From a857530832d23a72df13b7928e82af199c701fdf Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Wed, 9 May 2012 10:58:24 -0500
Subject: [PATCH] Update the MagicWaypoint gadget to use PathDesired instead of
 PositionDesired

---
 .../magicwaypointgadgetwidget.cpp             | 63 ++++++++++---------
 .../magicwaypoint/magicwaypointgadgetwidget.h |  7 ++-
 2 files changed, 38 insertions(+), 32 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
index 9d8bd32c3..b15bf2063 100644
--- a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
@@ -47,7 +47,7 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
     m_magicwaypoint->setupUi(this);
 
     // Connect object updated event from UAVObject to also update check boxes
-    connect(getPositionDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
+    connect(getPathDesired(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
     connect(getPositionActual(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(positionObjectChanged(UAVObject*)));
 
     // Connect updates from the position widget to this widget
@@ -57,6 +57,9 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
 
     // Catch changes in scale for visualization
     connect(m_magicwaypoint->horizontalSliderScale, SIGNAL(valueChanged(int)), this, SLOT(scaleChanged(int)));
+
+    // Make sure the scale is correctly visualized
+    m_magicwaypoint->horizontalSliderScale->setValue(10);
 }
 
 MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
@@ -67,11 +70,12 @@ MagicWaypointGadgetWidget::~MagicWaypointGadgetWidget()
 /*!
   \brief Returns the @ref PositionDesired UAVObject
   */
-PositionDesired* MagicWaypointGadgetWidget::getPositionDesired()
+PathDesired* MagicWaypointGadgetWidget::getPathDesired()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    PositionDesired* obj = dynamic_cast<PositionDesired*>( objManager->getObject(QString("PositionDesired")) );
+    PathDesired* obj = PathDesired::GetInstance(objManager);
+    Q_ASSERT(obj != NULL); // Save crashes later
     return obj;
 }
 
@@ -82,7 +86,8 @@ PositionActual* MagicWaypointGadgetWidget::getPositionActual()
 {
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
-    PositionActual* obj = dynamic_cast<PositionActual*>( objManager->getObject(QString("PositionActual")) );
+    PositionActual *obj = PositionActual::GetInstance(objManager);
+    Q_ASSERT(obj != NULL);
     return obj;
 }
 
@@ -91,45 +96,45 @@ PositionActual* MagicWaypointGadgetWidget::getPositionActual()
   */
 void MagicWaypointGadgetWidget::scaleChanged(int scale) {
     Q_UNUSED(scale);
-    positionObjectChanged(getPositionDesired());
-    positionObjectChanged(getPositionActual());
+    pathDesiredChanged(getPathDesired());
+    positionActualChanged(getPositionActual());
 }
 
 /**
-  * Emit a position changed signal when @ref PositionDesired or @ref PositionActual object is changed
+  * Emit a position changed signal when @ref PositionActual object is changed
   */
-void MagicWaypointGadgetWidget::positionObjectChanged(UAVObject* obj)
+void MagicWaypointGadgetWidget::positionActualChanged(UAVObject *)
 {
+    PositionActual::DataFields positionActual = getPositionActual()->getData();
     double scale = m_magicwaypoint->horizontalSliderScale->value();
-    double north = obj->getField("North")->getDouble() / scale;
-    double east = obj->getField("East")->getDouble() / scale;
-
-    if(obj->getName().compare("PositionDesired")) {
-        emit positionDesiredObjectChanged(north,east);
-    } else {
-        emit positionActualObjectChanged(north,east);
-    }
 
+    emit positionActualObjectChanged(positionActual.North / scale,
+                                     positionActual.East / scale);
 }
 
 /**
-  * Slot called by visualization when a new @ref PositionDesired is requested
+  * Emit a position changed signal when @ref PathDesired is changed
+  */
+void MagicWaypointGadgetWidget::pathDesiredChanged(UAVObject *)
+{
+    PathDesired::DataFields pathDesired = getPathDesired()->getData();
+    double scale = m_magicwaypoint->horizontalSliderScale->value();
+
+    emit positionDesiredObjectChanged(pathDesired.End[PathDesired::END_NORTH] / scale,
+                                      pathDesired.End[PathDesired::END_EAST] / scale);
+}
+
+/**
+  * Slot called by visualization when a new @ref PathDesired is requested
   */
 void MagicWaypointGadgetWidget::positionSelected(double north, double east) {
     double scale = m_magicwaypoint->horizontalSliderScale->value();
 
-    PositionDesired * posDesired = getPositionDesired();
-    if(posDesired) {
-        UAVObjectField * field = posDesired->getField("North");
-        if(field)
-            field->setDouble(north * scale);
-
-        field = posDesired->getField("East");
-        if(field)
-            field->setDouble(east * scale);
-
-        posDesired->updated();
-    }
+    PathDesired::DataFields pathDesired = getPathDesired()->getData();
+    pathDesired.End[PathDesired::END_NORTH] = north * scale;
+    pathDesired.End[PathDesired::END_EAST] = east * scale;
+    pathDesired.Mode = PathDesired::MODE_ENDPOINT;
+    getPathDesired()->setData(pathDesired);
 }
 
 /**
diff --git a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
index 388b32088..94fa32fdd 100644
--- a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
+++ b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.h
@@ -29,7 +29,7 @@
 #define MagicWaypointGADGETWIDGET_H_
 
 #include <QtGui/QLabel>
-#include "positiondesired.h"
+#include "pathdesired.h"
 #include "positionactual.h"
 
 class Ui_MagicWaypoint;
@@ -48,11 +48,12 @@ signals:
 
 protected slots:
     void scaleChanged(int scale);
-    void positionObjectChanged(UAVObject *);
+    void positionActualChanged(UAVObject *);
+    void pathDesiredChanged(UAVObject *);
     void positionSelected(double north, double east);
 
 private:
-    PositionDesired * getPositionDesired();
+    PathDesired * getPathDesired();
     PositionActual * getPositionActual();
     Ui_MagicWaypoint * m_magicwaypoint;
 };