WimaPlaner.h

#pragma once

#include "QmlObjectListModel.h"
#include <QObject>

#include "Geometry/WimaCorridor.h"
#include "Geometry/WimaCorridorData.h"
#include "Geometry/WimaJoinedArea.h"
#include "Geometry/WimaJoinedAreaData.h"
#include "Geometry/WimaMeasurementArea.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaServiceArea.h"
#include "Geometry/WimaServiceAreaData.h"
#include "WimaPlanData.h"

#include "JsonHelper.h"

class MissionController;
class PlanMasterController;
class WimaBridge;

class WimaPlaner : public QObject {
  Q_OBJECT

  enum FileType { WimaFile, PlanFile };

public:
  WimaPlaner(QObject *parent = nullptr);
  template <class T> WimaPlaner(T t, QObject *parent = nullptr) = delete;
  template <class T> WimaPlaner(T t) = delete;

  Q_PROPERTY(PlanMasterController *masterController READ masterController WRITE
                 setMasterController NOTIFY masterControllerChanged)
  Q_PROPERTY(MissionController *missionController READ missionController WRITE
                 setMissionController NOTIFY missionControllerChanged)
  Q_PROPERTY(QmlObjectListModel *visualItems READ visualItems NOTIFY
                 visualItemsChanged)
  Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE
                 setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
  Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
  Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
  Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
  Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
  Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
  Q_PROPERTY(WimaBridge *wimaBridge READ wimaBridge WRITE setWimaBridge NOTIFY
                 wimaBridgeChanged)
  Q_PROPERTY(bool syncronized READ syncronizedWithController NOTIFY
                 syncronizedWithControllerChanged)
  Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged)

  // Property accessors
  PlanMasterController *masterController(void) { return _masterController; }
  MissionController *missionController(void) { return _missionController; }
  QmlObjectListModel *visualItems(void);
  int currentPolygonIndex(void) const { return _currentAreaIndex; }
  QString currentFile(void) const { return _currentFile; }
  QStringList loadNameFilters(void) const;
  QStringList saveNameFilters(void) const;
  QString fileExtension(void) const { return wimaFileExtension; }
  QGeoCoordinate joinedAreaCenter(void) const;
  WimaBridge *wimaBridge(void) { return _wimaBridge; }

  // Property setters
  void setMasterController(PlanMasterController *masterController);
  void setMissionController(MissionController *missionController);
  /// Sets the integer index pointing to the current polygon. Current polygon is
  /// set interactive.
  void setCurrentPolygonIndex(int index);
  void setWimaBridge(WimaBridge *bridge);

  // Property acessors
  bool syncronizedWithController();
  bool readyForSync();

  // Member Methodes
  Q_INVOKABLE WimaPlaner *thisPointer();
  Q_INVOKABLE bool addMeasurementArea();
  /// Removes an area from _visualItems
  /// @param index Index of the area to be removed
  Q_INVOKABLE void removeArea(int index);
  Q_INVOKABLE bool addServiceArea();
  Q_INVOKABLE bool addCorridor();
  /// Remove all areas from WimaPlaner and all mission items from
  /// MissionController
  Q_INVOKABLE void removeAll();
  /// Recalculates vehicle corridor, flight path, etc.
  Q_INVOKABLE bool updateMission();
  /// Pushes the generated mission data to the wimaController.
  Q_INVOKABLE void pushToWimaController();

  Q_INVOKABLE void saveToCurrent();
  Q_INVOKABLE void saveToFile(const QString &filename);
  Q_INVOKABLE bool loadFromCurrent();
  Q_INVOKABLE bool loadFromFile(const QString &filename);

  Q_INVOKABLE void resetAllInteractive(void);
  Q_INVOKABLE void setInteractive(void);

  QJsonDocument saveToJson(FileType fileType);

  bool calcShortestPath(const QGeoCoordinate &start,
                        const QGeoCoordinate &destination,
                        QVector<QGeoCoordinate> &path);

  // static Members
  static const char *wimaFileExtension;
  static const char *areaItemsName;
  static const char *missionItemsName;

signals:
  void masterControllerChanged(void);
  void missionControllerChanged(void);
  void visualItemsChanged(void);
  void currentPolygonIndexChanged(int index);
  void currentFileChanged();
  void wimaBridgeChanged();
  void syncronizedWithControllerChanged(void);
  void readyForSyncChanged(void);

private slots:
  void recalcPolygonInteractivity(int index);
  bool calcArrivalAndReturnPath(void);
  bool recalcJoinedArea();
  // called by _updateTimer::timeout signal, updates different mission parts, if
  // parameters (e.g. survey or areas) have changed
  void updateTimerSlot();
  void setSyncronizedWithControllerFalse(void);
#ifndef NDEBUG
  void autoLoadMission(void);
#endif
  void startCalcArrivalAndReturnTimer(void);

private:
signals:
  void joinedAreaValidChanged();

private:
  // Member Functions
  WimaPlanData toPlanData();
  void setSyncronizedWithController(bool sync);
  void setReadyForSync(bool ready);
  void setJoinedAreaValid(bool valid);

  // Member Variables
  PlanMasterController *_masterController;
  MissionController *_missionController;
  int _currentAreaIndex;
  QString _currentFile;    // file for saveing
  WimaBridge *_wimaBridge; // container for data exchange with WimaController
  QmlObjectListModel _visualItems; // contains all visible areas
  WimaJoinedArea _joinedArea;      // joined area fromed by _measurementArea,
                                   // _serviceArea, _corridor
  bool _joinedAreaValid;
  WimaMeasurementArea _measurementArea; // measurement area
  WimaServiceArea _serviceArea;         // area for supplying
  WimaCorridor
      _corridor; // corridor connecting _measurementArea and _serviceArea
  unsigned long
      _arrivalPathLength; // the number waypoints the arrival path consists of
                          // (path from takeoff to first measurement point)
  unsigned long
      _returnPathLength; // the number waypoints the return path consists of
                         // (path from last measurement point to land)

  CircularSurvey *_TSComplexItem; // pointer to the CircularSurvey item in
                                  // _missionController.visualItems()

  // auto update
  QTimer _updateTimer; // on this timers timeout different mission parts will be
                       // updated, if parameters (e.g. survey or areas) have
                       // changed
  QGeoCoordinate _lastSurveyRefPoint; // stores the SurveyRefPoint of the
                                      // previous timer call
  bool _surveyRefChanging;            // true if SurveyRefPoint is changing
  QVariantList
      _lastMeasurementAreaPath;   // stores the path of _measurementArea, at the
                                  // time instance of the previous timer call
  bool _measurementAreaChanging;  // true if the path of the _measurementArea is
                                  // changing
  QVariantList _lastCorridorPath; // stores the path of _corridor, at the time
                                  // instance of the previous timer call
  bool _corridorChanging; // true if the path of the _corridor is changing
  QVariantList _lastServiceAreaPath; // stores the path of _serviceArea, at the
                                     // time instance of the previous timer call
  bool _serviceAreaChanging; // true if the path of the _serviceArea is changing

  // sync stuff
  bool _syncronizedWithController; // true if planData is syncronized with
                                   // wimaController
  bool _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath

#ifndef NDEBUG
  QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
                         // seg. faults
#endif
  QTimer _calcArrivalAndReturnPathTimer;
};