Merge pull request #7803 from DonLakeFlyer/SplitSegmentInsert

Plan: Fix SplitSegment mission item insertion

src/MissionManager/MissionController.cc

@@ -349,7 +349,7 @@ int MissionController::_nextSequenceNumber(void)
     }
 }
 
-int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
+int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex)
 {
     int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
@@ -367,13 +367,13 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
         double  prevAltitude;
         int     prevAltitudeMode;
 
-        if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
+        if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
             newItem->altitude()->setRawValue(prevAltitude);
             newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
         }
     }
     newItem->setMissionFlightStatus(_missionFlightStatus);
-    _visualItems->insert(i, newItem);
+    _visualItems->insert(visualItemIndex, newItem);
 
     // We send the click coordinate through here to be able to set the planned home position from the user click location if needed
     _recalcAllWithClickCoordinate(coordinate);
@@ -381,7 +381,7 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
     return newItem->sequenceNumber();
 }
 
-int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
+int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex)
 {
     int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(_controllerVehicle, _flyView, this);
@@ -395,18 +395,18 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
     double  prevAltitude;
     int     prevAltitudeMode;
 
-    if (_findPreviousAltitude(i, &prevAltitude, &prevAltitudeMode)) {
+    if (_findPreviousAltitude(visualItemIndex, &prevAltitude, &prevAltitudeMode)) {
         newItem->altitude()->setRawValue(prevAltitude);
         newItem->setAltitudeMode(static_cast<QGroundControlQmlGlobal::AltitudeMode>(prevAltitudeMode));
     }
-    _visualItems->insert(i, newItem);
+    _visualItems->insert(visualItemIndex, newItem);
 
     _recalcAll();
 
     return newItem->sequenceNumber();
 }
 
-int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i)
+int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex)
 {
     ComplexMissionItem* newItem;
 
@@ -425,10 +425,10 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
         return sequenceNumber;
     }
 
-    return _insertComplexMissionItemWorker(newItem, i);
+    return _insertComplexMissionItemWorker(newItem, visualItemIndex);
 }
 
-int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int i)
+int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int visualItemIndex)
 {
     ComplexMissionItem* newItem;
 
@@ -443,10 +443,10 @@ int MissionController::insertComplexMissionItemFromKMLOrSHP(QString itemName, QS
         return _nextSequenceNumber();
     }
 
-    return _insertComplexMissionItemWorker(newItem, i);
+    return _insertComplexMissionItemWorker(newItem, visualItemIndex);
 }
 
-int MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i)
+int MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex)
 {
     int sequenceNumber = _nextSequenceNumber();
     bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) ||
@@ -482,10 +482,10 @@ int MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* compl
     complexItem->setSequenceNumber(sequenceNumber);
     _initVisualItem(complexItem);
 
-    if (i == -1) {
+    if (visualItemIndex == -1) {
         _visualItems->append(complexItem);
     } else {
-        _visualItems->insert(i, complexItem);
+        _visualItems->insert(visualItemIndex, complexItem);
     }
 
     //-- Keep track of bounding box changes in complex items
@@ -2227,3 +2227,16 @@ bool MissionController::isEmpty(void) const
 {
     return _visualItems->count() <= 1;
 }
+
+int MissionController::visualItemIndexFromSequenceNumber(int sequenceNumber) const
+{
+    for (int i=0; i<_visualItems->count(); i++) {
+        const VisualMissionItem* vi = _visualItems->value<VisualMissionItem*>(i);
+        if (vi->sequenceNumber() == sequenceNumber) {
+            return i;
+        }
+    }
+
+    qWarning() << "MissionController::getVisualItemIndex visual item not found";
+    return 0;
+}

src/MissionManager/MissionController.h

@@ -103,28 +103,28 @@ public:
     Q_INVOKABLE void removeMissionItem(int index);
 
     /// Add a new simple mission item to the list
-    ///     @param i: index to insert at
+    ///     @param visualItemIndex: index to insert at
     /// @return Sequence number for new item
-    Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
+    Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int visualItemIndex);
 
     /// Add a new ROI mission item to the list
-    ///     @param i: index to insert at
+    ///     @param visualItemIndex: index to insert at
     /// @return Sequence number for new item
-    Q_INVOKABLE int insertROIMissionItem(QGeoCoordinate coordinate, int i);
+    Q_INVOKABLE int insertROIMissionItem(QGeoCoordinate coordinate, int visualItemIndex);
 
     /// Add a new complex mission item to the list
     ///     @param itemName: Name of complex item to create (from complexMissionItemNames)
     ///     @param mapCenterCoordinate: coordinate for current center of map
-    ///     @param i: index to insert at
+    ///     @param visualItemIndex: index to insert at
     /// @return Sequence number for new item
-    Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i);
+    Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int visualItemIndex);
 
     /// Add a new complex mission item to the list
     ///     @param itemName: Name of complex item to create (from complexMissionItemNames)
     ///     @param file: kml or shp file to load from shape from
-    ///     @param i: index to insert at, -1 for end
+    ///     @param visualItemIndex: index to insert at, -1 for end
     /// @return Sequence number for new item
-    Q_INVOKABLE int insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int i);
+    Q_INVOKABLE int insertComplexMissionItemFromKMLOrSHP(QString itemName, QString file, int visualItemIndex);
 
     Q_INVOKABLE void resumeMission(int resumeIndex);
 
@@ -135,6 +135,9 @@ public:
     ///     @param sequenceNumber - index for new item, -1 to clear current item
     Q_INVOKABLE void setCurrentPlanViewIndex(int sequenceNumber, bool force);
 
+    /// Returns the index of this item in the visual item list
+    Q_INVOKABLE int visualItemIndexFromSequenceNumber(int sequenceNumber) const;
+
     /// Determines if the mission has all data needed to be saved or sent to the vehicle. Currently the only case where this
     /// would return false is when it is still waiting on terrain data to determine correct altitudes.
     bool readyForSaveSend(void) const;
@@ -280,7 +283,7 @@ private:
     void _initLoadedVisualItems(QmlObjectListModel* loadedVisualItems);
     CoordinateVector* _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
-    int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
+    int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int visualItemIndex);
     void _warnIfTerrainFrameUsed(void);
 
 private:

src/PlanView/PlanView.qml

@@ -489,7 +489,7 @@ Item {
                 z:              QGroundControl.zOrderWaypointLines + 1
 
                 sourceItem: SplitIndicator {
-                    onClicked:  insertSimpleMissionItem(splitSegmentItem.coordinate, _missionController.currentPlanViewIndex)
+                    onClicked:  insertSimpleMissionItem(splitSegmentItem.coordinate, _missionController.visualItemIndexFromSequenceNumber(_missionController.currentPlanViewIndex))
                 }
 
                 function _updateSplitCoord() {