CircularSurvey concurr. update improved

libs/or-tools-src-ubuntu/include/ortools/constraint_solver/search_limit.pb.h

 // Generated by the protocol buffer compiler.  DO NOT EDIT!
+        this->_calculating = false;
+        emit calculatingChanged();
 // source: ortools/constraint_solver/search_limit.proto
 
 #ifndef GOOGLE_PROTOBUF_INCLUDED_ortools_2fconstraint_5fsolver_2fsearch_5flimit_2eproto

qgroundcontrol.pro

@@ -413,6 +413,7 @@ FORMS += \
 #
 
 HEADERS += \
+    src/Wima/CSWorker.h \
     src/Wima/CircularSurvey.h \
     src/Wima/Geometry/GenericCircle.h \
     src/Wima/Snake/clipper/clipper.hpp \
@@ -502,6 +503,7 @@ HEADERS += \
     src/comm/ros_bridge/include/topic_subscriber.h \
     src/comm/utilities.h
 SOURCES += \
+    src/Wima/CSWorker.cpp \
     src/Wima/CircularSurvey.cc \
     src/Wima/Snake/clipper/clipper.cpp \
     src/Wima/Snake/snake.cpp \

src/PlanView/CircularSurveyItemEditor.qml

@@ -92,9 +92,6 @@ Rectangle {
             columns:        2
             visible:        transectsHeader.checked
 
-
-
-
             QGCLabel { text: qsTr("Delta R") }
             FactTextField {
                fact:                   missionItem.deltaR
@@ -131,12 +128,26 @@ Rectangle {
             }
         }
 
-        Column {
+        GridLayout {
             anchors.left:   parent.left
             anchors.right:  parent.right
-            spacing:        _margin
+            columnSpacing:  _margin
+            rowSpacing:     _margin
+            columns:        2
             visible:        transectsHeader.checked
 
+            QGCButton {
+                text:               qsTr("Reverse")
+                onClicked:          missionItem.reverse();
+                Layout.fillWidth:  true
+            }
+
+            QGCButton {
+                text:               qsTr("Reset Ref.")
+                onClicked:          missionItem.resetReference();
+                Layout.fillWidth:  true
+            }
+
             QGCCheckBox {
                 id:                 relAlt
                 text:               qsTr("Relative altitude")
@@ -144,6 +155,8 @@ Rectangle {
                 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
@@ -151,96 +164,38 @@ Rectangle {
                 }
             }
 
-            FactCheckBox {
-                text:       qsTr("Reverse Path")
-                fact:       missionItem.reverse
         }
 
-            QGCButton {
-                text:               qsTr("Reset Reference")
-                onClicked:          missionItem.resetReference();
-                Layout.fillWidth:   true
-            }
-        }
-
-        SectionHeader {
-            id:         miscellaneousHeader
-            text:       qsTr("Miscellaneous")
-        }
-
-        ColumnLayout {
+        Column{
             anchors.left:   parent.left
             anchors.right:  parent.right
             spacing:        _margin
-            visible:        miscellaneousHeader.checked
 
-            GridLayout {
-                Layout.fillWidth:   true
-                columnSpacing:      _margin
-                rowSpacing:         _margin
-                columns:            2
+            BusyIndicator{
+                id: indicator
+                anchors.horizontalCenter: parent.horizontalCenter
+                running: missionItem.calculating
 
-                QGCLabel { text: qsTr("Max Waypoints") }
-                FactTextField {
-                    fact:                   missionItem.maxWaypoints
-                    Layout.fillWidth:       true
+                onRunningChanged: {
+                    if(running){
+                        visible = true
+                    } else {
+                       timer.restart()
                     }
-            } // GridLayout
-        } // ColumnLayout
-
-        /*
-        // The following code causes seg. faults from time to time
-        SectionHeader {
-            id:         terrainHeader
-            text:       qsTr("Terrain")
-            checked:    missionItem.followTerrain
                 }
 
-        ColumnLayout {
-            anchors.left:   parent.left
-            anchors.right:  parent.right
-            spacing:        _margin
-            visible:        terrainHeader.checked
+                Timer{
+                   id: timer
+                   interval: 2000
+                   repeat: false
 
-            QGCCheckBox {
-                id:         followsTerrainCheckBox
-                text:       qsTr("Vehicle follows terrain")
-                checked:    missionItem.followTerrain
-                onClicked:  missionItem.followTerrain = checked
+                   onTriggered: {
+                       if (indicator.running == false){
+                            indicator.visible = false
                        }
-
-            GridLayout {
-                Layout.fillWidth:   true
-                columnSpacing:      _margin
-                rowSpacing:         _margin
-                columns:            2
-                visible:            followsTerrainCheckBox.checked
-
-                QGCLabel { text: qsTr("Tolerance") }
-                FactTextField {
-                    fact:               missionItem.terrainAdjustTolerance
-                    Layout.fillWidth:   true
                    }
-
-                QGCLabel { text: qsTr("Max Climb Rate") }
-                FactTextField {
-                    fact:               missionItem.terrainAdjustMaxClimbRate
-                    Layout.fillWidth:   true
                 }
-
-                QGCLabel { text: qsTr("Max Descent Rate") }
-                FactTextField {
-                    fact:               missionItem.terrainAdjustMaxDescentRate
-                    Layout.fillWidth:   true
             }
         }
-        }*/
-
-        /*SectionHeader {
-            id:     statsHeader
-            text:   qsTr("Statistics")
-        }*/
-
-        //TransectStyleComplexItemStats { }
     } // Column
 } // Rectangle

src/Wima/CSWorker.h

+#pragma once
+
+#include <QGeoCoordinate>
+#include <QList>
+#include <QSharedPointer>
+#include <QThread>
+
+#include "snake.h"
+#include <atomic>
+#include <condition_variable>
+#include <mutex>
+
+//!
+//! \brief The CSWorker class
+//! \note Don't call QThread::start, QThread::quit, etc. onyl use Worker
+//! members!
+class CSWorker : public QThread {
+  Q_OBJECT
+  using Lock = std::unique_lock<std::mutex>;
+
+public:
+  using Route = QList<QGeoCoordinate>;
+  using PtrRoute = QSharedPointer<Route>;
+
+  CSWorker(QObject *parent = nullptr);
+  ~CSWorker() override;
+
+  bool calculating();
+
+public slots:
+  void update(const QList<QGeoCoordinate> &polygon,
+              const QGeoCoordinate &origin, snake::Length deltaR,
+              snake::Length minLength, snake::Angle deltaAlpha);
+
+signals:
+  void ready(PtrRoute pTransects);
+  void calculatingChanged();
+
+protected:
+  void run() override;
+
+private:
+  mutable std::mutex _mutex;
+  mutable std::condition_variable _cv;
+  // Internal data
+  QList<QGeoCoordinate> _polygon;
+  QGeoCoordinate _origin;
+  snake::Length _deltaR;
+  snake::Angle _deltaAlpha;
+  snake::Length _minLength;
+  std::size_t _maxWaypoints;
+
+  // State
+  std::atomic_bool _calculating;
+  std::atomic_bool _stop;
+  std::atomic_bool _restart;
+};

src/Wima/CircularSurvey.h

@@ -6,9 +6,14 @@
 #include "SettingsFact.h"
 #include "TransectStyleComplexItem.h"
 
+class CSWorker;
+
 class CircularSurvey : public TransectStyleComplexItem {
   Q_OBJECT
 public:
+  using Route = QList<QGeoCoordinate>;
+  using PtrRoute = QSharedPointer<Route>;
+
   /// @param vehicle Vehicle which this is being contructed for
   /// @param flyView true: Created for use in the Fly View, false: Created for
   /// use in the Plan View
@@ -16,19 +21,19 @@ public:
   /// polygon
   CircularSurvey(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile,
                  QObject *parent);
+  ~CircularSurvey();
 
   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 *reverse READ reverse CONSTANT)
-  Q_PROPERTY(Fact *maxWaypoints READ maxWaypoints CONSTANT)
   Q_PROPERTY(bool isInitialized READ isInitialized WRITE setIsInitialized NOTIFY
                  isInitializedChanged)
   Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
 
   Q_INVOKABLE void resetReference(void);
+  Q_INVOKABLE void reverse(void);
 
   // Property setters
   void setRefPoint(const QGeoCoordinate &refPt);
@@ -41,8 +46,6 @@ public:
   Fact *deltaR();
   Fact *deltaAlpha();
   Fact *transectMinLength();
-  Fact *reverse();
-  Fact *maxWaypoints();
   bool calculating();
   // Is true if survey was automatically generated, prevents initialisation from
   // gui.
@@ -72,8 +75,6 @@ public:
   static const char *deltaRName;
   static const char *deltaAlphaName;
   static const char *transectMinLengthName;
-  static const char *reverseName;
-  static const char *maxWaypointsName;
   static const char *CircularSurveyName;
   static const char *refPointLongitudeName;
   static const char *refPointLatitudeName;
@@ -89,7 +90,7 @@ private slots:
   void _rebuildTransectsPhase1(void) final;
   void _recalcComplexDistance(void) final;
   void _recalcCameraShots(void) final;
-  void _deferUpdate();
+  void _setTransects(PtrRoute pRoute);
 
 private:
   void _appendLoadedMissionItems(QList<MissionItem *> &items,
@@ -108,21 +109,14 @@ private:
   // minimal transect lenght, transects are rejected if they are shorter than
   // this value
   SettingsFact _minLength;
-  // reverses the _transects path
-  SettingsFact _reverse;
-  // the maximum number of waypoints _transects (TransectStyleComplexItem) can
-  // contain (to avoid performance hits)
-  SettingsFact _maxWaypoints;
-  // Timer to defer recalc
-  QTimer _timer;
   // indicates if the polygon and refpoint etc. are initialized, prevents
   // reinitialisation from gui and execution of _rebuildTransectsPhase1 during
   // init from gui
   bool _isInitialized;
 
-  using PtrTransects = std::shared_ptr<Transects>;
-  using Watcher = QFutureWatcher<PtrTransects>;
-  Watcher _watcher;
-  bool _calculating;
-  bool _cancle;
+  using PtrWorker = std::shared_ptr<CSWorker>;
+  PtrWorker _pWorker;
+  PtrRoute _pRoute;
+  bool _needsStoring;
+  bool _needsReversal;
 };

src/Wima/Snake/snake.cpp

@@ -781,8 +781,8 @@ void generateRoutingModel(const BoostLineString &vertices,
 }
 
 bool route(const BoostPolygon &area, const Transects &transects,
-           std::vector<TransectInfo> &transectInfo, Route &route,
-           string &errorString) {
+           std::vector<TransectInfo> &transectInfo, Route &r,
+           std::function<bool()> stop, string &errorString) {
   //=======================================
   // Route Transects using Google or-tools.
   //=======================================
@@ -819,9 +819,17 @@ bool route(const BoostPolygon &area, const Transects &transects,
       vertices.push_back(vertex);
   }
   size_t n1 = vertices.size();
+  if (stop()) {
+    errorString = "User termination.";
+    return false;
+  }
   // Generate routing model.
   RoutingDataModel dataModel;
   Matrix<double> connectionGraph(n1, n1);
+  if (stop()) {
+    errorString = "User termination.";
+    return false;
+  }
   // Offset joined area.
   BoostPolygon areaOffset;
   offsetPolygon(area, areaOffset, detail::offsetConstant);
@@ -835,6 +843,10 @@ bool route(const BoostPolygon &area, const Transects &transects,
   cout << "Execution time _generateRoutingModel(): " << delta.count() << " ms"
        << endl;
 #endif
+  if (stop()) {
+    errorString = "User termination.";
+    return false;
+  }
 
   // Create Routing Index Manager.
   RoutingIndexManager manager(dataModel.distanceMatrix.getN(),
@@ -883,16 +895,13 @@ bool route(const BoostPolygon &area, const Transects &transects,
       index += 1;
     }
   }
-
-  // Setting first solution heuristic.
-  RoutingSearchParameters searchParameters = DefaultRoutingSearchParameters();
+  // Set first solution heuristic.
+  auto searchParameters = DefaultRoutingSearchParameters();
   searchParameters.set_first_solution_strategy(
       FirstSolutionStrategy::PATH_CHEAPEST_ARC);
-  google::protobuf::Duration *tMax =
-      new google::protobuf::Duration(); // seconds
-  tMax->set_seconds(10);
-  searchParameters.set_allocated_time_limit(tMax);
-
+  // Set costume limit.
+  auto *limit = solver->MakeCustomLimit(stop);
+  routing.AddSearchMonitor(limit);
   // Solve the problem.
 #ifdef SNAKE_SHOW_TIME
   start = std::chrono::high_resolution_clock::now();
@@ -908,6 +917,9 @@ bool route(const BoostPolygon &area, const Transects &transects,
   if (!solution || solution->Size() <= 1) {
     errorString = "Not able to solve the routing problem.";
     return false;
+  } else if (stop()) {
+    errorString = "User terminated.";
+    return false;
   }
 
   // Extract index list from solution.
@@ -944,12 +956,12 @@ bool route(const BoostPolygon &area, const Transects &transects,
         }
         for (auto it = reversedTransect.begin();
              it < reversedTransect.end() - 1; ++it) {
-          route.push_back(*it);
+          r.push_back(*it);
         }
       } else {
         const auto &t = transects[info1.index];
         for (auto it = t.begin(); it < t.end() - 1; ++it) {
-          route.push_back(*it);
+          r.push_back(*it);
         }
       }
     } else {
@@ -958,12 +970,19 @@ bool route(const BoostPolygon &area, const Transects &transects,
       if (i != route_idx.size() - 2) {
         idxList.pop_back();
       }
-      idx2Vertex(idxList, route);
+      idx2Vertex(idxList, r);
     }
   }
   return true;
 }
 
+bool route(const BoostPolygon &area, const Transects &transects,
+           std::vector<TransectInfo> &transectInfo, Route &r,
+           string &errorString) {
+  auto stop = [] { return false; };
+  return route(area, transects, transectInfo, r, stop, errorString);
+}
+
 } // namespace snake
 
 bool boost::geometry::model::operator==(snake::BoostPoint p1,

src/Wima/Snake/snake.h

 #pragma once
 
 #include <array>
+#include <atomic>
+#include <functional>
 #include <memory>
 #include <string>
 #include <vector>
@@ -185,8 +187,11 @@ struct TransectInfo {
   bool reversed;
 };
 bool route(const BoostPolygon &area, const Transects &transects,
-           std::vector<TransectInfo> &transectInfo, Route &route,
+           std::vector<TransectInfo> &transectInfo, Route &r,
            string &errorString);
+bool route(const BoostPolygon &area, const Transects &transects,
+           std::vector<TransectInfo> &transectInfo, Route &r,
+           std::function<bool(void)> stop, string &errorString);
 
 namespace detail {
 const double offsetConstant =

src/Wima/WimaPlaner.cc

@@ -21,12 +21,13 @@ const char *WimaPlaner::areaItemsName = "AreaItems";
 const char *WimaPlaner::missionItemsName = "MissionItems";
 
 WimaPlaner::WimaPlaner(QObject *parent)
-    : QObject(parent), _currentAreaIndex(-1), _wimaBridge(nullptr),
-      _joinedArea(this), _joinedAreaValid(false), _measurementArea(this),
-      _serviceArea(this), _corridor(this), _TSComplexItem(nullptr),
-      _surveyRefChanging(false), _measurementAreaChanging(false),
-      _corridorChanging(false), _serviceAreaChanging(false),
-      _syncronizedWithController(false), _readyForSync(false) {
+    : QObject(parent), _masterController(nullptr), _missionController(nullptr),
+      _currentAreaIndex(-1), _wimaBridge(nullptr), _joinedArea(this),
+      _joinedAreaValid(false), _arrivalPathLength(0), _returnPathLength(0),
+      _TSComplexItem(nullptr), _surveyRefChanging(false),
+      _measurementAreaChanging(false), _corridorChanging(false),
+      _serviceAreaChanging(false), _syncronizedWithController(false),
+      _readyForSync(false) {
   _lastMeasurementAreaPath = _measurementArea.path();
   _lastServiceAreaPath = _serviceArea.path();
   _lastCorridorPath = _corridor.path();

src/Wima/WimaPlaner.h

@@ -49,16 +49,16 @@ public:
   Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged)
 
   // Property accessors
-  PlanMasterController *masterController(void) { return _masterController; }
-  MissionController *missionController(void) { return _missionController; }
+  PlanMasterController *masterController(void);
+  MissionController *missionController(void);
   QmlObjectListModel *visualItems(void);
-  int currentPolygonIndex(void) const { return _currentAreaIndex; }
-  QString currentFile(void) const { return _currentFile; }
+  int currentPolygonIndex(void) const;
+  QString currentFile(void) const;
   QStringList loadNameFilters(void) const;
   QStringList saveNameFilters(void) const;
-  QString fileExtension(void) const { return wimaFileExtension; }
+  QString fileExtension(void) const;
   QGeoCoordinate joinedAreaCenter(void) const;
-  WimaBridge *wimaBridge(void) { return _wimaBridge; }
+  WimaBridge *wimaBridge(void);
 
   // Property setters
   void setMasterController(PlanMasterController *masterController);
@@ -145,22 +145,22 @@ private:
   PlanMasterController *_masterController;
   MissionController *_missionController;
   int _currentAreaIndex;
-  QString _currentFile;    // file for saveing
-  WimaBridge *_wimaBridge; // container for data exchange with WimaController
-  QmlObjectListModel _visualItems; // contains all visible areas
-  WimaJoinedArea _joinedArea;      // joined area fromed by _measurementArea,
-                                   // _serviceArea, _corridor
+  QString _currentFile;
+  // container for data exchange with WimaController
+  WimaBridge *_wimaBridge;
+
   bool _joinedAreaValid;
-  WimaMeasurementArea _measurementArea; // measurement area
-  WimaServiceArea _serviceArea;         // area for supplying
-  WimaCorridor
-      _corridor; // corridor connecting _measurementArea and _serviceArea
-  unsigned long
-      _arrivalPathLength; // the number waypoints the arrival path consists of
-                          // (path from takeoff to first measurement point)
-  unsigned long
-      _returnPathLength; // the number waypoints the return path consists of
-                         // (path from last measurement point to land)
+  WimaMeasurementArea _measurementArea;
+  WimaServiceArea _serviceArea;
+  WimaCorridor _corridor;
+  // 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;
 
   CircularSurvey *_TSComplexItem; // pointer to the CircularSurvey item in
                                   // _missionController.visualItems()

src/WimaView/CircularSurveyMapVisual.qml

@@ -7,8 +7,6 @@
  *
  ****************************************************************************/
 
-// original file: SurveyMapVisual.qml
-
 import QtQuick          2.3
 import QtQuick.Controls 1.2
 import QtLocation       5.3