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Make waypoint types less error prone.

Browse Source 
Make the type of the waypoint a non-optional part of the constructor.
Every waypoint needs a type, and there's no good default (the previous
default, `TAKEOFF`, is actually unused). All of the target waypoints
were mistakenly being set as `TAKEOFF`, so I've fixed that in the
process.

Also, fix the bug where only the last custom target of a SEAD
objective was being added to the waypoint list because the append was
scoped incorrectly.
This commit is contained in:
Dan Albert 2020-09-06 22:39:59 -07:00
parent 7b5b486f0e
commit 8bc77bbf18
3 changed files with 143 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

154
gen/flights/ai_flight_planner.py
View File

@ -372,17 +372,26 @@ class FlightPlanner:
egress_heading = heading - 180 - 25 egress_heading = heading - 180 - 25
ingress_pos = location.position.point_from_heading(ingress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"]) ingress_pos = location.position.point_from_heading(ingress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"])
ingress_point = FlightWaypoint(ingress_pos.x, ingress_pos.y, self.doctrine["INGRESS_ALT"]) ingress_point = FlightWaypoint(
FlightWaypointType.INGRESS_STRIKE,
ingress_pos.x,
ingress_pos.y,
self.doctrine["INGRESS_ALT"]
)
ingress_point.pretty_name = "INGRESS on " + location.obj_name ingress_point.pretty_name = "INGRESS on " + location.obj_name
ingress_point.description = "INGRESS on " + location.obj_name ingress_point.description = "INGRESS on " + location.obj_name
ingress_point.name = "INGRESS" ingress_point.name = "INGRESS"
ingress_point.waypoint_type = FlightWaypointType.INGRESS_STRIKE
flight.points.append(ingress_point) flight.points.append(ingress_point)
if len(location.groups) > 0 and location.dcs_identifier == "AA": if len(location.groups) > 0 and location.dcs_identifier == "AA":
for g in location.groups: for g in location.groups:
for j, u in enumerate(g.units): for j, u in enumerate(g.units):
point = FlightWaypoint(u.position.x, u.position.y, 0) point = FlightWaypoint(
FlightWaypointType.TARGET_POINT,
u.position.x,
u.position.y,
0
)
point.description = "STRIKE " + "[" + str(location.obj_name) + "] : " + u.type + " #" + str(j) point.description = "STRIKE " + "[" + str(location.obj_name) + "] : " + u.type + " #" + str(j)
point.pretty_name = "STRIKE " + "[" + str(location.obj_name) + "] : " + u.type + " #" + str(j) point.pretty_name = "STRIKE " + "[" + str(location.obj_name) + "] : " + u.type + " #" + str(j)
point.name = location.obj_name + "#" + str(j) point.name = location.obj_name + "#" + str(j)
@ -398,7 +407,12 @@ class FlightPlanner:
if building.is_dead: if building.is_dead:
continue continue
point = FlightWaypoint(building.position.x, building.position.y, 0) point = FlightWaypoint(
FlightWaypointType.TARGET_POINT,
building.position.x,
building.position.y,
0
)
point.description = "STRIKE on " + building.obj_name + " " + building.category + " [" + str(building.dcs_identifier) + " ]" point.description = "STRIKE on " + building.obj_name + " " + building.category + " [" + str(building.dcs_identifier) + " ]"
point.pretty_name = "STRIKE on " + building.obj_name + " " + building.category + " [" + str(building.dcs_identifier) + " ]" point.pretty_name = "STRIKE on " + building.obj_name + " " + building.category + " [" + str(building.dcs_identifier) + " ]"
point.name = building.obj_name point.name = building.obj_name
@ -406,7 +420,12 @@ class FlightPlanner:
ingress_point.targets.append(building) ingress_point.targets.append(building)
flight.points.append(point) flight.points.append(point)
else: else:
point = FlightWaypoint(location.position.x, location.position.y, 0) point = FlightWaypoint(
FlightWaypointType.TARGET_GROUP_LOC,
location.position.x,
location.position.y,
0
)
point.description = "STRIKE on " + location.obj_name point.description = "STRIKE on " + location.obj_name
point.pretty_name = "STRIKE on " + location.obj_name point.pretty_name = "STRIKE on " + location.obj_name
point.name = location.obj_name point.name = location.obj_name
@ -415,11 +434,15 @@ class FlightPlanner:
flight.points.append(point) flight.points.append(point)
egress_pos = location.position.point_from_heading(egress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"]) egress_pos = location.position.point_from_heading(egress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"])
egress_point = FlightWaypoint(egress_pos.x, egress_pos.y, self.doctrine["EGRESS_ALT"]) egress_point = FlightWaypoint(
FlightWaypointType.EGRESS,
egress_pos.x,
egress_pos.y,
self.doctrine["EGRESS_ALT"]
)
egress_point.name = "EGRESS" egress_point.name = "EGRESS"
egress_point.pretty_name = "EGRESS from " + location.obj_name egress_point.pretty_name = "EGRESS from " + location.obj_name
egress_point.description = "EGRESS from " + location.obj_name egress_point.description = "EGRESS from " + location.obj_name
egress_point.waypoint_type = FlightWaypointType.EGRESS
flight.points.append(egress_point) flight.points.append(egress_point)
descend = self.generate_descend_point(flight.from_cp) descend = self.generate_descend_point(flight.from_cp)
@ -454,18 +477,26 @@ class FlightPlanner:
ascend = self.generate_ascend_point(flight.from_cp) ascend = self.generate_ascend_point(flight.from_cp)
flight.points.append(ascend) flight.points.append(ascend)
orbit0 = FlightWaypoint(orbit0p.x, orbit0p.y, patrol_alt) orbit0 = FlightWaypoint(
FlightWaypointType.PATROL_TRACK,
orbit0p.x,
orbit0p.y,
patrol_alt
)
orbit0.name = "ORBIT 0" orbit0.name = "ORBIT 0"
orbit0.description = "Standby between this point and the next one" orbit0.description = "Standby between this point and the next one"
orbit0.pretty_name = "Race-track start" orbit0.pretty_name = "Race-track start"
orbit0.waypoint_type = FlightWaypointType.PATROL_TRACK
flight.points.append(orbit0) flight.points.append(orbit0)
orbit1 = FlightWaypoint(orbit1p.x, orbit1p.y, patrol_alt) orbit1 = FlightWaypoint(
FlightWaypointType.PATROL,
orbit1p.x,
orbit1p.y,
patrol_alt
)
orbit1.name = "ORBIT 1" orbit1.name = "ORBIT 1"
orbit1.description = "Standby between this point and the previous one" orbit1.description = "Standby between this point and the previous one"
orbit1.pretty_name = "Race-track end" orbit1.pretty_name = "Race-track end"
orbit1.waypoint_type = FlightWaypointType.PATROL
flight.points.append(orbit1) flight.points.append(orbit1)
orbit0.targets.append(for_cp) orbit0.targets.append(for_cp)
@ -512,18 +543,26 @@ class FlightPlanner:
ascend = self.generate_ascend_point(flight.from_cp) ascend = self.generate_ascend_point(flight.from_cp)
flight.points.append(ascend) flight.points.append(ascend)
orbit0 = FlightWaypoint(orbit0p.x, orbit0p.y, patrol_alt) orbit0 = FlightWaypoint(
FlightWaypointType.PATROL_TRACK,
orbit0p.x,
orbit0p.y,
patrol_alt
)
orbit0.name = "ORBIT 0" orbit0.name = "ORBIT 0"
orbit0.description = "Standby between this point and the next one" orbit0.description = "Standby between this point and the next one"
orbit0.pretty_name = "Race-track start" orbit0.pretty_name = "Race-track start"
orbit0.waypoint_type = FlightWaypointType.PATROL_TRACK
flight.points.append(orbit0) flight.points.append(orbit0)
orbit1 = FlightWaypoint(orbit1p.x, orbit1p.y, patrol_alt) orbit1 = FlightWaypoint(
FlightWaypointType.PATROL,
orbit1p.x,
orbit1p.y,
patrol_alt
)
orbit1.name = "ORBIT 1" orbit1.name = "ORBIT 1"
orbit1.description = "Standby between this point and the previous one" orbit1.description = "Standby between this point and the previous one"
orbit1.pretty_name = "Race-track end" orbit1.pretty_name = "Race-track end"
orbit1.waypoint_type = FlightWaypointType.PATROL
flight.points.append(orbit1) flight.points.append(orbit1)
# Note : Targets of a PATROL TRACK waypoints are the points to be defended # Note : Targets of a PATROL TRACK waypoints are the points to be defended
@ -555,16 +594,25 @@ class FlightPlanner:
egress_heading = heading - 180 - 25 egress_heading = heading - 180 - 25
ingress_pos = location.position.point_from_heading(ingress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"]) ingress_pos = location.position.point_from_heading(ingress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"])
ingress_point = FlightWaypoint(ingress_pos.x, ingress_pos.y, self.doctrine["INGRESS_ALT"]) ingress_point = FlightWaypoint(
FlightWaypointType.INGRESS_SEAD,
ingress_pos.x,
ingress_pos.y,
self.doctrine["INGRESS_ALT"]
)
ingress_point.name = "INGRESS" ingress_point.name = "INGRESS"
ingress_point.pretty_name = "INGRESS on " + location.obj_name ingress_point.pretty_name = "INGRESS on " + location.obj_name
ingress_point.description = "INGRESS on " + location.obj_name ingress_point.description = "INGRESS on " + location.obj_name
ingress_point.waypoint_type = FlightWaypointType.INGRESS_SEAD
flight.points.append(ingress_point) flight.points.append(ingress_point)
if len(custom_targets) > 0: if len(custom_targets) > 0:
for target in custom_targets: for target in custom_targets:
point = FlightWaypoint(target.position.x, target.position.y, 0) point = FlightWaypoint(
FlightWaypointType.TARGET_POINT,
target.position.x,
target.position.y,
0
)
point.alt_type = "RADIO" point.alt_type = "RADIO"
if flight.flight_type == FlightType.DEAD: if flight.flight_type == FlightType.DEAD:
point.description = "SEAD on " + target.type point.description = "SEAD on " + target.type
@ -574,11 +622,16 @@ class FlightPlanner:
point.description = "DEAD on " + location.obj_name point.description = "DEAD on " + location.obj_name
point.pretty_name = "DEAD on " + location.obj_name point.pretty_name = "DEAD on " + location.obj_name
point.only_for_player = True point.only_for_player = True
flight.points.append(point)
ingress_point.targets.append(location) ingress_point.targets.append(location)
ingress_point.targetGroup = location ingress_point.targetGroup = location
flight.points.append(point)
else: else:
point = FlightWaypoint(location.position.x, location.position.y, 0) point = FlightWaypoint(
FlightWaypointType.TARGET_GROUP_LOC,
location.position.x,
location.position.y,
0
)
point.alt_type = "RADIO" point.alt_type = "RADIO"
if flight.flight_type == FlightType.DEAD: if flight.flight_type == FlightType.DEAD:
point.description = "SEAD on " + location.obj_name point.description = "SEAD on " + location.obj_name
@ -593,11 +646,15 @@ class FlightPlanner:
flight.points.append(point) flight.points.append(point)
egress_pos = location.position.point_from_heading(egress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"]) egress_pos = location.position.point_from_heading(egress_heading, self.doctrine["INGRESS_EGRESS_DISTANCE"])
egress_point = FlightWaypoint(egress_pos.x, egress_pos.y, self.doctrine["EGRESS_ALT"]) egress_point = FlightWaypoint(
FlightWaypointType.EGRESS,
egress_pos.x,
egress_pos.y,
self.doctrine["EGRESS_ALT"]
)
egress_point.name = "EGRESS" egress_point.name = "EGRESS"
egress_point.pretty_name = "EGRESS from " + location.obj_name egress_point.pretty_name = "EGRESS from " + location.obj_name
egress_point.description = "EGRESS from " + location.obj_name egress_point.description = "EGRESS from " + location.obj_name
egress_point.waypoint_type = FlightWaypointType.EGRESS
flight.points.append(egress_point) flight.points.append(egress_point)
descend = self.generate_descend_point(flight.from_cp) descend = self.generate_descend_point(flight.from_cp)
@ -628,28 +685,40 @@ class FlightPlanner:
ascend.alt = 500 ascend.alt = 500
flight.points.append(ascend) flight.points.append(ascend)
ingress_point = FlightWaypoint(ingress.x, ingress.y, cap_alt) ingress_point = FlightWaypoint(
FlightWaypointType.INGRESS_CAS,
ingress.x,
ingress.y,
cap_alt
)
ingress_point.alt_type = "RADIO" ingress_point.alt_type = "RADIO"
ingress_point.name = "INGRESS" ingress_point.name = "INGRESS"
ingress_point.pretty_name = "INGRESS" ingress_point.pretty_name = "INGRESS"
ingress_point.description = "Ingress into CAS area" ingress_point.description = "Ingress into CAS area"
ingress_point.waypoint_type = FlightWaypointType.INGRESS_CAS
flight.points.append(ingress_point) flight.points.append(ingress_point)
center_point = FlightWaypoint(center.x, center.y, cap_alt) center_point = FlightWaypoint(
FlightWaypointType.CAS,
center.x,
center.y,
cap_alt
)
center_point.alt_type = "RADIO" center_point.alt_type = "RADIO"
center_point.description = "Provide CAS" center_point.description = "Provide CAS"
center_point.name = "CAS" center_point.name = "CAS"
center_point.pretty_name = "CAS" center_point.pretty_name = "CAS"
center_point.waypoint_type = FlightWaypointType.CAS
flight.points.append(center_point) flight.points.append(center_point)
egress_point = FlightWaypoint(egress.x, egress.y, cap_alt) egress_point = FlightWaypoint(
FlightWaypointType.EGRESS,
egress.x,
egress.y,
cap_alt
)
egress_point.alt_type = "RADIO" egress_point.alt_type = "RADIO"
egress_point.description = "Egress from CAS area" egress_point.description = "Egress from CAS area"
egress_point.name = "EGRESS" egress_point.name = "EGRESS"
egress_point.pretty_name = "EGRESS" egress_point.pretty_name = "EGRESS"
egress_point.waypoint_type = FlightWaypointType.EGRESS
flight.points.append(egress_point) flight.points.append(egress_point)
descend = self.generate_descend_point(flight.from_cp) descend = self.generate_descend_point(flight.from_cp)
@ -660,7 +729,6 @@ class FlightPlanner:
rtb = self.generate_rtb_waypoint(flight.from_cp) rtb = self.generate_rtb_waypoint(flight.from_cp)
flight.points.append(rtb) flight.points.append(rtb)
def generate_ascend_point(self, from_cp): def generate_ascend_point(self, from_cp):
""" """
Generate ascend point Generate ascend point
@ -669,15 +737,18 @@ class FlightPlanner:
""" """
ascend_heading = from_cp.heading ascend_heading = from_cp.heading
pos_ascend = from_cp.position.point_from_heading(ascend_heading, 10000) pos_ascend = from_cp.position.point_from_heading(ascend_heading, 10000)
ascend = FlightWaypoint(pos_ascend.x, pos_ascend.y, self.doctrine["PATTERN_ALTITUDE"]) ascend = FlightWaypoint(
FlightWaypointType.ASCEND_POINT,
pos_ascend.x,
pos_ascend.y,
self.doctrine["PATTERN_ALTITUDE"]
)
ascend.name = "ASCEND" ascend.name = "ASCEND"
ascend.alt_type = "RADIO" ascend.alt_type = "RADIO"
ascend.description = "Ascend" ascend.description = "Ascend"
ascend.pretty_name = "Ascend" ascend.pretty_name = "Ascend"
ascend.waypoint_type = FlightWaypointType.ASCEND_POINT
return ascend return ascend
def generate_descend_point(self, from_cp): def generate_descend_point(self, from_cp):
""" """
Generate approach/descend point Generate approach/descend point
@ -686,15 +757,18 @@ class FlightPlanner:
""" """
ascend_heading = from_cp.heading ascend_heading = from_cp.heading
descend = from_cp.position.point_from_heading(ascend_heading - 180, 10000) descend = from_cp.position.point_from_heading(ascend_heading - 180, 10000)
descend = FlightWaypoint(descend.x, descend.y, self.doctrine["PATTERN_ALTITUDE"]) descend = FlightWaypoint(
FlightWaypointType.DESCENT_POINT,
descend.x,
descend.y,
self.doctrine["PATTERN_ALTITUDE"]
)
descend.name = "DESCEND" descend.name = "DESCEND"
descend.alt_type = "RADIO" descend.alt_type = "RADIO"
descend.description = "Descend to pattern alt" descend.description = "Descend to pattern alt"
descend.pretty_name = "Descend to pattern alt" descend.pretty_name = "Descend to pattern alt"
descend.waypoint_type = FlightWaypointType.DESCENT_POINT
return descend return descend
def generate_rtb_waypoint(self, from_cp): def generate_rtb_waypoint(self, from_cp):
""" """
Generate RTB landing point Generate RTB landing point
@ -702,10 +776,14 @@ class FlightPlanner:
:return: :return:
""" """
rtb = from_cp.position rtb = from_cp.position
rtb = FlightWaypoint(rtb.x, rtb.y, 0) rtb = FlightWaypoint(
FlightWaypointType.LANDING_POINT,
rtb.x,
rtb.y,
0
)
rtb.name = "LANDING" rtb.name = "LANDING"
rtb.alt_type = "RADIO" rtb.alt_type = "RADIO"
rtb.description = "RTB" rtb.description = "RTB"
rtb.pretty_name = "RTB" rtb.pretty_name = "RTB"
rtb.waypoint_type = FlightWaypointType.LANDING_POINT return rtb
return rtb

7
gen/flights/flight.py
View File

@ -60,7 +60,9 @@ class PredefinedWaypointCategory(Enum):
class FlightWaypoint: class FlightWaypoint:
def __init__(self, x: float, y: float, alt=0): def __init__(self, waypoint_type: FlightWaypointType, x: float, y: float,
alt: int = 0) -> None:
self.waypoint_type = waypoint_type
self.x = x self.x = x
self.y = y self.y = y
self.alt = alt self.alt = alt
@ -71,8 +73,7 @@ class FlightWaypoint:
self.targetGroup = None self.targetGroup = None
self.obj_name = "" self.obj_name = ""
self.pretty_name = "" self.pretty_name = ""
self.waypoint_type = FlightWaypointType.TAKEOFF # type: FlightWaypointType self.category: PredefinedWaypointCategory = PredefinedWaypointCategory.NOT_PREDEFINED
self.category = PredefinedWaypointCategory.NOT_PREDEFINED# type: PredefinedWaypointCategory
self.only_for_player = False self.only_for_player = False
self.data = None self.data = None

31
qt_ui/widgets/combos/QPredefinedWaypointSelectionComboBox.py
View File

@ -57,13 +57,16 @@ class QPredefinedWaypointSelectionComboBox(QFilteredComboBox):
enemy_cp = [ecp for ecp in cp.connected_points if ecp.captured != cp.captured] enemy_cp = [ecp for ecp in cp.connected_points if ecp.captured != cp.captured]
for ecp in enemy_cp: for ecp in enemy_cp:
pos = Conflict.frontline_position(self.game.theater, cp, ecp)[0] pos = Conflict.frontline_position(self.game.theater, cp, ecp)[0]
wpt = FlightWaypoint(pos.x, pos.y, 800) wpt = FlightWaypoint(
FlightWaypointType.CUSTOM,
pos.x,
pos.y,
800)
wpt.name = "Frontline " + cp.name + "/" + ecp.name + " [CAS]" wpt.name = "Frontline " + cp.name + "/" + ecp.name + " [CAS]"
wpt.alt_type = "RADIO" wpt.alt_type = "RADIO"
wpt.pretty_name = wpt.name wpt.pretty_name = wpt.name
wpt.description = "Frontline" wpt.description = "Frontline"
wpt.data = [cp, ecp] wpt.data = [cp, ecp]
wpt.waypoint_type = FlightWaypointType.CUSTOM
wpt.category = PredefinedWaypointCategory.FRONTLINE wpt.category = PredefinedWaypointCategory.FRONTLINE
i = add_model_item(i, model, wpt.pretty_name, wpt) i = add_model_item(i, model, wpt.pretty_name, wpt)
@ -72,14 +75,18 @@ class QPredefinedWaypointSelectionComboBox(QFilteredComboBox):
if (self.include_enemy and not cp.captured) or (self.include_friendly and cp.captured): if (self.include_enemy and not cp.captured) or (self.include_friendly and cp.captured):
for ground_object in cp.ground_objects: for ground_object in cp.ground_objects:
if not ground_object.is_dead and not ground_object.dcs_identifier == "AA": if not ground_object.is_dead and not ground_object.dcs_identifier == "AA":
wpt = FlightWaypoint(ground_object.position.x,ground_object.position.y, 0) wpt = FlightWaypoint(
FlightWaypointType.CUSTOM,
ground_object.position.x,
ground_object.position.y,
0
)
wpt.alt_type = "RADIO" wpt.alt_type = "RADIO"
wpt.name = wpt.name = "[" + str(ground_object.obj_name) + "] : " + ground_object.category + " #" + str(ground_object.object_id) wpt.name = wpt.name = "[" + str(ground_object.obj_name) + "] : " + ground_object.category + " #" + str(ground_object.object_id)
wpt.pretty_name = wpt.name wpt.pretty_name = wpt.name
wpt.obj_name = ground_object.obj_name wpt.obj_name = ground_object.obj_name
wpt.targets.append(ground_object) wpt.targets.append(ground_object)
wpt.data = ground_object wpt.data = ground_object
wpt.waypoint_type = FlightWaypointType.CUSTOM
if cp.captured: if cp.captured:
wpt.description = "Friendly Building" wpt.description = "Friendly Building"
wpt.category = PredefinedWaypointCategory.ALLY_BUILDING wpt.category = PredefinedWaypointCategory.ALLY_BUILDING
@ -95,7 +102,12 @@ class QPredefinedWaypointSelectionComboBox(QFilteredComboBox):
if not ground_object.is_dead and ground_object.dcs_identifier == "AA": if not ground_object.is_dead and ground_object.dcs_identifier == "AA":
for g in ground_object.groups: for g in ground_object.groups:
for j, u in enumerate(g.units): for j, u in enumerate(g.units):
wpt = FlightWaypoint(u.position.x, u.position.y, 0) wpt = FlightWaypoint(
FlightWaypointType.CUSTOM,
u.position.x,
u.position.y,
0
)
wpt.alt_type = "RADIO" wpt.alt_type = "RADIO"
wpt.name = wpt.name = "[" + str(ground_object.obj_name) + "] : " + u.type + " #" + str(j) wpt.name = wpt.name = "[" + str(ground_object.obj_name) + "] : " + u.type + " #" + str(j)
wpt.pretty_name = wpt.name wpt.pretty_name = wpt.name
@ -114,11 +126,15 @@ class QPredefinedWaypointSelectionComboBox(QFilteredComboBox):
if self.include_airbases: if self.include_airbases:
for cp in self.game.theater.controlpoints: for cp in self.game.theater.controlpoints:
if (self.include_enemy and not cp.captured) or (self.include_friendly and cp.captured): if (self.include_enemy and not cp.captured) or (self.include_friendly and cp.captured):
wpt = FlightWaypoint(cp.position.x, cp.position.y, 0) wpt = FlightWaypoint(
FlightWaypointType.CUSTOM,
cp.position.x,
cp.position.y,
0
)
wpt.alt_type = "RADIO" wpt.alt_type = "RADIO"
wpt.name = cp.name wpt.name = cp.name
wpt.data = cp wpt.data = cp
wpt.waypoint_type = FlightWaypointType.CUSTOM
if cp.captured: if cp.captured:
wpt.description = "Position of " + cp.name + " [Friendly Airbase]" wpt.description = "Position of " + cp.name + " [Friendly Airbase]"
wpt.category = PredefinedWaypointCategory.ALLY_CP wpt.category = PredefinedWaypointCategory.ALLY_CP
@ -133,7 +149,6 @@ class QPredefinedWaypointSelectionComboBox(QFilteredComboBox):
else: else:
wpt.pretty_name = cp.name + " (Airbase)" wpt.pretty_name = cp.name + " (Airbase)"
i = add_model_item(i, model, wpt.pretty_name, wpt) i = add_model_item(i, model, wpt.pretty_name, wpt)
self.setModel(model) self.setModel(model)