working on DefaultManager.cpp

src/Wima/CircularSurveyComplexItem.cc

@@ -237,9 +237,10 @@ void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>&
     MissionItem* item;
     int seqNum =                    _sequenceNumber;
 
-    MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
+    MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative()
+            ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
 
-    for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
+    for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect : _transects) {
         //bool transectEntry = true;
 
         for (const CoordInfo_t& transectCoordInfo: transect) {
@@ -392,7 +393,7 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
     if (!_rebuildTransectsInputCheck(surveyPolygon))
         return;
 
-    // If the transects are getting rebuilt then any previously loaded mission items are now invalid
+    // If the transects are getting rebuilt then any previously loaded mission items are now invalid.
     if (_loadedMissionItemsParent) {
         _loadedMissionItems.clear();
         _loadedMissionItemsParent->deleteLater();
@@ -446,7 +447,10 @@ void CircularSurveyComplexItem::_rebuildTransectsSlow()
 
         reversePath ^= true; // toggle
 
-        optimizedPath.append(connectorPath);
+        connectorPath.pop_front();
+        connectorPath.pop_back();
+        if (connectorPath.size() > 0)
+            optimizedPath.append(connectorPath);
         optimizedPath.append(currentSection);
     }
     if (optimizedPath.size() > _maxWaypoints.rawValue().toInt())

src/Wima/WaypointManager/DefaultManager.cpp

@@ -3,6 +3,8 @@
 #include "Wima/Geometry/PolygonCalculus.h"
 
 #include "MissionSettingsItem.h"
+#include "SimpleMissionItem.h"
+
 
 WaypointManager::DefaultManager::DefaultManager(Settings &settings,
                                                 AreaInterface &interface)
@@ -67,11 +69,11 @@ bool WaypointManager::DefaultManager::_insertMissionItem(const QGeoCoordinate &c
                             list,
                             _settings->vehicle(),
                             _settings->isFlyView(),
-                            &_currentMissionItems /*parent*/,
+                            &list /*parent*/,
                             doUpdate /*do update*/) )
     {
-        Q_ASSERT(false);
         qWarning("WaypointManager::DefaultManager::next(): insertMissionItem failed.");
+        Q_ASSERT(false);
         return false;
     }
     return true;
@@ -115,34 +117,37 @@ bool WaypointManager::DefaultManager::_worker()
     if (_dirty) {
         _missionItems.clearAndDeleteContents();
         _waypointsVariant.clear();
-        initialize(_missionItems, _settings->vehicle(), _settings->isFlyView());
+        // No initialization of _missionItems, don't need MissionSettingsItem here.
         for (size_t i = 0; i < size_t(_waypoints.size()); ++i) {
-            const QGeoCoordinate &c = _waypoints.at(i);
+            auto &c = _waypoints.at(i);
             _insertMissionItem(c, _missionItems.count(), _missionItems, false /*update list*/);
             _waypointsVariant.push_back(QVariant::fromValue(c));
         }
-        Q_ASSERT(_missionItems.value<MissionSettingsItem*>(0) != nullptr);
-        doUpdate(_missionItems);
-
+        updateHirarchy(_missionItems);
+        updateSequenceNumbers(_missionItems, 1); // Start with 1, since MissionSettingsItem missing.
         _dirty = false;
     }
 
     _currentMissionItems.clearAndDeleteContents();
     initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView());
 
-    // calculate path from home to first waypoint
-    QVector<QGeoCoordinate> arrivalPath;
+    // Precondition.
     if (!_settings->homePosition().isValid()){
         qWarning("WaypointManager::DefaultManager::next(): home position invalid.");
         Q_ASSERT(false);
         return false;
     }
 
+    // Calculate path from home to first waypoint.
+    QVector<QGeoCoordinate> arrivalPath;
     if ( !_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(), arrivalPath) ) {
         qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to first waypoint.");
         return false;
     }
-    arrivalPath.removeFirst();
+    if (!arrivalPath.empty())
+        arrivalPath.removeFirst();
+    if (!arrivalPath.empty())
+        arrivalPath.removeLast();
 
     // calculate path from last waypoint to home
     QVector<QGeoCoordinate> returnPath;
@@ -150,8 +155,10 @@ bool WaypointManager::DefaultManager::_worker()
         qWarning("WaypointManager::DefaultManager::next(): Not able to calc path from home position to last waypoint.");
         return false;
     }
-    returnPath.removeFirst();
-    returnPath.removeLast();
+    if (!returnPath.empty())
+        returnPath.removeFirst();
+    if (!returnPath.empty())
+        returnPath.removeLast();
 
 
 
@@ -165,28 +172,25 @@ bool WaypointManager::DefaultManager::_worker()
     }
     settingsItem->setCoordinate(_settings->homePosition());
 
-    // Set takeoff position for first mission item (bug).
+    // First mission item is takeoff command.
     _insertMissionItem(_settings->homePosition(), 1 /*insertion index*/,  false /*do update*/);
     SimpleMissionItem *takeoffItem = _currentMissionItems.value<SimpleMissionItem*>(1);
     if (takeoffItem == nullptr) {
-        Q_ASSERT(false);
         qWarning("WaypointManager::DefaultManager::next(): nullptr.");
+        Q_ASSERT(takeoffItem != nullptr);
         return false;
     }
-    takeoffItem->setCoordinate(_settings->homePosition());
+    makeTakeOffCmd(takeoffItem, _settings->masterController()->managerVehicle());
 
     // Create change speed item.
     _insertMissionItem(_settings->homePosition(), 2 /*insertion index*/, false /*do update*/);
     SimpleMissionItem *speedItem = _currentMissionItems.value<SimpleMissionItem*>(2);
     if (speedItem == nullptr) {
-        Q_ASSERT(false);
         qWarning("WaypointManager::DefaultManager::next(): nullptr.");
+        Q_ASSERT(speedItem != nullptr);
         return false;
     }
-    speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED);
-    // Set coordinate must be after setCommand (setCommand sets coordinate to zero).
-    speedItem->setCoordinate(_settings->homePosition());
-    speedItem->missionItem().setParam2(_settings->arrivalReturnSpeed());
+    makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
 
     // insert arrival path
     for (auto coordinate : arrivalPath) {
@@ -204,9 +208,7 @@ bool WaypointManager::DefaultManager::_worker()
         qWarning("WaypointManager::DefaultManager::next(): nullptr.");
         return false;
     }
-    speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED); // set coordinate must be after setCommand (setCommand sets coordinate to zero)
-    speedItem->setCoordinate(_currentWaypoints.first());
-    speedItem->missionItem().setParam2(_settings->flightSpeed());
+    makeSpeedCmd(speedItem, _settings->flightSpeed());
 
     // Insert slice.
     for (auto coordinate : _currentWaypoints) {

src/Wima/WaypointManager/DefaultManager.h

@@ -15,7 +15,11 @@ typedef GenericWaypointManager<QGeoCoordinate,
                                QmlObjectListModel,
                                Settings>
         ManagerBase;
-
+//!
+//! \brief The DefaultManager class is used to manage SimpleMissionItems.
+//!
+//! @note The \class QmlObjectList returned by \fn missionItems doesn't contain a MissionSettingsItem.
+//! This list is supposed to be used for display purposes only.
 class DefaultManager : public ManagerBase
 {
 public:

src/Wima/WaypointManager/Slicer.cpp

@@ -38,11 +38,6 @@ int Slicer::startIndex()
     return _idxStart;
 }
 
-Slicer &Slicer::operator=(const Slicer &other)
-{
-
-}
-
 void Slicer::_updateIdx(std::size_t size)
 {
     _idxValid = true;

src/Wima/WaypointManager/Slicer.h

@@ -46,8 +46,6 @@ public:
     //! @return Returns the start index.
     int           startIndex    ();
 
-    Slicer &operator=(const Slicer &other);
-
 
 private:
     void _updateIdx(std::size_t size);

src/Wima/WaypointManager/Utils.cpp

 #include "Utils.h"
 #include "MissionSettingsItem.h"
+#include <iostream>
+
+#include <QGeoCoordinate>
 
 
 template<>
@@ -28,25 +31,12 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
         int sequenceNumber = detail::nextSequenceNumber(list);
         newItem->setSequenceNumber(sequenceNumber);
         newItem->setCoordinate(coordinate);
-
-        // Set command (takeoff if first command).
         newItem->setCommand(MAV_CMD_NAV_WAYPOINT);
-        if (list.count() == 1
-                && ( vehicle->fixedWing()
-                     || vehicle->vtol()
-                     || vehicle->multiRotor() ) ) {
-            MAV_CMD takeoffCmd = vehicle->vtol()
-                    ? MAV_CMD_NAV_VTOL_TAKEOFF
-                    : MAV_CMD_NAV_TAKEOFF;
-            if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
-                newItem->setCommand(takeoffCmd);
-            }
-        }
 
         // Set altitude and altitude mode from previous item.
         if (newItem->specifiesAltitude()) {
-            double  altitude;
-            int     altitudeMode;
+            double  altitude = 10;
+            int     altitudeMode = QGroundControlQmlGlobal::AltitudeModeRelative;
 
             if (detail::previousAltitude(list, index-1, altitude, altitudeMode)) {
                 newItem->altitude()->setRawValue(altitude);
@@ -59,9 +49,9 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
         list.insert(index, newItem);
 
         if ( doUpdates ) {
-            detail::updateSequenceNumbers(list, index);
-            detail::updateHirarchy(list);
-            detail::updateHomePosition(list);
+            updateSequenceNumbers(list);
+            updateHirarchy(list);
+            updateHomePosition(list);
         }
     }
     return true;
@@ -104,30 +94,27 @@ bool WaypointManager::Utils::detail::previousAltitude(QmlObjectListModel &list,
     return false;
 }
 
-bool WaypointManager::Utils::detail::updateSequenceNumbers(QmlObjectListModel &list, size_t startIdx)
+bool WaypointManager::Utils::updateSequenceNumbers(QmlObjectListModel &list, size_t firstSeqNumber)
 {
     using namespace WaypointManager::Utils;
 
-    if ( list.count() < 1 || startIdx >= size_t(list.count()) )
+    if ( list.count() < 1)
         return false;
 
     // Setup ascending sequence numbers for all visual items.
-    VisualMissionItem* startItem = list.value<VisualMissionItem*>(
-                std::max(long(startIdx)-1,long(0)) );
-    if (list.count() == 1){
-        startItem->setSequenceNumber(0);
-    } else {
-        int sequenceNumber = startItem->lastSequenceNumber() + 1;
-        for (int i=startIdx; i < list.count(); ++i) {
-            VisualMissionItem* item = list.value<VisualMissionItem*>(i);
-            item->setSequenceNumber(sequenceNumber);
-            sequenceNumber = item->lastSequenceNumber() + 1;
-        }
+    VisualMissionItem* startItem = list.value<VisualMissionItem*>(0);
+    assert(startItem != nullptr); // list empty?
+    startItem->setSequenceNumber(firstSeqNumber);
+    int sequenceNumber = startItem->lastSequenceNumber() + 1;
+    for (int i=1; i < list.count(); ++i) {
+        VisualMissionItem* item = list.value<VisualMissionItem*>(i);
+        item->setSequenceNumber(sequenceNumber);
+        sequenceNumber = item->lastSequenceNumber() + 1;
     }
     return true;
 }
 
-bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
+bool WaypointManager::Utils::updateHirarchy(QmlObjectListModel &list)
 {
     if ( list.count() < 1)
         return false;
@@ -150,7 +137,7 @@ bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
     return true;
 }
 
-bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list)
+bool WaypointManager::Utils::updateHomePosition(QmlObjectListModel &list)
 {
     MissionSettingsItem *settingsItem = list.value<MissionSettingsItem *>(0);
     assert(settingsItem); // list not initialized?
@@ -161,7 +148,7 @@ bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list
         assert(item);
 
         if (item->specifiesCoordinate() && item->coordinate().isValid()) {
-            QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(30, 0);
+            QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(3, 0);
             c.setAltitude(0);
             settingsItem->setCoordinate(c);
             return true;
@@ -179,13 +166,55 @@ void WaypointManager::Utils::initialize(QmlObjectListModel &list,
     list.insert(0, settingsItem);
 }
 
-bool WaypointManager::Utils::doUpdate(QmlObjectListModel &list)
+bool WaypointManager::Utils::updateList(QmlObjectListModel &list)
 {
     using namespace WaypointManager::Utils;
 
-    bool ret = detail::updateSequenceNumbers(list, 0);
-    ret = detail::updateHirarchy(list) == false ? false : ret;
-    (void)detail::updateHomePosition(list);
+    bool ret = updateSequenceNumbers(list);
+    ret = updateHirarchy(list) == false ? false : ret;
+    (void)updateHomePosition(list);
 
     return ret;
 }
+
+void WaypointManager::Utils::printList(QmlObjectListModel &list)
+{
+    for (int i = 0; i < list.count(); ++i) {
+        auto item = list.value<VisualMissionItem*>(i);
+        qWarning() << "list index: " << i << "\n"
+                   << "coordinate: " << item->coordinate() << "\n"
+                   << "seq: " << item->sequenceNumber() << "\n"
+                   << "last seq: " << item->lastSequenceNumber() << "\n"
+                   << "is simple item: " << item->isSimpleItem() << "\n\n";
+    }
+}
+
+bool WaypointManager::Utils::makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle)
+{
+    if (   vehicle->fixedWing()
+        || vehicle->vtol()
+        || vehicle->multiRotor()
+       )
+    {
+        MAV_CMD takeoffCmd = vehicle->vtol()
+                ? MAV_CMD_NAV_VTOL_TAKEOFF
+                : MAV_CMD_NAV_TAKEOFF;
+        if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(takeoffCmd)) {
+            auto c = item->coordinate();
+            item->setCommand(takeoffCmd);
+            item->setCoordinate(c);
+            return true;
+        }
+    }
+    return false;
+}
+
+void WaypointManager::Utils::makeSpeedCmd(SimpleMissionItem *item, double speed)
+{
+    assert(speed > 0);
+    auto c = item->coordinate();
+    item->setCommand(MAV_CMD_DO_CHANGE_SPEED);
+    // Set coordinate must be after setCommand (setCommand sets coordinate to zero).
+    item->setCoordinate(c);
+    item->missionItem().setParam2(speed);
+}

src/Wima/WaypointManager/Utils.h

 #pragma once
 
-#include "SimpleMissionItem.h"
 #include "QmlObjectListModel.h"
+#include "SimpleMissionItem.h"
 
 #include <QVariant>
 
+
+class Vehicle;
+class QGeoCoordinate;
+
+
+
 namespace WaypointManager {
 namespace Utils {
 
@@ -104,6 +110,21 @@ bool extract(const ContainerType<CoordinateType>  &source,
     return true;
 }
 
+//!
+//! \brief Makes the SimpleMissionItem \p item a takeoff command.
+//! \param item SimpleMissionItem
+//! \param vehilce Vehicle.
+//! \return Returns true if successfull, false either.
+//!
+bool makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle);
+
+//!
+//! \brief Makes the SimpleMissionItem \p item a MAV_CMD_DO_CHANGE_SPEED item.
+//! \param item SimpleMissionItem.
+//! \param speed Speed (must be greater zero).
+//!
+void makeSpeedCmd(SimpleMissionItem *item, double speed);
+
 
 //!
 //! \brief Initializes the list \p list.
@@ -116,7 +137,7 @@ void initialize(QmlObjectListModel &list,
                 Vehicle *vehicle,
                 bool flyView=true);
 
-//! @brief Creates (from QGeoCoordinate) and Inserts a SimpleMissionItem at the given index to list.
+//! @brief Creates (from QGeoCoordinate) and inserts a SimpleMissionItem at the given index to list.
 //! \param coordinate Coordinate of the SimpleMissionItem.
 //! \param index Index to insert SimpleMissionItem.
 //! \param list List of SimpleMissionItems.
@@ -137,8 +158,42 @@ bool insertMissionItem(const QGeoCoordinate &coordinate,
                        bool flyView=true,
                        QObject *parent=nullptr,
                        bool doUpdates=true);
+//!
+//! \brief Performs a list update.
+//!
+//! Updates the home position of the MissionSettingsItem, the parent child hirarchy and the sequence numbers.
+//! \param list List containing VisualMissionItems.
+//! \return Returns true if no errors occured, false either.
+bool updateList(QmlObjectListModel &list);
+
+//! @brief Updates the sequence numbers of the VisualMissionItems inside \p list.
+//!
+//! \param list List containing VisualMissionItems.
+//! \param firstSeqNumber The sequence number of the fisrt list entry (defaul = 0).
+//! \return Returns true if successfull, false either.
+//!
+//! \note If the list \p list contains only one VisualMissionItem it's sequence number is
+//! set to 0.
+bool updateSequenceNumbers(QmlObjectListModel &list, size_t firstSeqNumber = 0);
+
+//! @brief Update the parent child item hierarchy of the VisualMissionItems inside \p list.
+//!
+//! \param list List containing VisualMissionItems.
+//! \return Returns true if successfull, false either.
+//!
+//! \note Returns true on success, false either.
+bool updateHirarchy(QmlObjectListModel &list);
+
+//! @brief Updates the home position to the first valid coordinate of the VisualMissionItems inside \p list.
+//!
+//! \param list List containing VisualMissionItems.
+//! \return Returns true if the home position was updated, false either.
+bool updateHomePosition(QmlObjectListModel &list);
 
-bool doUpdate(QmlObjectListModel &list);
+//!
+//! \brief Prints the \p list.
+//! \param list List containing VisualMissionItems.
+void printList(QmlObjectListModel &list);
 
 namespace detail {
     size_t nextSequenceNumber(QmlObjectListModel &list);
@@ -147,33 +202,6 @@ namespace detail {
                           double &altitude,
                           int &altitudeMode);
 
-    //! @brief Updates the sequence numbers of the VisualMissionItems inside \p list beginning from \p startIdx.
-    //!
-    //! Updates the sequence numbers of the VisualMissionItems inside \p list beginning from \pstartIdx.
-    //! \param list List containing VisualMissionItems.
-    //! \param startIdx Start index.
-    //! \return Returns true if successfull, false either.
-    //!
-    //! \note The function returns false immediatelly if the list \p list ist empty or
-    //! the \p startIdx is out of bounds.
-    //! \note If the list \p list contains only one VisualMissionItem it's sequence number is
-    //! set to 0.
-    bool updateSequenceNumbers(QmlObjectListModel &list, size_t startIdx=0);
-
-    //! @brief Update the parent child item hierarchy of the VisualMissionItems inside \p list.
-    //!
-    //! \param list List containing VisualMissionItems.
-    //! \return Returns true if successfull, false either.
-    //!
-    //! \note Returns true on success, false either.
-    bool updateHirarchy(QmlObjectListModel &list);
-
-    //! @brief Updates the home position to the first valid coordinate of the VisualMissionItems inside \p list.
-    //!
-    //! \param list List containing VisualMissionItems.
-    //! \return Returns true if the home position was updated, false either.
-    bool updateHomePosition(QmlObjectListModel &list);
-
 } // namespace detail
 } // namespace Utils
 } // namespace WaypointManager

src/Wima/WimaController.cc

@@ -128,6 +128,10 @@ QmlObjectListModel *WimaController::visualItems() {
     return &_areas;
 }
 
+WimaDataContainer *WimaController::dataContainer() {
+    return _container;
+}
+
 QmlObjectListModel *WimaController::missionItems() {
     return const_cast<QmlObjectListModel*>(&_currentManager.missionItems());
 }
@@ -146,6 +150,42 @@ QVariantList WimaController::currentWaypointPath()
     return const_cast<QVariantList&>(_currentManager.currentWaypointsVariant());
 }
 
+Fact *WimaController::enableWimaController() {
+    return &_enableWimaController;
+}
+
+Fact *WimaController::overlapWaypoints() {
+    return &_overlapWaypoints;
+}
+
+Fact *WimaController::maxWaypointsPerPhase() {
+    return &_maxWaypointsPerPhase;
+}
+
+Fact *WimaController::startWaypointIndex() {
+    return &_nextPhaseStartWaypointIndex;
+}
+
+Fact *WimaController::showAllMissionItems() {
+    return &_showAllMissionItems;
+}
+
+Fact *WimaController::showCurrentMissionItems() {
+    return &_showCurrentMissionItems;
+}
+
+Fact *WimaController::flightSpeed() {
+    return &_flightSpeed;
+}
+
+Fact *WimaController::arrivalReturnSpeed() {
+    return &_arrivalReturnSpeed;
+}
+
+Fact *WimaController::altitude() {
+    return &_altitude;
+}
+
 //QStringList WimaController::loadNameFilters() const
 //{
 //    QStringList filters;
@@ -170,12 +210,12 @@ bool WimaController::uploadOverrideRequired() const
 
 double WimaController::phaseDistance() const
 {
-    return _phaseDistance;
+    return 0.0;
 }
 
 double WimaController::phaseDuration() const
 {
-    return _phaseDuration;
+    return 0.0;
 }
 
 bool WimaController::vehicleHasLowBattery() const
@@ -331,7 +371,7 @@ bool WimaController::calcReturnPath()
 //        qgcApp()->showMessage(errorString);
 //        return false;
 //    }
-//    return true;
+    return true;
 }
 
 void WimaController::executeSmartRTL()
@@ -483,18 +523,19 @@ bool WimaController::_fetchContainerData()
     // extract mission items
     QList<MissionItem> tempMissionItems = planData.missionItems();
     if (tempMissionItems.size() < 1) {
-        assert(false);
+        qWarning("WimaController: Mission items from WimaPlaner empty!");
         return false;
     }
 
-    for (auto item : tempMissionItems)
+    for (auto item : tempMissionItems) {
         _defaultManager.push_back(item.coordinate());
+    }
 
     _managerSettings.setHomePosition( QGeoCoordinate(_serviceArea.center().latitude(),
                                                      _serviceArea.center().longitude(),
                                                      0) );
 
-    if( !_defaultManager.update() ){
+    if( !_defaultManager.reset() ){
         assert(false);
         return false;
     }
@@ -586,13 +627,13 @@ bool WimaController::_calcNextPhase()
              << "overlap=" << _currentManager.overlap()
              << "N=" << _currentManager.N()
              << "startIndex=" << _currentManager.startIndex();
-    bool value;
-    _currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
-    Q_ASSERT(value);
-    (void)value;
-    qDebug() << "overlap=" << _currentManager.overlap()
-             << "N=" << _currentManager.N()
-             << "startIndex=" << _currentManager.startIndex();
+//    bool value;
+//    _currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
+//    Q_ASSERT(value);
+//    (void)value;
+//    qDebug() << "overlap=" << _currentManager.overlap()
+//             << "N=" << _currentManager.N()
+//             << "startIndex=" << _currentManager.startIndex();
 
     if ( !_currentManager.next() ) {
         assert(false);
@@ -755,6 +796,7 @@ void WimaController::_eventTimerHandler()
 
 void WimaController::_smartRTLCleanUp(bool flying)
 {
+    (void)flying;
 
 //    if ( !flying) { // vehicle has landed
 //        if (_executingSmartRTL) {
@@ -781,20 +823,22 @@ void WimaController::_enableDisableLowBatteryHandling(QVariant enable)
 
 void WimaController::_setPhaseDistance(double distance)
 {
-    if (!qFuzzyCompare(distance, _phaseDistance)) {
-        _phaseDistance = distance;
+    (void)distance;
+//    if (!qFuzzyCompare(distance, _phaseDistance)) {
+//        _phaseDistance = distance;
 
-        emit phaseDistanceChanged();
-    }
+//        emit phaseDistanceChanged();
+//    }
 }
 
 void WimaController::_setPhaseDuration(double duration)
 {
-    if (!qFuzzyCompare(duration, _phaseDuration)) {
-        _phaseDuration = duration;
+    (void)duration;
+//    if (!qFuzzyCompare(duration, _phaseDuration)) {
+//        _phaseDuration = duration;
 
-        emit phaseDurationChanged();
-    }
+//        emit phaseDurationChanged();
+//    }
 }
 
 bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
@@ -977,9 +1021,3 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc,
     emit WimaController::nemoProgressChanged();
 }
 
-template<>
-QVariant getCoordinate<QVariant>(const SimpleMissionItem* item)
-{
-    return QVariant::fromValue(item->coordinate());
-}
-

src/Wima/WimaController.h

@@ -213,20 +213,20 @@ public:
 //    QStringList                 saveNameFilters        (void) const;
 //    QString                     fileExtension          (void) const     { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
-    WimaDataContainer*          dataContainer          (void)           { return _container; }
+    WimaDataContainer*          dataContainer          (void);
     QmlObjectListModel*         missionItems           (void);
     QmlObjectListModel*         currentMissionItems    (void);
     QVariantList                waypointPath           (void);
     QVariantList                currentWaypointPath    (void);
-    Fact*                       enableWimaController   (void)           { return &_enableWimaController; }
-    Fact*                       overlapWaypoints       (void)           { return &_overlapWaypoints; }
-    Fact*                       maxWaypointsPerPhase   (void)           { return &_maxWaypointsPerPhase; }
-    Fact*                       startWaypointIndex     (void)           { return &_nextPhaseStartWaypointIndex; }
-    Fact*                       showAllMissionItems    (void)           { return &_showAllMissionItems; }
-    Fact*                       showCurrentMissionItems(void)           { return &_showCurrentMissionItems; }
-    Fact*                       flightSpeed            (void)           { return &_flightSpeed; }
-    Fact*                       arrivalReturnSpeed     (void)           { return &_arrivalReturnSpeed; }
-    Fact*                       altitude               (void)           { return &_altitude; }
+    Fact*                       enableWimaController   (void);
+    Fact*                       overlapWaypoints       (void);
+    Fact*                       maxWaypointsPerPhase   (void);
+    Fact*                       startWaypointIndex     (void);
+    Fact*                       showAllMissionItems    (void);
+    Fact*                       showCurrentMissionItems(void);
+    Fact*                       flightSpeed            (void);
+    Fact*                       arrivalReturnSpeed     (void);
+    Fact*                       altitude               (void);
 
     Fact*                       enableSnake            (void)           { return &_enableSnake; }
     Fact*                       snakeTileWidth         (void)           { return &_snakeTileWidth;}
@@ -260,9 +260,9 @@ public:
     Q_INVOKABLE bool uploadToVehicle();
     Q_INVOKABLE bool forceUploadToVehicle();
     Q_INVOKABLE void removeFromVehicle();    
-    Q_INVOKABLE bool checkSmartRTLPreCondition(); // wrapper for _checkSmartRTLPreCondition(QString &errorString)
-    Q_INVOKABLE bool calcReturnPath(); // wrapper for _calcReturnPath(QString &errorSring)#
-    Q_INVOKABLE void executeSmartRTL(); // wrapper for _executeSmartRTL(QString &errorSring)
+    Q_INVOKABLE bool checkSmartRTLPreCondition();
+    Q_INVOKABLE bool calcReturnPath();
+    Q_INVOKABLE void executeSmartRTL();
     Q_INVOKABLE void initSmartRTL();
     Q_INVOKABLE void removeVehicleTrajectoryHistory();
 
@@ -446,81 +446,4 @@ private:
 
 };
 
-/*
- * The following explains the structure of
- * _missionController.visualItems().
- *
- * Index        Description
- * --------------------------------------------
- * 0            MissionSettingsItem
- * 1            Takeoff Command
- * 2            Speed Command: arrivalReturnSpeed
- * 3            Arrival Path Waypoint 0
- * ...
- * 3+n-1        Arrival Path Waypoint n-1
- * 3+n          Speed Command: flightSpeed
- * 3+n+1        Circular Survey Waypoint 0
- * ...
- * 3+n+m        Circular Survey Waypoint m-1
- * 3+n+m+1      Speed Command: arrivalReturnSpeed
- * 3+n+m+2      Return Path Waypoint 0
- * ...
- * 3+n+m+2+l    Return Path Waypoint l-1
- * 3+n+m+2+l+1  Land command
- *
- * _currentMissionItems is equal to
- * _missionController.visualItems() except that it
- * is missing the MissionSettingsItem
- */
-
-
-
-template<class CoordinateType>
-CoordinateType getCoordinate(const SimpleMissionItem* item){
-    return item->coordinate();
-}
-
-template<>
-QVariant getCoordinate<QVariant>(const SimpleMissionItem* item);
-
-
-/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
-template <class CoordinateType, template <class, class...> class ContainerType>
-bool getCoordinates(QmlObjectListModel &missionItems,
-                    ContainerType<CoordinateType> &coordinateList,
-                    std::size_t startIndex,
-                    std::size_t  endIndex){
-
-    if (   startIndex < std::size_t(missionItems.count())
-        && endIndex < std::size_t(missionItems.count()) ) {
-        if (startIndex > endIndex) {
-            if (!getCoordinates(missionItems, coordinateList, startIndex, missionItems.count()-1))
-                return false;
-            if (!getCoordinates(missionItems, coordinateList, 0, endIndex))
-                return false;
-        } else {
-            for (std::size_t i = startIndex; i <= endIndex; i++) {
-                SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(int(i));
-
-                if (mItem == nullptr) {
-                    coordinateList.clear();
-                    return false;
-                }
-                coordinateList.append(getCoordinate<CoordinateType>(mItem));
-            }
-        }
-    } else
-        return false;
-
-    return true;
-}
-
-/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
-template <class CoordinateType, template <class, class...> class ContainerType>
-bool getCoordinates(QmlObjectListModel &missionItems,
-                    ContainerType<CoordinateType> &coordinateList){
-
-    return getCoordinates(missionItems, coordinateList, 0, missionItems.count());
-}
-