Merge pull request #5040 from DonLakeFlyer/PlanSync

Plan: Sequential upload/down of individual managers

src/FirmwarePlugin/APM/APMGeoFenceManager.cc

@@ -132,7 +132,7 @@ void APMGeoFenceManager::loadFromVehicle(void)
     _requestFencePoint(_currentFencePoint);
 }
 
-/// Called when a new mavlink message for out vehicle is received
+/// Called when a new mavlink message for our vehicle is received
 void APMGeoFenceManager::_mavlinkMessageReceived(const mavlink_message_t& message)
 {
     if (message.msgid == MAVLINK_MSG_ID_FENCE_POINT) {

src/MissionManager/GeoFenceController.cc

@@ -107,10 +107,6 @@ void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_geoFenceManager, &GeoFenceManager::loadComplete,                   this, &GeoFenceController::_loadComplete);
     connect(_geoFenceManager, &GeoFenceManager::inProgressChanged,              this, &GeoFenceController::syncInProgressChanged);
 
-    if (!_geoFenceManager->inProgress()) {
-        _loadComplete(_geoFenceManager->breachReturnPoint(), _geoFenceManager->polygon());
-    }
-
     _signalAll();
 }
 

src/MissionManager/GeoFenceManager.cc

@@ -40,8 +40,8 @@ void GeoFenceManager::loadFromVehicle(void)
 
 void GeoFenceManager::sendToVehicle(const QGeoCoordinate& breachReturn, QmlObjectListModel& polygon)
 {
+    // No geofence support in unknown vehicle
     Q_UNUSED(breachReturn);
     Q_UNUSED(polygon);
-
-    // No geofence support in unknown vehicle
+    emit loadComplete(QGeoCoordinate(), QList<QGeoCoordinate>());
 }

src/MissionManager/MissionController.cc

@@ -446,8 +446,11 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
     // Mission Settings
     AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
 
-    appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType((MAV_AUTOPILOT)json[_jsonVehicleTypeKey].toInt()));
-    appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType((MAV_TYPE)json[_jsonVehicleTypeKey].toInt()));
+    if (_masterController->offline()) {
+        // We only update if offline since if we are online we use the online vehicle settings
+        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType((MAV_AUTOPILOT)json[_jsonVehicleTypeKey].toInt()));
+        appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType((MAV_TYPE)json[_jsonVehicleTypeKey].toInt()));
+    }
     if (json.contains(_jsonCruiseSpeedKey)) {
         appSettings->offlineEditingCruiseSpeed()->setRawValue(json[_jsonCruiseSpeedKey].toDouble());
     }

src/MissionManager/MissionManager.cc

@@ -48,7 +48,6 @@ void MissionManager::_writeMissionItemsWorker(void)
 {
     _lastMissionRequest = -1;
 
-    emit newMissionItemsAvailable(_missionItems.count() == 0);
     emit progressPct(0);
 
     qCDebug(MissionManagerLog) << "writeMissionItems count:" << _missionItems.count();
@@ -870,6 +869,10 @@ void MissionManager::_finishTransaction(bool success)
         emit newMissionItemsAvailable(false);
     }
 
+    if (_transactionInProgress == TransactionWrite) {
+        emit newMissionItemsAvailable(_missionItems.count() == 0);
+    }
+
     _itemIndicesToRead.clear();
     _itemIndicesToWrite.clear();
 

src/MissionManager/PlanMasterController.cc

@@ -13,6 +13,7 @@
 #include "SettingsManager.h"
 #include "AppSettings.h"
 #include "JsonHelper.h"
+#include "MissionManager.h"
 
 #include <QJsonDocument>
 #include <QFileInfo>
@@ -33,6 +34,10 @@ PlanMasterController::PlanMasterController(QObject* parent)
     , _missionController(this)
     , _geoFenceController(this)
     , _rallyPointController(this)
+    , _loadGeoFence(false)
+    , _loadRallyPoints(false)
+    , _sendGeoFence(false)
+    , _sendRallyPoints(false)
 {
     connect(&_missionController,    &MissionController::dirtyChanged,       this, &PlanMasterController::dirtyChanged);
     connect(&_geoFenceController,   &GeoFenceController::dirtyChanged,      this, &PlanMasterController::dirtyChanged);
@@ -82,9 +87,17 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
         _managerVehicle = _controllerVehicle;
         newOffline = true;
     } else {
-        // FIXME: Check for vehicle compatibility. (edit mode only)
-        _managerVehicle = activeVehicle;
         newOffline = false;
+        _managerVehicle = activeVehicle;
+
+        // Update controllerVehicle to the currently connected vehicle
+        AppSettings* appSettings = qgcApp()->toolbox()->settingsManager()->appSettings();
+        appSettings->offlineEditingFirmwareType()->setRawValue(AppSettings::offlineEditingFirmwareTypeFromFirmwareType(_managerVehicle->firmwareType()));
+        appSettings->offlineEditingVehicleType()->setRawValue(AppSettings::offlineEditingVehicleTypeFromVehicleType(_managerVehicle->vehicleType()));
+
+        // We use these signals to sequence upload and download to the multiple controller/managers
+        connect(_managerVehicle->missionManager(),  &MissionManager::newMissionItemsAvailable,  this, &PlanMasterController::_loadSendMissionComplete);
+        connect(_managerVehicle->geoFenceManager(), &GeoFenceManager::loadComplete,             this, &PlanMasterController::_loadSendGeoFenceCompelte);
     }
     if (newOffline != _offline) {
         _offline = newOffline;
@@ -106,23 +119,46 @@ void PlanMasterController::_activeVehicleChanged(Vehicle* activeVehicle)
 
 void PlanMasterController::loadFromVehicle(void)
 {
-    // FIXME: Hack implementation
+    _loadGeoFence = true;
     _missionController.loadFromVehicle();
-    _geoFenceController.loadFromVehicle();
-    _rallyPointController.loadFromVehicle();
     setDirty(false);
 }
 
+
+void PlanMasterController::_loadSendMissionComplete(void)
+{
+    if (_loadGeoFence) {
+        _loadGeoFence = false;
+        _loadRallyPoints = true;
+        _geoFenceController.loadFromVehicle();
+        setDirty(false);
+    } else if (_sendGeoFence) {
+        _sendGeoFence = false;
+        _sendRallyPoints = true;
+        _geoFenceController.sendToVehicle();
+        setDirty(false);
+    }
+}
+
+void PlanMasterController::_loadSendGeoFenceCompelte(void)
+{
+    if (_loadRallyPoints) {
+        _loadRallyPoints = false;
+        _rallyPointController.loadFromVehicle();
+        setDirty(false);
+    } else if (_sendRallyPoints) {
+        _sendRallyPoints = false;
+        _rallyPointController.sendToVehicle();
+    }
+}
+
 void PlanMasterController::sendToVehicle(void)
 {
-    // FIXME: Hack implementation
+    _sendGeoFence = true;
     _missionController.sendToVehicle();
-    _geoFenceController.sendToVehicle();
-    _rallyPointController.sendToVehicle();
     setDirty(false);
 }
 
-
 void PlanMasterController::loadFromFile(const QString& filename)
 {
     QString errorString;
@@ -291,4 +327,3 @@ void PlanMasterController::sendPlanToVehicle(Vehicle* vehicle, const QString& fi
     controller->loadFromFile(filename);
     delete controller;
 }
-

src/MissionManager/PlanMasterController.h

@@ -83,6 +83,8 @@ signals:
 
 private slots:
     void _activeVehicleChanged(Vehicle* activeVehicle);
+    void _loadSendMissionComplete(void);
+    void _loadSendGeoFenceCompelte(void);
 
 private:
     MultiVehicleManager*    _multiVehicleMgr;
@@ -93,6 +95,10 @@ private:
     MissionController       _missionController;
     GeoFenceController      _geoFenceController;
     RallyPointController    _rallyPointController;
+    bool                    _loadGeoFence;
+    bool                    _loadRallyPoints;
+    bool                    _sendGeoFence;
+    bool                    _sendRallyPoints;
 
     static const int    _planFileVersion;
     static const char*  _planFileType;

src/MissionManager/RallyPointController.cc

@@ -70,9 +70,6 @@ void RallyPointController::managerVehicleChanged(Vehicle* managerVehicle)
     connect(_rallyPointManager, &RallyPointManager::loadComplete,       this, &RallyPointController::_loadComplete);
     connect(_rallyPointManager, &RallyPointManager::inProgressChanged,  this, &RallyPointController::syncInProgressChanged);
 
-    if (!syncInProgress()) {
-        _loadComplete(_rallyPointManager->points());
-    }
     emit rallyPointsSupportedChanged(rallyPointsSupported());
 }
 

src/MissionManager/RallyPointManager.cc

@@ -39,6 +39,7 @@ void RallyPointManager::loadFromVehicle(void)
 
 void RallyPointManager::sendToVehicle(const QList<QGeoCoordinate>& rgPoints)
 {
-    Q_UNUSED(rgPoints);
     // No support in generic vehicle
+    Q_UNUSED(rgPoints);
+    emit loadComplete(QList<QGeoCoordinate>());
 }

src/MissionManager/RallyPointManager.h

@@ -58,7 +58,7 @@ signals:
     void loadComplete       (const QList<QGeoCoordinate> rgPoints);
     void inProgressChanged  (bool inProgress);
     void error              (int errorCode, const QString& errorMsg);
-    
+
 protected:
     void _sendError(ErrorCode_t errorCode, const QString& errorMsg);