tile id int64_t > QString, for robustness

qgroundcontrol.pro

@@ -517,8 +517,6 @@ HEADERS += \
     src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h \
     src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.h \
     src/comm/ros_bridge/include/messages/nemo_msgs/tile.h \
-    src/comm/ros_bridge/include/messages/std_msgs/header.h \
-    src/comm/ros_bridge/include/messages/std_msgs/time.h \
     src/comm/utilities.h
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {
@@ -560,8 +558,6 @@ SOURCES += \
     src/comm/ros_bridge/include/messages/nemo_msgs/labeled_progress.cpp \
     src/comm/ros_bridge/include/messages/nemo_msgs/progress_array.cpp \
     src/comm/ros_bridge/include/messages/nemo_msgs/tile.cpp \
-    src/comm/ros_bridge/include/messages/std_msgs/header.cpp \
-    src/comm/ros_bridge/include/messages/std_msgs/time.cpp \
     src/Settings/WimaSettings.cc \
 
 contains (DEFINES, QGC_ENABLE_PAIRING) {

src/MeasurementComplexItem/IDArray.h

@@ -3,6 +3,6 @@
 
 #include <QVector>
 
-typedef QVector<std::int64_t> IDArray;
+typedef QVector<QString> IDArray;
 
 #endif // IDARRAY_H

src/MeasurementComplexItem/MeasurementComplexItem.h

@@ -10,7 +10,7 @@
 #include "SettingsFact.h"
 
 #include "AreaData.h"
-#include "ProgressArray.h"
+#include "geometry/ProgressArray.h"
 
 class RoutingThread;
 class RoutingResult;

src/MeasurementComplexItem/geometry/MeasurementArea.cc

@@ -19,6 +19,8 @@
 #define MAX_TILES 1000
 #endif
 
+QString randomId();
+
 using namespace geometry;
 namespace trans = bg::strategy::transform;
 
@@ -261,7 +263,7 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
 
           // find unique id
           if (it != _indexMap.end()) {
-            auto newId = tile->id() + 1;
+            auto newId = MeasurementTile::randomId();
             constexpr long counterMax = 1e6;
             unsigned long counter = 0;
             for (; counter <= counterMax; ++counter) {
@@ -269,7 +271,7 @@ bool MeasurementArea::loadFromJson(const QJsonObject &json,
               if (it == _indexMap.end()) {
                 break;
               } else {
-                ++newId;
+                newId = MeasurementTile::randomId();
               }
             }
 
@@ -431,15 +433,11 @@ void MeasurementArea::doUpdate() {
           // Convert to geo system.
           for (const auto &t : tilesENU) {
             auto geoTile = new MeasurementTile(pData.get());
-            std::size_t hashValue = 0;
-            std::hash<QGeoCoordinate> hashFun;
             for (const auto &v : t.outer()) {
               QGeoCoordinate geoVertex;
               fromENU(origin, v, geoVertex);
               geoTile->push_back(geoVertex);
-              hashValue ^= hashFun(geoVertex);
             }
-            geoTile->setId(std::int64_t(hashValue));
             pData->append(geoTile);
           }
         }
@@ -504,7 +502,7 @@ void MeasurementArea::storeTiles() {
 
       // find unique id
       if (it != _indexMap.end()) {
-        auto newId = tile->id() + 1;
+        auto newId = MeasurementTile::randomId();
         constexpr long counterMax = 1e6;
         unsigned long counter = 0;
         for (; counter <= counterMax; ++counter) {
@@ -512,7 +510,7 @@ void MeasurementArea::storeTiles() {
           if (it == _indexMap.end()) {
             break;
           } else {
-            ++newId;
+            newId = MeasurementTile::randomId();
           }
         }
 
@@ -710,3 +708,14 @@ bool getTiles(const FPolygon &area, Length tileHeight, Length tileWidth,
 
   return true;
 }
+
+QString randomId() {
+  std::srand(std::time(nullptr));
+  std::int64_t r = 0;
+
+  for (int i = 0; i < 10; ++i) {
+    r ^= std::rand();
+  }
+
+  return QString::number(r);
+}

src/MeasurementComplexItem/geometry/MeasurementArea.h

@@ -107,7 +107,7 @@ private:
 
   // Tile stuff.
   TilePtr _tiles;
-  std::map<std::int64_t /*id*/, int> _indexMap;
+  std::map<QString /*id*/, int> _indexMap;
   QTimer _timer;
   STATE _state;
   QFutureWatcher<TilePtr> _watcher;

src/MeasurementComplexItem/nemo_interface/MeasurementTile.cpp

@@ -6,7 +6,7 @@ const char *MeasurementTile::settingsGroup = "MeasurementTile";
 const char *MeasurementTile::nameString = "MeasurementTile";
 
 MeasurementTile::MeasurementTile(QObject *parent)
-    : GeoArea(parent), _progress(0), _id(0) {
+    : GeoArea(parent), _progress(0), _id(MeasurementTile::randomId()) {
   init();
 }
 
@@ -38,9 +38,9 @@ void MeasurementTile::push_back(const QGeoCoordinate &c) {
 
 void MeasurementTile::init() { this->setObjectName(nameString); }
 
-int64_t MeasurementTile::id() const { return _id; }
+QString MeasurementTile::id() const { return _id; }
 
-void MeasurementTile::setId(const int64_t &id) {
+void MeasurementTile::setId(const QString &id) {
   if (_id != id) {
     _id = id;
     emit idChanged();
@@ -49,6 +49,19 @@ void MeasurementTile::setId(const int64_t &id) {
 
 QList<QGeoCoordinate> MeasurementTile::tile() const { return coordinateList(); }
 
+QString MeasurementTile::randomId(int length) {
+  static const QString values(
+      "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789");
+  QString str;
+  std::srand(std::time(nullptr));
+  for (int i = 0; i < length; ++i) {
+    int index = std::rand() % values.length();
+    QChar c = values.at(index);
+    str.append(c);
+  }
+  return str;
+}
+
 double MeasurementTile::progress() const { return _progress; }
 
 void MeasurementTile::setProgress(double progress) {

src/MeasurementComplexItem/nemo_interface/MeasurementTile.h

@@ -24,11 +24,13 @@ public:
   double progress() const;
   void setProgress(double progress);
 
-  int64_t id() const;
-  void setId(const int64_t &id);
+  QString id() const;
+  void setId(const QString &id);
 
   QList<QGeoCoordinate> tile() const;
 
+  static QString randomId(int length = 10);
+
   // Static Variables
   static const char *settingsGroup;
   static const char *nameString;
@@ -40,5 +42,5 @@ signals:
 private:
   void init();
   double _progress;
-  int64_t _id;
+  QString _id;
 };

src/MeasurementComplexItem/nemo_interface/TaskDispatcher.cpp

@@ -86,6 +86,8 @@ std::size_t TaskDispatcher::pendingTasks() {
   return this->_taskQueue.size() + (_running ? 1 : 0);
 }
 
+bool TaskDispatcher::idle() { return this->pendingTasks() == 0; }
+
 void TaskDispatcher::run() {
   while (true) {
     ULock lk1(this->_mutex);

src/MeasurementComplexItem/nemo_interface/TaskDispatcher.h

@@ -53,6 +53,7 @@ public:
   bool isRunning();
 
   std::size_t pendingTasks();
+  bool idle();
 
 protected:
   void run();

src/MeasurementComplexItem/rosbridge/rosbridge.cpp

@@ -16,6 +16,8 @@ static const char *rosTopics = "/rosapi/topics";
 
 static constexpr auto pollIntervall = std::chrono::milliseconds(200);
 
+Rosbridge::STATE translate(RosbridgeImpl::STATE s);
+
 Rosbridge::Rosbridge(const QUrl url, QObject *parent)
     : QObject(parent), _url(url), _running(false) {
   static std::once_flag flag;
@@ -34,6 +36,9 @@ void Rosbridge::start() {
     _impl = new RosbridgeImpl(_url);
     _impl->moveToThread(_t);
 
+    connect(_impl, &RosbridgeImpl::stateChanged, this,
+            &Rosbridge::_onImplStateChanged);
+
     connect(this, &Rosbridge::_start, _impl, &RosbridgeImpl::start);
     connect(this, &Rosbridge::_stop, _impl, &RosbridgeImpl::stop);
 
@@ -77,20 +82,7 @@ void Rosbridge::stop() {
 
 Rosbridge::STATE Rosbridge::state() {
   if (_running) {
-    switch (_impl->state()) {
-    case RosbridgeImpl::STATE::STOPPED:
-    case RosbridgeImpl::STATE::STOPPING:
-      return STATE::STOPPED;
-    case RosbridgeImpl::STATE::STARTING:
-      return STATE::STARTED;
-    case RosbridgeImpl::STATE::CONNECTED:
-      return STATE::CONNECTED;
-    case RosbridgeImpl::STATE::TIMEOUT:
-      return STATE::TIMEOUT;
-      break;
-    }
-    qCritical() << "unreachable branch!";
-    return STATE::STOPPED;
+    return translate(_impl->state());
   } else {
     return STATE::STOPPED;
   }
@@ -251,3 +243,30 @@ void Rosbridge::waitForService(const QString &service) {
     qDebug() << "waitForService: Rosbridge not connected.";
   }
 }
+
+void Rosbridge::_onImplStateChanged() {
+  static STATE oldState = STATE::STOPPED;
+  auto newState = translate(_impl->state());
+
+  if (oldState != newState) {
+    emit stateChanged();
+  }
+  oldState = newState;
+}
+
+Rosbridge::STATE translate(RosbridgeImpl::STATE s) {
+  switch (s) {
+  case RosbridgeImpl::STATE::STOPPED:
+  case RosbridgeImpl::STATE::STOPPING:
+    return Rosbridge::STATE::STOPPED;
+  case RosbridgeImpl::STATE::STARTING:
+    return Rosbridge::STATE::STARTED;
+  case RosbridgeImpl::STATE::CONNECTED:
+    return Rosbridge::STATE::CONNECTED;
+  case RosbridgeImpl::STATE::TIMEOUT:
+    return Rosbridge::STATE::TIMEOUT;
+    break;
+  }
+  qCritical() << "unreachable branch!";
+  return Rosbridge::STATE::STOPPED;
+}

src/MeasurementComplexItem/rosbridge/rosbridge.h

@@ -101,6 +101,9 @@ signals:
   void _unadvertiseAllServices();
 
 private:
+  void _onImplStateChanged();
+
+  std::atomic<STATE> _state;
   RosbridgeImpl *_impl;
   QThread *_t;
   QUrl _url;

src/MeasurementComplexItem/rosbridge/rosbridgeimpl.cpp

@@ -114,7 +114,6 @@ void RosbridgeImpl::unadvertiseTopic(const QString &topic) {
   if (_state == STATE::CONNECTED || _state == STATE::STOPPING) {
     auto it = _advertisedTopics.find(topic);
     if (Q_LIKELY(it != _advertisedTopics.end())) {
-      _advertisedTopics.erase(it);
 
       QJsonObject o;
       o[opKey] = unadvertiseOpKey;
@@ -123,6 +122,8 @@ void RosbridgeImpl::unadvertiseTopic(const QString &topic) {
       QString payload =
           QJsonDocument(o).toJson(QJsonDocument::JsonFormat::Compact);
       _webSocket.sendTextMessage(payload);
+
+      _advertisedTopics.erase(it);
     } else {
       qDebug() << "Topic " << topic << " not advertised.";
     }
@@ -170,7 +171,6 @@ void RosbridgeImpl::unsubscribeTopic(const QString &topic) {
   if (_state == STATE::CONNECTED || _state == STATE::STOPPING) {
     auto it = _subscribedTopics.find(topic);
     if (Q_LIKELY(it != _subscribedTopics.end())) {
-      _subscribedTopics.erase(it);
 
       QJsonObject o;
       o[opKey] = unsubscribeOpKey;
@@ -179,6 +179,8 @@ void RosbridgeImpl::unsubscribeTopic(const QString &topic) {
       QString payload =
           QJsonDocument(o).toJson(QJsonDocument::JsonFormat::Compact);
       _webSocket.sendTextMessage(payload);
+
+      _subscribedTopics.erase(it);
     } else {
       qDebug() << "unsubscribeTopic: topic " << topic << " already subscribed!";
     }
@@ -293,7 +295,6 @@ void RosbridgeImpl::unadvertiseService(const QString &service) {
   if (_state == STATE::CONNECTED || _state == STATE::STOPPING) {
     auto it = _advertisedServices.find(service);
     if (it != _advertisedServices.end()) {
-      it = _advertisedServices.erase(it);
 
       QJsonObject o;
       o[opKey] = unadvertiseServiceOpKey;
@@ -302,6 +303,8 @@ void RosbridgeImpl::unadvertiseService(const QString &service) {
       QString payload =
           QJsonDocument(o).toJson(QJsonDocument::JsonFormat::Compact);
       _webSocket.sendTextMessage(payload);
+
+      it = _advertisedServices.erase(it);
     } else {
       qDebug() << "unadvertiseService: Service " << service
                << " not advertised.";
@@ -369,6 +372,7 @@ void RosbridgeImpl::_doAction() {
 }
 
 void RosbridgeImpl::_onTextMessageReceived(const QString &message) {
+  qDebug() << "_onTextMessageReceived: " << message;
   QJsonParseError e;
   auto d = QJsonDocument::fromJson(message.toUtf8(), &e);
   if (!d.isNull()) {

src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.h

@@ -3,147 +3,140 @@
 #include <string>
 
 #include "ros_bridge/include/message_traits.h"
-#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+#include <QJsonObject>
+#include <QJsonValue>
 
 namespace ros_bridge {
 //! @brief Namespace containing classes and methodes ros message generation.
 namespace messages {
-//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+//! @brief Namespace containing classes and methodes for geometry_msgs
+//! generation.
 namespace geographic_msgs {
-//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message generation.
+//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message
+//! generation.
 namespace geo_point {
 
 std::string messageType();
 
+namespace {
+const char *lonKey = "longitude";
+const char *latKey = "latitude";
+const char *altKey = "altitude";
+
+} // namespace
+
 //! @brief C++ representation of geographic_msgs/GeoPoint.
-template<class FloatType = _Float64, class OStream = std::ostream>
-class GenericGeoPoint{
+template <class FloatType = _Float64, class OStream = std::ostream>
+class GenericGeoPoint {
 public:
-    GenericGeoPoint()
-        : _latitude(0)
-        , _longitude(0)
-        , _altitude(0)
-    {}
-    GenericGeoPoint(const GenericGeoPoint &other)
-        : _latitude(other.latitude())
-        , _longitude(other.longitude())
-        , _altitude(other.altitude())
-    {}
-    GenericGeoPoint(FloatType latitude, FloatType longitude, FloatType altitude)
-        : _latitude(latitude)
-        , _longitude(longitude)
-        , _altitude(altitude)
-    {}
-
-    FloatType latitude()     const {return _latitude;}
-    FloatType longitude()    const {return _longitude;}
-    FloatType altitude()     const {return _altitude;}
-
-    void setLatitude    (FloatType latitude)    {_latitude  = latitude;}
-    void setLongitude   (FloatType longitude)   {_longitude = longitude;}
-    void setAltitude    (FloatType altitude)    {_altitude  = altitude;}
-
-    bool operator==(const GenericGeoPoint &p1) {
-        return (   p1._latitude == this->_latitude
-                && p1._longitude == this->_longitude
-                && p1._altitude == this->_altitude);
-    }
-
-    bool operator!=(const GenericGeoPoint &p1) {
-        return !this->operator==(p1);
-    }
-
-    friend OStream& operator<<(OStream& os, const GenericGeoPoint& p)
-    {
-        os << "lat: " << p._latitude << " lon: " << p._longitude<< " alt: " << p._altitude;
-        return os;
-    }
+  GenericGeoPoint() : _latitude(0), _longitude(0), _altitude(0) {}
+  GenericGeoPoint(const GenericGeoPoint &other)
+      : _latitude(other.latitude()), _longitude(other.longitude()),
+        _altitude(other.altitude()) {}
+  GenericGeoPoint(FloatType latitude, FloatType longitude, FloatType altitude)
+      : _latitude(latitude), _longitude(longitude), _altitude(altitude) {}
+
+  FloatType latitude() const { return _latitude; }
+  FloatType longitude() const { return _longitude; }
+  FloatType altitude() const { return _altitude; }
+
+  void setLatitude(FloatType latitude) { _latitude = latitude; }
+  void setLongitude(FloatType longitude) { _longitude = longitude; }
+  void setAltitude(FloatType altitude) { _altitude = altitude; }
+
+  bool operator==(const GenericGeoPoint &p1) {
+    return (p1._latitude == this->_latitude &&
+            p1._longitude == this->_longitude &&
+            p1._altitude == this->_altitude);
+  }
+
+  bool operator!=(const GenericGeoPoint &p1) { return !this->operator==(p1); }
+
+  friend OStream &operator<<(OStream &os, const GenericGeoPoint &p) {
+    os << "lat: " << p._latitude << " lon: " << p._longitude
+       << " alt: " << p._altitude;
+    return os;
+  }
 
 private:
-    FloatType _latitude;
-    FloatType _longitude;
-    FloatType _altitude;
+  FloatType _latitude;
+  FloatType _longitude;
+  FloatType _altitude;
 };
 typedef GenericGeoPoint<> GeoPoint;
 
 namespace detail {
 
-    template <class T>
-    auto getAltitude(const T &p, traits::Type2Type<traits::Has3Components>)
-    {
-        return p.altitude();
-    }
-
-    template <class T>
-    auto getAltitude(const T &p, traits::Type2Type<traits::Has2Components>)
-    {
-        (void)p;
-        return 0.0;
-    }
-
-    template <class T>
-    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has3Components>)
-    {
-        p.setAltitude(doc.GetFloat());
-    }
-
-    template <class T>
-    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has2Components>)
-    {
-        (void)doc;
-        (void)p;
-    }
-} // namespace detail
+template <class T>
+auto getAltitude(const T &p, traits::Type2Type<traits::Has3Components>) {
+  return p.altitude();
+}
+
+template <class T>
+auto getAltitude(const T &p, traits::Type2Type<traits::Has2Components>) {
+  (void)p;
+  return 0.0;
+}
+
+template <class T>
+void setAltitude(const QJsonValue &o, T &p,
+                 traits::Type2Type<traits::Has3Components>) {
+  p.setAltitude(o.toDouble());
+}
 
 template <class T>
-bool toJson(const T&p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
-{
-    value.AddMember("latitude", rapidjson::Value().SetFloat((_Float64)p.latitude()), allocator);
-    value.AddMember("longitude", rapidjson::Value().SetFloat((_Float64)p.longitude()), allocator);
-
-    typedef typename traits::Select<
-            traits::HasMemberAltitude<T>::value,
-            traits::Has3Components,
-            traits::Has2Components>::Result
-            Components; // Check if PointType has 2 or 3 dimensions.
-    auto altitude = detail::getAltitude(p, traits::Type2Type<Components>()); // If T has no member altitude() replace it by 0.0;
-
-    value.AddMember("altitude", rapidjson::Value().SetFloat((_Float64)altitude), allocator);
-    return true;
+void setAltitude(const QJsonValue &o, T &p,
+                 traits::Type2Type<traits::Has2Components>) {
+  (void)o;
+  (void)p;
 }
+} // namespace detail
+
+template <class T> bool toJson(const T &p, QJsonObject &value) {
+  value[latKey] = p.latitude();
+  value[lonKey] = p.longitude();
 
+  typedef typename traits::Select<traits::HasMemberAltitude<T>::value,
+                                  traits::Has3Components,