wima planer, plan data, wima controller edited

src/Wima/Geometry/WimaArea.h

 #pragma once
 
+#include "QGCGeo.h"
 #include "QGCMapPolygon.h"
 #include "QGCMapPolyline.h"
 #include "Vehicle.h"
 #include "qobject.h"
 #include <QLineF>
-#include <QPointF>
-#include "QGCGeo.h"
 #include <QPair>
+#include <QPointF>
 
 #include "GeoUtilities.h"
-#include "PolygonCalculus.h"
 #include "PlanimetryCalculus.h"
+#include "PolygonCalculus.h"
 
-class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
+class WimaArea : public QGCMapPolygon // abstract base class for all WimaAreas
 {
-    Q_OBJECT
+  Q_OBJECT
 public:
-    WimaArea(QObject* parent = nullptr);
-    WimaArea(const WimaArea& other, QObject* parent = nullptr);
-    WimaArea &operator=(const WimaArea &other);
-
-
-    Q_PROPERTY(double           maxAltitude             READ maxAltitude                WRITE setMaxAltitude            NOTIFY maxAltitudeChanged)
-    Q_PROPERTY(QString          mapVisualQML            READ mapVisualQML                                               CONSTANT)
-    Q_PROPERTY(QString          editorQML               READ editorQML                                                  CONSTANT)
-    Q_PROPERTY(Fact*            borderPolygonOffset     READ borderPolygonOffsetFact                                    CONSTANT)
-    Q_PROPERTY(QGCMapPolygon*   borderPolygon           READ borderPolygon                                              NOTIFY borderPolygonChanged)
-    Q_PROPERTY(Fact*            showBorderPolygon       READ showBorderPolygon                                          CONSTANT)
-    Q_PROPERTY(bool             wimaAreaInteractive     READ wimaAreaInteractive        WRITE setWimaAreaInteractive    NOTIFY wimaAreaInteractiveChanged)
-
-
-    //Property accessors
-    double          maxAltitude             (void) const    { return _maxAltitude;}
-    Fact*           borderPolygonOffsetFact (void)          { return &_borderPolygonOffset;}
-    Fact*           showBorderPolygon       (void)          { return &_showBorderPolygon;}
-    double          borderPolygonOffset     (void) const    { return _borderPolygonOffset.rawValue().toDouble();}
-    QGCMapPolygon*  borderPolygon           (void)          { return &_borderPolygon;}
-    bool            wimaAreaInteractive     (void) const    { return _wimaAreaInteractive;}
-
-    void            setWimaAreaInteractive          (bool interactive);
-
-    // overrides from WimaArea
-    virtual QString                 mapVisualQML    (void) const { return ""; }
-    virtual QString                 editorQML       (void) const { return ""; }
-
-    // Member Methodes
-    int             getClosestVertexIndex   (const QGeoCoordinate& coordinate) const;
-    QGeoCoordinate  getClosestVertex        (const QGeoCoordinate& coordinate) const;
-    QGCMapPolygon   toQGCPolygon            () const;
-    bool            join                    (WimaArea &area);
-    bool            join                    (WimaArea &area, QString &errorString);
-    int             nextVertexIndex         (int index) const;
-    int             previousVertexIndex     (int index) const;
-    bool            isSimplePolygon         () const;
-    bool            containsCoordinate      (const QGeoCoordinate &coordinate) const;
-
-
-    void saveToJson     (QJsonObject& jsonObject);
-    bool loadFromJson   (const QJsonObject &jsonObject, QString& errorString);
-
-    // static Methodes
-    static QGCMapPolygon    toQGCPolygon        (const WimaArea& area);
-    static bool             join                (const WimaArea &area1, const WimaArea &area2, WimaArea& joinedArea, QString &errorString);
-    static bool             join                (const WimaArea &area1, const WimaArea &area2, WimaArea& joinedArea);
-
-
-    // Friends
-    friend void print(const WimaArea& area, QString& outputString);
-    friend void print(const WimaArea& area);
-
-    // static Members
-    // Accurracy used to compute isDisjunct
-    static const double epsilonMeter;
-    static const char*  maxAltitudeName;
-    static const char*  wimaAreaName;
-    static const char*  areaTypeName;    
-    static const char*  borderPolygonOffsetName;
-    static const char*  showBorderPolygonName;
-    static const char*  settingsGroup;
+  WimaArea(QObject *parent = nullptr);
+  WimaArea(const WimaArea &other, QObject *parent = nullptr);
+  WimaArea &operator=(const WimaArea &other);
+
+  Q_PROPERTY(double maxAltitude READ maxAltitude WRITE setMaxAltitude NOTIFY
+                 maxAltitudeChanged)
+  Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
+  Q_PROPERTY(QString editorQML READ editorQML CONSTANT)
+  Q_PROPERTY(Fact *borderPolygonOffset READ borderPolygonOffsetFact CONSTANT)
+  Q_PROPERTY(QGCMapPolygon *borderPolygon READ borderPolygon NOTIFY
+                 borderPolygonChanged)
+  Q_PROPERTY(Fact *showBorderPolygon READ showBorderPolygon CONSTANT)
+  Q_PROPERTY(bool wimaAreaInteractive READ wimaAreaInteractive WRITE
+                 setWimaAreaInteractive NOTIFY wimaAreaInteractiveChanged)
+
+  // Property accessors
+  double maxAltitude(void) const { return _maxAltitude; }
+  Fact *borderPolygonOffsetFact(void) { return &_borderPolygonOffset; }
+  Fact *showBorderPolygon(void) { return &_showBorderPolygon; }
+  double borderPolygonOffset(void) const {
+    return _borderPolygonOffset.rawValue().toDouble();
+  }
+  QGCMapPolygon *borderPolygon(void) { return &_borderPolygon; }
+  bool wimaAreaInteractive(void) const { return _wimaAreaInteractive; }
+
+  void setWimaAreaInteractive(bool interactive);
+
+  // overrides from WimaArea
+  virtual QString mapVisualQML(void) const { return ""; }
+  virtual QString editorQML(void) const { return ""; }
+
+  // Member Methodes
+  int getClosestVertexIndex(const QGeoCoordinate &coordinate) const;
+  QGeoCoordinate getClosestVertex(const QGeoCoordinate &coordinate) const;
+  QGCMapPolygon toQGCPolygon() const;
+  bool join(WimaArea &area);
+  bool join(WimaArea &area, QString &errorString);
+  int nextVertexIndex(int index) const;
+  int previousVertexIndex(int index) const;
+  bool isSimplePolygon() const;
+  bool containsCoordinate(const QGeoCoordinate &coordinate) const;
+
+  void saveToJson(QJsonObject &jsonObject);
+  bool loadFromJson(const QJsonObject &jsonObject, QString &errorString);
+
+  // static Methodes
+  static QGCMapPolygon toQGCPolygon(const WimaArea &area);
+  static bool join(const WimaArea &area1, const WimaArea &area2,
+                   WimaArea &joinedArea, QString &errorString);
+  static bool join(const WimaArea &area1, const WimaArea &area2,
+                   WimaArea &joinedArea);
+
+  // Friends
+  friend void print(const WimaArea &area, QString &outputString);
+  friend void print(const WimaArea &area);
+
+  // static Members
+  // Accurracy used to compute isDisjunct
+  static const double epsilonMeter;
+  static const char *maxAltitudeName;
+  static const char *wimaAreaName;
+  static const char *areaTypeName;
+  static const char *borderPolygonOffsetName;
+  static const char *showBorderPolygonName;
+  static const char *settingsGroup;
 
 signals:
-    void    maxAltitudeChanged              (void);
-    void    borderPolygonChanged           (void);
-    void    borderPolygonOffsetChanged     (void);
-    void    wimaAreaInteractiveChanged             (void);
+  void maxAltitudeChanged(void);
+  void borderPolygonChanged(void);
+  void borderPolygonOffsetChanged(void);
+  void wimaAreaInteractiveChanged(void);
 
 public slots:
-    void setMaxAltitude         (double altitude);
-    void setShowBorderPolygon   (bool showBorderPolygon);
-    void setBorderPolygonOffset (double offset);
+  void setMaxAltitude(double altitude);
+  void setShowBorderPolygon(bool showBorderPolygon);
+  void setBorderPolygonOffset(double offset);
 
 private slots:
-    void recalcPolygons             (void);
-    void updatePolygonConnections   (QVariant value);
-    void recalcInteractivity        (void);
-
+  void recalcPolygons(void);
+  void updatePolygonConnections(QVariant value);
+  void recalcInteractivity(void);
 
 private:
-    void init();
+  void init();
 
-    double                          _maxAltitude;
+  double _maxAltitude;
 
-    QMap<QString, FactMetaData*>    _metaDataMap;
-    SettingsFact                    _borderPolygonOffset;
-    SettingsFact                    _showBorderPolygon;
+  QMap<QString, FactMetaData *> _metaDataMap;
+  SettingsFact _borderPolygonOffset;
+  SettingsFact _showBorderPolygon;
 
-    QGCMapPolygon                   _borderPolygon;
+  QGCMapPolygon _borderPolygon;
 
-    bool                            _wimaAreaInteractive;
+  bool _wimaAreaInteractive;
 };
-
-
-
-
-

src/Wima/Geometry/WimaAreaData.cc

 #include "WimaAreaData.h"
 
-WimaAreaData::WimaAreaData(QObject *parent)
-    : QObject(parent)
-{
-    _maxAltitude = 0;
+WimaAreaData::WimaAreaData(QObject *parent) : QObject(parent) {
+  _maxAltitude = 0;
 }
 
+WimaAreaData::~WimaAreaData() {}
+
 /*!
  * \fn double WimaAreaData::maxAltitude()
  *
  * Returns the maximum altitude at which vehicles are allowed to fly.
  */
-double WimaAreaData::maxAltitude() const
-{
-    return _maxAltitude;
-}
+double WimaAreaData::maxAltitude() const { return _maxAltitude; }
 
 /*!
  * \fn double WimaAreaData::maxAltitude()
  *
  * Returns the path (vertex list defining the \l {Simple Polygon}).
  */
-QVariantList WimaAreaData::path() const
-{
-    return _path;
-}
+QVariantList WimaAreaData::path() const { return _path; }
 
-QGeoCoordinate WimaAreaData::center() const
-{
-    return _center;
-}
+QGeoCoordinate WimaAreaData::center() const { return _center; }
 
-const QList<QGeoCoordinate> &WimaAreaData::coordinateList() const
-{
-    return _list;
+const QList<QGeoCoordinate> &WimaAreaData::coordinateList() const {
+  return _list;
 }
 
-bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const
-{
-    using namespace PlanimetryCalculus;
-    using namespace PolygonCalculus;
-    using namespace GeoUtilities;
-
-    if (_path.size() > 2) {
-        QPolygonF polygon;
-        toCartesianList(this->coordinateList(), coordinate, polygon);
-        return PlanimetryCalculus::contains(polygon, QPointF(0,0));
-    } else
-        return false;
+bool WimaAreaData::containsCoordinate(const QGeoCoordinate &coordinate) const {
+  using namespace PlanimetryCalculus;
+  using namespace PolygonCalculus;
+  using namespace GeoUtilities;
+
+  if (_path.size() > 2) {
+    QPolygonF polygon;
+    toCartesianList(this->coordinateList(), coordinate, polygon);
+    return PlanimetryCalculus::contains(polygon, QPointF(0, 0));
+  } else
+    return false;
 }
 
 void WimaAreaData::append(const QGeoCoordinate &c) {
-    _list.append(c);
-    _path.push_back(QVariant::fromValue(c));
+  _list.append(c);
+  _path.push_back(QVariant::fromValue(c));
 }
 
-void WimaAreaData::push_back(const QGeoCoordinate &c)
-{
-    append(c);
-}
+void WimaAreaData::push_back(const QGeoCoordinate &c) { append(c); }
 
 void WimaAreaData::clear() {
-    _list.clear();
-    _path.clear();
+  _list.clear();
+  _path.clear();
 }
 
-
 /*!
  * \fn void WimaAreaData::setMaxAltitude(double maxAltitude)
  *
- * Sets the maximum altitude member to \a maxAltitude and emits the \c maxAltitudeChanged() signal if
- * \a maxAltitude differs from the members value.
+ * Sets the maximum altitude member to \a maxAltitude and emits the \c
+ * maxAltitudeChanged() signal if \a maxAltitude differs from the members value.
  */
-void WimaAreaData::setMaxAltitude(double maxAltitude)
-{
-    if ( !qFuzzyCompare(_maxAltitude, maxAltitude) ) {
-        _maxAltitude = maxAltitude;
+void WimaAreaData::setMaxAltitude(double maxAltitude) {
+  if (!qFuzzyCompare(_maxAltitude, maxAltitude)) {
+    _maxAltitude = maxAltitude;
 
-        emit maxAltitudeChanged(_maxAltitude);
-    }
+    emit maxAltitudeChanged(_maxAltitude);
+  }
 }
 
-void WimaAreaData::setPath(const QVariantList &coordinateList)
-{
-    _path = coordinateList;
-    _list.clear();
-    for (auto variant : coordinateList) {
-        _list.push_back(variant.value<QGeoCoordinate>());
-    }
+void WimaAreaData::setPath(const QVariantList &coordinateList) {
+  _path = coordinateList;
+  _list.clear();
+  for (auto variant : coordinateList) {
+    _list.push_back(variant.value<QGeoCoordinate>());
+  }
 }
 
-void WimaAreaData::setCenter(const QGeoCoordinate &center)
-{
-    if (_center != center) {
-        _center = center;
+void WimaAreaData::setCenter(const QGeoCoordinate &center) {
+  if (_center != center) {
+    _center = center;
 
-        emit centerChanged();
-    }
+    emit centerChanged();
+  }
 }
 
 /*!
@@ -104,46 +86,43 @@ void WimaAreaData::setCenter(const QGeoCoordinate &center)
  *
  * Assigns \a other to the invoking object
  */
-void WimaAreaData::assign(const WimaAreaData &other)
-{
-    setMaxAltitude(other.maxAltitude());
-    setPath(other.path());
-    setCenter(other.center());
+void WimaAreaData::assign(const WimaAreaData &other) {
+  setMaxAltitude(other.maxAltitude());
+  setPath(other.path());
+  setCenter(other.center());
 }
 
-void WimaAreaData::assign(const WimaArea &other)
-{
-    setMaxAltitude(other.maxAltitude());
-    setPath(other.path());
-    setCenter(other.center());
+void WimaAreaData::assign(const WimaArea &other) {
+  setMaxAltitude(other.maxAltitude());
+  setPath(other.path());
+  setCenter(other.center());
 }
 
-
 /*!
  * \fn void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
  *
- * Sets the path member to \a coordinateList by copying all entries of \a coordinateList.
- * Emits the \c pathChanged() signal.
+ * Sets the path member to \a coordinateList by copying all entries of \a
+ * coordinateList. Emits the \c pathChanged() signal.
  */
-void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList)
-{
-    _list = coordinateList;
+void WimaAreaData::setPath(const QList<QGeoCoordinate> &coordinateList) {
+  _list = coordinateList;
 
-    _path.clear();
-    // copy all coordinates to _path
-    for(int i = 0; i < coordinateList.size(); i++) {
-        _path.append(QVariant::fromValue(coordinateList.value(i)));
-    }
+  _path.clear();
+  // copy all coordinates to _path
+  for (int i = 0; i < coordinateList.size(); i++) {
+    _path.append(QVariant::fromValue(coordinateList.value(i)));
+  }
 
-    emit pathChanged(_path);
+  emit pathChanged(_path);
 }
 
 /*!
  * \class WimaArea::WimaAreaData
  * \brief Class to store and exchange data of a \c WimaArea Object.
- * Class to store and exchange data of a \c WimaArea Object. In contrast to \c WimaArea this class
- * does not uses the QGC Fact System. It is designed to exchange data between the \c WimaPlaner and
- * the \c WimaController class. And it is the base class for any derived data objects
+ * Class to store and exchange data of a \c WimaArea Object. In contrast to \c
+ * WimaArea this class does not uses the QGC Fact System. It is designed to
+ * exchange data between the \c WimaPlaner and the \c WimaController class. And
+ * it is the base class for any derived data objects
  *
  * \sa WimaArea
  */

src/Wima/Geometry/WimaAreaData.h

@@ -6,52 +6,53 @@
 
 #include "WimaArea.h"
 
-class WimaAreaData : public QObject// Abstract class for all WimaAreaData derived objects
+class WimaAreaData
+    : public QObject // Abstract class for all WimaAreaData derived objects
 {
-    Q_OBJECT
-
+  Q_OBJECT
 public:
-    Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
-    Q_PROPERTY(QString            type READ type        CONSTANT)
-
-    WimaAreaData(QObject *parent = nullptr);
-    WimaAreaData(const WimaAreaData& otherData) = delete; // avoid slicing
-    WimaAreaData& operator=(const WimaAreaData& otherData) = delete; // avoid slicing
-
-    double                  maxAltitude()           const;
-    QVariantList            path()                  const;
-    QGeoCoordinate          center()                const;
-    const QList<QGeoCoordinate> &coordinateList() const;
-    bool                    containsCoordinate(const QGeoCoordinate &coordinate)    const;
-    virtual QString         type() const = 0;
-
-    void append(const QGeoCoordinate &c);
-    void push_back(const QGeoCoordinate &c);
-    void clear();
+  Q_PROPERTY(const QVariantList path READ path NOTIFY pathChanged)
+  Q_PROPERTY(QString type READ type CONSTANT)
+
+  WimaAreaData(QObject *parent = nullptr);
+  ~WimaAreaData();
+  WimaAreaData(const WimaAreaData &otherData) = delete; // avoid slicing
+  WimaAreaData &
+  operator=(const WimaAreaData &otherData) = delete; // avoid slicing
+
+  double maxAltitude() const;
+  QVariantList path() const;
+  QGeoCoordinate center() const;
+  const QList<QGeoCoordinate> &coordinateList() const;
+  bool containsCoordinate(const QGeoCoordinate &coordinate) const;
+  virtual QString type() const = 0;
+
+  void append(const QGeoCoordinate &c);
+  void push_back(const QGeoCoordinate &c);
+  void clear();
 
 signals:
-    void maxAltitudeChanged (double maxAltitude);
-    void pathChanged        (const QVariantList& coordinateList);
-    void centerChanged      (void);
+  void maxAltitudeChanged(double maxAltitude);
+  void pathChanged(const QVariantList &coordinateList);
+  void centerChanged(void);
 
 public slots:
-    void setMaxAltitude(double maxAltitude);
-    void setPath(const QList<QGeoCoordinate> &coordinateList);
-    void setPath(const QVariantList &coordinateList);
-    void setCenter(const QGeoCoordinate &center);
+  void setMaxAltitude(double maxAltitude);
+  void setPath(const QList<QGeoCoordinate> &coordinateList);
+  void setPath(const QVariantList &coordinateList);
+  void setCenter(const QGeoCoordinate &center);
 
 protected:
-    void assign(const WimaAreaData &other);
-    void assign(const WimaArea    &other);
+  void assign(const WimaAreaData &other);
+  void assign(const WimaArea &other);
 
 private:
-    // Member Functions
-
-    // Member Variables
-    // see WimaArea.h for explanation
-    double         _maxAltitude;
-    QVariantList   _path;
-    QList<QGeoCoordinate>   _list;
-    QGeoCoordinate _center;
+  // Member Functions
+
+  // Member Variables
+  // see WimaArea.h for explanation
+  double _maxAltitude;
+  QVariantList _path;
+  QList<QGeoCoordinate> _list;
+  QGeoCoordinate _center;
 };
-

src/Wima/Geometry/WimaMeasurementArea.cc

@@ -107,9 +107,13 @@ Fact *WimaMeasurementArea::showTiles() { return &_showTiles; }
 
 QmlObjectListModel *WimaMeasurementArea::tiles() { return this->_pTiles.get(); }
 
-int WimaMeasurementArea::maxTiles() { return SNAKE_MAX_TILES; }
+const QmlObjectListModel *WimaMeasurementArea::tiles() const {
+  return this->_pTiles.get();
+}
+
+int WimaMeasurementArea::maxTiles() const { return SNAKE_MAX_TILES; }
 
-bool WimaMeasurementArea::ready() { return !_calculating; }
+bool WimaMeasurementArea::ready() const { return !_calculating; }
 
 void WimaMeasurementArea::saveToJson(QJsonObject &json) {
   this->WimaArea::saveToJson(json);

src/Wima/Geometry/WimaMeasurementArea.h

@@ -37,8 +37,9 @@ public:
   Fact *minTransectLength();
   Fact *showTiles();
   QmlObjectListModel *tiles();
-  int maxTiles();
-  bool ready();
+  const QmlObjectListModel *tiles() const;
+  int maxTiles() const;
+  bool ready() const;
 
   // Member Methodes
   void saveToJson(QJsonObject &json);

src/Wima/Geometry/WimaMeasurementAreaData.cc

@@ -47,9 +47,9 @@ QString WimaMeasurementAreaData::type() const { return this->typeString; }
 void WimaMeasurementAreaData::assign(const WimaMeasurementAreaData &other) {
   WimaAreaData::assign(other);
   this->tiles.clearAndDeleteContents();
-  for (std::size_t i = 0; i < other.tiles.count(); ++i) {
-    auto *obj = other.tiles.get(i);
-    auto *tile = qobject_cast<SnakeTile *>(obj);
+  for (std::size_t i = 0; i < std::size_t(other.tiles.count()); ++i) {
+    const auto *obj = other.tiles.get(i);
+    const auto *tile = qobject_cast<const SnakeTile *>(obj);
     if (tile != nullptr) {
       this->tiles.append(new SnakeTile(*tile, this));
     } else {
@@ -62,9 +62,9 @@ void WimaMeasurementAreaData::assign(const WimaMeasurementArea &other) {
   WimaAreaData::assign(other);
   this->tiles.clearAndDeleteContents();
   if (other.ready()) {
-    for (std::size_t i = 0; i < other.tiles()->count(); ++i) {
-      auto *obj = other.tiles()->get(i);
-      auto *tile = qobject_cast<SnakeTile *>(obj);
+    for (std::size_t i = 0; i < std::size_t(other.tiles()->count()); ++i) {
+      const auto *obj = other.tiles()->get(i);
+      const auto *tile = qobject_cast<const SnakeTile *>(obj);
       if (tile != nullptr) {
         this->tiles.append(new SnakeTile(*tile, this));
       } else {

src/Wima/Snake/SnakeTile.cpp

@@ -7,6 +7,12 @@ SnakeTile::SnakeTile(const SnakeTile &other, QObject *parent)
   *this = other;
 }
 
+SnakeTile::~SnakeTile() {}
+
+QString SnakeTile::type() const { return "Tile"; }
+
+SnakeTile *SnakeTile::Clone() const { return new SnakeTile(*this); }
+
 SnakeTile &SnakeTile::operator=(const SnakeTile &other) {
   this->assign(other);
   return *this;

src/Wima/Snake/SnakeTile.h

@@ -3,12 +3,14 @@
 #include "Wima/Geometry/WimaAreaData.h"
 
 class SnakeTile : public WimaAreaData {
+  Q_OBJECT
 public:
   SnakeTile(QObject *parent = nullptr);
   SnakeTile(const SnakeTile &other, QObject *parent = nullptr);
+  ~SnakeTile();
 
-  QString type() const { return "Tile"; }
-  SnakeTile *Clone() const { return new SnakeTile(*this); }
+  QString type() const override;
+  SnakeTile *Clone() const;
 
   SnakeTile &operator=(const SnakeTile &other);
 

src/Wima/WimaController.cc

@@ -424,41 +424,34 @@ bool WimaController::setWimaPlanData(QSharedPointer<WimaPlanData> planData) {
   emit visualItemsChanged();
 
   // Copy transects.
-  this->_rawTransects = planData->transects();
+  auto tempMissionItems = planData->missionItems();
+  if (tempMissionItems.size() < 1) {
+    qWarning("WimaController: Mission items from WimaPlaner empty!");
+    return false;
+  }
 
+  for (auto *item : tempMissionItems) {
+    _defaultWM.push_back(item->coordinate());
+  }
   //  // extract mission items
+  _WMSettings.setHomePosition(QGeoCoordinate(
+      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
   //  auto tempMissionItems = planData->missionItems();
+  if (!_defaultWM.reset()) {
+    Q_ASSERT(false);
+    return false;
+  }
   //  if (tempMissionItems.size() < 1) {
+  emit missionItemsChanged();
+  emit currentMissionItemsChanged();
+  emit waypointPathChanged();
+  emit currentWaypointPathChanged();
   //    qWarning("WimaController: Mission items from WimaPlaner empty!");
   //    return false;
-  //  }
-
-  //  qWarning() << "WimaController:";
-  //  for (auto *item : tempMissionItems) {
-  //    qWarning() << item->coordinate();
-  //    _defaultWM.push_back(item->coordinate());
-  //  }
-
-  //  _WMSettings.setHomePosition(QGeoCoordinate(
-  //      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(),
-  //      0));
-  //  qWarning() << "service area depot: " << _serviceArea.depot();
-
-  //  if (!_defaultWM.reset()) {
-  //    qWarning() << "_defaultWM.reset() failed";
-  //    return false;
-  //  }
-
-  //  emit missionItemsChanged();
-  //  emit currentMissionItemsChanged();
-  //  emit waypointPathChanged();
-  //  emit currentWaypointPathChanged();
-
-  //  // Update Snake Data Manager
-  //  _snakeThread.setMeasurementArea(_measurementArea.coordinateList());
-  //  _snakeThread.setServiceArea(_serviceArea.coordinateList());
-  //  _snakeThread.setCorridor(_corridor.coordinateList());
-  //  _currentThread->start();
+  _snakeThread.setMeasurementArea(_measurementArea.coordinateList());
+  _snakeThread.setServiceArea(_serviceArea.coordinateList());
+  _snakeThread.setCorridor(_corridor.coordinateList());
+  _currentThread->start();
 
   _localPlanDataValid = true;
   return true;

src/Wima/WimaController.h

@@ -294,6 +294,11 @@ private:
   SettingsFact _arrivalReturnSpeed;      // arrival and return path speed
   SettingsFact _altitude;                // mission altitude
   SettingsFact _enableSnake;             // Enable Snake (see snake.h)
+  SettingsFact _snakeTileWidth;
+  SettingsFact _snakeTileHeight;
+  SettingsFact _snakeMinTileArea;
+  SettingsFact _snakeLineDistance;
+  SettingsFact _snakeMinTransectLength;
 
   // Smart RTL.
   QTimer _smartRTLTimer;
@@ -304,6 +309,7 @@ private:
 
   // Snake
   QList<QList<QGeoCoordinate>> _rawTransects;
+  QmlObjectListModel tiles;
   SnakeThread _snakeThread; // Snake Data Manager
   SnakeThread _emptyThread;
   SnakeThread *_currentThread;

src/Wima/WimaPlanData.cc

@@ -76,10 +76,6 @@ void WimaPlanData::append(const WimaCorridorData &areaData) {
   }
 }
 
-void WimaPlanData::setTransects(const QList<QList<QGeoCoordinate>> &transects) {
-  this->_transects = transects;
-}
-
 /*!
  * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
  *
@@ -114,10 +110,6 @@ const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
   return _areaList;
 }
 
-const QList<QList<QGeoCoordinate>> &WimaPlanData::transects() const {
-  return _transects;
-}
-
 const QList<MissionItem *> &WimaPlanData::missionItems() const {
   return _missionItems;
 }

src/Wima/WimaPlanData.h

@@ -8,6 +8,7 @@
 #include "Geometry/WimaJoinedAreaData.h"
 #include "Geometry/WimaMeasurementAreaData.h"
 #include "Geometry/WimaServiceAreaData.h"
+#include "MissionItem.h"
 
 class WimaPlanData : public QObject {
   Q_OBJECT
@@ -20,6 +21,7 @@ public:
   void append(const WimaJoinedAreaData &areaData);
   void append(const WimaServiceAreaData &areaData);
   void append(const WimaCorridorData &areaData);
+  void append(const WimaMeasurementAreaData &areaData);
 
   void setTransects(const QList<QList<QGeoCoordinate>> &transects);
   //!
@@ -31,6 +33,7 @@ public:
 
   const QList<const WimaAreaData *> &areaList() const;
   const QList<QList<QGeoCoordinate>> &transects() const;
+  const QList<MissionItem *> &missionItems() const;
 
 signals:
   void areaListChanged();
@@ -43,4 +46,5 @@ private:
   QList<const WimaAreaData *> _areaList;
 
   QList<QList<QGeoCoordinate>> _transects;
+  QList<MissionItem *> _missionItems;
 };

src/Wima/WimaPlanData_old.cc

+#include "WimaPlanData.h"
+
+WimaPlanData::WimaPlanData(QObject *parent) : QObject(parent) {}
+
+WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
+    : QObject(parent) {
+  *this = other;
+}
+
+/*!
+ * \fn WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other)
+ *
+ * Copies the data area list of \a other to the calling \c WimaPlanData object.
+ * Returns a reference to the calling \c WimaPlanData object.
+ */
+WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
+  // copy wima areas
+  QList<const WimaAreaData *> areaList = other.areaList();
+  _areaList.clear();
+  for (int i = 0; i < areaList.size(); i++) {
+    const WimaAreaData *areaData = areaList[i];
+    // determine area type and append
+    if (areaData->type() == WimaJoinedAreaData::typeString) {
+      this->append(*qobject_cast<const WimaJoinedAreaData *>(areaData));
+    } else if (areaData->type() == WimaServiceAreaData::typeString) {
+      this->append(*qobject_cast<const WimaServiceAreaData *>(areaData));
+    } else if (areaData->type() == WimaMeasurementAreaData::typeString) {
+      this->append(*qobject_cast<const WimaMeasurementAreaData *>(areaData));
+    } else if (areaData->type() == WimaCorridorData::typeString) {
+      this->append(*qobject_cast<const WimaCorridorData *>(areaData));
+    }
+  }
+
+  // copy mission items
+  _missionItems = other.missionItems();
+
+  return *this;
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaAreaData &areaData)
+ *
+ * Adds a WimaAreaData item.
+ */
+void WimaPlanData::append(const WimaJoinedAreaData &areaData) {
+  _joinedArea = areaData;
+
+  if (!_areaList.contains(&_joinedArea)) {
+    _areaList.append(&_joinedArea);
+  }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaServiceAreaData item.
+ */
+void WimaPlanData::append(const WimaServiceAreaData &areaData) {
+  _serviceArea = areaData;
+
+  if (!_areaList.contains(&_serviceArea)) {
+    _areaList.append(&_serviceArea);
+  }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaCorridorData item.
+ */
+void WimaPlanData::append(const WimaCorridorData &areaData) {
+  _corridor = areaData;
+
+  if (!_areaList.contains(&_corridor)) {
+    _areaList.append(&_corridor);
+  }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Adds a WimaMeasurementAreaData item.
+ */
+void WimaPlanData::append(const WimaMeasurementAreaData &areaData) {
+  _measurementArea = areaData;
+
+  if (!_areaList.contains(&_measurementArea)) {
+    _areaList.append(&_measurementArea);
+  }
+}
+
+void WimaPlanData::append(const QList<MissionItem *> &missionItems) {
+  for (auto *item : missionItems) {
+    item->setParent(this);
+    _missionItems.append(item);
+  }
+}
+
+/*!
+ * \fn void WimaPlanData::append(const WimaServiceAreaData &areaData)
+ *
+ * Clears all stored objects
+ */
+void WimaPlanData::clear() {
+  _areaList.clear();
+  _missionItems.clear();
+}
+
+const QList<const WimaAreaData *> &WimaPlanData::areaList() const {
+  return _areaList;
+}
+
+const QList<MissionItem> &WimaPlanData::missionItems() const {
+  return _missionItems;
+}
+
+/*!
+ * \class WimaPlanData
+ * \brief Class storing data generated by the \c WimaPlaner class.
+ *
+ * This class is designed to store data generated by the \c WimaPlaner class and
+ * meant for data exchange between the \c WimaController and the \c WimaPlanner.
+ * It stores a QList of \c WimaAreaData objects, called area data list,
+ * containing the data of serveral \c WimaAreas generated by the \c WimaPlaner.
+ *
+ * \sa QList
+ */

src/Wima/WimaPlaner.cc

@@ -741,7 +741,14 @@ QSharedPointer<WimaPlanData> WimaPlaner::toPlanData() {
   planData->append(WimaJoinedAreaData(_joinedArea));
 
   // convert mission items to mavlink commands
-  planData->setTransects(this->_TSComplexItem->rawTransects());
+  QList<MissionItem *> missionItems;
+  _TSComplexItem->appendMissionItems(missionItems, nullptr);
+  // store mavlink commands
+  qWarning() << "WimaPlaner";
+  for (auto *item : missionItems) {
+    qWarning() << item->coordinate();
+  }
+  planData->append(missionItems);
   return planData;
 }