wima planer, cs and cs worker edited

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -241,7 +241,7 @@ FlightMap {
         color:          "green"
     }
 
-    // Add Snake tiles center points to the map
+    // Add Snake tile center points to the map
     MapItemView {
         property bool _enable:    wimaController.enableWimaController.value
                                && wimaController.enableSnake.value
@@ -249,7 +249,7 @@ FlightMap {
 
         delegate: MapCircle{
             center:         modelData
-            border.color:   "black"
+            border.color:   "transparent"
             border.width:   1
             color:          getColor(wimaController.nemoProgress[index])
             radius:         0.6
@@ -258,7 +258,7 @@ FlightMap {
 
             function getColor(progress) {
                 if (progress < 50)
-                    return "orangered"
+                    return "red"
                 if (progress < 100)
                     return "orange"
 

src/Wima/CSWorker.h

 #pragma once
 
 #include <QGeoCoordinate>
-#include <QList>
 #include <QSharedPointer>
 #include <QThread>
 
 #include "snake.h"
 #include <atomic>
 #include <condition_variable>
+#include <functional>
 #include <mutex>
 
+struct RoutingData {
+  snake::BoostLineString route;
+  snake::Transects transects;
+  std::vector<snake::TransectInfo> transectsInfo;
+};
+
 //!
 //! \brief The CSWorker class
 //! \note Don't call QThread::start, QThread::quit, etc. onyl use Worker
 //! members!
-class CSWorker : public QThread {
+class RoutingWorker : public QThread {
   Q_OBJECT
   using Lock = std::unique_lock<std::mutex>;
 
 public:
-  using Route = QList<QGeoCoordinate>;
-  using PtrRoute = QSharedPointer<Route>;
+  using PtrRoutingData = QSharedPointer<RoutingData>;
+  using Generator = std::function<bool(snake::Transects &)>;
 
-  CSWorker(QObject *parent = nullptr);
-  ~CSWorker() override;
+  RoutingWorker(QObject *parent = nullptr);
+  ~RoutingWorker() override;
 
   bool calculating();
 
 public slots:
-  void update(const QList<QGeoCoordinate> &polygon,
-              const QGeoCoordinate &origin, snake::Length deltaR,
-              snake::Length minLength, snake::Angle deltaAlpha);
-  void update(const QGeoCoordinate &depot,
-              const QList<QGeoCoordinate> &safeArea,
-              const QList<QGeoCoordinate> &polygon,
-              const QGeoCoordinate &origin, snake::Length deltaR,
-              snake::Length minLength, snake::Angle deltaAlpha);
+  void route(const snake::BoostPolygon &safeArea, const Generator &generator);
 
 signals:
-  void ready(PtrRoute pTransects);
+  void result(PtrRoutingData pTransects);
   void calculatingChanged();
 
 protected:
@@ -48,17 +47,9 @@ private:
   mutable std::mutex _mutex;
   mutable std::condition_variable _cv;
   // Internal data
-  QGeoCoordinate _depot;
-  QList<QGeoCoordinate> _safeArea;
-  QList<QGeoCoordinate> _polygon;
-  QGeoCoordinate _origin;
-  snake::Length _deltaR;
-  snake::Angle _deltaAlpha;
-  snake::Length _minLength;
-  std::size_t _maxWaypoints;
-
+  snake::BoostPolygon _safeArea;
+  Generator _generator; // transect generator
   // State
-  std::atomic_bool _useDepotSafeArea;
   std::atomic_bool _calculating;
   std::atomic_bool _stop;
   std::atomic_bool _restart;

src/Wima/CircularSurvey.h

@@ -6,13 +6,13 @@
 #include "SettingsFact.h"
 #include "TransectStyleComplexItem.h"
 
-class CSWorker;
+class RoutingWorker;
+class RoutingData;
 
 class CircularSurvey : public TransectStyleComplexItem {
   Q_OBJECT
 public:
-  using Route = QList<QGeoCoordinate>;
-  using PtrRoute = QSharedPointer<Route>;
+  using PtrRoutingData = QSharedPointer<RoutingData>;
 
   /// @param vehicle Vehicle which this is being contructed for
   /// @param flyView true: Created for use in the Fly View, false: Created for
@@ -87,7 +87,7 @@ private slots:
   void _rebuildTransectsPhase1(void) final;
   void _recalcComplexDistance(void) final;
   void _recalcCameraShots(void) final;
-  void _setTransects(PtrRoute pRoute);
+  void _setTransects(PtrRoutingData pRoute);
 
 private:
   void _appendLoadedMissionItems(QList<MissionItem *> &items,
@@ -107,9 +107,10 @@ private:
   // this value
   SettingsFact _minLength;
 
-  using PtrWorker = std::shared_ptr<CSWorker>;
+  using PtrWorker = std::shared_ptr<RoutingWorker>;
   PtrWorker _pWorker;
-  PtrRoute _pRoute;
+  PtrRoutingData _workerOutput;
+  QList<QList<QGeoCoordinate>> _rawTransects;
   bool _needsStoring;
   bool _needsReversal;
   bool _hidePolygon;

src/Wima/Geometry/WimaCorridor.h

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

src/Wima/Geometry/WimaServiceArea.cc

 #include "WimaServiceArea.h"
 
 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) {
+    : WimaArea(other, parent), _depot(other.depot()) {
   init();
 }
 
@@ -16,7 +19,7 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
  */
 WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
   WimaArea::operator=(other);
-
+  this->setDepot(other.depot());
   return *this;
 }
 
@@ -34,18 +37,41 @@ bool WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
 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)) {
-    bool retVal = true;
-    // code for loading here
-    return retVal;
-  } else {
-    qWarning() << errorString;
-    return false;
+    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 print(const WimaServiceArea &area) {

src/Wima/Geometry/WimaServiceArea.h

@@ -30,6 +30,9 @@ public:
 
   // static Members
   static const char *wimaServiceAreaName;
+  static const char *depotLatitudeName;
+  static const char *depotLongitudeName;
+  static const char *depotAltitudeName;
 signals:
   void depotChanged(void);
 

src/Wima/WimaController.cc

@@ -424,21 +424,24 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   emit visualItemsChanged();
 
   // extract mission items
-  QList<MissionItem> tempMissionItems = planData->missionItems();
+  auto tempMissionItems = planData->missionItems();
   if (tempMissionItems.size() < 1) {
     qWarning("WimaController: Mission items from WimaPlaner empty!");
     return false;
   }
 
-  for (auto item : tempMissionItems) {
-    _defaultWM.push_back(item.coordinate());
+  qWarning() << "WimaController:";
+  for (auto *item : tempMissionItems) {
+    qWarning() << item->coordinate();
+    _defaultWM.push_back(item->coordinate());
   }
 
   _WMSettings.setHomePosition(QGeoCoordinate(
       _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
+  qWarning() << "service area depot: " << _serviceArea.depot();
 
   if (!_defaultWM.reset()) {
-    Q_ASSERT(false);
+    qWarning() << "_defaultWM.reset() failed";
     return false;
   }
 

src/Wima/WimaPlanData.cc

@@ -110,7 +110,7 @@ const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
   return _areaList;
 }
 
-const QList<MissionItem> &WimaPlanData::missionItems() const {
+const QList<MissionItem *> &WimaPlanData::missionItems() const {
   return _missionItems;
 }
 

src/Wima/WimaPlanData.h

@@ -29,7 +29,7 @@ public:
   void clear();
 
   const QList<const WimaAreaData *> &areaList() const;
-  const QList<MissionItem> &missionItems() const;
+  const QList<MissionItem *> &missionItems() const;
 
 signals:
   void areaListChanged();
@@ -44,5 +44,5 @@ private:
   WimaMeasurementAreaData _measurementArea;
   QList<const WimaAreaData *> _areaList;
 
-  QList<MissionItem> _missionItems;
+  QList<MissionItem *> _missionItems;
 };

src/Wima/WimaPlaner.cc

@@ -740,6 +740,10 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
   QList<MissionItem *> missionItems;
   _TSComplexItem->appendMissionItems(missionItems, nullptr);
   // store mavlink commands
+  qWarning() << "WimaPlaner";
+  for (auto *item : missionItems) {
+    qWarning() << item->coordinate();
+  }
   planData->append(missionItems);
   return planData;
 }