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Code Issues Releases Activity

Filter updates from the UAVOs if the waypoints haven't changed since they are

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set to periodic (and need to be right now until FC telemetry is fixed and sends
new instances).
This commit is contained in:
James Cotton 2012-06-05 08:30:42 -05:00
parent ff36e880e9
commit 302575714f
3 changed files with 26 additions and 12 deletions
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1
ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -2237,7 +2237,6 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
double NED[3];
double LLA[3];
double homeLLA[3];
UAVObject *obj;
Q_ASSERT(obm != NULL);

22
ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
View File

@ -116,7 +116,7 @@ void PathCompiler::doNewInstance(UAVObject* obj)
* @param waypoint the new waypoint to add
* @param position which position to insert it to, defaults to end
*/
void PathCompiler::doAddWaypoint(struct PathCompiler::waypoint waypoint, int /*position*/)
void PathCompiler::doAddWaypoint(waypoint newWaypointInternal, int /*position*/)
{
/* TODO: If a waypoint is inserted not at the end shift them all by one and */
/* add the data there */
@ -124,7 +124,7 @@ void PathCompiler::doAddWaypoint(struct PathCompiler::waypoint waypoint, int /*p
UAVObjectManager *objManager = getObjectManager();
// Format the data from the map into a UAVO
Waypoint::DataFields newWaypoint = InternalToUavo(waypoint);
Waypoint::DataFields newWaypoint = InternalToUavo(newWaypointInternal);
// Search for any waypoints set to stop, because if they exist we
// should add the waypoint immediately after that one
@ -249,6 +249,8 @@ void PathCompiler::doDelAllWaypoints()
*/
void PathCompiler::doUpdateFromUAV(UAVObject *obj)
{
static QList<waypoint> previousWaypoints;
UAVObjectManager *objManager = getObjectManager();
if (!objManager)
return;
@ -263,7 +265,7 @@ void PathCompiler::doUpdateFromUAV(UAVObject *obj)
return;
/* Get all the waypoints from the UAVO and create a representation for the visualization */
QList <struct PathCompiler::waypoint> waypoints;
QList <waypoint> waypoints;
waypoints.clear();
int numWaypoints = objManager->getNumInstances(waypointObj->getObjID());
bool stopped = false;
@ -278,8 +280,14 @@ void PathCompiler::doUpdateFromUAV(UAVObject *obj)
stopped = waypointData.Action == Waypoint::ACTION_STOP;
}
/* Inform visualization */
emit visualizationChanged(waypoints);
if (previousWaypoints != waypoints) {
/* Because the waypoints have to update periodically (or we miss new ones on the FC */
/* side - needs telem fix) we want to filter updates to map that are simply periodic */
previousWaypoints = waypoints;
/* Inform visualization */
emit visualizationChanged(waypoints);
}
}
/**
@ -292,7 +300,7 @@ struct PathCompiler::waypoint PathCompiler::UavoToInternal(Waypoint::DataFields
double homeLLA[3];
double LLA[3];
double NED[3];
struct PathCompiler::waypoint internalWaypoint;
waypoint internalWaypoint;
HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager());
Q_ASSERT(homeLocation);
@ -318,7 +326,7 @@ struct PathCompiler::waypoint PathCompiler::UavoToInternal(Waypoint::DataFields
* @param internal The internal structure type
* @returns The waypoint UAVO data structure
*/
Waypoint::DataFields PathCompiler::InternalToUavo(struct waypoint internal)
Waypoint::DataFields PathCompiler::InternalToUavo(waypoint internal)
{
Waypoint::DataFields uavo;

15
ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
View File

@ -66,7 +66,14 @@ public:
int loadPath(QString filename = NULL);
//! Waypoint representation that is exchanged between visualization
struct waypoint {
class waypoint {
public:
waypoint() {}
const bool operator==(const waypoint other) {
return (other.latitude == latitude) && (other.longitude == longitude);
}
double latitude;
double longitude;
};
@ -79,14 +86,14 @@ private:
struct PathCompiler::waypoint UavoToInternal(Waypoint::DataFields);
//! Convert a UAVO waypoint to the local structure
Waypoint::DataFields InternalToUavo(struct waypoint);
Waypoint::DataFields InternalToUavo(waypoint);
signals:
/**
* Indicates something changed the waypoints and the map should
* update the display
*/
void visualizationChanged(QList<struct PathCompiler::waypoint>);
void visualizationChanged(QList<PathCompiler::waypoint>);
public slots:
/**
@ -106,7 +113,7 @@ public slots:
* @param waypoint the new waypoint to add
* @param position which position to insert it to, defaults to end
*/
void doAddWaypoint(struct PathCompiler::waypoint, int position = -1);
void doAddWaypoint(waypoint, int position = -1);
/**
* Update waypoint