From c9ffe70ee55df3c55e0390a8555968d0a9977fb2 Mon Sep 17 00:00:00 2001
From: Don Gagne <Don@don-laptop.local>
Date: Tue, 12 Sep 2017 20:11:37 -0700
Subject: [PATCH] Better plan load signaling

---
 src/Vehicle/Vehicle.cc      | 14 +++++++++++++-
 src/Vehicle/Vehicle.h       |  6 ++++--
 src/qgcunittest/UnitTest.cc |  2 +-
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 01030f8f8..f30d7590d 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1959,7 +1959,7 @@ void Vehicle::_rallyPointLoadComplete(void)
     qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true";
     if (!_initialPlanRequestComplete) {
         _initialPlanRequestComplete = true;
-        emit initialPlanRequestCompleted();
+        emit initialPlanRequestCompleteChanged(true);
     }
 }
 
@@ -2812,6 +2812,18 @@ void Vehicle::_updateDistanceToHome(void)
     }
 }
 
+void Vehicle::forceInitialPlanRequestComplete(void)
+{
+    _initialPlanRequestComplete = true;
+    emit initialPlanRequestCompleteChanged(true);
+}
+
+void Vehicle::sendPlan(QString planFile)
+{
+    PlanMasterController::sendPlanToVehicle(this, planFile);
+}
+
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 96c60f1ed..fa2a40e2c 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -316,6 +316,7 @@ public:
     Q_PROPERTY(QVariantList         toolBarIndicators       READ toolBarIndicators                                      CONSTANT)
     Q_PROPERTY(QVariantList         cameraList              READ cameraList                                             CONSTANT)
     Q_PROPERTY(QmlObjectListModel*  adsbVehicles            READ adsbVehicles                                           CONSTANT)
+    Q_PROPERTY(bool              initialPlanRequestComplete READ initialPlanRequestComplete                             NOTIFY initialPlanRequestCompleteChanged)
 
     /// true: Vehicle is flying, false: Vehicle is on ground
     Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged)
@@ -428,6 +429,7 @@ public:
     Q_INVOKABLE void clearMessages();
 
     Q_INVOKABLE void triggerCamera(void);
+    Q_INVOKABLE void sendPlan(QString planFile);
 
 #if 0
     // Temporarily removed, waiting for new command implementation
@@ -698,7 +700,7 @@ public:
     /// @return: true: initial request is complete, false: initial request is still in progress;
     bool initialPlanRequestComplete(void) const { return _initialPlanRequestComplete; }
 
-    void forceInitialPlanRequestComplete(void) { _initialPlanRequestComplete = true; }
+    void forceInitialPlanRequestComplete(void);
 
     void _setFlying(bool flying);
     void _setLanding(bool landing);
@@ -732,7 +734,7 @@ signals:
     void firmwareTypeChanged(void);
     void vehicleTypeChanged(void);
     void capabilitiesKnownChanged(bool capabilitiesKnown);
-    void initialPlanRequestCompleted(void);
+    void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
     void capabilityBitsChanged(uint64_t capabilityBits);
 
     void messagesReceivedChanged    ();
diff --git a/src/qgcunittest/UnitTest.cc b/src/qgcunittest/UnitTest.cc
index a970b5f1c..f2c9d2609 100644
--- a/src/qgcunittest/UnitTest.cc
+++ b/src/qgcunittest/UnitTest.cc
@@ -394,7 +394,7 @@ void UnitTest::_connectMockLink(MAV_AUTOPILOT autopilot)
 
     // Wait for plan request to complete
     if (!_vehicle->initialPlanRequestComplete()) {
-        QSignalSpy spyPlan(_vehicle, SIGNAL(initialPlanRequestCompleted()));
+        QSignalSpy spyPlan(_vehicle, SIGNAL(initialPlanRequestCompleteChanged(bool)));
         QCOMPARE(spyPlan.wait(10000), true);
     }
 }
-- 
2.22.0