measurement works mostly, some smaller issues left

qgroundcontrol.qrc

@@ -261,19 +261,18 @@
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
         <file alias="SerialSettings.qml">src/ui/preferences/SerialSettings.qml</file>
-        <file alias="CircularGeneratorEditor.qml">src/MeasurementComplexItem/qml/CircularGeneratorEditor.qml</file>
+        <file alias="MeasurementComplexItem/CircularGeneratorEditor.qml">src/MeasurementComplexItem/qml/CircularGeneratorEditor.qml</file>
         <file alias="QGroundControl/Controls/CircularGeneratorMapVisual.qml">src/MeasurementComplexItem/qml/CircularGeneratorMapVisual.qml</file>
         <file alias="MeasurementItemEditor.qml">src/MeasurementComplexItem/qml/MeasurementItemEditor.qml</file>
         <file alias="QGroundControl/Controls/MeasurementItemMapVisual.qml">src/MeasurementComplexItem/qml/MeasurementItemMapVisual.qml</file>
         <file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/MeasurementComplexItem/qml/CoordinateIndicator.qml</file>
         <file alias="QGroundControl/Controls/CoordinateIndicatorDrag.qml">src/MeasurementComplexItem/qml/CoordinateIndicatorDrag.qml</file>
         <file alias="QGroundControl/Controls/DragCoordinate.qml">src/MeasurementComplexItem/qml/DragCoordinate.qml</file>
-        <file alias="LinearGeneratorEditor.qml">src/MeasurementComplexItem/qml/LinearGeneratorEditor.qml</file>
-        <file alias="ProgressIndicator.qml">src/MeasurementComplexItem/qml/ProgressIndicator.qml</file>
+        <file alias="MeasurementComplexItem/LinearGeneratorEditor.qml">src/MeasurementComplexItem/qml/LinearGeneratorEditor.qml</file>
         <file alias="QGroundControl/Controls/GeoAreaVisualLoader.qml">src/MeasurementComplexItem/qml/GeoAreaVisualLoader.qml</file>
-        <file alias="MeasurementAreaEditor.qml">src/MeasurementComplexItem/qml/MeasurementAreaEditor.qml</file>
+        <file alias="MeasurementComplexItem/MeasurementAreaEditor.qml">src/MeasurementComplexItem/qml/MeasurementAreaEditor.qml</file>
         <file alias="QGroundControl/Controls/MeasurementAreaMapVisual.qml">src/MeasurementComplexItem/qml/MeasurementAreaMapVisual.qml</file>
-        <file alias="SafeAreaEditor.qml">src/MeasurementComplexItem/qml/SafeAreaEditor.qml</file>
+        <file alias="MeasurementComplexItem/SafeAreaEditor.qml">src/MeasurementComplexItem/qml/SafeAreaEditor.qml</file>
         <file alias="QGroundControl/Controls/SafeAreaMapVisual.qml">src/MeasurementComplexItem/qml/SafeAreaMapVisual.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
@@ -290,6 +289,10 @@
         <file alias="VirtualJoystick.qml">src/FlightDisplay/VirtualJoystick.qml</file>
         <file alias="VTOLLandingPatternEditor.qml">src/PlanView/VTOLLandingPatternEditor.qml</file>
         <file>src/MeasurementComplexItem/qml/GeoAreaEditorLoader.qml</file>
+        <file alias="QGroundControl/Controls/ItemDragger.qml">src/MeasurementComplexItem/qml/ItemDragger.qml</file>
+        <file alias="MeasurementComplexItem/AreaDataEditor.qml">src/MeasurementComplexItem/qml/AreaDataEditor.qml</file>
+        <file alias="MeasurementComplexItem/ParameterEditor.qml">src/MeasurementComplexItem/qml/ParameterEditor.qml</file>
+        <file alias="MeasurementComplexItem/qmldir">src/MeasurementComplexItem/qml/MeasurementComplexItem.qmldir</file>
     </qresource>
     <qresource prefix="/FirstRunPromptDialogs">
         <file alias="UnitsFirstRunPrompt.qml">src/FirstRunPromptDialogs/UnitsFirstRunPrompt.qml</file>

src/MeasurementComplexItem/AreaData.h

@@ -18,6 +18,8 @@ public:
   AreaData &operator=(const AreaData &other);
 
   Q_PROPERTY(QmlObjectListModel *areaList READ areaList NOTIFY areaListChanged)
+  Q_PROPERTY(bool showErrorMessages READ showErrorMessages WRITE
+                 setShowErrorMessages NOTIFY showErrorMessagesChanged)
 
   // Member Methodes
   //!
@@ -27,7 +29,8 @@ public:
   //!
   //! \brief remove
   //! \param areaData Removes the area.
-  //! \note Deletes the area if it has no parent.
+  //! \note Deletes the area if it has either no parent or the parent is this
+  //! object.
   void remove(GeoArea *areaData);
   void clear();
   //!
@@ -46,8 +49,7 @@ public:
   //! \note Origin might change if the list of areas changes.
   const QGeoCoordinate &origin() const;
 
-  Q_INVOKABLE bool isValid() const;
-  Q_INVOKABLE bool tryMakeValid();
+  Q_INVOKABLE bool isCorrect();
   //!
   //! \brief initialize Initializes the areas in a valid way, such that they
   //! area inside the bounding box. \param bottomLeft bottom left corner of the
@@ -65,18 +67,33 @@ public:
   //! either.
   //!
   Q_INVOKABLE bool initialized();
+  Q_INVOKABLE void intersection();
 
   bool operator==(const AreaData &other) const;
   bool operator!=(const AreaData &other) const;
 
+  QString errorString() const; // Contains a message about the last error.
+
+  bool showErrorMessages() const;
+  void setShowErrorMessages(bool showErrorMessages);
+
 signals:
   void areaListChanged();
   void originChanged();
+  void error(); // Emitted if errorString() contains a new message.
+  void showErrorMessagesChanged();
+private slots:
+  void _updateOrigin();
 
 private:
   void _setOrigin(const QGeoCoordinate &origin);
-  QGeoCoordinate _newOrigin();
+  void _processError(const QString &str);
+  bool _areasCorrect();
+  bool _getAreas(MeasurementArea **measurementArea, SafeArea **safeArea);
 
   QGeoCoordinate _origin;
   QmlObjectListModel _areaList;
+  bool _initialized;
+  QString _errorString;
+  bool _showErrorMessages;
 };

src/MeasurementComplexItem/CircularGenerator.cpp

@@ -62,7 +62,7 @@ QString CircularGenerator::abbreviation() { return QStringLiteral("C. Gen."); }
 
 bool CircularGenerator::get(Generator &generator) {
   if (this->_d) {
-    if (this->_d->isValid()) {
+    if (this->_d->isCorrect()) {
       // Prepare data.
       auto origin = this->_d->origin();
       origin.setAltitude(0);
@@ -200,7 +200,7 @@ void CircularGenerator::resetReference() {
 }
 
 void CircularGenerator::establishConnections() {
-  if (this->_d && !this->_connectionsEstablished) {
+  if (this->_d != nullptr && !this->_connectionsEstablished) {
     auto measurementArea =
         getGeoArea<const MeasurementArea *>(*this->_d->areaList());
     auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
@@ -233,7 +233,7 @@ void CircularGenerator::establishConnections() {
 }
 
 void CircularGenerator::deleteConnections() {
-  if (this->_d && this->_connectionsEstablished) {
+  if (this->_d != nullptr && this->_connectionsEstablished) {
     auto measurementArea =
         getGeoArea<const MeasurementArea *>(*this->_d->areaList());
     auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());

src/MeasurementComplexItem/GeneratorBase.cc

@@ -8,16 +8,26 @@ GeneratorBase::GeneratorBase(QObject *parent)
 GeneratorBase::GeneratorBase(GeneratorBase::Data d, QObject *parent)
     : QObject(parent), _d(d) {
   establishConnections();
+  connect(_d, &AreaData::areaListChanged, this,
+          &GeneratorBase::_areaListChangedHandler);
 }
 
 GeneratorBase::~GeneratorBase() {}
 
 GeneratorBase::Data GeneratorBase::data() const { return _d; }
 
-void GeneratorBase::setData(const Data &d) {
-  deleteConnections();
-  _d = d;
-  establishConnections();
+void GeneratorBase::setData(Data d) {
+  if (d != nullptr) {
+    if (_d != nullptr) {
+      disconnect(_d, &AreaData::areaListChanged, this,
+                 &GeneratorBase::_areaListChangedHandler);
+    }
+    deleteConnections();
+    _d = d;
+    establishConnections();
+    connect(_d, &AreaData::areaListChanged, this,
+            &GeneratorBase::_areaListChangedHandler);
+  }
 }
 
 void GeneratorBase::establishConnections() {}
@@ -27,6 +37,7 @@ void GeneratorBase::deleteConnections() {}
 void GeneratorBase::_areaListChangedHandler() {
   deleteConnections();
   establishConnections();
+  emit generatorChanged();
 }
 
 } // namespace routing

src/MeasurementComplexItem/GeneratorBase.h

@@ -33,7 +33,7 @@ public:
   virtual bool get(Generator &generator) = 0;
 
   Data data() const;
-  void setData(const Data &d);
+  void setData(Data d);
 
 signals:
   void generatorChanged();

src/MeasurementComplexItem/LinearGenerator.cpp

@@ -48,7 +48,7 @@ QString LinearGenerator::abbreviation() { return QStringLiteral("L. Gen."); }
 
 bool LinearGenerator::get(Generator &generator) {
   if (_d) {
-    if (this->_d->isValid()) {
+    if (this->_d->isCorrect()) {
       // Prepare data.
       auto origin = this->_d->origin();
       origin.setAltitude(0);
@@ -148,7 +148,7 @@ Fact *LinearGenerator::alpha() { return &_alpha; }
 Fact *LinearGenerator::minLength() { return &_minLength; }
 
 void LinearGenerator::establishConnections() {
-  if (this->_d && !this->_connectionsEstablished) {
+  if (this->_d != nullptr && !this->_connectionsEstablished) {
     auto measurementArea =
         getGeoArea<const MeasurementArea *>(*this->_d->areaList());
     auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
@@ -178,7 +178,7 @@ void LinearGenerator::establishConnections() {
 }
 
 void LinearGenerator::deleteConnections() {
-  if (this->_d && this->_connectionsEstablished) {
+  if (this->_d != nullptr && this->_connectionsEstablished) {
     auto measurementArea =
         getGeoArea<const MeasurementArea *>(*this->_d->areaList());
     auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());

src/MeasurementComplexItem/MeasurementComplexItem.cc

@@ -376,72 +376,76 @@ void MeasurementComplexItem::_setAreaData(
   }
 }
 
-bool MeasurementComplexItem::_updateRoute() {
-  // Reset data.
-  this->_route.clear();
-  this->_variantVector.clear();
-  this->_variantNames.clear();
-  emit variantNamesChanged();
-
-  if (this->_pAreaData->isValid()) {
-
-    // Prepare data.
-    auto origin = this->_pAreaData->origin();
-    origin.setAltitude(0);
-    if (!origin.isValid()) {
-      qCDebug(MeasurementComplexItemLog)
-          << "_updateWorker(): origin invalid." << origin;
-      return false;
-    }
-
-    // Convert safe area.
-    auto serviceArea =
-        getGeoArea<const SafeArea *>(*this->_pAreaData->areaList());
-    auto geoSafeArea = serviceArea->coordinateList();
-    if (!(geoSafeArea.size() >= 3)) {
-      qCDebug(MeasurementComplexItemLog)
-          << "_updateWorker(): safe area invalid." << geoSafeArea;
-      return false;
-    }
-    for (auto &v : geoSafeArea) {
-      if (v.isValid()) {
-        v.setAltitude(0);
-      } else {
+void MeasurementComplexItem::_updateRoute() {
+  if (!editing()) {
+    // Reset data.
+    this->_route.clear();
+    this->_variantVector.clear();
+    this->_variantNames.clear();
+    emit variantNamesChanged();
+
+    if (this->_pAreaData->isCorrect()) {
+
+      // Prepare data.
+      auto origin = this->_pAreaData->origin();
+      origin.setAltitude(0);
+      if (!origin.isValid()) {
         qCDebug(MeasurementComplexItemLog)
-            << "_updateWorker(): safe area contains invalid coordinate."
-            << geoSafeArea;
-        return false;
+            << "_updateWorker(): origin invalid." << origin;
+        return;
       }
-    }
 
-    // Routing par.
-    RoutingParameter par;
-    par.numSolutions = 5;
-    auto &safeAreaENU = par.safeArea;
-    snake::areaToEnu(origin, geoSafeArea, safeAreaENU);
+      // Convert safe area.
+      auto serviceArea =
+          getGeoArea<const SafeArea *>(*this->_pAreaData->areaList());
+      auto geoSafeArea = serviceArea->coordinateList();
+      if (!(geoSafeArea.size() >= 3)) {
+        qCDebug(MeasurementComplexItemLog)
+            << "_updateWorker(): safe area invalid." << geoSafeArea;
+        return;
+      }
+      for (auto &v : geoSafeArea) {
+        if (v.isValid()) {
+          v.setAltitude(0);
+        } else {
+          qCDebug(MeasurementComplexItemLog)
+              << "_updateWorker(): safe area contains invalid coordinate."
+              << geoSafeArea;
+          return;
+        }
+      }
 
-    // Create generator.
-    if (this->_pGenerator != nullptr) {
-      routing::GeneratorBase::Generator g; // Transect generator.
-      if (this->_pGenerator->get(g)) {
-        // Start/Restart routing worker.
-        this->_pWorker->route(par, g);
-        return true;
+      // Routing par.
+      RoutingParameter par;
+      par.numSolutions = 5;
+      auto &safeAreaENU = par.safeArea;
+      snake::areaToEnu(origin, geoSafeArea, safeAreaENU);
+
+      // Create generator.
+      if (this->_pGenerator != nullptr) {
+        routing::GeneratorBase::Generator g; // Transect generator.
+        if (this->_pGenerator->get(g)) {
+          // Start/Restart routing worker.
+          this->_pWorker->route(par, g);
+          _setState(STATE::ROUTING);
+          return;
+        } else {
+          qCDebug(MeasurementComplexItemLog)
+              << "_updateWorker(): generator creation failed.";
+          return;
+        }
       } else {
         qCDebug(MeasurementComplexItemLog)
-            << "_updateWorker(): generator creation failed.";
-        return false;
+            << "_updateWorker(): pGenerator == nullptr, number of registered "
+               "generators: "
+            << this->_generatorList.size();
+        return;
       }
     } else {
       qCDebug(MeasurementComplexItemLog)
-          << "_updateWorker(): pGenerator == nullptr, number of registered "
-             "generators: "
-          << this->_generatorList.size();
-      return false;
+          << "_updateWorker(): plan data invalid.";
+      return;
     }
-  } else {
-    qCDebug(MeasurementComplexItemLog) << "_updateWorker(): plan data invalid.";
-    return false;
   }
 }
 
@@ -471,7 +475,7 @@ void MeasurementComplexItem::_changeVariant() {
         }
         auto &newVariantCoordinates = this->_variantVector[variant];
         this->_route.swap(newVariantCoordinates);
-
+        emit routeChanged();
       } else { // error
         qCDebug(MeasurementComplexItemLog)
             << "Variant out of bounds (variant =" << variant << ").";
@@ -497,6 +501,7 @@ void MeasurementComplexItem::_reverseRoute() {
       auto &t = this->_route;
       std::reverse(t.begin(), t.end());
     }
+    emit routeChanged();
   }
 }
 
@@ -661,27 +666,35 @@ int MeasurementComplexItem::generatorIndex() {
   return this->_generatorList.indexOf(this->_pGenerator);
 }
 
-void MeasurementComplexItem::editingStart() {
-  if (!_editing(this->_state)) {
+void MeasurementComplexItem::startEditing() {
+  if (!editing()) {
     *_pEditorData = *_pAreaData;
     _setAreaData(_pEditorData);
     _setState(STATE::EDITING);
   }
 }
 
-void MeasurementComplexItem::editingStop() {
-  if (_editing(this->_state)) {
-    if (_pEditorData->isValid()) {
+void MeasurementComplexItem::stopEditing() {
+  if (editing()) {
+    bool correct = _pEditorData->isCorrect();
+    if (correct) {
       *_pAreaData = *_pEditorData;
     }
     _setAreaData(_pAreaData);
     _setState(STATE::IDLE);
-    if (_pEditorData->isValid() && *_pEditorData != *_pAreaData) {
+    if (correct && *_pEditorData != *_pAreaData) {
       _updateRoute();
     }
   }
 }
 
+void MeasurementComplexItem::abortEditing() {
+  if (editing()) {
+    _setAreaData(_pAreaData);
+    _setState(STATE::IDLE);
+  }
+}
+
 void MeasurementComplexItem::_storeRoutingData(
     MeasurementComplexItem::PtrRoutingData pRoute) {
   if (this->_state == STATE::ROUTING) {
@@ -781,10 +794,11 @@ void MeasurementComplexItem::_storeRoutingData(
       this->_variant.setCookedValue(QVariant(0));
       connect(&this->_variant, &Fact::rawValueChanged, this,
               &MeasurementComplexItem::_changeVariant);
-      this->_changeVariant();
 
-      this->_setState(STATE::IDLE);
+      this->_route.swap(this->_variantVector.first());
       emit routeChanged();
+
+      this->_setState(STATE::IDLE);
     } else {
       qCDebug(MeasurementComplexItemLog)
           << "_setTransects(): failed, variantVector empty.";

src/MeasurementComplexItem/MeasurementComplexItem.h

@@ -105,19 +105,26 @@ public:
 
   // Editing.
   //!
-  //! \brief editingStart Starts area data editing.
+  //! \brief startEditing Starts area data editing.
   //!
   //! Starts area data editing. Route will not be updated bewteen a call
   //! sequence of editingStart() and editingStop().
   //!
-  void editingStart();
+  Q_INVOKABLE void startEditing();
   //!
-  //! \brief editingStop Stops area editing.
+  //! \brief stopEditing Stops area editing.
   //!
   //! Stops area editing. Will reset area data to the state before
   //! editingStart() if it is invalid. Triggers a route update.
   //!
-  void editingStop();
+  Q_INVOKABLE void stopEditing();
+  //!
+  //! \brief abortEditing Aborts area editing.
+  //!
+  //! Will reset area data to the state before
+  //! editingStart().
+  //!
+  Q_INVOKABLE void abortEditing();
 
   // Property getters
   const AreaData *areaData() const;
@@ -156,7 +163,7 @@ private slots:
 
   // Worker functions.
   void _storeRoutingData(PtrRoutingData pRoute);
-  bool _updateRoute();
+  void _updateRoute();
   void _changeVariant();
   void _reverseRoute();
 

src/MeasurementComplexItem/WimaPlaner.h

-#pragma once
-
-#include "QmlObjectListModel.h"
-#include <QObject>
-#include <QScopedPointer>
-#include <QSharedPointer>
-
-#include "Geometry/WimaCorridor.h"
-#include "Geometry/WimaCorridorData.h"
-#include "Geometry/WimaJoinedArea.h"
-#include "Geometry/WimaJoinedAreaData.h"
-#include "Geometry/WimaMeasurementArea.h"
-#include "Geometry/WimaMeasurementAreaData.h"
-#include "Geometry/WimaServiceArea.h"
-#include "Geometry/WimaServiceAreaData.h"
-#include "WimaPlanData.h"
-
-#include "Snake/NemoInterface.h"
-
-#include "JsonHelper.h"
-
-class MissionController;
-class PlanMasterController;
-
-namespace wima_planer_detail {
-class WimaStateMachine;
-}
-
-class WimaPlaner : public QObject {
-  Q_OBJECT
-
-  enum FileType { WimaFile, PlanFile };
-
-public:
-  WimaPlaner(QObject *parent = nullptr);
-  ~WimaPlaner();
-  template <class T> WimaPlaner(T t, QObject *parent = nullptr) = delete;
-  template <class T> WimaPlaner(T t) = delete;
-
-  Q_PROPERTY(PlanMasterController *masterController READ masterController WRITE
-                 setMasterController NOTIFY masterControllerChanged)
-  Q_PROPERTY(MissionController *missionController READ missionController WRITE
-                 setMissionController NOTIFY missionControllerChanged)
-  Q_PROPERTY(QmlObjectListModel *visualItems READ visualItems NOTIFY
-                 visualItemsChanged)
-  Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE
-                 setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged)
-  Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged)
-  Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT)
-  Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT)
-  Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT)
-  Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
-  Q_PROPERTY(NemoInterface *nemoInterface READ nemoInterface CONSTANT)
-  Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
-  Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
-  Q_PROPERTY(bool readyForSynchronization READ readyForSynchronization NOTIFY
-                 readyForSynchronizationChanged)
-  Q_PROPERTY(bool surveyReady READ surveyReady NOTIFY surveyReadyChanged)
-  Q_PROPERTY(bool progressLocked READ progressLocked WRITE setProgressLocked
-                 NOTIFY progressLockedChanged)
-
-  // Property accessors
-  PlanMasterController *masterController(void);
-  MissionController *missionController(void);
-  QmlObjectListModel *visualItems(void);
-  int currentPolygonIndex(void) const;
-  QString currentFile(void) const;
-  QStringList loadNameFilters(void) const;
-  QStringList saveNameFilters(void) const;
-  QString fileExtension(void) const;
-  QGeoCoordinate joinedAreaCenter(void) const;
-  NemoInterface *nemoInterface(void);
-  bool synchronized();
-  bool needsUpdate();
-  bool readyForSynchronization();
-  bool surveyReady();
-  bool progressLocked();
-
-  // Property setters
-  void setMasterController(PlanMasterController *masterController);
-  void setMissionController(MissionController *missionController);
-  /// Sets the integer index pointing to the current polygon. Current polygon is
-  /// set interactive.
-  void setCurrentPolygonIndex(int index);
-  void setProgressLocked(bool l);
-
-  Q_INVOKABLE bool addMeasurementArea();
-  /// Removes an area from _visualItems
-  /// @param index Index of the area to be removed
-  Q_INVOKABLE void removeArea(int index);
-  Q_INVOKABLE bool addServiceArea();
-  Q_INVOKABLE bool addCorridor();
-  /// Remove all areas from WimaPlaner and all mission items from
-  /// MissionController
-  Q_INVOKABLE void removeAll();
-  /// Recalculates vehicle corridor, flight path, etc.
-  Q_INVOKABLE void update();
-  /// Pushes the generated mission data to the wimaController.
-  Q_INVOKABLE void synchronize();
-  Q_INVOKABLE void saveToCurrent();
-  Q_INVOKABLE void saveToFile(const QString &filename);
-  Q_INVOKABLE bool loadFromCurrent();
-  Q_INVOKABLE bool loadFromFile(const QString &filename);
-  Q_INVOKABLE void resetAllInteractive(void);
-  Q_INVOKABLE void setInteractive(void);
-
-  QJsonDocument saveToJson(FileType fileType);
-  // static Members
-  static const char *wimaFileExtension;
-  static const char *areaItemsName;
-  static const char *missionItemsName;
-
-signals:
-  void masterControllerChanged(void);
-  void missionControllerChanged(void);
-  void visualItemsChanged(void);
-  void currentPolygonIndexChanged(int index);
-  void currentFileChanged();
-  void wimaBridgeChanged();
-  void synchronizedChanged(void);
-  void needsUpdateChanged(void);
-  void readyForSynchronizationChanged(void);
-  void surveyReadyChanged(void);
-  void progressLockedChanged();
-
-private slots:
-  void updatePolygonInteractivity(int index);
-  void _update();
-  void CSDestroyedHandler();
-  void CSVisualTransectPointsChangedHandler();
-  void mAreaPathChangedHandler();
-  void mAreaTilesChangedHandler();
-  void mAreaProgressChangedHandler();
-  void mAreaProgressAcceptedHandler();
-  void mAreaReadyChangedHandler();
-  void sAreaPathChangedHandler();
-  void corridorPathChangedHandler();
-  void depotChangedHandler();
-  void missionControllerVisualItemsChangedHandler();
-  void missionControllerWaypointPathChangedHandler();
-  void missionControllerNewItemsFromVehicleHandler();
-  void missionControllerMissionItemCountChangedHandler();
-  void nemoInterfaceProgressChangedHandler();
-
-#ifndef NDEBUG
-  void autoLoadMission(void);
-#endif
-
-private:
-signals:
-  void joinedAreaValidChanged();
-  void stateChanged();
-
-private:
-  // Member Functions
-  bool toPlanData(AreaData &planData);
-  bool shortestPath(const QGeoCoordinate &start,
-                    const QGeoCoordinate &destination,
-                    QVector<QGeoCoordinate> &path);
-  void setSynchronized(bool s);
-  void enableAreaMonitoring();
-  void disableAreaMonitoring();
-  void enableMissionControllerMonitoring();
-  void disableMissionControllerMonitoring();
-  bool areasMonitored();
-  bool missionControllerMonitored();
-
-  // Member Variables
-  PlanMasterController *_masterController;
-  MissionController *_missionController;
-  int _currentAreaIndex;
-  QString _currentFile;
-
-  WimaMeasurementArea _measurementArea;
-  WimaServiceArea _serviceArea;
-  WimaCorridor _corridor;
-  WimaJoinedArea _joinedArea;
-  QmlObjectListModel _visualItems; // all areas
-
-  CircularSurvey *_survey;
-
-#ifndef NDEBUG
-  QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
-                         // seg. faults
-#endif
-
-  NemoInterface _nemoInterface;
-
-  // State
-  QScopedPointer<wima_planer_detail::WimaStateMachine> _stateMachine;
-  bool _areasMonitored;
-  bool _missionControllerMonitored;
-  bool _progressLocked;
-  bool _synchronized; // true if planData is synchronized with
-                      // wimaController
-};

src/MeasurementComplexItem/WimaStateMachine.h

-#pragma once
-
-#include <QDataStream>
-#include <QObject>
-
-namespace wima_planer_detail {
-
-enum class STATE {
-  NEEDS_INIT,
-  WAITING_FOR_TILE_UPDATE,
-  NEEDS_J_AREA_UPDATE,
-  NEEDS_SURVEY_UPDATE,
-  WAITING_FOR_SURVEY_UPDATE,
-  NEEDS_PATH_UPDATE,
-  UP_TO_DATE
-};
-
-QDebug &operator<<(QDebug &ds, STATE s);
-
-enum class EVENT {
-  INIT_DONE,
-  M_AREA_NOT_READY,
-  M_AREA_READY,
-  M_AREA_PATH_CHANGED,
-  S_AREA_PATH_CHANGED,
-  CORRIDOR_PATH_CHANGED,
-  M_AREA_TILES_CHANGED,
-  M_AREA_PROGRESS_CHANGED,
-  J_AREA_UPDATED,
-  DEPOT_CHANGED,
-  SURVEY_DESTROYED,
-  MISSION_ITEMS_DESTROYED,
-  SURVEY_UPDATE_TRIGGERED,
-  SURVEY_UPDATED,
-  PATH_CHANGED,
-  PATH_UPDATED
-};
-
-QDebug &operator<<(QDebug &ds, EVENT s);
-
-class WimaStateMachine : public QObject {
-  Q_OBJECT
-public:
-  explicit WimaStateMachine(QObject *parent = nullptr);
-
-  STATE state();
-  void updateState(EVENT e);
-  bool upToDate();
-  bool surveyReady();
-
-signals:
-  void stateChanged();
-  void upToDateChanged();
-  void surveyReadyChanged();
-