started to implement new nemo interface

qgroundcontrol.pro

@@ -445,6 +445,10 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 #
 
 HEADERS += \
+    src/MeasurementComplexItem/IDArray.h \
+    src/MeasurementComplexItem/LogicalArray.h \
+    src/MeasurementComplexItem/TileArray.h \
+    src/MeasurementComplexItem/TilePtrArray.h \
     src/MeasurementComplexItem/geometry/ProgressArray.h \
     src/MeasurementComplexItem/geometry/TileDiff.h \
     src/MeasurementComplexItem/geometry/geometry.h \

src/MeasurementComplexItem/IDArray.h

+#ifndef IDARRAY_H
+#define IDARRAY_H
+typedef QVector<long> IDArray;
+
+#endif // IDARRAY_H

src/MeasurementComplexItem/LogicalArray.h

+#ifndef LOGICALARRAY_H
+#define LOGICALARRAY_H
+typedef QVector<bool> LogicalArray;
+
+#endif // LOGICALARRAY_H

src/MeasurementComplexItem/NemoInterface.cpp

@@ -15,9 +15,9 @@
 #include "GenericSingelton.h"
 #include "geometry/MeasurementArea.h"
 #include "geometry/geometry.h"
+#include "nemo_interface/MeasurementTile.h"
 #include "nemo_interface/QNemoHeartbeat.h"
 #include "nemo_interface/QNemoProgress.h"
-#include "nemo_interface/MeasurementTile.h"
 
 #include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
 #include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
@@ -31,7 +31,7 @@
 QGC_LOGGING_CATEGORY(NemoInterfaceLog, "NemoInterfaceLog")
 
 #define EVENT_TIMER_INTERVAL 100 // ms
-auto static timeoutInterval = std::chrono::milliseconds(3000);
+auto constexpr static timeoutInterval = std::chrono::milliseconds(3000);
 
 using ROSBridgePtr = std::unique_ptr<ros_bridge::ROSBridge>;
 using JsonDocUPtr = ros_bridge::com_private::JsonDocUPtr;
@@ -47,15 +47,20 @@ public:
 
   void start();
   void stop();
-  void setTileData(const TileData &tileData);
-  bool hasTileData(const TileData &tileData) const;
-  void setAutoPublish(bool ap);
-  void setHoldProgress(bool hp);
 
+  void addTiles(const TilePtrArray &tileArray);
+  void addTiles(const TileArray &tileArray);
+  void removeTiles(const IDArray &idArray);
+  void clearTiles();
+  TileArray getTiles(const IDArray &idArray);
+  TileArray getAllTiles();
+  LogicalArray containsTiles(const IDArray &idArray);
+  TileArray extractTiles(const IDArray &idArray);
+  std::size_t size();
+  bool empty();
   void publishTileData();
 
   NemoInterface::STATUS status();
-  QVector<int> progress();
   bool running();
 
 private:
@@ -63,32 +68,13 @@ private:
   void loop();
   static STATUS heartbeatToStatus(
       const ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat &hb);
-  //!
-  //! \brief Publishes tilesENU
-  //! \pre this->tilesENUMutex must be locked
-  //!
-  void publishTilesENU();
-  //!
-  //! \brief Publishes ENUOrigin
-  //! \pre this->ENUOriginMutex must be locked
-  //!
-  void publishENUOrigin();
+
   bool setStatus(NemoInterface::STATUS s);
 
-  // Data.
-  SnakeTilesLocal tilesENU;
-  mutable std::shared_timed_mutex tilesENUMutex;
-  QGeoCoordinate ENUOrigin;
-  mutable std::shared_timed_mutex ENUOriginMutex;
-  QNemoProgress qProgress;
-  mutable std::shared_timed_mutex progressMutex;
   TimePoint nextTimeout;
   mutable std::shared_timed_mutex timeoutMutex;
   std::atomic<NemoInterface::STATUS> status_;
 
-  // Not protected data.
-  TileData tileData;
-
   // Internals
   std::atomic_bool running_;
   std::atomic_bool topicServiceSetupDone;
@@ -170,7 +156,8 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
             tile = qobject_cast<const MeasurementTile *>(obj);
             if (tile != nullptr) {
               SnakeTileLocal tileENU;
-              geometry::areaToEnu(origin, tile->coordinateList(), tileENU.path());
+              geometry::areaToEnu(origin, tile->coordinateList(),
+                                  tileENU.path());
               this->tilesENU.polygons().push_back(std::move(tileENU));
             } else {
               qCDebug(NemoInterfaceLog) << "Impl::setTileData(): nullptr.";
@@ -443,6 +430,44 @@ void NemoInterface::start() { this->pImpl->start(); }
 
 void NemoInterface::stop() { this->pImpl->stop(); }
 
+void NemoInterface::addTiles(const NemoInterface::TilePtrArray &tileArray) {
+  this->pImpl -
+}
+
+void NemoInterface::addTiles(const TileArray &tileArray) {
+  TilePtrArray ptrArray;
+  for (const auto &tile : tileArray) {
+    ptrArray.append(&tile);
+  }
+  addTiles(ptrArray);
+}
+
+void NemoInterface::removeTiles(const IDArray &idArray) {
+  this->pImpl->removeTiles(idArray);
+}
+
+void NemoInterface::clearTiles() { this->pImpl->clearTiles(); }
+
+TileArray NemoInterface::getTiles(const IDArray &idArray) {
+  return this->pImpl->getTiles(idArray);
+}
+
+TileArray NemoInterface::getAllTiles() {
+  return this->pImpl->getTiles(idArray);
+}
+
+LogicalArray NemoInterface::containsTiles(const IDArray &idArray) {
+  return this->pImpl->containsTiles(idArray);
+}
+
+TileArray NemoInterface::extractTiles(const IDArray &idArray) {
+  return this->pImpl->extractTiles(idArray);
+}
+
+std::size_t NemoInterface::size() { return this->pImpl->size(); }
+
+bool NemoInterface::empty() { return this->pImpl->empty(); }
+
 void NemoInterface::publishTileData() { this->pImpl->publishTileData(); }
 
 void NemoInterface::requestProgress() {

src/MeasurementComplexItem/NemoInterface.h

@@ -5,8 +5,13 @@
 
 #include <memory>
 
-class TileData;
+#include "IDArray.h"
+#include "LogicalArray.h"
+#include "TileArray.h"
+#include "TilePtrArray.h"
 
+// Singelton class used to interface measurement devices implementing the nemo
+// interface.
 class NemoInterface : public QObject {
   Q_OBJECT
   class Impl;
@@ -31,23 +36,25 @@ public:
 
   Q_PROPERTY(STATUS status READ status NOTIFY statusChanged)
   Q_PROPERTY(QString statusString READ statusString NOTIFY statusChanged)
-  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
   Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
   Q_PROPERTY(bool running READ running NOTIFY runningChanged)
 
   Q_INVOKABLE void start();
   Q_INVOKABLE void stop();
-  Q_INVOKABLE void publishTileData();
-  Q_INVOKABLE void requestProgress();
 
-  void setTileData(const TileData &tileData);
-  bool hasTileData(const TileData &tileData) const;
-  void setAutoPublish(bool ap);
-  void setHoldProgress(bool hp);
+  void addTiles(const TilePtrArray &tileArray);
+  void addTiles(const TileArray &tileArray);
+  void removeTiles(const IDArray &idArray);
+  void clearTiles();
+  TileArray getTiles(const IDArray &idArray);
+  TileArray getAllTiles();
+  LogicalArray containsTiles(const IDArray &idArray);
+  TileArray extractTiles(const IDArray &idArray);
+  std::size_t size();
+  bool empty();
 
   STATUS status() const;
   QString statusString() const;
-  QVector<int> progress() const;
   QString editorQml();
   bool running();
 

src/MeasurementComplexItem/TileArray.h

+#ifndef TILEARRAY_H
+#define TILEARRAY_H
+typedef QVector<MeasurementTile> TileArray;
+
+#endif // TILEARRAY_H

src/MeasurementComplexItem/TilePtrArray.h

+#ifndef TILEPTRARRAY_H
+#define TILEPTRARRAY_H
+typedef QVector<MeasurementTile *> TilePtrArray;
+
+#endif // TILEPTRARRAY_H