// update waypoint and path actions UAV objects
//
// waypoints are unique and each waypoint has an entry in the UAV waypoint list
//
// a path action can be referenced by multiple waypoints
// waypoints reference path action by their index in the UAV path action list
// the compression of path actions happens here.
// (compression consists in keeping only one instance of similar path actions)
//
// the UAV waypoint list and path action list are probably not empty, so we try to reuse existing instances
bool ModelUavoProxy::modelToObjects()
{
qDebug() << "ModelUAVProxy::modelToObjects";
// track number of path actions
int actionCount = 0;
// iterate over waypoints
int waypointCount = myModel->rowCount();
for (int i = 0; i < waypointCount; ++i) {
// Path Actions
// create action to use as a search criteria
// this object does not need to be deleted as it will either be added to the managed list or deleted later
PathAction *action = new PathAction;
// get model data
PathAction::DataFields actionData = action->getData();
modelToPathAction(i, actionData);
// see if that path action has already been added in this run
PathAction *foundAction = findPathAction(actionData, actionCount);
// TODO this test needs a consistency check as it is unsafe.
// if the find method is buggy and returns false positives then the flight plan sent to the uav is broken!
// the find method should do a "binary" compare instead of a field by field compare
// if a field is added everywhere and not in the compare method then you can start having false positives
if (!foundAction) {
// create or reuse an action instance
action = createPathAction(actionCount, action);
actionCount++;
// update UAVObject
action->setData(actionData);
} else {
action->deleteLater();
action = foundAction;
qDebug() << "ModelUAVProxy::modelToObjects - found action instance :" << action->getInstID();
}
// Waypoints
// create or reuse a waypoint instance
Waypoint *waypoint = createWaypoint(i, NULL);
Q_ASSERT(waypoint);
// get model data
Waypoint::DataFields waypointData = waypoint->getData();
modelToWaypoint(i, waypointData);
// connect waypoint to path action
waypointData.Action = action->getInstID();
// update UAVObject
waypoint->setData(waypointData);
}
// Put "safe" values in unused waypoint and path action objects
if (waypointCount < objMngr->getNumInstances(Waypoint::OBJID)) {
for (int i = waypointCount; i < objMngr->getNumInstances(Waypoint::OBJID); ++i) {
// TODO
}
}
if (actionCount < objMngr->getNumInstances(PathAction::OBJID)) {
for (int i = actionCount; i < objMngr->getNumInstances(PathAction::OBJID); ++i) {
// TODO
}
}
// Update PathPlan
PathPlan *pathPlan = PathPlan::GetInstance(objMngr);
PathPlan::DataFields pathPlanData = pathPlan->getData();
pathPlanData.WaypointCount = waypointCount;
pathPlanData.PathActionCount = actionCount;
pathPlanData.Crc = computePathPlanCrc(waypointCount, actionCount);
pathPlan->setData(pathPlanData);
return true;
}
