Merge pull request #6539 from DonLakeFlyer/LoadKML

Support for Sync - Load KML

qgroundcontrol.pro

@@ -515,6 +515,7 @@ HEADERS += \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/JsonHelper.h \
+    src/KMLFileHelper.h \
     src/LogCompressor.h \
     src/MG.h \
     src/MissionManager/CameraCalc.h \
@@ -711,6 +712,7 @@ SOURCES += \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
     src/JsonHelper.cc \
+    src/KMLFileHelper.cc \
     src/LogCompressor.cc \
     src/MissionManager/CameraCalc.cc \
     src/MissionManager/CameraSection.cc \

src/KMLFileHelper.cc

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "KMLFileHelper.h"
+
+#include <QFile>
+
+QDomDocument KMLFileHelper::loadFile(const QString& kmlFile, QString& errorString)
+{
+    QFile file(kmlFile);
+
+    errorString.clear();
+
+    if (!file.exists()) {
+        errorString = tr("File not found: %1").arg(kmlFile);
+        return QDomDocument();
+    }
+
+    if (!file.open(QIODevice::ReadOnly)) {
+        errorString = tr("Unable to open file: %1 error: $%2").arg(kmlFile).arg(file.errorString());
+        return QDomDocument();
+    }
+
+    QDomDocument doc;
+    QString errorMessage;
+    int errorLine;
+    if (!doc.setContent(&file, &errorMessage, &errorLine)) {
+        errorString = tr("Unable to parse KML file: %1 error: %2 line: %3").arg(kmlFile).arg(errorMessage).arg(errorLine);
+        return QDomDocument();
+    }
+
+    return doc;
+}
+
+QVariantList KMLFileHelper::determineFileContents(const QString& kmlFile)
+{
+    QString errorString;
+    KMLFileContents fileContents = determineFileContents(kmlFile, errorString);
+
+    QVariantList varList;
+    varList.append(QVariant::fromValue(fileContents));
+    varList.append(QVariant::fromValue(errorString));
+
+    return varList;
+}
+
+KMLFileHelper::KMLFileContents KMLFileHelper::determineFileContents(const QString& kmlFile, QString& errorString)
+{
+    QDomDocument domDocument = KMLFileHelper::loadFile(kmlFile, errorString);
+    if (!errorString.isEmpty()) {
+        return Error;
+    }
+
+    QDomNodeList rgNodes = domDocument.elementsByTagName("Polygon");
+    if (rgNodes.count()) {
+        return Polygon;
+    }
+
+    rgNodes = domDocument.elementsByTagName("LineString");
+    if (rgNodes.count()) {
+        return Polyline;
+    }
+
+    errorString = tr("No known type found in KML file.");
+    return Error;
+}
+
+bool KMLFileHelper::loadPolygonFromFile(const QString& kmlFile, QList<QGeoCoordinate>& vertices, QString& errorString)
+{
+    errorString.clear();
+    vertices.clear();
+
+    QDomDocument domDocument = KMLFileHelper::loadFile(kmlFile, errorString);
+    if (!errorString.isEmpty()) {
+        return false;
+    }
+
+    QDomNodeList rgNodes = domDocument.elementsByTagName("Polygon");
+    if (rgNodes.count() == 0) {
+        errorString = tr("Unable to find Polygon node in KML");
+        return false;
+    }
+
+    QDomNode coordinatesNode = rgNodes.item(0).namedItem("outerBoundaryIs").namedItem("LinearRing").namedItem("coordinates");
+    if (coordinatesNode.isNull()) {
+        errorString = tr("Internal error: Unable to find coordinates node in KML");
+        return false;
+    }
+
+    QString coordinatesString = coordinatesNode.toElement().text().simplified();
+    QStringList rgCoordinateStrings = coordinatesString.split(" ");
+
+    QList<QGeoCoordinate> rgCoords;
+    for (int i=0; i<rgCoordinateStrings.count()-1; i++) {
+        QString coordinateString = rgCoordinateStrings[i];
+
+        QStringList rgValueStrings = coordinateString.split(",");
+
+        QGeoCoordinate coord;
+        coord.setLongitude(rgValueStrings[0].toDouble());
+        coord.setLatitude(rgValueStrings[1].toDouble());
+
+        rgCoords.append(coord);
+    }
+
+    // Determine winding, reverse if needed
+    double sum = 0;
+    for (int i=0; i<rgCoords.count(); i++) {
+        QGeoCoordinate coord1 = rgCoords[i];
+        QGeoCoordinate coord2 = (i == rgCoords.count() - 1) ? rgCoords[0] : rgCoords[i+1];
+
+        sum += (coord2.longitude() - coord1.longitude()) * (coord2.latitude() + coord1.latitude());
+    }
+    bool reverse = sum < 0.0;
+    if (reverse) {
+        QList<QGeoCoordinate> rgReversed;
+
+        for (int i=0; i<rgCoords.count(); i++) {
+            rgReversed.prepend(rgCoords[i]);
+        }
+        rgCoords = rgReversed;
+    }
+
+    vertices = rgCoords;
+
+    return true;
+}
+
+bool KMLFileHelper::loadPolylineFromFile(const QString& kmlFile, QList<QGeoCoordinate>& coords, QString& errorString)
+{
+    errorString.clear();
+    coords.clear();
+
+    QDomDocument domDocument = KMLFileHelper::loadFile(kmlFile, errorString);
+    if (!errorString.isEmpty()) {
+        return false;
+    }
+
+    QDomNodeList rgNodes = domDocument.elementsByTagName("LineString");
+    if (rgNodes.count() == 0) {
+        errorString = tr("Unable to find LineString node in KML");
+        return false;
+    }
+
+    QDomNode coordinatesNode = rgNodes.item(0).namedItem("coordinates");
+    if (coordinatesNode.isNull()) {
+        errorString = tr("Internal error: Unable to find coordinates node in KML");
+        return false;
+    }
+
+    QString coordinatesString = coordinatesNode.toElement().text().simplified();
+    QStringList rgCoordinateStrings = coordinatesString.split(" ");
+
+    QList<QGeoCoordinate> rgCoords;
+    for (int i=0; i<rgCoordinateStrings.count()-1; i++) {
+        QString coordinateString = rgCoordinateStrings[i];
+
+        QStringList rgValueStrings = coordinateString.split(",");
+
+        QGeoCoordinate coord;
+        coord.setLongitude(rgValueStrings[0].toDouble());
+        coord.setLatitude(rgValueStrings[1].toDouble());
+
+        rgCoords.append(coord);
+    }
+
+    coords = rgCoords;
+
+    return true;
+}

src/KMLFileHelper.h

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QDomDocument>
+#include <QList>
+#include <QGeoCoordinate>
+
+/// 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 KMLFileHelper : public QObject
+{
+    Q_OBJECT
+
+public:
+    enum KMLFileContents {
+        Polygon,
+        Polyline,
+        Error
+    };
+    Q_ENUM(KMLFileContents)
+
+    Q_INVOKABLE static QVariantList determineFileContents(const QString& kmlFile);
+
+    static KMLFileContents determineFileContents(const QString& kmlFile, QString& errorString);
+    static QDomDocument loadFile(const QString& kmlFile, QString& errorString);
+    static bool loadPolygonFromFile(const QString& kmlFile, QList<QGeoCoordinate>& vertices, QString& errorString);
+    static bool loadPolylineFromFile(const QString& kmlFile, QList<QGeoCoordinate>& coords, QString& errorString);
+};

src/MissionManager/CorridorScanComplexItem.cc

@@ -27,7 +27,7 @@ const char* CorridorScanComplexItem::_jsonEntryPointKey =       "EntryPoint";
 
 const char* CorridorScanComplexItem::jsonComplexItemTypeValue = "CorridorScan";
 
-CorridorScanComplexItem::CorridorScanComplexItem(Vehicle* vehicle, bool flyView, QObject* parent)
+CorridorScanComplexItem::CorridorScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent)
     : TransectStyleComplexItem  (vehicle, flyView, settingsGroup, parent)
     , _entryPoint               (0)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CorridorScan.SettingsGroup.json"), this))
@@ -50,6 +50,12 @@ CorridorScanComplexItem::CorridorScanComplexItem(Vehicle* vehicle, bool flyView,
 
     connect(&_corridorPolyline,     &QGCMapPolyline::pathChanged,   this, &CorridorScanComplexItem::_rebuildCorridorPolygon);
     connect(&_corridorWidthFact,    &Fact::valueChanged,            this, &CorridorScanComplexItem::_rebuildCorridorPolygon);
+
+    if (!kmlFile.isEmpty()) {
+        _corridorPolyline.loadKMLFile(kmlFile);
+        _corridorPolyline.setDirty(false);
+    }
+    setDirty(false);
 }
 
 void CorridorScanComplexItem::save(QJsonArray&  planItems)

src/MissionManager/CorridorScanComplexItem.h

@@ -23,7 +23,10 @@ class CorridorScanComplexItem : public TransectStyleComplexItem
     Q_OBJECT
 
 public:
-    CorridorScanComplexItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    /// @param vehicle Vehicle which this is being contructed for
+    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
+    /// @param kmlFile Polyline comes from this file, empty for default polyline
+    CorridorScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent);
 
     Q_PROPERTY(QGCMapPolyline*  corridorPolyline    READ corridorPolyline   CONSTANT)
     Q_PROPERTY(Fact*            corridorWidth       READ corridorWidth      CONSTANT)

src/MissionManager/CorridorScanComplexItemTest.cc

@@ -23,7 +23,7 @@ void CorridorScanComplexItemTest::init(void)
     UnitTest::init();
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _corridorItem = new CorridorScanComplexItem(_offlineVehicle, false /* flyView */, this);
+    _corridorItem = new CorridorScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
 
     // vehicleSpeed need for terrain calcs
     MissionController::MissionFlightStatus_t missionFlightStatus;

src/MissionManager/MissionController.cc

@@ -389,25 +389,48 @@ int MissionController::insertROIMissionItem(QGeoCoordinate coordinate, int i)
 int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i)
 {
     ComplexMissionItem* newItem;
-    bool surveyStyleItem = false;
 
     int sequenceNumber = _nextSequenceNumber();
     if (itemName == _surveyMissionItemName) {
-        newItem = new SurveyComplexItem(_controllerVehicle, _flyView, _visualItems);
+        newItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
         newItem->setCoordinate(mapCenterCoordinate);
-        surveyStyleItem = true;
     } else if (itemName == _fwLandingMissionItemName) {
-        newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, _visualItems);
+        newItem = new FixedWingLandingComplexItem(_controllerVehicle, _flyView, _visualItems /* parent */);
     } else if (itemName == _structureScanMissionItemName) {
-        newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, _visualItems);
+        newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
     } else if (itemName == _corridorScanMissionItemName) {
-        newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, _visualItems);
-        surveyStyleItem = true;
+        newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, _visualItems /* parent */);
     } else {
         qWarning() << "Internal error: Unknown complex item:" << itemName;
         return sequenceNumber;
     }
 
+    return _insertComplexMissionItemWorker(newItem, i);
+}
+
+int MissionController::insertComplexMissionItemFromKML(QString itemName, QString kmlFile, int i)
+{
+    ComplexMissionItem* newItem;
+
+    if (itemName == _surveyMissionItemName) {
+        newItem = new SurveyComplexItem(_controllerVehicle, _flyView, kmlFile, _visualItems);
+    } else if (itemName == _structureScanMissionItemName) {
+        newItem = new StructureScanComplexItem(_controllerVehicle, _flyView, kmlFile, _visualItems);
+    } else if (itemName == _corridorScanMissionItemName) {
+        newItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, kmlFile, _visualItems);
+    } else {
+        qWarning() << "Internal error: Unknown complex item:" << itemName;
+        return _nextSequenceNumber();
+    }
+
+    return _insertComplexMissionItemWorker(newItem, i);
+}
+
+int MissionController::_insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i)
+{
+    int sequenceNumber = _nextSequenceNumber();
+    bool surveyStyleItem = qobject_cast<SurveyComplexItem*>(complexItem) || qobject_cast<CorridorScanComplexItem*>(complexItem);
+
     if (surveyStyleItem) {
         bool rollSupported = false;
         bool pitchSupported = false;
@@ -434,14 +457,18 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
         }
     }
 
-    newItem->setSequenceNumber(sequenceNumber);
-    _initVisualItem(newItem);
+    complexItem->setSequenceNumber(sequenceNumber);
+    _initVisualItem(complexItem);
 
-    _visualItems->insert(i, newItem);
+    if (i == -1) {
+        _visualItems->append(complexItem);
+    } else {
+        _visualItems->insert(i, complexItem);
+    }
 
     _recalcAll();
 
-    return newItem->sequenceNumber();
+    return complexItem->sequenceNumber();
 }
 
 void MissionController::removeMissionItem(int index)
@@ -529,7 +556,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
             return false;
         }
 
-        SurveyComplexItem* item = new SurveyComplexItem(_controllerVehicle, _flyView, visualItems);
+        SurveyComplexItem* item = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems /* parent */);
         const QJsonObject itemObject = itemValue.toObject();
         if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
             surveyItems.append(item);
@@ -687,7 +714,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
 
             if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
-                SurveyComplexItem* surveyItem = new SurveyComplexItem(_controllerVehicle, _flyView, visualItems);
+                SurveyComplexItem* surveyItem = new SurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
                 if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
                     return false;
                 }
@@ -705,7 +732,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
                 visualItems->append(landingItem);
             } else if (complexItemType == StructureScanComplexItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Structure Scan: nextSequenceNumber" << nextSequenceNumber;
-                StructureScanComplexItem* structureItem = new StructureScanComplexItem(_controllerVehicle, _flyView, visualItems);
+                StructureScanComplexItem* structureItem = new StructureScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
                 if (!structureItem->load(itemObject, nextSequenceNumber++, errorString)) {
                     return false;
                 }
@@ -714,7 +741,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
                 visualItems->append(structureItem);
             } else if (complexItemType == CorridorScanComplexItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Corridor Scan: nextSequenceNumber" << nextSequenceNumber;
-                CorridorScanComplexItem* corridorItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, visualItems);
+                CorridorScanComplexItem* corridorItem = new CorridorScanComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
                 if (!corridorItem->load(itemObject, nextSequenceNumber++, errorString)) {
                     return false;
                 }

src/MissionManager/MissionController.h

@@ -25,6 +25,7 @@ class MissionSettingsItem;
 class AppSettings;
 class MissionManager;
 class SimpleMissionItem;
+class ComplexMissionItem;
 class QDomDocument;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
@@ -89,6 +90,10 @@ public:
     Q_PROPERTY(int                  batteryChangePoint      READ batteryChangePoint         NOTIFY batteryChangePointChanged)
     Q_PROPERTY(int                  batteriesRequired       READ batteriesRequired          NOTIFY batteriesRequiredChanged)
 
+    Q_PROPERTY(QString              surveyComplexItemName           READ surveyComplexItemName          CONSTANT)
+    Q_PROPERTY(QString              corridorScanComplexItemName     READ corridorScanComplexItemName    CONSTANT)
+    Q_PROPERTY(QString              structureScanComplexItemName    READ structureScanComplexItemName   CONSTANT)
+
     Q_INVOKABLE void removeMissionItem(int index);
 
     /// Add a new simple mission item to the list
@@ -108,6 +113,12 @@ public:
     /// @return Sequence number for new item
     Q_INVOKABLE int insertComplexMissionItem(QString itemName, QGeoCoordinate mapCenterCoordinate, int i);
 
+    /// Add a new complex mission item to the list
+    ///     @param itemName: Name of complex item to create (from complexMissionItemNames)
+    ///     @param i: index to insert at, -1 for end
+    /// @return Sequence number for new item
+    Q_INVOKABLE int insertComplexMissionItemFromKML(QString itemName, QString kmlFile, int i);
+
     Q_INVOKABLE void resumeMission(int resumeIndex);
 
     /// Updates the altitudes of the items in the current mission to the new default altitude
@@ -148,13 +159,16 @@ public:
 
     // Property accessors
 
-    QmlObjectListModel* visualItems             (void) { return _visualItems; }
-    QmlObjectListModel* waypointLines           (void) { return &_waypointLines; }
-    QVariantList        waypointPath            (void) { return _waypointPath; }
-    QStringList         complexMissionItemNames (void) const;
-    QGeoCoordinate      plannedHomePosition     (void) const;
-    VisualMissionItem*  currentPlanViewItem     (void) const;
-    double              progressPct             (void) const { return _progressPct; }
+    QmlObjectListModel* visualItems                 (void) { return _visualItems; }
+    QmlObjectListModel* waypointLines               (void) { return &_waypointLines; }
+    QVariantList        waypointPath                (void) { return _waypointPath; }
+    QStringList         complexMissionItemNames     (void) const;
+    QGeoCoordinate      plannedHomePosition         (void) const;
+    VisualMissionItem*  currentPlanViewItem         (void) const;
+    double              progressPct                 (void) const { return _progressPct; }
+    QString             surveyComplexItemName       (void) const { return _surveyMissionItemName; }
+    QString             corridorScanComplexItemName (void) const { return _corridorScanMissionItemName; }
+    QString             structureScanComplexItemName(void) const { return _structureScanMissionItemName; }
 
     int currentMissionIndex         (void) const;
     int resumeMissionIndex          (void) const;
@@ -242,6 +256,7 @@ private:
     void _addWaypointLineSegment(CoordVectHashTable& prevItemPairHashTable, VisualItemPair& pair);
     void _addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover);
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
+    int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
 
 private:
     MissionManager*         _missionManager;

src/MissionManager/PlanMasterController.cc

@@ -484,7 +484,7 @@ QStringList PlanMasterController::saveNameFilters(void) const
     return filters;
 }
 
-QStringList PlanMasterController::saveKmlFilters(void) const
+QStringList PlanMasterController::fileKmlFilters(void) const
 {
     QStringList filters;
 

src/MissionManager/PlanMasterController.h

@@ -43,7 +43,7 @@ public:
     ///< kml file extension for missions
     Q_PROPERTY(QStringList  loadNameFilters     READ loadNameFilters                    CONSTANT)                       ///< File filter list loading plan files
     Q_PROPERTY(QStringList  saveNameFilters     READ saveNameFilters                    CONSTANT)                       ///< File filter list saving plan files
-    Q_PROPERTY(QStringList  saveKmlFilters      READ saveKmlFilters                     CONSTANT)                       ///< File filter list saving KML files
+    Q_PROPERTY(QStringList  fileKmlFilters      READ fileKmlFilters                     CONSTANT)                       ///< File filter list for load/save KML files
 
     /// Should be called immediately upon Component.onCompleted.
     Q_INVOKABLE void start(bool flyView);
@@ -81,7 +81,7 @@ public:
     QString     kmlFileExtension(void) const;
     QStringList loadNameFilters (void) const;
     QStringList saveNameFilters (void) const;
-    QStringList saveKmlFilters  (void) const;
+    QStringList fileKmlFilters  (void) const;
 
     QJsonDocument saveToJson    ();
 

src/MissionManager/QGCMapPolygon.cc

@@ -12,6 +12,7 @@
 #include "JsonHelper.h"
 #include "QGCQGeoCoordinate.h"
 #include "QGCApplication.h"
+#include "KMLFileHelper.h"
 
 #include <QGeoRectangle>
 #include <QDebug>
@@ -453,71 +454,11 @@ void QGCMapPolygon::offset(double distance)
 
 bool QGCMapPolygon::loadKMLFile(const QString& kmlFile)
 {
-    QFile file(kmlFile);
-
-    if (!file.exists()) {
-        qgcApp()->showMessage(tr("File not found: %1").arg(kmlFile));
-        return false;
-    }
-
-    if (!file.open(QIODevice::ReadOnly)) {
-        qgcApp()->showMessage(tr("Unable to open file: %1 error: $%2").arg(kmlFile).arg(file.errorString()));
-        return false;
-    }
-
-    QDomDocument doc;
-    QString errorMessage;
-    int errorLine;
-    if (!doc.setContent(&file, &errorMessage, &errorLine)) {
-        qgcApp()->showMessage(tr("Unable to parse KML file: %1 error: %2 line: %3").arg(kmlFile).arg(errorMessage).arg(errorLine));
-        return false;
-    }
-
-    QDomNodeList rgNodes = doc.elementsByTagName("Polygon");
-    if (rgNodes.count() == 0) {
-        qgcApp()->showMessage(tr("Unable to find Polygon node in KML"));
-        return false;
-    }
-
-    QDomNode coordinatesNode = rgNodes.item(0).namedItem("outerBoundaryIs").namedItem("LinearRing").namedItem("coordinates");
-    if (coordinatesNode.isNull()) {
-        qgcApp()->showMessage(tr("Internal error: Unable to find coordinates node in KML"));
-        return false;
-    }
-
-    QString coordinatesString = coordinatesNode.toElement().text().simplified();
-    QStringList rgCoordinateStrings = coordinatesString.split(" ");
-
+    QString errorString;
     QList<QGeoCoordinate> rgCoords;
-    for (int i=0; i<rgCoordinateStrings.count()-1; i++) {
-        QString coordinateString = rgCoordinateStrings[i];
-
-        QStringList rgValueStrings = coordinateString.split(",");
-
-        QGeoCoordinate coord;
-        coord.setLongitude(rgValueStrings[0].toDouble());
-        coord.setLatitude(rgValueStrings[1].toDouble());
-
-        rgCoords.append(coord);
-    }
-
-    // Determine winding, reverse if needed
-    double sum = 0;
-    for (int i=0; i<rgCoords.count(); i++) {
-        QGeoCoordinate coord1 = rgCoords[i];
-        QGeoCoordinate coord2 = (i == rgCoords.count() - 1) ? rgCoords[0] : rgCoords[i+1];
-
-        sum += (coord2.longitude() - coord1.longitude()) * (coord2.latitude() + coord1.latitude());
-    }
-    bool reverse = sum < 0.0;
-
-    if (reverse) {
-        QList<QGeoCoordinate> rgReversed;
-
-        for (int i=0; i<rgCoords.count(); i++) {
-            rgReversed.prepend(rgCoords[i]);
-        }
-        rgCoords = rgReversed;
+    if (!KMLFileHelper::loadPolygonFromFile(kmlFile, rgCoords, errorString)) {
+        qgcApp()->showMessage(errorString);
+        return false;
     }
 
     clear();

src/MissionManager/QGCMapPolyline.cc

@@ -12,6 +12,7 @@
 #include "JsonHelper.h"
 #include "QGCQGeoCoordinate.h"
 #include "QGCApplication.h"
+#include "KMLFileHelper.h"
 
 #include <QGeoRectangle>
 #include <QDebug>
@@ -338,52 +339,11 @@ QList<QGeoCoordinate> QGCMapPolyline::offsetPolyline(double distance)
 
 bool QGCMapPolyline::loadKMLFile(const QString& kmlFile)
 {
-    QFile file(kmlFile);
-
-    if (!file.exists()) {
-        qgcApp()->showMessage(tr("File not found: %1").arg(kmlFile));
-        return false;
-    }
-
-    if (!file.open(QIODevice::ReadOnly)) {
-        qgcApp()->showMessage(tr("Unable to open file: %1 error: $%2").arg(kmlFile).arg(file.errorString()));
-        return false;
-    }
-
-    QDomDocument doc;
-    QString errorMessage;
-    int errorLine;
-    if (!doc.setContent(&file, &errorMessage, &errorLine)) {
-        qgcApp()->showMessage(tr("Unable to parse KML file: %1 error: %2 line: %3").arg(kmlFile).arg(errorMessage).arg(errorLine));
-        return false;
-    }
-
-    QDomNodeList rgNodes = doc.elementsByTagName("LineString");
-    if (rgNodes.count() == 0) {
-        qgcApp()->showMessage(tr("Unable to find LineString node in KML"));
-        return false;
-    }
-
-    QDomNode coordinatesNode = rgNodes.item(0).namedItem("coordinates");
-    if (coordinatesNode.isNull()) {
-        qgcApp()->showMessage(tr("Internal error: Unable to find coordinates node in KML"));
-        return false;
-    }
-
-    QString coordinatesString = coordinatesNode.toElement().text().simplified();
-    QStringList rgCoordinateStrings = coordinatesString.split(" ");
-
+    QString errorString;
     QList<QGeoCoordinate> rgCoords;
-    for (int i=0; i<rgCoordinateStrings.count()-1; i++) {
-        QString coordinateString = rgCoordinateStrings[i];
-
-        QStringList rgValueStrings = coordinateString.split(",");
-
-        QGeoCoordinate coord;
-        coord.setLongitude(rgValueStrings[0].toDouble());
-        coord.setLatitude(rgValueStrings[1].toDouble());
-
-        rgCoords.append(coord);
+    if (!KMLFileHelper::loadPolylineFromFile(kmlFile, rgCoords, errorString)) {
+        qgcApp()->showMessage(errorString);
+        return false;
     }
 
     clear();

src/MissionManager/SectionTest.cc

@@ -83,7 +83,7 @@ void SectionTest::_commonScanTest(Section* section)
     waypointVisualItems.append(&simpleItem);
 
     QmlObjectListModel complexVisualItems;
-    SurveyComplexItem surveyItem(_offlineVehicle, false /* fly View */, this);
+    SurveyComplexItem surveyItem(_offlineVehicle, false /* fly View */, QString() /* kmlFile */, this /* parent */);
     complexVisualItems.append(&surveyItem);
 
     // This tests the common cases which should not lead to scan succeess

src/MissionManager/StructureScanComplexItem.cc

@@ -30,7 +30,7 @@ const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureSc
 const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
 const char* StructureScanComplexItem::_jsonAltitudeRelativeKey =    "altitudeRelative";
 
-StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, QObject* parent)
+StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent)
     : ComplexMissionItem        (vehicle, flyView, parent)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */))
     , _sequenceNumber           (0)
@@ -75,6 +75,13 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
 
     _recalcLayerInfo();
+
+    if (!kmlFile.isEmpty()) {
+        _structurePolygon.loadKMLFile(kmlFile);
+        _structurePolygon.setDirty(false);
+    }
+
+    setDirty(false);
 }
 
 void StructureScanComplexItem::_setScanDistance(double scanDistance)

src/MissionManager/StructureScanComplexItem.h

@@ -25,7 +25,10 @@ class StructureScanComplexItem : public ComplexMissionItem
     Q_OBJECT
 
 public:
-    StructureScanComplexItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    /// @param vehicle Vehicle which this is being contructed for
+    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
+    /// @param kmlFile Polygon comes from this file, empty for default polygon
+    StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent);
 
     Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                                 CONSTANT)
     Q_PROPERTY(Fact*            altitude                    READ altitude                                                   CONSTANT)

src/MissionManager/StructureScanComplexItemTest.cc

@@ -24,7 +24,7 @@ void StructureScanComplexItemTest::init(void)
     _rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _structureScanItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, this);
+    _structureScanItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
     _structureScanItem->setDirty(false);
 
     _multiSpy = new MultiSignalSpy();
@@ -121,7 +121,7 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
     _structureScanItem->save(items);
 
     QString errorString;
-    StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, this);
+    StructureScanComplexItem* newItem = new StructureScanComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
     QVERIFY(newItem->load(items[0].toObject(), 10, errorString));
     QVERIFY(errorString.isEmpty());
     _validateItem(newItem);

src/MissionManager/SurveyComplexItem.cc

@@ -59,7 +59,7 @@ const char* SurveyComplexItem::_jsonV3FixedValueIsAltitudeKey =         "fixedVa
 const char* SurveyComplexItem::_jsonV3Refly90DegreesKey =               "refly90Degrees";
 const char* SurveyComplexItem::_jsonFlyAlternateTransectsKey =          "flyAlternateTransects";
 
-SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent)
+SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent)
     : TransectStyleComplexItem  (vehicle, flyView, settingsGroup, parent)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
     , _gridAngleFact            (settingsGroup, _metaDataMap[gridAngleName])
@@ -91,6 +91,12 @@ SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* pa
     // FIXME: Shouldn't these be in TransectStyleComplexItem? They are also in CorridorScanComplexItem constructur
     connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &SurveyComplexItem::coordinateHasRelativeAltitudeChanged);
     connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &SurveyComplexItem::exitCoordinateHasRelativeAltitudeChanged);
+
+    if (!kmlFile.isEmpty()) {
+        _surveyAreaPolygon.loadKMLFile(kmlFile);
+        _surveyAreaPolygon.setDirty(false);
+    }
+    setDirty(false);
 }
 
 void SurveyComplexItem::save(QJsonArray&  planItems)

src/MissionManager/SurveyComplexItem.h

@@ -21,7 +21,10 @@ class SurveyComplexItem : public TransectStyleComplexItem
     Q_OBJECT
 
 public:
-    SurveyComplexItem(Vehicle* vehicle, bool flyView, QObject* parent);
+    /// @param vehicle Vehicle which this is being contructed for
+    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
+    /// @param kmlFile Polygon comes from this file, empty for default polygon
+    SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlFile, QObject* parent);
 
     Q_PROPERTY(Fact* gridAngle              READ gridAngle              CONSTANT)
     Q_PROPERTY(Fact* flyAlternateTransects  READ flyAlternateTransects  CONSTANT)

src/MissionManager/SurveyComplexItemTest.cc

@@ -29,7 +29,7 @@ void SurveyComplexItemTest::init(void)
     _rgSurveySignals[surveyDirtyChangedIndex] =                   SIGNAL(dirtyChanged(bool));
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
-    _surveyItem = new SurveyComplexItem(_offlineVehicle, false /* flyView */, this);
+    _surveyItem = new SurveyComplexItem(_offlineVehicle, false /* flyView */, QString() /* kmlFile */, this /* parent */);
     _surveyItem->turnAroundDistance()->setRawValue(0);  // Unit test written for no turnaround distance
     _surveyItem->setDirty(false);
     _mapPolygon = _surveyItem->surveyAreaPolygon();

src/MissionManager/TransectStyleComplexItem.cc

@@ -106,6 +106,8 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, bool flyVie
     connect(this,                                       &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
 
     connect(this,                                       &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_followTerrainChanged);
+
+    setDirty(false);
 }
 
 void TransectStyleComplexItem::_setCameraShots(int cameraShots)

src/PlanView/PlanView.qml

@@ -24,6 +24,7 @@ import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Controllers   1.0
+import QGroundControl.KMLFileHelper 1.0
 
 /// Mission Editor
 
@@ -77,6 +78,11 @@ QGCView {
         _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
     }
 
+    function insertComplexMissionItemFromKML(complexItemName, kmlFile, index) {
+        var sequenceNumber = _missionController.insertComplexMissionItemFromKML(complexItemName, kmlFile, index)
+        _missionController.setCurrentPlanViewIndex(sequenceNumber, true)
+    }
+
     property bool _firstMissionLoadComplete:    false
     property bool _firstFenceLoadComplete:      false
     property bool _firstRallyLoadComplete:      false
@@ -192,7 +198,7 @@ QGCView {
                 return
             }
             fileDialog.title =          qsTr("Save Plan")
-            fileDialog.plan =           true
+            fileDialog.planFiles =      true
             fileDialog.selectExisting = false
             fileDialog.nameFilters =    masterController.saveNameFilters
             fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.planFileExtension
@@ -204,15 +210,25 @@ QGCView {
             mapFitFunctions.fitMapViewportToMissionItems()
         }
 
+        function loadKmlFromSelectedFile() {
+            fileDialog.title =          qsTr("Load KML")
+            fileDialog.planFiles =      false
+            fileDialog.selectExisting = true
+            fileDialog.nameFilters =    masterController.fileKmlFilters
+            fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.kmlFileExtension
+            fileDialog.fileExtension2 = ""
+            fileDialog.openForLoad()
+        }
+
         function saveKmlToSelectedFile() {
             if (!readyForSaveSend()) {
                 waitingOnDataMessage()
                 return
             }
             fileDialog.title =          qsTr("Save KML")
-            fileDialog.plan =           false
+            fileDialog.planFiles =      false
             fileDialog.selectExisting = false
-            fileDialog.nameFilters =    masterController.saveKmlFilters
+            fileDialog.nameFilters =    masterController.fileKmlFilters
             fileDialog.fileExtension =  QGroundControl.settingsManager.appSettings.kmlFileExtension
             fileDialog.fileExtension2 = ""
             fileDialog.openForSave()
@@ -259,22 +275,96 @@ QGCView {
     QGCFileDialog {
         id:             fileDialog
         qgcView:        _qgcView
-        property bool plan: true
         folder:         QGroundControl.settingsManager.appSettings.missionSavePath
 
+        property bool planFiles: true    ///< true: working with plan files, false: working with kml file
+
         onAcceptedForSave: {
-            plan ? masterController.saveToFile(file) : masterController.saveToKml(file)
+            if (planFiles) {
+                masterController.saveToFile(file)
+            } else {
+                masterController.saveToKml(file)
+            }
             close()
         }
 
         onAcceptedForLoad: {
-            masterController.loadFromFile(file)
-            masterController.fitViewportToItems()
-            _missionController.setCurrentPlanViewIndex(0, true)
+            if (planFiles) {
+                masterController.loadFromFile(file)
+                masterController.fitViewportToItems()
+                _missionController.setCurrentPlanViewIndex(0, true)
+            } else {
+                var retList = KMLFileHelper.determineFileContents(file)
+                if (retList[0] == KMLFileHelper.Error) {
+                    _qgcView.showMessage("Error", retList[1], StandardButton.Ok)
+                } else if (retList[0] == KMLFileHelper.Polygon) {
+                    kmlPolygonSelectDialogKMLFile = file
+                    _qgcView.showDialog(kmlPolygonSelectDialog, fileDialog.title, _qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
+                } else if (retList[0] == KMLFileHelper.Polyline) {
+                    insertComplexMissionItemFromKML(_missionController.corridorScanComplexItemName, file, -1)
+                }
+            }
             close()
         }
     }
 
+    property string kmlPolygonSelectDialogKMLFile
+    Component {
+        id: kmlPolygonSelectDialog
+
+        QGCViewDialog {
+            property var editVehicle: _activeVehicle ? _activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
+
+            function accept() {
+                var complexItemName
+                if (surveyRadio.checked) {
+                    complexItemName = _missionController.surveyComplexItemName
+                } else {
+                    complexItemName = _missionController.structureScanComplexItemName
+                }
+                insertComplexMissionItemFromKML(complexItemName, kmlPolygonSelectDialogKMLFile, -1)
+                hideDialog()
+            }
+
+            Component.onCompleted: {
+                if (editVehicle.fixedWing) {
+                    // Only Survey available
+                    accept()
+                }
+            }
+
+            ExclusiveGroup {
+                id: radioGroup
+            }
+
+            Column {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                spacing:        ScreenTools.defaultFontPixelHeight
+
+                QGCLabel {
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
+                    wrapMode:       Text.WordWrap
+                    text:           qsTr("What would you like to create from the polygon specified by the KML file?")
+                }
+
+                QGCRadioButton {
+                    id:             surveyRadio
+                    text:           qsTr("Survey")
+                    checked:        true
+                    exclusiveGroup: radioGroup
+                }
+
+                QGCRadioButton {
+                    text:           qsTr("Structure Scan")
+                    exclusiveGroup: radioGroup
+                    visible:        !editVehicle.fixedWing
+                }
+            }
+        }
+    }
+
     Component {
         id: moveDialog
 
@@ -808,7 +898,7 @@ QGCView {
                 }
 
                 QGCButton {
-                    text:               qsTr("Save To File...")
+                    text:               qsTr("Save Plan...")
                     Layout.fillWidth:   true
                     enabled:            !masterController.syncInProgress
                     onClicked: {
@@ -818,7 +908,7 @@ QGCView {
                 }
 
                 QGCButton {
-                    text:               qsTr("Load From File...")
+                    text:               qsTr("Load Plan...")
                     Layout.fillWidth:   true
                     enabled:            !masterController.syncInProgress
                     onClicked: {
@@ -832,14 +922,16 @@ QGCView {
                 }
 
                 QGCButton {
-                    text:               qsTr("Remove All")
+                    text:               qsTr("Load KML...")
                     Layout.fillWidth:   true
-                    onClicked:  {
+                    enabled:            !masterController.syncInProgress
+                    onClicked: {
                         dropPanel.hide()
-                        _qgcView.showDialog(removeAllPromptDialog, qsTr("Remove all"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
+                        masterController.loadKmlFromSelectedFile()
                     }
                 }
 
+
                 QGCButton {
                     text:               qsTr("Save KML...")
                     Layout.fillWidth:   true
@@ -854,6 +946,15 @@ QGCView {
                         masterController.saveKmlToSelectedFile()
                     }
                 }
+
+                QGCButton {
+                    text:               qsTr("Remove All")
+                    Layout.fillWidth:   true
+                    onClicked:  {
+                        dropPanel.hide()
+                        _qgcView.showDialog(removeAllPromptDialog, qsTr("Remove all"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
+                    }
+                }
             }
         }
     }

src/QGCApplication.cc

@@ -84,6 +84,7 @@
 #include "VisualMissionItem.h"
 #include "EditPositionDialogController.h"
 #include "FactValueSliderListModel.h"
+#include "KMLFileHelper.h"
 
 #ifndef NO_SERIAL_LINK
 #include "SerialLink.h"
@@ -139,6 +140,11 @@ static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
     return qmlGlobal;
 }
 
+static QObject* kmlFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
+{
+    return new KMLFileHelper;
+}
+
 QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
 #ifdef __mobile__
     : QGuiApplication       (argc, argv)
@@ -394,6 +400,7 @@ void QGCApplication::_initCommon(void)
     // Register Qml Singletons
     qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
     qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
+    qmlRegisterSingletonType<KMLFileHelper>             ("QGroundControl.KMLFileHelper",            1, 0, "KMLFileHelper",          kmlFileHelperSingletonFactory);
 }
 
 bool QGCApplication::_initForNormalAppBoot(void)