rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

After deleting a waypoint (which really sets the last one to stop and shifts

Browse Source 
the rest) any added waypoints were invisible.  This puts the new one after the
first stop and removes the stop.
This commit is contained in:
James Cotton 2012-06-02 17:45:55 -05:00
parent 484057e9ae
commit 0a842ac639
1 changed files with 52 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

67
ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
View File

@ -31,6 +31,8 @@
#include <waypoint.h>
#include <homelocation.h>
#include <QDebug>
PathCompiler::PathCompiler(QObject *parent) :
QObject(parent)
{
@ -95,25 +97,54 @@ int PathCompiler::loadPath(QString filename)
*/
void PathCompiler::doAddWaypoint(struct PathCompiler::waypoint waypoint, int /*position*/)
{
UAVObjectManager *objMngr;
objMngr = getObjectManager();
if (objMngr == NULL)
return;
/* TODO: If a waypoint is inserted not at the end shift them all by one and */
/* add the data there */
Waypoint *obj = new Waypoint();
Q_ASSERT(obj);
if (obj) {
// Register a new waypoint instance
quint32 newInstId = objMngr->getNumInstances(obj->getObjID());
obj->initialize(newInstId,obj->getMetaObject());
objMngr->registerObject(obj);
UAVObjectManager *objManager = getObjectManager();
// Set the data in the new object
Waypoint::DataFields newWaypoint = InternalToUavo(waypoint);
obj->setData(newWaypoint);
// Format the data from the map into a UAVO
Waypoint::DataFields newWaypoint = InternalToUavo(waypoint);
// Search for any waypoints set to stop, because if they exist we
// should add the waypoint immediately after that one
int numWaypoints = objManager->getNumInstances(Waypoint::OBJID);
int i;
for (i = 0; i < numWaypoints; i++) {
Waypoint *waypoint = Waypoint::GetInstance(objManager, i);
Q_ASSERT(waypoint);
if(waypoint == NULL)
return;
Waypoint::DataFields waypointData = waypoint->getData();
if(waypointData.Action == Waypoint::ACTION_STOP) {
waypointData.Action = Waypoint::ACTION_PATHTONEXT;
waypoint->setData(waypointData);
break;
}
}
if (i >= numWaypoints - 1) {
// We reached end of list so new waypoint needs to be registered
Waypoint *waypoint = new Waypoint();
Q_ASSERT(waypoint);
if (waypoint) {
// Register a new waypoint instance
quint32 newInstId = objManager->getNumInstances(waypoint->getObjID());
waypoint->initialize(newInstId,waypoint->getMetaObject());
objManager->registerObject(waypoint);
// Set the data in the new object
waypoint->setData(newWaypoint);
waypoint->updated();
}
} else {
Waypoint *waypoint = Waypoint::GetInstance(objManager, i + 1);
Q_ASSERT(waypoint);
if (waypoint) {
waypoint->setData(newWaypoint);
waypoint->updated();
}
}
}
@ -136,6 +167,7 @@ void PathCompiler::doDelWaypoint(int index)
int numWaypoints = objManager->getNumInstances(waypoint->getObjID());
for (int i = index; i < numWaypoints - 1; i++) {
qDebug() << "Copying from" << i+1 << "to" << i;
Waypoint *waypointDest = Waypoint::GetInstance(objManager, i);
Q_ASSERT(waypointDest);
@ -152,6 +184,7 @@ void PathCompiler::doDelWaypoint(int index)
// Set the second to last waypoint to stop (and last for safety)
// the functional equivalent to deleting
for (int i = numWaypoints - 2; i < numWaypoints; i++) {
qDebug() << "Stopping" << i;
waypoint = Waypoint::GetInstance(objManager, i);
Q_ASSERT(waypoint);
if (waypoint) {
@ -160,6 +193,8 @@ void PathCompiler::doDelWaypoint(int index)
waypoint->setData(waypointData);
}
}
waypoint->updated();
}
/**
@ -182,6 +217,8 @@ void PathCompiler::doDelAllWaypoints()
waypoint->setData(waypointData);
}
}
waypointObj->updated();
}
/**