adding areas to flyView, WimaPlanData restructured, WimaController and WimaPlaner edited

master.qdocconf

@@ -6,6 +6,7 @@ sourcedirs = ./src/Wima
 headers = ./src/Wima/WimaArea.h
 sources = ./src/Wima/WimaArea.cc
 
+
 sources.fileextensions = "*.cpp *.cc *.qdoc *.mm *.qml"
 headers.fileextensions = "*.h *.ch *.h++ *.hh *.hpp *.hxx"
 

qgroundcontrol.pro

@@ -420,7 +420,8 @@ HEADERS += \
     src/Wima/WimaAreaData.h \
     src/Wima/WimaServiceAreaData.h \
     src/Wima/WimaCorridorData.h \
-    src/Wima/WimaMeasurementAreaData.h
+    src/Wima/WimaMeasurementAreaData.h \
+    src/Wima/WimaPlanData.h
 SOURCES += \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -439,7 +440,8 @@ SOURCES += \
     src/Wima/WimaAreaData.cc \
     src/Wima/WimaServiceAreaData.cc \
     src/Wima/WimaCorridorData.cpp \
-    src/Wima/WimaMeasurementAreaDataareadata.cc
+    src/Wima/WimaPlanData.cc \
+    src/Wima/WimaMeasurementAreaData.cc
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)
@@ -1321,4 +1323,4 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
 }
 
 DISTFILES += \
-    src/Wima/WimaGOperationArea.SettingsGroup.json
+    src/WimaView/WimaMeasurementAreaEditor.qml

qgroundcontrol.qrc

@@ -211,16 +211,15 @@
         <file alias="QGroundControl/Controls/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
         <file alias="WimaView.qml">src/WimaView/WimaView.qml</file>
         <file alias="QGroundControl/Controls/WimaMapVisual.qml">src/WimaView/WimaMapVisual.qml</file>
-        <file alias="QGroundControl/Controls/WimaServicePolygonMapVisual.qml">src/WimaView/WimaServicePolygonMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaItemEditor.qml">src/WimaView/WimaItemEditor.qml</file>
         <file alias="QGroundControl/Controls/WimaMapPolylineVisuals.qml">src/WimaView/WimaMapPolylineVisuals.qml</file>
         <file alias="QGroundControl/Controls/WimaMapPolygonVisuals.qml">src/WimaView/WimaMapPolygonVisuals.qml</file>
-        <file alias="QGroundControl/Controls/WimaGOperationAreaMapVisual.qml">src/WimaView/WimaGOperationAreaMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
-        <file alias="QGroundControl/Controls/WimaGOperationAreaEditor.qml">src/WimaView/WimaGOperationAreaEditor.qml</file>
         <file alias="QGroundControl/Controls/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
-        <file alias="QGroundControl/Controls/WimaVCorridorMapVisual.qml">src/WimaView/WimaVCorridorMapVisual.qml</file>
         <file alias="QGroundControl/Controls/WimaAreaMapVisual.qml">src/WimaView/WimaAreaMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
@@ -265,7 +264,7 @@
         <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
-        <file alias="WimaGOperationArea.SettingsGroup.json">src/Wima/WimaGOperationArea.SettingsGroup.json</file>
+        <file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>

src/FlightDisplay/FlightDisplayView.qml

@@ -117,7 +117,7 @@ QGCView {
     WimaController {
         id: wimaController
         Component.onCompleted: {
-            startWimaController(true /* flyView */)
+            wimaController.dataContainer = Qt.binding(function() { return dataContainerPointer })
         }
     }
 
@@ -136,9 +136,8 @@ QGCView {
             flyViewOverlay.source = QGroundControl.corePlugin.options.flyViewOverlay
         }
 
-        wimaController.masterController     = masterController
-        wimaController.missionController    = masterController.missionController
-        wimaController.dataContainer        = dataContainer
+        wimaController.masterController     = Qt.binding(function() { return masterController; })
+        wimaController.missionController    = Qt.binding(function() { return masterController.missionController; })
     }
 
     // The following code is used to track vehicle states such that we prompt to remove mission from vehicle when mission completes

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -194,13 +194,16 @@ FlightMap {
     }
 
     // Add wima Areas to the Map
-    WimaMapPolygonVisuals {
-        mapControl:         flightMap
-        mapPolygon:         wimaController.joinedArea
-        borderWidth:        1
-        borderColor:        "transparent"
-        interiorColor:      "gray"
-        interiorOpacity:    0.25
+    MapItemView {
+        model: wimaController.visualItems
+
+        delegate: MapPolygon{
+            path:           object.path;
+            border.color:   "black"
+            color:          "green"
+            opacity:        0.25
+            z:          QGroundControl.zOrderTrajectoryLines-1
+        }
     }
 
     // Add trajectory points to the map

src/MissionManager/QGCMapPolygon.cc

@@ -369,11 +369,6 @@ void QGCMapPolygon::setInteractive(bool interactive)
     }
 }
 
-void QGCMapPolygon::update(const QGCMapPolygon &poly)
-{
-    this->setPath(poly.path());
-}
-
 void print(const QGCMapPolygon &poly)
 {
     QString message;
@@ -384,18 +379,18 @@ void print(const QGCMapPolygon &poly)
 
 void print(const QGCMapPolygon &poly, QString &outputString)
 {
-    outputString.append(QString("Coordinates:\n"));
+    outputString.append(QString("Coordinates:\r\n"));
 
     for (int i = 0; i < poly.count(); i++) {
         QGeoCoordinate coordinate = poly.vertexCoordinate(i);
-        outputString.append(QString("%s\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
+        outputString.append(QString("%1\n").arg(coordinate.toString(QGeoCoordinate::Degrees)));
     }
 
-    outputString.append(QString("Dirty: %s\n").arg(QVariant(poly._dirty).toString()));
-    outputString.append(QString("Center: %s\n").arg(poly._center.toString(QGeoCoordinate::Degrees)));
-    outputString.append(QString("Center Drag: %s\n").arg(QVariant(poly._centerDrag).toString()));
-    outputString.append(QString("Ignore Center Updates: %s\n").arg(QVariant(poly._centerDrag).toString()));
-    outputString.append(QString("Interactive: %s\n").arg(QVariant(poly._interactive).toString()));
+    outputString.append(QString("Dirty: %1\n").arg(QVariant(poly._dirty).toString()));
+    outputString.append(QString("Center: %1\n").arg(poly._center.toString(QGeoCoordinate::Degrees)));
+    outputString.append(QString("Center Drag: %1\n").arg(QVariant(poly._centerDrag).toString()));
+    outputString.append(QString("Ignore Center Updates: %1\n").arg(QVariant(poly._centerDrag).toString()));
+    outputString.append(QString("Interactive: %1\n").arg(QVariant(poly._interactive).toString()));
 }
 
 QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const

src/MissionManager/QGCMapPolygon.h

@@ -99,9 +99,6 @@ public:
     QmlObjectListModel* qmlPathModel(void) { return &_polygonModel; }
     QmlObjectListModel& pathModel   (void) { return _polygonModel; }
 
-    /// Updates this with data from poly
-    void update(const QGCMapPolygon &poly);
-
     // Friends
     friend void print(const QGCMapPolygon& poly, QString& outputString);
     friend void print(const QGCMapPolygon& poly);

src/QGCApplication.cc

@@ -67,8 +67,9 @@
 #include "FlightMapSettings.h"
 #include "CoordinateVector.h"
 #include "PlanMasterController.h"
-#include "Wima/WimaController.h" //custom
-#include "Wima/WimaDataContainer.h" //custom
+#include "Wima/WimaController.h"
+#include "Wima/WimaDataContainer.h"
+#include "Wima/WimaPlaner.h"
 #include "VideoManager.h"
 #include "VideoSurface.h"
 #include "VideoReceiver.h"
@@ -465,8 +466,9 @@ void QGCApplication::_initCommon(void)
     qmlRegisterType<MavlinkConsoleController>       (kQGCControllers,                       1, 0, "MavlinkConsoleController");
 #endif
     // Wima
-    qmlRegisterType<WimaController>                 ("Wima",                                1, 0, "WimaController"); //custom
-    qmlRegisterType<WimaDataContainer>              ("Wima",                                1, 0, "WimaDataContainer"); //custom
+    qmlRegisterType<WimaController>                 ("Wima",                                1, 0, "WimaController");
+    qmlRegisterType<WimaPlaner>                     ("Wima",                                1, 0, "WimaPlaner");
+    qmlRegisterType<WimaDataContainer>              ("Wima",                                1, 0, "WimaDataContainer");
 
 
     // Register Qml Singletons

src/QmlControls/QGroundControl.Controls.qmldir

@@ -86,12 +86,12 @@ ViewWidget              1.0 ViewWidget.qml
 FlyAreaItemEditor       1.0 FlyAreaItemEditor.qml
 
 WimaMapVisual                       1.0 WimaMapVisual.qml
-WimaGOperationAreaMapVisual         1.0 WimaGOperationAreaMapVisual.qml
-WimaGOperationAreaEditor            1.0 WimaGOperationAreaEditor.qml
+WimaMeasurementAreaMapVisual        1.0 WimaMeasurementAreaMapVisual.qml
+WimaMeasurementAreaEditor           1.0 WimaMeasurementAreaEditor.qml
 WimaServiceAreaMapVisual            1.0 WimaServiceAreaMapVisual.qml
 WimaAreaMapVisual                   1.0 WimaAreaMapVisual.qml
 WimaServiceAreaEditor               1.0 WimaServiceAreaEditor.qml
-WimaVCorridorMapVisual              1.0 WimaVCorridorMapVisual.qml
+WimaCorridorMapVisual               1.0 WimaCorridorMapVisual.qml
 WimaItemEditor                      1.0 WimaItemEditor.qml
 WimaMapPolygonVisuals               1.0 WimaMapPolygonVisuals.qml
 WimaMapPolylineVisuals              1.0 WimaMapPolylineVisuals.qml

src/Wima/WimaArea.cc

 #include "WimaArea.h"
 
 /*!
- * \variable WimaArea::numericalAccuracy
- * \brief The accuracy used for calculations.
+ * \variable WimaArea::epsilonMeter
+ * \brief The accuracy used for distance calculations (unit: m).
  */
-const double WimaArea::numericalAccuracy    = 1e-3; // meters
+const double WimaArea::epsilonMeter    = 1e-5;
 /*!
  * \variable WimaArea::maxAltitudeName
  * \brief A string containing the name of the \c _maxAltitude member. Among other used for storing.
@@ -23,7 +23,7 @@ const char* WimaArea::areaTypeName          = "AreaType";
 
 
 
-
+// Constructors
 WimaArea::WimaArea(QObject *parent)
     :  QGCMapPolygon (parent)
 {
@@ -32,14 +32,26 @@ WimaArea::WimaArea(QObject *parent)
 }
 
 WimaArea::WimaArea(const WimaArea &other, QObject *parent)
-    : QGCMapPolygon (other, parent)
+    : QGCMapPolygon (parent)
 {
     init();
+    *this = other;
+}
+
+/*!
+ *\fn WimaArea &WimaArea::operator=(const WimaArea &other)
+ *
+ * Assigns \a other to this \c WimaArea and returns a reference to this \c WimaArea.
+ *
+ * Copies only path and maximum altitude.
+ */
+WimaArea &WimaArea::operator=(const WimaArea &other)
+{
+    QGCMapPolygon::operator=(other);
+    this->_maxAltitude = other.maxAltitude();
     this->setPath(other.path());
-    this->setCenter(other.center());
-    this->setCenterDrag(other.centerDrag());
-    this->setInteractive(other.interactive());
-    _maxAltitude = other.maxAltitude();
+
+    return *this;
 }
 
 /*!
@@ -118,29 +130,29 @@ QGCMapPolygon WimaArea::toQGCPolygon() const
 }
 
 /*!
- * \fn void WimaArea::join(QList<WimaArea *>* polyList,  WimaArea* joinedPoly)
- * Not yet implemented \a polyList, \a joinedPoly.
- *
- * \sa QList
- */
-void WimaArea::join(QList<WimaArea *>* polyList,  WimaArea* joinedPoly)
-{
-    return;
-}
-
-/*!
- * \fn bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
+ * \fn bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea, QString &errorString)
  * Joins the areas \a area1 and \a area2 such that a \l {Simple Polygon} is created.
  * Stores the result inside \a joinedArea.
+ * Stores error messages in \a errorString.
  * Returns \c true if the algorithm was able to join the areas; false else.
  * The algorithm will be able to join the areas, if either their edges intersect with each other,
  * or one area contains the other.
  */
-bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
+bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea, QString &errorString)
 {
 
         if (area1.count() >= 3 && area2.count() >= 3) {
 
+            if ( isSelfIntersecting(area1) ) {
+                errorString.append("Area 1 is self intersecting.\n");
+                return false;
+            }
+
+            if ( isSelfIntersecting(area2) ) {
+                errorString.append("Area 2 is self intersecting.\n");
+                return false;
+            }
+
             joinedArea.clear();
 
             area1.verifyClockwiseWinding();
@@ -208,7 +220,7 @@ bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
                     //qDebug("MinDistIndex: %i", minDistIndex);
                     QGeoCoordinate protoCurrentVertex = intersectionList.value(minDistIndex);
                     // take numerical erros into account
-                    if (protoCurrentVertex.distanceTo(currentVertex) > WimaArea::numericalAccuracy) {
+                    if (protoCurrentVertex.distanceTo(currentVertex) > epsilonMeter) {
                         currentVertex                   = protoCurrentVertex;
                         QPair<int, int> neighbours      = neighbourList.value(minDistIndex);
                         protoNextVertex                 = crossPoly->vertexCoordinate(neighbours.second);
@@ -244,6 +256,21 @@ bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
         }
 }
 
+
+/*!
+ * \fn bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
+ * Joins the areas \a area1 and \a area2 such that a \l {Simple Polygon} is created.
+ * Stores the result inside \a joinedArea.
+ * Returns \c true if the algorithm was able to join the areas; false else.
+ * The algorithm will be able to join the areas, if either their edges intersect with each other,
+ * or one area contains the other.
+ */
+bool WimaArea::join(WimaArea &area1, WimaArea &area2, WimaArea &joinedArea)
+{
+    QString dummy;
+    return join(area1, area2, joinedArea, dummy);
+}
+
 /*!
  * \fn bool WimaArea::join(WimaArea &area)
  * Joins the calling \c WimaArea and the \a area such that a \l {Simple Polygon} is created.
@@ -263,49 +290,25 @@ bool WimaArea::join(WimaArea &area)
     }
 }
 
-/*!
- * \fn bool WimaArea::isDisjunct(QList<WimaArea *>* polyList)
- * Not yet implemented.
- *
- * \sa QList
- */
-bool WimaArea::isDisjunct(QList<WimaArea *>* polyList)
-{
-    // needs improvement
-    if (polyList != nullptr){
-        for (int i = 0;i < polyList->size()-1; i++) {
-            WimaArea* currPoly = polyList->value(i);
-            for (int j = i+1; i < polyList->size(); j++) {
-                if (isDisjunct(currPoly, polyList->value(j))) {
-                    return false;
-                }
-            }
-        }
-        return true;
-    } else {
-        qWarning("WimaArea::isDisjunct(polyList): polyList == nullptr!");
-        return false;
-    }
-}
 
 /*!
- * \fn bool WimaArea::isDisjunct(WimaArea *poly1, WimaArea *poly2)
- * Not yet implemented.
+ * \fn bool WimaArea::join(WimaArea &area, QString &errorString)
+ * Joins the calling \c WimaArea and the \a area such that a \l {Simple Polygon} is created.
+ * Overwrites the calling \c WimaArea with the result, if the algorithm was successful.
+ *
+ * Returns \c true if the algorithm was able to join the areas; false else.
+ * Stores error messages in \a errorString.
+ *
+ * The algorithm will be able to join the areas, if either their edges intersect with each other,
+ * or one area contains the other.
  */
-bool WimaArea::isDisjunct(WimaArea *poly1, WimaArea *poly2)
+bool WimaArea::join(WimaArea &area, QString &errorString)
 {
-    if (poly1 != nullptr && poly2 != nullptr) {
-        QGCMapPolygon* poly1Copy = new QGCMapPolygon(this);
-        poly1Copy->setPath(poly1->path());
-        poly1Copy->offset(numericalAccuracy);// take numerical errors in account
-        for(int i = 0; i < poly2->count(); i++){
-            if (poly1Copy->containsCoordinate(poly2->vertexCoordinate(i))){
-                return false;
-            }
-        }
+    WimaArea joinedArea;
+    if ( join(*this, area, joinedArea, errorString) ) {
+        this->setPath(joinedArea.path());
         return true;
     } else {
-        qWarning("WimaArea::isDisjunct(poly1, poly2):  poly1 == nullptr || poly2 == nullptr!");
         return false;
     }
 }
@@ -404,13 +407,13 @@ bool WimaArea::intersects(const QGCMapPolyline &line1, const QGCMapPolyline &lin
  *
  * \sa QPair, QList
  */
-bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QList<QGeoCoordinate> &intersectionList, QList<QPair<int, int>> &neighbourList)
+bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QList<QGeoCoordinate> &intersectionList, QList<QPair<int, int>> &neighbourList)// don't seperate parameters with new lines or documentation will break
 {
         intersectionList.clear();
         neighbourList.clear();
 
 
-        if (line.count() == 2 && area.count() >= 3) { // are line a proper line and poly a proper poly?
+        if (line.count() == 2 && area.count() >= 3) { // are line a proper line and poly a proper poly?other,
 
             // Asseble a line form each tow consecutive polygon vertices and check whether it intersects with line
             for (int i = 0; i < area.count(); i++) {
@@ -443,7 +446,7 @@ bool WimaArea::intersects(const QGCMapPolyline &line, const WimaArea &area, QLis
         }
 }
 
-/*!
+/*!other,
  * \fn double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &c2, WimaArea area)
  * Returns the distance between the coordinate \a c1 and coordinate \a c2, or infinity if the shortest path between
  * the two coordinates is not fully inside the \a area.
@@ -475,21 +478,19 @@ double WimaArea::distInsidePoly(const QGeoCoordinate &c1, const QGeoCoordinate &
 }
 
 /*!
- * \fn bool WimaArea::dijkstraPath(const QGeoCoordinate    &start, const QGeoCoordinate    &end, const WimaArea          &area, QList<QGeoCoordinate>   &dijkstraPath)
+ * \fn bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &end, const WimaArea &area, QList<QGeoCoordinate> &dijkstraPath, QString &errorstring)
  * Calculates the shortest path (inside \a area) between \a start and \a end.
  * The \l {Dijkstra Algorithm} is used to find the shorest path.
  * Stores the result inside \a dijkstraPath when sucessfull.
+ * Stores error messages in \a errorString.
  * Returns \c true if successful, \c false else.
  *
  * \sa QList
  */
-bool WimaArea::dijkstraPath(const QGeoCoordinate    &start,
-                            const QGeoCoordinate    &end,
-                            const WimaArea          &area,
-                            QList<QGeoCoordinate>   &dijkstraPath)
+bool WimaArea::dijkstraPath(const QGeoCoordinate &start, const QGeoCoordinate &end, const WimaArea &area, QList<QGeoCoordinate> &dijkstraPath, QString &errorString) // don't seperate parameters with new lines or documentation will break
 {
-    // Returns true if a valid path was found.
     if ( isSelfIntersecting(area) ) {
+        errorString.append("Area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n");
         return false;
     }
 
@@ -568,21 +569,23 @@ bool WimaArea::dijkstraPath(const QGeoCoordinate    &start,
     // end Djikstra Algorithm
 
 
-    // check it the Algorithm was sucessful
+    // check it the Algorithm was sucessfulepsilonMeter
     Node* Node = &nodeList.last();
     if (Node->predecessorNode == nullptr) {
-        qWarning("WimaArea::dijkstraPath(): Error, no path found!");
-        return false;
+
     }
 
-    // assemble path
+    // reverse assemble path
     while (1) {
         dijkstraPath.prepend(Node->coordinate);
 
         //Update Node
         Node = Node->predecessorNode;
         if (Node == nullptr) {
+            if (dijkstraPath[0].distanceTo(start) < epsilonMeter)// check if starting point was reached
                 break;
+            qWarning("WimaArea::dijkstraPath(): Error, no path found!\n");
+            return false;
         }
     }
 
@@ -600,18 +603,26 @@ bool WimaArea::isSelfIntersecting(const WimaArea &area)
     if (area.count() > 3) {
         // check if any edge of the area (formed by two adjacent vertices) intersects with any other edge of the area
         while(i < area.count()-1) {
+            QGeoCoordinate refBeginCoordinate = area.vertexCoordinate(i);
+            QGeoCoordinate refEndCoordinate = area.vertexCoordinate(area.nextVertexIndex(i));
             QGCMapPolyline refLine;
-            refLine.appendVertex(area.vertexCoordinate(i));
-            refLine.appendVertex(area.vertexCoordinate(area.nextVertexIndex(i)));
+            refLine.appendVertex(refBeginCoordinate);
+            refLine.appendVertex(refEndCoordinate);
             int j = area.nextVertexIndex(i);
             while(j < area.count()) {
-                QGeoCoordinate dummy;
+                QGeoCoordinate intersectionPt;
                 QGCMapPolyline iteratorLine;
                 iteratorLine.appendVertex(area.vertexCoordinate(j));
                 iteratorLine.appendVertex(area.vertexCoordinate(area.nextVertexIndex(j)));
 
-                if ( intersects(refLine, iteratorLine, dummy) )
+                if ( intersects(refLine, iteratorLine, intersectionPt) ){
+                    if (    !(intersectionPt.distanceTo(refBeginCoordinate) < epsilonMeter)
+                         && !(intersectionPt.distanceTo(refEndCoordinate)   < epsilonMeter) ) {
                         return true;
+                    }
+                }
+
+
 
                 j++;
             }
@@ -670,16 +681,6 @@ bool WimaArea::loadFromJson(const QJsonObject &json, QString& errorString)
     }
 }
 
-/*!
- * \fn void WimaArea::update(const WimaArea &area)
- * Not yet implemented.
- */
-void WimaArea::update(const WimaArea &area)
-{
-    this->QGCMapPolygon::update(area);
-    this->setMaxAltitude(area.maxAltitude());
-}
-
 /*!
  * \fn void WimaArea::init()
  * Funtion to be called during construction.
@@ -706,9 +707,9 @@ void print(const WimaArea &area)
  */
 void print(const WimaArea &area, QString &outputString)
 {
-    outputString.append(QString("Type: %1").arg(area.objectName()));
+    outputString.append(QString("Type: %1\n").arg(area.objectName()));
     print(static_cast<const QGCMapPolygon&>(area), outputString);
-    outputString.append(QString("Maximum Altitude: %1").arg(area._maxAltitude));
+    outputString.append(QString("Maximum Altitude: %1\n").arg(area._maxAltitude));
 }
 
 

src/Wima/WimaArea.h

@@ -17,6 +17,7 @@ class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
 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)
@@ -31,20 +32,12 @@ public:
     virtual QString                 editorQML       (void) const { return "WimaAreaEditor.qml";}
 
     // Member Methodes
-    //iterates over all vertices in _polygon and returns the index of that one closest to coordinate
     int             getClosestVertexIndex   (const QGeoCoordinate& coordinate) const;
-    //iterates over all vertices in _polygon and returns that one closest to coordinate
     QGeoCoordinate  getClosestVertex        (const QGeoCoordinate& coordinate) const;
     QGCMapPolygon   toQGCPolygon            () const;
-    void            join                    (QList<WimaArea*>* polyList,  WimaArea* joinedPoly);// change to & notation
     bool            join                    (WimaArea &area);
-    bool            isDisjunct              (QList<WimaArea*>* polyList);// change to & notation, if necessary
-    bool            isDisjunct              (WimaArea* poly1, WimaArea* poly2);// change to & notation, if necessary
-    /// calculates the next polygon vertex index
-    /// @return index + 1 if index < poly->count()-1 && index >= 0, or 0 if index == poly->count()-1, -1 else
+    bool            join                    (WimaArea &area, QString &errorString);
     int             nextVertexIndex         (int index) const;
-    /// calculates the previous polygon vertex index
-    /// @return index - 1 if index < poly->count() && index > 0, or poly->count()-1 if index == 0, -1 else
     int             previousVertexIndex     (int index) const;
 
 
@@ -53,45 +46,26 @@ public:
 
     // static Methodes
     static QGCMapPolygon    toQGCPolygon        (const WimaArea& area);
-    /// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
-    /// see https://en.wikipedia.org/wiki/Simple_polygon
-    /// @return true if polygons have been joined, false else
+    static bool             join                (WimaArea &area1, WimaArea &area2, WimaArea& joinedArea, QString &errorString);
     static bool             join                (WimaArea &area1, WimaArea &area2, WimaArea& joinedArea);
-    /// checks if line1 and line2 intersect with each other, takes latitude and longitute into account only (height neglected)
-    /// @param line1 line containing two coordinates, height not taken into account
-    /// @param line2 line containing two coordinates, height not taken into account
-    /// @param intersectionPt Coordinate item to store intersection pt. in.
-    /// @return false on error or no intersection, true else
     static bool            intersects           (const QGCMapPolyline& line1, const QGCMapPolyline& line2,
                                                  QGeoCoordinate& intersectionPt);
-    /// checks if line1 and poly intersect with each other, takes latitude and longitute into account only (height neglected)
-    /// @param line line containing two coordinates, height not taken into account
-    /// @param intersectionList Empty list to store intersection points in.
-    /// @param neighbourList Empty list to store the indices of the neighbours (the two Vertices of poly with the smallest distance to the intersection pt.)
-    /// @return false on error or no intersection, true else
     static bool            intersects           (const QGCMapPolyline& line, const WimaArea& area,
                                                  QList<QGeoCoordinate>& intersectionList,
                                                  QList<QPair<int, int>>& neighbourList);
-    /// calculates the distance between to geo coordinates, returns the distance if the path lies within the polygon and inf. else.
-    /// @return the distance if the path lies within the polygon and inf. else.
     static double          distInsidePoly       (const QGeoCoordinate& c1, const QGeoCoordinate& c2, WimaArea area);
-    /// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
-    /// @return true if path was found, false else
     static bool            dijkstraPath         (const QGeoCoordinate& c1, const QGeoCoordinate& c2,
-                                                 const WimaArea& area, QList<QGeoCoordinate>& dijkstraPath);
-    /// @return true if the polygon is self intersecting
-    static bool            isSelfIntersectin contrast to \c WimaAreaing   (const WimaArea& area);
+                                                 const WimaArea& area, QList<QGeoCoordinate>& dijkstraPath, QString &errorstring);
+    static bool            isSelfIntersecting   (const WimaArea& area);
            bool            isSelfIntersecting   ();
 
     // Friends
-    /// prints the member values of area to the outputString
     friend void print(const WimaArea& area, QString& outputString);
-    /// prints the member values of area to the console
     friend void print(const WimaArea& area);
 
     // static Members
     // Accurracy used to compute isDisjunct
-    static const double numericalAccuracy;
+    static const double epsilonMeter;
     static const char*  maxAltitudeName;
     static const char*  wimaAreaName;
     static const char*  areaTypeName;
@@ -101,8 +75,6 @@ signals:
 
 public slots:
     void        setMaxAltitude     (double altitude);
-    /// Updates this with data from area
-    void update(const WimaArea& area);
 
 private:
     double                  _maxAltitude;

src/Wima/WimaAreaData.cc

-#include "WimaAreaData.h"
+#include "WimaAreaData.h"
+
+const char *WimaAreaData::typeString = "WimaAreaData";
 
 WimaAreaData::WimaAreaData(QObject *parent) : QObject(parent)
 {
     _maxAltitude = 0;
 }
 
-WimaAreaData::WimaAreaData(WimaAreaData &other, QObject *parent)
+WimaAreaData::WimaAreaData(const WimaAreaData &other, QObject *parent)
+    : QObject (parent)
+{
+    *this = other;
+}
+
+WimaAreaData::WimaAreaData(const WimaArea &other, QObject *parent)
     : QObject (parent)
-    , _maxAltitude(other.maxAltitude())
 {
-    setPath(other.path());
+    *this = other;
+}
+
+/*!
+ * \fn WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData)
+ *
+ * Copies the maximum altitude and the path of the \c WimaAreaData \a otherData to the calling object.
+ * Returns a reference to the calling object.
+ */
+WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData)
+{
+    setMaxAltitude(otherData.maxAltitude());
+    setPath(otherData.path());
+
+    return *this;
+}
+
+/*!
+ * \overload operator=()
+ *
+ * Copies the maximum altitude and the path of \c WimaArea \a otherArea to the calling object.
+ * Returns a reference to the calling object.
+ */
+WimaAreaData &WimaAreaData::operator=(const WimaArea &otherArea)
+{
+    setMaxAltitude(otherArea.maxAltitude());
+    setPath(otherArea.coordinateList());
+
+    return *this;
 }
 
 /*!
@@ -27,11 +62,21 @@ double WimaAreaData::maxAltitude() const
  *
  * Returns the path (vertex list defining the \l {Simple Polygon}).
  */
-const QList<QGeoCoordinate> &WimaAreaData::path() const
+QVariantList WimaAreaData::path() const
 {
     return _path;
 }
 
+/*!
+ * \fn QString WimaAreaData::type()
+ *
+ * Returns the type name of the object. Used to destinguish between derived objects.
+ */
+QString WimaAreaData::type() const
+{
+    return typeString;
+}
+
 /*!
  * \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
  *
@@ -47,6 +92,13 @@ void WimaAreaData::setMaxAltitude(double maxAltitude)
     }
 }
 
+void WimaAreaData::setPath(const QVariantList &coordinateList)
+{
+    _path.clear();
+    _path.append(coordinateList);
+}
+
+
 /*!
  * \fn void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
  *
@@ -59,7 +111,7 @@ void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
 
     // copy all coordinates to _path
     for(int i = 0; i < coordinateList.size(); i++) {
-        _path.append(coordinateList.value(i));
+        _path.append(QVariant::fromValue(coordinateList.value(i)));
     }
 
     emit pathChanged(_path);
@@ -69,9 +121,8 @@ void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
  * \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 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 base class for any derived data objects
+ * 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/WimaAreaData.h

@@ -4,29 +4,42 @@
 
 #include "QGeoCoordinate"
 
+#include "WimaArea.h"
+
 class WimaAreaData : public QObject
 {
     Q_OBJECT
 
 public:
-    explicit WimaAreaData(QObject *parent = nullptr);
-    explicit WimaAreaData(WimaAreaData &other, QObject *parent = nullptr);
+    Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
+
+    WimaAreaData(QObject *parent = nullptr);
+    WimaAreaData(const WimaAreaData &other, QObject *parent = nullptr);
+    WimaAreaData(const WimaArea &other, QObject *parent = nullptr);
+    WimaAreaData& operator=(const WimaAreaData& otherData);
+    WimaAreaData& operator=(const WimaArea& otherArea);
 
     double          maxAltitude()  const;
-    const QList<QGeoCoordinate>& path() const;
+    QVariantList    path()         const;
+    QString         type()         const;
 
-signals:
-    void maxAltitudeChanged(double maxAltitude);
-    void pathChanged(const QList<QGeoCoordinate>& coordinateList);
+    static const char *typeString;
 
+signals:
+    void maxAltitudeChanged (double maxAltitude);
+    void pathChanged        (const QVariantList& coordinateList);
 
 public slots:
     void setMaxAltitude(double maxAltitude);
-    void setPath(const QList<QGeoCoordinate>& coordinateList);
+    void setPath(const QList<QGeoCoordinate> &coordinateList);
+    void setPath(const QVariantList &coordinateList);
 
 private:
+    // Member Functions
+
+    // Member Variables
     // see WimaArea.h for explanation
     double         _maxAltitude;
-    QList<QGeoCoordinate>   _path;
+    QVariantList   _path;
 };
 

src/Wima/WimaController.cc

@@ -6,12 +6,12 @@ const char* WimaController::missionItemsName    = "MissionItems";
 
 WimaController::WimaController(QObject *parent)
     : QObject               (parent)
-    , _readyForSaveSend     (false)
     , _container            (nullptr)
     , _joinedArea           (this)
-    , _opArea               (this)
-    , _serArea              (this)
+    , _measurementArea      (this)
+    , _serviceArea          (this)
     , _corridor             (this)
+    , _localPlanDataValid   (false)
 {
 
 }
@@ -38,9 +38,9 @@ QStringList WimaController::saveNameFilters() const
     return filters;
 }
 
-QGeoCoordinate WimaController::joinedAreaCenter() const
+WimaDataContainer *WimaController::dataContainer() const
 {
-    return _joinedArea.center();
+    return _container;
 }
 
 void WimaController::setMasterController(PlanMasterController *masterC)
@@ -55,21 +55,26 @@ void WimaController::setMissionController(MissionController *missionC)
     emit missionControllerChanged();
 }
 
+/*!
+ * \fn void WimaController::setDataContainer(WimaDataContainer *container)
+ * Sets the pointer to the \c WimaDataContainer, which is meant to exchange data between the \c WimaController and the \c WimaPlaner.
+ *
+ * \sa WimaPlaner, WimaDataContainer, WimaPlanData
+ */
 void WimaController::setDataContainer(WimaDataContainer *container)
 {
-    if (_container == nullptr && container != nullptr) {
+    if (container != nullptr) {
+        if (_container != nullptr) {
+           disconnect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
+        }
+
         _container = container;
-        pullFromContainer();
+        connect(_container, &WimaDataContainer::dataValidChanged, this, &WimaController::containerDataValidChanged);
 
         emit dataContainerChanged();
     }
 }
 
-void WimaController::startWimaController(bool flyView)
-{
-
-}
-
 void WimaController::startMission()
 {
 
@@ -118,14 +123,88 @@ bool WimaController::loadFromFile(const QString &filename)
 
 QJsonDocument WimaController::saveToJson(FileType fileType)
 {
-
+    return QJsonDocument();
 }
 
-void WimaController::setReadyForSaveSend(bool ready)
+/*!
+ * \fn void WimaController::containerDataValidChanged(bool valid)
+ * Pulls plan data generated by \c WimaPlaner from the \c _container if the data is valid (\a valid equals true).
+ * Is connected to the dataValidChanged() signal of the \c WimaDataContainer.
+ *
+ * \sa WimaDataContainer, WimaPlaner, WimaPlanData
+ */
+void WimaController::containerDataValidChanged(bool valid)
 {
-    if (ready != _readyForSaveSend) {
-        _readyForSaveSend = ready;
-        emit readyForSaveSendChanged(ready);
+    if ( valid ) {
+        if (_container == nullptr) {
+            qWarning("WimaController::containerDataValidChanged(): No container assigned!");
+        }
+        _localPlanDataValid = false;
+        WimaPlanData planData = _container->pull();
+
+        // extract list with WimaAreas
+        QList<const WimaAreaData*> areaList = planData.areaList();
+
+        int areaCounter = 0;
+        int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored
+        bool joinedAreaAssigned = false;
+        for (int i = 0; i < areaList.size(); i++) {
+            const WimaAreaData *areaData = areaList[i];
+
+
+            if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area?
+                _serviceArea = *qobject_cast<WimaServiceAreaData*>(areaData);
+                qWarning("Service area, wuhuuu!");
+                areaCounter++;
+
+                continue;
+            }
+
+            WimaMeasurementAreaData *measurementAreaData = qobject_cast<WimaMeasurementAreaData*>(areaData);
+            if (measurementAreaData != nullptr) { // is it a measurement area?
+                _measurementArea =  *measurementAreaData;
+                qWarning("Measurement area, wuhuuu!");
+                areaCounter++;
+
+                continue;
+            }
+
+            WimaCorridorData *corridorAreaData = qobject_cast<WimaCorridorData*>(areaData);
+            if (corridorAreaData != nullptr) { // is it a corridor?
+                _corridor =  *corridorAreaData;
+                qWarning("Corridor, wuhuuu!");
+                areaCounter++;
+
+                continue;
+            }
+
+            if (!joinedAreaAssigned) { // first WimaAreaData object is assumed to be the joined Area
+                _joinedArea = *areaData;
+                qWarning("Joined area, wuhuuu!");
+                areaCounter++;
+                joinedAreaAssigned = true;
+
+                continue;
+            }
+
+            if (areaCounter >= numAreas)
+                break;
+        }
+
+        // append areas to _visualItems, don't append _corridor, it's not necessary to display it in flyView
+        _visualItems.clear();
+        //_visualItems.append(&_measurementArea);
+        //_visualItems.append(&_serviceArea);
+        _visualItems.append(&_joinedArea);
+
+        emit visualItemsChanged();
+
+        _localPlanDataValid = true;
+    } else {
+        _localPlanDataValid = false;
+        _visualItems.clear();
+
+        emit visualItemsChanged();
     }
 }
 
@@ -133,3 +212,5 @@ void WimaController::setReadyForSaveSend(bool ready)
 
 
 
+
+

src/Wima/WimaController.h

@@ -9,6 +9,9 @@
 #include "WimaServiceArea.h"
 #include "WimaCorridor.h"
 #include "WimaDataContainer.h"
+#include "WimaMeasurementAreaData.h"
+#include "WimaCorridorData.h"
+#include "WimaServiceAreaData.h"
 
 #include "PlanMasterController.h"
 #include "MissionController.h"
@@ -36,24 +39,19 @@ public:
     Q_PROPERTY(QStringList              loadNameFilters     READ loadNameFilters                                        CONSTANT)
     Q_PROPERTY(QStringList              saveNameFilters     READ saveNameFilters                                        CONSTANT)
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
-    Q_PROPERTY(QGeoCoordinate           joinedAreaCenter    READ joinedAreaCenter                                       CONSTANT)
-    Q_PROPERTY(QGCMapPolygon            joinedArea          READ joinedArea                                             NOTIFY joinedAreaChanged)
     Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer           WRITE setDataContainer         NOTIFY dataContainerChanged)
-    Q_PROPERTY(bool                     readyForSaveSend    READ readyForSaveSend                                       NOTIFY readyForSaveSendChanged)
 
 
     // Property accessors
-    PlanMasterController*       masterController       (void) const    { return _masterController; }
-    MissionController*          missionController      (void) const    { return _missionController; }
+    PlanMasterController*       masterController       (void)          { return _masterController; }
+    MissionController*          missionController      (void)          { return _missionController; }
     QmlObjectListModel*         visualItems            (void) ;
     QString                     currentFile            (void) const    { return _currentFile; }
     QStringList                 loadNameFilters        (void) const;
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
-    QGeoCoordinate              joinedAreaCenter       (void) const;
     QGCMapPolygon               joinedArea             (void) const;
     WimaDataContainer*          dataContainer          (void) const;
-    bool                        readyForSaveSend       (void) const    { return _readyForSaveSend; }
 
 
 
@@ -63,7 +61,6 @@ public:
     void setDataContainer           (WimaDataContainer* container);
 
     // Member Methodes
-    Q_INVOKABLE void startWimaController(bool flyView);
     Q_INVOKABLE void startMission();
     Q_INVOKABLE void abortMission();
     Q_INVOKABLE void pauseMission();
@@ -83,8 +80,6 @@ public:
 
     // Member Methodes
     QJsonDocument saveToJson(FileType fileType);
-    void          setReadyForSaveSend(bool ready);
-
 
 signals:
     void masterControllerChanged        (void);
@@ -93,21 +88,20 @@ signals:
     void currentFileChanged             ();
     void dataContainerChanged           ();
     void readyForSaveSendChanged        (bool ready);
-    void joinedAreaChanged              ();
 
 private slots:
-    void pullFromContainer          ();
+    void containerDataValidChanged          (bool valid);
 
 private:
-    bool                    _readyForSaveSend; // basically true if updateMission() was sucessful
     PlanMasterController   *_masterController;
     MissionController      *_missionController;
     QString                 _currentFile; // file for saveing
     WimaDataContainer      *_container; // container for data exchange with WimaController
     QmlObjectListModel      _visualItems; // contains all visible areas
-    // The following areas are of type QGCMapPolygon (only path information is required, as they are used for visualisation)
-    QGCMapPolygon           _joinedArea; // joined area fromed by opArea, serArea, _corridor
-    QGCMapPolygon           _opArea; // measurement area
-    QGCMapPolygon           _serArea; // area for supplying
-    QGCMapPolygon           _corridor; // corridor connecting opArea and serArea
+    WimaAreaData            _joinedArea; // joined area fromed by opArea, serArea, _corridor
+    WimaMeasurementAreaData _measurementArea; // measurement area
+    WimaServiceAreaData     _serviceArea; // area for supplying
+    WimaCorridorData        _corridor; // corridor connecting opArea and serArea
+    bool                    _localPlanDataValid;
 };
+

src/Wima/WimaCorridor.cc

@@ -16,6 +16,18 @@ WimaCorridor::WimaCorridor(const WimaCorridor &other, QObject *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);
@@ -34,11 +46,6 @@ bool WimaCorridor::loadFromJson(const QJsonObject &json, QString &errorString)
     }
 }
 
-void WimaCorridor::update(const WimaCorridor &area)
-{
-    this->WimaArea::update(area);
-}
-
 void WimaCorridor::init()
 {
     this->setObjectName(WimaCorridorName);

src/Wima/WimaCorridor.h

@@ -12,6 +12,8 @@ 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";}
@@ -30,8 +32,6 @@ public:
 signals:
 
 public slots:
-    /// Updates this with data from area
-    void update(const WimaCorridor& area);
 
 private:
     void init();

src/Wima/WimaCorridorData.cpp

 #include "WimaCorridorData.h"
 
+const char *WimaCorridorData::typeString = "WimaCorridorData";
 
 WimaCorridorData::WimaCorridorData(QObject *parent)
     :WimaAreaData (parent)
@@ -7,10 +8,40 @@ WimaCorridorData::WimaCorridorData(QObject *parent)
 
 }
 
-WimaCorridorData::WimaCorridorData(WimaCorridorData &other, QObject *parent)
-    : WimaAreaData (other, parent)
+WimaCorridorData::WimaCorridorData(const WimaCorridorData &other, QObject *parent)
+    : WimaAreaData (parent)
 {
+    *this = other;
+}
+
+WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
+    :   WimaAreaData (parent)
+{
+    *this = other;
+}
+
+/*!
+ * \overload operator=()
+ *
+ * Assigns \a other to the invoking object.
+ */
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other)
+{
+    WimaAreaData::operator=(other);
+
+    return *this;
+}
+
+/*!
+ * \overload operator=()
+ *
+ * Assigns \a other to the invoking object.
+ */
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other)
+{
+    WimaAreaData::operator=(other);
 
+    return *this;
 }
 
 /*!

src/Wima/WimaCorridorData.h

@@ -3,6 +3,8 @@
 #include <QObject>
 
 #include "WimaAreaData.h"
+#include "WimaCorridor.h"
+
 #include "QGeoCoordinate"
 
 class WimaCorridorData : public WimaAreaData
@@ -10,8 +12,14 @@ class WimaCorridorData : public WimaAreaData
     Q_OBJECT
 
 public:
-    explicit WimaCorridorData(QObject *parent = nullptr);
-    explicit WimaCorridorData(WimaCorridorData &other, QObject *parent = nullptr);
+    WimaCorridorData(QObject *parent = nullptr);
+    WimaCorridorData(const WimaCorridorData &other, QObject *parent = nullptr);
+    WimaCorridorData(const WimaCorridor &other, QObject *parent = nullptr);
+    WimaCorridorData &operator=(const WimaCorridorData &other);
+    WimaCorridorData &operator=(const WimaCorridor &other);
+
+    static const char* typeString;
+
 
 signals:
 

src/Wima/WimaDataContainer.cc

@@ -2,55 +2,75 @@
 
 WimaDataContainer::WimaDataContainer(QObject *parent)
     :   QObject     (parent)
-    ,   _joinedArea (nullptr)
-    ,   _opArea     (nullptr)
-    ,   _serArea    (nullptr)
-    ,   _corridor   (nullptr)
+    ,   _planData   (this /* parent */)
+    ,   _dataValid  (false)
 {
 
 }
 
-void WimaDataContainer::setJoinedArea(const WimaArea *joinedArea)
+/*!
+ * \fn bool WimaDataContainer::dataValid() const
+ * Returns \c true if the data is valid, \c false else.
+ */
+bool WimaDataContainer::dataValid() const
 {
-    if (_joinedArea != joinedArea)  {
-        _joinedArea = joinedArea;
-
-        emit joinedAreaChanged(_joinedArea);
-    }
+    return _dataValid;
 }
 
-void WimaDataContainer::setOpArea(const WimaMeasurementArea *opArea)
+/*!
+ * \fn void WimaDataContainer::push(const WimaPlanData &planData)
+ *
+ * Updates the \c WimaPlanData members content with \a planData.
+ * Emits the planDataChanged() signal.
+ *
+ * \sa WimaPlanData
+ */
+void WimaDataContainer::push(const WimaPlanData &planData)
 {
-    if (_opArea != opArea)  {
-        _opArea = opArea;
-
-        emit opAreaChanged(_opArea);
-    }
+    setDataValid(false);
+    _planData = planData;
+    setDataValid(true);
 }
 
-void WimaDataContainer::setSerArea(const WimaServiceArea *serArea)
+/*!
+ * \fn const WimaPlanData &WimaDataContainer::pull() const
+ *
+ * Returns a constant referenc to the \c WimaPlanData member.
+ *
+ * \sa WimaPlanData
+ */
+const WimaPlanData &WimaDataContainer::pull() const
 {
-    if (_serArea != serArea)  {
-        _serArea = serArea;
-
-        emit serAreaChanged(_serArea);
-    }
+    return  _planData;
 }
 
-void WimaDataContainer::setCorridor(const WimaCorridor *corridor)
+/*!
+ * \fn void WimaDataContainer::setDataValid(bool valid)
+ *
+ * Sets the validity of the data to \a valid.
+ * Mainly for internal usage. Should be invoked from \c WimaPlaner only.
+ *
+ * \sa WimaPlanData
+ */
+void WimaDataContainer::setDataValid(bool valid)
 {
-    if (_corridor != corridor)  {
-        _corridor = corridor;
+    if ( _dataValid != valid ) {
+        _dataValid = valid;
 
-        emit corridorChanged(_corridor);
+        emit dataValidChanged(_dataValid);
     }
 }
 
-void WimaDataContainer::setVisualItems(const QmlObjectListModel *visualItems)
-{
-    if (_visualItems != visualItems)  {
-        _visualItems = visualItems;
+/*!
+ * \class WimaDataContainer
+ * \brief Data container designed for data exchange between \c WimaPlaner and \c WimaController.
+ * Data container designed for data exchange between \c WimaPlaner and \c WimaController.
+ * It is meant that only one instance of this class exists. Both \c WimaPlaner and \c WimaController
+ * have a reference to this instance and can modify its data.
+ *
+ * \sa WimaController, WimaPlaner
+ */
+
+
+
 
-        emit visualItemsChanged(_visualItems);
-    }
-}

src/Wima/WimaDataContainer.h

@@ -2,46 +2,31 @@
 
 #include <QObject>
 
-#include "QmlObjectListModel.h"
-
-#include "WimaArea.h"
-#include "WimaMeasurementArea.h"
-#include "WimaServiceArea.h"
-#include "WimaCorridor.h"
+#include "WimaPlanData.h"
 
 class WimaDataContainer : public QObject
 {
     Q_OBJECT
 public:
-    explicit WimaDataContainer(QObject *parent = nullptr);
+    WimaDataContainer(QObject *parent = nullptr);
     WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
     WimaDataContainer(WimaDataContainer &other) = delete;
 
-    const WimaArea *             joinedArea  (void) { return _joinedArea; }
-    const WimaMeasurementArea *   opArea      (void) { return _opArea; }
-    const WimaServiceArea *      serArea     (void) { return _serArea; }
-    const WimaCorridor *        corridor    (void) { return _corridor; }
-    const QmlObjectListModel *   visualItems (void) { return _visualItems; }
+    Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}
+
+    bool dataValid() const;    
 
 signals:
-    void joinedAreaChanged  (const WimaArea             *area);
-    void opAreaChanged      (const WimaMeasurementArea   *area);
-    void serAreaChanged     (const WimaServiceArea      *area);
-    void corridorChanged    (const WimaCorridor        *area);
-    void visualItemsChanged (const QmlObjectListModel   *area);
+    void dataValidChanged   (bool valid);
 
 public slots:
-    void setJoinedArea      (const WimaArea             *joinedArea);
-    void setOpArea          (const WimaMeasurementArea   *opArea);
-    void setSerArea         (const WimaServiceArea      *serArea);
-    void setCorridor        (const WimaCorridor        *corridor);
-    void setVisualItems     (const QmlObjectListModel   *visualItems);
-
+    void                push(const WimaPlanData &planData);
+    const WimaPlanData &pull() const;
+    void                setDataValid(bool valid);
 private:
-    const WimaArea           *_joinedArea;
-    const WimaMeasurementArea *_opArea;
-    const WimaServiceArea    *_serArea;
-    const WimaCorridor      *_corridor;
-    const QmlObjectListModel *_visualItems;
+
+
+    WimaPlanData _planData;
+    bool         _dataValid;
 };
 

src/Wima/WimaGOperationArea.SettingsGroup.json → src/Wima/WimaMeasurementArea.SettingsGroup.json

 [
 {
     "name":             "BottomLayerAltitude",
-    "shortDescription": "Altitude of the bottom layer.",
+    "shortDescription": "The distance between the terrain and the first layer of the measurement path.",
     "type":             "double",
     "units":            "m",
     "min":              1,
     "decimalPlaces":    2,
-    "defaultValue":     10
+    "defaultValue":     5
 },
 {
     "name":             "NumberOfLayers",
     "shortDescription": "The number of layers.",
     "type":             "uint32",
+    "units":            "m",
     "min":              1,
+    "decimalPlaces":    0,
     "defaultValue":     1
 },
 {
     "name":             "LayerDistance",
-    "shortDescription": "The distance between two adjacent layers.",
+    "shortDescription": "Specify the time between each photo",
     "type":             "double",
     "units":            "m",
     "min":              0,
     "decimalPlaces":    2,
-    "defaultValue":     2
+    "defaultValue":     1
 },
 {
     "name":             "BorderPolygonOffset",
-    "shortDescription": "The distance between the Operation Area and it's surounding Border Polygon.",
+    "shortDescription": "The distance between the measurement area and it's enclosing polygon",
     "type":             "double",
     "units":            "m",
     "min":              0,

src/Wima/WimaMeasurementArea.cc

 #include "WimaMeasurementArea.h"
 
 
-const char* WimaMeasurementArea::settingsGroup =                   "OperationArea";
+const char* WimaMeasurementArea::settingsGroup =                   "MeasurementArea";
 const char* WimaMeasurementArea::bottomLayerAltitudeName =         "BottomLayerAltitude";
 const char* WimaMeasurementArea::numberOfLayersName =              "NumberOfLayers";
 const char* WimaMeasurementArea::layerDistanceName =               "LayerDistance";
 const char* WimaMeasurementArea::borderPolygonOffsetName =         "BorderPolygonOffset";
-const char* WimaMeasurementArea::WimaMeasurementAreaName =          "Operation Area";
+const char* WimaMeasurementArea::WimaMeasurementAreaName =         "Measurement Area";
 
 
 WimaMeasurementArea::WimaMeasurementArea(QObject *parent)
@@ -21,6 +21,18 @@ WimaMeasurementArea::WimaMeasurementArea(const WimaMeasurementArea &other, QObje
     init();
 }
 
+/*!
+ * \overload operator=()
+ *
+ * Calls the inherited operator WimaArea::operator=().
+ */
+WimaMeasurementArea &WimaMeasurementArea::operator=(const WimaMeasurementArea &other)
+{
+    WimaArea::operator=(other);
+
+    return *this;
+}
+
 void WimaMeasurementArea::saveToJson(QJsonObject &json)
 {
     this->WimaArea::saveToJson(json);
@@ -70,21 +82,40 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json, QString& errorSt
     }
 }
 
-void WimaMeasurementArea::update(const WimaMeasurementArea &area)
+void WimaMeasurementArea::setBottomLayerAltitude(double altitude)
+{
+    if ( !qFuzzyCompare(_bottomLayerAltitude.rawValue().toDouble(), altitude) ) {
+        _bottomLayerAltitude.setRawValue(altitude);
+
+        emit bottomLayerAltitudeChanged();
+    }
+}
+
+void WimaMeasurementArea::setNumberOfLayers(double numLayers)
 {
-    this->WimaArea::update(area);
+    if ( !qFuzzyCompare(_numberOfLayers.rawValue().toDouble(), numLayers) ) {
+        _numberOfLayers.setRawValue(numLayers);
 
-    this->setBottomLayerAltitude(area.bottomLayerAltitude());
-    this->setNumberOfLayers(area.numberOfLayers());
-    this->setLayerDistance(area.layerDistance());
-    this->setBorderPolygonOffset(area.borderPolygonOffset());
+        emit numberOfLayersChanged();
+    }
+}
+
+void WimaMeasurementArea::setLayerDistance(double layerDistance)
+{
+    if ( !qFuzzyCompare(_layerDistance.rawValue().toDouble(), layerDistance) ) {
+        _layerDistance.setRawValue(layerDistance);
 
-    recalcBorderPolygon();
+        emit layerDistanceChanged();
+    }
 }
 
-void WimaMeasurementArea::setBottomLayerAltitude(double altitude)
+void WimaMeasurementArea::setBorderPolygonOffset(double offset)
 {
+    if ( !qFuzzyCompare(_borderPolygonOffset.rawValue().toDouble(), offset) ) {
+        _borderPolygonOffset.setRawValue(offset);
 
+        emit borderPolygonOffsetChanged();
+    }
 }
 
 void print(const WimaMeasurementArea &area)
@@ -111,11 +142,8 @@ void print(const WimaMeasurementArea &area, QString outputStr)
 
 void WimaMeasurementArea::recalcBorderPolygon()
 {
-    //qWarning("WimaMeasurementArea::recalcBorderPolygon() %f", _borderPolygonOffset.rawValue().toDouble());
-    QGCMapPolygon polyCopy = this->toQGCPolygon(*this);
-    polyCopy.offset(_borderPolygonOffset.rawValue().toDouble());
-    _borderPolygon.setPath(polyCopy.path());
-    polyCopy.deleteLater();
+    _borderPolygon = this->toQGCPolygon(*this);
+    _borderPolygon.offset(_borderPolygonOffset.rawValue().toDouble());
 
     emit borderPolygonChanged();
 }
@@ -135,4 +163,11 @@ void WimaMeasurementArea::init()
     connect(&_borderPolygonOffset, &SettingsFact::rawValueChanged, this, &WimaMeasurementArea::recalcBorderPolygon);
 }
 
+/*!
+ * \class WimaMeasurementArea
+ * \brief Class defining the area inside which the actual drone measurements are performed.
+ *
+ * \sa WimaArea, WimaController, WimaPlaner
+ */
+
 

src/Wima/WimaMeasurementArea.h

 #pragma once
 
+#include "QScopedPointer"
 #include <QObject>
+
 #include "WimaArea.h"
+#include "WimaMeasurementAreaData.h"
+
 #include "SettingsFact.h"
-#include "WimaTrackerPolyline.h"
 
-#include "QScopedPointer"
 
 class WimaMeasurementArea : public WimaArea
 {
@@ -13,12 +15,13 @@ class WimaMeasurementArea : public WimaArea
 public:
     WimaMeasurementArea(QObject* parent = nullptr);
     WimaMeasurementArea(const WimaMeasurementArea &other, QObject *parent = nullptr);
+    WimaMeasurementArea &operator=(const WimaMeasurementArea &other);
 
     Q_PROPERTY(Fact*                bottomLayerAltitude     READ bottomLayerAltitudeFact    CONSTANT)
     Q_PROPERTY(Fact*                numberOfLayers          READ numberOfLayersFact         CONSTANT)
     Q_PROPERTY(Fact*                layerDistance           READ layerDistanceFact          CONSTANT)
     Q_PROPERTY(Fact*                borderPolygonOffset     READ borderPolygonOffsetFact    CONSTANT)
-    Q_PROPERTY(QGCMapPolygon    borderPolygon           READ borderPolygon              NOTIFY borderPolygonChanged)
+    Q_PROPERTY(QGCMapPolygon*       borderPolygon           READ borderPolygon              NOTIFY borderPolygonChanged)
 
     // Overrides from WimaPolygon
     QString         mapVisualQML    (void) const { return "WimaMeasurementAreaMapVisual.qml";}
@@ -33,7 +36,7 @@ public:
     int             numberOfLayers          (void) const    { return _numberOfLayers.rawValue().toInt();}
     double          layerDistance           (void) const    { return _layerDistance.rawValue().toDouble();}
     double          borderPolygonOffset     (void) const    { return _borderPolygonOffset.rawValue().toDouble();}
-    QGCMapPolygon   borderPolygon           (void) const    { return _borderPolygon;}
+    QGCMapPolygon*  borderPolygon           (void)          { return &_borderPolygon;}
 
     // Member Methodes
     void saveToJson(QJsonObject& json);
@@ -58,10 +61,9 @@ signals:
     void polylineChanged                (void);
     void vehicleCorridorChanged         (WimaVCorridor* corridor);
     void borderPolygonChanged           (void);
+    void borderPolygonOffsetChanged     (void);
 
 public slots:
-    /// Updates this with data from area
-    void update(const WimaMeasurementArea &area);
     void setBottomLayerAltitude (double altitude);
     void setNumberOfLayers      (double numLayers);
     void setLayerDistance       (double layerDistance);

src/Wima/WimaMeasurementAreaData.cc

+#include "WimaMeasurementAreaData.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;
+}
+
+/*!
+ * \overload operator=();
+ *
+ * Assigns \a other to the invoking object.
+ */
+WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementAreaData &other)
+{
+    WimaAreaData::operator=(other);
+
+    return *this;
+}
+
+/*!
+ * \overload operator=();
+ *
+ * Assigns \a other to the invoking object.
+ */
+WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementArea &other)
+{
+    WimaAreaData::operator=(other);
+
+    return *this;
+}
+

src/Wima/WimaMeasurementAreaData.h

 #pragma once
 
 #include <QObject>
+#include "QGeoCoordinate"
+
 
 #include "WimaAreaData.h"
-#include "QGeoCoordinate"
+#include "WimaMeasurementArea.h"
+
+
 
 class WimaMeasurementAreaData : public WimaAreaData
 {
     Q_OBJECT
 
 public:
-    explicit WimaMeasurementAreaData(QObject *parent = nullptr);
-    explicit WimaMeasurementAreaData(WimaMeasurementAreaData &other, QObject *parent = nullptr);
-
+    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);
 
-    const QGeoCoordinate &takeOffPosition() const;
-    const QGeoCoordinate &landOffPosition() const;
+    static const char* typeString;
 
 signals:
-    void takeOffPositionChanged(const QGeoCoordinate& other);
-    void landOffPositionChanged(const QGeoCoordinate& other);
 
 public slots:
-    void setTakeOffPosition(const QGeoCoordinate& newCoordinate);
-    void setLandOffPosition(const QGeoCoordinate& newCoordinate);
 
 private:
-    // see WimaServieArea.h for explanation
+    // see WimaMeasurementArea.h for explanation
 };
-

src/Wima/WimaMeasurementAreaDataareadata.cc

-#include "WimaMeasurementAreaData.h"
-
-WimaMeasurementAreaData::WimaMeasurementAreaData(QObject *parent) : QObject(parent)
-{
-
-}

src/Wima/WimaPlanData.cc

+#include "WimaPlanData.h"
+
+WimaPlanData::WimaPlanData(QObject *parent)
+    :   QObject (parent)
+{
+
+}
+
+WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
+    :   QObject (parent)
+{
+    *this = other;
+}
+
+/*!
+ * \fn WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
+ *
+ * Copies the data area list of \a other to the calling \c WimaPlanData object.
+ * Returns a reference to the calling \c WimaPlanData object.
+ */
+WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
+{
+    QList<const WimaAreaData*> areaList = other.areaList();
+    _areaList.clear();
+    for (const WimaAreaData* areaData: areaList) {
+        if (areaData->type() == WimaAreaData::typeString) {
+            this->append(*areaData);
+        }else if (areaData->type() == WimaServiceAreaData::typeString) {
+            this->append(*qobject_cast<WimaServiceAreaData*>(areaData));
+        }else if (areaData->type() == WimaMeasurementAreaData::typeString) {
+            this->append(*qobject_cast<WimaMeasurementAreaData*>(areaData));
+        }else if (areaData->type() == WimaCorridorData::typeString) {
+            this->append(*qobject_cast<WimaCorridorData*>(areaData));
+        }
+    }
+
+    return *this;
+}
+
+
+/*!
+ * \fn void WimaPlanData::append(const WimaAreaData &areaData)
+ *
+ * Adds a WimaAreaData item.
+ */
+void WimaPlanData::append(const WimaAreaData &areaData)
+{
+    _joinedArea = areaData;
+
+    if( !_areaList.contains(&_joinedArea) ) {
+        _areaList.append(&_joinedArea);
+    }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaServiceAreaData item.
+ */
+void WimaPlanData::append(const WimaServiceAreaData &areaData)
+{
+    _serviceArea = areaData;
+
+    if( !_areaList.contains(&_serviceArea) ) {
+        _areaList.append(&_serviceArea);
+    }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaCorridorData item.
+ */
+void WimaPlanData::append(const WimaCorridorData &areaData)
+{
+    _corridor = areaData;
+
+    if( !_areaList.contains(&_corridor) ) {
+        _areaList.append(&_corridor);
+    }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaMeasurementAreaData item.
+ */
+void WimaPlanData::append(const WimaMeasurementAreaData &areaData)
+{
+    _measurementArea = areaData;
+
+    if( !_areaList.contains(&_measurementArea) ) {
+        _areaList.append(&_measurementArea);
+    }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Clears all stored objects
+ */
+void WimaPlanData::clear()
+{
+    _areaList.clear();
+}
+
+QList<const WimaAreaData *> WimaPlanData::areaList() const
+{
+    return _areaList;
+}
+
+/*!
+ * \class WimaPlanData
+ * \brief Class storing data generated by the \c WimaPlaner class.
+ *
+ * This class is designed to store data generated by the \c WimaPlaner class and
+ * meant for data exchange between the \c WimaController and the \c WimaPlanner.
+ * It stores a QList of \c WimaAreaData objects, called area data list, containing the data of serveral \c WimaAreas
+ * generated by the \c WimaPlaner.
+ *
+ * \sa QList
+ */

src/Wima/WimaPlanData.h

+#pragma once
+
+#include <QObject>
+
+#include "WimaAreaData.h"
+#include "WimaServiceAreaData.h"
+#include "WimaCorridorData.h"
+#include "WimaMeasurementAreaData.h"
+
+class WimaPlanData : QObject
+{
+    Q_OBJECT
+public:
+    WimaPlanData(QObject *parent = nullptr);
+    WimaPlanData(const WimaPlanData &other, QObject *parent = nullptr);
+    WimaPlanData& operator=(const WimaPlanData &other);
+
+    // Member Methodes
+    void append(const WimaAreaData              &areaData);
+    void append(const WimaServiceAreaData       &areaData);
+    void append(const WimaCorridorData          &areaData);
+    void append(const WimaMeasurementAreaData   &areaData);
+    void clear();
+
+    QList<const WimaAreaData *> areaList() const;
+
+
+
+signals:
+    void areaListChanged();
+
+private:
+    WimaAreaData            _joinedArea;
+    WimaServiceAreaData     _serviceArea;
+    WimaCorridorData        _corridor;
+    WimaMeasurementAreaData _measurementArea;
+    QList<const WimaAreaData*>    _areaList;
+};

src/Wima/WimaPlaner.cc

@@ -6,12 +6,12 @@ const char* WimaPlaner::missionItemsName    = "MissionItems";
 
 WimaPlaner::WimaPlaner(QObject *parent)
     : QObject               (parent)
-    , _readyForSaveSend     (false)
+    , _missionReady         (false)
     , _currentAreaIndex     (-1)
     , _container            (nullptr)
     , _joinedArea           (this)
-    , _opArea               (this)
-    , _serArea              (this)
+    , _measurementArea      (this)
+    , _serviceArea          (this)
     , _corridor             (this)
 {
     connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
@@ -67,18 +67,18 @@ void WimaPlaner::setCurrentPolygonIndex(int index)
 
 void WimaPlaner::setDataContainer(WimaDataContainer *container)
 {
-    if (_container == nullptr && container != nullptr) {
+    if (container != nullptr) {
+        if (_container != nullptr) {
+           disconnect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
+        }
+
         _container = container;
+        connect(this, &WimaPlaner::missionReadyChanged, _container, &WimaDataContainer::setDataValid);
 
         emit dataContainerChanged();
     }
 }
 
-void WimaPlaner::startWimaPlaner(bool flyView)
-{
-
-}
-
 void WimaPlaner::removeArea(int index)
 {
     if(index >= 0 && index < _visualItems.count()){
@@ -110,10 +110,10 @@ void WimaPlaner::removeArea(int index)
 
 }
 
-bool WimaPlaner::addGOperationArea()
+bool WimaPlaner::addMeasurementArea()
 {
-    if (!_visualItems.contains(&_opArea)) {
-        _visualItems.append(&_opArea);
+    if (!_visualItems.contains(&_measurementArea)) {
+        _visualItems.append(&_measurementArea);
 
         int newIndex = _visualItems.count()-1;
         setCurrentPolygonIndex(newIndex);
@@ -127,8 +127,8 @@ bool WimaPlaner::addGOperationArea()
 
 bool WimaPlaner::addServiceArea()
 {
-    if (!_visualItems.contains(&_serArea)) {
-        _visualItems.append(&_serArea);
+    if (!_visualItems.contains(&_serviceArea)) {
+        _visualItems.append(&_serviceArea);
 
         int newIndex = _visualItems.count()-1;
         setCurrentPolygonIndex(newIndex);
@@ -140,7 +140,7 @@ bool WimaPlaner::addServiceArea()
     }
 }
 
-bool WimaPlaner::addVehicleCorridor()
+bool WimaPlaner::addCorridor()
 {
     if (!_visualItems.contains(&_corridor)) {
         _visualItems.append(&_corridor);
@@ -194,12 +194,12 @@ void WimaPlaner::resumeMission()
 
 bool WimaPlaner::updateMission()
 {
-
-    setReadyForSaveSend(false);
+    QString errorString;
+    setMissionReady(false);
     #define debug 0
 
-    if ( !recalcJoinedArea()) {
-        qgcApp()->showMessage(tr("Not able to join areas. Areas must be overlapping"));
+    if ( !recalcJoinedArea(errorString)) {
+        qgcApp()->showMessage(tr(errorString.toLocal8Bit().data()));
         return false;
     }
 
@@ -218,43 +218,45 @@ bool WimaPlaner::updateMission()
     }
 
     // set altitudes, temporary measure to solve bugs
-    QGeoCoordinate center = _serArea.center();
+    QGeoCoordinate center = _serviceArea.center();
     center.setAltitude(0);
-    _serArea.setCenter(center);
-    center = _opArea.center();
+    _serviceArea.setCenter(center);
+    center = _measurementArea.center();
     center.setAltitude(0);
-    _opArea.setCenter(center);
+    _measurementArea.setCenter(center);
     center = _corridor.center();
     center.setAltitude(0);
     _corridor.setCenter(center);
 
 
     // set HomePos. to serArea center
-    settingsItem->setCoordinate(_serArea.center());
+    settingsItem->setCoordinate(_serviceArea.center());
 
     // create take off position item
-    int sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
+    int sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
     _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
 
 
     // create survey item, will be extened with more()-> mission types in the future
-    _missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), _opArea.center(), missionItems->count());
+    _missionController->insertComplexMissionItem(_missionController->surveyComplexItemName(), _measurementArea.center(), missionItems->count());
     SurveyComplexItem* survey = qobject_cast<SurveyComplexItem*>(missionItems->get(missionItems->count()-1));
     if (survey == nullptr){
         qWarning("WimaPlaner::updateMission(): survey == nullptr");
         return false;
     } else {
         survey->surveyAreaPolygon()->clear();
-        survey->surveyAreaPolygon()->appendVertices(_opArea.coordinateList());
+        survey->surveyAreaPolygon()->appendVertices(_measurementArea.coordinateList());
         //survey->
     }
 
     // calculate path from take off to opArea
-    QGeoCoordinate start = _serArea.center();
+    QGeoCoordinate start = _serviceArea.center();
     QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
     QList<QGeoCoordinate> path;
-    if ( !WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
-        qgcApp()->showMessage(tr("Not able to calculate the path from takeoff position to measurement area."));
+    if ( !WimaArea::dijkstraPath(start, end, _joinedArea, path, errorString)) {
+        qgcApp()->showMessage(QString( QString(tr("Not able to calculate the path from takeoff position to measurement area."))
+                                          + errorString
+                                         ).toLocal8Bit().data());
         return false;
     }
     for (int i = 1; i < path.count()-1; i++) {
@@ -264,10 +266,12 @@ bool WimaPlaner::updateMission()
 
     // calculate return path
     start   = survey->visualTransectPoints().last().value<QGeoCoordinate>();
-    end     = _serArea.center();
+    end     = _serviceArea.center();
     path.clear();
-    if ( ! WimaArea::dijkstraPath(start, end, _joinedArea, path)) {
-        qgcApp()->showMessage(tr("Not able to calculate the path from measurement area to landing position."));
+    if ( ! WimaArea::dijkstraPath(start, end, _joinedArea, path, errorString)) {
+        qgcApp()->showMessage(QString( QString(tr("Not able to calculate the path from measurement area to landing position."))
+                                          + errorString
+                                         ).toLocal8Bit().data());
         return false;
     }
     for (int i = 1; i < path.count()-1; i++) {
@@ -276,7 +280,7 @@ bool WimaPlaner::updateMission()
     }
 
     // create land position item
-    sequenceNumber = _missionController->insertSimpleMissionItem(_serArea.center(), missionItems->count());
+    sequenceNumber = _missionController->insertSimpleMissionItem(_serviceArea.center(), missionItems->count());
     _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
     SimpleMissionItem* landItem = qobject_cast<SimpleMissionItem*>(missionItems->get(missionItems->count()-1));
     if (landItem == nullptr){
@@ -290,8 +294,8 @@ bool WimaPlaner::updateMission()
         }
     }
 
-    pushToContainer();
-    setReadyForSaveSend(true);
+    pushToContainer(); // exchange plan data with the WimaController via the _container
+    setMissionReady(true);
     return true;
 }
 
@@ -384,9 +388,9 @@ bool WimaPlaner::loadFromFile(const QString &filename)
 
             if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) {
                 if ( jsonArea[WimaArea::areaTypeName] == WimaMeasurementArea::WimaMeasurementAreaName) {
-                    print(_opArea);
-                    bool success = _opArea.loadFromJson(jsonArea, errorString);
-                    print(_opArea);
+                    print(_measurementArea);
+                    bool success = _measurementArea.loadFromJson(jsonArea, errorString);
+                    print(_measurementArea);
 
                     if ( !success ) {
                         qgcApp()->showMessage(errorMessage.arg(errorString));
@@ -394,10 +398,10 @@ bool WimaPlaner::loadFromFile(const QString &filename)
                     }
 
                     validAreaCounter++;
-                    _visualItems.append(&_opArea);
+                    _visualItems.append(&_measurementArea);
                     emit visualItemsChanged();
                 } else if ( jsonArea[WimaArea::areaTypeName] == WimaServiceArea::wimaServiceAreaName) {
-                    bool success = _serArea.loadFromJson(jsonArea, errorString);
+                    bool success = _serviceArea.loadFromJson(jsonArea, errorString);
 
                     if ( !success ) {
                         qgcApp()->showMessage(errorMessage.arg(errorString));
@@ -405,7 +409,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
                     }
 
                     validAreaCounter++;
-                    _visualItems.append(&_serArea);
+                    _visualItems.append(&_serviceArea);
                     emit visualItemsChanged();
                 } else if ( jsonArea[WimaArea::areaTypeName] == WimaCorridor::WimaCorridorName) {
                     bool success = _corridor.loadFromJson(jsonArea, errorString);
@@ -432,7 +436,7 @@ bool WimaPlaner::loadFromFile(const QString &filename)
         _currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
 
         emit currentFileChanged();
-        recalcJoinedArea();
+        //recalcJoinedArea();
 
         // MissionItems
         // extrac MissionItems part
@@ -493,14 +497,32 @@ void WimaPlaner::recalcPolygonInteractivity(int index)
     }
 }
 
-bool WimaPlaner::recalcJoinedArea()
+bool WimaPlaner::recalcJoinedArea(QString &errorString)
 {
+    // check if area paths form simple polygons
+    if ( WimaArea::isSelfIntersecting(_serviceArea) ) {
+        errorString.append(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
+        return false;
+    }
+
+    if ( WimaArea::isSelfIntersecting(_corridor) ) {
+        errorString.append(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
+        return false;
+    }
+
+    if ( WimaArea::isSelfIntersecting(_measurementArea) ) {
+        errorString.append(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n"));
+        return false;
+    }
+
     // join service area, op area and corridor
-    _joinedArea = _serArea;
+    _joinedArea = _serviceArea;
     _joinedArea.join(_corridor);
-
-    if ( !_joinedArea.join(_opArea) )
+    if ( !_joinedArea.join(_measurementArea) ) {
+        errorString.append(tr("Not able to join areas. Service area and measurement are"
+                           " must have a overlapping section, or be connected through a corridor."));
         return false; // this happens if all areas are pairwise disjoint
+    }
     else {
         return true;
     }
@@ -508,16 +530,18 @@ bool WimaPlaner::recalcJoinedArea()
 
 }
 
+/*!
+ * \fn void WimaPlaner::pushToContainer()
+ * Pushes the \c WimaPlanData object generated by \c toPlanData() to the \c WimaDataContainer.
+ * Should be called only after \c updateMission() was successful.
+ *
+ * \sa WimaDataContainer, WimaPlanData
+ */
 void WimaPlaner::pushToContainer()
 {
-    // Sets the pointers (inside _container) to the areas (of this).
-    // Should be called only (once) after a _container has been assigned.
     if (_container != nullptr) {
-        _container->setOpArea(&_opArea);
-        _container->setSerArea(&_serArea);
-        _container->setCorridor(&_corridor);
-        _container->setJoinedArea(&_joinedArea);
-        _container->setVisualItems(&_visualItems);
+        WimaPlanData planData = toPlanData();
+        _container->push(planData);
     } else {
         qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
     }
@@ -540,6 +564,40 @@ void WimaPlaner::setInteractive()
     recalcPolygonInteractivity(_currentAreaIndex);
 }
 
+/*!
+ * \fn WimaPlanData WimaPlaner::toPlanData()
+ *
+ * Returns a \c WimaPlanData object containing information about the current mission.
+ * The \c WimaPlanData object holds only the data which is relevant for the \c WimaController class.
+ * Should only be called if updateMission() was successful.
+ *
+ * \sa WimaController, WimaPlanData
+ */
+WimaPlanData WimaPlaner::toPlanData()
+{
+    WimaPlanData planData;
+    /* Note: constructor call: WimaMeasuretr(mentAreaData::WimaMeasurementAreaData(const WimaMeasurementArea &other, QObject *parent)
+     * converts WimaMeasurementArea to WimaMeasurementAreaData, this makes: planData.appendWimaAreaData(_measurementArea); possible.
+     * Same for the following statements
+     */
+    planData.append(WimaMeasurementAreaData(_measurementArea));
+    planData.append(WimaServiceAreaData(_serviceArea));
+    planData.append(WimaCorridorData(_corridor));
+    planData.append(WimaAreaData(_joinedArea));
+
+    return WimaPlanData(planData);
+}
+
+void WimaPlaner::setMissionReady(bool ready)
+{
+    if(_missionReady != ready)
+    {
+        _missionReady = ready;
+
+        emit missionReadyChanged(_missionReady);
+    }
+}
+
 QJsonDocument WimaPlaner::saveToJson(FileType fileType)
 {
     /// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument
@@ -597,13 +655,5 @@ QJsonDocument WimaPlaner::saveToJson(FileType fileType)
     return QJsonDocument(json);
 }
 
-void WimaPlaner::setReadyForSaveSend(bool ready)
-{
-    if (ready != _readyForSaveSend) {
-        _readyForSaveSend = ready;
-        emit readyForSaveSendChanged(ready);
-    }
-}
-
 
 

src/Wima/WimaPlaner.h

@@ -9,6 +9,11 @@
 #include "WimaServiceArea.h"
 #include "WimaCorridor.h"
 #include "WimaDataContainer.h"
+#include "WimaPlanData.h"
+#include "WimaAreaData.h"
+#include "WimaServiceAreaData.h"
+#include "WimaMeasurementAreaData.h"
+#include "WimaCorridorData.h"
 
 #include "PlanMasterController.h"
 #include "MissionController.h"
@@ -41,13 +46,13 @@ public:
     Q_PROPERTY(QStringList              saveNameFilters     READ saveNameFilters                                        CONSTANT)
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
     Q_PROPERTY(QGeoCoordinate           joinedAreaCenter    READ joinedAreaCenter                                       CONSTANT)
-    Q_PROPERTY(WimaDataContainer*       dataContainer                                   WRITE setDataContainer          NOTIFY dataContainerChanged)
-    Q_PROPERTY(bool                     readyForSaveSend    READ readyForSaveSend                                       NOTIFY readyForSaveSendChanged)
+    Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
+    Q_PROPERTY(bool                     missionReady        READ missionReady                                           NOTIFY missionReadyChanged)
 
 
     // Property accessors
-    PlanMasterController*       masterController       (void) const    { return _masterController; }
-    MissionController*          missionController      (void) const    { return _missionController; }
+    PlanMasterController*       masterController       (void)          { return _masterController; }
+    MissionController*          missionController      (void)          { return _missionController; }
     QmlObjectListModel*         visualItems            (void) ;
     int                         currentPolygonIndex    (void) const    { return _currentAreaIndex; }
     QString                     currentFile            (void) const    { return _currentFile; }
@@ -55,9 +60,8 @@ public:
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGeoCoordinate              joinedAreaCenter       (void) const;
-    bool                        readyForSaveSend       (void) const    { return _readyForSaveSend; }
-
-
+    bool                        missionReady           (void) const    { return _missionReady; }
+    WimaDataContainer*          dataContainer          (void)          { return _container;}
 
     // Property setters
     void setMasterController        (PlanMasterController* masterController);
@@ -67,13 +71,12 @@ public:
     void setDataContainer           (WimaDataContainer* container);
 
     // Member Methodes
-    Q_INVOKABLE void startWimaPlaner(bool flyView);
-    Q_INVOKABLE bool addGOperationArea();
+    Q_INVOKABLE bool addMeasurementArea();
     /// Removes an area from _visualItems
     /// @param index Index of the area to be removed
     Q_INVOKABLE void removeArea(int index);
     Q_INVOKABLE bool addServiceArea();
-    Q_INVOKABLE bool addVehicleCorridor();
+    Q_INVOKABLE bool addCorridor();
     /// Remove all areas from WimaPlaner and all mission items from MissionController
     Q_INVOKABLE void removeAll();
 
@@ -92,16 +95,13 @@ public:
     Q_INVOKABLE void resetAllInteractive(void);
     Q_INVOKABLE void setInteractive(void);
 
+    QJsonDocument saveToJson(FileType fileType);
 
     // static Members
     static const char* wimaFileExtension;
     static const char* areaItemsName;
     static const char* missionItemsName;
 
-    // Member Methodes
-    QJsonDocument saveToJson(FileType fileType);
-    void          setReadyForSaveSend(bool ready);
-
 signals:
     void masterControllerChanged        (void);
     void missionControllerChanged       (void);
@@ -109,23 +109,28 @@ signals:
     void currentPolygonIndexChanged     (int index);
     void currentFileChanged             ();
     void dataContainerChanged           ();
-    void readyForSaveSendChanged        (bool ready);
+    void missionReadyChanged            (bool ready);
 
 private slots:
     void recalcPolygonInteractivity (int index);
-    bool recalcJoinedArea           ();
+    bool recalcJoinedArea           (QString &errorString);
     void pushToContainer            ();
 
 private:
-    bool                    _readyForSaveSend; // basically true if updateMission() was sucessful
+    // Member Functions
+    WimaPlanData toPlanData();
+    void         setMissionReady(bool ready);
+
+    // Member Variables
+    bool                    _missionReady; // basically true if updateMission() was sucessful
     PlanMasterController   *_masterController;
     MissionController      *_missionController;
     int                     _currentAreaIndex;
     QString                 _currentFile; // file for saveing
     WimaDataContainer      *_container; // container for data exchange with WimaController
     QmlObjectListModel      _visualItems; // contains all visible areas
-    WimaArea                _joinedArea; // joined area fromed by opArea, serArea, _corridor
-    WimaMeasurementArea      _opArea; // measurement area
-    WimaServiceArea         _serArea; // area for supplying
-    WimaCorridor           _corridor; // corridor connecting opArea and serArea
+    WimaArea                _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor
+    WimaMeasurementArea     _measurementArea; // measurement area
+    WimaServiceArea         _serviceArea; // area for supplying
+    WimaCorridor            _corridor; // corridor connecting _measurementArea and _serviceArea
 };

src/Wima/WimaServiceArea.cc

@@ -16,6 +16,18 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
     init();
 }
 
+/*!
+ * \overload operator=()
+ *
+ * Calls the inherited operator WimaArea::operator=().
+ */
+WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other)
+{
+    WimaArea::operator=(other);
+
+    return *this;
+}
+
 void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate)
 {
     if(_takeOffPosition != coordinate){
@@ -50,13 +62,6 @@ bool WimaServiceArea::loadFromJson(const QJsonObject &json, QString &errorString
     }
 }
 
-void WimaServiceArea::update(const WimaServiceArea &area)
-{
-    this->WimaArea::update(area);
-    this->setTakeOffPosition(area.takeOffPosition());
-    this->setLandPosition(area.landPosition());
-}
-
 void print(const WimaServiceArea &area)
 {
     QString message;

src/Wima/WimaServiceArea.h

@@ -10,6 +10,7 @@ class WimaServiceArea : public WimaArea
 public:
     WimaServiceArea(QObject* parent = nullptr);
     WimaServiceArea(const WimaServiceArea& other, QObject* parent);
+    WimaServiceArea& operator=(const WimaServiceArea &other);
 
     Q_PROPERTY(const QGeoCoordinate&          takeOffPosition READ takeOffPosition    WRITE setTakeOffPosition    NOTIFY takeOffPositionChanged)
     Q_PROPERTY(const QGeoCoordinate&          landPosition    READ landPosition       WRITE setLandPosition       NOTIFY landPositionChanged)
@@ -42,8 +43,6 @@ signals:
 public slots:
     void setTakeOffPosition             (const QGeoCoordinate& coordinate);
     void setLandPosition                (const QGeoCoordinate& coordinate);
-    /// Updates this with data from area
-    void update(const WimaServiceArea &area);
 
 private:
     // Member Methodes

src/Wima/WimaServiceAreaData.cc

 #include "WimaServiceAreaData.h"
 
+const char *WimaServiceAreaData::typeString = "WimaServiceAreaData";
+
 
 WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
     : WimaAreaData(parent)
@@ -7,12 +9,34 @@ WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
 
 }
 
-WimaServiceAreaData::WimaServiceAreaData(WimaServiceAreaData &other, QObject *parent)
-    : WimaAreaData (other, parent)
-    , _takeOffPosition(other.takeOffPosition())
-    , _landPosition(other.landOffPosition())
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other, QObject *parent)
+    :   WimaAreaData (parent)
+{
+    *this = other;
+}
+
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other, QObject *parent)
+    :   WimaAreaData (parent)
+{
+    *this = other;
+}
+
+WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceAreaData &otherData)
+{
+    WimaAreaData::operator=(otherData);
+    setLandPosition(otherData.landPosition());
+    setTakeOffPosition(otherData.takeOffPosition());
+
+    return *this;
+}
+
+WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &otherArea)
 {
+    WimaAreaData::operator=(otherArea);
+    setLandPosition(otherArea.landPosition());
+    setTakeOffPosition(otherArea.takeOffPosition());
 
+    return *this;
 }
 
 /*!
@@ -30,7 +54,7 @@ const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const
  * Returns a constant reference to the landOffPosition.
  *
  */
-const QGeoCoordinate &WimaServiceAreaData::landOffPosition() const
+const QGeoCoordinate &WimaServiceAreaData::landPosition() const
 {
     return _landPosition;
 }
@@ -56,12 +80,12 @@ void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate &newCoordinate
  * if newCoordinate differs from the member value.
  *
  */
-void WimaServiceAreaData::setLandOffPosition(const QGeoCoordinate &newCoordinate)
+void WimaServiceAreaData::setLandPosition(const QGeoCoordinate &newCoordinate)
 {
     if (_landPosition != newCoordinate) {
         _landPosition = newCoordinate;
 
-        emit landOffPositionChanged(_landPosition);
+        emit landPositionChanged(_landPosition);
     }
 }
 

src/Wima/WimaServiceAreaData.h

 #pragma once
 
 #include <QObject>
+#include "QGeoCoordinate"
 
 #include "WimaAreaData.h"
-#include "QGeoCoordinate"
+#include "WimaServiceArea.h"
+
+
 
 class WimaServiceAreaData : public WimaAreaData
 {
     Q_OBJECT
 
 public:
-    explicit WimaServiceAreaData(QObject *parent = nullptr);
-    explicit WimaServiceAreaData(WimaServiceAreaData &other, QObject *parent = nullptr);
-
+    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);
 
     const QGeoCoordinate &takeOffPosition() const;
-    const QGeoCoordinate &landOffPosition() const;
+    const QGeoCoordinate &landPosition() const;
+
+    static const char* typeString;
 
 signals:
     void takeOffPositionChanged(const QGeoCoordinate& other);
-    void landOffPositionChanged(const QGeoCoordinate& other);
+    void landPositionChanged(const QGeoCoordinate& other);
 
 public slots:
     void setTakeOffPosition(const QGeoCoordinate& newCoordinate);
-    void setLandOffPosition(const QGeoCoordinate& newCoordinate);
+    void setLandPosition(const QGeoCoordinate& newCoordinate);
 
 private:
     // see WimaServieArea.h for explanation

src/Wima/doc/wima.qdocconf

-project = Wima
-
-headerdirs = ../
-sourcedirs = ../
-
-sources.fileextensions = "*.cpp *.cc *.qdoc *.mm *.qml"
-headers.fileextensions = "*.h *.ch *.h++ *.hh *.hpp *.hxx"
-examples.fileextensions = "*.cpp *.h *.js *.xq *.svg *.xml *.ui *.qhp *.qhcp *.qml"
-examples.imageextensions = "*.png *.jpeg *.jpg *.gif *.mng"
-
-outputdir  =    ./doc/QDoc/html
-outputformats = HTML
 
 
 

src/WimaView/WimaItemEditor.qml

@@ -20,7 +20,7 @@ Rectangle {
     radius: _radius
 
     property var    map                 ///< Map control
-    property var    wimaController
+    property var    wimaPlaner
     property var    masterController
     property bool   readOnly            ///< true: read only view, false: full editing view
     property var    rootQgcView
@@ -94,13 +94,18 @@ Rectangle {
             id: hamburgerMenu
 
             MenuItem {
-                text:           qsTr("Add Operation Area")
-                onTriggered:    wimaController.addGOperationArea()
+                text:           qsTr("Add Measurement Area")
+                onTriggered:    wimaPlaner.addMeasurementArea()
             }
 
             MenuItem {
                 text:           qsTr("Add Service Area")
-                onTriggered:    wimaController.addServiceArea()
+                onTriggered:    wimaPlaner.addServiceArea()
+            }
+
+            MenuItem {
+                text:           qsTr("Add Corridor")
+                onTriggered:    wimaPlaner.addCorridor()
             }
 
             MenuItem {
@@ -108,10 +113,10 @@ Rectangle {
                 onTriggered:    remove()
             }
 
-            MenuItem {
+            /*MenuItem {
                 text:           qsTr("Change Area Type ...")
                 onTriggered:    commandPicker.clicked()
-            }
+            }*/
 
 
         }

src/WimaView/WimaItemEditor_old.qml

-import QtQuick                  2.3
-import QtQuick.Controls         1.2
-import QtQuick.Controls.Styles  1.4
-import QtQuick.Dialogs          1.2
-import QtQml                    2.2
-
-import QGroundControl               1.0
-import QGroundControl.ScreenTools   1.0
-import QGroundControl.Vehicle       1.0
-import QGroundControl.Controls      1.0
-import QGroundControl.FactControls  1.0
-import QGroundControl.Palette       1.0
-
-
-/// Fly Area Item edit control
-Rectangle {
-    id:     _root
-    height: editorLoader.visible ? (editorLoader.y + editorLoader.height + (_margin * 2)) : (descriptionLabel.y + descriptionLabel.height + _margin / 2)
-    color:  _currentItem ? qgcPal.missionItemEditor : qgcPal.windowShade
-    radius: _radius
-
-    property var    map                 ///< Map control
-    property var    flyArea
-    property var    masterController
-    property var    polygon         ///< MissionItem associated with this editor
-    property bool   readOnly            ///< true: read only view, false: full editing view
-    property var    rootQgcView
-    property int    _index
-
-    signal clicked
-    signal remove
-
-    property var    _masterController:          masterController
-    property var    _missionController:         _masterController.missionController
-    property bool   _currentItem:               polygon.interactive
-    property color  _outerTextColor:            _currentItem ? qgcPal.primaryButtonText : qgcPal.text
-    property bool   _noMissionItemsAdded:       ListView.view.model.count === 1
-    property real   _sectionSpacer:             ScreenTools.defaultFontPixelWidth / 2  // spacing between section headings
-
-    readonly property real  _editFieldWidth:    Math.min(width - _margin * 2, ScreenTools.defaultFontPixelWidth * 12)
-    readonly property real  _margin:            ScreenTools.defaultFontPixelWidth / 2
-    readonly property real  _radius:            ScreenTools.defaultFontPixelWidth / 2
-    readonly property real  _hamburgerSize:     descriptionLabel.height * 0.75
-    readonly property bool  _waypointsOnlyMode: QGroundControl.corePlugin.options.missionWaypointsOnly
-
-    QGCPalette {
-        id: qgcPal
-        colorGroupEnabled: enabled
-    }
-
-    FocusScope {
-        id:             currentItemScope
-        anchors.fill:   parent
-
-        MouseArea {
-            anchors.fill:   parent
-            onClicked: {
-                currentItemScope.focus = true
-                _root.clicked()
-            }
-        }
-    }
-
-
-    QGCLabel {
-        id:                     label
-        anchors.verticalCenter: descriptionLabel.verticalCenter
-        anchors.leftMargin:     _margin
-        anchors.left:           parent.left
-        text:                   index
-        color:                  _outerTextColor
-    }
-
-    QGCColoredImage {
-        id:                     hamburger
-        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
-        anchors.right:          parent.right
-        anchors.verticalCenter: descriptionLabel.verticalCenter
-        width:                  _hamburgerSize
-        height:                 _hamburgerSize
-        sourceSize.height:      _hamburgerSize
-        source:                 "qrc:/qmlimages/Hamburger.svg"
-        visible:                _currentItem
-        color:                  qgcPal.text
-    }
-
-    QGCMouseArea {
-        fillItem:   hamburger
-        visible:    hamburger.visible
-        onClicked: {
-            currentItemScope.focus = true
-            hamburgerMenu.popup()
-        }
-
-        Menu {
-            id: hamburgerMenu
-
-            MenuItem {
-                text:           qsTr("Insert Fly Area")
-                onTriggered:    flyArea.appendFlyAreaPolygon()
-            }
-
-            MenuItem {
-                text:           qsTr("Delete")
-                onTriggered:    remove()
-            }
-            MenuItem {
-                text:           qsTr("Copy Fly Area")
-                //onTriggered:    //To Do
-            }
-
-
-        }
-    }
-
-    QGCLabel {
-        id:                     descriptionLabel
-        anchors.topMargin:      _margin / 2
-        anchors.leftMargin:     ScreenTools.defaultFontPixelWidth * 2
-        anchors.rightMargin:    ScreenTools.defaultFontPixelWidth
-        anchors.left:           label.right
-        anchors.top:            parent.top
-        text:                   "Fly Area"
-        verticalAlignment:      Text.AlignVCenter
-        color:                  _outerTextColor
-    }
-
-
-    Loader {
-        id:                 editorLoader
-        anchors.leftMargin: _margin
-        anchors.topMargin:  _margin
-        anchors.left:       parent.left
-        anchors.top:        descriptionLabel.bottom
-        source:             "FlyAreaEditor.qml"
-        visible:            _currentItem
-
-        property var    masterController:   _masterController
-        property real   availableWidth:     _root.width - (_margin * 2) ///< How wide the editor should be
-        property var    editorRoot:         _root
-    }
-} // Rectangle

src/WimaView/WimaGOperationAreaMapVisual.qml → src/WimaView/WimaMeasurementAreaMapVisual.qml

@@ -27,7 +27,6 @@ Item {
 
     property var areaItem:          object
     property var _polygon:          areaItem
-    property var _borderPolygon:    areaItem.borderPolygon
 
     signal clicked(int sequenceNumber)
 
@@ -92,7 +91,7 @@ Item {
     WimaMapPolygonVisuals {
         qgcView:            _root.qgcView
         mapControl:         map
-        mapPolygon:         _borderPolygon
+        mapPolygon:         areaItem.borderPolygon
         borderWidth:        1
         borderColor:        "white"
         interiorColor:      "transparent"

src/WimaView/WimaServicePolygonMapVisual.qml

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

src/WimaView/WimaView.qml

@@ -53,11 +53,11 @@ QGCView {
     readonly property bool  _waypointsOnlyMode:         QGroundControl.corePlugin.options.missionWaypointsOnly
 
     property bool   _airspaceEnabled:                    QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
-    property var    _wimaController:                    wimaController
+    property var    _wimaPlaner:                        wimaPlaner
     property var    _planMasterController:              masterController
     property var    _missionController:                 _planMasterController.missionController
     property var    _visualItems:                       _missionController.visualItems
-    property var    _wimaVisualItems:                   _wimaController.visualItems
+    property var    _wimaVisualItems:                   _wimaPlaner.visualItems
     property bool   _lightWidgetBorders:                editorMap.isSatelliteMap
     property bool   _addWaypointOnClick:                false
     property bool   _addROIOnClick:                     false
@@ -74,9 +74,6 @@ QGCView {
     Component.onCompleted: {
         toolbar.planMasterController    = Qt.binding(function () { return _planMasterController })
         toolbar.currentMissionItem      = Qt.binding(function () { return _missionController.currentPlanViewItem })
-        _wimaController.masterController = _planMasterController
-        _wimaController.missionController = _planMasterController.missionController
-        _wimaController.dataContainer = dataContainer;
     }
 
     function addComplexItem(complexItemName) {
@@ -189,13 +186,13 @@ QGCView {
             message:    qsTr("You need at least one item to create a KML.")
         }
     }
-    WimaController {
-        id:wimaController
+    WimaPlaner {
+        id:wimaPlaner
 
         Component.onCompleted: {
-            wimaController.masterController = Qt.binding(function () { return masterController})
-            wimaController.missionController = Qt.binding(function () { return masterController.missionController})
-            startWimaController(false /* flyView */)
+            wimaPlaner.masterController     = Qt.binding(function () { return masterController})
+            wimaPlaner.missionController    = Qt.binding(function () { return masterController.missionController})
+            wimaPlaner.dataContainer        = Qt.binding(function () { return dataContainerPointer})
         }
         function addComplexItem(complexItemName) {
             var coordinate = editorMap.center
@@ -227,8 +224,8 @@ QGCView {
         function loadFromSelectedFile() {
             wimaFileDialog.title =          qsTr("Select Wima File")
             wimaFileDialog.selectExisting = true
-            wimaFileDialog.nameFilters =    wimaController.loadNameFilters
-            wimaFileDialog.fileExtension =  wimaController.fileExtension
+            wimaFileDialog.nameFilters =    wimaPlaner.loadNameFilters
+            wimaFileDialog.fileExtension =  wimaPlaner.fileExtension
             wimaFileDialog.fileExtension2 = _appSettings.planFileExtension
             wimaFileDialog.openForLoad()
         }
@@ -236,8 +233,8 @@ QGCView {
         function saveToSelectedFile() {
             wimaFileDialog.title =          qsTr("Save to Wima File")
             wimaFileDialog.selectExisting = false
-            wimaFileDialog.nameFilters =    wimaController.saveNameFilters
-            wimaFileDialog.fileExtension =  wimaController.fileExtension
+            wimaFileDialog.nameFilters =    wimaPlaner.saveNameFilters
+            wimaFileDialog.fileExtension =  wimaPlaner.fileExtension
             wimaFileDialog.fileExtension2 = _appSettings.planFileExtension
             wimaFileDialog.openForSave()
         }
@@ -380,9 +377,9 @@ QGCView {
                 _missionController.setCurrentPlanViewIndex(0, true)
             } else {
                 var retList = ShapeFileHelper.determineShapeType(file)
-                if (retList[0] == ShapeFileHelper.Error) {
+                if (retList[0] === ShapeFileHelper.Error) {
                     _qgcView.showMessage("Error", retList[1], StandardButton.Ok)
-                } else if (retList[0] == ShapeFileHelper.Polygon) {
+                } else if (retList[0] === ShapeFileHelper.Polygon) {
                      var editVehicle = _activeVehicle ? _activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
                     if (editVehicle.fixedWing) {
                         insertComplexMissionItemFromKMLOrSHP(_missionController.surveyComplexItemName, file, -1)
@@ -390,7 +387,7 @@ QGCView {
                         polygonSelectPatternFile = file
                         _qgcView.showDialog(patternPolygonSelectDialog, fileDialog.title, _qgcView.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
                     }
-                } else if (retList[0] == ShapeFileHelper.Polyline) {
+                } else if (retList[0] === ShapeFileHelper.Polyline) {
                     insertComplexMissionItemFromKMLOrSHP(_missionController.corridorScanComplexItemName, file, -1)
                 }
             }
@@ -404,13 +401,13 @@ QGCView {
         folder:         _appSettings.missionSavePath
 
         onAcceptedForSave: {
-            wimaController.saveToFile(file)
+            wimaPlaner.saveToFile(file)
             close()
         }
 
         onAcceptedForLoad: {
-            wimaController.loadFromFile(file)
-            editorMap.center = wimaController.joinedAreaCenter;
+            wimaPlaner.loadFromFile(file)
+            editorMap.center = wimaPlaner.joinedAreaCenter;
             close()
         }
     }
@@ -584,7 +581,7 @@ QGCView {
 
             //Add Wima Visuals
             Repeater {
-                model: wimaController.visualItems
+                model: wimaPlaner.visualItems
                 delegate: WimaMapVisual {
                     map:                editorMap         ///< Map control to place item in
                     qgcView:            _qgcView          ///< QGCView to use for popping dialogs
@@ -674,7 +671,7 @@ QGCView {
                                 dropPanelComponent:     syncDropPanel
                             },
                             {
-                                name:                   qsTr("Global"),
+                                name:                   qsTr("Measure"),
                                 iconSource:             "/qmlimages/Target.svg"
                             },
                             {
@@ -707,16 +704,16 @@ QGCView {
                 onClicked: {
                                 switch (index) {
                                     case 1:
-                                        wimaController.addGOperationArea();
+                                        wimaPlaner.addMeasurementArea();
                                         break
                                     case 2:
-                                        wimaController.addServiceArea();
+                                        wimaPlaner.addServiceArea();
                                         break
                                     case 3:
-                                        wimaController.addVehicleCorridor();
+                                        wimaPlaner.addCorridor();
                                         break
                                     case 4:
-                                        wimaController.updateMission();
+                                        wimaPlaner.updateMission();
                                         break
                                     case 6:
                                         editorMap.zoomLevel += 0.5
@@ -929,11 +926,11 @@ QGCView {
                                         switch (current) {
                                         case planElementMission:
                                             _editingLayer = _layerMission
-                                            _wimaController.resetAllInteractive();
+                                            _wimaPlaner.resetAllInteractive();
                                             break
                                         case planElementWima:
                                             _editingLayer = _layerWima
-                                            _wimaController.setInteractive();
+                                            _wimaPlaner.setInteractive();
                                             break
                                         }
                                     }
@@ -974,26 +971,26 @@ QGCView {
                     anchors.fill:   parent
                     spacing:        ScreenTools.defaultFontPixelHeight / 4
                     orientation:    ListView.Vertical
-                    model:          wimaController.visualItems
+                    model:          wimaPlaner.visualItems
                     cacheBuffer:    Math.max(height * 2, 0)
                     clip:           true
-                    currentIndex:   wimaController.currentPolygonIndex
+                    currentIndex:   wimaPlaner.currentPolygonIndex
                     highlightMoveDuration: 250
                     visible:        _editingLayer == _layerWima && !planControlColapsed
                     //-- List Elements
                     delegate: WimaItemEditor {
                         map:                editorMap
                         masterController:   _planMasterController
-                        wimaController:     _wimaController
+                        wimaPlaner:         _wimaPlaner
                         _index:             index
                         areaItem:           object
                         width:              parent.width
                         readOnly:           false
                         rootQgcView:        _qgcView
-                        onClicked:          _wimaController.currentPolygonIndex = index
+                        onClicked:          _wimaPlaner.currentPolygonIndex = index
                         onRemove: {
                             var removeIndex = index
-                            _wimaController.removeArea(removeIndex)
+                            _wimaPlaner.removeArea(removeIndex)
 
                         }
                     }
@@ -1099,7 +1096,7 @@ QGCView {
         QGCViewMessage {
             message: qsTr("Are you sure you want to remove all items and create a Wima mission? ")
             function accept() {
-                wimaController.removeAll();
+                wimaPlaner.removeAll();
                 hideDialog()
             }
         }
@@ -1214,18 +1211,18 @@ QGCView {
                     enabled:            true//!masterController.syncInProgress
                     onClicked: {
                         dropPanel.hide()
-                        wimaController.loadFromSelectedFile()
+                        wimaPlaner.loadFromSelectedFile()
                     }
                 }
 
                 QGCButton {
                     text:               qsTr("Save ")
                     Layout.fillWidth:   true
-                    enabled:            wimaController.currentFile !== ""
+                    enabled:            wimaPlaner.currentFile !== ""
                     onClicked: {
                         dropPanel.hide()
-                        wimaController.saveToCurrent()
-                        console.log("saveing to: ", wimaController.currentFile)
+                        wimaPlaner.saveToCurrent()
+                        console.log("saveing to: ", wimaPlaner.currentFile)
                     }
                 }
 
@@ -1235,7 +1232,7 @@ QGCView {
                     enabled:            _wimaVisualItems.count >= 1
                     onClicked: {
                         dropPanel.hide()
-                        wimaController.saveToSelectedFile()
+                        wimaPlaner.saveToSelectedFile()
                     }
                 }
 
@@ -1328,7 +1325,7 @@ QGCView {
 
         QGCListView {
             anchors.fill: parent
-            model: wimaController.visualItems
+            model: wimaPlaner.visualItems
             delegate: Rectangle{
                         height: 15
                         color: "lightsteelblue"

src/ui/MainWindowInner.qml

@@ -401,7 +401,7 @@ Item {
         visible:            false
 
         property var toolbar:               wimaToolBar
-        property var dataContainer:         wimaDataContainer
+        property var dataContainerPointer:  wimaDataContainer.pointerToThis()
     }
 
 
@@ -410,7 +410,7 @@ Item {
         anchors.fill:       parent
         visible:            true
 
-        property var dataContainer:         wimaDataContainer
+        property var dataContainerPointer:  wimaDataContainer.pointerToThis()
        //-------------------------------------------------------------------------
         //-- Loader helper for any child, no matter how deep can display an element
         //   on top of the video window.