Dragging and dropping waypoints now works and updates the FC immediately.

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.cpp

@@ -95,6 +95,7 @@ namespace mapcontrol
     }
     void WayPointItem::mouseReleaseEvent(QGraphicsSceneMouseEvent *event)
     {
+        QGraphicsItem::mouseReleaseEvent(event);
         if(event->button()==Qt::LeftButton)
         {
             if(text) {
@@ -110,8 +111,8 @@ namespace mapcontrol
             RefreshToolTip();
 
             emit WPValuesChanged(this);
+            emit WPDropped(this);
         }
-        QGraphicsItem::mouseReleaseEvent(event);
     }
     void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
     {

ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointitem.h

@@ -198,6 +198,7 @@ signals:
     * @param waypoint a pointer to this WayPoint
     */
     void WPNumberChanged(int const& oldnumber,int const& newnumber,WayPointItem* waypoint);
+
     /**
     * @brief Fired when the description, altitude or coordinates change
     *
@@ -205,6 +206,13 @@ signals:
     */
     void WPValuesChanged(WayPointItem* waypoint);
 
+    /**
+    * @brief Fired when the waypoint is dropped somewhere
+    *
+    * @param waypoint a pointer to this WayPoint
+    */
+    void WPDropped(WayPointItem* waypoint);
+
 };
 }
 #endif // WAYPOINTITEM_H

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -887,26 +887,19 @@ void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumb
     Q_UNUSED(waypoint);
 }
 
+/**
+  * Called whenever a waypoint item is changed on the mapcontrol.  Needs to update
+  * the backend appropriately
+  */
 void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
 {
-    //    qDebug("opmap: WPValuesChanged");
-
     switch (m_map_mode)
     {
     case Normal_MapMode:
-        m_waypoint_list_mutex.lock();
-        foreach (t_waypoint *wp, m_waypoint_list)
-        {   // search for the waypoint in our own waypoint list and update it
-            if (!wp) continue;
-            if (!wp->map_wp_item) continue;
-            if (wp->map_wp_item != waypoint) continue;
-            // found the waypoint in our list
-            wp->coord = waypoint->Coord();
-            wp->altitude = waypoint->Altitude();
-            wp->description = waypoint->Description();
-            break;
-        }
-        m_waypoint_list_mutex.unlock();
+    {
+        // TODO: We don't parse changes in position here as it's too dense
+        // however a change in something like
+    }
         break;
 
     case MagicWaypoint_MapMode:
@@ -2359,6 +2352,7 @@ void OPMapGadgetWidget::SetUavPic(QString UAVPic)
   */
 void OPMapGadgetWidget::doVisualizationChanged(QList<PathCompiler::waypoint> waypoints)
 {
+    disconnect(this,SLOT(WPDropped(WayPointItem*)));
     m_map->WPDeleteAll();
     int index = 0;
     foreach (PathCompiler::waypoint waypoint, waypoints) {
@@ -2371,5 +2365,24 @@ void OPMapGadgetWidget::doVisualizationChanged(QList<PathCompiler::waypoint> way
             wayPointItem->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
             index++;
         }
+        connect(wayPointItem, SIGNAL(WPDropped(WayPointItem*)), this, SLOT(WPDropped(WayPointItem*)));
+    }
+}
+
+/**
+  * Called when a waypoint is dropped at a new location.  Waypoint changed
+  * can't be used as it is updated too frequently and we don't want to
+  * overload the pathcompiler with unnecessary updates
+  */
+void OPMapGadgetWidget::WPDropped(WayPointItem *waypoint)
+{
+    switch (m_map_mode)
+    {
+    case Normal_MapMode:
+        PathCompiler::waypoint newWaypoint;
+        newWaypoint.latitude = waypoint->Coord().Lat();
+        newWaypoint.longitude = waypoint->Coord().Lng();
+        pathCompiler->doUpdateWaypoints(newWaypoint,waypoint->Number());
+        break;
     }
 }

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h

@@ -179,6 +179,7 @@ private slots:
     /**
       * Unused for now, hooks for future waypoint support
       */
+    void WPDropped(WayPointItem *waypoint);
     void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
     void WPValuesChanged(WayPointItem* waypoint);
     void WPInserted(int const& number, WayPointItem* waypoint);

ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp

@@ -140,6 +140,7 @@ void PathCompiler::doAddWaypoint(waypoint newWaypointInternal, int /*position*/)
         if(waypointData.Action == Waypoint::ACTION_STOP) {
             waypointData.Action = Waypoint::ACTION_PATHTONEXT;
             waypoint->setData(waypointData);
+            waypoint->updated();
             break;
         }
     }
@@ -169,6 +170,30 @@ void PathCompiler::doAddWaypoint(waypoint newWaypointInternal, int /*position*/)
     }
 }
 
+/**
+  * Update waypoint
+  */
+void PathCompiler::doUpdateWaypoints(PathCompiler::waypoint changedWaypoint, int position)
+{
+    int numWaypoints = getObjectManager()->getNumInstances(Waypoint::OBJID);
+    Q_ASSERT(position < numWaypoints);
+    if (position >= numWaypoints)
+        return;
+
+    Waypoint *waypointInst = Waypoint::GetInstance(getObjectManager(), position);
+    Q_ASSERT(waypointInst);
+
+    // Mirror over the updated position.  We don't just use the changedWaypoint
+    // because things like action might need to be preserved
+    Waypoint::DataFields changedWaypointUAVO = InternalToUavo(changedWaypoint);
+    Waypoint::DataFields oldWaypointUAVO = waypointInst->getData();
+    oldWaypointUAVO.Position[0] = changedWaypointUAVO.Position[0];
+    oldWaypointUAVO.Position[1] = changedWaypointUAVO.Position[1];
+    oldWaypointUAVO.Position[2] = changedWaypointUAVO.Position[2];
+    waypointInst->setData(oldWaypointUAVO);
+    waypointInst->updated();
+}
+
 /**
   * Delete a waypoint
   * @param index which waypoint to delete
@@ -255,10 +280,6 @@ void PathCompiler::doUpdateFromUAV(UAVObject *obj)
     if (!objManager)
         return;
 
-    if(obj) {
-        qDebug() << "Update:" << obj->getInstID();
-    }
-
     Waypoint *waypointObj = Waypoint::GetInstance(getObjectManager());
     Q_ASSERT(waypointObj);
     if (waypointObj == NULL)

ground/openpilotgcs/src/plugins/opmap/pathcompiler.h

@@ -118,7 +118,7 @@ public slots:
     /**
       * Update waypoint
       */
-    //void doUpdateWaypoints(struct PathCompiler::waypoint, int position);
+    void doUpdateWaypoints(PathCompiler::waypoint, int position);
 
     /**
       * Delete a waypoint