auto vehicle corridor implemented

qgroundcontrol.qrc

@@ -218,6 +218,8 @@
         <file alias="QGroundControl/Controls/WimaGOperationAreaMapVisual.qml">src/WimaView/WimaGOperationAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaGOperationAreaEditor.qml">src/WimaView/WimaGOperationAreaEditor.qml</file>
+        <file alias="QGroundControl/Controls/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
+        <file alias="QGroundControl/Controls/WimaVCorridorMapVisual.qml">src/WimaView/WimaVCorridorMapVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/QmlControls/QGroundControl.Controls.qmldir

@@ -89,6 +89,9 @@ WimaMapVisual                       1.0 WimaMapVisual.qml
 WimaGOperationAreaMapVisual         1.0 WimaGOperationAreaMapVisual.qml
 WimaGOperationAreaEditor            1.0 WimaGOperationAreaEditor.qml
 WimaServiceAreaMapVisual            1.0 WimaServiceAreaMapVisual.qml
+WimaServiceAreaEditor               1.0 WimaServiceAreaEditor.qml
+WimaVCorridorMapVisual              1.0 WimaVCorridorMapVisual.qml
 WimaItemEditor                      1.0 WimaItemEditor.qml
 WimaMapPolygonVisuals               1.0 WimaMapPolygonVisuals.qml
 WimaMapPolylineVisuals              1.0 WimaMapPolylineVisuals.qml
+

src/Wima/WimaController.cc

 #include "WimaController.h"
-#include "MissionController.h"
 
 WimaController::WimaController(QObject *parent) :
     QObject             (parent)
   ,_planView            (true)
   ,_visualItems         (new QmlObjectListModel(parent))
+  ,_currentPolygonIndex (-1)
 {
     connect(this, &WimaController::currentPolygonIndexChanged, this, &WimaController::recalcPolygonInteractivity);
 }
@@ -30,17 +30,6 @@ void WimaController::setCurrentPolygonIndex(int index)
     }
 }
 
-void WimaController::addGOperationArea()
-{
-    WimaGOperationArea* newPoly = new WimaGOperationArea(this);
-    _visualItems->append(newPoly);
-    int newIndex = _visualItems->count()-1;
-    _currentPolygonIndex = newIndex;
-
-    emit currentPolygonIndexChanged(newIndex);
-    emit visualItemsChanged();
-}
-
 void WimaController::removeArea(int index)
 {
     if(index >= 0 && index < _visualItems->count()){
@@ -48,6 +37,13 @@ void WimaController::removeArea(int index)
 
         emit visualItemsChanged();
 
+        if (_visualItems->count() == 0) {
+            // this branch is reached if all items are removed
+            // to guarentee proper behavior, _currentPolygonIndex must be set to a invalid value, as on constructor init.
+            _currentPolygonIndex = -1;
+            return;
+        }
+
         if(_currentPolygonIndex >= _visualItems->count()){
             setCurrentPolygonIndex(_visualItems->count() - 1);
         }else{
@@ -59,16 +55,75 @@ void WimaController::removeArea(int index)
 
 }
 
+void WimaController::addGOperationArea()
+{
+    WimaGOperationArea* newPoly = new WimaGOperationArea(this);
+    _visualItems->append(newPoly);
+    int newIndex = _visualItems->count()-1;
+    setCurrentPolygonIndex(newIndex);
+    emit visualItemsChanged();
+}
+
 void WimaController::addServiceArea()
 {
-    resetAllIsCurrentPolygon();
     WimaServiceArea* newPoly = new WimaServiceArea(this);
-    newPoly->setInteractive(true);
     _visualItems->append(newPoly);
-
+    int newIndex = _visualItems->count()-1;
+    setCurrentPolygonIndex(newIndex);
     emit visualItemsChanged();
 }
 
+bool WimaController::addVehicleCorridor(WimaGOperationArea *opArea, WimaServiceArea *serviceArea)
+{
+     WimaVCorridor* corridor = nullptr;
+    if (opArea != nullptr && serviceArea != nullptr){
+        for (int i = 0; i < _visualItems->count(); i++) {
+            corridor = qobject_cast<WimaVCorridor*>(_visualItems->get(i));
+            if (corridor != nullptr){
+                if (corridor->serviceArea() == serviceArea && corridor->opArea() == opArea){
+                    break;
+                }else {
+                    corridor = nullptr;
+                }
+            }
+        }
+
+        bool newCorridorCreated = false;
+        if(corridor == nullptr){
+            corridor = new WimaVCorridor(this);
+            newCorridorCreated = true;
+        }else {
+            corridor->clear();
+        }
+
+        QList<QGeoCoordinate> opAreaPolyline = opArea->polyline()->coordinateList();
+        QList<QGeoCoordinate> serAreaPolyline = serviceArea->polyline()->coordinateList();
+        if (opAreaPolyline.size() > 1 && serAreaPolyline.size() > 1){
+            corridor->appendVertices(opAreaPolyline);
+            corridor->appendVertices(serAreaPolyline);
+
+            if (newCorridorCreated){
+                corridor->setServiceArea(serviceArea);
+                corridor->setOpArea(opArea);
+                serviceArea->setVehicleCorridor(corridor);
+                opArea->setVehicleCorridor(corridor);
+                _visualItems->append(corridor);
+                emit visualItemsChanged();
+            }
+
+            return true;
+        }else {
+            qWarning("WimaController::addVehicleCorridor(): OpArea or serviceArea polyline size <= 1!");
+            if (newCorridorCreated){
+                corridor->deleteLater();
+            }
+            return false;
+        }
+    }else {
+        return false;
+    }
+}
+
 void WimaController::startMission()
 {
 
@@ -89,6 +144,33 @@ void WimaController::resumeMission()
 
 }
 
+bool WimaController::updateMission()
+{
+    WimaGOperationArea* opArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaGOperationArea* currentArea = qobject_cast<WimaGOperationArea*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            opArea = currentArea;
+            break;
+        }
+    }
+
+    WimaServiceArea* serArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaServiceArea* currentArea = qobject_cast<WimaServiceArea*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            serArea = currentArea;
+            break;
+        }
+    }
+
+    if (opArea != nullptr && serArea != nullptr){
+        return addVehicleCorridor(opArea, serArea);
+    }else{
+        return false;
+    }
+}
+
 void WimaController::saveMission()
 {
 

src/Wima/WimaController.h

@@ -7,6 +7,7 @@
 #include "WimaArea.h"
 #include "WimaGOperationArea.h"
 #include "WimaServiceArea.h"
+#include "WimaVCorridor.h"
 
 #include "PlanMasterController.h"
 #include "MissionController.h"
@@ -37,16 +38,23 @@ public:
     // 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);
 
     Q_INVOKABLE void addGOperationArea();
+    /// Removes an area from _visualItems
+    /// @param index Index of the area to be removed
     Q_INVOKABLE void removeArea(int index);
     Q_INVOKABLE void addServiceArea();
+    /// @return true if a vehicle corridor was added sucessfully and false otherwise.
+                bool addVehicleCorridor(WimaGOperationArea* opArea, WimaServiceArea* serviceArea);
 
     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 saveMission();
     Q_INVOKABLE void loadMission();

src/Wima/WimaGOperationArea.cc

@@ -42,6 +42,21 @@ void WimaGOperationArea::removeVehicle(int vehicleIndex)
     }
 }
 
+void WimaGOperationArea::setVehicleCorridor(WimaVCorridor *corridor)
+{
+    if(corridor != nullptr){
+        if (corridor != _vehicleCorridor){
+            _vehicleCorridor = corridor;
+            emit vehicleCorridorChanged(_vehicleCorridor);
+        }
+        else {
+            qWarning("WimaGOperationArea::setVehicleCorridor(): new corridor equals old _vehicleCorridor!");
+        }
+    }else{
+        qWarning("WimaGOperationArea::setVehicleCorridor(): corridor == nullptr!");
+    }
+}
+
 /*void WimaGOperationArea::recalculatesubPolygons()
 {
     int vehicleCount = _vehicleList->count();

src/Wima/WimaGOperationArea.h

@@ -4,6 +4,7 @@
 #include "WimaArea.h"
 #include "SettingsFact.h"
 #include "WimaTrackerPolyline.h"
+#include "WimaGOperationArea.h"
 
 #include "QScopedPointer"
 
@@ -14,16 +15,17 @@ public:
     WimaGOperationArea(QObject* parent = nullptr);
     WimaGOperationArea(WimaArea* other, QObject* parent = nullptr);
 
-    Q_PROPERTY(Fact*                    bottomLayerAltitude         READ bottomLayerAltitude                                            CONSTANT)
-    Q_PROPERTY(Fact*                    numberOfLayers              READ numberOfLayers                                                 CONSTANT)
-    Q_PROPERTY(Fact*                    layerDistance               READ layerDistance                                                  CONSTANT)
+    Q_PROPERTY(Fact*                    bottomLayerAltitude READ bottomLayerAltitude    CONSTANT)
+    Q_PROPERTY(Fact*                    numberOfLayers      READ numberOfLayers         CONSTANT)
+    Q_PROPERTY(Fact*                    layerDistance       READ layerDistance          CONSTANT)
     /*Q_PROPERTY(QmlObjectListModel*      vehicleList                 READ vehicleList                                                    NOTIFY vehicleListChanged)
     Q_PROPERTY(QmlObjectListModel*      vehiclePolygons             READ vehiclePolygons                                                NOTIFY vehiclePolygonsChanged)*/
-    Q_PROPERTY(WimaTrackerPolyline*     polyline                    READ polyline                                                       CONSTANT)
+    Q_PROPERTY(WimaTrackerPolyline*     polyline            READ polyline               CONSTANT)
 
 
     Q_INVOKABLE void addVehicle                 (WimaVehicle *vehicle);
     Q_INVOKABLE void removeVehicle              (int vehicleIndex);
+                void setVehicleCorridor         (WimaVCorridor* corridor);
     /*Q_INVOKABLE void recalculatesubPolygons     ();
     Q_INVOKABLE void removeAllVehicles          ();
     Q_INVOKABLE void addVehiclePolygon          ();
@@ -42,6 +44,7 @@ public:
     /*QmlObjectListModel*                 vehicleList             (void) const { return _vehicleList;}
     QmlObjectListModel*                 vehiclePolygons         (void) const { return _vehiclePolygons;}*/
     WimaTrackerPolyline*                polyline                (void)       { return &_polyline;}
+    WimaVCorridor*                      vehicleCorridor         (void)       { return _vehicleCorridor;}
 
 
     static const char* settingsGroup;
@@ -57,7 +60,7 @@ signals:
     //void vehicleListChanged             (void);
     void polylineChanged                (void);
     //void vehiclePolygonsChanged         (void);
-
+    void vehicleCorridorChanged         (WimaVCorridor* corridor);
 
 private:
     QMap<QString, FactMetaData*> _metaDataMap;
@@ -69,7 +72,9 @@ private:
 
     /*QmlObjectListModel*     _vehicleList;
     QmlObjectListModel*     _vehiclePolygons;*/
-    WimaTrackerPolyline            _polyline;
+    WimaTrackerPolyline     _polyline;
+    WimaVCorridor*          _vehicleCorridor;
+
 
 
 

src/Wima/WimaServiceArea.cc

@@ -9,6 +9,7 @@ WimaServiceArea::WimaServiceArea(QObject *parent):
 WimaServiceArea::WimaServiceArea(WimaArea *other, QObject *parent):
     WimaArea (other, parent)
 {
+    _polyline.bindPolygon(this);
     this->setObjectName("Service Area");
 }
 
@@ -28,3 +29,18 @@ void WimaServiceArea::setLandPosition(QGeoCoordinate* coordinate)
     }
 }
 
+void WimaServiceArea::setVehicleCorridor(WimaVCorridor *corridor)
+{
+    if(corridor != nullptr){
+        if (corridor != _vehicleCorridor){
+            _vehicleCorridor = corridor;
+            emit vehicleCorridorChanged(_vehicleCorridor);
+        }
+        else {
+            qWarning("WimaServiceArea::setVehicleCorridor(): new corridor equals old _vehicleCorridor!");
+        }
+    }else{
+        qWarning("WimaServiceArea::setVehicleCorridor(): corridor == nullptr!");
+    }
+}
+

src/Wima/WimaServiceArea.h

@@ -2,6 +2,7 @@
 
 #include <QObject>
 #include "WimaArea.h"
+#include "WimaTrackerPolyline.h"
 
 class WimaServiceArea : public WimaArea
 {
@@ -10,8 +11,10 @@ public:
     WimaServiceArea(QObject* parent = nullptr);
     WimaServiceArea(WimaArea* other = nullptr, QObject* parent = nullptr);
 
-    Q_PROPERTY(QGeoCoordinate* takeOffPosition           READ takeOffPosition                    WRITE setTakeOffPosition            NOTIFY takeOffPositionChanged)
-    Q_PROPERTY(QGeoCoordinate* landPosition              READ landPosition                       WRITE setLandPosition               NOTIFY landPositionChanged)
+    Q_PROPERTY(QGeoCoordinate*          takeOffPosition READ takeOffPosition    WRITE setTakeOffPosition    NOTIFY takeOffPositionChanged)
+    Q_PROPERTY(QGeoCoordinate*          landPosition    READ landPosition       WRITE setLandPosition       NOTIFY landPositionChanged)
+    Q_PROPERTY(WimaTrackerPolyline*     polyline        READ polyline                                       CONSTANT)
+
 
     // Overrides from WimaPolygon
     QString         mapVisualQML    (void) const { return "WimaServiceAreaMapVisual.qml";}
@@ -20,16 +23,23 @@ public:
     // Property acessors
     QGeoCoordinate*          takeOffPosition             (void)  { return &_takeOffPosition;}
     QGeoCoordinate*          landPosition                (void)  { return &_landPosition;}
+    WimaTrackerPolyline*     polyline                    (void)  { return &_polyline;}
+    WimaVCorridor*           vehicleCorridor             (void)  { return _vehicleCorridor;}
+
 
     // Property setters
     void setTakeOffPosition             (QGeoCoordinate* coordinate);
     void setLandPosition                (QGeoCoordinate* coordinate);
+    void setVehicleCorridor             (WimaVCorridor* corridor);
 
 signals:
     void takeOffPositionChanged         (void);
     void landPositionChanged            (void);
+    void vehicleCorridorChanged         (WimaVCorridor* corridor);
 private:
+    WimaTrackerPolyline _polyline;
     QGeoCoordinate      _takeOffPosition;
     QGeoCoordinate      _landPosition;
+    WimaVCorridor*      _vehicleCorridor;
 };
 

src/Wima/WimaTrackerPolyline.cc

@@ -33,11 +33,12 @@ void WimaTrackerPolyline::unbindPolygon()
     }
 }
 
-void WimaTrackerPolyline::swapLimits()
+void WimaTrackerPolyline::swapEndPoints()
 {
     int storage         = _startVertexIndex;
     _startVertexIndex   = _endVertexIndex;
     _endVertexIndex     = storage;
+    recalcPolyline();
 }
 
 
@@ -115,7 +116,7 @@ void WimaTrackerPolyline::snapStartVertex()
 
 void WimaTrackerPolyline::recalcPolyline()
 {
-    qWarning("WimaTrackerPolyline::recalcPolyline()");
+    //qWarning("WimaTrackerPolyline::recalcPolyline()");
     if (_boundArea != nullptr && _boundArea->count() > 0){
         if (_startVertexIndex >= _boundArea->count()){
             _startVertexIndex = 0;
@@ -124,10 +125,10 @@ void WimaTrackerPolyline::recalcPolyline()
             _endVertexIndex = _boundArea->count()-1;
         }
 
-        _polyline.clear();
+        this->clear();
         int i = _startVertexIndex;
         while(1){
-            _polyline.appendVertex(_boundArea->vertexCoordinate(i));
+            this->appendVertex(_boundArea->vertexCoordinate(i));
             if (i == _boundArea->count()-1 && i != _endVertexIndex){
                 i = 0;
             }else if (i == _endVertexIndex) {

src/Wima/WimaTrackerPolyline.h

@@ -23,7 +23,7 @@ public:
     //Property setters
     Q_INVOKABLE  void       bindPolygon             (WimaArea* polygon);
     Q_INVOKABLE  void       unbindPolygon           ();
-    Q_INVOKABLE  void       swapLimits              ();
+    Q_INVOKABLE  void       swapEndPoints           ();
     Q_INVOKABLE  void       setStartVertexIndex     (int PolygonVertexIndex);
     Q_INVOKABLE  void       setEndVertexIndex       (int PolygonVertexIndex);
 
@@ -48,7 +48,6 @@ public slots:
     void recalcPolyline(void);
 
 private:
-    QGCMapPolyline              _polyline;
     WimaArea*                   _boundArea;
     // this->vertexCoordinate(this->count()-1) and _boundArea->vertexCoordinate(_startVertexIndex) are linked
     int                         _startVertexIndex;

src/Wima/WimaVCorridor.cc

@@ -7,7 +7,39 @@ WimaVCorridor::WimaVCorridor(QObject *parent):
 }
 
 WimaVCorridor::WimaVCorridor(WimaArea *other, QObject *parent):
-    WimaArea (other, parent)
+  WimaArea      (other, parent)
+  ,_serviceArea (nullptr)
+  ,_opArea      (nullptr)
 {
     this->setObjectName("Corridor");
 }
+
+void WimaVCorridor::setServiceArea(WimaServiceArea *serviceArea)
+{
+    if (serviceArea != nullptr){
+        if(serviceArea != _serviceArea){
+            _serviceArea = serviceArea;
+            emit serviceAreaChanged(_serviceArea);
+        }else {
+            qWarning("WimaVCorridor::setServiceArea(): new serviceArea does not differ from old _serviceArea!");
+        }
+
+    }else {
+        qWarning("WimaVCorridor::setServiceArea(): serviceArea == nullptr!");
+    }
+}
+
+void WimaVCorridor::setOpArea(WimaGOperationArea *opArea)
+{
+    if (opArea != nullptr){
+        if(&opArea != &_opArea){
+            _opArea = opArea;
+            emit opAreaChanged(_opArea);
+        }else {
+            qWarning("WimaVCorridor::setOpArea(): new opArea does not differ from old _opArea!");
+        }
+
+    }else {
+        qWarning("WimaVCorridor::setOpArea(): opArea == nullptr!");
+    }
+}

src/Wima/WimaVCorridor.h

@@ -2,6 +2,8 @@
 
 #include <QObject>
 #include "WimaArea.h"
+#include "WimaServiceArea.h"
+#include "WimaGOperationArea.h"
 
 class WimaVCorridor : public WimaArea
 {
@@ -13,5 +15,20 @@ public:
     // Overrides from WimaPolygon
     QString         mapVisualQML    (void) const { return "WimaVCorridorMapVisual.qml";}
     QString         editorQML       (void) const { return "WimaVCorridorEditor.qml";}
+
+    // Methodes
+    void                setServiceArea (WimaServiceArea* serviceArea);
+    void                setOpArea      (WimaGOperationArea* opArea);
+    WimaServiceArea*    serviceArea    (void)                           const {return _serviceArea;}
+    WimaGOperationArea* opArea         (void)                           const {return _opArea;}
+
+signals:
+    void serviceAreaChanged (WimaServiceArea* serviceArea);
+    void opAreaChanged      (WimaGOperationArea* opArea);
+
+private:
+    WimaServiceArea*    _serviceArea;
+    WimaGOperationArea* _opArea;
+
 };
 

src/WimaView/WimaGOperationAreaEditor.qml

@@ -28,11 +28,29 @@ Rectangle {
     property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
     property real   _fieldWidth:                ScreenTools.defaultFontPixelWidth * 10.5
     property var    polyline:                   areaItem.polyline
-    property var    operatingPolygon:           areaItem
+    property bool   polylineInteractive:        polyline.interactive
+    property bool   polygonInteractive:         areaItem.interactive
+    property var    polygon:                    areaItem
     property bool   initNecesarry:              true
 
+    onPolylineInteractiveChanged: {
+        polyline.interactive = polylineInteractive;
+    }
+
+    onPolygonInteractiveChanged: {
+        polygon.interactive = polygonInteractive;
+    }
+
     function editPolyline(){
-        polyline.interactive = true;
+        if (polylineInteractive){
+            //polyline.interactive = false;
+            polylineInteractive = false;
+            //polygonInteractive = true;
+        }else{
+            //polyline.interactive = true;
+            polylineInteractive = true;
+            //polygonInteractive = false;
+        }
     }
 
 
@@ -74,7 +92,7 @@ Rectangle {
                     Layout.fillWidth:   true
                 }
 
-                /*QGCLabel { text: qsTr("Number of Layers") }
+                QGCLabel { text: qsTr("Number of Layers") }
                 FactTextField {
                     fact:               areaItem.numberOfLayers
                     Layout.fillWidth:   true
@@ -84,7 +102,7 @@ Rectangle {
                 FactTextField {
                     fact:               areaItem.layerDistance
                     Layout.fillWidth:   true
-                }*/
+                }
 
 
             }
@@ -104,11 +122,21 @@ Rectangle {
             anchors.topMargin:      _margin / 2
             anchors.leftMargin:     ScreenTools.defaultFontPixelWidth * 2
             anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
-            text:                   "Edit Polyline"
+            text:                   polylineInteractive ? "Done" : "Edit"
 
             onClicked: editPolyline()
         }
 
+        QGCButton {
+            id:                     swapEndpoints
+            anchors.topMargin:      _margin / 2
+            anchors.leftMargin:     ScreenTools.defaultFontPixelWidth * 2
+            anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
+            text:                   "Swap End-Points"
+
+            onClicked: polyline.swapEndPoints()
+        }
+
         SectionHeader {
             id:     statsHeader
             text:   qsTr("Statistics")

src/WimaView/WimaGOperationAreaMapVisual.qml

@@ -65,7 +65,7 @@ Item {
 
     function _addInitialPolyline(){
         _polyline.setStartVertexIndex(0);
-        _polyline.setEndVertexIndex(2);
+        _polyline.setEndVertexIndex(1);
     }
 
 
@@ -95,22 +95,10 @@ Item {
         mapControl:         map
         mapPolyline:        _polyline
         lineWidth:          4
-        lineColor:          interactive ? "yellow" : "green"
+        lineColor:          interactive ? "white" : "green"
+        enableSplitHandels: false
+        enableDragHandels:  true
+        edgeHandelsOnly:    true
     }
 
-    /*QGCMapPolylineVisuals {
-        id:             mapPolylineVisuals
-        qgcView:        _root.qgcView
-        mapControl:     map
-        mapPolyline:    _polyline
-        lineWidth:      3
-        lineColor:      "#be781c"
-    }*/
-
-
-
-
-
-
-
 }

src/WimaView/WimaMapPolylineVisuals.qml

@@ -108,6 +108,7 @@ Item {
     }
 
     Component.onCompleted: {
+        addInitialPolyline()
         addVisuals()
         if (interactive) {
             addHandles()
@@ -151,6 +152,11 @@ Item {
             text:           qsTr("Remove vertex" )
             onTriggered:    mapPolyline.removeVertex(menu._removeVertexIndex)
         }
+        MenuItem {
+            id:             swapEndPoints
+            text:           qsTr("Swap End-Points" )
+            onTriggered:    mapPolyline.swapEndPoints()
+        }
 
         MenuSeparator {
             visible:        removeVertexItem.visible
@@ -283,7 +289,7 @@ Item {
             onDragStop: {
                 if (_creationComplete) {
                     // During component creation some bad coordinate values got through which screws up draw
-                    mapPolyline.snapVertices(polylineVertex)
+                    mapPolyline.snapVertex(polylineVertex)
                 }
             }
 

src/WimaView/WimaServiceAreaEditor.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtQuick.Controls.Styles 1.4
+import QtQuick.Dialogs  1.2
+import QtQuick.Extras   1.4
+import QtQuick.Layouts  1.2
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FactControls  1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.FlightMap     1.0
+
+// Editor for Operating Area items
+Rectangle {
+    id:         _root
+    height:     visible ? (editorColumn.height + (_margin * 2)) : 0
+    width:      availableWidth
+    color:      qgcPal.windowShadeDark
+    radius:     _radius
+
+    // The following properties must be available up the hierarchy chain
+    //property real   availableWidth    ///< Width for control
+    //property var    areaItem       ///< Mission Item for editor
+
+    property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
+    property real   _fieldWidth:                ScreenTools.defaultFontPixelWidth * 10.5
+    property var    polyline:                   areaItem.polyline
+    property bool   polylineInteractive:        polyline.interactive
+    property bool   polygonInteractive:         areaItem.interactive
+    property var    polygon:                    areaItem
+    property bool   initNecesarry:              true
+
+    onPolylineInteractiveChanged: {
+        polyline.interactive = polylineInteractive;
+    }
+
+    onPolygonInteractiveChanged: {
+        polygon.interactive = polygonInteractive;
+    }
+
+    function editPolyline(){
+        if (polylineInteractive){
+            //polyline.interactive = false;
+            polylineInteractive = false;
+            //polygonInteractive = true;
+        }else{
+            //polyline.interactive = true;
+            polylineInteractive = true;
+            //polygonInteractive = false;
+        }
+    }
+
+
+
+
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+
+    Column {
+        id:                 editorColumn
+        anchors.margins:    _margin
+        anchors.top:        parent.top
+        anchors.left:       parent.left
+        anchors.right:      parent.right
+        spacing:            _margin
+
+        SectionHeader {
+            id:         scanHeader
+            text:       qsTr("Settings")
+        }
+
+        Column {
+            anchors.left:   parent.left
+            anchors.right:  parent.rightsetI
+            spacing:        _margin
+            visible:        scanHeader.checked
+
+            GridLayout {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                columnSpacing:  _margin
+                rowSpacing:     _margin
+                columns:        2
+
+                /*QGCLabel {
+                    text:       qsTr("Bottom Layer Altitude")
+                }
+                FactTextField {
+                    fact:               areaItem.bottomLayerAltitude
+                    Layout.fillWidth:   true
+                }
+
+                QGCLabel { text: qsTr("Number of Layers") }
+                FactTextField {
+                    fact:               areaItem.numberOfLayers
+                    Layout.fillWidth:   true
+                }
+
+                QGCLabel { text: qsTr("Layer Distance") }
+                FactTextField {
+                    fact:               areaItem.layerDistance
+                    Layout.fillWidth:   true
+                }*/
+
+
+            }
+
+            Item {
+                height: ScreenTools.defaultFontPixelHeight / 2
+                width:  1
+            }
+        } // Column - Scan
+        SectionHeader {
+            id:         polylineHeader
+            text:       qsTr("Gateway Poly Line")
+        }
+
+        QGCButton {
+            id:                     polylineEditor
+            anchors.topMargin:      _margin / 2
+            anchors.leftMargin:     ScreenTools.defaultFontPixelWidth * 2
+            anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
+            text:                   polylineInteractive ? "Done" : "Edit"
+
+            onClicked: editPolyline()
+        }
+
+        QGCButton {
+            id:                     swapEndpoints
+            anchors.topMargin:      _margin / 2
+            anchors.leftMargin:     ScreenTools.defaultFontPixelWidth * 2
+            anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
+            text:                   "Swap End-Points"
+
+            onClicked: polyline.swapEndPoints()
+        }
+
+        SectionHeader {
+            id:     statsHeader
+            text:   qsTr("Statistics")
+        }
+
+        Grid {
+            columns:        2
+            columnSpacing:  ScreenTools.defaultFontPixelWidth
+            visible:        statsHeader.checked
+
+            /*QGCLabel { text: qsTr("Layers") }
+            QGCLabel { text: areaItem.layers.valueString }*/
+
+            }
+    } // Column
+} // Rectangle

src/WimaView/WimaServiceAreaMapVisual.qml

@@ -25,7 +25,9 @@ Item {
     property var map        ///< Map control to place item in
     property var qgcView    ///< QGCView to use for popping dialogs
 
-    property var _polygon:          object
+    property var areaItem:          object
+    property var _polygon:          areaItem
+    property var _polyline:         areaItem.polyline
 
     signal clicked(int sequenceNumber)
 
@@ -61,8 +63,16 @@ Item {
         }
     }
 
+    function _addInitialPolyline(){
+        _polyline.setStartVertexIndex(0);
+        _polyline.setEndVertexIndex(1);
+    }
+
+
+
     Component.onCompleted: {
         _addInitialPolygon()
+        _addInitialPolyline()
     }
 
     Component.onDestruction: {
@@ -78,7 +88,14 @@ Item {
         interiorOpacity:    0.25
     }
 
-
-
-
+    WimaMapPolylineVisuals {
+        qgcView:            _root.qgcView
+        mapControl:         map
+        mapPolyline:        _polyline
+        lineWidth:          4
+        lineColor:          interactive ? "white" : "yellow"
+        enableSplitHandels: false
+        enableDragHandels:  true
+        edgeHandelsOnly:    true
+    }
 }

src/WimaView/WimaVCorridorMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Global Measurement Area visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    property var _polygon:          areaItem
+    //property var _polyline:         areaItem.polyline
+
+    signal clicked(int sequenceNumber)
+
+    /// Add an initial 4 sided polygon if there is none
+    function _addInitialPolygon() {
+        if (_polygon.count < 3) {
+            // Initial polygon is inset to take 2/3rds space
+            var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
+            rect.x += (rect.width * 0.25) / 2
+            rect.y += (rect.height * 0.25) / 2
+            rect.width *= 0.25
+            rect.height *= 0.25
+
+            var centerCoord =       map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)),   false /* clipToViewPort */)
+            var topLeftCoord =      map.toCoordinate(Qt.point(rect.x, rect.y),                                          false /* clipToViewPort */)
+            var topRightCoord =     map.toCoordinate(Qt.point(rect.x + rect.width, rect.y),                             false /* clipToViewPort */)
+            var bottomLeftCoord =   map.toCoordinate(Qt.point(rect.x, rect.y + rect.height),                            false /* clipToViewPort */)
+            var bottomRightCoord =  map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height),               false /* clipToViewPort */)
+
+            // Adjust polygon to max size
+            var maxSize = 100
+            var halfWidthMeters =   Math.min(topLeftCoord.distanceTo(topRightCoord), maxSize) / 2
+            var halfHeightMeters =  Math.min(topLeftCoord.distanceTo(bottomLeftCoord), maxSize) / 2
+            topLeftCoord =      centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            topRightCoord =     centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            bottomLeftCoord =   centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
+            bottomRightCoord =  centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
+
+            _polygon.appendVertex(topLeftCoord)
+            _polygon.appendVertex(topRightCoord)
+            _polygon.appendVertex(bottomRightCoord)
+            _polygon.appendVertex(bottomLeftCoord)
+        }
+    }
+
+    /*function _addInitialPolyline(){
+        _polyline.setStartVertexIndex(0);
+        _polyline.setEndVertexIndex(1);
+    }*/
+
+
+
+    Component.onCompleted: {
+        //_addInitialPolygon()
+        //_addInitialPolyline()
+    }
+
+    Component.onDestruction: {
+    }
+
+    WimaMapPolygonVisuals {
+        qgcView:            _root.qgcView
+        mapControl:         map
+        mapPolygon:         _polygon
+        borderWidth:        1
+        borderColor:        "black"
+        interiorColor:      "blue"
+        interactive:        false
+        interiorOpacity:    0.2
+    }
+
+    /*WimaMapPolylineVisuals {
+        qgcView:            _root.qgcView
+        mapControl:         map
+        mapPolyline:        _polyline
+        lineWidth:          4
+        lineColor:          interactive ? "white" : "yellow"
+        enableSplitHandels: false
+        enableDragHandels:  true
+        edgeHandelsOnly:    true
+    }*/
+}

src/WimaView/WimaView.qml

@@ -624,7 +624,8 @@ QGCView {
 
                         /*if (_singleComplexItem) {
                             addComplexItem(_missionController.complexMissionItemNames[0])
-                        }*/FlyArea
+                        }*/
+                        wimaController.updateMission();
                         break
                     case 5:
                         editorMap.zoomLevel += 0.5