wima planer, wima controller edited

src/PlanView/CircularSurveyItemEditor.qml

@@ -174,23 +174,30 @@ Rectangle {
             BusyIndicator{
                 id: indicator
                 anchors.horizontalCenter: parent.horizontalCenter
-                running: missionItem.calculating
+                property bool calculating: missionItem.calculating
+                running: calculating
 
-                onRunningChanged: {
-                    if(running){
+                onCalculatingChanged: {
+                    if(calculating){
                         visible = true
                     } else {
                        timer.restart()
                     }
                 }
 
+                Component.onCompleted: {
+                    if (calculating){
+                        visible = true
+                    }
+                }
+
                 Timer{
                    id: timer
-                   interval: 2000
+                   interval: 1000
                    repeat: false
 
                    onTriggered: {
-                       if (indicator.running == false){
+                       if (indicator.calculating == false){
                             indicator.visible = false
                        }
                    }

src/Wima/CSWorker.cpp

@@ -64,6 +64,9 @@ void CSWorker::update(const QGeoCoordinate &depot,
   Lock lk(this->_mutex);
   this->_depot = depot;
   this->_safeArea = safeArea;
+  for (auto &v : this->_safeArea) {
+    v.setAltitude(0);
+  }
   this->_polygon = polygon;
   for (auto &v : this->_polygon) {
     v.setAltitude(0);
@@ -96,6 +99,7 @@ void CSWorker::run() {
       depot = this->_depot;
       safeArea = this->_safeArea;
     } else {
+      depot = this->_origin;
       safeArea = this->_polygon;
     }
     const auto polygon = this->_polygon;
@@ -379,11 +383,11 @@ void CSWorker::run() {
           } else {
             // Find index of first waypoint.
             std::size_t idxFirst = 0;
-            const auto &info1 =
-                this->_useDepotSafeArea ? transectsInfo[1] : transectsInfo[0];
-            const auto &firstTransect = transectsENU[info1.index];
-            const auto &firstWaypoint =
-                info1.reversed ? firstTransect.back() : firstTransect.front();
+            const auto &infoFirst = transectsInfo.front();
+            const auto &firstTransect = transectsENU[infoFirst.index];
+            const auto &firstWaypoint = infoFirst.reversed
+                                            ? firstTransect.back()
+                                            : firstTransect.front();
             double th = 0.001;
             for (std::size_t i = 0; i < route.size(); ++i) {
               auto dist = bg::distance(route[i], firstWaypoint);
@@ -393,11 +397,11 @@ void CSWorker::run() {
               }
             }
             // Find index of last waypoint.
-            std::size_t idxLast = 0;
-            const auto &info = transectsInfo.back();
-            const auto &lastTransect = transectsENU[info.index];
+            std::size_t idxLast = route.size() - 1;
+            const auto &infoLast = transectsInfo.back();
+            const auto &lastTransect = transectsENU[infoLast.index];
             const auto &lastWaypoint =
-                info.reversed ? lastTransect.front() : lastTransect.back();
+                infoLast.reversed ? lastTransect.front() : lastTransect.back();
             for (long i = route.size() - 1; i >= 0; --i) {
               auto dist = bg::distance(route[i], lastWaypoint);
               if (dist < th) {

src/Wima/CircularSurvey.h

@@ -29,7 +29,7 @@ public:
   Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
   Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
   Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
-  Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygon)
+  Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygonChanged)
 
   Q_INVOKABLE void resetReference(void);
   Q_INVOKABLE void reverse(void);

src/Wima/Geometry/WimaServiceArea.cc

@@ -20,11 +20,15 @@ WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
   return *this;
 }
 
-void WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
+bool WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
   if (_depot != coordinate) {
-    _depot = coordinate;
-    emit depotChanged();
+    if (this->containsCoordinate(coordinate)) {
+      _depot = coordinate;
+      emit depotChanged();
+      return true;
+    }
   }
+  return false;
 }
 
 void WimaServiceArea::saveToJson(QJsonObject &json) {
@@ -58,8 +62,8 @@ void print(const WimaServiceArea &area, QString &outputStr) {
 
 void WimaServiceArea::init() {
   this->setObjectName(wimaServiceAreaName);
-  connect(this, &WimaServiceArea::centerChanged, [this] {
-    if (!this->_depot.isValid()) {
+  connect(this, &WimaArea::pathChanged, [this] {
+    if (!this->_depot.isValid() || !this->containsCoordinate(this->_depot)) {
       this->setDepot(this->center());
     }
   });

src/Wima/Geometry/WimaServiceArea.h

@@ -34,7 +34,7 @@ signals:
   void depotChanged(void);
 
 public slots:
-  void setDepot(const QGeoCoordinate &coordinate);
+  bool setDepot(const QGeoCoordinate &coordinate);
 
 private:
   // Member Methodes

src/Wima/Geometry/WimaServiceAreaData.cc

@@ -2,37 +2,33 @@
 
 const char *WimaServiceAreaData::typeString = "WimaServiceAreaData";
 
-
 WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
-    : WimaAreaData(parent)
-{
+    : WimaAreaData(parent) {}
 
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other,
+                                         QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
-    *this = other;
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other,
+                                         QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
-    *this = other;
+WimaServiceAreaData &WimaServiceAreaData::
+operator=(const WimaServiceAreaData &otherData) {
+  this->assign(otherData);
+  this->setDepot(otherData.depot());
+  return *this;
 }
 
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceAreaData &otherData)
-{
-    this->assign(otherData);
-
-    return *this;
-}
-
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &otherArea)
-{
-    this->assign(otherArea);
-
-    return *this;
+WimaServiceAreaData &WimaServiceAreaData::
+operator=(const WimaServiceArea &otherArea) {
+  this->assign(otherArea);
+  this->setDepot(otherArea.depot());
+  return *this;
 }
 
 /*!
@@ -40,77 +36,41 @@ WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &other
  * Returns a constant reference to the takeOffPosition.
  *
  */
-const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const
-{
-    return _takeOffPosition;
-}
-
-/*!
- * \fn const QGeoCoordinate &WimaServiceAreaData::landOffPosition() const
- * Returns a constant reference to the landOffPosition.
- *
- */
-const QGeoCoordinate &WimaServiceAreaData::landPosition() const
-{
-    return _landPosition;
-}
-
-QString WimaServiceAreaData::type() const
-{
-    return this->typeString;
-}
-/*!
- * \fn void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate &newCoordinate)
- * Sets the takeoff position to the \a newCoordinate and emits the takeOffPositionChanged() signal,
- * if newCoordinate differs from the member value.
- *
- */
-void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate &newCoordinate)
-{
-    if (_takeOffPosition != newCoordinate) {
-        _takeOffPosition = newCoordinate;
-
-        emit takeOffPositionChanged(_takeOffPosition);
-    }
-}
+const QGeoCoordinate &WimaServiceAreaData::depot() const { return _depot; }
 
+QString WimaServiceAreaData::type() const { return this->typeString; }
 /*!
- * \fn void WimaServiceAreaData::setLandOffPosition(const QGeoCoordinate &newCoordinate)
- * Sets the land position to the \a newCoordinate and emits the landOffPositionChanged() signal,
- * if newCoordinate differs from the member value.
+ * \fn void WimaServiceAreaData::setTakeOffPosition(const QGeoCoordinate
+ * &newCoordinate) Sets the takeoff position to the \a newCoordinate and emits
+ * the takeOffPositionChanged() signal, if newCoordinate differs from the member
+ * value.
  *
  */
-void WimaServiceAreaData::setLandPosition(const QGeoCoordinate &newCoordinate)
-{
-    if (_landPosition != newCoordinate) {
-        _landPosition = newCoordinate;
-
-        emit landPositionChanged(_landPosition);
-    }
+void WimaServiceAreaData::setDepot(const QGeoCoordinate &newCoordinate) {
+  if (_depot != newCoordinate) {
+    _depot = newCoordinate;
+    emit depotChanged(_depot);
+  }
 }
 
-void WimaServiceAreaData::assign(const WimaServiceAreaData &other)
-{
-    WimaAreaData::assign(other);
-    setLandPosition(other.landPosition());
-    setTakeOffPosition(other.takeOffPosition());
+void WimaServiceAreaData::assign(const WimaServiceAreaData &other) {
+  WimaAreaData::assign(other);
+  setDepot(other.depot());
 }
 
-void WimaServiceAreaData::assign(const WimaServiceArea &other)
-{
-    WimaAreaData::assign(other);
-    setLandPosition(other.landPosition());
-    setTakeOffPosition(other.depot());
+void WimaServiceAreaData::assign(const WimaServiceArea &other) {
+  WimaAreaData::assign(other);
+  setDepot(other.depot());
 }
 
-
 /*!
  * \class WimaAreaData::WimaServiceAreaData
  * \brief Class to store and exchange data of a \c WimaServiceArea Object.
- * Class to store and exchange data of a \c WimaServiceArea Object. In contrast to \c WimaServiceArea 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 derived from WimaAreaData.
+ * Class to store and exchange data of a \c WimaServiceArea Object. In contrast
+ * to \c WimaServiceArea 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 derived from WimaAreaData.
  *
  * \sa WimaServiceArea, WimaAreaData
  */

src/Wima/Geometry/WimaServiceAreaData.h

 #pragma once
 
-#include <QObject>
 #include "QGeoCoordinate"
+#include <QObject>
 
 #include "WimaAreaData.h"
 #include "WimaServiceArea.h"
 
-
-
-class WimaServiceAreaData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaServiceAreaData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    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);
+  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 &landPosition() const;
+  const QGeoCoordinate &depot() const;
 
-    QString type() const;
-    WimaServiceAreaData *Clone() const {return new WimaServiceAreaData();}
-    static const char* typeString;
+  QString type() const;
+  WimaServiceAreaData *Clone() const { return new WimaServiceAreaData(); }
+  static const char *typeString;
 
 signals:
-    void takeOffPositionChanged(const QGeoCoordinate& other);
-    void landPositionChanged(const QGeoCoordinate& other);
+  void depotChanged(const QGeoCoordinate &other);
 
 public slots:
-    void setTakeOffPosition(const QGeoCoordinate& newCoordinate);
-    void setLandPosition(const QGeoCoordinate& newCoordinate);
+  void setDepot(const QGeoCoordinate &newCoordinate);
 
 protected:
-    void assign(const WimaServiceAreaData &other);
-    void assign(const WimaServiceArea &other);
+  void assign(const WimaServiceAreaData &other);
+  void assign(const WimaServiceArea &other);
+
 private:
-    // see WimaServieArea.h for explanation
-    QGeoCoordinate      _takeOffPosition;
-    QGeoCoordinate      _landPosition;
+  // see WimaServieArea.h for explanation
+  QGeoCoordinate _depot;
 };
-

src/Wima/WimaBridge.cc

 #include "WimaBridge.h"
 #include "WimaController.h"
 
-WimaBridge::WimaBridge(QObject *parent)
-    :   QObject     (parent)
-{
+WimaBridge::WimaBridge(QObject *parent) : QObject(parent) {}
 
-}
+WimaController *WimaBridge::wimaController() { return _wimaController; }
 
-WimaController *WimaBridge::wimaController()
-{
-    return _wimaController;
-}
+WimaPlaner *WimaBridge::wimaPlaner() { return _wimaPlaner; }
 
-WimaPlaner *WimaBridge::wimaPlaner()
-{
-    return _wimaPlaner;
-}
-
-WimaBridge *WimaBridge::thisPointer()
-{
-    return this;
-}
+WimaBridge *WimaBridge::thisPointer() { return this; }
 
-void WimaBridge::setWimaController(WimaController *controller)
-{
-    if (_wimaController != controller){
-        _wimaController = controller;
+void WimaBridge::setWimaController(WimaController *controller) {
+  if (_wimaController != controller) {
+    _wimaController = controller;
 
-        emit wimaControllerChanged(_wimaController);
-    }
+    emit wimaControllerChanged(_wimaController);
+  }
 }
 
-void WimaBridge::setWimaPlaner(WimaPlaner *planer)
-{
-    if (_wimaPlaner != planer){
-        _wimaPlaner = planer;
-
-        emit wimaPlanerChanged(_wimaPlaner);
-    }
+void WimaBridge::setWimaPlaner(WimaPlaner *planer) {
+  if (_wimaPlaner != planer) {
+    _wimaPlaner = planer;
 
+    emit wimaPlanerChanged(_wimaPlaner);
+  }
 }
 
-bool WimaBridge::setWimaPlanData(const WimaPlanData &planData)
-{
-    if ( _wimaController != nullptr) {
-        return _wimaController->setWimaPlanData(planData);
-    }
-    return false;
+bool WimaBridge::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
+  if (_wimaController != nullptr) {
+    return _wimaController->setWimaPlanData(planData);
+  }
+  return false;
 }
-
-
-
-

src/Wima/WimaBridge.h

 #pragma once
 
 #include <QObject>
+#include <QSharedPointer>
 
 #include "WimaPlanData.h"
 
@@ -11,38 +12,33 @@ class WimaPlaner;
 //! \brief The WimaBridge class
 //!
 //! A bridge establishing a link between WimaController and WimaPlaner
-class WimaBridge : public QObject
-{
-    Q_OBJECT
+class WimaBridge : public QObject {
+  Q_OBJECT
 public:
-    WimaBridge(QObject *parent = nullptr);
-    WimaBridge(WimaBridge &other) = delete;
+  WimaBridge(QObject *parent = nullptr);
+  WimaBridge(WimaBridge &other) = delete;
 
-    Q_PROPERTY(WimaPlaner  *wimaPlaner
-               READ         wimaPlaner
-               WRITE        setWimaPlaner
-               NOTIFY       wimaPlanerChanged)
-    Q_PROPERTY(WimaController  *wimaController
-               READ             wimaController
-               WRITE            setWimaController
-               NOTIFY           wimaControllerChanged)
+  Q_PROPERTY(WimaPlaner *wimaPlaner READ wimaPlaner WRITE setWimaPlaner NOTIFY
+                 wimaPlanerChanged)
+  Q_PROPERTY(WimaController *wimaController READ wimaController WRITE
+                 setWimaController NOTIFY wimaControllerChanged)
 
-    WimaController  *wimaController();
-    WimaPlaner      *wimaPlaner();
+  WimaController *wimaController();
+  WimaPlaner *wimaPlaner();
 
-    Q_INVOKABLE WimaBridge *thisPointer();
+  Q_INVOKABLE WimaBridge *thisPointer();
 
-    void setWimaController  (WimaController *controller);
-    void setWimaPlaner      (WimaPlaner *planer);
+  void setWimaController(WimaController *controller);
+  void setWimaPlaner(WimaPlaner *planer);
 
 signals:
-    void wimaControllerChanged  (WimaController *controller);
-    void wimaPlanerChanged      (WimaPlaner *planer);
+  void wimaControllerChanged(WimaController *controller);
+  void wimaPlanerChanged(WimaPlaner *planer);
 
 public slots:
-    bool setWimaPlanData(const WimaPlanData &planData);
+  bool setWimaPlanData(QSharedPointer<WimaPlanData> planData);
+
 private:
-    WimaController *_wimaController;
-    WimaPlaner     *_wimaPlaner;
+  WimaController *_wimaController;
+  WimaPlaner *_wimaPlaner;
 };
-

src/Wima/WimaController.cc

@@ -353,7 +353,7 @@ bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
   return retVal;
 }
 
-bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
+bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   // reset visual items
   _areas.clear();
   _defaultWM.clear();
@@ -368,7 +368,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
   _localPlanDataValid = false;
 
   // extract list with WimaAreas
-  QList<const WimaAreaData *> areaList = planData.areaList();
+  QList<const WimaAreaData *> areaList = planData->areaList();
 
   int areaCounter = 0;
   const int numAreas = 4; // extract only numAreas Areas, if there are more they
@@ -424,7 +424,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
   emit visualItemsChanged();
 
   // extract mission items
-  QList<MissionItem> tempMissionItems = planData.missionItems();
+  QList<MissionItem> tempMissionItems = planData->missionItems();
   if (tempMissionItems.size() < 1) {
     qWarning("WimaController: Mission items from WimaPlaner empty!");
     return false;
@@ -435,7 +435,7 @@ bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
   }
 
   _WMSettings.setHomePosition(QGeoCoordinate(
-      _serviceArea.center().latitude(), _serviceArea.center().longitude(), 0));
+      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
 
   if (!_defaultWM.reset()) {
     Q_ASSERT(false);

src/Wima/WimaController.h

@@ -148,7 +148,7 @@ public:
   // Property setters
   void setMasterController(PlanMasterController *masterController);
   void setMissionController(MissionController *missionController);
-  bool setWimaPlanData(const WimaPlanData &planData);
+  bool setWimaPlanData(QSharedPointer<WimaPlanData> planData);
 
   // Member Methodes
   Q_INVOKABLE WimaController *thisPointer();

src/Wima/WimaPlanData.cc

 #include "WimaPlanData.h"
 
-WimaPlanData::WimaPlanData(QObject *parent)
-    :   QObject (parent)
-{
-
-}
+WimaPlanData::WimaPlanData(QObject *parent) : QObject(parent) {}
 
 WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
-    :   QObject (parent)
-{
-    *this = other;
+    : QObject(parent) {
+  *this = other;
 }
 
 /*!
@@ -18,44 +13,41 @@ WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
  * 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)
-{
-    // copy wima areas
-    QList<const WimaAreaData*> areaList = other.areaList();
-    _areaList.clear();
-    for (int i = 0; i < areaList.size(); i++) {
-        const WimaAreaData *areaData = areaList[i];
-        // determine area type and append
-        if       (areaData->type() == WimaJoinedAreaData::typeString) {
-            this->append(*qobject_cast<const WimaJoinedAreaData*>(areaData));
-        }else if (areaData->type() == WimaServiceAreaData::typeString) {
-            this->append(*qobject_cast<const WimaServiceAreaData*>(areaData));
-        }else if (areaData->type() == WimaMeasurementAreaData::typeString) {
-            this->append(*qobject_cast<const WimaMeasurementAreaData*>(areaData));
-        }else if (areaData->type() == WimaCorridorData::typeString) {
-            this->append(*qobject_cast<const WimaCorridorData*>(areaData));
-        }
+WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
+  // copy wima areas
+  QList<const WimaAreaData *> areaList = other.areaList();
+  _areaList.clear();
+  for (int i = 0; i < areaList.size(); i++) {
+    const WimaAreaData *areaData = areaList[i];
+    // determine area type and append
+    if (areaData->type() == WimaJoinedAreaData::typeString) {
+      this->append(*qobject_cast<const WimaJoinedAreaData *>(areaData));
+    } else if (areaData->type() == WimaServiceAreaData::typeString) {
+      this->append(*qobject_cast<const WimaServiceAreaData *>(areaData));
+    } else if (areaData->type() == WimaMeasurementAreaData::typeString) {
+      this->append(*qobject_cast<const WimaMeasurementAreaData *>(areaData));
+    } else if (areaData->type() == WimaCorridorData::typeString) {
+      this->append(*qobject_cast<const WimaCorridorData *>(areaData));
     }
+  }
 
-    // copy mission items
-    _missionItems = other.missionItems();
+  // copy mission items
+  _missionItems = other.missionItems();
 
-    return *this;
+  return *this;
 }
 
-
 /*!
  * \fn void WimaPlanData::append(const WimaAreaData &areaData)
  *
  * Adds a WimaAreaData item.
  */
-void WimaPlanData::append(const WimaJoinedAreaData &areaData)
-{
-    _joinedArea = areaData;
+void WimaPlanData::append(const WimaJoinedAreaData &areaData) {
+  _joinedArea = areaData;
 
-    if( !_areaList.contains(&_joinedArea) ) {
-        _areaList.append(&_joinedArea);
-    }
+  if (!_areaList.contains(&_joinedArea)) {
+    _areaList.append(&_joinedArea);
+  }
 }
 
 /*!
@@ -63,13 +55,12 @@ void WimaPlanData::append(const WimaJoinedAreaData &areaData)
  *
  * Adds a WimaServiceAreaData item.
  */
-void WimaPlanData::append(const WimaServiceAreaData &areaData)
-{
-    _serviceArea = areaData;
+void WimaPlanData::append(const WimaServiceAreaData &areaData) {
+  _serviceArea = areaData;
 
-    if( !_areaList.contains(&_serviceArea) ) {
-        _areaList.append(&_serviceArea);
-    }
+  if (!_areaList.contains(&_serviceArea)) {
+    _areaList.append(&_serviceArea);
+  }
 }
 
 /*!
@@ -77,13 +68,12 @@ void WimaPlanData::append(const WimaServiceAreaData &areaData)
  *
  * Adds a WimaCorridorData item.
  */
-void WimaPlanData::append(const WimaCorridorData &areaData)
-{
-    _corridor = areaData;
+void WimaPlanData::append(const WimaCorridorData &areaData) {
+  _corridor = areaData;
 
-    if( !_areaList.contains(&_corridor) ) {
-        _areaList.append(&_corridor);
-    }
+  if (!_areaList.contains(&_corridor)) {
+    _areaList.append(&_corridor);
+  }
 }
 
 /*!
@@ -91,21 +81,19 @@ void WimaPlanData::append(const WimaCorridorData &areaData)
  *
  * Adds a WimaMeasurementAreaData item.
  */
-void WimaPlanData::append(const WimaMeasurementAreaData &areaData)
-{
-    _measurementArea = areaData;
+void WimaPlanData::append(const WimaMeasurementAreaData &areaData) {
+  _measurementArea = areaData;
 
-    if( !_areaList.contains(&_measurementArea) ) {
-        _areaList.append(&_measurementArea);
-    }
+  if (!_areaList.contains(&_measurementArea)) {
+    _areaList.append(&_measurementArea);
+  }
 }
 
-void WimaPlanData::append(const QList<MissionItem *> &missionItems)
-{
-    for (MissionItem *item : missionItems) {
-        MissionItem copy = MissionItem(*item, this);
-        _missionItems.append(copy);
-    }
+void WimaPlanData::append(const QList<MissionItem *> &missionItems) {
+  for (auto *item : missionItems) {
+    item->setParent(this);
+    _missionItems.append(item);
+  }
 }
 
 /*!
@@ -113,20 +101,17 @@ void WimaPlanData::append(const QList<MissionItem *> &missionItems)
  *
  * Clears all stored objects
  */
-void WimaPlanData::clear()
-{
-    _areaList.clear();
-    _missionItems.clear();
+void WimaPlanData::clear() {
+  _areaList.clear();
+  _missionItems.clear();
 }
 
-QList<const WimaAreaData *> WimaPlanData::areaList() const
-{
-    return _areaList;
+const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
+