Tiles, tiles center points and progress visualization implemented, no templating ros_bridge.

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -241,6 +241,52 @@ FlightMap {
         color:          "green"
     }
 
+    // Add Snake tiles center points to the map
+    MapItemView {
+
+
+        property bool _enable:    wimaController.enableWimaController.value
+                               && wimaController.enableSnake.value
+
+        model: _enable ? wimaController.snakeTileCenterPoints : 0
+
+        delegate: MapCircle{
+            center:         modelData
+            border.color:   "transparent"
+            color:          getColor(wimaController.snakeProgress[index])
+            radius:         0.6
+            opacity:        1
+            z:              1
+
+            function getColor(progress) {
+                if (progress < 50)
+                    return "red"
+                if (progress < 100)
+                    return "orange"
+
+                return "green"
+            }
+        }
+    }
+
+    // Add Snake tiles to the map
+    MapItemView {
+
+        property bool _enable:    wimaController.enableWimaController.value
+                               && wimaController.enableSnake.value
+
+        model: _enable ? wimaController.snakeTiles : 0
+
+        delegate: MapPolygon{
+            path:           object.path;
+            border.color:   "black"
+            border.width:   1
+            color:          "transparent"
+            opacity:        1
+            z:              2
+        }
+    }
+
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -140,8 +140,12 @@ Item {
             visible:            enableWima.enableWimaBoolean
             anchors.left:       parent.left
             anchors.bottom:     parent.bottom
-            width:              enableWima.enableWimaBoolean ? Math.min(contentWidth, maxWidth) : enableWima.width
-            height:             enableWima.enableWimaBoolean ? Math.min(contentHeight, maxHeight) : 0
+            width:              enableWima.enableWimaBoolean ?
+                                    Math.min(contentWidth, maxWidth)
+                                  : enableWima.width
+            height:             enableWima.enableWimaBoolean ?
+                                    Math.min(contentHeight, maxHeight)
+                                  : 0
             contentHeight:      columnWrapper.height
             contentWidth:       columnWrapper.width
 
@@ -153,39 +157,60 @@ Item {
                 }
 
                 Column {
-                    id:                         mainColumn
-                    spacing:                    ScreenTools.defaultFontPixelHeight * 0.3
+                    id:         mainColumn
+                    spacing:    ScreenTools.defaultFontPixelHeight * 0.3
 
                     SectionHeader{
                         id: snakeHeader
                         text: qsTr("Snake Settings")
                     }
 
-                    GridLayout {
-                        columns: 2
-                        rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
-                        columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
-                        visible:            snakeHeader.checked
+                    Column {
+                        visible: snakeHeader.checked
+                        spacing: ScreenTools.defaultFontPixelHeight * 0.5
 
                         FactCheckBox {
-                            text:       wimaController.enableSnake.value ? qsTr("Disable Snake") : qsTr("Enable Snake")
+                            text:       wimaController.enableSnake.value ?
+                                            qsTr("Disable Snake")
+                                          : qsTr("Enable Snake")
                             fact:       wimaController.enableSnake
-                            Layout.fillWidth: true
                         }
 
-                        QGCLabel {
-                            text: wimaController.snakeConnectionStatus.value === 1 ? qsTr("Connected") : qsTr("Not Connected")
-                            Layout.fillWidth: true
+                        // Spacer
+                        Item {
+                            height: 1
                         }
 
-                        QGCLabel {
-                            text: wimaController.snakeCalcInProgress.value === true ? qsTr("Calculation: In Progress") : qsTr("Calculation: Idle")
-                            Layout.fillWidth: true
-                            Layout.columnSpan: 2
+                        // Snake status and settings column.
+                        GridLayout {
+                            columns: 2
+                            rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
+                            columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
+                            visible:            wimaController.enableSnake.value
+
+                            // Snake connection status.
+                            QGCLabel {
+                                property int _connectionStatus: wimaController.snakeConnectionStatus
+                                text: _connectionStatus === 1 ?
+                                          qsTr("Status: Connected")
+                                        : qsTr("Status: Not Connected")
+                                Layout.fillWidth: true
+                            }
+
+                            // Snake calculation status.
+                            QGCLabel {
+                                property bool _calcInProgress: wimaController.snakeCalcInProgress
+                                text: _calcInProgress === true ?
+                                          qsTr("Calculation: In Progress")
+                                        : qsTr("Calculation: Idle")
+                                Layout.fillWidth: true
+                            }
                         }
                     }
 
 
+
+
                     SectionHeader{
                         id: missionHeader
                         text: qsTr("Phase Settings")

src/Wima/WimaController.cc

@@ -439,12 +439,14 @@ bool WimaController::_fetchContainerData()
     _waypointPath.clear();
     _currentWaypointPath.clear();
     _snakeTiles.clearAndDeleteContents();
+    _snakeTileCenterPoints.clear();
 
     emit visualItemsChanged();
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
     emit currentWaypointPathChanged();
     emit snakeTilesChanged();
+    emit snakeTileCenterPointsChanged();
 
     _localPlanDataValid = false;
 
@@ -583,11 +585,14 @@ bool WimaController::_fetchContainerData()
         QGeoCoordinate QCenterPoint(centerPoint[0], centerPoint[1], centerPoint[2]);
         QTile->setCenter(QCenterPoint);
         _snakeTiles.append(QTile);
+        _snakeTileCenterPoints.append(QVariant::fromValue(QCenterPoint));
     }
 
 
     emit visualItemsChanged();
     emit missionItemsChanged();
+    emit snakeTilesChanged();
+    emit snakeTileCenterPointsChanged();
 
     _localPlanDataValid = true;
     return true;
@@ -961,23 +966,25 @@ void WimaController::_eventTimerHandler()
     if ( snakeEventLoopTicker.ready() ) {
         if ( _enableSnake.rawValue().toBool() && _localPlanDataValid && !_snakeCalcInProgress && _scenarioDefinedBool) {
 
+            _snakeProgress.clear();
             long n = _scenario.getTilesENU().size();
-            QList<qint8> progress;
-            progress.reserve(n);
+            _snakeProgress.reserve(n);
             std::srand(time(NULL));
             for (long i=0; i<n; ++i){
-                long r{rand()%200};
+                int r{rand()%200};
                 if ( r > 100 )
                     r = 100;
-                progress.append(qint8(r));
+                _snakeProgress.append(r);
             }
 
             _snakeWorker.setScenario(_scenario);
-            _snakeWorker.setProgress(progress);
+            _snakeWorker.setProgress(_snakeProgress);
             _snakeWorker.setLineDistance(_snakeLineDistance.rawValue().toDouble());
             _snakeWorker.setMinTransectLength(_snakeMinTransectLength.rawValue().toDouble());
             _setSnakeCalcInProgress(true);
             _snakeWorker.start();
+
+            emit snakeProgressChanged();
         }
     }
 }

src/Wima/WimaController.h

@@ -78,15 +78,17 @@ public:
     Q_PROPERTY(bool                     vehicleHasLowBattery    READ vehicleHasLowBattery                                   NOTIFY vehicleHasLowBatteryChanged)
 
     // Snake
-    Q_PROPERTY(Fact*                    enableSnake                 READ enableSnake                                            CONSTANT)
-    Q_PROPERTY(long                     snakeConnectionStatus       READ snakeConnectionStatus                                  NOTIFY snakeConnectionStatusChanged)
-    Q_PROPERTY(bool                     snakeCalcInProgress         READ snakeCalcInProgress                                    NOTIFY snakeCalcInProgressChanged)
-    Q_PROPERTY(Fact*                    snakeTileWidth              READ snakeTileWidth                                         CONSTANT)
-    Q_PROPERTY(Fact*                    snakeTileHeight             READ snakeTileHeight                                        CONSTANT)
-    Q_PROPERTY(Fact*                    snakeMinTileArea            READ snakeMinTileArea                                       CONSTANT)
-    Q_PROPERTY(Fact*                    snakeLineDistance           READ snakeLineDistance                                      CONSTANT)
-    Q_PROPERTY(Fact*                    snakeMinTransectLength      READ snakeMinTransectLength                                 CONSTANT)
-    Q_PROPERTY(QmlObjectListModel*      snakeTiles                  READ snakeTiles                                             NOTIFY snakeTilesChanged)
+    Q_PROPERTY(Fact*                    enableSnake                 READ enableSnake                CONSTANT)
+    Q_PROPERTY(long                     snakeConnectionStatus       READ snakeConnectionStatus      NOTIFY snakeConnectionStatusChanged)
+    Q_PROPERTY(bool                     snakeCalcInProgress         READ snakeCalcInProgress        NOTIFY snakeCalcInProgressChanged)
+    Q_PROPERTY(Fact*                    snakeTileWidth              READ snakeTileWidth             CONSTANT)
+    Q_PROPERTY(Fact*                    snakeTileHeight             READ snakeTileHeight            CONSTANT)
+    Q_PROPERTY(Fact*                    snakeMinTileArea            READ snakeMinTileArea           CONSTANT)
+    Q_PROPERTY(Fact*                    snakeLineDistance           READ snakeLineDistance          CONSTANT)
+    Q_PROPERTY(Fact*                    snakeMinTransectLength      READ snakeMinTransectLength     CONSTANT)
+    Q_PROPERTY(QmlObjectListModel*      snakeTiles                  READ snakeTiles                 NOTIFY snakeTilesChanged)
+    Q_PROPERTY(QVariantList             snakeTileCenterPoints       READ snakeTileCenterPoints      NOTIFY snakeTileCenterPointsChanged)
+    Q_PROPERTY(QList<int>               snakeProgress               READ snakeProgress              NOTIFY snakeProgressChanged)
 
 
 
@@ -122,6 +124,8 @@ public:
     Fact*                       snakeLineDistance      (void)           { return &_snakeLineDistance;}
     Fact*                       snakeMinTransectLength (void)           { return &_snakeMinTransectLength;}
     QmlObjectListModel*         snakeTiles             (void)           { return &_snakeTiles;}
+    QVariantList                snakeTileCenterPoints  (void)           { return _snakeTileCenterPoints;}
+    QList<int>                  snakeProgress          (void)           { return _snakeProgress;}
 
     bool                        uploadOverrideRequired (void) const;
     double                      phaseDistance          (void) const;
@@ -213,6 +217,8 @@ signals:
     void snakeConnectionStatusChanged       (void);
     void snakeCalcInProgressChanged         (void);
     void snakeTilesChanged                  (void);
+    void snakeTileCenterPointsChanged       (void);
+    void snakeProgressChanged               (void);
 private:
     enum SRTL_Reason {BatteryLow, UserRequest};
 private slots:
@@ -317,7 +323,8 @@ private:
     SettingsFact                 _snakeLineDistance;
     SettingsFact                 _snakeMinTransectLength;
     QmlObjectListModel           _snakeTiles; // tiles
-
+    QVariantList                 _snakeTileCenterPoints;
+    QList<int>                   _snakeProgress; // measurement progress
 
 };
 

src/Wima/WimaControllerDetail.cc

@@ -14,7 +14,7 @@ void SnakeWorker::setScenario(const Scenario &scenario)
     _scenario = scenario;
 }
 
-void SnakeWorker::setProgress(const QList<qint8> &progress)
+void SnakeWorker::setProgress(const QList<int> &progress)
 {
     _progress.clear();
     for (auto p : progress) {

src/Wima/WimaControllerDetail.h

@@ -30,7 +30,7 @@ public:
     SnakeWorker(QObject *parent = nullptr);
 
     void setScenario            (const Scenario  &scenario);
-    void setProgress            (const QList<qint8> &progress);
+    void setProgress            (const QList<int> &progress);
     void setLineDistance        (double lineDistance);
     void setMinTransectLength   (double minTransectLength);
 

src/comm/ros_bridge/src/JsonProcessor/jsonprocessor.cpp

+#include "jsonprocessor.h"
+
+JsonProcessor::JsonProcessor()
+{
+
+}

src/comm/ros_bridge/src/JsonProcessor/jsonprocessor.h

+#ifndef JSONPROCESSOR_H
+#define JSONPROCESSOR_H
+
+
+class JsonProcessor
+{
+public:
+    JsonProcessor();
+};
+
+#endif // JSONPROCESSOR_H