Implement GeoFence persistence

src/MissionManager/GeoFenceController.cc

@@ -34,6 +34,9 @@ QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "GeoFenceControllerLog")
 
 const char* GeoFenceController::_jsonFileTypeValue =        "GeoFence";
 const char* GeoFenceController::_jsonBreachReturnKey =      "breachReturn";
+const char* GeoFenceController::_jsonPolygonsKey =          "polygons";
+const char* GeoFenceController::_jsonCirclesKey =           "circles";
+
 const char* GeoFenceController::_px4ParamCircularFence =    "GF_MAX_HOR_DIST";
 
 GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
@@ -116,46 +119,77 @@ void GeoFenceController::managerVehicleChanged(Vehicle* managerVehicle)
 
 bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
 {
-    Q_UNUSED(json);
-    Q_UNUSED(errorString);
+    errorString.clear();
 
-#if 0
-    QString errorStr;
-    QString errorMessage = tr("GeoFence: %1");
+    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { JsonHelper::jsonVersionKey,   QJsonValue::Double, true },
+        { _jsonCirclesKey,              QJsonValue::Array,  true },
+        { _jsonPolygonsKey,             QJsonValue::Array,  true },
+    };
+    if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
+        return false;
+    }
 
-    if (json.contains(_jsonBreachReturnKey) &&
-            !JsonHelper::loadGeoCoordinate(json[_jsonBreachReturnKey], false /* altitudeRequired */, _breachReturnPoint, errorStr)) {
-        errorString = errorMessage.arg(errorStr);
+    if (json[JsonHelper::jsonVersionKey].toInt() != _jsonCurrentVersion) {
+        errorString = tr("GeoFence supports version %1").arg(_jsonCurrentVersion);
         return false;
     }
 
-    if (!_mapPolygon.loadFromJson(json, true, errorStr)) {
-        errorString = errorMessage.arg(errorStr);
+    QJsonArray jsonPolygonArray = json[_jsonPolygonsKey].toArray();
+    foreach (const QJsonValue& jsonPolygonValue, jsonPolygonArray) {
+        if (jsonPolygonValue.type() != QJsonValue::Object) {
+            errorString = tr("GeoFence polygon not stored as object");
+            return false;
+        }
+
+        QGCFencePolygon* fencePolygon = new QGCFencePolygon(false /* inclusion */, this /* parent */);
+        if (!fencePolygon->loadFromJson(jsonPolygonValue.toObject(), true /* required */, errorString)) {
+            return false;
+        }
+        _polygons.append(fencePolygon);
+    }
+
+    QJsonArray jsonCircleArray = json[_jsonCirclesKey].toArray();
+    foreach (const QJsonValue& jsonCircleValue, jsonCircleArray) {
+        if (jsonCircleValue.type() != QJsonValue::Object) {
+            errorString = tr("GeoFence circle not stored as object");
             return false;
         }
-    _mapPolygon.setDirty(false);
-    setDirty(false);
 
+        QGCFenceCircle* fenceCircle = new QGCFenceCircle(this /* parent */);
+        if (!fenceCircle->loadFromJson(jsonCircleValue.toObject(), errorString)) {
+            return false;
+        }
+        _circles.append(fenceCircle);
+    }
+
+    setDirty(false);
     _signalAll();
-#endif
 
     return true;
 }
 
 void GeoFenceController::save(QJsonObject& json)
 {
-    Q_UNUSED(json);
-#if 0
-    json[JsonHelper::jsonVersionKey] = 1;
+    json[JsonHelper::jsonVersionKey] = _jsonCurrentVersion;
 
-    if (_breachReturnPoint.isValid()) {
-        QJsonValue jsonBreachReturn;
-        JsonHelper::saveGeoCoordinate(_breachReturnPoint, false /* writeAltitude */, jsonBreachReturn);
-        json[_jsonBreachReturnKey] = jsonBreachReturn;
+    QJsonArray jsonPolygonArray;
+    for (int i=0; i<_polygons.count(); i++) {
+        QJsonObject jsonPolygon;
+        QGCFencePolygon* fencePolygon = _polygons.value<QGCFencePolygon*>(i);
+        fencePolygon->saveToJson(jsonPolygon);
+        jsonPolygonArray.append(jsonPolygon);
     }
+    json[_jsonPolygonsKey] = jsonPolygonArray;
 
-    _mapPolygon.saveToJson(json);
-#endif
+    QJsonArray jsonCircleArray;
+    for (int i=0; i<_circles.count(); i++) {
+        QJsonObject jsonCircle;
+        QGCFenceCircle* fenceCircle = _circles.value<QGCFenceCircle*>(i);
+        fenceCircle->saveToJson(jsonCircle);
+        jsonCircleArray.append(jsonCircle);
+    }
+    json[_jsonCirclesKey] = jsonCircleArray;
 }
 
 void GeoFenceController::removeAll(void)

src/MissionManager/GeoFenceController.h

@@ -111,9 +111,14 @@ private:
     bool                _itemsRequested;
     Fact*               _px4ParamCircularFenceFact;
 
+    static const char* _px4ParamCircularFence;
+
+    static const int _jsonCurrentVersion = 1;
+
     static const char* _jsonFileTypeValue;
     static const char* _jsonBreachReturnKey;
-    static const char* _px4ParamCircularFence;
+    static const char* _jsonPolygonsKey;
+    static const char* _jsonCirclesKey;
 };
 
 #endif

src/MissionManager/QGCFenceCircle.cc

@@ -54,26 +54,32 @@ void QGCFenceCircle::_setDirty(void)
 
 void QGCFenceCircle::saveToJson(QJsonObject& json)
 {
-    QGCMapCircle::saveToJson(json);
-
+    json[JsonHelper::jsonVersionKey] = _jsonCurrentVersion;
     json[_jsonInclusionKey] = _inclusion;
+    QGCMapCircle::saveToJson(json);
 }
 
 bool QGCFenceCircle::loadFromJson(const QJsonObject& json, QString& errorString)
 {
-    if (!QGCMapCircle::loadFromJson(json, errorString)) {
-        return false;
-    }
-
     errorString.clear();
 
     QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { JsonHelper::jsonVersionKey,   QJsonValue::Double, true },
         { _jsonInclusionKey,            QJsonValue::Bool,   true },
     };
     if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
         return false;
     }
 
+    if (json[JsonHelper::jsonVersionKey].toInt() != _jsonCurrentVersion) {
+        errorString = tr("GeoFence Circle only supports version %1").arg(_jsonCurrentVersion);
+        return false;
+    }
+
+    if (!QGCMapCircle::loadFromJson(json, errorString)) {
+        return false;
+    }
+
     setInclusion(json[_jsonInclusionKey].toBool());
 
     return true;

src/MissionManager/QGCFenceCircle.h

@@ -51,5 +51,7 @@ private:
 
     bool _inclusion;
 
+    static const int _jsonCurrentVersion = 1;
+
     static const char* _jsonInclusionKey;
 };

src/MissionManager/QGCFencePolygon.cc

@@ -47,26 +47,32 @@ void QGCFencePolygon::_setDirty(void)
 
 void QGCFencePolygon::saveToJson(QJsonObject& json)
 {
-    QGCMapPolygon::saveToJson(json);
-
+    json[JsonHelper::jsonVersionKey] = _jsonCurrentVersion;
     json[_jsonInclusionKey] = _inclusion;
+    QGCMapPolygon::saveToJson(json);
 }
 
 bool QGCFencePolygon::loadFromJson(const QJsonObject& json, bool required, QString& errorString)
 {
-    if (!QGCMapPolygon::loadFromJson(json, required, errorString)) {
-        return false;
-    }
-
     errorString.clear();
 
     QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { JsonHelper::jsonVersionKey,   QJsonValue::Double, true },
         { _jsonInclusionKey,            QJsonValue::Bool,   true },
     };
     if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
         return false;
     }
 
+    if (json[JsonHelper::jsonVersionKey].toInt() != _jsonCurrentVersion) {
+        errorString = tr("GeoFence Polygon only supports version %1").arg(_jsonCurrentVersion);
+        return false;
+    }
+
+    if (!QGCMapPolygon::loadFromJson(json, required, errorString)) {
+        return false;
+    }
+
     setInclusion(json[_jsonInclusionKey].toBool());
 
     return true;

src/MissionManager/QGCFencePolygon.h

@@ -51,5 +51,7 @@ private:
 
     bool _inclusion;
 
+    static const int _jsonCurrentVersion = 1;
+
     static const char* _jsonInclusionKey;
 };

src/MissionManager/QGCMapCircle.cc

@@ -111,11 +111,11 @@ bool QGCMapCircle::loadFromJson(const QJsonObject& json, QString& errorString)
     }
 
     QGeoCoordinate center;
-    if (!JsonHelper::loadGeoCoordinate(json[_jsonCenterKey], false /* altitudeRequired */, center, errorString)) {
+    if (!JsonHelper::loadGeoCoordinate(circleObject[_jsonCenterKey], false /* altitudeRequired */, center, errorString)) {
         return false;
     }
     setCenter(center);
-    _radius.setRawValue(json[_jsonRadiusKey].toDouble());
+    _radius.setRawValue(circleObject[_jsonRadiusKey].toDouble());
 
     return true;
 }

src/PlanView/GeoFenceMapVisuals.qml

@@ -28,8 +28,8 @@ Item {
     property bool   planView:               false   ///< true: visuals showing in plan view
     property var    homePosition
 
-    property var    _breachReturnPointComponent
-    property var    _mouseAreaComponent
+    //property var    _breachReturnPointComponent
+    //property var    _mouseAreaComponent
     property var    _paramCircleFenceComponent
     property var    _polygons:                  myGeoFenceController.polygons
     property var    _circles:                   myGeoFenceController.circles
@@ -75,17 +75,17 @@ Item {
     }
 
     Component.onCompleted: {
-        _breachReturnPointComponent = breachReturnPointComponent.createObject(map)
-        map.addMapItem(_breachReturnPointComponent)
+        //_breachReturnPointComponent = breachReturnPointComponent.createObject(map)
+        //map.addMapItem(_breachReturnPointComponent)
+        //_mouseAreaComponent = mouseAreaComponent.createObject(map)
         _paramCircleFenceComponent = paramCircleFenceComponent.createObject(map)
         map.addMapItem(_paramCircleFenceComponent)
-        _mouseAreaComponent = mouseAreaComponent.createObject(map)
     }
 
     Component.onDestruction: {
-        _breachReturnPointComponent.destroy()
+        //_breachReturnPointComponent.destroy()
+        //_mouseAreaComponent.destroy()
         _paramCircleFenceComponent.destroy()
-        _mouseAreaComponent.destroy()
     }
 
     // Mouse area to capture breach return point coordinate