Merge pull request #1888 from DonLakeFlyer/MissionLoadSave

Support load/save

src/MissionEditor/MissionEditor.cc

@@ -25,6 +25,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ScreenToolsController.h"
 #include "MultiVehicleManager.h"
 #include "MissionManager.h"
+#include "QGCFileDialog.h"
 
 #include <QQmlContext>
 #include <QQmlEngine>
@@ -35,6 +36,7 @@ const char* MissionEditor::_settingsGroup = "MissionEditor";
 MissionEditor::MissionEditor(QWidget *parent)
     : QGCQmlWidgetHolder(parent)
     , _missionItems(NULL)
+    , _canEdit(true)
 {
     // Get rid of layout default margins
     QLayout* pl = layout();
@@ -66,10 +68,14 @@ void MissionEditor::_newMissionItemsAvailable(void)
         _missionItems->deleteLater();
     }
     
-    _missionItems = MultiVehicleManager::instance()->activeVehicle()->missionManager()->copyMissionItems();
+    MissionManager* missionManager = MultiVehicleManager::instance()->activeVehicle()->missionManager();
+    
+    _canEdit = missionManager->canEdit();
+    _missionItems = missionManager->copyMissionItems();
     _reSequence();
     
     emit missionItemsChanged();
+    emit canEditChanged(_canEdit);
 }
 
 void MissionEditor::getMissionItems(void)
@@ -77,6 +83,8 @@ void MissionEditor::getMissionItems(void)
     Vehicle* activeVehicle = MultiVehicleManager::instance()->activeVehicle();
     
     if (activeVehicle) {
+        MissionManager* missionManager = activeVehicle->missionManager();
+        connect(missionManager, &MissionManager::newMissionItemsAvailable, this, &MissionEditor::_newMissionItemsAvailable);
         activeVehicle->missionManager()->requestMissionItems();
     }
 }
@@ -92,6 +100,10 @@ void MissionEditor::setMissionItems(void)
 
 int MissionEditor::addMissionItem(QGeoCoordinate coordinate)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+    }
+    
     MissionItem * newItem = new MissionItem(this, _missionItems->count(), coordinate);
     if (_missionItems->count() == 0) {
         newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);
@@ -111,12 +123,22 @@ void MissionEditor::_reSequence(void)
 
 void MissionEditor::removeMissionItem(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     _missionItems->removeAt(index);
     _reSequence();
 }
 
 void MissionEditor::moveUp(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     if (_missionItems->count() < 2 || index <= 0 || index >= _missionItems->count()) {
         return;
     }
@@ -135,6 +157,11 @@ void MissionEditor::moveUp(int index)
 
 void MissionEditor::moveDown(int index)
 {
+    if (!_canEdit) {
+        qWarning() << "addMissionItem called with _canEdit == false";
+        return;
+    }
+    
     if (_missionItems->count() < 2 || index >= _missionItems->count() - 1) {
         return;
     }
@@ -150,3 +177,76 @@ void MissionEditor::moveDown(int index)
     
     _reSequence();
 }
+
+void MissionEditor::loadMissionFromFile(void)
+{
+    QString errorString;
+    QString filename = QGCFileDialog::getOpenFileName(NULL, "Select Mission File to load");
+    
+    if (filename.isEmpty()) {
+        return;
+    }
+    
+    _missionItems->clear();
+    _canEdit = true;
+    
+    QFile file(filename);
+    
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        errorString = file.errorString();
+    } else {
+        QTextStream in(&file);
+        
+        const QStringList& version = in.readLine().split(" ");
+        
+        if (!(version.size() == 3 && version[0] == "QGC" && version[1] == "WPL" && version[2] == "120")) {
+            errorString = "The mission file is not compatible with the current version of QGroundControl.";
+        } else {
+            while (!in.atEnd()) {
+                MissionItem* item = new MissionItem();
+                
+                if (item->load(in)) {
+                    _missionItems->append(item);
+                    
+                    if (!item->canEdit()) {
+                        _canEdit = false;
+                    }
+                } else {
+                    errorString = "The mission file is corrupted.";
+                    break;
+                }
+            }
+        }
+        
+    }
+    
+    if (!errorString.isEmpty()) {
+        _missionItems->clear();
+    }
+    
+    emit canEditChanged(_canEdit);
+}
+
+void MissionEditor::saveMissionToFile(void)
+{
+    QString errorString;
+    QString filename = QGCFileDialog::getSaveFileName(NULL, "Select file to save mission to");
+    
+    if (filename.isEmpty()) {
+        return;
+    }
+    
+    QFile file(filename);
+    
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        errorString = file.errorString();
+    } else {
+        QTextStream out(&file);
+        
+        out << "QGC WPL 120\r\n";   // Version string
+        
+        for (int i=0; i<_missionItems->count(); i++) {
+            qobject_cast<MissionItem*>(_missionItems->get(i))->save(out);
+        }
+    }
+}

src/MissionEditor/MissionEditor.h

@@ -35,11 +35,14 @@ public:
     MissionEditor(QWidget* parent = NULL);
     ~MissionEditor();
 
-    Q_PROPERTY(QmlObjectListModel* missionItems READ missionItemsModel NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItemsModel  NOTIFY missionItemsChanged)
+    Q_PROPERTY(bool                 canEdit         READ canEdit            NOTIFY canEditChanged)
     
     Q_INVOKABLE int addMissionItem(QGeoCoordinate coordinate);
     Q_INVOKABLE void getMissionItems(void);
     Q_INVOKABLE void setMissionItems(void);
+    Q_INVOKABLE void loadMissionFromFile(void);
+    Q_INVOKABLE void saveMissionToFile(void);
     Q_INVOKABLE void removeMissionItem(int index);
     Q_INVOKABLE void moveUp(int index);
     Q_INVOKABLE void moveDown(int index);
@@ -47,9 +50,11 @@ public:
     // Property accessors
     
     QmlObjectListModel* missionItemsModel(void) { return _missionItems; }
+    bool canEdit(void) { return _canEdit; }
     
 signals:
     void missionItemsChanged(void);
+    void canEditChanged(bool canEdit);
     
 private slots:
     void _newMissionItemsAvailable();
@@ -59,6 +64,7 @@ private:
     
 private:
     QmlObjectListModel* _missionItems;
+    bool                _canEdit;           ///< true: UI can edit these items, false: can't edit, can only send to vehicle or save
     
     static const char* _settingsGroup;
 };

src/MissionEditor/MissionEditor.qml

@@ -40,8 +40,8 @@ QGCView {
     readonly property real  _defaultLatitude:   37.803784
     readonly property real  _defaultLongitude:  -122.462276
     readonly property int   _decimalPlaces:     7
-    readonly property real  _horizontalMargin:   ScreenTools.defaultFontPixelWidth / 2
-    readonly property real  _verticalMargin:     ScreenTools.defaultFontPixelHeight / 2
+    readonly property real  _horizontalMargin:  ScreenTools.defaultFontPixelWidth / 2
+    readonly property real  _verticalMargin:    ScreenTools.defaultFontPixelHeight / 2
     readonly property var   _activeVehicle:     multiVehicleManager.activeVehicle
 
     property var _missionItems: controller.missionItems
@@ -153,6 +153,20 @@ QGCView {
 
                                 onTriggered: controller.setMissionItems()
                             }
+
+                            MenuSeparator { }
+
+                            MenuItem {
+                                text:       "Load mission from file..."
+
+                                onTriggered: controller.loadMissionFromFile()
+                            }
+
+                            MenuItem {
+                                text:       "Save mission to file..."
+
+                                onTriggered: controller.saveMissionToFile()
+                            }
                         }
                     }
 
@@ -166,7 +180,7 @@ QGCView {
                         anchors.bottom:     parent.bottom
                         spacing:            _verticalMargin
                         orientation:        ListView.Vertical
-                        model:              controller.missionItems
+                        model:              controller.canEdit ? controller.missionItems : 0
 
                         property real _maxItemHeight: 0
 
@@ -201,6 +215,18 @@ QGCView {
                         wrapMode:           Text.WordWrap
                         text:               "Click in the map to add Mission Items"
                     }
+
+                    QGCLabel {
+                        anchors.topMargin:  _verticalMargin
+                        anchors.left:       parent.left
+                        anchors.right:      parent.right
+                        anchors.top:        toolsButton.bottom
+                        anchors.bottom:     parent.bottom
+                        visible:            !controller.canEdit
+                        wrapMode:           Text.WordWrap
+                        text:               "The set of mission items you have loaded cannot be edited by QGroundControl. " +
+                                            "You will only be able to save these to a file, or send them to a vehicle."
+                    }
                 } // Item
             } // Rectangle - mission item list
         } // Item - split view container

src/MissionItem.cc

@@ -34,6 +34,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "MissionItem.h"
 
+QGC_LOGGING_CATEGORY(MissionItemLog, "MissionItemLog")
 
 QDebug operator<<(QDebug dbg, const MissionItem& missionItem)
 {
@@ -313,12 +314,20 @@ void MissionItem::setAction(int /*MAV_CMD*/ action)
     if (_command != action) {
         _command = (MavlinkQmlSingleton::Qml_MAV_CMD)action;
 
-        // Flick defaults according to WP type
+        // Fix defaults according to WP type
 
         if (_command == MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF) {
             // We default to 15 degrees minimum takeoff pitch
             setParam1(15.0);
         }
+        
+        if (specifiesCoordinate()) {
+            if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT) {
+                setFrame(MAV_FRAME_GLOBAL_RELATIVE_ALT);
+            }
+        } else {
+            setFrame(MAV_FRAME_MISSION);
+        }
 
         emit changed(this);
         emit commandNameChanged(commandName());
@@ -758,3 +767,32 @@ void MissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     setLongitude(coordinate.longitude());
     setAltitude(coordinate.altitude());
 }
+
+bool MissionItem::canEdit(void)
+{
+    bool found = false;
+    
+    for (int i=0; i<_cMavCmd2Name; i++) {
+        if (_rgMavCmd2Name[i].command == (MAV_CMD)_command) {
+            found = true;
+            break;
+        }
+    }
+    
+    if (found) {
+        if (!_autocontinue) {
+            qCDebug(MissionItemLog) << "canEdit false due to _autocontinue != true";
+            return false;
+        }
+        
+        if (_frame != MAV_FRAME_GLOBAL && _frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && _frame != MAV_FRAME_MISSION) {
+            qCDebug(MissionItemLog) << "canEdit false due unsupported frame type:" << _frame;
+            return false;
+        }
+        
+        return true;
+    } else {
+        qCDebug(MissionItemLog) << "canEdit false due unsupported command:" << _command;
+        return false;
+    }
+}

src/MissionItem.h

@@ -35,6 +35,9 @@
 #include "MavlinkQmlSingleton.h"
 #include "QmlObjectListModel.h"
 #include "Fact.h"
+#include "QGCLoggingCategory.h"
+
+Q_DECLARE_LOGGING_CATEGORY(MissionItemLog)
 
 class MissionItem : public QObject
 {
@@ -104,6 +107,9 @@ public:
     void setYawDegrees(double yaw);
     
     // C++ only methods
+    
+    /// Returns true if this item can be edited in the ui
+    bool canEdit(void);
 
     double latitude(void)  const { return _latitudeFact->value().toDouble(); }
     double longitude(void) const { return _longitudeFact->value().toDouble(); }

src/MissionManager/MissionManager.cc

@@ -34,6 +34,7 @@ MissionManager::MissionManager(Vehicle* vehicle)
     : QThread()
     , _vehicle(vehicle)
     , _cMissionItems(0)
+    , _canEdit(true)
     , _ackTimeoutTimer(NULL)
     , _retryAck(AckNone)
 {
@@ -231,6 +232,11 @@ void MissionManager::_handleMissionItem(const mavlink_message_t& message)
                                         missionItem.command);
     _missionItems.append(item);
     
+    if (!item->canEdit()) {
+        _canEdit = false;
+        emit canEditChanged(false);
+    }
+    
     int nextSequenceNumber = missionItem.seq + 1;
     if (nextSequenceNumber == _cMissionItems) {
         _sendTransactionComplete();

src/MissionManager/MissionManager.h

@@ -47,13 +47,17 @@ public:
     MissionManager(Vehicle* vehicle);
     ~MissionManager();
     
-    Q_PROPERTY(bool                 inProgress   READ inProgress    CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*  missionItems READ missionItems  CONSTANT)
+    Q_PROPERTY(bool                 inProgress      READ inProgress     CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*  missionItems    READ missionItems   CONSTANT)
+    Q_PROPERTY(bool                 canEdit         READ canEdit        NOTIFY  canEditChanged)
     
     // Property accessors
     
     bool inProgress(void) { return _retryAck != AckNone; }
     QmlObjectListModel* missionItems(void) { return &_missionItems; }
+    bool canEdit(void) { return _canEdit; }
+    
+    // C++ methods
     
     void requestMissionItems(void);
     
@@ -63,9 +67,13 @@ public:
     /// Returns a copy of the current set of mission items. Caller is responsible for
     /// freeing returned object.
     QmlObjectListModel* copyMissionItems(void);
-    
+
 signals:
+    // Public signals
+    void canEditChanged(bool canEdit);
     void newMissionItemsAvailable(void);
+    
+    // Internal signals
     void _requestMissionItemsOnThread(void);
     void _writeMissionItemsOnThread(void);
     
@@ -100,6 +108,7 @@ private:
     Vehicle*            _vehicle;
     
     int                 _cMissionItems;     ///< Mission items on vehicle
+    bool                _canEdit;           ///< true: Mission items are editable in the ui
 
     QTimer*             _ackTimeoutTimer;
     AckType_t           _retryAck;