circular survey: runs working

src/PlanView/CircularSurveyItemEditor.qml

@@ -130,7 +130,7 @@ Rectangle {
 
                 columnSpacing:  _margin
                 rowSpacing:     _margin
-                columns:        4
+                columns:        6
 
                 Repeater{
                     id: variantRepeater
@@ -141,9 +141,9 @@ Rectangle {
                     property int len: missionItem.variantNames.length
 
                     model: len
-                    QGCRadioButton {
+                    delegate: QGCRadioButton {
                         checked: index === variantRepeater.variant
-                        text: variantRepeater.names[index]
+                        text:  variantRepeater.names[index]
 
                         onCheckedChanged: {
                             if (checked){
@@ -154,6 +154,44 @@ Rectangle {
                     }
                 }
             }
+
+
+            QGCLabel {
+                text: qsTr("Runs")
+            }
+            FactTextField {
+                fact:                   missionItem.numRuns
+            }
+
+            GridLayout{
+                Layout.columnSpan: 2
+
+                columnSpacing:  _margin
+                rowSpacing:     _margin
+                columns:        6
+
+                Repeater{
+                    id: runRepeater
+
+                    property var fact: missionItem.run
+                    property int run: fact.value
+                    property var names: missionItem.runNames
+                    property int len: missionItem.runNames.length
+
+                    model: len > 1 ? len : 0
+                    QGCRadioButton {
+                        checked: index === runRepeater.run
+                        text:  runRepeater.names[index]
+
+                        onCheckedChanged: {
+                            if (checked){
+                                missionItem.run.value = index
+                            }
+                            checked = Qt.binding(function(){ return index === runRepeater.run})
+                        }
+                    }
+                }
+            }
         }
 
         SectionHeader {
@@ -171,8 +209,8 @@ Rectangle {
 
             QGCLabel { text: qsTr("Distance") }
             FactTextField {
-               fact:                   missionItem.transectDistance
-               Layout.fillWidth:       true
+                fact:                   missionItem.transectDistance
+                Layout.fillWidth:       true
             }
 
             /*QGCSlider {

src/Wima/CircularSurvey.h

@@ -35,11 +35,14 @@ public:
   Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
   Q_PROPERTY(Fact *type READ type CONSTANT)
   Q_PROPERTY(Fact *variant READ variant CONSTANT)
+  Q_PROPERTY(Fact *numRuns READ numRuns CONSTANT)
+  Q_PROPERTY(Fact *run READ run CONSTANT)
   Q_PROPERTY(int typeCount READ typeCount CONSTANT)
   Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
   Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygonChanged)
   Q_PROPERTY(
       QList<QString> variantNames READ variantNames NOTIFY variantNamesChanged)
+  Q_PROPERTY(QList<QString> runNames READ runNames NOTIFY runNamesChanged)
 
   Q_INVOKABLE void resetReference(void);
   Q_INVOKABLE void reverse(void);
@@ -57,10 +60,13 @@ public:
   Fact *minLength();
   Fact *type();
   Fact *variant();
+  Fact *numRuns();
+  Fact *run();
   int typeCount() const;
   bool calculating() const;
   bool hidePolygon() const;
   QList<QString> variantNames() const;
+  QList<QString> runNames() const;
   QGeoCoordinate depot() const;
   QList<QGeoCoordinate> safeArea() const;
   const QList<QList<QGeoCoordinate>> &rawTransects() const;
@@ -87,6 +93,8 @@ public:
   static const char *minLengthName;
   static const char *typeName;
   static const char *variantName;
+  static const char *numRunsName;
+  static const char *runName;
   static const char *CircularSurveyName;
   static const char *refPointLongitudeName;
   static const char *refPointLatitudeName;
@@ -99,6 +107,7 @@ signals:
   void depotChanged();
   void safeAreaChanged();
   void variantNamesChanged();
+  void runNamesChanged();
 
 private slots:
   // Overrides from TransectStyleComplexItem
@@ -113,10 +122,13 @@ private:
   void _buildAndAppendMissionItems(QList<MissionItem *> &items,
                                    QObject *missionItemParent);
   void _changeVariant();
+  void _changeRun();
+
   void _updateWorker();
-  void _changeVariantWorker();
+  void _changeVariantRunWorker();
   void _reverseWorker();
   void _storeWorker();
+  void _changeRunWorker();
 
   // center of the circular lanes, e.g. base station
   QGeoCoordinate _referencePoint;
@@ -131,22 +143,29 @@ private:
   SettingsFact _type;
   SettingsFact _variant;
   QList<QString> _variantNames;
+  SettingsFact _numRuns;
+  SettingsFact _run;
+  QList<QString> _runNames;
 
   // Worker
   using PtrWorker = std::shared_ptr<RoutingThread>;
   PtrWorker _pWorker;
-  PtrRoutingData _workerOutput;
+  PtrRoutingData _pRoutingData;
 
-  // Data and State.
+  // Routing data.
   QGeoCoordinate _depot;
   QList<QGeoCoordinate> _safeArea;
   QList<QList<QGeoCoordinate>> _rawTransects;
-  QVector<Transects> _routes;
+  using Runs = QVector<Transects>;
+  QVector<Runs> _variantVector;
+
+  // State.
   enum class STATE {
     DEFAULT,
     STORE,
     REVERSE,
     VARIANT_CHANGE,
+    RUN_CHANGE,
   };
   STATE _state;
 

src/Wima/RoutingThread.cpp

@@ -73,10 +73,13 @@ void RoutingThread::run() {
 #endif
       } else {
         // Prepare data for routing.
-        auto &routeInfoVector = pRouteData->routeInfoVector;
-        auto &routeVector = pRouteData->routeVector;
+        auto &solutionVector = pRouteData->solutionVector;
+
         snake::RouteParameter snakePar;
         snakePar.numSolutionsPerRun = numSolutionsPerRun;
+        snakePar.numRuns = numRuns;
+
+        // Set time limit to 10 min.
         const auto maxRoutingTime = std::chrono::minutes(10);
         const auto routingEnd =
             std::chrono::high_resolution_clock::now() + maxRoutingTime;
@@ -87,11 +90,11 @@ void RoutingThread::run() {
         };
 
         // Route transects.
-        bool success = snake::route(safeAreaENU, transectsENU, routeInfoVector,
-                                    routeVector, snakePar);
+        bool success =
+            snake::route(safeAreaENU, transectsENU, solutionVector, snakePar);
 
         // Check if routing was successful.
-        if ((!success || routeVector.size() < 1) && !this->_restart) {
+        if ((!success || solutionVector.size() < 1) && !this->_restart) {
 #ifdef DEBUG_CIRCULAR_SURVEY
           qWarning() << "RoutingWorker::run(): "
                         "routing failed.";

src/Wima/RoutingThread.h

@@ -12,8 +12,7 @@
 
 struct RoutingData {
   snake::Transects transects;
-  std::vector<snake::Route> routeVector;
-  std::vector<snake::RouteInfo> routeInfoVector;
+  std::vector<snake::Solution> solutionVector;
   std::string errorString;
 };
 

src/Wima/Snake/snake.h

@@ -215,7 +215,6 @@ bool tiles(const FPolygon &area, Length tileHeight, Length tileWidth,
 
 using Transects = vector<FLineString>;
 using Progress = vector<int>;
-using Route = FLineString;
 
 bool transectsFromScenario(Length distance, Length minLength, Angle angle,
                            const FPolygon &mArea,
@@ -228,27 +227,26 @@ struct TransectInfo {
   size_t index;
   bool reversed;
 };
-using RouteInfo = std::vector<TransectInfo>;
+struct Route {
+  FLineString path;
+  std::vector<TransectInfo> info;
+};
+using Solution =
+    std::vector<Route>; // Every route corresponds to one run/vehicle
 struct RouteParameter {
   RouteParameter()
-      : numSolutionsPerRun(1), numRuns(1), stop([] { return false; }) {}
+      : numSolutionsPerRun(1), numRuns(1), minNumTransectsPerRun(5),
+        stop([] { return false; }) {}
   std::size_t numSolutionsPerRun;
   std::size_t numRuns;
+  std::size_t minNumTransectsPerRun;
   std::function<bool(void)> stop;
   mutable std::string errorString;
 };
 bool route(const FPolygon &area, const Transects &transects,
-           std::vector<RouteInfo> &routeInfoVector,
-           std::vector<Route> &routeVector,
+           std::vector<Solution> &solutionVector,
            const RouteParameter &par = RouteParameter());
 
-bool route_old(const FPolygon &area, const Transects &transects,
-               std::vector<TransectInfo> &transectInfo, Route &r,
-               string &errorString);
-bool route_old(const FPolygon &area, const Transects &transects,
-               std::vector<TransectInfo> &transectInfo, Route &r,
-               std::function<bool(void)> stop, string &errorString);
-
 namespace detail {
 const double offsetConstant =
     0.1; // meter, polygon offset to compenstate for numerical inaccurracies.

src/Wima/WimaController.cc

@@ -798,34 +798,36 @@ void WimaController::_storeRoute(RoutingThread::PtrRoutingData data) {
   // Copy waypoints to waypoint manager.
   _snakeWM.clear();
 
-  if (data->routeVector.size() > 0 && data->routeVector.front().size() > 0 &&
-      data->routeInfoVector.size() > 0) {
+  if (data->solutionVector.size() > 0 &&
+      data->solutionVector.front().size() > 0) {
     // Store route.
     const auto &transectsENU = data->transects;
-    const auto &routeInfo = data->routeInfoVector.front();
-    const auto &route = data->routeVector.front();
+    const auto &solution = data->solutionVector.front();
+    const auto &route = solution.front();
+    const auto &path = route.path;
+    const auto &info = route.info;
     // Find index of first waypoint.
     std::size_t idxFirst = 0;
-    const auto &infoFirst = routeInfo.front();
+    const auto &infoFirst = info.front();
     const auto &firstTransect = transectsENU[infoFirst.index];
     const auto &firstWaypoint =
         infoFirst.reversed ? firstTransect.back() : firstTransect.front();
     double th = 0.001;
-    for (std::size_t i = 0; i < route.size(); ++i) {
-      auto dist = bg::distance(route[i], firstWaypoint);
+    for (std::size_t i = 0; i < path.size(); ++i) {
+      auto dist = bg::distance(path[i], firstWaypoint);
       if (dist < th) {
         idxFirst = i;
         break;
       }
     }
     // Find index of last waypoint.
-    std::size_t idxLast = route.size() - 1;
-    const auto &infoLast = routeInfo.back();
+    std::size_t idxLast = path.size() - 1;
+    const auto &infoLast = info.back();
     const auto &lastTransect = transectsENU[infoLast.index];
     const auto &lastWaypoint =
         infoLast.reversed ? lastTransect.front() : lastTransect.back();
-    for (long i = route.size() - 1; i >= 0; --i) {
-      auto dist = bg::distance(route[i], lastWaypoint);
+    for (long i = path.size() - 1; i >= 0; --i) {
+      auto dist = bg::distance(path[i], lastWaypoint);
       if (dist < th) {
         idxLast = i;
         break;
@@ -834,7 +836,7 @@ void WimaController::_storeRoute(RoutingThread::PtrRoutingData data) {
     // Convert to geo coordinates and append to waypoint manager.
     const auto &ori = this->_origin;
     for (std::size_t i = idxFirst; i <= idxLast; ++i) {
-      auto &vertex = route[i];
+      auto &vertex = path[i];
       QGeoCoordinate c;
       snake::fromENU(ori, vertex, c);
       _snakeWM.push_back(c);

src/Wima/json/CircularSurvey.SettingsGroup.json

@@ -38,5 +38,18 @@
     "shortDescription": "Route variant.",
     "type":             "uint64",
     "defaultValue":     0
+},
+{
+    "name":             "NumRuns",
+    "shortDescription": "The number of runs.",
+    "type":             "uint64",
+    "min":              1,
+    "defaultValue":     1
+},
+{
+    "name":             "Run",
+    "shortDescription": "The current run.",
+    "type":             "uint64",
+    "defaultValue":     0
 }
 ]

src/WimaView/WimaMeasurementAreaEditor.qml

@@ -128,40 +128,6 @@ Rectangle {
         } // Tile Column
 
 
-        SectionHeader {
-            id:         transectsHeader
-            text:       qsTr("Transects")
-        }
-
-        Column {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            spacing:        _margin
-            visible:        transectsHeader.checked
-
-            GridLayout {
-                anchors.left:   parent.left
-                anchors.right:  parent.right
-                columnSpacing:  _margin
-                rowSpacing:     _margin
-                columns:        2
-
-                QGCLabel { text: qsTr("Distance") }
-                FactTextField {
-                    fact:               areaItem.transectDistance
-                    Layout.fillWidth:   true
-                }
-
-                QGCLabel { text: qsTr("Min. Length") }
-
-                FactTextField {
-                    fact:               areaItem.minTransectLength
-                    Layout.fillWidth:   true
-                }
-            } // Transects GridLayout
-        } // Transects Column
-
-
         SectionHeader {
             id:     statsHeader
             text:   qsTr("Statistics")