working on sync WiMA many way-points problem

src/Wima/WimaController.cc

@@ -291,25 +291,6 @@ bool WimaController::forceUploadToVehicle()
     for (int i = 0; i < _currentMissionItems.count(); i++){
         SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
         _missionController->insertSimpleMissionItem(*item, visuals->count());
-        if (item->command() == MAV_CMD_DO_CHANGE_SPEED) {
-            qWarning() << item->missionItem().param2();
-        }
-    }
-
-    qWarning("blah");
-    for (int i = 0; i < _missionController->visualItems()->count(); i++){
-        SimpleMissionItem *item =  _missionController->visualItems()->value<SimpleMissionItem*>(i);
-        if (item == nullptr)
-            continue;
-        if (item->command() == MAV_CMD_DO_CHANGE_SPEED) {
-            qWarning() << item->missionItem().param2();
-        }
-    }
-    for (int i = 0; i < _missionController->visualItems()->count(); i++){
-        SimpleMissionItem *item =  _missionController->visualItems()->value<SimpleMissionItem*>(i);
-        if (item == nullptr)
-            continue;
-        qWarning() << i << ":" << item->command();
     }
 
     _masterController->sendToVehicle();
@@ -503,10 +484,10 @@ bool WimaController::fetchContainerData()
         return false;
     }
 
-    WimaPlanData planData = _container->pull();
+    QSharedPointer<const WimaPlanData> planData = _container->pull();
 
     // extract list with WimaAreas
-    QList<const WimaAreaData*> areaList = planData.areaList();
+    QList<const WimaAreaData*> areaList = planData->areaList();
 
     int areaCounter = 0;
     int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
@@ -550,7 +531,7 @@ bool WimaController::fetchContainerData()
     }
 
     // extract mission items
-    QList<MissionItem> tempMissionItems = planData.missionItems();
+    QList<QSharedPointer<const MissionItem>> tempMissionItems = planData->missionItems();
     if (tempMissionItems.size() < 1)
         return false;
 
@@ -560,7 +541,7 @@ bool WimaController::fetchContainerData()
 
     // create SimpleMissionItem by using _missionController
     for ( int i = 0; i < tempMissionItems.size(); i++) {
-        _missionController->insertSimpleMissionItem(tempMissionItems[i], missionControllerVisualItems->count());
+        _missionController->insertSimpleMissionItem(*tempMissionItems[i], missionControllerVisualItems->count());
     }
     // copy mission items from _missionController to _missionItems
     for ( int i = 1; i < missionControllerVisualItems->count(); i++) {

src/Wima/WimaDataContainer.cc

@@ -2,7 +2,6 @@
 
 WimaDataContainer::WimaDataContainer(QObject *parent)
     :   QObject     (parent)
-    ,   _planData   (this /* parent */)
 {
 
 }
@@ -15,7 +14,7 @@ WimaDataContainer::WimaDataContainer(QObject *parent)
  *
  * \sa WimaPlanData
  */
-void WimaDataContainer::push(const WimaPlanData &planData)
+void WimaDataContainer::push(QSharedPointer<const WimaPlanData> planData)
 {
     _planData = planData;
 
@@ -29,7 +28,7 @@ void WimaDataContainer::push(const WimaPlanData &planData)
  *
  * \sa WimaPlanData
  */
-const WimaPlanData &WimaDataContainer::pull() const
+QSharedPointer<const WimaPlanData> WimaDataContainer::pull() const
 {
     return  _planData;
 }

src/Wima/WimaDataContainer.h

@@ -18,11 +18,11 @@ signals:
     void newDataAvailable(void);
 
 public slots:
-    void                push(const WimaPlanData &planData);
-    const WimaPlanData &pull() const;
+    void                push(QSharedPointer<const WimaPlanData> planData);
+    QSharedPointer<const WimaPlanData> pull() const;
 private:
 
 
-    WimaPlanData _planData;
+    QSharedPointer<const WimaPlanData> _planData;
 };
 

src/Wima/WimaPlanData.cc

@@ -102,10 +102,8 @@ void WimaPlanData::append(const WimaMeasurementAreaData &areaData)
 
 void WimaPlanData::append(const QList<MissionItem *> &missionItems)
 {
-    for (MissionItem *item : missionItems) {
-        MissionItem copy = MissionItem(*item, this);
-        _missionItems.append(copy);
-    }
+    for (auto item : missionItems)
+        _missionItems.append(QSharedPointer<const MissionItem>(item));
 }
 
 /*!
@@ -124,7 +122,7 @@ QList<const WimaAreaData *> WimaPlanData::areaList() const
     return _areaList;
 }
 
-QList<MissionItem> WimaPlanData::missionItems() const
+QList<QSharedPointer<const MissionItem>> WimaPlanData::missionItems() const
 {
     return _missionItems;
 }

src/Wima/WimaPlanData.h

@@ -22,11 +22,11 @@ public:
     void append(const WimaServiceAreaData       &areaData);
     void append(const WimaCorridorData          &areaData);
     void append(const WimaMeasurementAreaData   &areaData);
-    void append(const QList<MissionItem *> &missionItems);
+    void append(const QList<MissionItem *>      &missionItems);
     void clear();
 
     QList<const WimaAreaData *> areaList() const;
-    QList<MissionItem>  missionItems() const;
+    QList<QSharedPointer<const MissionItem>> missionItems() const;
 
 
 
@@ -41,7 +41,7 @@ private:
     WimaServiceAreaData     _serviceArea;
     WimaCorridorData        _corridor;
     WimaMeasurementAreaData _measurementArea;
-    QList<const WimaAreaData*>    _areaList;
+    QList<const WimaAreaData *>    _areaList;
 
-    QList<MissionItem>           _missionItems;
+    QList<QSharedPointer<const MissionItem>> _missionItems;
 };

src/Wima/WimaPlaner.cc

@@ -649,8 +649,7 @@ void WimaPlaner::pushToContainer()
     if (_container != nullptr) {
         if (!_readyForSync)
             return;
-        WimaPlanData planData = toPlanData();
-        _container->push(planData);
+        _container->push(toPlanData());
         setSyncronizedWithController(true);
     } else {
         qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
@@ -703,27 +702,24 @@ void WimaPlaner::setInteractive()
  *
  * \sa WimaController, WimaPlanData
  */
-WimaPlanData WimaPlaner::toPlanData()
+QSharedPointer<WimaPlanData> WimaPlaner::toPlanData()
 {
-    WimaPlanData planData;
+    //WimaPlanData *data = new WimaPlanData(nullptr);
+    QSharedPointer<WimaPlanData>  planData;
 
     // store areas
-    planData.append(WimaMeasurementAreaData(_measurementArea));
-    planData.append(WimaServiceAreaData(_serviceArea));
-    planData.append(WimaCorridorData(_corridor));
-    planData.append(WimaJoinedAreaData(_joinedArea));
+    planData->append(WimaMeasurementAreaData(_measurementArea));
+    planData->append(WimaServiceAreaData(_serviceArea));
+    planData->append(WimaCorridorData(_corridor));
+    planData->append(WimaJoinedAreaData(_joinedArea));
 
     // convert mission items to mavlink commands
-    QObject deleteObject; // used to automatically delete content of rgMissionItems after this function call
     QList<MissionItem*> rgMissionItems;
     QmlObjectListModel *visualItems = _missionController->visualItems();
-    QmlObjectListModel visualItemsToCopy;
-    for (int i = _arrivalPathLength+1; i < visualItems->count()-_returnPathLength; i++)
-        visualItemsToCopy.append(visualItems->get(i));
-    MissionController::convertToMissionItems(&visualItemsToCopy, rgMissionItems, &deleteObject);
+    MissionController::convertToMissionItems(visualItems, rgMissionItems, nullptr);
 
     // store mavlink commands
-    planData.append(rgMissionItems);
+    planData->append(rgMissionItems);
 
     return planData;
 }

src/Wima/WimaPlaner.h

@@ -142,10 +142,10 @@ signals:
     void joinedAreaValidChanged();
 private:
     // Member Functions
-    WimaPlanData toPlanData();
-    void         setSyncronizedWithController   (bool sync);
-    void         setReadyForSync                (bool ready);
-    void         setJoinedAreaValid             (bool valid);
+    QSharedPointer<WimaPlanData>    toPlanData                     ();
+    void                            setSyncronizedWithController   (bool sync);
+    void                            setReadyForSync                (bool ready);
+    void                            setJoinedAreaValid             (bool valid);
 
     // Member Variables
     PlanMasterController   *_masterController;