adding currentMissionItems

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -215,7 +215,6 @@ FlightMap {
         largeMapView:       _mainIsMap
         wimaController:     flightMap.wimaController
         z:                  QGroundControl.zOrderTrajectoryLines-1
-        color: "#B4808080" // gray with alpha #AARRGGBB
     }
 
     // Add trajectory points to the map

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -19,14 +19,17 @@ import QGroundControl.FlightMap 1.0
 Item {
     id: _root
 
-    property var    map                 ///< Map control to show items on
-    property bool   largeMapView        ///< true: map takes up entire view, false: map is in small window
-    property var    wimaController
-    property var    color
-    property var    lineColor: color
+    property var        map                 ///< Map control to show items on
+    property bool       largeMapView        ///< true: map takes up entire view, false: map is in small window
+    property var        wimaController
+    property string     mIColor: "#B4808080" // Mission Items Color, gray with alpha 0.7 #AARRGGBB
+    property string     mIlineColor: mIColor
+    property string     cMIColor: "orangered" // Current Mission Items Color
+    property string     cMIlineColor: cMIColor
 
     property var    _map: map
     property var    _missionLineViewComponent
+    property var    _currentMissionLineViewComponent
 
     // Add the mission item visuals to the map
     Repeater {
@@ -34,7 +37,7 @@ Item {
 
         delegate: WimaMissionItemMapVisual {
             map:        _map
-            color:     _root.color
+            color:     _root.mIColor
 //            onClicked: {
 //                if (isActiveVehicle) {
 //                    // Only active vehicle supports click to change current mission item
@@ -52,16 +55,32 @@ Item {
         }*/
     }
 
+    // Add the current mission item visuals to the map
+    Repeater {
+        model: largeMapView ? wimaController.currentMissionItems : 0
+
+        delegate: WimaMissionItemMapVisual {
+            map:        _map
+            color:     _root.cMIColor
+        }
+    }
+
 
     Component.onCompleted: {
         _missionLineViewComponent = missionLineViewComponent.createObject(map)
         if (_missionLineViewComponent.status === Component.Error)
             console.log(_missionLineViewComponent.errorString())
         map.addMapItem(_missionLineViewComponent)
+
+        _currentMissionLineViewComponent = currentMissionLineViewComponent.createObject(map)
+        if (_currentMissionLineViewComponent.status === Component.Error)
+            console.log(_currentMissionLineViewComponent.errorString())
+        map.addMapItem(_currentMissionLineViewComponent)
     }
 
     Component.onDestruction: {
         _missionLineViewComponent.destroy()
+        _currentMissionLineViewComponent.destroy()
     }
 
     Component {
@@ -69,9 +88,20 @@ Item {
 
         MapPolyline {
             line.width: 3
-            line.color: lineColor                       // Hack, can't get palette to work in here
+            line.color: mIlineColor
             z:          QGroundControl.zOrderWaypointLines
             path:       wimaController.waypointPath
         }
     }
+
+    Component {
+        id: currentMissionLineViewComponent
+
+        MapPolyline {
+            line.width: 3
+            line.color: cMIlineColor
+            z:          QGroundControl.zOrderWaypointLines
+            path:       wimaController.currentWaypointPath
+        }
+    }
 }

src/Wima/WimaAreaData.cc

@@ -26,6 +26,16 @@ QVariantList WimaAreaData::path() const
     return _path;
 }
 
+QList<QGeoCoordinate> WimaAreaData::coordinateList() const
+{
+    QList<QGeoCoordinate> coordinateList;
+
+    for ( auto coorinate : _path)
+        coordinateList.append(coorinate.value<QGeoCoordinate>());
+
+    return coordinateList;
+}
+
 /*!
  * \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
  *

src/Wima/WimaAreaData.h

@@ -19,8 +19,9 @@ public:
     //WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
     WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing
 
-    double          maxAltitude()  const;
-    QVariantList    path()         const;
+    double                  maxAltitude()  const;
+    QVariantList            path()         const;
+    QList<QGeoCoordinate>   coordinateList() const;
 
 
     virtual QString         type()         const = 0;

src/Wima/WimaController.cc

@@ -12,7 +12,8 @@ WimaController::WimaController(QObject *parent)
     , _serviceArea          (this)
     , _corridor             (this)
     , _localPlanDataValid   (false)
-    , _firstWaypointIndex   (2) // starts with 2, 0 is home position, 1 is takeoff
+    , _startWaypointIndex   (0)
+    , _endWaypointIndex     (0)
 {
 
 }
@@ -49,11 +50,21 @@ QmlObjectListModel *WimaController::missionItems()
     return &_missionItems;
 }
 
+QmlObjectListModel *WimaController::currentMissionItems()
+{
+    return &_currentMissionItems;
+}
+
 QVariantList WimaController::waypointPath()
 {
     return  _waypointPath;
 }
 
+QVariantList WimaController::currentWaypointPath()
+{
+    return _currentWaypointPath;
+}
+
 void WimaController::setMasterController(PlanMasterController *masterC)
 {
     _masterController = masterC;
@@ -157,12 +168,12 @@ bool WimaController::calcShortestPath(const QGeoCoordinate &start, const QGeoCoo
     return  retVal;
 }
 
-bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList)
+bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList)
 {
     return extractCoordinateList(missionItems, coordinateList, 0, missionItems.count()-1);
 }
 
-bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList, int startIndex, int endIndex)
+bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList, int startIndex, int endIndex)
 {
     if (   startIndex >= 0
         && startIndex < missionItems.count()
@@ -175,7 +186,7 @@ bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItem
                 return false;
         } else {
             for (int i = startIndex; i <= endIndex; i++) {
-                const MissionItem *mItem = qobject_cast<MissionItem*>(missionItems[i]);
+                SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(i);
 
                 if (mItem == nullptr) {
                     coordinateList.clear();
@@ -190,12 +201,12 @@ bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItem
     return true;
 }
 
-bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItems, QVariantList &coordinateList)
+bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList)
 {
     return extractCoordinateList(missionItems, coordinateList, 0 , missionItems.count()-1);
 }
 
-bool WimaController::extractCoordinateList(const QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex)
+bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex)
 {
     QList<QGeoCoordinate> geoCoordintateList;
 
@@ -279,18 +290,22 @@ void WimaController::containerDataValidChanged(bool valid)
 
         QList<const MissionItem*> tempMissionItems = planData.missionItems();
 
+        // create mission items
         _missionController->removeAll();
         QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
-        for ( auto missionItem : tempMissionItems) {
+        for ( int i = 1; i < tempMissionItems.size(); i++) {
+            const MissionItem *missionItem = tempMissionItems[i];
             _missionController->insertSimpleMissionItem(*missionItem, missionControllerVisualItems->count());
         }
 
-        MissionSettingsItem *settingsItem     = qobject_cast<MissionSettingsItem *>((*missionControllerVisualItems)[0]);
-        if (settingsItem == nullptr) {
-            qWarning("WimaController::containerDataValidChanged(): Nullptr at MissionSettingsItem!");
-            return;
-        }
-        //_missionItems.append(settingsItem);
+
+        // copy mission items to _missionItems
+//        MissionSettingsItem *settingsItem     = qobject_cast<MissionSettingsItem *>((*missionControllerVisualItems)[0]);
+//        if (settingsItem == nullptr) {
+//            qWarning("WimaController::containerDataValidChanged(): Nullptr at MissionSettingsItem!");
+//            return;
+//        }
+//        _missionItems.append(settingsItem);
 
         for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
             SimpleMissionItem *visualItem     = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
@@ -303,7 +318,8 @@ void WimaController::containerDataValidChanged(bool valid)
         }
 
         updateWaypointPath();
-        _missionController->removeAll();
+        updateCurrentMissionItems();
+        updateCurrentPath();
 
         if (areaCounter == numAreas)
             _localPlanDataValid = true;
@@ -327,28 +343,94 @@ void WimaController::updateCurrentMissionItems()
 {
     int numberWaypoints = 30; // the number of waypoints currentMissionItems must not exceed
 
+    SimpleMissionItem *homeItem = _missionItems.value<SimpleMissionItem *>(0);
+    if (homeItem == nullptr) {
+        qWarning("WimaController::updateCurrentMissionItems(): nullptr");
+        return;
+    }
+    QGeoCoordinate homeCoordinate(homeItem->coordinate());
+
     QList<QGeoCoordinate> geoCoordinateList; // list with potential waypoints (from _missionItems), for _currentMissionItems
-    if (!extractCoordinateList(_missionItems, geoCoordinateList, _firstWaypointIndex,
-                               std::min(_firstWaypointIndex + numberWaypoints, _missionItems.count()-2))) // -2 -> last item is land item
+    if (!extractCoordinateList(_missionItems, geoCoordinateList, _startWaypointIndex,
+                               std::min(_startWaypointIndex + numberWaypoints - 1, _missionItems.count()-2))) // -2 -> last item is land item
     {
         qWarning("WimaController::updateCurrentMissionItems(): error on waypoint extraction.");
         return;
     }
 
+    _currentMissionItems.clear();
+
+    // calculate path from home to first waypoint
+    QList<QGeoCoordinate> path;
+    if ( !calcShortestPath(homeCoordinate, geoCoordinateList[0], path) ) {
+        qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
+        return;
+    }
+    // prepend to geoCoordinateList
+    for (int i = path.size()-2; i >= 0; i--) //  i = path.size()-2 : last coordinate already in geoCoordinateList
+        geoCoordinateList.prepend(path[i]);
+
+    // calculate path from last waypoint to home
+    path.clear();
+    if ( !calcShortestPath(geoCoordinateList.last(), homeCoordinate, path) ) {
+        qWarning("WimaController::updateCurrentMissionItems(): Not able to calc path from home to first waypoint.");
+        return;
+    }
+    path.removeFirst(); // first coordinate already in geoCoordinateList
+    geoCoordinateList.append(path);
+
+    // create Mission Items
+    _missionController->removeAll();
+    QmlObjectListModel* missionControllerVisuals = _missionController->visualItems();
+    for (auto coordinate : geoCoordinateList)
+        _missionController->insertSimpleMissionItem(coordinate, missionControllerVisuals->count());
+
+    // set land command for last mission item
+    SimpleMissionItem *landItem = missionControllerVisuals->value<SimpleMissionItem*>(missionControllerVisuals->count()-1);
+    if (landItem == nullptr) {
+        qWarning("WimaController::updateCurrentMissionItems(): nullptr");
+        return;
+    }
+    // check vehicle type, before setting land command
+    Vehicle* controllerVehicle = _masterController->controllerVehicle();
+    MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
+    if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
+        landItem->setCommand(landCmd);
+    } else
+        return;
+
+    // copy mission items to _currentMissionItems
+//    MissionSettingsItem *settingsItem     = qobject_cast<MissionSettingsItem *>((*missionControllerVisuals)[0]);
+//    if (settingsItem == nullptr) {
+//        qWarning("WimaController::containerDataValidChanged(): Nullptr at MissionSettingsItem!");
+//        return;
+//    }
+//    _missionItems.append(settingsItem);
+
+    for ( int i = 1; i < missionControllerVisuals->count(); i++) {
+        SimpleMissionItem *visualItem     = missionControllerVisuals->value<SimpleMissionItem*>(i);
+        if (visualItem == nullptr) {
+            qWarning("WimaController::updateCurrentMissionItems(): Nullptr at SimpleMissionItem!");
+            return;
+        }
+        SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
+        _currentMissionItems.append(visualItemCopy);
+    }
 
+    emit currentMissionItemsChanged();
 }
 
 void WimaController::updateWaypointPath()
 {
     _waypointPath.clear();
-    extractCoordinateList(_missionItems, _waypointPath, 1, _missionItems.count()-1);
+    extractCoordinateList(_missionItems, _waypointPath, 0, _missionItems.count()-1);
 
     emit waypointPathChanged();
 }
 void WimaController::updateCurrentPath()
 {
     _currentWaypointPath.clear();
-    extractCoordinateList(_currentMissionItems, _currentWaypointPath, 1, _currentMissionItems.count()-1);
+    extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
 
     emit currentWaypointPathChanged();
 }

src/Wima/WimaController.h

@@ -41,7 +41,9 @@ public:
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
     Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
     Q_PROPERTY(QmlObjectListModel*      missionItems        READ missionItems                                           NOTIFY missionItemsChanged)
+    Q_PROPERTY(QmlObjectListModel*      currentMissionItems READ currentMissionItems                                    NOTIFY currentMissionItemsChanged)
     Q_PROPERTY(QVariantList             waypointPath        READ waypointPath                                           NOTIFY waypointPathChanged)
+    Q_PROPERTY(QVariantList             currentWaypointPath READ currentWaypointPath                                    NOTIFY currentWaypointPathChanged)
 
 
     // Property accessors
@@ -55,7 +57,9 @@ public:
     QGCMapPolygon               joinedArea             (void) const;
     WimaDataContainer*          dataContainer          (void);
     QmlObjectListModel*         missionItems           (void);
+    QmlObjectListModel*         currentMissionItems    (void);
     QVariantList                waypointPath           (void);
+    QVariantList                currentWaypointPath    (void);
 
 
     // Property setters
@@ -84,6 +88,16 @@ public:
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
 
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList);
+    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QList<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
+    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList);
+    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
+    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex);
+
 signals:
     void masterControllerChanged        (void);
     void missionControllerChanged       (void);
@@ -92,11 +106,16 @@ signals:
     void dataContainerChanged           ();
     void readyForSaveSendChanged        (bool ready);
     void missionItemsChanged            (void);
+    void currentMissionItemsChanged     (void);
     void waypointPathChanged            (void);
+    void currentWaypointPathChanged     (void);
 
 private slots:
     void containerDataValidChanged          (bool valid);
+    void updateCurrentMissionItems          (void);
     void updateWaypointPath                 (void);
+    void updateCurrentPath                  (void);
+
 
 private:
     PlanMasterController   *_masterController;
@@ -109,7 +128,12 @@ private:
     WimaServiceAreaData     _serviceArea; // area for supplying
     WimaCorridorData        _corridor; // corridor connecting opArea and serArea
     bool                    _localPlanDataValid;
-    QmlObjectListModel      _missionItems; // all mission itmes generaded by wimaPlaner, displayed in flightView
-    QVariantList            _waypointPath;
+    QmlObjectListModel      _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
+    QmlObjectListModel      _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
+                                                  // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
+    QVariantList            _waypointPath; // path connecting the items in _missionItems
+    QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
+    int                     _startWaypointIndex; // index to the mission item stored in _missionItems defining the first element of _currentMissionItems
+    int                     _endWaypointIndex; // index to the mission item stored in _missionItems defining the last element of _currentMissionItems
 };
 

src/Wima/WimaPlaner.h

@@ -109,6 +109,8 @@ public:
 
     QJsonDocument saveToJson(FileType fileType);
 
+    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
+
     // static Members
     static const char* wimaFileExtension;
     static const char* areaItemsName;
@@ -127,7 +129,6 @@ private slots:
     void recalcPolygonInteractivity (int index);
     bool recalcJoinedArea           (QString &errorString);
     void pushToContainer            ();
-    bool calcShortestPath      (const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
 
 private:
     // Member Functions