adding wp to flight view

qgroundcontrol.qrc

@@ -227,6 +227,7 @@
         <file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
         <file alias="QGroundControl/Controls/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaCorridorEditor.qml">src/WimaView/WimaCorridorEditor.qml</file>
+        <file>src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -209,6 +209,16 @@ FlightMap {
         }
     }
 
+    // Add mission items generated by wima planer to the map
+    PlanMapItems {
+        map:                flightMap
+        largeMapView:       _mainIsMap
+        masterController:   masterController
+        isActiveVehicle:    _vehicle.active
+
+        property var _vehicle: object
+    }
+
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0

src/FlightMap/MapItems/WimaPlanMapItems.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl           1.0
+import QGroundControl.Controls  1.0
+import QGroundControl.FlightMap 1.0
+
+// Adds visual items generated by wima planer to the map.
+// Currently only used by Fly View even though it's called PlanMapItems!
+Item {
+    id: _root
+
+    property var    map                 ///< Map control to show items on
+    property bool   largeMapView        ///< true: map takes up entire view, false: map is in small window
+    property var    wimaController value
+
+    property var    _map:                       map
+    property var    _missionLineViewComponent
+
+    // Add the mission item visuals to the map
+    Repeater {
+        model: largeMapView ? _missionController.visualItems : 0
+
+        delegate: MissionItemMapVisual {
+            map:        _map
+            onClicked: {
+                if (isActiveVehicle) {
+                    // Only active vehicle supports click to change current mission item
+                    guidedActionsController.confirmAction(guidedActionsController.actionSetWaypoint, Math.max(object.sequenceNumber, 1))
+                }
+            }
+        }
+    }
+
+    Component.onCompleted: {
+        _missionLineViewComponent = missionLineViewComponent.createObject(map)
+        if (_missionLineViewComponent.status === Component.Error)
+            console.log(_missionLineViewComponent.errorString())
+        map.addMapItem(_missionLineViewComponent)
+    }
+
+    Component.onDestruction: {
+        _missionLineViewComponent.destroy()
+    }
+
+    Component {
+        id: missionLineViewComponent
+
+        MapPolyline {
+            line.width: 3
+            line.color: "#be781c"                           // Hack, can't get palette to work in here
+            z:          QGroundControl.zOrderWaypointLines
+            path:       _missionController.waypointPath
+        }
+    }
+}

src/Wima/WimaController.cc

@@ -43,6 +43,11 @@ WimaDataContainer *WimaController::dataContainer() const
     return _container;
 }
 
+QmlObjectListModel *WimaController::missionItems()
+{
+    return &_missionItems;
+}
+
 void WimaController::setMasterController(PlanMasterController *masterC)
 {
     _masterController = masterC;
@@ -146,6 +151,7 @@ void WimaController::containerDataValidChanged(bool valid)
         }
         _localPlanDataValid = false;
         _visualItems.clear();
+        _missionItems.clear();
         WimaPlanData planData = _container->pull();
 
         // extract list with WimaAreas
@@ -198,14 +204,22 @@ void WimaController::containerDataValidChanged(bool valid)
                 break;
         }
 
+        QList<const MissionItem*> tempMissionItems = planData.missionItems();
+
+        for (auto missionItem : tempMissionItems)
+            _missionItems.append(const_cast<MissionItem *>(missionItem)); // losing const qualifier here
+
         if (areaCounter == numAreas)
             _localPlanDataValid = true;
+
     } else {
         _localPlanDataValid = false;
-        _visualItems.clear();        
+        _visualItems.clear();
+        _missionItems.clear();
     }
 
     emit visualItemsChanged();
+    emit missionItemsChanged();
 }
 
 

src/Wima/WimaController.h

@@ -53,7 +53,7 @@ public:
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
     WimaDataContainer*          dataContainer          (void) const;
-
+    QmlObjectListModel*         missionItems           (void);
 
 
     // Property setters
@@ -89,6 +89,7 @@ signals:
     void currentFileChanged             ();
     void dataContainerChanged           ();
     void readyForSaveSendChanged        (bool ready);
+    void missionItemsChanged            (void);
 
 private slots:
     void containerDataValidChanged          (bool valid);