New V3 format for mission items

Moves all params into param array instead of using GeoCoordinate for
param 5/6/7

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;
 }

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;

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;
 }

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;