auto update in wima planer, after load imporved

src/Wima/WimaController.cc

@@ -204,20 +204,6 @@ bool WimaController::uploadToVehicle()
 //        _missionController->removeAll();
 //        return;
 //    }
-
-    for (int i = 1; i < visuals->count(); i++) {
-        SimpleMissionItem* item = visuals->value<SimpleMissionItem *>(i);
-        qWarning() << item->coordinate();
-        qWarning() << item->command();
-        qWarning() << item->missionItem().param1();
-        qWarning() << item->missionItem().param2();
-        qWarning() << item->missionItem().param3();
-        qWarning() << item->missionItem().param4();
-        qWarning() << item->missionItem().param5();
-        qWarning() << item->missionItem().param6();
-        qWarning() << item->missionItem().param7();
-        qWarning(" ");
-    }
     _masterController->sendToVehicle();
 
     return true;
@@ -560,11 +546,6 @@ bool WimaController::calcNextPhase()
         }
 
         SimpleMissionItem *visualItemCopy = new SimpleMissionItem(*visualItem, true, this);
-        qWarning() << visualItem->command();
-        qWarning() << visualItem->coordinate();
-        qWarning() << visualItemCopy->command();
-        qWarning() << visualItemCopy->command();
-        qWarning(" ");
         _currentMissionItems.append(visualItemCopy);
     }
 

src/Wima/WimaDataContainer.h

@@ -12,9 +12,7 @@ public:
     WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
     WimaDataContainer(WimaDataContainer &other) = delete;
 
-    Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}
-
-    bool dataValid() const;    
+    Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}  
 
 signals:
     void newDataAvailable(void);

src/Wima/WimaPlaner.cc

@@ -9,20 +9,20 @@ const char* WimaPlaner::areaItemsName       = "AreaItems";
 const char* WimaPlaner::missionItemsName    = "MissionItems";
 
 WimaPlaner::WimaPlaner(QObject *parent)
-    : QObject               (parent)
-    , _dirty                (false)
-    , _currentAreaIndex     (-1)
-    , _container            (nullptr)
-    , _joinedArea           (this)
-    , _measurementArea      (this)
-    , _serviceArea          (this)
-    , _corridor             (this)
-    , _circularSurvey       (nullptr)
-    , _surveyRefChanging    (false)
+    : QObject                       (parent)
+    , _currentAreaIndex             (-1)
+    , _container                    (nullptr)
+    , _joinedArea                   (this)
+    , _measurementArea              (this)
+    , _serviceArea                  (this)
+    , _corridor                     (this)
+    , _circularSurvey               (nullptr)
+    , _surveyRefChanging            (false)
+    , _syncronizedWithController    (false)
 {
     connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity);
     connect(&_updateTimer, &QTimer::timeout, this, &WimaPlaner::updateTimerSlot);
-    _updateTimer.setInterval(250); // 250 ms means: max update time 2*250 ms
+    _updateTimer.setInterval(500); // 250 ms means: max update time 2*250 ms
     _updateTimer.start();
 }
 
@@ -77,17 +77,16 @@ void WimaPlaner::setCurrentPolygonIndex(int index)
 void WimaPlaner::setDataContainer(WimaDataContainer *container)
 {
     if (container != nullptr) {
-        if (_container != nullptr) {
-           disconnect(this, &WimaPlaner::dirtyChanged, _container, &WimaDataContainer::newDataAvailable);
-        }
-
         _container = container;
-        connect(this, &WimaPlaner::dirtyChanged, _container, &WimaDataContainer::newDataAvailable);
-
         emit dataContainerChanged();
     }
 }
 
+bool WimaPlaner::syncronizedWithController()
+{
+    return _syncronizedWithController;
+}
+
 void WimaPlaner::removeArea(int index)
 {
     if(index >= 0 && index < _visualItems.count()){
@@ -178,6 +177,10 @@ void WimaPlaner::removeAll()
 
     _currentFile = "";
 
+    _circularSurvey = nullptr;
+    _surveyRefChanging = false;
+
+
     emit currentFileChanged();
     if ( changesApplied )
          emit visualItemsChanged();
@@ -213,8 +216,11 @@ bool WimaPlaner::updateMission()
             return false;
         }
 
+
         // establish connections
         _circularSurvey->setRefPoint(_measurementArea.center());
+        _lastSurveyRefPoint = _measurementArea.center();
+        _surveyRefChanging = false;
         _circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
         connect(_circularSurvey->deltaR(),               &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
         connect(_circularSurvey->deltaAlpha(),           &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
@@ -228,8 +234,6 @@ bool WimaPlaner::updateMission()
 
     calcArrivalAndReturnPath();
 
-    pushToContainer(); // exchange plan data with the WimaController via the _container
-    setDirty(false);
     return true;
 }
 
@@ -414,6 +418,32 @@ bool WimaPlaner::loadFromFile(const QString &filename)
         // load from temporary file
         _masterController->loadFromFile(temporaryFileName);
 
+        QmlObjectListModel *missionItems = _missionController->visualItems();
+
+        _circularSurvey = nullptr;
+        for (int i = 0; i < missionItems->count(); i++) {
+            _circularSurvey = missionItems->value<CircularSurveyComplexItem *>(i);
+            if (_circularSurvey != nullptr) {
+
+                if ( !recalcJoinedArea(errorString)) {
+                    qgcApp()->showMessage(tr(errorString.toLocal8Bit().data()));
+                    return false;
+                }
+
+                _lastSurveyRefPoint = _circularSurvey->refPoint();
+                _surveyRefChanging = false;
+                _circularSurvey->setAutoGenerated(true); // prevents reinitialisation from gui
+                connect(_circularSurvey->deltaR(),               &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
+                connect(_circularSurvey->deltaAlpha(),           &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
+                connect(_circularSurvey->isSnakePath(),          &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
+                connect(_circularSurvey->transectMinLength(),    &Fact::rawValueChanged, this, &WimaPlaner::calcArrivalAndReturnPath);
+                break;
+            }
+        }
+
+        if (_circularSurvey == nullptr)
+            updateMission();
+
         // remove temporary file
         if ( !temporaryFile.remove() ){
             qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file.");
@@ -454,6 +484,10 @@ bool WimaPlaner::calcArrivalAndReturnPath()
         return false;
     }
 
+    bool restorePlanViewIndex = false;
+    if (surveyIndex == _missionController->currentPlanViewIndex())
+        restorePlanViewIndex = true;
+
     // remove old arrival and return path
     int size = missionItems->count();
     for (int i = surveyIndex+1; i < size; i++)
@@ -548,7 +582,9 @@ bool WimaPlaner::calcArrivalAndReturnPath()
             return false;
     }
 
-
+    if (restorePlanViewIndex)
+        _missionController->setCurrentPlanViewIndex(missionItems->indexOf(_circularSurvey), false);
+    setSyncronizedWithControllerFalse();
     return true;
 }
 
@@ -593,6 +629,7 @@ void WimaPlaner::pushToContainer()
     if (_container != nullptr) {
         WimaPlanData planData = toPlanData();
         _container->push(planData);
+        setSyncronizedWithController(true);
     } else {
         qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
     }
@@ -665,21 +702,14 @@ WimaPlanData WimaPlaner::toPlanData()
     return planData;
 }
 
-void WimaPlaner::setDirty(bool dirty)
+void WimaPlaner::setSyncronizedWithController(bool sync)
 {
-    if(_dirty != dirty)
-    {
-        _dirty = dirty;
-
-        emit dirtyChanged(_dirty);
+    if (_syncronizedWithController != sync) {
+        _syncronizedWithController = sync;
+        emit syncronizedWithControllerChanged();
     }
 }
 
-void WimaPlaner::setDirtyTrue()
-{
-    setDirty(true);
-}
-
 void WimaPlaner::updateTimerSlot()
 {
     // General operation of this function:
@@ -704,6 +734,11 @@ void WimaPlaner::updateTimerSlot()
         _lastSurveyRefPoint = _circularSurvey->refPoint() ;
 }
 
+void WimaPlaner::setSyncronizedWithControllerFalse()
+{
+    setSyncronizedWithController(false);
+}
+
 QJsonDocument WimaPlaner::saveToJson(FileType fileType)
 {
     /// This function save all areas (of WimaPlaner) and all mission items (of MissionController) to a QJsonDocument

src/Wima/WimaPlaner.h

@@ -59,8 +59,7 @@ public:
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
     Q_PROPERTY(QGeoCoordinate           joinedAreaCenter    READ joinedAreaCenter                                       CONSTANT)
     Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
-    Q_PROPERTY(bool                     dirty               READ dirty                                                  NOTIFY dirtyChanged)
-
+    Q_PROPERTY(bool                     syncronized         READ syncronizedWithController                              NOTIFY syncronizedWithControllerChanged)
 
     // Property accessors
     PlanMasterController*       masterController       (void)          { return _masterController; }
@@ -72,7 +71,6 @@ public:
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGeoCoordinate              joinedAreaCenter       (void) const;
-    bool                        dirty                  (void) const    { return _dirty; }
     WimaDataContainer*          dataContainer          (void)          { return _container;}
 
     // Property setters
@@ -82,6 +80,9 @@ public:
     void setCurrentPolygonIndex     (int index);
     void setDataContainer           (WimaDataContainer* container);
 
+    // Property acessors
+    bool syncronizedWithController  ();
+
     // Member Methodes
     Q_INVOKABLE bool addMeasurementArea();
     /// Removes an area from _visualItems
@@ -93,6 +94,8 @@ public:
     Q_INVOKABLE void removeAll();
     /// Recalculates vehicle corridor, flight path, etc.
     Q_INVOKABLE bool updateMission();
+    /// Pushes the generated mission data to the container, for exchange with wimaController
+    Q_INVOKABLE void pushToContainer();
 
     Q_INVOKABLE void saveToCurrent();
     Q_INVOKABLE void saveToFile(const QString& filename);
@@ -112,29 +115,27 @@ public:
     static const char* missionItemsName;
 
 signals:
-    void masterControllerChanged        (void);
-    void missionControllerChanged       (void);
-    void visualItemsChanged             (void);
-    void currentPolygonIndexChanged     (int index);
-    void currentFileChanged             ();
-    void dataContainerChanged           ();
-    void dirtyChanged                   (bool dirty);
+    void masterControllerChanged            (void);
+    void missionControllerChanged           (void);
+    void visualItemsChanged                 (void);
+    void currentPolygonIndexChanged         (int index);
+    void currentFileChanged                 ();
+    void dataContainerChanged               ();
+    void syncronizedWithControllerChanged   (void);
 
 private slots:
-    void recalcPolygonInteractivity (int index);
-    bool calcArrivalAndReturnPath   (void);
-    bool recalcJoinedArea           (QString &errorString);
-    void pushToContainer            ();    
-    void setDirtyTrue               ();
+    void recalcPolygonInteractivity         (int index);
+    bool calcArrivalAndReturnPath           (void);
+    bool recalcJoinedArea                   (QString &errorString);
     // called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed
-    void updateTimerSlot            ();
+    void updateTimerSlot                    ();
+    void setSyncronizedWithControllerFalse  (void);
 private:
     // Member Functions
     WimaPlanData toPlanData();
-    void         setDirty(bool ready);
+    void         setSyncronizedWithController(bool sync);
 
     // Member Variables
-    bool                    _dirty; // set to true if updateMission() was sucessful, set to false if different parameters change
     PlanMasterController   *_masterController;
     MissionController      *_missionController;
     int                     _currentAreaIndex;
@@ -153,4 +154,6 @@ private:
     QTimer                  _updateTimer; // on this timers timeout different mission parts will be updated, if parameters (e.g. survey or areas) have changed
     QGeoCoordinate          _lastSurveyRefPoint;
     bool                    _surveyRefChanging;
+
+    bool                    _syncronizedWithController; // true if planData is syncronized with wimaController
 };

src/WimaView/WimaToolBar.qml

@@ -285,17 +285,17 @@ Rectangle {
         anchors.rightMargin:    _margins
         anchors.right:          parent.right
         anchors.verticalCenter: parent.verticalCenter
-        text:                   qsTr("Calculate")
+        text:                   qsTr("Sync WiMA")
         enabled:                true
         visible:                true
-        onClicked:              wimaPlaner.updateMission()
+        onClicked:              wimaPlaner.pushToContainer()
 
         PropertyAnimation on opacity {
             easing.type:    Easing.OutQuart
             from:           0.5
             to:             1
             loops:          Animation.Infinite
-            running:        wimaPlaner.dirty
+            running:        !wimaPlaner.syncronized
             alwaysRunToEnd: true
             duration:       2000
         }