seg. fault on startup

qgroundcontrol.pro

@@ -413,7 +413,8 @@ HEADERS += \
     src/Wima/WimaVCorridor.h \
     src/Wima/WimaTrackerPolyline.h \
     src/Wima/WimaController.h \
-    src/Wima/WimaVehicle.h
+    src/Wima/WimaVehicle.h \
+    src/Wima/WimaDataContainer.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -426,7 +427,8 @@ SOURCES += \
     src/Wima/WimaVCorridor.cc \
     src/Wima/WimaTrackerPolyline.cc \
     src/Wima/WimaController.cc \
-    src/Wima/WimaVehicle.cc
+    src/Wima/WimaVehicle.cc \
+    src/Wima/WimaDataContainer.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/FlightDisplay/FlightDisplayView.qml

@@ -28,14 +28,13 @@ import QGroundControl.FlightMap     1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
+import Wima                         1.0
 
 /// Flight Display View
 QGCView {
     id:             root
     viewPanel:      _panel
 
-    property var wimaController
-
     QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
 
     property alias  guidedController:   guidedActionsController
@@ -115,6 +114,13 @@ QGCView {
         Component.onCompleted:  start(true /* flyView */)
     }
 
+    WimaController {
+        id: wimaController
+        Component.onCompleted: {
+            startWimaController(true /* flyView */)
+        }
+    }
+
     BuiltInPreFlightCheckModel {
         id: preFlightCheckModel
     }
@@ -129,6 +135,10 @@ QGCView {
         if(QGroundControl.corePlugin.options.flyViewOverlay.toString().length) {
             flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
         }
+
+        wimaController.masterController     = masterController
+        wimaController.missionController    = masterController.missionController
+        wimaController.dataContainer        = dataContainer
     }
 
     // The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes
@@ -331,6 +341,7 @@ QGCView {
                 id:                         _flightMap
                 anchors.fill:               parent
                 planMasterController:       masterController
+                wimaController:             wimaController
                 guidedActionsController:    _guidedController
                 flightWidgets:              flightDisplayViewWidgets
                 rightPanelWidth:            ScreenTools.defaultFontPixelHeight * 9

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -37,12 +37,12 @@ FlightMap {
 
     // The following properties must be set by the consumer
     property var    planMasterController
+    property var    wimaController
     property var    guidedActionsController
     property var    flightWidgets
     property var    rightPanelWidth
     property var    qgcView                             ///< QGCView control which contains this map
     property var    multiVehicleView                    ///< true: multi-vehicle view, false: single vehicle view
-    property var    wimaController
 
     property rect   centerViewport:             Qt.rect(0, 0, width, height)
 
@@ -196,7 +196,7 @@ FlightMap {
     // Add wima Areas to the Map
     WimaMapPolygonVisuals {
         mapControl:         flightMap
-        mapPolygon:         wimaController ? wimaController.joinedArea : undefined
+        mapPolygon:         wimaController.joinedArea
         borderWidth:        1
         borderColor:        "transparent"
         interiorColor:      "gray"

src/QGCApplication.cc

@@ -68,6 +68,7 @@
 #include "CoordinateVector.h"
 #include "PlanMasterController.h"
 #include "Wima/WimaController.h" //custom
+#include "Wima/WimaDataContainer.h" //custom
 #include "VideoManager.h"
 #include "VideoSurface.h"
 #include "VideoReceiver.h"
@@ -465,6 +466,7 @@ void QGCApplication::_initCommon(void)
 #endif
     // Wima
     qmlRegisterType<WimaController>                 ("Wima",                                1, 0, "WimaController"); //custom
+    qmlRegisterType<WimaDataContainer>              ("Wima",                                1, 0, "WimaDataContainer"); //custom
 
 
     // Register Qml Singletons

src/Wima/WimaController.h

@@ -8,22 +8,23 @@
 #include "WimaGOperationArea.h"
 #include "WimaServiceArea.h"
 #include "WimaVCorridor.h"
+#include "WimaDataContainer.h"
 
 #include "PlanMasterController.h"
 #include "MissionController.h"
 #include "SurveyComplexItem.h"
 #include "SimpleMissionItem.h"
 #include "MissionSettingsItem.h"
-
 #include "JsonHelper.h"
 #include "QGCApplication.h"
 
 
 class WimaController : public QObject
 {
+    Q_OBJECT
+
     enum FileType {WimaFile, PlanFile};
 
-    Q_OBJECT
 public:
     WimaController(QObject *parent = nullptr);
 
@@ -37,20 +38,25 @@ public:
     Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                                                CONSTANT)
     Q_PROPERTY(QString                  fileExtension           READ fileExtension                                                  CONSTANT)
     Q_PROPERTY(QGeoCoordinate           joinedAreaCenter        READ joinedAreaCenter                                               CONSTANT)
-    Q_PROPERTY(QGCMapPolygon            joinedArea              READ joinedArea                                                     NOTIFY joinedAreaChanged)
+    Q_PROPERTY(WimaArea*                joinedArea              READ joinedArea                                                     NOTIFY joinedAreaChanged)
+    Q_PROPERTY(bool                     flyView                 READ flyView                                                        CONSTANT)
+    Q_PROPERTY(WimaDataContainer*       dataContainer           READ dataContainer              WRITE setDataContainer              NOTIFY dataContainerChanged)
+    
 
 
     // Property accessors
     PlanMasterController*       masterController       (void) const    { return _masterController; }
     MissionController*          missionController      (void) const    { return _missionController; }
-    QmlObjectListModel*         visualItems            (void) const    { return _visualItems; }
+    QmlObjectListModel*         visualItems            (void) const    { return _container->visualItems(); }
     int                         currentPolygonIndex    (void) const    { return _currentPolygonIndex; }
     QString                     currentFile            (void) const    { return _currentFile; }
     QStringList                 loadNameFilters        (void) const;
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
-    QGeoCoordinate              joinedAreaCenter       (void) const    { return _joinedArea.center(); }
-    QGCMapPolygon               joinedArea             (void) const    { return _joinedArea.toQGCPolygon(); }
+    QGeoCoordinate              joinedAreaCenter       (void) const    { return _container->joinedArea()->center(); }
+    WimaArea*                   joinedArea             (void) const    { return _container->joinedArea(); }
+    WimaDataContainer*          dataContainer          (void) const    { return _container; }
+    bool                        flyView                (void) const    { return _flyView; }
 
 
 
@@ -59,7 +65,9 @@ public:
     void setMissionController       (MissionController* missionController);
     /// Sets the integer index pointing to the current polygon. Current polygon is set interactive.
     void setCurrentPolygonIndex     (int index);
+    void setDataContainer           (WimaDataContainer* container);
 
+    Q_INVOKABLE void startWimaController(bool flyView);
     Q_INVOKABLE bool addGOperationArea();
     /// Removes an area from _visualItems
     /// @param index Index of the area to be removed
@@ -103,6 +111,7 @@ signals:
     void currentPolygonIndexChanged     (int index);
     void currentFileChanged             ();
     void joinedAreaChanged              ();
+    void dataContainerChanged           ();
 
 private slots:
     void recalcVehicleCorridor();
@@ -113,12 +122,12 @@ private slots:
 
 
 private:
-    bool                        _planView;
-    QmlObjectListModel*         _visualItems;
-    WimaArea                    _joinedArea;
+    bool                        _flyView;
     PlanMasterController*       _masterController;
     MissionController*          _missionController;
     int                         _currentPolygonIndex;
     QString                     _currentFile;
+    WimaDataContainer*          _container;
+
 
 };

src/Wima/WimaDataContainer.cc

+#include "WimaDataContainer.h"
+
+WimaDataContainer::WimaDataContainer(QObject *parent)
+    :   QObject(parent)
+    ,   _visualItems(this)
+    ,   _joinedArea(this)
+{
+
+}

src/Wima/WimaDataContainer.h

+#ifndef WIMADATACONTAINER_H
+#define WIMADATACONTAINER_H
+
+#include <QObject>
+
+#include "QmlObjectListModel.h"
+
+#include "WimaArea.h"
+
+class WimaDataContainer : public QObject
+{
+    Q_OBJECT
+public:
+    explicit WimaDataContainer(QObject *parent = nullptr);
+
+    QmlObjectListModel* visualItems (void) { return &_visualItems; }
+    WimaArea*           joinedArea  (void) { return &_joinedArea; }
+
+signals:
+
+public slots:
+
+private:
+    QmlObjectListModel _visualItems;
+    WimaArea           _joinedArea;
+};
+
+#endif // WIMADATACONTAINER_H

src/WimaView/WimaView.qml

@@ -68,7 +68,7 @@ QGCView {
     property var    _appSettings:                       QGroundControl.settingsManager.appSettings
 
     readonly property int       _layerMission:              1
-    readonly property int       _layerWima:              2
+    readonly property int       _layerWima:                 2
     readonly property string    _armedVehicleUploadPrompt:  qsTr("Vehicle is currently armed. Do you want to upload the mission to the vehicle?")
 
     Component.onCompleted: {
@@ -76,6 +76,7 @@ QGCView {
         toolbar.currentMissionItem =    Qt.binding(function () { return _missionController.currentPlanViewItem })
         _wimaController.masterController = _planMasterController
         _wimaController.missionController = _planMasterController.missionController
+        _wimaController.dataContainer = dataContainer;
     }
 
     function addComplexItem(complexItemName) {
@@ -194,6 +195,7 @@ QGCView {
         Component.onCompleted: {
             wimaController.masterController = Qt.binding(function () { return masterController})
             wimaController.missionController = Qt.binding(function () { return masterController.missionController})
+            startWimaController(false /* flyView */)
         }
         function addComplexItem(complexItemName) {
             var coordinate = editorMap.center

src/ui/MainWindowInner.qml

@@ -19,6 +19,7 @@ import QGroundControl.Controls              1.0
 import QGroundControl.FlightDisplay         1.0
 import QGroundControl.ScreenTools           1.0
 import QGroundControl.MultiVehicleManager   1.0
+import Wima                                 1.0
 
 /// Inner common QML for mainWindow
 Item {
@@ -28,8 +29,6 @@ Item {
 
     QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
-    property var    wimaController
-    property bool   wimaAvailable:      wimaViewLoader.wimaController !== undefined
     property var    currentPopUp:       null
     property real   currentCenterX:     0
     property var    activeVehicle:      QGroundControl.multiVehicleManager.activeVehicle
@@ -50,16 +49,6 @@ Item {
         }
     }
 
-    onWimaAvailableChanged: {
-        if ( available  ) {
-            wimaController = wimaViewLoader.wimaController
-            console.log("WimaController connected");
-        }
-        else {
-            wimaController = undefined
-        }
-    }
-
 
     function disableToolbar() {
         toolbarBlocker.enabled = true
@@ -88,7 +77,7 @@ Item {
         if (settingsViewLoader.source != _settingsViewSource) {
             settingsViewLoader.source  = _settingsViewSource
         }
-        settingsViewLoader.visible  = true, wimaFlightView
+        settingsViewLoader.visible  = true
         toolBar.checkSettingsButton()
     }
 
@@ -182,6 +171,11 @@ Item {
         }
     }
 
+    // Wima Data Container
+    WimaDataContainer{
+        id: wimaDataContainer
+    }
+
     MessageDialog {
         id:                 unsavedMissionCloseDialog
         title:              qsTr("%1 close").arg(QGroundControl.appName)
@@ -192,15 +186,6 @@ Item {
 
         onYes: activeConnectionsCloseDialog.check()
 
-
-
-
-
-
-
-
-
-
         // here what to do?
         function check() {
             if (planViewLoader.item && planViewLoader.item.dirty) {
@@ -397,8 +382,9 @@ Item {
         anchors.bottom:     parent.bottom
         visible:            false
 
-        property var planToolBar: planToolBar
-    } wimaController:     wimaViewLoader.wimaController ? wimaViewLoader.wimaController : undefined
+        property var planToolBar:        planToolBar
+        property var dataContainer:      wimaDataContainer
+    }
 
 
     Loader {
@@ -414,7 +400,8 @@ Item {
         anchors.fill:       parent
         visible:            false
 
-        property var toolbar: wimaToolBar
+        property var toolbar:               wimaToolBar
+        property var dataContainer:         wimaDataContainer
     }
 
 
@@ -422,6 +409,8 @@ Item {
         id:                 flightView
         anchors.fill:       parent
         visible:            true
+
+        property var dataContainer:         wimaDataContainer
        //-------------------------------------------------------------------------
         //-- Loader helper for any child, no matter how deep can display an element
         //   on top of the video window.