wima controller mod, appimage updated

qgroundcontrol.pro

@@ -448,7 +448,6 @@ HEADERS += \
     src/Wima/Snake/QNemoHeartbeat.h \
     src/Wima/Snake/QNemoProgress.h \
     src/Wima/Snake/QNemoProgress.h \
-    src/Wima/Snake/SnakeThread.h \
     src/Wima/Snake/SnakeTile.h \
     src/Wima/Snake/SnakeTileLocal.h \
     src/Wima/Snake/SnakeTiles.h \
@@ -513,7 +512,6 @@ SOURCES += \
     src/Wima/Geometry/GeoPoint3D.cpp \
     src/Wima/Snake/NemoInterface.cpp \
     src/Wima/Snake/QNemoProgress.cc \
-    src/Wima/Snake/SnakeThread.cc \
     src/Wima/Snake/SnakeTile.cpp \
     src/Wima/WaypointManager/AreaInterface.cpp \
     src/Wima/WaypointManager/DefaultManager.cpp \

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -241,43 +241,66 @@ FlightMap {
         color:          "green"
     }
 
-    // Add Snake tile center points to the map
-    MapItemView {
-        property bool _enable:    wimaController.enableWimaController.value
-                               && wimaController.enableSnake.value
-        model: _enable ? wimaController.snakeTileCenterPoints : 0
-
-        delegate: ProgressIndicator{
-            coordinate:         modelData
-            currentValue:   getProgress()
-            width:          10
-            height:         10
-            z:              1
-
-            function getProgress() {
-                var progress = wimaController.nemoProgress[index]
-                if (progress < 0)
-                    progress = 0
-                if (progress > 100)
-                    progress = 100
-                return progress
-            }
-        }
-    }
+//    // Add Snake tile center points to the map
+//    MapItemView {
+//        id:progressView
+//        property bool _enable:    wimaController.enableWimaController.value
+//                               && wimaController.enableSnake.value
+//        property bool valid: wimaController.snakeTileCenterPoints.length
+//                             === wimaController.nemoProgress.length
+//        model: _enable ? wimaController.snakeTileCenterPoints : 0
+
+//        delegate: ProgressIndicator{
+//            coordinate:         modelData
+//            currentValue:   getProgress()
+//            z:              1
+
+//            function getProgress() {
+//                var progress = 0
+//                if (progressView.valid){
+//                    progress = wimaController.nemoProgress[index]
+//                }
+//                if (progress < 0)
+//                    progress = 0
+//                if (progress > 100)
+//                    progress = 100
+//                return progress
+//            }
+//        }
+//    }
 
     // Add Snake tiles to the map
     MapItemView {
+            id: tileView
         property bool _enable:    wimaController.enableWimaController.value
                                && wimaController.enableSnake.value
+        property bool valid: wimaController.snakeTileCenterPoints.length
+                             === wimaController.nemoProgress.length
         model: _enable ? wimaController.snakeTiles : 0
 
         delegate: MapPolygon{
             path:           object.path;
             border.color:   "black"
             border.width:   1
-            color:          "transparent"
-            opacity:        1
+            color:          getColor()
+            opacity:        0.6
             z:              2
+
+            function getColor() {
+                var progress = 0
+                if (tileView.valid){
+                    progress = wimaController.nemoProgress[index]
+                }
+                if (progress < 25)
+                    return "transparent"
+                if (progress < 50)
+                    return "orange"
+                if (progress < 75)
+                    return "yellow"
+                if (progress < 100)
+                    return "greenyellow"
+                return "limegreen"
+            }
         }
     }
 

src/MissionManager/MissionItem.cc

@@ -7,83 +7,71 @@
  *
  ****************************************************************************/
 
-
-#include <QStringList>
 #include <QDebug>
+#include <QStringList>
 
-#include "MissionItem.h"
 #include "FirmwarePluginManager.h"
-#include "QGCApplication.h"
 #include "JsonHelper.h"
+#include "MissionItem.h"
+#include "QGCApplication.h"
 #include "VisualMissionItem.h"
 
-const char*  MissionItem::_jsonFrameKey =           "frame";
-const char*  MissionItem::_jsonCommandKey =         "command";
-const char*  MissionItem::_jsonAutoContinueKey =    "autoContinue";
-const char*  MissionItem::_jsonCoordinateKey =      "coordinate";
-const char*  MissionItem::_jsonParamsKey =          "params";
-const char*  MissionItem::_jsonDoJumpIdKey =        "doJumpId";
+const char *MissionItem::_jsonFrameKey = "frame";
+const char *MissionItem::_jsonCommandKey = "command";
+const char *MissionItem::_jsonAutoContinueKey = "autoContinue";
+const char *MissionItem::_jsonCoordinateKey = "coordinate";
+const char *MissionItem::_jsonParamsKey = "params";
+const char *MissionItem::_jsonDoJumpIdKey = "doJumpId";
 
 // Deprecated V1 format keys
-const char*  MissionItem::_jsonParam1Key =          "param1";
-const char*  MissionItem::_jsonParam2Key =          "param2";
-const char*  MissionItem::_jsonParam3Key =          "param3";
-const char*  MissionItem::_jsonParam4Key =          "param4";
-
-MissionItem::MissionItem(QObject* parent)
-    : QObject(parent)
-    , _sequenceNumber(0)
-    , _doJumpId(-1)
-    , _isCurrentItem(false)
-    , _autoContinueFact             (0, "AutoContinue",                 FactMetaData::valueTypeUint32)
-    , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
-    , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
-    , _param1Fact                   (0, "Param1:",                      FactMetaData::valueTypeDouble)
-    , _param2Fact                   (0, "Param2:",                      FactMetaData::valueTypeDouble)
-    , _param3Fact                   (0, "Param3:",                      FactMetaData::valueTypeDouble)
-    , _param4Fact                   (0, "Param4:",                      FactMetaData::valueTypeDouble)
-    , _param5Fact                   (0, "Latitude:",                    FactMetaData::valueTypeDouble)
-    , _param6Fact                   (0, "Longitude:",                   FactMetaData::valueTypeDouble)
-    , _param7Fact                   (0, "Altitude:",                    FactMetaData::valueTypeDouble)
-{
+const char *MissionItem::_jsonParam1Key = "param1";
+const char *MissionItem::_jsonParam2Key = "param2";
+const char *MissionItem::_jsonParam3Key = "param3";
+const char *MissionItem::_jsonParam4Key = "param4";
+
+MissionItem::MissionItem(QObject *parent)
+    : QObject(parent),
+      _autoContinueFact(0, "AutoContinue", FactMetaData::valueTypeUint32),
+      _commandFact(0, "", FactMetaData::valueTypeUint32),
+      _frameFact(0, "", FactMetaData::valueTypeUint32),
+      _param1Fact(0, "Param1:", FactMetaData::valueTypeDouble),
+      _param2Fact(0, "Param2:", FactMetaData::valueTypeDouble),
+      _param3Fact(0, "Param3:", FactMetaData::valueTypeDouble),
+      _param4Fact(0, "Param4:", FactMetaData::valueTypeDouble),
+      _param5Fact(0, "Latitude:", FactMetaData::valueTypeDouble),
+      _param6Fact(0, "Longitude:", FactMetaData::valueTypeDouble),
+      _param7Fact(0, "Altitude:", FactMetaData::valueTypeDouble),
+      _sequenceNumber(0), _doJumpId(-1), _isCurrentItem(false) {
   // Need a good command and frame before we start passing signals around
   _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
   _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
 
   setAutoContinue(true);
 
-    connect(&_param1Fact, &Fact::rawValueChanged, this, &MissionItem::_param1Changed);
-    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
-    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
+  connect(&_param1Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param1Changed);
+  connect(&_param2Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param2Changed);
+  connect(&_param3Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param3Changed);
 }
 
-MissionItem::MissionItem(int             sequenceNumber,
-                         MAV_CMD         command,
-                         MAV_FRAME       frame,
-                         double          param1,
-                         double          param2,
-                         double          param3,
-                         double          param4,
-                         double          param5,
-                         double          param6,
-                         double          param7,
-                         bool            autoContinue,
-                         bool            isCurrentItem,
-                         QObject*        parent)
-    : QObject(parent)
-    , _sequenceNumber(sequenceNumber)
-    , _doJumpId(-1)
-    , _isCurrentItem(isCurrentItem)
-    , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
-    , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
-    , _param1Fact                   (0, "Param1:",                      FactMetaData::valueTypeDouble)
-    , _param2Fact                   (0, "Param2:",                      FactMetaData::valueTypeDouble)
-    , _param3Fact                   (0, "Param3:",                      FactMetaData::valueTypeDouble)
-    , _param4Fact                   (0, "Param4:",                      FactMetaData::valueTypeDouble)
-    , _param5Fact                   (0, "Lat/X:",                       FactMetaData::valueTypeDouble)
-    , _param6Fact                   (0, "Lon/Y:",                       FactMetaData::valueTypeDouble)
-    , _param7Fact                   (0, "Alt/Z:",                       FactMetaData::valueTypeDouble)
-{
+MissionItem::MissionItem(int sequenceNumber, MAV_CMD command, MAV_FRAME frame,
+                         double param1, double param2, double param3,
+                         double param4, double param5, double param6,
+                         double param7, bool autoContinue, bool isCurrentItem,
+                         QObject *parent)
+    : QObject(parent), _commandFact(0, "", FactMetaData::valueTypeUint32),
+      _frameFact(0, "", FactMetaData::valueTypeUint32),
+      _param1Fact(0, "Param1:", FactMetaData::valueTypeDouble),
+      _param2Fact(0, "Param2:", FactMetaData::valueTypeDouble),
+      _param3Fact(0, "Param3:", FactMetaData::valueTypeDouble),
+      _param4Fact(0, "Param4:", FactMetaData::valueTypeDouble),
+      _param5Fact(0, "Lat/X:", FactMetaData::valueTypeDouble),
+      _param6Fact(0, "Lon/Y:", FactMetaData::valueTypeDouble),
+      _param7Fact(0, "Alt/Z:", FactMetaData::valueTypeDouble),
+      _sequenceNumber(sequenceNumber), _doJumpId(-1),
+      _isCurrentItem(isCurrentItem) {
   // Need a good command and frame before we start passing signals around
   _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
   _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
@@ -100,37 +88,36 @@ MissionItem::MissionItem(int             sequenceNumber,
   _param6Fact.setRawValue(param6);
   _param7Fact.setRawValue(param7);
 
-    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
-    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
+  connect(&_param2Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param2Changed);
+  connect(&_param3Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param3Changed);
 }
 
-MissionItem::MissionItem(const MissionItem& other, QObject* parent)
-    : QObject(parent)
-    , _sequenceNumber(0)
-    , _doJumpId(-1)
-    , _isCurrentItem(false)
-    , _commandFact                  (0, "",                             FactMetaData::valueTypeUint32)
-    , _frameFact                    (0, "",                             FactMetaData::valueTypeUint32)
-    , _param1Fact                   (0, "Param1:",                      FactMetaData::valueTypeDouble)
-    , _param2Fact                   (0, "Param2:",                      FactMetaData::valueTypeDouble)
-    , _param3Fact                   (0, "Param3:",                      FactMetaData::valueTypeDouble)
-    , _param4Fact                   (0, "Param4:",                      FactMetaData::valueTypeDouble)
-    , _param5Fact                   (0, "Lat/X:",                       FactMetaData::valueTypeDouble)
-    , _param6Fact                   (0, "Lon/Y:",                       FactMetaData::valueTypeDouble)
-    , _param7Fact                   (0, "Alt/Z:",                       FactMetaData::valueTypeDouble)
-{
+MissionItem::MissionItem(const MissionItem &other, QObject *parent)
+    : QObject(parent), _commandFact(0, "", FactMetaData::valueTypeUint32),
+      _frameFact(0, "", FactMetaData::valueTypeUint32),
+      _param1Fact(0, "Param1:", FactMetaData::valueTypeDouble),
+      _param2Fact(0, "Param2:", FactMetaData::valueTypeDouble),
+      _param3Fact(0, "Param3:", FactMetaData::valueTypeDouble),
+      _param4Fact(0, "Param4:", FactMetaData::valueTypeDouble),
+      _param5Fact(0, "Lat/X:", FactMetaData::valueTypeDouble),
+      _param6Fact(0, "Lon/Y:", FactMetaData::valueTypeDouble),
+      _param7Fact(0, "Alt/Z:", FactMetaData::valueTypeDouble),
+      _sequenceNumber(0), _doJumpId(-1), _isCurrentItem(false) {
   // Need a good command and frame before we start passing signals around
   _commandFact.setRawValue(MAV_CMD_NAV_WAYPOINT);
   _frameFact.setRawValue(MAV_FRAME_GLOBAL_RELATIVE_ALT);
 
   *this = other;
 
-    connect(&_param2Fact, &Fact::rawValueChanged, this, &MissionItem::_param2Changed);
-    connect(&_param3Fact, &Fact::rawValueChanged, this, &MissionItem::_param3Changed);
+  connect(&_param2Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param2Changed);
+  connect(&_param3Fact, &Fact::rawValueChanged, this,
+          &MissionItem::_param3Changed);
 }
 
-const MissionItem& MissionItem::operator=(const MissionItem& other)
-{
+const MissionItem &MissionItem::operator=(const MissionItem &other) {
   _doJumpId = other._doJumpId;
 
   setCommand(other.command());
@@ -150,28 +137,28 @@ const MissionItem& MissionItem::operator=(const MissionItem& other)
   return *this;
 }
 
-MissionItem::~MissionItem()
-{    
+MissionItem::~MissionItem() {}
 
-}
-
-void MissionItem::save(QJsonObject& json) const
-{
-    json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
+void MissionItem::save(QJsonObject &json) const {
+  json[VisualMissionItem::jsonTypeKey] =
+      VisualMissionItem::jsonTypeSimpleItemValue;
   json[_jsonFrameKey] = frame();
   json[_jsonCommandKey] = command();
   json[_jsonAutoContinueKey] = autoContinue();
   json[_jsonDoJumpIdKey] = _sequenceNumber;
 
-    QJsonArray rgParams =  { param1(), param2(), param3(), param4(), param5(), param6(), param7() };
+  QJsonArray rgParams = {param1(), param2(), param3(), param4(),
+                         param5(), param6(), param7()};
   json[_jsonParamsKey] = rgParams;
 }
 
-bool MissionItem::load(QTextStream &loadStream)
-{
+bool MissionItem::load(QTextStream &loadStream) {
   const QStringList &wpParams = loadStream.readLine().split("\t");
   if (wpParams.size() == 12) {
-        setCommand((MAV_CMD)wpParams[3].toInt());   // Has to be first since it triggers defaults to be set, which are then override by below set calls
+    setCommand(
+        (MAV_CMD)wpParams[3]
+            .toInt()); // Has to be first since it triggers defaults to be set,
+                       // which are then override by below set calls
     setSequenceNumber(wpParams[0].toInt());
     setIsCurrentItem(wpParams[1].toInt() == 1 ? true : false);
     setFrame((MAV_FRAME)wpParams[2].toInt());
@@ -189,8 +176,9 @@ bool MissionItem::load(QTextStream &loadStream)
   return false;
 }
 
-bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Json, QString& errorString)
-{
+bool MissionItem::_convertJsonV1ToV2(const QJsonObject &json,
+                                     QJsonObject &v2Json,
+                                     QString &errorString) {
   // V1 format type = "missionItem", V2 format type = "MissionItem"
   // V1 format has params in separate param[1-n] keys
   // V2 format has params in params array
@@ -202,21 +190,25 @@ bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Jso
   }
 
   QList<JsonHelper::KeyValidateInfo> keyInfoList = {
-        { VisualMissionItem::jsonTypeKey,   QJsonValue::String, true },
-        { _jsonParam1Key,                   QJsonValue::Double, true },
-        { _jsonParam2Key,                   QJsonValue::Double, true },
-        { _jsonParam3Key,                   QJsonValue::Double, true },
-        { _jsonParam4Key,                   QJsonValue::Double, true },
+      {VisualMissionItem::jsonTypeKey, QJsonValue::String, true},
+      {_jsonParam1Key, QJsonValue::Double, true},
+      {_jsonParam2Key, QJsonValue::Double, true},
+      {_jsonParam3Key, QJsonValue::Double, true},
+      {_jsonParam4Key, QJsonValue::Double, true},
   };
   if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
     return false;
   }
 
-    if (v2Json[VisualMissionItem::jsonTypeKey].toString() == QStringLiteral("missionItem")) {
-        v2Json[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeSimpleItemValue;
+  if (v2Json[VisualMissionItem::jsonTypeKey].toString() ==
+      QStringLiteral("missionItem")) {
+    v2Json[VisualMissionItem::jsonTypeKey] =
+        VisualMissionItem::jsonTypeSimpleItemValue;
   }
 
-    QJsonArray rgParams =  { json[_jsonParam1Key].toDouble(),  json[_jsonParam2Key].toDouble(), json[_jsonParam3Key].toDouble(), json[_jsonParam4Key].toDouble() };
+  QJsonArray rgParams = {
+      json[_jsonParam1Key].toDouble(), json[_jsonParam2Key].toDouble(),
+      json[_jsonParam3Key].toDouble(), json[_jsonParam4Key].toDouble()};
   v2Json[_jsonParamsKey] = rgParams;
   v2Json.remove(_jsonParam1Key);
   v2Json.remove(_jsonParam2Key);
@@ -226,8 +218,7 @@ bool MissionItem::_convertJsonV1ToV2(const QJsonObject& json, QJsonObject& v2Jso
   return true;
 }
 
-bool MissionItem::_convertJsonV2ToV3(QJsonObject& json, QString& errorString)
-{
+bool MissionItem::_convertJsonV2ToV3(QJsonObject &json, QString &errorString) {
   // V2 format: param 5/6/7 stored in GeoCoordinate
   // V3 format: param 5/6/7 stored in params array
 
@@ -237,14 +228,16 @@ bool MissionItem::_convertJsonV2ToV3(QJsonObject& json, QString& errorString)
   }
 
   QList<JsonHelper::KeyValidateInfo> keyInfoList = {
-        { _jsonCoordinateKey, QJsonValue::Array, true },
+      {_jsonCoordinateKey, QJsonValue::Array, true},
   };
   if (!JsonHelper::validateKeys(json, keyInfoList, errorString)) {
     return false;
   }
 
   QGeoCoordinate coordinate;
-    if (!JsonHelper::loadGeoCoordinate(json[_jsonCoordinateKey], true /* altitudeRequired */, coordinate, errorString)) {
+  if (!JsonHelper::loadGeoCoordinate(json[_jsonCoordinateKey],
+                                     true /* altitudeRequired */, coordinate,
+                                     errorString)) {
     return false;
   }
 
@@ -259,8 +252,8 @@ bool MissionItem::_convertJsonV2ToV3(QJsonObject& json, QString& errorString)
   return true;
 }
 
-bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& errorString)
-{
+bool MissionItem::load(const QJsonObject &json, int sequenceNumber,
+                       QString &errorString) {
   QJsonObject convertedJson;
   if (!_convertJsonV1ToV2(json, convertedJson, errorString)) {
     return false;
@@ -270,19 +263,23 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
   }
 
   QList<JsonHelper::KeyValidateInfo> keyInfoList = {
-        { VisualMissionItem::jsonTypeKey,   QJsonValue::String, true },
-        { _jsonFrameKey,                    QJsonValue::Double, true },
-        { _jsonCommandKey,                  QJsonValue::Double, true },
-        { _jsonParamsKey,                   QJsonValue::Array,  true },
-        { _jsonAutoContinueKey,             QJsonValue::Bool,   true },
-        { _jsonDoJumpIdKey,                 QJsonValue::Double, false },
+      {VisualMissionItem::jsonTypeKey, QJsonValue::String, true},
+      {_jsonFrameKey, QJsonValue::Double, true},
+      {_jsonCommandKey, QJsonValue::Double, true},
+      {_jsonParamsKey, QJsonValue::Array, true},
+      {_jsonAutoContinueKey, QJsonValue::Bool, true},
+      {_jsonDoJumpIdKey, QJsonValue::Double, false},
   };
   if (!JsonHelper::validateKeys(convertedJson, keyInfoList, errorString)) {
     return false;
   }
 
-    if (convertedJson[VisualMissionItem::jsonTypeKey] != VisualMissionItem::jsonTypeSimpleItemValue) {
-        errorString = tr("Type found: %1 must be: %2").arg(convertedJson[VisualMissionItem::jsonTypeKey].toString()).arg(VisualMissionItem::jsonTypeSimpleItemValue);
+  if (convertedJson[VisualMissionItem::jsonTypeKey] !=
+      VisualMissionItem::jsonTypeSimpleItemValue) {
+    errorString =
+        tr("Type found: %1 must be: %2")
+            .arg(convertedJson[VisualMissionItem::jsonTypeKey].toString())
+            .arg(VisualMissionItem::jsonTypeSimpleItemValue);
     return false;
   }
 
@@ -292,9 +289,12 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
     return false;
   }
 
-    for (int i=0; i<4; i++) {
-        if (rgParams[i].type() != QJsonValue::Double && rgParams[i].type() != QJsonValue::Null) {
-            errorString = tr("Param %1 incorrect type %2, must be double or null").arg(i+1).arg(rgParams[i].type());
+  for (int i = 0; i < 4; i++) {
+    if (rgParams[i].type() != QJsonValue::Double &&
+        rgParams[i].type() != QJsonValue::Null) {
+      errorString = tr("Param %1 incorrect type %2, must be double or null")
+                        .arg(i + 1)
+                        .arg(rgParams[i].type());
       return false;
     }
   }
@@ -322,137 +322,123 @@ bool MissionItem::load(const QJsonObject& json, int sequenceNumber, QString& err
   return true;
 }
 
-
-void MissionItem::setSequenceNumber(int sequenceNumber)
-{
+void MissionItem::setSequenceNumber(int sequenceNumber) {
   if (_sequenceNumber != sequenceNumber) {
     _sequenceNumber = sequenceNumber;
     emit sequenceNumberChanged(_sequenceNumber);
   }
 }
 
-void MissionItem::setCommand(MAV_CMD command)
-{
+void MissionItem::setCommand(MAV_CMD command) {
   if ((MAV_CMD)this->command() != command) {
     _commandFact.setRawValue(command);
   }
 }
 
-void MissionItem::setFrame(MAV_FRAME frame)
-{
+void MissionItem::setFrame(MAV_FRAME frame) {
   if (this->frame() != frame) {
     _frameFact.setRawValue(frame);
   }
 }
 
-void MissionItem::setAutoContinue(bool autoContinue)
-{
+void MissionItem::setAutoContinue(bool autoContinue) {
   if (this->autoContinue() != autoContinue) {
     _autoContinueFact.setRawValue(autoContinue);
   }
 }
 
-void MissionItem::setIsCurrentItem(bool isCurrentItem)
-{
+void MissionItem::setIsCurrentItem(bool isCurrentItem) {
   if (_isCurrentItem != isCurrentItem) {
     _isCurrentItem = isCurrentItem;
     emit isCurrentItemChanged(isCurrentItem);
   }
 }
 
-void MissionItem::setParam1(double param)
-{
+void MissionItem::setParam1(double param) {
   if (param1() != param) {
     _param1Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam2(double param)
-{
+void MissionItem::setParam2(double param) {
   if (param2() != param) {
     _param2Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam3(double param)
-{
+void MissionItem::setParam3(double param) {
   if (param3() != param) {
     _param3Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam4(double param)
-{
+void MissionItem::setParam4(double param) {
   if (param4() != param) {
     _param4Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam5(double param)
-{
+void MissionItem::setParam5(double param) {
   if (param5() != param) {
     _param5Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam6(double param)
-{
+void MissionItem::setParam6(double param) {
   if (param6() != param) {
     _param6Fact.setRawValue(param);
   }
 }
 
-void MissionItem::setParam7(double param)
-{
+void MissionItem::setParam7(double param) {
   if (param7() != param) {
     _param7Fact.setRawValue(param);
   }
 }
 
-QGeoCoordinate MissionItem::coordinate(void) const
-{
-    if(!std::isfinite(param5()) || !std::isfinite(param6())) {
-        //-- If either of these are NAN, return an invalid (QGeoCoordinate::isValid() == false) coordinate
+QGeoCoordinate MissionItem::coordinate(void) const {
+  if (!std::isfinite(param5()) || !std::isfinite(param6())) {
+    //-- If either of these are NAN, return an invalid
+    //(QGeoCoordinate::isValid() == false) coordinate
     return QGeoCoordinate();
   }
   return QGeoCoordinate(param5(), param6(), param7());
 }
 
-double MissionItem::specifiedFlightSpeed(void) const
-{
+double MissionItem::specifiedFlightSpeed(void) const {
   double flightSpeed = std::numeric_limits<double>::quiet_NaN();
 
-    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED && _param2Fact.rawValue().toDouble() > 0) {
+  if (_commandFact.rawValue().toInt() == MAV_CMD_DO_CHANGE_SPEED &&
+      _param2Fact.rawValue().toDouble() > 0) {
     flightSpeed = _param2Fact.rawValue().toDouble();
   }
 
   return flightSpeed;
 }
 
-double MissionItem::specifiedGimbalYaw(void) const
-{
+double MissionItem::specifiedGimbalYaw(void) const {
   double gimbalYaw = std::numeric_limits<double>::quiet_NaN();
 
-    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
+  if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL &&
+      _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
     gimbalYaw = _param3Fact.rawValue().toDouble();
   }
 
   return gimbalYaw;
 }
 
-double MissionItem::specifiedGimbalPitch(void) const
-{
+double MissionItem::specifiedGimbalPitch(void) const {
   double gimbalPitch = std::numeric_limits<double>::quiet_NaN();
 
-    if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL && _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
+  if (_commandFact.rawValue().toInt() == MAV_CMD_DO_MOUNT_CONTROL &&
+      _param7Fact.rawValue().toInt() == MAV_MOUNT_MODE_MAVLINK_TARGETING) {
     gimbalPitch = _param1Fact.rawValue().toDouble();
   }
 
   return gimbalPitch;
 }
 
-void MissionItem::_param1Changed(QVariant value)
-{
+void MissionItem::_param1Changed(QVariant value) {
   Q_UNUSED(value);
 
   double gimbalPitch = specifiedGimbalPitch();
@@ -461,8 +447,7 @@ void MissionItem::_param1Changed(QVariant value)
   }
 }
 
-void MissionItem::_param2Changed(QVariant value)
-{
+void MissionItem::_param2Changed(QVariant value) {
   Q_UNUSED(value);
 
   double flightSpeed = specifiedFlightSpeed();
@@ -471,8 +456,7 @@ void MissionItem::_param2Changed(QVariant value)
   }
 }
 
-void MissionItem::_param3Changed(QVariant value)
-{
+void MissionItem::_param3Changed(QVariant value) {
   Q_UNUSED(value);
 
   double gimbalYaw = specifiedGimbalYaw();

src/QmlControls/QmlObjectListModel.cc

@@ -121,9 +121,9 @@ const QObject *QmlObjectListModel::operator[](int index) const {
   return _objectList[index];
 }
 
-bool QmlObjectListModel::operator==(const QmlObjectListModel &other) {
+bool QmlObjectListModel::operator==(const QmlObjectListModel &other) const {
   if (this->count() == other.count()) {
-    for (std::size_t i = 0; i < this->count(); ++i) {
+    for (int i = 0; i < this->count(); ++i) {
       if (this->get(i) != other.get(i)) {
         return false;
       }
@@ -134,7 +134,7 @@ bool QmlObjectListModel::operator==(const QmlObjectListModel &other) {
   }
 }
 
-bool QmlObjectListModel::operator==(const QmlObjectListModel &other) {
+bool QmlObjectListModel::operator!=(const QmlObjectListModel &other) const {
   return !this->operator==(other);
 }
 

src/QmlControls/QmlObjectListModel.h

@@ -51,8 +51,8 @@ public:
   }
   QList<QObject *> *objectList() { return &_objectList; }
 
-  bool operator==(const QmlObjectListModel &other);
-  bool operator!=(const QmlObjectListModel &other);
+  bool operator==(const QmlObjectListModel &other) const;
+  bool operator!=(const QmlObjectListModel &other) const;
 
   /// Calls deleteLater on all items and this itself.
   void deleteListAndContents();

src/Wima/CircularSurvey.cc

@@ -359,7 +359,12 @@ void CircularSurvey::_rebuildTransectsPhase1(void) {
     // Store raw transects.
     const auto &transectsENU = this->_workerOutput->transects;
     const auto &ori = this->_referencePoint;
-    for (auto &t : transectsENU) {
+    std::size_t startIdx = 0;
+    if (transectsENU.size() > 0 && transectsENU.front().size() == 1) {
+      startIdx = 1;
+    }
+    for (std::size_t i = startIdx; i < transectsENU.size(); ++i) {
+      const auto &t = transectsENU[i];
       QList<QGeoCoordinate> trGeo;
       for (auto &v : t) {
         QGeoCoordinate c;

src/Wima/Geometry/WimaMeasurementArea.cc

@@ -28,6 +28,15 @@ TileData &TileData::operator=(const TileData &other) {
   return *this;
 }
 
+bool TileData::operator==(const TileData &other) const {
+  return this->tiles == other.tiles &&
+         this->tileCenterPoints == other.tileCenterPoints;
+}
+
+bool TileData::operator!=(const TileData &other) const {
+  return !this->operator==(other);
+}
+
 void TileData::clear() {
   this->tiles.clearAndDeleteContents();
   this->tileCenterPoints.clear();

src/Wima/Geometry/WimaMeasurementArea.h

@@ -17,6 +17,8 @@ public:
   ~TileData();
 
   TileData &operator=(const TileData &other);
+  bool operator==(const TileData &other) const;
+  bool operator!=(const TileData &other) const;
 
   void clear();
   std::size_t size() const;

src/Wima/Geometry/WimaMeasurementAreaData.cc

@@ -61,10 +61,10 @@ QVariantList &WimaMeasurementAreaData::tileCenterPoints() {
 }
 
 const TileData &WimaMeasurementAreaData::tileData() const {
-  return this->tileData();
+  return this->_tileData;
 }
 
-TileData &WimaMeasurementAreaData::tileData() { return this->tileData(); }
+TileData &WimaMeasurementAreaData::tileData() { return this->_tileData; }
 
 const QVector<int> &WimaMeasurementAreaData::progress() const {
   return this->_progress;

src/Wima/RoutingThread.cpp

@@ -21,7 +21,7 @@ RoutingThread::~RoutingThread() {
   this->wait();
 }
 
-bool RoutingThread::calculating() { return this->_calculating; }
+bool RoutingThread::calculating() const { return this->_calculating; }
 
 void RoutingThread::route(const snake::BoostPolygon &safeArea,
                           const RoutingThread::Generator &generator) {
@@ -107,7 +107,7 @@ void RoutingThread::run() {
     } // end calculation
 #ifdef DEBUG_CIRCULAR_SURVEY
     else {
-      qWarning() << "RoutingWorker::run(): preconditions failed.";
+      qWarning() << "RoutingWorker::run(): generator() failed.";
     }
 #endif
 #ifdef SHOW_CIRCULAR_SURVEY_TIME

src/Wima/RoutingThread.h

@@ -27,11 +27,12 @@ class RoutingThread : public QThread {
 public:
   using PtrRoutingData = QSharedPointer<RoutingData>;
   using Generator = std::function<bool(snake::Transects &)>;
+  using Consumer = std::function<void(const RoutingData &)>;
 
   RoutingThread(QObject *parent = nullptr);
   ~RoutingThread() override;
 
-  bool calculating();
+  bool calculating() const;
 
 public slots:
   void route(const snake::BoostPolygon &safeArea, const Generator &generator);

src/Wima/Snake/NemoInterface.cpp

 #include "NemoInterface.h"
+#include "SnakeTilesLocal.h"
 
 #include "QGCApplication.h"
 #include "QGCToolbox.h"
@@ -135,12 +136,12 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
         const auto &origin = this->ENUOrigin;
         this->tilesENU.polygons().clear();
         bool error = false;
-        for (std::size_t i = 0; i < tileData.tiles.count(); ++i) {
-          *obj = tileData.tiles.get(i);
-          *tile = qobject_cast<const SnakeTile *>(obj);
+        for (int i = 0; i < tileData.tiles.count(); ++i) {
+          obj = tileData.tiles.get(i);
+          tile = qobject_cast<const SnakeTile *>(obj);
           if (tile != nullptr) {
-            snake::BoostPolygon tileENU;
-            snake::areaToEnu(origin, tile->coordinateList(), tileENU);
+            SnakeTileLocal tileENU;
+            snake::areaToEnu(origin, tile->coordinateList(), tileENU.path());
             this->tilesENU.polygons().push_back(std::move(tileENU));
           } else {
             qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
@@ -162,7 +163,7 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
 }
 
 bool NemoInterface::Impl::hasTileData(const TileData &tileData) const {
-  return this->tileData = tileData;
+  return this->tileData == tileData;
 }
 
 NemoInterface::NemoStatus NemoInterface::Impl::status() {

src/Wima/Snake/NemoInterface.h

@@ -3,8 +3,6 @@
 #include <QGeoCoordinate>
 #include <QObject>
 
-#include "SnakeTilesLocal.h"
-
 #include <memory>
 
 class TileData;

src/Wima/Snake/SnakeTileLocal.h

 #pragma once
 #include "Wima/Geometry/GenericPolygon.h"
 
-using SnakeTileLocal = GenericPolygon<>;
+using SnakeTileLocal = GenericPolygon<QPointF, std::vector>;

src/Wima/Snake/SnakeTilesLocal.h

 #pragma once
 
-#include "Wima/Snake/SnakeTileLocal.h"
 #include "Wima/Geometry/GenericPolygonArray.h"
-
-typedef GenericPolygonArray<SnakeTileLocal, QVector> SnakeTilesLocal;
+#include "Wima/Snake/SnakeTileLocal.h"
+#include <vector>
+typedef GenericPolygonArray<SnakeTileLocal, std::vector> SnakeTilesLocal;

src/Wima/Snake/snake.h

@@ -92,9 +92,9 @@ struct BoundingBox {
   BoostPolygon corners;
 };
 
-template <class GeoPoint>
-void toENU(const GeoPoint &origin, const GeoPoint &in, BoostPoint &out) {
-  GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
+template <class GeoPoint1, class GeoPoint2>
+void toENU(const GeoPoint1 &origin, const GeoPoint2 &in, BoostPoint &out) {
+  static GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
                                          GeographicLib::Constants::WGS84_f());
   GeographicLib::LocalCartesian proj(origin.latitude(), origin.longitude(),
                                      origin.altitude(), earth);
@@ -108,9 +108,25 @@ void toENU(const GeoPoint &origin, const GeoPoint &in, BoostPoint &out) {
   (void)z;
 }
 
+template <class GeoPoint1, class GeoPoint2, class Point>
+void toENU(const GeoPoint1 &origin, const GeoPoint2 &in, Point &out) {
+  static GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
+                                         GeographicLib::Constants::WGS84_f());
+  GeographicLib::LocalCartesian proj(origin.latitude(), origin.longitude(),
+                                     origin.altitude(), earth);
+
+  double x = 0, y = 0, z = 0;
+  auto alt = in.altitude();
+  alt = std::isnan(alt) ? 0 : alt;
+  proj.Forward(in.latitude(), in.longitude(), alt, x, y, z);
+  out.setX(x);
+  out.setY(y);
+  (void)z;
+}
+
 template <class GeoPoint>
 void fromENU(const GeoPoint &origin, const BoostPoint &in, GeoPoint &out) {
-  GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
+  static GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
                                          GeographicLib::Constants::WGS84_f());
   GeographicLib::LocalCartesian proj(origin.latitude(), origin.longitude(),
                                      origin.altitude(), earth);
@@ -122,10 +138,18 @@ void fromENU(const GeoPoint &origin, const BoostPoint &in, GeoPoint &out) {
   out.setAltitude(alt);
 }
 
-template <class GeoPoint, template <class, class...> class Container>
-void areaToEnu(const GeoPoint &origin, const Container<GeoPoint> &in,
-               BoostPolygon &out) {
-  for (auto vertex : in) {
+template <class GeoPoint, class Container1, class Container2>
+void areaToEnu(const GeoPoint &origin, const Container1 &in, Container2 &out) {
+  for (auto &vertex : in) {
+    typename Container2::value_type p;
+    toENU(origin, vertex, p);
+    out.push_back(p);
+  }
+}
+
+template <class GeoPoint, class Container>
+void areaToEnu(const GeoPoint &origin, const Container &in, BoostPolygon &out) {
+  for (auto &vertex : in) {
     BoostPoint p;
     toENU(origin, vertex, p);
     out.outer().push_back(p);
@@ -133,11 +157,21 @@ void areaToEnu(const GeoPoint &origin, const Container<GeoPoint> &in,
   bg::correct(out);
 }
 
-template <class GeoPoint, template <class, class...> class Container>
+template <class GeoPoint, class Container1, class Container2>
+void areaFromEnu(const GeoPoint &origin, Container1 &in,
+                 const Container2 &out) {
+  for (auto &vertex : in) {
+    typename Container2::value_type p;
+    fromENU(origin, vertex, p);
+    out.push_back(p);
+  }
+}
+
+template <class GeoPoint, class Container>
 void areaFromEnu(const GeoPoint &origin, BoostPolygon &in,
-                 const Container<GeoPoint> &out) {
-  for (auto vertex : in.outer()) {
-    GeoPoint p;
+                 const Container &out) {
+  for (auto &vertex : in.outer()) {
+    typename Container::value_type p;
     fromENU(origin, vertex, p);
     out.push_back(p);
   }

src/Wima/WimaController.cc

@@ -6,14 +6,20 @@
 #include "MissionSettingsItem.h"
 #include "PlanMasterController.h"
 #include "QGCApplication.h"
+#include "SettingsManager.h"
 #include "SimpleMissionItem.h"
 
+#include "WimaSettings.h"
+
 #include "Snake/QNemoHeartbeat.h"
 #include "Snake/QNemoProgress.h"
+#include "Snake/SnakeTile.h"
 
 #include "QVector3D"
 #include <QScopedPointer>
-#include <QtConcurrentRun>
+
+#define CLIPPER_SCALE 10000
+#include "clipper/clipper.hpp"
 
 #include <memory>
 
@@ -48,7 +54,7 @@ WimaController::StatusMap WimaController::_nemoStatusMap{
 
 WimaController::WimaController(QObject *parent)
     : QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
-      _corridor(), _localPlanDataValid(false),
+      _corridor(), _planDataValid(false),
       _areaInterface(&_measurementArea, &_serviceArea, &_corridor,
                      &_joinedArea),
       _WMSettings(), _defaultWM(_WMSettings, _areaInterface),
@@ -141,6 +147,12 @@ WimaController::WimaController(QObject *parent)
   connect(&_enableSnake, &Fact::rawValueChanged, this,
           &WimaController::_switchToSnakeWaypointManager);
   _switchToSnakeWaypointManager(_enableSnake.rawValue());
+
+  // Routing
+  connect(&_routingThread, &RoutingThread::result, this,
+          &WimaController::_storeRoute);
+  connect(&_routingThread, &RoutingThread::calculatingChanged, this,
+          &WimaController::snakeCalcInProgressChanged);
 }
 
 PlanMasterController *WimaController::masterController() {
@@ -192,7 +204,7 @@ Fact *WimaController::arrivalReturnSpeed() { return &_arrivalReturnSpeed; }
 Fact *WimaController::altitude() { return &_altitude; }
 
 QmlObjectListModel *WimaController::snakeTiles() {
-  return &this->_measurementArea.tiles();
+  return this->_measurementArea.tiles();
 }
 
 QVariantList WimaController::snakeTileCenterPoints() {
@@ -222,8 +234,7 @@ QString WimaController::nemoStatusString() const {
 }
 
 bool WimaController::snakeCalcInProgress() const {
-  qWarning() << "using snakeCalcInProgress dummy";
-  return true;
+  return _routingThread.calculating();
 }
 
 void WimaController::setMasterController(PlanMasterController *masterC) {
@@ -393,7 +404,7 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   emit snakeTilesChanged();
   emit nemoProgressChanged();
 
-  _localPlanDataValid = false;
+  _planDataValid = false;
 
   // extract list with WimaAreas
   QList<const WimaAreaData *> areaList = planData->areaList();
@@ -452,20 +463,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   emit visualItemsChanged();
   emit snakeTilesChanged();
 
-  // Publish tiles if necessary.
-  if (!this->_nemoInterface.hasTileData(this->_measurementArea.tileData())) {
-    this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
-    this->_measurementArea.progress() =
-        QVector<int>(this->_measurementArea.tiles()->count, 0);
-    emit nemoProgressChanged();
-  } else if (this->_enableSnake.rawValue().toBool()) {
-    const auto progess = this->_nemoInterface.progress();
-    if (progess.size() == this->_measurementArea.tiles()->count()) {
-      this->_measurementArea.progress() = std::move(progress);
-      emit nemoProgressChanged();
-    }
-  }
-
   // Copy raw transects.
   this->_rawTransects = planData->transects();
 
@@ -477,9 +474,9 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   }
 
   for (auto *item : tempMissionItems) {
+    _snakeWM.push_back(item->coordinate());
     _defaultWM.push_back(item->coordinate());
   }
-  //  // extract mission items
   _WMSettings.setHomePosition(QGeoCoordinate(
       _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
   //  auto tempMissionItems = planData->missionItems();
@@ -487,15 +484,37 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
     Q_ASSERT(false);
     return false;
   }
-  //  if (tempMissionItems.size() < 1) {
+  if (!_snakeWM.reset()) {
+    Q_ASSERT(false);
+    return false;
+  }
+
+  if (_currentWM == &_defaultWM || _currentWM == &_snakeWM) {
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
     emit waypointPathChanged();
     emit currentWaypointPathChanged();
+  }
+
+  // Publish tiles, set progress if necessary.
+  if (!this->_nemoInterface.hasTileData(this->_measurementArea.tileData())) {
+    if (_enableSnake.rawValue().toBool()) {
+      this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
+    }
+    this->_measurementArea.progress() =
+        QVector<int>(this->_measurementArea.tiles()->count(), 0);
+    emit nemoProgressChanged();
 
-  qWarning("WimaController: add snake update here lkjdfl!");
+  } else if (this->_enableSnake.rawValue().toBool()) {
+    const auto progress = this->_nemoInterface.progress();
+    if (progress.size() == this->_measurementArea.tiles()->count()) {
+      this->_measurementArea.progress() = std::move(progress);
+      emit nemoProgressChanged();
+      this->_updateRoute();
+    }
+  }
 
-  _localPlanDataValid = true;
+  _planDataValid = true;
   return true;
 }
 
@@ -701,7 +720,7 @@ void WimaController::_setPhaseDuration(double duration) {
 }
 
 bool WimaController::_SRTLPrecondition(QString &errorString) {
-  if (!_localPlanDataValid) {
+  if (!_planDataValid) {
     errorString.append(tr("No WiMA data available. Please define at least a "
                           "measurement and a service area."));
     return false;
@@ -772,20 +791,53 @@ void WimaController::_initSmartRTL() {
   }
 }
 
-void WimaController::_threadFinishedHandler() {
-  qWarning() << "update here as well .jisddf";
+void WimaController::_storeRoute(RoutingThread::PtrRoutingData data) {
+#ifdef SNAKE_SHOW_TIME
   auto start = std::chrono::high_resolution_clock::now();
 #endif
   // Copy waypoints to waypoint manager.
   _snakeWM.clear();
-  auto waypoints = 1;
-  if (waypoints.size() < 1) {
-    return;
+
+  if (data->route.size() > 0) {
+    // Store route.
+    const auto &transectsENU = data->transects;
+    const auto &transectsInfo = data->transectsInfo;
+    const auto &route = data->route;
+    // Find index of first waypoint.
+    std::size_t idxFirst = 0;
+    const auto &infoFirst = transectsInfo.front();
+    const auto &firstTransect = transectsENU[infoFirst.index];
+    const auto &firstWaypoint =
+        infoFirst.reversed ? firstTransect.back() : firstTransect.front();
+    double th = 0.001;
+    for (std::size_t i = 0; i < route.size(); ++i) {
+      auto dist = bg::distance(route[i], firstWaypoint);
+      if (dist < th) {
+        idxFirst = i;
+        break;
       }
-  for (auto &vertex : waypoints) {
-    _snakeWM.push_back(vertex);
     }
-
+    // Find index of last waypoint.
+    std::size_t idxLast = route.size() - 1;
+    const auto &infoLast = transectsInfo.back();
+    const auto &lastTransect = transectsENU[infoLast.index];
+    const auto &lastWaypoint =
+        infoLast.reversed ? lastTransect.front() : lastTransect.back();
+    for (long i = route.size() - 1; i >= 0; --i) {
+      auto dist = bg::distance(route[i], lastWaypoint);
+      if (dist < th) {
+        idxLast = i;
+        break;
+      }
+    }
+    // Convert to geo coordinates and append to waypoint manager.
+    const auto &ori = this->_origin;
+    for (std::size_t i = idxFirst; i <= idxLast; ++i) {
+      auto &vertex = route[i];
+      QGeoCoordinate c;
+      snake::fromENU(ori, vertex, c);
+      _snakeWM.push_back(c);
+    }
     // Do update.
     this->_snakeWM.update(); // this can take a while (ca. 200ms)
 
@@ -793,6 +845,7 @@ void WimaController::_threadFinishedHandler() {
     emit currentMissionItemsChanged();
     emit currentWaypointPathChanged();
     emit waypointPathChanged();
+  }
 #ifdef SNAKE_SHOW_TIME
   auto end = std::chrono::high_resolution_clock::now();
   std::cout << "WimaController::_threadFinishedHandler(): waypoints: "
@@ -813,10 +866,11 @@ void WimaController::_switchToSnakeWaypointManager(QVariant variant) {
 
 void WimaController::_progressChangedHandler() {
   const auto progress = this->_nemoInterface.progress();
-  if (this->_measurementArea.tiles().count() == progress.size()) {
+  if (this->_measurementArea.tiles()->count() == progress.size()) {
     this->_measurementArea.progress() = std::move(progress);
     emit nemoProgressChanged();
-  } else if (_localPlanDataValid) {
+    this->_updateRoute();
+  } else if (_planDataValid) {
     this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
   }
 }
@@ -824,32 +878,64 @@ void WimaController::_progressChangedHandler() {
 void WimaController::_enableSnakeChangedHandler() {
   if (this->_enableSnake.rawValue().toBool()) {
     qDebug() << "WimaController: enabling snake.";
+    _switchWaypointManager(_snakeWM);
     this->_nemoInterface.start();
+    if (_planDataValid) {
+      if (!this->_nemoInterface.hasTileData(
+              this->_measurementArea.tileData())) {
+        this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
+      }
+    }
   } else {
     qDebug() << "WimaController: disabling snake.";
+    _switchWaypointManager(_defaultWM);
     this->_nemoInterface.stop();
   }
 }
 
 void WimaController::_updateRoute() {
-  if (_localPlanDataValid && this->_joinedArea.coordinateList().size() > 0) {
+  // precondtion
+  if (_planDataValid && this->_joinedArea.coordinateList().size() > 0) {
+    const auto progress = this->_nemoInterface.progress();
+    const auto *tiles = this->_measurementArea.tiles();
+    // precondtion
+    if (tiles->count() > 0 && progress.size() == tiles->count() &&
+        this->_rawTransects.size() > 0 &&
+        this->_joinedArea.coordinateList().size() > 0) {
+      // Fetch tiles and convert to ENU.
+      this->_origin = this->_joinedArea.coordinateList().first();
+      this->_origin.setAltitude(0);
+      const auto &origin = this->_origin;
+      auto pTiles = std::make_shared<std::vector<snake::BoostPolygon>>();
+      std::size_t numTiles = 0;
+      for (int i = 0; i < progress.size(); ++i) {
+        if (progress[i] == 100) {
+          ++numTiles;
+          const auto *obj = tiles->get(i);
+          const auto *tile = qobject_cast<const SnakeTile *>(obj);
+          if (tile != nullptr) {
+            snake::BoostPolygon t;
+            snake::areaToEnu(origin, tile->coordinateList(), t);
+            pTiles->push_back(std::move(t));
+          } else {
+            return;
+          }
+        }
+      }
+      if (numTiles > 0) {
+        // Fetch safe area and convert to ENU.
         auto safeArea = this->_joinedArea.coordinateList();
         for (auto &v : safeArea) {
           v.setAltitude(0);
         }
-    const auto &origin = safeArea.front();
         snake::BoostPolygon safeAreaENU;
         snake::areaToEnu(origin, safeArea, safeAreaENU);
         const auto &depot = this->_serviceArea.depot();
-    const auto &geoTransects = this->_rawTransects;
-    const auto progess = this->_nemoInterface.progress();
-    auto pTiles = std::make_shared<QList<QList<QGeoCoordinate>>>();
-
-    auto generator = [origin, depot,
-                      geoTransects](snake::Transects &transects) -> bool {
-      snake::BoostPolygon depotENU;
+        snake::BoostPoint depotENU;
         snake::toENU(origin, depot, depotENU);
-      transects.push_back(snake::BoostLineString{depotENU});
+        // Fetch geo transects and convert to ENU.
+        const auto &geoTransects = this->_rawTransects;
+        auto pUnclippedTransects = std::make_shared<snake::Transects>();
         for (auto &geoTransect : geoTransects) {
           snake::BoostLineString t;
           for (auto &geoVertex : geoTransect) {
@@ -857,10 +943,69 @@ void WimaController::_updateRoute() {
             snake::toENU(origin, geoVertex, v);
             t.push_back(v);
           }
-        transects.push_back(t);
+          pUnclippedTransects->push_back(t);
+        }
+        std::size_t minLength = 1; // meter
+        qWarning() << "using minLength dummy lkjfdslooij";
+        auto generator = [depotENU, pUnclippedTransects, pTiles,
+                          minLength](snake::Transects &transects) -> bool {
+          // Convert transects to clipper path.
+          vector<ClipperLib::Path> transectsClipper;
+          for (const auto &t : *pUnclippedTransects) {
+            ClipperLib::Path path;
+            for (const auto &v : t) {
+              ClipperLib::IntPoint c{
+                  static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
+                  static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)};
+              path.push_back(c);
+            }
+            transectsClipper.push_back(std::move(path));
+          }
+          // Add transects to clipper.
+          ClipperLib::Clipper clipper;
+          clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
+          // Add tiles to clipper.
+          vector<ClipperLib::Path> tilesClipper;
+          for (const auto &t : *pTiles) {
+            ClipperLib::Path path;
+            for (const auto &v : t.outer()) {
+              path.push_back(ClipperLib::IntPoint{
+                  static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
+                  static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)});
+            }
+            tilesClipper.push_back(std::move(path));
+          }
+
+          clipper.AddPaths(tilesClipper, ClipperLib::ptClip, true);
+          // Clip transects.
+          ClipperLib::PolyTree clippedTransecs;
+          clipper.Execute(ClipperLib::ctDifference, clippedTransecs,
+                          ClipperLib::pftNonZero, ClipperLib::pftNonZero);
+          // Extract transects from  PolyTree and convert them to
+          // BoostLineString
+          transects.push_back(snake::BoostLineString{depotENU});
+          for (const auto &child : clippedTransecs.Childs) {
+            snake::BoostLineString transect;
+            for (const auto &v : child->Contour) {
+              snake::BoostPoint c{static_cast<double>(v.X) / CLIPPER_SCALE,
+                                  static_cast<double>(v.Y) / CLIPPER_SCALE};
+              transect.push_back(c);
+            }
+
+            if (bg::length(transect) >= minLength) {
+              transects.push_back(std::move(transect));
+            }
           }
+          if (transects.size() > 1) {
             return true;
-    };
+          } else {
+            return false;
+          }
+        }; // generator
         this->_routingThread.route(safeAreaENU, generator);
+      } else {
+        this->_storeRoute(RoutingThread::PtrRoutingData(new RoutingData()));
+      }
+    }
   }
 }

src/Wima/WimaController.h

@@ -6,12 +6,8 @@
 #include "QGCMapPolygon.h"
 #include "QmlObjectListModel.h"
 
-//#include "Geometry/WimaArea.h"
-//#include "Geometry/WimaCorridor.h"
 #include "Geometry/WimaCorridorData.h"
-//#include "Geometry/WimaMeasurementArea.h"
 #include "Geometry/WimaMeasurementAreaData.h"
-//#include "Geometry/WimaServiceArea.h"
 #include "Geometry/WimaServiceAreaData.h"
 
 #include "WimaPlanData.h"
@@ -33,8 +29,6 @@ typedef std::unique_ptr<rapidjson::Document> JsonDocUPtr;
 
 class WimaController : public QObject {
   Q_OBJECT
-  enum FileType { WimaFile, PlanFile };
-
 public:
   WimaController(QObject *parent = nullptr);
 
@@ -213,7 +207,7 @@ private slots:
   void _initSmartRTL();
   void _smartRTLCleanUp(bool flying);
   // Snake.
-  void _threadFinishedHandler();
+  void _storeRoute(RoutingThread::PtrRoutingData data);
   void _switchWaypointManager(WaypointManager::ManagerBase &manager);
   void _switchToSnakeWaypointManager(QVariant variant);
   void _progressChangedHandler();
@@ -234,7 +228,7 @@ private:
   WimaMeasurementAreaData _measurementArea; // measurement area
   WimaServiceAreaData _serviceArea;         // area for supplying
   WimaCorridorData _corridor; // corridor connecting opArea and serArea
-  bool _localPlanDataValid;
+  bool _planDataValid;
 
   // Waypoint Managers.
   WaypointManager::AreaInterface _areaInterface;
@@ -283,6 +277,7 @@ private:
   using StatusMap = std::map<int, QString>;
   static StatusMap _nemoStatusMap;
   RoutingThread _routingThread;
+  QGeoCoordinate _origin;
 
   // Periodic tasks.
   QTimer _eventTimer;

src/Wima/WimaPlanData.cc

@@ -89,6 +89,10 @@ void WimaPlanData::append(const WimaMeasurementAreaData &areaData) {
   }
 }
 
+void WimaPlanData::setTransects(const QList<QList<QGeoCoordinate>> &transects) {
+  _transects = transects;
+}
+
 void WimaPlanData::append(const QList<MissionItem *> &missionItems) {
   for (auto *item : missionItems) {
     item->setParent(this);
@@ -110,6 +114,10 @@ const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
   return _areaList;
 }
 
+const QList<QList<QGeoCoordinate>> &WimaPlanData::transects() const {
+  return _transects;
+}
+
 const QList<MissionItem *> &WimaPlanData::missionItems() const {
   return _missionItems;
 }

src/Wima/WimaPlaner.cc

@@ -668,9 +668,13 @@ void WimaPlaner::synchronize() {
   if (_wimaBridge != nullptr) {
     if (readyForSynchronization()) {
       auto planData = toPlanData();
+      if (planData) {
         (void)_wimaBridge->setWimaPlanData(planData);
         this->_synchronized = true;
         emit synchronizedChanged();
+      } else {
+        qWarning("WimaPlaner::uploadToContainer(): error creating plan data.");
+      }
     }
   } else {
     qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
@@ -741,17 +745,18 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
   planData->append(WimaJoinedAreaData(_joinedArea));
 
   // convert mission items to mavlink commands
-  QList<MissionItem *> missionItems;
   if (_missionController && _missionController->visualItems()) {
     int surveyIndex =
         _missionController->visualItems()->indexOf(_TSComplexItem);
     if (surveyIndex > 0) {
+      QList<MissionItem *> missionItems;
       _TSComplexItem->appendMissionItems(missionItems, nullptr);
-    }
-  }
-  // store mavlink commands
       planData->append(missionItems);
+      planData->setTransects(this->_TSComplexItem->rawTransects());
       return planData;
+    }
+  }
+  return QSharedPointer<WimaPlanData>();
 }
 
 #ifndef NDEBUG

src/WimaView/ProgressIndicator.qml

@@ -5,8 +5,8 @@ import QtLocation 5.3
 MapQuickItem {
     id: root
 
-    width: 20
-    height: 20
+    width: 15
+    height: 15
     anchorPoint.x: width/2
     anchorPoint.y: height/2
 
@@ -89,7 +89,7 @@ MapQuickItem {
             // From 0 to angle
 
             ctx.beginPath();
-            ctx.lineWidth = 3;
+            ctx.lineWidth = 1;
             ctx.strokeStyle = root.secondaryColor;
             ctx.arc(root.centerWidth,
                     root.centerHeight,