More work on complex mission items

- Load/Save working
- Entry point working

qgroundcontrol.qrc

@@ -42,9 +42,12 @@
         <file alias="PowerComponent.qml">src/AutoPilotPlugins/PX4/PowerComponent.qml</file>
         <file alias="PowerComponentSummary.qml">src/AutoPilotPlugins/PX4/PowerComponentSummary.qml</file>
         <file alias="PX4FlowSensor.qml">src/VehicleSetup/PX4FlowSensor.qml</file>
+
+        <file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
         <file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
         <file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
         <file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
+        <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
         <file alias="QGroundControl/Controls/IndicatorButton.qml">src/QmlControls/IndicatorButton.qml</file>
         <file alias="QGroundControl/Controls/JoystickThumbPad.qml">src/QmlControls/JoystickThumbPad.qml</file>
         <file alias="QGroundControl/Controls/MainToolBar.qml">src/ui/toolbar/MainToolBar.qml</file>
@@ -73,14 +76,16 @@
         <file alias="QGroundControl/Controls/QGCViewDialog.qml">src/QmlControls/QGCViewDialog.qml</file>
         <file alias="QGroundControl/Controls/QGCViewMessage.qml">src/QmlControls/QGCViewMessage.qml</file>
         <file alias="QGroundControl/Controls/QGCViewPanel.qml">src/QmlControls/QGCViewPanel.qml</file>
-        <file alias="QGroundControl/Controls/qmldir">src/QmlControls/QGroundControl.Controls.qmldir</file>
         <file alias="QGroundControl/Controls/RoundButton.qml">src/QmlControls/RoundButton.qml</file>
         <file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
         <file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
         <file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
         <file alias="QGroundControl/Controls/VehicleSummaryRow.qml">src/QmlControls/VehicleSummaryRow.qml</file>
         <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
-        <file alias="QGroundControl/Controls/FactSliderPanel.qml">src/QmlControls/FactSliderPanel.qml</file>
+
+        <file alias="SimpleItemEditor.qml">src/MissionEditor/SimpleItemEditor.qml</file>
+        <file alias="SurveyItemEditor.qml">src/MissionEditor/SurveyItemEditor.qml</file>
+
         <file alias="QGroundControl/FactControls/FactBitmask.qml">src/FactSystem/FactControls/FactBitmask.qml</file>
         <file alias="QGroundControl/FactControls/FactCheckBox.qml">src/FactSystem/FactControls/FactCheckBox.qml</file>
         <file alias="QGroundControl/FactControls/FactComboBox.qml">src/FactSystem/FactControls/FactComboBox.qml</file>

src/JsonHelper.cc

@@ -82,7 +82,19 @@ bool JsonHelper::toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& c
     return true;
 }
 
-bool JsonHelper::validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString)
+void JsonHelper::writeQGeoCoordinate(QJsonValue& jsonValue, const QGeoCoordinate& coordinate, bool writeAltitude)
+{
+    QJsonArray coordinateArray;
+
+    coordinateArray << coordinate.latitude() << coordinate.longitude();
+    if (writeAltitude) {
+        coordinateArray << coordinate.altitude();
+    }
+
+    jsonValue = QJsonValue(coordinateArray);
+}
+
+bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString)
 {
     for (int i=0; i<keys.count(); i++) {
         if (jsonObject.contains(keys[i])) {

src/JsonHelper.h

@@ -31,10 +31,12 @@ class JsonHelper
 {
 public:
     static bool validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString);
-    static bool validateKeyTypes(QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString);
+    static bool validateKeyTypes(const QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString);
     static bool toQGeoCoordinate(const QJsonValue& jsonValue, QGeoCoordinate& coordinate, bool altitudeRequired, QString& errorString);
     static bool parseEnum(QJsonObject& jsonObject, QStringList& enumStrings, QStringList& enumValues, QString& errorString);
 
+    static void writeQGeoCoordinate(QJsonValue& jsonValue, const QGeoCoordinate& coordinate, bool writeAltitude);
+
     static const char*  _enumStringsJsonKey;
     static const char*  _enumValuesJsonKey;
 };

src/MissionEditor/MissionEditor.qml

@@ -552,6 +552,7 @@ QGCView {
                             var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
                             setCurrentItem(index)
                             checked = false
+                            addMissionItemsButton.checked = false
                         }
                     }
 

src/MissionEditor/MissionItemStatus.qml

@@ -49,7 +49,6 @@ Rectangle {
     property real   _gradient:          _statusValid ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
     property real   _gradientPercent:   isNaN(_gradient) ? 0 : _gradient * 100
     property real   _azimuth:           _statusValid ? _currentMissionItem.azimuth : -1
-    property real   _isHomePosition:    _statusValid ? _currentMissionItem.homePosition : false
     property bool   _statusValid:       currentMissionItem != undefined
     property string _distanceText:      _statusValid ? _distance.toFixed(2) + " m" : ""
     property string _altText:           _statusValid ? _altDifference.toFixed(2) + " m" : ""

src/MissionEditor/SimpleItemEditor.qml

+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+import QtQuick.Controls.Styles  1.2
+import QtQuick.Dialogs          1.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+
+// Editor for Simple mission items
+Rectangle {
+    id:                 valuesRect
+    width:              availableWidth
+    height:             valuesItem.height
+    color:              qgcPal.windowShadeDark
+    visible:            missionItem.isCurrentItem
+    radius:             _radius
+
+    // The following properties must be available up the hierachy chain
+    //property real   availableWidth    ///< Width for control
+    //property var    missionItem       ///< Mission Item for editor
+
+    Item {
+        id:                 valuesItem
+        anchors.margins:    _margin
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        anchors.top:        parent.top
+        height:             valuesColumn.height + (_margin * 2)
+
+        Column {
+            id:             valuesColumn
+            anchors.left:   parent.left
+            anchors.right:  parent.right
+            anchors.top:    parent.top
+            spacing:        _margin
+
+            QGCLabel {
+                width:      parent.width
+                wrapMode:   Text.WordWrap
+                text:       missionItem.sequenceNumber == 0 ?
+                                "Planned home position." :
+                                (missionItem.rawEdit ?
+                                     "Provides advanced access to all commands/parameters. Be very careful!" :
+                                     missionItem.commandDescription)
+            }
+
+            Repeater {
+                model: missionItem.comboboxFacts
+
+                Item {
+                    width:  valuesColumn.width
+                    height: comboBoxFact.height
+
+                    QGCLabel {
+                        id:                 comboBoxLabel
+                        anchors.baseline:   comboBoxFact.baseline
+                        text:               object.name
+                        visible:            object.name != ""
+                    }
+
+                    FactComboBox {
+                        id:             comboBoxFact
+                        anchors.right:  parent.right
+                        width:          comboBoxLabel.visible ? _editFieldWidth : parent.width
+                        indexModel:     false
+                        model:          object.enumStrings
+                        fact:           object
+                    }
+                }
+            }
+
+            Repeater {
+                model: missionItem.textFieldFacts
+
+                Item {
+                    width:  valuesColumn.width
+                    height: textField.height
+
+                    QGCLabel {
+                        id:                 textFieldLabel
+                        anchors.baseline:   textField.baseline
+                        text:               object.name
+                    }
+
+                    FactTextField {
+                        id:             textField
+                        anchors.right:  parent.right
+                        width:          _editFieldWidth
+                        showUnits:      true
+                        fact:           object
+                        visible:        !_root.readOnly
+                    }
+
+                    FactLabel {
+                        anchors.baseline:   textFieldLabel.baseline
+                        anchors.right:      parent.right
+                        fact:               object
+                        visible:            _root.readOnly
+                    }
+                }
+            }
+
+            Repeater {
+                model: missionItem.checkboxFacts
+
+                FactCheckBox {
+                    text:   object.name
+                    fact:   object
+                }
+            }
+
+            QGCButton {
+                text:       "Move Home to map center"
+                visible:    missionItem.homePosition
+                onClicked:  editorRoot.moveHomeToMapCenter()
+                anchors.horizontalCenter: parent.horizontalCenter
+            }
+        } // Column
+    } // Item
+} // Rectangle

src/MissionEditor/SurveyItemEditor.qml

+import QtQuick                  2.2
+import QtQuick.Controls         1.2
+
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+
+// Editor for Survery mission items
+Rectangle {
+    id:         _root
+    height:     editorColumn.height + (_margin * 2)
+    width:      availableWidth
+    color:      qgcPal.windowShadeDark
+    radius:     _radius
+
+    // The following properties must be available up the hierachy chain
+    //property real   availableWidth    ///< Width for control
+    //property var    missionItem       ///< Mission Item for editor
+
+    property bool _addPointsMode:   false
+    property real _margin:          ScreenTools.defaultFontPixelWidth / 2
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+
+    Column {
+        id:                 editorColumn
+        anchors.margins:    _margin
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        width:              availableWidth
+        spacing:            _margin
+
+        Connections {
+            target: editorMap
+
+            onMapClicked: {
+                if (_addPointsMode) {
+                    missionItem.addPolygonCoordinate(coordinate)
+                }
+            }
+        }
+
+        QGCLabel {
+            text:       "Fly a grid pattern over a defined area."
+            wrapMode:   Text.WordWrap
+        }
+
+        QGCButton {
+            text: _addPointsMode ? "Finished" : "Draw Polygon"
+            onClicked: {
+                if (_addPointsMode) {
+                    _addPointsMode = false
+                } else {
+                    missionItem.clearPolygon()
+                    _addPointsMode = true
+                }
+            }
+        }
+    }
+}

src/MissionManager/ComplexMissionItem.cc

 /*===================================================================
 QGroundControl Open Source Ground Control Station
 
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+(c) 2009, 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 
 This file is part of the QGROUNDCONTROL project
 
@@ -21,12 +21,25 @@ This file is part of the QGROUNDCONTROL project
 ======================================================================*/
 
 #include "ComplexMissionItem.h"
+#include "JsonHelper.h"
+#include "MissionController.h"
+
+const char* ComplexMissionItem::_jsonVersionKey =   "version";
+const char* ComplexMissionItem::_jsonTypeKey =      "type";
+const char* ComplexMissionItem::_jsonPolygonKey =   "polygon";
+const char* ComplexMissionItem::_jsonIdKey =        "id";
+
+const char* ComplexMissionItem::_complexType = "survey";
 
 ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
     , _dirty(false)
 {
+    MissionItem missionItem;
 
+    // FIXME: Bogus entries for testing
+    _missionItems += new MissionItem(this);
+    _missionItems += new MissionItem(this);
 }
 
 ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
@@ -36,20 +49,6 @@ ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject*
 
 }
 
-QVariantList ComplexMissionItem::polygonPath(void)
-{
-    return _polygonPath;
-#if 0
-    QVariantList list;
-
-    list << QVariant::fromValue(QGeoCoordinate(-35.362686830000001, 149.16410282999999))
-         << QVariant::fromValue(QGeoCoordinate(-35.362660579999996, 149.16606619999999))
-         << QVariant::fromValue(QGeoCoordinate(-35.363832989999999, 149.16505769));
-
-    return list;
-#endif
-}
-
 void ComplexMissionItem::clearPolygon(void)
 {
     _polygonPath.clear();
@@ -60,6 +59,11 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
 {
     _polygonPath << QVariant::fromValue(coordinate);
     emit polygonPathChanged();
+
+    // FIXME: Hack, first polygon point sets entry coordinate
+    if (_polygonPath.count() == 1) {
+        setCoordinate(coordinate);
+    }
 }
 
 int ComplexMissionItem::nextSequenceNumber(void) const
@@ -72,6 +76,10 @@ void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     if (_coordinate != coordinate) {
         _coordinate = coordinate;
         emit coordinateChanged(_coordinate);
+        _missionItems[0]->setCoordinate(coordinate);
+
+        // FIXME: Hack
+        _setExitCoordinate(coordinate);
     }
 }
 
@@ -83,11 +91,148 @@ void ComplexMissionItem::setDirty(bool dirty)
    }
 }
 
-bool ComplexMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
+void ComplexMissionItem::save(QJsonObject& saveObject) const
+{
+    saveObject[_jsonVersionKey] =    1;
+    saveObject[_jsonTypeKey] =       _complexType;
+    saveObject[_jsonIdKey] =         sequenceNumber();
+
+    // Polygon shape
+
+    QJsonArray polygonArray;
+
+    for (int i=0; i<_polygonPath.count(); i++) {
+        const QVariant& polyVar = _polygonPath[i];
+
+        QJsonValue jsonValue;
+        JsonHelper::writeQGeoCoordinate(jsonValue, polyVar.value<QGeoCoordinate>(), false /* writeAltitude */);
+        polygonArray += jsonValue;
+    }
+
+    saveObject[_jsonPolygonKey] = polygonArray;
+
+    // Base mission items
+
+    QJsonArray simpleItems;
+    for (int i=0; i<_missionItems.count(); i++) {
+        MissionItem* missionItem = _missionItems[i];
+
+        QJsonObject jsonObject;
+        missionItem->save(jsonObject);
+        simpleItems.append(jsonObject);
+    }
+    saveObject[MissionController::jsonSimpleItemsKey] = simpleItems;
+}
+
+void ComplexMissionItem::setSequenceNumber(int sequenceNumber)
+{
+    VisualMissionItem::setSequenceNumber(sequenceNumber);
+
+    // Update internal mission items to new numbering
+    for (int i=0; i<_missionItems.count(); i++) {
+        _missionItems[i]->setSequenceNumber(sequenceNumber++);
+    }
+}
+
+void ComplexMissionItem::_clear(void)
 {
-    Q_UNUSED(missionObject);
-    Q_UNUSED(missionItems);
+    // Clear old settings
+    for (int i=0; i<_missionItems.count(); i++) {
+        _missionItems[i]->deleteLater();
+    }
+    _missionItems.clear();
+    _polygonPath.clear();
+}
+
+
+bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorString)
+{
+    _clear();
+
+    // Validate requires keys
+    QStringList requiredKeys;
+    requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
+    if (!JsonHelper::validateRequiredKeys(complexObject, requiredKeys, errorString)) {
+        _clear();
+        return false;
+    }
+
+    // Validate types
+    QStringList keyList;
+    QList<QJsonValue::Type> typeList;
+    keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
+    typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Array;
+    if (!JsonHelper::validateKeyTypes(complexObject, keyList, typeList, errorString)) {
+        _clear();
+        return false;
+    }
+
+    // Version check
+    if (complexObject[_jsonVersionKey].toInt() != 1) {
+        errorString = tr("QGroundControl does not support this version of survey items");
+        _clear();
+        return false;
+    }
+    QString complexType = complexObject[_jsonTypeKey].toString();
+    if (complexType != _complexType) {
+        errorString = tr("QGroundControl does not support loading this complex mission item type: %1").arg(complexType);
+        _clear();
+        return false;
+    }
+
+    setSequenceNumber(complexObject[_jsonIdKey].toInt());
+
+    // Polygon shape
+    QJsonArray polygonArray(complexObject[_jsonPolygonKey].toArray());
+    for (int i=0; i<polygonArray.count(); i++) {
+        const QJsonValue& pointValue = polygonArray[i];
+
+        QGeoCoordinate pointCoord;
+        if (!JsonHelper::toQGeoCoordinate(pointValue, pointCoord, false /* altitudeRequired */, errorString)) {
+            _clear();
+            return false;
+        }
+        _polygonPath << QVariant::fromValue(pointCoord);
+    }
+
+    // Internal mission items
+    QJsonArray itemArray(complexObject[MissionController::jsonSimpleItemsKey].toArray());
+    for (int i=0; i<itemArray.count(); i++) {
+        const QJsonValue& itemValue = itemArray[i];
+
+        if (!itemValue.isObject()) {
+            errorString = QStringLiteral("Mission item is not an object");
+            _clear();
+            return false;
+        }
+
+        MissionItem* item = new MissionItem(_vehicle, this);
+        if (item->load(itemValue.toObject(), errorString)) {
+            _missionItems.append(item);
+        } else {
+            _clear();
+            return false;
+        }
+    }
 
-    errorString = "Complex save NYI";
-    return false;
+    int itemCount = _missionItems.count();
+    if (itemCount > 0) {
+        setCoordinate(_missionItems[0]->coordinate());
+        _setExitCoordinate(_missionItems[itemCount - 1]->coordinate());
+    }
+
+    return true;
+}
+
+void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (_exitCoordinate != coordinate) {
+        _exitCoordinate = coordinate;
+        emit exitCoordinateChanged(coordinate);
+
+        int itemCount = _missionItems.count();
+        if (itemCount > 0) {
+            _missionItems[itemCount - 1]->setCoordinate(coordinate);
+        }
+    }
 }

src/MissionManager/ComplexMissionItem.h

 /*=====================================================================
- 
+
  QGroundControl Open Source Ground Control Station
- 
- (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
- 
+
+ (c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+
  This file is part of the QGROUNDCONTROL project
- 
+
  QGROUNDCONTROL is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.
- 
+
  QGROUNDCONTROL is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
- 
+
  You should have received a copy of the GNU General Public License
  along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
- 
+
  ======================================================================*/
 
 #ifndef ComplexMissionItem_H
@@ -30,7 +30,7 @@
 class ComplexMissionItem : public VisualMissionItem
 {
     Q_OBJECT
-    
+
 public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
     ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
@@ -40,13 +40,19 @@ public:
     Q_INVOKABLE void clearPolygon(void);
     Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
 
-    QVariantList polygonPath(void);
+    QVariantList polygonPath(void) { return _polygonPath; }
 
-    const QList<MissionItem*>& missionItems(void) { return _missionItems; }
+    QList<MissionItem*>& missionItems(void) { return _missionItems; }
 
     /// @return The next sequence number to use after this item. Takes into account child items of the complex item
     int nextSequenceNumber(void) const;
 
+    /// Load the complex mission item from Json
+    ///     @param complexObject Complex mission item json object
+    ///     @param[out] errorString Error if load fails
+    /// @return true: load success, false: load failed, errorString set
+    bool load(const QJsonObject& complexObject, QString& errorString);
+
     // Overrides from VisualMissionItem
 
     bool            dirty                   (void) const final { return _dirty; }
@@ -56,24 +62,36 @@ public:
     QString         commandDescription      (void) const final { return "Survey"; }
     QString         commandName             (void) const final { return "Survey"; }
     QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
-    QGeoCoordinate  exitCoordinate          (void) const final { return _coordinate; }
+    QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
 
     bool coordinateHasRelativeAltitude      (void) const final { return true; }
     bool exitCoordinateHasRelativeAltitude  (void) const final { return true; }
     bool exitCoordinateSameAsEntry          (void) const final { return false; }
 
     void setDirty           (bool dirty) final;
-    void setCoordinate      (const QGeoCoordinate& coordinate);
-    bool save               (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) final;
+    void setSequenceNumber  (int sequenceNumber) final;
+    void save               (QJsonObject& saveObject) const final;
 
 signals:
     void polygonPathChanged(void);
 
 private:
+    void _clear(void);
+    void _setExitCoordinate(const QGeoCoordinate& coordinate);
+
     bool                _dirty;
     QVariantList        _polygonPath;
     QList<MissionItem*> _missionItems;
     QGeoCoordinate      _coordinate;
+    QGeoCoordinate      _exitCoordinate;
+
+    static const char* _jsonVersionKey;
+    static const char* _jsonTypeKey;
+    static const char* _jsonPolygonKey;
+    static const char* _jsonIdKey;
+
+    static const char* _complexType;
 };
 
 #endif

src/MissionManager/MissionController.cc

@@ -29,6 +29,7 @@ This file is part of the QGROUNDCONTROL project
 #include "QGCApplication.h"
 #include "SimpleMissionItem.h"
 #include "ComplexMissionItem.h"
+#include "JsonHelper.h"
 
 #ifndef __mobile__
 #include "QGCFileDialog.h"
@@ -36,11 +37,13 @@ This file is part of the QGROUNDCONTROL project
 
 QGC_LOGGING_CATEGORY(MissionControllerLog, "MissionControllerLog")
 
+const char* MissionController::jsonSimpleItemsKey = "items";
+
 const char* MissionController::_settingsGroup =                 "MissionController";
 const char* MissionController::_jsonVersionKey =                "version";
 const char* MissionController::_jsonGroundStationKey =          "groundStation";
 const char* MissionController::_jsonMavAutopilotKey =           "MAV_AUTOPILOT";
-const char* MissionController::_jsonItemsKey =                  "items";
+const char* MissionController::_jsonComplexItemsKey =           "complexItems";
 const char* MissionController::_jsonPlannedHomePositionKey =    "plannedHomePosition";
 
 MissionController::MissionController(QObject *parent)
@@ -140,7 +143,9 @@ void MissionController::sendMissionItems(void)
                 missionItem.setSequenceNumber(sequenceNumber++);
                 missionItems.append(&missionItem);
             } else {
-                foreach (MissionItem* missionItem, qobject_cast<ComplexMissionItem*>(visualItem)->missionItems()) {
+                ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
+                for (int j=0; j<complexItem->missionItems().count(); j++) {
+                    MissionItem* missionItem = complexItem->missionItems()[i];
                     missionItem->setSequenceNumber(sequenceNumber++);
                     missionItems.append(missionItem);
                 }
@@ -247,29 +252,56 @@ bool MissionController::_loadJsonMissionFile(const QByteArray& bytes, QmlObjectL
 
     QJsonObject json = jsonDoc.object();
 
-    if (!json.contains(_jsonVersionKey)) {
-        errorString = QStringLiteral("File is missing version key");
+    // Check for required keys
+    QStringList requiredKeys;
+    requiredKeys << _jsonVersionKey << _jsonPlannedHomePositionKey;
+    if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorString)) {
+        return false;
+    }
+
+    // Validate base key types
+    QStringList             keyList;
+    QList<QJsonValue::Type> typeList;
+    keyList << jsonSimpleItemsKey << _jsonVersionKey << _jsonGroundStationKey << _jsonMavAutopilotKey << _jsonComplexItemsKey << _jsonPlannedHomePositionKey;
+    typeList << QJsonValue::Array << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Object;
+    if (!JsonHelper::validateKeyTypes(json, keyList, typeList, errorString)) {
         return false;
     }
+
+    // Version check
     if (json[_jsonVersionKey].toString() != "1.0") {
         errorString = QStringLiteral("QGroundControl does not support this file version");
         return false;
     }
 
-    if (json.contains(_jsonItemsKey)) {
-        if (!json[_jsonItemsKey].isArray()) {
-            errorString = QStringLiteral("items values must be array");
-            return false;
+    // Simple items
+    if (json.contains(jsonSimpleItemsKey)) {
+        QJsonArray itemArray(json[jsonSimpleItemsKey].toArray());
+        foreach (const QJsonValue& itemValue, itemArray) {
+            if (!itemValue.isObject()) {
+                errorString = QStringLiteral("Mission item is not an object");
+                return false;
+            }
+
+            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
+            if (item->load(itemValue.toObject(), errorString)) {
+                missionItems->append(item);
+            } else {
+                return false;
+            }
         }
+    }
 
-        QJsonArray itemArray(json[_jsonItemsKey].toArray());
+    // Complex items
+    if (json.contains(_jsonComplexItemsKey)) {
+        QJsonArray itemArray(json[_jsonComplexItemsKey].toArray());
         foreach (const QJsonValue& itemValue, itemArray) {
             if (!itemValue.isObject()) {
                 errorString = QStringLiteral("Mission item is not an object");
                 return false;
             }
 
-            SimpleMissionItem* item = new SimpleMissionItem(_activeVehicle, this);
+            ComplexMissionItem* item = new ComplexMissionItem(_activeVehicle, this);
             if (item->load(itemValue.toObject(), errorString)) {
                 missionItems->append(item);
             } else {
@@ -418,12 +450,12 @@ void MissionController::_saveMissionToFile(const QString& filename)
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
         qgcApp()->showMessage(file.errorString());
     } else {
-        QJsonObject missionObject;      // top level json object
-        QJsonArray missionItemArray;    // array of mission items
-        QString errorString;
+        QJsonObject missionFileObject;      // top level json object
+        QJsonArray  simpleItemsObject;
+        QJsonArray  complexItemsObject;
 
-        missionObject[_jsonVersionKey] = "1.0";
-        missionObject[_jsonGroundStationKey] = "QGroundControl";
+        missionFileObject[_jsonVersionKey] =        "1.0";
+        missionFileObject[_jsonGroundStationKey] =  "QGroundControl";
 
         MAV_AUTOPILOT firmwareType = MAV_AUTOPILOT_GENERIC;
         if (_activeVehicle) {
@@ -435,7 +467,7 @@ void MissionController::_saveMissionToFile(const QString& filename)
             QSettings settings;
             firmwareType = (MAV_AUTOPILOT)settings.value("OfflineEditingFirmwareType", MAV_AUTOPILOT_ARDUPILOTMEGA).toInt();
         }
-        missionObject[_jsonMavAutopilotKey] = firmwareType;
+        missionFileObject[_jsonMavAutopilotKey] = firmwareType;
 
         // Save planned home position
         QJsonObject homePositionObject;
@@ -446,19 +478,26 @@ void MissionController::_saveMissionToFile(const QString& filename)
             qgcApp()->showMessage(QStringLiteral("Internal error: VisualMissionItem at index 0 not SimpleMissionItem"));
             return;
         }
-        missionObject[_jsonPlannedHomePositionKey] = homePositionObject;
+        missionFileObject[_jsonPlannedHomePositionKey] = homePositionObject;
 
-        // Save the remainder of the visual items
+        // Save the visual items
         for (int i=1; i<_visualItems->count(); i++) {
+            QJsonObject itemObject;
+
             VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
-            if (!visualItem->save(missionObject, missionItemArray, errorString)) {
-                qgcApp()->showMessage(errorString);
-                return;
+            visualItem->save(itemObject);
+
+            if (visualItem->isSimpleItem()) {
+                simpleItemsObject.append(itemObject);
+            } else {
+                complexItemsObject.append(itemObject);
             }
         }
-        missionObject["items"] = missionItemArray;
 
-        QJsonDocument saveDoc(missionObject);
+        missionFileObject[jsonSimpleItemsKey] = simpleItemsObject;
+        missionFileObject[_jsonComplexItemsKey] = complexItemsObject;
+
+        QJsonDocument saveDoc(missionFileObject);
         file.write(saveDoc.toJson());
     }
 

src/MissionManager/MissionController.h

@@ -75,6 +75,8 @@ public:
     void setAutoSync(bool autoSync);
     bool syncInProgress(void);
 
+    static const char* jsonSimpleItemsKey;  ///< Key for simple items in a json file
+
 signals:
     void visualItemsChanged(void);
     void complexVisualItemsChanged(void);
@@ -131,7 +133,7 @@ private:
     static const char*  _jsonVersionKey;
     static const char*  _jsonGroundStationKey;
     static const char*  _jsonMavAutopilotKey;
-    static const char*  _jsonItemsKey;
+    static const char*  _jsonComplexItemsKey;
     static const char*  _jsonPlannedHomePositionKey;
 };
 

src/MissionManager/MissionItem.cc

@@ -148,7 +148,7 @@ MissionItem::~MissionItem()
 {    
 }
 
-void MissionItem::save(QJsonObject& json)
+void MissionItem::save(QJsonObject& json) const
 {
     json[_jsonTypeKey] = _itemType;
     json[_jsonIdKey] = sequenceNumber();

src/MissionManager/MissionItem.h

@@ -103,7 +103,7 @@ public:
     void setParam7          (double param7);
     void setCoordinate      (const QGeoCoordinate& coordinate);
     
-    void save(QJsonObject& json);
+    void save(QJsonObject& json) const;
     bool load(QTextStream &loadStream);
     bool load(const QJsonObject& json, QString& errorString);
 

src/MissionManager/SimpleMissionItem.cc

@@ -244,16 +244,9 @@ SimpleMissionItem::~SimpleMissionItem()
 {    
 }
 
-bool SimpleMissionItem::save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString)
+void SimpleMissionItem::save(QJsonObject& saveObject) const
 {
-    Q_UNUSED(missionObject);
-    Q_UNUSED(errorString);
-
-    QJsonObject itemObject;
-    _missionItem.save(itemObject);
-    missionItems.append(itemObject);
-
-    return true;
+    _missionItem.save(saveObject);
 }
 
 bool SimpleMissionItem::load(QTextStream &loadStream)
@@ -585,3 +578,9 @@ void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
         _missionItem.setCoordinate(coordinate);
     }
 }
+
+void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
+{
+    _missionItem.setSequenceNumber(sequenceNumber);
+    VisualMissionItem::setSequenceNumber(sequenceNumber);
+}

src/MissionManager/SimpleMissionItem.h

@@ -107,8 +107,9 @@ public:
     bool exitCoordinateSameAsEntry          (void) const final { return true; }
 
     void setDirty           (bool dirty) final;
-    void setCoordinate      (const QGeoCoordinate& coordinate);
-    bool save               (QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) final;
+    void setCoordinate      (const QGeoCoordinate& coordinate) final;
+    void setSequenceNumber  (int sequenceNumber) final;
+    void save               (QJsonObject& saveObject) const final;
 
 public slots:
     void setDefaultsForCommand(void);

src/MissionManager/VisualMissionItem.h

@@ -108,10 +108,13 @@ public:
     void setAltPercent      (double altPercent);
     void setAzimuth         (double azimuth);
     void setDistance        (double distance);
-    void setSequenceNumber  (int sequenceNumber);
 
     Vehicle* vehicle(void) { return _vehicle; }
 
+    // Virtuals which may be overriden by derived classes
+
+    virtual void setSequenceNumber(int sequenceNumber);
+
     // Pure virtuals which must be provides by derived classes
 
     virtual bool            dirty                   (void) const = 0;
@@ -130,11 +133,9 @@ public:
     virtual void setDirty           (bool dirty) = 0;
     virtual void setCoordinate      (const QGeoCoordinate& coordinate) = 0;
 
-    /// Save the item in Json format
-    ///     @param missionObject Top level object for entire mission file
-    ///     @param missionItems Array of mission items
-    /// @return false: save failed, errorString set
-    virtual bool save(QJsonObject& missionObject, QJsonArray& missionItems, QString& errorString) = 0;
+    /// Save the item(s) in Json format
+    ///     @param saveObject Save the item to this json object
+    virtual void save(QJsonObject& saveObject) const = 0;
 
 signals:
     void altDifferenceChanged           (double altDifference);

src/QmlControls/MissionItemEditor.qml

@@ -15,7 +15,7 @@ Rectangle {
     id: _root
 
     height: editorLoader.y + editorLoader.height + (_margin * 2)
-    color:  missionItem.isCurrentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
+    color:  _currentItem ? qgcPal.buttonHighlight : qgcPal.windowShade
     radius: _radius
 
     property var    missionItem ///< MissionItem associated with this editor
@@ -27,11 +27,12 @@ Rectangle {
     signal insert(int i)
     signal moveHomeToMapCenter
 
+    property bool   _currentItem:       missionItem.isCurrentItem
+    property color  _outerTextColor:    _currentItem ? "black" : qgcPal.text
+
     readonly property real  _editFieldWidth:    ScreenTools.defaultFontPixelWidth * 16
     readonly property real  _margin:            ScreenTools.defaultFontPixelWidth / 2
     readonly property real  _radius:            ScreenTools.defaultFontPixelWidth / 2
-    property color          _outerTextColor:    missionItem.isCurrentItem ? "black" : qgcPal.text
-
 
     QGCPalette {
         id: qgcPal
@@ -88,7 +89,7 @@ Rectangle {
                 MenuItem {
                     text:       "Show all values"
                     checkable:  true
-                    checked:    missionItem.rawEdit
+                    checked:    missionItem.isSimpleItem ? missionItem.rawEdit : false
                     visible:    missionItem.isSimpleItem
 
                     onTriggered:    {
@@ -142,191 +143,10 @@ Rectangle {
         anchors.topMargin:  _margin
         anchors.left:       parent.left
         anchors.top:        commandPicker.bottom
-        sourceComponent:    missionItem.isSimpleItem ? simpleMissionItemEditor : complexMissionItemEditor
-
-        /// How wide the loaded component should be
-        property real availableWidth: _root.width - (_margin * 2)
-    }
-
-    Component {
-        id: valuesComponent
-
-        Rectangle {
-            id:                 valuesRect
-            height:             valuesItem.height
-            color:              qgcPal.windowShadeDark
-            visible:            missionItem.isCurrentItem
-            radius:             _radius
-
-            Item {
-                id:                 valuesItem
-                anchors.margins:    _margin
-                anchors.left:       parent.left
-                anchors.right:      parent.right
-                anchors.top:        parent.top
-                height:             valuesColumn.height + (_margin * 2)
-
-                Column {
-                    id:             valuesColumn
-                    anchors.left:   parent.left
-                    anchors.right:  parent.right
-                    anchors.top:    parent.top
-                    spacing:        _margin
-
-                    QGCLabel {
-                        width:      parent.width
-                        wrapMode:   Text.WordWrap
-                        text:       missionItem.sequenceNumber == 0 ?
-                                        "Planned home position." :
-                                        (missionItem.rawEdit ?
-                                             "Provides advanced access to all commands/parameters. Be very careful!" :
-                                             missionItem.commandDescription)
-                    }
-
-                    Repeater {
-                        model: missionItem.comboboxFacts
-
-                        Item {
-                            width:  valuesColumn.width
-                            height: comboBoxFact.height
-
-                            QGCLabel {
-                                id:                 comboBoxLabel
-                                anchors.baseline:   comboBoxFact.baseline
-                                text:               object.name
-                                visible:            object.name != ""
-                            }
-
-                            FactComboBox {
-                                id:             comboBoxFact
-                                anchors.right:  parent.right
-                                width:          comboBoxLabel.visible ? _editFieldWidth : parent.width
-                                indexModel:     false
-                                model:          object.enumStrings
-                                fact:           object
-                            }
-                        }
-                    }
-
-                    Repeater {
-                        model: missionItem.textFieldFacts
-
-                        Item {
-                            width:  valuesColumn.width
-                            height: textField.height
-
-                            QGCLabel {
-                                id:                 textFieldLabel
-                                anchors.baseline:   textField.baseline
-                                text:               object.name
-                            }
-
-                            FactTextField {
-                                id:             textField
-                                anchors.right:  parent.right
-                                width:          _editFieldWidth
-                                showUnits:      true
-                                fact:           object
-                                visible:        !_root.readOnly
-                            }
-
-                            FactLabel {
-                                anchors.baseline:   textFieldLabel.baseline
-                                anchors.right:      parent.right
-                                fact:               object
-                                visible:            _root.readOnly
-                            }
-                        }
-                    }
-
-                    Repeater {
-                        model: missionItem.checkboxFacts
-
-                        FactCheckBox {
-                            text:   object.name
-                            fact:   object
-                        }
-                    }
-
-                    QGCButton {
-                        text:       "Move Home to map center"
-                        visible:    missionItem.homePosition
-                        onClicked:  moveHomeToMapCenter()
-                        anchors.horizontalCenter: parent.horizontalCenter
-                    }
-                } // Column
-            } // Item
-        } // Rectangle
+        height:             _currentItem && item ? item.height : 0
+        source:             _currentItem ? (missionItem.isSimpleItem ? "qrc:/qml/SimpleItemEditor.qml" : "qrc:/qml/SurveyItemEditor.qml") : ""
 
+        property real   availableWidth: _root.width - (_margin * 2) ///< How wide the editor should be
+        property var    editorRoot:     _root
     }
-
-    Component {
-        id: simpleMissionItemEditor
-
-        Item {
-            id:     innerItem
-            width:  availableWidth
-            height: _showValues ? valuesLoader.y + valuesLoader.height : valuesLoader.y
-
-            property bool _showValues: missionItem.isCurrentItem
-
-            Loader {
-                id:                 valuesLoader
-                anchors.left:       parent.left
-                anchors.right:      parent.right
-                sourceComponent:    _showValues ? valuesComponent : undefined
-            }
-        } // Item
-    } // Component - simpleMissionItemEditor
-
-    Component {
-        id: complexMissionItemEditor
-
-        Rectangle {
-            id:         outerRect
-            height:     editorColumn.height + (_margin * 2)
-            width:      availableWidth
-            color:      qgcPal.windowShadeDark
-            radius:     _radius
-
-            property bool addPointsMode: false
-
-            Column {
-                id:                 editorColumn
-                anchors.margins:    _margin
-                anchors.top:        parent.top
-                anchors.left:       parent.left
-                width:              availableWidth
-                spacing:            _margin
-
-                Connections {
-                    target: editorMap
-
-                    onMapClicked: {
-                        if (addPointsMode) {
-                            missionItem.addPolygonCoordinate(coordinate)
-                        }
-                    }
-                }
-
-                QGCLabel {
-                    text:       "Fly a grid pattern over a defined area."
-                    wrapMode:   Text.WordWrap
-                }
-
-                QGCButton {
-                    text: addPointsMode ? "Finished" : "Draw Polygon"
-                    onClicked: {
-                        if (addPointsMode) {
-                            addPointsMode = false
-                        } else {
-                            missionItem.clearPolygon()
-                            addPointsMode = true
-                        }
-                    }
-                }
-            }
-        }
-    } // Component - complexMissionItemEditor
-
 } // Rectangle