
 
     emit loadWPFile();
     emit waypointListChanged();
-
 }
 
 
@@ -429,8 +449,7 @@ void UASWaypointManager::readWaypoints()
     {
         while(waypoints.size()>0)
         {
-            Waypoint *t = waypoints.back();
-            delete t;
+            delete waypoints.back();
             waypoints.pop_back();
 
         }
@@ -464,7 +483,7 @@ void UASWaypointManager::writeWaypoints()
             current_partner_compid = MAV_COMP_ID_WAYPOINTPLANNER;
 
             //clear local buffer
-            //TODO: Why not replace with waypoint_buffer.clear() ?
+            //TODO: Why not replace with waypoint_buffer.clear() ? - because this will lead to memory leaks, the waypoint-structs have to be deleted, clear() would only delete the pointers.
             while(!waypoint_buffer.empty())
             {
                 delete waypoint_buffer.back();
@@ -503,6 +522,10 @@ void UASWaypointManager::writeWaypoints()
             sendWaypointCount();
         }
     }
+    else if (waypoints.count() == 0)
+    {
+        sendWaypointClearAll();
+    }
     else
     {
         //we're in another transaction, ignore command

src/ui/WaypointList.cc

@@ -211,8 +211,7 @@ void WaypointList::add()
             else
             {
                     // Create global frame waypoint per default
-                    wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(),
-                                                0.0, true, true, 0.15, 2000);
+                    wp = new Waypoint(0, uas->getLongitude(), uas->getLatitude(), uas->getAltitude(), 0.0, true, true, 0.15, 0, MAV_FRAME_GLOBAL, MAV_ACTION_NAVIGATE);
                     uas->getWaypointManager().addWaypoint(wp);
             }
             if (wp->getFrame() == MAV_FRAME_GLOBAL)