editing added to RouteComplexItem

qgroundcontrol.pro

@@ -421,6 +421,8 @@ INCLUDEPATH += \
     src/Vehicle \
     src/Audio \
     src/comm \
+    src/RouteMissionItem \
+    src/RouteMissionItem/geometry \
     src/comm/ros_bridge \
     src/input \
     src/lib/qmapcontrol \
@@ -445,7 +447,11 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 
 HEADERS += \
     src/QmlControls/QmlUnitsConversion.h \
+    src/RouteMissionItem/geometry/GeoArea.h \
+    src/RouteMissionItem/geometry/MeasurementArea.h \
+    src/RouteMissionItem/geometry/SafeArea.h \
     src/Vehicle/VehicleEscStatusFactGroup.h \
+    src/RouteMissionItem/AreaData.h \
     src/RouteMissionItem/RouteComplexItem.h \
     src/RouteMissionItem/GenericSingelton.h \
     src/RouteMissionItem/geometry/GenericCircle.h \
@@ -492,12 +498,6 @@ HEADERS += \
     src/api/QGCSettings.h \
     src/api/QmlComponentInfo.h \
     src/GPS/Drivers/src/base_station.h \
-    src/RouteMissionItem/geometry/WimaArea.h \
-    src/RouteMissionItem/geometry/WimaServiceArea.h \
-    src/RouteMissionItem/geometry/WimaMeasurementArea.h \
-    src/RouteMissionItem/geometry/PlanimetryCalculus.h \
-    src/RouteMissionItem/geometry/PolygonCalculus.h \
-    src/RouteMissionItem/OptimisationTools.h \
     src/Settings/WimaSettings.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
     src/comm/ros_bridge/include/com_private.h \
@@ -522,6 +522,9 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 }
 
 SOURCES += \
+    src/RouteMissionItem/geometry/GeoArea.cc \
+    src/RouteMissionItem/geometry/MeasurementArea.cc \
+    src/RouteMissionItem/geometry/SafeArea.cc \
     src/Vehicle/VehicleEscStatusFactGroup.cc \
     src/RouteMissionItem/AreaData.cc \
     src/api/QGCCorePlugin.cc \
@@ -554,12 +557,6 @@ SOURCES += \
     src/comm/ros_bridge/include/server.cpp \
     src/comm/ros_bridge/include/topic_publisher.cpp \
     src/comm/ros_bridge/include/topic_subscriber.cpp \
-    src/RouteMissionItem/geometry/WimaArea.cc \
-    src/RouteMissionItem/geometry/WimaServiceArea.cc \
-    src/RouteMissionItem/geometry/WimaMeasurementArea.cc \
-    src/RouteMissionItem/geometry/PlanimetryCalculus.cc \
-    src/RouteMissionItem/OptimisationTools.cc \
-    src/RouteMissionItem/geometry/PolygonCalculus.cc \
     src/Settings/WimaSettings.cc \
     src/comm/ros_bridge/src/ros_bridge.cpp
 

qgroundcontrol.qrc

@@ -261,7 +261,6 @@
         <file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
         <file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
         <file alias="SerialSettings.qml">src/ui/preferences/SerialSettings.qml</file>
-        <file alias="Wima/WimaAreaNoVisual.qml">src/Wima/Snake/WimaAreaNoVisual.qml</file>
         <file alias="CircularGeneratorEditor.qml">src/WimaView/CircularGeneratorEditor.qml</file>
         <file alias="QGroundControl/Controls/CircularGeneratorMapVisual.qml">src/WimaView/CircularGeneratorMapVisual.qml</file>
         <file alias="CircularSurveyItemEditor.qml">src/WimaView/CircularSurveyItemEditor.qml</file>
@@ -273,21 +272,14 @@
         <file alias="Wima/ProgressIndicator.qml">src/WimaView/ProgressIndicator.qml</file>
         <file alias="Wima/qmldir">src/WimaView/Wima.qmldir</file>
         <file alias="Wima/WimaAreaMapVisual.qml">src/WimaView/WimaAreaMapVisual.qml</file>
-        <file alias="Wima/WimaCorridorDataVisual.qml">src/WimaView/WimaCorridorDataVisual.qml</file>
         <file alias="Wima/WimaCorridorEditor.qml">src/WimaView/WimaCorridorEditor.qml</file>
-        <file alias="Wima/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
         <file alias="Wima/WimaItemEditor.qml">src/WimaView/WimaItemEditor.qml</file>
-        <file alias="Wima/WimaJoinedAreaDataVisual.qml">src/WimaView/WimaJoinedAreaDataVisual.qml</file>
-        <file alias="Wima/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
         <file alias="Wima/WimaMapPolygonVisuals.qml">src/WimaView/WimaMapPolygonVisuals.qml</file>
-        <file alias="Wima/WimaMapPolylineVisuals.qml">src/WimaView/WimaMapPolylineVisuals.qml</file>
         <file alias="Wima/WimaMapVisual.qml">src/WimaView/WimaMapVisual.qml</file>
-        <file alias="Wima/WimaMeasurementAreaDataVisual.qml">src/WimaView/WimaMeasurementAreaDataVisual.qml</file>
-        <file alias="Wima/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
-        <file alias="Wima/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
-        <file alias="Wima/WimaServiceAreaDataVisual.qml">src/WimaView/WimaServiceAreaDataVisual.qml</file>
-        <file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
-        <file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
+        <file alias="Wima/WimaMeasurementAreaEditor.qml">src/WimaView/MeasurementAreaEditor.qml</file>
+        <file alias="Wima/WimaMeasurementAreaMapVisual.qml">src/WimaView/MeasurementAreaMapVisual.qml</file>
+        <file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/SafeAreaEditor.qml</file>
+        <file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/SafeAreaMapVisual.qml</file>
         <file alias="Wima/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
         <file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
         <file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
@@ -360,9 +352,9 @@
         <file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
         <file alias="VTOLLandingPattern.FactMetaData.json">src/MissionManager/VTOLLandingPattern.FactMetaData.json</file>
         <file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
-        <file alias="CircularSurvey.SettingsGroup.json">src/Wima/json/CircularSurvey.SettingsGroup.json</file>
-        <file alias="LinearGenerator.SettingsGroup.json">src/Wima/Snake/json/LinearGenerator.SettingsGroup.json</file>
-        <file alias="CircularGenerator.SettingsGroup.json">src/Wima/Snake/json/CircularGenerator.SettingsGroup.json</file>
+        <file alias="RouteComplexItem.SettingsGroup.json">src/RouteMissionItem/json/RouteComplexItem.SettingsGroup.json</file>
+        <file alias="LinearGenerator.SettingsGroup.json">src/RouteMissionItem/json/LinearGenerator.SettingsGroup.json</file>
+        <file alias="CircularGenerator.SettingsGroup.json">src/RouteMissionItem/json/CircularGenerator.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>

src/MissionManager/MissionItem.h

@@ -26,7 +26,7 @@
 #include "QmlObjectListModel.h"
 
 class SurveyComplexItem;
-class CircularSurvey;
+class RouteComplexItem;
 class SimpleMissionItem;
 class MissionController;
 #ifdef UNITTEST_BUILD
@@ -153,7 +153,7 @@ private:
     static const char*  _jsonParam4Key;
 
     friend class SurveyComplexItem;
-    friend class CircularSurvey;
+    friend class RouteComplexItem;
     friend class SimpleMissionItem;
     friend class MissionController;
 #ifdef UNITTEST_BUILD

src/RouteMissionItem/AreaData.cc

-#include "WimaPlanData.h"
+#include "AreaData.h"
 
-AreaData::AreaData(QObject *parent) : QObject(parent) {}
+#include "geometry/MeasurementArea.h"
+#include "geometry/SafeArea.h"
 
-AreaData::AreaData(const AreaData &other, QObject *parent)
-    : QObject(parent) {
-  *this = other;
-}
+#include "QGCLoggingCategory.h"
+#include "QGCQGeoCoordinate.h"
 
-AreaData &AreaData::operator=(const AreaData &other) {
-  this->append(other.measurementArea());
-  this->append(other.serviceArea());
-  this->append(other.joinedArea());
-  this->append(other.corridor());
+QGC_LOGGING_CATEGORY(AreaDataLog, "AreaDataLog")
 
-  return *this;
-}
+AreaData::AreaData(QObject *parent) : QObject(parent) {}
 
-void AreaData::append(const WimaJoinedAreaData &areaData) {
-  if (_joinedArea != areaData) {
-    _joinedArea = areaData;
-    emit joinedAreaChanged();
-  }
-}
+AreaData::~AreaData() {}
 
-void AreaData::append(const WimaServiceAreaData &areaData) {
-  if (_serviceArea != areaData) {
-    _serviceArea = areaData;
-    emit serviceAreaChanged();
+AreaData::AreaData(const AreaData &other, QObject *parent) : QObject(parent) {
+  if (!copyAreaList(other._areaList, _areaList, this)) {
+    qCWarning(AreaDataLog) << "AreaData(): not able to copy other._areaList";
+  } else {
+    _origin = other._origin;
   }
 }
 
-void AreaData::append(const WimaCorridorData &areaData) {
-  if (_corridor != areaData) {
-    _corridor = areaData;
-    emit corridorChanged();
+AreaData &AreaData::operator=(const AreaData &other) {
+  if (!copyAreaList(other._areaList, _areaList, this)) {
+    qCWarning(AreaDataLog) << "operator=(): not able to copy other._areaList";
+  } else {
+    _origin = other._origin;
   }
+  return *this;
 }
 
-void AreaData::append(const WimaMeasurementAreaData &areaData) {
-  if (_measurementArea != areaData) {
-    _measurementArea = areaData;
-    emit measurementAreaChanged();
-
-    if (_measurementArea.coordinateList().size() > 0) {
-      setOrigin(_measurementArea.coordinateList().first());
-    } else {
-      setOrigin(QGeoCoordinate());
+bool AreaData::insert(GeoArea *areaData) {
+  {
+    SafeArea *area = qobject_cast<SafeArea *>(areaData);
+    if (area != nullptr) {
+      if (Q_LIKELY(!this->_areaList.contains(area))) {
+        _areaList.append(area);
+        emit areaList();
+        return true;
+      } else {
+        return false;
+      }
     }
   }
-}
 
-void AreaData::append(const WimaJoinedArea &areaData) {
-  if (_joinedArea != areaData) {
-    _joinedArea = areaData;
-    emit joinedAreaChanged();
+  {
+    MeasurementArea *area = qobject_cast<MeasurementArea *>(areaData);
+    if (area != nullptr) {
+      if (Q_LIKELY(!this->_areaList.contains(area))) {
+        _areaList.append(area);
+        emit areaList();
+        return true;
+      } else {
+        return false;
+      }
+    }
   }
-}
 
-void AreaData::append(const WimaArea &areaData) {
-  if (_serviceArea != areaData) {
-    _serviceArea = areaData;
-    emit serviceAreaChanged();
-  }
+  return false;
 }
 
-void AreaData::append(const WimaCorridor &areaData) {
-  if (_corridor != areaData) {
-    _corridor = areaData;
-    emit corridorChanged();
-  }
-}
+void AreaData::remove(GeoArea *areaData) {
+  int index = _areaList.indexOf(areaData);
+  if (index >= 0) {
+    QObject *obj = _areaList.removeAt(index);
 
-void AreaData::append(const WimaMeasurementArea &areaData) {
-  if (_measurementArea != areaData) {
-    _measurementArea = areaData;
-    emit measurementAreaChanged();
+    _setOrigin(_newOrigin());
 
-    if (_measurementArea.coordinateList().size() > 0) {
-      setOrigin(_measurementArea.coordinateList().first());
-    } else {
-      setOrigin(QGeoCoordinate());
+    if (obj->parent() == nullptr) {
+      obj->deleteLater();
     }
-  }
-}
-
-void AreaData::clear() { *this = AreaData(); }
-
-const QGeoCoordinate &AreaData::origin() const { return _origin; }
 
-bool AreaData::isValid() {
-  return _measurementArea.coordinateList().size() >= 3 &&
-         _serviceArea.coordinateList().size() >= 3 && _origin.isValid();
+    emit areaListChanged();
+  }
 }
 
-const WimaJoinedAreaData &AreaData::joinedArea() const {
-  return this->_joinedArea;
+void AreaData::clear() {
+  if (_areaList.count() > 0) {
+    for (int i = 0; i < _areaList.count(); ++i) {
+      remove(_areaList.value<GeoArea *>(i));
+    }
+    emit areaListChanged();
+  }
 }
 
-const WimaServiceAreaData &AreaData::serviceArea() const {
-  return this->_serviceArea;
-}
+QmlObjectListModel *AreaData::areaList() { return &_areaList; }
 
-const WimaCorridorData &AreaData::corridor() const {
-  return this->_corridor;
-}
+const QmlObjectListModel *AreaData::areaList() const { return &_areaList; }
 
-const WimaMeasurementAreaData &AreaData::measurementArea() const {
-  return this->_measurementArea;
-}
+const QGeoCoordinate &AreaData::origin() const { return _origin; }
 
-WimaJoinedAreaData &AreaData::joinedArea() { return this->_joinedArea; }
+bool AreaData::isValid() const {
+  qWarning("AreaData::isValid(): impl. incomplete.");
+  auto *measurementArea = getGeoArea<const MeasurementArea *>(_areaList);
+  auto *safeArea = getGeoArea<const SafeArea *>(_areaList);
+  return measurementArea != nullptr && safeArea != nullptr &&
+         measurementArea->count() >= 3 && safeArea->count() >= 3 &&
+         _origin.isValid();
+}
+
+bool AreaData::tryMakeValid() {
+  qWarning("AreaData::tryMakeValid(): impl. missing.");
+  return true;
+}
+
+bool AreaData::initialize(const QGeoCoordinate &bottomLeft,
+                          const QGeoCoordinate &topRight) {
+  // bottomLeft and topRight define the bounding box.
+  if (bottomLeft.isValid() && topRight.isValid() && bottomLeft != topRight) {
+    auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
+    auto *safeArea = getGeoArea<SafeArea *>(_areaList);
+
+    if (safeArea == nullptr) {
+      if (!insert(new SafeArea())) {
+        qCCritical(AreaDataLog)
+            << "initialize(): safeArea == nullptr, but insert() failed.";
+        return false;
+      }
+    }
 
-WimaServiceAreaData &AreaData::serviceArea() { return this->_serviceArea; }
+    if (measurementArea == nullptr) {
+      if (!insert(new MeasurementArea())) {
+        qCCritical(AreaDataLog) << "initialize(): measurementArea == nullptr, "
+                                   "but insert() failed.";
+        return false;
+      }
+    }
 
-WimaCorridorData &AreaData::corridor() { return this->_corridor; }
+    // Fit safe area to bounding box.
+    safeArea->clear();
+    safeArea->appendVertex(bottomLeft);
+    safeArea->appendVertex(
+        QGeoCoordinate(topRight.latitude(), bottomLeft.longitude()));
+    safeArea->appendVertex(topRight);
+    safeArea->appendVertex(
+        QGeoCoordinate(bottomLeft.latitude(), topRight.longitude()));
+
+    // Put measurement area inside safeArea;
+    measurementArea->clear();
+    measurementArea->appendVertex(QGeoCoordinate(
+        0.8 * bottomLeft.latitude() + 0.2 * topRight.latitude(),
+        0.8 * bottomLeft.longitude() + 0.2 * topRight.longitude()));
+    measurementArea->appendVertex(QGeoCoordinate(
+        0.2 * bottomLeft.latitude() + 0.8 * topRight.latitude(),
+        0.8 * bottomLeft.longitude() + 0.2 * topRight.longitude()));
+    measurementArea->appendVertex(QGeoCoordinate(
+        0.2 * bottomLeft.latitude() + 0.8 * topRight.latitude(),
+        0.2 * bottomLeft.longitude() + 0.8 * topRight.longitude()));
+    measurementArea->appendVertex(QGeoCoordinate(
+        0.8 * bottomLeft.latitude() + 0.2 * topRight.latitude(),
+        0.2 * bottomLeft.longitude() + 0.8 * topRight.longitude()));
+    return true;
+  } else {
+    qCWarning(AreaDataLog)
+        << "initialize(): bounding box invaldid (bottomLeft, topRight) "
+        << bottomLeft << "," << topRight;
+    return false;
+  }
+}
 
-WimaMeasurementAreaData &AreaData::measurementArea() {
-  return this->_measurementArea;
+bool AreaData::initialized() {
+  auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
+  auto *safeArea = getGeoArea<SafeArea *>(_areaList);
+  return measurementArea != nullptr && safeArea != nullptr &&
+         measurementArea->count() >= 3 && safeArea->count() >= 3;
 }
 
 bool AreaData::operator==(const AreaData &other) const {
-  return this->_joinedArea == other._joinedArea &&
-         this->_measurementArea == other._measurementArea &&
-         this->_corridor == other._corridor &&
-         this->_serviceArea == other._serviceArea;
+  if (_areaList.count() == other._areaList.count()) {
+    for (int i = 0; i < _areaList.count(); ++i) {
+      if (_areaList[i] != other._areaList[i]) {
+        return false;
+      }
+    }
+    return true;
+  } else {
+    return false;
+  }
 }
 bool AreaData::operator!=(const AreaData &other) const {
   return !(*this == other);
 }
 
-void AreaData::setOrigin(const QGeoCoordinate &origin) {
+void AreaData::_setOrigin(const QGeoCoordinate &origin) {
   if (this->_origin != origin) {
     this->_origin = origin;
     emit originChanged();
   }
 }
+
+QGeoCoordinate AreaData::_newOrigin() {
+  auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
+  auto *safeArea = getGeoArea<SafeArea *>(_areaList);
+  if (measurementArea != nullptr && measurementArea->pathModel().count() > 0) {
+    QGCQGeoCoordinate *ori =
+        measurementArea->pathModel().value<QGCQGeoCoordinate *>(0);
+    if (ori != nullptr && ori->coordinate().isValid()) {
+      return ori->coordinate();
+    }
+  }
+
+  if (safeArea != nullptr && safeArea->pathModel().count() > 0) {
+    QGCQGeoCoordinate *ori =
+        measurementArea->pathModel().value<QGCQGeoCoordinate *>(0);
+    if (ori != nullptr && ori->coordinate().isValid()) {
+      return ori->coordinate();
+    }
+  }
+
+  return QGeoCoordinate();
+}

src/RouteMissionItem/AreaData.h

+#pragma once
+
+#include <QGeoCoordinate>
+#include <QObject>
+
+#include "QmlObjectListModel.h"
+
+class GeoArea;
+class SafeArea;
+class MeasurementArea;
+
+class AreaData : public QObject {
+  Q_OBJECT
+public:
+  AreaData(QObject *parent = nullptr);
+  ~AreaData();
+  AreaData(const AreaData &other, QObject *parent = nullptr);
+  AreaData &operator=(const AreaData &other);
+
+  // Member Methodes
+  //!
+  //! \brief insert Inserts the area if areaList does not contain it.
+  //! \param areaData
+  bool insert(GeoArea *areaData);
+  //!
+  //! \brief remove
+  //! \param areaData Removes the area.
+  //! \note Deletes the area if it has no parent.
+  void remove(GeoArea *areaData);
+  void clear();
+  //!
+  //! \brief areaList
+  //! \return Returns the list of areas.
+  //! \note For Qml use only, don't alter the list, or risk to break invariants.
+  QmlObjectListModel *areaList();
+  //!
+  //! \brief areaList
+  //! \return Returns the list of areas.
+  const QmlObjectListModel *areaList() const;
+
+  //!
+  //! \brief origin
+  //! \return Returns an origin near one of the areas.
+  //! \note Origin might change if the list of areas changes.
+  const QGeoCoordinate &origin() const;
+
+  Q_INVOKABLE bool isValid() const;
+  Q_INVOKABLE bool tryMakeValid();
+  //!
+  //! \brief initialize Initializes the areas in a valid way, such that they
+  //! area inside the bounding box. \param bottomLeft bottom left corner of the
+  //! bounding box. \param topRight  top right corner of the bounding box. \note
+  //! Behavior is undefined, if \p bottomLeft and \p topRight are not the bottom
+  //! left and the top right corner of the bounding box. \return Returns true on
+  //! succes, false either.
+  //!
+  Q_INVOKABLE bool initialize(const QGeoCoordinate &bottomLeft,
+                              const QGeoCoordinate &topRight);
+  //!
+  //! \brief initialized Checks if area data is initialized
+  //! \return Returns true if area list contains a SafeArea and a
+  //! MeasurementArea and both areas have atleast three vertices, returns false
+  //! either.
+  //!
+  Q_INVOKABLE bool initialized();
+
+  bool operator==(const AreaData &other) const;
+  bool operator!=(const AreaData &other) const;
+
+signals:
+  void areaListChanged();
+  void originChanged();
+
+private:
+  void _setOrigin(const QGeoCoordinate &origin);
+  QGeoCoordinate _newOrigin();
+
+  QGeoCoordinate _origin;
+  QmlObjectListModel _areaList;
+};

src/RouteMissionItem/CircularGenerator.cpp

 #include "CircularGenerator.h"
 
 #include "QGCLoggingCategory.h"
-QGC_LOGGING_CATEGORY(CircularGeneratorLog, "CircularGeneratorLog")
+#include "SettingsFact.h"
 
 #define CLIPPER_SCALE 1000000
-#include "Wima/Geometry/GenericCircle.h"
-#include "clipper/clipper.hpp"
+#include "RoutingThread.h"
+#include "geometry/GenericCircle.h"
+#include "geometry/MeasurementArea.h"
+#include "geometry/SafeArea.h"
+#include "geometry/clipper/clipper.hpp"
+#include "nemo_interface/SnakeTile.h"
+
+QGC_LOGGING_CATEGORY(CircularGeneratorLog, "CircularGeneratorLog")
 
 using namespace ClipperLib;
 template <> inline auto get<0>(const IntPoint &p) { return p.X; }
 template <> inline auto get<1>(const IntPoint &p) { return p.Y; }
 
-#include "SnakeTile.h"
-#include "Wima/RoutingThread.h"
-
 namespace routing {
 
 bool circularTransects(const snake::FPoint &reference,
@@ -77,7 +80,13 @@ bool CircularGenerator::get(Generator &generator) {
       snake::FPoint reference;
       snake::toENU(origin, ref, reference);
 
-      auto geoPolygon = this->_d->measurementArea().coordinateList();
+      auto measurementArea =
+          getGeoArea<const MeasurementArea *>(*this->_d->areaList());
+      if (measurementArea == nullptr) {
+        qCDebug(CircularGeneratorLog) << "get(): measurement area == nullptr";
+        return false;
+      }
+      auto geoPolygon = measurementArea->coordinateList();
       for (auto &v : geoPolygon) {
         if (v.isValid()) {
           v.setAltitude(0);
@@ -93,8 +102,8 @@ bool CircularGenerator::get(Generator &generator) {
       snake::areaToEnu(origin, geoPolygon, *pPolygon);
 
       // Progress and tiles.
-      const auto &progress = this->_d->measurementArea().progress();
-      const auto *tiles = this->_d->measurementArea().tiles();
+      const auto &progress = measurementArea->progress();
+      const auto *tiles = measurementArea->tiles();
       auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
       if (progress.size() == tiles->count()) {
         for (int i = 0; i < tiles->count(); ++i) {
@@ -119,7 +128,12 @@ bool CircularGenerator::get(Generator &generator) {
         return false;
       }
 
-      auto geoDepot = this->_d->serviceArea().depot();
+      auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
+      if (measurementArea == nullptr) {
+        qCDebug(CircularGeneratorLog) << "get(): measurement area == nullptr";
+        return false;
+      }
+      auto geoDepot = serviceArea->depot();
       if (!geoDepot.isValid()) {
         qCDebug(CircularGeneratorLog) << "get(): depot invalid." << geoDepot;
         return false;
@@ -169,73 +183,85 @@ void CircularGenerator::resetReferenceIfInvalid() {
 }
 
 void CircularGenerator::resetReference() {
-  if (this->_d->measurementArea().center().isValid()) {
-    setReference(this->_d->measurementArea().center());
+  auto measurementArea =
+      getGeoArea<const MeasurementArea *>(*this->_d->areaList());
+
+  if (measurementArea != nullptr) {
+    if (measurementArea->center().isValid()) {
+      setReference(measurementArea->center());
+    } else {
+      qCWarning(CircularGeneratorLog)
+          << "measurement area center" << measurementArea->center();
+    }
   } else {
-    qCWarning(CircularGeneratorLog)
-        << "measurement area center" << this->_d->measurementArea().center();
+    qCDebug(CircularGeneratorLog)
+        << "resetReference(): measurement area == nullptr";
   }
 }
 
 void CircularGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
-    connect(this->_d.get(), &AreaData::originChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(&this->_d->measurementArea(),
-            &WimaMeasurementAreaData::progressChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(&this->_d->measurementArea(),
-            &WimaMeasurementAreaData::tileDataChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(&this->_d->measurementArea(),
-            &WimaMeasurementAreaData::centerChanged, this,
-            &CircularGenerator::resetReferenceIfInvalid);
-    connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
-            this, &GeneratorBase::generatorChanged);
-    connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(this->distance(), &Fact::rawValueChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(this->deltaAlpha(), &Fact::rawValueChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(this->minLength(), &Fact::rawValueChanged, this,
-            &GeneratorBase::generatorChanged);
-    connect(this, &CircularGenerator::referenceChanged, this,
-            &GeneratorBase::generatorChanged);
-    this->_connectionsEstablished = true;
+    auto measurementArea =
+        getGeoArea<const MeasurementArea *>(*this->_d->areaList());
+    auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
+    if (measurementArea != nullptr && serviceArea != nullptr) {
+      GeneratorBase::establishConnections();
+
+      connect(this->_d, &AreaData::originChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(measurementArea, &MeasurementArea::progressChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(measurementArea, &MeasurementArea::tilesChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(measurementArea, &MeasurementArea::centerChanged, this,
+              &CircularGenerator::resetReferenceIfInvalid);
+      connect(measurementArea, &MeasurementArea::pathChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(serviceArea, &SafeArea::depotChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(this->distance(), &Fact::rawValueChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(this->deltaAlpha(), &Fact::rawValueChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(this->minLength(), &Fact::rawValueChanged, this,
+              &GeneratorBase::generatorChanged);
+      connect(this, &CircularGenerator::referenceChanged, this,
+              &GeneratorBase::generatorChanged);
+      this->_connectionsEstablished = true;
+    }
   }
 }
 
 void CircularGenerator::deleteConnections() {
   if (this->_d && this->_connectionsEstablished) {
-    disconnect(this->_d.get(), &AreaData::originChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::progressChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::tileDataChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->measurementArea(), &WimaMeasurementAreaData::center,
-               this, &CircularGenerator::resetReferenceIfInvalid);
-    disconnect(&this->_d->measurementArea(),
-               &WimaMeasurementAreaData::pathChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
-               this, &GeneratorBase::generatorChanged);
-    disconnect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->distance(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->deltaAlpha(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this->minLength(), &Fact::rawValueChanged, this,
-               &GeneratorBase::generatorChanged);
-    disconnect(this, &CircularGenerator::referenceChanged, this,
-               &GeneratorBase::generatorChanged);
-    this->_connectionsEstablished = false;
+    auto measurementArea =
+