View-Edit waypoint list separation implemented. Working, but still has come bugs.

src/uas/UASWaypointManager.cc

@@ -267,16 +267,23 @@ void UASWaypointManager::notifyOfChangeEditable(Waypoint* wp)
     }
 }
 
-//void notifyOfChangeViewOnly(Waypoint* wp)
-//{
-
-//}
+void UASWaypointManager::notifyOfChangeViewOnly(Waypoint* wp)
+{
+    if (wp != NULL) {
+        emit waypointViewOnlyChanged(uas.getUASID(), wp);
+    } else {
+        emit waypointViewOnlyListChanged();
+        emit waypointViewOnlyListChanged(uas.getUASID());
+    }
+}
 
 
 int UASWaypointManager::setCurrentWaypoint(quint16 seq)
 {
     if (seq < waypointsViewOnly.size()) {
         if(current_state == WP_IDLE) {
+
+            /*
             //update local main storage
             for(int i = 0; i < waypointsViewOnly.size(); i++) {
                 if (waypointsViewOnly[i]->getId() == seq) {
@@ -286,8 +293,8 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
                     waypointsViewOnly[i]->setCurrent(false);
                 }
             }
+            */
 
-            //TODO: signal changed waypoint list
 
             //send change to UAS - important to note: if the transmission fails, we have inconsistencies
             protocol_timer.start(PROTOCOL_TIMEOUT_MS);
@@ -308,17 +315,30 @@ int UASWaypointManager::setCurrentWaypoint(quint16 seq)
     return -1;
 }
 
+int UASWaypointManager::setCurrentEditable(quint16 seq)
+{
+    if (seq < waypointsEditable.size()) {
+        if(current_state == WP_IDLE) {
+            //update local main storage
+            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);
+                }
+            }
+
+            return 0;
+        }
+    }
+    return -1;
+}
 
 void UASWaypointManager::addWaypointViewOnly(Waypoint *wp)
 {
     if (wp)
-    {
-        wp->setId(waypointsViewOnly.size());
-        if (waypointsEditable.size() == 0)
-        {
-            wp->setCurrent(true);
-            //currentWaypointEditable = wp;
-        }
+    {        
         waypointsViewOnly.insert(waypointsViewOnly.size(), wp);
         connect(wp, SIGNAL(changed(Waypoint*)), this, SLOT(notifyOfChangeViewOnly(Waypoint*)));
 
@@ -719,10 +739,19 @@ void UASWaypointManager::readWaypoints(bool readToEdit)
     read_to_edit = readToEdit;
     emit readGlobalWPFromUAS(true);
     if(current_state == WP_IDLE) {
-        while(waypointsEditable.size()>0) {
-            delete waypointsEditable.back();
-            waypointsEditable.pop_back();
 
+        //Clear the old view-list before receiving the new one
+        while(waypointsViewOnly.size()>0) {
+            delete waypointsViewOnly.back();
+            waypointsViewOnly.pop_back();
+        }
+
+        //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();
+            }
         }
 
         protocol_timer.start(PROTOCOL_TIMEOUT_MS);
@@ -799,7 +828,7 @@ void UASWaypointManager::writeWaypoints()
         sendWaypointClearAll();
     } else {
         //we're in another transaction, ignore command
-        // // qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command";
+        qDebug() << "UASWaypointManager::sendWaypoints() doing something else ignoring command";
     }
 }
 

src/uas/UASWaypointManager.h

@@ -82,7 +82,8 @@ public:
 
     void readWaypoints(bool read_to_edit=false);    ///< Requests the MAV's current waypoint list.
     void writeWaypoints();                          ///< Sends the 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
+    int setCurrentWaypoint(quint16 seq);            ///< Sends the sequence number of the waypoint that should get the new target waypoint to the UAS
+    int setCurrentEditable(quint16 seq);          ///< Changes the current waypoint in edit tab
     /*@}*/
 
     /** @name Waypoint list operations */
@@ -136,7 +137,7 @@ public slots:
     void saveWaypoints(const QString &saveFile);           ///< saves the local waypoint list to saveFile
     void loadWaypoints(const QString &loadFile);           ///< loads a waypoint list from loadFile
     void notifyOfChangeEditable(Waypoint* wp);             ///< Notifies manager to changes to an editable waypoint
-    //void notifyOfChangeViewOnly(Waypoint* wp);             ///< Notifies manager to changes to a viewonly waypoint
+    void notifyOfChangeViewOnly(Waypoint* wp);             ///< Notifies manager to changes to a viewonly waypoint, e.g. some widget wants to change "current"
     /*@}*/
     void handleLocalPositionChanged(UASInterface* mav, double x, double y, double z, quint64 time);
     void handleGlobalPositionChanged(UASInterface* mav, double lat, double lon, double alt, quint64 time);

src/ui/WaypointEditableView.cc

@@ -358,14 +358,27 @@ void WaypointEditableView::changedFrame(int index)
 
 void WaypointEditableView::changedCurrent(int state)
 {
-    if (state == 0) {
-        m_ui->selectedBox->setChecked(true);
-        m_ui->selectedBox->setCheckState(Qt::Checked);
-        //wp->setCurrent(false); //FIXME: Is this line needed?
-    } else {
+    m_ui->selectedBox->blockSignals(true);
+    if (state == 0)
+    {
+        if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
+        {
+            m_ui->selectedBox->setChecked(true);
+            m_ui->selectedBox->setCheckState(Qt::Checked);
+        }
+        else
+        {
+            m_ui->selectedBox->setChecked(false);
+            m_ui->selectedBox->setCheckState(Qt::Unchecked);
+            wp->setCurrent(false);
+        }
+    }
+    else
+    {
         wp->setCurrent(true);
-        emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() 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
     }
+    m_ui->selectedBox->blockSignals(false);
 }
 
 void WaypointEditableView::updateValues()

src/ui/WaypointList.cc

@@ -62,7 +62,7 @@ WaypointList::WaypointList(QWidget *parent, UASInterface* uas) :
     // ADD WAYPOINT
     // Connect add action, set right button icon and connect action to this class
     connect(m_ui->addButton, SIGNAL(clicked()), m_ui->actionAddWaypoint, SIGNAL(triggered()));
-    connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(add()));
+    connect(m_ui->actionAddWaypoint, SIGNAL(triggered()), this, SLOT(addEditable()));
 
     // ADD WAYPOINT AT CURRENT POSITION
     connect(m_ui->positionAddButton, SIGNAL(clicked()), this, SLOT(addCurrentPositionWaypoint()));
@@ -143,7 +143,7 @@ void WaypointList::setUAS(UASInterface* uas)
         connect(uas->getWaypointManager(), SIGNAL(waypointEditableChanged(int,Waypoint*)), this, SLOT(updateWaypointEditable(int,Waypoint*)));
         connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyListChanged(void)),                  this, SLOT(waypointViewOnlyListChanged(void)));
         connect(uas->getWaypointManager(), SIGNAL(waypointViewOnlyChanged(int,Waypoint*)), this, SLOT(updateWaypointViewOnly(int,Waypoint*)));
-        connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointChanged(quint16)));
+        connect(uas->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)),            this, SLOT(currentWaypointViewOnlyChanged(quint16)));
         //connect(uas->getWaypointManager(),SIGNAL(loadWPFile()),this,SLOT(setIsLoadFileWP()));
         //connect(uas->getWaypointManager(),SIGNAL(readGlobalWPFromUAS(bool)),this,SLOT(setIsReadGlobalWP(bool)));
     }
@@ -213,6 +213,7 @@ void WaypointList::addEditable()
     }
 }
 
+/*
 void WaypointList::addViewOnly()
 {
     if (uas)
@@ -234,6 +235,7 @@ void WaypointList::addViewOnly()
         }
     }
 }
+*/
 
 void WaypointList::addCurrentPositionWaypoint()
 {
@@ -298,7 +300,8 @@ void WaypointList::changeCurrentWaypoint(quint16 seq)
     }
 }
 
-void WaypointList::currentWaypointChanged(quint16 seq)
+
+void WaypointList::currentWaypointEditableChanged(quint16 seq)
 {
     if (uas)
     {
@@ -323,13 +326,45 @@ void WaypointList::currentWaypointChanged(quint16 seq)
     }
 }
 
-void WaypointList::updateWaypoint(int uas, Waypoint* wp)
+void WaypointList::currentWaypointViewOnlyChanged(quint16 seq)
+{
+    if (uas)
+    {
+        const QVector<Waypoint *> &waypoints = uas->getWaypointManager()->getWaypointViewOnlyList();
+
+        if (seq < waypoints.size())
+        {
+            for(int i = 0; i < waypoints.size(); i++)
+            {
+                WaypointViewOnlyView* widget = wpViewOnlyViews.find(waypoints[i]).value();
+
+                if (waypoints[i]->getId() == seq)
+                {
+                    widget->setCurrent(true);
+                }
+                else
+                {
+                    widget->setCurrent(false);
+                }
+            }
+        }
+    }
+}
+
+void WaypointList::updateWaypointEditable(int uas, Waypoint* wp)
 {
     Q_UNUSED(uas);
     WaypointEditableView *wpv = wpEditableViews.value(wp);
     wpv->updateValues();
 }
 
+void WaypointList::updateWaypointViewOnly(int uas, Waypoint* wp)
+{
+    Q_UNUSED(uas);
+    WaypointViewOnlyView *wpv = wpViewOnlyViews.value(wp);
+    wpv->updateValues();
+}
+
 void WaypointList::waypointViewOnlyListChanged()
 {
     if (uas) {
@@ -352,7 +387,7 @@ void WaypointList::waypointViewOnlyListChanged()
                 if (i == waypoints.size()) {
                     WaypointViewOnlyView* widget = wpViewOnlyViews.find(cur).value();
                     widget->hide();
-                    editableListLayout->removeWidget(widget);
+                    viewOnlyListLayout->removeWidget(widget);
                     wpViewOnlyViews.remove(cur);
                 }
             }
@@ -421,7 +456,7 @@ void WaypointList::waypointEditableListChanged()
                 connect(wpview, SIGNAL(moveUpWaypoint(Waypoint*)),      this, SLOT(moveUp(Waypoint*)));
                 connect(wpview, SIGNAL(removeWaypoint(Waypoint*)),      this, SLOT(removeWaypoint(Waypoint*)));
                 //connect(wpview, SIGNAL(currentWaypointChanged(quint16)), this, SLOT(currentWaypointChanged(quint16))); commented, because unused
-                //connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypoint(quint16)));
+                connect(wpview, SIGNAL(changeCurrentWaypoint(quint16)), this, SLOT(changeCurrentWaypointEditable(quint16)));
                 editableListLayout->insertWidget(i, wpview);
             }
             WaypointEditableView *wpv = wpEditableViews.value(wp);

src/ui/WaypointList.h

@@ -76,7 +76,7 @@ public slots:
     /** @brief Add a waypoint to "edit"-tab */
     void addEditable();
     /** @brief Add a waypoint to "view"-tab */
-    void addViewOnly();
+   // void addViewOnly();
     /** @brief Add a waypoint at the current MAV position */
     void addCurrentPositionWaypoint();
     /** @brief Add a waypoint by mouse click over the map */
@@ -86,10 +86,14 @@ public slots:
     void updateStatusLabel(const QString &string);
     /** @brief The user wants to change the current waypoint */
     void changeCurrentWaypoint(quint16 seq);
-    /** @brief The waypoint planner changed the current waypoint */
-    void currentWaypointChanged(quint16 seq);
-    /** @brief The waypoint manager informs that one waypoint was changed */
-    void updateWaypoint(int uas, Waypoint* wp);
+    /** @brief Current waypoint in edit-tab was changed, so the list must be updated (to contain only one waypoint checked as "current")  */
+    void currentWaypointEditableChanged(quint16 seq);
+    /** @brief Current waypoint on UAV was changed, update view-tab  */
+    void currentWaypointViewOnlyChanged(quint16 seq);
+    /** @brief The waypoint manager informs that one editable waypoint was changed */
+    void updateWaypointEditable(int uas, Waypoint* wp);
+    /** @brief The waypoint manager informs that one viewonly waypoint was changed */
+    void updateWaypointViewOnly(int uas, Waypoint* wp);
     /** @brief The waypoint manager informs that the editable waypoint list was changed */
     void waypointEditableListChanged(void);
     /** @brief The waypoint manager informs that the waypoint list on the MAV was changed */

src/ui/WaypointViewOnlyView.cc

@@ -31,9 +31,14 @@ void WaypointViewOnlyView::changedAutoContinue(int state)
 void WaypointViewOnlyView::changedCurrent(int state)
 {
     qDebug() << "Trof: WaypointViewOnlyView::changedCurrent(" << state << ") ID:" << wp->getId();
-
+    m_ui->current->blockSignals(true);
     if (state == 0)
     {
+        /*
+
+        m_ui->current->setStyleSheet("");
+
+        */
         if (wp->getCurrent() == true) //User clicked on the waypoint, that is already current
         {
             m_ui->current->setChecked(true);
@@ -42,15 +47,27 @@ void WaypointViewOnlyView::changedCurrent(int state)
         else
         {
             m_ui->current->setChecked(false);
-            m_ui->current->setCheckState(Qt::Unchecked);
+            m_ui->current->setCheckState(Qt::Unchecked);            
             wp->setCurrent(false);
         }
     }
     else
-    {
+    {        
+        /*
+        FIXME: The checkbox should turn gray to indicate, that set_current request has been sent to UAV. It should become blue (checked) after receiving set_current_ack from waypointplanner.
+
+        m_ui->current->setStyleSheet("*::indicator { \
+            border: 1px solid #777777; \
+            border-radius: 2px; \
+            color: #999999; \
+                 width: 10px; \
+             height: 10px; \
+        }");
+        */
         wp->setCurrent(true);
         emit changeCurrentWaypoint(wp->getId());   //the slot changeCurrentWaypoint() in WaypointList sets all other current flags to false
     }
+    m_ui->current->blockSignals(false);
 }
 
 void WaypointViewOnlyView::setCurrent(bool state)