code not passing assertions

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -301,12 +301,6 @@ Item {
                             Layout.fillWidth: true
                         }
 
-                        FactCheckBox {
-                            text:       qsTr("Invert Phase")
-                            fact:       wimaController.reverse
-                            Layout.fillWidth: true
-                        }
-
                     }
 
                     SectionHeader{

src/MissionManager/MissionController.cc

@@ -485,7 +485,7 @@ int MissionController::insertSimpleMissionItem(const MissionItem &missionItem, i
     return newItem->sequenceNumber();
 }
 
-int MissionController::insertSimpleMissionItem(SimpleMissionItem &missionItem, int i)
+int MissionController::insertSimpleMissionItem(const SimpleMissionItem &missionItem, int i)
 {
     int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(missionItem, _flyView, this);

src/MissionManager/MissionController.h

@@ -124,7 +124,7 @@ public:
     /// Add a new simple mission item to the list
     ///     @param i: index to insert at
     /// @return Sequence number for new item
-                int insertSimpleMissionItem(SimpleMissionItem &missionItem, int i);
+                int insertSimpleMissionItem(const SimpleMissionItem &missionItem, int i);
 
     /// Add a new ROI mission item to the list
     ///     @param i: index to insert at

src/Wima/Geometry/PolygonCalculus.cc

@@ -479,7 +479,7 @@ namespace PolygonCalculus {
     {
         using namespace PlanimetryCalculus;
         QPolygonF bigPolygon(polygon);
-        offsetPolygon(bigPolygon, 0.1); // solves numerical errors
+        offsetPolygon(bigPolygon, 0.5); // solves numerical errors
         if (    bigPolygon.containsPoint(startVertex, Qt::FillRule::OddEvenFill)
              && bigPolygon.containsPoint(endVertex, Qt::FillRule::OddEvenFill)) {
 

src/Wima/WaypointManager/DefaultManager.h

@@ -20,8 +20,10 @@ class DefaultManager : public ManagerBase
 {
 public:
     DefaultManager() = delete;
-    DefaultManager(Settings *settings,
-                   AreaInterface *interface);
+    DefaultManager(Settings &settings,
+                   AreaInterface &interface);
+
+    void clear() override;
 
 
     virtual bool update() override;
@@ -30,7 +32,13 @@ public:
     virtual bool reset() override;
 
 protected:
-    bool _insertMissionItem(size_t index, const QGeoCoordinate &c, bool doUpdate);
+    bool _insertMissionItem(const QGeoCoordinate &c,
+                            size_t index,
+                            QmlObjectListModel &list,
+                            bool doUpdate);
+    bool _insertMissionItem(const QGeoCoordinate &c,
+                            size_t index,
+                            bool doUpdate);
     bool _calcShortestPath(const QGeoCoordinate &start,
                            const QGeoCoordinate &destination,
                            QVector<QGeoCoordinate> &path);

src/Wima/WaypointManager/GenericWaypointManager.h

@@ -16,21 +16,25 @@ public:
     typedef ContainerType<WaypointType>  WaypointList;
 
     GenericWaypointManager() = delete;
-    GenericWaypointManager(SettingsType *settings);
+    GenericWaypointManager(SettingsType &settings);
 
     // Waypoint editing.
     void            setWaypoints(const WaypointList &waypoints);
     void            push_back   (const WaypointType &wp);
     void            push_front  (const WaypointType &wp);
-    void            clear       ();
+    virtual void    clear       ();
     void            insert      (std::size_t i, const WaypointType &wp);
     std::size_t     size        ()  const;
     WaypointType    &at         (std::size_t i);
 
 
     const WaypointList      &waypoints() const;
-    const WaypointList      &slice() const;
+    const WaypointList      &currentWaypoints() const;
     const MissionItemList   &missionItems() const;
+    const MissionItemList   &currentMissionItems() const;
+
+    const QVariantList &waypointsVariant() const;
+    const QVariantList &currentWaypointsVariant() const;
 
     virtual bool update() = 0;
     virtual bool next() = 0;
@@ -39,9 +43,13 @@ public:
 
 protected:
     WaypointList        _waypoints;
-    WaypointList        _slice;
+    WaypointList        _currentWaypoints;
+    MissionItemList     _currentMissionItems;
     MissionItemList     _missionItems;
     SettingsType       *_settings;
+    bool                _dirty;
+    QVariantList        _waypointsVariant;
+    QVariantList        _currentWaypointsVariant;
 };
 
 
@@ -52,9 +60,10 @@ template<class WaypointType,
 GenericWaypointManager<WaypointType,
                        ContainerType,
                        MissionItemList,
-                       SettingsType>::GenericWaypointManager(SettingsType *Settings
-        )
-  : _settings(_settings)
+                       SettingsType>::GenericWaypointManager(SettingsType &settings)
+  : Slicer()
+  , _settings(&settings)
+  , _dirty(true)
 {}
 
 template<class WaypointType,
@@ -66,6 +75,7 @@ void GenericWaypointManager<WaypointType,
                             MissionItemList,
                             SettingsType>::push_back(const WaypointType &wp)
 {
+    _dirty = true;
     _waypoints.push_back(wp);
 }
 
@@ -79,6 +89,7 @@ void GenericWaypointManager<WaypointType,
                             SettingsType>::push_front(
         const WaypointType &wp)
 {
+    _dirty = true;
     _waypoints.push_front(wp);
 }
 
@@ -91,7 +102,13 @@ void GenericWaypointManager<WaypointType,
                             MissionItemList,
                             SettingsType>::clear()
 {
+    _dirty = true;
     _waypoints.clear();
+    _currentWaypoints.clear();
+    _missionItems.clear();
+    _currentMissionItems.clear();
+    _waypointsVariant.clear();
+    _currentWaypointsVariant.clear();
 }
 
 template<class WaypointType,
@@ -104,6 +121,7 @@ void GenericWaypointManager<WaypointType,
                             SettingsType>::insert(std::size_t i,
                                                   const WaypointType &wp)
 {
+    _dirty = true;
     _waypoints.insert(i, wp);
 }
 
@@ -131,6 +149,30 @@ WaypointType & GenericWaypointManager<WaypointType,
     return _waypoints.at(i);
 }
 
+template<class WaypointType,
+         template<class, class...> class ContainerType,
+         class MissionItemList,
+         class SettingsType>
+const QVariantList  &GenericWaypointManager<WaypointType,
+                                            ContainerType,
+                                            MissionItemList,
+                                            SettingsType>::waypointsVariant() const
+{
+    return _waypointsVariant;
+}
+
+template<class WaypointType,
+         template<class, class...> class ContainerType,
+         class MissionItemList,
+         class SettingsType>
+const QVariantList  &GenericWaypointManager<WaypointType,
+                                            ContainerType,
+                                            MissionItemList,
+                                            SettingsType>::currentWaypointsVariant() const
+{
+    return _currentWaypointsVariant;
+}
+
 template<class WaypointType,
          template<class, class...> class ContainerType,
          class MissionItemList,
@@ -150,9 +192,9 @@ template<class WaypointType,
 const ContainerType<WaypointType> &GenericWaypointManager<WaypointType,
                                                           ContainerType,
                                                           MissionItemList,
-                                                          SettingsType>::slice() const
+                                                          SettingsType>::currentWaypoints() const
 {
-    return _slice;
+    return _currentWaypoints;
 }
 
 template<class WaypointType,
@@ -167,6 +209,18 @@ const MissionItemList &GenericWaypointManager<WaypointType,
     return _missionItems;
 }
 
+template<class WaypointType,
+         template<class, class...> class ContainerType,
+         class MissionItemList,
+         class SettingsType>
+const MissionItemList &GenericWaypointManager<WaypointType,
+                                              ContainerType,
+                                              MissionItemList,
+                                              SettingsType>::currentMissionItems() const
+{
+    return _currentMissionItems;
+}
+
 template<class WaypointType,
          template<class, class...> class ContainerType,
          class MissionItemList,

src/Wima/WaypointManager/Settings.cpp

 #include "Settings.h"
 
-void WaypointManager::Settings::setHomePosition(QGeoCoordinate &c)
+WaypointManager::Settings::Settings()
+    : _missionController(nullptr)
+    , _isFlyView(true)
+    , _arrivalReturnSpeed(5)
+    , _flightSpeed(2)
+    , _altitude(5)
+{
+
+}
+
+bool WaypointManager::Settings::valid() const
+{
+    return    _missionController != nullptr
+           && _homePosition.isValid();
+}
+
+void WaypointManager::Settings::setHomePosition(const QGeoCoordinate &c)
 {
     _homePosition = c;
 }
-void WaypointManager::Settings::setVehicle(Vehicle *vehicle)
+
+void WaypointManager::Settings::setMissionController(MissionController *controller)
+{
+    _missionController = controller;
+}
+
+void WaypointManager::Settings::setMasterController(PlanMasterController *controller)
 {
-    _vehicle = vehicle;
+    _masterController = controller;
 }
 
 void WaypointManager::Settings::setIsFlyView(bool isFlyView)
@@ -37,9 +59,24 @@ const QGeoCoordinate &WaypointManager::Settings::homePosition() const
     return _homePosition;
 }
 
+QGeoCoordinate &WaypointManager::Settings::homePosition()
+{
+    return _homePosition;
+}
+
+MissionController *WaypointManager::Settings::missionController() const
+{
+    return _missionController;
+}
+
+PlanMasterController *WaypointManager::Settings::masterController() const
+{
+    return _masterController;
+}
+
 Vehicle *WaypointManager::Settings::vehicle() const
 {
-    return _vehicle;
+    return _masterController->managerVehicle();
 }
 
 bool WaypointManager::Settings::isFlyView() const

src/Wima/WaypointManager/Settings.h

@@ -2,6 +2,8 @@
 
 #include <QGeoCoordinate>
 
+#include "MissionController.h"
+#include "PlanMasterController.h"
 #include "Vehicle.h"
 
 namespace WaypointManager {
@@ -11,14 +13,20 @@ class Settings
 public:
     Settings();
 
-    void setHomePosition(QGeoCoordinate &c);
-    void setVehicle(Vehicle *vehicle);
+    bool valid() const;
+
+    void setHomePosition(const QGeoCoordinate &c);
+    void setMissionController(MissionController *controller);
+    void setMasterController(PlanMasterController *controller);
     void setIsFlyView(bool isFlyView);
     void setArrivalReturnSpeed(double speed);
     void setFlightSpeed(double speed);
     void setAltitude(double altitude);
 
     const QGeoCoordinate &homePosition() const;
+    QGeoCoordinate &homePosition();
+    MissionController *missionController() const;
+    PlanMasterController *masterController() const;
     Vehicle *vehicle() const;
     bool isFlyView() const;
     double arrivalReturnSpeed() const;
@@ -26,12 +34,13 @@ public:
     double altitude() const;
 
 private:
-    QGeoCoordinate _homePosition;
-    Vehicle       *_vehicle;
-    bool           _isFlyView;
-    double         _arrivalReturnSpeed;
-    double         _flightSpeed;
-    double         _altitude;
+    QGeoCoordinate          _homePosition;
+    MissionController      *_missionController;
+    PlanMasterController   *_masterController;
+    bool                    _isFlyView;
+    double                  _arrivalReturnSpeed;
+    double                  _flightSpeed;
+    double                  _altitude;
 
 };
 

src/Wima/WaypointManager/Slicer.h

@@ -5,7 +5,7 @@
 
 #include "Utils.h"
 
-//! @brief Base class for all waypoint managers.
+//! @brief Helper class for slicing containers.
 class Slicer
 {
 public:
@@ -67,14 +67,13 @@ private:
 template <class Container1, class Container2>
 void Slicer::update(const Container1 &source, Container2 &slice){
 
-    if ( !_idxValid)
-        _updateIdx(source.size());
-
+    _updateIdx(source.size());
     WaypointManager::Utils::extract(source, slice, _idxStart, _idxEnd);
 }
 
 template <class Container1, class Container2>
 void Slicer::next(const Container1 &source, Container2 &slice){
+    _updateIdx(source.size());
     setStartIndex(_idxNext);
     update(source, slice);
 }
@@ -82,6 +81,7 @@ void Slicer::next(const Container1 &source, Container2 &slice){
 
 template <class Container1, class Container2>
 void Slicer::previous(const Container1 &source, Container2 &slice){
+    _updateIdx(source.size());
     setStartIndex(_idxPrevious);
     update(source, slice);
 }

src/Wima/WaypointManager/Utils.cpp

@@ -48,7 +48,7 @@ bool WaypointManager::Utils::insertMissionItem(const QGeoCoordinate &coordinate,
             double  altitude;
             int     altitudeMode;
 
-            if (detail::previousAltitude(list, --index, altitude, altitudeMode)) {
+            if (detail::previousAltitude(list, index-1, altitude, altitudeMode)) {
                 newItem->altitude()->setRawValue(altitude);
                 newItem->setAltitudeMode(
                             static_cast<QGroundControlQmlGlobal::AltitudeMode>(
@@ -153,10 +153,12 @@ bool WaypointManager::Utils::detail::updateHirarchy(QmlObjectListModel &list)
 bool WaypointManager::Utils::detail::updateHomePosition(QmlObjectListModel &list)
 {
     MissionSettingsItem *settingsItem = list.value<MissionSettingsItem *>(0);
+    assert(settingsItem); // list not initialized?
 
-    // Set the home position to be a delta from first coordinate
+    // Set the home position to be a delta from first coordinate.
     for (int i = 1; i < list.count(); ++i) {
         VisualMissionItem* item = list.value<VisualMissionItem*>(i);
+        assert(item);
 
         if (item->specifiesCoordinate() && item->coordinate().isValid()) {
             QGeoCoordinate c = item->coordinate().atDistanceAndAzimuth(30, 0);

src/Wima/WaypointManager/Utils.h

@@ -86,7 +86,7 @@ bool extract(const ContainerType<CoordinateType>  &source,
             if ( !extract(source,
                           destination,
                           startIndex,
-                          std::size_t(source.size()-1)) /*recursion*/)
+                          std::size_t(long(source.size())-1)) /*recursion*/)
                 return false;
             if ( !extract(source,
                           destination,

src/Wima/WimaController.h

@@ -35,6 +35,8 @@
 
 #include "ros_bridge/include/ROSBridge.h"
 
+#include "WaypointManager/DefaultManager.h"
+
 #define CHECK_BATTERY_INTERVAL 1000 // ms
 #define SMART_RTL_MAX_ATTEMPTS 3 // times
 #define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
@@ -136,10 +138,6 @@ public:
                READ     arrivalReturnSpeed
                CONSTANT
                )
-    Q_PROPERTY(Fact*    reverse
-               READ     reverse
-               CONSTANT
-               )
     Q_PROPERTY(bool     uploadOverrideRequired
                READ     uploadOverrideRequired
                WRITE    setUploadOverrideRequired
@@ -216,10 +214,10 @@ public:
 //    QString                     fileExtension          (void) const     { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
     WimaDataContainer*          dataContainer          (void)           { return _container; }
-    QmlObjectListModel*         missionItems           (void)           { return &_missionItems; }
-    QmlObjectListModel*         currentMissionItems    (void)           { return &_currentMissionItems; }
-    QVariantList                waypointPath           (void) const;
-    QVariantList                currentWaypointPath    (void)           { return _currentWaypointPath; }
+    QmlObjectListModel*         missionItems           (void);
+    QmlObjectListModel*         currentMissionItems    (void);
+    QVariantList                waypointPath           (void);
+    QVariantList                currentWaypointPath    (void);
     Fact*                       enableWimaController   (void)           { return &_enableWimaController; }
     Fact*                       overlapWaypoints       (void)           { return &_overlapWaypoints; }
     Fact*                       maxWaypointsPerPhase   (void)           { return &_maxWaypointsPerPhase; }
@@ -229,7 +227,6 @@ public:
     Fact*                       flightSpeed            (void)           { return &_flightSpeed; }
     Fact*                       arrivalReturnSpeed     (void)           { return &_arrivalReturnSpeed; }
     Fact*                       altitude               (void)           { return &_altitude; }
-    Fact*                       reverse                (void)           { return &_reverse; }
 
     Fact*                       enableSnake            (void)           { return &_enableSnake; }
     Fact*                       snakeTileWidth         (void)           { return &_snakeTileWidth;}
@@ -291,7 +288,6 @@ public:
     static const char* flightSpeedName;
     static const char* arrivalReturnSpeedName;
     static const char* altitudeName;
-    static const char* reverseName;
     static const char* snakeTileWidthName;
     static const char* snakeTileHeightName;
     static const char* snakeMinTileAreaName;
@@ -330,11 +326,13 @@ private:
 private slots:
     bool _fetchContainerData();
     bool _calcNextPhase(void);
-    void _updateWaypointPath                 (void);
-    void _updateCurrentPath                  (void);
-    void _updateNextWaypoint                 (void);
+    //void _updateWaypointPath                 (void);
+    //void _updateCurrentPath                  (void);
+    //void _updateNextWaypoint                 (void);
     void _recalcCurrentPhase                 (void);
-    bool _setTakeoffLandPosition             (void);
+    //bool _setTakeoffLandPosition             (void);
+    void _updateOverlap                      (void);
+    void _updateMaxWaypoints                 (void);
     void _updateflightSpeed                  (void);
     void _updateArrivalReturnSpeed           (void);
     void _updateAltitude                     (void);
@@ -342,7 +340,6 @@ private slots:
     void _eventTimerHandler                  (void);
     void _smartRTLCleanUp                    (bool flying); // cleans up after successfull smart RTL
     void _enableDisableLowBatteryHandling    (QVariant enable);
-    void _reverseChangedHandler              ();
     void _initSmartRTL                       ();
     void _executeSmartRTL                    ();
     void _setSnakeConnectionStatus           (SnakeConnectionStatus status);
@@ -369,19 +366,27 @@ private:
     MissionController      *_missionController;
 //    QString                 _currentFile; // file for saveing
     WimaDataContainer      *_container; // container for data exchange with WimaController
-    QmlObjectListModel      _visualItems; // contains all visible areas
+    QmlObjectListModel      _areas; // contains all visible areas
     WimaJoinedAreaData      _joinedArea; // joined area fromed by opArea, serArea, _corridor
     WimaMeasurementAreaData _measurementArea; // measurement area
     WimaServiceAreaData     _serviceArea; // area for supplying
     WimaCorridorData        _corridor; // corridor connecting opArea and serArea
     bool                    _localPlanDataValid;
-    QmlObjectListModel      _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
-    QmlObjectListModel      _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
-                                                  // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
-    QmlObjectListModel      _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked
-    QVector<QGeoCoordinate> _waypoints; // path connecting the items in _missionItems
-    QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
-    QGeoCoordinate          _takeoffLandPostion;
+
+
+    WaypointManager::AreaInterface  _areaInterface;
+    WaypointManager::Settings       _managerSettings;
+    WaypointManager::DefaultManager _defaultManager;
+    WaypointManager::DefaultManager _snakeManager;
+    WaypointManager::ManagerBase   &_currentManager;
+
+//    QmlObjectListModel      _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
+//    QmlObjectListModel      _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
+//                                                  // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
+//    QmlObjectListModel      _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked
+//    QVector<QGeoCoordinate> _waypoints; // path connecting the items in _missionItems
+//    QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
+//    QGeoCoordinate          _takeoffLandPostion;
 
 
     QMap<QString, FactMetaData*> _metaDataMap;
@@ -395,13 +400,12 @@ private:
     SettingsFact                 _flightSpeed; // mission flight speed
     SettingsFact                 _arrivalReturnSpeed; // arrival and return path speed
     SettingsFact                 _altitude; // mission altitude
-    SettingsFact                 _reverse; // Reverses the phase direction. Phases go from high to low waypoint numbers, if true.
     SettingsFact                 _enableSnake; // Enable Snake (see snake.h)
 
-    int                          _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element
-                                                    // (which is not part of the return path) of _currentMissionItem
-    int                          _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element
-                                                      // (which is not part of the arrival path) of _currentMissionItem
+//    int                          _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element
+//                                                    // (which is not part of the return path) of _currentMissionItem
+//    int                          _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element
+//                                                      // (which is not part of the arrival path) of _currentMissionItem
     bool                         _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
                                                           // The user can override the upload lock with a slider, this will reset this variable to false.
     double                       _measurementPathLength; // the lenght of the phase in meters