New V2 mission file format

src/JsonHelper.cc

@@ -97,10 +97,12 @@ void JsonHelper::saveGeoCoordinate(const QGeoCoordinate&    coordinate,
 
 bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString)
 {
-    for (int i=0; i<keys.count(); i++) {
-        if (jsonObject.contains(keys[i])) {
-            if (jsonObject.value(keys[i]).type() != types[i]) {
-                errorString  = QObject::tr("Incorrect type key:type:expected %1 %2 %3").arg(keys[i]).arg(jsonObject.value(keys[i]).type()).arg(types[i]);
+    for (int i=0; i<types.count(); i++) {
+        QString valueKey = keys[i];
+        if (jsonObject.contains(valueKey)) {
+            const QJsonValue& jsonValue = jsonObject[valueKey];
+            if (jsonValue.type() != types[i]) {
+                errorString  = QObject::tr("Incorrect value type - key:type:expected %1:%2:%3").arg(valueKey).arg(_jsonValueTypeToString(jsonValue.type())).arg(_jsonValueTypeToString(types[i]));
                 return false;
             }
         }
@@ -141,14 +143,13 @@ bool JsonHelper::isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc)
 
 bool JsonHelper::validateQGCJsonFile(const QJsonObject& jsonObject,
                                      const QString&     expectedFileType,
-                                     int                supportedMajorVersion,
-                                     int                supportedMinorVersion,
-                                     int&               fileMajorVersion,
-                                     int&               fileMinorVersion,
+                                     int                minSupportedVersion,
+                                     int                maxSupportedVersion,
+                                     int&               version,
                                      QString&           errorString)
 {
     // Check for required keys
-    QStringList requiredKeys = { jsonVersionKey, jsonFileTypeKey };
+    QStringList requiredKeys = { jsonFileTypeKey, jsonGroundStationKey, jsonVersionKey };
     if (!validateRequiredKeys(jsonObject, requiredKeys, errorString)) {
         return false;
     }
@@ -166,25 +167,24 @@ bool JsonHelper::validateQGCJsonFile(const QJsonObject& jsonObject,
         return false;
     }
 
-    // Parse and validate version
+    // Check version - support both old style v1 string and new style integer
 
-    QString incorrectVersionFormatErrorString = QObject::tr("Incorrectly formatted version value");
-    QRegularExpression versionRegExp("(\\d+).(\\d+)");
-    QRegularExpressionMatch match = versionRegExp.match(jsonObject[jsonVersionKey].toString());
-    if (!match.hasMatch()) {
-        errorString = incorrectVersionFormatErrorString;
-        return false;
+    QJsonValue versionValue = jsonObject[jsonVersionKey];
+    if (versionValue.type() == QJsonValue::String && versionValue.toString() == QStringLiteral("1.0")) {
+        version = 1;
+    } else {
+        if (versionValue.type() != QJsonValue::Double) {
+            errorString = QObject::tr("Incorrect type for version value, must be integer");
+            return false;
+        }
+        version = versionValue.toInt();
     }
-    QStringList versionParts = match.capturedTexts();
-    if (versionParts.count() != 3) {
-        errorString = incorrectVersionFormatErrorString;
+    if (version < minSupportedVersion) {
+        errorString = QObject::tr("File version %1 is no longer supported").arg(version);
         return false;
     }
-
-    fileMajorVersion = versionParts[0].toInt();
-    fileMinorVersion = versionParts[0].toInt();
-    if (fileMajorVersion > supportedMajorVersion || (fileMajorVersion == supportedMajorVersion && fileMinorVersion > supportedMinorVersion)) {
-        errorString = QObject::tr("File version (%1.%2) is larger than current supported version (%3.%4)").arg(fileMajorVersion).arg(fileMinorVersion).arg(supportedMajorVersion).arg(supportedMinorVersion);
+    if (version > maxSupportedVersion) {
+        errorString = QObject::tr("File version %1 is newer than current supported version %2").arg(version).arg(maxSupportedVersion);
         return false;
     }
 
@@ -284,3 +284,27 @@ bool JsonHelper::validateKeys(const QJsonObject& jsonObject, const QList<JsonHel
     }
     return validateKeyTypes(jsonObject, keyList, typeList, errorString);
 }
+
+QString JsonHelper::_jsonValueTypeToString(QJsonValue::Type type)
+{
+    const struct {
+        QJsonValue::Type    type;
+        const char*         string;
+    } rgTypeToString[] = {
+    { QJsonValue::Null,         "NULL" },
+    { QJsonValue::Bool,         "Bool" },
+    { QJsonValue::Double,       "Double" },
+    { QJsonValue::String,       "String" },
+    { QJsonValue::Array,        "Array" },
+    { QJsonValue::Object,       "Object" },
+    { QJsonValue::Undefined,    "Undefined" },
+};
+
+    for (size_t i=0; i<sizeof(rgTypeToString)/sizeof(rgTypeToString[0]); i++) {
+        if (type == rgTypeToString[i].type) {
+            return rgTypeToString[i].string;
+        }
+    }
+
+    return QObject::tr("Unknown type: %1").arg(type);
+}

src/JsonHelper.h

@@ -25,13 +25,13 @@ public:
     /// Validates the standard parts of a QGC json file:
     ///     jsonFileTypeKey - Required and checked to be equal to expectedFileType
     ///     jsonVersionKey - Required and checked to be below supportedMajorVersion, supportedMinorVersion
+    ///     jsonGroundStationKey - Required and checked to be string type
     /// @return false: validation failed
-    static bool validateQGCJsonFile(const QJsonObject&  jsonObject,             ///< top level json object in file
+    static bool validateQGCJsonFile(const QJsonObject&  jsonObject,             ///< root json object
                                     const QString&      expectedFileType,       ///< correct file type for file
-                                    int                 supportedMajorVersion,  ///< maximum supported major version
-                                    int                 supportedMinorVersion,  ///< maximum supported minor version
-                                    int                 &fileMajorVersion,      ///< returned file major version
-                                    int                 &fileMinorVersion,      ///< returned file minor version
+                                    int                 minSupportedVersion,    ///< minimum supported version
+                                    int                 maxSupportedVersion,    ///< maximum supported major version
+                                    int                 &version,               ///< returned file version
                                     QString&            errorString);           ///< returned error string if validation fails
 
     static bool validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString);
@@ -85,6 +85,8 @@ public:
     static const char* jsonFileTypeKey;
 
 private:
+    static QString _jsonValueTypeToString(QJsonValue::Type type);
+
     static const char*  _enumStringsJsonKey;
     static const char*  _enumValuesJsonKey;
 };

src/MissionManager/ComplexMissionItem.cc

@@ -7,9 +7,10 @@
  *
  ****************************************************************************/
 
-
 #include "ComplexMissionItem.h"
 
+const char* ComplexMissionItem::jsonComplexItemTypeKey = "complexItemType";
+
 ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
 {

src/MissionManager/ComplexMissionItem.h

@@ -36,15 +36,19 @@ public:
 
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
+    ///     @param sequenceNumber Sequence number for first MISSION_ITEM in survey
     ///     @param[out] errorString Error if load fails
     /// @return true: load success, false: load failed, errorString set
-    virtual bool load(const QJsonObject& complexObject, QString& errorString) = 0;
+    virtual bool load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString) = 0;
 
     /// Get the point of complex mission item furthest away from a coordinate
     ///     @param other QGeoCoordinate to which distance is calculated
     /// @return the greatest distance from any point of the complex item to some coordinate
     virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
 
+    /// This mission item attribute specifies the type of the complex item.
+    static const char* jsonComplexItemTypeKey;
+
 signals:
     void lastSequenceNumberChanged  (int lastSequenceNumber);
     void complexDistanceChanged     (double complexDistance);

src/MissionManager/GeoFenceController.cc

@@ -103,27 +103,13 @@ bool GeoFenceController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorStr
 {
     QJsonObject json = jsonDoc.object();
 
-    // Check for required keys
-    QStringList requiredKeys;
-    requiredKeys << JsonHelper::jsonVersionKey << JsonHelper::jsonFileTypeKey;
-    if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorString)) {
-        return false;
-    }
-
-#if 0
-    // Validate base key types
-    QStringList             keyList;
-    QList<QJsonValue::Type> typeList;
-    keyList << jsonSimpleItemsKey << _jsonVersionKey << _jsonGroundStationKey << _jsonMavAutopilotKey << _jsonComplexItemsKey << _jsonPlannedHomePositionKey;
-    typeList << QJsonValue::Array << QJsonValue::String << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Object;
-    if (!JsonHelper::validateKeyTypes(json, keyList, typeList, errorString)) {
-        return false;
-    }
-#endif
-
-    // Version check
-    if (json[JsonHelper::jsonVersionKey].toString() != "1.0") {
-        errorString = QStringLiteral("QGroundControl does not support this file version");
+    int fileVersion;
+    if (!JsonHelper::validateQGCJsonFile(json,
+                                         _jsonFileTypeValue,    // expected file type
+                                         1,                     // minimum supported version
+                                         1,                     // maximum supported version
+                                         fileVersion,
+                                         errorString)) {
         return false;
     }
 
@@ -269,7 +255,7 @@ void GeoFenceController::saveToFile(const QString& filename)
         QJsonObject fenceFileObject;    // top level json object
 
         fenceFileObject[JsonHelper::jsonFileTypeKey] =      _jsonFileTypeValue;
-        fenceFileObject[JsonHelper::jsonVersionKey] =       QStringLiteral("1.0");
+        fenceFileObject[JsonHelper::jsonVersionKey] =       1;
         fenceFileObject[JsonHelper::jsonGroundStationKey] = JsonHelper::jsonGroundStationValue;
 
         QStringList         paramNames;

src/MissionManager/MissionController.h

@@ -88,7 +88,6 @@ public:
     void setCruiseDistance          (double cruiseDistance );
     void setHoverDistance           (double hoverDistance );
 
-    static const char* jsonSimpleItemsKey;  ///< Key for simple items in a json file
 
 signals:
     void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
@@ -129,6 +128,8 @@ private:
     double _normalizeLat(double lat);
     double _normalizeLon(double lon);
     bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
+    bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
+    bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
     bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
     int _nextSequenceNumber(void);
 
@@ -150,9 +151,17 @@ private:
     double              _hoverDistance;
 
     static const char*  _settingsGroup;
+    static const char*  _jsonFileTypeValue;
+    static const char*  _jsonFirmwareTypeKey;
+    static const char*  _jsonItemsKey;
+    static const char*  _jsonPlannedHomePositionKey;
+    static const char*  _jsonParamsKey;
+
+    // Deprecated V1 format keys
     static const char*  _jsonMavAutopilotKey;
     static const char*  _jsonComplexItemsKey;
-    static const char*  _jsonPlannedHomePositionKey;
+
+    static const int    _missionFileVersion;
 };
 
 #endif

src/MissionManager/MissionItem.cc

@@ -15,22 +15,25 @@
 #include "FirmwarePluginManager.h"
 #include "QGCApplication.h"
 #include "JsonHelper.h"
+#include "VisualMissionItem.h"
 
-const char*  MissionItem::_itemType =               "missionItem";
-const char*  MissionItem::_jsonTypeKey =            "type";
-const char*  MissionItem::_jsonIdKey =              "id";
 const char*  MissionItem::_jsonFrameKey =           "frame";
 const char*  MissionItem::_jsonCommandKey =         "command";
+const char*  MissionItem::_jsonAutoContinueKey =    "autoContinue";
+const char*  MissionItem::_jsonCoordinateKey =      "coordinate";
+const char*  MissionItem::_jsonParamsKey =          "params";
+const char*  MissionItem::_jsonDoJumpIdKey =        "doJumpId";
+
+// Deprecated V1 format keys
 const char*  MissionItem::_jsonParam1Key =          "param1";
 const char*  MissionItem::_jsonParam2Key =          "param2";
 const char*  MissionItem::_jsonParam3Key =          "param3";
 const char*  MissionItem::_jsonParam4Key =          "param4";
-const char*  MissionItem::_jsonAutoContinueKey =    "autoContinue";
-const char*  MissionItem::_jsonCoordinateKey =      "coordinate";
 
 MissionItem::MissionItem(QObject* parent)
     : QObject(parent)
     , _sequenceNumber(0)
+    , _doJumpId(-1)
     , _isCurrentItem(false)
     , _autoContinueFact             (0, "AutoContinue",                 FactMetaData::valueTypeUint32)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
@@ -65,6 +68,7 @@ MissionItem::MissionItem(int             sequenceNumber,
                          QObject*        parent)
     : QObject(parent)
     , _sequenceNumber(sequenceNumber)
+    , _doJumpId(-1)
     , _isCurrentItem(isCurrentItem)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
     , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
@@ -96,6 +100,7 @@ MissionItem::MissionItem(int             sequenceNumber,
 MissionItem::MissionItem(const MissionItem& other, QObject* parent)
     : QObject(parent)
     , _sequenceNumber(0)
+    , _doJumpId(-1)
     , _isCurrentItem(false)
     , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
     , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
@@ -116,6 +121,8 @@ MissionItem::MissionItem(const MissionItem& other, QObject* parent)
 
 const MissionItem& MissionItem::operator=(const MissionItem& other)
 {
+    _doJumpId = other._doJumpId;
+
     setCommand(other.command());
     setFrame(other.frame());
     setSequenceNumber(other._sequenceNumber);
@@ -138,19 +145,18 @@ MissionItem::~MissionItem()
 
 void MissionItem::save(QJsonObject& json) const
 {
-    json[_jsonTypeKey] = _itemType;
-    json[_jsonIdKey] = sequenceNumber();
+    json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
     json[_jsonFrameKey] = frame();
     json[_jsonCommandKey] = command();
-    json[_jsonParam1Key] = param1();
-    json[_jsonParam2Key] = param2();
-    json[_jsonParam3Key] = param3();
-    json[_jsonParam4Key] = param4();
     json[_jsonAutoContinueKey] = autoContinue();
+    json[_jsonDoJumpIdKey] = _sequenceNumber;
+
+    QJsonArray rgParams =  { param1(), param2(), param3(), param4() };
+    json[_jsonParamsKey] = rgParams;
 
-    QJsonArray coordinateArray;
-    coordinateArray << param5() << param6() << param7();
-    json[_jsonCoordinateKey] = coordinateArray;
+    QJsonValue coordinateValue;
+    JsonHelper::saveGeoCoordinate(QGeoCoordinate(param5(), param6(), param7()), true /* writeAltitude */, coordinateValue);
+    json[_jsonCoordinateKey] = coordinateValue;
 }
 
 bool MissionItem::load(QTextStream &loadStream)
@@ -175,41 +181,98 @@ bool MissionItem::load(QTextStream &loadStream)
     return false;
 }
 
-bool MissionItem::load(const QJsonObject& json, QString& errorString)
+bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString)
+{
+    // V1 format type = "missionItem", V2 format type = "MissionItem"
+    // V1 format has params in separate param[1-n] keys
+    // V2 format has params in params array
+    v2Json = json;
+
+    if (json.contains(_jsonParamsKey)) {
+        // Already V2 format
+        return true;
+    }        
+
+    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { VisualMissionItem::jsonTypeKey,   QJsonValue::String, true },
+        { _jsonParam1Key,                   QJsonValue::Double, true },
+        { _jsonParam2Key,                   QJsonValue::Double, true },
+        { _jsonParam3Key,                   QJsonValue::Double, true },
+        { _jsonParam4Key,                   QJsonValue::Double, true },
+    };
+    if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
+        return false;
+    }
+
+    if (v2Json[VisualMissionItem::jsonTypeKey].toString() == QStringLiteral("missionItem")) {
+        v2Json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
+    }
+
+    QJsonArray rgParams =  { json[_jsonParam1Key].toDouble(),  json[_jsonParam2Key].toDouble(), json[_jsonParam3Key].toDouble(), json[_jsonParam4Key].toDouble() };
+    v2Json[_jsonParamsKey] = rgParams;
+    v2Json.remove(_jsonParam1Key);
+    v2Json.remove(_jsonParam2Key);
+    v2Json.remove(_jsonParam3Key);
+    v2Json.remove(_jsonParam4Key);
+
+    return true;
+}
+
+bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
 {
-    QStringList requiredKeys;
+    QJsonObject v2Json;
+    if (!_convertJsonV1ToV2(json, v2Json, errorString)) {
+        return false;
+    }
+
+    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { VisualMissionItem::jsonTypeKey,   QJsonValue::String, true },
+        { _jsonFrameKey,                    QJsonValue::Double, true },
+        { _jsonCommandKey,                  QJsonValue::Double, true },
+        { _jsonParamsKey,                   QJsonValue::Array,  true },
+        { _jsonAutoContinueKey,             QJsonValue::Bool,   true },
+        { _jsonCoordinateKey,               QJsonValue::Array,  true },
+        { _jsonDoJumpIdKey,                 QJsonValue::Double, false },
+    };
+    if (!JsonHelper::validateKeys(v2Json, keyInfoList, errorString)) {
+        return false;
+    }
 
-    requiredKeys << _jsonTypeKey << _jsonIdKey << _jsonFrameKey << _jsonCommandKey <<
-                    _jsonParam1Key << _jsonParam2Key << _jsonParam3Key << _jsonParam4Key <<
-                    _jsonAutoContinueKey << _jsonCoordinateKey;
-    if (!JsonHelper::validateRequiredKeys(json, requiredKeys, errorString)) {
+    if (v2Json[VisualMissionItem::jsonTypeKey] != VisualMissionItem::jsonTypeSimpleItemValue) {
+        errorString = tr("Type found: %1 must be: %2").arg(v2Json[VisualMissionItem::jsonTypeKey].toString()).arg(VisualMissionItem::jsonTypeSimpleItemValue);
         return false;
     }
 
-    if (json[_jsonTypeKey] != _itemType) {
-        errorString = QString("type found: %1 must be: %2").arg(json[_jsonTypeKey].toString()).arg(_itemType);
+    QJsonArray rgParams = v2Json[_jsonParamsKey].toArray();
+    if (rgParams.count() != 4) {
+        errorString = tr("%1 key must contains 4 values").arg(_jsonParamsKey);
         return false;
     }
 
     // Make sure to set these first since they can signal other changes
-    setFrame((MAV_FRAME)json[_jsonFrameKey].toInt());
-    setCommand((MAV_CMD)json[_jsonCommandKey].toInt());
+    setFrame((MAV_FRAME)v2Json[_jsonFrameKey].toInt());
+    setCommand((MAV_CMD)v2Json[_jsonCommandKey].toInt());
 
     QGeoCoordinate coordinate;
-    if (!JsonHelper::loadGeoCoordinate(json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
+    if (!JsonHelper::loadGeoCoordinate(v2Json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
         return false;
     }
     setParam5(coordinate.latitude());
     setParam6(coordinate.longitude());
     setParam7(coordinate.altitude());
 
+    _doJumpId = -1;
+    if (v2Json.contains(_jsonDoJumpIdKey)) {
+        _doJumpId = v2Json[_jsonDoJumpIdKey].toInt();
+    }
     setIsCurrentItem(false);
-    setSequenceNumber(json[_jsonIdKey].toInt());
-    setParam1(json[_jsonParam1Key].toDouble());
-    setParam2(json[_jsonParam2Key].toDouble());
-    setParam3(json[_jsonParam3Key].toDouble());
-    setParam4(json[_jsonParam4Key].toDouble());
-    setAutoContinue(json[_jsonAutoContinueKey].toBool());
+    setSequenceNumber(sequenceNumber);
+    setAutoContinue(v2Json[_jsonAutoContinueKey].toBool());
+
+    setParam1(rgParams[0].toDouble());
+    setParam2(rgParams[1].toDouble());
+    setParam3(rgParams[2].toDouble());
+    setParam4(rgParams[3].toDouble());
 
     return true;
 }

src/MissionManager/MissionItem.h

@@ -74,6 +74,7 @@ public:
     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; }
 
     void setCommand         (MAV_CMD command);
     void setSequenceNumber  (int sequenceNumber);
@@ -91,7 +92,7 @@ public:
     
     void save(QJsonObject& json) const;
     bool load(QTextStream &loadStream);
-    bool load(const QJsonObject& json, QString& errorString);
+    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
     bool relativeAltitude(void) const { return frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 
@@ -100,8 +101,11 @@ signals:
     void sequenceNumberChanged      (int sequenceNumber);
     
 private:
-    int         _sequenceNumber;
-    bool        _isCurrentItem;
+    bool _convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString);
+
+    int     _sequenceNumber;
+    int     _doJumpId;
+    bool    _isCurrentItem;
 
     Fact    _autoContinueFact;
     Fact    _commandFact;
@@ -115,17 +119,18 @@ private:
     Fact    _param7Fact;
     
     // Keys for Json save
-    static const char*  _itemType;
-    static const char*  _jsonTypeKey;
-    static const char*  _jsonIdKey;
     static const char*  _jsonFrameKey;
     static const char*  _jsonCommandKey;
+    static const char*  _jsonAutoContinueKey;
+    static const char*  _jsonCoordinateKey;
+    static const char*  _jsonParamsKey;
+    static const char*  _jsonDoJumpIdKey;
+
+    // Deprecated V1 format keys
     static const char*  _jsonParam1Key;
     static const char*  _jsonParam2Key;
     static const char*  _jsonParam3Key;
     static const char*  _jsonParam4Key;
-    static const char*  _jsonAutoContinueKey;
-    static const char*  _jsonCoordinateKey;
 
     friend class SurveyMissionItem;
     friend class SimpleMissionItem;

src/MissionManager/MissionItemTest.h

@@ -29,12 +29,15 @@ private slots:
     void _testFactSignals(void);
     void _testLoadFromStream(void);
     void _testSimpleLoadFromStream(void);
-    void _testLoadFromJson(void);
+    void _testLoadFromJsonV1(void);
+    void _testLoadFromJsonV2(void);
     void _testSimpleLoadFromJson(void);
     void _testSaveToJson(void);
 
 private:
     void _checkExpectedMissionItem(const MissionItem& missionItem);
+
+    int _seq = 10;
 };
 
 #endif

src/MissionManager/RallyPointController.cc

@@ -75,8 +75,13 @@ bool RallyPointController::_loadJsonFile(QJsonDocument& jsonDoc, QString& errorS
 {
     QJsonObject json = jsonDoc.object();
 
-    int fileMajorVersion, fileMinorVersion;
-    if (!JsonHelper::validateQGCJsonFile(json, _jsonFileTypeValue, 1 /* supportedMajorVersion */, 0 /* supportedMinorVersion */, fileMajorVersion, fileMinorVersion, errorString)) {
+    int fileVersion;
+    if (!JsonHelper::validateQGCJsonFile(json,
+                                         _jsonFileTypeValue,    // expected file type
+                                         1,                     // minimum supported version
+                                         1,                     // maximum supported version
+                                         fileVersion,
+                                         errorString)) {
         return false;
     }
 
@@ -166,7 +171,7 @@ void RallyPointController::saveToFile(const QString& filename)
         QJsonObject jsonObject;
 
         jsonObject[JsonHelper::jsonFileTypeKey] =       _jsonFileTypeValue;
-        jsonObject[JsonHelper::jsonVersionKey] =        QStringLiteral("1.0");
+        jsonObject[JsonHelper::jsonVersionKey] =        1;
         jsonObject[JsonHelper::jsonGroundStationKey] =  JsonHelper::jsonGroundStationValue;
 
         QJsonArray rgPoints;

src/MissionManager/SimpleMissionItem.cc

@@ -18,14 +18,14 @@
 #include "MissionCommandTree.h"
 #include "MissionCommandUIInfo.h"
 
-const double SimpleMissionItem::defaultAltitude =             50.0;
+const double SimpleMissionItem::defaultAltitude =           50.0;
 
-FactMetaData* SimpleMissionItem::_altitudeMetaData =          NULL;
-FactMetaData* SimpleMissionItem::_commandMetaData =           NULL;
-FactMetaData* SimpleMissionItem::_defaultParamMetaData =      NULL;
-FactMetaData* SimpleMissionItem::_frameMetaData =             NULL;
-FactMetaData* SimpleMissionItem::_latitudeMetaData =          NULL;
-FactMetaData* SimpleMissionItem::_longitudeMetaData =         NULL;
+FactMetaData* SimpleMissionItem::_altitudeMetaData =        NULL;
+FactMetaData* SimpleMissionItem::_commandMetaData =         NULL;
+FactMetaData* SimpleMissionItem::_defaultParamMetaData =    NULL;
+FactMetaData* SimpleMissionItem::_frameMetaData =           NULL;
+FactMetaData* SimpleMissionItem::_latitudeMetaData =        NULL;
+FactMetaData* SimpleMissionItem::_longitudeMetaData =       NULL;
 
 struct EnumInfo_s {
     const char *    label;
@@ -248,9 +248,9 @@ bool SimpleMissionItem::load(QTextStream &loadStream)
     return _missionItem.load(loadStream);
 }
 
-bool SimpleMissionItem::load(const QJsonObject& json, QString& errorString)
+bool SimpleMissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
 {
-    return _missionItem.load(json, errorString);
+    return _missionItem.load(json, sequenceNumber, errorString);
 }
 
 bool SimpleMissionItem::isStandaloneCoordinate(void) const

src/MissionManager/SimpleMissionItem.h

@@ -71,7 +71,7 @@ public:
     void setDistance        (double distance);
 
     bool load(QTextStream &loadStream);
-    bool load(const QJsonObject& json, QString& errorString);
+    bool load(const QJsonObject& json, int sequenceNumber, QString& errorString);
 
     bool relativeAltitude(void) { return _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT; }
 

src/MissionManager/SurveyMissionItem.h

@@ -78,7 +78,7 @@ public:
     double              complexDistance     (void) const final { return _surveyDistance; }
     int                 lastSequenceNumber  (void) const final;
     QmlObjectListModel* getMissionItems     (void) const final;
-    bool                load                (const QJsonObject& complexObject, QString& errorString) final;
+    bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     double              greatestDistanceTo  (const QGeoCoordinate &other) const final;
 
     // Overrides from VisualMissionItem
@@ -104,6 +104,8 @@ public:
     void setTurnaroundDist  (double dist) { _turnaroundDistFact.setRawValue(dist); }
     void save               (QJsonObject& saveObject) const final;
 
+    static const char* jsonComplexItemTypeValue;
+
 signals:
     void polygonPathChanged                 (void);
     void altitudeChanged                    (double altitude);
@@ -173,9 +175,7 @@ private:
 
     static QMap<QString, FactMetaData*> _metaDataMap;
 
-    static const char* _jsonTypeKey;
     static const char* _jsonPolygonObjectKey;
-    static const char* _jsonIdKey;
     static const char* _jsonGridObjectKey;
     static const char* _jsonGridAltitudeKey;
     static const char* _jsonGridAltitudeRelativeKey;
@@ -212,8 +212,6 @@ private:
     static const char* _cameraResolutionWidthFactName;
     static const char* _cameraResolutionHeightFactName;
     static const char* _cameraFocalLengthFactName;
-
-    static const char* _complexType;
 };
 
 #endif

src/MissionManager/VisualMissionItem.cc

@@ -16,6 +16,10 @@
 #include "QGCApplication.h"
 #include "JsonHelper.h"
 
+const char* VisualMissionItem::jsonTypeKey =                "type";
+const char* VisualMissionItem::jsonTypeSimpleItemValue =    "SimpleItem";
+const char* VisualMissionItem::jsonTypeComplexItemValue =   "ComplexItem";
+
 VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     : QObject(parent)
     , _vehicle(vehicle)

src/MissionManager/VisualMissionItem.h

@@ -123,6 +123,10 @@ public:
     ///     @param saveObject Save the item to this json object
     virtual void save(QJsonObject& saveObject) const = 0;
 
+    static const char* jsonTypeKey;                 ///< Json file attribute which specifies the item type
+    static const char* jsonTypeSimpleItemValue;     ///< Item type is MISSION_ITEM
+    static const char* jsonTypeComplexItemValue;    ///< Item type is Complex Item
+
 signals:
     void altDifferenceChanged           (double altDifference);
     void altPercentChanged              (double altPercent);