SnakeWorker added

QGCExternalLibs.pri

@@ -92,11 +92,6 @@ exists($$MAVLINKPATH/common) {
 INCLUDEPATH += libs/eigen
 DEFINES += NOMINMAX
 
-#
-# [REQUIRED] snake library (Wima)
-INCLUDEPATH += libs/snake
-INCLUDEPATH += libs/or-tools/include
-
 #
 # [REQUIRED] shapelib library
 INCLUDEPATH += libs/shapelib
@@ -200,3 +195,13 @@ contains (DEFINES, DISABLE_AIRMAP) {
             $${AIRMAPD_PATH}/include
     }
 }
+
+# GeograpicLib (TODO: add Windows support!)
+LinuxBuild {
+    LIBS += -L/usr/local/lib -lGeographic # libGeograpic.so
+}
+
+# google or-tools (TODO: add Windows support!)
+LinuxBuild {
+    LIBS += -L/usr/local/lib -lortools # libortools.so
+}

libs/clipper/CMakeLists.txt

-cmake_minimum_required(VERSION 3.14)
-project(polyclipping)
-
-
-add_library(polyclipping 
-    STATIC
-        clipper.cpp)
-target_include_directories(polyclipping PUBLIC include)

libs/clipper/clipper/.gitignore

+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

libs/clipper/clipper/clipper.pro

+CONFIG -= qt
+
+TEMPLATE = lib
+DEFINES += CLIPPER_LIBRARY
+
+CONFIG += c++11
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    clipper.cpp
+
+HEADERS += \
+    clipper.hpp \
+    clipper_global.h
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+}
+!isEmpty(target.path): INSTALLS += target

libs/clipper/clipper/clipper_global.h

+#ifndef CLIPPER_GLOBAL_H
+#define CLIPPER_GLOBAL_H
+
+#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#  define Q_DECL_EXPORT __declspec(dllexport)
+#  define Q_DECL_IMPORT __declspec(dllimport)
+#else
+#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
+#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
+#endif
+
+#if defined(CLIPPER_LIBRARY)
+#  define CLIPPER_EXPORT Q_DECL_EXPORT
+#else
+#  define CLIPPER_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // CLIPPER_GLOBAL_H

libs/clipper/cmake_install.cmake

-# Install script for directory: /home/valentin/Desktop/drones/qgroundcontrol/libs/clipper
-
-# Set the install prefix
-if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/usr/local")
-endif()
-string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-
-# Set the install configuration name.
-if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-  if(BUILD_TYPE)
-    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
-  else()
-    set(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
-  endif()
-  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
-endif()
-
-# Set the component getting installed.
-if(NOT CMAKE_INSTALL_COMPONENT)
-  if(COMPONENT)
-    message(STATUS "Install component: \"${COMPONENT}\"")
-    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
-  else()
-    set(CMAKE_INSTALL_COMPONENT)
-  endif()
-endif()
-
-# Install shared libraries without execute permission?
-if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
-  set(CMAKE_INSTALL_SO_NO_EXE "1")
-endif()
-
-# Is this installation the result of a crosscompile?
-if(NOT DEFINED CMAKE_CROSSCOMPILING)
-  set(CMAKE_CROSSCOMPILING "FALSE")
-endif()
-
-# Set default install directory permissions.
-if(NOT DEFINED CMAKE_OBJDUMP)
-  set(CMAKE_OBJDUMP "/usr/bin/objdump")
-endif()
-

libs/qwt/qwt_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+#include "EWIEGA46WW/moc_qwt_abstract_legend.cpp"
+#include "EWIEGA46WW/moc_qwt_abstract_scale.cpp"
+#include "EWIEGA46WW/moc_qwt_abstract_slider.cpp"
+#include "EWIEGA46WW/moc_qwt_analog_clock.cpp"
+#include "EWIEGA46WW/moc_qwt_compass.cpp"
+#include "EWIEGA46WW/moc_qwt_counter.cpp"
+#include "EWIEGA46WW/moc_qwt_dial.cpp"
+#include "EWIEGA46WW/moc_qwt_dyngrid_layout.cpp"
+#include "EWIEGA46WW/moc_qwt_knob.cpp"
+#include "EWIEGA46WW/moc_qwt_legend.cpp"
+#include "EWIEGA46WW/moc_qwt_legend_label.cpp"
+#include "EWIEGA46WW/moc_qwt_magnifier.cpp"
+#include "EWIEGA46WW/moc_qwt_panner.cpp"
+#include "EWIEGA46WW/moc_qwt_picker.cpp"
+#include "EWIEGA46WW/moc_qwt_plot.cpp"
+#include "EWIEGA46WW/moc_qwt_plot_canvas.cpp"
+#include "EWIEGA46WW/moc_qwt_plot_magnifier.cpp"
+#include "EWIEGA46WW/moc_qwt_plot_panner.cpp"
+#include "EWIEGA46WW/moc_qwt_plot_picker.cpp"
+#include "EWIEGA46WW/moc_qwt_plot_zoomer.cpp"
+#include "EWIEGA46WW/moc_qwt_scale_widget.cpp"
+#include "EWIEGA46WW/moc_qwt_slider.cpp"
+#include "EWIEGA46WW/moc_qwt_text_label.cpp"
+#include "EWIEGA46WW/moc_qwt_thermo.cpp"
+#include "EWIEGA46WW/moc_qwt_wheel.cpp"

libs/shapelib/dbfadd_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/dbfcreate_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/dbfdump_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shp_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shpadd_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shpcreate_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shpdump_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shprewind_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/shapelib/shptreedump_autogen/mocs_compilation.cpp

+// This file is autogenerated. Changes will be overwritten.
+// No files found that require moc or the moc files are included
+enum some_compilers { need_more_than_nothing };

libs/snake/.gitignore

+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

libs/snake/CMakeLists.txt

-add_library(snake
-    STATIC
-        snake.cpp
-        snake_geometry.cpp
-)
-find_package(GeographicLib REQUIRED)
-find_package(ortools CONFIG REQUIRED)
-
-
-target_link_libraries (snake ${GeographicLib_LIBRARIES} polyclipping ${ORTOOLS_LIBRARIES})
-
-target_include_directories(snake PRIVATE polylabel) # polylabel
-target_include_directories(snake PUBLIC include) # polylabel
-
-add_subdirectory(test)
-
-
-

libs/snake/cmake_install.cmake

-# Install script for directory: /home/valentin/Desktop/drones/qgroundcontrol/libs/snake
-
-# Set the install prefix
-if(NOT DEFINED CMAKE_INSTALL_PREFIX)
-  set(CMAKE_INSTALL_PREFIX "/usr/local")
-endif()
-string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
-
-# Set the install configuration name.
-if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
-  if(BUILD_TYPE)
-    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
-  else()
-    set(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
-  endif()
-  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
-endif()
-
-# Set the component getting installed.
-if(NOT CMAKE_INSTALL_COMPONENT)
-  if(COMPONENT)
-    message(STATUS "Install component: \"${COMPONENT}\"")
-    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
-  else()
-    set(CMAKE_INSTALL_COMPONENT)
-  endif()
-endif()
-
-# Install shared libraries without execute permission?
-if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
-  set(CMAKE_INSTALL_SO_NO_EXE "1")
-endif()
-
-# Is this installation the result of a crosscompile?
-if(NOT DEFINED CMAKE_CROSSCOMPILING)
-  set(CMAKE_CROSSCOMPILING "FALSE")
-endif()
-
-# Set default install directory permissions.
-if(NOT DEFINED CMAKE_OBJDUMP)
-  set(CMAKE_OBJDUMP "/usr/bin/objdump")
-endif()
-
-if(NOT CMAKE_INSTALL_LOCAL_ONLY)
-  # Include the install script for each subdirectory.
-  include("/home/valentin/Desktop/drones/qgroundcontrol/libs/snake/test/cmake_install.cmake")
-
-endif()
-

libs/snake/snake.cpp

 #include <iostream>
 
 #include "snake.h"
-#include <clipper.hpp>
+#include "clipper.hpp"
 #define CLIPPER_SCALE 10000
 
 using namespace snake_geometry;

libs/snake/snake.pro

+CONFIG -= qt
+
+TEMPLATE = lib
+DEFINES += SNAKE_LIBRARY
+
+CONFIG += c++14
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+    snake.cpp \
+    snake_geometry.cpp \
+    test/test_snake.cpp \
+    test/test_snake_geometry.cpp
+
+HEADERS += \
+    catch.hpp \
+    polylabel/mapbox/feature.hpp \
+    polylabel/mapbox/geometry.hpp \
+    polylabel/mapbox/geometry/box.hpp \
+    polylabel/mapbox/geometry/empty.hpp \
+    polylabel/mapbox/geometry/envelope.hpp \
+    polylabel/mapbox/geometry/for_each_point.hpp \
+    polylabel/mapbox/geometry/geometry.hpp \
+    polylabel/mapbox/geometry/line_string.hpp \
+    polylabel/mapbox/geometry/multi_line_string.hpp \
+    polylabel/mapbox/geometry/multi_point.hpp \
+    polylabel/mapbox/geometry/multi_polygon.hpp \
+    polylabel/mapbox/geometry/point.hpp \
+    polylabel/mapbox/geometry/point_arithmetic.hpp \
+    polylabel/mapbox/geometry/polygon.hpp \
+    polylabel/mapbox/geometry_io.hpp \
+    polylabel/mapbox/optional.hpp \
+    polylabel/mapbox/polylabel/polylabel.hpp \
+    polylabel/mapbox/recursive_wrapper.hpp \
+    polylabel/mapbox/variant.hpp \
+    polylabel/mapbox/variant_io.hpp \
+    snake_geometry.h \
+    snake_global.h \
+    snake.h
+
+# Default rules for deployment.
+unix {
+    target.path = /usr/lib
+}
+!isEmpty(target.path): INSTALLS += target
+
+win32:CONFIG(release, debug|release): LIBS += -L$$OUT_PWD/./release/ -lsnake
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$OUT_PWD/./debug/ -lsnake
+else:unix: LIBS += -L$$OUT_PWD/./ -lsnake
+
+INCLUDEPATH += $$PWD/../clipper/clipper
+DEPENDPATH += $$PWD/../clipper/clipper

libs/snake/snake_geometry.cpp

@@ -308,10 +308,7 @@ bool dijkstraAlgorithm(const size_t numElements,
                        std::vector<size_t> &elementPath,
                        std::function<double (const size_t, const size_t)> distanceDij)
 {
-    if (    numElements < 0
-         || startIndex < 0
-         || endIndex < 0
-         || startIndex >= numElements
+    if (    startIndex >= numElements
          || endIndex >= numElements
          || endIndex == startIndex) {
         return false;

libs/snake/snake_geometry.h.orig

-#pragma once
-#include <vector>
-#include <array>
-
-#include "WGS84toCartesian.hpp"
-
-namespace snake_geometry {
-
-typedef std::array<double, 2>   Point2D;
-typedef std::vector<Point2D>         Point2DList;
-typedef std::array<double, 3>   Point3D;
-typedef std::vector<Point3D>         Point3DList;
-typedef std::array<double, 2>   GeoPoint2D;
-typedef std::vector<GeoPoint2D>      GeoPoint2DList;
-typedef std::array<double, 3>   GeoPoint3D;
-typedef std::vector<GeoPoint3D>      GeoPoint3DList;
-
-typedef struct {
-    double width;
-    double height;
-    double angle;
-    std::array<Point2D,4> corners;
-}min_bbox_rt;
-
-<<<<<<< HEAD
-    Point3D toENU(const GeoPoint3D &WGS84Reference, const GeoPoint3D &WGS84Position);
-    GeoPoint3D fromENU(const Point3D &WGS84Reference, const Point3D &CartesianPosition);
-=======
-Point3D toENU(const Point3D &WGS84Reference, const Point3D &WGS84Position);
-Point3D fromENU(const Point3D &WGS84Reference, const Point3D &CartesianPosition);
->>>>>>> 5687fb4553282f37531aa25fac4d66ec9a84932e
-
-Point2D polygonCenter(const Point2DList &polygon);
-min_bbox_rt minimalBoundingBox(const Point2DList &polygon);
-
-}

libs/snake/snake_global.h

+#ifndef SNAKE_GLOBAL_H
+#define SNAKE_GLOBAL_H
+
+#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#  define Q_DECL_EXPORT __declspec(dllexport)
+#  define Q_DECL_IMPORT __declspec(dllimport)
+#else
+#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
+#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
+#endif
+
+#if defined(SNAKE_LIBRARY)
+#  define SNAKE_EXPORT Q_DECL_EXPORT
+#else
+#  define SNAKE_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // SNAKE_GLOBAL_H

libs/snake_old/polylabel/mapbox/feature.hpp

+#pragma once
+
+#include <mapbox/geometry.hpp>
+
+#include <mapbox/variant.hpp>
+
+#include <cstdint>
+#include <string>
+#include <vector>
+#include <unordered_map>
+
+namespace mapbox {
+namespace feature {
+
+struct value;
+
+struct null_value_t
+{
+};
+
+constexpr bool operator==(const null_value_t&, const null_value_t&) { return true; }
+constexpr bool operator!=(const null_value_t&, const null_value_t&) { return false; }
+constexpr bool operator<(const null_value_t&, const null_value_t&) { return false; }
+
+constexpr null_value_t null_value = null_value_t();
+
+// Multiple numeric types (uint64_t, int64_t, double) are present in order to support
+// the widest possible range of JSON numbers, which do not have a maximum range.
+// Implementations that produce `value`s should use that order for type preference,
+// using uint64_t for positive integers, int64_t for negative integers, and double
+// for non-integers and integers outside the range of 64 bits.
+using value_base = mapbox::util::variant<null_value_t, bool, uint64_t, int64_t, double, std::string,
+                                         mapbox::util::recursive_wrapper<std::vector<value>>,
+                                         mapbox::util::recursive_wrapper<std::unordered_map<std::string, value>>>;
+
+struct value : value_base
+{
+    using value_base::value_base;
+};
+
+using property_map = std::unordered_map<std::string, value>;
+
+// The same considerations and requirement for numeric types apply as for `value_base`.
+using identifier = mapbox::util::variant<null_value_t, uint64_t, int64_t, double, std::string>;
+
+template <class T>
+struct feature
+{
+    using coordinate_type = T;
+    using geometry_type = mapbox::geometry::geometry<T>; // Fully qualified to avoid GCC -fpermissive error.
+
+    geometry_type geometry;
+    property_map properties;
+    identifier id;
+
+    feature()
+        : geometry(),
+          properties(),
+          id() {}
+    feature(geometry_type const& geom_)
+        : geometry(geom_),
+          properties(),
+          id() {}
+    feature(geometry_type&& geom_)