保存程序

opmap/mapwidget/opmapwidget.cpp

@@ -1264,15 +1264,139 @@ void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *w)
 
 }
 
-
+//先清除再读取
 void OPMapWidget::WPLoad(QString path)//带文件目录参数
 {
     qDebug() << "WPLoad" << path;
+    //读取
+    QFile jsonFile(path);
+    if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+        qWarning() << "Unable to open file" << path << jsonFile.errorString();
+        return;
+    }
+
+    QByteArray bytes = jsonFile.readAll();
+
+    jsonFile.close();
+    QJsonParseError jsonParseError;
+    QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
+    if (jsonParseError.error != QJsonParseError::NoError) {
+        qWarning() << path << "Unable to open json document" << jsonParseError.errorString();
+        return;
+    }
+
+    QJsonObject json = doc.object();
+
+    //解码
+    QJsonValue jsonValue = json.value("mission");
+
+    qDebug() << jsonValue.toObject().keys();
+
 }
 
 void OPMapWidget::WPSave(QString path)//带文件目录参数
 {
      qDebug() << "WPSave" << path;
+     //保存到文件 *.plan,使用qgc的协议 json读写
+     QJsonDocument *doc = new QJsonDocument();
+     QJsonObject root= doc->object();
+
+     QJsonObject geoFence;
+     QJsonObject mission;
+     QJsonObject rallyPoints;
+
+
+     //geoFence节点写入
+     {
+         QJsonArray circles;
+         QJsonArray polygons;
+
+         geoFence.insert("circles",circles);
+         geoFence.insert("polygons",polygons);
+         geoFence.insert("version",2);
+     }
+
+     //mission节点写入
+     {
+         QJsonArray items;
+
+         foreach(QGraphicsItem * i, map->childItems()) {
+             WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+             if (w) {//逐渐往下增加
+                 //存到items
+                 QJsonArray params;
+                 params.append(w->Param1());
+                 params.append(w->Param2());
+                 params.append(w->Param3());
+                 params.append(w->Param4());
+                 params.append(w->Coord().Lat());
+                 params.append(w->Coord().Lng());
+                 params.append(w->Alt());
+
+                 //可能有点问题
+                 QJsonObject item;
+                 item.insert("AMSLAltAboveTerrain",0);
+                 item.insert("Altitude",w->Alt());
+                 item.insert("AltitudeMode",1);
+                 item.insert("autoContinue",w->AutoContinue());
+                 item.insert("command",w->Command());
+                 item.insert("doJumpId",w->Number());
+                 item.insert("frame",w->Frame());
+                 item.insert("params",params);
+                 item.insert("type","SimpleItem");
+
+                 //这里有问题
+                 items.append(item);
+
+             }
+         }
+
+         QJsonArray plannedHomePosition;
+         plannedHomePosition.append(0);
+         plannedHomePosition.append(1);
+         plannedHomePosition.append(2);
+
+
+         mission.insert("cruiseSpeed",2);
+         mission.insert("firmwareType",2);
+         mission.insert("hoverSpeed",2);
+         mission.insert("items",items);
+         mission.insert("plannedHomePosition",plannedHomePosition);
+         mission.insert("vehicleType",20);
+         mission.insert("version",2);
+     }
+
+     //rallyPoints节点写入
+     {
+         QJsonArray points;
+         rallyPoints.insert("points",points);
+         rallyPoints.insert("version",2);
+     }
+
+     //根节点写入
+     root.insert("fileType","Plan");
+     root.insert("geoFence",geoFence);
+     root.insert("groundStation","GCS_nf");
+     root.insert("mission", mission);
+     root.insert("rallyPoints", rallyPoints);
+     root.insert("version", 1);
+
+     //设置文档
+     doc->setObject(root);
+
+     //如果没有后缀名，那就追加
+     if(path.right(5) != ".plan")
+     {
+         path.append(".plan");
+     }
+
+     QFile file(path);
+     if(!file.open(QIODevice::ReadWrite|QFile::Truncate)) {
+         qDebug() << "File open error";
+     }
+
+     file.write(doc->toJson());
+     file.close();
 }
 
 void OPMapWidget::WPDownload(void)
@@ -1283,8 +1407,6 @@ void OPMapWidget::WPDownload(void)
      WPDeleteAll();
 
      emit signal_WPDownload(1,0);
-
-
 }
 
 void OPMapWidget::WPUpload(void)
@@ -1292,7 +1414,6 @@ void OPMapWidget::WPUpload(void)
       //发送第一个
      QList<mapcontrol::WayPointItem *> list;
      //先发送一个清空指令
-
      foreach(QGraphicsItem * i, map->childItems()) {
          WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
          if (w) {