generators working, wima planer still issues

qgroundcontrol.qrc

@@ -195,9 +195,9 @@
         <file alias="QGroundControl/Controls/ViewWidget.qml">src/ViewWidgets/ViewWidget.qml</file>
         <file alias="Wima/WimaAreaNoVisual.qml">src/Wima/Snake/WimaAreaNoVisual.qml</file>
         <file alias="CircularGeneratorEditor.qml">src/WimaView/CircularGeneratorEditor.qml</file>
-        <file alias="Wima/CircularGeneratorMapVisual.qml">src/WimaView/CircularGeneratorMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/CircularGeneratorMapVisual.qml">src/WimaView/CircularGeneratorMapVisual.qml</file>
         <file alias="CircularSurveyItemEditor.qml">src/WimaView/CircularSurveyItemEditor.qml</file>
-        <file alias="Wima/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
         <file alias="Wima/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
         <file alias="Wima/CoordinateIndicatorDrag.qml">src/WimaView/CoordinateIndicatorDrag.qml</file>
         <file alias="Wima/DragCoordinate.qml">src/WimaView/DragCoordinate.qml</file>

src/FlightMap/MapItems/MissionLineView.qml

@@ -30,5 +30,9 @@ MapItemView {
             object.coordinate1,
             object.coordinate2,
         ] : []
+
+//        onParentChanged: {
+//            console.log("MapItemView, path:" + path)
+//        }
     }
 }

src/PlanView/MissionItemMapVisual.qml

@@ -15,7 +15,7 @@ import QtPositioning    5.3
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Controls      1.0
-
+import Wima 					    1.0
 
 /// Mission item map visual
 Item {

src/Wima/CircularSurvey.cc

@@ -278,7 +278,7 @@ void CircularSurvey::_updateWorker() {
     auto origin = this->_pAreaData->origin();
     origin.setAltitude(0);
     if (!origin.isValid()) {
-      qCWarning(CircularSurveyLog)
+      qCDebug(CircularSurveyLog)
           << "_updateWorker(): origin invalid." << origin;
       return;
     }
@@ -286,7 +286,7 @@ void CircularSurvey::_updateWorker() {
     // Convert safe area.
     auto geoSafeArea = this->_pAreaData->joinedArea().coordinateList();
     if (!(geoSafeArea.size() >= 3)) {
-      qCWarning(CircularSurveyLog)
+      qCDebug(CircularSurveyLog)
           << "_updateWorker(): safe area invalid." << geoSafeArea;
       return;
     }
@@ -294,7 +294,7 @@ void CircularSurvey::_updateWorker() {
       if (v.isValid()) {
         v.setAltitude(0);
       } else {
-        qCWarning(CircularSurveyLog)
+        qCDebug(CircularSurveyLog)
             << "_updateWorker(): safe area contains invalid coordinate."
             << geoSafeArea;
         return;
@@ -314,17 +314,17 @@ void CircularSurvey::_updateWorker() {
         // Start/Restart routing worker.
         this->_pWorker->route(par, g);
       } else {
-        qCWarning(CircularSurveyLog)
+        qCDebug(CircularSurveyLog)
             << "_updateWorker(): generator creation failed.";
       }
     } else {
-      qCWarning(CircularSurveyLog)
+      qCDebug(CircularSurveyLog)
           << "_updateWorker(): pGenerator == nullptr, number of registered "
              "generators: "
           << this->_generatorList.size();
     }
   } else {
-    qCWarning(CircularSurveyLog) << "_updateWorker(): plan data invalid.";
+    qCDebug(CircularSurveyLog) << "_updateWorker(): plan data invalid.";
   }
 }
 
@@ -343,7 +343,7 @@ void CircularSurvey::_changeVariantWorker() {
 
   // Swap route.
   if (variant != old_variant) {
-    // Swap in new variant, if condition.
+    // Swap in new variant.
     if (variant < std::size_t(this->_variantVector.size())) {
       if (old_variant != std::numeric_limits<std::size_t>::max()) {
         // this->_transects containes a route, swap it back to
@@ -355,9 +355,9 @@ void CircularSurvey::_changeVariantWorker() {
       this->_transects.swap(newVariantCoordinates);
 
     } else { // error
-      qCWarning(CircularSurveyLog)
+      qCDebug(CircularSurveyLog)
           << "Variant out of bounds (variant =" << variant << ").";
-      qCWarning(CircularSurveyLog) << "Resetting variant to zero.";
+      qCDebug(CircularSurveyLog) << "Resetting variant to zero.";
 
       disconnect(&this->_variant, &Fact::rawValueChanged, this,
                  &CircularSurvey::_changeVariant);
@@ -379,33 +379,6 @@ void CircularSurvey::_reverseWorker() {
   }
 }
 
-void CircularSurvey::_storeWorker() {
-  // If the transects are getting rebuilt then any previously loaded
-  // mission items are now invalid.
-  if (_loadedMissionItemsParent) {
-    _loadedMissionItems.clear();
-    _loadedMissionItemsParent->deleteLater();
-    _loadedMissionItemsParent = nullptr;
-  }
-
-  // Add route variant names.
-  this->_variantNames.clear();
-  for (std::size_t i = 1; i <= std::size_t(this->_variantVector.size()); ++i) {
-    this->_variantNames.append(QString::number(i));
-  }
-  emit variantNamesChanged();
-
-  disconnect(&this->_variant, &Fact::rawValueChanged, this,
-             &CircularSurvey::_changeVariant);
-  this->_variant.setCookedValue(QVariant(0));
-  connect(&this->_variant, &Fact::rawValueChanged, this,
-          &CircularSurvey::_changeVariant);
-  this->_changeVariantWorker();
-
-  // Mark transect as stored and ready.
-  this->_transectsDirty = false;
-}
-
 void CircularSurvey::applyNewAltitude(double newAltitude) {
   _cameraCalc.valueSetIsDistance()->setRawValue(true);
   _cameraCalc.distanceToSurface()->setRawValue(newAltitude);
@@ -432,18 +405,18 @@ double CircularSurvey::additionalTimeDelay() const { return 0; }
 bool CircularSurvey::registerGenerator(
     const QString &name, std::shared_ptr<routing::GeneratorBase> g) {
   if (name.isEmpty()) {
-    qCWarning(CircularSurveyLog) << "registerGenerator(): empty name string.";
+    qCDebug(CircularSurveyLog) << "registerGenerator(): empty name string.";
     return false;
   }
 
   if (!g) {
-    qCWarning(CircularSurveyLog) << "registerGenerator(): empty generator.";
+    qCDebug(CircularSurveyLog) << "registerGenerator(): empty generator.";
     return false;
   }
 
   if (this->_generatorNameList.contains(name)) {
-    qCWarning(CircularSurveyLog) << "registerGenerator(): generator "
-                                    "already registered.";
+    qCDebug(CircularSurveyLog) << "registerGenerator(): generator "
+                                  "already registered.";
     return false;
   } else {
     this->_generatorNameList.push_back(name);
@@ -467,7 +440,7 @@ bool CircularSurvey::unregisterGenerator(const QString &name) {
         _switchToGenerator(this->_generatorList.at(index - 1));
       } else {
         _switchToGenerator(nullptr);
-        qCWarning(CircularSurveyLog)
+        qCDebug(CircularSurveyLog)
             << "unregisterGenerator(): last generator unregistered.";
       }
     }
@@ -478,7 +451,7 @@ bool CircularSurvey::unregisterGenerator(const QString &name) {
     emit generatorNameListChanged();
     return true;
   } else {
-    qCWarning(CircularSurveyLog)
+    qCDebug(CircularSurveyLog)
         << "unregisterGenerator(): generator " << name << " not registered.";
     return false;
   }
@@ -488,10 +461,10 @@ bool CircularSurvey::unregisterGenerator(int index) {
   if (index > 0 && index < this->_generatorNameList.size()) {
     return unregisterGenerator(this->_generatorNameList.at(index));
   } else {
-    qCWarning(CircularSurveyLog) << "unregisterGenerator(): index (" << index
-                                 << ") out"
-                                    "of bounds ( "
-                                 << this->_generatorList.size() << " ).";
+    qCDebug(CircularSurveyLog) << "unregisterGenerator(): index (" << index
+                               << ") out"
+                                  "of bounds ( "
+                               << this->_generatorList.size() << " ).";
     return false;
   }
 }
@@ -502,7 +475,7 @@ bool CircularSurvey::switchToGenerator(const QString &name) {
     _switchToGenerator(this->_generatorList.at(index));
     return true;
   } else {
-    qCWarning(CircularSurveyLog)
+    qCDebug(CircularSurveyLog)
         << "switchToGenerator(): generator " << name << " not registered.";
     return false;
   }
@@ -513,10 +486,10 @@ bool CircularSurvey::switchToGenerator(int index) {
     _switchToGenerator(this->_generatorList.at(index));
     return true;
   } else {
-    qCWarning(CircularSurveyLog) << "unregisterGenerator(): index (" << index
-                                 << ") out"
-                                    "of bounds ( "
-                                 << this->_generatorNameList.size() << " ).";
+    qCDebug(CircularSurveyLog) << "unregisterGenerator(): index (" << index
+                               << ") out"
+                                  "of bounds ( "
+                               << this->_generatorNameList.size() << " ).";
     return false;
   }
 }
@@ -537,30 +510,29 @@ void CircularSurvey::_rebuildTransectsPhase1(void) {
   auto start = std::chrono::high_resolution_clock::now();
 
   switch (this->_state) {
-  case STATE::STORE:
-    qCWarning(CircularSurveyLog) << "rebuildTransectsPhase1: store.";
-    this->_storeWorker();
+  case STATE::SKIPP:
+    qCDebug(CircularSurveyLog) << "rebuildTransectsPhase1: skipp.";
     break;
   case STATE::VARIANT_CHANGE:
-    qCWarning(CircularSurveyLog) << "rebuildTransectsPhase1: variant change.";
+    qCDebug(CircularSurveyLog) << "rebuildTransectsPhase1: variant change.";
     this->_changeVariantWorker();
     break;
   case STATE::RUN_CHANGE:
-    qCWarning(CircularSurveyLog) << "rebuildTransectsPhase1: run change.";
+    qCDebug(CircularSurveyLog) << "rebuildTransectsPhase1: run change.";
     this->_changeVariantWorker();
     break;
   case STATE::REVERSE:
-    qCWarning(CircularSurveyLog) << "rebuildTransectsPhase1: reverse.";
+    qCDebug(CircularSurveyLog) << "rebuildTransectsPhase1: reverse.";
     this->_reverseWorker();
     break;
   case STATE::IDLE:
-    qCWarning(CircularSurveyLog) << "rebuildTransectsPhase1: update.";
+    qCDebug(CircularSurveyLog) << "rebuildTransectsPhase1: update.";
     this->_updateWorker();
     break;
   }
   this->_state = STATE::IDLE;
 
-  qCWarning(CircularSurveyLog)
+  qCDebug(CircularSurveyLog)
       << "rebuildTransectsPhase1(): "
       << std::chrono::duration_cast<std::chrono::milliseconds>(
              std::chrono::high_resolution_clock::now() - start)
@@ -585,7 +557,8 @@ void CircularSurvey::_recalcCameraShots() { _cameraShots = 0; }
 
 void CircularSurvey::_setTransects(CircularSurvey::PtrRoutingData pRoute) {
   // Store solutions.
-  const auto &ori = this->_pAreaData->origin();
+  auto ori = this->_pAreaData->origin();
+  ori.setAltitude(0);
   const auto &transectsENU = pRoute->transects;
   QVector<Variant> variantVector;
   const auto nSolutions = pRoute->solutionVector.size();
@@ -639,19 +612,19 @@ void CircularSurvey::_setTransects(CircularSurvey::PtrRoutingData pRoute) {
             }
 
           } else {
-            qCWarning(CircularSurveyLog)
+            qCDebug(CircularSurveyLog)
                 << "_setTransects(): lastTransect.size() == 0";
           }
         } else {
-          qCWarning(CircularSurveyLog)
+          qCDebug(CircularSurveyLog)
               << "_setTransects(): firstTransect.size() == 0";
         }
       } else {
-        qCWarning(CircularSurveyLog)
+        qCDebug(CircularSurveyLog)
             << "_setTransects(): transectsInfo.size() <= 1";
       }
     } else {
-      qCWarning(CircularSurveyLog) << "_setTransects(): solution.size() == 0";
+      qCDebug(CircularSurveyLog) << "_setTransects(): solution.size() == 0";
     }
 
     if (var.size() > 0 && var.front().size() > 0) {
@@ -663,9 +636,38 @@ void CircularSurvey::_setTransects(CircularSurvey::PtrRoutingData pRoute) {
   if (variantVector.size() > 0) {
     // Swap first route to _transects.
     this->_variantVector.swap(variantVector);
-    this->_state = STATE::STORE;
+
+    // If the transects are getting rebuilt then any previously loaded
+    // mission items are now invalid.
+    if (_loadedMissionItemsParent) {
+      _loadedMissionItems.clear();
+      _loadedMissionItemsParent->deleteLater();
+      _loadedMissionItemsParent = nullptr;
+    }
+
+    // Add route variant names.
+    this->_variantNames.clear();
+    for (std::size_t i = 1; i <= std::size_t(this->_variantVector.size());
+         ++i) {
+      this->_variantNames.append(QString::number(i));
+    }
+    emit variantNamesChanged();
+
+    disconnect(&this->_variant, &Fact::rawValueChanged, this,
+               &CircularSurvey::_changeVariant);
+    this->_variant.setCookedValue(QVariant(0));
+    connect(&this->_variant, &Fact::rawValueChanged, this,
+            &CircularSurvey::_changeVariant);
+    this->_changeVariantWorker();
+
+    // Mark transect ready.
+    this->_transectsDirty = false;
+
+    this->_state = STATE::SKIPP;
     this->_rebuildTransects();
   } else {
+    qCDebug(CircularSurveyLog)
+        << "_setTransects(): failed, variantVector empty.";
     this->_state = STATE::IDLE;
   }
 }

src/Wima/CircularSurvey.h

@@ -104,7 +104,6 @@ private slots:
   void _updateWorker();
   void _changeVariantWorker();
   void _reverseWorker();
-  void _storeWorker();
 
 private:
   void _appendLoadedMissionItems(QList<MissionItem *> &items,
@@ -117,7 +116,7 @@ private:
   // State.
   enum class STATE {
     IDLE,
-    STORE,
+    SKIPP,
     REVERSE,
     VARIANT_CHANGE,
     RUN_CHANGE,
@@ -137,11 +136,8 @@ private:
   QStringList _generatorNameList;
   PtrGenerator _pGenerator;
 
-  // Worker
-  PtrWorker _pWorker;
-  PtrRoutingData _pRoutingData; // remove this, not necessary.
-
-  // Routing data.
+  // Routing.
   using Variant = Transects;
   QVector<Variant> _variantVector;
+  PtrWorker _pWorker;
 };

src/Wima/Geometry/WimaAreaData.cc

@@ -2,7 +2,14 @@
 
 WimaAreaData::WimaAreaData(QObject *parent) : QObject(parent) {}
 
-WimaAreaData::~WimaAreaData() {}
+WimaAreaData::WimaAreaData(const WimaAreaData &other, QObject *parent)
+    : QObject(parent), _path(other._path), _list(other._list),
+      _center(other._center) {}
+
+WimaAreaData::WimaAreaData(const WimaArea &otherData, QObject *parent)
+    : QObject(parent), _center(otherData.center()) {
+  _setPathImpl(otherData.path());
+}
 
 bool WimaAreaData::operator==(const WimaAreaData &data) const {
   return this->_path == data._path && this->_center == data._center;
@@ -25,7 +32,7 @@ bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const {
   using namespace PolygonCalculus;
   using namespace GeoUtilities;
 
-  if (_path.size() > 2) {
+  if (this->coordinateList().size() > 2) {
     QPolygonF polygon;
     toCartesianList(this->coordinateList(), coordinate, polygon);
     return PlanimetryCalculus::contains(polygon, QPointF(0, 0));
@@ -36,44 +43,60 @@ bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const {
 void WimaAreaData::append(const QGeoCoordinate &c) {
   _list.append(c);
   _path.push_back(QVariant::fromValue(c));
+  emit pathChanged();
 }
 
 void WimaAreaData::push_back(const QGeoCoordinate &c) { append(c); }
 
 void WimaAreaData::clear() {
-  _list.clear();
-  _path.clear();
+  if (_list.size() > 0 || _path.size() > 0) {
+    _list.clear();
+    _path.clear();
+    emit pathChanged();
+  }
 }
 
 void WimaAreaData::setPath(const QVariantList &coordinateList) {
-  _path = coordinateList;
-  _list.clear();
-  for (auto variant : coordinateList) {
-    _list.push_back(variant.value<QGeoCoordinate>());
+  if (_path != coordinateList) {
+    _setPathImpl(coordinateList);
+    emit pathChanged();
   }
 }
 
 void WimaAreaData::setCenter(const QGeoCoordinate &center) {
   if (_center != center) {
     _center = center;
-
     emit centerChanged();
   }
 }
 
-/*!
- * \fn void WimaAreaData::assign(const WimaAreaData &other)
- *
- * Assigns \a other to the invoking object
- */
-void WimaAreaData::assign(const WimaAreaData &other) {
-  setPath(other.path());
-  setCenter(other.center());
+WimaAreaData &WimaAreaData::operator=(const WimaAreaData &otherData) {
+  setPath(otherData._list);
+  setCenter(otherData._center);
+  return *this;
 }
 
-void WimaAreaData::assign(const WimaArea &other) {
-  setPath(other.path());
-  setCenter(other.center());
+WimaAreaData &WimaAreaData::operator=(const WimaArea &otherData) {
+  setPath(otherData.path());
+  setCenter(otherData.center());
+  return *this;
+}
+
+void WimaAreaData::_setPathImpl(const QList<QGeoCoordinate> &coordinateList) {
+  _list = coordinateList;
+  _path.clear();
+  // copy all coordinates to _path
+  for (const auto &vertex : coordinateList) {
+    _path.append(QVariant::fromValue(vertex));
+  }
+}
+
+void WimaAreaData::_setPathImpl(const QVariantList &coordinateList) {
+  _path = coordinateList;
+  _list.clear();
+  for (const auto &variant : coordinateList) {
+    _list.push_back(variant.value<QGeoCoordinate>());
+  }
 }
 
 /*!
@@ -83,24 +106,26 @@ void WimaAreaData::assign(const WimaArea &other) {
  * coordinateList. Emits the \c pathChanged() signal.
  */
 void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList) {
-  _list = coordinateList;
-
-  _path.clear();
-  // copy all coordinates to _path
-  for (int i = 0; i < coordinateList.size(); i++) {
-    _path.append(QVariant::fromValue(coordinateList.value(i)));
+  if (_list != coordinateList) {
+    _setPathImpl(coordinateList);
+    emit pathChanged();
   }
-
-  emit pathChanged(_path);
 }
 
 bool operator==(const WimaAreaData &m1, const WimaArea &m2) {
   return m1.path() == m2.path() && m1.center() == m2.center();
 }
+
 bool operator!=(const WimaAreaData &m1, const WimaArea &m2) {
   return !operator==(m1, m2);
 }
 
+bool operator==(const WimaArea &m1, const WimaAreaData &m2) { return m2 == m1; }
+
+bool operator!=(const WimaArea &m1, const WimaAreaData &m2) {
+  return !operator==(m2, m1);
+}
+
 /*!
  * \class WimaArea::WimaAreaData
  * \brief Class to store and exchange data of a \c WimaArea Object.

src/Wima/Geometry/WimaAreaData.h

-#pragma once
+#pragma once
 
 #include <QObject>
 
@@ -11,16 +11,12 @@ class WimaAreaData
 {
   Q_OBJECT
 public:
+  WimaAreaData(QObject *parent = nullptr);
+
   Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
   Q_PROPERTY(QString type READ type CONSTANT)
   Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
 
-  WimaAreaData(QObject *parent = nullptr);
-  ~WimaAreaData();
-  WimaAreaData(const WimaAreaData &otherData) = delete; // avoid slicing
-  WimaAreaData &
-  operator=(const WimaAreaData &otherData) = delete; // avoid slicing
-
   bool operator==(const WimaAreaData &data) const;
   bool operator!=(const WimaAreaData &data) const;
 
@@ -37,8 +33,8 @@ public:
   void clear();
 
 signals:
-  void pathChanged(const QVariantList &coordinateList);
-  void centerChanged(void);
+  void pathChanged();
+  void centerChanged();
 
 public slots:
   void setPath(const QList<QGeoCoordinate> &coordinateList);
@@ -46,18 +42,21 @@ public slots:
   void setCenter(const QGeoCoordinate &center);
 
 protected:
-  void assign(const WimaAreaData &other);
-  void assign(const WimaArea &other);
+  WimaAreaData(const WimaAreaData &otherData, QObject *parent);
+  WimaAreaData(const WimaArea &otherData, QObject *parent);
+  WimaAreaData &operator=(const WimaAreaData &otherData);
+  WimaAreaData &operator=(const WimaArea &otherData);
 
 private:
-  // Member Functions
-
+  void _setPathImpl(const QList<QGeoCoordinate> &coordinateList);
+  void _setPathImpl(const QVariantList &coordinateList);
   // Member Variables
-  // see WimaArea.h for explanation
-  QVariantList _path;
-  mutable QList<QGeoCoordinate> _list;
+  mutable QVariantList _path;
+  QList<QGeoCoordinate> _list;
   QGeoCoordinate _center;
 };
 
 bool operator==(const WimaAreaData &m1, const WimaArea &m2);
 bool operator!=(const WimaAreaData &m1, const WimaArea &m2);
+bool operator==(const WimaArea &m1, const WimaAreaData &m2);
+bool operator!=(const WimaArea &m1, const WimaAreaData &m2);

src/Wima/Geometry/WimaCorridorData.cpp

@@ -6,14 +6,10 @@ WimaCorridorData::WimaCorridorData(QObject *parent) : WimaAreaData(parent) {}
 
 WimaCorridorData::WimaCorridorData(const WimaCorridorData &other,
                                    QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent) {}
 
 WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent) {}
 
 /*!
  * \overload operator=()
@@ -21,8 +17,7 @@ WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
  * Assigns \a other to the invoking object.
  */
 WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other) {
-  this->assign(other);
-
+  WimaAreaData::operator=(other);
   return *this;
 }
 
@@ -32,8 +27,7 @@ WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other) {
  * Assigns \a other to the invoking object.
  */
 WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other) {
-  this->assign(other);
-
+  WimaAreaData::operator=(other);
   return *this;
 }
 
@@ -43,14 +37,6 @@ QString WimaCorridorData::mapVisualQML() const {
 
 QString WimaCorridorData::type() const { return this->typeString; }
 
-void WimaCorridorData::assign(const WimaCorridorData &corridorData) {
-  WimaAreaData::assign(corridorData);
-}
-
-void WimaCorridorData::assign(const WimaCorridor &corridor) {
-  WimaAreaData::assign(corridor);
-}
-
 /*!
  * \class WimaAreaData::WimaCorridorData
  * \brief Class to store and exchange data of a \c WimaCorridorData Object.

src/Wima/Geometry/WimaCorridorData.h

@@ -23,14 +23,4 @@ public:
   WimaCorridorData *Clone() const { return new WimaCorridorData(*this); }
 
   static const char *typeString;
-
-signals:
-
-public slots:
-
-protected:
-  void assign(const WimaCorridorData &corridorData);
-  void assign(const WimaCorridor &corridor);
-
-private:
 };

src/Wima/Geometry/WimaJoinedAreaData.cc

@@ -7,15 +7,11 @@ WimaJoinedAreaData::WimaJoinedAreaData(QObject *parent)
 
 WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedAreaData &other,
                                        QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent) {}
 
 WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other,
                                        QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent) {}
 
 /*!
  * \overload operator=()
@@ -24,8 +20,7 @@ WimaJoinedAreaData::WimaJoinedAreaData(const WimaJoinedArea &other,
  */
 WimaJoinedAreaData &WimaJoinedAreaData::
 operator=(const WimaJoinedAreaData &other) {
-  assign(other);
-
+  WimaAreaData::operator=(other);
   return *this;
 }
 
@@ -35,7 +30,7 @@ operator=(const WimaJoinedAreaData &other) {
  * Assigns \a other to the invoking object.
  */
 WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other) {
-  assign(other);
+  WimaAreaData::operator=(other);
   return *this;
 }
 
@@ -45,14 +40,6 @@ QString WimaJoinedAreaData::mapVisualQML() const {
 
 QString WimaJoinedAreaData::type() const { return this->typeString; }
 
-void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other) {
-  WimaAreaData::assign(other);
-}
-
-void WimaJoinedAreaData::assign(const WimaJoinedArea &other) {
-  WimaAreaData::assign(other);
-}
-
 /*!
  * \class WimaAreaData::WimaJoinedAreaData
  * \brief Class to store and exchange data of a \c WimaJoinedAreaData Object.

src/Wima/Geometry/WimaJoinedAreaData.h

@@ -24,10 +24,4 @@ public:
   WimaJoinedAreaData *Clone() const { return new WimaJoinedAreaData(*this); }
 
   static const char *typeString;
-
-protected:
-  void assign(const WimaJoinedAreaData &other);
-  void assign(const WimaJoinedArea &other);
-
-private:
 };

src/Wima/Geometry/WimaMeasurementAreaData.cc

@@ -22,6 +22,7 @@ bool WimaMeasurementAreaData::
 operator==(const WimaMeasurementAreaData &other) const {
   return this->WimaAreaData::operator==(other) &&
          this->_tileData == other.tileData() &&
+         this->_progress == other.progress() &&
          this->center() == other.center();
 }
 
@@ -33,6 +34,8 @@ operator!=(const WimaMeasurementAreaData &other) const {
 void WimaMeasurementAreaData::setTileData(const TileData &d) {
   if (this->_tileData != d) {
     this->_tileData = d;
+    this->_progress.fill(0, d.size());
+    emit progressChanged();
     emit tileDataChanged();
   }
 }
@@ -51,7 +54,9 @@ void WimaMeasurementAreaData::setProgress(const QVector<int> &d) {
  */
 WimaMeasurementAreaData &WimaMeasurementAreaData::
 operator=(const WimaMeasurementAreaData &other) {
-  assign(other);
+  WimaAreaData::operator=(other);
+  setTileData(other._tileData);
+  setProgress(other._progress);
 
   return *this;
 }
@@ -63,7 +68,14 @@ operator=(const WimaMeasurementAreaData &other) {
  */
 WimaMeasurementAreaData &WimaMeasurementAreaData::
 operator=(const WimaMeasurementArea &other) {
-  assign(other);
+  WimaAreaData::operator=(other);
+  if (other.ready()) {
+    setTileData(other.tileData());
+    setProgress(other.progress());
+  } else {
+    qWarning() << "WimaMeasurementAreaData::operator=(): WimaMeasurementArea "
+                  "not ready.";
+  }
 
   return *this;
 }
@@ -102,23 +114,6 @@ const QVector<int> &WimaMeasurementAreaData::progress() const {
 
 QVector<int> &WimaMeasurementAreaData::progress() { return this->_progress; }
 
-void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
-  WimaAreaData::assign(other);
-  setTileData(other._tileData);
-  setProgress(other._progress);
-}
-
-void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
-  WimaAreaData::assign(other);
-  if (other.ready()) {
-    setTileData(other.tileData());
-    setProgress(other.progress());
-  } else {
-    qWarning()
-        << "WimaMeasurementAreaData::assign(): WimaMeasurementArea not ready.";
-  }
-}
-
 bool operator==(const WimaMeasurementAreaData &m1,
                 const WimaMeasurementArea &m2) {
   return operator==(*static_cast<const WimaAreaData *>(&m1),

src/Wima/Geometry/WimaMeasurementAreaData.h

@@ -50,10 +50,6 @@ signals:
   void tileDataChanged();
   void progressChanged();
 
-protected:
-  void assign(const WimaMeasurementAreaData &other);
-  void assign(const WimaMeasurementArea &other);
-
 private:
   TileData _tileData;
   QVector<int> _progress;

src/Wima/Geometry/WimaServiceAreaData.cc

@@ -7,26 +7,22 @@ WimaServiceAreaData::WimaServiceAreaData(QObject *parent)
 
 WimaServiceAreaData::WimaServiceAreaData(const WimaServiceAreaData &other,
                                          QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent), _depot(other._depot) {}
 
 WimaServiceAreaData::WimaServiceAreaData(const WimaServiceArea &other,
                                          QObject *parent)
-    : WimaAreaData(parent) {
-  *this = other;
-}
+    : WimaAreaData(other, parent), _depot(other.depot()) {}
 
 WimaServiceAreaData &WimaServiceAreaData::
 operator=(const WimaServiceAreaData &otherData) {
-  this->assign(otherData);
+  WimaAreaData::operator=(otherData);
   this->setDepot(otherData.depot());
   return *this;
 }
 
 WimaServiceAreaData &WimaServiceAreaData::
 operator=(const WimaServiceArea &otherArea) {
-  this->assign(otherArea);
+  WimaAreaData::operator=(otherArea);
   this->setDepot(otherArea.depot());
   return *this;
 }
@@ -57,16 +53,6 @@ void WimaServiceAreaData::setDepot(const QGeoCoordinate &newCoordinate) {
   }
 }
 
-void WimaServiceAreaData::assign(const WimaServiceAreaData &other) {
-  WimaAreaData::assign(other);
-  setDepot(other.depot());
-}
-
-void WimaServiceAreaData::assign(const WimaServiceArea &other) {
-  WimaAreaData::assign(other);
-  setDepot(other.depot());
-}
-
 /*!
  * \class WimaAreaData::WimaServiceAreaData
  * \brief Class to store and exchange data of a \c WimaServiceArea Object.

src/Wima/Geometry/WimaServiceAreaData.h

@@ -31,10 +31,6 @@ signals:
 public slots:
   void setDepot(const QGeoCoordinate &newCoordinate);
 
-protected:
-  void assign(const WimaServiceAreaData &other);
-  void assign(const WimaServiceArea &other);
-
 private:
   // see WimaServieArea.h for explanation
   QGeoCoordinate _depot;

src/Wima/RoutingThread.cpp

@@ -5,7 +5,7 @@
 #include <QDebug>
 
 #include "QGCLoggingCategory.h"
-QGC_LOGGING_CATEGORY(RoutingWorkerLog, "RoutingWorkerLog")
+QGC_LOGGING_CATEGORY(RoutingThreadLog, "RoutingThreadLog")
 
 RoutingThread::RoutingThread(QObject *parent)
     : QThread(parent), _calculating(false), _stop(false), _restart(false) {
@@ -44,10 +44,10 @@ void RoutingThread::route(const RoutingParameter &par,
 }
 
 void RoutingThread::run() {
-  qCWarning(RoutingWorkerLog) << "run(): thread start.";
+  qCDebug(RoutingThreadLog) << "run(): thread start.";
   while (!this->_stop) {
-    qCWarning(RoutingWorkerLog) << "run(): calculation "
-                                   "started.";
+    qCDebug(RoutingThreadLog) << "run(): calculation "
+                                 "started.";
     // Copy input.
     auto start = std::chrono::high_resolution_clock::now();
 
@@ -67,8 +67,8 @@ void RoutingThread::run() {
     if (generator(transectsENU)) {
       // Check if generation was successful.
       if (transectsENU.size() == 0) {
-        qCWarning(RoutingWorkerLog) << "run(): "
-                                       "not able to generate transects.";
+        qCDebug(RoutingThreadLog) << "run(): "
+                                     "not able to generate transects.";
       } else {
         // Prepare data for routing.
         auto &solutionVector = pRouteData->solutionVector;
@@ -93,24 +93,24 @@ void RoutingThread::run() {
 
         // Check if routing was successful.
         if ((!success || solutionVector.size() < 1) && !this->_restart) {
-          qCWarning(RoutingWorkerLog) << "run(): "
-                                         "routing failed. "
-                                      << snakePar.errorString.c_str();
+          qCDebug(RoutingThreadLog) << "run(): "
+                                       "routing failed. "
+                                    << snakePar.errorString.c_str();
         } else if (this->_restart) {
-          qCWarning(RoutingWorkerLog) << "run(): "
-                                         "restart requested.";
+          qCDebug(RoutingThreadLog) << "run(): "
+                                       "restart requested.";
         } else {
           // Notify main thread.
           emit result(pRouteData);
-          qCWarning(RoutingWorkerLog) << "run(): "
-                                         "concurrent update success.";
+          qCDebug(RoutingThreadLog) << "run(): "
+                                       "concurrent update success.";
         }
       }
     } // end calculation
     else {
-      qCWarning(RoutingWorkerLog) << "run(): generator() failed.";
+      qCDebug(RoutingThreadLog) << "run(): generator() failed.";
     }
-    qCWarning(RoutingWorkerLog)
+    qCDebug(RoutingThreadLog)
         << "run(): execution time: "
         << std::chrono::duration_cast<std::chrono::milliseconds>(
                std::chrono::high_resolution_clock::now() - start)
@@ -125,5 +125,5 @@ void RoutingThread::run() {
     }
     this->_restart = false;
   } // main loop
-  qCWarning(RoutingWorkerLog) << "run(): thread end.";
+  qCDebug(RoutingThreadLog) << "run(): thread end.";
 }

src/Wima/Snake/CircularGenerator.cpp

@@ -64,14 +64,14 @@ bool CircularGenerator::get(Generator &generator) {
       auto origin = this->_d->origin();
       origin.setAltitude(0);
       if (!origin.isValid()) {
-        qCWarning(CircularGeneratorLog) << "get(): origin invalid." << origin;
+        qCDebug(CircularGeneratorLog) << "get(): origin invalid." << origin;
         return false;
       }
 
       auto ref = this->_reference;
       ref.setAltitude(0);
       if (!ref.isValid()) {
-        qCWarning(CircularGeneratorLog) << "get(): reference invalid." << ref;
+        qCDebug(CircularGeneratorLog) << "get(): reference invalid." << ref;
         return false;
       }
       snake::FPoint reference;
@@ -82,9 +82,9 @@ bool CircularGenerator::get(Generator &generator) {
         if (v.isValid()) {
           v.setAltitude(0);
         } else {
-          qCWarning(CircularGeneratorLog) << "get(): measurement area invalid.";
+          qCDebug(CircularGeneratorLog) << "get(): measurement area invalid.";
           for (const auto &w : geoPolygon) {
-            qCWarning(CircularGeneratorLog) << w;
+            qCDebug(CircularGeneratorLog) << w;
           }
           return false;
         }
@@ -105,21 +105,21 @@ bool CircularGenerator::get(Generator &generator) {
               snake::areaToEnu(origin, tile->coordinateList(), tileENU);
               pTiles->push_back(std::move(tileENU));
             } else {
-              qCWarning(CircularGeneratorLog)
+              qCDebug(CircularGeneratorLog)
                   << "get(): progress.size() != tiles->count().";
               return false;
             }
           }
         }
       } else {
-        qCWarning(CircularGeneratorLog)
+        qCDebug(CircularGeneratorLog)
             << "get(): progress.size() != tiles->count().";
         return false;
       }
 
       auto geoDepot = this->_d->serviceArea().depot();
       if (!geoDepot.isValid()) {
-        qCWarning(CircularGeneratorLog) << "get(): depot invalid." << geoDepot;
+        qCDebug(CircularGeneratorLog) << "get(): depot invalid." << geoDepot;
         return false;
       }
       snake::FPoint depot;
@@ -142,11 +142,11 @@ bool CircularGenerator::get(Generator &generator) {
       };
       return true;
     } else {
-      qCWarning(CircularGeneratorLog) << "get(): data invalid.";
+      qCDebug(CircularGeneratorLog) << "get(): data invalid.";
       return false;
     }
   } else {
-    qCWarning(CircularGeneratorLog) << "get(): data member not set.";
+    qCDebug(CircularGeneratorLog) << "get(): data member not set.";
     return false;
   }
 }
@@ -160,22 +160,29 @@ void CircularGenerator::setReference(const QGeoCoordinate &reference) {
   }
 }
 
+void CircularGenerator::resetReferenceIfInvalid() {
+  if (!this->_reference.isValid()) {
+    resetReference();
+  }
+}
+
 void CircularGenerator::resetReference() {
-  setReference(_d->measurementArea().center());
+  if (this->_d->measurementArea().center().isValid()) {
+    setReference(this->_d->measurementArea().center());
+  }
 }
 
 void CircularGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
-    connect(this->_d.get(), &WimaPlanData::measurementAreaChanged, this,
-            &GeneratorBase::generatorChanged);
     connect(this->_d.get(), &WimaPlanData::originChanged, this,
             &GeneratorBase::generatorChanged);
-    connect(&this->_d->measurementArea(),
-            &WimaMeasurementAreaData::progressChanged, this,
-            &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::tileDataChanged, this,
             &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
+            this, &CircularGenerator::resetReferenceIfInvalid);
+    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
+            this, &GeneratorBase::generatorChanged);
     connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
             &GeneratorBase::generatorChanged);
     connect(this->distance(), &Fact::rawValueChanged, this,
@@ -192,8 +199,6 @@ void CircularGenerator::establishConnections() {
 
 void CircularGenerator::deleteConnections() {
   if (this->_d && this->_connectionsEstablished) {
-    disconnect(this->_d.get(), &WimaPlanData::measurementAreaChanged, this,
-               &GeneratorBase::generatorChanged);
     disconnect(this->_d.get(), &WimaPlanData::originChanged, this,
                &GeneratorBase::generatorChanged);
     disconnect(&this->_d->measurementArea(),
@@ -202,6 +207,12 @@ void CircularGenerator::deleteConnections() {
     disconnect(&this->_d->measurementArea(),
                &WimaMeasurementAreaData::tileDataChanged, this,
                &GeneratorBase::generatorChanged);
+    disconnect(&this->_d->measurementArea(),
+               &WimaMeasurementAreaData::pathChanged, this,
+               &CircularGenerator::resetReferenceIfInvalid);
+    disconnect(&this->_d->measurementArea(),
+               &WimaMeasurementAreaData::pathChanged, this,
+               &GeneratorBase::generatorChanged);
     disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
                this, &GeneratorBase::generatorChanged);
     disconnect(this->distance(), &Fact::rawValueChanged, this,
@@ -236,12 +247,12 @@ bool circularTransects(const snake::FPoint &reference,
     std::string error;
     // Check validity.
     if (!bg::is_valid(polygon, error)) {
-      qCWarning(CircularGeneratorLog) << "circularTransects(): "
-                                         "invalid polygon.";
-      qCWarning(CircularGeneratorLog) << error.c_str();
+      qCDebug(CircularGeneratorLog) << "circularTransects(): "
+                                       "invalid polygon.";
+      qCDebug(CircularGeneratorLog) << error.c_str();
       std::stringstream ss;
       ss << bg::wkt(polygon);
-      qCWarning(CircularGeneratorLog) << ss.str().c_str();
+      qCDebug(CircularGeneratorLog) << ss.str().c_str();
     } else {
       // Calculate polygon distances and angles.
       std::vector<snake::Length> distances;
@@ -249,7 +260,7 @@ bool circularTransects(const snake::FPoint &reference,
       std::vector<snake::Angle> angles;
       angles.reserve(polygon.outer().size());
       //#ifdef DEBUG_CIRCULAR_SURVEY
-      //      qCWarning(CircularGeneratorLog) << "circularTransects():";
+      //      qCDebug(CircularGeneratorLog) << "circularTransects():";
       //#endif
       for (const auto &p : polygon.outer()) {
         snake::Length distance = bg::distance(reference, p) * si::meter;
@@ -258,11 +269,11 @@ bool circularTransects(const snake::FPoint &reference,
         alpha = alpha < 0 * si::radian ? alpha + 2 * M_PI * si::radian : alpha;
         angles.push_back(alpha);
         //#ifdef DEBUG_CIRCULAR_SURVEY
-        //        qCWarning(CircularGeneratorLog) << "distances, angles,
-        //        coordinates:"; qCWarning(CircularGeneratorLog) <<
-        //        to_string(distance).c_str(); qCWarning(CircularGeneratorLog)
+        //        qCDebug(CircularGeneratorLog) << "distances, angles,
+        //        coordinates:"; qCDebug(CircularGeneratorLog) <<
+        //        to_string(distance).c_str(); qCDebug(CircularGeneratorLog)
         //        << to_string(snake::Degree(alpha)).c_str();
-        //        qCWarning(CircularGeneratorLog) << "x = " << p.get<0>() << "y
+        //        qCDebug(CircularGeneratorLog) << "x = " << p.get<0>() << "y
         //        = "
         //        << p.get<1>();
         //#endif
@@ -285,8 +296,8 @@ bool circularTransects(const snake::FPoint &reference,
       const auto deltaRScaled =
           ClipperLib::cInt(std::round(deltaR.value() * CLIPPER_SCALE));
       auto referenceScaled = ClipperLib::IntPoint{
-          ClipperLib::cInt(std::round(reference.get<0>())),
-          ClipperLib::cInt(std::round(reference.get<1>()))};
+          ClipperLib::cInt(std::round(reference.get<0>() * CLIPPER_SCALE)),
+          ClipperLib::cInt(std::round(reference.get<1>() * CLIPPER_SCALE))};
 
       // Generate circle sectors.
       auto rScaled = rMinScaled;
@@ -295,20 +306,20 @@ bool circularTransects(const snake::FPoint &reference,
       const auto nSectors =
           long(std::round(((alpha2 - alpha1) / deltaAlpha).value()));
       //#ifdef DEBUG_CIRCULAR_SURVEY
-      //      qCWarning(CircularGeneratorLog) << "circularTransects(): sector
-      //      parameres:"; qCWarning(CircularGeneratorLog) << "alpha1: " <<
+      //      qCDebug(CircularGeneratorLog) << "circularTransects(): sector
+      //      parameres:"; qCDebug(CircularGeneratorLog) << "alpha1: " <<
       //      to_string(snake::Degree(alpha1)).c_str();
-      //      qCWarning(CircularGeneratorLog) << "alpha2:
+      //      qCDebug(CircularGeneratorLog) << "alpha2:
       //      "
       //      << to_string(snake::Degree(alpha2)).c_str();
-      //      qCWarning(CircularGeneratorLog) << "n: "
+      //      qCDebug(CircularGeneratorLog) << "n: "
       //      << to_string((alpha2 - alpha1) / deltaAlpha).c_str();
-      //      qCWarning(CircularGeneratorLog)
-      //      << "nSectors: " << nSectors; qCWarning(CircularGeneratorLog) <<
+      //      qCDebug(CircularGeneratorLog)
+      //      << "nSectors: " << nSectors; qCDebug(CircularGeneratorLog) <<
       //      "rMin: " << to_string(rMin).c_str();
-      //      qCWarning(CircularGeneratorLog)
+      //      qCDebug(CircularGeneratorLog)
       //      << "rMax: " << to_string(rMax).c_str();
-      //      qCWarning(CircularGeneratorLog) << "nTran: " << nTran;
+      //      qCDebug(CircularGeneratorLog) << "nTran: " << nTran;
       //#endif
       using ClipperCircle =
           GenericCircle<ClipperLib::cInt, ClipperLib::IntPoint>;
@@ -427,7 +438,7 @@ bool circularTransects(const snake::FPoint &reference,
         }
       }
 
-      qCWarning(CircularGeneratorLog)
+      qCDebug(CircularGeneratorLog)
           << "circularTransects(): transect gen. time: "
           << std::chrono::duration_cast<std::chrono::milliseconds>(
                  std::chrono::high_resolution_clock::now() - s1)

src/Wima/Snake/CircularGenerator.h

@@ -30,7 +30,6 @@ public:
   Fact *minLength();
 
   void setReference(const QGeoCoordinate &reference);
-  Q_INVOKABLE void resetReference();
 
   static const char *settingsGroup;
   static const char *distanceName;
@@ -43,6 +42,10 @@ public:
 signals:
   void referenceChanged();
 
+public slots:
+  Q_INVOKABLE void resetReferenceIfInvalid();
+  Q_INVOKABLE void resetReference();
+
 protected:
   virtual void establishConnections() override;
   virtual void deleteConnections() override;

src/Wima/Snake/GeneratorBase.cc

@@ -12,13 +12,9 @@ GeneratorBase::GeneratorBase(GeneratorBase::Data d, QObject *parent)
 
 GeneratorBase::~GeneratorBase() {}
 
-QString GeneratorBase::editorQml() {
-  return QStringLiteral("EmptyGeneratorEditor.qml");
-}
+QString GeneratorBase::editorQml() { return QStringLiteral(""); }
 
-QString GeneratorBase::mapVisualQml() {
-  return QStringLiteral("EmptyGeneratorMapVisual.qml");
-}
+QString GeneratorBase::mapVisualQml() { return QStringLiteral(""); }
 
 GeneratorBase::Data GeneratorBase::data() const { return _d; }
 

src/Wima/Snake/LinearGenerator.cpp

@@ -49,7 +49,7 @@ bool LinearGenerator::get(Generator &generator) {
       auto origin = this->_d->origin();
       origin.setAltitude(0);
       if (!origin.isValid()) {
-        qCWarning(LinearGeneratorLog) << "get(): origin invalid.";
+        qCDebug(LinearGeneratorLog) << "get(): origin invalid." << origin;
       }
 
       auto geoPolygon = this->_d->measurementArea().coordinateList();
@@ -57,9 +57,9 @@ bool LinearGenerator::get(Generator &generator) {
         if (v.isValid()) {
           v.setAltitude(0);
         } else {
-          qCWarning(LinearGeneratorLog) << "get(): measurement area invalid.";
+          qCDebug(LinearGeneratorLog) << "get(): measurement area invalid.";
           for (const auto &w : geoPolygon) {
-            qCWarning(LinearGeneratorLog) << w;
+            qCDebug(LinearGeneratorLog) << w;
           }
           return false;
         }
@@ -80,21 +80,20 @@ bool LinearGenerator::get(Generator &generator) {
               snake::areaToEnu(origin, tile->coordinateList(), tileENU);
               pTiles->push_back(std::move(tileENU));
             } else {
-              qCWarning(LinearGeneratorLog)
-                  << "get(): progress.size() != tiles->count().";
+              qCDebug(LinearGeneratorLog) << "get(): tile == nullptr";
               return false;
             }
           }
         }
       } else {
-        qCWarning(LinearGeneratorLog)
+        qCDebug(LinearGeneratorLog)
             << "get(): progress.size() != tiles->count().";
         return false;
       }
 
       auto geoDepot = this->_d->serviceArea().depot();
       if (!geoDepot.isValid()) {
-        qCWarning(LinearGeneratorLog) << "get(): depot invalid." << geoDepot;
+        qCDebug(LinearGeneratorLog) << "get(): depot invalid." << geoDepot;
         return false;
       }
       snake::FPoint depot;
@@ -116,11 +115,11 @@ bool LinearGenerator::get(Generator &generator) {
       };
       return true;
     } else {
-      qCWarning(LinearGeneratorLog) << "get(): data invalid.";
+      qCDebug(LinearGeneratorLog) << "get(): data invalid.";
       return false;
     }
   } else {
-    qCWarning(LinearGeneratorLog) << "get(): data member not set.";
+    qCDebug(LinearGeneratorLog) << "get(): data member not set.";
     return false;
   }
 }
@@ -133,8 +132,6 @@ Fact *LinearGenerator::minLength() { return &_minLength; }
 
 void LinearGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
-    connect(this->_d.get(), &WimaPlanData::measurementAreaChanged, this,
-            &GeneratorBase::generatorChanged);
     connect(this->_d.get(), &WimaPlanData::originChanged, this,
             &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
@@ -143,6 +140,8 @@ void LinearGenerator::establishConnections() {
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::tileDataChanged, this,
             &GeneratorBase::generatorChanged);
+    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
+            this, &GeneratorBase::generatorChanged);
     connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
             &GeneratorBase::generatorChanged);
     connect(this->distance(), &Fact::rawValueChanged, this,
@@ -167,6 +166,9 @@ void LinearGenerator::deleteConnections() {
     disconnect(&this->_d->measurementArea(),
                &WimaMeasurementAreaData::tileDataChanged, this,
                &GeneratorBase::generatorChanged);
+    disconnect(&this->_d->measurementArea(),
+               &WimaMeasurementAreaData::pathChanged, this,
+               &GeneratorBase::generatorChanged);
     disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
                this, &GeneratorBase::generatorChanged);
     disconnect(this->distance(), &Fact::rawValueChanged, this,
@@ -195,9 +197,9 @@ bool linearTransects(const snake::FPolygon &polygon,
       std::stringstream ss;
       ss << bg::wkt(polygon);
 
-      qCWarning(LinearGeneratorLog) << "linearTransects(): "
-                                       "invalid polygon. "
-                                    << error.c_str() << ss.str().c_str();
+      qCDebug(LinearGeneratorLog) << "linearTransects(): "
+                                     "invalid polygon. "
+                                  << error.c_str() << ss.str().c_str();
     } else {
       tr::rotate_transformer<bg::degree, double, 2, 2> rotate(angle.value() *
                                                               180 / M_PI);
@@ -244,7 +246,7 @@ bool linearTransects(const snake::FPolygon &polygon,
         std::stringstream ss;
         ss << "Not able to generate transects. Parameter: distance = "
            << distance << std::endl;
-        qCWarning(LinearGeneratorLog)
+        qCDebug(LinearGeneratorLog)
             << "linearTransects(): " << ss.str().c_str();
         return false;
       }
@@ -312,12 +314,12 @@ bool linearTransects(const snake::FPolygon &polygon,
         std::stringstream ss;
         ss << "Not able to  generatetransects. Parameter: minLength = "
            << minLength << std::endl;
-        qCWarning(LinearGeneratorLog)
+        qCDebug(LinearGeneratorLog)
             << "linearTransects(): " << ss.str().c_str();
         return false;
       }
 
-      qCWarning(LinearGeneratorLog)
+      qCDebug(LinearGeneratorLog)
           << "linearTransects(): time: "
           << std::chrono::duration_cast<std::chrono::milliseconds>(
                  std::chrono::high_resolution_clock::now() - s1)

src/Wima/Snake/NemoInterface.cpp

@@ -2,6 +2,7 @@
 #include "SnakeTilesLocal.h"
 
 #include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
 #include "QGCToolbox.h"
 #include "SettingsFact.h"
 #include "SettingsManager.h"
@@ -26,6 +27,8 @@
 #include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
 #include "ros_bridge/rapidjson/include/rapidjson/writer.h"
 
+QGC_LOGGING_CATEGORY(NemoInterfaceLog, "NemoInterfaceLog")
+
 #define EVENT_TIMER_INTERVAL 100 // ms
 auto static timeoutInterval = std::chrono::milliseconds(3000);
 
@@ -171,15 +174,15 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
               snake::areaToEnu(origin, tile->coordinateList(), tileENU.path());
               this->tilesENU.polygons().push_back(std::move(tileENU));
             } else {
-              qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
+              qCDebug(NemoInterfaceLog) << "Impl::setTileData(): nullptr.";
               break;
             }
           }
         } else {
-          qWarning() << "NemoInterface::Impl::setTileData(): Origin invalid.";
+          qCDebug(NemoInterfaceLog) << "Impl::setTileData(): Origin invalid.";
         }
       } else {
-        qWarning() << "NemoInterface::Impl::setTileData(): tile empty.";
+        qCDebug(NemoInterfaceLog) << "Impl::setTileData(): tile empty.";
       }
     }
   } else {
@@ -300,12 +303,17 @@ void NemoInterface::Impl::doTopicServiceSetup() {
             std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
         auto &origin = this->ENUOrigin;
         rapidjson::Value jOrigin(rapidjson::kObjectType);
-        bool ret = geographic_msgs::geo_point::toJson(origin, jOrigin,
-                                                      pDoc->GetAllocator());
         lk.unlock();
-        Q_ASSERT(ret);
-        (void)ret;
-        pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
+        if (geographic_msgs::geo_point::toJson(origin, jOrigin,
+                                               pDoc->GetAllocator())) {
+          lk.unlock();
+          pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
+        } else {
+          lk.unlock();
+          qCWarning(NemoInterfaceLog)
+              << "/snake/get_origin service: could not create json document.";
+        }
+
         return pDoc;
       });
 
@@ -318,11 +326,17 @@ void NemoInterface::Impl::doTopicServiceSetup() {
         JsonDocUPtr pDoc(
             std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
         rapidjson::Value jSnakeTiles(rapidjson::kObjectType);
-        bool ret = jsk_recognition_msgs::polygon_array::toJson(
-            this->tilesENU, jSnakeTiles, pDoc->GetAllocator());
-        Q_ASSERT(ret);
-        (void)ret;
-        pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
+
+        if (jsk_recognition_msgs::polygon_array::toJson(
+                this->tilesENU, jSnakeTiles, pDoc->GetAllocator())) {
+          lk.unlock();
+          pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
+        } else {
+          lk.unlock();
+          qCWarning(NemoInterfaceLog)
+              << "/snake/get_tiles service: could not create json document.";
+        }
+
         return pDoc;
       });
 }
@@ -379,22 +393,26 @@ void NemoInterface::Impl::publishTilesENU() {
   using namespace ros_bridge::messages;
   JsonDocUPtr jSnakeTiles(
       std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
-  bool ret = jsk_recognition_msgs::polygon_array::toJson(
-      this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
-  Q_ASSERT(ret);
-  (void)ret;
-  this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
+  if (jsk_recognition_msgs::polygon_array::toJson(
+          this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator())) {
+    this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
+  } else {
+    qCWarning(NemoInterfaceLog)
+        << "Impl::publishTilesENU: could not create json document.";
+  }
 }
 
 void NemoInterface::Impl::publishENUOrigin() {
   using namespace ros_bridge::messages;
   JsonDocUPtr jOrigin(
       std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
-  bool ret = geographic_msgs::geo_point::toJson(this->ENUOrigin, *jOrigin,
-                                                jOrigin->GetAllocator());
-  Q_ASSERT(ret);
-  (void)ret;
-  this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+  if (geographic_msgs::geo_point::toJson(this->ENUOrigin, *jOrigin,
+                                         jOrigin->GetAllocator())) {
+    this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+  } else {
+    qCWarning(NemoInterfaceLog)
+        << "Impl::publishENUOrigin: could not create json document.";
+  }
 }
 
 bool NemoInterface::Impl::setStatus(NemoInterface::STATUS s) {
@@ -421,7 +439,7 @@ void NemoInterface::stop() { this->pImpl->stop(); }
 void NemoInterface::publishTileData() { this->pImpl->publishTileData(); }
 
 void NemoInterface::requestProgress() {
-  qWarning() << "NemoInterface::requestProgress(): dummy.";
+  qCWarning(NemoInterfaceLog) << "requestProgress(): dummy.";
 }
 
 void NemoInterface::setTileData(const TileData &tileData) {

src/Wima/Snake/SnakeTile.cpp

@@ -18,8 +18,6 @@ QString SnakeTile::type() const { return "Tile"; }
 SnakeTile *SnakeTile::Clone() const { return new SnakeTile(*this); }
 
 SnakeTile &SnakeTile::operator=(const SnakeTile &other) {
-  this->assign(other);
+  this->WimaAreaData::operator=(other);
   return *this;
 }
-
-void SnakeTile::assign(const SnakeTile &other) { WimaAreaData::assign(other); }

src/WimaView/CircularGeneratorEditor.qml

@@ -8,8 +8,7 @@ import QGroundControl.ScreenTools   1.0
 
 GridLayout {
 
-    // Item must be loaded, expects the following properties:
-//    property var generator
+    property var generator // CircularGenerator
 
     property real   _margin: ScreenTools.defaultFontPixelWidth / 2
 

src/WimaView/CircularGeneratorMapVisual.qml

-import QtQuick 2.0
+import QtQuick 			2.0
+import Wima 	     	1.0
+import QGroundControl   1.0
 
 Item {
     id: _root
 
+    visible: true
+
+    // Expects the following properties:
     property var map        ///< Map control to place item in
     property var qgcView    ///< QGCView to use for popping dialogs
     property var generator
     property bool checked: false
 
-    property var _referenceComponent
+    property var _referenceComponent: undefined
 
     signal clicked()
 
-    function _addRefPoint(){
-        if (!_referenceComponent){
-            _referenceComponent = refPointComponent.createObject(_root)
-            map.addMapItem(_referenceComponent)
-        }
-    }
-
-    function _destroyRefPoint(){
-        if (_referenceComponent){
-            map.removeMapItem(_referenceComponent)
-            _referenceComponent.destroy()
-            _referenceComponent = undefined
-        }
-    }
-
     onVisibleChanged:  {
         if (visible){
             _addRefPoint()
@@ -41,28 +31,56 @@ Item {
         }
     }
 
-    Component.onDestroyed: {
+    Component.onDestruction: {
         _destroyRefPoint()
     }
 
+    function _addRefPoint(){
+        if (!_referenceComponent){
+            _referenceComponent = refPointComponent.createObject(_root)
+            map.addMapItem(_referenceComponent)
+        }
+    }
+
+    function _destroyRefPoint(){
+        if (_referenceComponent){
+            map.removeMapItem(_referenceComponent)
+            _referenceComponent.destroy()
+            _referenceComponent = undefined
+        }
+    }
+
     // Ref. point (Base Station)
     Component {
         id: refPointComponent
 
         DragCoordinate {
+            id: dragCoordinate
+
+            property var ref: _root.generator.reference
+
             map:        _root.map
             qgcView:    _root.qgcView
             z:          QGroundControl.zOrderMapItems
             checked:    _root.checked
-            coordinate: _root.generator.reference
+            coordinate: ref
 
+            onDragReleased: {
+                syncAndBind()
+            }
+            Component.onCompleted: {
+                syncAndBind()
+            }
             onClicked:  {
                 _root.clicked()
             }
 
-            onDragReleased: {
-                _root.generator.reference = coordinate
-                coordinate = Qt.binding(function (){return _root.generator.reference})
+            function syncAndBind(){
+                if (coordinate.latitude !== ref.latitude ||
+                        coordinate.longitude !== ref.longitude){
+                    _root.generator.reference = coordinate
+                }
+                coordinate = Qt.binding(function(){return _root.generator.reference})
             }
         }
     }

src/WimaView/CircularSurveyItemEditor.qml

@@ -25,31 +25,24 @@ Rectangle {
     //property real   availableWidth    ///< Width for control
     //property var    missionItem       ///< Mission Item for editor
 
-    property real   _margin:                    ScreenTools.defaultFontPixelWidth / 2
-    property real   _fieldWidth:                ScreenTools.defaultFontPixelWidth * 10.5
-    property var    _vehicle:                   QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle : QGroundControl.multiVehicleManager.offlineEditingVehicle
-    property real   _cameraMinTriggerInterval:  missionItem.cameraCalc.minTriggerInterval.rawValue
+    property real   _margin:            ScreenTools.defaultFontPixelWidth / 2
 
-    property var    _generator: 				missionItem.generator
+    property var    _generator: 	  	missionItem.generator
+    property var 	_generatorEditor: 	undefined
 
-    function polygonCaptureStarted() {
-        missionItem.clearPolygon()
-    }
+    QGCPalette { id: qgcPal; colorGroupEnabled: true }
 
-    function polygonCaptureFinished(coordinates) {
-        for (var i=0; i<coordinates.length; i++) {
-            missionItem.addPolygonCoordinate(coordinates[i])
-        }
+    Component.onCompleted: {
+        _addGeneratorEditor()
     }
-
-    function polygonAdjustVertex(vertexIndex, vertexCoordinate) {
-        missionItem.adjustPolygonCoordinate(vertexIndex, vertexCoordinate)
+    Component.onDestruction: {
+        _destroyGeneratorEditor()
     }
 
-    function polygonAdjustStarted() { }
-    function polygonAdjustFinished() { }
-
-    QGCPalette { id: qgcPal; colorGroupEnabled: true }
+    on_GeneratorChanged: {
+        _destroyGeneratorEditor()
+        _addGeneratorEditor()
+    }
 
     Column {
         id:                 editorColumn
@@ -156,13 +149,11 @@ Rectangle {
             id:     transectsHeader
             text:   qsTr("Generator")
         }
-        Loader{
-           source: _generator.editorQml
-           property var generator: _generator
-           property real margin: _margin
-           visible: transectsHeader.checked
-        }
 
+        Column{
+            id:generatorEditorParent
+            visible: transectsHeader.checked
+        }
 
         Column{
             anchors.left:   parent.left
@@ -178,7 +169,7 @@ Rectangle {
 
                 onCalculatingChanged: {
                     if(!calculating){
-                       // defer hideing
+                       // defer hiding
                        timer.restart()
                     }
                 }
@@ -192,4 +183,27 @@ Rectangle {
             }
         }
     } // Column
+
+    function _addGeneratorEditor(){
+        if (_generator.editorQml && !_generatorEditor) {
+            var component = Qt.createComponent(_generator.editorQml)
+            if (component.status === Component.Error) {
+                console.log("Error loading Qml: ",
+                            _generator.editorQml, component.errorString())
+            } else {
+                _generatorEditor =
+                        component.createObject(
+                            generatorEditorParent, {
+                                "generator": _root._generator,
+                            })
+            }
+        }
+    }
+
+    function _destroyGeneratorEditor(){
+        if (_generatorEditor){
+            _generatorEditor.destroy()
+            _generatorEditor = undefined
+        }
+    }
 } // Rectangle

src/WimaView/CircularSurveyMapVisual.qml

@@ -26,67 +26,34 @@ Item {
     property var qgcView    ///< QGCView to use for popping dialogs
 
     property var _missionItem:      object
-    property var _transectsComponent
-    property var _entryCoordinate
-    property var _exitCoordinate
+    property var _generator: _missionItem.generator
 
-    signal clicked(int sequenceNumber)
-
-    function _addTransectsComponent(){
-        if (!_transectsComponent){
-            _transectsComponent = visualTransectsComponent.createObject(_root)
-            map.addMapItem(_transectsComponent)
-        }
-    }
-
-    function _addExitCoordinate(){
-        if (!_exitCoordinate){
-            _exitCoordinate = exitPointComponent.createObject(_root)
-            map.addMapItem(_exitCoordinate)
-        }
-    }
+    property var _transectsComponent: undefined
+    property var _entryCoordinate: undefined
+    property var _exitCoordinate: undefined
+    property var _generatorVisuals: undefined
 
-    function _addEntryCoordinate(){
-        if (!_entryCoordinate){
-            _entryCoordinate = entryPointComponent.createObject(_root)
-            map.addMapItem(_entryCoordinate)
-        }
-    }
+    property bool _isCurrentItem: _missionItem.isCurrentItem
 
-    function _destroyEntryCoordinate(){
-        if (_entryCoordinate){
-            map.removeMapItem(_entryCoordinate)
-            _entryCoordinate.destroy()
-            _entryCoordinate = undefined
-        }
-    }
-
-    function _destroyExitCoordinate(){
-        if (_exitCoordinate){
-            map.removeMapItem(_exitCoordinate)
-            _exitCoordinate.destroy()
-            _exitCoordinate = undefined
-        }
-    }
-
-    function _destroyTransectsComponent(){
-        if (_transectsComponent){
-            map.removeMapItem(_transectsComponent)
-            _transectsComponent.destroy()
-            _transectsComponent = undefined
-        }
-    }
+    signal clicked(int sequenceNumber)
 
     Component.onCompleted: {
         _addEntryCoordinate()
         _addExitCoordinate()
         _addTransectsComponent()
+        _addGeneratorVisuals()
     }
 
     Component.onDestruction: {
         _destroyEntryCoordinate()
         _destroyExitCoordinate()
         _destroyTransectsComponent()
+        _destroyGeneratorVisuals()
+    }
+
+    on_GeneratorChanged: {
+        _destroyGeneratorVisuals()
+        _addGeneratorVisuals()
     }
 
     // Transect lines
@@ -140,4 +107,82 @@ Item {
             }
         }
     }
+
+    // Generator visuals
+    function _addGeneratorVisuals(){
+        if (_generator.mapVisualQml && !_generatorVisuals) {
+            var component = Qt.createComponent(_generator.mapVisualQml)
+            if (component.status === Component.Error) {
+                console.log("Error loading Qml: ",
+                            _generator.mapVisualQml, component.errorString())
+            } else {
+                _generatorVisuals =
+                        component.createObject(_root, {
+                                                   "map": _root.map,
+                                                   "qgcView": _root.qgcView ,
+                                                   "generator": _root._generator,
+                                                   "checked": Qt.binding(
+                                                                  function(){
+                                                                      return _root._isCurrentItem
+                                                                  })
+                                               })
+                _generatorVisuals.clicked.connect(
+                            function(){_root.clicked(_missionItem.sequenceNumber)})
+            }
+        }
+    }
+
+    function _destroyGeneratorVisuals(){
+        if(_generatorVisuals){
+            _generatorVisuals.destroy()
+            _generatorVisuals = undefined
+        }
+    }
+
+    function _addTransectsComponent(){
+        if (!_transectsComponent){
+            _transectsComponent = visualTransectsComponent.createObject(_root)
+            map.addMapItem(_transectsComponent)
+        }
+    }
+
+    function _addExitCoordinate(){
+        if (!_exitCoordinate){
+            _exitCoordinate = exitPointComponent.createObject(_root)
+            map.addMapItem(_exitCoordinate)
+        }
+    }
+
+    function _addEntryCoordinate(){
+        if (!_entryCoordinate){
+            _entryCoordinate = entryPointComponent.createObject(_root)
+            map.addMapItem(_entryCoordinate)
+        }
+    }
+
+    function _destroyEntryCoordinate(){
+        if (_entryCoordinate){
+            map.removeMapItem(_entryCoordinate)
+            _entryCoordinate.destroy()
+            _entryCoordinate = undefined
+        }
+    }
+
+    function _destroyExitCoordinate(){
+        if (_exitCoordinate){
+            map.removeMapItem(_exitCoordinate)
+            _exitCoordinate.destroy()
+            _exitCoordinate = undefined
+        }
+    }
+
+    function _destroyTransectsComponent(){
+        if (_transectsComponent){
+            map.removeMapItem(_transectsComponent)
+            _transectsComponent.destroy()
+            _transectsComponent = undefined
+        }
+    }
+
+
 }

src/WimaView/LinearGeneratorEditor.qml

@@ -8,8 +8,7 @@ import QGroundControl.ScreenTools   1.0
 
 GridLayout {
 
-    // Item must be loaded, expects the following properties:
-//    property var generator
+    property var generator ///<  LinearGenerator
 
     property real   _margin: ScreenTools.defaultFontPixelWidth / 2
 
@@ -23,7 +22,14 @@ GridLayout {
         Layout.fillWidth:       true
     }
 
-    QGCLabel { text: qsTr("Alpha") }
+    QGCLabel {
+        text: qsTr("Alpha: ")
+        Layout.fillWidth: true
+    }
+    FactTextField {
+        fact:                   generator.alpha
+        Layout.fillWidth:       true
+    }
     QGCSlider {
         id:                     rSlider
         minimumValue:           0
@@ -33,8 +39,11 @@ GridLayout {
         Layout.fillWidth:       true
         Layout.columnSpan:      2
         Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
-        onValueChanged:         generator.alpha.value = value
-        Component.onCompleted:  value = 0
+        onValueChanged:         {
+            generator.alpha.value = value
+            value = Qt.binding(function(){return generator.alpha.value})
+        }
+        Component.onCompleted:  value = generator.alpha.value
         updateValueWhileDragging: true
     }