GeoFenceManager: upload AirMap polygons

This is just to test, will need much better integration

src/MissionManager/AirMapManager.h

@@ -40,6 +40,8 @@ public:
 
     Q_PROPERTY(QVariantList polygon MEMBER _polygon CONSTANT)
 
+    const QVariantList& getPolygon() const { return _polygon; }
+
 private:
     QVariantList    _polygon;
 };

src/MissionManager/GeoFenceManager.cc

@@ -11,6 +11,7 @@
 #include "Vehicle.h"
 #include "QmlObjectListModel.h"
 #include "ParameterManager.h"
+#include "QGCApplication.h"
 #include "QGCMapPolygon.h"
 #include "QGCMapCircle.h"
 
@@ -20,6 +21,7 @@ GeoFenceManager::GeoFenceManager(Vehicle* vehicle)
     : _vehicle                  (vehicle)
     , _planManager              (vehicle, MAV_MISSION_TYPE_FENCE)
     , _firstParamLoadComplete   (false)
+    , _airmapManager            (qgcApp()->toolbox()->airMapManager())
 {
     connect(&_planManager, &PlanManager::inProgressChanged,         this, &GeoFenceManager::inProgressChanged);
     connect(&_planManager, &PlanManager::error,                     this, &GeoFenceManager::error);
@@ -99,6 +101,31 @@ void GeoFenceManager::sendToVehicle(const QGeoCoordinate&   breachReturn,
         fenceItems.append(item);
     }
 
+    // send AirMap polygons
+    const QmlObjectListModel& airmapPolygons = *_airmapManager->polygonRestrictions();
+    for (int i = 0; i < airmapPolygons.count(); ++i) {
+        PolygonAirspaceRestriction *polygon = (PolygonAirspaceRestriction*)airmapPolygons[i];
+        int polygonCount = polygon->getPolygon().count() - 1; // last vertex is equal to the first
+        for (int j = 0; j < polygonCount; ++j) {
+            const QGeoCoordinate& vertex = polygon->getPolygon()[j].value<QGeoCoordinate>();
+
+            MissionItem* item = new MissionItem(0,
+                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
+                                                MAV_FRAME_GLOBAL,
+                                                polygonCount,    // vertex count
+                                                0, 0, 0,            // param 2-4 unused
+                                                vertex.latitude(),
+                                                vertex.longitude(),
+                                                0,                  // param 7 unused
+                                                false,              // autocontinue
+                                                false,              // isCurrentItem
+                                                this);              // parent
+            fenceItems.append(item);
+        }
+    }
+    // TODO: circles too
+
+
     _planManager.writeMissionItems(fenceItems);
 
     for (int i=0; i<fenceItems.count(); i++) {

src/MissionManager/GeoFenceManager.h

@@ -13,6 +13,7 @@
 #include <QObject>
 #include <QGeoCoordinate>
 
+#include "AirMapManager.h"
 #include "QGCLoggingCategory.h"
 #include "FactSystem.h"
 #include "PlanManager.h"
@@ -96,6 +97,7 @@ private:
     bool                    _firstParamLoadComplete;
     QList<QGCFencePolygon>  _sendPolygons;
     QList<QGCFenceCircle>   _sendCircles;
+    AirMapManager*         _airmapManager;
 };
 
 #endif