wima planer edited

src/Wima/CSWorker.cpp

@@ -15,7 +15,8 @@ template <> ClipperLib::cInt get<1>(ClipperLib::IntPoint &p) { return p.Y; }
 CSWorker::CSWorker(QObject *parent)
     : QThread(parent), _deltaR(2 * bu::si::meter),
       _deltaAlpha(3 * bu::degree::degree), _minLength(10 * bu::si::meter),
-      _calculating(false), _stop(false), _restart(false) {}
+      _useDepotSafeArea(false), _calculating(false), _stop(false),
+      _restart(false) {}
 
 CSWorker::~CSWorker() {
   this->_stop = true;
@@ -34,11 +35,46 @@ void CSWorker::update(const QList<QGeoCoordinate> &polygon,
   // Sample input.
   Lock lk(this->_mutex);
   this->_polygon = polygon;
+  for (auto &v : this->_polygon) {
+    v.setAltitude(0);
+  }
   this->_origin = origin;
+  this->_origin.setAltitude(0);
   this->_deltaR = deltaR;
   this->_deltaAlpha = deltaAlpha;
   this->_minLength = minLength;
   lk.unlock();
+  this->_useDepotSafeArea = false;
+
+  if (!this->isRunning()) {
+    this->start();
+  } else {
+    Lock lk(this->_mutex);
+    this->_restart = true;
+    this->_cv.notify_one();
+  }
+}
+
+void CSWorker::update(const QGeoCoordinate &depot,
+                      const QList<QGeoCoordinate> &safeArea,
+                      const QList<QGeoCoordinate> &polygon,
+                      const QGeoCoordinate &origin, snake::Length deltaR,
+                      snake::Length minLength, snake::Angle deltaAlpha) {
+  // Sample input.
+  Lock lk(this->_mutex);
+  this->_depot = depot;
+  this->_safeArea = safeArea;
+  this->_polygon = polygon;
+  for (auto &v : this->_polygon) {
+    v.setAltitude(0);
+  }
+  this->_origin = origin;
+  this->_origin.setAltitude(0);
+  this->_deltaR = deltaR;
+  this->_deltaAlpha = deltaAlpha;
+  this->_minLength = minLength;
+  lk.unlock();
+  this->_useDepotSafeArea = true;
 
   if (!this->isRunning()) {
     this->start();
@@ -53,7 +89,15 @@ void CSWorker::run() {
   qWarning() << "CSWorker::run(): thread start.";
   while (!this->_stop) {
     // Copy input.
+    QGeoCoordinate depot;
+    QList<QGeoCoordinate> safeArea;
     Lock lk(this->_mutex);
+    if (this->_useDepotSafeArea) {
+      depot = this->_depot;
+      safeArea = this->_safeArea;
+    } else {
+      safeArea = this->_polygon;
+    }
     const auto polygon = this->_polygon;
     const auto origin = this->_origin;
     const auto deltaR = this->_deltaR;
@@ -74,11 +118,16 @@ void CSWorker::run() {
       emit calculatingChanged();
       // Convert geo polygon to ENU polygon.
       snake::BoostPolygon polygonENU;
+      snake::BoostPolygon safeAreaENU;
       snake::BoostPoint originENU{0, 0};
+      snake::BoostPoint depotENU;
       snake::areaToEnu(origin, polygon, polygonENU);
+      snake::areaToEnu(origin, safeArea, safeAreaENU);
+      snake::toENU(origin, depot, depotENU);
       std::string error;
       // Check validity.
-      if (!bg::is_valid(polygonENU, error)) {
+      if (!bg::is_valid(polygonENU, error) ||
+          !bg::is_valid(safeAreaENU, error)) {
 #ifdef DEBUG_CIRCULAR_SURVEY
         qWarning() << "CSWorker::run(): "
                       "invalid polygon.";
@@ -159,7 +208,9 @@ void CSWorker::run() {
         }
         // Clip sectors to polygonENU.
         ClipperLib::Path polygonClipper;
-        auto &outer = polygonENU.outer();
+        snake::BoostPolygon shrinked;
+        snake::offsetPolygon(polygonENU, shrinked, -0.1);
+        auto &outer = shrinked.outer();
         polygonClipper.reserve(outer.size() - 1);
         for (auto it = outer.begin(); it < outer.end() - 1; ++it) {
           auto x = ClipperLib::cInt(std::round(it->get<0>() * CLIPPER_SCALE));
@@ -176,6 +227,9 @@ void CSWorker::run() {
         // Extract transects from  PolyTree and convert them to
         // BoostLineString
         snake::Transects transectsENU;
+        if (this->_useDepotSafeArea) {
+          transectsENU.push_back(snake::BoostLineString{depotENU});
+        }
         for (const auto &child : transectsClipper.Childs) {
           snake::BoostLineString transect;
           transect.reserve(child->Contour.size());
@@ -233,44 +287,49 @@ void CSWorker::run() {
           }
         }
         // Remove short transects
-        for (auto it = transectsENU.begin(); it < transectsENU.end();) {
+        auto begin = this->_useDepotSafeArea ? transectsENU.begin() + 1
+                                             : transectsENU.begin();
+        for (auto it = begin; it < transectsENU.end();) {
           if (bg::length(*it) < minLength.value()) {
             it = transectsENU.erase(it);
           } else {
             ++it;
           }
         }
-        // Move transect with min. distance to the front.
-        auto minDist = std::numeric_limits<double>::max();
-        auto minIt = transectsENU.begin();
-        bool reverse = false;
-        for (auto it = transectsENU.begin(); it < transectsENU.end(); ++it) {
-          auto distFront = bg::distance(originENU, it->front());
-          auto distBack = bg::distance(originENU, it->back());
-          if (distFront < minDist) {
-            minDist = distFront;
-            minIt = it;
-            reverse = false;
-          }
-          if (distBack < minDist) {
-            minDist = distBack;
-            minIt = it;
-            reverse = true;
+
+        if (!this->_useDepotSafeArea) {
+          // Move transect with min. distance to the front.
+          auto minDist = std::numeric_limits<double>::max();
+          auto minIt = transectsENU.begin();
+          bool reverse = false;
+          for (auto it = transectsENU.begin(); it < transectsENU.end(); ++it) {
+            auto distFront = bg::distance(originENU, it->front());
+            auto distBack = bg::distance(originENU, it->back());
+            if (distFront < minDist) {
+              minDist = distFront;
+              minIt = it;
+              reverse = false;
+            }
+            if (distBack < minDist) {
+              minDist = distBack;
+              minIt = it;
+              reverse = true;
+            }
           }
-        }
-        // Swap and reverse (if necessary).
-        if (minIt != transectsENU.begin()) {
-          auto minTransect = *minIt;
-          if (reverse) {
-            snake::BoostLineString rev;
-            for (auto it = minTransect.end() - 1; it >= minTransect.begin();
-                 --it) {
-              rev.push_back(*it);
+          // Swap and reverse (if necessary).
+          if (minIt != transectsENU.begin()) {
+            auto minTransect = *minIt;
+            if (reverse) {
+              snake::BoostLineString rev;
+              for (auto it = minTransect.end() - 1; it >= minTransect.begin();
+                   --it) {
+                rev.push_back(*it);
+              }
+              minTransect = rev;
             }
-            minTransect = rev;
+            *minIt = *transectsENU.begin();
+            *transectsENU.begin() = minTransect;
           }
-          *minIt = *transectsENU.begin();
-          *transectsENU.begin() = minTransect;
         }
 #ifdef SHOW_CIRCULAR_SURVEY_TIME
         qWarning() << "CSWorker::run(): transect gen. time: "
@@ -305,9 +364,9 @@ void CSWorker::run() {
           };
           std::string errorString;
           // Route transects;
-          bool success = snake::route(polygonENU, transectsENU, transectsInfo,
+          bool success = snake::route(safeAreaENU, transectsENU, transectsInfo,
                                       route, stopLambda, errorString);
-          if (!success && !this->_restart) {
+          if ((!success || route.size() < 3) && !this->_restart) {
 #ifdef DEBUG_CIRCULAR_SURVEY
             qWarning() << "CSWorker::run(): "
                           "routing failed.";
@@ -318,19 +377,38 @@ void CSWorker::run() {
                           "restart requested.";
 #endif
           } else {
-            // Remove return path.
+            // Find index of first waypoint.
+            std::size_t idxFirst = 0;
+            const auto &info1 =
+                this->_useDepotSafeArea ? transectsInfo[1] : transectsInfo[0];
+            const auto &firstTransect = transectsENU[info1.index];
+            const auto &firstWaypoint =
+                info1.reversed ? firstTransect.back() : firstTransect.front();
+            double th = 0.001;
+            for (std::size_t i = 0; i < route.size(); ++i) {
+              auto dist = bg::distance(route[i], firstWaypoint);
+              if (dist < th) {
+                idxFirst = i;
+                break;
+              }
+            }
+            // Find index of last waypoint.
+            std::size_t idxLast = 0;
             const auto &info = transectsInfo.back();
             const auto &lastTransect = transectsENU[info.index];
             const auto &lastWaypoint =
                 info.reversed ? lastTransect.front() : lastTransect.back();
-            auto &wp = route.back();
-            while (wp != lastWaypoint) {
-              route.pop_back();
-              wp = route.back();
+            for (long i = route.size() - 1; i >= 0; --i) {
+              auto dist = bg::distance(route[i], lastWaypoint);
+              if (dist < th) {
+                idxLast = i;
+                break;
+              }
             }
             // Convert to geo coordinates and notify main thread.
             auto pRoute = PtrRoute(new Route());
-            for (const auto &vertex : route) {
+            for (std::size_t i = idxFirst; i <= idxLast; ++i) {
+              auto vertex = route[i];
               QGeoCoordinate c;
               snake::fromENU(origin, vertex, c);
               pRoute->append(c);

src/Wima/CSWorker.h

@@ -31,6 +31,11 @@ public slots:
   void update(const QList<QGeoCoordinate> &polygon,
               const QGeoCoordinate &origin, snake::Length deltaR,
               snake::Length minLength, snake::Angle deltaAlpha);
+  void update(const QGeoCoordinate &depot,
+              const QList<QGeoCoordinate> &safeArea,
+              const QList<QGeoCoordinate> &polygon,
+              const QGeoCoordinate &origin, snake::Length deltaR,
+              snake::Length minLength, snake::Angle deltaAlpha);
 
 signals:
   void ready(PtrRoute pTransects);
@@ -43,6 +48,8 @@ private:
   mutable std::mutex _mutex;
   mutable std::condition_variable _cv;
   // Internal data
+  QGeoCoordinate _depot;
+  QList<QGeoCoordinate> _safeArea;
   QList<QGeoCoordinate> _polygon;
   QGeoCoordinate _origin;
   snake::Length _deltaR;
@@ -51,6 +58,7 @@ private:
   std::size_t _maxWaypoints;
 
   // State
+  std::atomic_bool _useDepotSafeArea;
   std::atomic_bool _calculating;
   std::atomic_bool _stop;
   std::atomic_bool _restart;

src/Wima/CircularSurvey.cc

@@ -36,8 +36,8 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
       _deltaR(settingsGroup, _metaDataMap[deltaRName]),
       _deltaAlpha(settingsGroup, _metaDataMap[deltaAlphaName]),
       _minLength(settingsGroup, _metaDataMap[transectMinLengthName]),
-      _isInitialized(false), _pWorker(std::make_unique<CSWorker>()),
-      _needsStoring(false), _needsReversal(false) {
+      _pWorker(std::make_unique<CSWorker>()), _needsStoring(false),
+      _needsReversal(false) {
   Q_UNUSED(kmlOrShpFile)
   _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
 
@@ -50,6 +50,10 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
           &CircularSurvey::_rebuildTransects);
   connect(this, &CircularSurvey::refPointChanged, this,
           &CircularSurvey::_rebuildTransects);
+  connect(this, &CircularSurvey::depotChanged, this,
+          &CircularSurvey::_rebuildTransects);
+  connect(this, &CircularSurvey::safeAreaChanged, this,
+          &CircularSurvey::_rebuildTransects);
   // Connect worker.
   qRegisterMetaType<PtrRoute>("PtrRoute");
   connect(this->_pWorker.get(), &CSWorker::ready, this,
@@ -78,21 +82,40 @@ void CircularSurvey::setRefPoint(const QGeoCoordinate &refPt) {
   }
 }
 
-void CircularSurvey::setIsInitialized(bool isInitialized) {
-  if (isInitialized != _isInitialized) {
-    _isInitialized = isInitialized;
-
-    emit isInitializedChanged();
-  }
-}
-
 QGeoCoordinate CircularSurvey::refPoint() const { return _referencePoint; }
 
 Fact *CircularSurvey::deltaR() { return &_deltaR; }
 
 Fact *CircularSurvey::deltaAlpha() { return &_deltaAlpha; }
 
-bool CircularSurvey::isInitialized() { return _isInitialized; }
+bool CircularSurvey::hidePolygon() const { return _hidePolygon; }
+
+QGeoCoordinate CircularSurvey::depot() const { return this->_depot; }
+
+QList<QGeoCoordinate> CircularSurvey::safeArea() const {
+  return this->_safeArea;
+}
+
+void CircularSurvey::setHidePolygon(bool hide) {
+  if (this->_hidePolygon != hide) {
+    this->_hidePolygon = hide;
+    emit hidePolygonChanged();
+  }
+}
+
+void CircularSurvey::setDepot(const QGeoCoordinate &depot) {
+  if (this->_depot != depot) {
+    this->_depot = depot;
+    emit depotChanged();
+  }
+}
+
+void CircularSurvey::setSafeArea(const QList<QGeoCoordinate> &safeArea) {
+  if (this->_safeArea != safeArea) {
+    this->_safeArea = safeArea;
+    emit safeAreaChanged();
+  }
+}
 
 bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
                           QString &errorString) {
@@ -161,7 +184,6 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
   _referencePoint.setLongitude(complexObject[refPointLongitudeName].toDouble());
   _referencePoint.setLatitude(complexObject[refPointLatitudeName].toDouble());
   _referencePoint.setAltitude(complexObject[refPointAltitudeName].toDouble());
-  setIsInitialized(true);
 
   _ignoreRecalc = false;
 
@@ -319,12 +341,21 @@ void CircularSurvey::_rebuildTransectsPhase1(void) {
   } else {
     this->_transects.clear();
     auto polygon = this->_surveyAreaPolygon.coordinateList();
-    this->_pWorker->update(
-        polygon, this->_referencePoint,
-        this->_deltaR.rawValue().toDouble() * bu::si::meter,
-        this->_minLength.rawValue().toDouble() * bu::si::meter,
-        snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
-                     bu::degree::degree));
+    if (this->_depot.isValid() && this->_safeArea.size() >= 3) {
+      this->_pWorker->update(
+          this->_depot, this->_safeArea, polygon, this->_referencePoint,
+          this->_deltaR.rawValue().toDouble() * bu::si::meter,
+          this->_minLength.rawValue().toDouble() * bu::si::meter,
+          snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
+                       bu::degree::degree));
+    } else {
+      this->_pWorker->update(
+          polygon, this->_referencePoint,
+          this->_deltaR.rawValue().toDouble() * bu::si::meter,
+          this->_minLength.rawValue().toDouble() * bu::si::meter,
+          snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
+                       bu::degree::degree));
+    }
   }
 }
 
@@ -351,7 +382,9 @@ void CircularSurvey::_setTransects(CircularSurvey::PtrRoute pRoute) {
 
 Fact *CircularSurvey::transectMinLength() { return &_minLength; }
 
-bool CircularSurvey::calculating() { return this->_pWorker->calculating(); }
+bool CircularSurvey::calculating() const {
+  return this->_pWorker->calculating();
+}
 
 /*!
     \class CircularSurveyComplexItem

src/Wima/CircularSurvey.h

@@ -28,48 +28,43 @@ public:
   Q_PROPERTY(Fact *deltaR READ deltaR CONSTANT)
   Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
   Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
-  Q_PROPERTY(bool isInitialized READ isInitialized WRITE setIsInitialized NOTIFY
-                 isInitializedChanged)
   Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
+  Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygon)
 
   Q_INVOKABLE void resetReference(void);
   Q_INVOKABLE void reverse(void);
 
   // Property setters
   void setRefPoint(const QGeoCoordinate &refPt);
-  // Set this to true if survey was automatically generated, prevents
-  // initialisation from gui.
-  void setIsInitialized(bool isInitialized);
+  void setHidePolygon(bool hide);
+  void setDepot(const QGeoCoordinate &depot);
+  void setSafeArea(const QList<QGeoCoordinate> &safeArea);
 
   // Property getters
   QGeoCoordinate refPoint() const;
   Fact *deltaR();
   Fact *deltaAlpha();
   Fact *transectMinLength();
-  bool calculating();
-  // Is true if survey was automatically generated, prevents initialisation from
-  // gui.
-  bool isInitialized();
+  bool calculating() const;
+  bool hidePolygon() const;
+  QGeoCoordinate depot() const;
+  QList<QGeoCoordinate> safeArea() const;
 
-  // Overrides from ComplexMissionItem
+  // Overrides
   bool load(const QJsonObject &complexObject, int sequenceNumber,
-            QString &errorString) final;
-  QString mapVisualQML(void) const final;
-
-  // Overrides from TransectStyleComplexItem
-  void save(QJsonArray &planItems) final;
-  bool specifiesCoordinate(void) const final;
+            QString &errorString) override final;
+  QString mapVisualQML(void) const override final;
+  void save(QJsonArray &planItems) override final;
+  bool specifiesCoordinate(void) const override final;
   void appendMissionItems(QList<MissionItem *> &items,
-                          QObject *missionItemParent) final;
-  void applyNewAltitude(double newAltitude) final;
-  double timeBetweenShots(void) final;
-
-  // Overrides from VisualMissionionItem
-  QString commandDescription(void) const final;
-  QString commandName(void) const final;
-  QString abbreviation(void) const final;
-  bool readyForSave(void) const final;
-  double additionalTimeDelay(void) const final;
+                          QObject *missionItemParent) override final;
+  void applyNewAltitude(double newAltitude) override final;
+  double timeBetweenShots(void) override final;
+  QString commandDescription(void) const override final;
+  QString commandName(void) const override final;
+  QString abbreviation(void) const override final;
+  bool readyForSave(void) const override final;
+  double additionalTimeDelay(void) const override final;
 
   static const char *settingsGroup;
   static const char *deltaRName;
@@ -82,8 +77,10 @@ public:
 
 signals:
   void refPointChanged();
-  void isInitializedChanged();
   void calculatingChanged();
+  void hidePolygonChanged();
+  void depotChanged();
+  void safeAreaChanged();
 
 private slots:
   // Overrides from TransectStyleComplexItem
@@ -109,14 +106,14 @@ private:
   // minimal transect lenght, transects are rejected if they are shorter than
   // this value
   SettingsFact _minLength;
-  // indicates if the polygon and refpoint etc. are initialized, prevents
-  // reinitialisation from gui and execution of _rebuildTransectsPhase1 during
-  // init from gui
-  bool _isInitialized;
 
   using PtrWorker = std::shared_ptr<CSWorker>;
   PtrWorker _pWorker;
   PtrRoute _pRoute;
   bool _needsStoring;
   bool _needsReversal;
+  bool _hidePolygon;
+
+  QGeoCoordinate _depot;
+  QList<QGeoCoordinate> _safeArea;
 };

src/Wima/Geometry/WimaMeasurementArea.cc

@@ -135,14 +135,14 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
     }
 
     if (json.contains(tileWidthName) && json[tileWidthName].isDouble()) {
-      _tileHeight.setRawValue(json[tileWidthName].toDouble());
+      _tileWidth.setRawValue(json[tileWidthName].toDouble());
     } else {
       errorString.append(tr("Could not load tile width!\n"));
       retVal = false;
     }
 
     if (json.contains(minTileAreaName) && json[minTileAreaName].isDouble()) {
-      _tileHeight.setRawValue(json[minTileAreaName].toDouble());
+      _minTileArea.setRawValue(json[minTileAreaName].toDouble());
     } else {
       errorString.append(tr("Could not load minimal tile area!\n"));
       retVal = false;
@@ -150,7 +150,7 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
 
     if (json.contains(transectDistanceName) &&
         json[transectDistanceName].isDouble()) {
-      _tileHeight.setRawValue(json[transectDistanceName].toDouble());
+      _transectDistance.setRawValue(json[transectDistanceName].toDouble());
     } else {
       errorString.append(tr("Could not load transect distance!\n"));
       retVal = false;
@@ -158,14 +158,14 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
 
     if (json.contains(minTransectLengthName) &&
         json[minTransectLengthName].isDouble()) {
-      _tileHeight.setRawValue(json[minTransectLengthName].toDouble());
+      _minTransectLength.setRawValue(json[minTransectLengthName].toDouble());
     } else {
       errorString.append(tr("Could not load minimal transect length!\n"));
       retVal = false;
     }
 
     if (json.contains(showTilesName) && json[showTilesName].isBool()) {
-      _tileHeight.setRawValue(json[showTilesName].toDouble());
+      _showTiles.setRawValue(json[showTilesName].toBool());
     } else {
       errorString.append(tr("Could not load show tiles !\n"));
       retVal = false;

src/Wima/Geometry/WimaServiceArea.cc

 #include "WimaServiceArea.h"
 
-const char* WimaServiceArea::wimaServiceAreaName = "Service Area";
+const char *WimaServiceArea::wimaServiceAreaName = "Service Area";
 
-
-
-WimaServiceArea::WimaServiceArea(QObject *parent)
-    :   WimaArea (parent)
-{
-    init();
-}
+WimaServiceArea::WimaServiceArea(QObject *parent) : WimaArea(parent) { init(); }
 
 WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
-    :    WimaArea (other, parent)
-{
-    init();
+    : WimaArea(other, parent) {
+  init();
 }
 
 /*!
@@ -21,63 +14,53 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
  *
  * Calls the inherited operator WimaArea::operator=().
  */
-WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other)
-{
-    WimaArea::operator=(other);
-
-    return *this;
-}
+WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
+  WimaArea::operator=(other);
 
-void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate)
-{
-    if(_takeOffPosition != coordinate){
-        _takeOffPosition = coordinate;
-        emit takeOffPositionChanged();
-    }
+  return *this;
 }
 
-void WimaServiceArea::setLandPosition(const QGeoCoordinate &coordinate)
-{
-    if(_landPosition != coordinate){
-        _landPosition = coordinate;
-        emit landPositionChanged();
-    }
+void WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
+  if (_depot != coordinate) {
+    _depot = coordinate;
+    emit depotChanged();
+  }
 }
 
-void WimaServiceArea::saveToJson(QJsonObject &json)
-{
-    this->WimaArea::saveToJson(json);
-    json[areaTypeName] = wimaServiceAreaName;
+void WimaServiceArea::saveToJson(QJsonObject &json) {
+  this->WimaArea::saveToJson(json);
+  json[areaTypeName] = wimaServiceAreaName;
 }
 
-bool WimaServiceArea::loadFromJson(const QJsonObject &json, QString &errorString)
-{
-    if ( this->WimaArea::loadFromJson(json, errorString)) {
-        bool retVal = true;
-        // code for loading here
-        return retVal;
-    } else {
-        qWarning() << errorString;
-        return false;
-    }
+bool WimaServiceArea::loadFromJson(const QJsonObject &json,
+                                   QString &errorString) {
+  if (this->WimaArea::loadFromJson(json, errorString)) {
+    bool retVal = true;
+    // code for loading here
+    return retVal;
+  } else {
+    qWarning() << errorString;
+    return false;
+  }
 }
 
-void print(const WimaServiceArea &area)
-{
-    QString message;
-    print(area, message);
-    qWarning() << message;
+void print(const WimaServiceArea &area) {
+  QString message;
+  print(area, message);
+  qWarning() << message;
 }
 
-void print(const WimaServiceArea &area, QString &outputStr)
-{
-    print(static_cast<const WimaArea&>(area), outputStr);
-    outputStr.append(QString("Takeoff Position: %s\n").arg(area._takeOffPosition.toString(QGeoCoordinate::Degrees)));
-    outputStr.append(QString("Land Position: %s\n").arg(area._landPosition.toString(QGeoCoordinate::Degrees)));
+void print(const WimaServiceArea &area, QString &outputStr) {
+  print(static_cast<const WimaArea &>(area), outputStr);
+  outputStr.append(QString("Depot Position: %s\n")
+                       .arg(area._depot.toString(QGeoCoordinate::Degrees)));
 }
 
-void WimaServiceArea::init()
-{
-    this->setObjectName(wimaServiceAreaName);
+void WimaServiceArea::init() {
+  this->setObjectName(wimaServiceAreaName);
+  connect(this, &WimaServiceArea::centerChanged, [this] {
+    if (!this->_depot.isValid()) {
+      this->setDepot(this->center());
+    }
+  });
 }
-

src/Wima/Geometry/WimaServiceArea.h

 #pragma once
 
-#include <QObject>
 #include "WimaArea.h"
 #include "WimaTrackerPolyline.h"
+#include <QObject>
 
-class WimaServiceArea : public WimaArea
-{
-    Q_OBJECT
+class WimaServiceArea : public WimaArea {
+  Q_OBJECT
 public:
-    WimaServiceArea(QObject* parent = nullptr);
-    WimaServiceArea(const WimaServiceArea& other, QObject* parent);
-    WimaServiceArea& operator=(const WimaServiceArea &other);
-
-    Q_PROPERTY(const QGeoCoordinate&          takeOffPosition READ takeOffPosition    WRITE setTakeOffPosition    NOTIFY takeOffPositionChanged)
-    Q_PROPERTY(const QGeoCoordinate&          landPosition    READ landPosition       WRITE setLandPosition       NOTIFY landPositionChanged)
+  WimaServiceArea(QObject *parent = nullptr);
+  WimaServiceArea(const WimaServiceArea &other, QObject *parent);
+  WimaServiceArea &operator=(const WimaServiceArea &other);
 
-    // Overrides from WimaPolygon
-    QString         mapVisualQML    (void) const { return "WimaServiceAreaMapVisual.qml";}
-    QString         editorQML       (void) const { return "WimaServiceAreaEditor.qml";}
+  Q_PROPERTY(QGeoCoordinate depot READ depot WRITE setDepot NOTIFY depotChanged)
 
-    // Property acessors
-    const QGeoCoordinate&          takeOffPosition             (void)  const { return _takeOffPosition;}
-    const QGeoCoordinate&          landPosition                (void)  const { return _landPosition;}
+  // Overrides from WimaPolygon
+  QString mapVisualQML(void) const { return "WimaServiceAreaMapVisual.qml"; }
+  QString editorQML(void) const { return "WimaServiceAreaEditor.qml"; }
 
-    // Member Methodes
-    void saveToJson(QJsonObject& json);
-    bool loadFromJson(const QJsonObject& json, QString& errorString);
+  // Property acessors
+  const QGeoCoordinate &depot(void) const { return _depot; }
 
+  // Member Methodes
+  void saveToJson(QJsonObject &json);
+  bool loadFromJson(const QJsonObject &json, QString &errorString);
 
+  // Friends
+  friend void print(const WimaServiceArea &area, QString &outputStr);
+  friend void print(const WimaServiceArea &area);
 
-    // Friends
-    friend void print(const WimaServiceArea& area, QString& outputStr);
-    friend void print(const WimaServiceArea& area);
-
-    // static Members
-    static const char* wimaServiceAreaName;
+  // static Members
+  static const char *wimaServiceAreaName;
 signals:
-    void takeOffPositionChanged         (void);
-    void landPositionChanged            (void);
+  void depotChanged(void);
 
 public slots:
-    void setTakeOffPosition             (const QGeoCoordinate& coordinate);
-    void setLandPosition                (const QGeoCoordinate& coordinate);
+  void setDepot(const QGeoCoordinate &coordinate);
 
 private:
-    // Member Methodes
-    void init();
+  // Member Methodes
+  void init();
 
-    // Members
-    QGeoCoordinate      _takeOffPosition;
-    QGeoCoordinate      _landPosition;
+  // Members
+  QGeoCoordinate _depot;
 };
-

src/Wima/Geometry/WimaServiceAreaData.cc

@@ -100,7 +100,7 @@ void WimaServiceAreaData::assign(const WimaServiceArea &other)
 {
     WimaAreaData::assign(other);
     setLandPosition(other.landPosition());
-    setTakeOffPosition(other.takeOffPosition());
+    setTakeOffPosition(other.depot());
 }
 
 

src/Wima/WimaPlaner.h

@@ -44,9 +44,8 @@ public:
   Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
   Q_PROPERTY(WimaBridge *wimaBridge READ wimaBridge WRITE setWimaBridge NOTIFY
                  wimaBridgeChanged)
-  Q_PROPERTY(bool syncronized READ syncronizedWithController NOTIFY
-                 syncronizedWithControllerChanged)
-  Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged)
+  Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
+  Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
 
   // Property accessors
   PlanMasterController *masterController(void);
@@ -59,6 +58,8 @@ public:
   QString fileExtension(void) const;
   QGeoCoordinate joinedAreaCenter(void) const;
   WimaBridge *wimaBridge(void);
+  bool synchronized();
+  bool needsUpdate();
 
   // Property setters
   void setMasterController(PlanMasterController *masterController);
@@ -68,11 +69,6 @@ public:
   void setCurrentPolygonIndex(int index);
   void setWimaBridge(WimaBridge *bridge);
 
-  // Property acessors
-  bool syncronizedWithController();
-  bool readyForSync();
-
-  // Member Methodes
   Q_INVOKABLE WimaPlaner *thisPointer();
   Q_INVOKABLE bool addMeasurementArea();
   /// Removes an area from _visualItems
@@ -84,24 +80,17 @@ public:
   /// MissionController
   Q_INVOKABLE void removeAll();
   /// Recalculates vehicle corridor, flight path, etc.
-  Q_INVOKABLE bool updateMission();
+  Q_INVOKABLE bool update();
   /// Pushes the generated mission data to the wimaController.
   Q_INVOKABLE void pushToWimaController();
-
   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);
-
-  bool calcShortestPath(const QGeoCoordinate &start,
-                        const QGeoCoordinate &destination,
-                        QVector<QGeoCoordinate> &path);
-
   // static Members
   static const char *wimaFileExtension;
   static const char *areaItemsName;
@@ -114,21 +103,14 @@ signals:
   void currentPolygonIndexChanged(int index);
   void currentFileChanged();
   void wimaBridgeChanged();
-  void syncronizedWithControllerChanged(void);
-  void readyForSyncChanged(void);
+  void synchronizedChanged(void);
+  void needsUpdateChanged(void);
 
 private slots:
-  void recalcPolygonInteractivity(int index);
-  bool calcArrivalAndReturnPath(void);
-  bool recalcJoinedArea();
-  // called by _updateTimer::timeout signal, updates different mission parts, if
-  // parameters (e.g. survey or areas) have changed
-  void updateTimerSlot();
-  void setSyncronizedWithControllerFalse(void);
+  void updatePolygonInteractivity(int index);
 #ifndef NDEBUG
   void autoLoadMission(void);
 #endif
-  void startCalcArrivalAndReturnTimer(void);
 
 private:
 signals:
@@ -137,9 +119,10 @@ signals:
 private:
   // Member Functions
   WimaPlanData toPlanData();
-  void setSyncronizedWithController(bool sync);
-  void setReadyForSync(bool ready);
-  void setJoinedAreaValid(bool valid);
+  bool shortestPath(const QGeoCoordinate &start,
+                    const QGeoCoordinate &destination,
+                    QVector<QGeoCoordinate> &path);
+  void setNeedsUpdate(bool needsUpdate);
 
   // Member Variables
   PlanMasterController *_masterController;
@@ -151,8 +134,11 @@ private:
 
   bool _joinedAreaValid;
   WimaMeasurementArea _measurementArea;
+  bool _mAreaChanged;
   WimaServiceArea _serviceArea;
+  bool _sAreaChanged;
   WimaCorridor _corridor;
+  bool _corridorChanged;
   // contains all visible areas
   QmlObjectListModel _visualItems;
   // joined area fromed by _measurementArea, _serviceArea, _corridor
@@ -162,36 +148,15 @@ private:
   // path from last measurement point to land
   unsigned long _returnPathLength;
 
-  CircularSurvey *_TSComplexItem; // pointer to the CircularSurvey item in
-                                  // _missionController.visualItems()
-
-  // auto update
-  QTimer _updateTimer; // on this timers timeout different mission parts will be
-                       // updated, if parameters (e.g. survey or areas) have
-                       // changed
-  QGeoCoordinate _lastSurveyRefPoint; // stores the SurveyRefPoint of the
-                                      // previous timer call
-  bool _surveyRefChanging;            // true if SurveyRefPoint is changing
-  QVariantList
-      _lastMeasurementAreaPath;   // stores the path of _measurementArea, at the
-                                  // time instance of the previous timer call
-  bool _measurementAreaChanging;  // true if the path of the _measurementArea is
-                                  // changing
-  QVariantList _lastCorridorPath; // stores the path of _corridor, at the time
-                                  // instance of the previous timer call
-  bool _corridorChanging; // true if the path of the _corridor is changing
-  QVariantList _lastServiceAreaPath; // stores the path of _serviceArea, at the
-                                     // time instance of the previous timer call
-  bool _serviceAreaChanging; // true if the path of the _serviceArea is changing
-
+  CircularSurvey *_TSComplexItem;
+  bool _surveyChanged;
   // sync stuff
-  bool _syncronizedWithController; // true if planData is syncronized with
-                                   // wimaController
-  bool _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath
+  bool _synchronized; // true if planData is synchronized with
+                      // wimaController
+  bool _needsUpdate;  // gets set by updateMission and calcArrivalAndReturnPath
 
 #ifndef NDEBUG
   QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
                          // seg. faults
 #endif
-  QTimer _calcArrivalAndReturnPathTimer;
 };

src/WimaView/CircularSurveyMapVisual.qml

@@ -88,13 +88,11 @@ Item {
     }
 
     Component.onCompleted: {
-        if ( !_missionItem.isInitialized ) {
+        if ( _missionItem.visualTransectPoints.length === 0 ) {
             _addInitialPolygon()
-            _missionItem.isInitialized = true // set isInitialized to true, to trigger _rebuildTransectsPhase1 in the last line
             _setRefPoint()
         }
         _addVisualElements()
-
     }
 
     Component.onDestruction: {
@@ -111,6 +109,7 @@ Item {
         borderColor:        "black"
         interiorColor:      "green"
         interiorOpacity:    0.5
+        visible:  			!_missionItem.hidePolygon
     }
 
     // Transect lines

src/WimaView/WimaServiceAreaMapVisual.qml

@@ -27,11 +27,9 @@ Item {
 
     property var areaItem:          object
     property var _polygon:          areaItem
-    //property var _polyline:         areaItem.polyline
 
     signal clicked(int sequenceNumber)
 
-    /// Add an initial 4 sided polygon if there is none
     /// Add an initial 4 sided polygon if there is none
     function _addInitialPolygon() {
 
@@ -109,4 +107,30 @@ Item {
         interiorOpacity:    1
     }
 
+
+    // Depot Point.
+    Component {
+        id: depotPointComponent
+
+        DragCoordinate {
+            map:        _root.map
+            qgcView:    _root.qgcView
+            z:          QGroundControl.zOrderMapItems
+            checked:    areaItem.interactive
+            coordinate: areaItem.depot
+
+            property var point: areaItem.depot
+
+            onRefPointChanged: {
+                if (point !== coordinate) {
+                    coordinate = point
+                }
+            }
+
+            onDragReleased: {
+                areaItem.depot = coordinate
+            }
+        }
+    }
+
 }

src/WimaView/WimaToolBar.qml

@@ -285,12 +285,15 @@ Rectangle {
         anchors.rightMargin:    _margins
         anchors.right:          parent.right
         anchors.verticalCenter: parent.verticalCenter
-        text:                   qsTr("Sync WiMA")
+        text:                   wimaPlaner && wimaPlaner.needsUpdate ? qsTr("Update") : qsTr("Sync.")
         enabled:                true
-        visible:                wimaPlaner ? wimaPlaner.readyForSync : false
         onClicked:              {
-            if (wimaPlaner && wimaPlaner.readyForSync) {
-                wimaPlaner.pushToWimaController()
+            if (wimaPlaner){
+                if (!wimaPlaner.needsUpdate) {
+                    wimaPlaner.pushToWimaController()
+                } else {
+                    wimaPlaner.update()
+                }
             }
         }
 
@@ -299,7 +302,7 @@ Rectangle {
             from:           0.5
             to:             1
             loops:          Animation.Infinite
-            running:        wimaPlaner ? !wimaPlaner.syncronized && wimaPlaner.readyForSync : false
+            running:        wimaPlaner ? wimaPlaner.needsUpdate : false
             alwaysRunToEnd: true
             duration:       2000
         }

src/WimaView/WimaView.qml

@@ -699,7 +699,7 @@ QGCView {
                                 iconSource:             "/res/street.png"
                             },
                             {
-                                name:                   qsTr("Calculate"),
+                                name:                   qsTr("Update"),
                                 iconSource:             "/res/calculator.png"
                             },
                             {
@@ -729,7 +729,7 @@ QGCView {
                                         wimaPlaner.addCorridor();
                                         break
                                     case 4:
-                                        wimaPlaner.updateMission();
+                                        wimaPlaner.update();
                                         break
                                     case 6:
                                         editorMap.zoomLevel += 0.5