temp

src/Wima/CircularSurvey.cc

@@ -78,6 +78,12 @@ void CircularSurvey::setPlanData(const WimaPlanData &d) {
   *this->_pAreaData = d;
 }
 
+const WimaPlanData &CircularSurvey::planData() const {
+  return *this->_pAreaData;
+}
+
+WimaPlanData &CircularSurvey::planData() { return *this->_pAreaData; }
+
 QStringList CircularSurvey::variantNames() const { return _variantNames; }
 
 bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,

src/Wima/CircularSurvey.h

@@ -51,6 +51,8 @@ public:
   void setPlanData(const WimaPlanData &d);
 
   // Property getters
+  const WimaPlanData &planData() const;
+  WimaPlanData &planData();
   Fact *variant();
   QStringList variantNames() const;
   bool calculating() const;

src/Wima/Snake/CircularGenerator.cpp

@@ -169,6 +169,9 @@ void CircularGenerator::resetReferenceIfInvalid() {
 void CircularGenerator::resetReference() {
   if (this->_d->measurementArea().center().isValid()) {
     setReference(this->_d->measurementArea().center());
+  } else {
+    qCWarning(CircularGeneratorLog)
+        << "measurement area center" << this->_d->measurementArea().center();
   }
 }
 
@@ -176,15 +179,21 @@ void CircularGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
     connect(this->_d.get(), &WimaPlanData::originChanged, this,
             &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(),
+            &WimaMeasurementAreaData::progressChanged, this,
+            &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::tileDataChanged, this,
             &GeneratorBase::generatorChanged);
-    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
-            this, &CircularGenerator::resetReferenceIfInvalid);
+    connect(&this->_d->measurementArea(),
+            &WimaMeasurementAreaData::centerChanged, this,
+            &CircularGenerator::resetReferenceIfInvalid);
     connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
             this, &GeneratorBase::generatorChanged);
     connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
             &GeneratorBase::generatorChanged);
+    connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
+            &GeneratorBase::generatorChanged);
     connect(this->distance(), &Fact::rawValueChanged, this,
             &GeneratorBase::generatorChanged);
     connect(this->deltaAlpha(), &Fact::rawValueChanged, this,
@@ -207,14 +216,15 @@ void CircularGenerator::deleteConnections() {
     disconnect(&this->_d->measurementArea(),
                &WimaMeasurementAreaData::tileDataChanged, this,
                &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::pathChanged, this,
-               &CircularGenerator::resetReferenceIfInvalid);
+    disconnect(&this->_d->measurementArea(), &WimaMeasurementAreaData::center,
+               this, &CircularGenerator::resetReferenceIfInvalid);
     disconnect(&this->_d->measurementArea(),
                &WimaMeasurementAreaData::pathChanged, this,
                &GeneratorBase::generatorChanged);
     disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
                this, &GeneratorBase::generatorChanged);
+    disconnect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
+               &GeneratorBase::generatorChanged);
     disconnect(this->distance(), &Fact::rawValueChanged, this,
                &GeneratorBase::generatorChanged);
     disconnect(this->deltaAlpha(), &Fact::rawValueChanged, this,

src/Wima/Snake/LinearGenerator.cpp

@@ -144,6 +144,8 @@ void LinearGenerator::establishConnections() {
             this, &GeneratorBase::generatorChanged);
     connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
             &GeneratorBase::generatorChanged);
+    connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
+            &GeneratorBase::generatorChanged);
     connect(this->distance(), &Fact::rawValueChanged, this,
             &GeneratorBase::generatorChanged);
     connect(this->alpha(), &Fact::rawValueChanged, this,
@@ -156,27 +158,26 @@ void LinearGenerator::establishConnections() {
 
 void LinearGenerator::deleteConnections() {
   if (this->_d && this->_connectionsEstablished) {
-    disconnect(this->_d.get(), &WimaPlanData::measurementAreaChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->_d.get(), &WimaPlanData::originChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::progressChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::tileDataChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::pathChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
-               this, &GeneratorBase::generatorChanged);
-    disconnect(this->distance(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->alpha(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->minLength(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
+    connect(this->_d.get(), &WimaPlanData::originChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(),
+            &WimaMeasurementAreaData::progressChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(),
+            &WimaMeasurementAreaData::tileDataChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
+            this, &GeneratorBase::generatorChanged);
+    connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(this->distance(), &Fact::rawValueChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(this->alpha(), &Fact::rawValueChanged, this,
+            &GeneratorBase::generatorChanged);
+    connect(this->minLength(), &Fact::rawValueChanged, this,
+            &GeneratorBase::generatorChanged);
     this->_connectionsEstablished = false;
   }
 }

src/Wima/WimaPlanData.cc

@@ -50,6 +50,40 @@ void WimaPlanData::set(const WimaMeasurementAreaData &areaData) {
   }
 }
 
+void WimaPlanData::set(const WimaJoinedArea &areaData) {
+  if (_joinedArea != areaData) {
+    _joinedArea = areaData;
+    emit joinedAreaChanged();
+  }
+}
+
+void WimaPlanData::set(const WimaServiceArea &areaData) {
+  if (_serviceArea != areaData) {
+    _serviceArea = areaData;
+    emit serviceAreaChanged();
+  }
+}
+
+void WimaPlanData::set(const WimaCorridor &areaData) {
+  if (_corridor != areaData) {
+    _corridor = areaData;
+    emit corridorChanged();
+  }
+}
+
+void WimaPlanData::set(const WimaMeasurementArea &areaData) {
+  if (_measurementArea != areaData) {
+    _measurementArea = areaData;
+    emit measurementAreaChanged();
+
+    if (_measurementArea.coordinateList().size() > 0) {
+      setOrigin(_measurementArea.coordinateList().first());
+    } else {
+      setOrigin(QGeoCoordinate());
+    }
+  }
+}
+
 void WimaPlanData::clear() { *this = WimaPlanData(); }
 
 QGeoCoordinate WimaPlanData::origin() { return _origin; }

src/Wima/WimaPlanData.h

@@ -22,6 +22,11 @@ public:
   void set(const WimaServiceAreaData &areaData);
   void set(const WimaCorridorData &areaData);
   void set(const WimaMeasurementAreaData &areaData);
+
+  void set(const WimaJoinedArea &areaData);
+  void set(const WimaServiceArea &areaData);
+  void set(const WimaCorridor &areaData);
+  void set(const WimaMeasurementArea &areaData);
   void clear();
 
   const WimaJoinedAreaData &joinedArea() const;

src/Wima/WimaPlaner.cc

@@ -38,9 +38,7 @@ const char *WimaPlaner::missionItemsName = "MissionItems";
 
 WimaPlaner::WimaPlaner(QObject *parent)
     : QObject(parent), _masterController(nullptr), _missionController(nullptr),
-      _currentAreaIndex(-1), _copyMAreaToSurvey(true), _copySAreaToSurvey(true),
-      _corridorChanged(true), _joinedArea(this), _arrivalPathLength(0),
-      _returnPathLength(0), _survey(nullptr), _surveyChanged(true),
+      _currentAreaIndex(-1), _joinedArea(this), _survey(nullptr),
       _synchronized(false), _nemoInterface(this),
       _stateMachine(new StateMachine), _areasMonitored(false),
       _missionControllerMonitored(false), _progressLocked(false) {
@@ -364,22 +362,7 @@ void WimaPlaner::_update() {
               &WimaPlaner::CSDestroyedHandler);
     }
 
-    // update survey area
-    disconnect(_survey, &CircularSurvey::calculatingChanged, this,
-               &WimaPlaner::CSCalculatingChangedHandler);
-
-    WimaPlanData planData;
-    if (!toPlanData(planData)) {
-      qCWarning(WimaPlanerLog) << "not able to create plan data.";
-      return;
-    }
-    _survey->setPlanData(planData);
-
-    connect(_survey, &CircularSurvey::calculatingChanged, this,
-            &WimaPlaner::CSCalculatingChangedHandler);
-
-    // Folloing statement just for completeness.
-    this->_stateMachine->updateState(EVENT::SURVEY_UPDATE_TRIGGERED);
+    (void)toPlanData(this->_survey->planData());
   } break; // STATE::NEEDS_SURVEY_UPDATE
 
   case STATE::WAITING_FOR_SURVEY_UPDATE: {
@@ -447,7 +430,7 @@ void WimaPlaner::_update() {
                 .data());
         return;
       }
-      _arrivalPathLength = path.size() - 1;
+
       for (int i = 1; i < path.count() - 1; i++) {
         (void)_missionController->insertSimpleMissionItem(
             path[i], missionItems->count() - 1);
@@ -465,8 +448,7 @@ void WimaPlaner::_update() {
                 .data());
         return;
       }
-      _returnPathLength =
-          path.size() - 1; // -1: fist item is last measurement point
+
       for (int i = 1; i < path.count() - 1; i++) {
         (void)_missionController->insertSimpleMissionItem(
             path[i], missionItems->count());
@@ -955,13 +937,11 @@ void WimaPlaner::setInteractive() {
  * \sa WimaController, WimaPlanData
  */
 bool WimaPlaner::toPlanData(WimaPlanData &planData) {
-
-  // store areas
-  planData.set(WimaMeasurementAreaData(_measurementArea));
-  planData.set(WimaServiceAreaData(_serviceArea));
-  planData.set(WimaCorridorData(_corridor));
-  planData.set(WimaJoinedAreaData(_joinedArea));
-  return true;
+  planData.set(_measurementArea);
+  planData.set(_serviceArea);
+  planData.set(_corridor);
+  planData.set(_joinedArea);
+  return planData.isValid();
 }
 
 #ifndef NDEBUG

src/Wima/WimaPlaner.h

@@ -172,27 +172,13 @@ private:
   int _currentAreaIndex;
   QString _currentFile;
 
-  bool _joinedAreaValid;
   WimaMeasurementArea _measurementArea;
-  bool _copyMAreaToSurvey;
   WimaServiceArea _serviceArea;
-  bool _copySAreaToSurvey;
   WimaCorridor _corridor;
-  bool _corridorChanged;
-  // contains all visible areas
-  QmlObjectListModel _visualItems;
-  // joined area fromed by _measurementArea, _serviceArea, _corridor
   WimaJoinedArea _joinedArea;
-  // path from takeoff to first measurement point
-  unsigned long _arrivalPathLength;
-  // path from last measurement point to land
-  unsigned long _returnPathLength;
+  QmlObjectListModel _visualItems; // all areas
 
   CircularSurvey *_survey;
-  bool _surveyChanged;
-  // sync stuff
-  bool _synchronized; // true if planData is synchronized with
-                      // wimaController
 
 #ifndef NDEBUG
   QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
@@ -206,4 +192,6 @@ private:
   bool _areasMonitored;
   bool _missionControllerMonitored;
   bool _progressLocked;
+  bool _synchronized; // true if planData is synchronized with
+                      // wimaController
 };