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Commit e0629e95 authored by Lorenz Meier's avatar Lorenz Meier
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Merge pull request #671 from Susurrus/missions 

Minor improvements to UASWaypointManager.cc
parents e63127ad 66e2638c
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Showing with 44 additions and 17 deletions
src/uas/UASWaypointManager.cc
View file @ e0629e95
......@@ -153,7 +153,8 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
sendWaypointRequest(current_wp_id);
} else {
protocol_timer.stop();
emit updateStatusString("done.");
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
current_state = WP_IDLE;
current_count = 0;
current_wp_id = 0;
......@@ -163,7 +164,7 @@ void UASWaypointManager::handleWaypointCount(quint8 systemId, quint8 compId, qui
} 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);
qDebug("Rejecting waypoint count 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);
}
}
......@@ -204,15 +205,14 @@ void UASWaypointManager::handleWaypoint(quint8 systemId, quint8 compId, mavlink_
protocol_timer.stop();
emit readGlobalWPFromUAS(false);
QTime time = QTime::currentTime();
QString timeString = time.toString();
emit updateStatusString(tr("done. (updated at %1)").arg(timeString));
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
}
} else {
emit updateStatusString(tr("Waypoint ID mismatch, rejecting waypoint"));
}
} 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);
qDebug("Rejecting waypoint message, check mismatch: current_state: %d == %d, system id %d == %d, comp id %d == %d", current_state, WP_GETLIST_GETWPS, current_partner_systemid, systemId, current_partner_compid, compId);
}
}
......@@ -223,23 +223,50 @@ void UASWaypointManager::handleWaypointAck(quint8 systemId, quint8 compId, mavli
//all waypoints sent and ack received
protocol_timer.stop();
current_state = WP_IDLE;
readWaypoints(false); //Update "Onboard Waypoints"-tab immidiately after the waypoint list has been sent.
emit updateStatusString("done.");
readWaypoints(false); //Update "Onboard Waypoints"-tab immediately after the waypoint list has been sent.
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
} else if((current_state == WP_SENDLIST || current_state == WP_SENDLIST_SENDWPS) && wpa->type != 0) {
//give up transmitting if a WP is rejected
if (wpa->type == 1) {
emit updateStatusString("upload failed: general error");
} else if (wpa->type == 2) {
emit updateStatusString("upload failed: coordinate frame unsupported.");
} else {
emit updateStatusString("upload failed: other error.");
switch (wpa->type)
{
case MAV_MISSION_UNSUPPORTED_FRAME:
emit updateStatusString(tr("ERROR: Coordinate frame unsupported."));
break;
case MAV_MISSION_UNSUPPORTED:
emit updateStatusString(tr("ERROR: Unsupported command."));
break;
case MAV_MISSION_NO_SPACE:
emit updateStatusString(tr("ERROR: Mission count exceeds storage."));
break;
case MAV_MISSION_INVALID:
case MAV_MISSION_INVALID_PARAM1:
case MAV_MISSION_INVALID_PARAM2:
case MAV_MISSION_INVALID_PARAM3:
case MAV_MISSION_INVALID_PARAM4:
case MAV_MISSION_INVALID_PARAM5_X:
case MAV_MISSION_INVALID_PARAM6_Y:
case MAV_MISSION_INVALID_PARAM7:
emit updateStatusString(tr("ERROR: A specified parameter was invalid."));
break;
case MAV_MISSION_INVALID_SEQUENCE:
emit updateStatusString(tr("ERROR: Mission received out of sequence."));
break;
case MAV_MISSION_DENIED:
emit updateStatusString(tr("ERROR: UAS not accepting missions."));
break;
case MAV_MISSION_ERROR:
default:
emit updateStatusString(tr("ERROR: Unspecified error"));
break;
}
protocol_timer.stop();
current_state = WP_IDLE;
} else if(current_state == WP_CLEARLIST) {
protocol_timer.stop();
current_state = WP_IDLE;
emit updateStatusString("done.");
QTime time = QTime::currentTime();
emit updateStatusString(tr("Done. (updated at %1)").arg(time.toString()));
}
}
}
......@@ -258,7 +285,7 @@ void UASWaypointManager::handleWaypointRequest(quint8 systemId, quint8 compId, m
//TODO: Error message or something
}
} 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);
qDebug("Rejecting waypoint request message, check mismatch: current_state: %d == %d, system id %d == %d, comp id %d == %d", current_state, WP_SENDLIST_SENDWPS, current_partner_systemid, systemId, current_partner_compid, compId);
}
}
......@@ -267,7 +294,7 @@ void UASWaypointManager::handleWaypointReached(quint8 systemId, quint8 compId, m
Q_UNUSED(compId);
if (!uas) return;
if (systemId == uasid) {
emit updateStatusString(QString("Reached waypoint %1").arg(wpr->seq));
emit updateStatusString(tr("Reached waypoint %1").arg(wpr->seq));
}
}
......@@ -292,7 +319,7 @@ void UASWaypointManager::handleWaypointCurrent(quint8 systemId, quint8 compId, m
}
}
}
emit updateStatusString(QString("New current waypoint %1").arg(wpc->seq));
emit updateStatusString(tr("New current waypoint %1").arg(wpc->seq));
//emit update to UI widgets
emit currentWaypointChanged(wpc->seq);
}
......
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