project compiles, not tested

src/Wima/Snake/SnakeDataManager.h

 #pragma once
 
+#include <QGeoCoordinate>
+#include <QList>
 #include <QObject>
 #include <QThread>
-#include <QList>
-#include <QGeoCoordinate>
 
-#include "QNemoProgress.h"
 #include "QNemoHeartbeat.h"
+#include "QNemoProgress.h"
+#include "SnakeTiles.h"
 
 #include <boost/units/systems/si.hpp>
 
-
 using namespace boost::units;
 using Length = quantity<si::length>;
 using Area = quantity<si::area>;
 
-class SnakeImpl;
-
-enum class NemoStatus{
-    NotConnected = 0,
-    Connected = 1,
-    Timeout = -1,
-    InvalidHeartbeat = -2
+enum class NemoStatus {
+  NotConnected = 0,
+  Connected = 1,
+  Timeout = -1,
+  InvalidHeartbeat = -2
 };
 
-class SnakeDataManager : public QThread{
-    Q_OBJECT
+class SnakeDataManager : public QThread {
+  Q_OBJECT
 
-public:
-    using SnakeImplPtr  = std::unique_ptr<SnakeImpl>;
+  class SnakeImpl;
+  using SnakeImplPtr = std::unique_ptr<SnakeImpl>;
 
-    SnakeDataManager(QObject *parent = nullptr);
-    ~SnakeDataManager() override;
+public:
+  SnakeDataManager(QObject *parent = nullptr);
+  ~SnakeDataManager() override;
 
+  void setMeasurementArea(const QList<QGeoCoordinate> &measurementArea);
+  void setServiceArea(const QList<QGeoCoordinate> &serviceArea);
+  void setCorridor(const QList<QGeoCoordinate> &corridor);
 
-    void setMeasurementArea     (const QList<QGeoCoordinate>  &measurementArea);
-    void setServiceArea         (const QList<QGeoCoordinate>  &serviceArea);
-    void setCorridor            (const QList<QGeoCoordinate>  &corridor);
+  const QmlObjectListModel *tiles() const;
+  QVariantList tileCenterPoints() const;
+  QNemoProgress nemoProgress() const;
+  int nemoStatus() const;
+  bool calcInProgress() const;
+  QString errorMessage() const;
+  bool success() const;
 
-    QNemoProgress nemoProgress();
-    int nemoStatus();
-    bool calcInProgress();
+  QVector<QGeoCoordinate> waypoints() const;
+  QVector<QGeoCoordinate> arrivalPath() const;
+  QVector<QGeoCoordinate> returnPath() const;
 
-    Length lineDistance() const;
-    void setLineDistance(Length lineDistance);
+  Length lineDistance() const;
+  void setLineDistance(Length lineDistance);
 
-    Length minTransectLength() const;
-    void setMinTransectLength(Length minTransectLength);
+  Length minTransectLength() const;
+  void setMinTransectLength(Length minTransectLength);
 
-    Area minTileArea() const;
-    void setMinTileArea(Area minTileArea);
+  Area minTileArea() const;
+  void setMinTileArea(Area minTileArea);
 
-    Length tileHeight() const;
-    void setTileHeight(Length tileHeight);
+  Length tileHeight() const;
+  void setTileHeight(Length tileHeight);
 
-    Length tileWidth() const;
-    void setTileWidth(Length tileWidth);
+  Length tileWidth() const;
+  void setTileWidth(Length tileWidth);
 
-    void enableRosBridge();
-    void disableRosBride();
+  void enableRosBridge();
+  void disableRosBride();
 
 signals:
-    void nemoProgressChanged();
-    void nemoStatusChanged(int status);
-    void calcInProgressChanged(bool inProgress);
+  void nemoProgressChanged();
+  void nemoStatusChanged(int status);
+  void calcInProgressChanged(bool inProgress);
 
 protected:
-    void run() override;
+  void run() override;
+
 private:
-    SnakeImplPtr pImpl;
+  SnakeImplPtr pImpl;
 };
-
-
-
-
-
-
-
-
-

src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h

@@ -17,7 +17,7 @@ std::string messageType();
 //! @brief C++ representation of nemo_msgs/Heartbeat message
 class Heartbeat{
 public:
-    Heartbeat(){}
+    Heartbeat() : _status(0){}
     Heartbeat(int status) :_status(status){}
     Heartbeat(const Heartbeat &heartbeat) : _status(heartbeat.status()){}