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#include <QObject>
#include "QGCMapPolygon.h"
#include "QmlObjectListModel.h"
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#include "WimaAreaData.h"
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#include "WimaServiceAreaData.h"
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#include "WimaMeasurementAreaData.h"
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#include "WimaCorridorData.h"
#include "WimaJoinedArea.h"
#include "WimaJoinedAreaData.h"
#include "WimaPlanData.h"
#include "WimaDataContainer.h"
#include "PlanMasterController.h"
#include "MissionController.h"
#include "SurveyComplexItem.h"
#include "SimpleMissionItem.h"
#include "MissionSettingsItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include "OptimisationTools.h"
#include "PlanimetryCalculus.h"
#include "GeoUtilities.h"
#if TEST_FUN
#include "TestPolygonCalculus.h"
#include "testplanimetrycalculus.h"
#endif
class WimaPlaner : public QObject
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{
Q_OBJECT
enum FileType {WimaFile, PlanFile};
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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)
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Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged)
Q_PROPERTY(bool missionReady READ missionReady NOTIFY missionReadyChanged)
// Property accessors
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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;
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bool missionReady (void) const { return _missionReady; }
WimaDataContainer* dataContainer (void) { return _container;}
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// 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 setDataContainer (WimaDataContainer* container);
// Member Methodes
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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();
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Q_INVOKABLE bool addCorridor();
/// Remove all areas from WimaPlaner and all mission items from MissionController
Q_INVOKABLE void removeAll();
Q_INVOKABLE void startMission();
Q_INVOKABLE void abortMission();
Q_INVOKABLE void pauseMission();
Q_INVOKABLE void resumeMission();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
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);
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QJsonDocument saveToJson(FileType fileType);
// 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 dataContainerChanged ();
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void missionReadyChanged (bool ready);
private slots:
void recalcPolygonInteractivity (int index);
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bool recalcJoinedArea (QString &errorString);
void pushToContainer ();
bool calcShortestPath (const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path);
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// Member Functions
WimaPlanData toPlanData();
void setMissionReady(bool ready);
// Member Variables
bool _missionReady; // basically true if updateMission() was sucessful
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentAreaIndex;
QString _currentFile; // file for saveing
WimaDataContainer *_container; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
WimaJoinedArea _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor
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WimaMeasurementArea _measurementArea; // measurement area
WimaServiceArea _serviceArea; // area for supplying
WimaCorridor _corridor; // corridor connecting _measurementArea and _serviceArea