Add complex mission item exit coordinate support

Plus many load/save fixes

src/FlightMap/MapItems/MissionItemIndicator.qml

@@ -33,6 +33,7 @@ MapQuickItem {
     id: _item
 
     property var missionItem
+    property int sequenceNumber
 
     signal clicked
 
@@ -43,10 +44,9 @@ MapQuickItem {
         MissionItemIndexLabel {
             id:             _label
             isCurrentItem:  _isCurrentItem
-            label:          _sequenceNumber == 0 ? "H" : missionItem.sequenceNumber
+            label:          sequenceNumber == 0 ? "H" : sequenceNumber
             onClicked:      _item.clicked()
 
             property bool _isCurrentItem:   missionItem ? missionItem.isCurrentItem : false
-            property bool _sequenceNumber:  missionItem ? missionItem.sequenceNumber : 0
         }
 }

src/FlightMap/MapItems/MissionItemView.qml

@@ -41,6 +41,7 @@ MapItemView {
         visible:        object.specifiesCoordinate && (index != 0 || object.showHomePosition)
         z:              QGroundControl.zOrderMapItems
         missionItem:    object
+        sequenceNumber: object.sequenceNumber
 
         // These are the non-coordinate child mission items attached to this item
         Row {

src/FlightMap/Widgets/VibrationWidget.qml

@@ -134,8 +134,6 @@ QGCFlickable {
             width:                  barRow.width
             height:                 1
             color:                  "red"
-
-            Component.onCompleted: console.log(anchors.topMargin, xBar.height, _barBadValue, _barMaximum, _barMinimum)
         }
 
         QGCLabel {

src/MissionEditor/MissionEditor.qml

@@ -366,8 +366,42 @@ QGCView {
 
                 // Add the simple mission items to the map
                 MapItemView {
-                    model:          controller.visualItems
-                    delegate:       missionItemComponent
+                    model:      controller.visualItems
+                    delegate:   missionItemComponent
+                }
+
+                // Add the complex mission items to the map
+                MapItemView {
+                    model:      controller.complexVisualItems
+                    delegate:   polygonItemComponent
+                }
+
+                Component {
+                    id: polygonItemComponent
+
+                    MapPolygon {
+                        color:      'green'
+                        path:       object.polygonPath
+                        opacity:    0.5
+                    }
+                }
+
+                // Add the complex mission item exit coordinates
+                MapItemView {
+                    model:      controller.complexVisualItems
+                    delegate:   exitCoordinateComponent
+                }
+
+                Component {
+                    id: exitCoordinateComponent
+
+                    MissionItemIndicator {
+                        coordinate:     object.exitCoordinate
+                        z:              QGroundControl.zOrderMapItems
+                        missionItem:    object
+                        sequenceNumber: object.lastSequenceNumber
+                        visible:        object.specifiesCoordinate
+                    }
                 }
 
                 Component {
@@ -379,18 +413,18 @@ QGCView {
                         visible:        object.specifiesCoordinate
                         z:              QGroundControl.zOrderMapItems
                         missionItem:    object
+                        sequenceNumber: object.sequenceNumber
 
                         onClicked: setCurrentItem(object.sequenceNumber)
 
                         function updateItemIndicator()
                         {
-                            if (object.isCurrentItem && itemIndicator.visible) {
-                                if (object.specifiesCoordinate) {
-                                    // Setup our drag item
-                                        itemDragger.visible = true
-                                        itemDragger.missionItem = Qt.binding(function() { return object })
-                                        itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
-                                }
+                            if (object.isCurrentItem && itemIndicator.visible &&
+                                    object.specifiesCoordinate && object.isSimpleItem) {
+                                // Setup our drag item
+                                itemDragger.visible = true
+                                itemDragger.missionItem = Qt.binding(function() { return object })
+                                itemDragger.missionItemIndicator = Qt.binding(function() { return itemIndicator })
                             }
                         }
 
@@ -421,22 +455,6 @@ QGCView {
                     }
                 }
 
-                // Add the complex mission items to the map
-                MapItemView {
-                    model:          controller.complexVisualItems
-                    delegate:       polygonItemComponent
-                }
-
-                Component {
-                    id: polygonItemComponent
-
-                    MapPolygon {
-                        color:      'green'
-                        path:       object.polygonPath
-                        opacity:    0.5
-                    }
-                }
-
                 // Add lines between waypoints
                 MissionLineView {
                     model:          controller.waypointLines

src/MissionManager/ComplexMissionItem.cc

@@ -33,6 +33,7 @@ const char* ComplexMissionItem::_complexType = "survey";
 
 ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
+    , _sequenceNumber(0)
     , _dirty(false)
 {
     MissionItem missionItem;
@@ -44,6 +45,7 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
 
 ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
     : VisualMissionItem(other, parent)
+    , _sequenceNumber(other.sequenceNumber())
     , _dirty(false)
 {
 
@@ -51,8 +53,18 @@ ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject*
 
 void ComplexMissionItem::clearPolygon(void)
 {
-    _polygonPath.clear();
+    // Bug workaround, see below
+    while (_polygonPath.count() > 1) {
+        _polygonPath.takeLast();
+    }
     emit polygonPathChanged();
+
+    // Although this code should remove the polygon from the map it doesn't. There appears
+    // to be a bug in MapPolygon which causes it to not be redrawn if the list is empty. So
+    // we work around it by using the code above to remove all bu the last point which in turn
+    // will cause the polygon to go away.
+    _polygonPath.clear();
+    emit specifiesCoordinateChanged();
 }
 
 void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
@@ -60,15 +72,18 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
     _polygonPath << QVariant::fromValue(coordinate);
     emit polygonPathChanged();
 
-    // FIXME: Hack, first polygon point sets entry coordinate
-    if (_polygonPath.count() == 1) {
+    int pointCount = _polygonPath.count();
+    if (pointCount == 1) {
         setCoordinate(coordinate);
+    } else if (pointCount == 3) {
+        emit specifiesCoordinateChanged();
     }
+    _setExitCoordinate(coordinate);
 }
 
-int ComplexMissionItem::nextSequenceNumber(void) const
+int ComplexMissionItem::lastSequenceNumber(void) const
 {
-    return _sequenceNumber + _missionItems.count();
+    return _sequenceNumber + _missionItems.count() - 1;
 }
 
 void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
@@ -126,11 +141,15 @@ void ComplexMissionItem::save(QJsonObject& saveObject) const
 
 void ComplexMissionItem::setSequenceNumber(int sequenceNumber)
 {
-    VisualMissionItem::setSequenceNumber(sequenceNumber);
+    if (_sequenceNumber != sequenceNumber) {
+        _sequenceNumber = sequenceNumber;
 
-    // Update internal mission items to new numbering
-    for (int i=0; i<_missionItems.count(); i++) {
-        _missionItems[i]->setSequenceNumber(sequenceNumber++);
+        // Update internal mission items to new numbering
+        for (int i=0; i<_missionItems.count(); i++) {
+            _missionItems[i]->setSequenceNumber(sequenceNumber++);
+        }
+
+        emit sequenceNumberChanged(sequenceNumber);
     }
 }
 
@@ -217,10 +236,12 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
 
     int itemCount = _missionItems.count();
     if (itemCount > 0) {
-        setCoordinate(_missionItems[0]->coordinate());
-        _setExitCoordinate(_missionItems[itemCount - 1]->coordinate());
+        _coordinate = _missionItems[0]->coordinate();
+        _exitCoordinate = _missionItems[itemCount - 1]->coordinate();
     }
 
+    qDebug() << coordinate() << exitCoordinate() << _missionItems[0]->coordinate() << _missionItems[1]->coordinate();
+
     return true;
 }
 
@@ -236,3 +257,8 @@ void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
         }
     }
 }
+
+bool ComplexMissionItem::specifiesCoordinate(void) const
+{
+    return _polygonPath.count() > 2;
+}

src/MissionManager/ComplexMissionItem.h

@@ -35,7 +35,8 @@ public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
     ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
 
-    Q_PROPERTY(QVariantList  polygonPath READ polygonPath NOTIFY polygonPathChanged)
+    Q_PROPERTY(QVariantList polygonPath         READ polygonPath        NOTIFY polygonPathChanged)
+    Q_PROPERTY(int          lastSequenceNumber  READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
 
     Q_INVOKABLE void clearPolygon(void);
     Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
@@ -44,8 +45,8 @@ public:
 
     QList<MissionItem*>& missionItems(void) { return _missionItems; }
 
-    /// @return The next sequence number to use after this item. Takes into account child items of the complex item
-    int nextSequenceNumber(void) const;
+    /// @return The last sequence number used by this item. Takes into account child items of the complex item
+    int lastSequenceNumber(void) const;
 
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
@@ -58,11 +59,12 @@ public:
     bool            dirty                   (void) const final { return _dirty; }
     bool            isSimpleItem            (void) const final { return false; }
     bool            isStandaloneCoordinate  (void) const final { return false; }
-    bool            specifiesCoordinate     (void) const final { return true; }
+    bool            specifiesCoordinate     (void) const final;
     QString         commandDescription      (void) const final { return "Survey"; }
     QString         commandName             (void) const final { return "Survey"; }
     QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
     QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
+    int             sequenceNumber          (void) const final { return _sequenceNumber; }
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
@@ -75,11 +77,13 @@ public:
 
 signals:
     void polygonPathChanged(void);
+    void lastSequenceNumberChanged(int lastSequenceNumber);
 
 private:
     void _clear(void);
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
 
+    int                 _sequenceNumber;
     bool                _dirty;
     QVariantList        _polygonPath;
     QList<MissionItem*> _missionItems;

src/MissionManager/MissionController.cc

@@ -157,10 +157,26 @@ void MissionController::sendMissionItems(void)
     }
 }
 
+int MissionController::_nextSequenceNumber(void)
+{
+    if (_visualItems->count() == 0) {
+        qWarning() << "Internal error: Empty visual item list";
+        return 0;
+    } else {
+        VisualMissionItem* lastItem = qobject_cast<VisualMissionItem*>(_visualItems->get(_visualItems->count() - 1));
+
+        if (lastItem->isSimpleItem()) {
+            return lastItem->sequenceNumber() + 1;
+        } else {
+            return qobject_cast<ComplexMissionItem*>(lastItem)->lastSequenceNumber() + 1;
+        }
+    }
+}
+
 int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 {
     SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_visualItems->count());
+    newItem->setSequenceNumber(_nextSequenceNumber());
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
@@ -188,7 +204,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
 {
     ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_visualItems->count());
+    newItem->setSequenceNumber(_nextSequenceNumber());
     newItem->setCoordinate(coordinate);
     _initVisualItem(newItem);
 
@@ -240,7 +256,7 @@ void MissionController::removeAllMissionItems(void)
     }
 }
 
-bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* missionItems, QString& errorString)
+bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString)
 {
     QJsonParseError jsonParseError;
     QJsonDocument   jsonDoc(QJsonDocument::fromJson(bytes, &jsonParseError));
@@ -274,52 +290,81 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
         return false;
     }
 
-    // Simple items
-    if (json.contains(jsonSimpleItemsKey)) {
-        QJsonArray itemArray(json[jsonSimpleItemsKey].toArray());
-        foreach (const QJsonValue& itemValue, itemArray) {
-            if (!itemValue.isObject()) {
-                errorString = QStringLiteral("Mission item is not an object");
-                return false;
-            }
+    // Read complex items
+    QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
+    qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
+    for (int i=0; i<complexArray.count(); i++) {
+        const QJsonValue& itemValue = complexArray[i];
 
-            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
-            if (item->load(itemValue.toObject(), errorString)) {
-                missionItems->append(item);
-            } else {
-                return false;
-            }
+        if (!itemValue.isObject()) {
+            errorString = QStringLiteral("Mission item is not an object");
+            return false;
+        }
+
+        ComplexMissionItem* item = new ComplexMissionItem(_activeVehicle, this);
+        if (item->load(itemValue.toObject(), errorString)) {
+            qCDebug(MissionControllerLog) << "Json load: complex item start:stop" << item->sequenceNumber() << item->lastSequenceNumber();
+            complexItems->append(item);
+        } else {
+            return false;
         }
     }
 
-    // Complex items
-    if (json.contains(_jsonComplexItemsKey)) {
-        QJsonArray itemArray(json[_jsonComplexItemsKey].toArray());
-        foreach (const QJsonValue& itemValue, itemArray) {
+    // Read simple items, interspersing complex items into the full list
+
+    int nextSimpleItemIndex= 0;
+    int nextComplexItemIndex= 0;
+    int nextSequenceNumber = 1; // Start with 1 since home is in 0
+    QJsonArray itemArray(json[jsonSimpleItemsKey].toArray());
+
+    qCDebug(MissionControllerLog) << "Json load: simple item loop start simpleItemCount:ComplexItemCount" << itemArray.count() << complexItems->count();
+    do {
+        qCDebug(MissionControllerLog) << "Json load: simple item loop nextSimpleItemIndex:nextComplexItemIndex:nextSequenceNumber" << nextSimpleItemIndex << nextComplexItemIndex << nextSequenceNumber;
+
+        // If there is a complex item that should be next in sequence add it in
+        if (nextComplexItemIndex < complexItems->count()) {
+            ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(complexItems->get(nextComplexItemIndex));
+
+            if (complexItem->sequenceNumber() == nextSequenceNumber) {
+                qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
+                visualItems->append(complexItem);
+                nextSequenceNumber = complexItem->lastSequenceNumber() + 1;
+                nextComplexItemIndex++;
+                continue;
+            }
+        }
+
+        // Add the next available simple item
+        if (nextSimpleItemIndex < itemArray.count()) {
+            const QJsonValue& itemValue = itemArray[nextSimpleItemIndex++];
+
             if (!itemValue.isObject()) {
                 errorString = QStringLiteral("Mission item is not an object");
                 return false;
             }
 
-            ComplexMissionItem* item = new ComplexMissionItem(_activeVehicle, this);
+            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
             if (item->load(itemValue.toObject(), errorString)) {
-                missionItems->append(item);
+                qCDebug(MissionControllerLog) << "Json load: adding simple item expectedSequence:actualSequence" << nextSequenceNumber << item->sequenceNumber();
+                visualItems->append(item);
             } else {
                 return false;
             }
+
+            nextSequenceNumber++;
         }
-    }
+    } while (nextSimpleItemIndex < itemArray.count() | nextComplexItemIndex < complexItems->count());
 
     if (json.contains(_jsonPlannedHomePositionKey)) {
         SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
 
         if (item->load(json[_jsonPlannedHomePositionKey].toObject(), errorString)) {
-            missionItems->insert(0, item);
+            visualItems->insert(0, item);
         } else {
             return false;
         }
     } else {
-        _addPlannedHomePosition(missionItems, true /* addToCenter */);
+        _addPlannedHomePosition(visualItems, true /* addToCenter */);
     }
 
     return true;
@@ -383,7 +428,8 @@ void MissionController::_loadMissionFromFile(const QString& filename)
         return;
     }
 
-    QmlObjectListModel* newMissionItems = new QmlObjectListModel(this);
+    QmlObjectListModel* newVisualItems = new QmlObjectListModel(this);
+    QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
 
     QFile file(filename);
 
@@ -396,14 +442,22 @@ void MissionController::_loadMissionFromFile(const QString& filename)
         QString firstLine = stream.readLine();
         if (firstLine.contains(QRegExp("QGC.*WPL"))) {
             stream.seek(0);
-            _loadTextMissionFile(stream, newMissionItems, errorString);
+            _loadTextMissionFile(stream, newVisualItems, errorString);
         } else {
-            _loadJsonMissionFile(bytes, newMissionItems, errorString);
+            _loadJsonMissionFile(bytes, newVisualItems, newComplexItems, errorString);
         }
     }
 
     if (!errorString.isEmpty()) {
-        delete newMissionItems;
+        for (int i=0; i<newVisualItems->count(); i++) {
+            newVisualItems->get(i)->deleteLater();
+        }
+        for (int i=0; i<newComplexItems->count(); i++) {
+            newComplexItems->get(i)->deleteLater();
+        }
+        delete newVisualItems;
+        delete newComplexItems;
+
         qgcApp()->showMessage(errorString);
         return;
     }
@@ -412,7 +466,13 @@ void MissionController::_loadMissionFromFile(const QString& filename)
         _deinitAllVisualItems();
         _visualItems->deleteListAndContents();
     }
-    _visualItems = newMissionItems;
+    if (_complexItems) {
+        _complexItems->deleteLater();
+    }
+
+    _visualItems = newVisualItems;
+    _complexItems = newComplexItems;
+
     if (_visualItems->count() == 0) {
         _addPlannedHomePosition(_visualItems, true /* addToCenter */);
     }
@@ -647,7 +707,7 @@ void MissionController::_recalcWaypointLines(void)
                     item->setAltDifference(altDifference);
                     item->setAzimuth(azimuth);
                     item->setDistance(distance);
-                    _waypointLines.append(new CoordinateVector(lastCoordinateItem->coordinate(), item->coordinate()));
+                    _waypointLines.append(new CoordinateVector(lastCoordinateItem->isSimpleItem() ? lastCoordinateItem->coordinate() : lastCoordinateItem->exitCoordinate(), item->coordinate()));
                 }
                 lastCoordinateItem = item;
             }
@@ -689,7 +749,7 @@ void MissionController::_recalcSequence(void)
             ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);
 
             if (complexItem) {
-                sequenceNumber = complexItem->nextSequenceNumber();
+                 sequenceNumber = complexItem->lastSequenceNumber() + 1;
             } else {
                 qWarning() << "isSimpleItem == false, yet not ComplexMissionItem";
             }
@@ -748,8 +808,6 @@ void MissionController::_initAllVisualItems(void)
         homeItem->setShowHomePosition(true);
     }
 
-    qDebug() << "home item" << homeItem->coordinate();
-
     QmlObjectListModel* newComplexItems = new QmlObjectListModel(this);
     for (int i=0; i<_visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
@@ -796,6 +854,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
     _visualItems->setDirty(false);
 
     connect(visualItem, &VisualMissionItem::coordinateChanged,                          this, &MissionController::_itemCoordinateChanged);
+    connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged,                 this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,       this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::exitCoordinateHasRelativeAltitudeChanged,   this, &MissionController::_recalcWaypointLines);
 
@@ -921,7 +980,6 @@ void MissionController::_dirtyChanged(bool dirty)
 
 void MissionController::_autoSyncSend(void)
 {
-    qDebug() << "Auto-syncing with vehicle";
     _queuedSend = false;
     if (_visualItems) {
         sendMissionItems();

src/MissionManager/MissionController.h

@@ -113,10 +113,11 @@ private:
     void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
     double _normalizeLat(double lat);
     double _normalizeLon(double lon);
-    bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QString& errorString);
+    bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
     bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     void _loadMissionFromFile(const QString& file);
     void _saveMissionToFile(const QString& file);
+    int _nextSequenceNumber(void);
 
 private:
     bool                _editMode;

src/MissionManager/SimpleMissionItem.cc

@@ -190,6 +190,9 @@ void SimpleMissionItem::_connectSignals(void)
     // These fact signals must alway signal out through SimpleMissionItem signals
     connect(&_missionItem._commandFact,     &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
     connect(&_missionItem._frameFact,       &Fact::valueChanged, this, &SimpleMissionItem::_sendFrameChanged);
+
+    // Sequence number is kept in mission iteem, so we need to propogate signal up as well
+    connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::sequenceNumberChanged);
 }
 
 void SimpleMissionItem::_setupMetaData(void)
@@ -574,7 +577,6 @@ void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
 void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 {
     if (_missionItem.coordinate() != coordinate) {
-        qDebug() << _missionItem.coordinate() << coordinate;
         _missionItem.setCoordinate(coordinate);
     }
 }
@@ -582,5 +584,4 @@ void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
 void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
 {
     _missionItem.setSequenceNumber(sequenceNumber);
-    VisualMissionItem::setSequenceNumber(sequenceNumber);
 }

src/MissionManager/SimpleMissionItem.h

@@ -101,6 +101,7 @@ public:
     QString         commandName             (void) const final;
     QGeoCoordinate  coordinate              (void) const final { return _missionItem.coordinate(); }
     QGeoCoordinate  exitCoordinate          (void) const final { return coordinate(); }
+    int             sequenceNumber          (void) const final { return _missionItem.sequenceNumber(); }
 
     bool coordinateHasRelativeAltitude      (void) const final { return _missionItem.relativeAltitude(); }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return coordinateHasRelativeAltitude(); }

src/MissionManager/VisualMissionItem.cc

@@ -31,7 +31,6 @@ This file is part of the QGROUNDCONTROL project
 VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)
-    , _sequenceNumber(0)
     , _isCurrentItem(false)
     , _dirty(false)
     , _altDifference(0.0)
@@ -45,7 +44,6 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
 VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
     : QObject(parent)
     , _vehicle(NULL)
-    , _sequenceNumber(0)
     , _isCurrentItem(false)
     , _dirty(false)
     , _altDifference(0.0)
@@ -60,7 +58,6 @@ const VisualMissionItem& VisualMissionItem::operator=(const VisualMissionItem& o
 {
     _vehicle = other._vehicle;
 
-    setSequenceNumber(other._sequenceNumber);
     setIsCurrentItem(other._isCurrentItem);
     setDirty(other._dirty);
     setAltDifference(other._altDifference);
@@ -106,11 +103,3 @@ void VisualMissionItem::setAzimuth(double azimuth)
     _azimuth = azimuth;
     emit azimuthChanged(_azimuth);
 }
-
-void VisualMissionItem::setSequenceNumber (int sequenceNumber)
-{
-    if (_sequenceNumber != sequenceNumber) {
-        _sequenceNumber = sequenceNumber;
-        emit sequenceNumberChanged(_sequenceNumber);
-    }
-}

src/MissionManager/VisualMissionItem.h

@@ -99,7 +99,6 @@ public:
     double azimuth          (void) const { return _azimuth; }
     double distance         (void) const { return _distance; }
     bool   isCurrentItem    (void) const { return _isCurrentItem; }
-    int    sequenceNumber   (void) const { return _sequenceNumber; }
 
     QmlObjectListModel* childItems(void) { return &_childItems; }
 
@@ -111,10 +110,6 @@ public:
 
     Vehicle* vehicle(void) { return _vehicle; }
 
-    // Virtuals which may be overriden by derived classes
-
-    virtual void setSequenceNumber(int sequenceNumber);
-
     // Pure virtuals which must be provides by derived classes
 
     virtual bool            dirty                   (void) const = 0;
@@ -125,6 +120,7 @@ public:
     virtual QString         commandName             (void) const = 0;
     virtual QGeoCoordinate  coordinate              (void) const = 0;
     virtual QGeoCoordinate  exitCoordinate          (void) const = 0;
+    virtual int             sequenceNumber          (void) const = 0;
 
     virtual bool coordinateHasRelativeAltitude      (void) const = 0;
     virtual bool exitCoordinateHasRelativeAltitude  (void) const = 0;
@@ -132,6 +128,7 @@ public:
 
     virtual void setDirty           (bool dirty) = 0;
     virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
+    virtual void setSequenceNumber  (int sequenceNumber) = 0;
 
     /// Save the item(s) in Json format
     ///     @param saveObject Save the item to this json object
@@ -159,7 +156,6 @@ signals:
 
 protected:
     Vehicle*    _vehicle;
-    int         _sequenceNumber;
     bool        _isCurrentItem;
     bool        _dirty;
     double      _altDifference;             ///< Difference in altitude from previous waypoint