WimaPlaner.cc 24.2 KB
Newer Older
1 2
#include "WimaPlaner.h"

3 4
#include "CircularSurveyComplexItem.h"

5 6


7 8 9 10 11 12
const char* WimaPlaner::wimaFileExtension   = "wima";
const char* WimaPlaner::areaItemsName       = "AreaItems";
const char* WimaPlaner::missionItemsName    = "MissionItems";

WimaPlaner::WimaPlaner(QObject *parent)
    : QObject               (parent)
13
    , _missionReady         (false)
14 15 16
    , _currentAreaIndex     (-1)
    , _container            (nullptr)
    , _joinedArea           (this)
17 18
    , _measurementArea      (this)
    , _serviceArea          (this)
19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73
    , _corridor             (this)
{
    connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
}

QmlObjectListModel* WimaPlaner::visualItems()
{
    return &_visualItems;
}

QStringList WimaPlaner::loadNameFilters() const
{
    QStringList filters;

    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension) <<
               tr("All Files (*.*)");
    return filters;
}

QStringList WimaPlaner::saveNameFilters() const
{
    QStringList filters;

    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension);
    return filters;
}

QGeoCoordinate WimaPlaner::joinedAreaCenter() const
{
    return _joinedArea.center();
}

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

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

void WimaPlaner::setCurrentPolygonIndex(int index)
{
    if(index >= 0 && index < _visualItems.count() && index != _currentAreaIndex){
        _currentAreaIndex = index;

        emit currentPolygonIndexChanged(index);
    }
}

void WimaPlaner::setDataContainer(WimaDataContainer *container)
{
74 75 76 77 78
    if (container != nullptr) {
        if (_container != nullptr) {
           disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
        }

79
        _container = container;
80
        connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
81 82 83 84 85 86 87 88 89 90 91 92 93 94 95

        emit dataContainerChanged();
    }
}

void WimaPlaner::removeArea(int index)
{
    if(index >= 0 && index < _visualItems.count()){
        WimaArea* area = qobject_cast<WimaArea*>(_visualItems.removeAt(index));

        if ( area == nullptr) {
            qWarning("WimaPlaner::removeArea(): nullptr catched, internal error.");
            return;
        }
        area->clear();
96
        area->borderPolygon()->clear();
97 98 99 100 101 102

        emit visualItemsChanged();

        if (_visualItems.count() == 0) {
            // this branch is reached if all items are removed
            // to guarentee proper behavior, _currentAreaIndex must be set to a invalid value, as on constructor init.
103
            resetAllInteractive();
104 105 106 107 108 109 110 111 112 113 114 115 116 117 118
            _currentAreaIndex = -1;
            return;
        }

        if(_currentAreaIndex >= _visualItems.count()){
            setCurrentPolygonIndex(_visualItems.count() - 1);
        }else{
            recalcPolygonInteractivity(_currentAreaIndex);
        }
    }else{
        qWarning("Index out of bounds!");
    }

}

119
bool WimaPlaner::addMeasurementArea()
120
{
121 122
    if (!_visualItems.contains(&_measurementArea)) {
        _visualItems.append(&_measurementArea);
123 124 125 126 127 128 129 130 131 132 133 134 135

        int newIndex = _visualItems.count()-1;
        setCurrentPolygonIndex(newIndex);

        emit visualItemsChanged();
        return true;
    } else {
        return false;
    }
}

bool WimaPlaner::addServiceArea()
{
136 137
    if (!_visualItems.contains(&_serviceArea)) {
        _visualItems.append(&_serviceArea);
138 139 140 141 142 143 144 145 146 147 148

        int newIndex = _visualItems.count()-1;
        setCurrentPolygonIndex(newIndex);

        emit visualItemsChanged();
        return true;
    } else {
        return false;
    }
}

149
bool WimaPlaner::addCorridor()
150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202
{
    if (!_visualItems.contains(&_corridor)) {
        _visualItems.append(&_corridor);

        int newIndex = _visualItems.count()-1;
        setCurrentPolygonIndex(newIndex);

        emit visualItemsChanged();
        return true;
    } else {
        return false;
    }
}

void WimaPlaner::removeAll()
{
    bool changesApplied = false;
    while (_visualItems.count() > 0) {
        removeArea(0);
        changesApplied = true;
    }

    _missionController->removeAll();

    _currentFile = "";

    emit currentFileChanged();
    if ( changesApplied )
         emit visualItemsChanged();
}

void WimaPlaner::startMission()
{

}

void WimaPlaner::abortMission()
{

}

void WimaPlaner::pauseMission()
{

}

void WimaPlaner::resumeMission()
{

}

bool WimaPlaner::updateMission()
{
203 204 205 206
#if TEST_FUN
   TestPlanimetryCalculus::test();
   TestPolygonCalculus::test();
#endif
207 208
    QString errorString;
    setMissionReady(false);
209 210
    #define debug 0

211 212
    if ( !recalcJoinedArea(errorString)) {
        qgcApp()->showMessage(tr(errorString.toLocal8Bit().data()));
213 214 215 216 217 218 219
        return false;
    }

    #if debug
        _visualItems.append(&_joinedArea);
    #endif

Valentin Platzgummer's avatar
Valentin Platzgummer committed
220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236
    // extract old survey data
    QmlObjectListModel* missionItems        = _missionController->visualItems();
    CircularSurveyComplexItem* OldSurveyPt  = nullptr;

    QGeoCoordinate oldSurveyRef;
    bool oldSurveyExists = false;

    for (int i = 0; i < _missionController->visualItems()->count(); i++) {
        OldSurveyPt = qobject_cast<CircularSurveyComplexItem*>(missionItems->get(i));
        if ( OldSurveyPt != nullptr) {
            oldSurveyRef        = OldSurveyPt->refPoint();
            oldSurveyExists     = true;
            break;
        }

    }

237 238
    // reset visual items
    _missionController->removeAll();
Valentin Platzgummer's avatar
Valentin Platzgummer committed
239
    missionItems        = _missionController->visualItems();
240 241 242 243 244 245 246
    // set home position to serArea center
    MissionSettingsItem* settingsItem= qobject_cast<MissionSettingsItem*>(missionItems->get(0));
    if (settingsItem == nullptr){
        qWarning("WimaPlaner::updateMission(): settingsItem == nullptr");
        return false;
    }
    // set altitudes, temporary measure to solve bugs
247
    QGeoCoordinate center = _serviceArea.center();
248
    center.setAltitude(0);
249 250
    _serviceArea.setCenter(center);
    center = _measurementArea.center();
251
    center.setAltitude(0);
252
    _measurementArea.setCenter(center);
253 254 255 256
    center = _corridor.center();
    center.setAltitude(0);
    _corridor.setCenter(center);
    // set HomePos. to serArea center
257
    settingsItem->setCoordinate(_serviceArea.center());
258 259

    // create take off position item
260
    int sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
261

262 263 264 265 266 267 268 269
    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
    SimpleMissionItem* takeOffItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
    if (takeOffItem == nullptr){
        qWarning("WimaPlaner::updateMission(): takeOffItem == nullptr");
        return false;
    } else {
        takeOffItem->setCoordinate(_serviceArea.center()); //necessary, insertSimpleMissionItem does not copy coordinate (why?)
    }
270 271

    // create survey item, will be extened with more()-> mission types in the future
272 273
    _missionController->insertComplexMissionItem(_missionController->circularSurveyComplexItemName(), _measurementArea.center(), missionItems->count());
    CircularSurveyComplexItem* survey = qobject_cast<CircularSurveyComplexItem*>(missionItems->get(missionItems->count()-1));
Valentin Platzgummer's avatar
Valentin Platzgummer committed
274

275 276 277 278
    if (survey == nullptr){
        qWarning("WimaPlaner::updateMission(): survey == nullptr");
        return false;
    } else {
Valentin Platzgummer's avatar
Valentin Platzgummer committed
279 280 281 282 283 284 285
        if ( oldSurveyExists ) {
           survey->setRefPoint(oldSurveyRef);
        } else  {
            survey->setRefPoint(_measurementArea.center());
        }

        survey->setAutoGenerated(true); // prevents reinitialisation from gui
286
        survey->surveyAreaPolygon()->clear();
287
        survey->surveyAreaPolygon()->appendVertices(_measurementArea.coordinateList());
288 289
    }

Valentin Platzgummer's avatar
Valentin Platzgummer committed
290

291
    // calculate path from take off to opArea
292 293 294 295
    if (survey->visualTransectPoints().size() == 0) {
        qWarning("WimaPlaner::updateMission(): survey no points.");
        return false;
    }
296
    QGeoCoordinate start = _serviceArea.center();
Valentin Platzgummer's avatar
Valentin Platzgummer committed
297
    QGeoCoordinate end = survey->coordinate();
Valentin Platzgummer's avatar
Valentin Platzgummer committed
298 299

#ifdef QT_DEBUG
Valentin Platzgummer's avatar
Valentin Platzgummer committed
300 301
    if (!_visualItems.contains(&_joinedArea))
        _visualItems.append(&_joinedArea);
Valentin Platzgummer's avatar
Valentin Platzgummer committed
302
#endif
Valentin Platzgummer's avatar
Valentin Platzgummer committed
303

304
    QList<QGeoCoordinate> path;
305 306
    if ( !calcShortestPath(start, end, path)) {
        qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
307 308
        return false;
    }
Valentin Platzgummer's avatar
Valentin Platzgummer committed
309 310 311 312 313
//    path.clear();
//    path.append(end);
//    path.append(start);
//    path.append(end);
//    path.append(end);
314 315 316 317 318 319
    for (int i = 1; i < path.count()-1; i++) {
        sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
        _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
    }

    // calculate return path
Valentin Platzgummer's avatar
Valentin Platzgummer committed
320
    start   = survey->exitCoordinate();
321
    end     = _serviceArea.center();
322
    path.clear();
323 324
    if ( !calcShortestPath(start, end, path)) {
        qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
325 326
        return false;
    }
Valentin Platzgummer's avatar
Valentin Platzgummer committed
327 328 329 330 331
//    path.clear();
//    path.append(end);
//    path.append(start);
//    path.append(end);
//    path.append(end);
332 333 334 335 336 337
    for (int i = 1; i < path.count()-1; i++) {
        sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
        _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
    }

    // create land position item
338
    sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
339 340 341 342 343 344 345 346 347 348
    _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
    SimpleMissionItem* landItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
    if (landItem == nullptr){
        qWarning("WimaPlaner::updateMission(): landItem == nullptr");
        return false;
    } else {
        Vehicle* controllerVehicle = _masterController->controllerVehicle();
        MAV_CMD landCmd = controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
        if (controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
            landItem->setCommand(landCmd);
349 350
        } else {
            return false;
351 352 353
        }
    }

354 355
    pushToContainer(); // exchange plan data with the WimaController via the _container
    setMissionReady(true);
356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446
    return true;
}

void WimaPlaner::saveToCurrent()
{
    saveToFile(_currentFile);
}

void WimaPlaner::saveToFile(const QString& filename)
{
    if (filename.isEmpty()) {
        return;
    }

    QString planFilename = filename;
    if (!QFileInfo(filename).fileName().contains(".")) {
        planFilename += QString(".%1").arg(wimaFileExtension);
    }

    QFile file(planFilename);
    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
        qgcApp()->showMessage(tr("Plan save error %1 : %2").arg(filename).arg(file.errorString()));
        _currentFile.clear();
        emit currentFileChanged();
    } else {
        FileType fileType = FileType::WimaFile;
        if ( planFilename.contains(QString(".%1").arg(wimaFileExtension)) ) {
            fileType = FileType::WimaFile;
        } else if ( planFilename.contains(QString(".%1").arg(AppSettings::planFileExtension)) ) {
            fileType = FileType::PlanFile;
        } else {
            if ( planFilename.contains(".") ) {
                qgcApp()->showMessage(tr("File format not supported"));
            } else {
                qgcApp()->showMessage(tr("File without file extension not accepted."));
                return;
            }
        }

        QJsonDocument saveDoc = saveToJson(fileType);
        file.write(saveDoc.toJson());
        if(_currentFile != planFilename) {
            _currentFile = planFilename;
            emit currentFileChanged();
        }
    }
}

bool WimaPlaner::loadFromCurrent()
{
    return loadFromFile(_currentFile);
}

bool WimaPlaner::loadFromFile(const QString &filename)
{
    #define debug 0
    QString errorString;
    QString errorMessage = tr("Error loading Plan file (%1). %2").arg(filename).arg("%1");

    if (filename.isEmpty()) {
        return false;
    }

    QFileInfo fileInfo(filename);
    QFile file(filename);

    if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
        errorString = file.errorString() + QStringLiteral(" ") + filename;
        qgcApp()->showMessage(errorMessage.arg(errorString));
        return false;
    }

    if(fileInfo.suffix() == wimaFileExtension) {
        QJsonDocument   jsonDoc;
        QByteArray      bytes = file.readAll();

        if (!JsonHelper::isJsonFile(bytes, jsonDoc, errorString)) {
            qgcApp()->showMessage(errorMessage.arg(errorString));
            return false;
        }

        QJsonObject json = jsonDoc.object();
        // AreaItems
        QJsonArray areaArray = json[areaItemsName].toArray();
        _visualItems.clear();

        int validAreaCounter = 0;
        for( int i = 0; i < areaArray.size() && validAreaCounter < 3; i++) {
            QJsonObject jsonArea = areaArray[i].toObject();

            if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) {
Valentin Platzgummer's avatar
Valentin Platzgummer committed
447
                if ( jsonArea[WimaArea::areaTypeName] == WimaMeasurementArea::WimaMeasurementAreaName) {
448 449 450
                    print(_measurementArea);
                    bool success = _measurementArea.loadFromJson(jsonArea, errorString);
                    print(_measurementArea);
451 452 453 454 455 456 457

                    if ( !success ) {
                        qgcApp()->showMessage(errorMessage.arg(errorString));
                        return false;
                    }

                    validAreaCounter++;
458
                    _visualItems.append(&_measurementArea);
459 460
                    emit visualItemsChanged();
                } else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) {
461
                    bool success = _serviceArea.loadFromJson(jsonArea, errorString);
462 463 464 465 466 467 468

                    if ( !success ) {
                        qgcApp()->showMessage(errorMessage.arg(errorString));
                        return false;
                    }

                    validAreaCounter++;
469
                    _visualItems.append(&_serviceArea);
470
                    emit visualItemsChanged();
Valentin Platzgummer's avatar
Valentin Platzgummer committed
471
                } else if ( jsonArea[WimaArea::areaTypeName] == WimaCorridor::WimaCorridorName) {
472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495
                    bool success = _corridor.loadFromJson(jsonArea, errorString);

                    if ( !success ) {
                        qgcApp()->showMessage(errorMessage.arg(errorString));
                        return false;
                    }

                    validAreaCounter++;
                    _visualItems.append(&_corridor);
                    emit visualItemsChanged();
                } else {
                    errorString += QString(tr("%s not supported.\n").arg(WimaArea::areaTypeName));
                    qgcApp()->showMessage(errorMessage.arg(errorString));
                    return false;
                }
            } else {
                errorString += QString(tr("Invalid or non existing entry for %s.\n").arg(WimaArea::areaTypeName));
                return false;
            }
        }

        _currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);

        emit currentFileChanged();
496
        //recalcJoinedArea();
497

Valentin Platzgummer's avatar
Valentin Platzgummer committed
498
        // MissionItems
499
        // extrac MissionItems part
Valentin Platzgummer's avatar
Valentin Platzgummer committed
500 501 502 503 504 505 506 507 508

//        bool ret = json.contains(missionItemsName);
//        qWarning() << ret;

        QJsonObject missionObject = json[missionItemsName].toObject();

        //qWarning() << json[missionItemsName].type();

        QJsonDocument missionJsonDoc = QJsonDocument(missionObject);
509 510 511 512 513 514 515 516
        // create temporary file with missionItems
        QFile temporaryFile;
        QString cropedFileName = filename.section("/",0,-2);
        #if debug
            qWarning() << cropedFileName;
        #endif
        QString temporaryFileName;
        for (int i = 0; ; i++) {
Valentin Platzgummer's avatar
Valentin Platzgummer committed
517 518
            temporaryFileName = cropedFileName + QString("/temp%1.%2").arg(i).arg(AppSettings::planFileExtension);
            // qWarning() << temporaryFileName;
519 520 521 522 523 524 525 526 527 528 529 530 531 532

            if ( !QFile::exists(temporaryFileName) ) {
                temporaryFile.setFileName(temporaryFileName);
                if ( temporaryFile.open(QIODevice::WriteOnly | QIODevice::Text) ) {
                    break;
                }
            }

            if ( i > 1000) {
                qWarning("WimaPlaner::loadFromFile(): not able to create temporary file.");
                return false;
            }
        }

Valentin Platzgummer's avatar
Valentin Platzgummer committed
533
        // qWarning() << missionJsonDoc.toVariant().toString();
534
        temporaryFile.write(missionJsonDoc.toJson());
Valentin Platzgummer's avatar
Valentin Platzgummer committed
535
        temporaryFile.close();
536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563

        // load from temporary file
        _masterController->loadFromFile(temporaryFileName);

        // remove temporary file
        if ( !temporaryFile.remove() ){
            qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file.");
        }

        return true;

    } else if ( fileInfo.suffix() == AppSettings::planFileExtension ){
        _masterController->loadFromFile(filename);

        return true;// might be wrong return value
    } else {
        errorString += QString(tr("File extension not supported.\n"));
        qgcApp()->showMessage(errorMessage.arg(errorString));

        return false;
    }
}

void WimaPlaner::recalcPolygonInteractivity(int index)
{
    if (index >= 0 && index < _visualItems.count()) {
        resetAllInteractive();
        WimaArea* interactivePoly = qobject_cast<WimaArea*>(_visualItems.get(index));
564
        interactivePoly->setWimaAreaInteractive(true);
565 566 567
    }
}

568
bool WimaPlaner::recalcJoinedArea(QString &errorString)
569
{
570
    // check if area paths form simple polygons
571
    if ( !_serviceArea.isSimplePolygon() ) {
572 573 574 575
        errorString.append(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
        return false;
    }

576
    if ( !_corridor.isSimplePolygon() && _corridor.count() > 0) {
577 578 579 580
        errorString.append(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
        return false;
    }

581
    if ( !_measurementArea.isSimplePolygon() ) {
582 583 584 585
        errorString.append(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
        return false;
    }

586
    _joinedArea.setPath(_serviceArea.path());
587
    _joinedArea.join(_corridor);
588
    if ( !_joinedArea.join(_measurementArea) ) {
Valentin Platzgummer's avatar
Valentin Platzgummer committed
589
        errorString.append(tr("Not able to join areas. Service area and measurement"
590
                           " must have a overlapping section, or be connected through a corridor."));
591
        return false; // this happens if all areas are pairwise disjoint
592
    }
Valentin Platzgummer's avatar
Valentin Platzgummer committed
593 594
    // join service area, op area and corridor
    return true;
595 596
}

597 598 599 600 601 602 603
/*!
 * \fn void WimaPlaner::pushToContainer()
 * Pushes the \c WimaPlanData object generated by \c toPlanData() to the \c WimaDataContainer.
 * Should be called only after \c updateMission() was successful.
 *
 * \sa WimaDataContainer, WimaPlanData
 */
604 605 606
void WimaPlaner::pushToContainer()
{
    if (_container != nullptr) {
607 608
        WimaPlanData planData = toPlanData();
        _container->push(planData);
609 610 611 612 613
    } else {
        qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
    }
}

614 615 616 617 618 619
bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QList<QGeoCoordinate> &path)
{
    using namespace GeoUtilities;
    using namespace PolygonCalculus;
    QList<QPointF> path2D;
    bool retVal = PolygonCalculus::shortestPath(
Valentin Platzgummer's avatar
Valentin Platzgummer committed
620
                                   toQPolygonF(toCartesian2D(_joinedArea.coordinateList(), /*origin*/ start)),
621
                                   /*start point*/ QPointF(0,0),
Valentin Platzgummer's avatar
Valentin Platzgummer committed
622 623
                                   /*destination*/ toCartesian2D(destination, start),
                                   /*shortest path*/ path2D);
Valentin Platzgummer's avatar
Valentin Platzgummer committed
624
    path.append(toGeo(path2D, /*origin*/ start));
625 626 627 628

    return  retVal;
}

629
void WimaPlaner::resetAllInteractive()
630
{
631 632 633 634 635
    // Marks all areas as inactive (area.interactive == false)
    int itemCount = _visualItems.count();
    if (itemCount > 0){
        for (int i = 0; i < itemCount; i++) {
            WimaArea* iteratorPoly = qobject_cast<WimaArea*>(_visualItems.get(i));
636
            iteratorPoly->setWimaAreaInteractive(false);
637 638 639 640 641 642 643 644 645
        }
    }
}

void WimaPlaner::setInteractive()
{
    recalcPolygonInteractivity(_currentAreaIndex);
}

646 647 648 649 650 651 652 653 654 655 656 657
/*!
 * \fn WimaPlanData WimaPlaner::toPlanData()
 *
 * Returns a \c WimaPlanData object containing information about the current mission.
 * The \c WimaPlanData object holds only the data which is relevant for the \c WimaController class.
 * Should only be called if updateMission() was successful.
 *
 * \sa WimaController, WimaPlanData
 */
WimaPlanData WimaPlaner::toPlanData()
{
    WimaPlanData planData;
658 659

    // store areas
660 661 662
    planData.append(WimaMeasurementAreaData(_measurementArea));
    planData.append(WimaServiceAreaData(_serviceArea));
    planData.append(WimaCorridorData(_corridor));
663
    planData.append(WimaJoinedAreaData(_joinedArea));
664

665 666 667
    // convert mission items to mavlink commands
    QList<MissionItem*> rgMissionItems;
    MissionController::convertToMissionItems(_missionController->visualItems(), rgMissionItems, this);
668 669 670 671 672 673 674 675 676 677 678 679 680 681 682

    // remove warnings if you read this
//    qWarning("WimaPlaner::toPlanData(): rgMissionItems");
//    for (auto item : rgMissionItems) {
//        qWarning() << item->command();
//        qWarning() << item->param1();
//        qWarning() << item->param2();
//        qWarning() << item->param3();
//        qWarning() << item->param4();
//        qWarning() << item->param5();
//        qWarning() << item->param6();
//        qWarning() << item->param7();
//        qWarning(" ");
//    }

683 684 685 686 687
    QList<const MissionItem*> rgMissionItemsConst;
    for (auto missionItem : rgMissionItems)
        rgMissionItemsConst.append(missionItem);
    // store mavlink commands
    planData.append(rgMissionItemsConst);
688 689

    return planData;
690 691 692 693 694 695 696 697 698 699 700 701
}

void WimaPlaner::setMissionReady(bool ready)
{
    if(_missionReady != ready)
    {
        _missionReady = ready;

        emit missionReadyChanged(_missionReady);
    }
}

702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721
QJsonDocument WimaPlaner::saveToJson(FileType fileType)
{
    /// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument
    /// @param fileType is either WimaFile or PlanFile (enum), if fileType == PlanFile only mission items are stored
    QJsonObject json;

    if ( fileType == FileType::WimaFile ) {
        QJsonArray jsonArray;

        for (int i = 0; i < _visualItems.count(); i++) {
            QJsonObject json;

            WimaArea* area = qobject_cast<WimaArea*>(_visualItems.get(i));

            if (area == nullptr) {
                qWarning("WimaPlaner::saveToJson(): Internal error, area == nullptr!");
                return QJsonDocument();
            }

            // check the type of area, create and append the JsonObject to the JsonArray once determined
Valentin Platzgummer's avatar
Valentin Platzgummer committed
722
            WimaMeasurementArea* opArea =  qobject_cast<WimaMeasurementArea*>(area);
723 724 725 726 727
            if (opArea != nullptr) {
                opArea->saveToJson(json);
                jsonArray.append(json);
                continue;
            }
728

729 730 731 732 733 734 735
            WimaServiceArea* serArea =  qobject_cast<WimaServiceArea*>(area);
            if (serArea != nullptr) {
                serArea->saveToJson(json);
                jsonArray.append(json);
                continue;
            }

Valentin Platzgummer's avatar
Valentin Platzgummer committed
736
            WimaCorridor* corridor =  qobject_cast<WimaCorridor*>(area);
737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756
            if (corridor != nullptr) {
                corridor->saveToJson(json);
                jsonArray.append(json);
                continue;
            }

            // if non of the obove branches was trigger, type must be WimaArea
            area->saveToJson(json);
            jsonArray.append(json);
        }

        json[areaItemsName] = jsonArray;
        json[missionItemsName] = _masterController->saveToJson().object();

        return QJsonDocument(json);
    } else if (fileType == FileType::PlanFile) {
        return _masterController->saveToJson();
    }

    return QJsonDocument(json);
757
}
758 759 760