Merge pull request #1860 from DonLakeFlyer/MissionWork

Mission work

src/FactSystem/Fact.cc

@@ -28,25 +28,49 @@
 
 #include <QtQml>
 
-Fact::Fact(void) :
-    _componentId(-1),
-    _value(0),
-    _type(FactMetaData::valueTypeInt32),
-    _metaData(NULL)
+Fact::Fact(QObject* parent)
+    : QObject(parent)
+    , _componentId(-1)
+    , _value(0)
+    , _type(FactMetaData::valueTypeInt32)
+    , _metaData(NULL)
 {    
     FactMetaData* metaData = new FactMetaData(_type, this);
     setMetaData(metaData);
 }
 
-Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent) :
-    QObject(parent),
-    _name(name),
-    _componentId(componentId),
-    _value(0),
-    _type(type),
-    _metaData(NULL)
+Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent)
+    : QObject(parent)
+    , _name(name)
+    , _componentId(componentId)
+    , _value(0)
+    , _type(type)
+    , _metaData(NULL)
 {
+    FactMetaData* metaData = new FactMetaData(_type, this);
+    setMetaData(metaData);
+}
 
+Fact::Fact(const Fact& other, QObject* parent)
+    : QObject(parent)
+{
+    *this = other;
+}
+
+const Fact& Fact::operator=(const Fact& other)
+{
+    _name           = other._name;
+    _componentId    = other._componentId;
+    _value          = other._value;
+    _type           = other._type;
+    
+    if (_metaData && other._metaData) {
+        *_metaData = *other._metaData;
+    } else {
+        _metaData = NULL;
+    }
+    
+    return *this;
 }
 
 void Fact::forceSetValue(const QVariant& value)

src/FactSystem/Fact.h

@@ -40,9 +40,12 @@ class Fact : public QObject
     Q_OBJECT
     
 public:
-    Fact(void);
+    Fact(QObject* parent = NULL);
     Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
-    
+    Fact(const Fact& other, QObject* parent = NULL);
+
+    const Fact& operator=(const Fact& other);
+
     Q_PROPERTY(int componentId READ componentId CONSTANT)
     Q_PROPERTY(QString name READ name CONSTANT)
     Q_PROPERTY(QVariant value READ value WRITE setValue NOTIFY valueChanged USER true)

src/FactSystem/FactMetaData.cc

@@ -32,6 +32,20 @@
 
 #include <limits>
 
+FactMetaData::FactMetaData(QObject* parent) :
+    QObject(parent),
+    _group("*Default Group"),
+    _type(valueTypeInt32),
+    _defaultValue(0),
+    _defaultValueAvailable(false),
+    _min(_minForType()),
+    _max(_maxForType()),
+    _minIsDefaultForType(true),
+    _maxIsDefaultForType(true)
+{
+
+}
+
 FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
     QObject(parent),
     _group("*Default Group"),
@@ -46,6 +60,26 @@ FactMetaData::FactMetaData(ValueType_t type, QObject* parent) :
 
 }
 
+FactMetaData::FactMetaData(const FactMetaData& other, QObject* parent)
+    : QObject(parent)
+{
+    *this = other;
+}
+
+const FactMetaData& FactMetaData::operator=(const FactMetaData& other)
+{
+    _group                  = other._group;
+    _type                   = other._type;
+    _defaultValue           = other._defaultValue;
+    _defaultValueAvailable  = other._defaultValueAvailable;
+    _min                    = other._min;
+    _max                    = other._max;
+    _minIsDefaultForType    = other._minIsDefaultForType;
+    _maxIsDefaultForType    = other._maxIsDefaultForType;
+    
+    return *this;
+}
+
 QVariant FactMetaData::defaultValue(void)
 {
     if (_defaultValueAvailable) {

src/FactSystem/FactMetaData.h

@@ -52,7 +52,11 @@ public:
         valueTypeDouble
     } ValueType_t;
     
+    FactMetaData(QObject* parent = NULL);
     FactMetaData(ValueType_t type, QObject* parent = NULL);
+    FactMetaData(const FactMetaData& other, QObject* parent = NULL);
+
+    const FactMetaData& operator=(const FactMetaData& other);
     
 	// Property accessors
     QString     name(void)                      { return _name; }

src/MissionItem.h

@@ -53,7 +53,7 @@ public:
                 int             frame = MAV_FRAME_GLOBAL,
                 int             action = MAV_CMD_NAV_WAYPOINT);
 
-    MissionItem(const MissionItem& other);
+    MissionItem(const MissionItem& other, QObject* parent = NULL);
     ~MissionItem();
 
     const MissionItem& operator=(const MissionItem& other);
@@ -125,23 +125,23 @@ public:
     bool getAutoContinue() const {
         return _autocontinue;
     }
-    double getLoiterOrbit() const {
-        return _orbit;
+    double loiterOrbitRadius() const {
+        return _loiterOrbitRadiusFact->value().toDouble();
     }
     double getAcceptanceRadius() const {
-        return _param2;
+        return getParam2();
     }
     double getHoldTime() const {
-        return _param1;
+        return getParam1();
     }
     double getParam1() const {
-        return _param1;
+        return _param1Fact->value().toDouble();
     }
     double getParam2() const {
-        return _param2;
+        return _param2Fact->value().toDouble();
     }
     double getParam3() const {
-        return _orbit;
+        return loiterOrbitRadius();
     }
     double getParam4() const {
         return yawRadians();
@@ -195,7 +195,7 @@ public:
     void setFrame       (int _frame);
     void setAutocontinue(bool autoContinue);
     void setCurrent     (bool _current);
-    void setLoiterOrbit (double _orbit);
+    void setLoiterOrbitRadius (double radius);
     void setParam1      (double _param1);
     void setParam2      (double _param2);
     void setParam3      (double param3);
@@ -226,27 +226,20 @@ private:
     
     int             _sequenceNumber;
     QGeoCoordinate  _coordinate;
-    double          _yawRadians;
     int             _frame;
     int             _action;
     bool            _autocontinue;
     bool            _isCurrentItem;
-    double          _orbit;
-    double          _param1;
-    double          _param2;
     quint64         _reachedTime;
     
-    Fact*           _yawFact;
-    Fact*           _pitchFact;
-    Fact*           _loiterRadiusFact;
+    Fact*           _yawRadiansFact;
+    Fact*           _loiterOrbitRadiusFact;
     Fact*           _param1Fact;
     Fact*           _param2Fact;
     
-    FactMetaData*   _yawMetaData;
     FactMetaData*   _pitchMetaData;
     FactMetaData*   _acceptanceRadiusMetaData;
     FactMetaData*   _holdTimeMetaData;
-    FactMetaData*   _loiterRadiusMetaData;
     FactMetaData*   _loiterTurnsMetaData;
     FactMetaData*   _loiterSecondsMetaData;
     FactMetaData*   _delaySecondsMetaData;

src/ui/map/Waypoint2DIcon.cc

@@ -104,7 +104,7 @@ QRectF Waypoint2DIcon::boundingRect() const
         }
         if (((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
         {
-            loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
+            loiter = map->metersToPixels(waypoint->loiterOrbitRadius(), coord);
         }
     }
 
@@ -306,7 +306,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
         penDash.setWidth(1);
         //penDash.setStyle(Qt::DotLine);
         // A negative radius indicates counter-clockwise rotation, but we still want to draw it positive
-        const int loiter = map->metersToPixels(fabs(waypoint->getLoiterOrbit()), Coord());
+        const int loiter = map->metersToPixels(fabs(waypoint->loiterOrbitRadius()), Coord());
         if (loiter > picture.width()/2)
         {
             painter->setPen(penBlack);