Waypoint managers working, not fully testted. Smart RTL optimized,...

Waypoint managers working, not fully testted. Smart RTL optimized, WimaDataContainer renamed to WimaBridge, WimaBridge Optimized.

qgroundcontrol.pro

@@ -443,9 +443,11 @@ HEADERS += \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/Geometry/WimaPolygonArray.h \
     src/Wima/Snake/snaketile.h \
+    src/Wima/WaypointManager/RTLManager.h \
     src/Wima/WaypointManager/Settings.h \
     src/Wima/WaypointManager/Slicer.h \
     src/Wima/WaypointManager/Utils.h \
+    src/Wima/WimaBridge.h \
     src/api/QGCCorePlugin.h \
     src/api/QGCOptions.h \
     src/api/QGCSettings.h \
@@ -456,7 +458,6 @@ HEADERS += \
     src/Wima/Geometry/WimaServiceArea.h \
     src/Wima/Geometry/WimaTrackerPolyline.h \
     src/Wima/WimaController.h \
-    src/Wima/WimaDataContainer.h \
     src/Wima/WimaPlaner.h \
     src/Wima/Geometry/WimaMeasurementArea.h \
     src/Wima/Geometry/WimaCorridor.h \
@@ -502,9 +503,11 @@ SOURCES += \
     src/Wima/WaypointManager/AreaInterface.cpp \
     src/Wima/WaypointManager/DefaultManager.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
+    src/Wima/WaypointManager/RTLManager.cpp \
     src/Wima/WaypointManager/Settings.cpp \
     src/Wima/WaypointManager/Slicer.cpp \
     src/Wima/WaypointManager/Utils.cpp \
+    src/Wima/WimaBridge.cc \
     src/comm/ros_bridge/include/ComPrivateInclude.cpp \
     src/comm/ros_bridge/include/MessageTag.cpp \
     src/comm/ros_bridge/include/TopicPublisher.cpp \
@@ -520,7 +523,6 @@ SOURCES += \
     src/Wima/Geometry/WimaServiceArea.cc \
     src/Wima/Geometry/WimaTrackerPolyline.cc \
     src/Wima/WimaController.cc \
-    src/Wima/WimaDataContainer.cc \
     src/Wima/WimaPlaner.cc \
     src/Wima/Geometry/WimaMeasurementArea.cc \
     src/Wima/Geometry/WimaCorridor.cc \

src/FlightDisplay/FlightDisplayView.qml

@@ -118,15 +118,22 @@ QGCView {
     WimaController {
         id: wimaController
         Component.onCompleted: {
-            wimaController.dataContainer = Qt.binding(function() { return dataContainerPointer })
+            wBridge.wimaController = Qt.binding(function() { return wimaController.thisPointer() })
         }
 
-        onReturnUserRequestConfirmRequired: {
-            _guidedController.confirmAction(_guidedController.actionUploadAndExecute)
+        onForceUploadConfirm: {
+            _guidedController.confirmAction(
+                        _guidedController.actionForceUpload)
         }
 
-        onReturnBatteryLowConfirmRequired: {
-            _guidedController.confirmAction(_guidedController.actionReturnBatteryLow)
+        onSmartRTLRequestConfirm: {
+            _guidedController.confirmAction(
+                        _guidedController.actionSmartRTLRequestConfirm)
+        }
+
+        onSmartRTLPathConfirm: {
+            _guidedController.confirmAction(
+                        _guidedController.actionSmartRTLPathConfirm)
         }
     }
 
@@ -765,14 +772,6 @@ QGCView {
             altitudeSlider:     _altitudeSlider
             z:                  _flightVideoPipControl.z + 1
 
-            property bool uploadOverrideRequired: wimaController.uploadOverrideRequired
-
-            onUploadOverrideRequiredChanged: {
-                if (uploadOverrideRequired) {
-                    confirmAction(actionOverrideUpload)
-                }
-            }
-
             onShowStartMissionChanged: {
                 if (showStartMission) {
                     confirmAction(actionStartMission)

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -354,7 +354,7 @@ Item {
                             text:               qsTr("Upload")
                             onClicked: {
                                 if (!planMasterController.offline) {
-                                    wimaController.uploadToVehicle()
+                                    wimaController.upload()
                                 }
                             }
                             Layout.fillWidth: true

src/FlightDisplay/GuidedActionsController.qml

@@ -52,9 +52,9 @@ Item {
     readonly property string setWaypointTitle:              qsTr("Set Waypoint")
     readonly property string gotoTitle:                     qsTr("Goto Location")
     readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")    
-    readonly property string overrideUploadTitle:           qsTr("Override Lock")
-    readonly property string uploadAndExecuteTitle:         qsTr("Upload and Execute")
-    readonly property string returnBatteryLowTitle:         qsTr("Battery Low")
+    readonly property string forceUploadTitle:              qsTr("Force Upload")
+    readonly property string smartRTLPathConfirmTitle:      qsTr("Upload and Execute")
+    readonly property string smartRTLRequestConfirmTitle:   qsTr("Smart RTL requested")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
     readonly property string disarmMessage:                     qsTr("Disarm the vehicle")
@@ -74,9 +74,9 @@ Item {
     readonly property string mvPauseMessage:                    qsTr("Pause all vehicles at their current position.")
     readonly property string vtolTransitionFwdMessage:          qsTr("Transition VTOL to fixed wing flight.")
     readonly property string vtolTransitionMRMessage:           qsTr("Transition VTOL to multi-rotor flight.")
-    readonly property string overrideUploadMessage:             qsTr("Vehicle is not inside service area. Upload nevertheless?")    
-    readonly property string uploadAndExecuteMessage:           qsTr("Upload and execute the displayed return path?")
-    readonly property string returnBatteryLowMessage:           qsTr("Upload and execute the displayed return path?")
+    readonly property string forceUploadMessage:                qsTr("Vehicle outside save area. Force upload?")
+    readonly property string smartRTLPathConfirmMessage:        qsTr("Upload and execute the displayed return path?")
+    readonly property string smartRTLRequestConfirmMessage:     qsTr("Do you want to initiate a smart RTL?")
 
 
     readonly property int actionRTL:                        1
@@ -100,9 +100,9 @@ Item {
     readonly property int actionMVStartMission:             19
     readonly property int actionVtolTransitionToFwdFlight:  20
     readonly property int actionVtolTransitionToMRFlight:   21
-    readonly property int actionOverrideUpload:             22
-    readonly property int actionUploadAndExecute:           24
-    readonly property int actionReturnBatteryLow:           25 // very similar to actionUploadAndExecute, is triggered on low battery
+    readonly property int actionForceUpload:                22
+    readonly property int actionSmartRTLPathConfirm:        24
+    readonly property int actionSmartRTLRequestConfirm:           25 // very similar to actionSmartRTLPathConfirm, is triggered on low battery
 
     property bool showEmergenyStop:     _guidedActionsEnabled && !_hideEmergenyStop && _vehicleArmed && _vehicleFlying
     property bool showArm:              _guidedActionsEnabled && !_vehicleArmed
@@ -343,19 +343,19 @@ Item {
             confirmDialog.message = vtolTransitionMRMessage
             confirmDialog.hideTrigger = true
             break
-        case actionOverrideUpload:
-            confirmDialog.title = overrideUploadTitle
-            confirmDialog.message = overrideUploadMessage
+        case actionForceUpload:
+            confirmDialog.title = forceUploadTitle
+            confirmDialog.message = forceUploadMessage
             confirmDialog.hideTrigger = true
             break
-        case actionUploadAndExecute:
-            confirmDialog.title = uploadAndExecuteTitle
-            confirmDialog.message = uploadAndExecuteMessage
+        case actionSmartRTLPathConfirm:
+            confirmDialog.title = smartRTLPathConfirmTitle
+            confirmDialog.message = smartRTLPathConfirmMessage
             confirmDialog.hideTrigger = true
             break
-        case actionReturnBatteryLow:
-            confirmDialog.title = returnBatteryLowTitle
-            confirmDialog.message = returnBatteryLowMessage
+        case actionSmartRTLRequestConfirm:
+            confirmDialog.title = smartRTLRequestConfirmTitle
+            confirmDialog.message = smartRTLRequestConfirmMessage
             confirmDialog.hideTrigger = true
             break
         default:
@@ -433,13 +433,15 @@ Item {
         case actionVtolTransitionToMRFlight:
             _activeVehicle.vtolInFwdFlight = false
             break
-        case actionOverrideUpload:
-            wimaController.forceUploadToVehicle()
+        case actionForceUpload:
+            wimaController.forceUpload()
             break
-        case actionUploadAndExecute:
-        case actionReturnBatteryLow:
+        case actionSmartRTLPathConfirm:
             wimaController.executeSmartRTL()
             break
+        case actionSmartRTLRequestConfirm:
+            wimaController.initSmartRTL()
+            break
         default:
             console.warn(qsTr("Internal error: unknown actionCode"), actionCode)
             break

src/QGCApplication.cc

@@ -68,7 +68,7 @@
 #include "CoordinateVector.h"
 #include "PlanMasterController.h"
 #include "Wima/WimaController.h"
-#include "Wima/WimaDataContainer.h"
+#include "Wima/WimaBridge.h"
 #include "Wima/WimaPlaner.h"
 #include "VideoManager.h"
 #include "VideoSurface.h"
@@ -468,7 +468,7 @@ void QGCApplication::_initCommon(void)
     // Wima
     qmlRegisterType<WimaController>                 ("Wima",                                1, 0, "WimaController");
     qmlRegisterType<WimaPlaner>                     ("Wima",                                1, 0, "WimaPlaner");
-    qmlRegisterType<WimaDataContainer>              ("Wima",                                1, 0, "WimaDataContainer");
+    qmlRegisterType<WimaBridge>                     ("Wima",                                1, 0, "WimaBridge");
 
 
     // Register Qml Singletons

src/Wima/WaypointManager/DefaultManager.cpp

@@ -108,6 +108,11 @@ bool WaypointManager::DefaultManager::_calcShortestPath(
 
 bool WaypointManager::DefaultManager::_worker()
 {
+    // Precondition:
+    // _waypoints must contain valid coordinates.
+    // Slicer must be called befor invoking this function.
+    // E.g. Slicer::reset(_waypoints, _currentWaypoints);
+
     using namespace WaypointManager::Utils;
 
     if (_waypoints.count() < 1 || !_settings->valid()) {
@@ -131,13 +136,6 @@ bool WaypointManager::DefaultManager::_worker()
     _currentMissionItems.clearAndDeleteContents();
     initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView());
 
-    // Precondition.
-    if (!_settings->homePosition().isValid()){
-        qWarning("WaypointManager::DefaultManager::next(): home position invalid.");
-        Q_ASSERT(false);
-        return false;
-    }
-
     // Calculate path from home to first waypoint.
     QVector<QGeoCoordinate> arrivalPath;
     if ( !_calcShortestPath(_settings->homePosition(), _currentWaypoints.first(), arrivalPath) ) {
@@ -226,9 +224,7 @@ bool WaypointManager::DefaultManager::_worker()
         qWarning("WaypointManager::DefaultManager::next(): nullptr.");
         return false;
     }
-    speedItem->setCommand(MAV_CMD_DO_CHANGE_SPEED); // set coordinate must be after setCommand (setCommand sets coordinate to zero)
-    speedItem->setCoordinate(_currentWaypoints.last());
-    speedItem->missionItem().setParam2(_settings->arrivalReturnSpeed());
+    makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
 
     // Insert return path coordinates.
     for (auto coordinate : returnPath) {
@@ -246,38 +242,37 @@ bool WaypointManager::DefaultManager::_worker()
         qWarning("WaypointManager::DefaultManager::next(): nullptr.");
         return false;
     }
+    makeLandCmd(landItem, _settings->masterController()->managerVehicle());
 
-    MAV_CMD landCmd = _settings->vehicle()->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
-    if (_settings->vehicle()->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
-        landItem->setCommand(landCmd);
-    } else {
-        Q_ASSERT(false);
-        qWarning("WaypointManager::DefaultManager::next(): Land command not supported!");
-        return false;
+    // Set altitude.
+    for (int i = 1; i < _currentMissionItems.count(); ++i) {
+        SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
+        if (item == nullptr) {
+            Q_ASSERT(false);
+            qWarning("WimaController::updateAltitude(): nullptr");
+            return false;
+        }
+        item->altitude()->setRawValue(_settings->altitude());
     }
 
+    // Update list _currentMissionItems.
+    updateHirarchy(_currentMissionItems);
+    updateSequenceNumbers(_currentMissionItems);
+
+
     // Prepend arrival path to slice.
     for ( long i = arrivalPath.size()-1; i >=0; --i )
         _currentWaypoints.push_front(arrivalPath[i]);
+    _currentWaypoints.push_front(_settings->homePosition());
     // Append return path to slice.
     for ( auto c : returnPath )
         _currentWaypoints.push_back(c);
+    _currentWaypoints.push_back(_settings->homePosition());
 
+    // Create variant list.
     _currentWaypointsVariant.clear();
     for ( auto c : _currentWaypoints)
         _currentWaypointsVariant.push_back(QVariant::fromValue(c));
 
-
-    // Set altitude.
-    for (int i = 1; i < _currentMissionItems.count(); ++i) {
-        SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
-        if (item == nullptr) {
-            Q_ASSERT(false);
-            qWarning("WimaController::updateAltitude(): nullptr");
-            return false;
-        }
-        item->altitude()->setRawValue(_settings->altitude());
-    }
-
     return true;
 }

src/Wima/WaypointManager/GenericWaypointManager.h

@@ -19,13 +19,13 @@ public:
     GenericWaypointManager(SettingsType &settings);
 
     // Waypoint editing.
-    void            setWaypoints(const WaypointList &waypoints);
-    void            push_back   (const WaypointType &wp);
-    void            push_front  (const WaypointType &wp);
-    virtual void    clear       ();
-    void            insert      (std::size_t i, const WaypointType &wp);
-    std::size_t     size        ()  const;
-    WaypointType    &at         (std::size_t i);
+    virtual void            setWaypoints(const WaypointList &waypoints);
+    virtual void            push_back   (const WaypointType &wp);
+    virtual void            push_front  (const WaypointType &wp);
+    virtual void            clear       ();
+    virtual void            insert      (std::size_t i, const WaypointType &wp);
+    virtual std::size_t     size        ()  const;
+    virtual void            remove      (std::size_t i);
 
 
     const WaypointList      &waypoints() const;
@@ -141,12 +141,12 @@ template<class WaypointType,
          template<class, class...> class ContainerType,
          class MissionItemList,
          class SettingsType>
-WaypointType & GenericWaypointManager<WaypointType,
-                                      ContainerType,
-                                      MissionItemList,
-                                      SettingsType>::at(std::size_t i)
+void GenericWaypointManager<WaypointType,
+                            ContainerType,
+                            MissionItemList,
+                            SettingsType>::remove(std::size_t i)
 {
-    return _waypoints.at(i);
+    return _waypoints.remove(i);
 }
 
 template<class WaypointType,

src/Wima/WaypointManager/RTLManager.cpp

+#include "RTLManager.h"
+#include "Wima/Geometry/GeoUtilities.h"
+#include "Wima/Geometry/PolygonCalculus.h"
+
+#include "MissionSettingsItem.h"
+#include "SimpleMissionItem.h"
+
+
+WaypointManager::RTLManager::RTLManager(Settings &settings,
+                                        AreaInterface &interface)
+    : ManagerBase(settings)
+    , _areaInterface(&interface)
+{
+
+}
+
+void WaypointManager::RTLManager::setWaypoints(const QVector<QGeoCoordinate> &waypoints)
+{
+    (void)waypoints;
+    return;
+}
+
+void WaypointManager::RTLManager::push_back(const QGeoCoordinate &wp)
+{
+    (void)wp;
+    return;
+}
+
+void WaypointManager::RTLManager::push_front(const QGeoCoordinate &wp)
+{
+    (void)wp;
+    return;
+}
+
+void WaypointManager::RTLManager::clear()
+{
+    _dirty = true;
+    _waypoints.clear();
+    _currentWaypoints.clear();
+    _missionItems.clearAndDeleteContents();
+    _currentMissionItems.clearAndDeleteContents();
+    _waypointsVariant.clear();
+    _currentWaypointsVariant.clear();
+}
+
+void WaypointManager::RTLManager::insert(std::size_t i, const QGeoCoordinate &wp)
+{
+    (void)i;
+    (void)wp;
+    return;
+}
+
+std::size_t WaypointManager::RTLManager::size() const
+{
+    return 0;
+}
+
+void WaypointManager::RTLManager::remove(std::size_t i)
+{
+    (void)i;
+}
+
+bool WaypointManager::RTLManager::update()
+{
+    this->clear();
+    return _worker();
+}
+
+bool WaypointManager::RTLManager::next()
+{
+    return true;
+}
+
+bool WaypointManager::RTLManager::previous()
+{
+    return true;
+}
+
+bool WaypointManager::RTLManager::reset()
+{
+    return true;
+}
+
+QString WaypointManager::RTLManager::checkPrecondition()
+{
+    Vehicle *managerVehicle = _settings->masterController()->managerVehicle();
+    if (!managerVehicle->flying()) {
+        return QString("Vehicle is not flying. Smart RTL not available.");
+    }
+
+    if (!managerVehicle->isOfflineEditingVehicle()) {
+        return QString("Not connected to any vehicle. Smart RTL not available.");
+    }
+
+    if (!_areaInterface->joinedArea()->containsCoordinate(managerVehicle->coordinate())) {
+        return QString("Vehicle not inside save area. Smart RTL not available.");
+    }
+
+    return QString();
+}
+
+bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
+                                                         size_t index,
+                                                         QmlObjectListModel &list,
+                                                         bool doUpdate)
+{
+    using namespace WaypointManager::Utils;
+
+    if ( !insertMissionItem(c,
+                            index /*insertion index*/,
+                            list,
+                            _settings->vehicle(),
+                            _settings->isFlyView(),
+                            &list /*parent*/,
+                            doUpdate /*do update*/) )
+    {
+        qWarning("WaypointManager::RTLManager::next(): insertMissionItem failed.");
+        Q_ASSERT(false);
+        return false;
+    }
+    return true;
+}
+
+bool WaypointManager::RTLManager::_insertMissionItem(const QGeoCoordinate &c,
+                                                         size_t index,
+                                                         bool doUpdate)
+{
+    return _insertMissionItem(c, index, _currentMissionItems, doUpdate);
+}
+
+bool WaypointManager::RTLManager::_calcShortestPath(
+        const QGeoCoordinate &start,
+        const QGeoCoordinate &destination,
+        QVector<QGeoCoordinate> &path)
+{
+        using namespace GeoUtilities;
+        using namespace PolygonCalculus;
+        QPolygonF joinedArea2D;
+        toCartesianList(_areaInterface->joinedArea()->coordinateList(), /*origin*/ start, joinedArea2D);
+        QPointF start2D(0,0);
+        QPointF end2D;
+        toCartesian(destination, start, end2D);
+        QVector<QPointF> path2DOut;
+
+        bool retVal = PolygonCalculus::shortestPath(joinedArea2D, start2D, end2D, path2DOut);
+        toGeoList(path2DOut, /*origin*/ start, path);
+
+        return  retVal;
+}
+
+bool WaypointManager::RTLManager::_worker()
+{
+    // Precondition: settings must be valid.
+
+    using namespace WaypointManager::Utils;
+
+    if (!_settings->valid()) {
+        return false;
+    }
+
+    initialize(_currentMissionItems, _settings->vehicle(), _settings->isFlyView());
+
+    // Calculate path from vehicle to home position.
+    QVector<QGeoCoordinate> returnPath;
+    auto vehicleCoordinate = _settings->masterController()->managerVehicle()->coordinate();
+    if ( !_calcShortestPath(vehicleCoordinate, _settings->homePosition(), returnPath) ) {
+        qWarning("WaypointManager::RTLManager::next(): Not able to calc path from vehicle to home position.");
+        return false;
+    }
+
+    // Create mission items.
+    // Set home position of MissionSettingsItem.
+    MissionSettingsItem* settingsItem = _currentMissionItems.value<MissionSettingsItem *>(0);
+    if (settingsItem == nullptr) {
+        Q_ASSERT(false);
+        qWarning("WaypointManager::RTLManager::next(): nullptr.");
+        return false;
+    }
+    settingsItem->setCoordinate(_settings->homePosition());
+
+    // Create change speed item.
+    _insertMissionItem(_settings->homePosition(),
+                       _currentMissionItems.count() /*insertion index*/,
+                       false /*do update*/);
+    SimpleMissionItem *speedItem = _currentMissionItems.value<SimpleMissionItem*>(2);
+    if (speedItem == nullptr) {
+        qWarning("WaypointManager::RTLManager::next(): nullptr.");
+        Q_ASSERT(speedItem != nullptr);
+        return false;
+    }
+    makeSpeedCmd(speedItem, _settings->arrivalReturnSpeed());
+
+    // Insert return path coordinates.
+    for (auto coordinate : returnPath) {
+        _insertMissionItem(coordinate,
+                           _currentMissionItems.count() /*insertion index*/,
+                           false /*do update*/);
+    }
+
+    // Set land command for last mission item.
+    int index = _currentMissionItems.count();
+    _insertMissionItem(_settings->homePosition(),
+                       index /*insertion index*/,
+                       false /*do update*/);
+    SimpleMissionItem *landItem = _currentMissionItems.value<SimpleMissionItem*>(index);
+    if (landItem == nullptr) {
+        Q_ASSERT(false);
+        qWarning("WaypointManager::RTLManager::next(): nullptr.");
+        return false;
+    }
+    makeLandCmd(landItem, _settings->masterController()->managerVehicle());
+
+
+    // Set altitude.
+    for (int i = 1; i < _currentMissionItems.count(); ++i) {
+        SimpleMissionItem *item = _currentMissionItems.value<SimpleMissionItem *>(i);
+        if (item == nullptr) {
+            Q_ASSERT(false);
+            qWarning("WimaController::updateAltitude(): nullptr");
+            return false;
+        }
+        item->altitude()->setRawValue(_settings->altitude());
+    }
+
+    // Update list _currentMissionItems.
+    updateHirarchy(_currentMissionItems);
+    updateSequenceNumbers(_currentMissionItems);
+
+
+    // Append return path to _currentWaypoints.
+    for ( auto c : returnPath )
+        _currentWaypoints.push_back(c);
+
+    // Create variant list.
+    _currentWaypointsVariant.clear();
+    for ( auto c : _currentWaypoints)
+        _currentWaypointsVariant.push_back(QVariant::fromValue(c));
+
+    return true;
+}

src/Wima/WaypointManager/RTLManager.h

+#pragma once
+
+#include "GenericWaypointManager.h"
+#include "Settings.h"
+#include "AreaInterface.h"
+
+namespace WaypointManager {
+
+typedef GenericWaypointManager<QGeoCoordinate,
+                               QVector,
+                               QmlObjectListModel,
+                               Settings>
+        ManagerBase;
+//!
+//! \brief The RTLManager class is used to manage the return to launch of the vehicle.
+//!
+//! @note The \class QmlObjectList returned by \fn missionItems doesn't contain a MissionSettingsItem.
+//! This list is supposed to be used for display purposes only.
+class RTLManager : public ManagerBase
+{
+public:
+    RTLManager() = delete;
+    RTLManager(Settings &settings,
+               AreaInterface &interface);
+
+    //!
+    //! \brief Does nothing.
+    //!
+    virtual void            setWaypoints(const QVector<QGeoCoordinate> &waypoints) override;
+    //!
+    //! \brief Does nothing.
+    //!
+    virtual void            push_back   (const QGeoCoordinate &wp) override;
+    //!
+    //! \brief Does nothing.
+    //!
+    virtual void            push_front  (const QGeoCoordinate &wp) override;
+    //!
+    //! \brief Clears the waypoint manager.
+    virtual void            clear       () override;
+    //!
+    //! \brief Does nothing.
+    //!
+    virtual void            insert      (std::size_t i, const QGeoCoordinate &wp) override;
+    //!
+    //! \brief Returns zero.
+    //! \return Returns zero.
+    virtual std::size_t     size        () const override;
+    //!
+    //! \brief Returns an empty coordinate.
+    virtual void            remove      (std::size_t i) override;
+
+
+    //!
+    //! \brief Updates the waypoint manager.
+    //!
+    //! After updateing a call to currentMissionItems or currentWaypoints returns
+    //! a path from the vehicles current position to the home position.
+    //!
+    //! \return Returns true on success, false either.
+    //!
+    virtual bool update() override;
+    //!
+    //! \brief Does nothing.
+    //! \return Returns true.
+    //!
+    virtual bool next() override;
+    //!
+    //! \brief Does nothing.
+    //! \return Returns true.
+    //!
+    virtual bool previous() override;
+    //!
+    //! \brief Does nothing.
+    //! \return Returns true.
+    //!
+    virtual bool reset() override;
+
+    QString checkPrecondition();
+
+protected:
+    bool _insertMissionItem(const QGeoCoordinate &c,
+                            size_t index,
+                            QmlObjectListModel &list,
+                            bool doUpdate);
+    bool _insertMissionItem(const QGeoCoordinate &c,
+                            size_t index,
+                            bool doUpdate);
+    bool _calcShortestPath(const QGeoCoordinate &start,
+                           const QGeoCoordinate &destination,
+                           QVector<QGeoCoordinate> &path);
+
+    AreaInterface *_areaInterface;
+private:
+    bool _worker();
+
+};
+
+} // namespace WaypointManager

src/Wima/WaypointManager/Slicer.cpp

 #include "Slicer.h"
 
-Slicer::Slicer():
-    _idxValid(false)
-  , _atEnd(false)
+Slicer::Slicer()
+    : _idxStart(0)
+    , _idxEnd(0)
+    , _idxNext(0)
+    , _idxPrevious(0)
+    , _overlap(0)
+    , _N(0)
 {}
 
 void Slicer::setOverlap(uint32_t overlap)
 {
-    _idxValid = false;
     _overlap = overlap;
 }
 
 void Slicer::setN(uint32_t N)
 {
-    _idxValid = false;
     _N = N > 0 ? N : 1;
 }
 
 void Slicer::setStartIndex(int idxStart)
 {
-    _idxValid = false;
     _idxStart = idxStart;
 }
 
@@ -38,28 +39,30 @@ int Slicer::startIndex()
     return _idxStart;
 }
 
-void Slicer::_updateIdx(std::size_t size)
+void Slicer::_updateIdx(long size)
 {
-    _idxValid = true;
-    _atEnd    = false;
-    if ( _idxStart >= long(size)-1 ) {
-        _idxStart   = long(size)-1;
-        _idxEnd     = _idxStart;
-        _idxNext    = _idxStart;
-        _atEnd      = true;
-        return;
-    }
+    _overlap = _overlap < _N ? _overlap : _N-1;
 
-    _idxStart = _idxStart < 0 ? 0 : _idxStart;
+    long maxStart  = size-_N;
+    _idxStart = _idxStart <= maxStart   ? _idxStart : maxStart;
+    _idxStart = _idxStart < 0           ? 0         : _idxStart;
 
     _idxEnd = _idxStart + _N - 1;
-    _idxEnd = _idxEnd < long(size) ? _idxEnd : size-1;
+    _idxEnd = _idxEnd < size ? _idxEnd : size-1;
 
     _idxNext = _idxEnd + 1 - _overlap;
-    _idxNext = _idxNext < 0    ? 0        : _idxNext;
-    _idxNext = _idxNext < long(size) ? _idxNext : size-1;
+    _idxNext = _idxNext < 0       ? 0        : _idxNext;
+    _idxNext = _idxNext < size    ? _idxNext : size-1;
 
-    _idxPrevious = _idxStart - 1 + _overlap;
-    _idxPrevious = _idxPrevious < 0    ? 0            : _idxPrevious;
-    _idxPrevious = _idxPrevious < long(size) ? _idxPrevious : size-1;
+    _idxPrevious = _idxStart + _overlap - _N;
+    _idxPrevious = _idxPrevious < 0       ? 0            : _idxPrevious;
+    _idxPrevious = _idxPrevious < size    ? _idxPrevious : size-1;
+
+//    qDebug() << "size:         " << size;
+//    qDebug() << "_N:           " << _N;
+//    qDebug() << "_overlap:     " << _overlap;
+//    qDebug() << "_idxStart:    " << _idxStart;
+//    qDebug() << "_idxEnd:      " << _idxEnd;
+//    qDebug() << "_idxNext:     " << _idxNext;
+//    qDebug() << "_idxPrevious: " << _idxPrevious << "\n";
 }

src/Wima/WaypointManager/Slicer.h

@@ -48,17 +48,14 @@ public:
 
 
 private:
-    void _updateIdx(std::size_t size);
+    void _updateIdx(long size);
 
     long          _idxStart;
     long          _idxEnd;
     long          _idxNext;
     long          _idxPrevious;
-    uint32_t      _overlap;
-    uint32_t      _N;
-    bool          _idxValid;
-    bool          _atEnd;
-
+    long          _overlap;
+    long          _N;
 
 };
 

src/Wima/WaypointManager/Utils.cpp

@@ -218,3 +218,16 @@ void WaypointManager::Utils::makeSpeedCmd(SimpleMissionItem *item, double speed)
     item->setCoordinate(c);
     item->missionItem().setParam2(speed);
 }
+
+bool WaypointManager::Utils::makeLandCmd(SimpleMissionItem *item, Vehicle *vehicle)
+{
+    MAV_CMD landCmd = vehicle->vtol() ? MAV_CMD_NAV_VTOL_LAND : MAV_CMD_NAV_LAND;
+    if (vehicle->firmwarePlugin()->supportedMissionCommands().contains(landCmd)) {
+        item->setCommand(landCmd);
+    } else {
+        Q_ASSERT(false);
+        qWarning("WaypointManager::Utils::makeLandCmd(): Land command not supported!");
+        return false;
+    }
+    return true;
+}

src/Wima/WaypointManager/Utils.h

@@ -118,6 +118,14 @@ bool extract(const ContainerType<CoordinateType>  &source,
 //!
 bool makeTakeOffCmd(SimpleMissionItem *item, Vehicle *vehicle);
 
+//!
+//! \brief Makes the SimpleMissionItem \p item a land command.
+//! \param item SimpleMissionItem
+//! \param vehilce Vehicle.
+//! \return Returns true if successfull, false either.
+//!
+bool makeLandCmd(SimpleMissionItem *item, Vehicle *vehicle);
+
 //!
 //! \brief Makes the SimpleMissionItem \p item a MAV_CMD_DO_CHANGE_SPEED item.
 //! \param item SimpleMissionItem.

src/Wima/WimaBridge.cc

+#include "WimaBridge.h"
+#include "WimaController.h"
+
+WimaBridge::WimaBridge(QObject *parent)
+    :   QObject     (parent)
+{
+
+}
+
+WimaController *WimaBridge::wimaController()
+{
+    return _wimaController;
+}
+
+WimaPlaner *WimaBridge::wimaPlaner()
+{
+    return _wimaPlaner;
+}
+
+WimaBridge *WimaBridge::thisPointer()
+{
+    return this;
+}
+
+void WimaBridge::setWimaController(WimaController *controller)
+{
+    if (_wimaController != controller){
+        _wimaController = controller;
+
+        emit wimaControllerChanged(_wimaController);
+    }
+}
+
+void WimaBridge::setWimaPlaner(WimaPlaner *planer)
+{
+    if (_wimaPlaner != planer){
+        _wimaPlaner = planer;
+
+        emit wimaPlanerChanged(_wimaPlaner);
+    }
+
+}
+
+bool WimaBridge::setWimaPlanData(const WimaPlanData &planData)
+{
+    if ( _wimaController != nullptr) {
+        return _wimaController->setWimaPlanData(planData);
+    }
+    return false;
+}
+
+
+
+

src/Wima/WimaBridge.h

+#pragma once
+
+#include <QObject>
+
+#include "WimaPlanData.h"
+
+class WimaController;
+class WimaPlaner;
+
+//!
+//! \brief The WimaBridge class
+//!
+//! A bridge establishing a link between WimaController and WimaPlaner
+class WimaBridge : public QObject
+{
+    Q_OBJECT
+public:
+    WimaBridge(QObject *parent = nullptr);
+    WimaBridge(WimaBridge &other) = delete;
+
+    Q_PROPERTY(WimaPlaner  *wimaPlaner
+               READ         wimaPlaner
+               WRITE        setWimaPlaner
+               NOTIFY       wimaPlanerChanged)
+    Q_PROPERTY(WimaController  *wimaController
+               READ             wimaController
+               WRITE            setWimaController
+               NOTIFY           wimaControllerChanged)
+
+    WimaController  *wimaController();
+    WimaPlaner      *wimaPlaner();
+
+    Q_INVOKABLE WimaBridge *thisPointer();
+
+    void setWimaController  (WimaController *controller);
+    void setWimaPlaner      (WimaPlaner *planer);
+
+signals:
+    void wimaControllerChanged  (WimaController *controller);
+    void wimaPlanerChanged      (WimaPlaner *planer);
+
+public slots:
+    bool setWimaPlanData(const WimaPlanData &planData);
+private:
+    WimaController *_wimaController;
+    WimaPlaner     *_wimaPlaner;
+};
+

src/Wima/WimaController.cc

@@ -10,9 +10,6 @@
 #include "Snake/QtROSTypeFactory.h"
 #include "Snake/QNemoProgress.h"
 
-#include "time.h"
-#include "assert.h"
-
 #include "QVector3D"
 #include <QScopedPointer>
 
@@ -41,7 +38,6 @@ using namespace snake_geometry;
 
 WimaController::WimaController(QObject *parent)
     : QObject                   (parent)
-    , _container                (nullptr)
     , _joinedArea               ()
     , _measurementArea          ()
     , _serviceArea              ()
@@ -51,7 +47,8 @@ WimaController::WimaController(QObject *parent)
     , _managerSettings          ()
     , _defaultManager           (_managerSettings, _areaInterface)
     , _snakeManager             (_managerSettings, _areaInterface)
-    , _currentManager           (_defaultManager)
+    , _rtlManager               (_managerSettings, _areaInterface)
+    , _currentManager           (&_defaultManager)
     , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/WimaController.SettingsGroup.json"), this))
     , _enableWimaController     (settingsGroup, _metaDataMap[enableWimaControllerName])
     , _overlapWaypoints         (settingsGroup, _metaDataMap[overlapWaypointsName])
@@ -62,17 +59,8 @@ WimaController::WimaController(QObject *parent)
     , _flightSpeed              (settingsGroup, _metaDataMap[flightSpeedName])
     , _arrivalReturnSpeed       (settingsGroup, _metaDataMap[arrivalReturnSpeedName])
     , _altitude                 (settingsGroup, _metaDataMap[altitudeName])
-    , _uploadOverrideRequired   (false)
     , _measurementPathLength    (-1)
-//    , _arrivalPathLength        (-1)
-//    , _returnPathLength         (-1)
-//    , _phaseDistance            (-1)
-//    , _phaseDuration            (-1)
-//    , _phaseDistanceBuffer      (-1)
-//    , _phaseDurationBuffer      (-1)
-    , _vehicleHasLowBattery         (false)
     , _lowBatteryHandlingTriggered  (false)
-    , _executingSmartRTL            (false)
     , _snakeConnectionStatus    (SnakeConnectionStatus::Connected) // TODO: implement automatic connection
     , _snakeCalcInProgress      (false)
     , _scenarioDefinedBool      (false)
@@ -88,7 +76,7 @@ WimaController::WimaController(QObject *parent)
     _showCurrentMissionItems.setRawValue(true);
     connect(&_overlapWaypoints,             &Fact::rawValueChanged, this, &WimaController::_updateOverlap);
     connect(&_maxWaypointsPerPhase,         &Fact::rawValueChanged, this, &WimaController::_updateMaxWaypoints);
-    connect(&_nextPhaseStartWaypointIndex,  &Fact::rawValueChanged, this, &WimaController::_calcNextPhase);
+    connect(&_nextPhaseStartWaypointIndex,  &Fact::rawValueChanged, this, &WimaController::_setStartIndex);
     connect(&_flightSpeed,                  &Fact::rawValueChanged, this, &WimaController::_updateflightSpeed);
     connect(&_arrivalReturnSpeed,           &Fact::rawValueChanged, this, &WimaController::_updateArrivalReturnSpeed);
     connect(&_altitude,                     &Fact::rawValueChanged, this, &WimaController::_updateAltitude);
@@ -101,10 +89,6 @@ WimaController::WimaController(QObject *parent)
     connect(&_eventTimer, &QTimer::timeout, this, &WimaController::_eventTimerHandler);
     _eventTimer.setInterval(EVENT_TIMER_INTERVAL);
 
-    Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
-    connect(enableLowBatteryHandling, &Fact::rawValueChanged, this, &WimaController::_enableDisableLowBatteryHandling);
-    _enableDisableLowBatteryHandling(enableLowBatteryHandling->rawValue());
-
     // Snake Worker Thread.
     connect(&_snakeWorker, &SnakeWorker::finished, this, &WimaController::_snakeStoreWorkerResults);
     connect(this, &WimaController::nemoProgressChanged, this, &WimaController::_initStartSnakeWorker);
@@ -112,8 +96,11 @@ WimaController::WimaController(QObject *parent)
 
     // Start, stop RosBridge.
     connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_startStopRosBridge);
-    connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_initStartSnakeWorker);
     _startStopRosBridge();
+    connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_initStartSnakeWorker);
+    _initStartSnakeWorker();
+    connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_switchSnakeManager);
+    _switchSnakeManager(_enableSnake.rawValue());
 }
 
 PlanMasterController *WimaController::masterController() {
@@ -128,26 +115,22 @@ QmlObjectListModel *WimaController::visualItems() {
     return &_areas;
 }
 
-WimaDataContainer *WimaController::dataContainer() {
-    return _container;
-}
-
 QmlObjectListModel *WimaController::missionItems() {
-    return const_cast<QmlObjectListModel*>(&_currentManager.missionItems());
+    return const_cast<QmlObjectListModel*>(&_currentManager->missionItems());
 }
 
 QmlObjectListModel *WimaController::currentMissionItems() {
-    return const_cast<QmlObjectListModel*>(&_currentManager.currentMissionItems());
+    return const_cast<QmlObjectListModel*>(&_currentManager->currentMissionItems());
 }
 
 QVariantList WimaController::waypointPath()
 {
-    return const_cast<QVariantList&>(_currentManager.waypointsVariant());
+    return const_cast<QVariantList&>(_currentManager->waypointsVariant());
 }
 
 QVariantList WimaController::currentWaypointPath()
 {
-    return const_cast<QVariantList&>(_currentManager.currentWaypointsVariant());
+    return const_cast<QVariantList&>(_currentManager->currentWaypointsVariant());
 }
 
 Fact *WimaController::enableWimaController() {
@@ -186,28 +169,6 @@ Fact *WimaController::altitude() {
     return &_altitude;
 }
 
-//QStringList WimaController::loadNameFilters() const
-//{
-//    QStringList filters;
-
-//    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension) <<
-//               tr("All Files (*.*)");
-//    return filters;
-//}
-
-//QStringList WimaController::saveNameFilters() const
-//{
-//    QStringList filters;
-
-//    filters << tr("Supported types (*.%1 *.%2)").arg(wimaFileExtension).arg(AppSettings::planFileExtension);
-//    return filters;
-//}
-
-bool WimaController::uploadOverrideRequired() const
-{
-    return _uploadOverrideRequired;
-}
-
 double WimaController::phaseDistance() const
 {
     return 0.0;
@@ -218,11 +179,6 @@ double WimaController::phaseDuration() const
     return 0.0;
 }
 
-bool WimaController::vehicleHasLowBattery() const
-{
-    return _vehicleHasLowBattery;
-}
-
 long WimaController::snakeConnectionStatus() const
 {
     return _snakeConnectionStatus;
@@ -247,35 +203,6 @@ void WimaController::setMissionController(MissionController *missionC)
     emit missionControllerChanged();
 }
 
-/*!
- * \fn void WimaController::setDataContainer(WimaDataContainer *container)
- * Sets the pointer to the \c WimaDataContainer, which is meant to exchange data between the \c WimaController and the \c WimaPlaner.
- *
- * \sa WimaPlaner, WimaDataContainer, WimaPlanData
- */
-void WimaController::setDataContainer(WimaDataContainer *container)
-{
-    if (container != nullptr) {
-        if (_container != nullptr) {
-           disconnect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::_fetchContainerData);
-        }
-
-        _container = container;
-        connect(_container, &WimaDataContainer::newDataAvailable, this, &WimaController::_fetchContainerData);
-
-        emit dataContainerChanged();
-    }
-}
-
-void WimaController::setUploadOverrideRequired(bool overrideRequired)
-{
-    if (_uploadOverrideRequired != overrideRequired) {
-        _uploadOverrideRequired = overrideRequired;
-
-        emit uploadOverrideRequiredChanged();
-    }
-}
-
 void WimaController::nextPhase()
 {
     _calcNextPhase();
@@ -283,8 +210,8 @@ void WimaController::nextPhase()
 
 void WimaController::previousPhase()
 {        
-    if ( !_currentManager.previous() ) {
-        assert(false);
+    if ( !_currentManager->previous() ) {
+        Q_ASSERT(false);
     }
 
     emit missionItemsChanged();
@@ -295,8 +222,8 @@ void WimaController::previousPhase()
 
 void WimaController::resetPhase()
 {
-    if ( !_currentManager.reset() ) {
-        assert(false);
+    if ( !_currentManager->reset() ) {
+        Q_ASSERT(false);
     }
 
     emit missionItemsChanged();
@@ -305,38 +232,42 @@ void WimaController::resetPhase()
     emit waypointPathChanged();
 }
 
-bool WimaController::uploadToVehicle()
+void WimaController::requestSmartRTL()
+{
+    emit smartRTLRequestConfirm();
+}
+
+bool WimaController::upload()
 {
     auto &currentMissionItems = _defaultManager.currentMissionItems();
     if (   !_serviceArea.containsCoordinate(_masterController->managerVehicle()->coordinate())
         && currentMissionItems.count() > 0) {
-        setUploadOverrideRequired(true);
+        emit forceUploadConfirm();
         return false;
     }
 
-    return forceUploadToVehicle();
+    return forceUpload();
 }
 
-bool WimaController::forceUploadToVehicle()
+bool WimaController::forceUpload()
 {
     auto &currentMissionItems = _defaultManager.currentMissionItems();
-    setUploadOverrideRequired(false);
     if (currentMissionItems.count() < 1)
         return false;
 
     _missionController->removeAll();
-    // set homeposition of settingsItem
+    // Set homeposition of settingsItem.
     QmlObjectListModel* visuals = _missionController->visualItems();
     MissionSettingsItem* settingsItem = visuals->value<MissionSettingsItem *>(0);
     if (settingsItem == nullptr) {
-        assert(false);
+        Q_ASSERT(false);
         qWarning("WimaController::updateCurrentMissionItems(): nullptr");
         return false;
     }
     settingsItem->setCoordinate(_managerSettings.homePosition());
 
     // Copy mission items to _missionController.
-    for (int i = 0; i < currentMissionItems.count(); i++){
+    for (int i = 1; i < currentMissionItems.count(); i++){
         auto *item = currentMissionItems.value<const SimpleMissionItem *>(i);
         _missionController->insertSimpleMissionItem(*item, visuals->count());
     }
@@ -352,36 +283,14 @@ void WimaController::removeFromVehicle()
     _missionController->removeAll();
 }
 
-bool WimaController::checkSmartRTLPreCondition()
-{
-    QString errorString;
-    bool retValue = _checkSmartRTLPreCondition(errorString);
-    if (retValue == false) {
-        qgcApp()->showMessage(errorString);
-        return false;
-    }
-    return true;
-}
-
-bool WimaController::calcReturnPath()
-{
-    QString errorString;
-//    bool retValue = _calcReturnPath(errorString);
-//    if (retValue == false) {
-//        qgcApp()->showMessage(errorString);
-//        return false;
-//    }
-    return true;
-}
-
 void WimaController::executeSmartRTL()
 {
-    _executeSmartRTL();
+    forceUpload();
+    masterController()->managerVehicle()->startMission();
 }
 
 void WimaController::initSmartRTL()
 {
-    _srtlReason = UserRequest;
     _initSmartRTL();
 }
 
@@ -391,34 +300,7 @@ void WimaController::removeVehicleTrajectoryHistory()
     managerVehicle->trajectoryPoints()->clear();
 }
 
-//void WimaController::saveToFile(const QString& filename)
-//{
-//    QString file = filename;
-//}
-
-//bool WimaController::loadFromCurrent()
-//{
-//    return true;
-//}
-
-//bool WimaController::loadFromFile(const QString &filename)
-//{
-//    QString file = filename;
-//    return true;
-//}
-
-
-
-//QJsonDocument WimaController::saveToJson(FileType fileType)
-//{
-//    if(fileType)
-//    {
-
-//    }
-//    return QJsonDocument();
-//}
-
-bool WimaController::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path)
+bool WimaController::_calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path)
 {
     using namespace GeoUtilities;
     using namespace PolygonCalculus;
@@ -442,7 +324,7 @@ bool WimaController::calcShortestPath(const QGeoCoordinate &start, const QGeoCoo
  *
  * \sa WimaDataContainer, WimaPlaner, WimaPlanData
  */
-bool WimaController::_fetchContainerData()
+bool WimaController::setWimaPlanData(const WimaPlanData &planData)
 {
     // fetch only if valid, return true on success
 
@@ -463,14 +345,6 @@ bool WimaController::_fetchContainerData()
 
     _localPlanDataValid = false;
 
-    if (_container == nullptr) {
-        qWarning("WimaController::fetchContainerData(): No container assigned!");
-        assert(false);
-        return false;
-    }
-
-    WimaPlanData planData = _container->pull();
-
     // extract list with WimaAreas
     QList<const WimaAreaData*> areaList = planData.areaList();
 
@@ -516,10 +390,12 @@ bool WimaController::_fetchContainerData()
     }
 
     if (areaCounter != numAreas) {
-        assert(false);
+        Q_ASSERT(false);
         return false;
     }
 
+    emit visualItemsChanged();
+
     // extract mission items
     QList<MissionItem> tempMissionItems = planData.missionItems();
     if (tempMissionItems.size() < 1) {
@@ -536,10 +412,17 @@ bool WimaController::_fetchContainerData()
                                                      0) );
 
     if( !_defaultManager.reset() ){
-        assert(false);
+        Q_ASSERT(false);
         return false;
     }
 
+    emit missionItemsChanged();
+    emit currentMissionItemsChanged();
+    emit waypointPathChanged();
+    emit currentWaypointPathChanged();
+
+
+
     // Initialize _scenario.
     Area mArea;
     for (auto variant : _measurementArea.path()){
@@ -567,9 +450,10 @@ bool WimaController::_fetchContainerData()
     _scenario.addArea(corridor);
 
     // Check if scenario is defined.
-    if ( !_verifyScenarioDefinedWithErrorMessage() )
-        assert(false);
+    if ( !_isScenarioDefinedErrorMessage() ) {
+        Q_ASSERT(false);
         return false;
+    }
 
     {
         // Get tiles and origin.
@@ -607,36 +491,42 @@ bool WimaController::_fetchContainerData()
             _snakeTilesLocal.polygons().append(Tile);
         }
     }
+    emit snakeTilesChanged();
+    emit snakeTileCenterPointsChanged();
 
+    _localPlanDataValid = true;
+    return true;
+}
 
+WimaController *WimaController::thisPointer()
+{
+    return this;
+}
+
+bool WimaController::_calcNextPhase()
+{
+    if ( !_currentManager->next() ) {
+        Q_ASSERT(false);
+        return false;
+    }
 
-    emit visualItemsChanged();
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
     emit currentWaypointPathChanged();
-    emit snakeTilesChanged();
-    emit snakeTileCenterPointsChanged();
+    emit waypointPathChanged();
 
-    _localPlanDataValid = true;
     return true;
 }
 
-bool WimaController::_calcNextPhase()
+bool WimaController::_setStartIndex()
 {
-    qDebug() << "WimaController::_calcNextPhase: "
-             << "overlap=" << _currentManager.overlap()
-             << "N=" << _currentManager.N()
-             << "startIndex=" << _currentManager.startIndex();
-//    bool value;
-//    _currentManager.setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
-//    Q_ASSERT(value);
-//    (void)value;
-//    qDebug() << "overlap=" << _currentManager.overlap()
-//             << "N=" << _currentManager.N()
-//             << "startIndex=" << _currentManager.startIndex();
-
-    if ( !_currentManager.next() ) {
-        assert(false);
+    bool value;
+    _currentManager->setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value));
+    Q_ASSERT(value);
+    (void)value;
+
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
         return false;
     }
 
@@ -650,8 +540,8 @@ bool WimaController::_calcNextPhase()
 
 void WimaController::_recalcCurrentPhase()
 {
-    if ( !_currentManager.update() ) {
-        assert(false);
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
     }
 
     emit missionItemsChanged();
@@ -663,11 +553,11 @@ void WimaController::_recalcCurrentPhase()
 void WimaController::_updateOverlap()
 {
     bool value;
-    _currentManager.setOverlap(_overlapWaypoints.rawValue().toUInt(&value));
+    _currentManager->setOverlap(_overlapWaypoints.rawValue().toUInt(&value));
     Q_ASSERT(value);
     (void)value;
 
-    if ( !_currentManager.update() ) {
+    if ( !_currentManager->update() ) {
         assert(false);
     }
 
@@ -680,25 +570,30 @@ void WimaController::_updateOverlap()
 void WimaController::_updateMaxWaypoints()
 {
     bool value;
-    _currentManager.setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
+    _currentManager->setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
     Q_ASSERT(value);
     (void)value;
 
-    if ( !_currentManager.update() ) {
-        assert(false);
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
     }
 
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
     emit currentWaypointPathChanged();
     emit waypointPathChanged();
-
 }
 
 void WimaController::_updateflightSpeed()
 {
+    bool value;
     _managerSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble());
-    _currentManager.update();
+    Q_ASSERT(value);
+    (void)value;
+
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
+    }
 
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
@@ -708,8 +603,14 @@ void WimaController::_updateflightSpeed()
 
 void WimaController::_updateArrivalReturnSpeed()
 {
+    bool value;
     _managerSettings.setArrivalReturnSpeed(_arrivalReturnSpeed.rawValue().toDouble());
-    _currentManager.update();
+    Q_ASSERT(value);
+    (void)value;
+
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
+    }
 
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
@@ -719,8 +620,14 @@ void WimaController::_updateArrivalReturnSpeed()
 
 void WimaController::_updateAltitude()
 {
+    bool value;
     _managerSettings.setAltitude(_altitude.rawValue().toDouble());
-    _currentManager.update();
+    Q_ASSERT(value);
+    (void)value;
+
+    if ( !_currentManager->update() ) {
+        Q_ASSERT(false);
+    }
 
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
@@ -743,21 +650,14 @@ void WimaController::_checkBatteryLevel()
 
         if (battery1percentRemaining->rawValue().toDouble() < batteryThreshold
                 && battery2percentRemaining->rawValue().toDouble() < batteryThreshold) {
-            _setVehicleHasLowBattery(true);
-            if (!_lowBatteryHandlingTriggered) {
-
-                if (_missionController->remainingTime() <= minTime) {
-                    _lowBatteryHandlingTriggered = true;
-                }
-                else {
-                    _lowBatteryHandlingTriggered = true;
-                    _srtlReason = BatteryLow;
+            if (!_lowBatteryHandlingTriggered) {                
+                _lowBatteryHandlingTriggered = true;
+                if ( !(_missionController->remainingTime() <= minTime) ) {
                     _initSmartRTL();
                 }
             }
         }
         else {
-            _setVehicleHasLowBattery(false);
             _lowBatteryHandlingTriggered = false;
         }
 
@@ -771,7 +671,8 @@ void WimaController::_eventTimerHandler()
     static EventTicker rosBridgeTicker(EVENT_TIMER_INTERVAL, 1000);
 
     // Battery level check necessary?
-    if ( batteryLevelTicker.ready() )
+    Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling();
+    if ( enableLowBatteryHandling->rawValue().toBool() && batteryLevelTicker.ready() )
         _checkBatteryLevel();
 
     // Snake flight plan update necessary?
@@ -796,28 +697,11 @@ void WimaController::_eventTimerHandler()
 
 void WimaController::_smartRTLCleanUp(bool flying)
 {
-    (void)flying;
-
-//    if ( !flying) { // vehicle has landed
-//        if (_executingSmartRTL) {
-//            _executingSmartRTL = false;
-//            _loadCurrentMissionItemsFromBuffer();
-//            _setPhaseDistance(_phaseDistanceBuffer);
-//            _setPhaseDuration(_phaseDurationBuffer);
-//            _showAllMissionItems.setRawValue(true);
-//            _missionController->removeAllFromVehicle();
-//            _missionController->removeAll();
-//            disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
-//        }
-//    }
-}
-
-void WimaController::_enableDisableLowBatteryHandling(QVariant enable)
-{
-    if (enable.toBool()) {
-        _eventTimer.start();
-    } else {
-        _eventTimer.stop();
+    if ( !flying) { // vehicle has landed
+        _switchWaypointManager(_defaultManager);
+        _missionController->removeAllFromVehicle();
+        _missionController->removeAll();
+        disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
     }
 }
 
@@ -841,73 +725,52 @@ void WimaController::_setPhaseDuration(double duration)
 //    }
 }
 
-bool WimaController::_checkSmartRTLPreCondition(QString &errorString)
+QString WimaController::_checkSmartRTLPreCondition(void)
 {
     if (!_localPlanDataValid) {
-        errorString.append(tr("No WiMA data available. Please define at least a measurement and a service area."));
-        return false;
-    }
-    Vehicle *managerVehicle = masterController()->managerVehicle();
-    if (!managerVehicle->flying()) {
-         errorString.append(tr("Vehicle is not flying. Smart RTL not available."));
-         return false;
-    }
-
-    if (!_joinedArea.containsCoordinate(managerVehicle->coordinate())) {
-         errorString.append(tr("Vehicle not inside save area. Smart RTL not available."));
-         return false;
+        return QString(tr("No WiMA data available. Please define at least a measurement and a service area."));
     }
+    auto errorString = _rtlManager.checkPrecondition();
 
-   return true;
+    return errorString;
 }
 
-void WimaController::_setVehicleHasLowBattery(bool batteryLow)
+void WimaController::_switchWaypointManager(WaypointManager::ManagerBase &manager)
 {
-    if (_vehicleHasLowBattery != batteryLow) {
-        _vehicleHasLowBattery = batteryLow;
+    if (_currentManager != &manager) {
+        _currentManager = &manager;
+
+        emit missionItemsChanged();
+        emit currentMissionItemsChanged();
+        emit waypointPathChanged();
+        emit currentWaypointPathChanged();
 
-        emit vehicleHasLowBatteryChanged();
+        qWarning() << "WimaController::_switchWaypointManager: statistics update missing.";
     }
 }
 
 void WimaController::_initSmartRTL()
 {
-//    QString errorString;
-//    static int attemptCounter = 0;
-//    attemptCounter++;
-
-//    if (_checkSmartRTLPreCondition(errorString) == true) {
-//        _masterController->managerVehicle()->pauseVehicle();
-//        connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
-//        if (_calcReturnPath(errorString)) {
-//            _executingSmartRTL = true;
-//            attemptCounter = 0;
-
-//            switch(_srtlReason) {
-//                case BatteryLow:
-//                    emit returnBatteryLowConfirmRequired();
-//                break;
-//                case UserRequest:
-//                    emit returnUserRequestConfirmRequired();
-//                break;
-//            }
-
-//            return;
-//        }
-//    }
-//    if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) { // try 3 times, somtimes vehicle is outside joined area
-//        errorString.append(tr("Smart RTL: No success after maximum number of attempts."));
-//        qgcApp()->showMessage(errorString);
-//        attemptCounter = 0;
-//    } else {
-//        _smartRTLAttemptTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this, &WimaController::_initSmartRTL);
-//    }
-}
-
-void WimaController::_executeSmartRTL()
-{
-    forceUploadToVehicle();
-    masterController()->managerVehicle()->startMission();
+    QString errorString;
+    static int attemptCounter = 0;
+    attemptCounter++;
+
+    if (!_checkSmartRTLPreCondition().isEmpty()) {
+        _masterController->managerVehicle()->pauseVehicle();
+        connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
+        if ( _rtlManager.update() ) { // Calculate return path.
+            _switchWaypointManager(_rtlManager);
+            attemptCounter = 0;
+            emit smartRTLPathConfirm();
+            return;
+        }
+    } else if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) {
+        errorString.append(tr("Smart RTL: No success after maximum number of attempts."));
+        qgcApp()->showMessage(errorString);
+        attemptCounter = 0;
+    } else {
+        _smartRTLTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this, &WimaController::_initSmartRTL);
+    }
 }
 
 void WimaController::_setSnakeConnectionStatus(WimaController::SnakeConnectionStatus status)
@@ -926,15 +789,17 @@ void WimaController::_setSnakeCalcInProgress(bool inProgress)
     }
 }
 
-bool WimaController::_verifyScenarioDefined()
+bool WimaController::_isScenarioDefined()
 {
-    _scenarioDefinedBool = _scenario.defined(_snakeTileWidth.rawValue().toDouble(), _snakeTileHeight.rawValue().toDouble(), _snakeMinTileArea.rawValue().toDouble());
+    _scenarioDefinedBool = _scenario.defined(_snakeTileWidth.rawValue().toDouble(),
+                                             _snakeTileHeight.rawValue().toDouble(),
+                                             _snakeMinTileArea.rawValue().toDouble());
     return _scenarioDefinedBool;
 }
 
-bool WimaController::_verifyScenarioDefinedWithErrorMessage()
+bool WimaController::_isScenarioDefinedErrorMessage()
 {
-    bool value = _verifyScenarioDefined();
+    bool value = _isScenarioDefined();
     if (!value){
         QString errorString;
         for (auto c : _scenario.errorString)
@@ -958,7 +823,10 @@ void WimaController::_snakeStoreWorkerResults()
 
     // create Mission items from r.waypoints
     long n = r.waypoints.size() - r.returnPathIdx.size() - r.arrivalPathIdx.size() + 2;
-    assert(n >= 1);
+    if (n >= 1) {
+        Q_ASSERT(n >= 1);
+        return;
+    }
 
     // Create QVector<QGeoCoordinate> containing all waypoints;
     unsigned long startIdx = r.arrivalPathIdx.last();
@@ -1009,6 +877,15 @@ void WimaController::_initStartSnakeWorker()
     _snakeWorker.start();
 }
 
+void WimaController::_switchSnakeManager(QVariant variant)
+{
+    if (variant.value<bool>()){
+        _switchWaypointManager(_snakeManager);
+    } else {
+        _switchWaypointManager(_defaultManager);
+    }
+}
+
 void WimaController::_progressFromJson(JsonDocUPtr pDoc,
                                        QNemoProgress &progress)
 {

src/Wima/WimaController.h

@@ -10,11 +10,12 @@
 #include "Geometry/WimaMeasurementArea.h"
 #include "Geometry/WimaServiceArea.h"
 #include "Geometry/WimaCorridor.h"
-#include "WimaDataContainer.h"
 #include "Geometry/WimaMeasurementAreaData.h"
 #include "Geometry/WimaCorridorData.h"
 #include "Geometry/WimaServiceAreaData.h"
 
+#include "WimaPlanData.h"
+
 #include "PlanMasterController.h"
 #include "MissionController.h"
 #include "SurveyComplexItem.h"
@@ -36,6 +37,7 @@
 #include "ros_bridge/include/ROSBridge.h"
 
 #include "WaypointManager/DefaultManager.h"
+#include "WaypointManager/RTLManager.h"
 
 #define CHECK_BATTERY_INTERVAL 1000 // ms
 #define SMART_RTL_MAX_ATTEMPTS 3 // times
@@ -63,7 +65,7 @@ public:
 
     WimaController(QObject *parent = nullptr);
 
-
+    // Controllers.
     Q_PROPERTY(PlanMasterController*    masterController
                READ                     masterController
                WRITE                    setMasterController
@@ -74,19 +76,11 @@ public:
                WRITE                    setMissionController
                NOTIFY                   missionControllerChanged
                )
+    // Wima Data.
     Q_PROPERTY(QmlObjectListModel*      visualItems
                READ                     visualItems
                NOTIFY                   visualItemsChanged
                )
-//    Q_PROPERTY(QString                  currentFile             READ currentFile                                            NOTIFY currentFileChanged)
-//    Q_PROPERTY(QStringList              loadNameFilters         READ loadNameFilters                                        CONSTANT)
-//    Q_PROPERTY(QStringList              saveNameFilters         READ saveNameFilters                                        CONSTANT)
-//    Q_PROPERTY(QString                  fileExtension           READ fileExtension                                          CONSTANT)
-    Q_PROPERTY(WimaDataContainer*   dataContainer
-               READ                 dataContainer
-               WRITE                setDataContainer
-               NOTIFY               dataContainerChanged
-               )
     Q_PROPERTY(QmlObjectListModel*  missionItems
                READ                 missionItems
                NOTIFY               missionItemsChanged
@@ -106,6 +100,7 @@ public:
     Q_PROPERTY(Fact*                    enableWimaController
                READ enableWimaController
                CONSTANT)
+    // Waypoint navigaton.
     Q_PROPERTY(Fact*    overlapWaypoints
                READ     overlapWaypoints
                CONSTANT
@@ -126,6 +121,7 @@ public:
                READ     showCurrentMissionItems
                CONSTANT
                )
+    // Waypoint settings.
     Q_PROPERTY(Fact*    flightSpeed
                READ     flightSpeed
                CONSTANT
@@ -138,11 +134,7 @@ public:
                READ     arrivalReturnSpeed
                CONSTANT
                )
-    Q_PROPERTY(bool     uploadOverrideRequired
-               READ     uploadOverrideRequired
-               WRITE    setUploadOverrideRequired
-               NOTIFY   uploadOverrideRequiredChanged
-               )
+    // Waypoint statistics.
     Q_PROPERTY(double   phaseDistance
                READ     phaseDistance
                NOTIFY   phaseDistanceChanged
@@ -151,10 +143,6 @@ public:
                READ     phaseDuration
                NOTIFY   phaseDurationChanged
                )
-    Q_PROPERTY(bool     vehicleHasLowBattery
-               READ     vehicleHasLowBattery
-               NOTIFY   vehicleHasLowBatteryChanged
-               )
 
     // Snake
     Q_PROPERTY(Fact*    enableSnake
@@ -205,19 +193,18 @@ public:
 
 
     // Property accessors
+    // Controllers.
     PlanMasterController*       masterController       (void);
     MissionController*          missionController      (void);
+    // Wima Data
     QmlObjectListModel*         visualItems            (void);
-//    QString                     currentFile            (void) const     { return _currentFile; }
-//    QStringList                 loadNameFilters        (void) const;
-//    QStringList                 saveNameFilters        (void) const;
-//    QString                     fileExtension          (void) const     { return wimaFileExtension; }
     QGCMapPolygon               joinedArea             (void) const;
-    WimaDataContainer*          dataContainer          (void);
+    // Waypoints.
     QmlObjectListModel*         missionItems           (void);
     QmlObjectListModel*         currentMissionItems    (void);
     QVariantList                waypointPath           (void);
     QVariantList                currentWaypointPath    (void);
+    // Settings facts.
     Fact*                       enableWimaController   (void);
     Fact*                       overlapWaypoints       (void);
     Fact*                       maxWaypointsPerPhase   (void);
@@ -227,54 +214,51 @@ public:
     Fact*                       flightSpeed            (void);
     Fact*                       arrivalReturnSpeed     (void);
     Fact*                       altitude               (void);
-
+    // Snake settings facts.
     Fact*                       enableSnake            (void)           { return &_enableSnake; }
     Fact*                       snakeTileWidth         (void)           { return &_snakeTileWidth;}
     Fact*                       snakeTileHeight        (void)           { return &_snakeTileHeight;}
     Fact*                       snakeMinTileArea       (void)           { return &_snakeMinTileArea;}
     Fact*                       snakeLineDistance      (void)           { return &_snakeLineDistance;}
     Fact*                       snakeMinTransectLength (void)           { return &_snakeMinTransectLength;}
+    // Snake data.
     QmlObjectListModel*         snakeTiles             (void)           { return _snakeTiles.QmlObjectListModel();}
     QVariantList                snakeTileCenterPoints  (void)           { return _snakeTileCenterPoints;}
-    QVector<int>                nemoProgress           (void)           { return _nemoProgress.progress();}
+    QVector<int>                nemoProgress           (void)           { return _nemoProgress.progress();}    
+    long                        snakeConnectionStatus  (void) const;
+    bool                        snakeCalcInProgress    (void) const;
 
+    // Smart RTL.
     bool                        uploadOverrideRequired (void) const;
+    bool                        vehicleHasLowBattery   (void) const;
+    // Waypoint statistics.
     double                      phaseDistance          (void) const;
     double                      phaseDuration          (void) const;
-    bool                        vehicleHasLowBattery   (void) const;
-
-    long                        snakeConnectionStatus (void) const;
-    bool                        snakeCalcInProgress   (void) const;
 
 
     // Property setters
     void setMasterController        (PlanMasterController* masterController);
     void setMissionController       (MissionController* missionController);
-    void setDataContainer           (WimaDataContainer* container);
-    void setUploadOverrideRequired  (bool overrideRequired);
+    bool setWimaPlanData            (const WimaPlanData &planData);
 
     // Member Methodes
+    Q_INVOKABLE WimaController *thisPointer();
+    // Waypoint navigation.
     Q_INVOKABLE void nextPhase();
     Q_INVOKABLE void previousPhase();
     Q_INVOKABLE void resetPhase();
-    Q_INVOKABLE bool uploadToVehicle();
-    Q_INVOKABLE bool forceUploadToVehicle();
-    Q_INVOKABLE void removeFromVehicle();    
-    Q_INVOKABLE bool checkSmartRTLPreCondition();
-    Q_INVOKABLE bool calcReturnPath();
-    Q_INVOKABLE void executeSmartRTL();
+    // Smart RTL.
+    Q_INVOKABLE void requestSmartRTL();
     Q_INVOKABLE void initSmartRTL();
+    Q_INVOKABLE void executeSmartRTL();
+    // Other.
     Q_INVOKABLE void removeVehicleTrajectoryHistory();
-
-
-//    Q_INVOKABLE void saveToCurrent  ();
-//    Q_INVOKABLE void saveToFile     (const QString& filename);
-//    Q_INVOKABLE bool loadFromCurrent();
-//    Q_INVOKABLE bool loadFromFile   (const QString& filename);
+    Q_INVOKABLE bool upload();
+    Q_INVOKABLE bool forceUpload();
+    Q_INVOKABLE void removeFromVehicle();
 
 
     // static Members
-//    static const char* wimaFileExtension;
     static const char* areaItemsName;
     static const char* missionItemsName;    
     static const char* settingsGroup;
@@ -294,78 +278,81 @@ public:
     static const char* snakeLineDistanceName;
     static const char* snakeMinTransectLengthName;
 
-    // Member Methodes
-    QJsonDocument saveToJson(FileType fileType);
-
-    bool calcShortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &path);
-
 signals:
+    // Controllers.
     void masterControllerChanged            (void);
     void missionControllerChanged           (void);
+    // Wima data.
     void visualItemsChanged                 (void);
-//    void currentFileChanged                 ();
-    void dataContainerChanged               ();
-    void readyForSaveSendChanged            (bool ready);
+    // Waypoints.
     void missionItemsChanged                (void);
     void currentMissionItemsChanged         (void);
     void waypointPathChanged                (void);
     void currentWaypointPathChanged         (void);
-    void uploadOverrideRequiredChanged      (void);
+    // Smart RTL.
+    void smartRTLRequestConfirm             (void);
+    void smartRTLPathConfirm                (void);
+    // Upload.
+    void forceUploadConfirm                 (void);
+    // Waypoint statistics.
     void phaseDistanceChanged               (void);
     void phaseDurationChanged               (void);
-    void vehicleHasLowBatteryChanged        (void);
-    void returnBatteryLowConfirmRequired    (void);
-    void returnUserRequestConfirmRequired   (void);
+    // Snake.
     void snakeConnectionStatusChanged       (void);
     void snakeCalcInProgressChanged         (void);
     void snakeTilesChanged                  (void);
     void snakeTileCenterPointsChanged       (void);
     void nemoProgressChanged                (void);
-private:
-    enum SRTL_Reason {BatteryLow, UserRequest};
+
 private slots:
-    bool _fetchContainerData();
-    bool _calcNextPhase(void);
-    //void _updateWaypointPath                 (void);
-    //void _updateCurrentPath                  (void);
-    //void _updateNextWaypoint                 (void);
-    void _recalcCurrentPhase                 (void);
-    //bool _setTakeoffLandPosition             (void);
-    void _updateOverlap                      (void);
-    void _updateMaxWaypoints                 (void);
-    void _updateflightSpeed                  (void);
-    void _updateArrivalReturnSpeed           (void);
-    void _updateAltitude                     (void);
-    void _checkBatteryLevel                  (void);
-    void _eventTimerHandler                  (void);
-    void _smartRTLCleanUp                    (bool flying); // cleans up after successfull smart RTL
-    void _enableDisableLowBatteryHandling    (QVariant enable);
-    void _initSmartRTL                       ();
-    void _executeSmartRTL                    ();
+
+    // Waypoint navigation / helper.
+    bool _calcNextPhase         (void);
+    void _recalcCurrentPhase    (void);
+    bool _calcShortestPath      (const QGeoCoordinate &start,
+                                 const QGeoCoordinate &destination,
+                                 QVector<QGeoCoordinate> &path);
+    // Slicing parameters
+    bool _setStartIndex             (void);
+    void _updateOverlap             (void);
+    void _updateMaxWaypoints        (void);
+    // Waypoint settings.
+    void _updateflightSpeed         (void);
+    void _updateArrivalReturnSpeed  (void);
+    void _updateAltitude            (void);
+    // Waypoint Statistics.
+    void _setPhaseDistance  (double distance);
+    void _setPhaseDuration  (double duration);
+    // SMART RTL
+    void    _checkBatteryLevel                  (void);
+    QString _checkSmartRTLPreCondition          (void);
+    void    _initSmartRTL                       ();
+    void    _smartRTLCleanUp                    (bool flying);
+    // Snake.
     void _setSnakeConnectionStatus           (SnakeConnectionStatus status);
     void _setSnakeCalcInProgress             (bool inProgress);
-    bool _verifyScenarioDefined                    (void);
-    bool _verifyScenarioDefinedWithErrorMessage    (void);
+    bool _isScenarioDefined                  (void);
+    bool _isScenarioDefinedErrorMessage      (void);
     void _snakeStoreWorkerResults            ();
     void _startStopRosBridge                 ();
     void _initStartSnakeWorker               ();
+    void _switchSnakeManager                 (QVariant variant);
+    // Periodic tasks.
+    void _eventTimerHandler                  (void);
+    // Waypoint manager handling.
+    void _switchWaypointManager(WaypointManager::ManagerBase &manager);
 
 private:
-    void _setPhaseDistance(double distance);
-    void _setPhaseDuration(double duration);
-    bool _checkSmartRTLPreCondition(QString &errorString); // should be called from gui, befor calcReturnPath()
-    bool _calcReturnPath(QString &errorSring); // Calculates return path (destination: service area center) for a flying vehicle
-    void _setVehicleHasLowBattery(bool batteryLow);
-    void _loadCurrentMissionItemsFromBuffer();
-    void _saveCurrentMissionItemsToBuffer();
-
-    void _progressFromJson(JsonDocUPtr pDoc,
-                           QNemoProgress &progress);
+    // Snake.
+    void _progressFromJson                   (JsonDocUPtr pDoc,
+                                              QNemoProgress &progress);
 
+    // Controllers.
     PlanMasterController   *_masterController;
     MissionController      *_missionController;
-//    QString                 _currentFile; // file for saveing
-    WimaDataContainer      *_container; // container for data exchange with WimaController
+
+    // Wima Data.
+
     QmlObjectListModel      _areas; // contains all visible areas
     WimaJoinedAreaData      _joinedArea; // joined area fromed by opArea, serArea, _corridor
     WimaMeasurementAreaData _measurementArea; // measurement area
@@ -373,22 +360,15 @@ private:
     WimaCorridorData        _corridor; // corridor connecting opArea and serArea
     bool                    _localPlanDataValid;
 
+    // Waypoint Managers.
+    WaypointManager::AreaInterface      _areaInterface;
+    WaypointManager::Settings           _managerSettings;
+    WaypointManager::DefaultManager     _defaultManager;
+    WaypointManager::DefaultManager     _snakeManager;
+    WaypointManager::RTLManager         _rtlManager;
+    WaypointManager::ManagerBase       *_currentManager;
 
-    WaypointManager::AreaInterface  _areaInterface;
-    WaypointManager::Settings       _managerSettings;
-    WaypointManager::DefaultManager _defaultManager;
-    WaypointManager::DefaultManager _snakeManager;
-    WaypointManager::ManagerBase   &_currentManager;
-
-//    QmlObjectListModel      _missionItems; // all mission itmes (Mission Items) generaded by wimaPlaner, displayed in flightView
-//    QmlObjectListModel      _currentMissionItems; // contains the current mission items, which are a sub set of _missionItems,
-//                                                  // _currentMissionItems contains a number of mission items which can be worked off with a single battery chrage
-//    QmlObjectListModel      _missionItemsBuffer; // Buffer to store mission items, e.g. for storing _currentMissionItems when smartRTL() is invoked
-//    QVector<QGeoCoordinate> _waypoints; // path connecting the items in _missionItems
-//    QVariantList            _currentWaypointPath; // path connecting the items in _currentMissionItems
-//    QGeoCoordinate          _takeoffLandPostion;
-
-
+    // Settings Facts.
     QMap<QString, FactMetaData*> _metaDataMap;
     SettingsFact                 _enableWimaController; // enables or disables the wimaControler
     SettingsFact                 _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases
@@ -401,48 +381,37 @@ private:
     SettingsFact                 _arrivalReturnSpeed; // arrival and return path speed
     SettingsFact                 _altitude; // mission altitude
     SettingsFact                 _enableSnake; // Enable Snake (see snake.h)
-
-//    int                          _endWaypointIndex; // index of the mission item stored in _missionItems defining the last element
-//                                                    // (which is not part of the return path) of _currentMissionItem
-//    int                          _startWaypointIndex; // index of the mission item stored in _missionItems defining the first element
-//                                                      // (which is not part of the arrival path) of _currentMissionItem
-    bool                         _uploadOverrideRequired; // Is set to true if uploadToVehicle() did not suceed because the vehicle is not inside the service area.
-                                                          // The user can override the upload lock with a slider, this will reset this variable to false.
-    double                       _measurementPathLength; // the lenght of the phase in meters
-//    double                       _arrivalPathLength; // the length of the arrival and return path in meters
-//    double                       _returnPathLength; // the length of the arrival and return path in meters
-//    double                       _phaseDistance; // the lenth in meters of the current phase
-//    double                       _phaseDuration; // the phase duration in seconds
-//    double                       _phaseDistanceBuffer; // buffer for storing _phaseDistance when doing smart RTL
-//    double                       _phaseDurationBuffer; // buffer for storing _phaseDuration when doing smart RTL
-
-    QTimer                       _eventTimer;
-    QTimer                       _smartRTLAttemptTimer;
-    SRTL_Reason                  _srtlReason;
-
-    bool                         _vehicleHasLowBattery;
-    bool                         _lowBatteryHandlingTriggered;
-    bool                         _executingSmartRTL;
-
-    // Snake
-    SnakeConnectionStatus        _snakeConnectionStatus;
-    bool                         _snakeCalcInProgress;
-    bool                         _snakeRecalcNecessary;
-    bool                         _scenarioDefinedBool;
-    SnakeWorker                  _snakeWorker;
-    Scenario                     _scenario;
     SettingsFact                 _snakeTileWidth;
     SettingsFact                 _snakeTileHeight;
     SettingsFact                 _snakeMinTileArea;
     SettingsFact                 _snakeLineDistance;
     SettingsFact                 _snakeMinTransectLength;
-    ::GeoPoint3D                 _snakeOrigin;
-    SnakeTiles                   _snakeTiles; // tiles
-    SnakeTilesLocal              _snakeTilesLocal; // tiles local coordinate system
-    QVariantList                 _snakeTileCenterPoints;
-    QNemoProgress                _nemoProgress; // measurement progress
 
-    ROSBridgePtr                 _pRosBridge;
+    // Smart RTL.
+    QTimer          _smartRTLTimer;
+    bool            _lowBatteryHandlingTriggered;
+
+    // Waypoint statistics.
+    double                       _measurementPathLength; // the lenght of the phase in meters
+//    double                       _phaseDistance; // the lenth in meters of the current phase
+//    double                       _phaseDuration; // the phase duration in seconds
+
+    // Snake
+    SnakeConnectionStatus   _snakeConnectionStatus;
+    bool                    _snakeCalcInProgress;
+    bool                    _snakeRecalcNecessary;
+    bool                    _scenarioDefinedBool;
+    SnakeWorker             _snakeWorker;
+    Scenario                _scenario;
+    ::GeoPoint3D            _snakeOrigin;
+    SnakeTiles              _snakeTiles; // tiles
+    SnakeTilesLocal         _snakeTilesLocal; // tiles local coordinate system
+    QVariantList            _snakeTileCenterPoints;
+    QNemoProgress           _nemoProgress; // measurement progress
+    ROSBridgePtr            _pRosBridge;
+
+    // Periodic tasks.
+    QTimer                  _eventTimer;
 
 };
 

src/Wima/WimaDataContainer.cc

-#include "WimaDataContainer.h"
-
-WimaDataContainer::WimaDataContainer(QObject *parent)
-    :   QObject     (parent)
-    ,   _planData   (this /* parent */)
-{
-
-}
-
-/*!
- * \fn void WimaDataContainer::push(const WimaPlanData &planData)
- *
- * Updates the \c WimaPlanData members content with \a planData.
- * Emits the planDataChanged() signal.
- *
- * \sa WimaPlanData
- */
-void WimaDataContainer::push(const WimaPlanData &planData)
-{
-    _planData = planData;
-
-    emit newDataAvailable();
-}
-
-/*!
- * \fn const WimaPlanData &WimaDataContainer::pull() const
- *
- * Returns a constant referenc to the \c WimaPlanData member.
- *
- * \sa WimaPlanData
- */
-const WimaPlanData &WimaDataContainer::pull() const
-{
-    return  _planData;
-}
-
-/*!
- * \class WimaDataContainer
- * \brief Data container designed for data exchange between \c WimaPlaner and \c WimaController.
- * Data container designed for data exchange between \c WimaPlaner and \c WimaController.
- * It is meant that only one instance of this class exists. Both \c WimaPlaner and \c WimaController
- * have a reference to this instance and can modify its data.
- *
- * \sa WimaController, WimaPlaner
- */
-
-
-
-

src/Wima/WimaDataContainer.h

-#pragma once
-
-#include <QObject>
-
-#include "WimaPlanData.h"
-
-class WimaDataContainer : public QObject
-{
-    Q_OBJECT
-public:
-    WimaDataContainer(QObject *parent = nullptr);
-    WimaDataContainer(WimaDataContainer &other, QObject *parent = nullptr) = delete;
-    WimaDataContainer(WimaDataContainer &other) = delete;
-
-    Q_INVOKABLE WimaDataContainer* pointerToThis() {return this;}  
-
-signals:
-    void newDataAvailable(void);
-
-public slots:
-    void                push(const WimaPlanData &planData);
-    const WimaPlanData &pull() const;
-private:
-
-
-    WimaPlanData _planData;
-};
-

src/Wima/WimaPlaner.cc

@@ -11,7 +11,7 @@ const char* WimaPlaner::missionItemsName    = "MissionItems";
 WimaPlaner::WimaPlaner(QObject *parent)
     : QObject                       (parent)
     , _currentAreaIndex             (-1)
-    , _container                    (nullptr)
+    , _wimaBridge                   (nullptr)
     , _joinedArea                   (this)
     , _joinedAreaValid              (false)
     , _measurementArea              (this)
@@ -39,7 +39,7 @@ WimaPlaner::WimaPlaner(QObject *parent)
     // for debugging and testing purpose, remove if not needed anymore
     connect(&_autoLoadTimer, &QTimer::timeout, this, &WimaPlaner::autoLoadMission);
     _autoLoadTimer.setSingleShot(true);
-    //_autoLoadTimer.start(300);
+    _autoLoadTimer.start(300);
 
     _calcArrivalAndReturnPathTimer.setInterval(100);
     _calcArrivalAndReturnPathTimer.setSingleShot(true);
@@ -95,11 +95,11 @@ void WimaPlaner::setCurrentPolygonIndex(int index)
     }
 }
 
-void WimaPlaner::setDataContainer(WimaDataContainer *container)
+void WimaPlaner::setWimaBridge(WimaBridge *bridge)
 {
-    if (container != nullptr) {
-        _container = container;
-        emit dataContainerChanged();
+    if (bridge != nullptr) {
+        _wimaBridge = bridge;
+        emit wimaBridgeChanged();
     }
 }
 
@@ -113,6 +113,11 @@ bool WimaPlaner::readyForSync()
     return _readyForSync;
 }
 
+WimaPlaner *WimaPlaner::thisPointer()
+{
+    return this;
+}
+
 void WimaPlaner::removeArea(int index)
 {
     if(index >= 0 && index < _visualItems.count()){
@@ -636,20 +641,13 @@ bool WimaPlaner::recalcJoinedArea()
     return true;
 }
 
-/*!
- * \fn void WimaPlaner::pushToContainer()
- * Pushes the \c WimaPlanData object generated by \c toPlanData() to the \c WimaDataContainer.
- * Should be called only after \c updateMission() was successful.
- *
- * \sa WimaDataContainer, WimaPlanData
- */
-void WimaPlaner::pushToContainer()
+void WimaPlaner::pushToWimaController()
 {
-    if (_container != nullptr) {
+    if (_wimaBridge != nullptr) {
         if (!_readyForSync)
             return;
         WimaPlanData planData = toPlanData();
-        _container->push(planData);
+        (void)_wimaBridge->setWimaPlanData(planData);
         setSyncronizedWithController(true);
     } else {
         qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
@@ -830,8 +828,8 @@ void WimaPlaner::setSyncronizedWithControllerFalse()
 
 void WimaPlaner::autoLoadMission()
 {
-    loadFromFile("/home/valentin/Desktop/drones/build-qgroundcontrol-Desktop_Qt_5_11_3_GCC_64bit-Release/release/345.wima");
-    pushToContainer();
+    loadFromFile("/home/valentin/Desktop/drones/qgroundcontrol/Paths/KlingenbachTest.wima");
+    pushToWimaController();
 }
 
 void WimaPlaner::startCalcArrivalAndReturnTimer()

src/Wima/WimaPlaner.h

@@ -15,7 +15,7 @@
 #include "Geometry/WimaJoinedArea.h"
 #include "Geometry/WimaJoinedAreaData.h"
 #include "WimaPlanData.h"
-#include "WimaDataContainer.h"
+#include "WimaBridge.h"
 
 #include "PlanMasterController.h"
 #include "MissionController.h"
@@ -60,7 +60,7 @@ public:
     Q_PROPERTY(QStringList              saveNameFilters     READ saveNameFilters                                        CONSTANT)
     Q_PROPERTY(QString                  fileExtension       READ fileExtension                                          CONSTANT)
     Q_PROPERTY(QGeoCoordinate           joinedAreaCenter    READ joinedAreaCenter                                       CONSTANT)
-    Q_PROPERTY(WimaDataContainer*       dataContainer       READ dataContainer          WRITE setDataContainer          NOTIFY dataContainerChanged)
+    Q_PROPERTY(WimaBridge*              wimaBridge          READ wimaBridge              WRITE setWimaBridge            NOTIFY wimaBridgeChanged)
     Q_PROPERTY(bool                     syncronized         READ syncronizedWithController                              NOTIFY syncronizedWithControllerChanged)
     Q_PROPERTY(bool                     readyForSync        READ readyForSync                                           NOTIFY readyForSyncChanged)
 
@@ -74,20 +74,21 @@ public:
     QStringList                 saveNameFilters        (void) const;
     QString                     fileExtension          (void) const    { return wimaFileExtension; }
     QGeoCoordinate              joinedAreaCenter       (void) const;
-    WimaDataContainer*          dataContainer          (void)          { return _container;}
+    WimaBridge*                 wimaBridge             (void)          { return _wimaBridge;}
 
     // Property setters
     void setMasterController        (PlanMasterController* masterController);
     void setMissionController       (MissionController* missionController);
     /// Sets the integer index pointing to the current polygon. Current polygon is set interactive.
     void setCurrentPolygonIndex     (int index);
-    void setDataContainer           (WimaDataContainer* container);
+    void setWimaBridge           (WimaBridge* bridge);
 
     // Property acessors
     bool syncronizedWithController  ();
     bool readyForSync               ();
 
     // Member Methodes
+    Q_INVOKABLE WimaPlaner *thisPointer();
     Q_INVOKABLE bool addMeasurementArea();
     /// Removes an area from _visualItems
     /// @param index Index of the area to be removed
@@ -98,8 +99,8 @@ public:
     Q_INVOKABLE void removeAll();
     /// Recalculates vehicle corridor, flight path, etc.
     Q_INVOKABLE bool updateMission();
-    /// Pushes the generated mission data to the container, for exchange with wimaController
-    Q_INVOKABLE void pushToContainer();
+    /// Pushes the generated mission data to the wimaController.
+    Q_INVOKABLE void pushToWimaController();
 
     Q_INVOKABLE void saveToCurrent();
     Q_INVOKABLE void saveToFile(const QString& filename);
@@ -124,7 +125,7 @@ signals:
     void visualItemsChanged                 (void);
     void currentPolygonIndexChanged         (int index);
     void currentFileChanged                 ();
-    void dataContainerChanged               ();
+    void wimaBridgeChanged               ();
     void syncronizedWithControllerChanged   (void);
     void readyForSyncChanged                (void);
 
@@ -152,7 +153,7 @@ private:
     MissionController      *_missionController;
     int                     _currentAreaIndex;
     QString                 _currentFile; // file for saveing
-    WimaDataContainer      *_container; // container for data exchange with WimaController
+    WimaBridge             *_wimaBridge; // container for data exchange with WimaController
     QmlObjectListModel      _visualItems; // contains all visible areas
     WimaJoinedArea          _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor
     bool                    _joinedAreaValid;

src/WimaView/WimaToolBar.qml

@@ -290,7 +290,7 @@ Rectangle {
         visible:                wimaPlaner ? wimaPlaner.readyForSync : false
         onClicked:              {
             if (wimaPlaner && wimaPlaner.readyForSync) {
-                wimaPlaner.pushToContainer()
+                wimaPlaner.pushToWimaController()
             }
         }
 

src/WimaView/WimaView.qml

@@ -207,7 +207,8 @@ QGCView {
         Component.onCompleted: {
             wimaPlaner.masterController     = Qt.binding(function () { return masterController})
             wimaPlaner.missionController    = Qt.binding(function () { return masterController.missionController})
-            wimaPlaner.dataContainer        = Qt.binding(function () { return dataContainerPointer})
+            wimaPlaner.wimaBridge           = Qt.binding(function () { return wBridge.thisPointer()})
+            wBridge.wimaPlaner              = Qt.binding(function () { return wimaPlaner.thisPointer()})
         }
         function addComplexItem(complexItemName) {
             var coordinate = editorMap.center

src/ui/MainWindowInner.qml

@@ -174,8 +174,8 @@ Item {
     }
 
     // Wima Data Container
-    WimaDataContainer{
-        id: wimaDataContainer
+    WimaBridge{
+        id: wimaBridge
     }
 
     MessageDialog {
@@ -385,7 +385,7 @@ Item {
         visible:            false
 
         property var planToolBar:        planToolBar
-        property var dataContainer:      wimaDataContainer
+        property var wBridge:            wimaBridge
     }
 
 
@@ -403,7 +403,7 @@ Item {
         visible:            false
 
         property var toolbar:               wimaToolBar
-        property var dataContainerPointer:  wimaDataContainer.pointerToThis()
+        property var wBridge:               wimaBridge
     }
 
 
@@ -412,7 +412,7 @@ Item {
         anchors.fill:       parent
         visible:            true
 
-        property var dataContainerPointer:  wimaDataContainer.pointerToThis()
+        property var wBridge:  wimaBridge
        //-------------------------------------------------------------------------
         //-- Loader helper for any child, no matter how deep can display an element
         //   on top of the video window.