befor removing .orig files

qgroundcontrol.pro

@@ -499,7 +499,6 @@ HEADERS += \
     src/Wima/Geometry/WimaArea.h \
     src/Wima/Geometry/WimaServiceArea.h \
     src/Wima/Geometry/WimaTrackerPolyline.h \
-    src/Wima/WimaController.h \
     src/Wima/WimaPlaner.h \
     src/Wima/Geometry/WimaMeasurementArea.h \
     src/Wima/Geometry/WimaCorridor.h \
@@ -577,7 +576,6 @@ SOURCES += \
     src/Wima/Geometry/WimaArea.cc \
     src/Wima/Geometry/WimaServiceArea.cc \
     src/Wima/Geometry/WimaTrackerPolyline.cc \
-    src/Wima/WimaController.cc \
     src/Wima/WimaPlaner.cc \
     src/Wima/Geometry/WimaMeasurementArea.cc \
     src/Wima/Geometry/WimaCorridor.cc \

src/Wima/CircularSurvey.cc

@@ -42,7 +42,7 @@ CircularSurvey::CircularSurvey(PlanMasterController *masterController,
       _metaDataMap(FactMetaData::createMapFromJsonFile(
           QStringLiteral(":/json/CircularSurvey.SettingsGroup.json"), this)),
       _variant(settingsGroup, _metaDataMap[variantName]),
-      _pAreaData(std::make_shared<WimaPlanData>()),
+      _areaData(std::make_shared<AreaData>()),
       _pWorker(std::make_unique<RoutingThread>()) {
 
   Q_UNUSED(kmlOrShpFile)
@@ -59,9 +59,9 @@ CircularSurvey::CircularSurvey(PlanMasterController *masterController,
           &CircularSurvey::calculatingChanged);
 
   // Register Generators.
-  auto lg = std::make_shared<routing::LinearGenerator>(this->_pAreaData);
+  auto lg = std::make_shared<routing::LinearGenerator>(this->_areaData);
   registerGenerator(lg->name(), lg);
-  auto cg = std::make_shared<routing::CircularGenerator>(this->_pAreaData);
+  auto cg = std::make_shared<routing::CircularGenerator>(this->_areaData);
   registerGenerator(cg->name(), cg);
 }
 
@@ -72,15 +72,15 @@ void CircularSurvey::reverse() {
   this->_rebuildTransects();
 }
 
-void CircularSurvey::setPlanData(const WimaPlanData &d) {
-  *this->_pAreaData = d;
+void CircularSurvey::setPlanData(const AreaData &d) {
+  *this->_areaData = d;
 }
 
-const WimaPlanData &CircularSurvey::planData() const {
-  return *this->_pAreaData;
+const AreaData &CircularSurvey::planData() const {
+  return *this->_areaData;
 }
 
-WimaPlanData &CircularSurvey::planData() { return *this->_pAreaData; }
+AreaData &CircularSurvey::planData() { return *this->_areaData; }
 
 QStringList CircularSurvey::variantNames() const { return _variantNames; }
 
@@ -228,10 +228,10 @@ bool CircularSurvey::_updateWorker() {
   this->_variantNames.clear();
   emit variantNamesChanged();
 
-  if (this->_pAreaData->isValid()) {
+  if (this->_areaData->isValid()) {
 
     // Prepare data.
-    auto origin = this->_pAreaData->origin();
+    auto origin = this->_areaData->origin();
     origin.setAltitude(0);
     if (!origin.isValid()) {
       qCDebug(CircularSurveyLog)
@@ -240,7 +240,7 @@ bool CircularSurvey::_updateWorker() {
     }
 
     // Convert safe area.
-    auto geoSafeArea = this->_pAreaData->joinedArea().coordinateList();
+    auto geoSafeArea = this->_areaData->joinedArea().coordinateList();
     if (!(geoSafeArea.size() >= 3)) {
       qCDebug(CircularSurveyLog)
           << "_updateWorker(): safe area invalid." << geoSafeArea;
@@ -512,7 +512,7 @@ void CircularSurvey::_recalcCameraShots() { _cameraShots = 0; }
 
 void CircularSurvey::_setTransects(CircularSurvey::PtrRoutingData pRoute) {
   // Store solutions.
-  auto ori = this->_pAreaData->origin();
+  auto ori = this->_areaData->origin();
   ori.setAltitude(0);
   const auto &transectsENU = pRoute->transects;
   QVector<Variant> variantVector;

src/Wima/Snake/CircularGenerator.cpp

@@ -179,7 +179,7 @@ void CircularGenerator::resetReference() {
 
 void CircularGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
-    connect(this->_d.get(), &WimaPlanData::originChanged, this,
+    connect(this->_d.get(), &AreaData::originChanged, this,
             &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::progressChanged, this,
@@ -210,7 +210,7 @@ void CircularGenerator::establishConnections() {
 
 void CircularGenerator::deleteConnections() {
   if (this->_d && this->_connectionsEstablished) {
-    disconnect(this->_d.get(), &WimaPlanData::originChanged, this,
+    disconnect(this->_d.get(), &AreaData::originChanged, this,
                &GeneratorBase::generatorChanged);
     disconnect(&this->_d->measurementArea(),
                &WimaMeasurementAreaData::progressChanged, this,

src/Wima/Snake/GeneratorBase.h

@@ -14,7 +14,7 @@ namespace routing {
 class GeneratorBase : public QObject {
   Q_OBJECT
 public:
-  using Data = std::shared_ptr<WimaPlanData>;
+  using Data = std::shared_ptr<AreaData>;
   using Generator = std::function<bool(snake::Transects &)>;
 
   explicit GeneratorBase(QObject *parent = nullptr);

src/Wima/Snake/LinearGenerator.cpp

@@ -134,7 +134,7 @@ Fact *LinearGenerator::minLength() { return &_minLength; }
 
 void LinearGenerator::establishConnections() {
   if (this->_d && !this->_connectionsEstablished) {
-    connect(this->_d.get(), &WimaPlanData::originChanged, this,
+    connect(this->_d.get(), &AreaData::originChanged, this,
             &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::progressChanged, this,
@@ -160,7 +160,7 @@ void LinearGenerator::establishConnections() {
 
 void LinearGenerator::deleteConnections() {
   if (this->_d && this->_connectionsEstablished) {
-    connect(this->_d.get(), &WimaPlanData::originChanged, this,
+    connect(this->_d.get(), &AreaData::originChanged, this,
             &GeneratorBase::generatorChanged);
     connect(&this->_d->measurementArea(),
             &WimaMeasurementAreaData::progressChanged, this,

src/Wima/WimaBridge.h

@@ -21,17 +21,17 @@ class WimaBridge : public QObject {
 public:
   ~WimaBridge();
   static WimaBridge *instance();
-  const WimaPlanData &planData() const;
+  const AreaData &planData() const;
   const QVector<int> &progress() const;
 
 public slots:
-  void setPlanData(const WimaPlanData &planData);
+  void setPlanData(const AreaData &planData);
   void setProgress(const QVector<int> &p);
 signals:
   void planDataChanged();
   void progressChanged();
 
 private:
-  WimaPlanData planData_;
+  AreaData planData_;
   QVector<int> progress_;
 };

src/Wima/WimaController.cc

-#include "WimaController.h"
-
-#include "utilities.h"
-
-#include "MissionController.h"
-#include "MissionSettingsItem.h"
-#include "PlanMasterController.h"
-#include "QGCApplication.h"
-#include "QGCLoggingCategory.h"
-#include "SettingsManager.h"
-#include "SimpleMissionItem.h"
-
-#include "WimaBridge.h"
-#include "WimaPlanData.h"
-#include "WimaSettings.h"
-
-#include "Snake/QNemoHeartbeat.h"
-#include "Snake/QNemoProgress.h"
-#include "Snake/SnakeTile.h"
-
-#include "QVector3D"
-#include <QScopedPointer>
-
-#define CLIPPER_SCALE 1000000
-#include "clipper/clipper.hpp"
-
-#include <memory>
-
-QGC_LOGGING_CATEGORY(WimaControllerLog, "WimaControllerLog")
-
-template <typename T>
-constexpr typename std::underlying_type<T>::type integral(T value) {
-  return static_cast<typename std::underlying_type<T>::type>(value);
-}
-
-#define EVENT_TIMER_INTERVAL 50        // ms
-
-const char *WimaController::areaItemsName = "AreaItems";
-const char *WimaController::settingsGroup = "WimaController";
-const char *WimaController::enableWimaControllerName = "EnableWimaController";
-
-WimaController::WimaController(QObject *parent)
-    : QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
-      _corridor(), _planDataValid(false),
-      _metaDataMap(FactMetaData::createMapFromJsonFile(
-          QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
-      _enableWimaController(settingsGroup,
-                            _metaDataMap[enableWimaControllerName]){
-  // PlanData and Progress.
-  connect(WimaBridge::instance(), &WimaBridge::planDataChanged, this,
-          &WimaController::planDataChangedHandler);
-  connect(WimaBridge::instance(), &WimaBridge::progressChanged, this,
-          &WimaController::progressChangedHandler);
-}
-
-PlanMasterController *WimaController::masterController() {
-  return _masterController;
-}
-
-MissionController *WimaController::missionController() {
-  return _missionController;
-}
-
-QmlObjectListModel *WimaController::visualItems() { return &_areas; }
-
-Fact *WimaController::enableWimaController() { return &_enableWimaController; }
-
-void WimaController::setMasterController(PlanMasterController *masterC) {
-  _masterController = masterC;
-  emit masterControllerChanged();
-}
-
-void WimaController::setMissionController(MissionController *missionC) {
-  _missionController = missionC;
-  emit missionControllerChanged();
-}
-
-void WimaController::planDataChangedHandler() {
-
-  // reset visual items
-  _areas.clear();
-  _measurementArea = WimaMeasurementAreaData();
-  _serviceArea = WimaServiceAreaData();
-  _corridor = WimaCorridorData();
-  _joinedArea = WimaJoinedAreaData();
-  _planDataValid = false;
-
-  emit visualItemsChanged();
-
-  // Extract areas.
-  auto planData = WimaBridge::instance()->planData();
-
-  // Measurement Area.
-  if (planData.measurementArea().coordinateList().size() >= 3) {
-    _measurementArea = planData.measurementArea();
-    _areas.append(&_measurementArea);
-
-    // Service Area.
-    if (planData.serviceArea().coordinateList().size() >= 3) {
-      _serviceArea = planData.serviceArea();
-      _areas.append(&_serviceArea);
-
-      // Joined Area.
-      if (planData.joinedArea().coordinateList().size() >= 3) {
-        _joinedArea = planData.joinedArea();
-        _areas.append(&_joinedArea);
-
-        _planDataValid = true;
-
-        // Corridor.
-        if (planData.corridor().coordinateList().size() >= 3) {
-          _corridor = planData.corridor();
-        }
-      }
-    }
-  }
-
-  if (_planDataValid) {
-    emit visualItemsChanged();
-  } else {
-    _areas.clear();
-    _measurementArea = WimaMeasurementAreaData();
-    _serviceArea = WimaServiceAreaData();
-    _corridor = WimaCorridorData();
-    _joinedArea = WimaJoinedAreaData();
-  }
-}
-
-void WimaController::progressChangedHandler() {
-  _measurementArea.setProgress(WimaBridge::instance()->progress());
-}

src/Wima/WimaController.h

-#pragma once
-
-#include <QObject>
-
-#include "QGCMapPolygon.h"
-#include "QmlObjectListModel.h"
-
-#include "Geometry/WimaCorridorData.h"
-#include "Geometry/WimaJoinedAreaData.h"
-#include "Geometry/WimaMeasurementAreaData.h"
-#include "Geometry/WimaServiceAreaData.h"
-
-#include "SettingsFact.h"
-
-class MissionController;
-class PlanMasterController;
-
-class WimaController : public QObject {
-  Q_OBJECT
-public:
-  WimaController(QObject *parent = nullptr);
-
-  // Controllers.
-  Q_PROPERTY(PlanMasterController *masterController READ masterController WRITE
-                 setMasterController NOTIFY masterControllerChanged)
-  Q_PROPERTY(MissionController *missionController READ missionController WRITE
-                 setMissionController NOTIFY missionControllerChanged)
-  // Wima Data.
-  Q_PROPERTY(QmlObjectListModel *visualItems READ visualItems NOTIFY
-                 visualItemsChanged)
-  Q_PROPERTY(Fact *enableWimaController READ enableWimaController CONSTANT)
-
-  // Controllers.
-  PlanMasterController *masterController(void);
-  MissionController *missionController(void);
-
-  // Wima Data
-  QmlObjectListModel *visualItems(void);
-  QGCMapPolygon joinedArea(void) const;
-
-  // Settings facts.
-  Fact *enableWimaController(void);
-
-  // Property setters
-  void setMasterController(PlanMasterController *masterController);
-  void setMissionController(MissionController *missionController);
-
-  // static Members
-  static const char *areaItemsName;
-  static const char *settingsGroup;
-  static const char *enableWimaControllerName;
-
-signals:
-  // Controllers.
-  void masterControllerChanged(void);
-  void missionControllerChanged(void);
-  // Wima data.
-  void visualItemsChanged(void);
-
-private slots:
-  void planDataChangedHandler();
-  void progressChangedHandler();
-
-private:
-  // Controllers.
-  PlanMasterController *_masterController;
-  MissionController *_missionController;
-
-  // Wima Data.
-  QmlObjectListModel _areas; // contains all visible areas
-  // joined area fromed by opArea, serArea, _corridor
-  WimaJoinedAreaData _joinedArea;
-  WimaMeasurementAreaData _measurementArea; // measurement area
-  WimaServiceAreaData _serviceArea;         // area for supplying
-  WimaCorridorData _corridor; // corridor connecting opArea and serArea
-  bool _planDataValid;
-
-  // Settings Facts.
-  QMap<QString, FactMetaData *> _metaDataMap;
-  SettingsFact _enableWimaController; // enables or disables the wimaControler
-};

src/Wima/WimaPlanData.cc

 #include "WimaPlanData.h"
 
-WimaPlanData::WimaPlanData(QObject *parent) : QObject(parent) {}
+AreaData::AreaData(QObject *parent) : QObject(parent) {}
 
-WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
+AreaData::AreaData(const AreaData &other, QObject *parent)
     : QObject(parent) {
   *this = other;
 }
 
-WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
+AreaData &AreaData::operator=(const AreaData &other) {
   this->set(other.measurementArea());
   this->set(other.serviceArea());
   this->set(other.joinedArea());
@@ -16,28 +16,28 @@ WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
   return *this;
 }
 
-void WimaPlanData::set(const WimaJoinedAreaData &areaData) {
+void AreaData::set(const WimaJoinedAreaData &areaData) {
   if (_joinedArea != areaData) {
     _joinedArea = areaData;
     emit joinedAreaChanged();
   }
 }
 
-void WimaPlanData::set(const WimaServiceAreaData &areaData) {
+void AreaData::set(const WimaServiceAreaData &areaData) {
   if (_serviceArea != areaData) {
     _serviceArea = areaData;
     emit serviceAreaChanged();
   }
 }
 
-void WimaPlanData::set(const WimaCorridorData &areaData) {
+void AreaData::set(const WimaCorridorData &areaData) {
   if (_corridor != areaData) {
     _corridor = areaData;
     emit corridorChanged();
   }
 }
 
-void WimaPlanData::set(const WimaMeasurementAreaData &areaData) {
+void AreaData::set(const WimaMeasurementAreaData &areaData) {
   if (_measurementArea != areaData) {
     _measurementArea = areaData;
     emit measurementAreaChanged();
@@ -50,28 +50,28 @@ void WimaPlanData::set(const WimaMeasurementAreaData &areaData) {
   }
 }
 
-void WimaPlanData::set(const WimaJoinedArea &areaData) {
+void AreaData::set(const WimaJoinedArea &areaData) {
   if (_joinedArea != areaData) {
     _joinedArea = areaData;
     emit joinedAreaChanged();
   }
 }
 
-void WimaPlanData::set(const WimaServiceArea &areaData) {
+void AreaData::set(const WimaServiceArea &areaData) {
   if (_serviceArea != areaData) {
     _serviceArea = areaData;
     emit serviceAreaChanged();
   }
 }
 
-void WimaPlanData::set(const WimaCorridor &areaData) {
+void AreaData::set(const WimaCorridor &areaData) {
   if (_corridor != areaData) {
     _corridor = areaData;
     emit corridorChanged();
   }
 }
 
-void WimaPlanData::set(const WimaMeasurementArea &areaData) {
+void AreaData::set(const WimaMeasurementArea &areaData) {
   if (_measurementArea != areaData) {
     _measurementArea = areaData;
     emit measurementAreaChanged();
@@ -84,52 +84,52 @@ void WimaPlanData::set(const WimaMeasurementArea &areaData) {
   }
 }
 
-void WimaPlanData::clear() { *this = WimaPlanData(); }
+void AreaData::clear() { *this = AreaData(); }
 
-QGeoCoordinate WimaPlanData::origin() { return _origin; }
+QGeoCoordinate AreaData::origin() { return _origin; }
 
-bool WimaPlanData::isValid() {
+bool AreaData::isValid() {
   return _measurementArea.coordinateList().size() >= 3 &&
          _serviceArea.coordinateList().size() >= 3 && _origin.isValid();
 }
 
-const WimaJoinedAreaData &WimaPlanData::joinedArea() const {
+const WimaJoinedAreaData &AreaData::joinedArea() const {
   return this->_joinedArea;
 }
 
-const WimaServiceAreaData &WimaPlanData::serviceArea() const {
+const WimaServiceAreaData &AreaData::serviceArea() const {
   return this->_serviceArea;
 }
 
-const WimaCorridorData &WimaPlanData::corridor() const {
+const WimaCorridorData &AreaData::corridor() const {
   return this->_corridor;
 }
 
-const WimaMeasurementAreaData &WimaPlanData::measurementArea() const {
+const WimaMeasurementAreaData &AreaData::measurementArea() const {
   return this->_measurementArea;
 }
 
-WimaJoinedAreaData &WimaPlanData::joinedArea() { return this->_joinedArea; }
+WimaJoinedAreaData &AreaData::joinedArea() { return this->_joinedArea; }
 
-WimaServiceAreaData &WimaPlanData::serviceArea() { return this->_serviceArea; }
+WimaServiceAreaData &AreaData::serviceArea() { return this->_serviceArea; }
 
-WimaCorridorData &WimaPlanData::corridor() { return this->_corridor; }
+WimaCorridorData &AreaData::corridor() { return this->_corridor; }
 
-WimaMeasurementAreaData &WimaPlanData::measurementArea() {
+WimaMeasurementAreaData &AreaData::measurementArea() {
   return this->_measurementArea;
 }
 
-bool WimaPlanData::operator==(const WimaPlanData &other) const {
+bool AreaData::operator==(const AreaData &other) const {
   return this->_joinedArea == other._joinedArea &&
          this->_measurementArea == other._measurementArea &&
          this->_corridor == other._corridor &&
          this->_serviceArea == other._serviceArea;
 }
-bool WimaPlanData::operator!=(const WimaPlanData &other) const {
+bool AreaData::operator!=(const AreaData &other) const {
   return !(*this == other);
 }
 
-void WimaPlanData::setOrigin(const QGeoCoordinate &origin) {
+void AreaData::setOrigin(const QGeoCoordinate &origin) {
   if (this->_origin != origin) {
     this->_origin = origin;
     emit originChanged();

src/Wima/WimaPlaner.cc

@@ -783,7 +783,7 @@ void WimaPlaner::updatePolygonInteractivity(int index) {
 
 void WimaPlaner::synchronize() {
   if (readyForSynchronization()) {
-    WimaPlanData planData;
+    AreaData planData;
     if (toPlanData(planData)) {
       WimaBridge::instance()->setPlanData(planData);
       setSynchronized(true);
@@ -926,11 +926,11 @@ void WimaPlaner::setInteractive() {
  *
  * \sa WimaController, WimaPlanData
  */
-bool WimaPlaner::toPlanData(WimaPlanData &planData) {
-  planData.set(_measurementArea);
-  planData.set(_serviceArea);
-  planData.set(_corridor);
-  planData.set(_joinedArea);
+bool WimaPlaner::toPlanData(AreaData &planData) {
+  planData.append(_measurementArea);
+  planData.append(_serviceArea);
+  planData.append(_corridor);
+  planData.append(_joinedArea);
   return planData.isValid();
 }
 

src/Wima/WimaPlaner.h

@@ -153,7 +153,7 @@ signals:
 
 private:
   // Member Functions
-  bool toPlanData(WimaPlanData &planData);
+  bool toPlanData(AreaData &planData);
   bool shortestPath(const QGeoCoordinate &start,
                     const QGeoCoordinate &destination,
                     QVector<QGeoCoordinate> &path);