snake working, gui still stuttering sometimes

Paths/KlingenbachKlein.wima

+{
+    "AreaItems": [
+        {
+            "AreaType": "Measurement Area",
+            "BorderPolygonOffset": 6,
+            "BottomLayerAltitude": 5,
+            "LayerDistance": 1,
+            "NumberOfLayers": 1,
+            "ShowBorderPolygon": 0,
+            "maxAltitude": 30,
+            "polygon": [
+                [
+                    47.767875513636454,
+                    16.53043285498356
+                ],
+                [
+                    47.767996632271384,
+                    16.530579999131646
+                ],
+                [
+                    47.76784223516915,
+                    16.53070246118625
+                ],
+                [
+                    47.76777418124312,
+                    16.530481637145055
+                ]
+            ]
+        },
+        {
+            "AreaType": "Service Area",
+            "BorderPolygonOffset": 6,
+            "ShowBorderPolygon": 0,
+            "maxAltitude": 30,
+            "polygon": [
+                [
+                    47.76777317830783,
+                    16.530413969584316
+                ],
+                [
+                    47.76785089069791,
+                    16.530667046992818
+                ],
+                [
+                    47.76775614544286,
+                    16.5307494063876
+                ],
+                [
+                    47.76766140001518,
+                    16.530447230100037
+                ]
+            ]
+        }
+    ],
+    "MissionItems": {
+        "fileType": "Plan",
+        "geoFence": {
+            "circles": [
+            ],
+            "polygons": [
+            ],
+            "version": 2
+        },
+        "groundStation": "QGroundControl",
+        "mission": {
+            "cruiseSpeed": 15,
+            "firmwareType": 3,
+            "hoverSpeed": 1,
+            "items": [
+                {
+                    "autoContinue": true,
+                    "command": 22,
+                    "doJumpId": 1,
+                    "frame": 3,
+                    "params": [
+                        15,
+                        0,
+                        0,
+                        null,
+                        47.76776040370392,
+                        16.530569413178814,
+                        8
+                    ],
+                    "type": "SimpleItem"
+                },
+                {
+                    "TransectStyleComplexItem": {
+                        "CameraCalc": {
+                            "AdjustedFootprintFrontal": 25,
+                            "AdjustedFootprintSide": 25,
+                            "CameraName": "Manual (no camera specs)",
+                            "DistanceToSurface": 15,
+                            "DistanceToSurfaceRelative": true,
+                            "version": 1
+                        },
+                        "CameraShots": 0,
+                        "CameraTriggerInTurnAround": true,
+                        "FollowTerrain": false,
+                        "HoverAndCapture": false,
+                        "Items": [
+                            {
+                                "autoContinue": true,
+                                "command": 16,
+                                "doJumpId": 2,
+                                "frame": 3,
+                                "params": [
+                                    0,
+                                    0,
+                                    0,
+                                    null,
+                                    47.767881573082065,
+                                    16.530440216459883,
+                                    15
+                                ],
+                                "type": "SimpleItem"
+                            },
+                            {
+                                "autoContinue": true,
+                                "command": 16,
+                                "doJumpId": 3,
+                                "frame": 3,
+                                "params": [
+                                    0,
+                                    0,
+                                    0,
+                                    null,
+                                    47.76787098888673,
+                                    16.530563032107995,
+                                    15
+                                ],
+                                "type": "SimpleItem"
+                            },
+                            {
+                                "autoContinue": true,
+                                "command": 16,
+                                "doJumpId": 4,
+                                "frame": 3,
+                                "params": [
+                                    0,
+                                    0,
+                                    0,
+                                    null,
+                                    47.7678626911699,
+                                    16.530686236245202,
+                                    15
+                                ],
+                                "type": "SimpleItem"
+                            }
+                        ],
+                        "Refly90Degrees": false,
+                        "TurnAroundDistance": 10,
+                        "VisualTransectPoints": [
+                            [
+                                47.767881573082065,
+                                16.530440216459883
+                            ],
+                            [
+                                47.76787098888673,
+                                16.530563032107995
+                            ],
+                            [
+                                47.7678626911699,
+                                16.530686236245202
+                            ]
+                        ],
+                        "version": 1
+                    },
+                    "complexItemType": "circularSurvey",
+                    "deltaAlpha": 3,
+                    "deltaR": 5,
+                    "fixedDirection": false,
+                    "polygon": [
+                        [
+                            47.767875513636454,
+                            16.53043285498356
+                        ],
+                        [
+                            47.767996632271384,
+                            16.530579999131646
+                        ],
+                        [
+                            47.76784223516915,
+                            16.53070246118625
+                        ],
+                        [
+                            47.76777418124312,
+                            16.530481637145055
+                        ]
+                    ],
+                    "referencePointAlt": 0,
+                    "referencePointLat": 47.77086091347008,
+                    "referencePointLong": 16.531071041719485,
+                    "reverse": false,
+                    "transectMinLength": 15,
+                    "type": "ComplexItem",
+                    "version": 1
+                },
+                {
+                    "AMSLAltAboveTerrain": null,
+                    "Altitude": 0,
+                    "AltitudeMode": 1,
+                    "autoContinue": true,
+                    "command": 21,
+                    "doJumpId": 8,
+                    "frame": 3,
+                    "params": [
+                        0,
+                        0,
+                        0,
+                        null,
+                        47.76776040370392,
+                        16.530569413178814,
+                        0
+                    ],
+                    "type": "SimpleItem"
+                }
+            ],
+            "plannedHomePosition": [
+                47.76776040370392,
+                16.530569413178814,
+                178
+            ],
+            "vehicleType": 2,
+            "version": 2
+        },
+        "rallyPoints": {
+            "points": [
+            ],
+            "version": 2
+        },
+        "version": 1
+    }
+}

qgroundcontrol.pro

@@ -29,6 +29,7 @@ DebugBuild {
     DESTDIR  = $${OUT_PWD}/debug
     DEFINES += DEBUG
     DEFINES += SNAKE_SHOW_TIME
+    DEFINES += SNAKE_DEBUG
     #DEFINES += ROS_BRIDGE_DEBUG
 }
 else {
@@ -366,7 +367,7 @@ INCLUDEPATH += \
     src/QtLocationPlugin \
     src/QtLocationPlugin/QMLControl \
     src/Settings \
-    src/Snake \
+    src/Wima/Snake \
     src/Terrain \
     src/VehicleSetup \
     src/ViewWidgets \
@@ -410,29 +411,28 @@ FORMS += \
 #
 
 HEADERS += \
-    src/Snake/clipper/clipper.hpp \
-    src/Snake/mapbox/feature.hpp \
-    src/Snake/mapbox/geometry.hpp \
-    src/Snake/mapbox/geometry/box.hpp \
-    src/Snake/mapbox/geometry/empty.hpp \
-    src/Snake/mapbox/geometry/envelope.hpp \
-    src/Snake/mapbox/geometry/for_each_point.hpp \
-    src/Snake/mapbox/geometry/geometry.hpp \
-    src/Snake/mapbox/geometry/line_string.hpp \
-    src/Snake/mapbox/geometry/multi_line_string.hpp \
-    src/Snake/mapbox/geometry/multi_point.hpp \
-    src/Snake/mapbox/geometry/multi_polygon.hpp \
-    src/Snake/mapbox/geometry/point.hpp \
-    src/Snake/mapbox/geometry/point_arithmetic.hpp \
-    src/Snake/mapbox/geometry/polygon.hpp \
-    src/Snake/mapbox/geometry_io.hpp \
-    src/Snake/mapbox/optional.hpp \
-    src/Snake/mapbox/polylabel.hpp \
-    src/Snake/mapbox/recursive_wrapper.hpp \
-    src/Snake/mapbox/variant.hpp \
-    src/Snake/mapbox/variant_io.hpp \
-    src/Snake/snake.h \
-    src/Snake/snake_typedefs.h \
+    src/Wima/Snake/clipper/clipper.hpp \
+    src/Wima/Snake/mapbox/feature.hpp \
+    src/Wima/Snake/mapbox/geometry.hpp \
+    src/Wima/Snake/mapbox/geometry/box.hpp \
+    src/Wima/Snake/mapbox/geometry/empty.hpp \
+    src/Wima/Snake/mapbox/geometry/envelope.hpp \
+    src/Wima/Snake/mapbox/geometry/for_each_point.hpp \
+    src/Wima/Snake/mapbox/geometry/geometry.hpp \
+    src/Wima/Snake/mapbox/geometry/line_string.hpp \
+    src/Wima/Snake/mapbox/geometry/multi_line_string.hpp \
+    src/Wima/Snake/mapbox/geometry/multi_point.hpp \
+    src/Wima/Snake/mapbox/geometry/multi_polygon.hpp \
+    src/Wima/Snake/mapbox/geometry/point.hpp \
+    src/Wima/Snake/mapbox/geometry/point_arithmetic.hpp \
+    src/Wima/Snake/mapbox/geometry/polygon.hpp \
+    src/Wima/Snake/mapbox/geometry_io.hpp \
+    src/Wima/Snake/mapbox/optional.hpp \
+    src/Wima/Snake/mapbox/polylabel.hpp \
+    src/Wima/Snake/mapbox/recursive_wrapper.hpp \
+    src/Wima/Snake/mapbox/variant.hpp \
+    src/Wima/Snake/mapbox/variant_io.hpp \
+    src/Wima/Snake/snake.h \
     src/Wima/Geometry/GenericPolygon.h \
     src/Wima/Geometry/GenericPolygonArray.h \
     src/Wima/Geometry/GeoPoint3D.h \
@@ -500,8 +500,8 @@ HEADERS += \
     src/comm/ros_bridge/include/topic_subscriber.h \
     src/comm/utilities.h
 SOURCES += \
-    src/Snake/clipper/clipper.cpp \
-    src/Snake/snake.cpp \
+    src/Wima/Snake/clipper/clipper.cpp \
+    src/Wima/Snake/snake.cpp \
     src/Wima/Geometry/GeoPoint3D.cpp \
     src/Wima/Snake/NemoInterface.cpp \
     src/Wima/Snake/QNemoProgress.cc \

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -243,10 +243,8 @@ FlightMap {
 
     // Add Snake tiles center points to the map
     MapItemView {
-
         property bool _enable:    wimaController.enableWimaController.value
                                && wimaController.enableSnake.value
-
         model: _enable ? wimaController.snakeTileCenterPoints : 0
 
         delegate: MapCircle{
@@ -260,7 +258,7 @@ FlightMap {
 
             function getColor(progress) {
                 if (progress < 50)
-                    return "red"
+                    return "orangered"
                 if (progress < 100)
                     return "orange"
 
@@ -271,10 +269,8 @@ FlightMap {
 
     // Add Snake tiles to the map
     MapItemView {
-
         property bool _enable:    wimaController.enableWimaController.value
                                && wimaController.enableSnake.value
-
         model: _enable ? wimaController.snakeTiles : 0
 
         delegate: MapPolygon{

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -98,6 +98,7 @@ Item {
 
             property var enableWimaFact:        wimaController.enableWimaController
             property bool enableWimaBoolean:    enableWimaFact.value
+            property var enableSnakeFact:       wimaController.enableSnake
 
             onAccept: {
                 if (enableWimaBoolean) {
@@ -107,6 +108,7 @@ Item {
                 } else {
                     enableWimaFact.value = true
                     enableWimaMouseArea.enabled = false
+                    enableSnakeCheckBox.checkedState = false;
                     timer.stop()
                 }
             }
@@ -184,6 +186,7 @@ Item {
                         spacing: ScreenTools.defaultFontPixelHeight * 0.5
 
                         FactCheckBox {
+                            id: enableSnakeCheckBox
                             text:       wimaController.enableSnake.value ?
                                             qsTr("Disable Snake")
                                           : qsTr("Enable Snake")

src/FlightMap/MapItems/WimaPlanMapItems.qml

@@ -30,29 +30,8 @@ Item {
     property var    _map: map
     property var    _missionLineViewComponent
 
-    property var zoom: map.zoomLevel
     property bool showItems:        true
 
-//    onZoomChanged: {
-//        console.log('zoomLevel')
-//        console.log(zoom)
-//    }
-
-    function hideNumber() {
-        if (zoom > 19.5) {
-            return 1
-        } else if (zoom > 19) {
-            return 2
-        } else if (zoom > 17) {
-            return 4
-        } else if (zoom > 14) {
-            return 8
-        } else {
-            return -1
-        }
-
-    }
-
     Component {
         id: missionLineViewComponent
 
@@ -64,7 +43,6 @@ Item {
         }
     }
 
-
     Repeater {
         model: largeMapView ? ( showItems ? missionItems : 0) : 0
 
@@ -72,22 +50,10 @@ Item {
             map:        _map
             color:     _root.color
             zOrder:    _root.zOrderWP
-            visible:   isVisible(index) && _root.visible
-
-
-            function isVisible(index) {
-                var num = hideNumber()
-                if (num > 0) {
-                    return ((index+num) % num) == 0 ? true : false
-                } else {
-                    return false
-                }
-            }
+            visible:   _root.visible
         }
     }
 
-
-
     Component.onCompleted: {
         _missionLineViewComponent = missionLineViewComponent.createObject(map)
         if (_missionLineViewComponent.status === Component.Error)
@@ -98,6 +64,4 @@ Item {
     Component.onDestruction: {
         _missionLineViewComponent.destroy()
     }
-
-
 }

src/Snake/snake_typedefs.h

-#pragma once
-
-#include <vector>
-#include <array>
-#include <boost/geometry.hpp>
-
-#include <boost/units/systems/si.hpp>
-#include <boost/units/systems/si/io.hpp>
-#include <boost/units/systems/si/plane_angle.hpp>
-#include <boost/units/systems/si/prefixes.hpp>
-#include <boost/units/systems/angle/degrees.hpp>
-
-
-namespace bg = boost::geometry;
-namespace bu = boost::units;
-namespace snake {
-
-typedef bg::model::point<double, 2, bg::cs::cartesian>  BoostPoint;
-//typedef std::vector<BoostPoint>                        BoostPointList;
-typedef bg::model::polygon<BoostPoint>                  BoostPolygon;
-typedef bg::model::linestring<BoostPoint>               BoostLineString;
-typedef std::vector<std::vector<int64_t>>               Int64Matrix;
-typedef bg::model::box<BoostPoint>                      BoostBox;
-
-typedef bu::quantity<bu::si::length> Length;
-typedef bu::quantity<bu::si::area> Area;
-typedef bu::quantity<bu::si::plane_angle> Angle;
-
-}
-
-namespace boost{
-namespace geometry{
-namespace model {
-bool operator==(snake::BoostPoint p1, snake::BoostPoint p2){
-    return (p1.get<0>() == p2.get<0>()) && (p1.get<1>() == p2.get<1>());
-}
-bool operator!=(snake::BoostPoint p1, snake::BoostPoint p2){
-    return !(p1 == p2);
-}
-} // namespace model
-} // namespace geometry
-} // namespace boost

src/Wima/Geometry/WimaMeasurementArea.h

@@ -7,66 +7,53 @@
 
 #include "SettingsFact.h"
 
-
-class WimaMeasurementArea : public WimaArea
-{
-    Q_OBJECT
+class WimaMeasurementArea : public WimaArea {
+  Q_OBJECT
 public:
-    WimaMeasurementArea(QObject* parent = nullptr);
-    WimaMeasurementArea(const WimaMeasurementArea &other, QObject *parent = nullptr);
-    WimaMeasurementArea &operator=(const WimaMeasurementArea &other);
-
-    Q_PROPERTY(Fact*                bottomLayerAltitude     READ bottomLayerAltitudeFact    CONSTANT)
-    Q_PROPERTY(Fact*                numberOfLayers          READ numberOfLayersFact         CONSTANT)
-    Q_PROPERTY(Fact*                layerDistance           READ layerDistanceFact          CONSTANT)
-
-    // Overrides from WimaPolygon
-    QString         mapVisualQML    (void) const { return "WimaMeasurementAreaMapVisual.qml";}
-    QString         editorQML       (void) const { return "WimaMeasurementAreaEditor.qml";}
-
-    // Property accessors
-    Fact*           bottomLayerAltitudeFact (void)          { return &_bottomLayerAltitude;}
-    Fact*           numberOfLayersFact      (void)          { return &_numberOfLayers;}
-    Fact*           layerDistanceFact       (void)          { return &_layerDistance;}
-    double          bottomLayerAltitude     (void) const    { return _bottomLayerAltitude.rawValue().toDouble();}
-    int             numberOfLayers          (void) const    { return _numberOfLayers.rawValue().toInt();}
-    double          layerDistance           (void) const    { return _layerDistance.rawValue().toDouble();}
-
-    // Member Methodes
-    void saveToJson(QJsonObject& json);
-    bool loadFromJson(const QJsonObject& json, QString &errorString);
-
-    // Friends
-    friend void print(const WimaMeasurementArea& area, QString outputStr);
-    friend void print(const WimaMeasurementArea& area);
-
-    // Static Variables
-    static const char* settingsGroup;
-    static const char* bottomLayerAltitudeName;
-    static const char* numberOfLayersName;
-    static const char* layerDistanceName;
-    static const char* WimaMeasurementAreaName;
+  WimaMeasurementArea(QObject *parent = nullptr);
+  WimaMeasurementArea(const WimaMeasurementArea &other,
+                      QObject *parent = nullptr);
+  WimaMeasurementArea &operator=(const WimaMeasurementArea &other);
+
+  Q_PROPERTY(Fact *borderPolygonOffset READ borderPolygonOffsetFact CONSTANT)
+
+  // Overrides from WimaPolygon
+  QString mapVisualQML(void) const {
+    return "WimaMeasurementAreaMapVisual.qml";
+  }
+  QString editorQML(void) const { return "WimaMeasurementAreaEditor.qml"; }
+
+  // Member Methodes
+  void saveToJson(QJsonObject &json);
+  bool loadFromJson(const QJsonObject &json, QString &errorString);
+
+  // Friends
+  friend void print(const WimaMeasurementArea &area, QString outputStr);
+  friend void print(const WimaMeasurementArea &area);
+
+  // Static Variables
+  static const char *settingsGroup;
+  static const char *tileHeightName;
+  static const char *tileWidthName;
+  static const char *minTileAreaName;
+  static const char *transcetDistanceName;
+  static const char *minTransectLength;
+  static const char *WimaMeasurementAreaName;
 
 signals:
-    void bottomLayerAltitudeChanged     (void);
-    void numberOfLayersChanged          (void);
-    void layerDistanceChanged           (void);
 
 public slots:
-    void setBottomLayerAltitude (double altitude);
-    void setNumberOfLayers      (double numLayers);
-    void setLayerDistance       (double layerDistance);
 
 private:
-    // Member Methodes
-    void init();
+  // Member Methodes
+  void init();
 
-    // Members
-    QMap<QString, FactMetaData*> _metaDataMap;
+  // Members
+  QMap<QString, FactMetaData *> _metaDataMap;
 
-    SettingsFact            _bottomLayerAltitude;
-    SettingsFact            _numberOfLayers;
-    SettingsFact            _layerDistance;
+  SettingsFact _tileWidth;
+  SettingsFact _tileHeight;
+  SettingsFact _minTileArea;
+  SettingsFact _transectDistance;
+  SettingsFact _minTransectLength;
 };
-
-

src/Wima/Snake/SnakeThread.cc

@@ -39,7 +39,7 @@ public:
 
     Input()
         : tileWidth(5 * si::meter), tileHeight(5 * si::meter),
-          minTileArea(1 * si::meter * si::meter), lineDistance(2 * si::meter),
+          minTileArea(5 * si::meter * si::meter), lineDistance(2 * si::meter),
           minTransectLength(1 * si::meter), scenarioChanged(true),
           progressChanged(true), routeParametersChanged(true) {}
 
@@ -490,54 +490,55 @@ void SnakeThread::run() {
     this->pImpl->output.returnPathENU.clear();
     this->pImpl->output.waypoints.clear();
     this->pImpl->output.waypointsENU.clear();
-    //    // Store arrival path.
-    //    const auto &firstWaypoint = transectsRouted.front().front();
-    //    long startIdx = 0;
-    //    for (long i = 0; i < long(route.size()); ++i) {
-    //      const auto &boostVertex = route[i];
-    //      if (boostVertex == firstWaypoint) {
-    //        startIdx = i;
-    //        break;
-    //      }
-    //      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
-    //      QGeoCoordinate geoVertex;
-    //      snake::fromENU(origin, boostVertex, geoVertex);
-    //      this->pImpl->output.arrivalPathENU.push_back(enuVertex);
-    //      this->pImpl->output.arrivalPath.push_back(geoVertex);
-    //    }
-    //    // Store return path.
-    //    long endIdx = 0;
-    //    const auto &lastWaypoint = transectsRouted.back().back();
-    //    for (long i = route.size() - 1; i >= 0; --i) {
-    //      const auto &boostVertex = route[i];
-    //      if (boostVertex == lastWaypoint) {
-    //        endIdx = i;
-    //        break;
-    //      }
-    //      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
-    //      QGeoCoordinate geoVertex;
-    //      snake::fromENU(origin, boostVertex, geoVertex);
-    //      this->pImpl->output.returnPathENU.push_back(enuVertex);
-    //      this->pImpl->output.returnPath.push_back(geoVertex);
-    //    }
-    //    // Store waypoints.
-    //    for (long i = startIdx; i <= endIdx; ++i) {
-    //      const auto &boostVertex = route[i];
-    //      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
-    //      QGeoCoordinate geoVertex;
-    //      snake::fromENU(origin, boostVertex, geoVertex);
-    //      this->pImpl->output.waypointsENU.push_back(enuVertex);
-    //      this->pImpl->output.waypoints.push_back(geoVertex);
-    //    }
-    for (const auto &t : transects) {
-      for (const auto &v : t) {
-        QPointF enuVertex{v.get<0>(), v.get<1>()};
-        QGeoCoordinate geoVertex;
-        snake::fromENU(origin, v, geoVertex);
-        this->pImpl->output.waypointsENU.push_back(enuVertex);
-        this->pImpl->output.waypoints.push_back(geoVertex);
+    // Store arrival path.
+    const auto &firstWaypoint = transectsRouted.front().front();
+    long startIdx = 0;
+    for (long i = 0; i < long(route.size()); ++i) {
+      const auto &boostVertex = route[i];
+      if (boostVertex == firstWaypoint) {
+        startIdx = i;
+        break;
+      }
+      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
+      QGeoCoordinate geoVertex;
+      snake::fromENU(origin, boostVertex, geoVertex);
+      this->pImpl->output.arrivalPathENU.push_back(enuVertex);
+      this->pImpl->output.arrivalPath.push_back(geoVertex);
+    }
+    // Store return path.
+    long endIdx = 0;
+    const auto &lastWaypoint = transectsRouted.back().back();
+    for (long i = route.size() - 1; i >= 0; --i) {
+      const auto &boostVertex = route[i];
+      if (boostVertex == lastWaypoint) {
+        endIdx = i;
+        break;
       }
+      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
+      QGeoCoordinate geoVertex;
+      snake::fromENU(origin, boostVertex, geoVertex);
+      this->pImpl->output.returnPathENU.push_back(enuVertex);
+      this->pImpl->output.returnPath.push_back(geoVertex);
     }
+    // Store waypoints.
+    for (long i = startIdx; i <= endIdx; ++i) {
+      const auto &boostVertex = route[i];
+      QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
+      QGeoCoordinate geoVertex;
+      snake::fromENU(origin, boostVertex, geoVertex);
+      this->pImpl->output.waypointsENU.push_back(enuVertex);
+      this->pImpl->output.waypoints.push_back(geoVertex);
+    }
+    // Store waypoints.
+    //    for (const auto &t : transects) {
+    //      for (const auto &v : t) {
+    //        QPointF enuVertex{v.get<0>(), v.get<1>()};
+    //        QGeoCoordinate geoVertex;
+    //        snake::fromENU(origin, v, geoVertex);
+    //        this->pImpl->output.waypointsENU.push_back(enuVertex);
+    //        this->pImpl->output.waypoints.push_back(geoVertex);
+    //      }
+    //    }
     this->pImpl->output.waypointsUpdated = true;
   }
 }