nemo interface moved to wima planer

src/FlightDisplay/FlightDisplayViewMap.qml

@@ -273,7 +273,6 @@ FlightMap {
     MapItemView {
             id: tileView
         property bool _enable:    wimaController.enableWimaController.value
-                               && wimaController.enableSnake.value
         property bool valid: wimaController.snakeTileCenterPoints.length
                              === wimaController.nemoProgress.length
         model: _enable ? wimaController.snakeTiles : 0

src/FlightDisplay/FlightDisplayWimaMenu.qml

@@ -46,7 +46,6 @@ Item {
 
     // Use Settings to store menu appearance through different sessions.
     Settings {
-        property alias snakeHeaderChecker:      snakeHeader.checked
         property alias missionHeaderChecker:    missionHeader.checked
         property alias navigateHeaderChecker:   navigateHeader.checked
         property alias vehicleHeaderChecker:    vehicleHeader.checked
@@ -98,7 +97,6 @@ Item {
 
             property var enableWimaFact:        wimaController.enableWimaController
             property bool enableWimaBoolean:    enableWimaFact.value
-            property var enableSnakeFact:       wimaController.enableSnake
 
             onAccept: {
                 if (enableWimaBoolean) {
@@ -108,7 +106,6 @@ Item {
                 } else {
                     enableWimaFact.value = true
                     enableWimaMouseArea.enabled = false
-                    enableSnakeCheckBox.checkedState = false;
                     timer.stop()
                 }
             }
@@ -176,56 +173,6 @@ Item {
                     id:         mainColumn
                     spacing:    ScreenTools.defaultFontPixelHeight * 0.3
 
-                    SectionHeader{
-                        id: snakeHeader
-                        text: qsTr("Snake Settings")
-                    }
-
-                    Column {
-                        visible: snakeHeader.checked
-                        spacing: ScreenTools.defaultFontPixelHeight * 0.5
-
-                        FactCheckBox {
-                            id: enableSnakeCheckBox
-                            text:       wimaController.enableSnake.value ?
-                                            qsTr("Disable Snake")
-                                          : qsTr("Enable Snake")
-                            fact:       wimaController.enableSnake
-                        }
-
-                        // Spacer
-                        Item {
-                            height: 1
-                        }
-
-                        // Snake status and settings column.
-                        GridLayout {
-                            columns: 2
-                            rowSpacing:         ScreenTools.defaultFontPixelHeight * 0.5
-                            columnSpacing:      ScreenTools.defaultFontPixelHeight * 0.5
-                            visible:            wimaController.enableSnake.value
-
-                            // Snake connection status.
-                            QGCLabel {
-                                property int index: wimaController.nemoStatus
-                                property string statusString: wimaController.nemoStatusString
-                                text: "Status: " + statusString
-                                Layout.fillWidth: true
-                            }
-
-                            // Snake calculation status.
-                            QGCLabel {
-                                property bool _calcInProgress: wimaController.snakeCalcInProgress
-                                text: _calcInProgress === true ?
-                                          qsTr("Calculation: In Progress")
-                                        : qsTr("Calculation: Idle")
-                                Layout.fillWidth: true
-                            }
-                        }
-                    }
-
-
-
 
                     SectionHeader{
                         id: missionHeader

src/PlanView/CircularSurveyItemEditor.qml

@@ -143,7 +143,7 @@ Rectangle {
                     model: len
                     delegate: QGCRadioButton {
                         checked: index === variantRepeater.variant
-                        text:  variantRepeater.names[index]
+                        text:  variantRepeater.names[index] ? variantRepeater.names[index]: ""
 
                         onCheckedChanged: {
                             if (checked){

src/QGCApplication.cc

@@ -7,7 +7,6 @@
  *
  ****************************************************************************/
 
-
 /**
  * @file
  *   @brief Implementation of class QGCApplication
@@ -16,15 +15,15 @@
  *
  */
 
+#include <QAction>
+#include <QDesktopWidget>
 #include <QFile>
 #include <QFlags>
-#include <QPixmap>
-#include <QDesktopWidget>
 #include <QPainter>
-#include <QStyleFactory>
-#include <QAction>
-#include <QStringListModel>
+#include <QPixmap>
 #include <QRegularExpression>
+#include <QStringListModel>
+#include <QStyleFactory>
 
 #ifdef QGC_ENABLE_BLUETOOTH
 #include <QBluetoothLocalDevice>
@@ -34,78 +33,79 @@
 
 #include "VideoStreaming.h"
 
-#include "QGC.h"
-#include "QGCApplication.h"
+#include "AppMessages.h"
 #include "AudioOutput.h"
+#include "AutoPilotPlugin.h"
+#include "CameraCalc.h"
 #include "CmdLineOptParser.h"
-#include "UDPLink.h"
-#include "LinkManager.h"
-#include "UASMessageHandler.h"
-#include "QGCTemporaryFile.h"
-#include "QGCPalette.h"
-#include "QGCMapPalette.h"
-#include "QGCLoggingCategory.h"
-#include "ViewWidgetController.h"
-#include "ParameterEditorController.h"
+#include "CoordinateVector.h"
 #include "CustomCommandWidgetController.h"
 #include "ESP8266ComponentController.h"
-#include "ScreenToolsController.h"
-#include "QGCFileDialogController.h"
-#include "RCChannelMonitorController.h"
-#include "SyslinkComponentController.h"
-#include "AutoPilotPlugin.h"
-#include "VehicleComponent.h"
+#include "EditPositionDialogController.h"
+#include "FactValueSliderListModel.h"
+#include "FirmwareImage.h"
 #include "FirmwarePluginManager.h"
-#include "MultiVehicleManager.h"
-#include "Vehicle.h"
+#include "FlightMapSettings.h"
+#include "FollowMe.h"
 #include "JoystickConfigController.h"
 #include "JoystickManager.h"
-#include "QmlObjectListModel.h"
-#include "QGCGeoBoundingCube.h"
+#include "LinkManager.h"
+#include "LogDownloadController.h"
+#include "MissionCommandTree.h"
 #include "MissionManager.h"
-#include "QGroundControlQmlGlobal.h"
-#include "FlightMapSettings.h"
-#include "CoordinateVector.h"
+#include "MultiVehicleManager.h"
+#include "ParameterEditorController.h"
+#include "ParameterManager.h"
 #include "PlanMasterController.h"
-#include "Wima/WimaController.h"
-#include "Wima/WimaBridge.h"
-#include "Wima/WimaPlaner.h"
-#include "VideoManager.h"
-#include "VideoSurface.h"
-#include "VideoReceiver.h"
-#include "LogDownloadController.h"
-#include "ValuesWidgetController.h"
-#include "AppMessages.h"
-#include "SimulatedPosition.h"
 #include "PositionManager.h"
-#include "FollowMe.h"
-#include "MissionCommandTree.h"
-#include "QGCMapPolygon.h"
+#include "QGC.h"
+#include "QGCApplication.h"
+#include "QGCCameraManager.h"
+#include "QGCCorePlugin.h"
+#include "QGCFileDialogController.h"
+#include "QGCFileDownload.h"
+#include "QGCGeoBoundingCube.h"
+#include "QGCLoggingCategory.h"
 #include "QGCMapCircle.h"
-#include "ParameterManager.h"
+#include "QGCMapPalette.h"
+#include "QGCMapPolygon.h"
+#include "QGCPalette.h"
+#include "QGCTemporaryFile.h"
+#include "QGroundControlQmlGlobal.h"
+#include "QmlObjectListModel.h"
+#include "RCChannelMonitorController.h"
+#include "ScreenToolsController.h"
 #include "SettingsManager.h"
-#include "QGCCorePlugin.h"
-#include "QGCCameraManager.h"
-#include "CameraCalc.h"
-#include "VisualMissionItem.h"
-#include "EditPositionDialogController.h"
-#include "FactValueSliderListModel.h"
 #include "ShapeFileHelper.h"
-#include "QGCFileDownload.h"
-#include "FirmwareImage.h"
+#include "SimulatedPosition.h"
+#include "SyslinkComponentController.h"
+#include "UASMessageHandler.h"
+#include "UDPLink.h"
+#include "ValuesWidgetController.h"
+#include "Vehicle.h"
+#include "VehicleComponent.h"
+#include "VideoManager.h"
+#include "VideoReceiver.h"
+#include "VideoSurface.h"
+#include "ViewWidgetController.h"
+#include "VisualMissionItem.h"
+#include "Wima/Snake/NemoInterface.h"
+#include "Wima/WimaBridge.h"
+#include "Wima/WimaController.h"
+#include "Wima/WimaPlaner.h"
 
 #ifndef NO_SERIAL_LINK
 #include "SerialLink.h"
 #endif
 
 #ifndef __mobile__
-#include "QGCQFileDialog.h"
-#include "QGCMessageBox.h"
 #include "FirmwareUpgradeController.h"
-#include "MainWindow.h"
+#include "GPS/GPSManager.h"
 #include "GeoTagController.h"
+#include "MainWindow.h"
 #include "MavlinkConsoleController.h"
-#include "GPS/GPSManager.h"
+#include "QGCMessageBox.h"
+#include "QGCQFileDialog.h"
 #endif
 
 #ifdef QGC_RTLAB_ENABLED
@@ -114,765 +114,842 @@
 
 #ifdef Q_OS_LINUX
 #ifndef __mobile__
-#include <unistd.h>
 #include <sys/types.h>
+#include <unistd.h>
 #endif
 #endif
 
 #include "QGCMapEngine.h"
 
-QGCApplication* QGCApplication::_app = nullptr;
+QGCApplication *QGCApplication::_app = nullptr;
 
-const char* QGCApplication::_deleteAllSettingsKey           = "DeleteAllSettingsNextBoot";
-const char* QGCApplication::_settingsVersionKey             = "SettingsVersion";
+const char *QGCApplication::_deleteAllSettingsKey = "DeleteAllSettingsNextBoot";
+const char *QGCApplication::_settingsVersionKey = "SettingsVersion";
 
-const char* QGCApplication::_darkStyleFile          = ":/res/styles/style-dark.css";
-const char* QGCApplication::_lightStyleFile         = ":/res/styles/style-light.css";
+const char *QGCApplication::_darkStyleFile = ":/res/styles/style-dark.css";
+const char *QGCApplication::_lightStyleFile = ":/res/styles/style-light.css";
 
 // Mavlink status structures for entire app
 mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
 
 // Qml Singleton factories
 
-static QObject* screenToolsControllerSingletonFactory(QQmlEngine*, QJSEngine*)
-{
-    ScreenToolsController* screenToolsController = new ScreenToolsController;
-    return screenToolsController;
+static QObject *screenToolsControllerSingletonFactory(QQmlEngine *,
+                                                      QJSEngine *) {
+  ScreenToolsController *screenToolsController = new ScreenToolsController;
+  return screenToolsController;
 }
 
-static QObject* qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine*, QJSEngine*)
-{
-    // We create this object as a QGCTool even though it isn't in the toolbox
-    QGroundControlQmlGlobal* qmlGlobal = new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
-    qmlGlobal->setToolbox(qgcApp()->toolbox());
+static QObject *qgroundcontrolQmlGlobalSingletonFactory(QQmlEngine *,
+                                                        QJSEngine *) {
+  // We create this object as a QGCTool even though it isn't in the toolbox
+  QGroundControlQmlGlobal *qmlGlobal =
+      new QGroundControlQmlGlobal(qgcApp(), qgcApp()->toolbox());
+  qmlGlobal->setToolbox(qgcApp()->toolbox());
 
-    return qmlGlobal;
+  return qmlGlobal;
 }
 
-static QObject* shapeFileHelperSingletonFactory(QQmlEngine*, QJSEngine*)
-{
-    return new ShapeFileHelper;
+static QObject *shapeFileHelperSingletonFactory(QQmlEngine *, QJSEngine *) {
+  return new ShapeFileHelper;
 }
 
-QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
+QGCApplication::QGCApplication(int &argc, char *argv[], bool unitTesting)
 #ifdef __mobile__
-    : QGuiApplication           (argc, argv)
-    , _qmlAppEngine             (nullptr)
+    : QGuiApplication(argc, argv), _qmlAppEngine(nullptr)
 #else
-    : QApplication              (argc, argv)
+    : QApplication(argc, argv)
 #endif
-    , _runningUnitTests         (unitTesting)
-    , _logOutput                (false)
-    , _fakeMobile               (false)
-    , _settingsUpgraded         (false)
-    , _majorVersion             (0)
-    , _minorVersion             (0)
-    , _buildVersion             (0)
-    , _currentVersionDownload   (nullptr)
-    , _gpsRtkFactGroup          (nullptr)
-    , _toolbox                  (nullptr)
-    , _bluetoothAvailable       (false)
-{
-    _app = this;
-
-
-    QLocale locale = QLocale::system();
-    //-- Some forced locales for testing
-    //QLocale locale = QLocale(QLocale::German);
-    //QLocale locale = QLocale(QLocale::French);
-    //QLocale locale = QLocale(QLocale::Chinese);
-#if defined (__macos__)
-    locale = QLocale(locale.name());
+      ,
+      _runningUnitTests(unitTesting), _logOutput(false), _fakeMobile(false),
+      _settingsUpgraded(false), _majorVersion(0), _minorVersion(0),
+      _buildVersion(0), _currentVersionDownload(nullptr),
+      _gpsRtkFactGroup(nullptr), _toolbox(nullptr), _bluetoothAvailable(false) {
+  _app = this;
+
+  QLocale locale = QLocale::system();
+  //-- Some forced locales for testing
+  // QLocale locale = QLocale(QLocale::German);
+  // QLocale locale = QLocale(QLocale::French);
+  // QLocale locale = QLocale(QLocale::Chinese);
+#if defined(__macos__)
+  locale = QLocale(locale.name());
 #endif
-    qDebug() << "System reported locale:" << locale << locale.name();
-    //-- Our localization
-    if(_QGCTranslator.load(locale, "qgc_", "", ":/localization"))
-        _app->installTranslator(&_QGCTranslator);
+  qDebug() << "System reported locale:" << locale << locale.name();
+  //-- Our localization
+  if (_QGCTranslator.load(locale, "qgc_", "", ":/localization"))
+    _app->installTranslator(&_QGCTranslator);
 
-    // This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
+    // This prevents usage of QQuickWidget to fail since it doesn't support
+    // native widget siblings
 #ifndef __android__
-    setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
+  setAttribute(Qt::AA_DontCreateNativeWidgetSiblings);
 #endif
 
-    // Setup for network proxy support
-    QNetworkProxyFactory::setUseSystemConfiguration(true);
+  // Setup for network proxy support
+  QNetworkProxyFactory::setUseSystemConfiguration(true);
 
 #ifdef Q_OS_LINUX
 #ifndef __mobile__
-    if (!_runningUnitTests) {
-        if (getuid() == 0) {
-            QMessageBox msgBox;
-            msgBox.setInformativeText(tr("You are running %1 as root. "
-                                         "You should not do this since it will cause other issues with %1. "
-                                         "%1 will now exit. "
-                                         "If you are having serial port issues on Ubuntu, execute the following commands to fix most issues:\n"
-                                         "sudo usermod -a -G dialout $USER\n"
-                                         "sudo apt-get remove modemmanager").arg(qgcApp()->applicationName()));
-            msgBox.setStandardButtons(QMessageBox::Ok);
-            msgBox.setDefaultButton(QMessageBox::Ok);
-            msgBox.exec();
-            _exit(0);
-        }
+  if (!_runningUnitTests) {
+    if (getuid() == 0) {
+      QMessageBox msgBox;
+      msgBox.setInformativeText(
+          tr("You are running %1 as root. "
+             "You should not do this since it will cause other issues with %1. "
+             "%1 will now exit. "
+             "If you are having serial port issues on Ubuntu, execute the "
+             "following commands to fix most issues:\n"
+             "sudo usermod -a -G dialout $USER\n"
+             "sudo apt-get remove modemmanager")
+              .arg(qgcApp()->applicationName()));
+      msgBox.setStandardButtons(QMessageBox::Ok);
+      msgBox.setDefaultButton(QMessageBox::Ok);
+      msgBox.exec();
+      _exit(0);
+    }
 
-        // Determine if we have the correct permissions to access USB serial devices
-        QFile permFile("/etc/group");
-        if(permFile.open(QIODevice::ReadOnly)) {
-            while(!permFile.atEnd()) {
-                QString line = permFile.readLine();
-                if (line.contains("dialout") && !line.contains(getenv("USER"))) {
-                    QMessageBox msgBox;
-                    msgBox.setInformativeText("The current user does not have the correct permissions to access serial devices. "
-                                              "You should also remove modemmanager since it also interferes. "
-                                              "If you are using Ubuntu, execute the following commands to fix these issues:\n"
-                                              "sudo usermod -a -G dialout $USER\n"
-                                              "sudo apt-get remove modemmanager");
-                    msgBox.setStandardButtons(QMessageBox::Ok);
-                    msgBox.setDefaultButton(QMessageBox::Ok);
-                    msgBox.exec();
-                    break;
-                }
-            }
-            permFile.close();
+    // Determine if we have the correct permissions to access USB serial devices
+    QFile permFile("/etc/group");
+    if (permFile.open(QIODevice::ReadOnly)) {
+      while (!permFile.atEnd()) {
+        QString line = permFile.readLine();
+        if (line.contains("dialout") && !line.contains(getenv("USER"))) {
+          QMessageBox msgBox;
+          msgBox.setInformativeText(
+              "The current user does not have the correct permissions to "
+              "access serial devices. "
+              "You should also remove modemmanager since it also interferes. "
+              "If you are using Ubuntu, execute the following commands to fix "
+              "these issues:\n"
+              "sudo usermod -a -G dialout $USER\n"
+              "sudo apt-get remove modemmanager");
+          msgBox.setStandardButtons(QMessageBox::Ok);
+          msgBox.setDefaultButton(QMessageBox::Ok);
+          msgBox.exec();
+          break;
         }
+      }
+      permFile.close();
     }
+  }
 #endif
 #endif
 
-    // Parse command line options
-
-    bool fClearSettingsOptions = false; // Clear stored settings
-    bool fClearCache = false;           // Clear parameter/airframe caches
-    bool logging = false;               // Turn on logging
-    QString loggingOptions;
-
-    CmdLineOpt_t rgCmdLineOptions[] = {
-        { "--clear-settings",   &fClearSettingsOptions, nullptr },
-        { "--clear-cache",      &fClearCache,           nullptr },
-        { "--logging",          &logging,               &loggingOptions },
-        { "--fake-mobile",      &_fakeMobile,           nullptr },
-        { "--log-output",       &_logOutput,            nullptr },
-        // Add additional command line option flags here
-    };
-
-    ParseCmdLineOptions(argc, argv, rgCmdLineOptions, sizeof(rgCmdLineOptions)/sizeof(rgCmdLineOptions[0]), false);
-
-    // Set up timer for delayed missing fact display
-    _missingParamsDelayedDisplayTimer.setSingleShot(true);
-    _missingParamsDelayedDisplayTimer.setInterval(_missingParamsDelayedDisplayTimerTimeout);
-    connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this, &QGCApplication::_missingParamsDisplay);
-
-    // Set application information
-    if (_runningUnitTests) {
-        // We don't want unit tests to use the same QSettings space as the normal app. So we tweak the app
-        // name. Also we want to run unit tests with clean settings every time.
-        setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
-    } else {
-        setApplicationName(QGC_APPLICATION_NAME);
-    }
-    setOrganizationName(QGC_ORG_NAME);
-    setOrganizationDomain(QGC_ORG_DOMAIN);
-
-    this->setApplicationVersion(QString(GIT_VERSION));
-
-    // Set settings format
-    QSettings::setDefaultFormat(QSettings::IniFormat);
-    QSettings settings;
-    qDebug() << "Settings location" << settings.fileName() << "Is writable?:" << settings.isWritable();
+  // Parse command line options
+
+  bool fClearSettingsOptions = false; // Clear stored settings
+  bool fClearCache = false;           // Clear parameter/airframe caches
+  bool logging = false;               // Turn on logging
+  QString loggingOptions;
+
+  CmdLineOpt_t rgCmdLineOptions[] = {
+      {"--clear-settings", &fClearSettingsOptions, nullptr},
+      {"--clear-cache", &fClearCache, nullptr},
+      {"--logging", &logging, &loggingOptions},
+      {"--fake-mobile", &_fakeMobile, nullptr},
+      {"--log-output", &_logOutput, nullptr},
+      // Add additional command line option flags here
+  };
+
+  ParseCmdLineOptions(argc, argv, rgCmdLineOptions,
+                      sizeof(rgCmdLineOptions) / sizeof(rgCmdLineOptions[0]),
+                      false);
+
+  // Set up timer for delayed missing fact display
+  _missingParamsDelayedDisplayTimer.setSingleShot(true);
+  _missingParamsDelayedDisplayTimer.setInterval(
+      _missingParamsDelayedDisplayTimerTimeout);
+  connect(&_missingParamsDelayedDisplayTimer, &QTimer::timeout, this,
+          &QGCApplication::_missingParamsDisplay);
+
+  // Set application information
+  if (_runningUnitTests) {
+    // We don't want unit tests to use the same QSettings space as the normal
+    // app. So we tweak the app name. Also we want to run unit tests with clean
+    // settings every time.
+    setApplicationName(QString("%1_unittest").arg(QGC_APPLICATION_NAME));
+  } else {
+    setApplicationName(QGC_APPLICATION_NAME);
+  }
+  setOrganizationName(QGC_ORG_NAME);
+  setOrganizationDomain(QGC_ORG_DOMAIN);
+
+  this->setApplicationVersion(QString(GIT_VERSION));
+
+  // Set settings format
+  QSettings::setDefaultFormat(QSettings::IniFormat);
+  QSettings settings;
+  qDebug() << "Settings location" << settings.fileName()
+           << "Is writable?:" << settings.isWritable();
 
 #ifdef UNITTEST_BUILD
-    if (!settings.isWritable()) {
-        qWarning() << "Setings location is not writable";
-    }
+  if (!settings.isWritable()) {
+    qWarning() << "Setings location is not writable";
+  }
 #endif
-    // The setting will delete all settings on this boot
-    fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
-
-    if (_runningUnitTests) {
-        // Unit tests run with clean settings
-        fClearSettingsOptions = true;
-    }
-
-    if (fClearSettingsOptions) {
-        // User requested settings to be cleared on command line
+  // The setting will delete all settings on this boot
+  fClearSettingsOptions |= settings.contains(_deleteAllSettingsKey);
+
+  if (_runningUnitTests) {
+    // Unit tests run with clean settings
+    fClearSettingsOptions = true;
+  }
+
+  if (fClearSettingsOptions) {
+    // User requested settings to be cleared on command line
+    settings.clear();
+
+    // Clear parameter cache
+    QDir paramDir(ParameterManager::parameterCacheDir());
+    paramDir.removeRecursively();
+    paramDir.mkpath(paramDir.absolutePath());
+  } else {
+    // Determine if upgrade message for settings version bump is required. Check
+    // and clear must happen before toolbox is started since that will write
+    // some settings.
+    if (settings.contains(_settingsVersionKey)) {
+      if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
         settings.clear();
-
-        // Clear parameter cache
-        QDir paramDir(ParameterManager::parameterCacheDir());
-        paramDir.removeRecursively();
-        paramDir.mkpath(paramDir.absolutePath());
-    } else {
-        // Determine if upgrade message for settings version bump is required. Check and clear must happen before toolbox is started since
-        // that will write some settings.
-        if (settings.contains(_settingsVersionKey)) {
-            if (settings.value(_settingsVersionKey).toInt() != QGC_SETTINGS_VERSION) {
-                settings.clear();
-                _settingsUpgraded = true;
-            }
-        } else if (settings.allKeys().count()) {
-            // Settings version key is missing and there are settings. This is an upgrade scenario.
-            settings.clear();
-            _settingsUpgraded = true;
-        }
-    }
-    settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
-
-    if (fClearCache) {
-        QDir dir(ParameterManager::parameterCacheDir());
-        dir.removeRecursively();
-        QFile airframe(cachedAirframeMetaDataFile());
-        airframe.remove();
-        QFile parameter(cachedParameterMetaDataFile());
-        parameter.remove();
+        _settingsUpgraded = true;
+      }
+    } else if (settings.allKeys().count()) {
+      // Settings version key is missing and there are settings. This is an
+      // upgrade scenario.
+      settings.clear();
+      _settingsUpgraded = true;
     }
-
-    // Set up our logging filters
-    QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(loggingOptions);
-
-    // Initialize Bluetooth
+  }
+  settings.setValue(_settingsVersionKey, QGC_SETTINGS_VERSION);
+
+  if (fClearCache) {
+    QDir dir(ParameterManager::parameterCacheDir());
+    dir.removeRecursively();
+    QFile airframe(cachedAirframeMetaDataFile());
+    airframe.remove();
+    QFile parameter(cachedParameterMetaDataFile());
+    parameter.remove();
+  }
+
+  // Set up our logging filters
+  QGCLoggingCategoryRegister::instance()->setFilterRulesFromSettings(
+      loggingOptions);
+
+  // Initialize Bluetooth
 #ifdef QGC_ENABLE_BLUETOOTHsubPolylines
-    QBluetoothLocalDevice localDevice;
-    if (localDevice.isValid())
-    {
-        _bluetoothAvailable = true;
-    }
+  QBluetoothLocalDevice localDevice;
+  if (localDevice.isValid()) {
+    _bluetoothAvailable = true;
+  }
 #endif
 
-    // Gstreamer debug settings
+  // Gstreamer debug settings
 #if defined(__ios__) || defined(__android__)
-    // Initialize Video Streaming
-    initializeVideoStreaming(argc, argv, nullptr, nullptr);
+  // Initialize Video Streaming
+  initializeVideoStreaming(argc, argv, nullptr, nullptr);
 #else
-    QString savePath, gstDebugLevel;
-    if (settings.contains(AppSettings::savePathName)) {
-        savePath = settings.value(AppSettings::savePathName).toString();
-    }
-    if(savePath.isEmpty()) {
-        savePath = "/tmp";
-    }
-    savePath = savePath + "/Logs/gst";
-    if (!QDir(savePath).exists()) {
-        QDir().mkpath(savePath);
-    }
-    if (settings.contains(AppSettings::gstDebugLevelName)) {
-        gstDebugLevel = "*:" + settings.value(AppSettings::gstDebugLevelName).toString();
-    }
-    // Initialize Video Streaming
-    initializeVideoStreaming(argc, argv, savePath.toUtf8().data(), gstDebugLevel.toUtf8().data());
+  QString savePath, gstDebugLevel;
+  if (settings.contains(AppSettings::savePathName)) {
+    savePath = settings.value(AppSettings::savePathName).toString();
+  }
+  if (savePath.isEmpty()) {
+    savePath = "/tmp";
+  }
+  savePath = savePath + "/Logs/gst";
+  if (!QDir(savePath).exists()) {
+    QDir().mkpath(savePath);
+  }
+  if (settings.contains(AppSettings::gstDebugLevelName)) {
+    gstDebugLevel =
+        "*:" + settings.value(AppSettings::gstDebugLevelName).toString();
+  }
+  // Initialize Video Streaming
+  initializeVideoStreaming(argc, argv, savePath.toUtf8().data(),
+                           gstDebugLevel.toUtf8().data());
 #endif
 
-    _toolbox = new QGCToolbox(this);
-    _toolbox->setChildToolboxes();
+  _toolbox = new QGCToolbox(this);
+  _toolbox->setChildToolboxes();
 
 #ifndef __mobile__
-    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
-   GPSManager *gpsManager = _toolbox->gpsManager();
-   if (gpsManager) {
-       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
-       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
-       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
-       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
-   }
+  _gpsRtkFactGroup = new GPSRTKFactGroup(this);
+  GPSManager *gpsManager = _toolbox->gpsManager();
+  if (gpsManager) {
+    connect(gpsManager, &GPSManager::onConnect, this,
+            &QGCApplication::_onGPSConnect);
+    connect(gpsManager, &GPSManager::onDisconnect, this,
+            &QGCApplication::_onGPSDisconnect);
+    connect(gpsManager, &GPSManager::surveyInStatus, this,
+            &QGCApplication::_gpsSurveyInStatus);
+    connect(gpsManager, &GPSManager::satelliteUpdate, this,
+            &QGCApplication::_gpsNumSatellites);
+  }
 #endif /* __mobile__ */
 
-    _checkForNewVersion();
+  _checkForNewVersion();
 }
 
-void QGCApplication::_shutdown(void)
-{
-    // This code is specifically not in the destructor since the application object may not be available in the destructor.
-    // This cause problems for deleting object like settings which are in the toolbox which may have qml references. By
-    // moving them here and having main.cc call this prior to deleting the app object we make sure app object is still
-    // around while these things are shutting down.
+void QGCApplication::_shutdown(void) {
+  // This code is specifically not in the destructor since the application
+  // object may not be available in the destructor. This cause problems for
+  // deleting object like settings which are in the toolbox which may have qml
+  // references. By moving them here and having main.cc call this prior to
+  // deleting the app object we make sure app object is still around while these
+  // things are shutting down.
 #ifndef __mobile__
-    MainWindow* mainWindow = MainWindow::instance();
-    if (mainWindow) {
-        delete mainWindow;
-    }
+  MainWindow *mainWindow = MainWindow::instance();
+  if (mainWindow) {
+    delete mainWindow;
+  }
 #endif
-    shutdownVideoStreaming();
-    delete _toolbox;
-}
-
-QGCApplication::~QGCApplication()
-{
-    // Place shutdown code in _shutdown
-    _app = nullptr;
-}
-
-void QGCApplication::_initCommon(void)
-{
-    static const char* kRefOnly         = "Reference only";
-    static const char* kQGCControllers  = "QGroundControl.Controllers";
-    static const char* kQGCVehicle      = "QGroundControl.Vehicle";
-
-    QSettings settings;
-
-    // Register our Qml objects
-
-    qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
-    qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
-
-    qmlRegisterUncreatableType<Vehicle>             (kQGCVehicle,                           1, 0, "Vehicle",                    kRefOnly);
-    qmlRegisterUncreatableType<MissionItem>         (kQGCVehicle,                           1, 0, "MissionItem",                kRefOnly);
-    qmlRegisterUncreatableType<MissionManager>      (kQGCVehicle,                           1, 0, "MissionManager",             kRefOnly);
-    qmlRegisterUncreatableType<ParameterManager>    (kQGCVehicle,                           1, 0, "ParameterManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraManager>    (kQGCVehicle,                           1, 0, "QGCCameraManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraControl>    (kQGCVehicle,                           1, 0, "QGCCameraControl",           kRefOnly);
-    qmlRegisterUncreatableType<QGCVideoStreamInfo>  (kQGCVehicle,                           1, 0, "QGCVideoStreamInfo",         kRefOnly);
-    qmlRegisterUncreatableType<LinkInterface>       (kQGCVehicle,                           1, 0, "LinkInterface",              kRefOnly);
-    qmlRegisterUncreatableType<MissionController>   (kQGCControllers,                       1, 0, "MissionController",          kRefOnly);
-    qmlRegisterUncreatableType<GeoFenceController>  (kQGCControllers,                       1, 0, "GeoFenceController",         kRefOnly);
-    qmlRegisterUncreatableType<RallyPointController>(kQGCControllers,                       1, 0, "RallyPointController",       kRefOnly);
-    qmlRegisterUncreatableType<VisualMissionItem>   (kQGCControllers,                       1, 0, "VisualMissionItem",          kRefOnly);
-
-
-    qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                      1, 0, "CoordinateVector",           kRefOnly);
-    qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                      1, 0, "QmlObjectListModel",         kRefOnly);
-    qmlRegisterUncreatableType<MissionCommandTree>  ("QGroundControl",                      1, 0, "MissionCommandTree",         kRefOnly);
-    qmlRegisterUncreatableType<CameraCalc>          ("QGroundControl",                      1, 0, "CameraCalc",                 kRefOnly);
-
-    qmlRegisterUncreatableType<AutoPilotPlugin>     ("QGroundControl.AutoPilotPlugin",      1, 0, "AutoPilotPlugin",            kRefOnly);
-    qmlRegisterUncreatableType<VehicleComponent>    ("QGroundControl.AutoPilotPlugin",      1, 0, "VehicleComponent",           kRefOnly);
-    qmlRegisterUncreatableType<JoystickManager>     ("QGroundControl.JoystickManager",      1, 0, "JoystickManager",            kRefOnly);
-    qmlRegisterUncreatableType<Joystick>            ("QGroundControl.JoystickManager",      1, 0, "Joystick",                   kRefOnly);
-    qmlRegisterUncreatableType<QGCPositionManager>  ("QGroundControl.QGCPositionManager",   1, 0, "QGCPositionManager",         kRefOnly);
-    qmlRegisterUncreatableType<FactValueSliderListModel>("QGroundControl.FactControls",     1, 0, "FactValueSliderListModel",   kRefOnly);
-
-    qmlRegisterUncreatableType<QGCMapPolygon>       ("QGroundControl.FlightMap",            1, 0, "QGCMapPolygon",              kRefOnly);
-
-    qmlRegisterUncreatableType<QGCGeoBoundingCube>  ("QGroundControl.FlightMap",            1, 0, "QGCGeoBoundingCube",         kRefOnly);
-
-    qmlRegisterType<QGCMapCircle>                   ("QGroundControl.FlightMap",            1, 0, "QGCMapCircle");
-
-    qmlRegisterType<ParameterEditorController>      (kQGCControllers,                       1, 0, "ParameterEditorController");
-    qmlRegisterType<ESP8266ComponentController>     (kQGCControllers,                       1, 0, "ESP8266ComponentController");
-    qmlRegisterType<ScreenToolsController>          (kQGCControllers,                       1, 0, "ScreenToolsController");
-    qmlRegisterType<PlanMasterController>           (kQGCControllers,                       1, 0, "PlanMasterController");
-    qmlRegisterType<ValuesWidgetController>         (kQGCControllers,                       1, 0, "ValuesWidgetController");
-    qmlRegisterType<QGCFileDialogController>        (kQGCControllers,                       1, 0, "QGCFileDialogController");
-    qmlRegisterType<RCChannelMonitorController>     (kQGCControllers,                       1, 0, "RCChannelMonitorController");
-    qmlRegisterType<JoystickConfigController>       (kQGCControllers,                       1, 0, "JoystickConfigController");
-    qmlRegisterType<LogDownloadController>          (kQGCControllers,                       1, 0, "LogDownloadController");
-    qmlRegisterType<SyslinkComponentController>     (kQGCControllers,                       1, 0, "SyslinkComponentController");
-    qmlRegisterType<EditPositionDialogController>   (kQGCControllers,                       1, 0, "EditPositionDialogController");
+  shutdownVideoStreaming();
+  delete _toolbox;
+}
+
+QGCApplication::~QGCApplication() {
+  // Place shutdown code in _shutdown
+  _app = nullptr;
+}
+
+void QGCApplication::_initCommon(void) {
+  static const char *kRefOnly = "Reference only";
+  static const char *kQGCControllers = "QGroundControl.Controllers";
+  static const char *kQGCVehicle = "QGroundControl.Vehicle";
+
+  QSettings settings;
+
+  // Register our Qml objects
+
+  qmlRegisterType<QGCPalette>("QGroundControl.Palette", 1, 0, "QGCPalette");
+  qmlRegisterType<QGCMapPalette>("QGroundControl.Palette", 1, 0,
+                                 "QGCMapPalette");
+
+  qmlRegisterUncreatableType<Vehicle>(kQGCVehicle, 1, 0, "Vehicle", kRefOnly);
+  qmlRegisterUncreatableType<MissionItem>(kQGCVehicle, 1, 0, "MissionItem",
+                                          kRefOnly);
+  qmlRegisterUncreatableType<MissionManager>(kQGCVehicle, 1, 0,
+                                             "MissionManager", kRefOnly);
+  qmlRegisterUncreatableType<ParameterManager>(kQGCVehicle, 1, 0,
+                                               "ParameterManager", kRefOnly);
+  qmlRegisterUncreatableType<QGCCameraManager>(kQGCVehicle, 1, 0,
+                                               "QGCCameraManager", kRefOnly);
+  qmlRegisterUncreatableType<QGCCameraControl>(kQGCVehicle, 1, 0,
+                                               "QGCCameraControl", kRefOnly);
+  qmlRegisterUncreatableType<QGCVideoStreamInfo>(
+      kQGCVehicle, 1, 0, "QGCVideoStreamInfo", kRefOnly);
+  qmlRegisterUncreatableType<LinkInterface>(kQGCVehicle, 1, 0, "LinkInterface",
+                                            kRefOnly);
+  qmlRegisterUncreatableType<MissionController>(kQGCControllers, 1, 0,
+                                                "MissionController", kRefOnly);
+  qmlRegisterUncreatableType<GeoFenceController>(
+      kQGCControllers, 1, 0, "GeoFenceController", kRefOnly);
+  qmlRegisterUncreatableType<RallyPointController>(
+      kQGCControllers, 1, 0, "RallyPointController", kRefOnly);
+  qmlRegisterUncreatableType<VisualMissionItem>(kQGCControllers, 1, 0,
+                                                "VisualMissionItem", kRefOnly);
+
+  qmlRegisterUncreatableType<CoordinateVector>("QGroundControl", 1, 0,
+                                               "CoordinateVector", kRefOnly);
+  qmlRegisterUncreatableType<QmlObjectListModel>(
+      "QGroundControl", 1, 0, "QmlObjectListModel", kRefOnly);
+  qmlRegisterUncreatableType<MissionCommandTree>(
+      "QGroundControl", 1, 0, "MissionCommandTree", kRefOnly);
+  qmlRegisterUncreatableType<CameraCalc>("QGroundControl", 1, 0, "CameraCalc",
+                                         kRefOnly);
+
+  qmlRegisterUncreatableType<AutoPilotPlugin>(
+      "QGroundControl.AutoPilotPlugin", 1, 0, "AutoPilotPlugin", kRefOnly);
+  qmlRegisterUncreatableType<VehicleComponent>(
+      "QGroundControl.AutoPilotPlugin", 1, 0, "VehicleComponent", kRefOnly);
+  qmlRegisterUncreatableType<JoystickManager>(
+      "QGroundControl.JoystickManager", 1, 0, "JoystickManager", kRefOnly);
+  qmlRegisterUncreatableType<Joystick>("QGroundControl.JoystickManager", 1, 0,
+                                       "Joystick", kRefOnly);
+  qmlRegisterUncreatableType<QGCPositionManager>(
+      "QGroundControl.QGCPositionManager", 1, 0, "QGCPositionManager",
+      kRefOnly);
+  qmlRegisterUncreatableType<FactValueSliderListModel>(
+      "QGroundControl.FactControls", 1, 0, "FactValueSliderListModel",
+      kRefOnly);
+
+  qmlRegisterUncreatableType<QGCMapPolygon>("QGroundControl.FlightMap", 1, 0,
+                                            "QGCMapPolygon", kRefOnly);
+
+  qmlRegisterUncreatableType<QGCGeoBoundingCube>(
+      "QGroundControl.FlightMap", 1, 0, "QGCGeoBoundingCube", kRefOnly);
+
+  qmlRegisterType<QGCMapCircle>("QGroundControl.FlightMap", 1, 0,
+                                "QGCMapCircle");
+
+  qmlRegisterType<ParameterEditorController>(kQGCControllers, 1, 0,
+                                             "ParameterEditorController");
+  qmlRegisterType<ESP8266ComponentController>(kQGCControllers, 1, 0,
+                                              "ESP8266ComponentController");
+  qmlRegisterType<ScreenToolsController>(kQGCControllers, 1, 0,
+                                         "ScreenToolsController");
+  qmlRegisterType<PlanMasterController>(kQGCControllers, 1, 0,
+                                        "PlanMasterController");
+  qmlRegisterType<ValuesWidgetController>(kQGCControllers, 1, 0,
+                                          "ValuesWidgetController");
+  qmlRegisterType<QGCFileDialogController>(kQGCControllers, 1, 0,
+                                           "QGCFileDialogController");
+  qmlRegisterType<RCChannelMonitorController>(kQGCControllers, 1, 0,
+                                              "RCChannelMonitorController");
+  qmlRegisterType<JoystickConfigController>(kQGCControllers, 1, 0,
+                                            "JoystickConfigController");
+  qmlRegisterType<LogDownloadController>(kQGCControllers, 1, 0,
+                                         "LogDownloadController");
+  qmlRegisterType<SyslinkComponentController>(kQGCControllers, 1, 0,
+                                              "SyslinkComponentController");
+  qmlRegisterType<EditPositionDialogController>(kQGCControllers, 1, 0,
+                                                "EditPositionDialogController");
 
 #ifndef __mobile__
-    qmlRegisterType<ViewWidgetController>           (kQGCControllers,                       1, 0, "ViewWidgetController");
-    qmlRegisterType<CustomCommandWidgetController>  (kQGCControllers,                       1, 0, "CustomCommandWidgetController");
+  qmlRegisterType<ViewWidgetController>(kQGCControllers, 1, 0,
+                                        "ViewWidgetController");
+  qmlRegisterType<CustomCommandWidgetController>(
+      kQGCControllers, 1, 0, "CustomCommandWidgetController");
 #ifndef NO_SERIAL_LINK
-    qmlRegisterType<FirmwareUpgradeController>      (kQGCControllers,                       1, 0, "FirmwareUpgradeController");
+  qmlRegisterType<FirmwareUpgradeController>(kQGCControllers, 1, 0,
+                                             "FirmwareUpgradeController");
 #endif
-    qmlRegisterType<GeoTagController>               (kQGCControllers,                       1, 0, "GeoTagController");
-    qmlRegisterType<MavlinkConsoleController>       (kQGCControllers,                       1, 0, "MavlinkConsoleController");
+  qmlRegisterType<GeoTagController>(kQGCControllers, 1, 0, "GeoTagController");
+  qmlRegisterType<MavlinkConsoleController>(kQGCControllers, 1, 0,
+                                            "MavlinkConsoleController");
 #endif
-    // Wima
-    qmlRegisterType<WimaController>                 ("Wima",                                1, 0, "WimaController");
-    qmlRegisterType<WimaPlaner>                     ("Wima",                                1, 0, "WimaPlaner");
-    qmlRegisterType<WimaBridge>                     ("Wima",                                1, 0, "WimaBridge");
+  // Wima
+  qmlRegisterType<WimaController>("Wima", 1, 0, "WimaController");
+  qmlRegisterType<WimaPlaner>("Wima", 1, 0, "WimaPlaner");
+  qmlRegisterType<WimaBridge>("Wima", 1, 0, "WimaBridge");
+  qmlRegisterType<NemoInterface>("Wima", 1, 0, "NemoInterface");
 
-
-    // Register Qml Singletons
-    qmlRegisterSingletonType<QGroundControlQmlGlobal>   ("QGroundControl",                          1, 0, "QGroundControl",         qgroundcontrolQmlGlobalSingletonFactory);
-    qmlRegisterSingletonType<ScreenToolsController>     ("QGroundControl.ScreenToolsController",    1, 0, "ScreenToolsController",  screenToolsControllerSingletonFactory);
-    qmlRegisterSingletonType<ShapeFileHelper>           ("QGroundControl.ShapeFileHelper",          1, 0, "ShapeFileHelper",        shapeFileHelperSingletonFactory);
+  // Register Qml Singletons
+  qmlRegisterSingletonType<QGroundControlQmlGlobal>(
+      "QGroundControl", 1, 0, "QGroundControl",
+      qgroundcontrolQmlGlobalSingletonFactory);
+  qmlRegisterSingletonType<ScreenToolsController>(
+      "QGroundControl.ScreenToolsController", 1, 0, "ScreenToolsController",
+      screenToolsControllerSingletonFactory);
+  qmlRegisterSingletonType<ShapeFileHelper>("QGroundControl.ShapeFileHelper", 1,
+                                            0, "ShapeFileHelper",
+                                            shapeFileHelperSingletonFactory);
 }
 
-bool QGCApplication::_initForNormalAppBoot(void)
-{
-    QSettings settings;
+bool QGCApplication::_initForNormalAppBoot(void) {
+  QSettings settings;
 
-    _loadCurrentStyleSheet();
+  _loadCurrentStyleSheet();
 
-    // Exit main application when last window is closed
-    connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
+  // Exit main application when last window is closed
+  connect(this, &QGCApplication::lastWindowClosed, this, QGCApplication::quit);
 
 #ifdef __mobile__
-    _qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
+  _qmlAppEngine = toolbox()->corePlugin()->createRootWindow(this);
 #else
-    // Start the user interface
-    MainWindow* mainWindow = MainWindow::_create();
-    Q_CHECK_PTR(mainWindow);
+  // Start the user interface
+  MainWindow *mainWindow = MainWindow::_create();
+  Q_CHECK_PTR(mainWindow);
 #endif
 
-    // Now that main window is up check for lost log files
-    connect(this, &QGCApplication::checkForLostLogFiles, toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
-    emit checkForLostLogFiles();
+  // Now that main window is up check for lost log files
+  connect(this, &QGCApplication::checkForLostLogFiles,
+          toolbox()->mavlinkProtocol(), &MAVLinkProtocol::checkForLostLogFiles);
+  emit checkForLostLogFiles();
 
-    // Load known link configurations
-    toolbox()->linkManager()->loadLinkConfigurationList();
+  // Load known link configurations
+  toolbox()->linkManager()->loadLinkConfigurationList();
 
-    // Probe for joysticks
-    toolbox()->joystickManager()->init();
+  // Probe for joysticks
+  toolbox()->joystickManager()->init();
 
-    if (_settingsUpgraded) {
-        showMessage(QString(tr("The format for %1 saved settings has been modified. "
-                    "Your saved settings have been reset to defaults.")).arg(applicationName()));
-    }
+  if (_settingsUpgraded) {
+    showMessage(
+        QString(tr("The format for %1 saved settings has been modified. "
+                   "Your saved settings have been reset to defaults."))
+            .arg(applicationName()));
+  }
 
-    // Connect links with flag AutoconnectLink
-    toolbox()->linkManager()->startAutoConnectedLinks();
+  // Connect links with flag AutoconnectLink
+  toolbox()->linkManager()->startAutoConnectedLinks();
 
-    if (getQGCMapEngine()->wasCacheReset()) {
-        showMessage(tr("The Offline Map Cache database has been upgraded. "
-                    "Your old map cache sets have been reset."));
-    }
+  if (getQGCMapEngine()->wasCacheReset()) {
+    showMessage(tr("The Offline Map Cache database has been upgraded. "
+                   "Your old map cache sets have been reset."));
+  }
 
-    settings.sync();
-    return true;
+  settings.sync();
+  return true;
 }
 
-bool QGCApplication::_initForUnitTests(void)
-{
-    return true;
-}
+bool QGCApplication::_initForUnitTests(void) { return true; }
 
-void QGCApplication::deleteAllSettingsNextBoot(void)
-{
-    QSettings settings;
-    settings.setValue(_deleteAllSettingsKey, true);
+void QGCApplication::deleteAllSettingsNextBoot(void) {
+  QSettings settings;
+  settings.setValue(_deleteAllSettingsKey, true);
 }
 
-void QGCApplication::clearDeleteAllSettingsNextBoot(void)
-{
-    QSettings settings;
-    settings.remove(_deleteAllSettingsKey);
+void QGCApplication::clearDeleteAllSettingsNextBoot(void) {
+  QSettings settings;
+  settings.remove(_deleteAllSettingsKey);
 }
 
 /// @brief Returns the QGCApplication object singleton.
-QGCApplication* qgcApp(void)
-{
-    return QGCApplication::_app;
-}
+QGCApplication *qgcApp(void) { return QGCApplication::_app; }
 
-void QGCApplication::informationMessageBoxOnMainThread(const QString& title, const QString& msg)
-{
-    Q_UNUSED(title);
-    showMessage(msg);
+void QGCApplication::informationMessageBoxOnMainThread(const QString &title,
+                                                       const QString &msg) {
+  Q_UNUSED(title);
+  showMessage(msg);
 }
 
-void QGCApplication::warningMessageBoxOnMainThread(const QString& title, const QString& msg)
-{
+void QGCApplication::warningMessageBoxOnMainThread(const QString &title,
+                                                   const QString &msg) {
 #ifdef __mobile__
-    Q_UNUSED(title)
-    showMessage(msg);
+  Q_UNUSED(title)
+  showMessage(msg);
 #else
-    QGCMessageBox::warning(title, msg);
+  QGCMessageBox::warning(title, msg);
 #endif
 }
 
-void QGCApplication::criticalMessageBoxOnMainThread(const QString& title, const QString& msg)
-{
+void QGCApplication::criticalMessageBoxOnMainThread(const QString &title,
+                                                    const QString &msg) {
 #ifdef __mobile__
-    Q_UNUSED(title)
-    showMessage(msg);
+  Q_UNUSED(title)
+  showMessage(msg);
 #else
-    QGCMessageBox::critical(title, msg);
+  QGCMessageBox::critical(title, msg);
 #endif
 }
 
-void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile)
-{
-    // The vehicle is gone now and we are shutting down so we need to use a message box for errors to hold shutdown and show the error
-    if (_checkTelemetrySavePath(true /* useMessageBox */)) {
+void QGCApplication::saveTelemetryLogOnMainThread(QString tempLogfile) {
+  // The vehicle is gone now and we are shutting down so we need to use a
+  // message box for errors to hold shutdown and show the error
+  if (_checkTelemetrySavePath(true /* useMessageBox */)) {
 
-        QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
-        QDir saveDir(saveDirPath);
-
-        QString nameFormat("%1%2.%3");
-        QString dtFormat("yyyy-MM-dd hh-mm-ss");
-
-        int tryIndex = 1;
-        QString saveFileName = nameFormat.arg(
-            QDateTime::currentDateTime().toString(dtFormat)).arg("").arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
-        while (saveDir.exists(saveFileName)) {
-            saveFileName = nameFormat.arg(
-                QDateTime::currentDateTime().toString(dtFormat)).arg(QStringLiteral(".%1").arg(tryIndex++)).arg(toolbox()->settingsManager()->appSettings()->telemetryFileExtension);
-        }
-        QString saveFilePath = saveDir.absoluteFilePath(saveFileName);
+    QString saveDirPath =
+        _toolbox->settingsManager()->appSettings()->telemetrySavePath();
+    QDir saveDir(saveDirPath);
 
-        QFile tempFile(tempLogfile);
-        if (!tempFile.copy(saveFilePath)) {
-            QString error = tr("Unable to save telemetry log. Error copying telemetry to '%1': '%2'.").arg(saveFilePath).arg(tempFile.errorString());
+    QString nameFormat("%1%2.%3");
+    QString dtFormat("yyyy-MM-dd hh-mm-ss");
+
+    int tryIndex = 1;
+    QString saveFileName =
+        nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
+            .arg("")
+            .arg(toolbox()
+                     ->settingsManager()
+                     ->appSettings()
+                     ->telemetryFileExtension);
+    while (saveDir.exists(saveFileName)) {
+      saveFileName =
+          nameFormat.arg(QDateTime::currentDateTime().toString(dtFormat))
+              .arg(QStringLiteral(".%1").arg(tryIndex++))
+              .arg(toolbox()
+                       ->settingsManager()
+                       ->appSettings()
+                       ->telemetryFileExtension);
+    }
+    QString saveFilePath = saveDir.absoluteFilePath(saveFileName);
+
+    QFile tempFile(tempLogfile);
+    if (!tempFile.copy(saveFilePath)) {
+      QString error = tr("Unable to save telemetry log. Error copying "
+                         "telemetry to '%1': '%2'.")
+                          .arg(saveFilePath)
+                          .arg(tempFile.errorString());
 #ifndef __mobile__
-            QGCMessageBox::warning(tr("Telemetry Save Error"), error);
+      QGCMessageBox::warning(tr("Telemetry Save Error"), error);
 #else
-            showMessage(error);
+      showMessage(error);
 #endif
-        }
     }
-    QFile::remove(tempLogfile);
+  }
+  QFile::remove(tempLogfile);
 }
 
-void QGCApplication::checkTelemetrySavePathOnMainThread(void)
-{
-    // This is called with an active vehicle so don't pop message boxes which holds ui thread
-    _checkTelemetrySavePath(false /* useMessageBox */);
+void QGCApplication::checkTelemetrySavePathOnMainThread(void) {
+  // This is called with an active vehicle so don't pop message boxes which
+  // holds ui thread
+  _checkTelemetrySavePath(false /* useMessageBox */);
 }
 
-bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox)
-{
-    QString errorTitle = tr("Telemetry save error");
+bool QGCApplication::_checkTelemetrySavePath(bool useMessageBox) {
+  QString errorTitle = tr("Telemetry save error");
 
-    QString saveDirPath = _toolbox->settingsManager()->appSettings()->telemetrySavePath();
-    if (saveDirPath.isEmpty()) {
-        QString error = tr("Unable to save telemetry log. Application save directory is not set.");
+  QString saveDirPath =
+      _toolbox->settingsManager()->appSettings()->telemetrySavePath();
+  if (saveDirPath.isEmpty()) {
+    QString error = tr(
+        "Unable to save telemetry log. Application save directory is not set.");
 #ifndef __mobile__
-        if (useMessageBox) {
-            QGCMessageBox::warning(errorTitle, error);
-        } else {
+    if (useMessageBox) {
+      QGCMessageBox::warning(errorTitle, error);
+    } else {
 #endif
-            Q_UNUSED(useMessageBox);
-            showMessage(error);
+      Q_UNUSED(useMessageBox);
+      showMessage(error);
 #ifndef __mobile__
-        }
-#endif
-        return false;
     }
+#endif
+    return false;
+  }
 
-    QDir saveDir(saveDirPath);
-    if (!saveDir.exists()) {
-        QString error = tr("Unable to save telemetry log. Telemetry save directory \"%1\" does not exist.").arg(saveDirPath);
+  QDir saveDir(saveDirPath);
+  if (!saveDir.exists()) {
+    QString error = tr("Unable to save telemetry log. Telemetry save directory "
+                       "\"%1\" does not exist.")
+                        .arg(saveDirPath);
 #ifndef __mobile__
-        if (useMessageBox) {
-            QGCMessageBox::warning(errorTitle, error);
-        } else {
+    if (useMessageBox) {
+      QGCMessageBox::warning(errorTitle, error);
+    } else {
 #endif
-            showMessage(error);
+      showMessage(error);
 #ifndef __mobile__
-        }
-#endif
-        return false;
     }
+#endif
+    return false;
+  }
 
-    return true;
+  return true;
 }
 
-void QGCApplication::_loadCurrentStyleSheet(void)
-{
+void QGCApplication::_loadCurrentStyleSheet(void) {
 #ifndef __mobile__
-    bool success = true;
-    QString styles;
-
-    // The dark style sheet is the master. Any other selected style sheet just overrides
-    // the colors of the master sheet.
-    QFile masterStyleSheet(_darkStyleFile);
-    if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
-        styles = masterStyleSheet.readAll();
+  bool success = true;
+  QString styles;
+
+  // The dark style sheet is the master. Any other selected style sheet just
+  // overrides the colors of the master sheet.
+  QFile masterStyleSheet(_darkStyleFile);
+  if (masterStyleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    styles = masterStyleSheet.readAll();
+  } else {
+    qDebug() << "Unable to load master dark style sheet";
+    success = false;
+  }
+
+  if (success && !_toolbox->settingsManager()
+                      ->appSettings()
+                      ->indoorPalette()
+                      ->rawValue()
+                      .toBool()) {
+    // Load the slave light stylesheet.
+    QFile styleSheet(_lightStyleFile);
+    if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
+      styles += styleSheet.readAll();
     } else {
-        qDebug() << "Unable to load master dark style sheet";
-        success = false;
+      qWarning() << "Unable to load slave light sheet:";
+      success = false;
     }
+  }
 
-    if (success && !_toolbox->settingsManager()->appSettings()->indoorPalette()->rawValue().toBool()) {
-        // Load the slave light stylesheet.
-        QFile styleSheet(_lightStyleFile);
-        if (styleSheet.open(QIODevice::ReadOnly | QIODevice::Text)) {
-            styles += styleSheet.readAll();
-        } else {
-            qWarning() << "Unable to load slave light sheet:";
-            success = false;
-        }
-    }
-
-    setStyleSheet(styles);
+  setStyleSheet(styles);
 
-    if (!success) {
-        // Fall back to plastique if we can't load our own
-        setStyle("plastique");
-    }
+  if (!success) {
+    // Fall back to plastique if we can't load our own
+    setStyle("plastique");
+  }
 #endif
 }
 
-void QGCApplication::reportMissingParameter(int componentId, const QString& name)
-{
-    _missingParams += QString("%1:%2").arg(componentId).arg(name);
-    _missingParamsDelayedDisplayTimer.start();
+void QGCApplication::reportMissingParameter(int componentId,
+                                            const QString &name) {
+  _missingParams += QString("%1:%2").arg(componentId).arg(name);
+  _missingParamsDelayedDisplayTimer.start();
 }
 
 /// Called when the delay timer fires to show the missing parameters warning
-void QGCApplication::_missingParamsDisplay(void)
-{
-    if (_missingParams.count()) {
-        QString params;
-        foreach (const QString &name, _missingParams) {
-            if (params.isEmpty()) {
-                params += name;
-            } else {
-                params += QString(", %1").arg(name);
-            }
-        }
-        _missingParams.clear();
-
-        showMessage(tr("Parameters are missing from firmware. You may be running a version of firmware QGC does not work correctly with or your firmware has a bug in it. Missing params: %1").arg(params));
+void QGCApplication::_missingParamsDisplay(void) {
+  if (_missingParams.count()) {
+    QString params;
+    foreach (const QString &name, _missingParams) {
+      if (params.isEmpty()) {
+        params += name;
+      } else {
+        params += QString(", %1").arg(name);
+      }
     }
+    _missingParams.clear();
+
+    showMessage(tr("Parameters are missing from firmware. You may be running a "
+                   "version of firmware QGC does not work correctly with or "
+                   "your firmware has a bug in it. Missing params: %1")
+                    .arg(params));
+  }
 }
 
-QObject* QGCApplication::_rootQmlObject()
-{
+QObject *QGCApplication::_rootQmlObject() {
 #ifdef __mobile__
-    if(_qmlAppEngine && _qmlAppEngine->rootObjects().size())
-        return _qmlAppEngine->rootObjects()[0];
-    return nullptr;
+  if (_qmlAppEngine && _qmlAppEngine->rootObjects().size())
+    return _qmlAppEngine->rootObjects()[0];
+  return nullptr;
 #else
-    MainWindow * mainWindow = MainWindow::instance();
-    if (mainWindow) {
-        return mainWindow->rootQmlObject();
-    } else if (runningUnitTests()){
-        // Unit test can run without a main window
-        return nullptr;
-    } else {
-        qWarning() << "Why is MainWindow missing?";
-        return nullptr;
-    }
+  MainWindow *mainWindow = MainWindow::instance();
+  if (mainWindow) {
+    return mainWindow->rootQmlObject();
+  } else if (runningUnitTests()) {
+    // Unit test can run without a main window
+    return nullptr;
+  } else {
+    qWarning() << "Why is MainWindow missing?";
+    return nullptr;
+  }
 #endif
 }
 
+void QGCApplication::showMessage(const QString &message) {
+  // PreArm messages are handled by Vehicle and shown in Map
+  if (message.startsWith(QStringLiteral("PreArm")) ||
+      message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
+    return;
+  }
 
-void QGCApplication::showMessage(const QString& message)
-{
-    // PreArm messages are handled by Vehicle and shown in Map
-    if (message.startsWith(QStringLiteral("PreArm")) || message.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive)) {
-        return;
-    }
-
-    QObject* rootQmlObject = _rootQmlObject();
+  QObject *rootQmlObject = _rootQmlObject();
 
-    if (rootQmlObject) {
-        QVariant varReturn;
-        QVariant varMessage = QVariant::fromValue(message);
+  if (rootQmlObject) {
+    QVariant varReturn;
+    QVariant varMessage = QVariant::fromValue(message);
 
-        QMetaObject::invokeMethod(_rootQmlObject(), "showMessage", Q_RETURN_ARG(QVariant, varReturn), Q_ARG(QVariant, varMessage));
+    QMetaObject::invokeMethod(_rootQmlObject(), "showMessage",
+                              Q_RETURN_ARG(QVariant, varReturn),
+                              Q_ARG(QVariant, varMessage));
 #ifndef __mobile__
-    } else if (runningUnitTests()){
-        // Unit test can run without a main window which will lead to no root qml object. Use QGCMessageBox instead
-        QGCMessageBox::information("Unit Test", message);
+  } else if (runningUnitTests()) {
+    // Unit test can run without a main window which will lead to no root qml
+    // object. Use QGCMessageBox instead
+    QGCMessageBox::information("Unit Test", message);
 #endif
-    } else {
-        qWarning() << "Internal error";
-    }
+  } else {
+    qWarning() << "Internal error";
+  }
 }
 
-void QGCApplication::showSetupView(void)
-{
-    if(_rootQmlObject()) {
-        QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
-    }
+void QGCApplication::showSetupView(void) {
+  if (_rootQmlObject()) {
+    QMetaObject::invokeMethod(_rootQmlObject(), "showSetupView");
+  }
 }
 
-void QGCApplication::qmlAttemptWindowClose(void)
-{
-    if(_rootQmlObject()) {
-        QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
-    }
+void QGCApplication::qmlAttemptWindowClose(void) {
+  if (_rootQmlObject()) {
+    QMetaObject::invokeMethod(_rootQmlObject(), "attemptWindowClose");
+  }
 }
 
-bool QGCApplication::isInternetAvailable()
-{
-    return getQGCMapEngine()->isInternetActive();
+bool QGCApplication::isInternetAvailable() {
+  return getQGCMapEngine()->isInternetActive();
 }
 
-void QGCApplication::_checkForNewVersion(void)
-{
+void QGCApplication::_checkForNewVersion(void) {
 #ifndef __mobile__
-    if (!_runningUnitTests) {
-        if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion, _buildVersion)) {
-            QString versionCheckFile = toolbox()->corePlugin()->stableVersionCheckFileUrl();
-            if (!versionCheckFile.isEmpty()) {
-                _currentVersionDownload = new QGCFileDownload(this);
-                connect(_currentVersionDownload, &QGCFileDownload::downloadFinished, this, &QGCApplication::_currentVersionDownloadFinished);
-                connect(_currentVersionDownload, &QGCFileDownload::error, this, &QGCApplication::_currentVersionDownloadError);
-                _currentVersionDownload->download(versionCheckFile);
-            }
-        }
+  if (!_runningUnitTests) {
+    if (_parseVersionText(applicationVersion(), _majorVersion, _minorVersion,
+                          _buildVersion)) {
+      QString versionCheckFile =
+          toolbox()->corePlugin()->stableVersionCheckFileUrl();
+      if (!versionCheckFile.isEmpty()) {
+        _currentVersionDownload = new QGCFileDownload(this);
+        connect(_currentVersionDownload, &QGCFileDownload::downloadFinished,
+                this, &QGCApplication::_currentVersionDownloadFinished);
+        connect(_currentVersionDownload, &QGCFileDownload::error, this,
+                &QGCApplication::_currentVersionDownloadError);
+        _currentVersionDownload->download(versionCheckFile);
+      }
     }
+  }
 #endif
 }
 
-void QGCApplication::_currentVersionDownloadFinished(QString remoteFile, QString localFile)
-{
-    Q_UNUSED(remoteFile);
+void QGCApplication::_currentVersionDownloadFinished(QString remoteFile,
+                                                     QString localFile) {
+  Q_UNUSED(remoteFile);
 
 #ifdef __mobile__
-    Q_UNUSED(localFile);
+  Q_UNUSED(localFile);
 #else
-    QFile versionFile(localFile);
-    if (versionFile.open(QIODevice::ReadOnly)) {
-        QTextStream textStream(&versionFile);
-        QString version = textStream.readLine();
-
-        qDebug() << version;
-
-        int majorVersion, minorVersion, buildVersion;
-        if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
-            if (_majorVersion < majorVersion ||
-                    (_majorVersion == majorVersion && _minorVersion < minorVersion) ||
-                    (_majorVersion == majorVersion && _minorVersion == minorVersion && _buildVersion < buildVersion)) {
-                QGCMessageBox::information(tr("New Version Available"), tr("There is a newer version of %1 available. You can download it from %2.").arg(applicationName()).arg(toolbox()->corePlugin()->stableDownloadLocation()));
-            }
-        }
+  QFile versionFile(localFile);
+  if (versionFile.open(QIODevice::ReadOnly)) {
+    QTextStream textStream(&versionFile);
+    QString version = textStream.readLine();
+
+    qDebug() << version;
+
+    int majorVersion, minorVersion, buildVersion;
+    if (_parseVersionText(version, majorVersion, minorVersion, buildVersion)) {
+      if (_majorVersion < majorVersion ||
+          (_majorVersion == majorVersion && _minorVersion < minorVersion) ||
+          (_majorVersion == majorVersion && _minorVersion == minorVersion &&
+           _buildVersion < buildVersion)) {
+        QGCMessageBox::information(
+            tr("New Version Available"),
+            tr("There is a newer version of %1 available. You can download it "
+               "from %2.")
+                .arg(applicationName())
+                .arg(toolbox()->corePlugin()->stableDownloadLocation()));
+      }
     }
+  }
 
-    _currentVersionDownload->deleteLater();
+  _currentVersionDownload->deleteLater();
 #endif
 }
 
-void QGCApplication::_currentVersionDownloadError(QString errorMsg)
-{
-    Q_UNUSED(errorMsg);
-    _currentVersionDownload->deleteLater();
+void QGCApplication::_currentVersionDownloadError(QString errorMsg) {
+  Q_UNUSED(errorMsg);
+  _currentVersionDownload->deleteLater();
 }
 
-bool QGCApplication::_parseVersionText(const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion)
-{
-    QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
-    QRegularExpressionMatch match = regExp.match(versionString);
-    if (match.hasMatch() && match.lastCapturedIndex() == 3) {
-        majorVersion = match.captured(1).toInt();
-        minorVersion = match.captured(2).toInt();
-        buildVersion = match.captured(3).toInt();
-        return true;
-    }
+bool QGCApplication::_parseVersionText(const QString &versionString,
+                                       int &majorVersion, int &minorVersion,
+                                       int &buildVersion) {
+  QRegularExpression regExp("v(\\d+)\\.(\\d+)\\.(\\d+)");
+  QRegularExpressionMatch match = regExp.match(versionString);
+  if (match.hasMatch() && match.lastCapturedIndex() == 3) {
+    majorVersion = match.captured(1).toInt();
+    minorVersion = match.captured(2).toInt();
+    buildVersion = match.captured(3).toInt();
+    return true;
+  }
 
-    return false;
+  return false;
 }
 
-
-void QGCApplication::_onGPSConnect()
-{
-    _gpsRtkFactGroup->connected()->setRawValue(true);
+void QGCApplication::_onGPSConnect() {
+  _gpsRtkFactGroup->connected()->setRawValue(true);
 }
 
-void QGCApplication::_onGPSDisconnect()
-{
-    _gpsRtkFactGroup->connected()->setRawValue(false);
+void QGCApplication::_onGPSDisconnect() {
+  _gpsRtkFactGroup->connected()->setRawValue(false);
 }
 
-void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
-{
-    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
-    _gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM/1000.0);
-    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
-    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
-    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
-    _gpsRtkFactGroup->valid()->setRawValue(valid);
-    _gpsRtkFactGroup->active()->setRawValue(active);
+void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,
+                                        double latitude, double longitude,
+                                        float altitude, bool valid,
+                                        bool active) {
+  _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
+  _gpsRtkFactGroup->currentAccuracy()->setRawValue(accuracyMM / 1000.0);
+  _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
+  _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
+  _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
+  _gpsRtkFactGroup->valid()->setRawValue(valid);
+  _gpsRtkFactGroup->active()->setRawValue(active);
 }
 
-void QGCApplication::_gpsNumSatellites(int numSatellites)
-{
-    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
+void QGCApplication::_gpsNumSatellites(int numSatellites) {
+  _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
 }
 
-QString QGCApplication::cachedParameterMetaDataFile(void)
-{
-    QSettings settings;
-    QDir parameterDir = QFileInfo(settings.fileName()).dir();
-    return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
+QString QGCApplication::cachedParameterMetaDataFile(void) {
+  QSettings settings;
+  QDir parameterDir = QFileInfo(settings.fileName()).dir();
+  return parameterDir.filePath(QStringLiteral("ParameterFactMetaData.xml"));
 }
 
-QString QGCApplication::cachedAirframeMetaDataFile(void)
-{
-    QSettings settings;
-    QDir airframeDir = QFileInfo(settings.fileName()).dir();
-    return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
+QString QGCApplication::cachedAirframeMetaDataFile(void) {
+  QSettings settings;
+  QDir airframeDir = QFileInfo(settings.fileName()).dir();
+  return airframeDir.filePath(QStringLiteral("PX4AirframeFactMetaData.xml"));
 }

src/Wima/Geometry/WimaMeasurementArea.cc

@@ -146,6 +146,8 @@ QmlObjectListModel *WimaMeasurementArea::tiles() {
   return &this->_tileData.tiles;
 }
 
+QVector<int> WimaMeasurementArea::progress() { return this->_progress; }
+
 const QmlObjectListModel *WimaMeasurementArea::tiles() const {
   return &this->_tileData.tiles;
 }
@@ -226,6 +228,17 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
     return false;
   }
 }
+
+bool WimaMeasurementArea::setProgress(const QVector<int> &p) {
+  if (!_calculating) {
+    if (p.size() == this->tiles()->count() && this->_progress != p) {
+      this->_progress = p;
+      emit progressChanged();
+      return true;
+    }
+  }
+  return false;
+}
 //!
 //! \brief WimaMeasurementArea::doUpdate
 //! \pre WimaMeasurementArea::deferUpdate must be called first, don't call
@@ -312,6 +325,8 @@ void WimaMeasurementArea::deferUpdate() {
     this->_timer.stop();
   }
   if (this->_tileData.size() > 0) {
+    this->_progress.clear();
+    emit this->progressChanged();
     this->_tileData.clear();
     emit this->tilesChanged();
   }

src/Wima/Geometry/WimaMeasurementArea.h

@@ -41,6 +41,7 @@ public:
   Q_PROPERTY(Fact *showTiles READ showTiles CONSTANT)
   Q_PROPERTY(QmlObjectListModel *tiles READ tiles NOTIFY tilesChanged)
   Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
+  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
 
   // Overrides from WimaPolygon
   QString mapVisualQML(void) const;
@@ -53,6 +54,7 @@ public:
   Fact *minTransectLength();
   Fact *showTiles();
   QmlObjectListModel *tiles();
+  QVector<int> progress();
   const QmlObjectListModel *tiles() const;
   const QVariantList &tileCenterPoints() const; // List of QGeoCoordinate
   const TileData &tileData() const;
@@ -80,8 +82,10 @@ public:
 signals:
   void tilesChanged();
   void maxTilesChanged();
+  void progressChanged();
 
 public slots:
+  bool setProgress(const QVector<int> &p);
 
 private slots:
   void doUpdate();
@@ -108,4 +112,6 @@ private:
   TileData _tileData;
   QFutureWatcher<DataPtr> _watcher;
   bool _calculating;
+
+  QVector<int> _progress;
 };

src/Wima/Snake/NemoInterface.cpp

@@ -45,13 +45,21 @@ public:
   void stop();
   void setTileData(const TileData &tileData);
   bool hasTileData(const TileData &tileData) const;
+  void setAutoPublish(bool ap);
+  void setHoldProgress(bool hp);
 
-  NemoInterface::NemoStatus status();
+  bool holdProgress();
+  void publishTileData();
+
+  NemoInterface::STATUS status();
   QVector<int> progress();
+  bool running();
 
 private:
   bool doTopicServiceSetup();
   void loop();
+  static STATUS heartbeatToStatus(
+      const ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat &hb);
   //!
   //! \brief Publishes tilesENU
   //! \pre this->tilesENUMutex must be locked
@@ -69,25 +77,41 @@ private:
   QGeoCoordinate ENUOrigin;
   mutable std::shared_timed_mutex ENUOriginMutex;
   QNemoProgress qProgress;
+  QNemoProgress qProgressHolded;
   mutable std::shared_timed_mutex progressMutex;
-  QNemoHeartbeat heartbeat;
+  NemoInterface::STATUS status_;
   TimePoint nextTimeout;
-  mutable std::shared_timed_mutex heartbeatMutex;
+  mutable std::shared_timed_mutex statusMutex;
 
   // Not protected data.
   TileData tileData;
 
   // Internals
-  bool running;
+  std::atomic_bool running_;
+  std::atomic_bool holdProgress_;
   std::atomic_bool topicServiceSetupDone;
   ROSBridgePtr pRosBridge;
   QTimer loopTimer;
   NemoInterface *parent;
 };
 
+using StatusMap = std::map<NemoInterface::STATUS, QString>;
+StatusMap statusMap{
+    std::make_pair<NemoInterface::STATUS, QString>(
+        NemoInterface::STATUS::NOT_CONNECTED, "Not Connected"),
+    std::make_pair<NemoInterface::STATUS, QString>(
+        NemoInterface::STATUS::HEARTBEAT_DETECTED, "Heartbeat Detected"),
+    std::make_pair<NemoInterface::STATUS, QString>(
+        NemoInterface::STATUS::TIMEOUT, "Timeout"),
+    std::make_pair<NemoInterface::STATUS, QString>(
+        NemoInterface::STATUS::INVALID_HEARTBEAT, "Error"),
+    std::make_pair<NemoInterface::STATUS, QString>(
+        NemoInterface::STATUS::WEBSOCKET_DETECTED, "Websocket Detected")};
+
 NemoInterface::Impl::Impl(NemoInterface *p)
-    : nextTimeout(TimePoint::max()), running(false),
-      topicServiceSetupDone(false), parent(p) {
+    : status_(STATUS::NOT_CONNECTED), nextTimeout(TimePoint::max()),
+      running_(false), holdProgress_(false), topicServiceSetupDone(false),
+      parent(p) {
 
   // ROS Bridge.
   WimaSettings *wimaSettings =
@@ -117,9 +141,15 @@ NemoInterface::Impl::Impl(NemoInterface *p)
   this->loopTimer.start(EVENT_TIMER_INTERVAL);
 }
 
-void NemoInterface::Impl::start() { this->running = true; }
+void NemoInterface::Impl::start() {
+  this->running_ = true;
+  emit this->parent->runningChanged();
+}
 
-void NemoInterface::Impl::stop() { this->running = false; }
+void NemoInterface::Impl::stop() {
+  this->running_ = false;
+  emit this->parent->runningChanged();
+}
 
 void NemoInterface::Impl::setTileData(const TileData &tileData) {
   this->tileData = tileData;
@@ -135,7 +165,6 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
         this->ENUOrigin = tile->coordinateList().first();
         const auto &origin = this->ENUOrigin;
         this->tilesENU.polygons().clear();
-        bool error = false;
         for (int i = 0; i < tileData.tiles.count(); ++i) {
           obj = tileData.tiles.get(i);
           tile = qobject_cast<const SnakeTile *>(obj);
@@ -145,16 +174,9 @@ void NemoInterface::Impl::setTileData(const TileData &tileData) {
             this->tilesENU.polygons().push_back(std::move(tileENU));
           } else {
             qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
-            error = true;
             break;
           }
         }
-        if (!error && this->running && this->topicServiceSetupDone) {
-          this->publishENUOrigin();
-          this->publishTilesENU();
-        } else {
-          qWarning() << "NemoInterface::Impl::setTileData(): first tile empty.";
-        }
       } else {
         qWarning() << "NemoInterface::Impl::setTileData(): nullptr.";
       }
@@ -166,20 +188,52 @@ bool NemoInterface::Impl::hasTileData(const TileData &tileData) const {
   return this->tileData == tileData;
 }
 
-NemoInterface::NemoStatus NemoInterface::Impl::status() {
-  SharedLock lk(this->heartbeatMutex);
-  return NemoInterface::NemoStatus(heartbeat.status());
+void NemoInterface::Impl::setHoldProgress(bool hp) {
+  if (this->holdProgress_ != hp) {
+    this->holdProgress_ = hp;
+    emit this->parent->holdProgressChanged();
+
+    if (!this->holdProgress_) {
+      UniqueLock lk(this->progressMutex);
+      if (this->qProgress != this->qProgressHolded) {
+        this->qProgressHolded = this->qProgress;
+        lk.unlock();
+        emit this->parent->progressChanged();
+      }
+    }
+  }
+}
+
+bool NemoInterface::Impl::holdProgress() { return this->holdProgress_.load(); }
+
+void NemoInterface::Impl::publishTileData() {
+  std::lock(this->ENUOriginMutex, this->tilesENUMutex);
+  UniqueLock lk1(this->ENUOriginMutex, std::adopt_lock);
+  UniqueLock lk2(this->tilesENUMutex, std::adopt_lock);
+
+  if (this->tilesENU.polygons().size() > 0 && this->running_ &&
+      this->topicServiceSetupDone) {
+    this->publishENUOrigin();
+    this->publishTilesENU();
+  }
+}
+
+NemoInterface::STATUS NemoInterface::Impl::status() {
+  SharedLock lk(this->statusMutex);
+  return status_;
 }
 
 QVector<int> NemoInterface::Impl::progress() {
   SharedLock lk(this->progressMutex);
-  return this->qProgress.progress();
+  return this->qProgressHolded.progress();
 }
 
+bool NemoInterface::Impl::running() { return this->running_.load(); }
+
 bool NemoInterface::Impl::doTopicServiceSetup() {
   using namespace ros_bridge::messages;
 
-  // Publish snake tiles.
+  // snake tiles.
   {
     SharedLock lk(this->tilesENUMutex);
 
@@ -188,16 +242,14 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
     this->pRosBridge->advertiseTopic(
         "/snake/tiles",
         jsk_recognition_msgs::polygon_array::messageType().c_str());
-    this->publishTilesENU();
   }
 
-  // Publish snake origin.
+  // snake origin.
   {
     SharedLock lk(this->ENUOriginMutex);
 
     this->pRosBridge->advertiseTopic(
         "/snake/origin", geographic_msgs::geo_point::messageType().c_str());
-    this->publishENUOrigin();
   }
 
   // Subscribe nemo progress.
@@ -211,35 +263,23 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
         UniqueLock lk3(this->ENUOriginMutex, std::adopt_lock);
 
         int requiredSize = this->tilesENU.polygons().size();
+        auto hold = this->holdProgress_.load();
         auto &progressMsg = this->qProgress;
         if (!nemo_msgs::progress::fromJson(*pDoc, progressMsg) ||
             progressMsg.progress().size() !=
                 requiredSize) { // Some error occured.
           progressMsg.progress().clear();
-
-          // Publish snake origin.
-          JsonDocUPtr jOrigin(
-              std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
-          bool ret = geographic_msgs::geo_point::toJson(
-              this->ENUOrigin, *jOrigin, jOrigin->GetAllocator());
-          Q_ASSERT(ret);
-          (void)ret;
-          this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
-
-          // Publish snake tiles.
-          JsonDocUPtr jSnakeTiles(
-              std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
-          ret = jsk_recognition_msgs::polygon_array::toJson(
-              this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
-          Q_ASSERT(ret);
-          (void)ret;
-          this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
+          qgcApp()->showMessage("Invalid progress message received.");
+        } else if (!hold) {
+          this->qProgressHolded = this->qProgress;
         }
         lk1.unlock();
         lk2.unlock();
         lk3.unlock();
 
-        emit this->parent->progressChanged();
+        if (!hold) {
+          emit this->parent->progressChanged();
+        }
       });
 
   // Subscribe /nemo/heartbeat.
@@ -247,13 +287,16 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
       "/nemo/heartbeat",
       /* callback */ [this](JsonDocUPtr pDoc) {
         //        auto start = std::chrono::high_resolution_clock::now();
-        UniqueLock lk(this->heartbeatMutex);
-
-        auto &heartbeatMsg = this->heartbeat;
+        nemo_msgs::heartbeat::Heartbeat heartbeatMsg;
+        UniqueLock lk(this->statusMutex);
         if (!nemo_msgs::heartbeat::fromJson(*pDoc, heartbeatMsg)) {
-          heartbeatMsg.setStatus(integral(NemoStatus::InvalidHeartbeat));
-          this->nextTimeout = TimePoint::max();
+          status_ = STATUS::INVALID_HEARTBEAT;
         } else {
+          status_ = heartbeatToStatus(heartbeatMsg);
+        }
+        if (status_ == STATUS::INVALID_HEARTBEAT) {
+          this->nextTimeout = TimePoint::max();
+        } else if (status_ == STATUS::HEARTBEAT_DETECTED) {
           this->nextTimeout =
               std::chrono::high_resolution_clock::now() + timeoutInterval;
         }
@@ -309,20 +352,29 @@ bool NemoInterface::Impl::doTopicServiceSetup() {
 }
 
 void NemoInterface::Impl::loop() {
-
   // Check ROS Bridge status and do setup if necessary.
-  if (this->running) {
+  if (this->running_) {
     if (!this->pRosBridge->isRunning()) {
       this->pRosBridge->start();
     } else if (this->pRosBridge->isRunning() && this->pRosBridge->connected() &&
                !this->topicServiceSetupDone) {
-      if (this->doTopicServiceSetup())
+      if (this->doTopicServiceSetup()) {
         this->topicServiceSetupDone = true;
+        UniqueLock lk(this->statusMutex);
+        this->status_ = STATUS::WEBSOCKET_DETECTED;
+        lk.unlock();
+        emit this->parent->statusChanged();
+      }
     } else if (this->pRosBridge->isRunning() &&
                !this->pRosBridge->connected() && this->topicServiceSetupDone) {
       this->pRosBridge->reset();
       this->pRosBridge->start();
       this->topicServiceSetupDone = false;
+
+      UniqueLock lk(this->statusMutex);
+      this->status_ = STATUS::TIMEOUT;
+      lk.unlock();
+      emit this->parent->statusChanged();
     }
   } else if (this->pRosBridge->isRunning()) {
     this->pRosBridge->reset();
@@ -330,17 +382,29 @@ void NemoInterface::Impl::loop() {
   }
 
   // Check if heartbeat timeout occured.
-  if (this->running && this->topicServiceSetupDone) {
-    UniqueLock lk(this->heartbeatMutex);
+  if (this->running_ && this->topicServiceSetupDone) {
+    UniqueLock lk(this->statusMutex);
     if (this->nextTimeout != TimePoint::max() &&
         this->nextTimeout < std::chrono::high_resolution_clock::now()) {
-      this->heartbeat.setStatus(integral(NemoStatus::Timeout));
+      if (this->pRosBridge->isRunning() && this->pRosBridge->connected()) {
+        this->status_ = STATUS::WEBSOCKET_DETECTED;
+      } else {
+        this->status_ = STATUS::TIMEOUT;
+      }
       lk.unlock();
       emit this->parent->statusChanged();
     }
   }
 }
 
+NemoInterface::STATUS NemoInterface::Impl::heartbeatToStatus(
+    const ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat &hb) {
+  if (STATUS(hb.status()) == STATUS::HEARTBEAT_DETECTED)
+    return STATUS::HEARTBEAT_DETECTED;
+  else
+    return STATUS::INVALID_HEARTBEAT;
+}
+
 void NemoInterface::Impl::publishTilesENU() {
   using namespace ros_bridge::messages;
   JsonDocUPtr jSnakeTiles(
@@ -374,7 +438,13 @@ void NemoInterface::start() { this->pImpl->start(); }
 
 void NemoInterface::stop() { this->pImpl->stop(); }
 
-void NemoInterface::publishTileData(const TileData &tileData) {
+void NemoInterface::publishTileData() { this->pImpl->publishTileData(); }
+
+void NemoInterface::requestProgress() {
+  qWarning() << "NemoInterface::requestProgress(): dummy.";
+}
+
+void NemoInterface::setTileData(const TileData &tileData) {
   this->pImpl->setTileData(tileData);
 }
 
@@ -382,8 +452,26 @@ bool NemoInterface::hasTileData(const TileData &tileData) const {
   return this->pImpl->hasTileData(tileData);
 }
 
-NemoInterface::NemoStatus NemoInterface::status() const {
+void NemoInterface::setHoldProgress(bool hp) {
+  this->pImpl->setHoldProgress(hp);
+}
+
+int NemoInterface::status() const { return integral(this->pImpl->status()); }
+
+NemoInterface::STATUS NemoInterface::statusEnum() const {
   return this->pImpl->status();
 }
 
+QString NemoInterface::statusString() const {
+  return statusMap.at(this->pImpl->status());
+}
+
 QVector<int> NemoInterface::progress() const { return this->pImpl->progress(); }
+
+QString NemoInterface::editorQml() {
+  return QStringLiteral("NemoInterface.qml");
+}
+
+bool NemoInterface::running() { return this->pImpl->running(); }
+
+bool NemoInterface::holdProgress() { return this->pImpl->holdProgress(); }

src/Wima/Snake/NemoInterface.h

@@ -13,28 +13,48 @@ class NemoInterface : public QObject {
   using PImpl = std::unique_ptr<Impl>;
 
 public:
-  enum class NemoStatus {
-    NotConnected = 0,
-    Connected = 1,
-    Timeout = -1,
-    InvalidHeartbeat = -2
+  enum class STATUS {
+    NOT_CONNECTED = 0,
+    HEARTBEAT_DETECTED = 1,
+    WEBSOCKET_DETECTED = 2,
+    TIMEOUT = -1,
+    INVALID_HEARTBEAT = -2
   };
 
   explicit NemoInterface(QObject *parent = nullptr);
   ~NemoInterface() override;
 
-  void start();
-  void stop();
+  Q_PROPERTY(int status READ status NOTIFY statusChanged)
+  Q_PROPERTY(QString statusString READ statusString NOTIFY statusChanged)
+  Q_PROPERTY(QVector<int> progress READ progress NOTIFY progressChanged)
+  Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
+  Q_PROPERTY(bool running READ running NOTIFY runningChanged)
+  Q_PROPERTY(bool holdProgress READ holdProgress WRITE setHoldProgress NOTIFY
+                 holdProgressChanged)
 
-  void publishTileData(const TileData &tileData);
+  Q_INVOKABLE void start();
+  Q_INVOKABLE void stop();
+  Q_INVOKABLE void publishTileData();
+  Q_INVOKABLE void requestProgress();
+
+  void setTileData(const TileData &tileData);
   bool hasTileData(const TileData &tileData) const;
+  void setAutoPublish(bool ap);
+  void setHoldProgress(bool hp);
 
-  NemoStatus status() const;
+  int status() const;
+  STATUS statusEnum() const;
+  QString statusString() const;
   QVector<int> progress() const;
+  QString editorQml();
+  bool running();
+  bool holdProgress();
 
 signals:
   void statusChanged();
   void progressChanged();
+  void runningChanged();
+  void holdProgressChanged();
 
 private:
   PImpl pImpl;

src/Wima/WimaController.cc

@@ -58,9 +58,8 @@ WimaController::WimaController(QObject *parent)
       _areaInterface(&_measurementArea, &_serviceArea, &_corridor,
                      &_joinedArea),
       _WMSettings(), _defaultWM(_WMSettings, _areaInterface),
-      _snakeWM(_WMSettings, _areaInterface),
       _rtlWM(_WMSettings, _areaInterface),
-      _currentWM(&_defaultWM), _WMList{&_defaultWM, &_snakeWM, &_rtlWM},
+      _currentWM(&_defaultWM), _WMList{&_defaultWM, &_rtlWM},
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
       _enableWimaController(settingsGroup,
@@ -78,7 +77,6 @@ WimaController::WimaController(QObject *parent)
       _arrivalReturnSpeed(settingsGroup, _metaDataMap[arrivalReturnSpeedName]),
       _altitude(settingsGroup, _metaDataMap[altitudeName]),
       _lowBatteryHandlingTriggered(false), _measurementPathLength(-1),
-      _nemoInterface(this),
       _batteryLevelTicker(EVENT_TIMER_INTERVAL, 1000 /*ms*/) {
 
   // Set up facts for waypoint manager.
@@ -97,14 +95,6 @@ WimaController::WimaController(QObject *parent)
   connect(&_altitude, &Fact::rawValueChanged, this,
           &WimaController::_updateAltitude);
 
-  // Nemo stuff.
-  connect(&_nemoInterface, &NemoInterface::progressChanged, this,
-          &WimaController::_progressChangedHandler);
-  connect(&_nemoInterface, &NemoInterface::statusChanged, this,
-          &WimaController::nemoStatusChanged);
-  connect(&_nemoInterface, &NemoInterface::statusChanged, this,
-          &WimaController::nemoStatusStringChanged);
-
   // Init waypoint managers.
   bool value;
   size_t overlap = _overlapWaypoints.rawValue().toUInt(&value);
@@ -124,35 +114,6 @@ WimaController::WimaController(QObject *parent)
   connect(&_eventTimer, &QTimer::timeout, this,
           &WimaController::_eventTimerHandler);
   _eventTimer.start(EVENT_TIMER_INTERVAL);
-
-  // NemoInterface.
-  connect(&_nemoInterface, &NemoInterface::progressChanged, this,
-          &WimaController::_progressChangedHandler);
-  connect(&_nemoInterface, &NemoInterface::statusChanged, this,
-          &WimaController::nemoStatusChanged);
-  connect(&_nemoInterface, &NemoInterface::statusChanged, this,
-          &WimaController::nemoStatusStringChanged);
-
-  // Enable/disable snake.
-  connect(&_enableSnake, &Fact::rawValueChanged, this,
-          &WimaController::_enableSnakeChangedHandler);
-  _enableSnakeChangedHandler();
-  connect(&_enableWimaController, &Fact::rawValueChanged, [this] {
-    if (!this->_enableWimaController.rawValue().toBool()) {
-      this->_enableSnake.setCookedValue(QVariant(false));
-    }
-  });
-
-  // Snake Waypoint Manager.
-  connect(&_enableSnake, &Fact::rawValueChanged, this,
-          &WimaController::_switchToSnakeWaypointManager);
-  _switchToSnakeWaypointManager(_enableSnake.rawValue());
-
-  // Routing
-  connect(&_routingThread, &RoutingThread::result, this,
-          &WimaController::_storeRoute);
-  connect(&_routingThread, &RoutingThread::calculatingChanged, this,
-          &WimaController::snakeCalcInProgressChanged);
 }
 
 PlanMasterController *WimaController::masterController() {
@@ -226,17 +187,13 @@ double WimaController::phaseDuration() const {
 }
 
 int WimaController::nemoStatus() const {
-  return integral(_nemoInterface.status());
+  return integral(NemoInterface::STATUS::NOT_CONNECTED);
 }
 
 QString WimaController::nemoStatusString() const {
   return _nemoStatusMap.at(nemoStatus());
 }
 
-bool WimaController::snakeCalcInProgress() const {
-  return _routingThread.calculating();
-}
-
 void WimaController::setMasterController(PlanMasterController *masterC) {
   _masterController = masterC;
   _WMSettings.setMasterController(masterC);
@@ -390,7 +347,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   // reset visual items
   _areas.clear();
   _defaultWM.clear();
-  _snakeWM.clear();
   _measurementArea = WimaMeasurementAreaData();
   _serviceArea = WimaServiceAreaData();
   _corridor = WimaCorridorData();
@@ -463,9 +419,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   emit visualItemsChanged();
   emit snakeTilesChanged();
 
-  // Copy raw transects.
-  this->_rawTransects = planData->transects();
-
   // Copy missionItems.
   auto tempMissionItems = planData->missionItems();
   if (tempMissionItems.size() < 1) {
@@ -474,7 +427,6 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   }
 
   for (auto *item : tempMissionItems) {
-    _snakeWM.push_back(item->coordinate());
     _defaultWM.push_back(item->coordinate());
   }
   _WMSettings.setHomePosition(QGeoCoordinate(
@@ -484,36 +436,14 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
     Q_ASSERT(false);
     return false;
   }
-  if (!_snakeWM.reset()) {
-    Q_ASSERT(false);
-    return false;
-  }
 
-  if (_currentWM == &_defaultWM || _currentWM == &_snakeWM) {
+  if (_currentWM == &_defaultWM) {
     emit missionItemsChanged();
     emit currentMissionItemsChanged();
     emit waypointPathChanged();
     emit currentWaypointPathChanged();
   }
 
-  // Publish tiles, set progress if necessary.
-  if (!this->_nemoInterface.hasTileData(this->_measurementArea.tileData())) {
-    if (_enableSnake.rawValue().toBool()) {
-      this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
-    }
-    this->_measurementArea.progress() =
-        QVector<int>(this->_measurementArea.tiles()->count(), 0);
-    emit nemoProgressChanged();
-
-  } else if (this->_enableSnake.rawValue().toBool()) {
-    const auto progress = this->_nemoInterface.progress();
-    if (progress.size() == this->_measurementArea.tiles()->count()) {
-      this->_measurementArea.progress() = std::move(progress);
-      emit nemoProgressChanged();
-      this->_updateRoute();
-    }
-  }
-
   _planDataValid = true;
   return true;
 }
@@ -790,226 +720,3 @@ void WimaController::_initSmartRTL() {
                               &WimaController::_initSmartRTL);
   }
 }
-
-void WimaController::_storeRoute(RoutingThread::PtrRoutingData data) {
-#ifdef SNAKE_SHOW_TIME
-  auto start = std::chrono::high_resolution_clock::now();
-#endif
-  // Copy waypoints to waypoint manager.
-  _snakeWM.clear();
-
-  if (data->solutionVector.size() > 0 &&
-      data->solutionVector.front().size() > 0) {
-    // Store route.
-    const auto &transectsENU = data->transects;
-    const auto &solution = data->solutionVector.front();
-    const auto &route = solution.front();
-    const auto &path = route.path;
-    const auto &info = route.info;
-    // Find index of first waypoint.
-    std::size_t idxFirst = 0;
-    const auto &infoFirst = info.front();
-    const auto &firstTransect = transectsENU[infoFirst.index];
-    const auto &firstWaypoint =
-        infoFirst.reversed ? firstTransect.back() : firstTransect.front();
-    double th = 0.001;
-    for (std::size_t i = 0; i < path.size(); ++i) {
-      auto dist = bg::distance(path[i], firstWaypoint);
-      if (dist < th) {
-        idxFirst = i;
-        break;
-      }
-    }
-    // Find index of last waypoint.
-    std::size_t idxLast = path.size() - 1;
-    const auto &infoLast = info.back();
-    const auto &lastTransect = transectsENU[infoLast.index];
-    const auto &lastWaypoint =
-        infoLast.reversed ? lastTransect.front() : lastTransect.back();
-    for (long i = path.size() - 1; i >= 0; --i) {
-      auto dist = bg::distance(path[i], lastWaypoint);
-      if (dist < th) {
-        idxLast = i;
-        break;
-      }
-    }
-    // Convert to geo coordinates and append to waypoint manager.
-    const auto &ori = this->_origin;
-    for (std::size_t i = idxFirst; i <= idxLast; ++i) {
-      auto &vertex = path[i];
-      QGeoCoordinate c;
-      snake::fromENU(ori, vertex, c);
-      _snakeWM.push_back(c);
-    }
-    // Do update.
-    this->_snakeWM.update(); // this can take a while (ca. 200ms)
-
-    emit missionItemsChanged();
-    emit currentMissionItemsChanged();
-    emit currentWaypointPathChanged();
-    emit waypointPathChanged();
-  }
-#ifdef SNAKE_SHOW_TIME
-  auto end = std::chrono::high_resolution_clock::now();
-  std::cout << "WimaController::_threadFinishedHandler(): waypoints: "
-            << std::chrono::duration_cast<std::chrono::milliseconds>(end -
-                                                                     start)
-                   .count()
-            << " ms" << std::endl;
-#endif
-}
-
-void WimaController::_switchToSnakeWaypointManager(QVariant variant) {
-  if (variant.value<bool>()) {
-    _switchWaypointManager(_snakeWM);
-  } else {
-    _switchWaypointManager(_defaultWM);
-  }
-}
-
-void WimaController::_progressChangedHandler() {
-  const auto progress = this->_nemoInterface.progress();
-  if (this->_measurementArea.tiles()->count() == progress.size()) {
-    this->_measurementArea.progress() = std::move(progress);
-    emit nemoProgressChanged();
-    this->_updateRoute();
-  } else if (_planDataValid) {
-    this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
-  }
-}
-
-void WimaController::_enableSnakeChangedHandler() {
-  if (this->_enableSnake.rawValue().toBool()) {
-    qDebug() << "WimaController: enabling snake.";
-    _switchWaypointManager(_snakeWM);
-    this->_nemoInterface.start();
-    if (_planDataValid) {
-      if (!this->_nemoInterface.hasTileData(
-              this->_measurementArea.tileData())) {
-        this->_nemoInterface.publishTileData(this->_measurementArea.tileData());
-      }
-    }
-  } else {
-    qDebug() << "WimaController: disabling snake.";
-    _switchWaypointManager(_defaultWM);
-    this->_nemoInterface.stop();
-  }
-}
-
-void WimaController::_updateRoute() {
-  // precondtion
-  if (_planDataValid && this->_joinedArea.coordinateList().size() > 0) {
-    const auto progress = this->_nemoInterface.progress();
-    const auto *tiles = this->_measurementArea.tiles();
-    // precondtion
-    if (tiles->count() > 0 && progress.size() == tiles->count() &&
-        this->_rawTransects.size() > 0 &&
-        this->_joinedArea.coordinateList().size() > 0) {
-      // Fetch tiles and convert to ENU.
-      this->_origin = this->_joinedArea.coordinateList().first();
-      this->_origin.setAltitude(0);
-      const auto &origin = this->_origin;
-      auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
-      std::size_t numTiles = 0;
-      for (int i = 0; i < progress.size(); ++i) {
-        if (progress[i] == 100) {
-          ++numTiles;
-          const auto *obj = tiles->get(i);
-          const auto *tile = qobject_cast<const SnakeTile *>(obj);
-          if (tile != nullptr) {
-            snake::FPolygon t;
-            snake::areaToEnu(origin, tile->coordinateList(), t);
-            pTiles->push_back(std::move(t));
-          } else {
-            return;
-          }
-        }
-      }
-      if (numTiles > 0) {
-        // Fetch safe area and convert to ENU.
-        RoutingParameter par;
-        auto safeArea = this->_joinedArea.coordinateList();
-        for (auto &v : safeArea) {
-          v.setAltitude(0);
-        }
-        auto &safeAreaENU = par.safeArea;
-        snake::areaToEnu(origin, safeArea, safeAreaENU);
-        const auto &depot = this->_serviceArea.depot();
-        snake::FPoint depotENU;
-        snake::toENU(origin, depot, depotENU);
-        // Fetch geo transects and convert to ENU.
-        const auto &geoTransects = this->_rawTransects;
-        auto pUnclippedTransects = std::make_shared<snake::Transects>();
-        for (auto &geoTransect : geoTransects) {
-          snake::FLineString t;
-          for (auto &geoVertex : geoTransect) {
-            snake::FPoint v;
-            snake::toENU(origin, geoVertex, v);
-            t.push_back(v);
-          }
-          pUnclippedTransects->push_back(t);
-        }
-        std::size_t minLength = 1; // meter
-        qWarning() << "using minLength dummy lkjfdslooij";
-        auto generator = [depotENU, pUnclippedTransects, pTiles,
-                          minLength](snake::Transects &transects) -> bool {
-          // Convert transects to clipper path.
-          vector<ClipperLib::Path> transectsClipper;
-          for (const auto &t : *pUnclippedTransects) {
-            ClipperLib::Path path;
-            for (const auto &v : t) {
-              ClipperLib::IntPoint c{
-                  static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
-                  static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)};
-              path.push_back(c);
-            }
-            transectsClipper.push_back(std::move(path));
-          }
-          // Add transects to clipper.
-          ClipperLib::Clipper clipper;
-          clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
-          // Add tiles to clipper.
-          vector<ClipperLib::Path> tilesClipper;
-          for (const auto &t : *pTiles) {
-            ClipperLib::Path path;
-            for (const auto &v : t.outer()) {
-              path.push_back(ClipperLib::IntPoint{
-                  static_cast<ClipperLib::cInt>(v.get<0>() * CLIPPER_SCALE),
-                  static_cast<ClipperLib::cInt>(v.get<1>() * CLIPPER_SCALE)});
-            }
-            tilesClipper.push_back(std::move(path));
-          }
-
-          clipper.AddPaths(tilesClipper, ClipperLib::ptClip, true);
-          // Clip transects.
-          ClipperLib::PolyTree clippedTransecs;
-          clipper.Execute(ClipperLib::ctDifference, clippedTransecs,
-                          ClipperLib::pftNonZero, ClipperLib::pftNonZero);
-          // Extract transects from  PolyTree and convert them to
-          // BoostLineString
-          transects.push_back(snake::FLineString{depotENU});
-          for (const auto &child : clippedTransecs.Childs) {
-            snake::FLineString transect;
-            for (const auto &v : child->Contour) {
-              snake::FPoint c{static_cast<double>(v.X) / CLIPPER_SCALE,
-                              static_cast<double>(v.Y) / CLIPPER_SCALE};
-              transect.push_back(c);
-            }
-
-            if (bg::length(transect) >= minLength) {
-              transects.push_back(std::move(transect));
-            }
-          }
-          if (transects.size() > 1) {
-            return true;
-          } else {
-            return false;
-          }
-        }; // generator
-        this->_routingThread.route(par, generator);
-      } else {
-        this->_storeRoute(RoutingThread::PtrRoutingData(new RoutingData()));
-      }
-    }
-  }
-}

src/Wima/WimaController.h

@@ -67,12 +67,9 @@ public:
       double phaseDuration READ phaseDuration NOTIFY phaseDurationChanged)
 
   // Snake
-  Q_PROPERTY(Fact *enableSnake READ enableSnake CONSTANT)
   Q_PROPERTY(int nemoStatus READ nemoStatus NOTIFY nemoStatusChanged)
   Q_PROPERTY(QString nemoStatusString READ nemoStatusString NOTIFY
                  nemoStatusStringChanged)
-  Q_PROPERTY(bool snakeCalcInProgress READ snakeCalcInProgress NOTIFY
-                 snakeCalcInProgressChanged)
   Q_PROPERTY(
       QmlObjectListModel *snakeTiles READ snakeTiles NOTIFY snakeTilesChanged)
   Q_PROPERTY(QVariantList snakeTileCenterPoints READ snakeTileCenterPoints
@@ -102,15 +99,12 @@ public:
   Fact *flightSpeed(void);
   Fact *arrivalReturnSpeed(void);
   Fact *altitude(void);
-  // Snake settings facts.
-  Fact *enableSnake(void) { return &_enableSnake; }
   // Snake data.
   QmlObjectListModel *snakeTiles(void);
   QVariantList snakeTileCenterPoints(void);
   QVector<int> nemoProgress(void);
   int nemoStatus(void) const;
   QString nemoStatusString(void) const;
-  bool snakeCalcInProgress(void) const;
 
   bool uploadOverrideRequired(void) const;
   bool vehicleHasLowBattery(void) const;
@@ -153,8 +147,6 @@ public:
   static const char *flightSpeedName;
   static const char *arrivalReturnSpeedName;
   static const char *altitudeName;
-  static const char *snakeLineDistanceName;
-  static const char *snakeMinTransectLengthName;
 
 signals:
   // Controllers.
@@ -176,7 +168,6 @@ signals:
   void phaseDistanceChanged(void);
   void phaseDurationChanged(void);
   // Snake.
-  void snakeCalcInProgressChanged(void);
   void snakeTilesChanged(void);
   void nemoProgressChanged(void);
   void nemoStatusChanged(void);
@@ -207,12 +198,7 @@ private slots:
   void _initSmartRTL();
   void _smartRTLCleanUp(bool flying);
   // Snake.
-  void _storeRoute(RoutingThread::PtrRoutingData data);
   void _switchWaypointManager(WaypointManager::ManagerBase &manager);
-  void _switchToSnakeWaypointManager(QVariant variant);
-  void _progressChangedHandler();
-  void _enableSnakeChangedHandler();
-  void _updateRoute();
   // Periodic tasks.
   void _eventTimerHandler(void);
 
@@ -234,7 +220,6 @@ private:
   WaypointManager::AreaInterface _areaInterface;
   WaypointManager::Settings _WMSettings; // Waypoint Manager Settings
   WaypointManager::DefaultManager _defaultWM;
-  WaypointManager::DefaultManager _snakeWM;
   WaypointManager::RTLManager _rtlWM;
   WaypointManager::ManagerBase *_currentWM;
   using ManagerList = QList<WaypointManager::ManagerBase *>;
@@ -262,7 +247,6 @@ private:
   SettingsFact _flightSpeed;             // mission flight speed
   SettingsFact _arrivalReturnSpeed;      // arrival and return path speed
   SettingsFact _altitude;                // mission altitude
-  SettingsFact _enableSnake;             // Enable Snake (see snake.h)
 
   // Smart RTL.
   QTimer _smartRTLTimer;
@@ -271,13 +255,8 @@ private:
   // Waypoint statistics.
   double _measurementPathLength; // the lenght of the phase in meters
 
-  // Snake
-  QList<QList<QGeoCoordinate>> _rawTransects;
-  NemoInterface _nemoInterface;
   using StatusMap = std::map<int, QString>;
   static StatusMap _nemoStatusMap;
-  RoutingThread _routingThread;
-  QGeoCoordinate _origin;
 
   // Periodic tasks.
   QTimer _eventTimer;

src/Wima/WimaPlaner.cc

@@ -25,7 +25,8 @@ WimaPlaner::WimaPlaner(QObject *parent)
       _currentAreaIndex(-1), _wimaBridge(nullptr), _mAreaChanged(true),
       _sAreaChanged(true), _corridorChanged(true), _joinedArea(this),
       _arrivalPathLength(0), _returnPathLength(0), _TSComplexItem(nullptr),
-      _surveyChanged(true), _synchronized(false), _needsUpdate(true) {
+      _surveyChanged(true), _synchronized(false), _needsUpdate(true),
+      _nemoInterface(this) {
 
   connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
           &WimaPlaner::updatePolygonInteractivity);
@@ -33,10 +34,14 @@ WimaPlaner::WimaPlaner(QObject *parent)
     this->_mAreaChanged = true;
     this->setNeedsUpdate(true);
   });
+  connect(&this->_measurementArea, &WimaMeasurementArea::tilesChanged, [this] {
+    this->_nemoInterface.setTileData(this->_measurementArea.tileData());
+  });
   connect(&this->_serviceArea, &WimaArea::pathChanged, [this] {
     this->_sAreaChanged = true;
     this->setNeedsUpdate(true);
   });
+
   connect(&this->_serviceArea, &WimaServiceArea::depotChanged, [this] {
     this->_sAreaChanged = true;
     this->setNeedsUpdate(true);
@@ -52,6 +57,11 @@ WimaPlaner::WimaPlaner(QObject *parent)
   _autoLoadTimer.setSingleShot(true);
   _autoLoadTimer.start(300);
 #endif
+
+  // NemoInterface
+  connect(&this->_nemoInterface, &NemoInterface::progressChanged, [this] {
+    this->_measurementArea.setProgress(this->_nemoInterface.progress());
+  });
 }
 
 PlanMasterController *WimaPlaner::masterController() {
@@ -95,6 +105,8 @@ QGeoCoordinate WimaPlaner::joinedAreaCenter() const {
 
 WimaBridge *WimaPlaner::wimaBridge() { return _wimaBridge; }
 
+NemoInterface *WimaPlaner::nemoInterface() { return &_nemoInterface; }
+
 void WimaPlaner::setMasterController(PlanMasterController *masterC) {
   _masterController = masterC;
   emit masterControllerChanged();

src/Wima/WimaPlaner.h

@@ -14,6 +14,8 @@
 #include "Geometry/WimaServiceAreaData.h"
 #include "WimaPlanData.h"
 
+#include "Snake/NemoInterface.h"
+
 #include "JsonHelper.h"
 
 class MissionController;
@@ -45,6 +47,7 @@ public:
   Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
   Q_PROPERTY(WimaBridge *wimaBridge READ wimaBridge WRITE setWimaBridge NOTIFY
                  wimaBridgeChanged)
+  Q_PROPERTY(NemoInterface *nemoInterface READ nemoInterface CONSTANT)
   Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
   Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
 
@@ -59,6 +62,7 @@ public:
   QString fileExtension(void) const;
   QGeoCoordinate joinedAreaCenter(void) const;
   WimaBridge *wimaBridge(void);
+  NemoInterface *nemoInterface(void);
   bool synchronized();
   bool needsUpdate();
 
@@ -161,4 +165,6 @@ private:
   QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
                          // seg. faults
 #endif
+
+  NemoInterface _nemoInterface;
 };

src/WimaView/WimaMeasurementAreaMapVisual.qml

@@ -110,25 +110,39 @@ Item {
     // Add Snake tiles to the map
     Component {
         id: tileComponent
-        MapPolygon {
-            color:          "transparent"
-            opacity:        1
-            border.color:   "black"
-            border.width:   1
+        MapPolygon{
             path:           []
+            opacity:        0.6
+            z:              2
         }
     }
 
     Repeater {
+        id: progressRepeater
         property bool enable: areaItem.showTiles.value
         model: enable ? areaItem.tiles : 0
 
+        function getColor(i) {
+            var progress = areaItem.progress[i]
+            if (progress < 25)
+                return "transparent"
+            if (progress < 50)
+                return "orange"
+            if (progress < 75)
+                return "yellow"
+            if (progress < 100)
+                return "greenyellow"
+            return "limegreen"
+        }
+
         Item{
             property var _tileComponent
+
             function addVisuals() {
                 _tileComponent = tileComponent.createObject(map)
                 map.addMapItem(_tileComponent)
                 _tileComponent.path = object.path
+                _tileComponent.color = progressRepeater.getColor(index)
             }
 
             function removeVisuals() {

src/WimaView/WimaToolBar.qml

@@ -155,7 +155,7 @@ Rectangle {
         anchors.left:           logoRow.right
         anchors.right:          uploadButton.visible ? uploadButton.left : parent.right
         columnSpacing:          0
-        columns:                3
+        columns:                4
 
         GridLayout {
             columns:                8
@@ -252,7 +252,7 @@ Rectangle {
             rowSpacing:             _rowSpacing
             columnSpacing:          _labelToValueSpacing
             Layout.alignment:       Qt.AlignVCenter | Qt.AlignHCenter
-            visible:                _batteryInfoAvailable
+            //            visible:                _batteryInfoAvailable
 
             QGCLabel {
                 text:               qsTr("Battery")
@@ -268,7 +268,7 @@ Rectangle {
             }
 
             Item { width: 1; height: 1 }
-/*
+            /*
             FIXME: Swap point display is currently hidden since the code which calcs it doesn't work correctly
             QGCLabel { text: qsTr("Swap waypoint:"); font.pointSize: _dataFontSize; }
             QGCLabel {
@@ -278,6 +278,72 @@ Rectangle {
             }
 */
         }
+
+        GridLayout {
+            columns:                3
+            rowSpacing:             _rowSpacing
+            columnSpacing:          _labelToValueSpacing
+            Layout.alignment:       Qt.AlignVCenter | Qt.AlignHCenter
+
+
+            QGCLabel {
+                text:               qsTr("ROS")
+                Layout.columnSpan:  3
+                font.pointSize:     ScreenTools.smallFontPointSize
+            }
+
+            QGCCheckBox {
+                id: enableCheckbox
+
+                property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
+
+                text:               qsTr("Enable")
+                checked: nemo ? nemo.running : false
+                onCheckedChanged: {
+                    if (nemo){
+                        if (checked){
+                            nemo.start()
+                        } else {
+                            nemo.stop()
+                        }
+
+                        checked = Qt.binding(function(){return nemo.running})
+                    }
+                }
+                Layout.minimumWidth:    _mediumValueWidth
+            }
+
+            QGCLabel {
+                property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
+
+                text:               nemo ? nemo.statusString : ""
+                font.pointSize:         _dataFontSize
+                Layout.minimumWidth:    _mediumValueWidth
+                visible: enableCheckbox.checked
+                Layout.columnSpan: 2
+            }
+
+            QGCCheckBox {
+                property var nemo: wimaPlaner ? wimaPlaner.nemoInterface : undefined
+
+                text:               qsTr("Lock Progress")
+                checked: nemo ? nemo.lockProgress : false
+                visible: enableCheckbox.checked
+                onCheckedChanged: {
+                    if (nemo){
+                        if (checked){
+                            nemo.lockProgress = true
+                        } else {
+                            nemo.lockProgress = false
+                        }
+
+                        checked = Qt.binding(function(){return nemo.lockProgress})
+                    }
+                }
+                Layout.minimumWidth:    _mediumValueWidth
+            }
+
+        }
     }
 
     QGCButton {

src/WimaView/WimaView.qml

@@ -54,6 +54,7 @@ QGCView {
 
     property bool   _airspaceEnabled:                    QGroundControl.airmapSupported ? (QGroundControl.settingsManager.airMapSettings.enableAirMap.rawValue && QGroundControl.airspaceManager.connected): false
     property var    _wimaPlaner:                        wimaPlaner
+    property var    _nemo:                        		wimaPlaner.nemoInterface
     property var    _planMasterController:              masterController
     property var    _missionController:                 _planMasterController.missionController
     property var    _visualItems:                       _missionController.visualItems
@@ -702,6 +703,10 @@ QGCView {
                                 name:                   qsTr("Update"),
                                 iconSource:             "/res/calculator.png"
                             },
+                            {
+                                name:                   qsTr("Publish"),
+                                iconSource:             "/res/calculator.png"
+                            },
                             {
                                 name:               qsTr("Center"),
                                 iconSource:         "/qmlimages/MapCenter.svg",
@@ -731,10 +736,13 @@ QGCView {
                                     case 4:
                                         wimaPlaner.update();
                                         break
-                                    case 6:
-                                        editorMap.zoomLevel += 0.5
+                                    case 5:
+                                        _nemo.publishTileData();
                                         break
                                     case 7:
+                                        editorMap.zoomLevel += 0.5
+                                        break
+                                    case 8:
                                         editorMap.zoomLevel -= 0.5
                                         break
                                     }

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

@@ -4,61 +4,72 @@
 
 #include <vector>
 
-
 namespace ros_bridge {
 //! @brief Namespace containing classes and methodes ros message generation.
 namespace messages {
-//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+//! @brief Namespace containing classes and methodes for geometry_msgs
+//! generation.
 namespace nemo_msgs {
-//! @brief Namespace containing methodes for geometry_msgs/Point32 message generation.
+//! @brief Namespace containing methodes for geometry_msgs/Point32 message
+//! generation.
 namespace progress {
 
-
 std::string messageType();
 
 //! @brief C++ representation of nemo_msgs/Progress message
-template <class IntType = long, template <class, class...> class ContainterType = std::vector>
-class GenericProgress{
+template <class IntType = long,
+          template <class, class...> class ContainterType = std::vector>
+class GenericProgress {
 public:
-    GenericProgress() {}
-    GenericProgress(const ContainterType<IntType> &progress) : _progress(progress){}
-    GenericProgress(const GenericProgress &p) : _progress(p.progress()){}
+  GenericProgress() {}
+  GenericProgress(const ContainterType<IntType> &progress)
+      : _progress(progress) {}
+  GenericProgress(const GenericProgress &p) : _progress(p.progress()) {}
+
+  virtual const ContainterType<IntType> &progress(void) const {
+    return _progress;
+  }
+  virtual ContainterType<IntType> &progress(void) { return _progress; }
 
-    virtual const ContainterType<IntType> &progress(void) const {return _progress;}
-    virtual       ContainterType<IntType> &progress(void)       {return _progress;}
+  bool operator==(const GenericProgress &other) const {
+    return this->_progress == other._progress;
+  }
+
+  bool operator!=(const GenericProgress &other) const {
+    return !this->operator==(other);
+  }
 
 protected:
-    ContainterType<IntType> _progress;
+  ContainterType<IntType> _progress;
 };
 typedef GenericProgress<> Progress;
 
-
 template <class ProgressType>
-bool toJson(const ProgressType &p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
-{
-    rapidjson::Value jProgress(rapidjson::kArrayType);
-    for(unsigned long i=0; i < std::uint64_t(p.progress().size()); ++i){
-        jProgress.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])), allocator);
-    }
-    value.AddMember("progress", jProgress, allocator);
-    return true;
+bool toJson(const ProgressType &p, rapidjson::Value &value,
+            rapidjson::Document::AllocatorType &allocator) {
+  rapidjson::Value jProgress(rapidjson::kArrayType);
+  for (unsigned long i = 0; i < std::uint64_t(p.progress().size()); ++i) {
+    jProgress.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])),
+                       allocator);
+  }
+  value.AddMember("progress", jProgress, allocator);
+  return true;
 }
 
 template <class ProgressType>
-bool fromJson(const rapidjson::Value &value, ProgressType &p)
-{
-    if (!value.HasMember("progress") || !value["progress"].IsArray()){
-        assert(false);
-        return false;
-    }
+bool fromJson(const rapidjson::Value &value, ProgressType &p) {
+  if (!value.HasMember("progress") || !value["progress"].IsArray()) {
+    assert(false);
+    return false;
+  }
 
-    const auto& jsonProgress = value["progress"];
-    unsigned long sz = jsonProgress.Size();
-    p.progress().clear();
-    p.progress().reserve(sz);
-    for (unsigned long i=0; i < sz; ++i)
-        p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
-    return true;
+  const auto &jsonProgress = value["progress"];
+  unsigned long sz = jsonProgress.Size();
+  p.progress().clear();
+  p.progress().reserve(sz);
+  for (unsigned long i = 0; i < sz; ++i)
+    p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
+  return true;
 }
 
 } // namespace progress