MeasurementArea prepared for new NemoInterface

QGCExternalLibs.pri

@@ -226,11 +226,6 @@ contains (DEFINES, DISABLE_AIRMAP) {
     }
 }
 
-# GeograpicLib (TODO: add Windows support!)
-LinuxBuild {
-    LIBS += -L$$PWD/libs/libGeographic -lGeographic # libGeograpic.so.17
-}
-
 # google or-tools (TODO: add Windows support!)
 LinuxBuild {
     OR_TOOLS_PATH = $$PWD/libs/or-tools-src-ubuntu

qgroundcontrol.pro

@@ -445,7 +445,11 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 #
 
 HEADERS += \
+    src/MeasurementComplexItem/geometry/ProgressArray.h \
+    src/MeasurementComplexItem/geometry/TileDiff.h \
     src/MeasurementComplexItem/geometry/geometry.h \
+    src/MeasurementComplexItem/HashFunctions.h \
+    src/MeasurementComplexItem/nemo_interface/MeasurementTile.h \
     src/QmlControls/QmlUnitsConversion.h \
     src/MeasurementComplexItem/geometry/GeoArea.h \
     src/MeasurementComplexItem/geometry/MeasurementArea.h \
@@ -487,7 +491,6 @@ HEADERS += \
     src/MeasurementComplexItem/nemo_interface/QNemoHeartbeat.h \
     src/MeasurementComplexItem/nemo_interface/QNemoProgress.h \
     src/MeasurementComplexItem/nemo_interface/QNemoProgress.h \
-    src/MeasurementComplexItem/nemo_interface/SnakeTile.h \
     src/MeasurementComplexItem/nemo_interface/SnakeTileLocal.h \
     src/MeasurementComplexItem/nemo_interface/SnakeTiles.h \
     src/MeasurementComplexItem/nemo_interface/SnakeTilesLocal.h \
@@ -498,6 +501,7 @@ HEADERS += \
     src/api/QmlComponentInfo.h \
     src/GPS/Drivers/src/base_station.h \
     src/Settings/WimaSettings.h \
+    src/comm/QmlObjectListHelper.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
     src/comm/ros_bridge/include/com_private.h \
     src/comm/ros_bridge/include/message_traits.h \
@@ -525,6 +529,8 @@ SOURCES += \
     src/MeasurementComplexItem/geometry/MeasurementArea.cc \
     src/MeasurementComplexItem/geometry/SafeArea.cc \
     src/MeasurementComplexItem/geometry/geometry.cpp \
+    src/MeasurementComplexItem/HashFunctions.cpp \
+    src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp \
     src/Vehicle/VehicleEscStatusFactGroup.cc \
     src/MeasurementComplexItem/AreaData.cc \
     src/api/QGCCorePlugin.cc \
@@ -541,7 +547,7 @@ SOURCES += \
     src/MeasurementComplexItem/geometry/GeoPoint3D.cpp \
     src/MeasurementComplexItem/NemoInterface.cpp \
     src/MeasurementComplexItem/nemo_interface/QNemoProgress.cc \
-    src/MeasurementComplexItem/nemo_interface/SnakeTile.cpp \
+    src/comm/QmlObjectListHelper.cpp \
     src/comm/ros_bridge/include/RosBridgeClient.cpp \
     src/comm/ros_bridge/include/com_private.cpp \
     src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.cpp \

src/MeasurementComplexItem/CircularGenerator.cpp

@@ -10,7 +10,7 @@
 #include "geometry/MeasurementArea.h"
 #include "geometry/SafeArea.h"
 #include "geometry/clipper/clipper.hpp"
-#include "nemo_interface/SnakeTile.h"
+#include "nemo_interface/MeasurementTile.h"
 
 QGC_LOGGING_CATEGORY(CircularGeneratorLog, "CircularGeneratorLog")
 
@@ -118,32 +118,23 @@ bool CircularGenerator::get(Work &work) {
       auto pPolygon = std::make_shared<geometry::FPolygon>();
       geometry::areaToEnu(origin, geoPolygon, *pPolygon);
 
-      // Progress and tiles.
-      const auto &progress = measurementArea->progress();
+      // Collect tiles with progress == 100 %.
       const auto *tiles = measurementArea->tiles();
       auto pTiles = std::make_shared<std::vector<geometry::FPolygon>>();
-      if (progress.size() == tiles->count()) {
       for (int i = 0; i < tiles->count(); ++i) {
-          if (progress[i] == 100) {
-            const auto *obj = (*tiles)[int(i)];
-            const auto *tile = qobject_cast<const SnakeTile *>(obj);
-
+        const auto tile =
+            qobject_cast<const MeasurementTile *>(tiles->operator[](i));
         if (tile != nullptr) {
+          if (qFuzzyCompare(tile->progress(), 100)) {
             geometry::FPolygon tileENU;
             geometry::areaToEnu(origin, tile->coordinateList(), tileENU);
             pTiles->push_back(std::move(tileENU));
-            } else {
-              qCDebug(CircularGeneratorLog)
-                  << "get(): progress.size() != tiles->count().";
-              return false;
-            }
-          }
           }
         } else {
-        qCDebug(CircularGeneratorLog)
-            << "get(): progress.size() != tiles->count().";
+          qCDebug(CircularGeneratorLog) << "get(): tile == nullptr.";
           return false;
         }
+      }
 
       auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
       if (measurementArea == nullptr) {

src/MeasurementComplexItem/HashFunctions.cpp

+#include "HashFunctions.h"

src/MeasurementComplexItem/HashFunctions.h

+#ifndef HASHFUNCTIONS_H
+#define HASHFUNCTIONS_H
+
+#include <QGeoCoordinate>
+#include <functional>
+
+#include <QmlObjectListModel.h>
+
+namespace std {
+
+template <> struct hash<QGeoCoordinate> {
+  std::size_t operator()(const QGeoCoordinate &c) {
+    hash<double> h;
+    return h(c.latitude()) ^ h(c.longitude()) ^ h(c.altitude());
+  }
+};
+
+template <template <class> class Container, class EntryType>
+struct hash<Container<EntryType>> {
+  std::size_t operator()(const Container<EntryType> &list) {
+    std::size_t value = 0;
+    hash<EntryType> h;
+    for (const auto it = std::begin(list); it != std::end(list); ++it) {
+      value ^= h(*it);
+    }
+
+    return value;
+  }
+};
+} // namespace std
+
+#endif // HASHFUNCTIONS_H

src/MeasurementComplexItem/LinearGenerator.cpp

@@ -9,7 +9,7 @@
 #include "geometry/clipper/clipper.hpp"
 
 #include "RoutingThread.h"
-#include "nemo_interface/SnakeTile.h"
+#include "nemo_interface/MeasurementTile.h"
 
 namespace routing {
 
@@ -100,15 +100,12 @@ bool LinearGenerator::get(Work &generator) {
       geometry::areaToEnu(origin, geoPolygon, *pPolygon);
 
       // Progress and tiles.
-      const auto &progress = measurementArea->progress();
       const auto *tiles = measurementArea->tiles();
       auto pTiles = std::make_shared<std::vector<geometry::FPolygon>>();
-      if (progress.size() == tiles->count()) {
       for (int i = 0; i < tiles->count(); ++i) {
-          if (progress[i] == 100) {
-            const QObject *obj = (*tiles)[int(i)];
-            const auto *tile = qobject_cast<const SnakeTile *>(obj);
-
+        const auto tile =
+            qobject_cast<const MeasurementTile *>(tiles->operator[](i));
+        if (qFuzzyCompare(tile->progress(), 100)) {
           if (tile != nullptr) {
             geometry::FPolygon tileENU;
             geometry::areaToEnu(origin, tile->coordinateList(), tileENU);
@@ -119,11 +116,6 @@ bool LinearGenerator::get(Work &generator) {
           }
         }
       }
-      } else {
-        qCDebug(LinearGeneratorLog)
-            << "get(): progress.size() != tiles->count().";
-        return false;
-      }
 
       auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
       if (serviceArea == nullptr) {

src/MeasurementComplexItem/MeasurementComplexItem.cc

@@ -8,7 +8,7 @@
 #include "geometry/SafeArea.h"
 #include "geometry/clipper/clipper.hpp"
 #include "geometry/geometry.h"
-#include "nemo_interface/SnakeTile.h"
+#include "nemo_interface/MeasurementTile.h"
 
 // QGC
 #include "JsonHelper.h"

src/MeasurementComplexItem/NemoInterface.cpp

@@ -17,7 +17,7 @@
 #include "geometry/geometry.h"
 #include "nemo_interface/QNemoHeartbeat.h"
 #include "nemo_interface/QNemoProgress.h"
-#include "nemo_interface/SnakeTile.h"
+#include "nemo_interface/MeasurementTile.h"
 
 #include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
 #include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
@@ -158,7 +158,7 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
     UniqueLock lk2(this->tilesENUMutex, std::adopt_lock);
 
     const auto *obj = tileData.tiles[0];
-    const auto *tile = qobject_cast<const SnakeTile *>(obj);
+    const auto *tile = qobject_cast<const MeasurementTile *>(obj);
     if (tile != nullptr) {
       if (tile->coordinateList().size() > 0) {
         if (tile->coordinateList().first().isValid()) {
@@ -167,7 +167,7 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
           this->tilesENU.polygons().clear();
           for (int i = 0; i < tileData.tiles.count(); ++i) {
             obj = tileData.tiles[i];
-            tile = qobject_cast<const SnakeTile *>(obj);
+            tile = qobject_cast<const MeasurementTile *>(obj);
             if (tile != nullptr) {
               SnakeTileLocal tileENU;
               geometry::areaToEnu(origin, tile->coordinateList(), tileENU.path());

src/MeasurementComplexItem/geometry/MeasurementArea.h

@@ -6,14 +6,14 @@
 #include <QTimer>
 
 #include "GeoArea.h"
+#include "MeasurementComplexItem/nemo_interface/MeasurementTile.h"
+#include "ProgressArray.h"
+#include "TileDiff.h"
 
 #include "SettingsFact.h"
 
 class TileData : public QObject {
 public:
-  QmlObjectListModel tiles;
-  QVariantList tileCenterPoints;
-
   TileData();
   ~TileData();
 
@@ -26,12 +26,15 @@ public:
 
   void clear();
   std::size_t size() const;
+
+  QmlObjectListModel tiles;
+  QVariantList tileCenterPoints;
 };
 
 class MeasurementArea : public GeoArea {
   Q_OBJECT
   enum class STATE { IDLE, DEFERED, UPDATEING, RESTARTING, STOP };
-  using DataPtr = QSharedPointer<TileData>;
+  using TilePtr = QSharedPointer<QmlObjectListModel>;
 
 public:
   MeasurementArea(QObject *parent = nullptr);
@@ -45,7 +48,6 @@ public:
   Q_PROPERTY(Fact *showTiles READ showTiles CONSTANT)
   Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tilesChanged)
   Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
-  Q_PROPERTY(QVector<int> progress READ progressQml NOTIFY progressChanged)
   Q_PROPERTY(bool holdProgress READ holdProgress WRITE setHoldProgress NOTIFY
                  holdProgressChanged)
 
@@ -63,11 +65,7 @@ public:
   Fact *minTileArea();
   Fact *showTiles();
   QmlObjectListModel *tiles();
-  const QVector<int> &progress() const;
-  QVector<int> progressQml() const;
   const QmlObjectListModel *tiles() const;
-  const QVariantList &tileCenterPoints() const; // List of QGeoCoordinate
-  const TileData &tileData() const;
   int maxTiles() const;
   bool ready() const;
 
@@ -92,14 +90,13 @@ public:
 signals:
   void tilesChanged();
   void maxTilesChanged();
-  void progressChanged();
-  void progressAccepted();
-  void progressNotAccepted();
   void readyChanged();
   void holdProgressChanged();
+  void progressChanged();
 
 public slots:
-  bool setProgress(const QVector<int> &p);
+  void updateIds(const QList<TileDiff> &array);
+  void updateProgress(const ProgressArray &array);
   Q_INVOKABLE void randomProgress();
   Q_INVOKABLE void resetProgress();
 
@@ -123,12 +120,11 @@ private:
   SettingsFact _minTileAreaPercent; // 0..100
   SettingsFact _showTiles;
 
-  QVector<int> _progress;
-  bool _holdProgress;
   // Tile stuff.
-  // Tile stuff.
-  mutable QTimer _timer;
-  mutable STATE _state;
-  mutable TileData _tileData;
-  mutable QFutureWatcher<DataPtr> _watcher;
+  TilePtr _tiles;
+  std::map<long /*id*/, MeasurementTile *> _tileMap;
+  bool _holdProgress;
+  QTimer _timer;
+  STATE _state;
+  QFutureWatcher<TilePtr> _watcher;
 };

src/MeasurementComplexItem/geometry/ProgressArray.h

+#ifndef PROGRESSARRAY_H
+#define PROGRESSARRAY_H
+
+#include <QVector>
+#include <tuple>
+
+typedef std::pair<long /*id*/, double /*progress*/> TaggedProgress;
+typedef QVector<TaggedProgress> ProgressArray;
+
+#endif // PROGRESSARRAY_H

src/MeasurementComplexItem/geometry/TileDiff.h

+#ifndef TILEDIFF_H
+#define TILEDIFF_H
+
+#include "nemo_interface/MeasurementTile.h"
+
+struct TileDiff {
+  MeasurementTile oldTile;
+  MeasurementTile newTile;
+};
+
+#endif // TILEDIFF_H

src/MeasurementComplexItem/geometry/geometry.h

@@ -105,8 +105,9 @@ struct BoundingBox {
   FPolygon corners;
 };
 
-constexpr int earth_radius = 6371000;                              // meters (m)
-constexpr double epsilon = std::numeric_limits<double>::epsilon(); // meters (m)
+static constexpr int earth_radius = 6371000; // meters (m)
+static constexpr double epsilon =
+    std::numeric_limits<double>::epsilon(); // meters (m)
 
 template <class GeoPoint1, class GeoPoint2>
 void toENU(const GeoPoint1 &origin, const GeoPoint2 &in, FPoint &out) {

src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp

+#include "MeasurementTile.h"
+
+MeasurementTile::MeasurementTile(QObject *parent)
+    : GeoArea(parent), _progress(0), _id(0) {
+  init();
+}
+
+MeasurementTile::MeasurementTile(const MeasurementTile &other, QObject *parent)
+    : GeoArea(other, parent), _progress(other._progress), _id(other._id) {
+  init();
+}
+
+MeasurementTile::~MeasurementTile() {}
+
+MeasurementTile &MeasurementTile::operator=(const MeasurementTile &other) {
+  GeoArea::operator=(other);
+  setProgress(other._progress);
+  setId(other._id);
+  return *this;
+}
+
+QString MeasurementTile::mapVisualQML() const { return QStringLiteral(""); }
+
+QString MeasurementTile::editorQML() const { return QStringLiteral(""); }
+
+MeasurementTile *MeasurementTile::clone(QObject *parent) const {
+  return new MeasurementTile(*this, parent);
+}
+
+void MeasurementTile::push_back(const QGeoCoordinate &c) {
+  this->appendVertex(c);
+}
+
+void MeasurementTile::init() { this->setObjectName("Tile"); }
+
+uint64_t MeasurementTile::id() const { return _id; }
+
+void MeasurementTile::setId(const uint64_t &id) {
+  if (_id != id) {
+    _id = id;
+    emit idChanged();
+  }
+}
+
+double MeasurementTile::progress() const { return _progress; }
+
+void MeasurementTile::setProgress(double progress) {
+  if (_progress != progress) {
+    _progress = progress;
+    emit progressChanged();
+  }
+}

src/MeasurementComplexItem/nemo_interface/MeasurementTile.h

+#pragma once
+
+#include "geometry/GeoArea.h"
+
+#include <QGeoCoordinate>
+
+class MeasurementTile : public GeoArea {
+  Q_OBJECT
+public:
+  MeasurementTile(QObject *parent = nullptr);
+  MeasurementTile(const MeasurementTile &other, QObject *parent = nullptr);
+  ~MeasurementTile();
+
+  MeasurementTile &operator=(const MeasurementTile &other);
+
+  Q_PROPERTY(double progress READ progress NOTIFY progressChanged)
+  Q_PROPERTY(long id READ id NOTIFY idChanged)
+
+  virtual QString mapVisualQML() const override;
+  virtual QString editorQML() const override;
+  virtual MeasurementTile *clone(QObject *parent) const;
+
+  void push_back(const QGeoCoordinate &c);
+
+  double progress() const;
+  void setProgress(double progress);
+
+  uint64_t id() const;
+  void setId(const uint64_t &id);
+
+signals:
+  void progressChanged();
+  void idChanged();
+
+private:
+  void init();
+  double _progress;
+  long _id;
+};

src/MeasurementComplexItem/nemo_interface/SnakeTile.cpp

-#include "SnakeTile.h"
-
-SnakeTile::SnakeTile(QObject *parent) : GeoArea(parent) { init(); }
-
-SnakeTile::SnakeTile(const SnakeTile &other, QObject *parent)
-    : GeoArea(other, parent) {
-  init();
-}
-
-SnakeTile::~SnakeTile() {}
-
-QString SnakeTile::mapVisualQML() const { return QStringLiteral(""); }
-
-QString SnakeTile::editorQML() const { return QStringLiteral(""); }
-
-SnakeTile *SnakeTile::clone(QObject *parent) const {
-  return new SnakeTile(*this, parent);
-}
-
-void SnakeTile::push_back(const QGeoCoordinate &c) { this->appendVertex(c); }
-
-void SnakeTile::init() { this->setObjectName("Tile"); }

src/MeasurementComplexItem/nemo_interface/SnakeTile.h

-#pragma once
-
-#include "geometry/GeoArea.h"
-
-#include <QGeoCoordinate>
-
-class SnakeTile : public GeoArea {
-  Q_OBJECT
-public:
-  SnakeTile(QObject *parent = nullptr);
-  SnakeTile(const SnakeTile &other, QObject *parent = nullptr);
-  ~SnakeTile();
-
-  virtual QString mapVisualQML() const override;
-  virtual QString editorQML() const override;
-  virtual SnakeTile *clone(QObject *parent) const;
-
-  void push_back(const QGeoCoordinate &c);
-
-private:
-  void init();
-};

src/MeasurementComplexItem/nemo_interface/SnakeTiles.h

 #pragma once
-#include "SnakeTile.h"
+#include "MeasurementTile.h"
 #include "Wima/Geometry/GenericPolygonArray.h"
 
-using SnakeTiles =  GenericPolygonArray<SnakeTile, QVector>;
+using SnakeTiles =  GenericPolygonArray<MeasurementTile, QVector>;

src/MeasurementComplexItem/qml/MeasurementAreaMapVisual.qml

@@ -48,7 +48,34 @@ Item {
         interiorOpacity: _root.opacity
     }
 
-    // Add Snake tiles to the map
+    Repeater {
+        id: progressRepeater
+        property bool enable: geoArea.showTiles.value
+        model: enable ? geoArea.tiles : []
+
+        Item {
+            property var _tileComponent
+
+            Component.onCompleted: {
+                _tileComponent = tileComponent.createObject(map)
+
+                _tileComponent.polygon.path = Qt.binding(function () {
+                    return object.path
+                })
+                _tileComponent.polygon.opacity = 0.6
+                _tileComponent.polygon.border.color = "black"
+                _tileComponent.polygon.border.width = 1
+                _tileComponent.polygon.color = Qt.binding(function () {
+                    return getColor(object.progress)
+                })
+            }
+
+            Component.onDestruction: {
+                _tileComponent.destroy()
+            }
+        }
+    }
+
     Component {
         id: tileComponent
 
@@ -86,32 +113,4 @@ Item {
         return "limegreen"
     }
 
-    Repeater {
-        id: progressRepeater
-        property bool enable: geoArea.showTiles.value
-        model: enable ? geoArea.tiles : []
-
-        Item {
-            property var _tileComponent
-            property int _progress: _root.geoArea.progress[index] ? _root.geoArea.progress[index] : 0
-
-            Component.onCompleted: {
-                _tileComponent = tileComponent.createObject(map)
-
-                _tileComponent.polygon.path = Qt.binding(function () {
-                    return object.path
-                })
-                _tileComponent.polygon.opacity = 0.6
-                _tileComponent.polygon.border.color = "black"
-                _tileComponent.polygon.border.width = 1
-                _tileComponent.polygon.color = Qt.binding(function () {
-                    return getColor(_progress)
-                })
-            }
-
-            Component.onDestruction: {
-                _tileComponent.destroy()
-            }
-        }
-    }
 }

src/comm/QmlObjectListHelper.cpp

+#include "QmlObjectListHelper.h"

src/comm/QmlObjectListHelper.h

+#ifndef QMLOBJECTLISTHELPER_H
+#define QMLOBJECTLISTHELPER_H
+
+#include "QmlObjectListModel.h"
+
+#include <type_traits>
+
+template <class PtrType>
+inline bool contains(const QmlObjectListModel &in, const PtrType toFind) {
+
+  static_assert(std::is_pointer<PtrType>::value, "PtrType must be a pointer.");
+
+  typedef typename std::remove_pointer<PtrType>::type Type;
+
+  for (int i = 0; i < in.count(); ++i) {
+    const auto obj = qobject_cast<const Type *>(in[i]);
+    Q_ASSERT(obj != nullptr);
+    Q_ASSERT(toFind != nullptr);
+    if (*obj == *toFind) {
+      return true;
+    }
+  }
+  return false;
+}
+
+template <class PtrType>
+inline bool equals(const QmlObjectListModel &list,
+                   const QmlObjectListModel &otherList) {
+
+  static_assert(std::is_pointer<PtrType>::value, "PtrType must be a pointer.");
+
+  typedef typename std::remove_pointer<PtrType>::type Type;
+
+  if (list.count() == otherList.count()) {
+
+    for (int i = 0; i < list.count(); ++i) {
+      const auto obj = qobject_cast<const Type *>(list[i]);
+      const auto otherObj = qobject_cast<const Type *>(otherList[i]);
+      Q_ASSERT(obj != nullptr);
+      Q_ASSERT(otherObj != nullptr);
+      if (*obj != *otherObj) {
+        return false;
+      }
+    }
+
+    return true;
+  } else {
+    return false;
+  }
+}
+
+#endif // QMLOBJECTLISTHELPER_H