#pragma once #include #include "QGCMapPolygon.h" #include "QmlObjectListModel.h" #include "WimaArea.h" #include "WimaAreaData.h" #include "WimaServiceArea.h" #include "WimaServiceAreaData.h" #include "WimaMeasurementArea.h" #include "WimaMeasurementAreaData.h" #include "WimaCorridor.h" #include "WimaCorridorData.h" #include "WimaJoinedArea.h" #include "WimaJoinedAreaData.h" #include "WimaPlanData.h" #include "WimaDataContainer.h" #include "PlanMasterController.h" #include "MissionController.h" #include "SurveyComplexItem.h" #include "SimpleMissionItem.h" #include "MissionSettingsItem.h" #include "JsonHelper.h" #include "QGCApplication.h" #include "OptimisationTools.h" #include "PlanimetryCalculus.h" #include "GeoUtilities.h" #define TEST_FUN 0 #if TEST_FUN #include "TestPolygonCalculus.h" #include "testplanimetrycalculus.h" #endif class WimaPlaner : public QObject { Q_OBJECT enum FileType {WimaFile, PlanFile}; public: WimaPlaner(QObject *parent = nullptr); template WimaPlaner(T t, QObject *parent = nullptr) = delete; template WimaPlaner(T t) = delete; Q_PROPERTY(PlanMasterController* masterController READ masterController WRITE setMasterController NOTIFY masterControllerChanged) Q_PROPERTY(MissionController* missionController READ missionController WRITE setMissionController NOTIFY missionControllerChanged) Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged) Q_PROPERTY(int currentPolygonIndex READ currentPolygonIndex WRITE setCurrentPolygonIndex NOTIFY currentPolygonIndexChanged) Q_PROPERTY(QString currentFile READ currentFile NOTIFY currentFileChanged) Q_PROPERTY(QStringList loadNameFilters READ loadNameFilters CONSTANT) Q_PROPERTY(QStringList saveNameFilters READ saveNameFilters CONSTANT) Q_PROPERTY(QString fileExtension READ fileExtension CONSTANT) Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT) Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged) Q_PROPERTY(bool missionReady READ missionReady NOTIFY missionReadyChanged) // Property accessors PlanMasterController* masterController (void) { return _masterController; } MissionController* missionController (void) { return _missionController; } QmlObjectListModel* visualItems (void) ; int currentPolygonIndex (void) const { return _currentAreaIndex; } QString currentFile (void) const { return _currentFile; } QStringList loadNameFilters (void) const; QStringList saveNameFilters (void) const; QString fileExtension (void) const { return wimaFileExtension; } QGeoCoordinate joinedAreaCenter (void) const; bool missionReady (void) const { return _missionReady; } WimaDataContainer* dataContainer (void) { return _container;} // Property setters void setMasterController (PlanMasterController* masterController); void setMissionController (MissionController* missionController); /// Sets the integer index pointing to the current polygon. Current polygon is set interactive. void setCurrentPolygonIndex (int index); void setDataContainer (WimaDataContainer* container); // Member Methodes Q_INVOKABLE bool addMeasurementArea(); /// Removes an area from _visualItems /// @param index Index of the area to be removed Q_INVOKABLE void removeArea(int index); Q_INVOKABLE bool addServiceArea(); Q_INVOKABLE bool addCorridor(); /// Remove all areas from WimaPlaner and all mission items from MissionController Q_INVOKABLE void removeAll(); Q_INVOKABLE void startMission(); Q_INVOKABLE void abortMission(); Q_INVOKABLE void pauseMission(); Q_INVOKABLE void resumeMission(); /// Recalculates vehicle corridor, flight path, etc. Q_INVOKABLE bool updateMission(); Q_INVOKABLE void saveToCurrent(); Q_INVOKABLE void saveToFile(const QString& filename); Q_INVOKABLE bool loadFromCurrent(); Q_INVOKABLE bool loadFromFile(const QString& filename); Q_INVOKABLE void resetAllInteractive(void); Q_INVOKABLE void setInteractive(void); QJsonDocument saveToJson(FileType fileType); // static Members static const char* wimaFileExtension; static const char* areaItemsName; static const char* missionItemsName; signals: void masterControllerChanged (void); void missionControllerChanged (void); void visualItemsChanged (void); void currentPolygonIndexChanged (int index); void currentFileChanged (); void dataContainerChanged (); void missionReadyChanged (bool ready); private slots: void recalcPolygonInteractivity (int index); bool recalcJoinedArea (QString &errorString); void pushToContainer (); bool calcShortestPath (const QGeoCoordinate &start, const QGeoCoordinate &destination, QList &path); private: // Member Functions WimaPlanData toPlanData(); void setMissionReady(bool ready); // Member Variables bool _missionReady; // basically true if updateMission() was sucessful PlanMasterController *_masterController; MissionController *_missionController; int _currentAreaIndex; QString _currentFile; // file for saveing WimaDataContainer *_container; // container for data exchange with WimaController QmlObjectListModel _visualItems; // contains all visible areas WimaJoinedArea _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor WimaMeasurementArea _measurementArea; // measurement area WimaServiceArea _serviceArea; // area for supplying WimaCorridor _corridor; // corridor connecting _measurementArea and _serviceArea };