wima planer edited

src/PlanView/CircularSurveyItemEditor.qml

@@ -64,6 +64,7 @@ Rectangle {
 
 
         GridLayout {
+            id: generalGrid
             anchors.left:   parent.left
             anchors.right:  parent.right
             columnSpacing:  _margin
@@ -75,7 +76,48 @@ Rectangle {
             FactTextField {
                 fact:                   missionItem.cameraCalc.distanceToSurface
                 Layout.fillWidth:       true
-                //onUpdated:              rSlider.value = missionItem.deltaR.value
+            }
+
+            QGCCheckBox {
+                id:                 relAlt
+                text:               qsTr("Relative altitude")
+                checked:            missionItem.cameraCalc.distanceToSurfaceRelative
+                enabled:            missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
+                visible:            QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
+                onClicked:          missionItem.cameraCalc.distanceToSurfaceRelative = checked
+                Layout.fillWidth:   true
+                Layout.columnSpan:  2
+
+                Connections {
+                    target: missionItem.cameraCalc
+                    onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
+                }
+            }
+
+            QGCLabel {
+                text: qsTr("Type")
+                Layout.columnSpan: 2
+            }
+
+            property var typeFact: missionItem.type
+            property int type: typeFact.value
+            property var names: ["Circular", "Linear"]
+
+            ExclusiveGroup{id: typeGroup}
+
+            Repeater{
+                model: missionItem.typeCount
+                QGCRadioButton {
+                    checked: index === generalGrid.type
+                    text: qsTr(generalGrid.names[index])
+
+                    onCheckedChanged: {
+                        if (checked){
+                            missionItem.type.value = index
+                        }
+                        checked = Qt.binding(function(){ return index === generalGrid.type})
+                    }
+                }
             }
         }
 
@@ -92,11 +134,10 @@ Rectangle {
             columns:        2
             visible:        transectsHeader.checked
 
-            QGCLabel { text: qsTr("Delta R") }
+            QGCLabel { text: qsTr("Distance") }
             FactTextField {
-               fact:                   missionItem.deltaR
+               fact:                   missionItem.transectDistance
                Layout.fillWidth:       true
-                //onUpdated:              rSlider.value = missionItem.deltaR.value
             }
 
             /*QGCSlider {
@@ -113,18 +154,16 @@ Rectangle {
                 updateValueWhileDragging: true
             }*/
 
-            QGCLabel { text: qsTr("Delta Alpha") }
+            QGCLabel { text: qsTr("Alpha") }
             FactTextField {
-                fact:                   missionItem.deltaAlpha
+                fact:                   missionItem.alpha
                 Layout.fillWidth:       true
-                //onUpdated:              angleSlider.value = missionItem.deltaAlpha.value
             }
 
             QGCLabel { text: qsTr("Min. Length") }
             FactTextField {
-                fact:                   missionItem.transectMinLength
+                fact:                   missionItem.minLength
                 Layout.fillWidth:       true
-                //onUpdated:              angleSlider.value = missionItem.deltaAlpha.value
             }
         }
 
@@ -148,21 +187,6 @@ Rectangle {
                 Layout.fillWidth:  true
             }
 
-            QGCCheckBox {
-                id:                 relAlt
-                text:               qsTr("Relative altitude")
-                checked:            missionItem.cameraCalc.distanceToSurfaceRelative
-                enabled:            missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
-                visible:            QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
-                onClicked:          missionItem.cameraCalc.distanceToSurfaceRelative = checked
-                Layout.fillWidth:   true
-                Layout.columnSpan:  2
-
-                Connections {
-                    target: missionItem.cameraCalc
-                    onDistanceToSurfaceRelativeChanged: relAlt.checked = missionItem.cameraCalc.distanceToSurfaceRelative
-                }
-            }
 
         }
 

src/Wima/CSWorker.cpp

@@ -73,7 +73,7 @@ void RoutingWorker::run() {
         auto &transectsInfo = pRouteData->transectsInfo;
         auto &route = pRouteData->route;
         const auto routingStart = std::chrono::high_resolution_clock::now();
-        const auto maxRoutingTime = std::chrono::minutes(1);
+        const auto maxRoutingTime = std::chrono::minutes(10);
         const auto routingEnd = routingStart + maxRoutingTime;
         const auto &restart = this->_restart;
         auto stopLambda = [&restart, routingEnd] {

src/Wima/CircularSurvey.h

@@ -13,6 +13,11 @@ class CircularSurvey : public TransectStyleComplexItem {
   Q_OBJECT
 public:
   using PtrRoutingData = QSharedPointer<RoutingData>;
+  enum class Type {
+    Circular = 0,
+    Linear = 1,
+    Count = 2 // Must me last, onyl for counting
+  };
 
   /// @param vehicle Vehicle which this is being contructed for
   /// @param flyView true: Created for use in the Fly View, false: Created for
@@ -25,9 +30,11 @@ public:
 
   Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY
                  refPointChanged)
-  Q_PROPERTY(Fact *deltaR READ deltaR CONSTANT)
-  Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
-  Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
+  Q_PROPERTY(Fact *transectDistance READ transectDistance CONSTANT)
+  Q_PROPERTY(Fact *alpha READ alpha CONSTANT)
+  Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
+  Q_PROPERTY(Fact *type READ type CONSTANT)
+  Q_PROPERTY(int typeCount READ typeCount CONSTANT)
   Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
   Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygonChanged)
 
@@ -42,13 +49,16 @@ public:
 
   // Property getters
   QGeoCoordinate refPoint() const;
-  Fact *deltaR();
-  Fact *deltaAlpha();
-  Fact *transectMinLength();
+  Fact *transectDistance();
+  Fact *alpha();
+  Fact *minLength();
+  Fact *type();
+  int typeCount() const;
   bool calculating() const;
   bool hidePolygon() const;
   QGeoCoordinate depot() const;
   QList<QGeoCoordinate> safeArea() const;
+  const QList<QList<QGeoCoordinate>> &rawTransects() const;
 
   // Overrides
   bool load(const QJsonObject &complexObject, int sequenceNumber,
@@ -67,9 +77,10 @@ public:
   double additionalTimeDelay(void) const override final;
 
   static const char *settingsGroup;
-  static const char *deltaRName;
-  static const char *deltaAlphaName;
-  static const char *transectMinLengthName;
+  static const char *transectDistanceName;
+  static const char *alphaName;
+  static const char *minLengthName;
+  static const char *typeName;
   static const char *CircularSurveyName;
   static const char *refPointLongitudeName;
   static const char *refPointLatitudeName;
@@ -97,16 +108,17 @@ private:
 
   // center of the circular lanes, e.g. base station
   QGeoCoordinate _referencePoint;
-
   QMap<QString, FactMetaData *> _metaDataMap;
   // distance between two neighbour circles
-  SettingsFact _deltaR;
+  SettingsFact _transectDistance;
   // angle discretisation of the circles
-  SettingsFact _deltaAlpha;
+  SettingsFact _alpha;
   // minimal transect lenght, transects are rejected if they are shorter than
   // this value
   SettingsFact _minLength;
+  SettingsFact _type;
 
+  // Worker
   using PtrWorker = std::shared_ptr<RoutingWorker>;
   PtrWorker _pWorker;
   PtrRoutingData _workerOutput;

src/Wima/Geometry/WimaJoinedAreaData.cc

@@ -3,21 +3,18 @@
 const char *WimaJoinedAreaData::typeString = "WimaJoinedAreaData";
 
 WimaJoinedAreaData::WimaJoinedAreaData(QObject *parent)
-    :WimaAreaData (parent)
-{
+    : WimaAreaData(parent) {}
 
+WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedAreaData &other,
+                                       QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
-WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedAreaData &other, QObject *parent)
-    : WimaAreaData (parent)
-{
-    *this = other;
-}
-
-WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
-    *this = other;
+WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other,
+                                       QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 /*!
@@ -25,11 +22,11 @@ WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other, QObject *par
  *
  * Assigns \a other to the invoking object.
  */
-WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedAreaData &other)
-{
-    assign(other);
+WimaJoinedAreaData &WimaJoinedAreaData::
+operator=(const WimaJoinedAreaData &other) {
+  assign(other);
 
-    return *this;
+  return *this;
 }
 
 /*!
@@ -37,36 +34,29 @@ WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedAreaData &othe
  *
  * Assigns \a other to the invoking object.
  */
-WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other)
-{
-    assign(other);
-    return *this;
+WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other) {
+  assign(other);
+  return *this;
 }
 
-QString WimaJoinedAreaData::type() const
-{
-    return this->typeString;
-}
+QString WimaJoinedAreaData::type() const { return this->typeString; }
 
-void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other)
-{
-    WimaAreaData::assign(other);
+void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other) {
+  WimaAreaData::assign(other);
 }
 
-void WimaJoinedAreaData::assign(const WimaJoinedArea &other)
-{
-    WimaAreaData::assign(other);
+void WimaJoinedAreaData::assign(const WimaJoinedArea &other) {
+  WimaAreaData::assign(other);
 }
 
-
-
 /*!
  * \class WimaAreaData::WimaJoinedAreaData
  * \brief Class to store and exchange data of a \c WimaJoinedAreaData Object.
- * Class to store and exchange data of a \c WimaJoinedArea Object. In contrast to \c WimaJoinedArea 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 WimaJoinedArea Object. In contrast
+ * to \c WimaJoinedArea 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 WimaJoinedArea, WimaAreaData
  */

src/Wima/Geometry/WimaMeasurementAreaData.cc

 #include "WimaMeasurementAreaData.h"
+#include "SnakeTile.h"
 
 const char *WimaMeasurementAreaData::typeString = "WimaMeasurementAreaData";
 
 WimaMeasurementAreaData::WimaMeasurementAreaData(QObject *parent)
-    : WimaAreaData(parent)
-{
+    : WimaAreaData(parent) {}
 
+WimaMeasurementAreaData::WimaMeasurementAreaData(
+    const WimaMeasurementAreaData &other, QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
-WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementAreaData &other, QObject *parent)
-    : WimaAreaData (parent)
-{
-    *this = other;
-}
-
-WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementArea &other, QObject *parent)
-    : WimaAreaData (parent)
-{
-    *this = other;
+WimaMeasurementAreaData::WimaMeasurementAreaData(
+    const WimaMeasurementArea &other, QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 /*!
@@ -25,11 +23,11 @@ WimaMeasurementAreaData::WimaMeasurementAreaData(const WimaMeasurementArea &othe
  *
  * Assigns \a other to the invoking object.
  */
-WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementAreaData &other)
-{
-    assign(other);
+WimaMeasurementAreaData &WimaMeasurementAreaData::
+operator=(const WimaMeasurementAreaData &other) {
+  assign(other);
 
-    return *this;
+  return *this;
 }
 
 /*!
@@ -37,28 +35,44 @@ WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasuremen
  *
  * Assigns \a other to the invoking object.
  */
-WimaMeasurementAreaData &WimaMeasurementAreaData::operator=(const WimaMeasurementArea &other)
-{
-    assign(other);
-
-    return *this;
-}
+WimaMeasurementAreaData &WimaMeasurementAreaData::
+operator=(const WimaMeasurementArea &other) {
+  assign(other);
 
-QString WimaMeasurementAreaData::type() const
-{
-    return this->typeString;
+  return *this;
 }
 
-void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other)
-{
-    WimaAreaData::assign(other);
+QString WimaMeasurementAreaData::type() const { return this->typeString; }
+
+void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
+  WimaAreaData::assign(other);
+  this->tiles.clearAndDeleteContents();
+  for (std::size_t i = 0; i < other.tiles.count(); ++i) {
+    auto *obj = other.tiles.get(i);
+    auto *tile = qobject_cast<SnakeTile *>(obj);
+    if (tile != nullptr) {
+      this->tiles.append(new SnakeTile(*tile, this));
+    } else {
+      qWarning() << "WimaMeasurementAreaData::assign(): type cast failed.";
+    }
+  }
 }
 
-void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other)
-{
-    WimaAreaData::assign(other);
+void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
+  WimaAreaData::assign(other);
+  this->tiles.clearAndDeleteContents();
+  if (other.ready()) {
+    for (std::size_t i = 0; i < other.tiles()->count(); ++i) {
+      auto *obj = other.tiles()->get(i);
+      auto *tile = qobject_cast<SnakeTile *>(obj);
+      if (tile != nullptr) {
+        this->tiles.append(new SnakeTile(*tile, this));
+      } else {
+        qWarning() << "WimaMeasurementAreaData::assign(): type cast failed.";
+      }
+    }
+  } else {
+    qWarning()
+        << "WimaMeasurementAreaData::assign(): WimaMeasurementArea not ready.";
+  }
 }
-
-
-
-

src/Wima/Geometry/WimaMeasurementAreaData.h

 #pragma once
 
-#include <QObject>
 #include <QGeoCoordinate>
-
+#include <QObject>
 
 #include "WimaAreaData.h"
 #include "WimaMeasurementArea.h"
 
-
-
-class WimaMeasurementAreaData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaMeasurementAreaData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    WimaMeasurementAreaData(QObject *parent = nullptr);
-    WimaMeasurementAreaData(const WimaMeasurementAreaData &other, QObject *parent = nullptr);
-    WimaMeasurementAreaData(const WimaMeasurementArea &other, QObject *parent = nullptr);
-    WimaMeasurementAreaData& operator=(const WimaMeasurementAreaData &other);
-    WimaMeasurementAreaData& operator=(const WimaMeasurementArea &other);
+  WimaMeasurementAreaData(QObject *parent = nullptr);
+  WimaMeasurementAreaData(const WimaMeasurementAreaData &other,
+                          QObject *parent = nullptr);
+  WimaMeasurementAreaData(const WimaMeasurementArea &other,
+                          QObject *parent = nullptr);
+  WimaMeasurementAreaData &operator=(const WimaMeasurementAreaData &other);
+  WimaMeasurementAreaData &operator=(const WimaMeasurementArea &other);
 
-    QString type() const;
-    WimaMeasurementAreaData *Clone() const {return new WimaMeasurementAreaData(*this);}
+  QString type() const;
+  WimaMeasurementAreaData *Clone() const {
+    return new WimaMeasurementAreaData(*this);
+  }
 
-    static const char* typeString;
+  static const char *typeString;
 
 signals:
 
 public slots:
 
 protected:
-    void assign(const WimaMeasurementAreaData &other);
-    void assign(const WimaMeasurementArea &other);
+  void assign(const WimaMeasurementAreaData &other);
+  void assign(const WimaMeasurementArea &other);
 
 private:
-    // see WimaMeasurementArea.h for explanation
+  // see WimaMeasurementArea.h for explanation
+  QmlObjectListModel tiles;
 };

src/Wima/WimaController.cc

@@ -423,38 +423,42 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
 
   emit visualItemsChanged();
 
-  // extract mission items
-  auto tempMissionItems = planData->missionItems();
-  if (tempMissionItems.size() < 1) {
-    qWarning("WimaController: Mission items from WimaPlaner empty!");
-    return false;
-  }
-
-  qWarning() << "WimaController:";
-  for (auto *item : tempMissionItems) {
-    qWarning() << item->coordinate();
-    _defaultWM.push_back(item->coordinate());
-  }
-
-  _WMSettings.setHomePosition(QGeoCoordinate(
-      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
-  qWarning() << "service area depot: " << _serviceArea.depot();
-
-  if (!_defaultWM.reset()) {
-    qWarning() << "_defaultWM.reset() failed";
-    return false;
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit waypointPathChanged();
-  emit currentWaypointPathChanged();
-
-  // Update Snake Data Manager
-  _snakeThread.setMeasurementArea(_measurementArea.coordinateList());
-  _snakeThread.setServiceArea(_serviceArea.coordinateList());
-  _snakeThread.setCorridor(_corridor.coordinateList());
-  _currentThread->start();
+  // Copy transects.
+  this->_rawTransects = planData->transects();
+
+  //  // extract mission items
+  //  auto tempMissionItems = planData->missionItems();
+  //  if (tempMissionItems.size() < 1) {
+  //    qWarning("WimaController: Mission items from WimaPlaner empty!");
+  //    return false;
+  //  }
+
+  //  qWarning() << "WimaController:";
+  //  for (auto *item : tempMissionItems) {
+  //    qWarning() << item->coordinate();
+  //    _defaultWM.push_back(item->coordinate());
+  //  }
+
+  //  _WMSettings.setHomePosition(QGeoCoordinate(
+  //      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(),
+  //      0));
+  //  qWarning() << "service area depot: " << _serviceArea.depot();
+
+  //  if (!_defaultWM.reset()) {
+  //    qWarning() << "_defaultWM.reset() failed";
+  //    return false;
+  //  }
+
+  //  emit missionItemsChanged();
+  //  emit currentMissionItemsChanged();
+  //  emit waypointPathChanged();
+  //  emit currentWaypointPathChanged();
+
+  //  // Update Snake Data Manager
+  //  _snakeThread.setMeasurementArea(_measurementArea.coordinateList());
+  //  _snakeThread.setServiceArea(_serviceArea.coordinateList());
+  //  _snakeThread.setCorridor(_corridor.coordinateList());
+  //  _currentThread->start();
 
   _localPlanDataValid = true;
   return true;

src/Wima/WimaController.h

@@ -254,8 +254,8 @@ private:
 
   // Wima Data.
   QmlObjectListModel _areas; // contains all visible areas
-  WimaJoinedAreaData
-      _joinedArea; // joined area fromed by opArea, serArea, _corridor
+  // joined area fromed by opArea, serArea, _corridor
+  WimaJoinedAreaData _joinedArea;
   WimaMeasurementAreaData _measurementArea; // measurement area
   WimaServiceAreaData _serviceArea;         // area for supplying
   WimaCorridorData _corridor; // corridor connecting opArea and serArea
@@ -274,11 +274,11 @@ private:
   // Settings Facts.
   QMap<QString, FactMetaData *> _metaDataMap;
   SettingsFact _enableWimaController; // enables or disables the wimaControler
-  SettingsFact
-      _overlapWaypoints; // determines the number of overlapping waypoints
-                         // between two consecutive mission phases
-  SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints
-                                      // per phase
+  // determines the number of overlapping waypoints between two consecutive
+  // mission phases
+  SettingsFact _overlapWaypoints;
+  // determines the maximum number waypoints per phase
+  SettingsFact _maxWaypointsPerPhase;
   SettingsFact
       _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get
                                     // index of item in _missionItems) of the
@@ -294,11 +294,6 @@ private:
   SettingsFact _arrivalReturnSpeed;      // arrival and return path speed
   SettingsFact _altitude;                // mission altitude
   SettingsFact _enableSnake;             // Enable Snake (see snake.h)
-  SettingsFact _snakeTileWidth;
-  SettingsFact _snakeTileHeight;
-  SettingsFact _snakeMinTileArea;
-  SettingsFact _snakeLineDistance;
-  SettingsFact _snakeMinTransectLength;
 
   // Smart RTL.
   QTimer _smartRTLTimer;
@@ -308,7 +303,7 @@ private:
   double _measurementPathLength; // the lenght of the phase in meters
 
   // Snake
-  QmlObjectListModel tiles;
+  QList<QList<QGeoCoordinate>> _rawTransects;
   SnakeThread _snakeThread; // Snake Data Manager
   SnakeThread _emptyThread;
   SnakeThread *_currentThread;

src/Wima/WimaPlanData.cc

@@ -76,6 +76,10 @@ void WimaPlanData::append(const WimaCorridorData &areaData) {
   }
 }
 
+void WimaPlanData::setTransects(const QList<QList<QGeoCoordinate>> &transects) {
+  this->_transects = transects;
+}
+
 /*!
  * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
  *
@@ -110,6 +114,10 @@ const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
   return _areaList;
 }
 
+const QList<QList<QGeoCoordinate>> &WimaPlanData::transects() const {
+  return _transects;
+}
+
 const QList<MissionItem *> &WimaPlanData::missionItems() const {
   return _missionItems;
 }

src/Wima/WimaPlanData.h

 #pragma once
 
+#include <QGeoCoordinate>
 #include <QObject>
 
 #include "Geometry/WimaAreaData.h"
@@ -7,7 +8,6 @@
 #include "Geometry/WimaJoinedAreaData.h"
 #include "Geometry/WimaMeasurementAreaData.h"
 #include "Geometry/WimaServiceAreaData.h"
-#include "MissionItem.h"
 
 class WimaPlanData : public QObject {
   Q_OBJECT
@@ -20,7 +20,8 @@ public:
   void append(const WimaJoinedAreaData &areaData);
   void append(const WimaServiceAreaData &areaData);
   void append(const WimaCorridorData &areaData);
-  void append(const WimaMeasurementAreaData &areaData);
+
+  void setTransects(const QList<QList<QGeoCoordinate>> &transects);
   //!
   //! \brief append
   //! \param missionItems
@@ -29,14 +30,11 @@ public:
   void clear();
 
   const QList<const WimaAreaData *> &areaList() const;
-  const QList<MissionItem *> &missionItems() const;
+  const QList<QList<QGeoCoordinate>> &transects() const;
 
 signals:
   void areaListChanged();
 
-private:
-  void _clearAndDeleteMissionItems();
-
 private:
   WimaJoinedAreaData _joinedArea;
   WimaServiceAreaData _serviceArea;
@@ -44,5 +42,5 @@ private:
   WimaMeasurementAreaData _measurementArea;
   QList<const WimaAreaData *> _areaList;
 
-  QList<MissionItem *> _missionItems;
+  QList<QList<QGeoCoordinate>> _transects;
 };

src/Wima/WimaPlaner.cc

@@ -666,17 +666,21 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
 
 void WimaPlaner::synchronize() {
   if (_wimaBridge != nullptr) {
-    if (_needsUpdate)
-      return;
-    auto planData = toPlanData();
-    (void)_wimaBridge->setWimaPlanData(planData);
-    this->_synchronized = true;
-    emit synchronizedChanged();
+    if (readyForSynchronization()) {
+      auto planData = toPlanData();
+      (void)_wimaBridge->setWimaPlanData(planData);
+      this->_synchronized = true;
+      emit synchronizedChanged();
+    }
   } else {
     qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
   }
 }
 
+bool WimaPlaner::readyForSynchronization() {
+  return !_needsUpdate && _measurementArea.ready();
+}
+
 bool WimaPlaner::shortestPath(const QGeoCoordinate &start,
                               const QGeoCoordinate &destination,
                               QVector<QGeoCoordinate> &path) {
@@ -737,14 +741,7 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
   planData->append(WimaJoinedAreaData(_joinedArea));
 
   // convert mission items to mavlink commands
-  QList<MissionItem *> missionItems;
-  _TSComplexItem->appendMissionItems(missionItems, nullptr);
-  // store mavlink commands
-  qWarning() << "WimaPlaner";
-  for (auto *item : missionItems) {
-    qWarning() << item->coordinate();
-  }
-  planData->append(missionItems);
+  planData->setTransects(this->_TSComplexItem->rawTransects());
   return planData;
 }
 

src/Wima/WimaPlaner.h

@@ -84,6 +84,7 @@ public:
   Q_INVOKABLE bool update();
   /// Pushes the generated mission data to the wimaController.
   Q_INVOKABLE void synchronize();
+  Q_INVOKABLE bool readyForSynchronization();
   Q_INVOKABLE void saveToCurrent();
   Q_INVOKABLE void saveToFile(const QString &filename);
   Q_INVOKABLE bool loadFromCurrent();

src/Wima/json/CircularSurvey.SettingsGroup.json

 [
 {
-    "name":             "DeltaR",
-    "shortDescription": "The distance between two consecutive circles.",
+    "name":             "TransectDistance",
+    "shortDescription": "The distance between transects.",
     "type":             "double",
     "units":            "m",
     "min":              0.3,
@@ -9,18 +9,18 @@
     "defaultValue":     20.0
 },
 {
-    "name":             "DeltaAlpha",
-    "shortDescription": "Angle discretisation of the circles.",
+    "name":             "Alpha",
+    "shortDescription": "Angle discretisation or transect angle (depending on type).",
     "type":             "double",
     "units":            "Deg",
-    "min":              0.3,
-    "max":              90,
+    "min":              0,
+    "max":              180,
     "decimalPlaces":    1,
     "defaultValue":     5.0
 },
 {
-    "name":             "TransectMinLength",
-    "shortDescription": "The minimal length transects must have to be accepted.",
+    "name":             "MinLength",
+    "shortDescription": "The minimal transect length.",
     "type":             "double",
     "units":            "m",
     "min":              0.3,
@@ -28,23 +28,11 @@
     "defaultValue":     5.0
 },
 {
-    "name":             "FixedDirection",
-    "shortDescription": "Determines whether all transects have the same direction or not.",
-    "type":             "bool",
-    "defaultValue":     1
-},
-{
-    "name":             "Reverse",
-    "shortDescription": "Reverses the transect path.",
-    "type":             "bool",
+    "name":             "Type",
+    "shortDescription": "Survey Type.",
+    "type":             "uint64",
+    "min":              0,
+    "max":              1,
     "defaultValue":     0
-},
-{
-    "name":             "MaxWaypoints",
-    "shortDescription": "The maximum number of waypoints the circular survey can containt. To many waypoints cause a performance hit.",
-    "type":             "uint32",
-    "defaultValue":     2000,
-    "min":              1,
-    "max":              20000
 }
 ]

src/WimaView/CircularSurveyMapVisual.qml

@@ -27,29 +27,68 @@ Item {
 
     property var _missionItem:      object
     property var _mapPolygon:       object.surveyAreaPolygon
-    property var _visualTransectsComponent
+    property var _transectsComponent
     property var _entryCoordinate
     property var _exitCoordinate
     property var _refPoint
+    property bool showRefPoint: _missionItem.type.value === 0 // type == Circular
 
     signal clicked(int sequenceNumber)
 
-    function _addVisualElements() {
-        _visualTransectsComponent = visualTransectsComponent.createObject(map)
-        _entryCoordinate = entryPointComponent.createObject(map)
-        _exitCoordinate = exitPointComponent.createObject(map)
-        _refPoint = refPointComponent.createObject(map)
-        map.addMapItem(_visualTransectsComponent)
-        map.addMapItem(_entryCoordinate)
-        map.addMapItem(_exitCoordinate)
-        map.addMapItem(_refPoint)
+    function _addTransectsComponent(){
+        if (!_transectsComponent){
+            _transectsComponent = visualTransectsComponent.createObject(map)
+            map.addMapItem(_transectsComponent)
+        }
+    }
+
+    function _addExitCoordinate(){
+        if (!_exitCoordinate){
+            _exitCoordinate = exitPointComponent.createObject(map)
+            map.addMapItem(_exitCoordinate)
+        }
+    }
+
+    function _addEntryCoordinate(){
+        if (!_entryCoordinate){
+            _entryCoordinate = entryPointComponent.createObject(map)
+            map.addMapItem(_entryCoordinate)
+        }
+    }
+
+    function _addRefPoint(){
+        if (!_refPoint){
+            _refPoint = refPointComponent.createObject(map)
+            map.addMapItem(_refPoint)
+        }
+    }
+
+    function _destroyEntryCoordinate(){
+        if (_entryCoordinate){
+            _entryCoordinate.destroy()
+            _entryCoordinate = undefined
+        }
+    }
+
+    function _destroyExitCoordinate(){
+        if (_exitCoordinate){
+            _exitCoordinate.destroy()
+            _exitCoordinate = undefined
+        }
     }
 
-    function _destroyVisualElements() {
-        _visualTransectsComponent.destroy()
-        _entryCoordinate.destroy()
-        _exitCoordinate.destroy()
-        _refPoint.destroy()
+    function _destroyRefPoint(){
+        if (_refPoint){
+            _refPoint.destroy()
+            _refPoint = undefined
+        }
+    }
+
+    function _destroyTransectsComponent(){
+        if (_transectsComponent){
+            _transectsComponent.destroy()
+            _transectsComponent = undefined
+        }
     }
 
     /// Add an initial 4 sided polygon if there is none
@@ -83,20 +122,33 @@ Item {
         }
     }
 
-    function _setRefPoint() {
-        _missionItem.resetReference();
-    }
 
     Component.onCompleted: {
-        if ( _missionItem.visualTransectPoints.length === 0 ) {
+        if ( _mapPolygon.count === 0 ) {
             _addInitialPolygon()
-            _setRefPoint()
+            _missionItem.resetReference();
         }
-        _addVisualElements()
+        _addEntryCoordinate()
+        _addExitCoordinate()
+        if (showRefPoint){
+            _addRefPoint()
+        }
+        _addTransectsComponent()
     }
 
     Component.onDestruction: {
-        _destroyVisualElements()
+        _destroyEntryCoordinate()
+        _destroyExitCoordinate()
+        _destroyRefPoint()
+        _destroyTransectsComponent()
+    }
+
+    onShowRefPointChanged: {
+        if (showRefPoint){
+            _addRefPoint()
+        } else {
+            _destroyRefPoint()
+        }
     }
 
     WimaMapPolygonVisuals {
@@ -117,9 +169,10 @@ Item {
         id: visualTransectsComponent
 
         MapPolyline {
+            property var transects: _missionItem.visualTransectPoints
             line.color: "white"
             line.width: 2
-            path:       _missionItem.visualTransectPoints
+            path:       transects.length > 0 ? transects : []
         }
     }
 
@@ -174,20 +227,13 @@ Item {
             checked:    _missionItem.isCurrentItem
             coordinate: _missionItem.refPoint
 
-            property var refPoint: _missionItem.refPoint
-
-            onRefPointChanged: {
-                if (refPoint !== coordinate) {
-                    coordinate = refPoint
-                }
-            }
-
             onClicked:  {
                 _root.clicked(_missionItem.sequenceNumber)
             }
 
             onDragReleased: {
                 _missionItem.refPoint = coordinate
+                coordinate = Qt.binding(function (){return _missionItem.refPoint})
             }
         }
     }

src/WimaView/WimaServiceAreaMapVisual.qml

@@ -104,7 +104,7 @@ Item {
 
     Component.onCompleted: {
         _addInitialPolygon()
-        if (interactive){
+        if (showDepot){
             _addDepot()
         }
     }