From e686ac0b1dc38f5c6a94b31d382f05fe7259bee9 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 2 Jun 2012 15:02:43 -0500
Subject: [PATCH] Start adding the ability to delete a waypoint

---
 .../src/plugins/opmap/opmapgadgetwidget.cpp   | 68 ++++---------------
 .../src/plugins/opmap/pathcompiler.cpp        | 10 ++-
 .../src/plugins/opmap/pathcompiler.h          |  5 ++
 3 files changed, 29 insertions(+), 54 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
index da41019e7..1ca72597b 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -1957,52 +1957,22 @@ void OPMapGadgetWidget::onLockWayPointAct_triggered()
 
 void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
 {
+    Q_ASSERT(m_widget);
+    Q_ASSERT(m_map);
+
     if (!m_widget || !m_map)
         return;
 
     if (m_map_mode != Normal_MapMode)
         return;
 
-    if (!m_mouse_waypoint)
-        return;
+    Q_ASSERT(m_mouse_waypoint);
+    if(m_mouse_waypoint) {
+        int waypointIdx = m_mouse_waypoint->Description().toInt();
 
-    bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
-
-    if (locked) return;	// waypoint is locked
-
-    QMutexLocker locker(&m_waypoint_list_mutex);
-
-    for (int i = 0; i < m_waypoint_list.count(); i++)
-    {
-        t_waypoint *wp = m_waypoint_list.at(i);
-        if (!wp) continue;
-        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
-
-        // delete the waypoint from the map
-        m_map->WPDelete(wp->map_wp_item);
-
-        // delete the waypoint from our local waypoint list
-        m_waypoint_list.removeAt(i);
-
-        delete wp;
-
-        break;
-    }
-
-    foreach (t_waypoint *wp, m_waypoint_list)
-    {
-        if (!wp) continue;
-        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
-
-        // delete the waypoint from the map
-        m_map->WPDelete(wp->map_wp_item);
-
-        // delete the waypoint from our local waypoint list
-        m_waypoint_list.removeOne(wp);
-
-        delete wp;
-
-        break;
+        Q_ASSERT(pathCompiler);
+        if(pathCompiler)
+            pathCompiler->doDelWaypoint(waypointIdx);
     }
 
     m_mouse_waypoint = NULL;
@@ -2013,26 +1983,18 @@ void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
   */
 void OPMapGadgetWidget::onClearWayPointsAct_triggered()
 {
+    Q_ASSERT(m_widget);
+    Q_ASSERT(m_map);
+
     if (!m_widget || !m_map)
         return;
 
     if (m_map_mode != Normal_MapMode)
         return;
 
-    QMutexLocker locker(&m_waypoint_list_mutex);
-
-    m_map->WPDeleteAll();
-
-    foreach (t_waypoint *wp, m_waypoint_list)
-    {
-        if (wp)
-        {
-            delete wp;
-            wp = NULL;
-        }
-    }
-
-    m_waypoint_list.clear();
+    Q_ASSERT(pathCompiler);
+    if(pathCompiler)
+        pathCompiler->doDelAllWaypoints();
 }
 
 void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
diff --git a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
index fc28c95a4..daa7ecd47 100644
--- a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.cpp
@@ -121,7 +121,7 @@ void PathCompiler::doAddWaypoint(struct PathCompiler::waypoint waypoint, int /*p
   * Delete a waypoint
   * @param index which waypoint to delete
   */
-void PathCompiler::doDelWaypoint(int /*index*/)
+void PathCompiler::doDelWaypoint(int index)
 {
     // This method is awkward because there is no support
     // on the FC for actually deleting a waypoint.  We need
@@ -132,6 +132,14 @@ void PathCompiler::doDelWaypoint(int /*index*/)
     Q_ASSERT(false);
 }
 
+/**
+  * Delete all the waypoints
+  */
+void PathCompiler::doDelAllWaypoints()
+{
+
+}
+
 /**
   * When the UAV waypoints change trigger the pathcompiler to
   * get the latest version and then update the visualization
diff --git a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
index db5639c9d..426d94c55 100644
--- a/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
+++ b/ground/openpilotgcs/src/plugins/opmap/pathcompiler.h
@@ -109,6 +109,11 @@ public slots:
       */
     void doDelWaypoint(int index);
 
+    /**
+      * Delete all the waypoints
+      */
+    void doDelAllWaypoints();
+
 public slots:
     /**
       * These are slots that the UAV can call to update the path.