Add the ability to export waypoints to an xml file

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp

@@ -87,6 +87,16 @@ UAVSettingsImportExportFactory::UAVSettingsImportExportFactory(QObject *parent):
     cmd->action()->setText(tr("Export UAV Data..."));
     ac->addAction(cmd, Core::Constants::G_HELP_HELP);
     connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportUAVData()));
+
+    ac = am->actionContainer(Core::Constants::M_FILE);
+    cmd = am->registerAction(new QAction(this),
+                             "UAVSettingsImportExportPlugin.UAVWaypointsExport",
+                             QList<int>() <<
+                             Core::Constants::C_GLOBAL_ID);
+    cmd->action()->setText(tr("Export UAV Waypoints..."));
+    ac->addAction(cmd, Core::Constants::G_FILE_SAVE);
+    connect(cmd->action(), SIGNAL(triggered(bool)), this, SLOT(exportWaypoints()));
+
 }
 
 // Slot called by the menu manager on user action
@@ -258,6 +268,7 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
     // create settings and/or data elements
     QDomElement settings = doc.createElement("settings");
     QDomElement data = doc.createElement("data");
+    QDomElement waypoints = doc.createElement("waypoints");
 
     switch (what)
     {
@@ -271,8 +282,17 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
         root.appendChild(data);
         root.appendChild(settings);
         break;
+    case Waypoints:
+        root.appendChild(waypoints);
+        break;
     }
 
+    switch (what)
+    {
+    case Settings:
+    case Data:
+    case Both:
+    {
         // iterate over settings objects
         QList< QList<UAVDataObject*> > objList = objManager->getDataObjects();
         foreach (QList<UAVDataObject*> list, objList) {
@@ -327,6 +347,57 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
                 }
             }
         }
+    }
+        break;
+    case Waypoints:
+    {
+        // iterate over waypoints until the first one that is set to Stop
+        QList<UAVObject*> list = objManager->getObjectInstances("Waypoint");
+        foreach (UAVObject *obj, list) {
+            // add each object to the XML
+            QDomElement o = doc.createElement("object");
+            o.setAttribute("name", obj->getName());
+            o.setAttribute("id", QString("0x")+ QString().setNum(obj->getObjID(),16).toUpper());
+            o.setAttribute("instId",QString().setNum(obj->getInstID()));
+
+            // iterate over fields
+            QList<UAVObjectField*> fieldList = obj->getFields();
+
+            foreach (UAVObjectField* field, fieldList) {
+                QDomElement f = doc.createElement("field");
+
+                // iterate over values
+                QString vals;
+                quint32 nelem = field->getNumElements();
+                for (unsigned int n = 0; n < nelem; ++n) {
+                    vals.append(QString("%1,").arg(field->getValue(n).toString()));
+                }
+                vals.chop(1);
+
+                f.setAttribute("name", field->getName());
+                f.setAttribute("values", vals);
+                if (fullExport) {
+                    f.setAttribute("type", field->getTypeAsString());
+                    f.setAttribute("units", field->getUnits());
+                    f.setAttribute("elements", nelem);
+                    if (field->getType() == UAVObjectField::ENUM) {
+                        f.setAttribute("options", field->getOptions().join(","));
+                    }
+                }
+                o.appendChild(f);
+            }
+            waypoints.appendChild(o);
+
+            // If this waypoint was stop, then don't add anymore
+            UAVObjectField *field = obj->getField("Action");
+            Q_ASSERT(field);
+            if(field && field->getValue().toString().compare("Stop") == 0)
+                break;
+
+        }
+        break;
+    }
+    }
 
     return doc.toString(4);
 }
@@ -423,3 +494,40 @@ void UAVSettingsImportExportFactory::exportUAVData()
     msgBox.setStandardButtons(QMessageBox::Ok);
     msgBox.exec();
 }
+
+/**
+  * Slot called by the menu manager on user action
+  */
+void UAVSettingsImportExportFactory::exportWaypoints()
+{
+
+    // ask for file name
+    QString fileName;
+    QString filters = tr("UAVObjects XML files (*.xml)");
+
+    fileName = QFileDialog::getSaveFileName(0, tr("Save waypoint File As"), "", filters);
+    if (fileName.isEmpty()) {
+        return;
+    }
+
+    // generate an XML first (used for all export formats as a formatted data source)
+    QString xml = createXMLDocument(Waypoints, false);
+
+    // save file
+    QFile file(fileName);
+    if (file.open(QIODevice::WriteOnly) &&
+            (file.write(xml.toAscii()) != -1)) {
+        file.close();
+    } else {
+        QMessageBox::critical(0,
+                              tr("UAV Data Export"),
+                              tr("Unable to save data: ") + fileName,
+                              QMessageBox::Ok);
+        return;
+    }
+
+    QMessageBox msgBox;
+    msgBox.setText(tr("Data saved."));
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.exec();
+}

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.h

@@ -38,13 +38,14 @@ public:
     ~UAVSettingsImportExportFactory();
 
 private:
-   enum storedData { Settings, Data, Both };
+    enum storedData { Settings, Data, Waypoints, Both };
     QString createXMLDocument(const enum storedData, const bool fullExport);
 
 private slots:
     void importUAVSettings();
     void exportUAVSettings();
     void exportUAVData();
+    void exportWaypoints();
 signals:
     void importAboutToBegin();
     void importEnded();