version checking added to nemo inteface, testing needed..

qgroundcontrol.pro

@@ -517,6 +517,7 @@ HEADERS += \
     src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h \
     src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.h \
     src/comm/ros_bridge/include/messages/nemo_msgs/tile.h \
+    src/comm/ros_bridge/include/messages/nemo_msgs/tile_array.h \
     src/comm/utilities.h
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {
@@ -559,6 +560,7 @@ SOURCES += \
     src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.cpp \
     src/comm/ros_bridge/include/messages/nemo_msgs/tile.cpp \
     src/Settings/WimaSettings.cc \
+    src/comm/ros_bridge/include/messages/nemo_msgs/tile_array.cpp
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {
     SOURCES += \

src/MeasurementComplexItem/NemoInterface.h

@@ -30,6 +30,7 @@ public:
 
   enum class STATUS {
     NOT_CONNECTED,
+    ERROR,
     SYNC,
     READY,
     WEBSOCKET_DETECTED,

src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp

@@ -52,13 +52,22 @@ QList<QGeoCoordinate> MeasurementTile::tile() const { return coordinateList(); }
 QString MeasurementTile::randomId(int length) {
   static const QString values(
       "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789");
+  static std::uint64_t counter = 0;
+  static auto firstCall = std::chrono::high_resolution_clock::now();
+
+  auto delta = std::chrono::duration_cast<std::chrono::nanoseconds>(
+                   std::chrono::high_resolution_clock::now() - firstCall)
+                   .count();
+
+  std::srand((unsigned int)delta ^ counter);
   QString str;
-  std::srand(std::time(nullptr));
   for (int i = 0; i < length; ++i) {
     int index = std::rand() % values.length();
     QChar c = values.at(index);
     str.append(c);
   }
+
+  ++counter;
   return str;
 }
 

src/MeasurementComplexItem/qml/NemoEditor.qml

@@ -22,7 +22,8 @@ Rectangle {
     property int availableWidth: 300
     property bool error: errorString.lenght >= 0
     readonly property bool running: _nemoInterface.running
-    property string errorString: ""
+    property string warningString: _nemoInterface.warningString
+    property string infoString: _nemoInterface.infoString
 
     signal abort
 
@@ -50,7 +51,13 @@ Rectangle {
             color: "orange"
             Layout.columnSpan: parent.columns
             Layout.fillWidth: true
-            visible: !_root.areasCorrect
+        }
+        QGCLabel {
+            text: _root.infoString
+            wrapMode: Text.WordWrap
+            horizontalAlignment: Text.AlignLeft
+            Layout.columnSpan: parent.columns
+            Layout.fillWidth: true
         }
 
         QGCButton {

src/MeasurementComplexItem/rosbridge/rosbridge.cpp

@@ -37,7 +37,7 @@ void Rosbridge::start() {
     _impl->moveToThread(_t);
 
     connect(_impl, &RosbridgeImpl::stateChanged, this,
-            &Rosbridge::_onImplStateChanged);
+            &Rosbridge::stateChanged);
 
     connect(this, &Rosbridge::_start, _impl, &RosbridgeImpl::start);
     connect(this, &Rosbridge::_stop, _impl, &RosbridgeImpl::stop);
@@ -244,16 +244,6 @@ void Rosbridge::waitForService(const QString &service) {
   }
 }
 
-void Rosbridge::_onImplStateChanged() {
-  static STATE oldState = STATE::STOPPED;
-  auto newState = translate(_impl->state());
-
-  if (oldState != newState) {
-    emit stateChanged();
-  }
-  oldState = newState;
-}
-
 Rosbridge::STATE translate(RosbridgeImpl::STATE s) {
   switch (s) {
   case RosbridgeImpl::STATE::STOPPED:

src/MeasurementComplexItem/rosbridge/rosbridge.h

@@ -101,8 +101,6 @@ signals:
   void _unadvertiseAllServices();
 
 private:
-  void _onImplStateChanged();
-
   std::atomic<STATE> _state;
   RosbridgeImpl *_impl;
   QThread *_t;

src/MeasurementComplexItem/rosbridge/rosbridgeimpl.cpp

@@ -337,6 +337,11 @@ void RosbridgeImpl::_onDisconnected() {
   }
 }
 
+void RosbridgeImpl::_onError(QAbstractSocket::SocketError e) {
+  qDebug() << "_onError: socket error: " << e << ", "
+           << _webSocket.errorString();
+}
+
 void RosbridgeImpl::_setState(RosbridgeImpl::STATE newState) {
   if (_state != newState) {
     _state = newState;
@@ -372,7 +377,6 @@ void RosbridgeImpl::_doAction() {
 }
 
 void RosbridgeImpl::_onTextMessageReceived(const QString &message) {
-  qDebug() << "_onTextMessageReceived: " << message;
   QJsonParseError e;
   auto d = QJsonDocument::fromJson(message.toUtf8(), &e);
   if (!d.isNull()) {

src/MeasurementComplexItem/rosbridge/rosbridgeimpl.h

@@ -58,6 +58,7 @@ signals:
 private slots:
   void _onConnected();
   void _onDisconnected();
+  void _onError(QAbstractSocket::SocketError e);
   void _doAction();
   void _onTextMessageReceived(const QString &message);
 

src/comm/ros_bridge/include/messages/nemo_msgs/tile.h

@@ -100,7 +100,7 @@ template <class TileType> bool fromJson(const QJsonObject &value, TileType &p) {
           PointType;
   for (long i = 0; i < jsonArray.size(); ++i) {
     PointType pt;
-    if (!geo_point::fromJson(jsonArray[i], pt)) {
+    if (!geo_point::fromJson(jsonArray[i].toObject(), pt)) {
       return false;
     }
     p.tile().push_back(std::move(pt));

src/comm/ros_bridge/include/messages/nemo_msgs/tile_array.cpp

+#include "tile_array.h"

src/comm/ros_bridge/include/messages/nemo_msgs/tile_array.h

+#pragma once
+
+#include "ros_bridge/include/messages/nemo_msgs/tile.h"
+
+#include <QJsonArray>
+#include <QString>
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for nemo_msgs
+//! generation.
+namespace nemo_msgs {
+//! @brief Namespace containing methodes for nemo_msgs/tile_array message
+//! generation.
+namespace tile_array {
+
+template <class TileArray>
+bool toJson(const TileArray &array, QJsonArray &jsonArray) {
+
+  for (unsigned long i = 0; i < std::uint64_t(array.size()); ++i) {
+    QJsonObject jsonTile;
+    if (!tile::toJson(array[i], jsonTile)) {
+      return false;
+    }
+    jsonArray.push_back(std::move(jsonTile));
+  }
+
+  return true;
+}
+
+template <class TileArray>
+bool fromJson(const QJsonArray &jsonArray, TileArray &array) {
+  using namespace geographic_msgs;
+
+  array.clear();
+  array.reserve(jsonArray.size());
+  typedef decltype(array[0]) TileCVR;
+  typedef typename std::remove_cv_t<typename std::remove_reference_t<TileCVR>>
+      Tile;
+  for (long i = 0; i < jsonArray.size(); ++i) {
+    Tile t;
+    if (!tile::fromJson(jsonArray[i], t)) {
+      return false;
+    }
+    array.push_back(std::move(t));
+  }
+
+  return true;
+}
+
+} // namespace tile_array
+} // namespace nemo_msgs
+} // namespace messages
+} // namespace ros_bridge