wima planer and wima controller edited

qgroundcontrol.pro

@@ -457,6 +457,7 @@ HEADERS += \
     src/Wima/StateMachine.h \
     src/Wima/WaypointManager/AreaInterface.h \
     src/Wima/WaypointManager/DefaultManager.h \
+    src/Wima/WaypointManager/EmptyManager.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/WaypointManager/RTLManager.h \
     src/Wima/WaypointManager/Settings.h \
@@ -519,6 +520,7 @@ SOURCES += \
     src/Wima/StateMachine.cpp \
     src/Wima/WaypointManager/AreaInterface.cpp \
     src/Wima/WaypointManager/DefaultManager.cpp \
+    src/Wima/WaypointManager/EmptyManager.cpp \
     src/Wima/WaypointManager/GenericWaypointManager.cpp \
     src/Wima/WaypointManager/RTLManager.cpp \
     src/Wima/WaypointManager/Settings.cpp \

qgroundcontrol.qrc

@@ -232,6 +232,11 @@
         <file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
         <file alias="QGroundControl/FlightDisplay/SmallValue.qml">src/FlightDisplay/SmallValue.qml</file>
         <file alias="QGroundControl/Controls/ProgressIndicator.qml">src/WimaView/ProgressIndicator.qml</file>
+        <file alias="QGroundControl/Controls/WimaServiceAreaDataVisual.qml">src/WimaView/WimaServiceAreaDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaCorridorDataVisual.qml">src/WimaView/WimaCorridorDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaJoinedAreaDataVisual.qml">src/WimaView/WimaJoinedAreaDataVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaAreaNoVisual.qml">src/Wima/Snake/WimaAreaNoVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaMeasurementAreaDataVisual.qml">src/WimaView/WimaMeasurementAreaDataVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -59,8 +59,6 @@ FlightMap {
     property bool   _keepVehicleCentered:       _mainIsMap ? false : true
 
     property bool   _wimaEnabled:               wimaController.enableWimaController.value
-    property bool   _showAllWimaItems:          wimaController.showAllMissionItems.value
-    property bool   _showCurrentWimaItems:      wimaController.showCurrentMissionItems.value
 
     function updateAirspace(reset) {
         if(_airspaceEnabled) {
@@ -200,109 +198,29 @@ FlightMap {
     }
 
     // Add wima Areas to the Map
-    MapItemView {
+    Repeater {
         property bool _enableWima: wimaController.enableWimaController.value
-
         model: _enableWima ? wimaController.visualItems : 0
-
-        delegate: MapPolygon{
-            path:           object.path;
-            border.color:   "black"
-            color:          object.type === "WimaJoinedAreaData" ? "gray"
-                                : object.type === "WimaServiceAreaData" ? "yellow"
-                                    : object.type === "WimaMeasurementAreaData" ? "green"
-                                        : "transparent"
-            opacity:        0.25
-            z:              0
+        delegate: WimaMapVisual{
+            map:               flightMap
+            qgcView:           flightMap.qgcView
+            visible: true
         }
     }
 
-    // Add mission items generated by wima planer to the map
+    // Add missionItems generated by wima planer to the map
     // all Items
     WimaPlanMapItems {
         map:            flightMap
         largeMapView:   _mainIsMap
         missionItems:   wimaController.missionItems
         path:           wimaController.waypointPath
-        showItems:      _wimaEnabled && _showAllWimaItems
+        showItems:      _wimaEnabled
         zOrderWP:       QGroundControl.zOrderWimaAllWaypointIndicators
         zOrderLines:    QGroundControl.zOrderWimaAllWaypointLines
-        color:          "gray"
-    }
-    // current Items
-    WimaPlanMapItems {
-        map:            flightMap
-        largeMapView:   _mainIsMap
-        missionItems:   wimaController.currentMissionItems
-        path:           wimaController.currentWaypointPath
-        showItems:      _wimaEnabled && _showCurrentWimaItems
-        zOrderWP:       QGroundControl.zOrderWimaCurrentWaypointIndicators
-        zOrderLines:    QGroundControl.zOrderWimaCurrentWaypointLines
         color:          "green"
     }
 
-//    // Add Snake tile center points to the map
-//    MapItemView {
-//        id:progressView
-//        property bool _enable:    wimaController.enableWimaController.value
-//                               && wimaController.enableSnake.value
-//        property bool valid: wimaController.snakeTileCenterPoints.length
-//                             === wimaController.nemoProgress.length
-//        model: _enable ? wimaController.snakeTileCenterPoints : 0
-
-//        delegate: ProgressIndicator{
-//            coordinate:         modelData
-//            currentValue:   getProgress()
-//            z:              1
-
-//            function getProgress() {
-//                var progress = 0
-//                if (progressView.valid){
-//                    progress = wimaController.nemoProgress[index]
-//                }
-//                if (progress < 0)
-//                    progress = 0
-//                if (progress > 100)
-//                    progress = 100
-//                return progress
-//            }
-//        }
-//    }
-
-    // Add Snake tiles to the map
-    MapItemView {
-            id: tileView
-        property bool _enable:    wimaController.enableWimaController.value
-        property bool valid: wimaController.snakeTileCenterPoints.length
-                             === wimaController.nemoProgress.length
-        model: _enable ? wimaController.snakeTiles : 0
-
-        delegate: MapPolygon{
-            path:           object.path;
-            border.color:   "black"
-            border.width:   1
-            color:          getColor()
-            opacity:        0.6
-            z:              2
-
-            function getColor() {
-                var progress = 0
-                if (tileView.valid){
-                    progress = wimaController.nemoProgress[index]
-                }
-                if (progress < 25)
-                    return "transparent"
-                if (progress < 50)
-                    return "orange"
-                if (progress < 75)
-                    return "yellow"
-                if (progress < 100)
-                    return "greenyellow"
-                return "limegreen"
-            }
-        }
-    }
-
     // Add trajectory points to the map
     MapItemView {
         model: _mainIsMap ? _activeVehicle ? _activeVehicle.trajectoryPoints : 0 : 0

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -171,11 +171,11 @@ Item {
                     id:         mainColumn
                     spacing:    ScreenTools.defaultFontPixelHeight * 0.3
 
+
                     SectionHeader{
                         id: vehicleHeader
                         text: qsTr("Vehicle")
                     }
-
                     GridLayout {
                         columns: 2
                         rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
@@ -183,6 +183,17 @@ Item {
                         visible:            vehicleHeader.checked
                         width:              parent.width
 
+                        QGCButton {
+                            id: buttonUpload
+                            text:               qsTr("Upload")
+                            onClicked: {
+                                if (!planMasterController.offline) {
+                                    wimaController.upload()
+                                }
+                            }
+                            Layout.fillWidth: true
+                        }
+
                         QGCButton {
                             id: buttonRemoveFromVehicle
                             text:               qsTr("Remove")
@@ -194,6 +205,7 @@ Item {
                             id: buttonSmartRTL
                             text:               qsTr("Smart RTL")
                             onClicked:          wimaController.requestSmartRTL();
+                            Layout.columnSpan:  2
                             Layout.fillWidth: true
                         }
 
@@ -204,7 +216,32 @@ Item {
                             Layout.columnSpan:  2
                             Layout.fillWidth: true
                         }
+                    }
 
+                    GridLayout {
+                        columns: 2
+                        rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
+                        columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
+                        visible:            vehicleHeader.checked
+                        width:              parent.width
+
+                        QGCLabel {
+                            text:                   qsTr("Speed")
+                            Layout.fillWidth: true
+                        }
+                        FactTextField {
+                            fact:               wimaController.flightSpeed
+                            Layout.fillWidth: true
+                        }
+
+                        QGCLabel {
+                            text: qsTr("Altitude")
+                            Layout.fillWidth: true
+                        }
+                        FactTextField {
+                            fact:               wimaController.altitude
+                            Layout.fillWidth: true
+                        }
 
                         // progess bar
                         Rectangle {
@@ -223,7 +260,7 @@ Item {
                             Layout.columnSpan:      2
                             horizontalAlignment:    Text.AlignHCenter
                             verticalAlignment:      Text.AlignVCenter
-                            text:                   "Upload Complete"
+                            text:                   "Done"
                             visible:                false
                             Layout.fillWidth:       true
                         }
@@ -233,7 +270,6 @@ Item {
                         id: statsHeader
                         text: qsTr("Statistics")
                     }
-
                     GridLayout {
                         columns: 3
                         rowSpacing: ScreenTools.defaultFontPixelHeight * 0.5

src/Wima/Geometry/WimaAreaData.h

@@ -13,6 +13,7 @@ class WimaAreaData
 public:
   Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
   Q_PROPERTY(QString type READ type CONSTANT)
+  Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
 
   WimaAreaData(QObject *parent = nullptr);
   ~WimaAreaData();
@@ -23,6 +24,8 @@ public:
   bool operator==(const WimaAreaData &data) const;
   bool operator!=(const WimaAreaData &data) const;
 
+  virtual QString mapVisualQML(void) const = 0;
+
   QVariantList path() const;
   QGeoCoordinate center() const;
   const QList<QGeoCoordinate> &coordinateList() const;

src/Wima/Geometry/WimaCorridorData.cpp

@@ -2,22 +2,17 @@
 
 const char *WimaCorridorData::typeString = "WimaCorridorData";
 
-WimaCorridorData::WimaCorridorData(QObject *parent)
-    :WimaAreaData (parent)
-{
+WimaCorridorData::WimaCorridorData(QObject *parent) : WimaAreaData(parent) {}
 
-}
-
-WimaCorridorData::WimaCorridorData(const WimaCorridorData &other, QObject *parent)
-    : WimaAreaData (parent)
-{
-    *this = other;
+WimaCorridorData::WimaCorridorData(const WimaCorridorData &other,
+                                   QObject *parent)
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
-    :   WimaAreaData (parent)
-{
-    *this = other;
+    : WimaAreaData(parent) {
+  *this = other;
 }
 
 /*!
@@ -25,11 +20,10 @@ WimaCorridorData::WimaCorridorData(const WimaCorridor &other, QObject *parent)
  *
  * Assigns \a other to the invoking object.
  */
-WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other)
-{
-    this->assign(other);
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other) {
+  this->assign(other);
 
-    return *this;
+  return *this;
 }
 
 /*!
@@ -37,36 +31,34 @@ WimaCorridorData &WimaCorridorData::operator=(const WimaCorridorData &other)
  *
  * Assigns \a other to the invoking object.
  */
-WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other)
-{
-    this->assign(other);
+WimaCorridorData &WimaCorridorData::operator=(const WimaCorridor &other) {
+  this->assign(other);
 
-    return *this;
+  return *this;
 }
 
-QString WimaCorridorData::type() const
-{
-    return this->typeString;
+QString WimaCorridorData::mapVisualQML() const {
+  return QStringLiteral("WimaAreaDataVisual.qml");
 }
 
-void WimaCorridorData::assign(const WimaCorridorData &corridorData)
-{
-    WimaAreaData::assign(corridorData);
-}
+QString WimaCorridorData::type() const { return this->typeString; }
 
-void WimaCorridorData::assign(const WimaCorridor &corridor)
-{
-    WimaAreaData::assign(corridor);
+void WimaCorridorData::assign(const WimaCorridorData &corridorData) {
+  WimaAreaData::assign(corridorData);
 }
 
+void WimaCorridorData::assign(const WimaCorridor &corridor) {
+  WimaAreaData::assign(corridor);
+}
 
 /*!
  * \class WimaAreaData::WimaCorridorData
  * \brief Class to store and exchange data of a \c WimaCorridorData Object.
- * Class to store and exchange data of a \c WimaCorridor Object. In contrast to \c WimaCorridor this class
- * does not provied any interface to a grafical user interface, neiter it uses the QGC Fact System.
- * It is designed to exchange data between the \c WimaPlaner and the \c WimaController class. And it
- * is the derived from WimaAreaData.
+ * Class to store and exchange data of a \c WimaCorridor Object. In contrast to
+ * \c WimaCorridor this class does not provied any interface to a grafical user
+ * interface, neiter it uses the QGC Fact System. It is designed to exchange
+ * data between the \c WimaPlaner and the \c WimaController class. And it is the
+ * derived from WimaAreaData.
  *
  * \sa WimaCorridor, WimaAreaData
  */

src/Wima/Geometry/WimaCorridorData.h

@@ -7,31 +7,30 @@
 
 #include "QGeoCoordinate"
 
-class WimaCorridorData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaCorridorData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    WimaCorridorData(QObject *parent = nullptr);
-    WimaCorridorData(const WimaCorridorData &other, QObject *parent = nullptr);
-    WimaCorridorData(const WimaCorridor &other, QObject *parent = nullptr);
-    WimaCorridorData &operator=(const WimaCorridorData &other);
-    WimaCorridorData &operator=(const WimaCorridor &other);
+  WimaCorridorData(QObject *parent = nullptr);
+  WimaCorridorData(const WimaCorridorData &other, QObject *parent = nullptr);
+  WimaCorridorData(const WimaCorridor &other, QObject *parent = nullptr);
+  WimaCorridorData &operator=(const WimaCorridorData &other);
+  WimaCorridorData &operator=(const WimaCorridor &other);
 
-    QString type() const;
-    WimaCorridorData *Clone() const {return new WimaCorridorData(*this);}
+  virtual QString mapVisualQML() const override;
 
-    static const char* typeString;
+  QString type() const;
+  WimaCorridorData *Clone() const { return new WimaCorridorData(*this); }
 
+  static const char *typeString;
 
 signals:
 
 public slots:
 
 protected:
-    void assign(const WimaCorridorData &corridorData);
-    void assign(const WimaCorridor &corridor);
+  void assign(const WimaCorridorData &corridorData);
+  void assign(const WimaCorridor &corridor);
 
 private:
 };
-

src/Wima/Geometry/WimaJoinedAreaData.cc

@@ -39,6 +39,10 @@ WimaJoinedAreaData &WimaJoinedAreaData::operator=(const WimaJoinedArea &other) {
   return *this;
 }
 
+QString WimaJoinedAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaJoinedAreaDataVisual.qml");
+}
+
 QString WimaJoinedAreaData::type() const { return this->typeString; }
 
 void WimaJoinedAreaData::assign(const WimaJoinedAreaData &other) {

src/Wima/Geometry/WimaJoinedAreaData.h

@@ -7,26 +7,27 @@
 
 #include "QGeoCoordinate"
 
-class WimaJoinedAreaData : public WimaAreaData
-{
-    Q_OBJECT
+class WimaJoinedAreaData : public WimaAreaData {
+  Q_OBJECT
 
 public:
-    WimaJoinedAreaData(QObject *parent = nullptr);
-    WimaJoinedAreaData(const WimaJoinedAreaData &other, QObject *parent = nullptr);
-    WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent = nullptr);
-    WimaJoinedAreaData &operator=(const WimaJoinedAreaData &other);
-    WimaJoinedAreaData &operator=(const WimaJoinedArea &other);
+  WimaJoinedAreaData(QObject *parent = nullptr);
+  WimaJoinedAreaData(const WimaJoinedAreaData &other,
+                     QObject *parent = nullptr);
+  WimaJoinedAreaData(const WimaJoinedArea &other, QObject *parent = nullptr);
+  WimaJoinedAreaData &operator=(const WimaJoinedAreaData &other);
+  WimaJoinedAreaData &operator=(const WimaJoinedArea &other);
 
-    QString type() const;
-    WimaJoinedAreaData *Clone() const {return new WimaJoinedAreaData(*this);}
+  virtual QString mapVisualQML() const override;
 
-    static const char* typeString;
+  QString type() const;
+  WimaJoinedAreaData *Clone() const { return new WimaJoinedAreaData(*this); }
+
+  static const char *typeString;
 
 protected:
-    void assign(const WimaJoinedAreaData &other);
-    void assign(const WimaJoinedArea &other);
+  void assign(const WimaJoinedAreaData &other);
+  void assign(const WimaJoinedArea &other);
 
 private:
 };
-

src/Wima/Geometry/WimaMeasurementAreaData.cc

@@ -30,6 +30,20 @@ operator!=(const WimaMeasurementAreaData &other) const {
   return !(*this == other);
 }
 
+void WimaMeasurementAreaData::setTileData(const TileData &d) {
+  if (this->_tileData != d) {
+    this->_tileData = d;
+    emit tileDataChanged();
+  }
+}
+
+void WimaMeasurementAreaData::setProgress(const QVector<int> &d) {
+  if (this->_progress != d) {
+    this->_progress = d;
+    emit progressChanged();
+  }
+}
+
 /*!
  * \overload operator=();
  *
@@ -54,6 +68,10 @@ operator=(const WimaMeasurementArea &other) {
   return *this;
 }
 
+QString WimaMeasurementAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaMeasurementAreaDataVisual.qml");
+}
+
 QString WimaMeasurementAreaData::type() const { return this->typeString; }
 
 QmlObjectListModel *WimaMeasurementAreaData::tiles() {
@@ -86,15 +104,15 @@ QVector<int> &WimaMeasurementAreaData::progress() { return this->_progress; }
 
 void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
   WimaAreaData::assign(other);
-  this->_tileData = other._tileData;
-  this->_progress = other._progress;
+  setTileData(other._tileData);
+  setProgress(other._progress);
 }
 
 void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
   WimaAreaData::assign(other);
   if (other.ready()) {
-    this->_tileData = other.tileData();
-    this->_progress = other.progress();
+    setTileData(other.tileData());
+    setProgress(other.progress());
   } else {
     qWarning()
         << "WimaMeasurementAreaData::assign(): WimaMeasurementArea not ready.";

src/Wima/Geometry/WimaMeasurementAreaData.h

@@ -18,14 +18,23 @@ public:
   WimaMeasurementAreaData &operator=(const WimaMeasurementAreaData &other);
   WimaMeasurementAreaData &operator=(const WimaMeasurementArea &other);
 
+  Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tileDataChanged)
+  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
+
+  virtual QString mapVisualQML() const override;
+
   bool operator==(const WimaMeasurementAreaData &other) const;
   bool operator!=(const WimaMeasurementAreaData &other) const;
 
+  // Property setters.
+  void setTileData(const TileData &d);
+  void setProgress(const QVector<int> &d);
+
+  // Property getters.
   QString type() const;
   WimaMeasurementAreaData *Clone() const {
     return new WimaMeasurementAreaData(*this);
   }
-
   QmlObjectListModel *tiles();
   const QmlObjectListModel *tiles() const;
   const QVariantList &tileCenterPoints() const;
@@ -37,6 +46,10 @@ public:
 
   static const char *typeString;
 
+signals:
+  void tileDataChanged();
+  void progressChanged();
+
 protected:
   void assign(const WimaMeasurementAreaData &other);
   void assign(const WimaMeasurementArea &other);

src/Wima/Geometry/WimaServiceAreaData.cc

@@ -31,6 +31,10 @@ operator=(const WimaServiceArea &otherArea) {
   return *this;
 }
 
+QString WimaServiceAreaData::mapVisualQML() const {
+  return QStringLiteral("WimaServiceAreaDataVisual.qml");
+}
+
 /*!
  * \fn const QGeoCoordinate &WimaServiceAreaData::takeOffPosition() const
  * Returns a constant reference to the takeOffPosition.

src/Wima/Geometry/WimaServiceAreaData.h

@@ -17,6 +17,8 @@ public:
   WimaServiceAreaData &operator=(const WimaServiceAreaData &otherData);
   WimaServiceAreaData &operator=(const WimaServiceArea &otherArea);
 
+  virtual QString mapVisualQML() const override;
+
   const QGeoCoordinate &depot() const;
 
   QString type() const;

src/Wima/Snake/SnakeTile.cpp

@@ -9,6 +9,10 @@ SnakeTile::SnakeTile(const SnakeTile &other, QObject *parent)
 
 SnakeTile::~SnakeTile() {}
 
+QString SnakeTile::mapVisualQML() const {
+  return QStringLiteral("WimaAreaNoVisual.qml");
+}
+
 QString SnakeTile::type() const { return "Tile"; }
 
 SnakeTile *SnakeTile::Clone() const { return new SnakeTile(*this); }

src/Wima/Snake/SnakeTile.h

@@ -9,6 +9,8 @@ public:
   SnakeTile(const SnakeTile &other, QObject *parent = nullptr);
   ~SnakeTile();
 
+  virtual QString mapVisualQML() const override;
+
   QString type() const override;
   SnakeTile *Clone() const;
 

src/Wima/Snake/WimaAreaNoVisual.qml

+import QtQuick          2.3
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    Component.onCompleted: {
+        console.log("WimaAreaNoVisual.qml is a place holder and not meant to be instanciated.")
+    }
+
+}

src/Wima/StateMachine.cpp

@@ -253,7 +253,7 @@ void StateMachine::setState(STATE s) {
       emit upToDateChanged();
     }
     if (surveyReady(oldState) != surveyReady(s)) {
-      emit surveyReady();
+      emit surveyReadyChanged();
     }
     qCDebug(WimaPlanerLog) << "StateMachine::setState():" << oldState << "->"
                            << s;

src/Wima/WaypointManager/EmptyManager.cpp

+#include "EmptyManager.h"
+
+namespace WaypointManager {
+
+WaypointManager::EmptyManager::EmptyManager(Settings &settings, AreaInterface &)
+    : ManagerBase(settings) {}
+
+void WaypointManager::EmptyManager::clear() {}
+
+bool WaypointManager::EmptyManager::update() {}
+
+bool WaypointManager::EmptyManager::next() {}
+
+bool WaypointManager::EmptyManager::previous() {}
+
+bool WaypointManager::EmptyManager::reset() {}
+
+} // namespace WaypointManager

src/Wima/WaypointManager/EmptyManager.h

+#pragma once
+
+#include <QGeoCoordinate>
+#include <QVector>
+
+#include "AreaInterface.h"
+#include "GenericWaypointManager.h"
+#include "QmlObjectListModel.h"
+#include "Settings.h"
+
+namespace WaypointManager {
+
+typedef GenericWaypointManager<QGeoCoordinate, QVector, QmlObjectListModel,
+                               Settings>
+    ManagerBase;
+
+//!
+//! \brief The EmptyManager is a place holder and does noting.
+class EmptyManager : public ManagerBase {
+public:
+  EmptyManager() = delete;
+  EmptyManager(Settings &settings, AreaInterface &);
+
+  void clear() override;
+  virtual bool update() override;
+  virtual bool next() override;
+  virtual bool previous() override;
+  virtual bool reset() override;
+};
+
+} // namespace WaypointManager

src/Wima/WimaController.cc

@@ -6,6 +6,7 @@
 #include "MissionSettingsItem.h"
 #include "PlanMasterController.h"
 #include "QGCApplication.h"
+#include "QGCLoggingCategory.h"
 #include "SettingsManager.h"
 #include "SimpleMissionItem.h"
 
@@ -23,6 +24,8 @@
 
 #include <memory>
 
+QGC_LOGGING_CATEGORY(WimaControllerLog, "WimaControllerLog")
+
 template <typename T>
 constexpr typename std::underlying_type<T>::type integral(T value) {
   return static_cast<typename std::underlying_type<T>::type>(value);
@@ -36,80 +39,32 @@ const char *WimaController::areaItemsName = "AreaItems";
 const char *WimaController::missionItemsName = "MissionItems";
 const char *WimaController::settingsGroup = "WimaController";
 const char *WimaController::enableWimaControllerName = "EnableWimaController";
-const char *WimaController::overlapWaypointsName = "OverlapWaypoints";
-const char *WimaController::maxWaypointsPerPhaseName = "MaxWaypointsPerPhase";
-const char *WimaController::startWaypointIndexName = "StartWaypointIndex";
-const char *WimaController::showAllMissionItemsName = "ShowAllMissionItems";
-const char *WimaController::showCurrentMissionItemsName =
-    "ShowCurrentMissionItems";
 const char *WimaController::flightSpeedName = "FlightSpeed";
-const char *WimaController::arrivalReturnSpeedName = "ArrivalReturnSpeed";
 const char *WimaController::altitudeName = "Altitude";
 
-WimaController::StatusMap WimaController::_nemoStatusMap{
-    std::make_pair<int, QString>(0, "No Heartbeat"),
-    std::make_pair<int, QString>(1, "Connected"),
-    std::make_pair<int, QString>(-1, "Timeout"),
-    std::make_pair<int, QString>(-2, "Error")};
-
 WimaController::WimaController(QObject *parent)
     : QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
       _corridor(), _planDataValid(false),
       _areaInterface(&_measurementArea, &_serviceArea, &_corridor,
                      &_joinedArea),
-      _WMSettings(), _defaultWM(_WMSettings, _areaInterface),
+      _WMSettings(), _emptyWM(_WMSettings, _areaInterface),
       _rtlWM(_WMSettings, _areaInterface),
-      _currentWM(&_defaultWM), _WMList{&_defaultWM, &_rtlWM},
+      _currentWM(&_emptyWM), _WMList{&_emptyWM, &_rtlWM},
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
       _enableWimaController(settingsGroup,
                             _metaDataMap[enableWimaControllerName]),
-      _overlapWaypoints(settingsGroup, _metaDataMap[overlapWaypointsName]),
-      _maxWaypointsPerPhase(settingsGroup,
-                            _metaDataMap[maxWaypointsPerPhaseName]),
-      _nextPhaseStartWaypointIndex(settingsGroup,
-                                   _metaDataMap[startWaypointIndexName]),
-      _showAllMissionItems(settingsGroup,
-                           _metaDataMap[showAllMissionItemsName]),
-      _showCurrentMissionItems(settingsGroup,
-                               _metaDataMap[showCurrentMissionItemsName]),
       _flightSpeed(settingsGroup, _metaDataMap[flightSpeedName]),
-      _arrivalReturnSpeed(settingsGroup, _metaDataMap[arrivalReturnSpeedName]),
       _altitude(settingsGroup, _metaDataMap[altitudeName]),
-      _lowBatteryHandlingTriggered(false), _measurementPathLength(-1),
+      _lowBatteryHandlingTriggered(false),
       _batteryLevelTicker(EVENT_TIMER_INTERVAL, 1000 /*ms*/) {
 
   // Set up facts for waypoint manager.
-  _showAllMissionItems.setRawValue(true);
-  _showCurrentMissionItems.setRawValue(true);
-  connect(&_overlapWaypoints, &Fact::rawValueChanged, this,
-          &WimaController::_updateOverlap);
-  connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
-          &WimaController::_updateMaxWaypoints);
-  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);
 
-  // Init waypoint managers.
-  bool value;
-  size_t overlap = _overlapWaypoints.rawValue().toUInt(&value);
-  Q_ASSERT(value);
-  size_t N = _maxWaypointsPerPhase.rawValue().toUInt(&value);
-  Q_ASSERT(value);
-  size_t startIdx = _nextPhaseStartWaypointIndex.rawValue().toUInt(&value);
-  Q_ASSERT(value);
-  (void)value;
-  for (auto manager : _WMList) {
-    manager->setOverlap(overlap);
-    manager->setN(N);
-    manager->setStartIndex(startIdx);
-  }
-
   // Periodic.
   connect(&_eventTimer, &QTimer::timeout, this,
           &WimaController::_eventTimerHandler);
@@ -130,70 +85,16 @@ QmlObjectListModel *WimaController::missionItems() {
   return const_cast<QmlObjectListModel *>(&_currentWM->missionItems());
 }
 
-QmlObjectListModel *WimaController::currentMissionItems() {
-  return const_cast<QmlObjectListModel *>(&_currentWM->currentMissionItems());
-}
-
 QVariantList WimaController::waypointPath() {
   return const_cast<QVariantList &>(_currentWM->waypointsVariant());
 }
 
-QVariantList WimaController::currentWaypointPath() {
-  return const_cast<QVariantList &>(_currentWM->currentWaypointsVariant());
-}
-
 Fact *WimaController::enableWimaController() { return &_enableWimaController; }
 
-Fact *WimaController::overlapWaypoints() { return &_overlapWaypoints; }
-
-Fact *WimaController::maxWaypointsPerPhase() { return &_maxWaypointsPerPhase; }
-
-Fact *WimaController::startWaypointIndex() {
-  return &_nextPhaseStartWaypointIndex;
-}
-
-Fact *WimaController::showAllMissionItems() { return &_showAllMissionItems; }
-
-Fact *WimaController::showCurrentMissionItems() {
-  return &_showCurrentMissionItems;
-}
-
 Fact *WimaController::flightSpeed() { return &_flightSpeed; }
 
-Fact *WimaController::arrivalReturnSpeed() { return &_arrivalReturnSpeed; }
-
 Fact *WimaController::altitude() { return &_altitude; }
 
-QmlObjectListModel *WimaController::snakeTiles() {
-  return this->_measurementArea.tiles();
-}
-
-QVariantList WimaController::snakeTileCenterPoints() {
-  return this->_measurementArea.tileCenterPoints();
-}
-
-QVector<int> WimaController::nemoProgress() {
-  return this->_measurementArea.progress();
-}
-
-double WimaController::phaseDistance() const {
-  qWarning() << "using phaseDistance dummy";
-  return 0.0;
-}
-
-double WimaController::phaseDuration() const {
-  qWarning() << "using phaseDuration dummy";
-  return 0.0;
-}
-
-int WimaController::nemoStatus() const {
-  return integral(NemoInterface::STATUS::NOT_CONNECTED);
-}
-
-QString WimaController::nemoStatusString() const {
-  return _nemoStatusMap.at(nemoStatus());
-}
-
 void WimaController::setMasterController(PlanMasterController *masterC) {
   _masterController = masterC;
   _WMSettings.setMasterController(masterC);
@@ -206,34 +107,8 @@ void WimaController::setMissionController(MissionController *missionC) {
   emit missionControllerChanged();
 }
 
-void WimaController::nextPhase() { _calcNextPhase(); }
-
-void WimaController::previousPhase() {
-  if (!_currentWM->previous()) {
-    Q_ASSERT(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
-void WimaController::resetPhase() {
-  if (!_currentWM->reset()) {
-    Q_ASSERT(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
 void WimaController::requestSmartRTL() {
-#ifdef DEBUG_SRTL
-  qWarning() << "WimaController::requestSmartRTL() called";
-#endif
+  qCWarning(WimaControllerLog) << "requestSmartRTL() called";
   QString errorString("Smart RTL requested.");
   if (!_SRTLPrecondition(errorString)) {
     qgcApp()->showMessage(errorString);
@@ -262,11 +137,11 @@ bool WimaController::forceUpload() {
   auto &currentMissionItems = _currentWM->currentMissionItems();
   if (currentMissionItems.count() < 1 || !_missionController ||
       !_masterController) {
-    qWarning() << "WimaController::forceUpload(): error:";
-    qWarning() << "currentMissionItems.count(): "
-               << currentMissionItems.count();
-    qWarning() << "_missionController: " << _missionController;
-    qWarning() << "_masterController: " << _masterController;
+    qCWarning(WimaControllerLog)
+        << "forceUpload(): error:"
+        << "currentMissionItems.count(): " << currentMissionItems.count()
+        << "_missionController: " << _missionController
+        << "_masterController: " << _masterController;
     return false;
   } else {
     _missionController->removeAll();
@@ -276,7 +151,7 @@ bool WimaController::forceUpload() {
         visuals->value<MissionSettingsItem *>(0);
     if (settingsItem == nullptr) {
       Q_ASSERT(false);
-      qWarning("WimaController::updateCurrentMissionItems(): nullptr");
+      qCWarning(WimaControllerLog) << "updateCurrentMissionItems(): nullptr";
       return false;
     } else {
       settingsItem->setCoordinate(_WMSettings.homePosition());
@@ -300,9 +175,7 @@ void WimaController::removeFromVehicle() {
 }
 
 void WimaController::executeSmartRTL() {
-#ifdef DEBUG_SRTL
-  qWarning() << "WimaController::executeSmartRTL() called";
-#endif
+  qCWarning(WimaControllerLog) << "executeSmartRTL() called";
   if (_masterController && _masterController->managerVehicle()) {
     forceUpload();
     _masterController->managerVehicle()->startMission();
@@ -310,9 +183,7 @@ void WimaController::executeSmartRTL() {
 }
 
 void WimaController::initSmartRTL() {
-#ifdef DEBUG_SRTL
-  qWarning() << "WimaController::initSmartRTL() called";
-#endif
+  qCWarning(WimaControllerLog) << "initSmartRTL() called";
   _initSmartRTL();
 }
 
@@ -346,7 +217,6 @@ bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
 bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   // reset visual items
   _areas.clear();
-  _defaultWM.clear();
   _measurementArea = WimaMeasurementAreaData();
   _serviceArea = WimaServiceAreaData();
   _corridor = WimaCorridorData();
@@ -354,11 +224,7 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
 
   emit visualItemsChanged();
   emit missionItemsChanged();
-  emit currentMissionItemsChanged();
   emit waypointPathChanged();
-  emit currentWaypointPathChanged();
-  emit snakeTilesChanged();
-  emit nemoProgressChanged();
 
   _planDataValid = false;
 
@@ -417,32 +283,9 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   }
 
   emit visualItemsChanged();
-  emit snakeTilesChanged();
-
-  // Copy missionItems.
-  auto tempMissionItems = planData->missionItems();
-  if (tempMissionItems.size() < 1) {
-    qWarning("WimaController: Mission items from WimaPlaner empty!");
-    return false;
-  }
 
-  for (auto *item : tempMissionItems) {
-    _defaultWM.push_back(item->coordinate());
-  }
   _WMSettings.setHomePosition(QGeoCoordinate(
       _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
-  //  auto tempMissionItems = planData->missionItems();
-  if (!_defaultWM.reset()) {
-    Q_ASSERT(false);
-    return false;
-  }
-
-  if (_currentWM == &_defaultWM) {
-    emit missionItemsChanged();
-    emit currentMissionItemsChanged();
-    emit waypointPathChanged();
-    emit currentWaypointPathChanged();
-  }
 
   _planDataValid = true;
   return true;
@@ -450,83 +293,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
 
 WimaController *WimaController::thisPointer() { return this; }
 
-bool WimaController::_calcNextPhase() {
-  if (!_currentWM->next()) {
-    Q_ASSERT(false);
-    return false;
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-
-  return true;
-}
-
-bool WimaController::_setStartIndex() {
-  bool value;
-  _currentWM->setStartIndex(
-      _nextPhaseStartWaypointIndex.rawValue().toUInt(&value) - 1);
-  Q_ASSERT(value);
-  (void)value;
-
-  if (!_currentWM->update()) {
-    Q_ASSERT(false);
-    return false;
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-
-  return true;
-}
-
-void WimaController::_recalcCurrentPhase() {
-  if (!_currentWM->update()) {
-    Q_ASSERT(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
-void WimaController::_updateOverlap() {
-  bool value;
-  _currentWM->setOverlap(_overlapWaypoints.rawValue().toUInt(&value));
-  Q_ASSERT(value);
-  (void)value;
-
-  if (!_currentWM->update()) {
-    assert(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
-void WimaController::_updateMaxWaypoints() {
-  bool value;
-  _currentWM->setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
-  Q_ASSERT(value);
-  (void)value;
-
-  if (!_currentWM->update()) {
-    Q_ASSERT(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
 void WimaController::_updateflightSpeed() {
   bool value;
   _WMSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble(&value));
@@ -538,25 +304,6 @@ void WimaController::_updateflightSpeed() {
   }
 
   emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
-  emit waypointPathChanged();
-}
-
-void WimaController::_updateArrivalReturnSpeed() {
-  bool value;
-  _WMSettings.setArrivalReturnSpeed(
-      _arrivalReturnSpeed.rawValue().toDouble(&value));
-  Q_ASSERT(value);
-  (void)value;
-
-  if (!_currentWM->update()) {
-    Q_ASSERT(false);
-  }
-
-  emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
   emit waypointPathChanged();
 }
 
@@ -571,8 +318,6 @@ void WimaController::_updateAltitude() {
   }
 
   emit missionItemsChanged();
-  emit currentMissionItemsChanged();
-  emit currentWaypointPathChanged();
   emit waypointPathChanged();
 }
 
@@ -624,31 +369,13 @@ void WimaController::_eventTimerHandler() {
 
 void WimaController::_smartRTLCleanUp(bool flying) {
   if (!flying && _missionController) { // vehicle has landed
-    _switchWaypointManager(_defaultWM);
+    _switchWaypointManager(_emptyWM);
     _missionController->removeAll();
     disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged,
                this, &WimaController::_smartRTLCleanUp);
   }
 }
 
-void WimaController::_setPhaseDistance(double distance) {
-  (void)distance;
-  //    if (!qFuzzyCompare(distance, _phaseDistance)) {
-  //        _phaseDistance = distance;
-
-  //        emit phaseDistanceChanged();
-  //    }
-}
-
-void WimaController::_setPhaseDuration(double duration) {
-  (void)duration;
-  //    if (!qFuzzyCompare(duration, _phaseDuration)) {
-  //        _phaseDuration = duration;
-
-  //        emit phaseDurationChanged();
-  //    }
-}
-
 bool WimaController::_SRTLPrecondition(QString &errorString) {
   if (!_planDataValid) {
     errorString.append(tr("No WiMA data available. Please define at least a "
@@ -663,32 +390,11 @@ void WimaController::_switchWaypointManager(
     WaypointManager::ManagerBase &manager) {
   if (_currentWM != &manager) {
     _currentWM = &manager;
-
-    disconnect(&_overlapWaypoints, &Fact::rawValueChanged, this,
-               &WimaController::_updateOverlap);
-    disconnect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
-               &WimaController::_updateMaxWaypoints);
-    disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this,
-               &WimaController::_setStartIndex);
-
-    _maxWaypointsPerPhase.setRawValue(_currentWM->N());
-    _overlapWaypoints.setRawValue(_currentWM->overlap());
-    _nextPhaseStartWaypointIndex.setRawValue(_currentWM->startIndex());
-
-    connect(&_overlapWaypoints, &Fact::rawValueChanged, this,
-            &WimaController::_updateOverlap);
-    connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
-            &WimaController::_updateMaxWaypoints);
-    connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this,
-            &WimaController::_setStartIndex);
-
     emit missionItemsChanged();
-    emit currentMissionItemsChanged();
     emit waypointPathChanged();
-    emit currentWaypointPathChanged();
 
-    qWarning() << "WimaController::_switchWaypointManager: statistics update "
-                  "missing.";
+    qCWarning(WimaControllerLog) << "_switchWaypointManager: statistics update "
+                                    "missing.";
   }
 }
 

src/Wima/WimaController.h

@@ -18,7 +18,7 @@
 #include "RoutingThread.h"
 #include "Snake/NemoInterface.h"
 
-#include "WaypointManager/DefaultManager.h"
+#include "WaypointManager/EmptyManager.h"
 #include "WaypointManager/RTLManager.h"
 
 #include "utilities.h"
@@ -42,42 +42,13 @@ public:
                  visualItemsChanged)
   Q_PROPERTY(QmlObjectListModel *missionItems READ missionItems NOTIFY
                  missionItemsChanged)
-  Q_PROPERTY(QmlObjectListModel *currentMissionItems READ currentMissionItems
-                 NOTIFY currentMissionItemsChanged)
   Q_PROPERTY(
       QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
-  Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY
-                 currentWaypointPathChanged)
   Q_PROPERTY(Fact *enableWimaController READ enableWimaController CONSTANT)
   // Waypoint navigaton.
-  Q_PROPERTY(Fact *overlapWaypoints READ overlapWaypoints CONSTANT)
-  Q_PROPERTY(Fact *maxWaypointsPerPhase READ maxWaypointsPerPhase CONSTANT)
-  Q_PROPERTY(Fact *startWaypointIndex READ startWaypointIndex CONSTANT)
-  Q_PROPERTY(Fact *showAllMissionItems READ showAllMissionItems CONSTANT)
-  Q_PROPERTY(
-      Fact *showCurrentMissionItems READ showCurrentMissionItems CONSTANT)
-  // Waypoint settings.
   Q_PROPERTY(Fact *flightSpeed READ flightSpeed CONSTANT)
   Q_PROPERTY(Fact *altitude READ altitude CONSTANT)
-  Q_PROPERTY(Fact *arrivalReturnSpeed READ arrivalReturnSpeed CONSTANT)
-  // Waypoint statistics.
-  Q_PROPERTY(
-      double phaseDistance READ phaseDistance NOTIFY phaseDistanceChanged)
-  Q_PROPERTY(
-      double phaseDuration READ phaseDuration NOTIFY phaseDurationChanged)
 
-  // Snake
-  Q_PROPERTY(int nemoStatus READ nemoStatus NOTIFY nemoStatusChanged)
-  Q_PROPERTY(QString nemoStatusString READ nemoStatusString NOTIFY
-                 nemoStatusStringChanged)
-  Q_PROPERTY(
-      QmlObjectListModel *snakeTiles READ snakeTiles NOTIFY snakeTilesChanged)
-  Q_PROPERTY(QVariantList snakeTileCenterPoints READ snakeTileCenterPoints
-                 NOTIFY snakeTilesChanged)
-  Q_PROPERTY(
-      QVector<int> nemoProgress READ nemoProgress NOTIFY nemoProgressChanged)
-
-  // Property accessors
   // Controllers.
   PlanMasterController *masterController(void);
   MissionController *missionController(void);
@@ -86,31 +57,14 @@ public:
   QGCMapPolygon joinedArea(void) const;
   // Waypoints.
   QmlObjectListModel *missionItems(void);
-  QmlObjectListModel *currentMissionItems(void);
   QVariantList waypointPath(void);
-  QVariantList currentWaypointPath(void);
   // Settings facts.
   Fact *enableWimaController(void);
-  Fact *overlapWaypoints(void);
-  Fact *maxWaypointsPerPhase(void);
-  Fact *startWaypointIndex(void);
-  Fact *showAllMissionItems(void);
-  Fact *showCurrentMissionItems(void);
   Fact *flightSpeed(void);
-  Fact *arrivalReturnSpeed(void);
   Fact *altitude(void);
-  // Snake data.
-  QmlObjectListModel *snakeTiles(void);
-  QVariantList snakeTileCenterPoints(void);
-  QVector<int> nemoProgress(void);
-  int nemoStatus(void) const;
-  QString nemoStatusString(void) const;
 
   bool uploadOverrideRequired(void) const;
   bool vehicleHasLowBattery(void) const;
-  // Waypoint statistics.
-  double phaseDistance(void) const;
-  double phaseDuration(void) const;
 
   // Property setters
   void setMasterController(PlanMasterController *masterController);
@@ -119,10 +73,6 @@ public:
 
   // Member Methodes
   Q_INVOKABLE WimaController *thisPointer();
-  // Waypoint navigation.
-  Q_INVOKABLE void nextPhase();
-  Q_INVOKABLE void previousPhase();
-  Q_INVOKABLE void resetPhase();
   // Smart RTL.
   Q_INVOKABLE void requestSmartRTL();
   Q_INVOKABLE void initSmartRTL();
@@ -137,15 +87,8 @@ public:
   static const char *areaItemsName;
   static const char *missionItemsName;
   static const char *settingsGroup;
-  static const char *endWaypointIndexName;
   static const char *enableWimaControllerName;
-  static const char *overlapWaypointsName;
-  static const char *maxWaypointsPerPhaseName;
-  static const char *startWaypointIndexName;
-  static const char *showAllMissionItemsName;
-  static const char *showCurrentMissionItemsName;
   static const char *flightSpeedName;
-  static const char *arrivalReturnSpeedName;
   static const char *altitudeName;
 
 signals:
@@ -156,42 +99,20 @@ signals:
   void visualItemsChanged(void);
   // Waypoints.
   void missionItemsChanged(void);
-  void currentMissionItemsChanged(void);
   void waypointPathChanged(void);
-  void currentWaypointPathChanged(void);
   // Smart RTL.
   void smartRTLRequestConfirm(void);
   void smartRTLPathConfirm(void);
   // Upload.
   void forceUploadConfirm(void);
-  // Waypoint statistics.
-  void phaseDistanceChanged(void);
-  void phaseDurationChanged(void);
-  // Snake.
-  void snakeTilesChanged(void);
-  void nemoProgressChanged(void);
-  void nemoStatusChanged(void);
-  void nemoStatusStringChanged(void);
 
 private slots:
 
-  // 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);
   bool _SRTLPrecondition(QString &errorString);
@@ -219,7 +140,7 @@ private:
   // Waypoint Managers.
   WaypointManager::AreaInterface _areaInterface;
   WaypointManager::Settings _WMSettings; // Waypoint Manager Settings
-  WaypointManager::DefaultManager _defaultWM;
+  WaypointManager::EmptyManager _emptyWM;
   WaypointManager::RTLManager _rtlWM;
   WaypointManager::ManagerBase *_currentWM;
   using ManagerList = QList<WaypointManager::ManagerBase *>;
@@ -230,34 +151,13 @@ private:
   SettingsFact _enableWimaController; // enables or disables the wimaControler
   // determines the number of overlapping waypoints between two consecutive
   // mission phases
-  SettingsFact _overlapWaypoints;
-  // determines the maximum number waypoints per phase
-  SettingsFact _maxWaypointsPerPhase;
-  SettingsFact
-      _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get
-                                    // index of item in _missionItems) of the
-                                    // mission item defining the first element
-                                    // of the next phase
-  SettingsFact
-      _showAllMissionItems; // bool value, Determines whether the mission items
-                            // of the overall mission are displayed or not.
-  SettingsFact _showCurrentMissionItems; // bool value, Determines whether the
-                                         // mission items of the current mission
-                                         // phase are displayed or not.
-  SettingsFact _flightSpeed;             // mission flight speed
-  SettingsFact _arrivalReturnSpeed;      // arrival and return path speed
-  SettingsFact _altitude;                // mission altitude
+  SettingsFact _flightSpeed; // mission flight speed
+  SettingsFact _altitude;    // mission altitude
 
   // Smart RTL.
   QTimer _smartRTLTimer;
   bool _lowBatteryHandlingTriggered;
 
-  // Waypoint statistics.
-  double _measurementPathLength; // the lenght of the phase in meters
-
-  using StatusMap = std::map<int, QString>;
-  static StatusMap _nemoStatusMap;
-
   // Periodic tasks.
   QTimer _eventTimer;
   EventTicker _batteryLevelTicker;

src/WimaView/CircularSurveyMapVisual.qml

@@ -37,28 +37,28 @@ Item {
 
     function _addTransectsComponent(){
         if (!_transectsComponent){
-            _transectsComponent = visualTransectsComponent.createObject(map)
+            _transectsComponent = visualTransectsComponent.createObject(_root)
             map.addMapItem(_transectsComponent)
         }
     }
 
     function _addExitCoordinate(){
         if (!_exitCoordinate){
-            _exitCoordinate = exitPointComponent.createObject(map)
+            _exitCoordinate = exitPointComponent.createObject(_root)
             map.addMapItem(_exitCoordinate)
         }
     }
 
     function _addEntryCoordinate(){
         if (!_entryCoordinate){
-            _entryCoordinate = entryPointComponent.createObject(map)
+            _entryCoordinate = entryPointComponent.createObject(_root)
             map.addMapItem(_entryCoordinate)
         }
     }
 
     function _addRefPoint(){
         if (!_refPoint){
-            _refPoint = refPointComponent.createObject(map)
+            _refPoint = refPointComponent.createObject(_root)
             map.addMapItem(_refPoint)
         }
     }

src/WimaView/WimaCorridorDataVisual.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Measurement Area Data visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    signal clicked(int sequenceNumber)
+
+    property var _polygonComponent
+
+
+    function _addPolygon(){
+        if(!_polygonComponent){
+            _polygonComponent = polygon.createObject(_root)
+            map.addMapItem(_polygonComponent)
+        }
+    }
+
+    function _destroyPolygon(){
+        if(_polygonComponent){
+            map.removeMapItem(_polygonComponent)
+            _polygonComponent.destroy()
+        }
+    }
+
+    Component.onCompleted: {
+        _addPolygon()
+    }
+
+    Component.onDestruction:  {
+        _destroyPolygon()
+    }
+
+    // Polygon component.
+    Component{
+        id:polygon
+
+        MapPolygon {
+            path:           object.path;
+            border.color:   "black"
+            color:          "blue"
+            opacity:        0.25
+        }
+    }
+}

src/WimaView/WimaJoinedAreaDataVisual.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Measurement Area Data visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    signal clicked(int sequenceNumber)
+
+    property var _polygonComponent
+
+
+    function _addPolygon(){
+        if(!_polygonComponent){
+            _polygonComponent = polygon.createObject(_root)
+            map.addMapItem(_polygonComponent)
+        }
+    }
+
+    function _destroyPolygon(){
+        if(_polygonComponent){
+            map.removeMapItem(_polygonComponent)
+            _polygonComponent.destroy()
+        }
+    }
+
+    Component.onCompleted: {
+        _addPolygon()
+    }
+
+    Component.onDestruction:  {
+        _destroyPolygon()
+    }
+
+    // Polygon component.
+    Component{
+        id:polygon
+
+        MapPolygon {
+            path:           object.path;
+            border.color:   "black"
+            color:          "gray"
+            opacity:        0.25
+        }
+    }
+}

src/WimaView/WimaMeasurementAreaDataVisual.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Measurement Area Data visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    signal clicked(int sequenceNumber)
+
+    property var _polygonComponent
+
+
+    function _addPolygon(){
+        if(!_polygonComponent){
+            _polygonComponent = polygon.createObject(_root)
+            map.addMapItem(_polygonComponent)
+        }
+    }
+
+    function _destroyPolygon(){
+        if(_polygonComponent){
+            map.removeMapItem(_polygonComponent)
+            _polygonComponent.destroy()
+        }
+    }
+
+    Component.onCompleted: {
+        _addPolygon()
+    }
+
+    Component.onDestruction:  {
+        _destroyPolygon()
+    }
+
+    // Add tiles.
+    Repeater {
+        id: progressRepeater
+        model:  areaItem.tiles
+
+        Item{
+            property var _tileComponent
+            property int _progress: _root.areaItem.progress[index] ?
+                                        _root.areaItem.progress[index] : 0
+
+            Component.onCompleted: {
+                _tileComponent = tileComponent.createObject(map)
+
+                _tileComponent.polygon.path =
+                        Qt.binding(function(){return object.path})
+                _tileComponent.polygon.opacity = 0.6
+                _tileComponent.polygon.border.color = "black"
+                _tileComponent.polygon.border.width = 1
+                _tileComponent.polygon.color =
+                        Qt.binding(function(){return getColor(_progress)})
+            }
+
+            Component.onDestruction: {
+                _tileComponent.destroy()
+            }
+
+        }
+    }
+
+    // Polygon component.
+    Component{
+        id:polygon
+
+        MapPolygon {
+            path:           object.path;
+            border.color:   "black"
+            color:          "green"
+            opacity:        0.25
+        }
+    }
+
+    // Tile component.
+    Component {
+        id: tileComponent
+        Item{
+            id: root
+
+            property MapPolygon polygon
+
+            MapPolygon{
+                id:mapPolygon
+                path:           []
+            }
+
+            Component.onCompleted: {
+                polygon = mapPolygon
+                map.addMapItem(mapPolygon)
+            }
+
+            Component.onDestruction: {
+                map.removeMapItem(mapPolygon)
+            }
+        }
+    }
+
+    function getColor(progress) {
+        if (progress === 0)
+            return "transparent"
+        if (progress < 33)
+            return "orange"
+        if (progress < 66)
+            return "yellow"
+        if (progress < 100)
+            return "greenyellow"
+        return "limegreen"
+    }
+
+}

src/WimaView/WimaServiceAreaDataVisual.qml

+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Measurement Area Data visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    signal clicked(int sequenceNumber)
+
+    property var _polygonComponent
+
+
+    function _addPolygon(){
+        if(!_polygonComponent){
+            _polygonComponent = polygon.createObject(_root)
+            map.addMapItem(_polygonComponent)
+        }
+    }
+
+    function _destroyPolygon(){
+        if(_polygonComponent){
+            map.removeMapItem(_polygonComponent)
+            _polygonComponent.destroy()
+        }
+    }
+
+    Component.onCompleted: {
+        _addPolygon()
+    }
+
+    Component.onDestruction:  {
+        _destroyPolygon()
+    }
+
+    // Polygon component.
+    Component{
+        id:polygon
+
+        MapPolygon {
+            path:           object.path;
+            border.color:   "black"
+            color:          "yellow"
+            opacity:        0.25
+        }
+    }
+}

src/WimaView/WimaToolBar.qml

@@ -356,7 +356,8 @@ Rectangle {
         QGCButton {
             id:                     uploadButton
             text:                   qsTr("Upload")
-            enabled:                true
+            enabled:                wimaPlaner ?
+                                        wimaPlaner.readyForSynchronization : false
             onClicked:              {
                 if (wimaPlaner){
                     if (wimaPlaner.readyForSynchronization) {