service area depot issue solved.

src/MissionManager/QGCMapPolygon.h

@@ -10,56 +10,60 @@
 #ifndef QGCMapPolygon_H
 #define QGCMapPolygon_H
 
-#include <QObject>
 #include <QGeoCoordinate>
-#include <QVariantList>
+#include <QObject>
 #include <QPolygon>
+#include <QVariantList>
 
 #include "QmlObjectListModel.h"
 
-/// The QGCMapPolygon class provides a polygon which can be displayed on a map using a map visuals control.
-/// It maintains a representation of the polygon on QVariantList and QmlObjectListModel format.
-class QGCMapPolygon : public QObject
-{
+/// The QGCMapPolygon class provides a polygon which can be displayed on a map
+/// using a map visuals control. It maintains a representation of the polygon on
+/// QVariantList and QmlObjectListModel format.
+class QGCMapPolygon : public QObject {
   Q_OBJECT
 
 public:
-    QGCMapPolygon(QObject* parent = nullptr);
-    QGCMapPolygon(const QGCMapPolygon& other, QObject* parent = nullptr);
+  QGCMapPolygon(QObject *parent = nullptr);
+  QGCMapPolygon(const QGCMapPolygon &other, QObject *parent = nullptr);
 
-    const QGCMapPolygon& operator=(const QGCMapPolygon& other);
+  const QGCMapPolygon &operator=(const QGCMapPolygon &other);
 
   Q_PROPERTY(int count READ count NOTIFY countChanged)
   Q_PROPERTY(QVariantList path READ path NOTIFY pathChanged)
-    Q_PROPERTY(QmlObjectListModel*  pathModel   READ qmlPathModel                           CONSTANT)
+  Q_PROPERTY(QmlObjectListModel *pathModel READ qmlPathModel CONSTANT)
   Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
-    Q_PROPERTY(QGeoCoordinate       center      READ center         WRITE setCenter         NOTIFY centerChanged)
-    Q_PROPERTY(bool                 centerDrag  READ centerDrag     WRITE setCenterDrag     NOTIFY centerDragChanged)
-    Q_PROPERTY(bool                 interactive READ interactive    WRITE setInteractive    NOTIFY interactiveChanged)
+  Q_PROPERTY(
+      QGeoCoordinate center READ center WRITE setCenter NOTIFY centerChanged)
+  Q_PROPERTY(bool centerDrag READ centerDrag WRITE setCenterDrag NOTIFY
+                 centerDragChanged)
+  Q_PROPERTY(bool interactive READ interactive WRITE setInteractive NOTIFY
+                 interactiveChanged)
   Q_PROPERTY(double area READ area NOTIFY areaChanged)
 
   Q_INVOKABLE void clear(void);
-    Q_INVOKABLE void appendVertex(const QGeoCoordinate& coordinate);
+  Q_INVOKABLE void appendVertex(const QGeoCoordinate &coordinate);
   Q_INVOKABLE void removeVertex(int vertexIndex);
-    Q_INVOKABLE void appendVertices(const QList<QGeoCoordinate>& coordinates);
+  Q_INVOKABLE void appendVertices(const QList<QGeoCoordinate> &coordinates);
 
   /// Adjust the value for the specified coordinate
   ///     @param vertexIndex Polygon point index to modify (0-based)
   ///     @param coordinate New coordinate for point
-    Q_INVOKABLE void adjustVertex(int vertexIndex, const QGeoCoordinate coordinate);
+  Q_INVOKABLE void adjustVertex(int vertexIndex,
+                                const QGeoCoordinate coordinate);
 
   /// Splits the segment comprised of vertextIndex -> vertexIndex + 1
   Q_INVOKABLE void splitPolygonSegment(int vertexIndex);
 
   /// Returns true if the specified coordinate is within the polygon
-    Q_INVOKABLE bool containsCoordinate(const QGeoCoordinate& coordinate) const;
+  Q_INVOKABLE bool containsCoordinate(const QGeoCoordinate &coordinate) const;
 
   /// Offsets the current polygon edges by the specified distance in meters
   Q_INVOKABLE void offset(double distance);
 
   /// Loads a polygon from a KML/SH{ file
   /// @return true: success
-    Q_INVOKABLE bool loadKMLOrSHPFile(const QString& file);
+  Q_INVOKABLE bool loadKMLOrSHPFile(const QString &file);
 
   /// Returns the path in a list of QGeoCoordinate's format
   QList<QGeoCoordinate> coordinateList(void) const;
@@ -72,14 +76,15 @@ public:
 
   /// Saves the polygon to the json object.
   ///     @param json Json object to save to
-    void saveToJson(QJsonObject& json);
+  void saveToJson(QJsonObject &json);
 
   /// Load a polygon from json
   ///     @param json Json object to load from
   ///     @param required true: no polygon in object will generate error
   ///     @param errorString Error string if return is false
   /// @return true: success, false: failure (errorString set)
-    bool loadFromJson(const QJsonObject& json, bool required, QString& errorString);
+  bool loadFromJson(const QJsonObject &json, bool required,
+                    QString &errorString);
 
   /// Convert polygon to NED and return (D is ignored)
   QList<QPointF> nedPolygon(void) const;
@@ -89,52 +94,53 @@ public:
 
   // Property methods
 
-    int             count       (void) const { return _polygonPath.count(); }
-    bool            dirty       (void) const { return _dirty; }
-    void            setDirty    (bool dirty);
-    QGeoCoordinate  center      (void) const { return _center; }
-    bool            centerDrag  (void) const { return _centerDrag; }
-    bool            interactive (void) const { return _interactive; }
+  int count(void) const { return _polygonPath.count(); }
+  bool dirty(void) const { return _dirty; }
+  void setDirty(bool dirty);
+  QGeoCoordinate center(void) const { return _center; }
+  bool centerDrag(void) const { return _centerDrag; }
+  bool interactive(void) const { return _interactive; }
 
-    QVariantList        path        (void) const { return _polygonPath; }
-    QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
-    QmlObjectListModel& pathModel   (void) { return _polygonModel; }
+  QVariantList path(void) const { return _polygonPath; }
+  const QVariantList &pathReference(void) const { return _polygonPath; }
+  QmlObjectListModel *qmlPathModel(void) { return &_polygonModel; }
+  QmlObjectListModel &pathModel(void) { return _polygonModel; }
 
   // Friends
-    friend void print(const QGCMapPolygon& poly, QString& outputString);
-    friend void print(const QGCMapPolygon& poly);
+  friend void print(const QGCMapPolygon &poly, QString &outputString);
+  friend void print(const QGCMapPolygon &poly);
 
   // static Variables
-    static const char* jsonPolygonKey;
+  static const char *jsonPolygonKey;
 
 signals:
-    void countChanged       (int count);
-    void pathChanged        (void);
-    void dirtyChanged       (bool dirty);
-    void cleared            (void);
-    void centerChanged      (QGeoCoordinate center);
-    void centerDragChanged  (bool centerDrag);
-    void interactiveChanged (bool interactive);
-    void areaChanged        (void);
+  void countChanged(int count);
+  void pathChanged(void);
+  void dirtyChanged(bool dirty);
+  void cleared(void);
+  void centerChanged(QGeoCoordinate center);
+  void centerDragChanged(bool centerDrag);
+  void interactiveChanged(bool interactive);
+  void areaChanged(void);
 
 public slots:
-    void setPath                    (const QList<QGeoCoordinate>& path);
-    void setPath                    (const QVector<QGeoCoordinate>& path);
-    void setPath                    (const QVariantList& path);
-    void setCenter                  (QGeoCoordinate newCenter);
-    void setCenterDrag              (bool centerDrag);
-    void setInteractive             (bool interactive);
+  void setPath(const QList<QGeoCoordinate> &path);
+  void setPath(const QVector<QGeoCoordinate> &path);
+  void setPath(const QVariantList &path);
+  void setCenter(QGeoCoordinate newCenter);
+  void setCenterDrag(bool centerDrag);
+  void setInteractive(bool interactive);
 
 private slots:
-    void _polygonModelCountChanged  (int count);
-    void _polygonModelDirtyChanged  (bool dirty);
-    void _updateCenter              (void);
+  void _polygonModelCountChanged(int count);
+  void _polygonModelDirtyChanged(bool dirty);
+  void _updateCenter(void);
 
 private:
   void _init(void);
   QPolygonF _toPolygonF(void) const;
-    QGeoCoordinate _coordFromPointF(const QPointF& point) const;
-    QPointF _pointFFromCoord(const QGeoCoordinate& coordinate) const;
+  QGeoCoordinate _coordFromPointF(const QPointF &point) const;
+  QPointF _pointFFromCoord(const QGeoCoordinate &coordinate) const;
 
   QVariantList _polygonPath;
   QmlObjectListModel _polygonModel;

src/Wima/Geometry/WimaServiceArea.cc

@@ -23,10 +23,16 @@ WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
   return *this;
 }
 
+const QGeoCoordinate &WimaServiceArea::depot() const { return _depot; }
+
+QGeoCoordinate WimaServiceArea::depotQml() const { return _depot; }
+
 bool WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
-  if (_depot != coordinate) {
+  if (_depot.latitude() != coordinate.latitude() ||
+      _depot.longitude() != coordinate.longitude()) {
     if (this->containsCoordinate(coordinate)) {
       _depot = coordinate;
+      _depot.setAltitude(0);
       emit depotChanged();
       return true;
     }
@@ -90,7 +96,27 @@ void WimaServiceArea::init() {
   this->setObjectName(wimaServiceAreaName);
   connect(this, &WimaArea::pathChanged, [this] {
     if (!this->_depot.isValid() || !this->containsCoordinate(this->_depot)) {
+      if (this->containsCoordinate(this->center())) {
+        // Use center.
         this->setDepot(this->center());
+      } else if (this->_depot.isValid()) {
+        // Use nearest coordinate.
+        auto minDist = std::numeric_limits<double>::infinity();
+        auto minIt = this->pathReference().begin();
+        for (auto it = this->pathReference().begin();
+             it < this->pathReference().end(); ++it) {
+          const auto vertex = it->value<QGeoCoordinate>();
+          auto d = vertex.distanceTo(this->_depot);
+          if (d < minDist) {
+            minDist = d;
+            minIt = it;
+          }
+        }
+        this->setDepot(minIt->value<QGeoCoordinate>());
+      } else if (this->pathReference().size() > 0) {
+        // Use first coordinate.
+        this->setDepot(this->pathReference().value(0).value<QGeoCoordinate>());
+      }
     }
   });
 }

src/Wima/Geometry/WimaServiceArea.h

@@ -11,14 +11,16 @@ public:
   WimaServiceArea(const WimaServiceArea &other, QObject *parent);
   WimaServiceArea &operator=(const WimaServiceArea &other);
 
-  Q_PROPERTY(QGeoCoordinate depot READ depot WRITE setDepot NOTIFY depotChanged)
+  Q_PROPERTY(
+      QGeoCoordinate depot READ depotQml WRITE setDepot NOTIFY depotChanged)
 
   // Overrides from WimaPolygon
   QString mapVisualQML(void) const { return "WimaServiceAreaMapVisual.qml"; }
   QString editorQML(void) const { return "WimaServiceAreaEditor.qml"; }
 
   // Property acessors
-  const QGeoCoordinate &depot(void) const { return _depot; }
+  const QGeoCoordinate &depot(void) const;
+  QGeoCoordinate depotQml(void) const;
 
   // Member Methodes
   void saveToJson(QJsonObject &json);

src/Wima/WaypointManager/EmptyManager.cpp

@@ -7,12 +7,12 @@ WaypointManager::EmptyManager::EmptyManager(Settings &settings, AreaInterface &)
 
 void WaypointManager::EmptyManager::clear() {}
 
-bool WaypointManager::EmptyManager::update() {}
+bool WaypointManager::EmptyManager::update() { return true; }
 
-bool WaypointManager::EmptyManager::next() {}
+bool WaypointManager::EmptyManager::next() { return true; }
 
-bool WaypointManager::EmptyManager::previous() {}
+bool WaypointManager::EmptyManager::previous() { return true; }
 
-bool WaypointManager::EmptyManager::reset() {}
+bool WaypointManager::EmptyManager::reset() { return true; }
 
 } // namespace WaypointManager

src/WimaView/DragCoordinate.qml

@@ -29,10 +29,8 @@ Item {
     property bool   checked
     property string label: "Reference"
 
-    property var    _itemVisual
-    property bool   _itemVisualShowing: false
-    property var    _dragArea
-    property bool   _dragAreaShowing:   false
+    property var    _itemVisual: undefined
+    property var    _dragArea: undefined
 
     signal clicked()
     signal released()
@@ -45,31 +43,30 @@ Item {
     signal dragReleased()
 
     function hideItemVisuals() {
-        if (_itemVisualShowing) {
+        if (_itemVisual) {
+            map.removeMapItem(_itemVisual)
             _itemVisual.destroy()
-            _itemVisualShowing = false
+            _itemVisual = undefined
         }
     }
 
     function showItemVisuals() {
-        if (!_itemVisualShowing) {
+        if (!_itemVisual) {
             _itemVisual = indicatorComponent.createObject(map)
             map.addMapItem(_itemVisual)
-            _itemVisualShowing = true
         }
     }
 
     function hideDragArea() {
-        if (_dragAreaShowing) {
+        if (_dragArea) {
             _dragArea.destroy()
-            _dragAreaShowing = false
+            _dragArea = undefined
         }
     }
 
     function showDragArea() {
-        if (!_dragAreaShowing) {
+        if (!_dragArea) {
             _dragArea = dragAreaComponent.createObject(map)
-            _dragAreaShowing = true
         }
     }
 
@@ -102,7 +99,9 @@ Item {
             itemIndicator:  _itemVisual
             Component.onCompleted: itemCoordinate = _root.coordinate
 
-            onItemCoordinateChanged: _root.coordinate = itemCoordinate
+            onItemCoordinateChanged: {
+                _root.coordinate = itemCoordinate
+            }
 
             onDragStart:    _root.dragStart()
             onDragStop:     _root.dragStop()

src/WimaView/WimaServiceAreaMapVisual.qml

@@ -26,35 +26,32 @@ Item {
 
     property var areaItem:          object
     property var _polygon:          areaItem
-    property var _depot
-    property bool showDepot: 		areaItem.interactive || areaItem.borderPolygon.interactive
-    property bool _depotVisible:     false
+    property var _depot: 			undefined
+    property bool _showDepot: 		areaItem.interactive || areaItem.borderPolygon.interactive
 
-    onShowDepotChanged: {
-        if (showDepot){
-            if (!_depotVisible){
+    on_ShowDepotChanged: {
+        if (_showDepot){
             _addDepot()
-            }
         } else {
-            if (_depotVisible){
             _destroyDepot()
         }
     }
-    }
 
     signal clicked(int sequenceNumber)
 
     function _addDepot() {
-        _depot = depotPointComponent.createObject(map)
+        if (!_depot){
+            _depot = depotPointComponent.createObject(_root)
             map.addMapItem(_depot)
-        _depotVisible = true
+        }
     }
 
     function _destroyDepot() {
         if (_depot){
+            map.removeMapItem(_depot)
             _depot.destroy()
+            _depot = undefined
         }
-        _depotVisible = false
     }
 
     /// Add an initial 4 sided polygon if there is none
@@ -104,7 +101,7 @@ Item {
 
     Component.onCompleted: {
         _addInitialPolygon()
-        if (showDepot){
+        if (_showDepot){
             _addDepot()
         }
     }
@@ -137,21 +134,33 @@ Item {
     Component {
         id: depotPointComponent
         DragCoordinate {
-            property var depot: areaItem.depot
+            property var depot: _root.areaItem.depot
 
             map:        _root.map
             qgcView:    _root.qgcView
             z:          QGroundControl.zOrderMapItems
-            checked:    showDepot
-            coordinate: depot
+            checked:    _root._showDepot
+            coordinate: _root.areaItem.depot
             label: 		"Depot"
 
+            function syncAndBind(){
+                if (coordinate.latitude !== depot.latitude ||
+                        coordinate.longitude !== depot.longitude){
+                    if (_root.areaItem.containsCoordinate(coordinate)){
+                        _root.areaItem.depot = coordinate
+                    }
+                }
+                coordinate = Qt.binding(function(){return _root.areaItem.depot})
+            }
+
             onDragReleased: {
-                if (areaItem.containsCoordinate(coordinate)){
-                    areaItem.depot = coordinate
+                syncAndBind()
             }
-                coordinate = Qt.binding(function() { return areaItem.depot; })
+
+            Component.onCompleted: {
+                syncAndBind()
             }
+
         }
     }