proper pictures added to MeasurementItemEditor.qml

qgcresources.qrc

@@ -18,7 +18,7 @@
         <file alias="counter-clockwise-arrow.svg">resources/counter-clockwise-arrow.svg</file>
         <file alias="chevron-down.svg">resources/chevron-down.svg</file>
         <file alias="chevron-up.svg">resources/chevron-up.svg</file>
-		<file alias="DropArrow.svg">resources/DropArrow.svg</file>
+        <file alias="DropArrow.svg">resources/DropArrow.svg</file>
         <file alias="gear-black.svg">resources/gear-black.svg</file>
         <file alias="gear-white.svg">resources/gear-white.svg</file>
         <file alias="helicoptericon.svg">resources/helicoptericon.svg</file>
@@ -34,7 +34,7 @@
         <file alias="Play">resources/Play.svg</file>
         <file alias="PowerButton">resources/PowerButton.svg</file>
         <file alias="QGCLogoBlack">resources/QGCLogoBlack.svg</file>
-		<file alias="QGCLogoFull">resources/QGCLogoFull.svg</file>
+        <file alias="QGCLogoFull">resources/QGCLogoFull.svg</file>
         <file alias="QGCLogoWhite">resources/QGCLogoWhite.svg</file>
         <file alias="QGCLogoArrow">resources/QGCLogoArrow.svg</file>
         <file alias="QGroundControlConnect">resources/QGroundControlConnect.svg</file>
@@ -56,6 +56,7 @@
         <file alias="street.png">resources/street.png</file>
         <file alias="measurement.png">resources/measurement.png</file>
         <file alias="calculator.png">resources/calculator.png</file>
+        <file alias="fish.svg">resources/fish.svg</file>
     </qresource>
     <qresource prefix="/res/firmware">
         <file alias="3drradio.png">resources/firmware/3drradio.png</file>

qgroundcontrol.qrc

@@ -293,6 +293,7 @@
         <file alias="MeasurementComplexItem/AreaDataEditor.qml">src/MeasurementComplexItem/qml/AreaDataEditor.qml</file>
         <file alias="MeasurementComplexItem/ParameterEditor.qml">src/MeasurementComplexItem/qml/ParameterEditor.qml</file>
         <file alias="MeasurementComplexItem/qmldir">src/MeasurementComplexItem/qml/MeasurementComplexItem.qmldir</file>
+        <file alias="MeasurementComplexItem/NemoEditor.qml">src/MeasurementComplexItem/qml/NemoEditor.qml</file>
     </qresource>
     <qresource prefix="/FirstRunPromptDialogs">
         <file alias="UnitsFirstRunPrompt.qml">src/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml</file>

resources/InstrumentValueIcons/.directory

+[Dolphin]
+PreviewsShown=true
+Timestamp=2020,12,19,15,18,21
+Version=4

resources/credits.txt

+fish.svg: from https://commons.wikimedia.org/wiki/File:Font_Awesome_5_solid_fish.svg 

resources/fish.svg

+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><path d="M327.1 96c-89.97 0-168.54 54.77-212.27 101.63L27.5 131.58c-12.13-9.18-30.24.6-27.14 14.66L24.54 256 .35 365.77c-3.1 14.06 15.01 23.83 27.14 14.66l87.33-66.05C158.55 361.23 237.13 416 327.1 416 464.56 416 576 288 576 256S464.56 96 327.1 96zm87.43 184c-13.25 0-24-10.75-24-24 0-13.26 10.75-24 24-24 13.26 0 24 10.74 24 24 0 13.25-10.75 24-24 24z"/></svg>
+<!--
+Font Awesome Free 5.2.0 by @fontawesome - https://fontawesome.com
+License - https://fontawesome.com/license (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)
+-->
\ No newline at end of file

src/MeasurementComplexItem/AreaData.cc

@@ -126,8 +126,9 @@ bool AreaData::isCorrect(bool showError) {
   //  ss << "safeAreaENU: " << bg::wkt(safeAreaENU) << std::endl;
   //  qDebug() << ss.str().c_str();
   if (!bg::covered_by(measurementAreaENU, safeAreaENU)) {
-    _processError(tr("Measurement Area not inside Safe Area. Please adjust "
-                     "the Measurement Area.\n"),
+    _processError(tr("Measurement Area is not covered by Safe "
+                     "Area. Please adjust "
+                     "the areas accordingly.\n"),
                   showError);
     return false;
   }
@@ -228,10 +229,10 @@ void AreaData::intersection(bool showError) {
       boost::geometry::intersection(measurementAreaENU, safeAreaENU, outputENU);
 
       if (outputENU.size() < 1 || outputENU[0].outer().size() < 4) {
-        _processError(
-            "Intersection did't deliver any result. Measurement Area and "
-            "Safe Area must touch each other.",
-            showError);
+        _processError("Intersection did't deliver any result. The Measurement "
+                      "Area(s) and "
+                      "The Safe Area must touch each other.",
+                      showError);
         return;
       }
 
@@ -266,11 +267,29 @@ void AreaData::intersection(bool showError) {
   }
 }
 
-MeasurementArea *AreaData::measurementArea() {
-  return getGeoArea<MeasurementArea *>(_areaList);
+QVector<MeasurementArea *> AreaData::measurementAreaArray() {
+  return getGeoAreaList<MeasurementArea *, QVector>(_areaList);
+}
+
+QVector<SafeArea *> AreaData::safeAreaArray() {
+  return getGeoAreaList<SafeArea *, QVector>(_areaList);
 }
 
-SafeArea *AreaData::safeArea() { return getGeoArea<SafeArea *>(_areaList); }
+QmlObjectListModel *AreaData::measurementAreaList() {
+  _measurementAreaList.clear();
+  auto array = getGeoAreaList<MeasurementArea *, QVector>(_areaList);
+  for (auto area : array)
+    _measurementAreaList.append(area);
+  return &_measurementAreaList;
+}
+
+QmlObjectListModel *AreaData::safeAreaList() {
+  _safeAreaList.clear();
+  auto array = getGeoAreaList<SafeArea *, QVector>(_areaList);
+  for (auto &area : array)
+    _safeAreaList.append(area);
+  return &_safeAreaList;
+}
 
 bool AreaData::operator==(const AreaData &other) const {
   if (_areaList.count() == other._areaList.count()) {
@@ -442,13 +461,13 @@ bool AreaData::_getAreas(MeasurementArea **measurementArea, SafeArea **safeArea,
   *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
   if (*measurementArea == nullptr) {
     _processError(
-        tr("Measurement Area missing. Please define a measurement area."),
+        tr("Measurement Area is missing. Please define a Measurement Area."),
         showError);
     return false;
   }
   *safeArea = getGeoArea<SafeArea *>(_areaList);
   if (*safeArea == nullptr) {
-    _processError(tr("Safe Area missing. Please define a safe area."),
+    _processError(tr("Safe Area is missing. Please define a Safe Area."),
                   showError);
     return false;
   }

src/MeasurementComplexItem/AreaData.h

@@ -20,6 +20,10 @@ public:
   AreaData &operator=(const AreaData &other);
 
   Q_PROPERTY(QmlObjectListModel *areaList READ areaList NOTIFY areaListChanged)
+  Q_PROPERTY(QmlObjectListModel *measurementAreaList READ measurementAreaList
+                 NOTIFY areaListChanged)
+  Q_PROPERTY(
+      QmlObjectListModel *safeAreaList READ safeAreaList NOTIFY areaListChanged)
   Q_PROPERTY(QString errorString READ errorString NOTIFY error)
 
   // Member Methodes
@@ -70,8 +74,10 @@ public:
   Q_INVOKABLE bool initialized();
   Q_INVOKABLE void intersection(bool showError = true);
 
-  Q_INVOKABLE MeasurementArea *measurementArea();
-  Q_INVOKABLE SafeArea *safeArea();
+  QVector<MeasurementArea *> measurementAreaArray();
+  QVector<SafeArea *> safeAreaArray();
+  QmlObjectListModel *measurementAreaList();
+  QmlObjectListModel *safeAreaList();
 
   bool operator==(const AreaData &other) const;
   bool operator!=(const AreaData &other) const;
@@ -97,5 +103,7 @@ private:
 
   QGeoCoordinate _origin;
   QmlObjectListModel _areaList;
+  QmlObjectListModel _measurementAreaList;
+  QmlObjectListModel _safeAreaList;
   QString _errorString;
 };

src/MeasurementComplexItem/GeneratorBase.h

@@ -83,9 +83,9 @@ private:
   std::map<QString, Creator> _creatorMap;
 };
 
+#define pGeneratorFactory ::routing::GeneratorFactory::instance()
 #define REGISTER_GENERATOR(type, creator)                                      \
   namespace {                                                                  \
-  auto registered =                                                            \
-      GeneratorFactory::instance() -> registerGenerator(type, creator);        \
+  auto registered = pGeneratorFactory -> registerGenerator(type, creator);     \
   }
 } // namespace routing

src/MeasurementComplexItem/GenericSingelton.h

@@ -3,6 +3,8 @@
 #include <QScopedPointer>
 #include <QtGlobal>
 
+// from https://stackoverflow.com/questions/46172607/qt-singleton-implementation
+
 template <class T> class GenericSingelton {
 private:
   typedef T *(*CreateInstanceFunction)();

src/MeasurementComplexItem/MeasurementComplexItem.cc

@@ -247,8 +247,7 @@ bool MeasurementComplexItem::load(const QJsonObject &complexObject,
         QString e;
 
         // create generator
-        auto gen = routing::GeneratorFactory::instance()->create(
-            jsonGen, e, &parent /*parent*/);
+        auto gen = pGeneratorFactory->create(jsonGen, e, &parent /*parent*/);
 
         if (gen != nullptr) {
           // remove generators of same type and insert this generator.
@@ -267,7 +266,7 @@ bool MeasurementComplexItem::load(const QJsonObject &complexObject,
           errorString.append(
               tr("Error loading generator of type ") +
               jsonGen[routing::GeneratorBase::typeKey].toString() + ".\n");
-          if (!routing::GeneratorFactory::instance()->registered(
+          if (!pGeneratorFactory->registered(
                   jsonGen[routing::GeneratorBase::typeKey].toString())) {
             errorString.append(tr("This type is unknown.\n"));
             qCritical()
@@ -360,8 +359,10 @@ bool MeasurementComplexItem::load(const QJsonObject &complexObject,
 
     // Check if variants are covered by safe area.
     if (variantsSuccess) {
-      auto safeArea = _pCurrentData->safeArea();
-      if (safeArea != nullptr) {
+      auto safeAreaArray = _pCurrentData->safeAreaArray();
+
+      if (safeAreaArray.size() > 0 && safeAreaArray.at(0) != nullptr) {
+        auto safeArea = safeAreaArray[0];
         QGeoCoordinate origin =
             safeArea->pathModel().value<QGCQGeoCoordinate *>(0)->coordinate();
         snake::FPolygon safeAreaENU;
@@ -733,8 +734,11 @@ void MeasurementComplexItem::_updateFlightpathSegments() {
   if (hasCollisionOld != hasCollision) {
     emit terrainCollisionChanged(hasCollision);
   }
-  if (_pAreaData->measurementArea() != nullptr) {
-    _pAreaData->measurementArea()->setShowAltColor(hasCollision);
+  auto measurementAreaArray = _pAreaData->measurementAreaArray();
+  for (auto area : measurementAreaArray) {
+    if (area != nullptr) {
+      area->setShowAltColor(hasCollision);
+    }
   }
 
   _masterController->missionController()->recalcTerrainProfile();
@@ -782,6 +786,20 @@ void MeasurementComplexItem::_updateRoute() {
 
     if (this->_pAreaData->isCorrect()) {
 
+      auto measurmentAreaArray = _pAreaData->measurementAreaArray();
+      bool measurementComplete = true;
+      for (const auto &area : measurmentAreaArray) {
+        if (!area->measurementCompleted()) {
+          measurementComplete = false;
+        }
+      }
+
+      if (measurementComplete) {
+        qCDebug(MeasurementComplexItemLog)
+            << "_updateWorker(): measurement complete!";
+        return;
+      }
+
       // Prepare data.
       auto origin = this->_pAreaData->origin();
       origin.setAltitude(0);
@@ -1039,13 +1057,13 @@ void MeasurementComplexItem::resetGenerators() {
     removeGenerator(0);
   }
 
-  auto lg = routing::GeneratorFactory::instance()->create(
-      routing::LinearGenerator::typeString, this);
+  auto lg =
+      pGeneratorFactory->create(routing::LinearGenerator::typeString, this);
   lg->setData(this->_pAreaData);
   addGenerator(lg);
 
-  auto cg = routing::GeneratorFactory::instance()->create(
-      routing::CircularGenerator::typeString, this);
+  auto cg =
+      pGeneratorFactory->create(routing::CircularGenerator::typeString, this);
   cg->setData(this->_pAreaData);
   addGenerator(cg);
 }
@@ -1139,6 +1157,24 @@ void MeasurementComplexItem::abortEditing() {
   }
 }
 
+void MeasurementComplexItem::reset() {
+  if (editing()) {
+    *_pEditorData = *_pAreaData;
+  }
+}
+
+bool MeasurementComplexItem::initialize(const QGeoCoordinate &bottomLeft,
+                                        const QGeoCoordinate &topRight) {
+  bool r1 = _pAreaData->initialize(bottomLeft, topRight);
+  bool r2 = _pEditorData->initialize(bottomLeft, topRight);
+
+  return r1 && r2;
+}
+
+bool MeasurementComplexItem::initialized() {
+  return _pCurrentData->initialized();
+}
+
 void MeasurementComplexItem::_storeRoutingData(
     MeasurementComplexItem::PtrRoutingData pRoute) {
   if (this->_state == STATE::ROUTING) {

src/MeasurementComplexItem/MeasurementComplexItem.h

@@ -174,6 +174,31 @@ public:
   //! editingStart().
   //!
   Q_INVOKABLE void abortEditing();
+  //!
+  //! \brief reset Resets the areas to the state before startEditing().
+  //!
+  //! Resets the areas to the state before startEditing(). Does nothing if
+  //! editinge() == false.
+  //!
+  Q_INVOKABLE void reset();
+
+  //!
+  //! \brief initialize Initializes the areas in a valid way, such that they
+  //! area inside the bounding box. \param bottomLeft bottom left corner of the
+  //! bounding box. \param topRight  top right corner of the bounding box. \note
+  //! Behavior is undefined, if \p bottomLeft and \p topRight are not the bottom
+  //! left and the top right corner of the bounding box. \return Returns true on
+  //! succes, false either.
+  //!
+  Q_INVOKABLE bool initialize(const QGeoCoordinate &bottomLeft,
+                              const QGeoCoordinate &topRight);
+  //!
+  //! \brief initialized Checks if area data is initialized
+  //! \return Returns true if area list contains a SafeArea and a
+  //! MeasurementArea and both areas have at least three vertices, returns false
+  //! either.
+  //!
+  Q_INVOKABLE bool initialized();
 
   // Property getters
   const AreaData *areaData() const;

src/MeasurementComplexItem/NemoInterface.cpp

@@ -12,6 +12,7 @@
 
 #include <QTimer>
 
+#include "GenericSingelton.h"
 #include "geometry/MeasurementArea.h"
 #include "geometry/snake.h"
 #include "nemo_interface/QNemoHeartbeat.h"
@@ -426,8 +427,15 @@ bool NemoInterface::Impl::setStatus(NemoInterface::STATUS s) {
 
 // ===============================================================
 // NemoInterface
-NemoInterface::NemoInterface(QObject *parent)
-    : QObject(parent), pImpl(std::make_unique<NemoInterface::Impl>(this)) {}
+NemoInterface::NemoInterface()
+    : QObject(), pImpl(std::make_unique<NemoInterface::Impl>(this)) {}
+
+NemoInterface *NemoInterface::createInstance() { return new NemoInterface(); }
+
+NemoInterface *NemoInterface::instance() {
+  return GenericSingelton<NemoInterface>::instance(
+      NemoInterface::createInstance);
+}
 
 NemoInterface::~NemoInterface() {}
 
@@ -449,9 +457,7 @@ bool NemoInterface::hasTileData(const TileData &tileData) const {
   return this->pImpl->hasTileData(tileData);
 }
 
-int NemoInterface::status() const { return integral(this->pImpl->status()); }
-
-NemoInterface::STATUS NemoInterface::statusEnum() const {
+NemoInterface::STATUS NemoInterface::status() const {
   return this->pImpl->status();
 }
 

src/MeasurementComplexItem/NemoInterface.h

@@ -12,7 +12,14 @@ class NemoInterface : public QObject {
   class Impl;
   using PImpl = std::unique_ptr<Impl>;
 
+  NemoInterface();
+  NemoInterface(NemoInterface &other) = delete;
+  static NemoInterface *createInstance();
+
 public:
+  ~NemoInterface() override;
+  static NemoInterface *instance();
+
   enum class STATUS {
     NOT_CONNECTED = 0,
     HEARTBEAT_DETECTED = 1,
@@ -20,11 +27,9 @@ public:
     TIMEOUT = -1,
     INVALID_HEARTBEAT = -2
   };
+  Q_ENUM(STATUS)
 
-  explicit NemoInterface(QObject *parent = nullptr);
-  ~NemoInterface() override;
-
-  Q_PROPERTY(int status READ status NOTIFY statusChanged)
+  Q_PROPERTY(STATUS status READ status NOTIFY statusChanged)
   Q_PROPERTY(QString statusString READ statusString NOTIFY statusChanged)
   Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
   Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
@@ -40,8 +45,7 @@ public:
   void setAutoPublish(bool ap);
   void setHoldProgress(bool hp);
 
-  int status() const;
-  STATUS statusEnum() const;
+  STATUS status() const;
   QString statusString() const;
   QVector<int> progress() const;
   QString editorQml();
@@ -55,3 +59,5 @@ signals:
 private:
   PImpl pImpl;
 };
+
+#define pNemoInterface NemoInterface::instance()

src/MeasurementComplexItem/geometry/GeoArea.h

@@ -56,8 +56,14 @@ private:
 // Example usage:
 // QmlObjecListModel list;
 // .... add areas ....
-// auto area = getArea<WimaMeasurementArea *>(list); // returns the first
-// WimaMeasurementArea or nullptr
+// auto area = getGeoArea<MeasurementArea *>(list); // returns the first
+// MeasurementArea or nullptr
+//! \example
+//!
+//! QmlObjecListModel list;
+//! // .... add areas ....
+//! auto area = getGeoArea<MeasurementArea *>(list); // returns the first
+//! MeasurementArea or nullptr
 template <class AreaPtr, class QObjectList>
 inline AreaPtr getGeoArea(QObjectList &list) {
   static_assert(std::is_pointer<AreaPtr>::value,
@@ -72,5 +78,28 @@ inline AreaPtr getGeoArea(QObjectList &list) {
   return nullptr;
 }
 
+//! \example
+//!
+//! QmlObjecListModel list;
+//! // .... add areas ....
+//! auto areaArray = getGeoAreaArray<MeasurementArea *>(list); // returns a
+//! QList<MeasurementArea*>
+//! // containing all MeasurementArea's inside list
+template <class AreaPtr, template <class> class Container = QList,
+          class QObjectList>
+inline Container<AreaPtr> getGeoAreaList(QObjectList &list) {
+  static_assert(std::is_pointer<AreaPtr>::value,
+                "AreaPtr must be a pointer type.");
+  Container<AreaPtr> out;
+  for (int i = 0; i < list.count(); ++i) {
+    auto obj = list[i];
+    auto area = qobject_cast<AreaPtr>(obj);
+    if (area != nullptr) {
+      out.append(area);
+    }
+  }
+  return out;
+}
+
 bool copyAreaList(const QmlObjectListModel &from, QmlObjectListModel &to,
                   QObject *parent);

src/MeasurementComplexItem/geometry/MeasurementArea.cc

@@ -2,6 +2,7 @@
 #include "QtConcurrentRun"
 #include "nemo_interface/SnakeTile.h"
 #include "snake.h"
+#include <ctime>
 
 #include <boost/units/systems/si.hpp>
 
@@ -170,7 +171,7 @@ MeasurementArea::MeasurementArea(QObject *parent)
                                        this /* QObject parent */)),
       _showTiles(SettingsFact(settingsGroup, _metaDataMap[showTilesKey],
                               this /* QObject parent */)),
-      _state(STATE::IDLE) {
+      _holdProgress(false), _state(STATE::IDLE) {
   init();
 }
 
@@ -188,7 +189,7 @@ MeasurementArea::MeasurementArea(const MeasurementArea &other, QObject *parent)
                                        this /* QObject parent */)),
       _showTiles(SettingsFact(settingsGroup, _metaDataMap[showTilesKey],
                               this /* QObject parent */)),
-      _state(STATE::IDLE) {
+      _holdProgress(false), _state(STATE::IDLE) {
   init();
   disableUpdate();
 
@@ -272,6 +273,19 @@ int MeasurementArea::maxTiles() const { return SNAKE_MAX_TILES; }
 
 bool MeasurementArea::ready() const { return this->_state == STATE::IDLE; }
 
+bool MeasurementArea::measurementCompleted() const {
+  if (ready()) {
+    for (const auto &p : _progress) {
+      if (p != 100) {
+        return false;
+      }
+    }
+    return true;
+  } else {
+    return false;
+  }
+}
+
 bool MeasurementArea::saveToJson(QJsonObject &json) {
   if (ready()) {
     if (this->GeoArea::saveToJson(json)) {
@@ -406,15 +420,41 @@ bool MeasurementArea::isCorrect() {
 
 bool MeasurementArea::setProgress(const QVector<int> &p) {
   if (ready()) {
-    if (p.size() == this->tiles()->count() && this->_progress != p) {
+    if (!_holdProgress && p.size() == this->tiles()->count() &&
+        this->_progress != p) {
       this->_progress = p;
       emit progressChanged();
       emit progressAccepted();
       return true;
     }
   }
+  emit progressNotAccepted();
   return false;
 }
+
+void MeasurementArea::randomProgress() {
+  if (ready()) {
+    std::srand(std::time(nullptr));
+    for (auto &p : _progress) {
+      p += std::rand() % 100;
+      if (p > 100) {
+        p = 100;
+      }
+    }
+
+    emit progressChanged();
+  }
+}
+
+void MeasurementArea::resetProgress() {
+  if (ready()) {
+    for (auto &p : _progress) {
+      p = 0;
+    }
+
+    emit progressChanged();
+  }
+}
 //!
 //! \brief MeasurementArea::doUpdate
 //! \pre MeasurementArea::deferUpdate must be called first, don't call
@@ -576,3 +616,12 @@ void MeasurementArea::setState(MeasurementArea::STATE s) {
     }
   }
 }
+
+bool MeasurementArea::holdProgress() const { return _holdProgress; }
+
+void MeasurementArea::setHoldProgress(bool holdProgress) {
+  if (_holdProgress != holdProgress) {
+    _holdProgress = holdProgress;
+    emit holdProgressChanged();
+  }
+}

src/MeasurementComplexItem/geometry/MeasurementArea.h

@@ -46,6 +46,8 @@ public:
   Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tilesChanged)
   Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
   Q_PROPERTY(QVector<int> progress READ progressQml NOTIFY progressChanged)
+  Q_PROPERTY(bool holdProgress READ holdProgress WRITE setHoldProgress NOTIFY
+                 holdProgressChanged)
 
   // Overrides from GeoArea
   QString mapVisualQML(void) const override;
@@ -69,10 +71,24 @@ public:
   int maxTiles() const;
   bool ready() const;
 
+  bool measurementCompleted() const;
+
   // Static Variables
   static const char *settingsGroup;
   static const char *nameString;
 
+  //!
+  //! \brief holdProgress
+  //! \return Returns a copy of the holdProgress variable.
+  //!
+  bool holdProgress() const;
+  //!
+  //! \brief setHoldProgress Sets the holdProgress variable to \p holdProgress.
+  //! \note If holdProgress() == true, than setProgress() will do nothing, but
+  //! return false and emit the progressNotAccepted() signal.
+  //!
+  void setHoldProgress(bool holdProgress);
+
 signals:
   void tilesChanged();
   void maxTilesChanged();
@@ -80,9 +96,12 @@ signals:
   void progressAccepted();
   void progressNotAccepted();
   void readyChanged();
+  void holdProgressChanged();
 
 public slots:
   bool setProgress(const QVector<int> &p);
+  Q_INVOKABLE void randomProgress();
+  Q_INVOKABLE void resetProgress();
 
 private slots:
   void doUpdate();
@@ -105,6 +124,7 @@ private:
   SettingsFact _showTiles;
 
   QVector<int> _progress;
+  bool _holdProgress;
   // Tile stuff.
   // Tile stuff.
   mutable QTimer _timer;

src/MeasurementComplexItem/qml/AreaDataEditor.qml

 import QtQuick 2.0
 
+import Qt.labs.settings 1.0
 import QtQuick.Layouts 1.11
 import QtQuick.Controls 1.4
 import QGroundControl.Controls 1.0
@@ -40,17 +41,18 @@ GridLayout {
         }
     }
 
-    ExclusiveGroup {
-        id: areaGroup
-    }
-
     QGCLabel {
-        id: tipLabel
+        text: _root.errorString
         wrapMode: Text.WordWrap
-        horizontalAlignment: Text.AlignHCenter
-        text: qsTr("Use the Area Editor to modify areas.")
-        Layout.fillWidth: true
+        horizontalAlignment: Text.AlignLeft
+        color: "orange"
         Layout.columnSpan: parent.columns
+        Layout.fillWidth: true
+        visible: !_root.areasCorrect
+    }
+
+    ExclusiveGroup {
+        id: areaGroup
     }
 
     Repeater {
@@ -135,7 +137,7 @@ GridLayout {
         id: commandsHeader
         Layout.fillWidth: true
         Layout.columnSpan: parent.columns
-        text: qsTr("Commands and Errors")
+        text: qsTr("Commands")
     }
 
     GridLayout {
@@ -146,16 +148,6 @@ GridLayout {
         Layout.fillWidth: true
         visible: commandsHeader.checked
 
-        QGCLabel {
-            text: qsTr("Message: ") + _root.errorString
-            wrapMode: Text.WordWrap
-            horizontalAlignment: Text.AlignHCenter
-            color: "orange"
-            Layout.columnSpan: parent.columns
-            Layout.fillWidth: true
-            visible: !_root.areasCorrect
-        }
-
         QGCButton {
             text: "Intersection"
             enabled: _root.checked
@@ -168,10 +160,44 @@ GridLayout {
 
         QGCButton {
             text: "Reset"
+            onClicked: {
+                _root.reset()
+            }
+            Layout.fillWidth: true
+        }
+
+        QGCButton {
+            text: "Abort"
             onClicked: {
                 _root.abort()
             }
             Layout.fillWidth: true
+        }
+    }
+
+    SectionHeader {
+        id: hintHeader
+        Layout.fillWidth: true
+        Layout.columnSpan: parent.columns
+        text: qsTr("Hints")
+    }
+
+    GridLayout {
+        columnSpacing: _margin
+        rowSpacing: _margin
+        columns: 2
+        Layout.columnSpan: 2
+        Layout.fillWidth: true
+        visible: hintHeader.checked
+
+        QGCLabel {
+            id: hintLabel
+            wrapMode: Text.WordWrap
+            horizontalAlignment: Text.AlignLeft
+            text: qsTr("Use the Intersection button to clip the Measurement Area(s).
+Use the Reset button to restore the areas to the state before entering this tab.
+Use the Abort button to reset the areas and leave the tab.")
+            Layout.fillWidth: true
             Layout.columnSpan: parent.columns
         }
     }
@@ -193,4 +219,8 @@ GridLayout {
             }
         }
     }
+
+    Settings {
+        property alias showHint: hintHeader.checked
+    }
 }

src/MeasurementComplexItem/qml/MeasurementAreaMapVisual.qml

+
+
 /****************************************************************************
  *
  *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
@@ -6,25 +8,24 @@
  * COPYING.md in the root of the source code directory.
  *
  ****************************************************************************/
-
-import QtQuick          2.3
+import QtQuick 2.3
 import QtQuick.Controls 1.2
-import QtLocation       5.3
-import QtPositioning    5.3
+import QtLocation 5.3
+import QtPositioning 5.3
 
-import QGroundControl               1.0
-import QGroundControl.ScreenTools   1.0
-import QGroundControl.Palette       1.0
-import QGroundControl.Controls      1.0
-import QGroundControl.FlightMap     1.0
+import QGroundControl 1.0
+import QGroundControl.ScreenTools 1.0
+import QGroundControl.Palette 1.0
+import QGroundControl.Controls 1.0
+import QGroundControl.FlightMap 1.0
 
 Item {
     id: _root
 
-    property var map: undefined        ///< Map control to place item in
-    property var geoArea: undefined   ///< GeoArea derived class
+    property var map: undefined ///< Map control to place item in
+    property var geoArea: undefined ///< GeoArea derived class
 
-    opacity: 0.3
+    opacity: 0.2
 
     signal clicked(int sequenceNumber)
 
@@ -35,31 +36,30 @@ Item {
 
     // Area polygon
     QGCMapPolygonVisuals {
-        id:                 mapPolygonVisuals
-
-        mapControl:         _root.map
-        mapPolygon:         _root.geoArea
-        interactive:        geoArea.interactive
-        borderWidth:        3
-        borderColor:        "green"
-        interiorColor:      "green"
-        altColor:           QGroundControl.globalPalette.surveyPolygonTerrainCollision
-        z: 					QGroundControl.zOrderMapItems-1
-        interiorOpacity:    _root.opacity
+        id: mapPolygonVisuals
+
+        mapControl: _root.map
+        mapPolygon: _root.geoArea
+        interactive: geoArea.interactive
+        borderWidth: 3
+        interiorColor: "green"
+        altColor: QGroundControl.globalPalette.surveyPolygonTerrainCollision
+        z: QGroundControl.zOrderMapItems - 1
+        interiorOpacity: _root.opacity
     }
 
     // Add Snake tiles to the map
     Component {
         id: tileComponent
 
-        Item{
+        Item {
             id: root
 
             property MapPolygon polygon
 
-            MapPolygon{
-                id:mapPolygon
-                path:           []
+            MapPolygon {
+                id: mapPolygon
+                path: []
             }
 
             Component.onCompleted: {
@@ -90,27 +90,27 @@ Item {
         property bool enable: geoArea.showTiles.value
         model: enable ? geoArea.tiles : []
 
-        Item{
+        Item {
             property var _tileComponent
-            property int _progress: _root.geoArea.progress[index] ?
-                                        _root.geoArea.progress[index] : 0
+            property int _progress: _root.geoArea.progress[index] ? _root.geoArea.progress[index] : 0
 
             Component.onCompleted: {
                 _tileComponent = tileComponent.createObject(map)
 
-                _tileComponent.polygon.path =
-                        Qt.binding(function(){return object.path})
+                _tileComponent.polygon.path = Qt.binding(function () {
+                    return object.path
+                })
                 _tileComponent.polygon.opacity = 0.6
                 _tileComponent.polygon.border.color = "black"
                 _tileComponent.polygon.border.width = 1
-                _tileComponent.polygon.color =
-                        Qt.binding(function(){return getColor(_progress)})
+                _tileComponent.polygon.color = Qt.binding(function () {
+                    return getColor(_progress)
+                })
             }
 
             Component.onDestruction: {
                 _tileComponent.destroy()
             }
-
         }
     }
 }

src/MeasurementComplexItem/qml/MeasurementComplexItem.qmldir

@@ -4,3 +4,4 @@ LinearGenerator 1.0 LinearGenerator.qml
 CircularGenerator 1.0 CircularGenerator.qml
 SafeAreaEditor 1.0 SafeAreaEditor.qml
 MeasurementAreaEditor 1.0 MeasurementAreaEditor.qml
+NemoEditor 1.0 NemoEditor.qml

src/MeasurementComplexItem/qml/MeasurementItemEditor.qml

@@ -60,7 +60,7 @@ Rectangle {
             Component.onCompleted: currentIndex = editing ? areaEditorIndex : parameterEditorIndex
 
             QGCTabButton {
-                icon.source: "/qmlimages/PatternCamera.png"
+                icon.source: "qrc:/res/waypoint.svg"
                 icon.height: ScreenTools.defaultFontPixelHeight
             }
             QGCTabButton {
@@ -68,7 +68,7 @@ Rectangle {
                 icon.height: ScreenTools.defaultFontPixelHeight
             }
             QGCTabButton {
-                icon.source: "/qmlimages/PatternPresets.png"
+                icon.source: "qrc:/res/fish.svg"
                 icon.height: ScreenTools.defaultFontPixelHeight
             }
 
@@ -124,6 +124,14 @@ Rectangle {
                 missionItem: _root._missionItem
                 availableWidth: mainColumn.width
             }
+
+            MCI.NemoEditor {
+                id: nemoEditor
+
+                checked: visible
+                missionItem: _root._missionItem
+                availableWidth: mainColumn.width
+            }
         }
     } // main Column
 } // Rectangle

src/MeasurementComplexItem/qml/MeasurementItemMapVisual.qml

@@ -56,9 +56,9 @@ Item {
     Component.onCompleted: {
         console.assert(map != undefined, "please set the map property")
 
-        if (!_missionItem.areaData.initialized()){
+        if (!_missionItem.initialized()){
             var bbox = boundingBox()
-            _missionItem.areaData.initialize(bbox[0], bbox[1])
+            _missionItem.initialize(bbox[0], bbox[1])
         }
         //        _addEntryCoordinate()
 //        _addExitCoordinate()

src/MeasurementComplexItem/qml/NemoEditor.qml

+import QtQuick 2.0
+
+import Qt.labs.settings 1.0
+import QtQuick.Layouts 1.11
+import QtQuick.Controls 1.4
+import QGroundControl.Controls 1.0
+import QGroundControl.FactControls 1.0
+import QGroundControl.ScreenTools 1.0
+
+import MeasurementComplexItem 1.0 as MCI
+
+GridLayout {
+    id: _root
+
+    property bool checked: true
+    property var missionItem: undefined
+    property int availableWidth: 300
+    property bool error: errorString.lenght >= 0
+    readonly property bool running: _nemoInterface.running
+    property string errorString: ""
+
+    signal abort
+
+    property var _areaData: missionItem.areaData
+    property real _margin: ScreenTools.defaultFontPixelWidth / 2
+    property var _nemoInterface: MCI.NemoInterface
+    property bool _holding
+
+    columnSpacing: _margin
+    rowSpacing: _margin
+    columns: 2
+
+    Component.onCompleted: {
+        console.assert(missionItem !== undefined,
+                       "please set the missionItem property")
+        _holding = false
+        _stopHolding()
+    }
+
+    QGCLabel {
+        text: _root.errorString
+        wrapMode: Text.WordWrap
+        horizontalAlignment: Text.AlignLeft
+        color: "orange"
+        Layout.columnSpan: parent.columns
+        Layout.fillWidth: true
+        visible: !_root.areasCorrect
+    }
+
+    QGCButton {
+        text: running ? qsTr("Stop") : qsTr("Start")
+        Layout.columnSpan: parent.columns
+        Layout.fillWidth: true
+        onPressed: {
+            if (running) {
+                _nemoInterface.stop()
+            } else {
+                _nemoInterface.start()
+            }
+        }
+    }
+
+    QGCLabel {
+        text: qsTr("Status: ") + _nemoInterface.statusString
+        wrapMode: Text.WordWrap
+        horizontalAlignment: Text.AlignVCenter
+        Layout.columnSpan: parent.columns
+        Layout.fillWidth: true
+    }
+
+    SectionHeader {
+        id: progressHeader
+        Layout.fillWidth: true
+        Layout.columnSpan: parent.columns
+        text: qsTr("Progress")
+    }
+
+    GridLayout {
+        columnSpacing: _margin
+        rowSpacing: _margin
+        columns: 2
+        Layout.columnSpan: parent.columns
+        Layout.fillWidth: true
+        visible: progressHeader.checked
+
+        QGCButton {
+            text: !_holding ? qsTr("Hold") : qsTr("Stop Holding")
+            Layout.fillWidth: true
+            Layout.columnSpan: parent.columns
+            onPressed: {
+                if (_holding) {
+                    _stopHolding()
+                    _holding = false
+                } else {
+                    _holdProgress()
+                    _holding = true
+                }
+            }
+        }
+
+        QGCButton {
+            text: qsTr("Random")
+            Layout.columnSpan: parent.columns
+            Layout.fillWidth: true
+            onPressed: {
+                _randomProgress()
+            }
+        }
+
+        QGCButton {
+            text: qsTr("Reset")
+            Layout.columnSpan: parent.columns
+            Layout.fillWidth: true
+            onPressed: {
+                _resetProgress()
+            }
+        }
+    }
+
+    // bussy indicator
+    ColumnLayout {
+        Layout.fillWidth: true
+        spacing: _margin
+        Layout.maximumWidth: parent.width
+
+        BusyIndicator {
+            id: indicator
+
+            property bool calculating: missionItem.calculating
+
+            running: calculating
+            visible: calculating || timer.running
+
+            onCalculatingChanged: {
+                if (!calculating) {
+                    // defer hiding
+                    timer.restart()
+                }
+            }
+
+            Timer {
+                id: timer
+                interval: 1000
+                repeat: false
+                running: false
+            }
+        }
+    } // indicator column
+
+    SectionHeader {
+        id: hintHeader
+        Layout.fillWidth: true
+        Layout.columnSpan: parent.columns
+        text: qsTr("Hints")
+    }
+
+    GridLayout {
+        columnSpacing: _margin
+        rowSpacing: _margin
+        columns: 2
+        Layout.columnSpan: 2
+        Layout.fillWidth: true
+        visible: hintHeader.checked
+
+        QGCLabel {
+            id: hintLabel
+            wrapMode: Text.WordWrap
+            horizontalAlignment: Text.AlignLeft
+            text: qsTr("Use this tab to connect to a device implementing the Nemo Interface.
+Use the Random button to simulate measurement progress.")
+            Layout.fillWidth: true
+            Layout.columnSpan: parent.columns
+        }
+    }
+
+    Settings {
+        property alias showHint: hintHeader.checked
+    }
+
+    function _holdProgress() {
+        var areaArray = _areaData.measurementAreaList
+        for (var i = 0; i < areaArray.count; ++i) {
+            var area = areaArray.get(i)
+            if (area) {
+                area.holdProgress = true
+            } else {
+                console.log("empty area!")
+            }
+        }
+    }
+
+    function _stopHolding() {
+        var areaArray = _areaData.measurementAreaList
+        for (var i = 0; i < areaArray.count; ++i) {
+            var area = areaArray.get(i)
+            if (area) {
+                area.holdProgress = false
+            } else {
+                console.log("empty area!")
+            }
+        }
+    }
+
+    function _randomProgress() {
+        var areaArray = _areaData.measurementAreaList
+        for (var i = 0; i < areaArray.count; ++i) {
+            var area = areaArray.get(i)
+            if (area) {
+                area.randomProgress()
+            } else {
+                console.log("empty area!")
+            }
+        }
+    }
+
+    function _resetProgress() {
+        var areaArray = _areaData.measurementAreaList
+        for (var i = 0; i < areaArray.count; ++i) {
+            var area = areaArray.get(i)
+            if (area) {
+                area.resetProgress()
+            } else {
+                console.log("empty area!")
+            }
+        }
+    }
+}

src/MeasurementComplexItem/qml/SafeAreaMapVisual.qml

@@ -39,11 +39,10 @@ Item {
         mapPolygon:         geoArea
         interactive:        geoArea.interactive
         borderWidth:        2
-        borderColor:        "blue"
         interiorColor:      "blue"
         altColor:           QGroundControl.globalPalette.surveyPolygonTerrainCollision
         z: 					QGroundControl.zOrderMapItems-1
-        interiorOpacity:    0.3
+        interiorOpacity:    0.2
     }
 
     Item {

src/MissionManager/MissionItem.h

@@ -7,157 +7,155 @@
  *
  ****************************************************************************/
 
-
 #ifndef MissionItem_H
 #define MissionItem_H
 
+#include <QGeoCoordinate>
+#include <QJsonObject>
 #include <QObject>
 #include <QString>
-#include <QtQml>
 #include <QTextStream>
-#include <QJsonObject>
-#include <QGeoCoordinate>
+#include <QtQml>
 
-#include "QGCMAVLink.h"
-#include "QGC.h"
-#include "QmlObjectListModel.h"
 #include "Fact.h"
+#include "QGC.h"
 #include "QGCLoggingCategory.h"
+#include "QGCMAVLink.h"
 #include "QmlObjectListModel.h"
 
 class SurveyComplexItem;
-class RouteComplexItem;
 class SimpleMissionItem;
 class MissionController;
 #ifdef UNITTEST_BUILD
-    class MissionItemTest;
+class MissionItemTest;
 #endif
 
 // Represents a Mavlink mission command.
-class MissionItem : public QObject
-{
-    Q_OBJECT
-    
+class MissionItem : public QObject {
+  Q_OBJECT
+
 public:
-    MissionItem(QObject* parent = nullptr);
-
-    MissionItem(int             sequenceNumber,
-                MAV_CMD         command,
-                MAV_FRAME       frame,
-                double          param1,
-                double          param2,
-                double          param3,
-                double          param4,
-                double          param5,
-                double          param6,
-                double          param7,
-                bool            autoContinue,
-                bool            isCurrentItem,
-                QObject*        parent = nullptr);
-
-    MissionItem(const MissionItem& other, QObject* parent = nullptr);
-
-    ~MissionItem();
-
-    const MissionItem& operator=(const MissionItem& other);
-    
-    MAV_CMD         command         (void) const { return (MAV_CMD)_commandFact.rawValue().toInt(); }
-    bool            isCurrentItem   (void) const { return _isCurrentItem; }
-    int             sequenceNumber  (void) const { return _sequenceNumber; }
-    MAV_FRAME       frame           (void) const { return (MAV_FRAME)_frameFact.rawValue().toInt(); }
-    bool            autoContinue    (void) const { return _autoContinueFact.rawValue().toBool(); }
-    double          param1          (void) const { return _param1Fact.rawValue().toDouble(); }
-    double          param2          (void) const { return _param2Fact.rawValue().toDouble(); }
-    double          param3          (void) const { return _param3Fact.rawValue().toDouble(); }
-    double          param4          (void) const { return _param4Fact.rawValue().toDouble(); }
-    double          param5          (void) const { return _param5Fact.rawValue().toDouble(); }
-    double          param6          (void) const { return _param6Fact.rawValue().toDouble(); }
-    double          param7          (void) const { return _param7Fact.rawValue().toDouble(); }
-    QGeoCoordinate  coordinate      (void) const;
-    int             doJumpId        (void) const { return _doJumpId; }
-
-    /// @return Flight speed change value if this item supports it. If not it returns NaN.
-    double specifiedFlightSpeed(void) const;
-
-    /// @return Flight gimbal yaw change value if this item supports it. If not it returns NaN.
-    double specifiedGimbalYaw(void) const;
-
-    /// @return Flight gimbal pitch change value if this item supports it. If not it returns NaN.
-    double specifiedGimbalPitch(void) const;
-
-    void setCommand         (MAV_CMD command);
-    void setSequenceNumber  (int sequenceNumber);
-    void setIsCurrentItem   (bool isCurrentItem);
-    void setFrame           (MAV_FRAME frame);
-    void setAutoContinue    (bool autoContinue);
-    void setParam1          (double param1);
-    void setParam2          (double param2);
-    void setParam3          (double param3);
-    void setParam4          (double param4);
-    void setParam5          (double param5);
-    void setParam6          (double param6);
-    void setParam7          (double param7);
-    
-    void save(QJsonObject& json) const;
-    bool load(QTextStream &loadStream);
-    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
-
-    bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
+  MissionItem(QObject *parent = nullptr);
+
+  MissionItem(int sequenceNumber, MAV_CMD command, MAV_FRAME frame,
+              double param1, double param2, double param3, double param4,
+              double param5, double param6, double param7, bool autoContinue,
+              bool isCurrentItem, QObject *parent = nullptr);
+
+  MissionItem(const MissionItem &other, QObject *parent = nullptr);
+
+  ~MissionItem();
+
+  const MissionItem &operator=(const MissionItem &other);
+
+  MAV_CMD command(void) const {
+    return (MAV_CMD)_commandFact.rawValue().toInt();
+  }
+  bool isCurrentItem(void) const { return _isCurrentItem; }
+  int sequenceNumber(void) const { return _sequenceNumber; }
+  MAV_FRAME frame(void) const {
+    return (MAV_FRAME)_frameFact.rawValue().toInt();
+  }
+  bool autoContinue(void) const {
+    return _autoContinueFact.rawValue().toBool();
+  }
+  double param1(void) const { return _param1Fact.rawValue().toDouble(); }
+  double param2(void) const { return _param2Fact.rawValue().toDouble(); }
+  double param3(void) const { return _param3Fact.rawValue().toDouble(); }
+  double param4(void) const { return _param4Fact.rawValue().toDouble(); }
+  double param5(void) const { return _param5Fact.rawValue().toDouble(); }
+  double param6(void) const { return _param6Fact.rawValue().toDouble(); }
+  double param7(void) const { return _param7Fact.rawValue().toDouble(); }
+  QGeoCoordinate coordinate(void) const;
+  int doJumpId(void) const { return _doJumpId; }
+
+  /// @return Flight speed change value if this item supports it. If not it
+  /// returns NaN.
+  double specifiedFlightSpeed(void) const;
+
+  /// @return Flight gimbal yaw change value if this item supports it. If not it
+  /// returns NaN.
+  double specifiedGimbalYaw(void) const;
+
+  /// @return Flight gimbal pitch change value if this item supports it. If not
+  /// it returns NaN.
+  double specifiedGimbalPitch(void) const;
+
+  void setCommand(MAV_CMD command);
+  void setSequenceNumber(int sequenceNumber);
+  void setIsCurrentItem(bool isCurrentItem);
+  void setFrame(MAV_FRAME frame);
+  void setAutoContinue(bool autoContinue);
+  void setParam1(double param1);
+  void setParam2(double param2);
+  void setParam3(double param3);
+  void setParam4(double param4);
+  void setParam5(double param5);
+  void setParam6(double param6);
+  void setParam7(double param7);
+
+  void save(QJsonObject &json) const;
+  bool load(QTextStream &loadStream);
+  bool load(const QJsonObject &json, int sequenceNumber, QString &errorString);
+
+  bool relativeAltitude(void) const {
+    return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
+  }
 
 signals:
-    void isCurrentItemChanged       (bool isCurrentItem);
-    void sequenceNumberChanged      (int sequenceNumber);
-    void specifiedFlightSpeedChanged(double flightSpeed);
-    void specifiedGimbalYawChanged  (double gimbalYaw);
-    void specifiedGimbalPitchChanged(double gimbalPitch);
+  void isCurrentItemChanged(bool isCurrentItem);
+  void sequenceNumberChanged(int sequenceNumber);
+  void specifiedFlightSpeedChanged(double flightSpeed);
+  void specifiedGimbalYawChanged(double gimbalYaw);
+  void specifiedGimbalPitchChanged(double gimbalPitch);
 
 private slots:
-    void _param1Changed(QVariant value);
-    void _param2Changed(QVariant value);
-    void _param3Changed(QVariant value);
+  void _param1Changed(QVariant value);
+  void _param2Changed(QVariant value);
+  void _param3Changed(QVariant value);
 
 private:
-    bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
-    bool _convertJsonV2ToV3(QJsonObject& json, QString& errorString);
-
-
-    Fact    _autoContinueFact;
-    Fact    _commandFact;
-    Fact    _frameFact;
-    Fact    _param1Fact;
-    Fact    _param2Fact;
-    Fact    _param3Fact;
-    Fact    _param4Fact;
-    Fact    _param5Fact;
-    Fact    _param6Fact;
-    Fact    _param7Fact;
-
-    int     _sequenceNumber;
-    int     _doJumpId;
-    bool    _isCurrentItem;
-    
-    // Keys for Json save
-    static const char*  _jsonFrameKey;
-    static const char*  _jsonCommandKey;
-    static const char*  _jsonAutoContinueKey;
-    static const char*  _jsonParamsKey;
-    static const char*  _jsonDoJumpIdKey;
-
-    // Deprecated V2 format keys
-    static const char*  _jsonCoordinateKey;
-
-    // Deprecated V1 format keys
-    static const char*  _jsonParam1Key;
-    static const char*  _jsonParam2Key;
-    static const char*  _jsonParam3Key;
-    static const char*  _jsonParam4Key;
-
-    friend class SurveyComplexItem;
-    friend class RouteComplexItem;
-    friend class SimpleMissionItem;
-    friend class MissionController;
+  bool _convertJsonV1ToV2(const QJsonObject &json, QJsonObject &v2Json,
+                          QString &errorString);
+  bool _convertJsonV2ToV3(QJsonObject &json, QString &errorString);
+
+  Fact _autoContinueFact;
+  Fact _commandFact;
+  Fact _frameFact;
+  Fact _param1Fact;
+  Fact _param2Fact;
+  Fact _param3Fact;
+  Fact _param4Fact;
+  Fact _param5Fact;
+  Fact _param6Fact;
+  Fact _param7Fact;
+
+  int _sequenceNumber;
+  int _doJumpId;
+  bool _isCurrentItem;
+
+  // Keys for Json save
+  static const char *_jsonFrameKey;
+  static const char *_jsonCommandKey;
+  static const char *_jsonAutoContinueKey;
+  static const char *_jsonParamsKey;
+  static const char *_jsonDoJumpIdKey;
+
+  // Deprecated V2 format keys
+  static const char *_jsonCoordinateKey;
+
+  // Deprecated V1 format keys
+  static const char *_jsonParam1Key;
+  static const char *_jsonParam2Key;
+  static const char *_jsonParam3Key;
+  static const char *_jsonParam4Key;
+
+  friend class SurveyComplexItem;
+  friend class RouteComplexItem;
+  friend class SimpleMissionItem;
+  friend class MissionController;
 #ifdef UNITTEST_BUILD
-    friend class MissionItemTest;
+  friend class MissionItemTest;
 #endif
 };
 

src/QGCApplication.cc

@@ -186,6 +186,11 @@ static QObject *shapeFileHelperSingletonFactory(QQmlEngine *, QJSEngine *) {
   return new ShapeFileHelper;
 }
 
+QObject *getNemoInterface(QQmlEngine *engine, QJSEngine *) {
+  engine->setObjectOwnership(pNemoInterface, QQmlEngine::CppOwnership);
+  return pNemoInterface;
+}
+
 QGCApplication::QGCApplication(int &argc, char *argv[], bool unitTesting)
     : QApplication(argc, argv), _runningUnitTests(unitTesting) {
   _app = this;
@@ -665,13 +670,13 @@ void QGCApplication::_initCommon() {
 #endif
 
   qmlRegisterUncreatableType<routing::LinearGenerator>(
-      "RouteComplexItem", 1, 0, "LinearGenerator", kRefOnly);
-  qmlRegisterType<AreaData>("RouteComplexItem", 1, 0, "AreaData");
-  qmlRegisterUncreatableType<NemoInterface>("RouteComplexItem", 1, 0,
-                                            "NemoInterface", kRefOnly);
+      "MeasurementComplexItem", 1, 0, "LinearGenerator", kRefOnly);
+  qmlRegisterType<AreaData>("MeasurementComplexItem", 1, 0, "AreaData");
+  qmlRegisterSingletonType<NemoInterface>("MeasurementComplexItem", 1, 0,
+                                          "NemoInterface", getNemoInterface);
   qmlRegisterInterface<routing::GeneratorBase>("GeneratorBase");
   qmlRegisterUncreatableType<routing::CircularGenerator>(
-      "RouteComplexItem", 1, 0, "CircularGenerator", kRefOnly);
+      "MeasurementComplexItem", 1, 0, "CircularGenerator", kRefOnly);
 
   qmlRegisterType<GeoTagController>(kQGCControllers, 1, 0, "GeoTagController");
   qmlRegisterType<MavlinkConsoleController>(kQGCControllers, 1, 0,