befor editing WimaView.qml (allow only one masterController)

src/Wima/WimaArea.cc

@@ -127,6 +127,8 @@ void WimaArea::join(WimaArea &poly1, WimaArea &poly2, WimaArea &joinedPoly)
 
         if (poly1.count() >= 3 && poly2.count() >= 3) {
 
+            joinedPoly.clear();
+
             poly1.verifyClockwiseWinding();
             poly2.verifyClockwiseWinding();
 

src/Wima/WimaController.cc

@@ -45,7 +45,14 @@ void WimaController::setCurrentPolygonIndex(int index)
 void WimaController::removeArea(int index)
 {
     if(index >= 0 && index < _visualItems->count()){
-        _visualItems->removeAt(index);
+        WimaArea* area = qobject_cast<WimaArea*>(_visualItems->removeAt(index));
+
+        if ( area == nullptr) {
+            qWarning("WimaController::removeArea(): nullptr catched, internal error.");
+            return;
+        }
+
+        disconnect(area, &WimaArea::pathChanged, this, &WimaController::updateJoinedArea);
 
         emit visualItemsChanged();
 
@@ -67,41 +74,88 @@ void WimaController::removeArea(int index)
 
 }
 
-void WimaController::addGOperationArea()
+bool WimaController::addGOperationArea()
 {
-    WimaGOperationArea* newPoly = new WimaGOperationArea(this);
-    _visualItems->append(newPoly);
+    // check if opArea exists already
+    WimaGOperationArea* opArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaGOperationArea* currentArea = qobject_cast<WimaGOperationArea*>(_visualItems->get(i));
+        if ( currentArea != nullptr ) {
+            opArea = currentArea;
+            return false;
+        }
+    }
+
+    // create one if no opArea available
+    opArea = new WimaGOperationArea(this);
+    connect(opArea, &WimaArea::pathChanged, this, &WimaController::updateJoinedArea);
+
+    _visualItems->append(opArea);
     int newIndex = _visualItems->count()-1;
     setCurrentPolygonIndex(newIndex);
+
     emit visualItemsChanged();
+    return true;
 }
 
-void WimaController::addServiceArea()
+bool WimaController::addServiceArea()
 {
-    WimaServiceArea* newPoly = new WimaServiceArea(this);
-    _visualItems->append(newPoly);
+    // check if serArea exists already
+    WimaServiceArea* serArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaServiceArea* currentArea = qobject_cast<WimaServiceArea*>(_visualItems->get(i));
+        if ( currentArea != nullptr ) {
+            serArea = currentArea;
+            return false;
+        }
+    }
+
+    // create one if no serArea available
+    serArea = new WimaServiceArea(this);
+    connect(serArea, &WimaArea::pathChanged, this, &WimaController::updateJoinedArea);
+
+    _visualItems->append(serArea);
     int newIndex = _visualItems->count()-1;
     setCurrentPolygonIndex(newIndex);
+
     emit visualItemsChanged();
+    return true;
 }
 
-void WimaController::addVehicleCorridor()
+bool WimaController::addVehicleCorridor()
 {
-    WimaVCorridor* corridor = new WimaVCorridor(this);
+    // check if corridor exists already
+    WimaVCorridor* corridor = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaVCorridor* currentArea = qobject_cast<WimaVCorridor*>(_visualItems->get(i));
+        if ( currentArea != nullptr ) {
+            corridor = currentArea;
+            return false;
+        }
+    }
+
+    // create one if no corridor available
+    corridor = new WimaVCorridor(this);
+    connect(corridor, &WimaArea::pathChanged, this, &WimaController::updateJoinedArea);
+
     _visualItems->append(corridor);
     int newIndex = _visualItems->count()-1;
     setCurrentPolygonIndex(newIndex);
+
     emit visualItemsChanged();
+    return true;
 }
 
-void WimaController::removeAllAreas()
+void WimaController::removeAll()
 {
     bool changesApplied = false;
     while (_visualItems->count() > 0) {
-        _visualItems->removeAt(0);
+        removeArea(0);
         changesApplied = true;
     }
 
+    _missionController->removeAll();
+
     _currentFile = "";
 
     emit currentFileChanged();
@@ -165,14 +219,7 @@ bool WimaController::updateMission()
             break;
         }
     }
-    // join service area and op area
-    WimaArea joinedArea;
-    if (corridor != nullptr) {
-        WimaArea::join(*corridor, *serArea, joinedArea);
-        joinedArea.join(*opArea);
-    } else {
-        WimaArea::join(*serArea, *opArea, joinedArea);
-    }
+
 
     #if debug
         WimaArea* joinedAreaPt = new WimaArea(joinedArea, this);
@@ -180,10 +227,23 @@ bool WimaController::updateMission()
     #endif
 
 
+    // extract survey if present
+    QmlObjectListModel* missionItems = _missionController->visualItems();
+    SurveyComplexItem* oldSurveyItem;
+    {
+        int i = 0;
+        while( i < missionItems->count() ) {
+            oldSurveyItem = qobject_cast<SurveyComplexItem*>(missionItems->get(i));
+            if (oldSurveyItem != nullptr){
+                break;
+            }
+            i++;
+        }
+    }
 
     // reset visual items
     _missionController->removeAll();
-    QmlObjectListModel* missionItems = _missionController->visualItems();
+    missionItems = _missionController->visualItems();
     // set home position to serArea center
     MissionSettingsItem* settingsItem= qobject_cast<MissionSettingsItem*>(missionItems->get(0));
     if (settingsItem == nullptr){
@@ -205,13 +265,14 @@ bool WimaController::updateMission()
     } else {
         survey->surveyAreaPolygon()->clear();
         survey->surveyAreaPolygon()->appendVertices(opArea->coordinateList());
+        //survey->
     }
 
     // calculate path from take off to opArea
     QGeoCoordinate start = serArea->center();
     QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
     QList<QGeoCoordinate> path;
-    WimaArea::dijkstraPath(start, end, joinedArea, path);
+    WimaArea::dijkstraPath(start, end, _joinedArea, path);
     for (int i = 1; i < path.count()-1; i++) {
         _missionController->insertSimpleMissionItem(path.value(i), i+1);
         index++;
@@ -221,7 +282,7 @@ bool WimaController::updateMission()
     start   = survey->visualTransectPoints().last().value<QGeoCoordinate>();
     end     = serArea->center();
     path.clear();
-    WimaArea::dijkstraPath(start, end, joinedArea, path);
+    WimaArea::dijkstraPath(start, end, _joinedArea, path);
     for (int i = 1; i < path.count()-1; i++) {
         _missionController->insertSimpleMissionItem(path.value(i), index++);
     }
@@ -240,9 +301,6 @@ bool WimaController::updateMission()
         }
     }
 
-    //saveToFile("TestFile.wima");
-    //loadFromFile("TestFile.wima");
-
     return true;
 }
 
@@ -376,6 +434,7 @@ bool WimaController::loadFromFile(const QString &filename)
         _currentFile.sprintf("%s/%s.%s", fileInfo.path().toLocal8Bit().data(), fileInfo.completeBaseName().toLocal8Bit().data(), wimaFileExtension);
 
         emit currentFileChanged();
+        updateJoinedArea();
 
         return true;
 
@@ -410,6 +469,51 @@ void WimaController::recalcPolygonInteractivity(int index)
     }
 }
 
+void WimaController::updateJoinedArea()
+{
+    // pick first WimaGOperationArea
+    WimaGOperationArea* opArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaGOperationArea* currentArea = qobject_cast<WimaGOperationArea*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            opArea = currentArea;
+            break;
+        }
+    }
+    if (opArea == nullptr)
+        return;
+
+    // pick first WimaServiceArea
+    WimaServiceArea* serArea = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaServiceArea* currentArea = qobject_cast<WimaServiceArea*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            serArea = currentArea;
+            break;
+        }
+    }
+    if ( serArea == nullptr )
+        return;
+
+    // pick first WimaVCorridor
+    WimaVCorridor* corridor = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaVCorridor* currentArea = qobject_cast<WimaVCorridor*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            corridor = currentArea;
+            break;
+        }
+    }
+
+    // join service area, op area and corridor
+    if (corridor != nullptr) {
+        WimaArea::join(*corridor, *serArea, _joinedArea);
+        _joinedArea.join(*opArea);
+    } else {
+        WimaArea::join(*serArea, *opArea, _joinedArea);
+    }
+}
+
 void WimaController::resetAllInteractive()
 {
     int itemCount = _visualItems->count();

src/Wima/WimaController.h

@@ -33,6 +33,7 @@ public:
     Q_PROPERTY(QString                  currentFile             READ currentFile                                                    NOTIFY currentFileChanged)
     Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                                                CONSTANT)
     Q_PROPERTY(QString                  fileExtension           READ fileExtension                                                  CONSTANT)
+    Q_PROPERTY(QGeoCoordinate           joinedAreaCenter        READ joinedAreaCenter                                               CONSTANT)
 
 
     // Property accessors
@@ -42,7 +43,8 @@ public:
     int                         currentPolygonIndex    (void) const    { return _currentPolygonIndex; }
     QString                     currentFile            (void) const    { return _currentFile; }
     QStringList                 loadNameFilters        (void) const;
-    QString                     fileExtension         (void) const    { return wimaFileExtension; }
+    QString                     fileExtension          (void) const    { return wimaFileExtension; }
+    QGeoCoordinate              joinedAreaCenter       (void) const    { return _joinedArea.center(); }
 
 
 
@@ -52,14 +54,13 @@ public:
     /// Sets the integer index pointing to the current polygon. Current polygon is set interactive.
     void setCurrentPolygonIndex     (int index);
 
-    Q_INVOKABLE void addGOperationArea();
+    Q_INVOKABLE bool addGOperationArea();
     /// Removes an area from _visualItems
     /// @param index Index of the area to be removed
     Q_INVOKABLE void removeArea(int index);
-    Q_INVOKABLE void addServiceArea();
-    /// @return true if a vehicle corridor was added sucessfully and false otherwise.
-    Q_INVOKABLE void addVehicleCorridor();
-    Q_INVOKABLE void removeAllAreas();
+    Q_INVOKABLE bool addServiceArea();
+    Q_INVOKABLE bool addVehicleCorridor();
+    Q_INVOKABLE void removeAll();
 
     Q_INVOKABLE void startMission();
     Q_INVOKABLE void abortMission();
@@ -97,11 +98,13 @@ private slots:
     void recalcVehicleMeasurementAreas();
     void recalcAll();
     void recalcPolygonInteractivity(int index);
+    void updateJoinedArea();
 
 
 private:
     bool                        _planView;
     QmlObjectListModel*         _visualItems;
+    WimaArea                    _joinedArea;
     PlanMasterController*       _masterController;
     MissionController*          _missionController;
     int                         _currentPolygonIndex;

src/WimaView/WimaToolBar.qml

@@ -21,7 +21,7 @@ Rectangle {
     visible:            false
     anchors.bottomMargin: 1
 
-    signal showFlyView
+    signal showWimaFlightView
 
     property var    planMasterController
     property var    currentMissionItem          ///< Mission item to display status for
@@ -100,12 +100,12 @@ Rectangle {
             id:                 settingsButton
             anchors.top:        parent.top
             anchors.bottom:     parent.bottom
-            source:             "/qmlimages/PaperPlane.svg"
+            source:             "/qmlimages/TelemRSSI.svg"
             logo:               true
             checked:            false
             onClicked: {
                 checked = false
-                showFlyView()
+                showWimaFlightView()
             }
         }
     }

src/ui/MainWindowInner.qml

@@ -33,7 +33,7 @@ Item {
     property var    activeVehicle:      QGroundControl.multiVehicleManager.activeVehicle
     property string formatedMessage:    activeVehicle ? activeVehicle.formatedMessage : ""
 
-    property var _viewList: [ settingsViewLoader, setupViewLoader, planViewLoader, wimaViewLoader, flightView, analyzeViewLoader ]
+    property var _viewList: [ settingsViewLoader, setupViewLoader, planViewLoader, wimaViewLoader, wimaFlightView, flightView, analyzeViewLoader ]
 
     readonly property string _settingsViewSource:   "AppSettings.qml"
     readonly property string _setupViewSource:      "SetupView.qml"
@@ -125,6 +125,18 @@ Item {
         wimaToolBar.visible = true
     }
 
+    function showWimaFlightView() {
+        mainWindow.enableToolbar()
+        rootLoader.sourceComponent = null
+        if(currentPopUp) {
+            currentPopUp.close()
+        }
+        ScreenTools.availableHeight = parent.height - toolBar.height
+        hideAllViews()
+        wimaFlightView.visible = true
+        toolBar.checkWimaFlyButton()
+    }
+
     function showFlyView() {
         mainWindow.enableToolbar()
         rootLoader.sourceComponent = null
@@ -301,7 +313,7 @@ Item {
         anchors.left:       parent.left
         anchors.right:      parent.right
         anchors.top:        parent.top
-        opacity:            planToolBar.visible ? 0 : 1
+        opacity:            planToolBar.visible || wimaToolBar.visible ? 0 : 1
         z:                  QGroundControl.zOrderTopMost
 
         Component.onCompleted:  ScreenTools.availableHeight = parent.height - toolBar.height
@@ -311,6 +323,7 @@ Item {
         onShowPlanView:         mainWindow.showPlanView()
         onShowWimaView:         mainWindow.showWimaView()
         onShowAnalyzeView:      mainWindow.showAnalyzeView()
+        onShowWimaFlightView:   mainWindow.showWimaFlightView()
         onArmVehicle:           flightView.guidedController.confirmAction(flightView.guidedController.actionArm)
         onDisarmVehicle: {
             if (flightView.guidedController.showEmergenyStop) {
@@ -330,22 +343,22 @@ Item {
         }
     }
 
-    PlanToolBar {
-        id:                 planToolBar
+    WimaToolBar {
+        id:                 wimaToolBar
         height:             ScreenTools.toolbarHeight
         anchors.left:       parent.left
         anchors.right:      parent.right
         anchors.top:        parent.top
         z:                  toolBar.z + 1
 
-        onShowFlyView: {
-            planToolBar.visible = false
-            mainWindow.showFlyView()
+        onShowWimaFlightView: {
+            wimaToolBar.visible = false
+            mainWindow.showWimaFlightView()
         }
     }
 
-    WimaToolBar {
-        id:                 wimaToolBar
+    PlanToolBar {
+        id:                 planToolBar
         height:             ScreenTools.toolbarHeight
         anchors.left:       parent.left
         anchors.right:      parent.right
@@ -353,7 +366,7 @@ Item {
         z:                  toolBar.z + 1
 
         onShowFlyView: {
-            wimaToolBar.visible = false
+            planToolBar.visible = false
             mainWindow.showFlyView()
         }
     }
@@ -401,6 +414,7 @@ Item {
         property var toolbar: wimaToolBar
     }
 
+
     FlightDisplayView {
         id:                 flightView
         anchors.fill:       parent
@@ -414,6 +428,19 @@ Item {
         }
     }
 
+    FlightDisplayView {
+        id:                 wimaFlightView
+        anchors.fill:       parent
+        visible:            true
+        //-------------------------------------------------------------------------
+        //-- Loader helper for any child, no matter how deep can display an element
+        //   on top of the video window.
+        /*Loader {
+            id:             rootVideoLoader
+            anchors.centerIn: parent
+        }*/
+    }
+
     Loader {
         id:                 analyzeViewLoader
         anchors.left:       parent.left

src/ui/toolbar/MainToolBar.qml

@@ -31,6 +31,7 @@ Rectangle {
     signal showSetupView
     signal showPlanView
     signal showWimaView
+    signal showWimaFlightView
     signal showFlyView
     signal showAnalyzeView
     signal armVehicle
@@ -54,6 +55,10 @@ Rectangle {
         wimaButton.checked = true
     }
 
+    function checkWimaFlyButton() {
+        wimaFlyButton.checked = true
+    }
+
     function checkFlyButton() {
         flyButton.checked = true
     }
@@ -64,7 +69,7 @@ Rectangle {
 
     Component.onCompleted: {
         //-- TODO: Get this from the actual state
-        flyButton.checked = true
+        planButton.checked = true
     }
 
     // Prevent all clicks from going through to lower layers
@@ -126,6 +131,15 @@ Rectangle {
                 onClicked:          toolBar.showPlanView()
             }
 
+            QGCToolBarButton {
+                id:                 flyButton
+                anchors.top:        parent.top
+                anchors.bottom:     parent.bottom
+                exclusiveGroup:     mainActionGroup
+                source:             "/qmlimages/PaperPlane.svg"
+                onClicked:          toolBar.showFlyView()
+            }
+
             QGCToolBarButton {
                 id:                 wimaButton
                 anchors.top:        parent.top
@@ -136,12 +150,12 @@ Rectangle {
             }
 
             QGCToolBarButton {
-                id:                 flyButton
+                id:                 wimaFlyButton
                 anchors.top:        parent.top
                 anchors.bottom:     parent.bottom
                 exclusiveGroup:     mainActionGroup
-                source:             "/qmlimages/PaperPlane.svg"
-                onClicked:          toolBar.showFlyView()
+                source:             "/qmlimages/TelemRSSI.svg"
+                onClicked:          toolBar.showWimaFlyView()
             }
 
             QGCToolBarButton {