mirror of
https://bitbucket.org/librepilot/librepilot.git
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452 lines
14 KiB
C++
452 lines
14 KiB
C++
/**
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******************************************************************************
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*
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* @file pathactioneditortreemodel.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVObjectBrowserPlugin UAVObject Browser Plugin
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* @{
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* @brief The UAVObject Browser gadget plugin
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pathactioneditortreemodel.h"
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#include "pathactioneditorgadget.h"
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#include "fieldtreeitem.h"
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#include "uavobjectmanager.h"
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#include "uavdataobject.h"
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#include "uavmetaobject.h"
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#include "uavobjectfield.h"
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#include "extensionsystem/pluginmanager.h"
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#include <QColor>
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// #include <QIcon>
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#include <QMessageBox>
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#include <QtCore/QSignalMapper>
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#include <QtCore/QDebug>
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#include "waypoint.h"
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#include "waypointactive.h"
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#include "pathaction.h"
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PathActionEditorTreeModel::PathActionEditorTreeModel(QObject *parent) :
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QAbstractItemModel(parent),
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m_recentlyUpdatedColor(QColor(255, 230, 230)),
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m_manuallyChangedColor(QColor(230, 230, 255))
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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m_objManager = pm->getObject<UAVObjectManager>();
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connect(m_objManager, SIGNAL(newInstance(UAVObject *)), this, SLOT(newInstance(UAVObject *)));
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connect(m_objManager->getObject("WaypointActive"), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objUpdated(UAVObject *)));
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connect(m_objManager->getObject("PathAction"), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objUpdated(UAVObject *)));
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connect(m_objManager->getObject("Waypoint"), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(objUpdated(UAVObject *)));
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setupModelData();
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}
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PathActionEditorTreeModel::~PathActionEditorTreeModel()
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{
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delete m_rootItem;
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}
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void PathActionEditorTreeModel::setupModelData()
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{
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m_actions = new QStringList();
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updateActions();
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// root
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QList<QVariant> rootData;
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rootData << tr("Property") << tr("Value") << tr("Unit");
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m_rootItem = new TreeItem(rootData);
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m_pathactionsTree = new TopTreeItem(tr("PathActions"), m_rootItem);
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m_rootItem->appendChild(m_pathactionsTree);
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m_waypointsTree = new TopTreeItem(tr("Waypoints"), m_rootItem);
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m_rootItem->appendChild(m_waypointsTree);
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connect(m_rootItem, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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connect(m_pathactionsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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connect(m_waypointsTree, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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{
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QList<UAVObject *> list = m_objManager->getObjectInstances("PathAction");
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foreach(UAVObject * obj, list) {
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addInstance(obj, m_pathactionsTree);
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}
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}
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{
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QList<UAVObject *> list = m_objManager->getObjectInstances("Waypoint");
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foreach(UAVObject * obj, list) {
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addInstance(obj, m_waypointsTree);
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}
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}
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}
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void PathActionEditorTreeModel::updateActions()
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{
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m_actions->clear();
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QList<UAVObject *> list = m_objManager->getObjectInstances("PathAction");
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foreach(UAVObject * obj, list) {
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QString title;
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title.append((QVariant(obj->getInstID()).toString()));
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title.append(" ");
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title.append((obj->getField("Mode")->getValue().toString()));
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title.append(" ");
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title.append((obj->getField("Command")->getValue().toString()));
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title.append(":");
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title.append((obj->getField("EndCondition")->getValue().toString()));
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title.append(" ");
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m_actions->append(title);
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}
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}
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void PathActionEditorTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
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{
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connect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(highlightUpdatedObject(UAVObject *)));
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TreeItem *item;
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QString name = QString::number(obj->getInstID());
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item = new InstanceTreeItem(obj, name);
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connect(item, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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parent->appendChild(item);
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foreach(UAVObjectField * field, obj->getFields()) {
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if (field->getNumElements() > 1) {
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addArrayField(field, item);
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} else {
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addSingleField(0, field, item);
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}
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}
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}
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void PathActionEditorTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
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{
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TreeItem *item = new ArrayFieldTreeItem(field->getName());
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connect(item, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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for (uint i = 0; i < field->getNumElements(); ++i) {
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addSingleField(i, field, item);
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}
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parent->appendChild(item);
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}
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void PathActionEditorTreeModel::addSingleField(int index, UAVObjectField *field, TreeItem *parent)
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{
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QList<QVariant> data;
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if (field->getNumElements() == 1) {
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data.append(field->getName());
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} else {
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data.append(QString("[%1]").arg((field->getElementNames())[index]));
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}
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FieldTreeItem *item = NULL;
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UAVObjectField::FieldType type = field->getType();
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// hack: list available actions in an enum
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if (field->getName().compare("Action") == 0 && type == UAVObjectField::UINT8) {
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data.append(field->getValue(index).toInt());
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data.append(field->getUnits());
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item = new ActionFieldTreeItem(field, index, data, m_actions);
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} else {
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switch (type) {
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case UAVObjectField::ENUM:
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{
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QStringList options = field->getOptions();
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QVariant value = field->getValue();
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data.append(options.indexOf(value.toString()));
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data.append(field->getUnits());
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item = new EnumFieldTreeItem(field, index, data);
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break;
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}
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case UAVObjectField::INT8:
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case UAVObjectField::INT16:
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case UAVObjectField::INT32:
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case UAVObjectField::UINT8:
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case UAVObjectField::UINT16:
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case UAVObjectField::UINT32:
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data.append(field->getValue(index));
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data.append(field->getUnits());
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item = new IntFieldTreeItem(field, index, data);
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break;
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case UAVObjectField::FLOAT32:
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data.append(field->getValue(index));
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data.append(field->getUnits());
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item = new FloatFieldTreeItem(field, index, data);
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break;
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default:
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Q_ASSERT(false);
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}
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}
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connect(item, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
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parent->appendChild(item);
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}
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QModelIndex PathActionEditorTreeModel::index(int row, int column, const QModelIndex &parent)
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const
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{
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if (!hasIndex(row, column, parent)) {
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return QModelIndex();
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}
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TreeItem *parentItem;
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if (!parent.isValid()) {
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parentItem = m_rootItem;
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} else {
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parentItem = static_cast<TreeItem *>(parent.internalPointer());
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}
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TreeItem *childItem = parentItem->child(row);
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if (childItem) {
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return createIndex(row, column, childItem);
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} else {
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return QModelIndex();
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}
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}
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QModelIndex PathActionEditorTreeModel::index(TreeItem *item)
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{
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if (item->parent() == 0) {
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return QModelIndex();
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}
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QModelIndex root = index(item->parent());
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for (int i = 0; i < rowCount(root); ++i) {
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QModelIndex childIndex = index(i, 0, root);
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TreeItem *child = static_cast<TreeItem *>(childIndex.internalPointer());
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if (child == item) {
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return childIndex;
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}
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}
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Q_ASSERT(false);
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return QModelIndex();
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}
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QModelIndex PathActionEditorTreeModel::parent(const QModelIndex &index) const
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{
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if (!index.isValid()) {
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return QModelIndex();
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}
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TreeItem *childItem = static_cast<TreeItem *>(index.internalPointer());
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TreeItem *parentItem = childItem->parent();
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if (parentItem == m_rootItem) {
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return QModelIndex();
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}
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return createIndex(parentItem->row(), 0, parentItem);
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}
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int PathActionEditorTreeModel::rowCount(const QModelIndex &parent) const
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{
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TreeItem *parentItem;
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if (parent.column() > 0) {
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return 0;
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}
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if (!parent.isValid()) {
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parentItem = m_rootItem;
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} else {
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parentItem = static_cast<TreeItem *>(parent.internalPointer());
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}
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return parentItem->childCount();
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}
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int PathActionEditorTreeModel::columnCount(const QModelIndex &parent) const
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{
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if (parent.isValid()) {
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return static_cast<TreeItem *>(parent.internalPointer())->columnCount();
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} else {
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return m_rootItem->columnCount();
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}
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}
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QVariant PathActionEditorTreeModel::data(const QModelIndex &index, int role) const
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{
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if (!index.isValid()) {
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return QVariant();
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}
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if (index.column() == TreeItem::dataColumn && role == Qt::EditRole) {
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TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
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return item->data(index.column());
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}
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// if (role == Qt::DecorationRole)
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// return QIcon(":/core/images/openpilot_logo_128.png");
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if (role == Qt::ToolTipRole) {
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TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
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return item->description();
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}
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TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
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if (index.column() == 0 && role == Qt::BackgroundRole) {
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ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem *>(item);
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if (objItem && objItem->highlighted()) {
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return QVariant(m_recentlyUpdatedColor);
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}
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}
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if (index.column() == TreeItem::dataColumn && role == Qt::BackgroundRole) {
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FieldTreeItem *fieldItem = dynamic_cast<FieldTreeItem *>(item);
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if (fieldItem && fieldItem->highlighted()) {
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return QVariant(m_recentlyUpdatedColor);
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}
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if (fieldItem && fieldItem->changed()) {
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return QVariant(m_manuallyChangedColor);
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}
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}
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if (role != Qt::DisplayRole) {
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return QVariant();
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}
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if (index.column() == TreeItem::dataColumn) {
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EnumFieldTreeItem *fieldItem = dynamic_cast<EnumFieldTreeItem *>(item);
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if (fieldItem) {
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int enumIndex = fieldItem->data(index.column()).toInt();
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return fieldItem->enumOptions(enumIndex);
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} else {
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ActionFieldTreeItem *afieldItem = dynamic_cast<ActionFieldTreeItem *>(item);
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if (afieldItem) {
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int enumIndex = afieldItem->data(index.column()).toInt();
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return afieldItem->enumOptions(enumIndex);
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}
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}
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}
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return item->data(index.column());
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}
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bool PathActionEditorTreeModel::setData(const QModelIndex &index, const QVariant & value, int role)
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{
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Q_UNUSED(role)
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TreeItem * item = static_cast<TreeItem *>(index.internalPointer());
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item->setData(value, index.column());
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return true;
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}
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Qt::ItemFlags PathActionEditorTreeModel::flags(const QModelIndex &index) const
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{
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if (!index.isValid()) {
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return 0;
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}
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if (index.column() == TreeItem::dataColumn) {
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TreeItem *item = static_cast<TreeItem *>(index.internalPointer());
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if (item->isEditable()) {
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return Qt::ItemIsEnabled | Qt::ItemIsSelectable | Qt::ItemIsEditable;
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}
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}
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return Qt::ItemIsEnabled | Qt::ItemIsSelectable;
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}
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QVariant PathActionEditorTreeModel::headerData(int section, Qt::Orientation orientation,
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int role) const
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{
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if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
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return m_rootItem->data(section);
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}
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return QVariant();
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}
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void PathActionEditorTreeModel::updateHighlight(TreeItem *item)
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{
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QModelIndex itemIndex = index(item);
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Q_ASSERT(itemIndex != QModelIndex());
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emit dataChanged(itemIndex, itemIndex.sibling(itemIndex.row(), TreeItem::dataColumn));
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// update uavobject if any - go up the tree until there is
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ObjectTreeItem *objItem = 0;
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TreeItem *searchItem = item;
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while (searchItem) {
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objItem = dynamic_cast<ObjectTreeItem *>(searchItem);
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if (objItem) {
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break;
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}
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searchItem = searchItem->parent();
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}
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if (objItem) {
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item->apply();
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objItem->apply();
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UAVObject *obj = objItem->object();
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Q_ASSERT(obj);
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obj->updated();
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}
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}
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void PathActionEditorTreeModel::highlightUpdatedObject(UAVObject *obj)
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{
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Q_ASSERT(obj);
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if (obj->getName().compare("Waypoint") == 0) {
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m_waypointsTree->update();
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// emit dataChanged(index(m_waypointsTree), index(m_waypointsTree));
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} else if (obj->getName().compare("PathAction") == 0) {
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m_pathactionsTree->update();
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// emit dataChanged(index(m_pathactionsTree), index(m_pathactionsTree));
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}
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}
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void PathActionEditorTreeModel::newInstance(UAVObject *obj)
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{
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if (obj->getName().compare("Waypoint") == 0) {
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addInstance(obj, m_waypointsTree);
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m_waypointsTree->update();
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} else if (obj->getName().compare("PathAction") == 0) {
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addInstance(obj, m_pathactionsTree);
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m_pathactionsTree->update();
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}
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updateActions();
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emit layoutChanged();
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}
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void PathActionEditorTreeModel::objUpdated(UAVObject *obj)
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{
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Q_UNUSED(obj);
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quint16 index = m_objManager->getObject("WaypointActive")->getField("Index")->getValue().toInt();
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quint16 action = 0;
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foreach(TreeItem * child, m_waypointsTree->treeChildren()) {
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ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem *>(child);
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if (index == objItem->object()->getInstID()) {
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child->setActive(true);
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action = objItem->object()->getField("Action")->getValue().toInt();
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} else {
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child->setActive(false);
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}
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}
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foreach(TreeItem * child, m_pathactionsTree->treeChildren()) {
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ObjectTreeItem *objItem = dynamic_cast<ObjectTreeItem *>(child);
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if (action == objItem->object()->getInstID()) {
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child->setActive(true);
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} else {
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child->setActive(false);
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}
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}
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updateActions();
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emit layoutChanged();
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}
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