Wima directory structure improved

qgroundcontrol.pro

@@ -429,50 +429,49 @@ HEADERS += \
     src/Snake/snake.h \
     src/Snake/snake_geometry.h \
     src/Snake/snake_global.h \
-    src/Wima/GeoPoint3D.h \
-    src/Wima/Polygon2D.h \
-    src/Wima/PolygonArray.h \
-    src/Wima/QNemoProgress.h \
-    src/Wima/QtROSJsonFactory.h \
-    src/Wima/QtROSTypeFactory.h \
-    src/Wima/SnakeTiles.h \
-    src/Wima/SnakeTilesLocal.h \
-    src/Wima/SnakeWorker.h \
+    src/Wima/Geometry/GeoPoint3D.h \
+    src/Wima/Geometry/Polygon2D.h \
+    src/Wima/Geometry/PolygonArray.h \
+    src/Wima/Snake/QNemoProgress.h \
+    src/Wima/Snake/QtROSJsonFactory.h \
+    src/Wima/Snake/QtROSTypeFactory.h \
+    src/Wima/Snake/SnakeTiles.h \
+    src/Wima/Snake/SnakeTilesLocal.h \
+    src/Wima/Snake/SnakeWorker.h \
     src/Wima/WaypointManager/GenericPathSlicer.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
-    src/Wima/WimaPolygonArray.h \
-    src/Wima/snaketile.h \
+    src/Wima/Geometry/WimaPolygonArray.h \
+    src/Wima/Snake/snaketile.h \
     src/api/QGCCorePlugin.h \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
     src/api/QmlComponentInfo.h \
     src/comm/MavlinkMessagesTimer.h \
     src/GPS/Drivers/src/base_station.h \
-    src/Wima/WimaArea.h \
-    src/Wima/WimaServiceArea.h \
-    src/Wima/WimaTrackerPolyline.h \
+    src/Wima/Geometry/WimaArea.h \
+    src/Wima/Geometry/WimaServiceArea.h \
+    src/Wima/Geometry/WimaTrackerPolyline.h \
     src/Wima/WimaController.h \
-    src/Wima/WimaVehicle.h \
     src/Wima/WimaDataContainer.h \
     src/Wima/WimaPlaner.h \
-    src/Wima/WimaMeasurementArea.h \
-    src/Wima/WimaCorridor.h \
-    src/Wima/WimaAreaData.h \
-    src/Wima/WimaServiceAreaData.h \
-    src/Wima/WimaCorridorData.h \
-    src/Wima/WimaMeasurementAreaData.h \
+    src/Wima/Geometry/WimaMeasurementArea.h \
+    src/Wima/Geometry/WimaCorridor.h \
+    src/Wima/Geometry/WimaAreaData.h \
+    src/Wima/Geometry/WimaServiceAreaData.h \
+    src/Wima/Geometry/WimaCorridorData.h \
+    src/Wima/Geometry/WimaMeasurementAreaData.h \
     src/Wima/WimaPlanData.h \
-    src/Wima/WimaJoinedArea.h \
-    src/Wima/WimaJoinedAreaData.h \
-    src/Wima/SphereCalculus.h \
+    src/Wima/Geometry/WimaJoinedArea.h \
+    src/Wima/Geometry/WimaJoinedAreaData.h \
+    src/Wima/Geometry/SphereCalculus.h \
     src/Wima/CircularSurveyComplexItem.h \
-    src/Wima/PlanimetryCalculus.h \
-    src/Wima/Circle.h \
-    src/Wima/PolygonCalculus.h \
+    src/Wima/Geometry/PlanimetryCalculus.h \
+    src/Wima/Geometry/Circle.h \
+    src/Wima/Geometry/PolygonCalculus.h \
     src/Wima/OptimisationTools.h \
-    src/Wima/GeoUtilities.h \
-    src/Wima/TestPolygonCalculus.h \
-    src/Wima/testplanimetrycalculus.h \
+    src/Wima/Geometry/GeoUtilities.h \
+    src/Wima/Geometry/TestPolygonCalculus.h \
+    src/Wima/Geometry/testplanimetrycalculus.h \
     src/Settings/WimaSettings.h \
     src/QmlControls/QmlObjectVectorModel.h \
     src/comm/ros_bridge/include/CasePacker.h \
@@ -492,10 +491,10 @@ SOURCES += \
     src/Snake/clipper/clipper.cpp \
     src/Snake/snake.cpp \
     src/Snake/snake_geometry.cpp \
-    src/Wima/GeoPoint3D.cpp \
-    src/Wima/PolygonArray.cc \
-    src/Wima/QNemoProgress.cc \
-    src/Wima/SnakeWorker.cc \
+    src/Wima/Geometry/GeoPoint3D.cpp \
+    src/Wima/Geometry/PolygonArray.cc \
+    src/Wima/Snake/QNemoProgress.cc \
+    src/Wima/Snake/SnakeWorker.cc \
     src/Wima/WaypointManager/GenericPathSlicer.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
     src/comm/ros_bridge/include/ComPrivateInclude.cpp \
@@ -503,37 +502,36 @@ SOURCES += \
     src/comm/ros_bridge/include/TopicPublisher.cpp \
     src/comm/ros_bridge/include/TopicSubscriber.cpp \
     src/comm/ros_bridge/src/CasePacker.cpp \
-    src/Wima/snaketile.cpp \
+    src/Wima/Snake/snaketile.cpp \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
     src/api/QGCSettings.cc \
     src/api/QmlComponentInfo.cc \
     src/comm/MavlinkMessagesTimer.cc \
-    src/Wima/WimaArea.cc \
-    src/Wima/WimaServiceArea.cc \
-    src/Wima/WimaTrackerPolyline.cc \
+    src/Wima/Geometry/WimaArea.cc \
+    src/Wima/Geometry/WimaServiceArea.cc \
+    src/Wima/Geometry/WimaTrackerPolyline.cc \
     src/Wima/WimaController.cc \
-    src/Wima/WimaVehicle.cc \
     src/Wima/WimaDataContainer.cc \
     src/Wima/WimaPlaner.cc \
-    src/Wima/WimaMeasurementArea.cc \
-    src/Wima/WimaCorridor.cc \
-    src/Wima/WimaAreaData.cc \
-    src/Wima/WimaServiceAreaData.cc \
-    src/Wima/WimaCorridorData.cpp \
+    src/Wima/Geometry/WimaMeasurementArea.cc \
+    src/Wima/Geometry/WimaCorridor.cc \
+    src/Wima/Geometry/WimaAreaData.cc \
+    src/Wima/Geometry/WimaServiceAreaData.cc \
+    src/Wima/Geometry/WimaCorridorData.cpp \
     src/Wima/WimaPlanData.cc \
-    src/Wima/WimaMeasurementAreaData.cc \
-    src/Wima/WimaJoinedArea.cc \
-    src/Wima/WimaJoinedAreaData.cc \
-    src/Wima/SphereCalculus.cc \
+    src/Wima/Geometry/WimaMeasurementAreaData.cc \
+    src/Wima/Geometry/WimaJoinedArea.cc \
+    src/Wima/Geometry/WimaJoinedAreaData.cc \
+    src/Wima/Geometry/SphereCalculus.cc \
     src/Wima/CircularSurveyComplexItem.cc \
-    src/Wima/PlanimetryCalculus.cc \
-    src/Wima/Circle.cc \
+    src/Wima/Geometry/PlanimetryCalculus.cc \
+    src/Wima/Geometry/Circle.cc \
     src/Wima/OptimisationTools.cc \
-    src/Wima/GeoUtilities.cc \
-    src/Wima/PolygonCalculus.cc \
-    src/Wima/TestPolygonCalculus.cpp \
-    src/Wima/testplanimetrycalculus.cpp \
+    src/Wima/Geometry/GeoUtilities.cc \
+    src/Wima/Geometry/PolygonCalculus.cc \
+    src/Wima/Geometry/TestPolygonCalculus.cpp \
+    src/Wima/Geometry/testplanimetrycalculus.cpp \
     src/Settings/WimaSettings.cc \
     src/QmlControls/QmlObjectVectorModel.cc \
     src/comm/ros_bridge/src/ROSBridge.cpp

qgroundcontrol.qrc

@@ -275,10 +275,10 @@
         <file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
         <file alias="Vehicle/WindFact.json">src/Vehicle/WindFact.json</file>
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
-        <file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/WimaMeasurementArea.SettingsGroup.json</file>
-        <file alias="CircularSurvey.SettingsGroup.json">src/Wima/CircularSurvey.SettingsGroup.json</file>
-        <file alias="WimaArea.SettingsGroup.json">src/Wima/WimaArea.SettingsGroup.json</file>
-        <file alias="WimaController.SettingsGroup.json">src/Wima/WimaController.SettingsGroup.json</file>
+        <file alias="WimaMeasurementArea.SettingsGroup.json">src/Wima/Geometry/json/WimaMeasurementArea.SettingsGroup.json</file>
+        <file alias="CircularSurvey.SettingsGroup.json">src/Wima/json/CircularSurvey.SettingsGroup.json</file>
+        <file alias="WimaArea.SettingsGroup.json">src/Wima/Geometry/json/WimaArea.SettingsGroup.json</file>
+        <file alias="WimaController.SettingsGroup.json">src/Wima/json/WimaController.SettingsGroup.json</file>
         <file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -244,8 +244,8 @@ FlightMap {
     // Add Snake tiles center points to the map
     MapItemView {
 
-        property bool _lengthMatching: wimaController.snakeTileCenterPoints.length
-                                       === wimaController.snakeProgress.length
+        property bool _lengthMatching: wimaController.snakeTileCenterPoints.count
+                                       > 0
 
         property bool _enable:    wimaController.enableWimaController.value
                                && wimaController.enableSnake.value

src/Wima/Circle.c

-#include "Circle.h"
-
-Circle::Circle()
-{
-
-}

src/Wima/GeoPoint3D.cpp

-#include "GeoPoint3D.h"
-
-GeoPoint3D *GeoPoint3D::Clone() const
-{
-    return new GeoPoint3D(*this);
-}
-
-GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
-{
-    this->setLatitude(p.latitude());
-    this->setLongitude(p.longitude());
-    this->setAltitude(p.altitude());
-
-    return *this;
-}

src/Wima/Geometry/GeoPoint3D.cpp

+#include "GeoPoint3D.h"
+
+GeoPoint3D::GeoPoint3D(QObject *parent)
+    : QObject(parent), ROSGeoPoint() {}
+
+GeoPoint3D::GeoPoint3D(double latitude, double longitude, double altitude, QObject *parent)
+    : QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
+{}
+
+GeoPoint3D::GeoPoint3D(const GeoPoint3D &p, QObject *parent)
+    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
+{}
+
+GeoPoint3D::GeoPoint3D(const ROSGeoPoint &p, QObject *parent)
+    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
+{}
+
+GeoPoint3D::GeoPoint3D(const QGeoCoordinate &p, QObject *parent)
+    : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
+{}
+
+GeoPoint3D *GeoPoint3D::Clone() const
+{
+    return new GeoPoint3D(*this);
+}
+
+GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
+{
+    this->setLatitude(p.latitude());
+    this->setLongitude(p.longitude());
+    this->setAltitude(p.altitude());
+
+    return *this;
+}
+GeoPoint3D &GeoPoint3D::operator=(const QGeoCoordinate &p)
+{
+    this->setLatitude(p.latitude());
+    this->setLongitude(p.longitude());
+    this->setAltitude(p.altitude());
+
+    return *this;
+}

src/Wima/GeoPoint3D.h → src/Wima/Geometry/GeoPoint3D.h

@@ -4,7 +4,10 @@
 #include "ros_bridge/include/MessageBaseClass.h"
 #include "ros_bridge/include/GenericMessages.h"
 
+#include <QGeoCoordinate>
 #include <QObject>
+
+
 typedef ROSBridge::MessageBaseClass ROSMsg;
 typedef ROSBridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
 namespace MsgGroups = ROSBridge::MessageGroups;
@@ -14,24 +17,22 @@ class GeoPoint3D : public QObject, public ROSGeoPoint
 public:
     typedef MsgGroups::GeoPointGroup Group;
 
-    explicit GeoPoint3D(QObject *parent = nullptr)
-        : QObject(parent), ROSGeoPoint() {}
-    explicit GeoPoint3D(double latitude,
-                        double longitude,
-                        double altitude,
-                        QObject *parent = nullptr)
-        : QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
-    {}
-    explicit GeoPoint3D(const GeoPoint3D& p,
-                        QObject *parent = nullptr)
-        : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
-    {}
-    explicit GeoPoint3D(const ROSGeoPoint& p,
-                        QObject *parent = nullptr)
-        : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
-    {}
+    GeoPoint3D(QObject *parent = nullptr);
+    GeoPoint3D(double latitude,
+               double longitude,
+               double altitude,
+               QObject *parent = nullptr);
+    GeoPoint3D(const GeoPoint3D& p,
+               QObject *parent = nullptr);
+    GeoPoint3D(const ROSGeoPoint& p,
+               QObject *parent = nullptr);
+    GeoPoint3D(const QGeoCoordinate& p,
+               QObject *parent = nullptr);
 
     virtual GeoPoint3D *Clone() const override;
     GeoPoint3D &operator=(const GeoPoint3D&p);
+    GeoPoint3D &operator=(const QGeoCoordinate&p);
 
 };
+
+

src/Wima/WimaController.cc

@@ -111,6 +111,14 @@ WimaController::WimaController(QObject *parent)
     _startStopRosBridge();
 }
 
+QVariantList WimaController::waypointPath() const
+{
+    QVariantList list;
+    for ( auto wp : _waypoints)
+        list.append(QVariant::fromValue(wp));
+    return list;
+}
+
 //QStringList WimaController::loadNameFilters() const
 //{
 //    QStringList filters;
@@ -376,66 +384,6 @@ bool WimaController::calcShortestPath(const QGeoCoordinate &start, const QGeoCoo
     return  retVal;
 }
 
-bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList)
-{
-    return extractCoordinateList(missionItems, coordinateList, 0, missionItems.count()-1);
-}
-
-bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList, int startIndex, int endIndex)
-{
-    if (   startIndex >= 0
-        && startIndex < missionItems.count()
-        && endIndex >= 0
-        && endIndex < missionItems.count()) {
-        if (startIndex > endIndex) {
-            if (!extractCoordinateList(missionItems, coordinateList, startIndex, missionItems.count()-1))
-                return false;
-            if (!extractCoordinateList(missionItems, coordinateList, 0, endIndex))
-                return false;
-        } else {
-            for (int i = startIndex; i <= endIndex; i++) {
-                SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(i);
-
-                if (mItem == nullptr) {
-                    coordinateList.clear();
-                    return false;
-                }
-                coordinateList.append(mItem->coordinate());
-            }
-        }
-    } else
-        return false;
-
-    return true;
-}
-
-bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList)
-{
-    return extractCoordinateList(missionItems, coordinateList, 0 , missionItems.count()-1);
-}
-
-bool WimaController::extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex)
-{
-    QVector<QGeoCoordinate> geoCoordintateList;
-
-    bool retValue = extractCoordinateList(missionItems, geoCoordintateList, startIndex, endIndex);
-
-    if (!retValue)
-        return false;
-
-    for (int i = 0; i < geoCoordintateList.size(); i++) {
-        QGeoCoordinate vertex = geoCoordintateList[i];
-        if (   (qFuzzyIsNull(vertex.latitude()) && qFuzzyIsNull(vertex.longitude()))
-            || !vertex.isValid())
-            geoCoordintateList.removeAt(i);
-    }
-
-    for (auto coordinate : geoCoordintateList)
-        coordinateList.append(QVariant::fromValue(coordinate));
-
-    return true;
-}
-
 /*!
  * \fn void WimaController::containerDataValidChanged(bool valid)
  * Pulls plan data generated by \c WimaPlaner from the \c _container if the data is valid (\a valid equals true).
@@ -451,7 +399,7 @@ bool WimaController::_fetchContainerData()
     _visualItems.clear();
     _missionItems.clearAndDeleteContents();
     _currentMissionItems.clearAndDeleteContents();
-    _waypointPath.clear();
+    _waypoints.clear();
     _currentWaypointPath.clear();
     _snakeTiles.polygons().clear();
     _snakeTilesLocal.polygons().clear();
@@ -675,12 +623,12 @@ bool WimaController::_calcNextPhase()
     QVector<QGeoCoordinate> CSWpList; // list with potential waypoints (from _missionItems), for _currentMissionItems
 
     if (!reverse) {
-        if (!extractCoordinateList(_missionItems, CSWpList, _startWaypointIndex, _endWaypointIndex)) {
+        if (!getCoordinates(_missionItems, CSWpList, _startWaypointIndex, _endWaypointIndex)) {
             qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
             return false;
         }
     } else {
-        if (!extractCoordinateList(_missionItems, CSWpList, _endWaypointIndex, _startWaypointIndex)) {
+        if (!getCoordinates(_missionItems, CSWpList, _endWaypointIndex, _startWaypointIndex)) {
             qWarning("WimaController::calcNextPhase(): error on waypoint extraction.");
             return false;
         }
@@ -859,15 +807,19 @@ bool WimaController::_calcNextPhase()
 
 void WimaController::_updateWaypointPath()
 {
-    _waypointPath.clear();
-    extractCoordinateList(_missionItems, _waypointPath, 0, _missionItems.count()-1);
+    _waypoints.clear();
+    getCoordinates(_missionItems,
+                   _waypoints,
+                   0,
+                   std::size_t( std::max(_missionItems.count()-1,0) )
+                   );
 
     emit waypointPathChanged();
 }
 void WimaController::_updateCurrentPath()
 {
     _currentWaypointPath.clear();
-    extractCoordinateList(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
+    getCoordinates(_currentMissionItems, _currentWaypointPath, 0, _currentMissionItems.count()-1);
 
     emit currentWaypointPathChanged();
 }
@@ -1408,7 +1360,7 @@ void WimaController::_saveCurrentMissionItemsToBuffer()
 }
 
 void WimaController::_progressFromJson(JsonDocUPtr pDoc,
-                                      QNemoProgress &progress)
+                                       QNemoProgress &progress)
 {
     int requiredSize = _snakeTilesLocal.polygons().size();
     if ( !_pRosBridge->casePacker()->unpack(pDoc, progress)
@@ -1418,3 +1370,10 @@ void WimaController::_progressFromJson(JsonDocUPtr pDoc,
 
     emit WimaController::nemoProgressChanged();
 }
+
+template<>
+QVariant getCoordinate<QVariant>(const SimpleMissionItem* item)
+{
+    return QVariant::fromValue(item->coordinate());
+}
+

src/Wima/WimaController.h

@@ -116,7 +116,7 @@ public:
     WimaDataContainer*          dataContainer          (void)           { return _container; }
     QmlObjectListModel*         missionItems           (void)           { return &_missionItems; }
     QmlObjectListModel*         currentMissionItems    (void)           { return &_currentMissionItems; }
-    QVariantList                waypointPath           (void)           { return _waypointPath; }
+    QVariantList                waypointPath           (void) const;
     QVariantList                currentWaypointPath    (void)           { return _currentWaypointPath; }
     Fact*                       enableWimaController   (void)           { return &_enableWimaController; }
     Fact*                       overlapWaypoints       (void)           { return &_overlapWaypoints; }
@@ -200,14 +200,6 @@ public:
     QJsonDocument saveToJson(FileType fileType);
 
     bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path);
-    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList);
-    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QVector<QGeoCoordinate> &coordinateList, int startIndex, int endIndex);
-    /// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList);
-    /// extracts the coordinates (between startIndex and endIndex) stored in missionItems (list of MissionItems) and stores them in coordinateList.
-    bool extractCoordinateList(QmlObjectListModel &missionItems, QVariantList &coordinateList, int startIndex, int endIndex);
 
 signals:
     void masterControllerChanged            (void);
@@ -285,7 +277,7 @@ private:
     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
-    QVariantList            _waypointPath; // path connecting the items in _missionItems
+    QVector<QGeoCoordinate> _waypoints; // path connecting the items in _missionItems
     QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
     QGeoCoordinate          _takeoffLandPostion;
 
@@ -376,3 +368,53 @@ private:
  */
 
 
+
+template<class CoordinateType>
+CoordinateType getCoordinate(const SimpleMissionItem* item){
+    return item->coordinate();
+}
+
+template<>
+QVariant getCoordinate<QVariant>(const SimpleMissionItem* item);
+
+
+/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
+template <class CoordinateType, template <class, class...> class ContainerType>
+bool getCoordinates(QmlObjectListModel &missionItems,
+                    ContainerType<CoordinateType> &coordinateList,
+                    std::size_t startIndex,
+                    std::size_t  endIndex){
+
+    if (   startIndex < std::size_t(missionItems.count())
+        && endIndex < std::size_t(missionItems.count()) ) {
+        if (startIndex > endIndex) {
+            if (!getCoordinates(missionItems, coordinateList, startIndex, missionItems.count()-1))
+                return false;
+            if (!getCoordinates(missionItems, coordinateList, 0, endIndex))
+                return false;
+        } else {
+            for (std::size_t i = startIndex; i <= endIndex; i++) {
+                SimpleMissionItem *mItem = missionItems.value<SimpleMissionItem *>(int(i));
+
+                if (mItem == nullptr) {
+                    coordinateList.clear();
+                    return false;
+                }
+                coordinateList.append(getCoordinate<CoordinateType>(mItem));
+            }
+        }
+    } else
+        return false;
+
+    return true;
+}
+
+/// extracts the coordinates stored in missionItems (list of MissionItems) and stores them in coordinateList.
+template <class CoordinateType, template <class, class...> class ContainerType>
+bool getCoordinates(QmlObjectListModel &missionItems,
+                    ContainerType<CoordinateType> &coordinateList){
+
+    return getCoordinates(missionItems, coordinateList, 0, missionItems.count());
+}
+
+

src/Wima/WimaVehicle.cc

-#include "WimaVehicle.h"
-
-
-
-WimaVehicle::WimaVehicle(QObject *parent):
-    QObject                 (parent)
-    ,_vehicle               (nullptr)
-    ,_serviceArea           (nullptr)
-    ,_vehicleCorridor       (nullptr)
-    ,_operationArea         (nullptr)
-{
-
-}
-
-void WimaVehicle::setVehicle(Vehicle *vehicle)
-{
-    if(vehicle != nullptr){
-        _vehicle = vehicle;
-    }else {
-        qWarning("Not a valid vehicle!");
-    }
-}
-
-void WimaVehicle::setServiceArea(WimaServiceArea *servicePolygon)
-{
-    if(servicePolygon != nullptr){
-        _serviceArea = servicePolygon;
-    }else{
-        qWarning("Not a valid service Polygon!");
-    }
-}
-
-void WimaVehicle::setVCorridor(WimaVCorridor *vehicleCorridor)
-{
-    if(vehicleCorridor != nullptr){
-        _vehicleCorridor = vehicleCorridor;
-    }else{
-        qWarning("Not a valid vehicle Corridor!");
-    }
-}
-
-void WimaVehicle::setOperationArea(WimaGOperationArea *operationArea)
-{
-    if(operationArea != nullptr){
-        _operationArea = operationArea;
-    }else{
-        qWarning("Not a valid measurementPolygon!");
-    }
-}

src/Wima/WimaVehicle.h

-#pragma once
-
-#include <QObject>
-#include "Vehicle.h"
-
-class WimaServiceArea;
-class WimaVCorridor;
-class WimaGOperationArea;
-
-class WimaVehicle : public QObject
-{
-    Q_OBJECT
-public:
-    WimaVehicle(QObject* parent = nullptr);
-
-    WimaServiceArea*                serviceArea         (void) const { return _serviceArea;}
-    WimaVCorridor*                  vehicleCorridor     (void) const { return _vehicleCorridor;}
-    WimaGOperationArea*             operationArea       (void) const { return _operationArea;}
-
-    void setVehicle                 (Vehicle* vehicle);
-    void setServiceArea             (WimaServiceArea* serviceArea);
-    void setVCorridor               (WimaVCorridor* vehicleCorridor);
-    void setOperationArea           (WimaGOperationArea* operationArea);
-
-private:
-    Vehicle*                _vehicle;
-    WimaServiceArea*        _serviceArea;
-    WimaVCorridor*          _vehicleCorridor;
-    WimaGOperationArea*     _operationArea;
-
-};
-
-

src/Wima/doc/doc/QDoc/html/.index

-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE QDOCINDEX>
-<INDEX url="" title="" version="" project="">
-    <namespace threadsafety="unspecified" name="" status="active" access="public"/>
-</INDEX>

src/Wima/doc/wima.qdocconf

-
-
-
-

src/Wima/notesOnWpExchange.txt

-How to exchange mission between WimaPlaner and WimaController.
-
-1) convert mission into waypoints
-2) send waypoints to WimaController
-3) upload desired subset of waypoints to vehicle
-4) start/continue mission
-5) return vehicle on battery low
-6) go to 4) or quit if last waypoint reached
-
-
-investigate load, loadFromVehicle, syncInProgress, _newMissionItemsAvailableFromVehicle