123

src/Wima/WimaController.cc

@@ -35,7 +35,8 @@ const char* WimaController::snakeMinTileAreaName        = "SnakeMinTileArea";
 const char* WimaController::snakeLineDistanceName       = "SnakeLineDistance";
 const char* WimaController::snakeMinTransectLengthName  = "SnakeMinTransectLength";
 
-WimaController::StatusMap WimaController::_nemoStatusMap{std::make_pair<int, QString>(0, "No Heartbeat"),
+WimaController::StatusMap WimaController::_nemoStatusMap{
+    std::make_pair<int, QString>(0, "No Heartbeat"),
     std::make_pair<int, QString>(1, "Connected"),
     std::make_pair<int, QString>(-1, "Timeout")};
 
@@ -56,7 +57,8 @@ WimaController::WimaController(QObject *parent)
     , _rtlManager               (_managerSettings, _areaInterface)
     , _currentManager           (&_defaultManager)
     , _managerList              {&_defaultManager, &_snakeManager, &_rtlManager}
-    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/WimaController.SettingsGroup.json"), this))
+    , _metaDataMap              (FactMetaData::createMapFromJsonFile(
+                                     QStringLiteral(":/json/WimaController.SettingsGroup.json"), this))
     , _enableWimaController     (settingsGroup, _metaDataMap[enableWimaControllerName])
     , _overlapWaypoints         (settingsGroup, _metaDataMap[overlapWaypointsName])
     , _maxWaypointsPerPhase     (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName])
@@ -333,7 +335,9 @@ void WimaController::removeVehicleTrajectoryHistory()
     managerVehicle->trajectoryPoints()->clear();
 }
 
-bool WimaController::_calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path)
+bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
+                                       const QGeoCoordinate &destination,
+                                       QVector<QGeoCoordinate> &path)
 {
     using namespace GeoUtilities;
     using namespace PolygonCalculus;
@@ -352,8 +356,6 @@ bool WimaController::_calcShortestPath(const QGeoCoordinate &start, const QGeoCo
 
 bool WimaController::setWimaPlanData(const WimaPlanData &planData)
 {
-    // fetch only if valid, return true on success
-
     // reset visual items
     _areas.clear();
     _defaultManager.clear();
@@ -864,15 +866,24 @@ void WimaController::_initStartSnakeWorker()
     }
 
     // Initialize _snakeWorker.
-    _snakeWorker.setMeasurementArea(_measurementArea.coordinateList());
-    _snakeWorker.setServiceArea(_serviceArea.coordinateList());
-    _snakeWorker.setCorridor(_corridor.coordinateList());
-    _snakeWorker.setProgress(_nemoProgress.progress());
-    _snakeWorker.setLineDistance(_snakeLineDistance.rawValue().toDouble());
-    _snakeWorker.setMinTransectLength(_snakeMinTransectLength.rawValue().toDouble());
-    _snakeWorker.setTileHeight(_snakeTileHeight.rawValue().toDouble());
-    _snakeWorker.setTileWidth(_snakeTileWidth.rawValue().toDouble());
-    _snakeWorker.setMinTileArea(_snakeMinTileArea.rawValue().toDouble());
+    _snakeWorker.setMeasurementArea(
+                _measurementArea.coordinateList());
+    _snakeWorker.setServiceArea(
+                _serviceArea.coordinateList());
+    _snakeWorker.setCorridor(
+                _corridor.coordinateList());
+    _snakeWorker.setProgress(
+                _nemoProgress.progress());
+    _snakeWorker.setLineDistance(
+                _snakeLineDistance.rawValue().toDouble());
+    _snakeWorker.setMinTransectLength(
+                _snakeMinTransectLength.rawValue().toDouble());
+    _snakeWorker.setTileHeight(
+                _snakeTileHeight.rawValue().toDouble());
+    _snakeWorker.setTileWidth(
+                _snakeTileWidth.rawValue().toDouble());
+    _snakeWorker.setMinTileArea(
+                _snakeMinTileArea.rawValue().toDouble());
     _setSnakeCalcInProgress(true);
 
     // Start worker thread.

src/Wima/WimaPlaner.cc

@@ -36,10 +36,12 @@ WimaPlaner::WimaPlaner(QObject *parent)
     _updateTimer.setInterval(300); // 300 ms means: max update time 2*300 ms
     _updateTimer.start();
 
+#ifndef NDEBUG
     // for debugging and testing purpose, remove if not needed anymore
     connect(&_autoLoadTimer, &QTimer::timeout, this, &WimaPlaner::autoLoadMission);
     _autoLoadTimer.setSingleShot(true);
     _autoLoadTimer.start(300);
+#endif
 
     _calcArrivalAndReturnPathTimer.setInterval(100);
     _calcArrivalAndReturnPathTimer.setSingleShot(true);
@@ -826,11 +828,13 @@ void WimaPlaner::setSyncronizedWithControllerFalse()
     setSyncronizedWithController(false);
 }
 
+#ifndef NDEBUG
 void WimaPlaner::autoLoadMission()
 {
     loadFromFile("/home/valentin/Desktop/drones/qgroundcontrol/Paths/KlingenbachTest.wima");
     pushToWimaController();
 }
+#endif
 
 void WimaPlaner::startCalcArrivalAndReturnTimer()
 {

src/Wima/WimaPlaner.h

@@ -136,7 +136,9 @@ private slots:
     // called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed
     void updateTimerSlot                    ();
     void setSyncronizedWithControllerFalse  (void);
+#ifndef NDEBUG
     void autoLoadMission                    (void);
+#endif
     void startCalcArrivalAndReturnTimer     (void);
 private:
 signals:
@@ -180,6 +182,8 @@ private:
     bool                    _syncronizedWithController; // true if planData is syncronized with wimaController
     bool                    _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath
 
+#ifndef NDEBUG
     QTimer                  _autoLoadTimer; // timer to auto load mission after some time, prevents seg. faults
+#endif
     QTimer                  _calcArrivalAndReturnPathTimer;
 };