Don Gagne
7 years ago
committed by
GitHub
9 changed files with 356 additions and 43 deletions
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "StructureScanComplexItemTest.h" |
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#include "QGCApplication.h" |
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StructureScanComplexItemTest::StructureScanComplexItemTest(void) |
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: _offlineVehicle(NULL) |
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{ |
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_polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) << |
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QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124); |
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} |
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void StructureScanComplexItemTest::init(void) |
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{ |
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UnitTest::init(); |
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_rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool)); |
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_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this); |
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_structureScanItem = new StructureScanComplexItem(_offlineVehicle, this); |
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_structureScanItem->setDirty(false); |
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_multiSpy = new MultiSignalSpy(); |
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Q_CHECK_PTR(_multiSpy); |
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QCOMPARE(_multiSpy->init(_structureScanItem, _rgSignals, _cSignals), true); |
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} |
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void StructureScanComplexItemTest::cleanup(void) |
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{ |
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delete _structureScanItem; |
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delete _offlineVehicle; |
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} |
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void StructureScanComplexItemTest::_testDirty(void) |
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{ |
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QVERIFY(!_structureScanItem->dirty()); |
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_structureScanItem->setDirty(false); |
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QVERIFY(!_structureScanItem->dirty()); |
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QVERIFY(_multiSpy->checkNoSignals()); |
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_structureScanItem->setDirty(true); |
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QVERIFY(_structureScanItem->dirty()); |
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QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); |
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_multiSpy->clearAllSignals(); |
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_structureScanItem->setDirty(false); |
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QVERIFY(!_structureScanItem->dirty()); |
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QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask)); |
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QVERIFY(!_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); |
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_multiSpy->clearAllSignals(); |
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// These facts should set dirty when changed
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QList<Fact*> rgFacts; |
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rgFacts << _structureScanItem->gimbalPitch() << _structureScanItem->gimbalYaw() << _structureScanItem->altitude() << _structureScanItem->layers(); |
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foreach(Fact* fact, rgFacts) { |
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qDebug() << fact->name(); |
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QVERIFY(!_structureScanItem->dirty()); |
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if (fact->typeIsBool()) { |
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fact->setRawValue(!fact->rawValue().toBool()); |
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} else { |
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fact->setRawValue(fact->rawValue().toDouble() + 1); |
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} |
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QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); |
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QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); |
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_structureScanItem->setDirty(false); |
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_multiSpy->clearAllSignals(); |
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} |
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rgFacts.clear(); |
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QVERIFY(!_structureScanItem->dirty()); |
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_structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative()); |
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QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); |
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QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); |
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_structureScanItem->setDirty(false); |
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_multiSpy->clearAllSignals(); |
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QVERIFY(!_structureScanItem->dirty()); |
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_structureScanItem->setYawVehicleToStructure(!_structureScanItem->yawVehicleToStructure()); |
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QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); |
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QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); |
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_structureScanItem->setDirty(false); |
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_multiSpy->clearAllSignals(); |
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} |
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void StructureScanComplexItemTest::_initItem(void) |
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{ |
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QGCMapPolygon* mapPolygon = _structureScanItem->structurePolygon(); |
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for (int i=0; i<_polyPoints.count(); i++) { |
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QGeoCoordinate& vertex = _polyPoints[i]; |
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mapPolygon->appendVertex(vertex); |
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} |
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_structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecNone); |
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_structureScanItem->gimbalPitch()->setCookedValue(45); |
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_structureScanItem->gimbalYaw()->setCookedValue(45); |
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_structureScanItem->layers()->setCookedValue(2); |
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_structureScanItem->setDirty(false); |
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_validateItem(_structureScanItem); |
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} |
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void StructureScanComplexItemTest::_validateItem(StructureScanComplexItem* item) |
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{ |
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QGCMapPolygon* mapPolygon = item->structurePolygon(); |
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for (int i=0; i<_polyPoints.count(); i++) { |
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QGeoCoordinate& expectedVertex = _polyPoints[i]; |
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QGeoCoordinate actualVertex = mapPolygon->vertexCoordinate(i); |
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QCOMPARE(expectedVertex, actualVertex); |
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} |
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QCOMPARE((int)item->cameraCalc()->cameraSpecType(), (int)CameraCalc::CameraSpecNone); |
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QCOMPARE(item->gimbalPitch()->cookedValue().toDouble(), 45.0); |
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QCOMPARE(item->gimbalYaw()->cookedValue().toDouble(), 45.0); |
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QCOMPARE(item->layers()->cookedValue().toInt(), 2); |
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int seqNum = item->sequenceNumber(); |
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QCOMPARE(item->lastSequenceNumber(), seqNum + (5 /* 5 waypoints per layer */ * item->layers()->cookedValue().toInt()) + 1 /* gimbal command */); |
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} |
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void StructureScanComplexItemTest::_testSaveLoad(void) |
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{ |
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_initItem(); |
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QJsonArray items; |
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_structureScanItem->save(items); |
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QString errorString; |
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StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, this); |
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QVERIFY(newItem->load(items[0].toObject(), 10, errorString)); |
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QVERIFY(errorString.isEmpty()); |
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_validateItem(newItem); |
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newItem->deleteLater(); |
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} |
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void StructureScanComplexItemTest::_testGimbalAngleUpdate(void) |
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{ |
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// This sets the item to CameraCalc::CameraSpecNone and non-standard gimbal angles
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_initItem(); |
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// Switching to a camera specific setup should set gimbal angles to defaults surface scan
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_structureScanItem->cameraCalc()->setCameraSpecType(CameraCalc::CameraSpecCustom); |
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QCOMPARE(_structureScanItem->gimbalPitch()->cookedValue().toDouble(), 0.0); |
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QCOMPARE(_structureScanItem->gimbalYaw()->cookedValue().toDouble(), 90.0); |
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} |
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@ -0,0 +1,52 @@
@@ -0,0 +1,52 @@
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "UnitTest.h" |
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#include "MultiSignalSpy.h" |
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#include "StructureScanComplexItem.h" |
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class StructureScanComplexItemTest : public UnitTest |
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{ |
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Q_OBJECT |
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public: |
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StructureScanComplexItemTest(void); |
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protected: |
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void init(void) final; |
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void cleanup(void) final; |
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private slots: |
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void _testDirty(void); |
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void _testSaveLoad(void); |
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void _testGimbalAngleUpdate(void); |
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private: |
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void _initItem(void); |
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void _validateItem(StructureScanComplexItem* item); |
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enum { |
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dirtyChangedIndex, |
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maxSignalIndex |
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}; |
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enum { |
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dirtyChangedMask = 1 << dirtyChangedIndex |
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}; |
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static const size_t _cSignals = maxSignalIndex; |
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const char* _rgSignals[_cSignals]; |
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Vehicle* _offlineVehicle; |
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MultiSignalSpy* _multiSpy; |
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StructureScanComplexItem* _structureScanItem; |
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QList<QGeoCoordinate> _polyPoints; |
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}; |
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