Merge pull request #5648 from DonLakeFlyer/PlanSignalling

Better plan load signaling

src/Vehicle/Vehicle.cc

@@ -1959,7 +1959,7 @@ void Vehicle::_rallyPointLoadComplete(void)
     qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true";
     if (!_initialPlanRequestComplete) {
         _initialPlanRequestComplete = true;
-        emit initialPlanRequestCompleted();
+        emit initialPlanRequestCompleteChanged(true);
     }
 }
 
@@ -2817,6 +2817,18 @@ void Vehicle::_updateDistanceToHome(void)
     }
 }
 
+void Vehicle::forceInitialPlanRequestComplete(void)
+{
+    _initialPlanRequestComplete = true;
+    emit initialPlanRequestCompleteChanged(true);
+}
+
+void Vehicle::sendPlan(QString planFile)
+{
+    PlanMasterController::sendPlanToVehicle(this, planFile);
+}
+
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 

src/Vehicle/Vehicle.h

@@ -317,6 +317,7 @@ public:
     Q_PROPERTY(QVariantList         toolBarIndicators       READ toolBarIndicators                                      CONSTANT)
     Q_PROPERTY(QVariantList         cameraList              READ cameraList                                             CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  adsbVehicles            READ adsbVehicles                                           CONSTANT)
+    Q_PROPERTY(bool              initialPlanRequestComplete READ initialPlanRequestComplete                             NOTIFY initialPlanRequestCompleteChanged)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
@@ -429,6 +430,7 @@ public:
     Q_INVOKABLE void clearMessages();
 
     Q_INVOKABLE void triggerCamera(void);
+    Q_INVOKABLE void sendPlan(QString planFile);
 
 #if 0
     // Temporarily removed, waiting for new command implementation
@@ -700,7 +702,7 @@ public:
     /// @return: true: initial request is complete, false: initial request is still in progress;
     bool initialPlanRequestComplete(void) const { return _initialPlanRequestComplete; }
 
-    void forceInitialPlanRequestComplete(void) { _initialPlanRequestComplete = true; }
+    void forceInitialPlanRequestComplete(void);
 
     void _setFlying(bool flying);
     void _setLanding(bool landing);
@@ -734,7 +736,7 @@ signals:
     void firmwareTypeChanged(void);
     void vehicleTypeChanged(void);
     void capabilitiesKnownChanged(bool capabilitiesKnown);
-    void initialPlanRequestCompleted(void);
+    void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
     void capabilityBitsChanged(uint64_t capabilityBits);
 
     void messagesReceivedChanged    ();

src/qgcunittest/UnitTest.cc

@@ -394,7 +394,7 @@ void UnitTest::_connectMockLink(MAV_AUTOPILOT autopilot)
 
     // Wait for plan request to complete
     if (!_vehicle->initialPlanRequestComplete()) {
-        QSignalSpy spyPlan(_vehicle, SIGNAL(initialPlanRequestCompleted()));
+        QSignalSpy spyPlan(_vehicle, SIGNAL(initialPlanRequestCompleteChanged(bool)));
         QCOMPARE(spyPlan.wait(10000), true);
     }
 }