insertSimpleMissionItem(const QList<const MissionItem *> &, int) and...

insertSimpleMissionItem(const QList<const MissionItem *> &, int) and _initVisualItem(VisualMissionItem*, bool) added to MissionController

src/MissionManager/MissionController.cc

@@ -409,6 +409,35 @@ int MissionController::insertSimpleMissionItem(const MissionItem &missionItem, i
     return newItem->sequenceNumber();
 }
 
+int MissionController::insertSimpleMissionItem(const QList<const MissionItem *> &missionItems, int index)
+{
+    SimpleMissionItem *newItem = nullptr;
+    for (int i = 0; i < missionItems.size(); ++i) {
+        MissionItem missionItem = *missionItems[i];
+
+        newItem = new SimpleMissionItem(_controllerVehicle, _flyView, missionItem, this);
+        newItem->setSequenceNumber(_nextSequenceNumber());
+        _initVisualItem(newItem, false /* doResetDirty */);
+        MAV_CMD takeoffCmd = _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF;
+        if (newItem->command() ==  takeoffCmd) {
+            if (!_controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
+                newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
+                return -1; // can not add this takeoff command for this vehicle
+            }
+        }
+        if (newItem->specifiesAltitude()) {
+            newItem->altitude()->setRawValue(missionItem.relativeAltitude());
+            newItem->setAltitudeMode(QGroundControlQmlGlobal::AltitudeMode::AltitudeModeRelative);
+        }
+        newItem->setMissionFlightStatus(_missionFlightStatus);
+        _visualItems->insert(index + i, newItem);
+    }
+
+    setDirty(false); // must be called, since _initVisualItem(newItem, false /* doResetDirty */) was used
+
+    return (newItem != nullptr) ? newItem->sequenceNumber(): -1;
+}
+
 int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, int i)
 {
     int sequenceNumber = _nextSequenceNumber();
@@ -1721,7 +1750,14 @@ void MissionController::_deinitAllVisualItems(void)
 
 void MissionController::_initVisualItem(VisualMissionItem* visualItem)
 {
-    setDirty(false);
+    _initVisualItem(visualItem, true);
+}
+
+void MissionController::_initVisualItem(VisualMissionItem *visualItem, bool doResetDirty)
+{
+
+    if (doResetDirty)
+        setDirty(false); // this is to expensive if called on many visualItems in a row (call setDirty(false) after last _initVisualItem)
 
     connect(visualItem, &VisualMissionItem::specifiesCoordinateChanged,                 this, &MissionController::_recalcWaypointLines);
     connect(visualItem, &VisualMissionItem::coordinateHasRelativeAltitudeChanged,       this, &MissionController::_recalcWaypointLines);

src/MissionManager/MissionController.h

@@ -114,6 +114,11 @@ public:
     /// @return Sequence number for new item
                 int insertSimpleMissionItem(const MissionItem &missionItem, int i);
 
+    /// Add a list of simple mission items to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
+                int insertSimpleMissionItem(const QList<const MissionItem *> &missionItems, int index);
+
     /// Add a new simple mission item to the list
     ///     @param i: index to insert at
     /// @return Sequence number for new item
@@ -275,6 +280,7 @@ private:
     void _initAllVisualItems(void);
     void _deinitAllVisualItems(void);
     void _initVisualItem(VisualMissionItem* item);
+    void _initVisualItem(VisualMissionItem* item, bool doResetDirty);
     void _deinitVisualItem(VisualMissionItem* item);
     void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
     void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);

src/Wima/WimaController.cc

@@ -473,6 +473,7 @@ bool WimaController::fetchContainerData()
 
     _localPlanDataValid = false;    
 
+    // fetch data from container
     QSharedPointer<const WimaPlanData> planData;
     if (_container != nullptr) {
         planData = _container->pull();
@@ -540,9 +541,11 @@ bool WimaController::fetchContainerData()
     QmlObjectListModel* missionControllerVisualItems = _missionController->visualItems();
 
     // create SimpleMissionItem by using _missionController
-    for ( int i = 0; i < tempMissionItems.size(); i++) {
-        _missionController->insertSimpleMissionItem(*tempMissionItems[i], missionControllerVisualItems->count());
-    }
+    QList<const MissionItem*> missionItems;
+    missionItems.reserve(tempMissionItems.size());
+    for (auto item : tempMissionItems)
+        missionItems.append(item.data());
+    _missionController->insertSimpleMissionItem(missionItems, missionControllerVisualItems->count());
     // copy mission items from _missionController to _missionItems
     for ( int i = 1; i < missionControllerVisualItems->count(); i++) {
         SimpleMissionItem *visualItem     = qobject_cast<SimpleMissionItem *>((*missionControllerVisualItems)[i]);
@@ -586,8 +589,6 @@ bool WimaController::calcNextPhase()
 
     _currentMissionItems.clearAndDeleteContents();
     _currentWaypointPath.clear();
-    emit currentMissionItemsChanged();
-    emit currentWaypointPathChanged();
 
     bool reverse = _reverse.rawValue().toBool(); // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
     int startIndex = _nextPhaseStartWaypointIndex.rawValue().toInt()-1;