diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index c5bc12c030490bf4bb2d6f2c4708ed4a04a26891..7696e0439d22ba9f2fa5b2c652ae5af516cb4a06 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -162,12 +162,8 @@ void MissionItem::save(QJsonObject& json) const
json[_jsonAutoContinueKey] = autoContinue();
json[_jsonDoJumpIdKey] = _sequenceNumber;
- QJsonArray rgParams = { param1(), param2(), param3(), param4() };
+ QJsonArray rgParams = { param1(), param2(), param3(), param4(), param5(), param6(), param7() };
json[_jsonParamsKey] = rgParams;
-
- QJsonValue coordinateValue;
- JsonHelper::saveGeoCoordinate(QGeoCoordinate(param5(), param6(), param7()), true /* writeAltitude */, coordinateValue);
- json[_jsonCoordinateKey] = coordinateValue;
}
bool MissionItem::load(QTextStream &loadStream)
@@ -229,10 +225,46 @@ bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Jso
return true;
}
+bool MissionItem::_convertJsonV2ToV3(QJsonObject& json, QString& errorString)
+{
+ // V2 format: param 5/6/7 stored in GeoCoordinate
+ // V3 format: param 5/6/7 stored in params array
+
+ if (!json.contains(_jsonCoordinateKey)) {
+ // Already V3 format
+ return true;
+ }
+
+ QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+ { _jsonCoordinateKey, QJsonValue::Array, true },
+ };
+ if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
+ return false;
+ }
+
+ QGeoCoordinate coordinate;
+ if (!JsonHelper::loadGeoCoordinate(json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
+ return false;
+ }
+
+ QJsonArray rgParam = json[_jsonParamsKey].toArray();
+ rgParam.append(coordinate.latitude());
+ rgParam.append(coordinate.longitude());
+ rgParam.append(coordinate.altitude());
+ json[_jsonParamsKey] = rgParam;
+
+ json.remove(_jsonCoordinateKey);
+
+ return true;
+}
+
bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
{
- QJsonObject v2Json;
- if (!_convertJsonV1ToV2(json, v2Json, errorString)) {
+ QJsonObject convertedJson;
+ if (!_convertJsonV1ToV2(json, convertedJson, errorString)) {
+ return false;
+ }
+ if (!_convertJsonV2ToV3(convertedJson, errorString)) {
return false;
}
@@ -242,21 +274,20 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
{ _jsonCommandKey, QJsonValue::Double, true },
{ _jsonParamsKey, QJsonValue::Array, true },
{ _jsonAutoContinueKey, QJsonValue::Bool, true },
- { _jsonCoordinateKey, QJsonValue::Array, true },
{ _jsonDoJumpIdKey, QJsonValue::Double, false },
};
- if (!JsonHelper::validateKeys(v2Json, keyInfoList, errorString)) {
+ if (!JsonHelper::validateKeys(convertedJson, keyInfoList, errorString)) {
return false;
}
- if (v2Json[VisualMissionItem::jsonTypeKey] != VisualMissionItem::jsonTypeSimpleItemValue) {
- errorString = tr("Type found: %1 must be: %2").arg(v2Json[VisualMissionItem::jsonTypeKey].toString()).arg(VisualMissionItem::jsonTypeSimpleItemValue);
+ if (convertedJson[VisualMissionItem::jsonTypeKey] != VisualMissionItem::jsonTypeSimpleItemValue) {
+ errorString = tr("Type found: %1 must be: %2").arg(convertedJson[VisualMissionItem::jsonTypeKey].toString()).arg(VisualMissionItem::jsonTypeSimpleItemValue);
return false;
}
- QJsonArray rgParams = v2Json[_jsonParamsKey].toArray();
- if (rgParams.count() != 4) {
- errorString = tr("%1 key must contains 4 values").arg(_jsonParamsKey);
+ QJsonArray rgParams = convertedJson[_jsonParamsKey].toArray();
+ if (rgParams.count() != 7) {
+ errorString = tr("%1 key must contains 7 values").arg(_jsonParamsKey);
return false;
}
@@ -268,29 +299,24 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
}
// Make sure to set these first since they can signal other changes
- setFrame((MAV_FRAME)v2Json[_jsonFrameKey].toInt());
- setCommand((MAV_CMD)v2Json[_jsonCommandKey].toInt());
-
- QGeoCoordinate coordinate;
- if (!JsonHelper::loadGeoCoordinate(v2Json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
- return false;
- }
- setParam5(coordinate.latitude());
- setParam6(coordinate.longitude());
- setParam7(coordinate.altitude());
+ setFrame((MAV_FRAME)convertedJson[_jsonFrameKey].toInt());
+ setCommand((MAV_CMD)convertedJson[_jsonCommandKey].toInt());
_doJumpId = -1;
- if (v2Json.contains(_jsonDoJumpIdKey)) {
- _doJumpId = v2Json[_jsonDoJumpIdKey].toInt();
+ if (convertedJson.contains(_jsonDoJumpIdKey)) {
+ _doJumpId = convertedJson[_jsonDoJumpIdKey].toInt();
}
setIsCurrentItem(false);
setSequenceNumber(sequenceNumber);
- setAutoContinue(v2Json[_jsonAutoContinueKey].toBool());
+ setAutoContinue(convertedJson[_jsonAutoContinueKey].toBool());
setParam1(JsonHelper::possibleNaNJsonValue(rgParams[0]));
setParam2(JsonHelper::possibleNaNJsonValue(rgParams[1]));
setParam3(JsonHelper::possibleNaNJsonValue(rgParams[2]));
setParam4(JsonHelper::possibleNaNJsonValue(rgParams[3]));
+ setParam5(JsonHelper::possibleNaNJsonValue(rgParams[4]));
+ setParam6(JsonHelper::possibleNaNJsonValue(rgParams[5]));
+ setParam7(JsonHelper::possibleNaNJsonValue(rgParams[6]));
return true;
}
diff --git a/src/MissionManager/MissionItem.h b/src/MissionManager/MissionItem.h
index da2693319e6e43c2e56f4f5286249e2d3ddd809d..78e07593aac0604214d072b890350fb6a60a2f52 100644
--- a/src/MissionManager/MissionItem.h
+++ b/src/MissionManager/MissionItem.h
@@ -114,6 +114,7 @@ private slots:
private:
bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
+ bool _convertJsonV2ToV3(QJsonObject& json, QString& errorString);
int _sequenceNumber;
int _doJumpId;
@@ -134,10 +135,12 @@ private:
static const char* _jsonFrameKey;
static const char* _jsonCommandKey;
static const char* _jsonAutoContinueKey;
- static const char* _jsonCoordinateKey;
static const char* _jsonParamsKey;
static const char* _jsonDoJumpIdKey;
+ // Deprecated V2 format keys
+ static const char* _jsonCoordinateKey;
+
// Deprecated V1 format keys
static const char* _jsonParam1Key;
static const char* _jsonParam2Key;
diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
index 812dda95c1c561017fa0a5347df10cbdabd5465b..fd4ab52f65faf3bfead644157a578f046cd9d2fb 100644
--- a/src/MissionManager/MissionItemTest.cc
+++ b/src/MissionManager/MissionItemTest.cc
@@ -241,20 +241,30 @@ void MissionItemTest::_testFactSignals(void)
QCOMPARE(arguments.at(0).toDouble(), 8.0);
}
-void MissionItemTest::_checkExpectedMissionItem(const MissionItem& missionItem)
+void MissionItemTest::_checkExpectedMissionItem(const MissionItem& missionItem, bool allNaNs)
{
QCOMPARE(missionItem.sequenceNumber(), _seq);
QCOMPARE(missionItem.isCurrentItem(), false);
QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
QCOMPARE(missionItem.command(), (MAV_CMD)80);
- QCOMPARE(missionItem.param1(), 10.0);
- QCOMPARE(missionItem.param2(), 20.0);
- QCOMPARE(missionItem.param3(), 30.0);
- QCOMPARE(missionItem.param4(), 40.0);
- QCOMPARE(missionItem.param5(), -10.0);
- QCOMPARE(missionItem.param6(), -20.0);
- QCOMPARE(missionItem.param7(), -30.0);
QCOMPARE(missionItem.autoContinue(), true);
+ if (allNaNs) {
+ QVERIFY(qIsNaN(missionItem.param1()));
+ QVERIFY(qIsNaN(missionItem.param2()));
+ QVERIFY(qIsNaN(missionItem.param3()));
+ QVERIFY(qIsNaN(missionItem.param4()));
+ QVERIFY(qIsNaN(missionItem.param5()));
+ QVERIFY(qIsNaN(missionItem.param6()));
+ QVERIFY(qIsNaN(missionItem.param7()));
+ } else {
+ QCOMPARE(missionItem.param1(), 10.0);
+ QCOMPARE(missionItem.param2(), 20.0);
+ QCOMPARE(missionItem.param3(), 30.0);
+ QCOMPARE(missionItem.param4(), 40.0);
+ QCOMPARE(missionItem.param5(), -10.0);
+ QCOMPARE(missionItem.param6(), -20.0);
+ QCOMPARE(missionItem.param7(), -30.0);
+ }
}
void MissionItemTest::_testLoadFromStream(void)
@@ -285,21 +295,9 @@ void MissionItemTest::_testLoadFromJsonV1(void)
{
MissionItem missionItem;
QString errorString;
- QJsonArray coordinateArray;
- coordinateArray << -10.0 << -20.0 <<-30.0;
- QJsonObject jsonObject;
- jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
- jsonObject.insert(MissionItem::_jsonCommandKey, 80);
- jsonObject.insert(MissionItem::_jsonFrameKey, 3);
- jsonObject.insert(MissionItem::_jsonParam1Key, 10);
- jsonObject.insert(MissionItem::_jsonParam2Key, 20);
- jsonObject.insert(MissionItem::_jsonParam3Key, 30);
- jsonObject.insert(MissionItem::_jsonParam4Key, 40);
- jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
- jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
+ QJsonObject jsonObject = _createV1Json();
-
- // We only need to test the differences between V1 and V2
+ // V1 format has param 1-4 in seperate items instead of in params array
QStringList removeKeys;
removeKeys << MissionItem::_jsonParam1Key << MissionItem::_jsonParam2Key << MissionItem::_jsonParam3Key << MissionItem::_jsonParam4Key;
@@ -313,7 +311,11 @@ void MissionItemTest::_testLoadFromJsonV1(void)
// Test good load
- QVERIFY(missionItem.load(jsonObject, _seq, errorString));
+ bool success = missionItem.load(jsonObject, _seq, errorString);
+ if (!success) {
+ qDebug() << errorString;
+ }
+ QVERIFY(success);
_checkExpectedMissionItem(missionItem);
}
@@ -321,27 +323,12 @@ void MissionItemTest::_testLoadFromJsonV2(void)
{
MissionItem missionItem;
QString errorString;
- QJsonArray coordinateArray;
- coordinateArray << -10.0 << -20.0 <<-30.0;
- QJsonObject jsonObject;
- jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
- jsonObject.insert(MissionItem::_jsonCommandKey, 80);
- jsonObject.insert(MissionItem::_jsonFrameKey, 3);
- jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
- jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
-
- QJsonArray rgParams = { 10, 20, 30, 40 };
- jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
+ QJsonObject jsonObject = _createV2Json();
// Test missing key detection
QStringList removeKeys;
- removeKeys << MissionItem::_jsonAutoContinueKey <<
- MissionItem::_jsonCommandKey <<
- MissionItem::_jsonFrameKey <<
- MissionItem::_jsonParamsKey <<
- VisualMissionItem::jsonTypeKey <<
- MissionItem::_jsonCoordinateKey;
+ removeKeys << MissionItem::_jsonCoordinateKey;
foreach(const QString& removeKey, removeKeys) {
QJsonObject badObject = jsonObject;
badObject.remove(removeKey);
@@ -388,11 +375,50 @@ void MissionItemTest::_testLoadFromJsonV2(void)
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
- // Test bad type
+ // Test good load
+ bool result = missionItem.load(jsonObject, _seq, errorString);
+ if (!result) {
+ qDebug() << errorString;
+ QVERIFY(result);
+ }
+ _checkExpectedMissionItem(missionItem);
+}
+
+void MissionItemTest::_testLoadFromJsonV3(void)
+{
+ MissionItem missionItem;
+ QString errorString;
+ QJsonObject jsonObject = _createV3Json();
+
+ // Test missing key detection
+
+ QStringList removeKeys;
+ removeKeys << MissionItem::_jsonAutoContinueKey <<
+ MissionItem::_jsonCommandKey <<
+ MissionItem::_jsonFrameKey <<
+ MissionItem::_jsonParamsKey <<
+ VisualMissionItem::jsonTypeKey;
+ foreach(const QString& removeKey, removeKeys) {
+ QJsonObject badObject = jsonObject;
+ badObject.remove(removeKey);
+ QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
+ QVERIFY(!errorString.isEmpty());
+ qDebug() << errorString;
+ }
+
+ // Bad type
+ QJsonObject badObject = jsonObject;
+ badObject[VisualMissionItem::jsonTypeKey] = "foo";
+ QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
+ QVERIFY(!errorString.isEmpty());
+ qDebug() << errorString;
+
+ // Incorrect param count
badObject = jsonObject;
- badObject.remove("type");
- badObject["type"] = "foo";
+ QJsonArray rgParam = badObject[MissionItem::_jsonParamsKey].toArray();
+ rgParam.removeFirst();
+ badObject[MissionItem::_jsonParamsKey] = rgParam;
QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
@@ -407,6 +433,20 @@ void MissionItemTest::_testLoadFromJsonV2(void)
_checkExpectedMissionItem(missionItem);
}
+void MissionItemTest::_testLoadFromJsonV3NaN(void)
+{
+ MissionItem missionItem;
+ QString errorString;
+ QJsonObject jsonObject = _createV3Json(true /* allNaNs */);
+
+ bool result = missionItem.load(jsonObject, _seq, errorString);
+ if (!result) {
+ qDebug() << errorString;
+ QVERIFY(result);
+ }
+ _checkExpectedMissionItem(missionItem, true /* allNaNs */);
+}
+
void MissionItemTest::_testSimpleLoadFromJson(void)
{
// We specifically test SimpleMissionItem loading as well since it has additional
@@ -434,36 +474,75 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
void MissionItemTest::_testSaveToJson(void)
{
MissionItem missionItem;
+ QString errorString;
- missionItem.setSequenceNumber(_seq);
- missionItem.setIsCurrentItem(true);
- missionItem.setFrame((MAV_FRAME)3);
- missionItem.setCommand((MAV_CMD)80);
- missionItem.setParam1(10.1234567);
- missionItem.setParam2(20.1234567);
- missionItem.setParam3(30.1234567);
- missionItem.setParam4(40.1234567);
- missionItem.setParam5(-10.1234567);
- missionItem.setParam6(-20.1234567);
- missionItem.setParam7(-30.1234567);
- missionItem.setAutoContinue(true);
-
- // Round trip item
- QJsonObject jsonObject;
- QString errorString;
+ QJsonObject jsonObject = _createV3Json(false /* allNaNs */);
+ QVERIFY(missionItem.load(jsonObject, _seq, errorString));
missionItem.save(jsonObject);
+ QCOMPARE(jsonObject.contains(MissionItem::_jsonCoordinateKey), false);
QVERIFY(missionItem.load(jsonObject, _seq, errorString));
+ _checkExpectedMissionItem(missionItem, false /* allNaNs */);
- QCOMPARE(missionItem.sequenceNumber(), _seq);
- QCOMPARE(missionItem.isCurrentItem(), false);
- QCOMPARE(missionItem.frame(), (MAV_FRAME)3);
- QCOMPARE(missionItem.command(), (MAV_CMD)80);
- QCOMPARE(missionItem.param1(), 10.1234567);
- QCOMPARE(missionItem.param2(), 20.1234567);
- QCOMPARE(missionItem.param3(), 30.1234567);
- QCOMPARE(missionItem.param4(), 40.1234567);
- QCOMPARE(missionItem.param5(), -10.1234567);
- QCOMPARE(missionItem.param6(), -20.1234567);
- QCOMPARE(missionItem.param7(), -30.1234567);
- QCOMPARE(missionItem.autoContinue(), true);
+ jsonObject = _createV3Json(true /* allNaNs */);
+ QVERIFY(missionItem.load(jsonObject, _seq, errorString));
+ missionItem.save(jsonObject);
+ QVERIFY(missionItem.load(jsonObject, _seq, errorString));
+ _checkExpectedMissionItem(missionItem, true /* allNaNs */);
+}
+
+QJsonObject MissionItemTest::_createV1Json(void)
+{
+ QJsonObject jsonObject;
+ QJsonArray coordinateArray;
+
+ coordinateArray << -10.0 << -20.0 <<-30.0;
+ jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
+ jsonObject.insert(MissionItem::_jsonCommandKey, 80);
+ jsonObject.insert(MissionItem::_jsonFrameKey, 3);
+ jsonObject.insert(MissionItem::_jsonParam1Key, 10);
+ jsonObject.insert(MissionItem::_jsonParam2Key, 20);
+ jsonObject.insert(MissionItem::_jsonParam3Key, 30);
+ jsonObject.insert(MissionItem::_jsonParam4Key, 40);
+ jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
+ jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
+
+ return jsonObject;
+}
+
+QJsonObject MissionItemTest::_createV2Json(void)
+{
+ QJsonObject jsonObject;
+ QJsonArray coordinateArray;
+
+ coordinateArray << -10.0 << -20.0 <<-30.0;
+ jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
+ jsonObject.insert(MissionItem::_jsonCommandKey, 80);
+ jsonObject.insert(MissionItem::_jsonFrameKey, 3);
+ jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
+ jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
+
+ QJsonArray rgParams = { 10, 20, 30, 40 };
+ jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
+
+ return jsonObject;
+}
+
+QJsonObject MissionItemTest::_createV3Json(bool allNaNs)
+{
+ QJsonObject jsonObject;
+
+ jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
+ jsonObject.insert(MissionItem::_jsonCommandKey, 80);
+ jsonObject.insert(MissionItem::_jsonFrameKey, 3);
+ jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
+
+ if (allNaNs) {
+ QJsonArray rgParams = { NAN, NAN, NAN, NAN, NAN, NAN, NAN };
+ jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
+ } else {
+ QJsonArray rgParams = { 10, 20, 30, 40, -10, -20, -30 };
+ jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
+ }
+
+ return jsonObject;
}
diff --git a/src/MissionManager/MissionItemTest.h b/src/MissionManager/MissionItemTest.h
index 2c477249189e9979e8b301d222c5abbe5c9fba3d..7a4d6fad659259e00fa59a24f239de8bfc9d9476 100644
--- a/src/MissionManager/MissionItemTest.h
+++ b/src/MissionManager/MissionItemTest.h
@@ -35,11 +35,16 @@ private slots:
void _testSimpleLoadFromStream(void);
void _testLoadFromJsonV1(void);
void _testLoadFromJsonV2(void);
+ void _testLoadFromJsonV3(void);
+ void _testLoadFromJsonV3NaN(void);
void _testSimpleLoadFromJson(void);
void _testSaveToJson(void);
private:
- void _checkExpectedMissionItem(const MissionItem& missionItem);
+ void _checkExpectedMissionItem(const MissionItem& missionItem, bool allNaNs = false);
+ QJsonObject _createV1Json(void);
+ QJsonObject _createV2Json(void);
+ QJsonObject _createV3Json(bool allNaNs = false);
int _seq = 10;
Vehicle* _offlineVehicle;