WimaController.cc

#include "WimaController.h"

#include "utilities.h"

#include "MissionController.h"
#include "MissionSettingsItem.h"
#include "PlanMasterController.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
#include "SettingsManager.h"
#include "SimpleMissionItem.h"

#include "WimaBridge.h"
#include "WimaPlanData.h"
#include "WimaSettings.h"

#include "Snake/QNemoHeartbeat.h"
#include "Snake/QNemoProgress.h"
#include "Snake/SnakeTile.h"

#include "QVector3D"
#include <QScopedPointer>

#define CLIPPER_SCALE 1000000
#include "clipper/clipper.hpp"

#include <memory>

QGC_LOGGING_CATEGORY(WimaControllerLog, "WimaControllerLog")

template <typename T>
constexpr typename std::underlying_type<T>::type integral(T value) {
  return static_cast<typename std::underlying_type<T>::type>(value);
}

#define EVENT_TIMER_INTERVAL 50        // ms

const char *WimaController::areaItemsName = "AreaItems";
const char *WimaController::settingsGroup = "WimaController";
const char *WimaController::enableWimaControllerName = "EnableWimaController";

WimaController::WimaController(QObject *parent)
    : QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
      _corridor(), _planDataValid(false),
      _metaDataMap(FactMetaData::createMapFromJsonFile(
          QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
      _enableWimaController(settingsGroup,
                            _metaDataMap[enableWimaControllerName]){
  // PlanData and Progress.
  connect(WimaBridge::instance(), &WimaBridge::planDataChanged, this,
          &WimaController::planDataChangedHandler);
  connect(WimaBridge::instance(), &WimaBridge::progressChanged, this,
          &WimaController::progressChangedHandler);
}

PlanMasterController *WimaController::masterController() {
  return _masterController;
}

MissionController *WimaController::missionController() {
  return _missionController;
}

QmlObjectListModel *WimaController::visualItems() { return &_areas; }

Fact *WimaController::enableWimaController() { return &_enableWimaController; }

void WimaController::setMasterController(PlanMasterController *masterC) {
  _masterController = masterC;
  emit masterControllerChanged();
}

void WimaController::setMissionController(MissionController *missionC) {
  _missionController = missionC;
  emit missionControllerChanged();
}

void WimaController::planDataChangedHandler() {

  // reset visual items
  _areas.clear();
  _measurementArea = WimaMeasurementAreaData();
  _serviceArea = WimaServiceAreaData();
  _corridor = WimaCorridorData();
  _joinedArea = WimaJoinedAreaData();
  _planDataValid = false;

  emit visualItemsChanged();

  // Extract areas.
  auto planData = WimaBridge::instance()->planData();

  // Measurement Area.
  if (planData.measurementArea().coordinateList().size() >= 3) {
    _measurementArea = planData.measurementArea();
    _areas.append(&_measurementArea);

    // Service Area.
    if (planData.serviceArea().coordinateList().size() >= 3) {
      _serviceArea = planData.serviceArea();
      _areas.append(&_serviceArea);

      // Joined Area.
      if (planData.joinedArea().coordinateList().size() >= 3) {
        _joinedArea = planData.joinedArea();
        _areas.append(&_joinedArea);

        _planDataValid = true;

        // Corridor.
        if (planData.corridor().coordinateList().size() >= 3) {
          _corridor = planData.corridor();
        }
      }
    }
  }

  if (_planDataValid) {
    emit visualItemsChanged();
  } else {
    _areas.clear();
    _measurementArea = WimaMeasurementAreaData();
    _serviceArea = WimaServiceAreaData();
    _corridor = WimaCorridorData();
    _joinedArea = WimaJoinedAreaData();
  }
}

void WimaController::progressChangedHandler() {
  _measurementArea.setProgress(WimaBridge::instance()->progress());
}