clearup temp commit 2

qgroundcontrol.pro

@@ -416,7 +416,6 @@ INCLUDEPATH += \
     src/QtLocationPlugin \
     src/QtLocationPlugin/QMLControl \
     src/Settings \
-    src/Wima/Snake \
     src/Wima \
     src/Terrain \
     src/Vehicle \
@@ -447,74 +446,58 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 HEADERS += \
     src/QmlControls/QmlUnitsConversion.h \
     src/Vehicle/VehicleEscStatusFactGroup.h \
-    src/Wima/CircularSurvey.h \
-    src/Wima/GenericSingelton.h \
-    src/Wima/Geometry/GenericCircle.h \
-    src/Wima/RoutingThread.h \
-    src/Wima/Snake/CircularGenerator.h \
-    src/Wima/Snake/GeneratorBase.h \
-    src/Wima/Snake/LinearGenerator.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 \
-    src/Wima/Snake/NemoInterface.h \
-    src/Wima/Snake/QNemoHeartbeat.h \
-    src/Wima/Snake/QNemoProgress.h \
-    src/Wima/Snake/QNemoProgress.h \
-    src/Wima/Snake/SnakeTile.h \
-    src/Wima/Snake/SnakeTileLocal.h \
-    src/Wima/Snake/SnakeTiles.h \
-    src/Wima/Snake/SnakeTilesLocal.h \
-    src/Wima/Utils.h \
-    src/Wima/WimaBridge.h \
-    src/Wima/WimaStateMachine.h \
-    src/Wima/call_once.h \
+    src/RouteMissionItem/RouteComplexItem.h \
+    src/RouteMissionItem/GenericSingelton.h \
+    src/RouteMissionItem/geometry/GenericCircle.h \
+    src/RouteMissionItem/RoutingThread.h \
+    src/RouteMissionItem/CircularGenerator.h \
+    src/RouteMissionItem/GeneratorBase.h \
+    src/RouteMissionItem/LinearGenerator.h \
+    src/RouteMissionItem/geometry/clipper/clipper.hpp \
+    src/RouteMissionItem/geometry/mapbox/feature.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/box.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/empty.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/envelope.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/for_each_point.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/geometry.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/line_string.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/multi_line_string.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/multi_point.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/multi_polygon.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/point.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/point_arithmetic.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry/polygon.hpp \
+    src/RouteMissionItem/geometry/mapbox/geometry_io.hpp \
+    src/RouteMissionItem/geometry/mapbox/optional.hpp \
+    src/RouteMissionItem/geometry/mapbox/polylabel.hpp \
+    src/RouteMissionItem/geometry/mapbox/recursive_wrapper.hpp \
+    src/RouteMissionItem/geometry/mapbox/variant.hpp \
+    src/RouteMissionItem/geometry/mapbox/variant_io.hpp \
+    src/RouteMissionItem/geometry/snake.h \
+    src/RouteMissionItem/geometry/GenericPolygon.h \
+    src/RouteMissionItem/geometry/GenericPolygonArray.h \
+    src/RouteMissionItem/geometry/GeoPoint3D.h \
+    src/RouteMissionItem/NemoInterface.h \
+    src/RouteMissionItem/nemo_interface/QNemoHeartbeat.h \
+    src/RouteMissionItem/nemo_interface/QNemoProgress.h \
+    src/RouteMissionItem/nemo_interface/QNemoProgress.h \
+    src/RouteMissionItem/nemo_interface/SnakeTile.h \
+    src/RouteMissionItem/nemo_interface/SnakeTileLocal.h \
+    src/RouteMissionItem/nemo_interface/SnakeTiles.h \
+    src/RouteMissionItem/nemo_interface/SnakeTilesLocal.h \
+    src/RouteMissionItem/call_once.h \
     src/api/QGCCorePlugin.h \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
     src/api/QmlComponentInfo.h \
     src/GPS/Drivers/src/base_station.h \
-    src/Wima/Geometry/WimaArea.h \
-    src/Wima/Geometry/WimaServiceArea.h \
-    src/Wima/Geometry/WimaTrackerPolyline.h \
-    src/Wima/WimaPlaner.h \
-    src/Wima/Geometry/WimaMeasurementArea.h \
-    src/Wima/Geometry/WimaCorridor.h \
-    src/Wima/Geometry/WimaAreaData.h \
-    src/Wima/Geometry/WimaServiceAreaData.h \
-    src/Wima/Geometry/WimaCorridorData.h \
-    src/Wima/Geometry/WimaMeasurementAreaData.h \
-    src/Wima/WimaPlanData.h \
-    src/Wima/Geometry/WimaJoinedArea.h \
-    src/Wima/Geometry/WimaJoinedAreaData.h \
-    src/Wima/Geometry/PlanimetryCalculus.h \
-    src/Wima/Geometry/PolygonCalculus.h \
-    src/Wima/OptimisationTools.h \
-    src/Wima/Geometry/GeoUtilities.h \
-    src/Wima/Geometry/TestPolygonCalculus.h \
-    src/Wima/Geometry/testplanimetrycalculus.h \
+    src/RouteMissionItem/geometry/WimaArea.h \
+    src/RouteMissionItem/geometry/WimaServiceArea.h \
+    src/RouteMissionItem/geometry/WimaMeasurementArea.h \
+    src/RouteMissionItem/geometry/PlanimetryCalculus.h \
+    src/RouteMissionItem/geometry/PolygonCalculus.h \
+    src/RouteMissionItem/OptimisationTools.h \
     src/Settings/WimaSettings.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
     src/comm/ros_bridge/include/com_private.h \
@@ -540,25 +523,23 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 
 SOURCES += \
     src/Vehicle/VehicleEscStatusFactGroup.cc \
-    src/Wima/WimaStateMachine.cpp \
+    src/RouteMissionItem/AreaData.cc \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
     src/api/QGCSettings.cc \
     src/api/QmlComponentInfo.cc \
-    src/Wima/CircularSurvey.cc \
-    src/Wima/GenericSingelton.cpp \
-    src/Wima/RoutingThread.cpp \
-    src/Wima/Snake/CircularGenerator.cpp \
-    src/Wima/Snake/GeneratorBase.cc \
-    src/Wima/Snake/LinearGenerator.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/Wima/Snake/SnakeTile.cpp \
-    src/Wima/Utils.cpp \
-    src/Wima/WimaBridge.cc \
+    src/RouteMissionItem/RouteComplexItem.cc \
+    src/RouteMissionItem/GenericSingelton.cpp \
+    src/RouteMissionItem/RoutingThread.cpp \
+    src/RouteMissionItem/CircularGenerator.cpp \
+    src/RouteMissionItem/GeneratorBase.cc \
+    src/RouteMissionItem/LinearGenerator.cpp \
+    src/RouteMissionItem/geometry/clipper/clipper.cpp \
+    src/RouteMissionItem/geometry/snake.cpp \
+    src/RouteMissionItem/geometry/GeoPoint3D.cpp \
+    src/RouteMissionItem/NemoInterface.cpp \
+    src/RouteMissionItem/nemo_interface/QNemoProgress.cc \
+    src/RouteMissionItem/nemo_interface/SnakeTile.cpp \
     src/comm/ros_bridge/include/RosBridgeClient.cpp \
     src/comm/ros_bridge/include/com_private.cpp \
     src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.cpp \
@@ -573,25 +554,12 @@ SOURCES += \
     src/comm/ros_bridge/include/server.cpp \
     src/comm/ros_bridge/include/topic_publisher.cpp \
     src/comm/ros_bridge/include/topic_subscriber.cpp \
-    src/Wima/Geometry/WimaArea.cc \
-    src/Wima/Geometry/WimaServiceArea.cc \
-    src/Wima/Geometry/WimaTrackerPolyline.cc \
-    src/Wima/WimaPlaner.cc \
-    src/Wima/Geometry/WimaMeasurementArea.cc \
-    src/Wima/Geometry/WimaCorridor.cc \
-    src/Wima/Geometry/WimaAreaData.cc \
-    src/Wima/Geometry/WimaServiceAreaData.cc \
-    src/Wima/Geometry/WimaCorridorData.cpp \
-    src/Wima/WimaPlanData.cc \
-    src/Wima/Geometry/WimaMeasurementAreaData.cc \
-    src/Wima/Geometry/WimaJoinedArea.cc \
-    src/Wima/Geometry/WimaJoinedAreaData.cc \
-    src/Wima/Geometry/PlanimetryCalculus.cc \
-    src/Wima/OptimisationTools.cc \
-    src/Wima/Geometry/GeoUtilities.cc \
-    src/Wima/Geometry/PolygonCalculus.cc \
-    src/Wima/Geometry/TestPolygonCalculus.cpp \
-    src/Wima/Geometry/testplanimetrycalculus.cpp \
+    src/RouteMissionItem/geometry/WimaArea.cc \
+    src/RouteMissionItem/geometry/WimaServiceArea.cc \
+    src/RouteMissionItem/geometry/WimaMeasurementArea.cc \
+    src/RouteMissionItem/geometry/PlanimetryCalculus.cc \
+    src/RouteMissionItem/OptimisationTools.cc \
+    src/RouteMissionItem/geometry/PolygonCalculus.cc \
     src/Settings/WimaSettings.cc \
     src/comm/ros_bridge/src/ros_bridge.cpp
 
@@ -1586,9 +1554,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
 }
 
 DISTFILES += \
-    src/Wima/Routing/json/CircularGenerator.SettingsGroup.json \
-    src/Wima/Snake/json/LinearGenerator.SettingsGroup.json \
-    src/Wima/json/CircularSurvey.SettingsGroup.json \
-    src/WimaView/WimaMeasurementAreaEditor.qml \
-    src/Settings/Wima.SettingsGroup.json \
     src/QmlControls/QGroundControl/Specific/qmldir

qgroundcontrol.qrc

@@ -289,7 +289,6 @@
         <file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
         <file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
         <file alias="Wima/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
-        <file alias="WimaView.qml">src/WimaView/WimaView.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
         <file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>

src/QGCApplication.cc

@@ -112,8 +112,6 @@
 #include "Wima/Snake/CircularGenerator.h"
 #include "Wima/Snake/LinearGenerator.h"
 #include "Wima/Snake/NemoInterface.h"
-#include "Wima/WimaController.h"
-#include "Wima/WimaPlaner.h"
 
 #if defined(QGC_ENABLE_PAIRING)
 #include "PairingManager.h"
@@ -596,8 +594,6 @@ void QGCApplication::_initCommon()
 #endif
 
 // Wima
-  qmlRegisterType<WimaController>("Wima", 1, 0, "WimaController");
-  qmlRegisterType<WimaPlaner>("Wima", 1, 0, "WimaPlaner");
   qmlRegisterType<NemoInterface>("Wima", 1, 0, "NemoInterface");
   qmlRegisterInterface<routing::GeneratorBase>("GeneratorBase");
   qmlRegisterType<routing::CircularGenerator>("Wima", 1, 0,

src/QmlControls/FlightPathSegment.h

@@ -35,7 +35,7 @@ public:
     Q_PROPERTY(double           distanceBetween         MEMBER _distanceBetween                                 NOTIFY distanceBetweenChanged)
     Q_PROPERTY(double           finalDistanceBetween    MEMBER _finalDistanceBetween                            NOTIFY finalDistanceBetweenChanged)
     Q_PROPERTY(double           totalDistance           MEMBER _totalDistance                                   NOTIFY totalDistanceChanged)
-    Q_PROPERTY(bool             terrainCollision        MEMBER _terrainCollision                                NOTIFY terrainCollisionChanged);
+    Q_PROPERTY(bool             terrainCollision        MEMBER _terrainCollision                                NOTIFY terrainCollisionChanged)
 
     QGeoCoordinate      coordinate1         (void) const { return _coord1; }
     QGeoCoordinate      coordinate2         (void) const { return _coord2; }

src/Wima/.directory

-[Dolphin]
-Timestamp=2020,7,8,11,13,28
-Version=4
-ViewMode=1

src/Wima/CircularSurvey.h

-#pragma once
-
-#include <QFutureWatcher>
-#include <QVector>
-#include <memory>
-
-#include "SettingsFact.h"
-#include "TransectStyleComplexItem.h"
-
-#include "Geometry/WimaJoinedAreaData.h"
-#include "Geometry/WimaMeasurementAreaData.h"
-#include "WimaPlanData.h"
-
-class RoutingThread;
-class RoutingData;
-
-namespace routing {
-class GeneratorBase;
-}
-
-class CircularSurvey : public TransectStyleComplexItem {
-  Q_OBJECT
-
-  using PtrGenerator = std::shared_ptr<routing::GeneratorBase>;
-  using PtrRoutingData = std::shared_ptr<RoutingData>;
-  using PtrWorker = std::unique_ptr<RoutingThread>;
-  using Transects = QList<QList<CoordInfo_t>>;
-  using Variant = Transects;
-
-  enum class STATE { IDLE, ROUTING, SKIPP, REVERSE, VARIANT_CHANGE };
-
-public:
-  CircularSurvey(PlanMasterController *masterController, bool flyView,
-                 const QString &kmlOrShpFile, QObject *parent);
-  ~CircularSurvey();
-
-  Q_PROPERTY(Fact *variant READ variant CONSTANT)
-  Q_PROPERTY(
-      QStringList variantNames READ variantNames NOTIFY variantNamesChanged)
-  Q_PROPERTY(QStringList generatorNameList READ generatorNameList NOTIFY
-                 generatorNameListChanged)
-  Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
-  Q_PROPERTY(
-      routing::GeneratorBase *generator READ generator NOTIFY generatorChanged)
-  Q_PROPERTY(int generatorIndex READ generatorIndex NOTIFY generatorChanged)
-
-  Q_INVOKABLE void reverse(void);
-
-  // Property setters
-  void setPlanData(const WimaPlanData &d);
-
-  // Property getters
-  const WimaPlanData &planData() const;
-  WimaPlanData &planData();
-  Fact *variant();
-  QStringList variantNames() const;
-  bool calculating() const;
-
-  // Overrides
-  virtual bool load(const QJsonObject &complexObject, int sequenceNumber,
-                    QString &errorString) override final;
-  virtual QString mapVisualQML(void) const override final;
-  virtual void save(QJsonArray &planItems) override final;
-  virtual bool specifiesCoordinate(void) const override final;
-  virtual double timeBetweenShots(void) override final;
-  virtual QString commandDescription(void) const override final;
-  virtual QString commandName(void) const override final;
-  virtual QString abbreviation(void) const override final;
-  virtual ReadyForSaveState readyForSaveState(void) const override final;
-  virtual double additionalTimeDelay(void) const override final;
-  virtual QString patternName(void) const override;
-
-  // Generator
-  bool registerGenerator(const QString &name,
-                         std::shared_ptr<routing::GeneratorBase> g);
-  bool unregisterGenerator(const QString &name);
-  bool unregisterGenerator(int index);
-  Q_INVOKABLE bool switchToGenerator(const QString &name);
-  Q_INVOKABLE bool switchToGenerator(int index);
-  QStringList generatorNameList();
-  routing::GeneratorBase *generator();
-  int generatorIndex();
-
-  static const char *settingsGroup;
-  static const char *variantName;
-  static const char *jsonComplexItemTypeValue;
-  static const QString name;
-
-signals:
-  void calculatingChanged();
-  void variantNamesChanged();
-  void generatorNameListChanged();
-  void generatorChanged();
-
-private slots:
-  // Overrides from TransectStyleComplexItem
-  virtual void _rebuildTransectsPhase1(void) override final;
-  virtual void _recalcCameraShots(void) override final;
-
-  // Worker functions.
-  void _setTransects(PtrRoutingData pRoute);
-  void _changeVariant();
-  bool _updateWorker();
-  void _changeVariantWorker();
-  void _reverseWorker();
-
-private:
-  bool _switchToGenerator(const PtrGenerator &newG);
-  void _setState(STATE state);
-  bool _calculating(STATE state) const;
-
-  // State.
-  STATE _state;
-
-  // center of the circular lanes, e.g. base station
-  QMap<QString, FactMetaData *> _metaDataMap;
-  SettingsFact _variant;
-  QStringList _variantNames;
-
-  // Area data
-  std::shared_ptr<WimaPlanData> _pAreaData;
-
-  // Generators
-  QList<PtrGenerator> _generatorList;
-  QStringList _generatorNameList;
-  PtrGenerator _pGenerator;
-
-  // Routing.
-  QVector<Variant> _variantVector;
-  PtrWorker _pWorker;
-};

src/Wima/GenericSingelton.h

-#pragma once
-#include "call_once.h"
-#include <QScopedPointer>
-#include <QtGlobal>
-
-template <class T> class GenericSingelton {
-private:
-  typedef T *(*CreateInstanceFunction)();
-
-public:
-  static T *instance(CreateInstanceFunction create);
-
-private:
-  static void init();
-
-  GenericSingelton();
-  ~GenericSingelton();
-  Q_DISABLE_COPY(GenericSingelton)
-  static QBasicAtomicPointer<void> create;
-  static QBasicAtomicInt flag;
-  static QBasicAtomicPointer<void> tptr;
-  bool inited;
-};
-
-template <class T>
-T *GenericSingelton<T>::instance(CreateInstanceFunction create) {
-  GenericSingelton::create.store(reinterpret_cast<void *>(create));
-  qCallOnce(init, flag);
-  return (T *)tptr.load();
-}
-
-template <class T> void GenericSingelton<T>::init() {
-  static GenericSingelton singleton;
-  if (singleton.inited) {
-    CreateInstanceFunction createFunction =
-        (CreateInstanceFunction)GenericSingelton::create.load();
-    tptr.store(createFunction());
-  }
-}
-
-template <class T> GenericSingelton<T>::GenericSingelton() { inited = true; }
-
-template <class T> GenericSingelton<T>::~GenericSingelton() {
-  T *createdTptr = (T *)tptr.fetchAndStoreOrdered(nullptr);
-  if (createdTptr) {
-    delete createdTptr;
-  }
-  create.store(nullptr);
-}
-
-template <class T>
-QBasicAtomicPointer<void>
-    GenericSingelton<T>::create = Q_BASIC_ATOMIC_INITIALIZER(nullptr);
-template <class T>
-QBasicAtomicInt GenericSingelton<T>::flag =
-    Q_BASIC_ATOMIC_INITIALIZER(CallOnce::CO_Request);
-template <class T>
-QBasicAtomicPointer<void>
-    GenericSingelton<T>::tptr = Q_BASIC_ATOMIC_INITIALIZER(nullptr);

src/Wima/Geometry/GenericCircle.h

-#pragma once
-
-#include <QObject>
-#include <QPointF>
-
-#include <cmath>
-
-#include "boost/units/systems/angle/degrees.hpp"
-#include "boost/units/systems/si.hpp"
-
-template <int k, class Point> auto get(const Point &p);
-
-namespace bu = boost::units;
-
-namespace qty {
-using Length = bu::quantity<bu::si::length>;
-using Angle = bu::quantity<bu::si::plane_angle>;
-using Degree = bu::quantity<bu::degree::plane_angle>;
-using Radian = bu::quantity<bu::si::plane_angle>;
-} // namespace qty
-
-template <class NumberType, class Point> class GenericCircle {
-public:
-  GenericCircle();
-  GenericCircle(NumberType rad, Point ori);
-
-  // Property setters
-  void setRadius(NumberType rad);
-  void setOrigin(const Point &ori);
-
-  // Property getters
-  NumberType radius() const;
-  const Point &origin() const;
-  Point &origin();
-
-private:
-  NumberType _r;
-  Point _origin;
-};
-
-// Free functions.
-template <class Circle, class Container>
-void approximate(Circle &circ, long n, qty::Angle alpha1, qty::Angle alpha2,
-                 Container &c);
-template <class Circle, class Container>
-void approximate(Circle &circ, long n, Container &c);
-
-// Impl.
-template <class NumberType, class Point>
-GenericCircle<NumberType, Point>::GenericCircle() : _r(0), _origin(0, 0) {}
-
-template <class NumberType, class Point>
-GenericCircle<NumberType, Point>::GenericCircle(NumberType rad, Point ori)
-    : _r(rad), _origin(ori) {}
-
-/*!
- * Returns a polygon with \a n corners which approximates the
- * circle.
- *
- * \sa Point
- */
-
-template <class NumberType, class Point>
-void GenericCircle<NumberType, Point>::setRadius(NumberType rad) {
-  if (rad >= 0) {
-    this->_r = rad;
-  }
-}
-
-template <class NumberType, class Point>
-void GenericCircle<NumberType, Point>::setOrigin(const Point &ori) {
-  this->_origin = ori;
-}
-
-template <class NumberType, class Point>
-NumberType GenericCircle<NumberType, Point>::radius() const {
-  return this->_r;
-}
-
-template <class NumberType, class Point>
-const Point &GenericCircle<NumberType, Point>::origin() const {
-  return this->_origin;
-}
-
-template <class NumberType, class Point>
-Point &GenericCircle<NumberType, Point>::origin() {
-  return this->_origin;
-}
-
-template <class Circle, class Container>
-void approximate(Circle &circ, long n, qty::Angle alpha1, qty::Angle alpha2,
-                 Container &c) {
-
-  auto clipp = [](double angle) {
-    while (angle < 0) {
-      angle += 2 * M_PI;
-    }
-    while (angle > 2 * M_PI) {
-      angle -= 2 * M_PI;
-    }
-    return angle;
-  };
-
-  double a1 = clipp(alpha1.value());
-  double a2 = clipp(alpha2.value());
-  double angleDisc = 0;
-  if (n > 0) {
-    angleDisc = (a2 - a1) / (n - 1);
-  } else {
-    angleDisc = (a2 - a1) / (n + 1);
-    n = n * (-1);
-  }
-
-  double a = a1;
-  using Point =
-      std::remove_cv_t<std::remove_reference_t<decltype(circ.origin())>>;
-  auto x0 = get<0>(circ.origin());
-  auto y0 = get<1>(circ.origin());
-  auto r = circ.radius();
-  using NumberType = std::remove_cv_t<std::remove_reference_t<decltype(x0)>>;
-  while (n--) {
-    auto x = NumberType(x0 + r * std::cos(a));
-    auto y = NumberType(y0 + r * std::sin(a));
-    c.push_back(Point(x, y));
-    a += angleDisc;
-  }
-}
-
-template <class Circle, class Container>
-void approximate(Circle &circ, long n, Container &c) {
-  using namespace bu;
-
-  double angleDisc = 0;
-  if (n > 0) {
-    angleDisc = 2 * M_PI / (n - 1);
-  } else {
-    angleDisc = 2 * M_PI / (n + 1);
-    n = n * (-1);
-  }
-
-  double a = 0;
-  using Point =
-      std::remove_cv_t<std::remove_reference_t<decltype(circ.origin())>>;
-  auto x0 = get<0>(circ.origin());
-  auto y0 = get<1>(circ.origin());
-  auto r = circ.radius();
-  using NumberType = std::remove_cv_t<std::remove_reference_t<decltype(x0)>>;
-  while (n--) {
-    auto x = NumberType(x0 + r * std::cos(a));
-    auto y = NumberType(y0 + r * std::sin(a));
-    c.push_back(Point(x, y));
-    a += angleDisc;
-  }
-}

src/Wima/Geometry/GenericPolygon.h

-#pragma once
-
-#include <QPolygonF>
-#include <QPointF>
-
-#include "ros_bridge/include/messages/geometry_msgs/polygon_stamped.h"
-
-template <class PointType = QPointF, template <class, class...> class ContainerType = QVector>
-class GenericPolygon{ //
-    typedef ros_bridge::messages::geometry_msgs::polygon::GenericPolygon<PointType, ContainerType> Polygon;
-public:
-    GenericPolygon(){}
-    GenericPolygon(const GenericPolygon &other) : _polygon(other._polygon){}
-
-    GenericPolygon& operator=(const GenericPolygon& other) {
-        this->_polygon = other._polygon;
-        return *this;
-    }
-
-    const Polygon &polygon() const {return _polygon;}
-          Polygon &polygon()       {return _polygon;}
-
-  const ContainerType<PointType> &path() const {return _polygon.points();}
-        ContainerType<PointType> &path()       {return _polygon.points();}
-
-private:
-    Polygon _polygon;
-
-};

src/Wima/Geometry/GenericPolygonArray.h

-#pragma once
-
-#include "QmlObjectListModel.h"
-
-#include <QVector>
-#include <QString>
-
-template <class PolygonType, template <class, class...> class ContainerType = QVector>
-class GenericPolygonArray
-{
-public:
-    GenericPolygonArray() {}
-    GenericPolygonArray(const GenericPolygonArray &other) :
-        _polygons(other._polygons), _dirty(true)
-    {}
-    ~GenericPolygonArray(){
-        _objs.clearAndDeleteContents();
-    }
-
-    class QmlObjectListModel *QmlObjectListModel(){
-        if (_dirty)
-            _updateObjects();
-        _dirty = false;
-        return &_objs;
-    }
-
-    const ContainerType<PolygonType> &polygons() const {
-        return _polygons;
-    }
-
-    ContainerType<PolygonType> &polygons(){
-        _dirty = true;
-        return _polygons;
-    }
-
-    GenericPolygonArray &operator =(const GenericPolygonArray &other){
-        this->_polygons = other._polygons;
-        this->_dirty = true;
-        return *this;
-    }
-
-
-
-private:
-    void _updateObjects(void){
-        _objs.clearAndDeleteContents();
-        for (long i=0; i<_polygons.size(); ++i){
-            _objs.append(new PolygonType(_polygons[i]));
-        }
-    }
-
-    ContainerType<PolygonType> _polygons;
-    class QmlObjectListModel   _objs;
-    bool                       _dirty;
-
-};
-
-

src/Wima/Geometry/GeoPoint3D.cpp

-#include "GeoPoint3D.h"
-
-GeoPoint3D::GeoPoint3D(QObject *parent)
-    : QObject(parent), ROSGeoPoint() {}
-
-GeoPoint3D::GeoPoint3D(double latitude, double longitude, double altitude, QObject *parent)
-    : QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
-{}
-
-GeoPoint3D::GeoPoint3D(const GeoPoint3D &p, QObject *parent)
-    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
-{}
-
-GeoPoint3D::GeoPoint3D(const ROSGeoPoint &p, QObject *parent)
-    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
-{}
-
-GeoPoint3D::GeoPoint3D(const QGeoCoordinate &p, QObject *parent)
-    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
-{}
-
-GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
-{
-    this->setLatitude(p.latitude());
-    this->setLongitude(p.longitude());
-    this->setAltitude(p.altitude());
-
-    return *this;
-}
-GeoPoint3D &GeoPoint3D::operator=(const QGeoCoordinate &p)
-{
-    this->setLatitude(p.latitude());
-    this->setLongitude(p.longitude());
-    this->setAltitude(p.altitude());
-
-    return *this;
-}

src/Wima/Geometry/GeoPoint3D.h

-#pragma once
-
-#include <QGeoCoordinate>
-#include <QObject>
-
-#include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
-
-
-typedef ros_bridge::messages::geographic_msgs::geo_point::GeoPoint ROSGeoPoint;
-class GeoPoint3D : public QObject, public ROSGeoPoint
-{
-    Q_OBJECT
-public:
-
-    GeoPoint3D(QObject *parent = nullptr);
-    GeoPoint3D(double latitude,
-               double longitude,
-               double altitude,
-               QObject *parent = nullptr);
-    GeoPoint3D(const GeoPoint3D& p,
-               QObject *parent = nullptr);
-    GeoPoint3D(const ROSGeoPoint& p,
-               QObject *parent = nullptr);
-    GeoPoint3D(const QGeoCoordinate& p,
-               QObject *parent = nullptr);
-
-    GeoPoint3D &operator=(const GeoPoint3D&p);
-    GeoPoint3D &operator=(const QGeoCoordinate&p);
-
-};
-
-

src/Wima/Geometry/PlanimetryCalculus.h

-#pragma once
-
-#include <QLineF>
-#include <QPointF>
-#include <QPolygonF>
-#include <QtMath>
-
-#include "GenericCircle.h"
-#include "PolygonCalculus.h"
-
-using Circle = GenericCircle<qreal, QPointF>;
-
-namespace PlanimetryCalculus {
-
-enum IntersectType {
-  InsideNoIntersection,
-  InsideTouching,
-  InsideIntersection,
-  OutsideIntersection,
-  OutsideTouching,
-  OutsideNoIntersection,
-  CirclesEqual, // Circle Circle intersection
-
-  Tangent,
-  Secant, // Circle Line Intersetion
-
-  EdgeCornerIntersection,
-  EdgeEdgeIntersection,
-  CornerCornerIntersection,
-  LinesParallel,
-  LinesEqual, // Line Line intersection
-
-  Interior, // Polygon contains
-
-  NoIntersection,
-  Error // general
-};
-
-typedef QVector<QPair<int, int>> NeighbourVector;
-typedef QVector<QPointF> QPointFVector;
-typedef QVector<IntersectType> IntersectVector;
-
-void rotateReference(QPointF &point, double alpha);
-void rotateReference(QPointFVector &points, double alpha);
-void rotateReference(QLineF &line, double alpha);
-// void rotateReference(QPolygonF &polygon, double alpha);
-
-QPointF rotateReturn(QPointF point, double alpha);
-QPointFVector rotateReturn(QPointFVector points, double alpha);
-QLineF rotateReturn(QLineF line, double alpha);
-// QPolygonF       rotateReturn(QPolygonF &polygon, double alpha);
-
-bool intersects(const Circle &circle1, const Circle &circle2);
-bool intersects(const Circle &circle1, const Circle &circle2,
-                IntersectType &type);
-bool intersects(const Circle &circle1, const Circle &circle2,
-                QPointFVector &intersectionPoints);
-bool intersects(const Circle &circle1, const Circle &circle2,
-                QPointFVector &intersectionPoints, IntersectType &type);
-
-bool intersects(const Circle &circle, const QLineF &line);
-bool intersects(const Circle &circle, const QLineF &line, IntersectType &type);
-bool intersects(const Circle &circle, const QLineF &line,
-                QPointFVector &intersectionPoints);
-bool intersects(const Circle &circle, const QLineF &line,
-                QPointFVector &intersectionPoints, IntersectType &type);
-
-bool intersects(const Circle &circle, const QPolygonF &polygon);
-bool intersects(const Circle &circle, const QPolygonF &polygon,
-                QVector<QPointFVector> &intersectionPoints);
-bool intersects(const Circle &circle, const QPolygonF &polygon,
-                QVector<QPointFVector> &intersectionPoints,
-                IntersectVector &typeList);
-bool intersects(const Circle &circle, const QPolygonF &polygon,
-                QVector<QPointFVector> &intersectionPoints,
-                NeighbourVector &neighbourList);
-bool intersects(const Circle &circle, const QPolygonF &polygon,
-                QVector<QPointFVector> &intersectionPoints,
-                NeighbourVector &neighbourList, IntersectVector &typeList);
-
-bool intersects(const QLineF &line1, const QLineF &line2);
-bool intersects(const QLineF &line1, const QLineF &line2,
-                QPointF &intersectionPt);
-bool intersects(const QLineF &line1, const QLineF &line2,
-                QPointF &intersectionPt, IntersectType &type);
-//    bool intersectsFast(const QLineF &line1, const QLineF &line2, QPointF
-//    &intersectionPt, IntersectType &type);
-bool intersects(const QPolygonF &polygon, const QLineF &line,
-                QPointFVector &intersectionList);
-bool intersects(const QPolygonF &polygon, const QLineF &line,
-                QPointFVector &intersectionList, IntersectVector &typeList);
-bool intersects(const QPolygonF &polygon, const QLineF &line,
-                QPointFVector &intersectionList,
-                NeighbourVector &neighbourList);
-bool intersects(const QPolygonF &polygon, const QLineF &line,
-                QPointFVector &intersectionList, NeighbourVector &neighbourList,
-                IntersectVector &typeList);
-
-bool intersectsFast(const QPolygonF &polygon, const QLineF &line);
-
-bool contains(const QLineF &line, const QPointF &point);
-bool contains(const QLineF &line, const QPointF &point, IntersectType &type);
-bool contains(const QPolygonF &polygon, const QPointF &point);
-bool contains(const QPolygonF &polygon, const QPointF &point,
-              IntersectType &type);
-
-double distance(const QPointF &p1, const QPointF p2);
-double norm(double x, double y);
-double norm(const QPointF &p);
-double angle(const QPointF &p1, const QPointF p2);
-double angle(const QPointF &p1);
-double angle(const QLineF &line);
-double angleDegree(const QPointF &p1, const QPointF p2);
-double truncateAngle(double angle);
-double truncateAngleDegree(double angle);
-
-/*!
- * \fntemplate <typename T> int signum(T val)
- * Returns the signum of a value \a val.
- *
- * \sa QPair, QVector
- */
-template <typename T> int signum(T val) { return (T(0) < val) - (val < T(0)); }
-} // namespace PlanimetryCalculus

src/Wima/Geometry/PolygonCalculus.h

-#pragma once
-
-
-#include <QPointF>
-#include <QPolygonF>
-#include <QVector3D>
-
-
-
-namespace PolygonCalculus {
-
-    enum JoinPolygonError { NotSimplePolygon, PolygonJoined, Disjoint, PathSizeLow, Error};
-
-    typedef QList<QVector3D> QVector3DList;
-    typedef QList<QPointF> QPointFList;
-    typedef QVector<QPointF> QPointFVector;
-
-    int              closestVertexIndex  (const QPolygonF &polygon, const QPointF &coordinate);
-    QPointF          closestVertex       (const QPolygonF &polygon, const QPointF &coordinate);
-    int              nextVertexIndex     (int pathsize, int index);
-    int              previousVertexIndex (int pathsize, int index);
-    JoinPolygonError join                (QPolygonF polygon1, QPolygonF polygon2, QPolygonF &joinedPolygon);
-    bool             isSimplePolygon     (const QPolygonF &polygon);
-    bool             hasClockwiseWinding (const QPolygonF &path);
-    void             reversePath         (QPolygonF &path);
-    void             reversePath         (QPointFList &path);
-    void             reversePath         (QPointFVector &path);
-    void             offsetPolygon       (QPolygonF &polygon, double offset);
-    // returns true if the line c1-c2 is fully inside the polygon
-    bool             containsPath        (QPolygonF polygon, const QPointF &c1, const QPointF &c2);
-    // same as containsPath(), but works only if c1 and c2 are inside the polygon!
-    bool             containsPathFast    (QPolygonF polygon, const QPointF &c1, const QPointF &c2);
-    void             decomposeToConvex   (const QPolygonF &polygon, QList<QPolygonF> &convexPolygons);
-    bool             shortestPath        (const QPolygonF &polygon, const QPointF &startVertex, const QPointF &endVertex, QVector<QPointF> &shortestPath);
-
-    QPolygonF toQPolygonF(const QVector3DList &polygon);
-    QPolygonF toQPolygonF(const QPointFList &polygon);
-    QLineF toQLineF(const QVector3DList &line);
-    QPointFList toQPointFList(const QVector3DList &list);
-    QPointFList toQPointFList(const QPolygonF &list);
-    QVector3DList toQVector3DList(const QPointFList &listF);
-    QVector3DList toQVector3DList(const QPolygonF &listF);
-}
-
-

src/Wima/Geometry/TestPolygonCalculus.cpp

-#include "TestPolygonCalculus.h"
-#include "PolygonCalculus.h"
-#include <QPolygonF>
-#include <QPointF>
-
-namespace TestPolygonCalculus {
-    void test()
-    {
-        using namespace PolygonCalculus;
-
-        QPolygonF polygon;
-        polygon << QPointF(0, 0) << QPointF(1, 0) << QPointF(1, 1) << QPointF(0, 1);
-
-        bool retVal = containsPath(polygon, QPointF(0.1, 0.1), QPointF(0.2, 0.1));
-        qDebug("true %i", retVal);
-        retVal = containsPath(polygon, QPointF(0.2, 0.1), QPointF(0.2, 0.1));
-        qDebug("true %i", retVal);
-        retVal = containsPath(polygon, QPointF(1, 0.1), QPointF(0.2, 0.1));
-        qDebug("true %i", retVal);
-        retVal = containsPath(polygon, QPointF(0.1, 0.1), QPointF(1, 0.1));
-        qDebug("true %i", retVal);
-        retVal = containsPath(polygon, QPointF(2, 0.1), QPointF(0.2, 0.1));
-        qDebug("false %i", retVal);
-        retVal = containsPath(polygon, QPointF(-2, 0.1), QPointF(0.2, 0.1));
-        qDebug("false %i", retVal);
-        polygon << QPointF(0.5, 0.6) << QPointF(0.5, 0.4);
-        retVal = containsPath(polygon, QPointF(0.2, 0.1), QPointF(0.2, 0.9));
-        qDebug("false %i", retVal);
-        retVal = containsPath(polygon, QPointF(0.1, 0.05), QPointF(0.51, 0.6));
-        qDebug("false %i", retVal);
-    }
-
-}

src/Wima/Geometry/TestPolygonCalculus.h

-#ifndef TESTPOLYGONCALCULUS_H
-#define TESTPOLYGONCALCULUS_H
-
-
-
-namespace TestPolygonCalculus {
-    void test();
-}
-#endif // TESTPOLYGONCALCULUS_H

src/Wima/Geometry/WimaArea.h

-#pragma once
-
-#include "QGCGeo.h"
-#include "QGCMapPolygon.h"
-#include "QGCMapPolyline.h"
-#include "Vehicle.h"
-#include "qobject.h"
-#include <QLineF>
-#include <QPair>
-#include <QPointF>
-
-#include "GeoUtilities.h"
-#include "PlanimetryCalculus.h"
-#include "PolygonCalculus.h"
-
-class WimaArea : public QGCMapPolygon // abstract base class for all WimaAreas
-{
-  Q_OBJECT
-public:
-  WimaArea(QObject *parent = nullptr);
-  WimaArea(const WimaArea &other, QObject *parent = nullptr);
-  WimaArea &operator=(const WimaArea &other);
-
-  Q_PROPERTY(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY
-                 maxAltitudeChanged)
-  Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
-  Q_PROPERTY(QString editorQML READ editorQML CONSTANT)
-  Q_PROPERTY(Fact *borderPolygonOffset READ borderPolygonOffsetFact CONSTANT)
-  Q_PROPERTY(QGCMapPolygon *borderPolygon READ borderPolygon NOTIFY
-                 borderPolygonChanged)
-  Q_PROPERTY(Fact *showBorderPolygon READ showBorderPolygon CONSTANT)
-  Q_PROPERTY(bool wimaAreaInteractive READ wimaAreaInteractive WRITE
-                 setWimaAreaInteractive NOTIFY wimaAreaInteractiveChanged)
-
-  // Property accessors
-  double maxAltitude(void) const { return _maxAltitude; }
-  Fact *borderPolygonOffsetFact(void) { return &_borderPolygonOffset; }
-  Fact *showBorderPolygon(void) { return &_showBorderPolygon; }
-  double borderPolygonOffset(void) const {
-    return _borderPolygonOffset.rawValue().toDouble();
-  }
-  QGCMapPolygon *borderPolygon(void) { return &_borderPolygon; }
-  bool wimaAreaInteractive(void) const { return _wimaAreaInteractive; }
-
-  void setWimaAreaInteractive(bool interactive);
-
-  // overrides from WimaArea
-  virtual QString mapVisualQML(void) const { return ""; }
-  virtual QString editorQML(void) const { return ""; }
-
-  // Member Methodes
-  int getClosestVertexIndex(const QGeoCoordinate &coordinate) const;
-  QGeoCoordinate getClosestVertex(const QGeoCoordinate &coordinate) const;
-  QGCMapPolygon toQGCPolygon() const;
-  bool join(WimaArea &area);
-  bool join(WimaArea &area, QString &errorString);
-  int nextVertexIndex(int index) const;
-  int previousVertexIndex(int index) const;
-  bool isSimplePolygon() const;
-  bool containsCoordinate(const QGeoCoordinate &coordinate) const;
-
-  void saveToJson(QJsonObject &jsonObject);
-  bool loadFromJson(const QJsonObject &jsonObject, QString &errorString);
-
-  // static Methodes
-  static QGCMapPolygon toQGCPolygon(const WimaArea &area);
-  static bool join(const WimaArea &area1, const WimaArea &area2,
-                   WimaArea &joinedArea, QString &errorString);
-  static bool join(const WimaArea &area1, const WimaArea &area2,
-                   WimaArea &joinedArea);
-
-  // Friends
-  friend void print(const WimaArea &area, QString &outputString);
-  friend void print(const WimaArea &area);
-
-  // static Members
-  // Accurracy used to compute isDisjunct
-  static const double epsilonMeter;
-  static const char *maxAltitudeName;
-  static const char *wimaAreaName;
-  static const char *areaTypeName;
-  static const char *borderPolygonOffsetName;
-  static const char *showBorderPolygonName;
-  static const char *settingsGroup;
-
-signals:
-  void maxAltitudeChanged(void);
-  void borderPolygonChanged(void);
-  void borderPolygonOffsetChanged(void);
-  void wimaAreaInteractiveChanged(void);
-
-public slots:
-  void setMaxAltitude(double altitude);
-  void setShowBorderPolygon(bool showBorderPolygon);
-  void setBorderPolygonOffset(double offset);
-
-private slots:
-  void recalcPolygons(void);
-  void updatePolygonConnections(QVariant value);
-  void recalcInteractivity(void);
-
-private:
-  void init();
-
-  double _maxAltitude;
-
-  QMap<QString, FactMetaData *> _metaDataMap;
-  SettingsFact _borderPolygonOffset;
-  SettingsFact _showBorderPolygon;
-
-  QGCMapPolygon _borderPolygon;
-
-  bool _wimaAreaInteractive;
-};

src/Wima/Geometry/WimaAreaData.cc

-#include "WimaAreaData.h"
-
-WimaAreaData::WimaAreaData(QObject *parent) : QObject(parent) {}
-
-WimaAreaData::WimaAreaData(const WimaAreaData &other, QObject *parent)
-    : QObject(parent), _path(other._path), _list(other._list),
-      _center(other._center) {}
-
-WimaAreaData::WimaAreaData(const WimaArea &otherData, QObject *parent)
-    : QObject(parent), _center(otherData.center()) {
-  _setPathImpl(otherData.path());
-}
-
-bool WimaAreaData::operator==(const WimaAreaData &data) const {
-  return this->_path == data._path && this->_center == data._center;
-}
-
-bool WimaAreaData::operator!=(const WimaAreaData &data) const {
-  return !this->operator==(data);
-}
-
-QVariantList WimaAreaData::path() const { return _path; }
-
-QGeoCoordinate WimaAreaData::center() const { return _center; }
-
-const QList<QGeoCoordinate> &WimaAreaData::coordinateList() const {
-  return _list;
-}
-
-bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const {
-  using namespace PlanimetryCalculus;
-  using namespace PolygonCalculus;
-  using namespace GeoUtilities;
-
-  if (this->coordinateList().size() > 2) {
-    QPolygonF polygon;
-    toCartesianList(this->coordinateList(), coordinate, polygon);
-    return PlanimetryCalculus::contains(polygon, QPointF(0, 0));
-  } else
-    return false;
-}
-
-void WimaAreaData::append(const QGeoCoordinate &c) {
-  _list.append(c);
-  _path.push_back(QVariant::fromValue(c));
-  emit pathChanged();
-}
-
-void WimaAreaData::push_back(const QGeoCoordinate &c) { append(c); }
-
-void WimaAreaData::clear() {
-  if (_list.size() > 0 || _path.size() > 0) {
-    _list.clear();
-    _path.clear();
-    emit pathChanged();
-  }
-}
-
-void WimaAreaData::setPath(const QVariantList &coordinateList) {
-  if (_path != coordinateList) {
-    _setPathImpl(coordinateList);
-    emit pathChanged();
-  }
-}
-
-void WimaAreaData::setCenter(const QGeoCoordinate &center) {
-  if (_center != center) {
-    _center = center;
-    emit centerChanged();
-  }
-}
-
-WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData) {
-  setPath(otherData._list);
-  setCenter(otherData._center);
-  return *this;
-}
-
-WimaAreaData &WimaAreaData::operator=(const WimaArea &otherData) {
-  setPath(otherData.path());
-  setCenter(otherData.center());
-  return *this;
-}
-
-void WimaAreaData::_setPathImpl(const QList<QGeoCoordinate> &coordinateList) {
-  _list = coordinateList;
-  _path.clear();
-  // copy all coordinates to _path
-  for (const auto &vertex : coordinateList) {
-    _path.append(QVariant::fromValue(vertex));
-  }
-}
-
-void WimaAreaData::_setPathImpl(const QVariantList &coordinateList) {
-  _path = coordinateList;
-  _list.clear();
-  for (const auto &variant : coordinateList) {
-    _list.push_back(variant.value<QGeoCoordinate>());
-  }
-}
-
-/*!
- * \fn void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
- *
- * Sets the path member to \a coordinateList by copying all entries of \a
- * coordinateList. Emits the \c pathChanged() signal.
- */
-void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList) {
-  if (_list != coordinateList) {
-    _setPathImpl(coordinateList);
-    emit pathChanged();
-  }
-}
-
-bool operator==(const WimaAreaData &m1, const WimaArea &m2) {
-  return m1.path() == m2.path() && m1.center() == m2.center();
-}
-
-bool operator!=(const WimaAreaData &m1, const WimaArea &m2) {
-  return !operator==(m1, m2);
-}
-
-bool operator==(const WimaArea &m1, const WimaAreaData &m2) { return m2 == m1; }
-
-bool operator!=(const WimaArea &m1, const WimaAreaData &m2) {
-  return !operator==(m2, m1);
-}
-
-/*!
- * \class WimaArea::WimaAreaData
- * \brief Class to store and exchange data of a \c WimaArea Object.
- * Class to store and exchange data of a \c WimaArea Object. In contrast to \c
- * WimaArea this class does not uses the QGC Fact System. It is designed to
- * exchange data between the \c WimaPlaner and the \c WimaController class. And
- * it is the base class for any derived data objects
- *
- * \sa WimaArea
- */

src/Wima/Geometry/WimaAreaData.h

-#pragma once
-
-#include <QObject>
-
-#include "QGeoCoordinate"
-
-#include "WimaArea.h"
-
-class WimaAreaData
-    : public QObject // Abstract class for all WimaAreaData derived objects
-{
-  Q_OBJECT
-public:
-  WimaAreaData(QObject *parent = nullptr);
-
-  Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
-  Q_PROPERTY(QString type READ type CONSTANT)
-  Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
-
-  bool operator==(const WimaAreaData &data) const;
-  bool operator!=(const WimaAreaData &data) const;
-
-  virtual QString mapVisualQML(void) const = 0;
-
-  QVariantList path() const;
-  QGeoCoordinate center() const;
-  const QList<QGeoCoordinate> &coordinateList() const;
-  bool containsCoordinate(const QGeoCoordinate &coordinate) const;
-  virtual QString type() const = 0;
-
-  void append(const QGeoCoordinate &c);
-  void push_back(const QGeoCoordinate &c);
-  void clear();
-
-signals:
-  void pathChanged();
-  void centerChanged();
-
-public slots:
-  void setPath(const QList<QGeoCoordinate> &coordinateList);
-  void setPath(const QVariantList &coordinateList);
-  void setCenter(const QGeoCoordinate &center);
-
-protected:
-  WimaAreaData(const WimaAreaData &otherData, QObject *parent);
-  WimaAreaData(const WimaArea &otherData, QObject *parent);
-  WimaAreaData &operator=(const WimaAreaData &otherData);
-  WimaAreaData &operator=(const WimaArea &otherData);
-
-private:
-  void _setPathImpl(const QList<QGeoCoordinate> &coordinateList);
-  void _setPathImpl(const QVariantList &coordinateList);
-  // Member Variables
-  mutable QVariantList _path;
-  QList<QGeoCoordinate> _list;
-  QGeoCoordinate _center;
-};
-
-bool operator==(const WimaAreaData &m1, const WimaArea &m2);
-bool operator!=(const WimaAreaData &m1, const WimaArea &m2);
-bool operator==(const WimaArea &m1, const WimaAreaData &m2);
-bool operator!=(const WimaArea &m1, const WimaAreaData &m2);

src/Wima/Geometry/WimaCorridor.cc

-#include "WimaCorridor.h"
-
-const char* WimaCorridor::WimaCorridorName = "Corridor";
-
-
-
-WimaCorridor::WimaCorridor(QObject *parent)
-    : WimaArea (parent)
-{
-    init();
-}
-
-WimaCorridor::WimaCorridor(const WimaCorridor &other, QObject *parent)
-    : WimaArea (other, parent)
-{
-    init();
-}
-
-/*!
- * \overload operator=()
- *
- * Calls the inherited operator WimaArea::operator=().
- */
-WimaCorridor &WimaCorridor::operator=(const WimaCorridor &other)
-{
-    WimaArea::operator=(other);
-
-    return *this;
-}
-
-void WimaCorridor::saveToJson(QJsonObject &json)
-{
-    this->WimaArea::saveToJson(json);
-    json[areaTypeName] = WimaCorridorName;
-}
-
-bool WimaCorridor::loadFromJson(const QJsonObject &json, QString &errorString)
-{
-    if ( this->WimaArea::loadFromJson(json, errorString)) {
-        bool retVal = true;
-        // code for loading here
-        return retVal;
-    } else {
-        qWarning() << errorString;
-        return false;
-    }
-}
-
-void WimaCorridor::init()
-{
-    this->setObjectName(WimaCorridorName);
-}
-
-
-/*!
-  \class WimaCorridor
-  \brief Corridor (derived from \c WimaArea) connecting the \c WimaMeasurementArea and the \c WimaServiceArea.
-*/

src/Wima/Geometry/WimaCorridor.h

-#pragma once
-
-#include "WimaArea.h"
-#include <QObject>
-
-class WimaCorridor : public WimaArea {
-  Q_OBJECT
-public:
-  WimaCorridor(QObject *parent = nullptr);
-  WimaCorridor(const WimaCorridor &other, QObject *parent = nullptr);
-
-  WimaCorridor &operator=(const WimaCorridor &other);
-
-  // Overrides from WimaPolygon
-  QString mapVisualQML(void) const { return "WimaCorridorMapVisual.qml"; }
-  QString editorQML(void) const { return "WimaCorridorEditor.qml"; }
-
-  // Methodes
-  void saveToJson(QJsonObject &json);
-  bool loadFromJson(const QJsonObject &json, QString &errorString);
-
-  // static Members
-  static const char *WimaCorridorName;
-
-signals:
-
-public slots:
-
-private:
-  void init();
-};

src/Wima/Geometry/WimaMeasurementArea.h

-#pragma once
-
-#include <QFutureWatcher>
-#include <QObject>
-#include <QTimer>
-
-#include "WimaArea.h"
-
-#include "SettingsFact.h"
-
-class TileData : public QObject {
-public:
-  QmlObjectListModel tiles;
-  QVariantList tileCenterPoints;
-
-  TileData();
-  ~TileData();
-
-  TileData &operator=(const TileData &other);
-  bool operator==(const TileData &other) const;
-  bool operator!=(const TileData &other) const;
-
-  void clear();
-  std::size_t size() const;
-};
-
-class WimaMeasurementArea : public WimaArea {
-  Q_OBJECT
-
-  enum class STATE { IDLE, DEFERED, UPDATEING, RESTARTING, STOP };
-
-public:
-  WimaMeasurementArea(QObject *parent = nullptr);
-  WimaMeasurementArea(const WimaMeasurementArea &other,
-                      QObject *parent = nullptr);
-  WimaMeasurementArea &operator=(const WimaMeasurementArea &other);
-  ~WimaMeasurementArea();
-
-  Q_PROPERTY(Fact *tileHeight READ tileHeight CONSTANT)
-  Q_PROPERTY(Fact *tileWidth READ tileWidth CONSTANT)
-  Q_PROPERTY(Fact *minTileArea READ minTileArea CONSTANT)
-  Q_PROPERTY(Fact *showTiles READ showTiles CONSTANT)
-  Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tilesChanged)
-  Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
-  Q_PROPERTY(QVector<int> progress READ progressQml NOTIFY progressChanged)
-
-  // Overrides from WimaPolygon
-  QString mapVisualQML(void) const;
-  QString editorQML(void) const;
-
-  // Property getters.
-  Fact *tileHeight();
-  Fact *tileWidth();
-  Fact *minTileArea();
-  Fact *showTiles();
-  QmlObjectListModel *tiles();
-  const QVector<int> &progress() const;
-  QVector<int> progressQml() const;
-  const QmlObjectListModel *tiles() const;
-  const QVariantList &tileCenterPoints() const; // List of QGeoCoordinate
-  const TileData &tileData() const;
-  int maxTiles() const;
-  bool ready() const;
-
-  // Member Methodes
-  void saveToJson(QJsonObject &json);
-  bool loadFromJson(const QJsonObject &json, QString &errorString);
-
-  // Static Variables
-  static const char *settingsGroup;
-  static const char *tileHeightName;
-  static const char *tileWidthName;
-  static const char *minTileAreaName;
-  static const char *showTilesName;
-  static const char *WimaMeasurementAreaName;
-
-signals:
-  void tilesChanged();
-  void maxTilesChanged();
-  void progressChanged();
-  void progressAccepted();
-  void progressNotAccepted();
-  void readyChanged();
-
-public slots:
-  bool setProgress(const QVector<int> &p);
-
-private slots:
-  void doUpdate();
-  void deferUpdate();
-  void storeTiles();
-  void disableUpdate();
-  void enableUpdate();
-
-private:
-  // Member Methodes
-  void init();
-  void setState(STATE s);
-
-  // Members
-  QMap<QString, FactMetaData *> _metaDataMap;
-
-  SettingsFact _tileHeight;
-  SettingsFact _tileWidth;
-  SettingsFact _minTileAreaPercent; // 0..100
-  SettingsFact _showTiles;
-
-  QVector<int> _progress;
-  // Tile stuff.
-  // Tile stuff.
-  mutable QTimer _timer;
-  using DataPtr = std::shared_ptr<TileData>;
-  mutable STATE _state;
-  mutable TileData _tileData;
-  mutable QFutureWatcher<DataPtr> _watcher;
-};

src/Wima/Geometry/WimaMeasurementAreaData.cc

-#include "WimaMeasurementAreaData.h"
-#include "SnakeTile.h"
-
-const char *WimaMeasurementAreaData::typeString = "WimaMeasurementAreaData";
-
-WimaMeasurementAreaData::WimaMeasurementAreaData(QObject *parent)
-    : WimaAreaData(parent) {}
-
-WimaMeasurementAreaData::WimaMeasurementAreaData(
-    const WimaMeasurementAreaData &other, QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
-
-WimaMeasurementAreaData::WimaMeasurementAreaData(
-    const WimaMeasurementArea &other, QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
-
-bool WimaMeasurementAreaData::
-operator==(const WimaMeasurementAreaData &other) const {
-  return this->WimaAreaData::operator==(other) &&
-         this->_tileData == other.tileData() &&
-         this->_progress == other.progress() &&
-         this->center() == other.center();
-}
-
-bool WimaMeasurementAreaData::
-operator!=(const WimaMeasurementAreaData &other) const {
-  return !(*this == other);
-}
-
-void WimaMeasurementAreaData::setTileData(const TileData &d) {
-  if (this->_tileData != d) {
-    this->_tileData = d;
-    this->_progress.fill(0, d.size());
-    emit progressChanged();
-    emit tileDataChanged();
-  }
-}
-
-void WimaMeasurementAreaData::setProgress(const QVector<int> &d) {
-  if (this->_progress != d && d.size() == this->_tileData.tiles.count()) {
-    this->_progress = d;
-    emit progressChanged();
-  }
-}
-
-/*!
- * \overload operator=();
- *
- * Assigns \a other to the invoking object.
- */
-WimaMeasurementAreaData &WimaMeasurementAreaData::
-operator=(const WimaMeasurementAreaData &other) {
-  WimaAreaData::operator=(other);
-  setTileData(other._tileData);
-  setProgress(other._progress);
-
-  return *this;
-}
-
-/*!
- * \overload operator=();
- *
- * Assigns \a other to the invoking object.
- */
-WimaMeasurementAreaData &WimaMeasurementAreaData::
-operator=(const WimaMeasurementArea &other) {
-  WimaAreaData::operator=(other);
-  if (other.ready()) {
-    setTileData(other.tileData());
-    setProgress(other.progress());
-  } else {
-    qWarning() << "WimaMeasurementAreaData::operator=(): WimaMeasurementArea "
-                  "not ready.";
-  }
-
-  return *this;
-}
-
-QString WimaMeasurementAreaData::mapVisualQML() const {
-  return QStringLiteral("WimaMeasurementAreaDataVisual.qml");
-}
-
-QString WimaMeasurementAreaData::type() const { return this->typeString; }
-
-QmlObjectListModel *WimaMeasurementAreaData::tiles() {
-  return &this->_tileData.tiles;
-}
-
-const QmlObjectListModel *WimaMeasurementAreaData::tiles() const {
-  return &this->_tileData.tiles;
-}
-
-const QVariantList &WimaMeasurementAreaData::tileCenterPoints() const {
-  return this->_tileData.tileCenterPoints;
-}
-
-QVariantList &WimaMeasurementAreaData::tileCenterPoints() {
-  return this->_tileData.tileCenterPoints;
-}
-
-const TileData &WimaMeasurementAreaData::tileData() const {
-  return this->_tileData;
-}
-
-TileData &WimaMeasurementAreaData::tileData() { return this->_tileData; }
-
-const QVector<int> &WimaMeasurementAreaData::progress() const {
-  return this->_progress;
-}
-
-QVector<int> &WimaMeasurementAreaData::progress() { return this->_progress; }
-
-bool operator==(const WimaMeasurementAreaData &m1,
-                const WimaMeasurementArea &m2) {
-  return operator==(*static_cast<const WimaAreaData *>(&m1),
-                    *static_cast<const WimaArea *>(&m2)) &&
-         m1.tileData() == m2.tileData() && m1.progress() == m2.progress();
-}
-
-bool operator!=(const WimaMeasurementAreaData &m1,
-                const WimaMeasurementArea &m2) {
-  return !(m1 == m2);
-}
-
-bool operator==(const WimaMeasurementArea &m1,
-                const WimaMeasurementAreaData &m2) {
-  return m2 == m1;
-}
-
-bool operator!=(const WimaMeasurementArea &m1,
-                const WimaMeasurementAreaData &m2) {
-  return m2 != m1;
-}

src/Wima/Geometry/WimaMeasurementAreaData.h

-#pragma once
-
-#include <QGeoCoordinate>
-#include <QObject>
-
-#include "WimaAreaData.h"
-#include "WimaMeasurementArea.h"
-
-class WimaMeasurementAreaData : public WimaAreaData {
-  Q_OBJECT
-
-public:
-  WimaMeasurementAreaData(QObject *parent = nullptr);
-  WimaMeasurementAreaData(const WimaMeasurementAreaData &other,
-                          QObject *parent = nullptr);
-  WimaMeasurementAreaData(const WimaMeasurementArea &other,
-                          QObject *parent = nullptr);
-  WimaMeasurementAreaData &operator=(const WimaMeasurementAreaData &other);
-  WimaMeasurementAreaData &operator=(const WimaMeasurementArea &other);
-
-  Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tileDataChanged)
-  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
-
-  virtual QString mapVisualQML() const override;
-
-  bool operator==(const WimaMeasurementAreaData &other) const;
-  bool operator!=(const WimaMeasurementAreaData &other) const;
-
-  // Property setters.
-  void setTileData(const TileData &d);
-  void setProgress(const QVector<int> &d);
-
-  // Property getters.
-  QString type() const;
-  WimaMeasurementAreaData *Clone() const {
-    return new WimaMeasurementAreaData(*this);
-  }
-  QmlObjectListModel *tiles();
-  const QmlObjectListModel *tiles() const;
-  const QVariantList &tileCenterPoints() const;
-  QVariantList &tileCenterPoints();
-  const TileData &tileData() const;
-  TileData &tileData();
-  const QVector<int> &progress() const;
-  QVector<int> &progress();
-
-  static const char *typeString;
-
-signals:
-  void tileDataChanged();
-  void progressChanged();
-
-private:
-  TileData _tileData;
-  QVector<int> _progress;
-};
-
-bool operator==(const WimaMeasurementAreaData &m1,
-                const WimaMeasurementArea &m2);
-bool operator!=(const WimaMeasurementAreaData &m1,
-                const WimaMeasurementArea &m2);
-bool operator==(const WimaMeasurementArea &m1,
-                const WimaMeasurementAreaData &m2);
-bool operator!=(const WimaMeasurementArea &m1,
-                const WimaMeasurementAreaData &m2);

src/Wima/Geometry/WimaServiceArea.cc

-#include "WimaServiceArea.h"
-
-#include "QGCLoggingCategory.h"
-#include "QGCQGeoCoordinate.h"
-
-QGC_LOGGING_CATEGORY(WimaServiceAreaLog, "WimaServiceAreaLog")
-
-const char *WimaServiceArea::wimaServiceAreaName = "Service Area";
-const char *WimaServiceArea::depotLatitudeName = "DepotLatitude";
-const char *WimaServiceArea::depotLongitudeName = "DepotLongitude";
-const char *WimaServiceArea::depotAltitudeName = "DepotAltitude";
-
-WimaServiceArea::WimaServiceArea(QObject *parent) : WimaArea(parent) { init(); }
-
-WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
-    : WimaArea(other, parent), _depot(other.depot()) {
-  init();
-}
-
-/*!
- * \overload operator=()
- *
- * Calls the inherited operator WimaArea::operator=().
- */
-WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
-  WimaArea::operator=(other);
-  this->setDepot(other.depot());
-  return *this;
-}
-
-const QGeoCoordinate &WimaServiceArea::depot() const { return _depot; }
-
-QGeoCoordinate WimaServiceArea::depotQml() const { return _depot; }
-
-bool WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
-  if (_depot.latitude() != coordinate.latitude() ||
-      _depot.longitude() != coordinate.longitude()) {
-    if (this->containsCoordinate(coordinate)) {
-      _depot = coordinate;
-      _depot.setAltitude(0);
-      emit depotChanged();
-      return true;
-    }
-  }
-  return false;
-}
-
-void WimaServiceArea::saveToJson(QJsonObject &json) {
-  this->WimaArea::saveToJson(json);
-  json[areaTypeName] = wimaServiceAreaName;
-  json[depotLatitudeName] = _depot.latitude();
-  json[depotLongitudeName] = _depot.longitude();
-  json[depotAltitudeName] = _depot.altitude();
-}
-
-bool WimaServiceArea::loadFromJson(const QJsonObject &json,
-                                   QString &errorString) {
-  bool retVal = false;
-  if (this->WimaArea::loadFromJson(json, errorString)) {
-    double lat = 0;
-    if (json.contains(depotLatitudeName) &&
-        json[depotLatitudeName].isDouble()) {
-      lat = json[depotLatitudeName].toDouble();
-      double lon = 0;
-      if (json.contains(depotLongitudeName) &&
-          json[depotLongitudeName].isDouble()) {
-        lon = json[depotLongitudeName].toDouble();
-        double alt = 0;
-        if (json.contains(depotAltitudeName) &&
-            json[depotAltitudeName].isDouble()) {
-          alt = json[depotAltitudeName].toDouble();
-          this->setDepot(QGeoCoordinate(lat, lon, alt));
-          retVal = true;
-        } else {
-          errorString = "Not able to load depot altitude.";
-        }
-      } else {
-        errorString = "Not able to load depot longitude.";
-      }
-    } else {
-      errorString = "Not able to load depot latitude.";
-    }
-    retVal = true;
-  }
-  return retVal;
-}
-
-void WimaServiceArea::init() {
-  this->setObjectName(wimaServiceAreaName);
-  connect(this, &WimaArea::pathChanged, [this] {
-    if (!this->_depot.isValid() || !this->containsCoordinate(this->_depot)) {
-      if (this->containsCoordinate(this->center())) {
-        // Use center.
-        this->setDepot(this->center());
-      } else if (this->_depot.isValid()) {
-        // Use nearest coordinate.
-        auto minDist = std::numeric_limits<double>::infinity();
-        int minIndex = 0;
-        for (int idx = 0; idx < this->pathModel().count(); ++idx) {
-          const QObject *obj = this->pathModel()[idx];
-          const auto *vertex = qobject_cast<const QGCQGeoCoordinate *>(obj);
-          if (vertex != nullptr) {
-            auto d = vertex->coordinate().distanceTo(this->_depot);
-            if (d < minDist) {
-              minDist = d;
-              minIndex = idx;
-            }
-          } else {
-            qCCritical(WimaServiceAreaLog) << "init(): nullptr catched!";
-          }
-        }
-        this->setDepot(this->pathModel().value<QGCQGeoCoordinate *>(minIndex)->coordinate());
-      } else if (this->pathModel().count() > 0) {
-        // Use first coordinate.
-        this->setDepot(this->pathModel().value<QGCQGeoCoordinate *>(0)->coordinate());
-      }
-    }
-  });
-}

src/Wima/Geometry/WimaServiceArea.h

-#pragma once
-
-#include "WimaArea.h"
-#include "WimaTrackerPolyline.h"
-#include <QObject>
-
-class WimaServiceArea : public WimaArea {
-  Q_OBJECT
-public:
-  WimaServiceArea(QObject *parent = nullptr);
-  WimaServiceArea(const WimaServiceArea &other, QObject *parent);
-  WimaServiceArea &operator=(const WimaServiceArea &other);
-
-  Q_PROPERTY(
-      QGeoCoordinate depot READ depotQml WRITE setDepot NOTIFY depotChanged)
-
-  // Overrides from WimaPolygon
-  QString mapVisualQML(void) const { return "WimaServiceAreaMapVisual.qml"; }
-  QString editorQML(void) const { return "WimaServiceAreaEditor.qml"; }
-
-  // Property acessors
-  const QGeoCoordinate &depot(void) const;
-  QGeoCoordinate depotQml(void) const;
-
-  // Member Methodes
-  void saveToJson(QJsonObject &json);
-  bool loadFromJson(const QJsonObject &json, QString &errorString);
-
-  // static Members
-  static const char *wimaServiceAreaName;
-  static const char *depotLatitudeName;
-  static const char *depotLongitudeName;
-  static const char *depotAltitudeName;
-signals:
-  void depotChanged(void);
-
-public slots:
-  bool setDepot(const QGeoCoordinate &coordinate);
-
-private:
-  // Member Methodes
-  void init();
-
-  // Members
-  QGeoCoordinate _depot;
-};

src/Wima/Geometry/WimaServiceAreaData.cc

-#include "WimaServiceAreaData.h"
-
-const char *WimaServiceAreaData::typeString = "WimaServiceAreaData";
-
-WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
-    : WimaAreaData(parent) {}
-
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other,
-                                         QObject *parent)
-    : WimaAreaData(other, parent), _depot(other._depot) {}
-
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other,
-                                         QObject *parent)
-    : WimaAreaData(other, parent), _depot(other.depot()) {}
-
-WimaServiceAreaData &WimaServiceAreaData::
-operator=(const WimaServiceAreaData &otherData) {
-  WimaAreaData::operator=(otherData);
-  this->setDepot(otherData.depot());
-  return *this;
-}
-
-WimaServiceAreaData &WimaServiceAreaData::
-operator=(const WimaServiceArea &otherArea) {
-  WimaAreaData::operator=(otherArea);
-  this->setDepot(otherArea.depot());
-  return *this;
-}
-
-QString WimaServiceAreaData::mapVisualQML() const {
-  return QStringLiteral("WimaServiceAreaDataVisual.qml");
-}
-
-/*!
- * \fn const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const
- * Returns a constant reference to the takeOffPosition.
- *
- */
-const QGeoCoordinate &WimaServiceAreaData::depot() const { return _depot; }
-
-QString WimaServiceAreaData::type() const { return this->typeString; }
-/*!
- * \fn void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate
- * &newCoordinate) Sets the takeoff position to the \a newCoordinate and emits
- * the takeOffPositionChanged() signal, if newCoordinate differs from the member
- * value.
- *
- */
-void WimaServiceAreaData::setDepot(const QGeoCoordinate &newCoordinate) {
-  if (_depot != newCoordinate) {
-    _depot = newCoordinate;
-    emit depotChanged(_depot);
-  }
-}
-
-/*!
- * \class WimaAreaData::WimaServiceAreaData
- * \brief Class to store and exchange data of a \c WimaServiceArea Object.
- * Class to store and exchange data of a \c WimaServiceArea Object. In contrast
- * to \c WimaServiceArea this class does not provied any interface to a grafical
- * user interface, neiter it uses the QGC Fact System. It is designed to
- * exchange data between the \c WimaPlaner and the \c WimaController class. And
- * it is the derived from WimaAreaData.
- *
- * \sa WimaServiceArea, WimaAreaData
- */

src/Wima/Geometry/WimaServiceAreaData.h

-#pragma once
-
-#include "QGeoCoordinate"
-#include <QObject>
-
-#include "WimaAreaData.h"
-#include "WimaServiceArea.h"
-
-class WimaServiceAreaData : public WimaAreaData {
-  Q_OBJECT
-
-public:
-  WimaServiceAreaData(QObject *parent = nullptr);
-  WimaServiceAreaData(const WimaServiceAreaData &other,
-                      QObject *parent = nullptr);
-  WimaServiceAreaData(const WimaServiceArea &other, QObject *parent = nullptr);
-  WimaServiceAreaData &operator=(const WimaServiceAreaData &otherData);
-  WimaServiceAreaData &operator=(const WimaServiceArea &otherArea);
-
-  virtual QString mapVisualQML() const override;
-
-  const QGeoCoordinate &depot() const;
-
-  QString type() const;
-  WimaServiceAreaData *Clone() const { return new WimaServiceAreaData(); }
-  static const char *typeString;
-
-signals:
-  void depotChanged(const QGeoCoordinate &other);
-
-public slots:
-  void setDepot(const QGeoCoordinate &newCoordinate);
-
-private:
-  // see WimaServieArea.h for explanation
-  QGeoCoordinate _depot;
-};

src/Wima/Geometry/json/WimaArea.SettingsGroup.json

-[
-{
-    "name":             "BorderPolygonOffset",
-    "shortDescription": "The distance between the measurement area and it's surrounding polygon",
-    "type":             "double",
-    "units":            "m",
-    "min":              0,
-    "decimalPlaces":    1,
-    "defaultValue":     5
-},
-{
-    "name":             "ShowBorderPolygon",
-    "shortDescription": "Border polygon will be displayed if checked.",
-    "type":             "bool",
-    "defaultValue":     true
-}
-]

src/Wima/Geometry/json/WimaMeasurementArea.SettingsGroup.json

-[
-{
-    "name":             "TileHeight",
-    "shortDescription": "The height of a tile",
-    "type":             "double",
-    "units":            "m",
-    "min":              0.3,
-    "decimalPlaces":    2,
-    "defaultValue":     5
-},
-{
-    "name":             "TileWidth",
-    "shortDescription": "The height of a tile",
-    "type":             "double",
-    "units":            "m",
-    "min":              0.3,
-    "decimalPlaces":    2,
-    "defaultValue":     5
-},
-{
-    "name":             "MinTileAreaPercent",
-    "shortDescription": "The minimal allowed area in percent (of width*height).",
-    "type":             "double",
-    "units":            "%",
-    "min":              0,
-    "max":              100,
-    "decimalPlaces":    2,
-    "defaultValue":     20
-},
-{
-    "name":             "ShowTiles",
-    "shortDescription": "Show tiles",
-    "type":             "bool",
-    "defaultValue":     true
-},
-{
-    "name":             "BorderPolygonOffset",
-    "shortDescription": "The distance between the measurement area and it's enclosing polygon",
-    "type":             "double",
-    "units":            "m",
-    "min":              0,
-    "decimalPlaces":    1,
-    "defaultValue":     5
-}
-]

src/Wima/Geometry/testplanimetrycalculus.h

-#pragma once
-
-#include "PlanimetryCalculus.h"
-
-#include <QPointF>
-#include <QLineF>
-
-namespace TestPlanimetryCalculus {
-
-    void test();
-
-}

src/Wima/OptimisationTools.h

-#pragma once
-#include <QObject>
-#include <QDebug>
-
-#include <functional>
-#include <QVector>
-
-namespace OptimisationTools {
-    bool dijkstraAlgorithm(const int numElements, int startIndex, int endIndex, QVector<int> &elementPath, std::function<double(const int, const int)> distanceDij);
-}
-
-

src/Wima/Snake/QNemoHeartbeat.h

-#pragma once
-
-#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
-
-using QNemoHeartbeat = ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat;

src/Wima/Snake/QNemoProgress.cc

-#include "QNemoProgress.h"
-

src/Wima/Snake/QNemoProgress.h

-#pragma once
-
-#include <QVector>
-
-#include "ros_bridge/include/messages/nemo_msgs/progress.h"
-
-namespace nemo = ros_bridge::messages::nemo_msgs;
-typedef nemo::progress::GenericProgress<int, QVector> QNemoProgress;

src/Wima/Snake/SnakeTileLocal.h

-#pragma once
-#include "Wima/Geometry/GenericPolygon.h"
-
-using SnakeTileLocal = GenericPolygon<QPointF, std::vector>;