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) {
+    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

@@ -2,36 +2,32 @@
 
 const char *WimaServiceAreaData::typeString = "WimaServiceAreaData";
 
-
 WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
-    : WimaAreaData(parent)
-{
-
-}
+    : WimaAreaData(parent) {}
 
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other,
+                                         QObject *parent)
+    : WimaAreaData(parent) {
   *this = other;
 }
 
-WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
+WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other,
+                                         QObject *parent)
+    : WimaAreaData(parent) {
   *this = other;
 }
 
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceAreaData &otherData)
-{
+WimaServiceAreaData &WimaServiceAreaData::
+operator=(const WimaServiceAreaData &otherData) {
   this->assign(otherData);
-
+  this->setDepot(otherData.depot());
   return *this;
 }
 
-WimaServiceAreaData &WimaServiceAreaData::operator=(const WimaServiceArea &otherArea)
-{
+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;
-}
+const QGeoCoordinate &WimaServiceAreaData::depot() const { return _depot; }
 
+QString WimaServiceAreaData::type() const { return this->typeString; }
 /*!
- * \fn const QGeoCoordinate &WimaServiceAreaData::landOffPosition() const
- * Returns a constant reference to the landOffPosition.
+ * \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.
  *
  */
-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);
-    }
-}
-
-/*!
- * \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.
- *
- */
-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)
-{
+void WimaServiceAreaData::assign(const WimaServiceAreaData &other) {
   WimaAreaData::assign(other);
-    setLandPosition(other.landPosition());
-    setTakeOffPosition(other.takeOffPosition());
+  setDepot(other.depot());
 }
 
-void WimaServiceAreaData::assign(const WimaServiceArea &other)
-{
+void WimaServiceAreaData::assign(const WimaServiceArea &other) {
   WimaAreaData::assign(other);
-    setLandPosition(other.landPosition());
-    setTakeOffPosition(other.depot());
+  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
-{
+class WimaServiceAreaData : public WimaAreaData {
   Q_OBJECT
 
 public:
   WimaServiceAreaData(QObject *parent = nullptr);
-    WimaServiceAreaData(const WimaServiceAreaData &other, 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 &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;
+  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);
+
 private:
   // see WimaServieArea.h for explanation
-    QGeoCoordinate      _takeOffPosition;
-    QGeoCoordinate      _landPosition;
+  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){
+void WimaBridge::setWimaController(WimaController *controller) {
+  if (_wimaController != controller) {
     _wimaController = controller;
 
     emit wimaControllerChanged(_wimaController);
   }
 }
 
-void WimaBridge::setWimaPlaner(WimaPlaner *planer)
-{
-    if (_wimaPlaner != planer){
+void WimaBridge::setWimaPlaner(WimaPlaner *planer) {
+  if (_wimaPlaner != planer) {
     _wimaPlaner = planer;
 
     emit wimaPlanerChanged(_wimaPlaner);
   }
-
 }
 
-bool WimaBridge::setWimaPlanData(const WimaPlanData &planData)
-{
-    if ( _wimaController != nullptr) {
+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
-{
+class WimaBridge : public QObject {
   Q_OBJECT
 public:
   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();
 
   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;
 };
-

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)
-{
+    : QObject(parent) {
   *this = other;
 }
 
@@ -18,22 +13,21 @@ 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)
-{
+WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
   // copy wima areas
-    QList<const WimaAreaData*> areaList = other.areaList();
+  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));
+      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));
     }
   }
 
@@ -43,17 +37,15 @@ WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
   return *this;
 }
 
-
 /*!
  * \fn void WimaPlanData::append(const WimaAreaData &areaData)
  *
  * Adds a WimaAreaData item.
  */
-void WimaPlanData::append(const WimaJoinedAreaData &areaData)
-{
+void WimaPlanData::append(const WimaJoinedAreaData &areaData) {
   _joinedArea = areaData;
 
-    if( !_areaList.contains(&_joinedArea) ) {
+  if (!_areaList.contains(&_joinedArea)) {
     _areaList.append(&_joinedArea);
   }
 }
@@ -63,11 +55,10 @@ void WimaPlanData::append(const WimaJoinedAreaData &areaData)
  *
  * Adds a WimaServiceAreaData item.
  */
-void WimaPlanData::append(const WimaServiceAreaData &areaData)
-{
+void WimaPlanData::append(const WimaServiceAreaData &areaData) {
   _serviceArea = areaData;
 
-    if( !_areaList.contains(&_serviceArea) ) {
+  if (!_areaList.contains(&_serviceArea)) {
     _areaList.append(&_serviceArea);
   }
 }
@@ -77,11 +68,10 @@ void WimaPlanData::append(const WimaServiceAreaData &areaData)
  *
  * Adds a WimaCorridorData item.
  */
-void WimaPlanData::append(const WimaCorridorData &areaData)
-{
+void WimaPlanData::append(const WimaCorridorData &areaData) {
   _corridor = areaData;
 
-    if( !_areaList.contains(&_corridor) ) {
+  if (!_areaList.contains(&_corridor)) {
     _areaList.append(&_corridor);
   }
 }
@@ -91,20 +81,18 @@ void WimaPlanData::append(const WimaCorridorData &areaData)
  *
  * Adds a WimaMeasurementAreaData item.
  */
-void WimaPlanData::append(const WimaMeasurementAreaData &areaData)
-{
+void WimaPlanData::append(const WimaMeasurementAreaData &areaData) {
   _measurementArea = areaData;
 
-    if( !_areaList.contains(&_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);
   }
 }
 
@@ -113,19 +101,16 @@ void WimaPlanData::append(const QList<MissionItem *> &missionItems)
  *
  * Clears all stored objects
  */
-void WimaPlanData::clear()
-{
+void WimaPlanData::clear() {
   _areaList.clear();
   _missionItems.clear();
 }
 
-QList<const WimaAreaData *> WimaPlanData::areaList() const
-{
+const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
   return _areaList;
 }
 
-QList<MissionItem> WimaPlanData::missionItems() const
-{
+const QList<MissionItem> &WimaPlanData::missionItems() const {
   return _missionItems;
 }
 
@@ -135,8 +120,8 @@ QList<MissionItem> WimaPlanData::missionItems() const
  *
  * This class is designed to store data generated by the \c WimaPlaner class and
  * meant for data exchange between the \c WimaController and the \c WimaPlanner.
- * It stores a QList of \c WimaAreaData objects, called area data list, containing the data of serveral \c WimaAreas
- * generated by the \c WimaPlaner.
+ * It stores a QList of \c WimaAreaData objects, called area data list,
+ * containing the data of serveral \c WimaAreas generated by the \c WimaPlaner.
  *
  * \sa QList
  */

src/Wima/WimaPlanData.h

@@ -3,32 +3,33 @@
 #include <QObject>
 
 #include "Geometry/WimaAreaData.h"
-#include "Geometry/WimaServiceAreaData.h"
 #include "Geometry/WimaCorridorData.h"
-#include "Geometry/WimaMeasurementAreaData.h"
 #include "Geometry/WimaJoinedAreaData.h"
+#include "Geometry/WimaMeasurementAreaData.h"
+#include "Geometry/WimaServiceAreaData.h"
 #include "MissionItem.h"
 
-class WimaPlanData : QObject
-{
+class WimaPlanData : public QObject {
   Q_OBJECT
 public:
   WimaPlanData(QObject *parent = nullptr);
   WimaPlanData(const WimaPlanData &other, QObject *parent = nullptr);
-    WimaPlanData& operator=(const WimaPlanData &other);
+  WimaPlanData &operator=(const WimaPlanData &other);
 
   // Member Methodes
   void append(const WimaJoinedAreaData &areaData);
   void append(const WimaServiceAreaData &areaData);
   void append(const WimaCorridorData &areaData);
   void append(const WimaMeasurementAreaData &areaData);
+  //!
+  //! \brief append
+  //! \param missionItems
+  //! \note Takes owenership of MissionItems*
   void append(const QList<MissionItem *> &missionItems);
   void clear();
 
-    QList<const WimaAreaData *> areaList() const;
-    QList<MissionItem>  missionItems() const;
-
-
+  const QList<const WimaAreaData *> &areaList() const;
+  const QList<MissionItem> &missionItems() const;
 
 signals:
   void areaListChanged();
@@ -41,7 +42,7 @@ private:
   WimaServiceAreaData _serviceArea;
   WimaCorridorData _corridor;
   WimaMeasurementAreaData _measurementArea;
-    QList<const WimaAreaData*>    _areaList;
+  QList<const WimaAreaData *> _areaList;
 
   QList<MissionItem> _missionItems;
 };

src/Wima/WimaPlaner.cc

@@ -25,7 +25,7 @@ WimaPlaner::WimaPlaner(QObject *parent)
       _currentAreaIndex(-1), _wimaBridge(nullptr), _mAreaChanged(true),
       _sAreaChanged(true), _corridorChanged(true), _joinedArea(this),
       _arrivalPathLength(0), _returnPathLength(0), _TSComplexItem(nullptr),
-      _surveyChanged(true), _synchronized(false) {
+      _surveyChanged(true), _synchronized(false), _needsUpdate(true) {
 
   connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
           &WimaPlaner::updatePolygonInteractivity);
@@ -37,6 +37,10 @@ WimaPlaner::WimaPlaner(QObject *parent)
     this->_sAreaChanged = true;
     this->setNeedsUpdate(true);
   });
+  connect(&this->_serviceArea, &WimaServiceArea::depotChanged, [this] {
+    this->_sAreaChanged = true;
+    this->setNeedsUpdate(true);
+  });
   connect(&this->_corridor, &WimaArea::pathChanged, [this] {
     this->_corridorChanged = true;
     this->setNeedsUpdate(true);
@@ -255,6 +259,11 @@ bool WimaPlaner::update() {
     return false;
   }
 
+  if (!_serviceArea.containsCoordinate(_serviceArea.depot())) {
+    qgcApp()->showMessage(tr("Depot not inside service area."));
+    return false;
+  }
+
   // Join areas.
   bool jAreaChanged =
       this->_mAreaChanged || this->_sAreaChanged || this->_corridorChanged;
@@ -426,9 +435,9 @@ bool WimaPlaner::update() {
         return false;
     }
     this->_surveyChanged = false;
+    setNeedsUpdate(false);
   }
 
-  setNeedsUpdate(false);
   return true;
 }
 void WimaPlaner::saveToCurrent() { saveToFile(_currentFile); }
@@ -655,11 +664,11 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
   }
 }
 
-void WimaPlaner::pushToWimaController() {
+void WimaPlaner::synchronize() {
   if (_wimaBridge != nullptr) {
-    if (!_needsUpdate)
+    if (_needsUpdate)
       return;
-    WimaPlanData planData = toPlanData();
+    auto planData = toPlanData();
     (void)_wimaBridge->setWimaPlanData(planData);
     this->_synchronized = true;
     emit synchronizedChanged();
@@ -718,30 +727,20 @@ void WimaPlaner::setInteractive() {
  *
  * \sa WimaController, WimaPlanData
  */
-WimaPlanData WimaPlaner::toPlanData() {
-  WimaPlanData planData;
+QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
+  QSharedPointer<WimaPlanData> planData(new WimaPlanData());
 
   // store areas
-  planData.append(WimaMeasurementAreaData(_measurementArea));
-  planData.append(WimaServiceAreaData(_serviceArea));
-  planData.append(WimaCorridorData(_corridor));
-  planData.append(WimaJoinedAreaData(_joinedArea));
+  planData->append(WimaMeasurementAreaData(_measurementArea));
+  planData->append(WimaServiceAreaData(_serviceArea));
+  planData->append(WimaCorridorData(_corridor));
+  planData->append(WimaJoinedAreaData(_joinedArea));
 
   // convert mission items to mavlink commands
-  QObject deleteObject; // used to automatically delete content of
-                        // rgMissionItems after this function call
-  QList<MissionItem *> rgMissionItems;
-  QmlObjectListModel *visualItems = _missionController->visualItems();
-  QmlObjectListModel visualItemsToCopy;
-  for (unsigned long i = _arrivalPathLength + 1;
-       i < visualItems->count() - _returnPathLength; i++)
-    visualItemsToCopy.append(visualItems->get(i));
-  MissionController::convertToMissionItems(&visualItemsToCopy, rgMissionItems,
-                                           &deleteObject);
-
+  QList<MissionItem *> missionItems;
+  _TSComplexItem->appendMissionItems(missionItems, nullptr);
   // store mavlink commands
-  planData.append(rgMissionItems);
-
+  planData->append(missionItems);
   return planData;
 }
 
@@ -749,7 +748,7 @@ WimaPlanData WimaPlaner::toPlanData() {
 void WimaPlaner::autoLoadMission() {
   loadFromFile("/home/valentin/Desktop/drones/qgroundcontrol/Paths/"
                "KlingenbachTest.wima");
-  pushToWimaController();
+  synchronize();
 }
 #endif
 

src/Wima/WimaPlaner.h

@@ -2,6 +2,7 @@
 
 #include "QmlObjectListModel.h"
 #include <QObject>
+#include <QSharedPointer>
 
 #include "Geometry/WimaCorridor.h"
 #include "Geometry/WimaCorridorData.h"
@@ -82,7 +83,7 @@ public:
   /// Recalculates vehicle corridor, flight path, etc.
   Q_INVOKABLE bool update();
   /// Pushes the generated mission data to the wimaController.
-  Q_INVOKABLE void pushToWimaController();
+  Q_INVOKABLE void synchronize();
   Q_INVOKABLE void saveToCurrent();
   Q_INVOKABLE void saveToFile(const QString &filename);
   Q_INVOKABLE bool loadFromCurrent();
@@ -118,7 +119,7 @@ signals:
 
 private:
   // Member Functions
-  WimaPlanData toPlanData();
+  QSharedPointer<WimaPlanData> toPlanData();
   bool shortestPath(const QGeoCoordinate &start,
                     const QGeoCoordinate &destination,
                     QVector<QGeoCoordinate> &path);

src/WimaView/DragCoordinate.qml

@@ -27,16 +27,17 @@ Item {
     property var    coordinate
     property int    sequenceNumber
     property bool   checked
+    property string label: "Reference"
 
     property var    _itemVisual
     property bool   _itemVisualShowing: false
     property var    _dragArea
     property bool   _dragAreaShowing:   false
 
-    signal clicked(int sequenceNumber)
-    signal released(int sequenceNumber)
-    signal entered(int sequenceNumber)
-    signal exited(int sequenceNumber)
+    signal clicked()
+    signal released()
+    signal entered()
+    signal exited()
 
     signal dragStart()
     signal dragStop()
@@ -114,16 +115,16 @@ Item {
         id: indicatorComponent
 
         CoordinateIndicator {
-            label:          "Reference"
+            label:          _root.label
             checked:        _root.checked
             z:              QGroundControl.zOrderMapItems
             sequenceNumber: _root.sequenceNumber
             coordinate:     _root.coordinate
 
-            onClicked:  _root.clicked(_missionItem.sequenceNumber)
-            onReleased: _root.released(_missionItem.sequenceNumber)
-            onEntered:  _root.entered(_missionItem.sequenceNumber)
-            onExited:   _root.exited(_missionItem.sequenceNumber)
+            onClicked:  _root.clicked()
+            onReleased: _root.released()
+            onEntered:  _root.entered()
+            onExited:   _root.exited()
         }
     }
 }

src/WimaView/WimaMapPolygonVisuals.qml

@@ -42,6 +42,8 @@ Item {
     property bool   _circle:                    false
     property real   _circleRadius
     property bool   _editCircleRadius:          false
+    property bool   _handelsVisible: false // state tracker
+    property bool   _polygonVisible: false // state tracker
 
     property real _zorderDragHandle:    QGroundControl.zOrderMapItems + 3   // Highest to prevent splitting when items overlap
     property real _zorderSplitHandle:   QGroundControl.zOrderMapItems + 2
@@ -49,19 +51,28 @@ Item {
 
     signal dragStop // triggered if node or center handle was stopped dragging
 
-    function addVisuals() {
+    function addPolygon() {
+        if (!_polygonComponent){
             _polygonComponent = polygonComponent.createObject(mapControl)
             mapControl.addMapItem(_polygonComponent)
         }
+    }
 
-    function removeVisuals() {
+    function removePolygon() {
+        if (_polygonComponent){
             _polygonComponent.destroy()
+            _polygonComponent = undefined
+        }
     }
 
     function addHandles() {
         if (!_dragHandlesComponent) {
             _dragHandlesComponent = dragHandlesComponent.createObject(mapControl)
+        }
+        if (!_splitHandlesComponent) {
             _splitHandlesComponent = splitHandlesComponent.createObject(mapControl)
+        }
+        if (!_centerDragHandleComponent) {
             _centerDragHandleComponent = centerDragHandleComponent.createObject(mapControl)
         }
     }
@@ -153,27 +164,38 @@ Item {
         setCircleRadius(center, radius)
     }
 
-    onInteractiveChanged: {
-        if (interactive) {
+
+    function updateVisibility(){
+       if (visible){
+          addPolygon()
+          if(interactive){
               addHandles()
+          }else{
+              removeHandles()
+          }
        } else {
            removeHandles()
+           removePolygon()
        }
     }
 
+    onInteractiveChanged: {
+        updateVisibility()
+    }
+
+    onVisibleChanged: {
+        updateVisibility()
+    }
+
     Component.onCompleted: {
         if(initPolygon){
             addInitialPolygon()
         }
-
-        addVisuals()
-        if (interactive) {
-            addHandles()
-        }
+        updateVisibility()
     }
 
     Component.onDestruction: {
-        removeVisuals()
+        removePolygon()
         removeHandles()
     }
 

src/WimaView/WimaServiceAreaMapVisual.qml

@@ -18,7 +18,6 @@ import QGroundControl.Palette       1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.FlightMap     1.0
 
-/// Wima Global Measurement Area visuals
 Item {
     id: _root
 
@@ -27,9 +26,37 @@ Item {
 
     property var areaItem:          object
     property var _polygon:          areaItem
+    property var _depot
+    property bool showDepot: 		areaItem.interactive || areaItem.borderPolygon.interactive
+    property bool _depotVisible:     false
+
+    onShowDepotChanged: {
+        if (showDepot){
+            if (!_depotVisible){
+               _addDepot()
+            }
+        } else {
+            if (_depotVisible){
+                _destroyDepot()
+            }
+        }
+    }
 
     signal clicked(int sequenceNumber)
 
+    function _addDepot() {
+        _depot = depotPointComponent.createObject(map)
+        map.addMapItem(_depot)
+        _depotVisible = true
+    }
+
+    function _destroyDepot() {
+        if (_depot){
+            _depot.destroy()
+        }
+        _depotVisible = false
+    }
+
     /// Add an initial 4 sided polygon if there is none
     function _addInitialPolygon() {
 
@@ -73,18 +100,17 @@ Item {
                 _polygon.appendVertex(bottomLeftCoord)
             }
         }
-
-
     }
 
-
-
     Component.onCompleted: {
         _addInitialPolygon()
-        //_addInitialPolyline()
+        if (interactive){
+            _addDepot()
+        }
     }
 
     Component.onDestruction: {
+        _destroyDepot()
     }
 
     WimaMapPolygonVisuals {
@@ -107,29 +133,25 @@ Item {
         interiorOpacity:    1
     }
 
-
     // Depot Point.
     Component {
         id: depotPointComponent
-
         DragCoordinate {
+            property var depot: areaItem.depot
+
             map:        _root.map
             qgcView:    _root.qgcView
             z:          QGroundControl.zOrderMapItems
-            checked:    areaItem.interactive
-            coordinate: areaItem.depot
-
-            property var point: areaItem.depot
-
-            onRefPointChanged: {
-                if (point !== coordinate) {
-                    coordinate = point
-                }
-            }
+            checked:    showDepot
+            coordinate: depot
+            label: 		"Depot"
 
             onDragReleased: {
+                if (areaItem.containsCoordinate(coordinate)){
                     areaItem.depot = coordinate
                 }
+                coordinate = Qt.binding(function() { return areaItem.depot; })
+            }
         }
     }
 

src/WimaView/WimaToolBar.qml

@@ -290,7 +290,7 @@ Rectangle {
         onClicked:              {
             if (wimaPlaner){
                 if (!wimaPlaner.needsUpdate) {
-                    wimaPlaner.pushToWimaController()
+                    wimaPlaner.synchronize()
                 } else {
                     wimaPlaner.update()
                 }
@@ -302,7 +302,9 @@ Rectangle {
             from:           0.5
             to:             1
             loops:          Animation.Infinite
-            running:        wimaPlaner ? wimaPlaner.needsUpdate : false
+            running:        wimaPlaner ? wimaPlaner.needsUpdate ||
+                                         (!wimaPlaner.needsUpdate && !wimaPlaner.synchronized)
+                                       : false
             alwaysRunToEnd: true
             duration:       2000
         }

src/WimaView/WimaView.qml

@@ -592,7 +592,7 @@ QGCView {
 
             // Add lines between waypoints
             MissionLineView {
-                model: _editingLayer == _layerMission ? _missionController.waypointLines : undefined
+                model: _editingLayer == _layerMission ? _missionController.waypointLines : []
             }
 
             //Add Wima Visuals