befor integrating Waypoint managers into WimaController

qgroundcontrol.pro

@@ -440,11 +440,11 @@ HEADERS += \
     src/Wima/Snake/SnakeWorker.h \
     src/Wima/WaypointManager/AreaInterface.h \
     src/Wima/WaypointManager/DefaultManager.h \
-    src/Wima/WaypointManager/GenericSlicer.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/Geometry/WimaPolygonArray.h \
     src/Wima/Snake/snaketile.h \
     src/Wima/WaypointManager/Settings.h \
+    src/Wima/WaypointManager/Slicer.h \
     src/Wima/WaypointManager/Utils.h \
     src/api/QGCCorePlugin.h \
     src/api/QGCOptions.h \
@@ -501,9 +501,9 @@ SOURCES += \
     src/Wima/Snake/SnakeWorker.cc \
     src/Wima/WaypointManager/AreaInterface.cpp \
     src/Wima/WaypointManager/DefaultManager.cpp \
-    src/Wima/WaypointManager/GenericSlicer.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
     src/Wima/WaypointManager/Settings.cpp \
+    src/Wima/WaypointManager/Slicer.cpp \
     src/Wima/WaypointManager/Utils.cpp \
     src/comm/ros_bridge/include/ComPrivateInclude.cpp \
     src/comm/ros_bridge/include/MessageTag.cpp \

src/QmlControls/QmlObjectListModel.h

@@ -47,7 +47,7 @@ public:
 
     QObject*    operator[]          (int i);
     const QObject* operator[]       (int i) const;
-    template<class T> T value       (int index) { return qobject_cast<T>(_objectList[index]); }
+    template<class T> T value       (int index) const { return qobject_cast<T>(_objectList[index]); }
     QList<QObject*>* objectList     () { return &_objectList; }
 
     /// Calls deleteLater on all items and this itself.

src/Wima/Geometry/WimaJoinedAreaData.h

@@ -23,10 +23,6 @@ public:
 
     static const char* typeString;
 
-signals:
-
-public slots:
-
 protected:
     void assign(const WimaJoinedAreaData &other);
     void assign(const WimaJoinedArea &other);

src/Wima/WaypointManager/AreaInterface.cpp

@@ -41,6 +41,16 @@ void WaypointManager::AreaInterface::setJoinedArea(WimaJoinedAreaData *area)
     _jArea = area;
 }
 
+const WimaMeasurementAreaData *WaypointManager::AreaInterface::measurementArea() const
+{
+    return _mArea;
+}
+
+const WimaServiceAreaData *WaypointManager::AreaInterface::serviceArea() const
+{
+    return _sArea;
+}
+
 const WimaCorridorData *WaypointManager::AreaInterface::corridor() const
 {
     return _cArea;

src/Wima/WaypointManager/DefaultManager.cpp

@@ -8,7 +8,7 @@ bool WaypointManager::DefaultManager::update()
 {
     // extract waypoints
     _slice.clear();
-    _slicer->update(_waypoints, _slice);
+    Slicer::update(_waypoints, _slice);
     return _worker();
 }
 
@@ -16,7 +16,7 @@ bool WaypointManager::DefaultManager::next()
 {
     // extract waypoints
     _slice.clear();
-    _slicer->next(_waypoints, _slice);
+    Slicer::next(_waypoints, _slice);
     return _worker();
 }
 
@@ -24,7 +24,7 @@ bool WaypointManager::DefaultManager::previous()
 {
     // extract waypoints
     _slice.clear();
-    _slicer->previous(_waypoints, _slice);
+    Slicer::previous(_waypoints, _slice);
     return _worker();
 }
 
@@ -32,7 +32,7 @@ bool WaypointManager::DefaultManager::reset()
 {
     // extract waypoints
     _slice.clear();
-    _slicer->reset(_waypoints, _slice);
+    Slicer::reset(_waypoints, _slice);
     return _worker();
 }
 

src/Wima/WaypointManager/DefaultManager.h

@@ -20,8 +20,7 @@ class DefaultManager : public ManagerBase
 {
 public:
     DefaultManager() = delete;
-    DefaultManager(Slicer *slicer,
-                   Settings *settings,
+    DefaultManager(Settings *settings,
                    AreaInterface *interface);
 
 

src/Wima/WaypointManager/GenericSlicer.cpp

-#include "GenericSlicer.h"

src/Wima/WaypointManager/GenericSlicer.h

-#pragma once
-
-#include <assert.h>
-#include <iostream>
-
-#include "Utils.h"
-
-//! @brief Base class for all waypoint managers.
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-class GenericSlicer
-{
-public:
-    typedef Container<ElementType> ContainerType;
-    GenericSlicer();
-
-
-    // Slicing.
-    void update     (const ContainerType &source, ContainerType &update);
-    void next       (const ContainerType &source, ContainerType &update);
-    void previous   (const ContainerType &source, ContainerType &update);
-    void reset      (const ContainerType &source, ContainerType &update);
-
-
-    // Slicing parameters.
-    //! @brief Sets the overlap.
-    //!
-    //! @param overlap The number of overlapping vertices
-    //! between on and the next slice.
-    void setOverlap            (uint32_t overlap);
-    //! @brief Sets the number of vertices per slice.
-    //!
-    //! @param N The number of vertices per slice.
-    void setN   (std::uint32_t N);
-    //! @brief Sets the start index.
-    //!
-    //! @param idxStart The start index.
-    void setStartIndex         (int idxStart);
-
-    //! @return Returns the overlap.
-    uint32_t      overlap       ();
-    //! @return Returns the number of vertices per slice N.
-    uint32_t      N             ();
-    //! @return Returns the start index.
-    int           startIndex    ();
-
-
-private:
-    void _updateIdx(std::size_t size);
-
-    long          _idxStart;
-    long          _idxEnd;
-    long          _idxNext;
-    long          _idxPrevious;
-    uint32_t      _overlap;
-    uint32_t      _N;
-    bool          _idxValid;
-    bool          _atEnd;
-
-
-};
-
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-GenericSlicer<ElementType, Container>::GenericSlicer():
-    _idxValid(false)
-  , _atEnd(false)
-{}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::setOverlap(std::uint32_t overlap)
-{
-    _idxValid = false;
-    _overlap = overlap;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::setN(uint32_t N)
-{
-    _idxValid = false;
-    _N = N > 0 ? N : 1;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::setStartIndex(int idxStart)
-{
-    _idxValid = false;
-    _idxStart = idxStart;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-uint32_t GenericSlicer<ElementType, Container>::overlap()
-{
-    return _overlap;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-uint32_t GenericSlicer<ElementType, Container>::N()
-{
-    return _N;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-int GenericSlicer<ElementType, Container>::startIndex()
-{
-    return _idxStart;
-}
-
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::_updateIdx(std::size_t size)
-{
-    _idxValid = true;
-    _atEnd    = false;
-    if ( _idxStart >= size-1 ) {
-        _idxStart   = size-1;
-        _idxEnd     = _idxStart;
-        _idxNext    = _idxStart;
-        _atEnd      = true;
-        return;
-    }
-
-    _idxStart < 0 ? 0 : _idxStart;
-
-    _idxEnd = _idxStart + _N - 1;
-    _idxEnd = _idxEnd < size ? _idxEnd : size-1;
-
-    _idxNext = _idxEnd + 1 - _overlap;
-    _idxNext = _idxNext < 0    ? 0        : _idxNext;
-    _idxNext = _idxNext < size ? _idxNext : size-1;
-
-    _idxPrevious = _idxStart - 1 + _overlap;
-    _idxPrevious = _idxPrevious < 0    ? 0            : _idxPrevious;
-    _idxPrevious = _idxPrevious < size ? _idxPrevious : size-1;
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::update(const ContainerType &source,
-                                                  Container<ElementType> &slice){
-
-    if ( !_idxValid)
-        _updateIdx(source.size());
-
-    WaypointManager::Utils::extract(source, slice, _idxStart, _idxEnd);
-    // extract waypoints
-
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::next(const ContainerType &source, Container<ElementType> &slice){
-    setStartIndex(_idxNext);
-    slice(source, slice);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::previous(const ContainerType &source, Container<ElementType> &slice){
-    setStartIndex(_idxPrevious);
-    slice(source, slice);
-}
-
-template <class ElementType, template <class, class...> class Container /*e.g. QVector*/>
-void GenericSlicer<ElementType, Container>::reset(const ContainerType &source, Container<ElementType> &slice){
-    setStartIndex(0);
-    slice(source, slice);
-}

src/Wima/WaypointManager/GenericWaypointManager.h

@@ -2,7 +2,7 @@
 
 #include <iostream>
 
-#include "GenericSlicer.h"
+#include "Slicer.h"
 
 namespace WaypointManager {
 
@@ -10,14 +10,13 @@ template<class WaypointType,
          template<class, class...> class ContainerType,
          class MissionItemList,
          class SettingsType>
-class GenericWaypointManager
+class GenericWaypointManager : public Slicer
 {
 public:
-    typedef GenericSlicer<WaypointType, ContainerType> Slicer;
     typedef ContainerType<WaypointType>  WaypointList;
 
     GenericWaypointManager() = delete;
-    GenericWaypointManager(Slicer *slicer, SettingsType *settings);
+    GenericWaypointManager(SettingsType *settings);
 
     // Waypoint editing.
     void            setWaypoints(const WaypointList &waypoints);
@@ -42,7 +41,6 @@ protected:
     WaypointList        _waypoints;
     WaypointList        _slice;
     MissionItemList     _missionItems;
-    Slicer             *_slicer;
     SettingsType       *_settings;
 };
 
@@ -54,12 +52,9 @@ template<class WaypointType,
 GenericWaypointManager<WaypointType,
                        ContainerType,
                        MissionItemList,
-                       SettingsType>::GenericWaypointManager(
-        Slicer *slicer,
-        SettingsType *Settings
+                       SettingsType>::GenericWaypointManager(SettingsType *Settings
         )
-  : _slicer(slicer)
-  , _settings(_settings)
+  : _settings(_settings)
 {}
 
 template<class WaypointType,

src/Wima/WaypointManager/Slicer.cpp

+#include "Slicer.h"
+
+Slicer::Slicer():
+    _idxValid(false)
+  , _atEnd(false)
+{}
+
+void Slicer::setOverlap(uint32_t overlap)
+{
+    _idxValid = false;
+    _overlap = overlap;
+}
+
+void Slicer::setN(uint32_t N)
+{
+    _idxValid = false;
+    _N = N > 0 ? N : 1;
+}
+
+void Slicer::setStartIndex(int idxStart)
+{
+    _idxValid = false;
+    _idxStart = idxStart;
+}
+
+uint32_t Slicer::overlap()
+{
+    return _overlap;
+}
+
+uint32_t Slicer::N()
+{
+    return _N;
+}
+
+int Slicer::startIndex()
+{
+    return _idxStart;
+}
+
+Slicer &Slicer::operator=(const Slicer &other)
+{
+
+}
+
+void Slicer::_updateIdx(std::size_t size)
+{
+    _idxValid = true;
+    _atEnd    = false;
+    if ( _idxStart >= long(size)-1 ) {
+        _idxStart   = long(size)-1;
+        _idxEnd     = _idxStart;
+        _idxNext    = _idxStart;
+        _atEnd      = true;
+        return;
+    }
+
+    _idxStart = _idxStart < 0 ? 0 : _idxStart;
+
+    _idxEnd = _idxStart + _N - 1;
+    _idxEnd = _idxEnd < long(size) ? _idxEnd : size-1;
+
+    _idxNext = _idxEnd + 1 - _overlap;
+    _idxNext = _idxNext < 0    ? 0        : _idxNext;
+    _idxNext = _idxNext < long(size) ? _idxNext : size-1;
+
+    _idxPrevious = _idxStart - 1 + _overlap;
+    _idxPrevious = _idxPrevious < 0    ? 0            : _idxPrevious;
+    _idxPrevious = _idxPrevious < long(size) ? _idxPrevious : size-1;
+}

src/Wima/WaypointManager/Slicer.h

+#pragma once
+
+#include <assert.h>
+#include <iostream>
+
+#include "Utils.h"
+
+//! @brief Base class for all waypoint managers.
+class Slicer
+{
+public:
+    Slicer();
+
+
+protected:
+    // Slicing.
+    template <class Container1, class Container2>
+    void update     (const Container1 &source, Container2 &slice);
+    template <class Container1, class Container2>
+    void next       (const Container1 &source, Container2 &slice);
+    template <class Container1, class Container2>
+    void previous   (const Container1 &source, Container2 &slice);
+    template <class Container1, class Container2>
+    void reset      (const Container1 &source, Container2 &slice);
+
+public:
+    // Slicing parameters.
+    //! @brief Sets the overlap.
+    //!
+    //! @param overlap The number of overlapping vertices
+    //! between on and the next slice.
+    void setOverlap            (uint32_t overlap);
+    //! @brief Sets the number of vertices per slice.
+    //!
+    //! @param N The number of vertices per slice.
+    void setN   (std::uint32_t N);
+    //! @brief Sets the start index.
+    //!
+    //! @param idxStart The start index.
+    void setStartIndex         (int idxStart);
+
+    //! @return Returns the overlap.
+    uint32_t      overlap       ();
+    //! @return Returns the number of vertices per slice N.
+    uint32_t      N             ();
+    //! @return Returns the start index.
+    int           startIndex    ();
+
+    Slicer &operator=(const Slicer &other);
+
+
+private:
+    void _updateIdx(std::size_t size);
+
+    long          _idxStart;
+    long          _idxEnd;
+    long          _idxNext;
+    long          _idxPrevious;
+    uint32_t      _overlap;
+    uint32_t      _N;
+    bool          _idxValid;
+    bool          _atEnd;
+
+
+};
+
+template <class Container1, class Container2>
+void Slicer::update(const Container1 &source, Container2 &slice){
+
+    if ( !_idxValid)
+        _updateIdx(source.size());
+
+    WaypointManager::Utils::extract(source, slice, _idxStart, _idxEnd);
+}
+
+template <class Container1, class Container2>
+void Slicer::next(const Container1 &source, Container2 &slice){
+    setStartIndex(_idxNext);
+    update(source, slice);
+}
+
+
+template <class Container1, class Container2>
+void Slicer::previous(const Container1 &source, Container2 &slice){
+    setStartIndex(_idxPrevious);
+    update(source, slice);
+}
+
+
+template <class Container1, class Container2>
+void Slicer::reset(const Container1 &source, Container2 &slice){
+    setStartIndex(0);
+    update(source, slice);
+}

src/Wima/WaypointManager/Utils.h

@@ -20,7 +20,7 @@ QVariant getCoordinate(const SimpleMissionItem* item);
 
 /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
 template <class CoordinateType, template <class, class...> class ContainerType>
-bool extract(QmlObjectListModel &missionItems,
+bool extract(const QmlObjectListModel &missionItems,
              ContainerType<CoordinateType> &coordinateList,
              std::size_t startIndex,
              std::size_t  endIndex)
@@ -59,7 +59,7 @@ bool extract(QmlObjectListModel &missionItems,
 
 /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
 template <class CoordinateType, template <class, class...> class ContainerType>
-bool extract(QmlObjectListModel &missionItems,
+bool extract(const QmlObjectListModel &missionItems,
              ContainerType<CoordinateType> &coordinateList)
 {
 
@@ -73,7 +73,7 @@ bool extract(QmlObjectListModel &missionItems,
 
 /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
 template <class CoordinateType, template <class, class...> class ContainerType>
-bool extract(ContainerType<CoordinateType>  &source,
+bool extract(const ContainerType<CoordinateType>  &source,
              ContainerType<CoordinateType>  &destination,
              std::size_t startIndex,
              std::size_t  endIndex)