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React from 'react';\r\nimport { Link } from 'react-router-dom';\r\nimport { Popper } from 'react-popper';\r\nimport * as olProj from 'ol/proj';\r\n\r\nconst initAnimationSpeed = 1;\r\nconst widthStyle = {width:\"350px\"};\r\n\r\nclass ResultAside extends React.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.props = props;\r\n    this.linkItems = props.linkItems //link, btn, text\r\n    this.onResetAnimationClick = () => { props.onResetAnimationClick(); this.setState({ actualTrajectoryPointNo: 0 }); }\r\n    this.actualPointCallback = this.actualPointCallback.bind(this);\r\n    this.showAnimationClick = this.showAnimationClick.bind(this);\r\n    this.handleClick = this.handleClick.bind(this);\r\n\r\n    this.popper = null;\r\n    this.popperButton = null;\r\n\r\n    this.state = {\r\n      loaded: props.loaded,\r\n      points: props.points,\r\n      actualTrajectoryPointNo: props.actualTrajectoryPointNo,\r\n      showAnimationSpeed: false,\r\n      animationSpeed: initAnimationSpeed\r\n    };\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    if (this.state.loaded !== nextProps.loaded)\r\n      this.setState({ loaded: nextProps.loaded, points: nextProps.points });\r\n    else if (this.state.actualTrajectoryPointNo !== nextProps.actualTrajectoryPointNo)\r\n      this.setState({ actualTrajectoryPointNo: nextProps.actualTrajectoryPointNo });\r\n  }\r\n\r\n  actualPointCallback(actualTrajectoryPointNo) {\r\n    this.setState({\r\n      actualTrajectoryPointNo: actualTrajectoryPointNo,\r\n    });\r\n\r\n    let selected = document.getElementById('selected');\r\n    if (selected)\r\n      selected.scrollIntoView();\r\n  }\r\n\r\n  showAnimationClick() {\r\n    let showAnimation = this.state?.showAnimationSpeed;\r\n    this.setState({ showAnimationSpeed: !showAnimation });\r\n  }\r\n\r\n  handleClick (e) {\r\n    if (this?.popper === e.target || this?.popperButton === e.target) {\r\n      // inside click\r\n      return;\r\n    }\r\n    this.setState({\r\n      showAnimationSpeed: false,\r\n    });\r\n  };\r\n\r\n  getStartCoordinatesInDegrees() {\r\n    let result = {Lat:0, Lon: 0}\r\n    let startPointDegrees = this.props?.startPoint ? olProj.transform([this.props.startPoint.Lon, this.props.startPoint.Lat], 'EPSG:3857', 'EPSG:4326') : null;\r\n    result.Lat = Array.isArray(startPointDegrees) && startPointDegrees.length === 2? (startPointDegrees[1]).toFixed(7): null;\r\n    result.Lon = Array.isArray(startPointDegrees) && startPointDegrees.length === 2? (startPointDegrees[0]).toFixed(7): null;\r\n    return result;\r\n  }\r\n\r\n  render() {\r\n    let startCoordinates = this.getStartCoordinatesInDegrees()\r\n\r\n    return <>\r\n      {/* [BLOCK] Aside */}\r\n      <div key={\"asideBlock\"} className=\"aside-block\" onClick={this.handleClick}>\r\n        <div className=\"aside-content-container\">\r\n          <div className=\"aside-content\">\r\n            <h1 className=\"h2-size heading\">\r\n              Result\r\n            </h1>\r\n            <div>\r\n              <button type=\"button\" className=\"btn\" onClick={() => { this?.props?.setAnimationSpeed && this.props.setAnimationSpeed(this.state?.animationSpeed); this?.props?.onPlayAnimationClick && this.props.onPlayAnimationClick(); }}><i className=\"icon icon-play pr-2\" />Play animation</button>\r\n              <button type=\"button\" className=\"btn btn-secondary btn-icon\" onClick={() => {this.props?.onAnimationStopClick && this.props.onAnimationStopClick()}}><i className=\"icon icon-pause\" /></button>\r\n              <button type=\"button\" className=\"btn btn-secondary btn-icon\" onClick={() => {this.props?.onResetAnimationClick && this.props.onResetAnimationClick()}}><i className=\"icon icon-redo\" /></button>\r\n              <button \r\n                type=\"button\" \r\n                className=\"btn btn-secondary btn-icon\" \r\n                id=\"animationSetting\" \r\n                data-toggle=\"dropdown\" \r\n                aria-expanded=\"false\" \r\n                onClick={this.showAnimationClick}\r\n                ref={instance => { this.popperButton = instance; }}\r\n              >\r\n                <i className=\"icon icon-sliders-h\"></i>\r\n              </button>\r\n              <div style={{position:'relative'}}>\r\n                {this.state.showAnimationSpeed && \r\n                <Popper anchorEl={this.state.showAnimationSpeed} placement=\"right\">\r\n                  {({ ref, style, placement, arrowProps }) => (\r\n                    <div className = \"dropdown-menu px-3 py-2 show\" ref={ref} style={{ ...style, ...widthStyle }}>\r\n                      <div className=\"form-group\"><label htmlFor=\"precision\">Animation speed</label>\r\n                      <input \r\n                        className=\"form-control-range\" \r\n                        id=\"precision\" \r\n                        type=\"range\" \r\n                        value = {this.state.animationSpeed} \r\n                        min={0.25} \r\n                        max={3} \r\n                        step={0.25}\r\n                        onChange ={\r\n                          (e) => {                            \r\n                            if (this.props?.setAnimationSpeed)\r\n                              this.props.setAnimationSpeed(e.target.value);\r\n                            this.setState({animationSpeed:e.target.value});\r\n                          }                          \r\n                        }  \r\n                        ref={instance => { this.popper = instance; }}                    \r\n                      />\r\n                      <div className=\"range-aprox-values\"><span>Low</span><span className=\"label text-fade-color\">(<output id=\"precisionValue\">{this.state.animationSpeed}</output>x)</span><span>High</span></div>\r\n                      </div>\r\n                    </div>\r\n                  )}\r\n                </Popper>}\r\n              </div>\r\n            </div>\r\n          </div>\r\n        </div>\r\n        <div className=\"aside-content-container flex-grow-0 flex-shrink-0 py-3\">\r\n          <div className=\"aside-content d-flex align-items-center\">\r\n            <div className='startpoint-icon mr-auto'>\r\n              <img src='./icon-start.png' alt='Start-point icon'/>\r\n            </div>\r\n            <div className='info-box mr-auto'>\r\n              <h6 className='text-fade-color mb-0'>Latitude:</h6>\r\n              <span className='text-fade-color'>{startCoordinates.Lat}</span> \r\n            </div>\r\n            <div className='info-box mr-auto'>\r\n              <h6 className='text-fade-color mb-0'>Longitude:</h6>\r\n              <span className='text-fade-color'>{startCoordinates.Lon}</span>\r\n            </div>\r\n          </div>\r\n        </div>\r\n        <div className=\"aside-content-container flex-basis-8 flex-grow-1 flex-shrink-0 scrollable\">\r\n          <div className=\"aside-content\">\r\n            <table ref={this.setRef}>\r\n              <thead>\r\n                <tr>\r\n                  <th />\r\n                  <th className=\"subheading text-center\">North</th>\r\n                  <th className=\"subheading text-center\">East</th>\r\n                  <th className=\"subheading text-center\">Direction</th>\r\n                </tr>\r\n              </thead>\r\n              <tbody id=\"aside-tbody\">\r\n                {this.state.loaded\r\n                  && this.state.points\r\n                  && this.state.points.map((item, index) =>\r\n                    <tr key={index}\r\n                      className={this.state.actualTrajectoryPointNo === index ? \"selected\" : \"\"}\r\n                      id={this.state.actualTrajectoryPointNo === index ? \"selected\" : \"\"}\r\n                      onClick={() => {\r\n                        if (this.props.clickPointCallback) {\r\n                          //\r\n                          this.props.clickPointCallback(index + 1);\r\n                          this.setState({ actualTrajectoryPointNo: index })\r\n                        }\r\n                      }\r\n                    }\r\n                    >\r\n                      <td className=\"text-fade-color font-weight-bold text-right\">{index}</td>\r\n                      <td className=\"text-right\">{item[1]} m</td>\r\n                      <td className=\"text-right\">{item[0]} m</td>\r\n                      {item[2] === 0 && <td className=\"text-center\"><i className=\"icon icon-redo\" /></td>}\r\n                      {item[2] === 1 && <td className=\"text-center\"><i className=\"icon icon-undo\" /></td>}\r\n                      {item[2] === -1 && <td className=\"text-center\"><i className=\"icon icon-arrow-up\" /></td>}\r\n                    </tr>\r\n                  )}\r\n              </tbody>\r\n            </table>\r\n          </div>\r\n        </div>\r\n        <div className=\"aside-content-container py-2\">\r\n          <div className=\"aside-content d-grid grid-autofill-3 grid-gap-2\">\r\n            {this.linkItems\r\n              && this.linkItems.map((item, index) =>\r\n                <Link to={`${item.link}`} className=\"card\" key={\"link\" + index}>\r\n                  <img src={`${item.img}`} className=\"card-img-top\" alt={`${item.alt}`} style={{ width: '100%', height: '6rem' }} />\r\n                  <div className=\"card-body p-2\">\r\n                    <h5 className=\"card-title heading hover-highlight text-center mb-0\">{`${item.name}`} </h5>\r\n                  </div>\r\n                </Link>\r\n              )}\r\n          </div>\r\n        </div>\r\n      </div>\r\n    </>\r\n  }\r\n};\r\n\r\nexport default ResultAside;","//todo remove\r\nconst Pages = {\r\n\tRover: \"/\",\r\n\tField : \"Field\",\r\n\tFieldResult : \"Field-Result\",\r\n\tObstacles : \"Obstacles\",\r\n\tObstaclesResult : \"Obstacles-Result\",\r\n\tPoints : \"Points\",\r\n\tPointsResult : \"Points-Result\",\r\n\tPage404 : \"errors/404\",\r\n\tPage500 : \"errors/500\"\r\n  }\r\n\r\n  export default Pages;","import react from 'react';\r\nimport {Link} from 'react-router-dom';\r\n\r\nexport class PrevSettings extends react.Component {\r\n  render() {\r\n    return <div className=\"prev-settings\">\r\n        {this.props.children}\r\n    </div>\r\n  }\r\n}\r\n\r\nexport class PrevSettingsContent extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n  //  this.props = props;\r\n   // this.store = props.store;\r\n   // let roverDataCompleted = this.store.getState().rover.length && this.store.getState().rover.turningRadius && this.store.getState().rover.wheelDistance;\r\n    this.state = { header: props.header, link: props.link };\r\n  }\r\n\r\n  render() {\r\n    return <div className=\"setting-container\">\r\n        <div className=\"setting-head\">\r\n          <h5 className=\"heading\">{this.state.header}</h5>\r\n          <Link to={this.state.link} className=\"btn btn-sm btn-outline-secondary mx-0\">Edit</Link>\r\n        </div>\r\n        <div className=\"setting-body\">\r\n          {this.props.children}\r\n        </div>\r\n      </div>\r\n  }\r\n}\r\n\r\nexport class PrevSettingsItem extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = { name: props.name, value: props.value, unit: props.unit  };\r\n  }\r\n\r\n  render() {\r\n    return <>\r\n      <div className='col-label'>\r\n        {this.state.name}:\r\n      </div>\r\n      <div className='col-value'>\r\n          {this.state.value} {this.state.unit}\r\n      </div>\r\n    </>\r\n  }\r\n}\r\n\r\n\r\n/*<div className=\"prev-settings\">\r\n<div className=\"setting-container\">\r\n  <div className=\"setting-head\">\r\n    <h5 className=\"heading\">Rover</h5>\r\n    <Link to={Pages.Rover} className=\"btn btn-sm btn-outline-secondary\">Edit</Link>\r\n  </div>\r\n  <div className=\"setting-body\">\r\n    <p>Wheel Distance: <span id=\"roverWidth\">{this.store.getState().rover.wheelDistance}</span> m</p>\r\n    <p>Length: <span id=\"roverLength\">{this.store.getState().rover.length}</span> m</p>\r\n    <p>Turning radius: <span id=\"turningRadius\">{this.store.getState().rover.turningRadius}</span> m</p>\r\n  </div>\r\n</div>\r\n</div>*/\r\n\r\n\r\n/*class App extends React.Component{\r\n  constructor(props) {\r\n    super(props);\r\n    this.store = props.store;\r\n  }\r\n\r\n  render() {\r\n  return (\r\n    <>\r\n      <div className=\"topbar\">\r\n        <a href=\"\"><img src=\"/brand.png\" alt=\"GNSS Route Planning logo\"></img></a>\r\n        <a href=\"https:/www.navmatix.com\" target=\"_blank\" rel=\"noopener\"><img src=\"author.png\" alt=\"Navmatix logo\"></img></a>\r\n      </div>\r\n    </>\r\n  );\r\n  }\r\n}\r\n\r\nexport default App;*/\r\n\r\n\r\n\r\n","import {\n  SET_ROVER,\n} from '../constants/actionTypes';\n\nconst rover = (state = {}, action) => {\n  switch (action.type) {\n    case SET_ROVER:\n      return {\n        ...state,\n        wheelDistance: action.payload.rover?.wheelDistance ?? state.wheelDistance,\n        length: action.payload.rover?.length ?? state.length,\n        turningRadius: action.payload.rover?.turningRadius ?? state.turningRadius,\n        positionOfRotationAxis:  action.payload.rover?.positionOfRotationAxis ?? state.positionOfRotationAxis,\n        positionOfGnsReceiver:  action.payload.rover?.positionOfGnsReceiver ?? state.positionOfGnsReceiver\n      };\n    default:\n      return state;\n  }\n};\n\nexport default rover;","import { FIELD_RESULT_PAGE_LOADED, FIELD_RESULT_PAGE_UNLOADED } from '../constants/actionTypes';\r\n\r\nconst fieldResult = (state = {}, action) => {\r\n  switch (action.type) {\r\n    case FIELD_RESULT_PAGE_LOADED:\r\n      return {\r\n        ...state,\r\n        points: action.payload.points\r\n      };\r\n    case FIELD_RESULT_PAGE_UNLOADED:\r\n      return {};\r\n    default:\r\n      return state;\r\n  }\r\n};\r\n\r\nexport default fieldResult;\r\n","import {\r\n  SET_FIELD,\r\n  RESET_FIELD_MAP\r\n} from '../constants/actionTypes';\r\n\r\nconst field = (state = {}, action) => {\r\n  switch (action.type) {\r\n    case SET_FIELD:\r\n      return {\r\n        ...state,\r\n        rowsDistance: action.payload.field?.rowsDistance ?? state.rowsDistance,\r\n        rowsAngle: action.payload.field?.rowsAngle ?? state.rowsAngle,\r\n        aroundPerimeter: action.payload.field?.aroundPerimeter ?? state.aroundPerimeter,\r\n        start: action.payload?.field.start === undefined ? state.start:action.payload?.field.start,\r\n        end: action.payload?.field.end === undefined ? state.end:action.payload?.field.end,\r\n        areaPolygon: action.payload?.field.areaPolygon === undefined ? state.areaPolygon:action.payload?.field.areaPolygon,\r\n        captcha: action.payload?.field.captcha ?? state.captcha\r\n      };\r\n      case RESET_FIELD_MAP:\r\n        return {\r\n          ...state,\r\n          areaPolygon: null,\r\n          start: null,\r\n          end: null,\r\n        };      \r\n    default:\r\n      return state;\r\n  }\r\n};\r\n\r\nexport default field;","import {\n  SET_OBSTACLES,\n  RESET_OBSTACLES_MAP,\n  REMOVE_OBSTACLES\n} from '../constants/actionTypes';\n\nconst obstacles = (state = {obstacles:[]}, action) => {\n  switch (action.type) {\n    case SET_OBSTACLES:\n      return {\n        ...state,\n        obstacles: action.payload.obstacles.obstacles? [...state.obstacles, action.payload.obstacles.obstacles]: state.obstacles,\n        start: action.payload.obstacles.start ?? state.start,\n        end: action.payload.obstacles.end ?? state.end,\n        areaPolygon: action.payload.obstacles.areaPolygon ?? state.areaPolygon,\n        precision: action.payload.obstacles.precision ?? state.precision,\n        captcha: action.payload.obstacles.captcha ?? state.captcha,\n      };\n    case RESET_OBSTACLES_MAP:\n        return {\n          ...state,\n          areaPolygon: null,\n          start: null,\n          end: null,\n          obstacles: []\n        };  \n    case REMOVE_OBSTACLES:\n      return {\n        ...state,\n        obstacles: action.payload.id? state.obstacles.filter(o => o.Id !== action.payload.id): state.obstacles\n        };             \n    default:\n      return state;\n  }\n};\n\nexport default obstacles;","import {\n  SET_POINTS,\n  RESET_POINTS_MAP,\n  REMOVE_POINTS\n} from '../constants/actionTypes';\n\nconst trajectoryPoints = (state = {points:[]}, action) => {\n  switch (action.type) {\n    case SET_POINTS:\n      return {\n        ...state,\n        points: action.payload.points.points? [...state.points, action.payload.points.points]: state.points,\n        start: action.payload.points.start === undefined ? state.start : action.payload.points.start,\n        end: action.payload.points.end === undefined ? state.end :  action.payload.points.end,\n        captcha: action.payload.points.captcha === undefined ? state.captcha :  action.payload.points.captcha\n      };\n    case RESET_POINTS_MAP:\n      return {\n          ...state,\n          points: [],\n          start: null,\n          end: null,\n          captcha: null\n        };\n    case REMOVE_POINTS:\n      return {\n        ...state,\n        points: action.payload.id? state.points.filter(p => p.Id !== action.payload.id): state.points\n        };              \n    default:\n      return state;\n  }\n};\n\nexport default trajectoryPoints;","import { combineReducers } from 'redux';\nimport rover from './reducers/rover';\nimport fieldResult from './reducers/fieldResult';\nimport field from './reducers/field';\nimport obstacles from './reducers/obstacles';\nimport trajectoryPoints from './reducers/trajectoryPoints';\n\nexport default combineReducers({\n  rover,\n  fieldResult,\n  field,\n  obstacles,\n  trajectoryPoints\n});\n","import {\r\n  SET_ROVER,\r\n  SET_FIELD,\r\n  RESET_FIELD_MAP,\r\n  SET_OBSTACLES,\r\n  REMOVE_OBSTACLES,\r\n  RESET_OBSTACLES_MAP,\r\n  SET_POINTS,\r\n  REMOVE_POINTS,\r\n  RESET_POINTS_MAP,\r\n  FIELD_RESULT_PAGE_LOADED\r\n} from './constants/actionTypes';\r\n\r\n//ROVER\r\nexport const roverAdded = rover => ({\r\n  type: SET_ROVER,\r\n  payload: {\r\n    rover\r\n  }\r\n})\r\n\r\n//FIELD\r\nexport const fieldAdded = field => ({\r\n  type: SET_FIELD,\r\n  payload: {\r\n    field\r\n  }\r\n})\r\n\r\nexport const fieldMapReseted = field => ({\r\n  type: RESET_FIELD_MAP\r\n})\r\n\r\n//OBSTACLES\r\nexport const obstaclesAdded = obstacles => ({\r\n  type: SET_OBSTACLES,\r\n  payload: {\r\n    obstacles\r\n  }\r\n})\r\n\r\nexport const obstaclesRemoved = id => ({\r\n  type: REMOVE_OBSTACLES,\r\n  payload: {\r\n    id\r\n  }\r\n})\r\n\r\nexport const obstaclesMapReseted  = obstacles =>({\r\n  type: RESET_OBSTACLES_MAP\r\n})\r\n\r\n//POINTS\r\nexport const pointAdded = points => ({\r\n  type: SET_POINTS,\r\n  payload: {\r\n    points\r\n  }\r\n})\r\n\r\nexport const pointRemoved = id => ({\r\n  type: REMOVE_POINTS,\r\n  payload: {\r\n    id\r\n  }\r\n})\r\n\r\nexport const pointsMapReseted = points =>  ({\r\n  type: RESET_POINTS_MAP\r\n})\r\n\r\nexport const pointsLoaded = points => ({\r\n  type: FIELD_RESULT_PAGE_LOADED,\r\n  payload: {\r\n    points\r\n  }\r\n})","import React, { useEffect } from 'react';\r\nimport { Points } from './agent';\r\nimport store from './store';\r\nimport { pointsLoaded } from './action';\r\nimport ResultMap from './partials/result-map';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport ResultAside from \"./partials/result-aside\";\r\nimport Pages from './enums/pages';\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\nimport Alert from './components/alert';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst Promise = global.Promise;\r\n\r\nexport default function PointsResult(props) {\r\n  let aside = null;\r\n  let resultMap = null;\r\n  const [loaded, setLoaded] = React.useState(false);\r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete() ? (arePointsDataCompleted() ? Pages.PointsResult : Pages.Points) : Pages.Rover);\r\n  const [error, setError] = React.useState(null);\r\n  const [pointsCount] = React.useState(getPoinsCount());\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n\r\n  function arePointsDataCompleted() {\r\n    let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n    return trajectoryPoints.points.length > 0 && trajectoryPoints.start && trajectoryPoints.end;\r\n  }\r\n\r\n  function getPoinsCount() {\r\n    let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n    return trajectoryPoints?.points && trajectoryPoints.points.length > 0 ? trajectoryPoints.points.length : 0\r\n  }\r\n\r\n  useEffect(() => {\r\n    if (redirect === Pages.PointsResult)\r\n      loadData();\r\n    document.title = \"Points Result | Route Planning\";    \r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname  });\r\n    }, []);\r\n\r\n  //rendering section\r\n  if (redirect === Pages.PointsResult) {\r\n    let map;\r\n    let mapLoader;\r\n    let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n\r\n    if (loaded) {\r\n      map = <ResultMap\r\n        trajectoryPoints={store.getState().fieldResult.points}\r\n        wheelDistance={props.store.getState().rover.wheelDistance}\r\n        loaded={loaded}\r\n        store={props.store}\r\n        wayPoints={\r\n          [...[trajectoryPoints?.start], ...trajectoryPoints?.points, ...[trajectoryPoints?.end]]\r\n        }\r\n        ref={instance => { resultMap = instance; }}\r\n        linesBetweenPoints={false}\r\n        actualPointCallback={onChangeActualPoint}\r\n      />;\r\n    } else {\r\n      mapLoader = <>\r\n        <ResultMap\r\n          loaded={loaded}\r\n          store={props.store}\r\n          wayPoints={\r\n            [...[trajectoryPoints?.start], ...trajectoryPoints?.points, ...[trajectoryPoints?.end]]\r\n          }\r\n          linesBetweenPoints={true}\r\n        />\r\n      </>;\r\n    }\r\n\r\n    let linkItems = [\r\n      { link: Pages.Field, img: \"btn-field.png\", alt: \"Fill a field\", name: \"Field\" },\r\n      { link: Pages.Obstacles, img: \"btn-obstacles.png\", alt: \"Find the best route\", name: \"Obstacles\" }\r\n    ];\r\n\r\n    let positionOfRotationAxis = props.store.getState().rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = props.store.getState().rover.positionOfGnsReceiver;\r\n\r\n    return <>\r\n      {!loaded && !error && <div className=\"spinner-overlay\">\r\n        <div className=\"spinner-border text-primary  text-brand\" role=\"status\" style={{ height: '3rem', width: '3rem' }}>\r\n          <span className=\"sr-only\"> Loading...</span>\r\n        </div>\r\n      </div>}\r\n\r\n      {!loaded && error && <div className=\"spinner-overlay error\">\r\n        <div className='spinner-onerror'>\r\n          <i className='icon icon-exclamation-triangle'></i>\r\n          <h4 className='mb-3'>Something went wrong...</h4>\r\n          <button type='button' className='btn btn-secondary' onClick={(e) => { setRedirect(Pages.Points); }}>Try again</button>\r\n        </div>\r\n      </div>}\r\n\r\n      {/* [BLOCK] Map   TODO wheel distance*/}\r\n      <div className=\"interactive-block\">\r\n        {loaded ? map : mapLoader}\r\n        <PrevSettings>\r\n          <PrevSettingsContent header={\"Rover\"} link={Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"} />\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"} />}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"} />}\r\n          </PrevSettingsContent>\r\n          <PrevSettingsContent header={\"Waypoints\"} link={Pages.Points}>\r\n            <PrevSettingsItem name={\"Num. of waypoints\"} value={pointsCount ?? 0} />\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      <ResultAside\r\n        onPlayAnimationClick={onPlayAnimationClick}\r\n        onAnimationStopClick={onAnimationStopClick}\r\n        onResetAnimationClick={onResetAnimationClick}\r\n        linkItems={linkItems}\r\n        loaded={loaded}\r\n        points={store.getState().fieldResult?.points?.points}\r\n        startPoint={props.store.getState()?.trajectoryPoints?.start}\r\n        store={props.store}\r\n        ref={instance => { aside = instance; }}\r\n        clickPointCallback={onClickPointCallback}\r\n        setAnimationSpeed={onSetAnimationSpeed}\r\n      />\r\n      <div className='alerts-container'>\r\n        {error && <Alert onClick={(e) => { setRedirect(Pages.Points); }} variant='danger'>{error}</Alert>}\r\n      </div>\r\n    </>\r\n  }\r\n  else {\r\n    return <Redirect to={redirect} />\r\n  }\r\n\r\n  //other functions:\r\n  function loadData() {\r\n    let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n\r\n    let rover = props.store.getState().rover;\r\n    Promise.all([Points.getTrajectoryPoints(\r\n      trajectoryPoints,\r\n      rover\r\n    )]).then((values) => {\r\n\r\n      if (values[0].error) {\r\n        console.log(values[0].errorDetail);\r\n        setError(`${values[0].error}`);\r\n      }\r\n      else {\r\n        store.dispatch(pointsLoaded({ points: JSON.parse(values[0].points) }));\r\n        setLoaded(true);\r\n        // this.forceUpdate();\r\n      }\r\n    })\r\n      .catch(error => {\r\n        setRedirect(Pages.Page500);\r\n        console.error(error.message);\r\n      });\r\n  }\r\n  function onPlayAnimationClick() {\r\n    resultMap.drawAnimation();\r\n  }\r\n  function onAnimationStopClick() {\r\n    resultMap.pauseAnimation();\r\n  }\r\n  function onResetAnimationClick() {\r\n    resultMap.redrawAnimation();\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(0);\r\n  }\r\n  function onSetAnimationSpeed(speed) {\r\n    resultMap.setAnimationSpeed(speed);\r\n  }\r\n  function onClickPointCallback(index) {\r\n    resultMap.clickPointCallback(index);\r\n  }\r\n  function onChangeActualPoint(index) {\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(index);\r\n  }\r\n};","import React, { useEffect } from 'react';\r\nimport { OptimalTrajectory } from './agent';\r\nimport store from './store';\r\nimport { pointsLoaded } from './action';\r\nimport ResultMap from './partials/result-map';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport ResultAside from \"./partials/result-aside\";\r\nimport Pages from './enums/pages';\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\nimport Alert from './components/alert';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst Promise = global.Promise;\r\n\r\nexport default function FieldResult(props) {\r\n  let aside = null;\r\n  let resultMap = null;\r\n  const [loaded, setLoaded] = React.useState(false);\r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete() ? (areFieldDataCompleted() ? Pages.FieldResult : Pages.Field) : Pages.Rover);\r\n  const [error, setError] = React.useState(null);\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n\r\n  function areFieldDataCompleted() {\r\n    let field = props.store.getState().field;\r\n    return field.start && field.end && field.areaPolygon && field.rowsDistance\r\n  }\r\n\r\n  useEffect(() => {\r\n    let rover = props.store.getState().rover;\r\n    let field = props.store.getState().field;\r\n    //do we want display this page\r\n    if (redirect === Pages.FieldResult)\r\n      loadData(rover, field);\r\n    document.title = \"Field Result | Route Planning\";      \r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname  });\r\n    }, []);\r\n\r\n  //render part\r\n  if (redirect === Pages.FieldResult) {\r\n    let map;\r\n    let mapLoader;\r\n    if (loaded) {\r\n      map = <ResultMap key={\"resultMap\"} trajectoryPoints={store.getState().fieldResult.points} wheelDistance={props.store.getState().rover.wheelDistance} loaded={loaded} store={props.store}\r\n        wayPoints={[props.store.getState()?.field?.start, props.store.getState()?.field?.end]} areaPolygon={props.store.getState()?.field?.areaPolygon}\r\n        ref={instance => { resultMap = instance; }}\r\n        actualPointCallback={onChangeActualPoint}\r\n      />;\r\n    } else {\r\n      mapLoader = <><ResultMap key={\"resultMap\"} store={props.store}\r\n        wayPoints={[props.store.getState()?.field?.start, props.store.getState()?.field?.end]} areaPolygon={props.store.getState()?.field?.areaPolygon}\r\n      /></>;\r\n    }\r\n\r\n    let linkItems = [\r\n      { link: Pages.Obstacles, img: \"btn-obstacles.png\", alt: \"Find the best route\", name: \"Obstacles\" },\r\n      { link: Pages.Points, img: \"btn-points.png\", alt: \"Fill a fieldRoute through points\", name: \"Points\" }\r\n    ];\r\n\r\n    let rover = props.store.getState().rover;\r\n    let positionOfRotationAxis = rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = rover.positionOfGnsReceiver;\r\n\r\n    return <>\r\n      {/* [BLOCK] Map   TODO wheel distance*/}\r\n      {!loaded && !error && <div className=\"spinner-overlay\">\r\n        <div className=\"spinner-border text-primary  text-brand\" role=\"status\" style={{ height: '3rem', width: '3rem' }}>\r\n          <span className=\"sr-only\"> Loading...</span>\r\n        </div>\r\n      </div>}\r\n\r\n      {!loaded && error && <div className=\"spinner-overlay error\">\r\n        <div className='spinner-onerror'>\r\n          <i className='icon icon-exclamation-triangle'></i>\r\n          <h4 className='mb-3'>Something went wrong...</h4>\r\n          <button type='button' className='btn btn-secondary' onClick={(e) => { setRedirect(Pages.Field); }}>Try again</button>\r\n        </div>\r\n      </div>}\r\n\r\n      <div className=\"interactive-block\">\r\n        {loaded ? map : mapLoader}\r\n        <PrevSettings>\r\n          <PrevSettingsContent header={\"Rover\"} link={Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"} />\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"} />}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"} />}\r\n          </PrevSettingsContent>\r\n          <PrevSettingsContent header={\"Field\"} link={Pages.Field}>\r\n            <PrevSettingsItem name={\"Rows distance\"} value={props.store.getState().field.rowsDistance} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Rows angle\"} value={props.store.getState().field.rowsAngle} unit={\"°\"} />\r\n            <PrevSettingsItem name={\"Around the perimeter\"} value={props.store.getState()?.field?.aroundPerimeter === true? 'Yes': 'No'} unit={\"\"} />\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      {<ResultAside key={\"resultAside\"} onPlayAnimationClick={onPlayAnimationClick} onAnimationStopClick={onAnimationStopClick}\r\n        onResetAnimationClick={onResetAnimationClick} linkItems={linkItems}\r\n        loaded={loaded} points={store.getState().fieldResult?.points?.points}\r\n        store={props.store}\r\n        startPoint={props.store.getState()?.field?.start}\r\n        ref={instance => { aside = instance; }}\r\n        clickPointCallback={onClickPointCallback}\r\n        setAnimationSpeed={onSetAnimationSpeed}\r\n      />}\r\n      <div className='alerts-container'>\r\n        {error && <Alert onClick={(e) => { setRedirect(Pages.Field); }} variant='danger'>{error}</Alert>}\r\n      </div>\r\n    </>\r\n  }\r\n  else {\r\n    return <Redirect to={redirect} />\r\n  }\r\n\r\n  //click handlers\r\n  function onPlayAnimationClick() {\r\n    resultMap.drawAnimation();\r\n  }\r\n  function onAnimationStopClick() {\r\n    resultMap.pauseAnimation();\r\n  }\r\n  function onResetAnimationClick() {\r\n    resultMap.resetAnimation();\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(0);\r\n  }\r\n  function onSetAnimationSpeed(speed) {\r\n    resultMap.setAnimationSpeed(speed);\r\n  }\r\n  function onClickPointCallback(index) {\r\n    resultMap.clickPointCallback(index);\r\n  }\r\n  function onChangeActualPoint(index) {\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(index);\r\n  }\r\n\r\n  //load data\r\n  function loadData(rover, field) {\r\n    Promise.all([OptimalTrajectory.getTrajectoryPoints(rover, field)]).then((values) => {\r\n      if (values[0].error) {\r\n        console.log(values[0].errorDetail);\r\n        setError(`${values[0].error}`);\r\n      }\r\n      else {\r\n        store.dispatch(pointsLoaded({ points: JSON.parse(values[0].points) }));\r\n        setLoaded(true);\r\n        //forceUpdate();\r\n      }\r\n    })\r\n      .catch(error => {\r\n        //404\r\n        setRedirect(Pages.Page500);\r\n        console.error(error.message);\r\n      });\r\n  }\r\n}\r\n","import React, { useEffect} from 'react';\r\nimport {Obstacles} from './agent';\r\nimport store from './store';\r\nimport { pointsLoaded } from './action';\r\nimport ResultMap  from './partials/result-map';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport ResultAside from \"./partials/result-aside\";\r\nimport Pages from './enums/pages';\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\nimport Alert from './components/alert';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst Promise = global.Promise;\r\n\r\nexport default function ObstaclesResult(props) {\r\n  let aside = null;\r\n  let resultMap = null;\r\n  const [loaded, setLoaded] = React.useState(false);   \r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete()? (areObstaclesDataCompleted()?Pages.ObstaclesResult:Pages.Obstacles): Pages.Rover);\r\n  const [error, setError] = React.useState(null);\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n  \r\n  function areObstaclesDataCompleted() {\r\n    let obstacles = props.store.getState().obstacles;\r\n    return obstacles.start && obstacles.end && obstacles.areaPolygon && obstacles.obstacles\r\n  }\r\n\r\n  useEffect(()=>{\r\n    if (redirect === Pages.ObstaclesResult)\r\n      loadData();\r\n    document.title = \"Obstacles Result | Route Planning\";\r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname  });\r\n    }, []);\r\n\r\n  if (redirect === Pages.ObstaclesResult)\r\n  { \r\n    let map;\r\n    let mapLoader;\r\n\r\n    let linkItems = [\r\n      {link:Pages.Field, img:\"btn-field.png\", alt:\"Fill a field\", name:\"Field\"},\r\n      {link:Pages.Points, img:\"btn-points.png\", alt:\"Fill a fieldRoute through points\", name:\"Points\"},\r\n    ];\r\n\r\n    if (loaded) {     \r\n      map = <ResultMap \r\n        trajectoryPoints = {store.getState().fieldResult.points}\r\n        wayPoints = {[props.store.getState()?.obstacles?.start, props.store.getState()?.obstacles?.end]}\r\n        polygons = {props.store.getState()?.obstacles?.obstacles}   \r\n        areaPolygon = {props.store.getState()?.obstacles?.areaPolygon}          \r\n        wheelDistance = {props.store.getState()?.rover?.wheelDistance}\r\n        store = {props.store}\r\n        loaded = {loaded} \r\n        ref={instance => { resultMap = instance; }}\r\n        actualPointCallback={onChangeActualPoint}\r\n      />;\r\n    } else {\r\n      mapLoader = <><ResultMap store = {props.store} \r\n        wayPoints = {[props.store.getState()?.obstacles?.start, props.store.getState()?.obstacles?.end]}\r\n        polygons = {props.store.getState()?.obstacles?.obstacles}   \r\n        areaPolygon = {props.store.getState()?.obstacles?.areaPolygon}\r\n        loaded = {false} \r\n      /></>;\r\n    }\r\n    let positionOfRotationAxis = props.store.getState().rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = props.store.getState().rover.positionOfGnsReceiver;\r\n\r\n    return  <>\r\n      {!loaded && !error && <div className=\"spinner-overlay\">\r\n        <div className=\"spinner-border text-primary  text-brand\" role=\"status\" style={{ height: '3rem', width: '3rem' }}>\r\n          <span className=\"sr-only\"> Loading...</span>\r\n        </div>\r\n      </div>}\r\n\r\n      {!loaded && error && <div className=\"spinner-overlay error\">\r\n        <div className='spinner-onerror'>\r\n          <i className='icon icon-exclamation-triangle'></i>\r\n          <h4 className='mb-3'>Something went wrong...</h4>\r\n          <button type='button' className='btn btn-secondary' onClick={(e) => { setRedirect(Pages.Obstacles); }}>Try again</button>\r\n        </div>\r\n      </div>}\r\n\r\n      {/* [BLOCK] Map   TODO wheel distance*/}\r\n      <div className=\"interactive-block\">\r\n        {loaded? map: mapLoader}\r\n        <PrevSettings>\r\n          <PrevSettingsContent header ={\"Rover\"} link = {Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"}/>\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"} />}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"} />}\r\n          </PrevSettingsContent>\r\n          <PrevSettingsContent header ={\"Obstacles\"} link = {Pages.Obstacles}>\r\n            <PrevSettingsItem name={\"Num. of obstacles\"} value={props.store.getState()?.obstacles?.obstacles.length ?? 0}/>\r\n            <PrevSettingsItem name={\"Precision\"} value={props.store.getState()?.obstacles?.precision}/>\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      <ResultAside \r\n        onPlayAnimationClick={onPlayAnimationClick} \r\n        onAnimationStopClick={onAnimationStopClick} \r\n        onResetAnimationClick={onResetAnimationClick}\r\n        linkItems={linkItems} \r\n        loaded={loaded} \r\n        points={store.getState().fieldResult?.points?.points}\r\n        startPoint={props.store.getState()?.obstacles?.start}\r\n        store={props.store}\r\n        ref={instance => { aside = instance; }}\r\n        clickPointCallback={onClickPointCallback}\r\n        setAnimationSpeed={onSetAnimationSpeed}\r\n      />\r\n      <div className='alerts-container'>\r\n        {error && <Alert onClick = {(e) => { setRedirect(Pages.Obstacles);}} variant='danger'>{error}</Alert>}\r\n      </div>\r\n    </>\r\n  }\r\n  else {\r\n    return <Redirect to={redirect} />\r\n  }\r\n  \r\n  function loadData() {\r\n    let obstacles = props.store.getState().obstacles;\r\n    let rover = props.store.getState().rover;\r\n\r\n    Promise.all([Obstacles.getTrajectoryPoints(\r\n        rover,\r\n        obstacles\r\n      )]).then((values) => {\r\n\r\n      if (values[0].error) {\r\n        console.log(values[0].errorDetail);\r\n        setError( `${values[0].error}`);\r\n      }\r\n      else {\r\n        let points = JSON.parse(values[0].points);\r\n        store.dispatch(pointsLoaded({points: points}));\r\n        setLoaded(true);\r\n        //setResultPoints(points);\r\n        //this.forceUpdate();\r\n      }\r\n    })\r\n    .catch(error => {\r\n      setRedirect(Pages.Page500);\r\n      console.error(error.message);\r\n    });\r\n  }\r\n  function onPlayAnimationClick() {\r\n    resultMap.drawAnimation();\r\n  }\r\n  function onAnimationStopClick() {\r\n    resultMap.pauseAnimation();\r\n  }\r\n  function onResetAnimationClick() {\r\n    resultMap.redrawAnimation();\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(0);\r\n  }\r\n  function onSetAnimationSpeed(speed) {\r\n    resultMap.setAnimationSpeed(speed);\r\n  }\r\n  function onClickPointCallback(index) {\r\n    resultMap.clickPointCallback(index);\r\n  }\r\n  function onChangeActualPoint(index) {\r\n    if (aside?.actualPointCallback)\r\n      aside.actualPointCallback(index);\r\n  }\r\n};","import react from 'react';\r\n\r\nexport class RoverSvg extends react.Component{\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = { wheelDistance: props.wheelDistance, length:props.length, turningRadius: props.turningRadius  }\r\n  }\r\n  \r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({  wheelDistance: nextProps.wheelDistance, length:nextProps.length, turningRadius: nextProps.turningRadius  });  \r\n  }\r\n\r\n  render() {\r\n      return (  \r\n        <>\r\n      <div className=\"rover-block\">\r\n        <div className=\"rover-space-top\" />\r\n        <svg version=\"1.1\" id=\"Layer_1\" xmlns=\"http://www.w3.org/2000/svg\" xmlnsXlink=\"http://www.w3.org/1999/xlink\" x=\"0px\" y=\"0px\" viewBox=\"0 0 1198.432373 719\" style={{enableBackground: 'new 0 0 1198.432373 719'}} xmlSpace=\"preserve\">\r\n          <style type=\"text/css\" dangerouslySetInnerHTML={{__html: \"\\n\\t\\t.st0 {\\n\\t\\t\\topacity: 0.06;\\n\\t\\t\\tfill: #27DFD2;\\n\\t\\t}\\n\\n\\t\\t.st1 {\\n\\t\\t\\tfill: none;\\n\\t\\t\\tstroke: #27DFD2;\\n\\t\\t\\tstroke-width: 4;\\n\\t\\t}\\n\\n\\t\\t.st2 {\\n\\t\\t\\tfill: #FFFFFF;\\n\\t\\t}\\n\\n\\t\\t.st3 {\\n\\t\\t\\tfill: none;\\n\\t\\t\\tstroke: #54585A;\\n\\t\\t}\\n\\n\\t\\t.st4 {\\n\\t\\t\\tfill: none;\\n\\t\\t}\\n\\n\\t\\t.st5 {\\n\\t\\t\\tfill: none;\\n\\t\\t\\tstroke: #27DFD2;\\n\\t\\t\\tstroke-width: 2;\\n\\t\\t\\tstroke-dasharray: 20;\\n\\t\\t}\\n\\n\\t\\t.st6 {\\n\\t\\t\\tfill: none;\\n\\t\\t\\tstroke: #78BE20;\\n\\t\\t\\tstroke-width: 2;\\n\\t\\t}\\n\\n\\t\\t.st7 {\\n\\t\\t\\tfill: #78BE20;\\n\\t\\t}\\n\\n\\t\\t.st8 {\\n\\t\\t\\tfill: #27DFD2;\\n\\t\\t}\\n\\n\\t\\t.st9 {\\n\\t\\t\\tfont-family: 'Roboto-Bold';\\n\\t\\t}\\n\\n\\t\\t.st10 {\\n\\t\\t\\tfont-size: 24px;\\n\\t\\t}\\n\\t\" }} />\r\n          <g id=\"turningRadius-bg\" transform=\"translate(-168 378)\">\r\n            <circle className=\"st0\" cx=\"767.2161865\" cy=\"759.5821533\" r={811} />\r\n            <circle className=\"st1\" cx=\"767.2161865\" cy=\"759.5821533\" r={809} />\r\n          </g>\r\n          <g id=\"wayArrows\">\r\n            <path transform=\"matrix(0.66393993,0,0,1.0781041,105.95458,-30.823599)\" d=\"m 331.53821,359.61532 -48.19713,-27.82663 48.19714,-27.82662 z\" id=\"path877\" style={{opacity: '0.5', fill: '#c0c7ca', fillOpacity: 1, strokeWidth: '8.86475086'}} />\r\n            <path transform=\"matrix(0.66393993,0,0,1.0781041,57.95458,-30.823599)\" d=\"m 331.53821,359.61532 -48.19713,-27.82663 48.19714,-27.82662 z\" id=\"path889\" style={{opacity: '0.25', fill: '#c0c7ca', fillOpacity: 1, strokeWidth: '8.86475086'}} />\r\n            <path style={{opacity: '0.15', fill: '#c0c7ca', fillOpacity: 1, strokeWidth: '8.86475086'}} id=\"path893\" d=\"m 331.53821,359.61532 -48.19713,-27.82663 48.19714,-27.82662 z\" transform=\"matrix(0.66393993,0,0,1.0781041,9.9545798,-30.823599)\" />\r\n          </g>\r\n          <g id=\"Rover\" transform=\"translate(898.791 241.973) rotate(90)\">\r\n            <g transform=\"matrix(0, -1, 1, 0, -25.97, 1066.79)\">\r\n              <g id=\"Rectangle_1641-2\" transform=\"translate(1066.74 45) rotate(90)\">\r\n                <path className=\"st2\" d=\"M34.5821609,43.7837906h62.5879974c47.4964828,0,85.9999924,38.5035095,85.9999924,86.0000076v340.742981\r\n\t\t\t\tc0,47.4964905-38.5035095,86.0000305-85.9999924,86.0000305H34.5821609c-47.4964905,0-86-38.50354-86-86.0000305v-340.742981\r\n\t\t\t\tC-51.4178391,82.2873001-12.9143295,43.7837906,34.5821609,43.7837906z\" />\r\n                <path className=\"st3\" d=\"M34.5821609,44.2837906h62.5879974c47.2203445,0,85.4999924,38.2796555,85.4999924,85.5000076v340.743042\r\n\t\t\t\tc0,47.2203674-38.2796478,85.5000305-85.4999924,85.5000305H34.5821609c-47.2203484,0-85.5-38.2796631-85.5-85.5000305\r\n\t\t\t\tv-340.743042C-50.9178391,82.563446-12.6381874,44.2837906,34.5821609,44.2837906z\" />\r\n              </g>\r\n            </g>\r\n            <g id=\"Group_1744\" transform=\"translate(-0.201 -3.137)\">\r\n              <g id=\"Rectangle_1637\" transform=\"translate(31.479 34.443) rotate(30)\">\r\n                <path className=\"st2\" 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id=\"Path_369\" className=\"st1\" d=\"M-43.78479-38.7478409h25.3409977\" />\r\n            </g>\r\n          </g>\r\n          <g id=\"turningRadius-fg\" transform=\"translate(-168 378)\">\r\n            <circle className=\"st4\" cx=\"767.2161865\" cy=\"759.5821533\" r={811} />\r\n            <circle className=\"st5\" cx=\"767.2161865\" cy=\"759.5821533\" r={810} />\r\n          </g>\r\n          <g id=\"Length-arrow\">\r\n            <path id=\"Path_365\" className=\"st6\" d=\"M855.5302124,550.0331421V445.6211548\" />\r\n            <path id=\"Path_372\" className=\"st6\" d=\"M342.2652283,550.0331421V445.6211548\" />\r\n            <g id=\"Group_1595\" transform=\"translate(-39)\">\r\n              <path id=\"Path_371\" className=\"st6\" d=\"M381.2652283,534.5351562H894.531189\" />\r\n              <path id=\"Icon_material-chevron-left\" className=\"st7\" d=\"M389.9102173,529.1801758l-1.644989-1.6450195l-7,7l7,7l1.644989-1.6450195\r\n\t\t\t        l-5.3450012-5.3549805L389.9102173,529.1801758z\" />\r\n              <path id=\"Icon_material-chevron-left-2\" className=\"st7\" d=\"M886.2651978,529.1801758l1.6450195-1.6450195l7,7l-7,7\r\n\t\t\t        l-1.6450195-1.6459961l5.3430176-5.3540039L886.2651978,529.1801758z\" />\r\n            </g>\r\n          </g>\r\n          <g id=\"Width-arrow\">\r\n            <path id=\"Path_373\" className=\"st6\" d=\"M832.0401611,462.328125h104.4120483\" />\r\n            <path id=\"Path_374\" className=\"st6\" d=\"M832.0401611,190.9041595h104.4120483\" />\r\n            <g id=\"Group_1596\" transform=\"translate(970.078 242.322) rotate(90)\">\r\n              <path id=\"Path_371-2\" className=\"st6\" d=\"M-51.4178391,50.7837906H219.627182\" />\r\n              <path id=\"Icon_material-chevron-left-3\" className=\"st7\" d=\"M-42.7728386,56.1387901l-1.6450005,1.6450005l-7-7l7-7\r\n\t\t\t        l1.6450005,1.6450005l-5.3450012,5.3549995L-42.7728386,56.1387901z\" />\r\n              <path id=\"Icon_material-chevron-left-4\" className=\"st7\" d=\"M211.3611603,56.1387901l1.644989,1.6459999l7-7l-7-7l-1.644989,1.6450005\r\n\t\t\t        l5.3429871,5.3549995L211.3611603,56.1387901z\" />\r\n            </g>\r\n          </g>\r\n          <text id=\"roverRadiusText\" transform=\"matrix(1 0 0 1 598.5858154 302.6992188)\" className=\"st8 st9 st10\" style={{textAnchor: 'middle'}}>R: {this.state.turningRadius? this.state.turningRadius : \"_____\"} m</text>\r\n          <text id=\"roverLengthText\" transform=\"matrix(1 0 0 1 599.0879517 519.5351562)\" className=\"st7 st9 st10\" style={{textAnchor: 'middle'}}>L: {this.state.length? this.state.length : \"_____\"} m</text>\r\n          <text id=\"roverWidthText\" transform=\"matrix(6.123234e-17 -1 1 6.123234e-17 898.9481812 326.6162109)\" className=\"st7 st9 st10\" style={{textAnchor: 'middle'}}> W: {this.state.wheelDistance? this.state.wheelDistance : \"_____\"} m</text>\r\n        </svg>\r\n        <div className=\"rover-space-bottom\" />\r\n        </div>\r\n        </>\r\n      );\r\n    }\r\n  };","import react from 'react';\r\nimport { Link } from \"react-router-dom\";\r\n\r\nexport default class CardButton extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = {\r\n      label: props.label,\r\n      linkTo: props.linkTo,\r\n      img: props.img,\r\n      alt: props.alt,\r\n      onClick: props.onClick\r\n    };\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    this.state.onChange = undefined;\r\n  }\r\n\r\n  componentWillReceiveProps(props) {\r\n    this.setState(\r\n      {\r\n        label: props.label,\r\n        linkTo: props.linkTo,\r\n        img: props.img,\r\n        alt: props.alt,\r\n        onClick: props.onClick\r\n      });\r\n  }\r\n\r\n  render() {\r\n    return <Link className=\"card\"\r\n      to={this.state.linkTo}\r\n      onClick={(e) => {\r\n        if (this.state.onClick\r\n          && !this.state.onClick()) {\r\n          e.preventDefault()\r\n        }\r\n      }}\r\n    >\r\n        <img src={this.state.img} className={`card-img-top object-fit-cover`} alt={this.state.alt} style={{ width: '100%', height: '6rem' }} />\r\n        <div className=\"card-body p-2\">\r\n          <h5 className=\"card-title heading hover-highlight text-center mb-0\">{this.state.label}</h5>\r\n        </div>\r\n    </Link>\r\n  }\r\n}","import react from 'react';\n\nexport class AsideLayout extends react.Component {\n  constructor(props) {\n    super(props);\n    this.state = { header: props.header  };\n  }\n\n  render() {\n    return <div className=\"aside-block\">\n    <div className=\"aside-content-container\">\n      <div className=\"aside-content\">\n        <div>\n          <h1 className=\"h2-size heading mb-6 mt-4\">\n            {this.state.header}\n          </h1>\n          <form>\n            {this.props.children}\n          </form>\n        </div>\n      </div>\n    </div>\n  </div>\n  }\n}","import react from 'react';\n\n//width enum\n\nexport const inputWIdth = {\n\tW25: 'w-25',\n  W50: 'w-50',\n  W75: 'w-75',\n  W100: 'w-100'\n}\n\nexport class Input extends react.Component {\n  constructor(props) {\n    super(props);\n    this.state = { \n      label: props.label, \n      htmlFor: props.htmlFor, \n      props: props.placeholder, \n      value: props.value, \n      error: props.error, \n      onChange: props.onChange,\n      min: props.min,\n      max: props.max,\n      unit: props.unit,\n      width: props.width\n    };\n  }\n\n  componentWillUnmount () {\n    this.state.onChange = undefined;\n  }\n\n  componentWillReceiveProps(props) {\n    this.setState(\n      { \n        label: props.label, \n        htmlFor: props.htmlFor, \n        props: props.placeholder, \n        value: props.value, \n        error: props.error, \n        onChange: props.onChange,\n        min: props.min,\n        max: props.max,\n        unit: props.unit\n      });  \n  }\n\n  render() {\n\n    let inputClassName = \"form-control\" + (this.state.error ? \" input-validation-error\" : \"\");\n    let showValidationFeedback =  this.state.error? \" input-validation-error\": \"\";\n    let width = this.state.width ? this.state.width : inputWIdth.W50;\n    return  <div className=\"form-group\">\n    <label htmlFor={this.state.htmlFor}>{this.state.label}</label>\n    <div className={`input-group ${width}`}>\n      <input type=\"number\" \n        id={this.state.htmlFor} \n        className={inputClassName}\n        placeholder={this.state.placeholder} \n        value={this.state.value} \n        onChange={this.state.onChange}\n        min = {this.state.min}\n        max = {this.state.max}\n      />\n      <label htmlFor={this.state.htmlFor} className=\"text-fade-color font-weight-light\"> [{this.state.unit}]</label>\n    </div>\n      <span className={`invalid-feedback ${showValidationFeedback}`}>{this.state.error}</span>\n  </div>\n  }\n}","import react from 'react';\r\n\r\nexport class Checkbox extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = { \r\n      label: props.label, \r\n      htmlFor: props.htmlFor, \r\n      props: props.placeholder, \r\n      value: props.value, \r\n      error: props.error, \r\n      onChange: props.onChange,\r\n      className: props.className ? props.className : \"\"\r\n    };\r\n  }\r\n\r\n  componentWillReceiveProps(props) {\r\n    this.setState(\r\n      { \r\n        label: props.label, \r\n        htmlFor: props.htmlFor, \r\n        props: props.placeholder, \r\n        value: props.value, \r\n        error: props.error, \r\n        onChange: props.onChange,\r\n        className: props.className ? props.className : \"\"\r\n      });  \r\n  }\r\n\r\n  render() {\r\n    return <div className={`checkbox-group ${this.state.className}`}>\r\n      <input type=\"checkbox\" className=\"form-check-input\"  id={this.state.htmlFor} checked={this.state.value} onChange={this.state.onChange}/>\r\n      <label htmlFor={this.state.htmlFor}>\r\n        {this.state.label}\r\n      </label>\r\n    </div>\r\n  }\r\n}","import react from 'react';\r\nexport default class Modal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      header: props.header,\r\n      hideAction: props.hideAction\r\n    };\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    if (!this.state.show)\r\n      return <div></div>;\r\n    //const showHideClassName = this.state.show ? \"modal fade show\" : \"modal fade\";\r\n    return (\r\n      <>\r\n        <div className=\"modal fade show\" tabIndex={-1} role=\"dialog\" aria-labelledby=\"infoRouteGeneratorsTitle\" aria-hidden=\"true\" style= {{display:\"block\"}} onClick={\r\n          () => this.setState({show:false})\r\n        }>\r\n          <div className=\"modal-dialog\" role=\"document\" onClick={(e) => e.stopPropagation()}>\r\n            <div className=\"modal-content\">\r\n              <div className=\"modal-header\">\r\n                <h2 className=\"modal-title\" id=\"infoRouteGeneratorsTitle\">{this.props.header}</h2>\r\n              </div>\r\n              <div className=\"modal-body\">\r\n                {this.props.children}\r\n              </div>\r\n              <div className=\"modal-footer\">\r\n                <button type=\"button\" className=\"btn btn-outline-secondary modal-btn\" data-dismiss=\"modal\" onClick= {this.state.hideAction}\r\n                  >Close</button>\r\n              </div>\r\n            </div>\r\n        </div>\r\n      </div>\r\n    </>\r\n    );\r\n  }\r\n}","import Modal from \"../components/modal\";\r\nimport react from 'react';\r\n\r\nexport default class RoutePlaningInfoModal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      hideAction: props.hideAction\r\n    };\r\n    this.handleClickOutside = this.handleClickOutside.bind(this);\r\n  }\r\n\r\n  componentDidMount() {\r\n    document.addEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    document.removeEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  handleClickOutside() {\r\n    this?.state?.hideAction && this?.state.hideAction();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <Modal show = {this.state.show} header = { \"Route planning generators\" } hideAction = {this.state.hideAction}>\r\n          <div>\r\n            <div className=\"mb-6\">\r\n              <h3 className=\"h4-font-size subheading\">Field</h3>\r\n              <p>This generator will create a route that will cover an area. You can define your area and set angle and distance of a rows. Also you can choose if you want a route around the perimeter.</p>\r\n              <img src=\"./generators-field.png\" alt=\"Fill a field generator\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n            </div>\r\n            <div className=\"mb-6\">\r\n              <h3 className=\"h4-font-size subheading\">Obstacles</h3>\r\n              <p>This generator will find the best way around obstacles. </p>\r\n              <img src=\"./generators-obstacles.png\" alt=\"Find the best route generator\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n            </div>\r\n            <div className=\"mb-6\">\r\n              <h3 className=\"h4-font-size subheading\">Points</h3>\r\n              <p>This generator will find the best way through defined points. The points can be directed or undirected.</p>\r\n              <img src=\"./generators-points.png\" alt=\"Route through points generator\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n            </div>\r\n          </div>\r\n        </Modal>\r\n      </>\r\n    );\r\n  }\r\n};","import Modal from \"../components/modal\";\r\nimport react from 'react';\r\n\r\nexport default class RoverExtendedOptionsModal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      hideAction: props.hideAction\r\n    };\r\n    this.handleClickOutside = this.handleClickOutside.bind(this);\r\n  }\r\n\r\n  componentDidMount() {\r\n    document.addEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    document.removeEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  handleClickOutside() {\r\n    this?.state?.hideAction && this?.state.hideAction();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <Modal show = {this.state.show} header = {\"Rover - extended options\"} hideAction = {this.state.hideAction}>\r\n            <div className=\"mb-6\">\r\n              <h3 className=\"h4-font-size subheading\">Position of axis of rotation</h3>\r\n              <p>You can set the distance from rear point of your rover for your axis of rotation.</p>\r\n              <img src=\"../rover-axisOfRotation.png\" alt=\"Position of axis of rotation\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n            </div>\r\n            <div className=\"mb-6\">\r\n              <h3 className=\"h4-font-size subheading\">Position of GNSS receiver</h3>\r\n              <p>You can set the distance from rear point of your rover for your axis of rotation.</p>\r\n              <img src=\"../rover-gpsReceiver.png\" alt=\"Position of GNSS receiver\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n            </div>\r\n        </Modal>\r\n      </>\r\n    );\r\n  }\r\n};","const ValidationType = {\r\n\tNumberGreaterThanZero : \"NumberGreaterThanZero\",\t\r\n\tNumberGreaterThanZeroOrZero : \"NumberGreaterThanZeroOrZero\",\r\n\tNumberGreaterThanZeroOrZeroOrEmpty : \"NumberGreaterThanZeroOrZeroOrEmpty\",\r\n\tMandatoryText : \"MandatoryText\",\r\n  }\r\n\r\n export default ValidationType;","import React, { useEffect } from \"react\";\r\nimport { roverAdded } from './action';\r\nimport {Redirect} from 'react-router-dom';\r\nimport {RoverSvg} from './partials/rover-svg';\r\nimport Pages from './enums/pages';\r\nimport CardButton from './components/cardButton';\r\nimport { AsideLayout } from './components/asideLayout';\r\nimport { Input, inputWIdth } from './components/input';\r\nimport { Checkbox } from './components/checkbox';\r\nimport RoutePlaningInfoModal from './modals/routePlaningInfo';\r\nimport RoverExtendedOptionsModal from  './modals/roverExtendedOptions';\r\nimport ValidationType from './enums/validationType';\r\nimport { IsReady } from './agent';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst initWheelDistance = 2;\r\nconst initLength = 5;\r\nconst initTurningRadius = 8;\r\n\r\nexport function Rover(props) {\r\n  const [fields, setFields] = \r\n    React.useState(\r\n      {\r\n        \"wheelDistance\": props.store.getState()?.rover?.wheelDistance ?? 0,\r\n        \"length\": props.store.getState()?.rover?.length ?? 0,\r\n        \"turningRadius\": props.store.getState()?.rover?.turningRadius ?? 0,\r\n        \"positionOfGnsReceiver\": props.store.getState()?.rover?.positionOfGnsReceiver,\r\n        \"positionOfRotationAxis\": props.store.getState()?.rover?.positionOfRotationAxis,    \r\n      });\r\n\r\n  const [errors, setErrors] = React.useState({});  \r\n  const [showRoutePlaningInfoModal, setShowRoutePlaningInfoModal] =  React.useState(false);  \r\n  const [extendedOptionsToggler, setExtendedOptionsToggler] = React.useState(props.store?.rover?.positionOfGnsReceiver || props.store?.rover?.positionOfRotationAxis);  \r\n  const [showRoverExtendedOptionsModal, setShowRoverExtendedOptionsModal] = React.useState(false);   \r\n  const [redirect, setRedirect] = React.useState(Pages.Rover);\r\n\r\n  useEffect(() => {\r\n    const unsubscribe =subscribeToStore();\r\n    loadIsReady();\r\n    if (!areRoverDataAlreadySet()) {\r\n      setDefaultsToStore();\r\n    }\r\n    document.title = \"Rover | Route Planning\";\r\n    return () => {\r\n      unsubscribe();\r\n    }\r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname });\r\n    }, []);\r\n\r\n  function setDefaultsToStore() {\r\n    props.store.dispatch(roverAdded({wheelDistance:initWheelDistance}));\r\n    props.store.dispatch(roverAdded({length:initLength}));\r\n    props.store.dispatch(roverAdded({turningRadius:initTurningRadius}));\r\n  }\r\n\r\n  function subscribeToStore() {\r\n    return props.store.subscribe(() => {    \r\n      setFields({\r\n        \"wheelDistance\": props.store.getState().rover.wheelDistance,\r\n        \"length\": props.store.getState().rover.length,\r\n        \"turningRadius\": props.store.getState().rover.turningRadius,\r\n        \"positionOfGnsReceiver\": props.store.getState().rover.positionOfGnsReceiver,\r\n        \"positionOfRotationAxis\": props.store.getState().rover.positionOfRotationAxis\r\n      })\r\n    });\r\n  }\r\n\r\n  function areRoverDataAlreadySet() {\r\n    return props.store.getState()?.rover && !isObjectEmpty(props.store.getState()?.rover);\r\n  }\r\n\r\n  function processNumber(value, min, max) {\r\n    if (!value)\r\n      return value;\r\n    if (value < min)\r\n      return min;\r\n    if (value > max)\r\n      return max;\r\n\r\n    return value;\r\n  }\r\n\r\n  function handleValidation() {\r\n    let error = {};\r\n    return (checkValueIsSetOrAddError(\"wheelDistance\", ValidationType.NumberGreaterThanZero, error)\r\n      & checkValueIsSetOrAddError(\"length\", ValidationType.NumberGreaterThanZero, error)\r\n      & checkValueIsSetOrAddError(\"turningRadius\", ValidationType.NumberGreaterThanZeroOrZero, error))\r\n      & checkLowerThanLength(\"positionOfGnsReceiver\", error)\r\n      & checkLowerThanLength(\"positionOfRotationAxis\", error, true);\r\n  }\r\n\r\n  function checkValueIsSetOrAddError(propertyName, validationType, error, setState = false) {\r\n    let result = true;\r\n    if (validationType === ValidationType.NumberGreaterThanZero) {\r\n      if ((fields[propertyName] === \"\" || isNaN(fields[propertyName])) || parseFloat(fields[propertyName]) <= 0) {\r\n        error[propertyName] = \"Must be a number greater than zero.\";\r\n        result = false;\r\n      }\r\n    }\r\n    else if (validationType === ValidationType.NumberGreaterThanZeroOrZero) {\r\n      if ((fields[propertyName] === \"\" || isNaN(fields[propertyName])) || parseFloat(fields[propertyName]) < 0) {\r\n        error[propertyName] = \"Must be a number greater than or equal to 0.\";\r\n        result = false;\r\n      }\r\n    }\r\n    if (setState && !isObjectEmpty(error))\r\n      setErrors(error);\r\n    return result;\r\n  }\r\n\r\n  function checkLowerThanLength(propertyName, error, setState = false) {\r\n      let result = true;\r\n \r\n      if (!isNaN(fields[propertyName]) && !isNaN(fields[\"length\"]) && parseFloat(fields[propertyName]) > parseFloat(fields[\"length\"])) {\r\n        error[propertyName] = \"Must be shorter than or equal to the length.\";\r\n        result = false;\r\n      }\r\n      \r\n      if (setState && !isObjectEmpty(error))\r\n        setErrors(error);\r\n      return result;\r\n  }\r\n\r\n  function isObjectEmpty(obj) {\r\n    return obj\r\n    && Object.keys(obj).length === 0\r\n    && Object.getPrototypeOf(obj) === Object.prototype\r\n  }\r\n\r\n  function loadIsReady() {\r\n    Promise.all([IsReady.testRequests()]).then(() => {\r\n    })\r\n    .catch(error => {\r\n      //404\r\n      setRedirect(Pages.Page500);\r\n    });\r\n  }\r\n\r\n  if (redirect === Pages.Rover)\r\n  {\r\n      let isValid = !isObjectEmpty(errors);\r\n      return   (  \r\n        <>\r\n          <div className='interactive-block'>\r\n            <RoverSvg wheelDistance={fields[\"wheelDistance\"]} length={fields[\"length\"]} turningRadius={fields[\"turningRadius\"]} />\r\n          </div>\r\n          {/* [BLOCK] Aside */}\r\n          <AsideLayout header = {\"Your rover\"} >\r\n            <div className=\"mb-7\">\r\n              <Input label = {\"Rover width\"} htmlFor = {\"rowerWidth\"} placeholder = {\"Meters\"} value = {fields[\"wheelDistance\"]}\r\n                  error = {errors[\"wheelDistance\"]} unit = {\"m\"} store = {props.store}\r\n                  onChange ={(e) => { props.store.dispatch(roverAdded({wheelDistance: processNumber(e.target.value, 0, 100)})) }}\r\n              />\r\n              <Input label = {\"Rover length\"} htmlFor = {\"roverLength\"} placeholder = {\"Meters\"} value = {fields[\"length\"]}\r\n                  error = {errors[\"length\"]} unit = {\"m\"} store = {props.store}\r\n                  onChange ={(e) => { props.store.dispatch(roverAdded({length:processNumber(e.target.value, 0, 100)})) } }\r\n              />\r\n              <Input label = {\"Turning radius\"} htmlFor = {\"turningRadius\"} placeholder = {\"Meters\"} value = {fields[\"turningRadius\"]}\r\n                  error = {errors[\"turningRadius\"]} unit = {\"m\"} store = {props.store}\r\n                  onChange ={(e) => { props.store.dispatch(roverAdded({turningRadius:processNumber(e.target.value, 0, 1000)})) }}                    \r\n              />\r\n              <Checkbox label = {\"Extended options\"} className=\"mt-4\" htmlFor = {\"extendedOptionsToggler\"} value = {extendedOptionsToggler}\r\n                onChange ={(e) => { \r\n                    setExtendedOptionsToggler(!extendedOptionsToggler);\r\n                    setShowRoutePlaningInfoModal(false);\r\n                    setShowRoverExtendedOptionsModal(false);\r\n                  }\r\n                }\r\n                />\r\n              {extendedOptionsToggler\r\n                && (<div className=\"section-container form-section-block mt-2 collapse show\" id=\"extendedOptions\">\r\n                  <Input label = {\"Position of axis of rotation (from back)\"} htmlFor = {\"positionOfRotationAxis\"} placeholder = {\"Centimetres\"} value = {fields[\"positionOfRotationAxis\"]}\r\n                      width = {inputWIdth.W75}\r\n                      error = {errors[\"positionOfRotationAxis\"]} unit = {\"m\"} store = {props.store}\r\n                      onChange ={(e) => { props.store.dispatch(roverAdded({positionOfRotationAxis:processNumber(e.target.value, 0, 100)})) }}                    \r\n                  />\r\n\r\n                  <Input label = {\"Position of GNSS receiver (from back)\"} htmlFor = {\"positionOfGnsReceiver\"} placeholder = {\"Centimetres\"} value = {fields[\"positionOfGnsReceiver\"]}\r\n                      width = {inputWIdth.W75}\r\n                      error = {errors[\"positionOfGnsReceiver\"]} unit = {\"m\"} store = {props.store}\r\n                      onChange ={(e) => { props.store.dispatch(roverAdded({positionOfGnsReceiver:processNumber(e.target.value, 0, 100)})) }}                    \r\n                  />\r\n                  <button type=\"button\" className=\"btn btn-blank text-fade-color mt-2\" onClick = {(e) => {\r\n                          setShowRoverExtendedOptionsModal(true);\r\n                          setShowRoutePlaningInfoModal(false);                    \r\n                        }\r\n                      }\r\n                    >\r\n                    <i className=\"icon icon-info-circle h4-font-size mr-2\" />\r\n                    Help\r\n                  </button>\r\n                </div>\r\n                  )}        \r\n            </div>   \r\n            <div>\r\n              <div className=\"d-flex justify-content-between align-items-baseline\">\r\n                <h2 className=\"h4-font-size subtitle\">Choose generator</h2>\r\n                <button type=\"button\" className=\"btn btn-blank h4-font-size text-fade-color\" onClick = {(e) => {\r\n                    setShowRoutePlaningInfoModal(true);\r\n                    setShowRoverExtendedOptionsModal(false);                  \r\n                  }\r\n                }>\r\n                  <i className=\"icon icon-info-circle\" />\r\n                </button>\r\n              </div>\r\n              {/*card buttons*/}\r\n              <div className=\"aside-content d-grid grid-autofill-3 grid-gap-2\">\r\n                {<CardButton  label= {\"Field\"} img= {\"btn-field.png\"} alt = {\"Fill a field\"}\r\n                  enabled = {isValid} linkTo = {Pages.Field} onClick = {handleValidation}             \r\n                />}\r\n                <CardButton  label= {\"Obstacles\"} img= {\"btn-obstacles.png\"} alt = {\"Find the best route\"}\r\n                  enabled = {isValid} linkTo = {Pages.Obstacles} onClick = {handleValidation}    \r\n                />\r\n                <CardButton label= {\"Points\"} img= {\"btn-points.png\"} alt = {\"Route through points\"}\r\n                  enabled ={isValid} linkTo = {Pages.Points} onClick = {handleValidation}    \r\n                />                                                    \r\n              </div>\r\n            </div>\r\n            <div className=\"section-group mt-4\">                              \r\n          </div>\r\n          </AsideLayout>  \r\n          <RoutePlaningInfoModal show = { showRoutePlaningInfoModal } hideAction = { () => {setShowRoutePlaningInfoModal(false)}}/>\r\n          <RoverExtendedOptionsModal  show = { showRoverExtendedOptionsModal } hideAction = { () => {setShowRoverExtendedOptionsModal(false)}}/>\r\n      </>);\r\n    }\r\n    else\r\n      return <Redirect to={redirect} />\r\n  };","import React from \"react\";\nconst MapContext = new React.createContext();\nexport default MapContext;","import React, { useRef, useState, useEffect } from \"react\"\r\nimport \"./map.css\";\r\nimport MapContext from \"./mapContext\";\r\nimport * as ol from \"ol\";\r\nimport * as control from 'ol/control';\r\nimport 'ol/ol.css';\r\n\r\nconst Map = ({ children, zoom, center, onSetZoom, extent, onSetMap, projection, activeTool }) => {\r\n  const mapRef = useRef();\r\n  const [map, setMap] = useState(null);\r\n  //called by parent\r\n   /*eslint-disable no-unused-vars*/\r\n  function setPosition(dataExtent) {\r\n    if (dataExtent)\r\n      map.getView().fit(dataExtent, map.getSize());\r\n  }\r\n  /*eslint-enable no-unused-vars*/\r\n  \r\n  const getCursorClass = () => {\r\n    if (['start', 'end', 'areaPolygon', 'obstacles', 'points'].includes(activeTool)) {\r\n      return 'cursor-crosshair';\r\n    }\r\n    return 'cursor-auto';\r\n  }\r\n\r\n  // on component mount\r\n  useEffect(() => {\r\n    let mapOptions = undefined;\r\n    if (zoom && center && projection)\r\n      mapOptions = { zoom, center, projection };\r\n    let options = {\r\n      view: new ol.View(mapOptions),\r\n      layers: [],\r\n      controls: control.defaults({ attribution: false, zoom : true, rotate: false }),\r\n      overlays: []\r\n    };\r\n    let mapObject = new ol.Map(options);\r\n\r\n    onSetMap(mapObject);\r\n    onSetZoom(mapObject.getView().getZoom(), true);\r\n\r\n    mapObject.getView().on('propertychange', function(e) {\r\n      switch (e.key) {\r\n         case 'resolution':\r\n          onSetZoom(mapObject.getView().getZoom(), false);\r\n           break;\r\n        default:\r\n          break;           \r\n      }\r\n   });\r\n\r\n    mapObject.setTarget(mapRef.current);\r\n    setMap(mapObject);\r\n    return () => mapObject.setTarget(undefined);\r\n  }, []);  // eslint-disable-line react-hooks/exhaustive-deps\r\n  // zoom change handler\r\n  useEffect(() => {\r\n    if (!map) return;\r\n    if (!zoom) return;\r\n    map.getView().onSetZoom && map.getView().onSetZoom(zoom, false);\r\n  }, [zoom]); // eslint-disable-line react-hooks/exhaustive-deps\r\n  // center change handler\r\n  useEffect(() => {\r\n    if (!map) return;\r\n    if (!center) return;\r\n    map.getView().setCenter(center)\r\n  }, [center]); // eslint-disable-line react-hooks/exhaustive-deps\r\n  return (\r\n    <MapContext.Provider value={{ map }}>\r\n      <div ref={mapRef} className={\"ol-map \" + getCursorClass()}>\r\n        {children}\r\n      </div>\r\n    </MapContext.Provider>\r\n  )\r\n}\r\nexport default Map;","import React from \"react\";\nconst Layers = ({ children }) => {\n  return <div>{children}</div>;\n};\nexport default Layers;","import { useContext, useEffect } from \"react\";\r\nimport MapContext from \"./mapContext\";\r\nimport OLTileLayer from \"ol/layer/Tile\";  \r\nconst TileLayer = ({ source, zIndex = 0 }) => {\r\n  const { map } = useContext(MapContext); \r\n  useEffect(() => {\r\n    if (!map) return;\r\n    \r\n    let tileLayer = new OLTileLayer({\r\n      source,\r\n      zIndex,\r\n    });\r\n    map.addLayer(tileLayer);\r\n    tileLayer.setZIndex(zIndex);\r\n    return () => {\r\n      if (map) {\r\n        map.removeLayer(tileLayer);\r\n      }\r\n    };\r\n  }, [map]); // eslint-disable-line react-hooks/exhaustive-deps\r\n  return null;\r\n};\r\nexport default TileLayer;","import { useContext, useEffect } from \"react\";\r\nimport MapContext from \"./mapContext\";\r\nimport OLVectorLayer from \"ol/layer/Vector\";\r\nconst VectorLayer = ({ source, style, zIndex = 0 }) => {\r\n  const { map } = useContext(MapContext);\r\n  useEffect(() => {\r\n    if (!map) return;\r\n    let vectorLayer = new OLVectorLayer({\r\n      source,\r\n      style\r\n    });\r\n    map.addLayer(vectorLayer);\r\n    vectorLayer.setZIndex(zIndex);\r\n    return () => {\r\n      if (map) {\r\n        map.removeLayer(vectorLayer);\r\n      }\r\n    };\r\n  }, [map]); // eslint-disable-line react-hooks/exhaustive-deps\r\n  return null;\r\n};\r\nexport default VectorLayer;","import { useContext, useEffect } from \"react\";\r\nimport * as olInteraction from 'ol/interaction';\r\nimport MapContext from \"./mapContext\";\r\nimport drawState  from '../enums/drawState';\r\n\r\nconst Interaction = ({ state, drawSource, deletePreviousPolygonCallback }) => {\r\n  const { map } = useContext(MapContext);\r\n  useEffect(() => {\r\n    if (!map) return;\r\n    let draw = null;\r\n\r\n    //callback?\r\n    let point = state === drawState.START || state === drawState.END || state === drawState.POINTS;\r\n\r\n    if (point === true) {\r\n      draw = new olInteraction.Draw({\r\n          source: drawSource,\r\n          type: \"LineString\",\r\n          maxPoints: 2,\r\n          condition: function(e) {\r\n            // when the point's button is 1(leftclick), allows drawing\r\n            if (e?.originalEvent?.buttons === 1) { \r\n              return true;\r\n            } else {\r\n              return false;\r\n            }\r\n          }\r\n      });\r\n    }\r\n    else if (point === false) {\r\n      draw = new olInteraction.Draw({\r\n        source: drawSource,\r\n        type: \"Polygon\",\r\n        condition: function(e) {\r\n          // when the point's button is 1(leftclick), allows drawing\r\n          if (e?.originalEvent?.buttons === 1) { \r\n              deletePreviousPolygonCallback();\r\n            return true;\r\n          } else {\r\n            return false;\r\n          }\r\n        }\r\n    });\r\n    }\r\n    if (draw)\r\n      map.addInteraction(draw);\r\n\r\n    return () => {\r\n      if (map) {\r\n        map.removeInteraction(draw);\r\n      }\r\n    };\r\n  }, [map]); // eslint-disable-line react-hooks/exhaustive-deps\r\n  return null;\r\n};\r\nexport default Interaction;","import React from \"react\";\r\nimport * as source from 'ol/source';\r\nimport Feature from 'ol/Feature';\r\nimport * as geom from 'ol/geom';\r\nimport * as style from 'ol/style';\r\nimport * as proj from 'ol/proj';\r\nimport {  v4 as uuid } from 'uuid';\r\nimport drawState, {doNotAutochangeState}  from '../enums/drawState';\r\nimport Map from \"../mapComponent/map\";\r\nimport Layers from \"../mapComponent/layers\";\r\nimport TileLayer from \"../mapComponent/tileLayer\";\r\nimport VectorLayer  from \"../mapComponent/vectorLayer\";\r\nimport Interaction from \"../mapComponent/interaction\";\r\nimport pointType from \"../enums/pointType\";\r\nimport * as ContextMenu from 'ol-contextmenu';\r\nimport  'ol-contextmenu/dist/ol-contextmenu.min.css';\r\nimport Cookies from 'universal-cookie';\r\n\r\nclass InputMap1 extends React.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state ={\r\n      drawState: props.drawState,\r\n    };\r\n\r\n    this.drawStateHandler = props.drawStateHandler;\r\n    this.drawScenario = props.drawScenario;\r\n    this.removeScenario = props.removeScenario;\r\n    this.getFeatureIdBystate = props.getFeatureIdBystate;\r\n    this.getPreventUnorientedPoint = props.getPreventUnorientedPoint;\r\n    this.linesBetweenPoints = props.linesBetweenPoints;\r\n    this.props = props;\r\n    this.drawSource = new source.Vector();\r\n    this.displaySource = new source.Vector();\r\n    this.displayLineSource = new source.Vector();\r\n    this.addFeatureKey = undefined;\r\n    this.init = true;\r\n    //this.childRef = createRef();\r\n    this.hadDrawnItems = this.hasDrawnItems(props);\r\n    this.zoom = this.hadDrawnItems? undefined: this.tryGetLastZoom();\r\n    this.maxDrawZoom = props.maxDrawZoom;\r\n    this.map = null;\r\n    this.start = props.start;\r\n    this.end = props.end;\r\n    this.points = props.points;\r\n    this.onZoomChanged = props.onZoomChanged;\r\n    this.removeMarkerItem = {\r\n      text: 'Remove this Feature',\r\n      classname: 'marker',\r\n      callback: this.removeItem.bind(this)\r\n    };\r\n    this.noActionitem = {\r\n      text: 'No action',\r\n      classname: 'marker'\r\n    };\r\n    this.contextMenuItems = [\r\n      {\r\n        text: 'No actions',\r\n        classname: 'bold',\r\n        //icon: centerIcon,\r\n        callback: null\r\n      }\r\n    ];\r\n    this.contextmenu = null;\r\n    this.lastUserLocationSet = false;\r\n    if (this.state.drawState !== drawState.NONE) {    \r\n      this.addFeatureKey = this.drawSource.on(\"addfeature\", (e) => this.addFeature(e));\r\n      this.beforeFeatureAddedKey = this.drawSource.on(\"add \", (e) => this.beforeFeatureAdded(e));\r\n    }\r\n  }\r\n\r\n  componentDidMount() {\r\n    this.setLocationFromBrowserIfNeeded();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    //if map was cleared\r\n    if (this.hadDrawnItems && this.hasNoDrawnItems(nextProps)) {\r\n        this.setState({ drawState: drawState.START });\r\n        this.clear_inputs();\r\n        if (!this.addFeatureKey)\r\n        this.addFeatureKey  = this.drawSource.on(\"addfeature\", (e) => this.addFeature(e));\r\n        if (!this.beforeFeatureAddedKey)\r\n        this.beforeFeatureAddedKey = this.drawSource.on(\"add \", (e) => this.beforeFeatureAddedKey(e));    \r\n        this.hadDrawnItems = false;  \r\n    }\r\n\r\n    //nastaveni draw source pokud ma byt a neni\r\n    if (nextProps.drawState !== drawState.NONE) {\r\n      if (!this.addFeatureKey)\r\n        this.addFeatureKey = this.drawSource.on(\"addfeature\", (e) => this.addFeature(e));\r\n    }\r\n    //actualize draw state\r\n    if (nextProps.drawState !== this.state.drawState) {\r\n      this.setState({drawState: nextProps.drawState});\r\n    }\r\n\r\n    //set features\r\n    this.start = nextProps.start;\r\n    this.end = nextProps.end;\r\n    this.points = nextProps.points;\r\n    \r\n    //redraw lines between points\r\n    if (this.linesBetweenPoints)\r\n      this.redrawLinesBetweenPonts();\r\n\r\n    this.hasDrawItems = this.hasDrawnItems(nextProps);\r\n  }\r\n\r\n  hasDrawnItems(props) {\r\n    return props.start || props.end || props.areaPolygon \r\n    || (props.points && props.points.length > 0) \r\n    || (props.polygons && props.polygons.length > 0);\r\n  }\r\n\r\n  hasNoDrawnItems(nextProps) {\r\n    return !nextProps.start && !nextProps.end && !nextProps.areaPolygon \r\n    && (!nextProps.points || nextProps.points.length === 0) \r\n    && (!nextProps.polygons || nextProps.polygons.length === 0);\r\n  }\r\n\r\n  render() {\r\n    let location = this.getLocation() ?? [-10771353.18, 3810003.67];\r\n\r\n    let mapCenter = undefined;\r\n    let zoom = this.zoom;\r\n    if (this.init) {\r\n      mapCenter = location;\r\n      zoom = this.zoom ? this.zoom: 8\r\n      this.init = false;\r\n    }\r\n\r\n      return <>\r\n        <Map name=\"Map\" center={mapCenter} projection={'EPSG:3857'} zoom={zoom} onSetZoom ={this.onSetZoom.bind(this)} /*ref={this.childRef} */onSetMap = {this.onSetMap.bind(this)} activeTool={this.state.drawState}>\r\n          {this.isInDrawPointState() && <Interaction state = {this.state.drawState } drawSource = {this.drawSource}/>}\r\n          {this.isInDrawPolygonState() && <Interaction state = {this.state.drawState } drawSource = {this.drawSource} deletePreviousPolygonCallback = {this.deletePreviousPolygonCallback.bind(this)}/>}\r\n          <Layers>\r\n            <TileLayer name=\"TileLayer\" source={new source.OSM()} zIndex={0} />\r\n            <VectorLayer name=\"Layer1\"  source={this.drawSource} />\r\n            <VectorLayer name=\"Layer2\"  source={this.displayLineSource} style = {this.displayLineStyleFunction.bind(this)}/>\r\n            <VectorLayer name=\"Layer3\"  source={this.displaySource} style = {this.displayStyleFunction.bind(this)} />\r\n          </Layers>\r\n        </Map>\r\n      </>;\r\n  }\r\n\r\n  setLastZoom(zoom) {\r\n    const cookies = new Cookies();\r\n    cookies.set('lastZoom', JSON.stringify(zoom), { path: '/', sameSite: true });\r\n  }\r\n\r\n  tryGetLastZoom() {\r\n    const cookies = new Cookies();\r\n    let lastZoom = cookies.get('lastZoom');\r\n    if (!isNaN(lastZoom)) {\r\n      return parseFloat(lastZoom);\r\n    }    \r\n    return undefined;\r\n  }\r\n\r\n  setLocationFromBrowserIfNeeded() {\r\n    if (this.getLocation())\r\n      return;\r\n    navigator.geolocation.getCurrentPosition(this.setCurrentPosition.bind(this))\r\n  }\r\n\r\n  setCurrentPosition(position) {\r\n    const cookies = new Cookies();\r\n    if (cookies.get('location'))\r\n      return;\r\n\r\n    let location = {lon: position.coords.longitude,lat: position.coords.latitude}\r\n    cookies.set('location', JSON.stringify(location), { path: '/', sameSite: true });\r\n    //console.log(cookies.get('location'));\r\n    if (this.map)\r\n      this.map.getView().setCenter(proj.transform([location.lon, location.lat], 'EPSG:4326', 'EPSG:3857'));\r\n    //else console.log('no map');\r\n  }\r\n\r\n  setLastUserLocation(lat, lon) {\r\n    if (this.state.drawState !== drawState.START || this.lastUserLocationSet)\r\n      return;\r\n\r\n    let lotlan = proj.transform([lon, lat], 'EPSG:3857', 'EPSG:4326')\r\n    let location =  {lon: lotlan[0],lat: lotlan[1]}\r\n    const cookies = new Cookies();\r\n    cookies.set('location', JSON.stringify(location), { path: '/', sameSite: true });\r\n    this.lastUserLocationSet = true;       \r\n  }\r\n\r\n  getLocation() {\r\n    const cookies = new Cookies();\r\n    let locationString = cookies.get('location');\r\n    if (locationString) {\r\n      try {\r\n        let location = JSON.parse(locationString);\r\n        return [location.lon, location.lat]\r\n      }\r\n      catch(e) {}\r\n    }\r\n    return undefined;\r\n  }\r\n\r\n  isInDrawPointState() {\r\n      return this.state.drawState === drawState.START || this.state.drawState === drawState.END || this.state.drawState === drawState.POINTS;\r\n  }\r\n\r\n  isInDrawPolygonState() {\r\n    return this.state.drawState === drawState.AREAPOLYGON || this.state.drawState === drawState.OBSTACLES;\r\n  }\r\n\r\n  onSetZoom(val, initialSet) {\r\n    if (initialSet && this.zoom) {\r\n      if (this.onZoomChanged) \r\n        this.onZoomChanged(val);\r\n      return;\r\n    }\r\n\r\n    if (this.zoom === val)\r\n      return;\r\n\r\n    this.zoom = val;\r\n    if (this.onZoomChanged) {\r\n      this.onZoomChanged(val);\r\n      this.setLastZoom(val);\r\n    }\r\n  }\r\n\r\n  onSetMap(map) {\r\n    this.map = map;\r\n    let extent = this.draw_inputs(this.props.start, this.props.end, this.props.areaPolygon, this.props.points, this.props.polygons);\r\n    //call after render!!\r\n    if (extent) {\r\n      setTimeout(() => {\r\n        let view = map.getView();\r\n        view.fit(extent, map.getSize());\r\n        let newZoom =  view.getZoom() - 1 < this.maxDrawZoom ? this.maxDrawZoom: view.getZoom() - 1\r\n        view.setZoom(\r\n          newZoom\r\n        )\r\n      }, 10);\r\n    }\r\n    const cookies = new Cookies();\r\n    let location = cookies.get('location'); // Pacman\r\n    if (location)\r\n      this.map.getView().setCenter(proj.transform([location.lon, location.lat], 'EPSG:4326', 'EPSG:3857'));    \r\n\r\n    this.contextmenu = new ContextMenu({\r\n      width: 180\r\n    });\r\n\r\n    this.map.addControl(this.contextmenu);\r\n    this.contextmenu.on('open', this.onContext.bind(this));\r\n  }\r\n\r\n  removeItem(obj) {\r\n    let featureId = obj?.data?.feature?.id_;\r\n    if (!featureId)\r\n      return;\r\n\r\n    let feature = this.displaySource.getFeatureById(featureId);\r\n    if (feature) {\r\n        this.displaySource.removeFeature(feature);\r\n        this.props.store.dispatch(this.removeScenario.get(feature.drawStateContext)(featureId));\r\n        if (this.linesBetweenPoints)\r\n          this.redrawLinesBetweenPonts();\r\n        return;\r\n    }\r\n\r\n    feature = this.drawSource.getFeatureById(featureId);\r\n    if (feature) {\r\n        this.drawSource.removeFeature(feature);\r\n        this.props.store.dispatch(this.removeScenario.get(feature.drawStateContext)(featureId));\r\n    }\r\n  }\r\n\r\n  onContext (evt) {\r\n    let feature =\tthis.map.forEachFeatureAtPixel(evt.pixel, ft => ft);\r\n      this.contextmenu.clear();\r\n      if (feature && feature.id_) {\r\n        let removeMakerItemCopy = (({text, classame, callback}) => ({text, classame, callback}))(this.removeMarkerItem);\r\n        removeMakerItemCopy.data = { feature: feature };\r\n        this.contextmenu.extend(this.contextmenu.getDefaultItems());\r\n        this.contextmenu.push(removeMakerItemCopy);\r\n      } else {\r\n        this.contextmenu.extend(this.contextmenu.getDefaultItems());\r\n      }\r\n  }\r\n\r\n  draw_inputs(start, end, areaPolygon, points, polygons) {\r\n    if (areaPolygon)\r\n      this.draw_input_polygon(areaPolygon) ;\r\n    if (start)\r\n      this.draw_input_point(start);\r\n    if (end)\r\n      this.draw_input_point(end);\r\n    if (points) {\r\n      for (let point of points) {\r\n        this.draw_input_point(point);        \r\n      }\r\n      if (this.linesBetweenPoints)\r\n        this.redrawLinesBetweenPonts();\r\n    }\r\n    if (polygons) {\r\n      for (let polygon of polygons) {\r\n        this.draw_input_polygon([polygon]);        \r\n      }\r\n    }\r\n    let extent = this.get_map_position();\r\n   // this.childRef?.current?.setPosition(this.get_map_position());\r\n    return extent;\r\n  }\r\n\r\n  get_map_position() {\r\n\r\n    let polygons = this.drawSource.getFeatures();\r\n    if (polygons.length > 0) {\r\n      return this.drawSource.getExtent();\r\n\r\n    }\r\n    else {\r\n      let points = this.displaySource.getFeatures();\r\n      if (points.length > 0) {\r\n        return this.displaySource.getExtent();\r\n      }\r\n    }\r\n    return null;\r\n  }\r\n\r\n  draw_input_point(point) {\r\n    if (!point)\r\n      return;\r\n    let rotation = Math.atan2(point.VectorY, point.VectorX);\r\n\r\n    let feature = new Feature({\r\n        geometry: new geom.Point([point.Lon, point.Lat]),\r\n        rotation: rotation\r\n    });\r\n\r\n    feature.setId(point.Id);\r\n    feature.isInput = true;\r\n    feature.pointType = point.PointType;\r\n    feature.drawStateContext = point.DrawStateContext;\r\n\r\n    this.displaySource.addFeature(feature);\r\n  }\r\n\r\n  draw_input_polygon(areaPolygon) {\r\n    if (!areaPolygon)\r\n      return;\r\n    let feature = new Feature({\r\n        geometry: new geom.Polygon(areaPolygon[0].coordinates)\r\n    });\r\n    feature.setId(areaPolygon[0].Id);\r\n    feature.drawStateContext = areaPolygon[0].drawStateContext;\r\n    feature.isInput = true;\r\n    this.set_polygon_style(feature);\r\n    this.drawSource.addFeature(feature);     \r\n  }\r\n\r\n  set_polygon_style(feature) {\r\n    if (feature.drawStateContext === drawState.AREAPOLYGON) {\r\n      feature.setStyle(\r\n       new style.Style({\r\n         stroke: new style.Stroke({\r\n           color: [52, 168, 158, 255],\r\n           width: 2,\r\n         }),\r\n         fill: new style.Fill({\r\n           color: [190, 235, 214, 0.3]\r\n         }),\r\n         zIndex: 0\r\n       }));\r\n   }\r\n   else {\r\n     feature.setStyle(\r\n       new style.Style({\r\n         stroke: new style.Stroke({\r\n           color: [86, 92, 94, 255],\r\n           width: 2,\r\n         }),\r\n         fill: new style.Fill({\r\n           color: [164, 163, 153, 0.3]\r\n         }),\r\n         zIndex: 100\r\n       }));\r\n   }\r\n  }\r\n\r\n  clear_inputs() {\r\n    this.displaySource.clear();\r\n    this.drawSource.clear();\r\n    if (this.props.afterFeatureAdded)\r\n      this.props.afterFeatureAdded();\r\n    if (!this.addFeatureKey) {\r\n      this.drawSource.on(\"addfeature\", (e) => this.addFeature(e));\r\n    }\r\n  }\r\n\r\n  beforefeatureadded (e) {\r\n  }\r\n\r\n  deletePreviousPolygonCallback(){\r\n    this.removeOldPolygon(this.state.drawState);\r\n  }\r\n\r\n  addFeature(e) {\r\n    if (this.state.drawState === drawState.NONE)\r\n      return;\r\n\r\n    this.hadDrawnItems = true;\r\n\r\n    let coordinates = e.feature.getGeometry().flatCoordinates;\r\n    if ((this.state.drawState === drawState.AREAPOLYGON || this.state.drawState === drawState.OBSTACLES) && coordinates.length > 0) {\r\n      if (e?.feature && !e.feature.isInput) {\r\n\r\n        if (this.state.drawState === drawState.AREAPOLYGON) {\r\n           e.feature.setStyle(\r\n            new style.Style({\r\n              stroke: new style.Stroke({\r\n                color: [52, 168, 158, 255],\r\n                width: 2,\r\n              }),\r\n              fill: new style.Fill({\r\n                color: [190, 235, 214, 0.3]\r\n              }),              \r\n            }));\r\n            e.feature.zIndex = 0;\r\n        }\r\n        else {\r\n          e.feature.setStyle(\r\n            new style.Style({\r\n              stroke: new style.Stroke({\r\n                color: [86, 92, 94, 255],\r\n                width: 2,\r\n              }),\r\n              fill: new style.Fill({\r\n                color: [164, 163, 153, 0.3]\r\n              })\r\n            }));\r\n            e.feature.zIndex = 100;\r\n        }\r\n        \r\n        let id = uuid();\r\n        e.feature.setId(id);\r\n        e.feature.drawStateContext = this.state.drawState;\r\n        this.props.store.dispatch(this.drawScenario.get(this.state.drawState)([{Id: id, drawStateContext: this.state.drawState , coordinates: e.feature.getGeometry().getCoordinates()}]));\r\n      }\r\n    }\r\n    else if (coordinates.length === 4) {\r\n        // Line string\r\n        let diff_x = coordinates[2] - coordinates[0];\r\n        let diff_y = coordinates[3] - coordinates[1];\r\n        let ext_x = coordinates[0] - diff_x;\r\n        let ext_y = coordinates[1] - diff_y;\r\n        // Compute rotation\r\n        let dx = coordinates[2] - ext_x;\r\n        let dy = coordinates[3] - ext_y;\r\n        let rotation = Math.atan2(dy, dx);\r\n\r\n        let feature = new Feature({\r\n            geometry: new geom.Point([coordinates[0], coordinates[1]]),\r\n            rotation: rotation,\r\n        });\r\n\r\n        let unorientedPoint = this.getPreventUnorientedPoint && !this.getPreventUnorientedPoint(this.state.drawState) && diff_x + diff_y === 0 ;\r\n\r\n        if (unorientedPoint) {\r\n          diff_x = 0;\r\n          diff_y = 0;\r\n        }\r\n\r\n        switch(this.state.drawState) {\r\n          case drawState.START:\r\n            feature.pointType = pointType.START;\r\n            break;\r\n          case drawState.END:\r\n            feature.pointType = pointType.END;\r\n            break;\r\n          case drawState.POINTS:\r\n            feature.pointType = pointType.TRANSIT; //getPointType\r\n            break;\r\n          //TODO better default\r\n          default:\r\n            feature.pointType = pointType.START;       \r\n        }\r\n\r\n        feature.drawStateContext = this.state.drawState;\r\n\r\n        if (unorientedPoint) {\r\n          feature.pointType = feature.pointType | pointType.UNORIENTED;\r\n        }\r\n\r\n        let id = uuid();\r\n        feature.setId(id);\r\n        this.removeOldPoint(this.state.drawState) \r\n        this.displaySource.addFeature(feature);\r\n        this.drawSource.removeFeature(e.feature);\r\n        if (e?.feature && !e.feature.isInput)\r\n          this.props.store.dispatch(this.drawScenario.get(this.state.drawState)({\r\n              Lat: coordinates[1],\r\n              Lon: coordinates[0],\r\n              VectorX: diff_x,\r\n              VectorY: diff_y,\r\n              Id: id,\r\n              PointType: feature.pointType,\r\n              DrawStateContext: feature.drawStateContext\r\n            }));\r\n\r\n        this.setLastUserLocation(coordinates[1], coordinates[0]);\r\n    }\r\n\r\n    this.props.afterFeatureAdded();\r\n  }\r\n  \r\n  redrawLinesBetweenPonts() {\r\n    this.displayLineSource.clear();\r\n    let lastPoint;\r\n    let allPoints = [...[this.start],...this.points,...[this.end]];\r\n    for (let point of allPoints) {\r\n      if (!point || !lastPoint) {\r\n        lastPoint = point;\r\n        continue;\r\n      }\r\n      let points = [\r\n        [lastPoint.Lon, lastPoint.Lat], [point.Lon, point.Lat]\r\n      ];\r\n      let feature = new Feature({\r\n        geometry: new geom.LineString(points),\r\n      });\r\n      this.displayLineSource.addFeature(feature);\r\n      \r\n      lastPoint = point;\r\n    }\r\n  }\r\n\r\n  removeOldPoint(state) {\r\n    let myId = this.getFeatureIdBystate(state)\r\n    if (!myId)\r\n      return;\r\n\r\n    let feature = this.displaySource.getFeatureById(myId);\r\n    if (feature)\r\n        this.displaySource.removeFeature(feature);\r\n  }\r\n\r\n  removeOldPolygon(state) {\r\n    let myId = this.getFeatureIdBystate(state)\r\n    if (!myId) return;\r\n\r\n    let feature = this.drawSource.getFeatureById(myId);\r\n    if (feature)\r\n        this.drawSource.removeFeature(feature);\r\n  }\r\n\r\n  setNewStateFromDrawScenario() {\r\n    if (doNotAutochangeState(this.state.drawState))\r\n      return;\r\n\r\n    let pos = 0;\r\n    let keys =[ ...this.drawScenario.keys() ];\r\n\r\n    for (let key of keys) {\r\n      if (key === this.state.drawState)\r\n        break;\r\n      pos++;\r\n    }\r\n\r\n    if (keys.length > pos + 1) {\r\n      this.setState({drawState: keys[pos + 1], clear: false});\r\n      //todo remove first param\r\n      this.drawStateHandler(keys[pos + 1]);\r\n    }\r\n  }\r\n\r\n  displayStyleFunction(feature) {\r\n      let styles = [];\r\n      //feature state\r\n      if (feature.values_.rotation !== undefined && feature.values_.rotation !== null) {\r\n          styles.push(\r\n              new style.Style({\r\n                  image: new style.Icon({\r\n                      src: this.getIconByPointType(feature.pointType),\r\n                      rotateWithView: true,\r\n                      rotation: -feature.values_.rotation\r\n                  }),\r\n              })\r\n          );\r\n      }\r\n\r\n      return styles;\r\n  }\r\n\r\n  displayLineStyleFunction(feature) {\r\n    let styles = [];\r\n        styles.push(\r\n            new style.Style({\r\n              stroke: new style.Stroke({\r\n                color: [250, 166, 34, 255],\r\n                width: 5,\r\n                lineDash: [10],\r\n                lineDashOffset: 30\r\n              })\r\n            })\r\n        );\r\n    return styles;\r\n  }\r\n\r\n drawStyleFunction(feature) {\r\n    let styles = [];\r\n    //feature state\r\n    if (feature.values_.rotation !== undefined && feature.values_.rotation !== null) {\r\n        styles.push(\r\n            new style.Style({\r\n                image: new style.Icon({\r\n                    src: this.getIconByPointType(feature.pointType),\r\n                    rotateWithView: true,\r\n                    rotation: -feature.values_.rotation\r\n                }),\r\n            })\r\n        );\r\n    }\r\n\r\n    return styles;\r\n  }\r\n\r\n  getIconByPointType(myPointType) {\r\n    switch(myPointType) {\r\n      case pointType.START | pointType.UNORIENTED: return '/start.png';\r\n      case pointType.START: return '/start-oriented.png';\r\n      case pointType.END | pointType.UNORIENTED: return '/end.png';\r\n      case pointType.END: return '/end-oriented.png';\r\n      case pointType.UNORIENTED | pointType.TRANSIT: return '/point.png';\r\n      case pointType.TRANSIT: return '/point-oriented.png';\r\n      default: return '/point-oriented.png';  \r\n    }\r\n  }\r\n}\r\n\r\nexport default InputMap1;","import react from 'react';\r\n\r\nexport class MapButton extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = { \r\n      onClick: props.onClick,\r\n      isActive: props.isActive,\r\n      className: props.className,\r\n      children: props.children,\r\n      disabled: props.disabled === true\r\n    };\r\n  }\r\n\r\n  componentWillReceiveProps(props) {\r\n    this.setState(\r\n      { \r\n        message: props.message,\r\n        isActive: props.isActive,\r\n        disabled: props.disabled === true\r\n      });  \r\n  }\r\n\r\n  render() {\r\n    let active = this.state.isActive? \"active\"  : \"\";\r\n    let disabled = this.state.disabled;\r\n    return <button type=\"button\" className = {`btn btn-map ${this.state.className} ${active}`} onClick = {this.state.onClick} disabled = {disabled}>\r\n        {this.state.children}\r\n      </button>\r\n  }\r\n}","import Modal from \"../components/modal\";\r\nimport react from 'react';\r\n\r\nexport default class DefineFieldGeometryModal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      hideAction: props.hideAction,\r\n    };\r\n\r\n    this.handleClickOutside = this.handleClickOutside.bind(this);\r\n  }\r\n\r\n  componentDidMount() {\r\n    document.addEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    document.removeEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  handleClickOutside() {\r\n    this?.state?.hideAction && this?.state.hideAction();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <Modal show = {this.state.show} header = { \"Define field geometry\" } hideAction = {this.state.hideAction}>\r\n          <h3 className=\"h4-font-size subheading\">Draw a field</h3>\r\n          <p>Click on the <span className=\"btn btn-outline-secondary btn-sm\"><i className=\"icon icon-vector-square pr-2\" />Field</span> to draw your field on the map.</p>\r\n          <div className=\"alert alert-info alert-outline d-flex\">\r\n            <div className=\"alert-icon\">\r\n              <div className=\"icon icon-info-circle pt-1 pr-3\" />\r\n            </div>\r\n            <div className=\"alert-message\">\r\n              <p>Concave shapes can lead to very inefficient route.</p>\r\n              <div className=\"d-flex\">\r\n                <img src=\"../info-convex.png\" alt=\"Convex shape\" className=\"pr-6\" />\r\n                <img src=\"../info-notConvex.png\" alt=\"Concave shape\" />\r\n              </div>\r\n            </div>\r\n          </div>\r\n        </Modal>\r\n      </>\r\n    );\r\n  }\r\n};","import Modal from \"../components/modal\";\r\nimport react from 'react';\r\n\r\nexport default class DefineFieldRowsModal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      hideAction: props.hideAction\r\n    };\r\n    this.handleClickOutside = this.handleClickOutside.bind(this);\r\n  }\r\n\r\n  componentDidMount() {\r\n    document.addEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    document.removeEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  handleClickOutside() {\r\n    this?.state?.hideAction && this?.state.hideAction();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <Modal show = {this.state.show} header = { \"Define field rows\" } hideAction = {this.state.hideAction}>\r\n          <div className=\"mb-6\">\r\n            <h3 className=\"h4-font-size subheading\">Row distance</h3>\r\n            <p>Define distance (in meters) between each row.</p>\r\n            <div className=\"d-flex align-items-center\">\r\n              <img src=\"../field-default.png\" alt=\"Small row distance\" className=\"rounded object-fit-cover overflow-hidden mr-6\" />\r\n              <div className=\"icon icon-less-than h4-font-size text-fade-color mr-6\" />\r\n              <img src=\"../field-row-distance.png\" alt=\"Small row distance\" className=\"rounded object-fit-cover overflow-hidden mr-6\" />\r\n            </div>\r\n          </div>\r\n          <div className=\"mb-6\">\r\n            <h3 className=\"h4-font-size subheading\">Row angle</h3>\r\n            <p className=\"mb-2\">Angle of the rows.</p>\r\n            <div className=\"d-flex align-items-center\">\r\n              <div className=\"d-flex flex-column justify-content-center mr-6\">\r\n                <h3 className=\"h5-font-size text-center text-fade-color\">0°</h3>\r\n                <img src=\"../field-row-angle-0.png\" alt=\"Row angle 0°\" className=\"rounded object-fit-cover overflow-hidden\" />\r\n              </div>\r\n              <div className=\"d-flex flex-column justify-content-center mr-6\">\r\n                <h3 className=\"h5-font-size text-center text-fade-color\">45°</h3>\r\n                <img src=\"../field-row-angle-45.png\" alt=\"Row angle 45°\" className=\"rounded object-fit-cover overflow-hidden\" />\r\n              </div>\r\n            </div>\r\n          </div>\r\n          <div className>\r\n            <h3 className=\"h4-font-size subheading\">Around the perimeter</h3>\r\n            <p className=\"mb-2\">If checked, rower will ride around the perimeter after filling the field.</p>\r\n            <div className=\"d-flex align-items-center\">\r\n              <div className=\"d-flex flex-column justify-content-center mr-6\">\r\n                <h3 className=\"h5-font-size text-center text-fade-color\">Not checked</h3>\r\n                <img src=\"../field-default.png\" alt=\"Without route around the perimeter\" className=\"rounded object-fit-cover overflow-hidden\" />\r\n              </div>\r\n              <div className=\"d-flex flex-column justify-content-center mr-6\">\r\n                <h3 className=\"h5-font-size text-center text-fade-color\">Checked</h3>\r\n                <img src=\"../field-aroundPerimeter.png\" alt=\"With route around the perimeter\" className=\"rounded object-fit-cover overflow-hidden\" />\r\n              </div>\r\n            </div>\r\n          </div>\r\n        </Modal>\r\n      </>\r\n    );\r\n  }\r\n};\r\n","import React, {useEffect} from 'react';\r\nimport InputMap1  from './partials/input-map1';\r\nimport drawState  from './enums/drawState';\r\nimport { fieldAdded, fieldMapReseted } from './action';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport Pages from './enums/pages';\r\nimport ValidationType from './enums/validationType';\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\nimport { AsideLayout } from './components/asideLayout';\r\nimport { Input } from './components/input';\r\nimport { Checkbox } from './components/checkbox';\r\nimport { MapButton } from './components/mapButton';\r\nimport DefineFieldGeometryModal from './modals/defineFieldGeometryInfo';\r\nimport DefineFieldRowsModal from './modals/defineFieldRowsInfo';\r\nimport Alert from './components/alert';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst initRowsDistance = 10;\r\nconst initRowsAngle = 0;\r\nconst initAroundPerimeter = false;\r\n\r\nexport function Field(props) {\r\n  const [fields, setFields] = \r\n    React.useState(\r\n      {\r\n        \"rowsAngle\": props.store.getState()?.field?.rowsAngle ?? initRowsAngle,\r\n        \"rowsDistance\": props.store.getState()?.field?.rowsDistance ?? initRowsDistance,\r\n        \"aroundPerimeter\": props.store.getState()?.field?.aroundPerimeter ?? initAroundPerimeter,\r\n        \"captcha\": '',\r\n        \"areFieldDataCompleted\": getAreFieldDataCompleted()\r\n      });\r\n\r\n  const [errors, setErrors] = React.useState({rowsAngle: '', rowsDistance: '', rowsLinesOnly: '', aroundPerimeter: ''});  \r\n  const [actualDrawState, setactualDrawState] =  React.useState(drawState.MOVEMAP); \r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete()? Pages.Field: Pages.Rover);  \r\n  const [showModalDefineFieldGeometry, setShowModalDefineFieldGeometry] = React.useState(false);  \r\n  const [showModalDefineFieldRows, setShowModalDefineFieldRows] = React.useState(false);   \r\n  const [isZoomedToDraw, setIsZoomedToDraw] = React.useState(false);   \r\n  const [hideZoomedToDrawWarning, setHideZoomedToDrawWarning] = React.useState(false);   \r\n  const [captchaImg, setCaptchaImg] = React.useState(null);\r\n  const [drawScenario] = React.useState(createDrawScenarioWithReduxAction);   \r\n  const [removeScenario] = React.useState(createRemoveScenarioWithReduxAction); \r\n\r\n  useEffect(()=>{\r\n    loadImage();\r\n    setactualDrawState(getInitialDrawState());\r\n    const unsubscribe = subscribeStateToReduxStore();\r\n    if (!areFieldDataAlreadySet())\r\n      initReduxStore(props.store);\r\n\r\n    document.title = \"Field | Route Planning\";\r\n    return () => {\r\n      unsubscribe();\r\n    }\r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname });\r\n    }, []);\r\n\r\n  function getAreFieldDataCompleted() {\r\n    let field = props.store.getState().field;\r\n    return field.start && field.end && field.areaPolygon && field.rowsDistance\r\n  }\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n\r\n  function initReduxStore(store) {\r\n    store.dispatch(fieldAdded({rowsDistance:initRowsDistance}));\r\n    store.dispatch(fieldAdded({rowsAngle:initRowsAngle}));\r\n    store.dispatch(fieldAdded({aroundPerimeter:initAroundPerimeter}));\r\n    store.dispatch(fieldAdded({captcha:''}));\r\n  }\r\n\r\n  function areFieldDataAlreadySet() {\r\n    return props.store.getState()?.field && !isObjectEmpty(props.store.getState()?.field);\r\n  }\r\n\r\n  if (redirect === Pages.Field)\r\n  {\r\n    let positionOfRotationAxis = props.store.getState().rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = props.store.getState().rover.positionOfGnsReceiver;\r\n    return <>\r\n      <div className=\"interactive-block\">\r\n        <div className = \"map-toolbar\">\r\n          <MapButton isActive={actualDrawState === drawState.MOVEMAP} onClick={() => setactualDrawState(drawState.MOVEMAP)}>\r\n            <i className='icon icon-hand-paper'></i>  \r\n          </MapButton>\r\n          <div className=\"btn-group\">\r\n            <MapButton isActive={actualDrawState === drawState.START} onClick={() => setactualDrawState(drawState.START)} disabled={!isZoomedToDraw}>\r\n              <img className='img-icon mr-2' src='./icon-start.png' alt='Start'/> Start\r\n            </MapButton>\r\n            <MapButton isActive={actualDrawState === drawState.END} onClick={() => setactualDrawState(drawState.END )} disabled={!isZoomedToDraw}>\r\n              <img className='img-icon mr-2' src='./icon-end.png' alt='End'/> End\r\n            </MapButton>\r\n          </div>\r\n          <MapButton isActive={actualDrawState === drawState.AREAPOLYGON} onClick={() => setactualDrawState(drawState.AREAPOLYGON)} disabled={!isZoomedToDraw}>\r\n            <i className='icon icon-vector-square mr-2'></i> Field\r\n          </MapButton>\r\n          <MapButton isActive={false} onClick={ (e) => { props.store.dispatch(fieldMapReseted()); }} className='btn-danger'>\r\n            <i className='icon icon-trash-alt mr-2'></i> Clear map\r\n          </MapButton>\r\n        </div>\r\n        <InputMap1 key = \"InputMap1\" drawScenario = {drawScenario} removeScenario = {removeScenario} store = {props.store} drawState = {actualDrawState}\r\n          areaPolygon = {props.store.getState().field.areaPolygon} start = {props.store.getState().field.start} end = {props.store.getState().field.end}\r\n          getFeatureIdBystate = {getFeatureIdBystate} getPreventUnorientedPoint = {getPreventUnorientedPoint}\r\n          onZoomChanged = {onZoomChanged} afterFeatureAdded = {afterFeatureAdded}\r\n        />\r\n        <PrevSettings>\r\n          <PrevSettingsContent header ={\"Rover\"} link = {Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"}/>\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"}/>}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"}/>}\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      <AsideLayout header = {\"Define field\"} >\r\n        <div className=\"mb-6\" key={\"field-aside\"}>\r\n          <h2 className=\"h4-font-size subtitle\">1) Define start and end point</h2>\r\n          <div id=\"startPointMarker\" className={`map-step ${isFeatureDone(drawState.START)}`}>\r\n            <i className=\"icon icon-check pr-2 mb-2\" />\r\n            <span>Start point</span>\r\n          </div>\r\n          <div id=\"endPointMarker\" className={`map-step mb-2 ${isFeatureDone(drawState.END)}`}>\r\n            <i className=\"icon icon-check pr-2\" />\r\n            <span>End point</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-6\">\r\n          <div className=\"d-flex justify-content-between align-items-baseline\">\r\n            <h2 className=\"h4-font-size subtitle\">2) Define field geometry</h2>\r\n            <button type=\"button\" className=\"btn btn-blank h4-font-size text-fade-color\" data-toggle=\"modal\"\r\n              onClick = {(e) => { setShowModalDefineFieldGeometry(true); setShowModalDefineFieldRows(false);}}>\r\n              <i className=\"icon icon-info-circle\" />\r\n            </button>\r\n          </div>\r\n          <div id=\"fieldGeometryMarker\" className={`map-step ${isFeatureDone(drawState.AREAPOLYGON)}`}>\r\n            <i className=\"icon icon-check pr-2\" />\r\n            <span>Field geometry</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-7\">\r\n          <div className=\"d-flex justify-content-between align-items-baseline\">\r\n            <h2 className=\"h4-font-size subtitle\">3) Define field rows</h2>\r\n            <button type=\"button\" className=\"btn btn-blank h4-font-size text-fade-color\" data-toggle=\"modal\"\r\n              onClick = {(e) => { setShowModalDefineFieldRows(true);  setShowModalDefineFieldGeometry(false)}}>\r\n              <i className=\"icon icon-info-circle\" />\r\n            </button>\r\n          </div>\r\n          <Input key =\"rowsDistance\" label = {\"Rows distance\"} htmlFor = {\"rowsDistance\"} type=\"number\"  placeholder = {\"Meters\"} value = {fields[\"rowsDistance\"]}\r\n              error = {errors[\"rowsDistance\"]} unit = {\"m\"} store = {props.store} min = {0}\r\n              onChange ={(e) => { props.store.dispatch(fieldAdded({rowsDistance:processNumber(e.target.value, 0, 100)}))} }              \r\n          />\r\n          <Input key =\"rowsAngle\" label = {\"Rows angle\"} htmlFor = {\"rowsAngle\"} type=\"number\"  placeholder = {\"Degrees\"} value = {fields[\"rowsAngle\"]}\r\n            error = {errors[\"rowsAngle\"]} unit = {\"°\"} min = {-360} max = {360} store = {props.store}\r\n            onChange ={(e) => props.store.dispatch(fieldAdded({rowsAngle:processNumber(e.target.value, 0, 360)}))}\r\n          />\r\n          <Checkbox key =\"aroundPerimeter\" label = {\"Add around the perimeter\"} className={\"mt-2\"} htmlFor = {\"aroundPerimeter\"} value = {fields[\"aroundPerimeter\"]}\r\n              onChange ={ (e) => props.store.dispatch(fieldAdded({aroundPerimeter:e.target.checked})) }\r\n            />\r\n        </div>\r\n        {captchaImg &&\r\n          <div className=\"captcha-container\">\r\n            <div className=\"captcha-image\">\r\n              <img id=\"img-captcha\" title = \"Can't read? Click to change another image.\" aria-label = \"Can't read? Click to change another image.\"  src = {captchaImg} onClick={() =>loadImage()}/>\r\n            </div>\r\n            <div className=\"captcha-input\">\r\n              <label htmlFor=\"captcha-input\" className='required'>Captcha</label>\r\n              <div className=\"form-group font-size-lg\">\r\n                <input type=\"text\" id='captcha-input' className=\"form-control mb-1\" placeholder=\"Enter captcha code\" maxLength={4} \r\n                  value = {fields[\"captcha\"]} error = {errors[\"captcha\"]}\r\n                  onChange ={(e) => props.store.dispatch(fieldAdded({captcha:e.target.value}))}\r\n                  onKeyPress={handleCaptchaKeypress}\r\n                />\r\n              </div>\r\n              {errors[\"captcha\"] && <span class=\"invalid-feedback  input-validation-error\">{errors[\"captcha\"]}</span>}             \r\n            </div>\r\n          </div>\r\n        }\r\n        <button type=\"button\" className= {`btn w-100 mx-0 ${!fields[\"areFieldDataCompleted\"] || objectPropsHasValues(errors)? \"disabled\" : \"\"}`} \r\n          onClick={async () => {await generateRoute();} }            \r\n          >Generate route\r\n        </button>                    \r\n      </AsideLayout>\r\n      <div className='alerts-container'>\r\n        {/*this.state.error && <Alert onClick = {(e) => { this.setState({error: null});}} variant='danger'>{this.state.error}</Alert>*/}\r\n        {!isZoomedToDraw \r\n          && !hideZoomedToDrawWarning \r\n          && <Alert onClick = {(e) => { setHideZoomedToDrawWarning(true)}} variant='info'>\"Your map view is too large. Please zoom in to draw your field. (Field size can be up to 8 km2)\"</Alert>}\r\n      </div>\r\n      {showModalDefineFieldGeometry && <DefineFieldGeometryModal show = { showModalDefineFieldGeometry } hideAction = { () => { setShowModalDefineFieldGeometry(false) }} header = { \"Define field geometry\" }/> }  \r\n      {showModalDefineFieldRows && <DefineFieldRowsModal show = { showModalDefineFieldRows } hideAction = { () => { setShowModalDefineFieldRows(false) }} header = { \"Define field rows\" }/>}\r\n    </>\r\n  }\r\n  else\r\n    return <Redirect to={redirect} />\r\n\r\n  function handleCaptchaKeypress(e) {\r\n    if (e.charCode === 13) {\r\n      generateRoute();\r\n    }\r\n  };\r\n\r\n  async function generateRoute() {\r\n    let captchaOk = await processCaptcha();\r\n    if (captchaOk && handleValidation() && fields[\"areFieldDataCompleted\"] && handleValidation()) {\r\n      setRedirect(Pages.FieldResult);\r\n    }\r\n  }\r\n\r\n  function afterFeatureAdded() {\r\n    setactualDrawState(drawState.MOVEMAP)\r\n  }\r\n\r\n  function onZoomChanged(val) {\r\n    let isZoomedToDraw = val >= 15;\r\n    setIsZoomedToDraw(isZoomedToDraw);\r\n  }\r\n\r\n  function createDrawScenarioWithReduxAction() {\r\n    let drawScenario = new Map();\r\n    drawScenario.set(drawState.START, (point) => \r\n    { \r\n      return fieldAdded({start: point})\r\n    });\r\n    drawScenario.set(drawState.END, (point) => { \r\n      return fieldAdded({end: point})}\r\n      );\r\n    drawScenario.set(drawState.AREAPOLYGON, (coordinates) => { \r\n      return fieldAdded({areaPolygon: coordinates})}\r\n      );\r\n\r\n    drawScenario.set(drawState.MOVEMAP, null); \r\n    return drawScenario;\r\n  }\r\n\r\n  function createRemoveScenarioWithReduxAction() {\r\n    let removeScenario = new Map();\r\n    removeScenario.set(drawState.START, () => \r\n    { \r\n      return fieldAdded({start: null})\r\n    });\r\n    removeScenario.set(drawState.END, () => { \r\n      return fieldAdded({end: null})}\r\n      );\r\n    removeScenario.set(drawState.AREAPOLYGON, () => { \r\n      return fieldAdded({areaPolygon: null})}\r\n      );\r\n\r\n    removeScenario.set(drawState.MOVEMAP, null); \r\n    return removeScenario;\r\n  }\r\n\r\n  function subscribeStateToReduxStore() {\r\n    return props.store.subscribe(() => {\r\n      let formFields = {};\r\n      let field = props.store.getState().field;\r\n\r\n      formFields[\"rowsDistance\"] = field.rowsDistance;\r\n      formFields[\"rowsAngle\"] = field.rowsAngle;  \r\n      formFields[\"aroundPerimeter\"] = field.aroundPerimeter; \r\n      formFields[\"start\"] = field.start;\r\n      formFields[\"end\"] = field.end;\r\n      formFields[\"areaPolygon\"] = field.areaPolygon;\r\n      formFields[\"captcha\"] = field.captcha;\r\n      formFields[\"areFieldDataCompleted\"] = (field.start && field.end && field.areaPolygon && field.rowsDistance);\r\n      setFields(formFields);\r\n    });\r\n  }\r\n\r\n  function getFeatureIdBystate(myactualDrawState) {\r\n    let field = props.store.getState().field;\r\n    switch(myactualDrawState) {\r\n      case drawState.START:\r\n        return field?.start?.Id;\r\n      case drawState.END:\r\n        return field?.end?.Id;\r\n      case drawState.AREAPOLYGON:\r\n        return Array.isArray(field?.areaPolygon) && field?.areaPolygon?.length > 0? field?.areaPolygon[0]?.Id: null;\r\n      default:\r\n        return null;  \r\n    }\r\n  }\r\n\r\n  function getPreventUnorientedPoint(myactualDrawState) {\r\n    return myactualDrawState === drawState.START;\r\n  }\r\n\r\n  function isFeatureDone(stepState) {\r\n    return props.store.getState().field[stepState]? \"done\" : null;\r\n  }\r\n\r\n  function handleValidation() {\r\n    let error  = {};\r\n    return (checkValueIsSetOrAddError(\"rowsDistance\", ValidationType.NumberGreaterThanZero, error)\r\n      & ((captchaImg === null || captchaImg === undefined) || checkValueIsSetOrAddError(\"captcha\", ValidationType.MandatoryText, error)))\r\n      & checkValueIsSetOrAddError(\"rowsAngle\", ValidationType.NumberGreaterThanZeroOrZero, error, true)\r\n  }\r\n\r\n  function checkValueIsSetOrAddError(propertyName, validationType, error, setState = false) {\r\n    let result = true;\r\n\r\n    if (validationType === ValidationType.NumberGreaterThanZero) {\r\n      if ((fields[propertyName] === \"\" || isNaN(fields[propertyName])) || parseFloat(fields[propertyName]) <= 0) {\r\n        error[propertyName] = \"Must be a number greater than zero.\";\r\n        result = false;\r\n      }\r\n    }\r\n    else if (validationType === ValidationType.NumberGreaterThanZeroOrZero) {\r\n      if ((fields[propertyName] === \"\" || isNaN(fields[propertyName])) || parseFloat(fields[propertyName]) < 0) {\r\n        error[propertyName] = \"Must be a number greater than or equal to 0.\";\r\n        result = false;\r\n      }\r\n    }\r\n    else if (validationType === ValidationType.MandatoryText) {\r\n      if(!fields[propertyName]){\r\n        error[propertyName] =  \"Value can not be empty.\";\r\n        result = false;\r\n      }\r\n    }\r\n    \r\n    if (setState && !isObjectEmpty(error))\r\n      setErrors(error);\r\n    return result;\r\n  }\r\n  \r\n  function getInitialDrawState() {\r\n    let field = props.store.getState().field;\r\n    if (field.areaPolygon) return drawState.MOVEMAP;\r\n    if (field.end) return drawState.AREAPOLYGON;\r\n    if (field.start) return drawState.END;\r\n    \r\n    return drawState.MOVEMAP;\r\n  }\r\n\r\n  function processNumber(value, min, max) {\r\n    if (!value || isNaN(parseFloat(value))) \r\n      return value;\r\n    let number = parseFloat(value);\r\n    if (number < min) return min;\r\n    if (number > max) return max;\r\n\r\n    return number;\r\n  }\r\n\r\n  async function processCaptcha() {\r\n    if (setCaptchaImg)\r\n      return true;\r\n\r\n    return (!await loadImage());\r\n  }\r\n\r\n  async function loadImage() {\r\n    let response = null;\r\n    try {\r\n      response = await fetch('/api/Home/GetCaptchaImage',\r\n      {\r\n        mode: 'cors',\r\n        credentials: 'include'\r\n      });\r\n    }\r\n    catch {}\r\n\r\n    if (response.status === \"204\") return false;\r\n    // console.log(response.text);\r\n    let blob = await response.blob();\r\n    setCaptchaImg(URL.createObjectURL(blob));\r\n    return true;\r\n  }\r\n  \r\n  function isObjectEmpty(obj) {\r\n    return obj\r\n    && Object.keys(obj).length === 0\r\n    && Object.getPrototypeOf(obj) === Object.prototype\r\n  }\r\n\r\n  function objectPropsHasValues(obj) {\r\n    for (const key in obj) {\r\n      if (obj[key])\r\n      return true;\r\n    }\r\n    return false;\r\n  }\r\n};","import Modal from \"../components/modal\";\r\nimport react from 'react';\r\n\r\nexport default class DefineAreaPrecisionModal extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n\r\n    this.state = { \r\n      show: props.show,\r\n      hideAction: props.hideAction\r\n    };\r\n    this.handleClickOutside = this.handleClickOutside.bind(this);\r\n  }\r\n\r\n  componentDidMount() {\r\n    document.addEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  componentWillUnmount() {\r\n    document.removeEventListener(\"mousedown\", this.handleClickOutside);\r\n  }\r\n\r\n  handleClickOutside() {\r\n    this?.state?.hideAction && this?.state.hideAction();\r\n  }\r\n\r\n  componentWillReceiveProps(nextProps) {\r\n    this.setState({ show: nextProps.show });  \r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <Modal show = {this.state.show} header = {\"Fence and precision\"} hideAction = {this.state.hideAction}>\r\n          <div className=\"mb-6\">\r\n            <h3 className=\"h4-font-size subheading\">Fence</h3>\r\n            <p>The fence in which the route will be calculated. Smaller fences are faster for calculating. Start and end point has to be inside the fence. </p>\r\n            <img src=\"../obstacles-area.png\" alt=\"Calculation fence\" className=\"d-block mx-auto object-fit-cover rounded\" />\r\n          </div>\r\n          <div className=\"mb-6\">\r\n            <h3 className=\"h4-font-size subheading\">Precision</h3>\r\n            <p>Defines how much effort the generator will put for calculating the best route. Higher number increases possibility of finding better way but will take more time to calculate.</p>\r\n            <div className=\"d-flex align-items-center\">\r\n              <img src=\"../obstacles-precision-01.png\" alt=\"Smaller precision\" className=\"rounded object-fit-cover overflow-hidden mr-6\" />\r\n              <div className=\"icon icon-less-than h4-font-size text-fade-color mr-6\" />\r\n              <img src=\"../obstacles-precision-02.png\" alt=\"Higher precission\" className=\"rounded object-fit-cover overflow-hidden mr-6\" />\r\n            </div>\r\n          </div>\r\n        </Modal>\r\n      </>\r\n    );\r\n  }\r\n};\r\n","import React, { useEffect } from 'react';\r\nimport drawState from './enums/drawState';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\nimport Pages from './enums/pages';\r\nimport { AsideLayout } from './components/asideLayout';\r\nimport { obstaclesAdded, obstaclesMapReseted, obstaclesRemoved } from './action';\r\nimport DefineAreaPrecisionModal from './modals/defineAreaPrecisionInfo';\r\nimport InputMap1 from './partials/input-map1';\r\nimport { MapButton } from './components/mapButton';\r\nimport Alert from './components/alert';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst initialPrecision = 50;\r\nconst maxDrawZoom = 17;\r\n\r\nexport function Obstacles(props) {\r\n  const [fields, setFields] =\r\n    React.useState(\r\n      {\r\n        \"captcha\": '',\r\n        \"areObstaclesDataCompleted\": getAreObstaclesDataCompleted(),\r\n        \"obstaclesCount\": props.store.getState()?.obstacles?.obstacles?.length ?? 0,\r\n        \"precision\": initialPrecision,\r\n        \"start\" : props.store.getState()?.obstacles?.start,\r\n        \"end\" : props.store.getState()?.obstacles?.end,\r\n        \"areaPolygon\": props.store.getState()?.obstacles?.areaPolygon\r\n      });\r\n\r\n  const [errors, setErrors] = React.useState({ captcha: '' });\r\n  const [actualDrawState, setActualDrawState] = React.useState(drawState.MOVEMAP);\r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete() ? Pages.Obstacles : Pages.Rover);\r\n  const [showDefineAreaPrecisionModal, setShowDefineAreaPrecisionModal] = React.useState(false);\r\n  const [isZoomedToDraw, setIsZoomedToDraw] = React.useState(false);\r\n  const [hideZoomedToDrawWarning, setHideZoomedToDrawWarning] = React.useState(false);\r\n  const [captchaImg, setCaptchaImg] = React.useState(null);\r\n  const [drawScenario] = React.useState(createDrawScenarioWithReduxAction);\r\n  const [removeScenario] = React.useState(createRemoveScenarioWithReduxAction);\r\n\r\n  useEffect(() => {\r\n    loadImage();\r\n    setActualDrawState(getInitialDrawState());\r\n    const unsubscribe = subscribeStateToReduxStore();\r\n\r\n    if (!areObstaclesDataAlreadySet())\r\n      initReduxStore(props.store);\r\n    document.title = \"Obstacles | Route Planning\";\r\n    return () => {\r\n      unsubscribe();\r\n    }\r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page:window.location.pathname  });\r\n    }, []);\r\n\r\n  function initReduxStore(store) {\r\n    store.dispatch(obstaclesAdded({ precision: initialPrecision }));\r\n    store.dispatch(obstaclesAdded({ captcha: '' }));\r\n  }\r\n\r\n  function areObstaclesDataAlreadySet() {\r\n    return props.store.getState()?.obstacles && !isObjectEmpty(props.store.getState()?.obstacles) && props.store.getState()?.obstacles.precision;\r\n  }\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n\r\n  function createDrawScenarioWithReduxAction() {\r\n    let drawScenario = new Map();\r\n    drawScenario.set(drawState.START, (point) => {\r\n      return obstaclesAdded({ start: point })\r\n    });\r\n    drawScenario.set(drawState.END, (point) => {\r\n      return obstaclesAdded({ end: point })\r\n    });\r\n    drawScenario.set(drawState.OBSTACLES, (coordinates) => {\r\n      return setObstacleOrAreaPolygon(coordinates);\r\n    });\r\n    drawScenario.set(drawState.AREAPOLYGON, (coordinates) => {\r\n      return obstaclesAdded({ areaPolygon: coordinates })\r\n    });\r\n    return drawScenario;\r\n  }\r\n\r\n  function createRemoveScenarioWithReduxAction() {\r\n    let removeScenario = new Map();\r\n    removeScenario.set(drawState.START, () => {\r\n      return obstaclesAdded({ start: null })\r\n    });\r\n    removeScenario.set(drawState.END, () => {\r\n      return obstaclesAdded({ end: null })\r\n    });\r\n    removeScenario.set(drawState.OBSTACLES, (id) => {\r\n      return obstaclesRemoved(id)\r\n    });\r\n    removeScenario.set(drawState.AREAPOLYGON, () => {\r\n      return obstaclesAdded({ areaPolygon: null })\r\n    });\r\n    return removeScenario;\r\n  }\r\n\r\n  function subscribeStateToReduxStore() {\r\n    return props.store.subscribe(() => {\r\n      let formFields = {};\r\n      let obstacles = props.store.getState().obstacles;\r\n      formFields[\"start\"] = obstacles.start;\r\n      formFields[\"end\"] = obstacles.end;\r\n      formFields[\"obstacles\"] = obstacles.obstacles;\r\n      formFields[\"areaPolygon\"] = obstacles.areaPolygon;\r\n      formFields[\"precision\"] = obstacles.precision;\r\n      formFields[\"captcha\"] = obstacles.captcha;\r\n      formFields[\"obstaclesCount\"] = props.store.getState()?.obstacles?.obstacles?.length ?? 0;\r\n      formFields[\"areObstaclesDataCompleted\"] = getAreObstaclesDataCompleted();\r\n      setFields(formFields);\r\n    });\r\n  }\r\n\r\n  function getAreObstaclesDataCompleted() {\r\n    let obstacles = props.store.getState().obstacles;\r\n    return (obstacles.start && obstacles.end && obstacles.areaPolygon && Array.isArray(obstacles.obstacles) && obstacles.obstacles.length > 0);\r\n  }\r\n\r\n  if (redirect === Pages.Obstacles) {\r\n    let positionOfRotationAxis = props.store.getState().rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = props.store.getState().rover.positionOfGnsReceiver;\r\n    let routePlanningEnabled = fields[\"areObstaclesDataCompleted\"] && !objectPropsHasValues(errors);\r\n    let precision = fields[\"precision\"] ? fields[\"precision\"] : initialPrecision;\r\n\r\n    return <>\r\n      {/* [BLOCK] Map */}\r\n      <div className=\"interactive-block\">\r\n        <div className=\"map-toolbar\">\r\n          <MapButton isActive={actualDrawState === drawState.MOVEMAP} onClick={() => setActualDrawState(drawState.MOVEMAP)}>\r\n            <i className='icon icon-hand-paper'></i>\r\n          </MapButton>\r\n          <div className=\"btn-group\">\r\n            <MapButton isActive={actualDrawState === drawState.START} onClick={() => setActualDrawState(drawState.START)} disabled={!isZoomedToDraw}>\r\n              <img className='img-icon mr-2' src='./icon-start.png' alt='Start' /> Start\r\n            </MapButton>\r\n            <MapButton isActive={actualDrawState === drawState.END} onClick={() => setActualDrawState(drawState.END)} disabled={!isZoomedToDraw}>\r\n              <img className='img-icon mr-2' src='./icon-end.png' alt='End' /> End\r\n            </MapButton>\r\n          </div>\r\n          <MapButton isActive={actualDrawState === drawState.OBSTACLES} onClick={() => setActualDrawState(drawState.OBSTACLES)} disabled={!isZoomedToDraw}>\r\n            <i className='icon icon-vector-square mr-2'></i> Obstacles\r\n          </MapButton>\r\n          <MapButton isActive={actualDrawState === drawState.AREAPOLYGON} onClick={() => setActualDrawState(drawState.AREAPOLYGON)} disabled={!isZoomedToDraw}>\r\n            <i className='icon icon-vector-square mr-2'></i> Area\r\n          </MapButton>\r\n          <MapButton isActive={false} onClick={(e) => { props.store.dispatch(obstaclesMapReseted()); }} className='btn-danger'>\r\n            <i className='icon icon-trash-alt mr-2'></i> Clear map\r\n          </MapButton>\r\n        </div>\r\n        <InputMap1 drawStateHandler={drawStateHandler} store={props.store} areaPolygon={props.store.getState().obstacles.areaPolygon} drawState={actualDrawState}\r\n          start={props.store.getState().obstacles.start} end={props.store.getState().obstacles.end} polygons={props.store.getState()?.obstacles?.obstacles}\r\n          drawScenario={drawScenario} getFeatureIdBystate={getFeatureIdBystate} removeScenario={removeScenario}\r\n          getPreventUnorientedPoint={getPreventUnorientedPoint} onZoomChanged={onZoomChanged}\r\n          afterFeatureAdded={afterFeatureAdded}\r\n          maxDrawZoom={maxDrawZoom}\r\n        />\r\n        <PrevSettings>\r\n          <PrevSettingsContent header={\"Rover\"} link={Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length} unit={\"m\"} />\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"} />\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"} />}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"} />}\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      <AsideLayout header={\"Define obstacles\"} >\r\n        <div className=\"mb-6\">\r\n          <h2 className=\"h4-font-size subtitle\">1) Define start and end point</h2>\r\n          <div id=\"startPointMarker\" className={`map-step ${isFeatureDone(drawState.START)}`}>\r\n            <i className=\"icon icon-check pr-2 mb-2\" />\r\n            <span>Start point</span>\r\n          </div>\r\n          <div id=\"endPointMarker\" className={`map-step mb-2 ${isFeatureDone(drawState.END)}`}>\r\n            <i className=\"icon icon-check pr-2\" />\r\n            <span>End point</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-6\">\r\n          <h2 className=\"h4-font-size subtitle\">2) Draw your obstacles</h2>\r\n          <div className=\"map-step info\">\r\n            <span id=\"obstaclesCount\" className=\"pr-2\">{fields[\"obstaclesCount\"]}</span>\r\n            <span>Obstacles</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-7\">\r\n          <div className=\"d-flex justify-content-between align-items-baseline\">\r\n            <h2 className=\"h4-font-size subtitle\">3) Define fence and precision</h2>\r\n            <button type=\"button\" className=\"btn btn-blank h4-font-size text-fade-color\" data-toggle=\"modal\"\r\n              onClick={(e) => { setShowDefineAreaPrecisionModal(true) }}>\r\n              <i className=\"icon icon-info-circle\" />\r\n            </button>\r\n          </div>\r\n          <div id=\"areaPointMarker\" className={`map-step mb-2 ${isFeatureDone(drawState.AREAPOLYGON)}`}>\r\n            <i className=\"icon icon-check pr-2\" />\r\n            <span>Fence</span>\r\n          </div>\r\n          <div className=\"form-group\">\r\n            <label htmlFor=\"precision\">Precision</label>\r\n            <input type=\"range\" className=\"form-control-range\" name=\"precision\" value={precision} min={0} max={100}\r\n              onChange={\r\n                (e) => {\r\n                  props.store.dispatch(obstaclesAdded({ precision: e.target.value }))\r\n                }\r\n              }\r\n            />\r\n            <div className=\"range-aprox-values\">\r\n              <span>Low</span>\r\n              <span className=\"label text-fade-color\">(<output id=\"precisionValue\">{precision}</output>)</span>\r\n              <span>High</span>\r\n            </div>\r\n          </div>\r\n        </div>\r\n        {captchaImg &&\r\n          <div className=\"captcha-container\">\r\n            <div className=\"captcha-image\">\r\n              <img id=\"img-captcha\" title=\"Can't read? Click to change another image.\" aria-label=\"Can't read? Click to change another image.\" src={captchaImg} onClick={() => loadImage()} />\r\n            </div>\r\n            <div className=\"captcha-input\">\r\n              <label htmlFor=\"captcha-input\" className='required'>Captcha</label>\r\n              <div className=\"form-group font-size-lg\">\r\n                <input type=\"text\" id='captcha-input' className=\"form-control mb-1\" placeholder=\"Enter captcha code\" maxLength={4}\r\n                  value={fields[\"captcha\"]} error={errors[\"captcha\"]}\r\n                  onChange={(e) => props.store.dispatch(obstaclesAdded({ captcha: e.target.value }))}\r\n                  onKeyPress={handleCaptchaKeypress}\r\n                />\r\n              </div>\r\n              {errors[\"captcha\"] && <span class=\"invalid-feedback  input-validation-error\">{errors[\"captcha\"]}</span>}\r\n            </div>\r\n          </div>\r\n        }\r\n        <button type=\"button\" className={`btn w-100 mx-0 ${!routePlanningEnabled ? \"disabled\" : \"\"}`}\r\n          onClick={async () => { await generateRoute(routePlanningEnabled); }}\r\n        >Generate route\r\n        </button>\r\n      </AsideLayout>\r\n      <div className='alerts-container'>\r\n        {/*this.state.error && <Alert onClick={(e) => { setActualDrawState({ error: null }); }} variant='danger'>{this.state.error}</Alert>*/}\r\n        {!isZoomedToDraw\r\n          && !hideZoomedToDrawWarning\r\n          && <Alert onClick={(e) => { setHideZoomedToDrawWarning(true); }} variant='info'>\"Your map view is too large. Please zoom in to draw your obstacles. (Obstacle area size can be up to 50 000 m2)\"</Alert>}\r\n      </div>\r\n      <DefineAreaPrecisionModal show={showDefineAreaPrecisionModal} hideAction={() => { setShowDefineAreaPrecisionModal(false) }} />\r\n    </>\r\n  }\r\n  else\r\n    return <Redirect to={redirect} />\r\n\r\n  async function generateRoute(routePlanningEnabled) {\r\n    let captchaOk = await processCaptcha();\r\n    if (captchaOk && routePlanningEnabled && handleValidation()) {\r\n      setRedirect(Pages.ObstaclesResult);\r\n    }\r\n  }\r\n\r\n  function handleCaptchaKeypress(e) {\r\n    if (e.charCode === 13) {\r\n      e.preventDefault();\r\n      let routePlanningEnabled = fields[\"areObstaclesDataCompleted\"] && !objectPropsHasValues(errors);\r\n      generateRoute(routePlanningEnabled);\r\n    }\r\n  };\r\n\r\n  function afterFeatureAdded() {\r\n    setActualDrawState(drawState.MOVEMAP)\r\n  }\r\n\r\n  function onZoomChanged(val) {\r\n    let isZoomedToDraw = val >= maxDrawZoom;\r\n    setIsZoomedToDraw(isZoomedToDraw);\r\n  }\r\n\r\n  function handleValidation() {\r\n    let errors = {};\r\n    let formIsValid = true;\r\n\r\n    if (captchaImg && (fields[\"captcha\"] === null || fields[\"captcha\"] === undefined)) {\r\n      formIsValid = false;\r\n      errors[\"captcha\"] = \"Cannot be empty\";\r\n    }\r\n\r\n    setErrors(errors);\r\n    return formIsValid;\r\n  }\r\n\r\n  async function processCaptcha() {\r\n    if (captchaImg)\r\n      return true;\r\n\r\n    return (!await loadImage());\r\n  }\r\n\r\n  function getFeatureIdBystate(myDrawState) {\r\n    let obstaclesReduxState = props.store.getState()?.obstacles;\r\n    switch (myDrawState) {\r\n      case drawState.START: return obstaclesReduxState?.start?.Id;\r\n      case drawState.END: return obstaclesReduxState?.end?.Id;\r\n      case drawState.AREAPOLYGON:\r\n        return Array.isArray(obstaclesReduxState?.areaPolygon) && obstaclesReduxState?.areaPolygon?.length > 0 ? obstaclesReduxState?.areaPolygon[0]?.Id : null;\r\n      default: return null;\r\n    }\r\n  }\r\n\r\n  function drawStateHandler(drawState) {\r\n    setActualDrawState(drawState);\r\n  }\r\n\r\n  function isFeatureDone(stepState) {\r\n    return fields[stepState] ? \"done\" : \"\";\r\n  }\r\n\r\n  function setObstacleOrAreaPolygon(coordinates) {\r\n    if (coordinates[0] && coordinates[0][0] && coordinates[0][0][0] !== coordinates[0][coordinates.length - 1][0] && coordinates[0][0][1] !== coordinates[0][coordinates.length - 1][1])\r\n      coordinates[0].push(coordinates[0][0]);\r\n    return obstaclesAdded({ obstacles: coordinates[0] });\r\n  }\r\n\r\n  function getPreventUnorientedPoint(myDrawState) {\r\n    return myDrawState === drawState.START;\r\n  }\r\n\r\n  function getInitialDrawState() {\r\n    /* let obstacles = props.store.getState().obstacles;\r\n     if (obstacles.areaPolygon) return drawState.NONE;\r\n     if (obstacles.obstacles && obstacles.obstacles.length > 0) return drawState.OBSTACLES;\r\n     if (obstacles.end) return drawState.OBSTACLES;\r\n     if (obstacles.start) return drawState.END;*/\r\n    return drawState.MOVEMAP\r\n  }\r\n\r\n  async function loadImage() {\r\n    let response = null;\r\n    try {\r\n      response = await fetch('/api/Home/GetCaptchaImage',\r\n        {\r\n          mode: 'cors',\r\n          credentials: 'include'\r\n        });\r\n    }\r\n    catch { }\r\n\r\n    if (response.status === \"204\") return false;\r\n    // console.log(response.text);\r\n    let blob = await response.blob();\r\n    setCaptchaImg(URL.createObjectURL(blob));\r\n    return true;\r\n  }\r\n\r\n  function isObjectEmpty(obj) {\r\n    return obj\r\n      && Object.keys(obj).length === 0\r\n      && Object.getPrototypeOf(obj) === Object.prototype\r\n  }\r\n\r\n  function objectPropsHasValues(obj) {\r\n    for (const key in obj) {\r\n      if (obj[key])\r\n      return true;\r\n    }\r\n    return false;\r\n  }  \r\n};","import React, {useEffect} from 'react';\r\nimport InputMap1  from './partials/input-map1';\r\nimport drawState  from './enums/drawState';\r\nimport { pointsMapReseted } from './action';\r\nimport { Redirect } from \"react-router-dom\";\r\nimport Pages from './enums/pages';\r\nimport { PrevSettings, PrevSettingsContent, PrevSettingsItem } from './components/prevSettings';\r\n//import Alert from './components/alert';\r\nimport { AsideLayout } from './components/asideLayout';\r\nimport { pointAdded, pointRemoved } from './action';\r\nimport { MapButton } from './components/mapButton';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nexport function Points(props) {\r\n  const [fields, setFields] = React.useState({\r\n        \"captcha\": '',\r\n        \"arePointsDataCompleted\": getArePointsDataCompleted(),\r\n        \"pointsCount\": props.store.getState().trajectoryPoints?.points?.length ?? 0,\r\n        \"start\": props.store.getState().trajectoryPoints?.start,\r\n        \"end\": props.store.getState().trajectoryPoints?.end\r\n  });\r\n  const [errors, setErrors] = React.useState({captcha: ''});  \r\n  const [actualDrawState, setActualDrawState] =  React.useState(drawState.MOVEMAP); \r\n  const [redirect, setRedirect] = React.useState(areRoverDataComplete()? Pages.Points: Pages.Rover);    \r\n  const [captchaImg, setCaptchaImg] = React.useState(null);   \r\n  const [drawScenario] = React.useState(createDrawScenarioWithReduxAction);   \r\n  const [removeScenario] = React.useState(createRemoveScenarioWithReduxAction);\r\n\r\n  function getArePointsDataCompleted() {\r\n    let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n    return trajectoryPoints?.start && trajectoryPoints?.end && trajectoryPoints?.points\r\n  }\r\n\r\n  useEffect(()=>{\r\n    loadImage();\r\n    setActualDrawState(getInitialDrawState());\r\n    const unsubscribe = subscribeStateToReduxStore();\r\n    if (!arePointsDataAlreadySet())\r\n      initReduxStore(props.store);\r\n\r\n    document.title = \"Points | Route Planning\";\r\n\r\n    return () => {\r\n      unsubscribe();\r\n    }\r\n  }, []); // eslint-disable-line react-hooks/exhaustive-deps\r\n\r\n  useEffect(() => {\r\n    ReactGA.send({ hitType: \"pageview\", page: window.location.pathname });\r\n    }, []);\r\n\r\n  function initReduxStore(store) {\r\n    store.dispatch(pointAdded({captcha:''}));\r\n  }\r\n\r\n  function subscribeStateToReduxStore() {\r\n    return props.store.subscribe(() => {\r\n\r\n      let trajectoryPoints = props.store.getState().trajectoryPoints;\r\n      let formFields = {};\r\n      formFields[\"start\"] = trajectoryPoints?.start;\r\n      formFields[\"points\"] = trajectoryPoints?.points;\r\n      formFields[\"end\"] = trajectoryPoints?.end;\r\n      formFields[\"captcha\"] = trajectoryPoints?.captcha;\r\n      formFields[\"arePointsDataCompleted\"] = trajectoryPoints.start && trajectoryPoints.end && trajectoryPoints.points;\r\n      formFields[\"pointsCount\"] = trajectoryPoints?.points && trajectoryPoints.points.length > 0 ? trajectoryPoints.points.length : 0;\r\n      setFields(formFields);\r\n    });\r\n  }\r\n\r\n  function arePointsDataAlreadySet() {\r\n    return props.store.getState()?.trajectoryPoints && !isObjectEmpty(props.store.getState()?.trajectoryPoints) && props.store.getState()?.trajectoryPoints.captcha !== undefined && props.store.getState()?.trajectoryPoints.captcha !== null;\r\n  }\r\n\r\n  function areRoverDataComplete() {\r\n    let rover = props.store.getState().rover;\r\n    return rover.length && rover.turningRadius && rover.wheelDistance;\r\n  }\r\n\r\n  if (redirect === Pages.Points)\r\n  {\r\n    let positionOfRotationAxis = props.store.getState().rover.positionOfRotationAxis;\r\n    let positionOfGnsReceiver = props.store.getState().rover.positionOfGnsReceiver;\r\n    let points = [];\r\n\r\n    if (props.store.getState().trajectoryPoints.start)\r\n      points.push(props.store.getState().trajectoryPoints.start);\r\n    points = points.concat(props.store.getState().trajectoryPoints.points);\r\n    if (props.store.getState().trajectoryPoints.end)\r\n      points.push(props.store.getState().trajectoryPoints.end);\r\n\r\n    return <>\r\n      {/* [BLOCK] Map */}\r\n      <div className=\"interactive-block\">\r\n        <div className = \"map-toolbar\">\r\n          <MapButton isActive={actualDrawState === drawState.MOVEMAP} onClick={() => setActualDrawState(drawState.MOVEMAP)}>\r\n            <i className='icon icon-hand-paper'></i>\r\n          </MapButton>\r\n          <MapButton isActive={actualDrawState === drawState.START} onClick={() => setActualDrawState(drawState.START)}>\r\n            <img className='img-icon mr-2' src='./icon-start.png' alt='Start' /> Start\r\n          </MapButton>\r\n          <MapButton isActive={actualDrawState === drawState.POINTS} onClick={() => setActualDrawState( drawState.POINTS)}>\r\n            <img className='img-icon mr-2' src='./icon-point.png' alt='Waypoints' /> Waypoints\r\n          </MapButton>\r\n          <MapButton isActive={actualDrawState === drawState.END} onClick={() => setActualDrawState(drawState.END)}>\r\n            <img className='img-icon mr-2' src='./icon-end.png' alt='End'/> End\r\n          </MapButton>\r\n          <MapButton isActive={false} onClick={(e) => { props.store.dispatch(pointsMapReseted()); }} className='btn-danger'>\r\n            <i className='icon icon-trash-alt mr-2'></i> Clear map\r\n          </MapButton>\r\n        </div>\r\n        <InputMap1 /*drawStateHandler = {drawStateHandler}*/ drawScenario = {drawScenario} store = {props.store} \r\n          drawState = {actualDrawState} points = {points}\r\n          getFeatureIdBystate = {getFeatureIdBystate} removeScenario = {removeScenario} getPreventUnorientedPoint = {getPreventUnorientedPoint}\r\n          linesBetweenPoints = {true}  afterFeatureAdded = {afterFeatureAdded}\r\n        />\r\n        <PrevSettings>\r\n          <PrevSettingsContent header ={\"Rover\"} link = {Pages.Rover}>\r\n            <PrevSettingsItem name={\"Wheel Distance\"} value={props.store.getState().rover.wheelDistance} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Length\"} value={props.store.getState().rover.length - 1} unit={\"m\"}/>\r\n            <PrevSettingsItem name={\"Turning radius\"} value={props.store.getState().rover.turningRadius} unit={\"m\"}/>\r\n            {positionOfRotationAxis && <PrevSettingsItem name={\"Position of axis of rotation\"} value={positionOfRotationAxis} unit={\"m\"}/>}\r\n            {positionOfGnsReceiver && <PrevSettingsItem name={\"Position of GNSS receiver\"} value={positionOfGnsReceiver} unit={\"m\"}/>}\r\n          </PrevSettingsContent>\r\n        </PrevSettings>\r\n      </div>\r\n      {/* [BLOCK] Aside */}\r\n      <AsideLayout header = {\"Define field\"} >\r\n        <div className=\"mb-6\">\r\n          <h2 className=\"h4-font-size subtitle\">1) Define start point</h2>\r\n          <div id=\"startPointMarker\" className={`map-step ${isFeatureDone(drawState.START)}`}>\r\n            <i className=\"icon icon-check pr-2 mb-2\" />\r\n            <span>Start point</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-6\">\r\n          <h2 className=\"h4-font-size subtitle\">2) Define waypoints</h2>\r\n          <div className=\"map-step info\">\r\n            <span id=\"obstaclesCount\" className=\"pr-2\">{fields[\"pointsCount\"]}</span>\r\n            <span>Waypoints</span>\r\n          </div>\r\n        </div>\r\n        <div className=\"mb-7\">\r\n          <h2 className=\"h4-font-size subtitle\">1) Define end point</h2>\r\n          <div id=\"endPointMarker\" className={`map-step mb-2 ${isFeatureDone(drawState.END)}`}>\r\n            <i className=\"icon icon-check pr-2\" />\r\n            <span>End point</span>\r\n          </div>\r\n        </div>\r\n        \r\n        {captchaImg &&\r\n          <div className=\"captcha-container\">\r\n            <div className=\"captcha-image\">\r\n              <img id=\"img-captcha\" title = \"Can't read? Click to change another image.\" aria-label = \"Can't read? Click to change another image.\"  src = {captchaImg} onClick={() =>loadImage()}/>\r\n            </div>\r\n            <div className=\"captcha-input\">\r\n              <label htmlFor=\"captcha-input\" className='required'>Captcha</label>\r\n              <div className=\"form-group font-size-lg\">\r\n                <input type=\"text\" id='captcha-input' className=\"form-control mb-1\" placeholder=\"Enter captcha code\" maxLength={4} \r\n                  value = {fields[\"captcha\"]} error = {errors[\"captcha\"]}\r\n                  onChange ={(e) => props.store.dispatch(pointAdded({captcha:e.target.value}))}\r\n                  onKeyPress={handleCaptchaKeypress}\r\n                />\r\n              </div>\r\n              {errors[\"captcha\"] && <span class=\"invalid-feedback  input-validation-error\">{errors[\"captcha\"]}</span>}   \r\n            </div>\r\n          </div>\r\n        }\r\n\r\n        <button type=\"button\" className= {`btn w-100 mx-0 ${!fields[\"arePointsDataCompleted\"] || objectPropsHasValues(errors) ? \"disabled\" : \"\"}`}  \r\n          onClick={async () => {await generateRoute();} }   \r\n        >Generate route\r\n        </button>  \r\n      </AsideLayout>\r\n      <div className='alerts-container'>\r\n        {/*error && <Alert onClick={(e) => { setErrors(null)}} variant='danger'>{error}</Alert>*/}\r\n      </div>\r\n    </>\r\n  }\r\n  else\r\n    return <Redirect to={redirect} />\r\n\r\n  async function generateRoute() {\r\n    let captchaOk = await processCaptcha();\r\n    if (captchaOk && handleValidation() && fields[\"arePointsDataCompleted\"] && !objectPropsHasValues(errors)) {\r\n      setRedirect(Pages.PointsResult);\r\n    }\r\n  }\r\n\r\n  function handleCaptchaKeypress(e) {\r\n    if (e.charCode === 13) {\r\n      e.preventDefault();\r\n      generateRoute();\r\n    }\r\n  };\r\n\r\n  function handleValidation() {\r\n    let error = {};\r\n    return (((captchaImg === null || captchaImg === undefined) || checkValueIsSetOrAddError(\"captcha\", error, true)));\r\n  }\r\n\r\n  function afterFeatureAdded() {\r\n    setActualDrawState(drawState.MOVEMAP)\r\n  }\r\n\r\n  function checkValueIsSetOrAddError(propertyName, error, setState = false) {\r\n    let result = true;\r\n    if(!fields[propertyName]){\r\n      error[propertyName] = \"Cannot be empty\";\r\n      result = false;\r\n    }\r\n    \r\n    if (setState && !isObjectEmpty(error))\r\n      setErrors(error);\r\n    return result;\r\n  }\r\n\r\n  async function processCaptcha() {\r\n    if (captchaImg)\r\n      return true;\r\n\r\n    return (!await loadImage());\r\n  }\r\n\r\n  function createDrawScenarioWithReduxAction() {\r\n    let drawScenario = new Map();\r\n    //start pro prvni bod..end nebude\r\n    drawScenario.set(drawState.START, (point) => { \r\n        return pointAdded({start: point})\r\n    });\r\n    drawScenario.set(drawState.POINTS, (point) => { \r\n      return pointAdded({points: point});\r\n    });\r\n\r\n    drawScenario.set(drawState.END, (point) => { \r\n        return pointAdded({end: point});\r\n    });\r\n    return drawScenario;    \r\n  }\r\n\r\n  function createRemoveScenarioWithReduxAction() {\r\n    let removeScenario = new Map();\r\n    removeScenario.set(drawState.START, () => { \r\n        return pointAdded({start: null})\r\n    });\r\n    removeScenario.set(drawState.POINTS, (id) => { \r\n      return pointRemoved(id);\r\n    });\r\n\r\n    removeScenario.set(drawState.END, () => { \r\n        return pointAdded({end: null});\r\n    });\r\n    return removeScenario;    \r\n  }\r\n\r\n  function getFeatureIdBystate(myDrawState) {\r\n    switch(myDrawState) {\r\n      case drawState.START: return props.store.getState()?.trajectoryPoints?.start?.Id;\r\n      case drawState.END: return  props.store.getState()?.trajectoryPoints?.end?.Id;\r\n      default: return null;  \r\n    }\r\n  }\r\n\r\n  function isFeatureDone(stepState) {\r\n    return fields[stepState]? \"done\" : \"\";\r\n  }\r\n\r\n  /*function drawStateHandler(state) {\r\n    let newState = {drawState:state};\r\n    if (state === drawState.NONE)\r\n      newState.drawing = false;\r\n    this.setState(newState);\r\n  }*/\r\n\r\n  function getInitialDrawState() {\r\n    let points = props.store.getState().trajectoryPoints.points;\r\n    if (points && points.length >= 2) return drawState.END;\r\n    if (points && points.length === 1) return drawState.POINTS;\r\n    \r\n    return drawState.START\r\n  }\r\n\r\n  function getPreventUnorientedPoint(myDrawState) {\r\n    return myDrawState === drawState.START;\r\n  }\r\n\r\n  async function loadImage() {\r\n    let response = await fetch('/api/Home/GetCaptchaImage',\r\n    {\r\n      mode: 'cors',\r\n      credentials: 'include'\r\n    });\r\n\r\n    if (response.status === \"204\") return false;\r\n    // console.log(response.text);\r\n    let blob = await response.blob();\r\n    setCaptchaImg(URL.createObjectURL(blob));\r\n    return true;\r\n  }\r\n\r\n  function isObjectEmpty(obj) {\r\n    return obj\r\n    && Object.keys(obj).length === 0\r\n    && Object.getPrototypeOf(obj) === Object.prototype\r\n  } \r\n\r\n  function objectPropsHasValues(obj) {\r\n    for (const key in obj) {\r\n      if (obj[key])\r\n      return true;\r\n    }\r\n    return false;\r\n  } \r\n};","import React, { useEffect } from 'react';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst PageNotFound = () => {\r\n  useEffect(() => {\r\n    ReactGA.send({ \r\n      hitType: \"pageview\", page: window.location.pathname });\r\n    }, []);\r\n\r\n    return (\r\n    <>\r\n        <div className=\"error-container\">\r\n          <h1 className=\"text-center text-fade-color\">Error 404</h1>\r\n          <div className=\"error-message\">\r\n            <img className=\"error-icon\" src=\"../404.png\" alt=\"Error 404\" />\r\n            <h2 className=\"text-color\">Sorry...</h2>\r\n            <h4 className=\"text-color mb-0\">The page you are looking for does not exist.</h4>\r\n            <div className=\"error-buttons\">\r\n              <a className=\"btn btn-primary d-block\" href=\"/\">Home</a>\r\n            </div>\r\n          </div>\r\n        </div>{/* [ALERTS]*/}<div className=\"alerts-container\"> </div>\r\n      </>\r\n    )\r\n}\r\n\r\nexport default PageNotFound","import React, { useEffect } from 'react';\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst InternalServerError= () => {\r\n  useEffect(() => {\r\n    ReactGA.send({ \r\n      hitType: \"pageview\", page: window.location.pathname });\r\n    }, []);\r\n\r\n    return (\r\n        <div className=\"error-container\">\r\n        <h1 className=\"text-center text-fade-color\">Error 500</h1>\r\n        <div className=\"error-message\">\r\n          <img className=\"error-icon\" src=\"../500.png\" alt=\"Error 500\" />\r\n          <h2 className=\"text-color\">Sorry...</h2>\r\n          <h4 className=\"text-color mb-0\">We have some troubles with our server.</h4>\r\n          <p className=\"text-color mb-0\">Refresh the site or feel free to contact us.</p>\r\n          <div className=\"error-buttons\">\r\n            <a className=\"btn btn-primary \" href=\"/\">Home</a>\r\n            <a className=\"btn btn-outline-secondary \" href=\"https://www.navmatix.com/contact/#form\" target=\"_blank\" rel=\"noopener noreferrer\">Contact us\r\n            </a>\r\n          </div>\r\n        </div>\r\n      </div>\r\n    )\r\n}\r\n\r\nexport default InternalServerError;","import react from 'react';\n\nclass ErrorBoundary extends react.Component {\n  constructor(props) {\n    super(props);\n    this.state = { hasError: false };\n  }\n\n  static getDerivedStateFromError(error) {\n    // Update state so the next render will show the fallback UI.\n    return { hasError: true };\n  }\n\n  componentDidCatch(error, errorInfo) {\n    // You can also log the error to an error reporting service\n   // logErrorToMyService(error, errorInfo); report and log\n  }\n\n  render() {\n    if (this.state.hasError) {\n      // You can render any custom fallback UI\n      return <div className=\"error-container\">\n        <div className=\"error-message\">\n          <img className=\"error-icon\" src=\"./500.png\" alt=\"Error 500\" />\n          <h2 className=\"text-color\">Sorry...</h2>\n          <h4 className=\"text-color mb-0\">Something went wrong.</h4>\n          <p className=\"text-color mb-0\">Refresh the site. If the error persists, feel free to contact us.</p>\n          <div className=\"error-buttons\">\n            <a className=\"btn btn-primary \" href=\"/\">Home</a>\n            <a className=\"btn btn-outline-secondary \" href=\"https://www.navmatix.com/contact/#form\" target=\"_blank\" rel=\"noopener noreferrer\">Contact us</a>\n          </div>\n        </div>\n      </div>\n    }\n\n    return this.props.children; \n  }\n}\n\nexport default ErrorBoundary;","import { useEffect } from \"react\";\r\nimport {Rover} from './Rover';\r\nimport {Field} from './Field';\r\nimport PointsResult from './Points-Result';\r\nimport FieldResult from './Field-Result';\r\nimport ObstaclesResult from './Obstacles-Result';\r\nimport {Obstacles} from './Obstacles';\r\nimport {Points} from './Points';\r\nimport {BrowserRouter, Route, Switch} from 'react-router-dom';\r\nimport PageNotFound from './errors/404';\r\nimport InternalServerError from './errors/500';\r\nimport ErrorBoundary from './components/errorBoundary';\r\nimport CookieConsent, {\r\n  getCookieConsentValue,\r\n  Cookies,\r\n} from \"react-cookie-consent\";\r\nimport ReactGA from \"react-ga4\";\r\n\r\nconst TRACKING_ID = \"G-KDC397W07D\"; \r\n\r\nfunction App(props) {\r\n  const handleAcceptCookie = () => {\r\n      ReactGA.initialize(TRACKING_ID);\r\n  };\r\n\r\n  const handleDeclineCookie = () => {\r\n    //remove google analytics cookies\r\n    Cookies.remove(\"_ga\");\r\n    Cookies.remove(\"_gat\");\r\n    Cookies.remove(\"_gid\");\r\n  };\r\n\r\n  useEffect(() => {\r\n    const isConsent = getCookieConsentValue();\r\n    if (isConsent === \"true\") {\r\n      handleAcceptCookie();\r\n    }\r\n  }, []); \r\n  \r\n  const simulateCookieConsentAcceptClick = () => {\r\n    document.getElementById(\"rcc-confirm-button\").click();\r\n  }\r\n  \r\n  return (\r\n    <>\r\n      <div className=\"topbar\">\r\n        <a href=\"/\"><img src=\"/brand.png\" alt=\"GNSS Route Planning logo\"></img></a>\r\n        <a href=\"https://www.navmatix.com/\" target=\"_blank\" rel=\"noopener noreferrer\"><img src=\"author.png\" alt=\"Navmatix logo\"></img></a>\r\n      </div>\r\n      <BrowserRouter>\r\n      <div className=\"app-container\">\r\n        <Switch>\r\n          <Route exact path=\"/\">\r\n            <ErrorBoundary>\r\n              <Rover store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Field'>\r\n          <ErrorBoundary>\r\n            <Field store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Field-result'>\r\n          <ErrorBoundary>\r\n            <FieldResult store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Obstacles'>\r\n          <ErrorBoundary>\r\n            <Obstacles store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Obstacles-Result'>\r\n          <ErrorBoundary>\r\n            <ObstaclesResult store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Points'>\r\n          <ErrorBoundary>\r\n            <Points store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/Points-Result'>\r\n          <ErrorBoundary>\r\n            <PointsResult store = {props.store}/>\r\n            </ErrorBoundary>\r\n          </Route>\r\n          <Route  path='/errors/404'>\r\n            <PageNotFound/>\r\n          </Route>\r\n          <Route  path='/errors/500'>\r\n            <InternalServerError/>\r\n          </Route>\r\n          <Route component={PageNotFound} />          \r\n        </Switch>\r\n      </div>\r\n      </BrowserRouter>\r\n      <CookieConsent\r\n        overlay\r\n        onAccept={handleAcceptCookie}\r\n        onDecline={handleDeclineCookie}\r\n        overlayStyle={{ zIndex: \"1051\" }}\r\n      >\r\n        <div className=\"modal fade show\" tabIndex={-1} role=\"dialog\" aria-labelledby=\"infoCookieConsent\" aria-hidden=\"false\">\r\n          <div className=\"modal-dialog\" role=\"document\">\r\n            <div className=\"modal-content\">\r\n              <div className=\"modal-header\">\r\n                <h2 className=\"modal-title\" id=\"infoCookieConsent\">We use cookies</h2>\r\n              </div>\r\n              <div className=\"modal-body\">\r\n                <p>We use cookies to ensure that we give you the best experience on our website. If you continue to use this site we will assume that you agree with it.</p>\r\n                <a href=\"https://policies.google.com/technologies/cookies\" target=\"_blank\" rel=\"noreferrer\" className=\"btn btn-outline-secondary\">Privacy policy</a>\r\n              </div>\r\n              <div className=\"modal-footer\">\r\n                <button type=\"button\" className=\"btn btn-primary modal-btn\" data-dismiss=\"modal\" aria-label=\"Accept cookies\" onClick={simulateCookieConsentAcceptClick}>\r\n                  I understand\r\n                </button>\r\n              </div>\r\n            </div>\r\n          </div>\r\n        </div>\r\n      </CookieConsent>\r\n    </>\r\n  );\r\n}\r\n\r\nexport default App;\r\n","import React from 'react';\r\nimport ReactDOM from 'react-dom';\r\nimport './index.css';\r\nimport App from './App';\r\n\r\nimport reducer from './reducer';\r\nimport { createStore } from 'redux';\r\nimport { BrowserRouter } from \"react-router-dom\";\r\n\r\nconst store = createStore(reducer);\r\n\r\nReactDOM.render(\r\n  <React.StrictMode>\r\n    <BrowserRouter>\r\n      <App store = {store}/>\r\n    </BrowserRouter>\r\n  </React.StrictMode>,\r\n  document.getElementById('app')\r\n);","const drawState = {\n\tNONE: 'none',\n\tSTART: 'start',\n\tEND: 'end',\n\tAREAPOLYGON: 'areaPolygon',\n\tOBSTACLES: 'obstacles',\n\tPOINTS: 'points',\n}\nexport default drawState;\n\nexport function doNotAutochangeState(comparedDrawState) {\n\treturn (comparedDrawState === drawState.OBSTACLES);\n}","export const SET_ROVER = 'SET_ROVER';\r\nexport const SET_FIELD = 'SET_FIELD';\r\nexport const REMOVE_FIELD = 'REMOVE_FIELD';\r\nexport const RESET_FIELD_MAP = 'RESET_FIELD_MAP';\r\nexport const SET_OBSTACLES = 'SET_OBSTACLES';\r\nexport const REMOVE_OBSTACLES = 'REMOVE_OBSTACLES';\r\nexport const RESET_OBSTACLES_MAP = 'RESET_OBSTACLES_MAP';\r\nexport const SET_POINTS = 'SET_POINTS';\r\nexport const REMOVE_POINTS = 'REMOVE_POINTS';\r\nexport const RESET_POINTS_MAP = 'RESET_POINTS_MAP';\r\nexport const FIELD_RESULT_PAGE_LOADED = 'FIELD_RESULT_PAGE_LOADED';\r\nexport const FIELD_RESULT_PAGE_UNLOADED = 'FIELD_RESULT_PAGE_UNLOADED';\r\n\r\n\r\n","const pointType = {\n\tSTART: 1,\n\tEND: 2,\n\tUNORIENTED: 4,\n    TRANSIT: 8,\n}\n\nexport default pointType;\n","import { createStore } from 'redux';\nimport reducer from './reducer';\n\nconst store = createStore(reducer);\nexport default store;","import react from 'react';\r\n\r\nexport default class Alert extends react.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.state = { \r\n      onClick: props.onClick,\r\n      variant: props.variant,\r\n      children: props.children\r\n    };\r\n  }\r\n\r\n  componentWillReceiveProps(props) {\r\n    this.setState(\r\n      { \r\n        message: props.message, \r\n      });  \r\n  }\r\n\r\n  render() {\r\n    // Set alert variant class\r\n    let variantClass = '';\r\n    switch (this.state.variant) {\r\n      case 'danger' || 'error':\r\n        variantClass = 'alert-danger';\r\n        break;\r\n      case 'warning':\r\n        variantClass = 'alert-warning';\r\n        break;\r\n      case 'success':\r\n        variantClass = 'alert-success';\r\n        break;\r\n      case 'info':\r\n        variantClass = 'alert-info';\r\n        break;\r\n      default:\r\n        variantClass = 'alert-secondary';\r\n    }\r\n\r\n    return <div className={`alert ${variantClass}`} role=\"alert\">\r\n    <div className=\"alert-message\">\r\n     {this.state.children} \r\n    </div>\r\n    {this.state.onClick && <button type=\"button\" className=\"close\" data-dismiss=\"alert\" aria-label=\"Close\" onClick = {this.state.onClick}>\r\n      <i className=\"icon icon-times\" aria-hidden=\"true\" />\r\n    </button>}\r\n  </div>\r\n  }\r\n}","import React from \"react\";\r\nimport Mp from \"ol/Map\";\r\nimport View from \"ol/View\";\r\nimport * as source from 'ol/source';\r\nimport * as control from 'ol/control';\r\nimport * as layer from 'ol/layer';\r\nimport Feature from 'ol/Feature';\r\nimport * as geom from 'ol/geom';\r\nimport * as style from 'ol/style';\r\nimport pointType from \"../enums/pointType\";\r\nimport drawState from '../enums/drawState';\r\nimport \"../mapComponent/map.css\";\r\nimport 'ol/ol.css';\r\nimport { DEFAULT_RADIUS} from 'ol/sphere';\r\nimport * as olProj from 'ol/proj';\r\n\r\nconst upperZIndex = 100;\r\nconst lowerZIndex = 99;\r\n\r\nclass ResultMap extends React.Component {\r\n  constructor(props) {\r\n    super(props);\r\n    this.mapRef = React.createRef();\r\n    this.overlayRef = React.createRef();\r\n    this.wayPoints = props.wayPoints;\r\n    this.trajectoryPoints = this.transfromTrajectoryPoints(props.trajectoryPoints);\r\n    this.loaded = props.loaded;\r\n    this.wheelDistance = props.wheelDistance;\r\n    this.polygons = props.polygons;\r\n    this.areaPolygon = props.areaPolygon;\r\n    this.linesBetweenPoints = props.linesBetweenPoints;\r\n    this.map = undefined;\r\n    this.sourceLine = undefined;\r\n    this.vectorLine = undefined;\r\n    this.sourceLineToChosenPoint = undefined;\r\n    this.vectorLineToChosenPoint = undefined;\r\n    this.displaySource = undefined;\r\n    this.displayLineSource = undefined;\r\n    this.displayVectorLayer = undefined;\r\n    this.movementLayer = undefined;\r\n    this.polygonSource = undefined;\r\n    this.polygonVectorLayer = undefined;\r\n    this.vectorSource = undefined;\r\n    this.animationSource = undefined;\r\n    this.props = props;\r\n    this.inAnimation = false;\r\n    this.pause = false;\r\n    this.animationStep = 3;\r\n    this.clickPointCallback = this.clickPointCallback.bind(this);\r\n    this.setAnimationSpeed = this.setAnimationSpeed.bind(this);\r\n    this.animationDelay = 2;\r\n    this.animationDelayEveryNTh = 1;\r\n  }\r\n\r\n  clickPointCallback(actualTrajectoryPointNo) {\r\n    this.draw_movement_route_to_point(actualTrajectoryPointNo);\r\n  }\r\n\r\n  transfromTrajectoryPoints(points) {\r\n    let transformedPoints = { points:[]};\r\n    if (!Array.isArray(this.wayPoints) || this.wayPoints.length === 0 || !points || !Array.isArray(points.points))\r\n      return;\r\n    let startPoint = this.wayPoints[0];\r\n\r\n    points.points.forEach(pointCoords => {\r\n      let startPointTransformed = olProj.transform([startPoint.Lon, startPoint.Lat], 'EPSG:3857', 'EPSG:4326');\r\n      let transformedCoords = this.transformPointToESPG3857Units(pointCoords[0], pointCoords[1], startPointTransformed);\r\n      let transformedCircleCenter =  (pointCoords[3] || pointCoords[4]) ? this.transformPointToESPG3857Units(pointCoords[3], pointCoords[4], startPointTransformed) : [0,0];\r\n      transformedPoints.points.push([...transformedCoords, pointCoords[2], transformedCircleCenter[0], transformedCircleCenter[1]])\r\n    });\r\n\r\n    return transformedPoints;\r\n  }\r\n\r\n  transformPointToESPG3857Units(relativeLon, relativeLat, startPoint) {\r\n    let lat = startPoint[1] + this.toDegrees(Math.sin((relativeLat/DEFAULT_RADIUS)/2) * 2.0);\r\n    let middleLatRadius =  Math.cos(this.toRadians(startPoint[1] + ((lat - startPoint[1])/2))) * DEFAULT_RADIUS;\r\n    let lon = startPoint[0] + this.toDegrees(Math.sin((relativeLon/middleLatRadius)/2) * 2.0);\r\n\r\n    return olProj.transform([lon, lat], 'EPSG:4326', 'EPSG:3857');\r\n  }\r\n\r\n  toDegrees (angle) {\r\n    return angle * (180 / Math.PI);\r\n  }\r\n\r\n  toRadians (angle) {\r\n    return angle * (Math.PI/180);\r\n  }\r\n  \r\n  pauseAnimation() {\r\n    this.pause = true;\r\n  }\r\n  resumeAnimation() {\r\n    this.pause = false;\r\n  }\r\n\r\n  redrawAnimation() {\r\n    if (this.inAnimation) {\r\n      this.skipAnimation = true;\r\n    }\r\n    else  {  \r\n      this.draw_movement_animation();\r\n      this.skipAnimation = true;\r\n    }\r\n    this.pause = false;\r\n  }\r\n\r\n  drawAnimation() {\r\n    this.pause = false;\r\n    if (!this.inAnimation) {    \r\n      this.draw_movement_animation();\r\n    }\r\n    //pauza\r\n    else if (this.pause) {\r\n      this.pause = false;\r\n    }\r\n  }\r\n\r\n  componentDidMount() {\r\n    this.displaySource = new source.Vector();\r\n    this.displayLineSource = new source.Vector();\r\n    this.polygonSource = new source.Vector();\r\n\r\n    let raster = new layer.Tile({\r\n      source: new source.OSM()\r\n    });\r\n\r\n    this.vectorSource = new source.Vector({\r\n      projection: 'EPSG:3857',\r\n    });\r\n\r\n    this.animationSource = new source.Vector({\r\n      projection: 'EPSG:3857',\r\n    });\r\n\r\n    this.draw_inputs();\r\n    \r\n    this.displayVectorLayer = new layer.Vector({\r\n      source: this.displaySource,\r\n      style: this.displayStyleFunction.bind(this),\r\n    });\r\n\r\n    this.displayLineLayer = new layer.Vector({\r\n      source: this.displayLineSource,\r\n      style: this.displayLineStyleFunction.bind(this),\r\n    });\r\n\r\n    this.polygonVectorLayer = new layer.Vector({\r\n      source: this.polygonSource,\r\n    });\r\n\r\n    this.map = new Mp({\r\n      layers: [raster, this.displayVectorLayer, this.displayLineLayer, this.polygonVectorLayer],\r\n      target: 'map',\r\n      controls: control.defaults({ attribution: false, zoom : true, rotate: false }),\r\n      renderer: 'webgl',\r\n      view: new View({\r\n        center: [2022044.5499328873, 6354139.831606114],\r\n        projection: 'EPSG:3857',\r\n        zoom: 19\r\n      })\r\n    });\r\n\r\n    this.set_map_position();\r\n\r\n    this.map.getView().setZoom(\r\n      this.map.getView().getZoom() - 1,\r\n    )\r\n\r\n    if (!this.trajectoryPoints)\r\n      return;\r\n\r\n    this.draw_movement_route(this.trajectoryPoints.points, this.wheelDistance);\r\n  }\r\n\r\n  set_map_position() {\r\n    var polygons = this.polygonSource.getFeatures();\r\n    if (polygons.length > 0) {\r\n      let dataExtent = this.polygonSource.getExtent();\r\n      if (dataExtent)\r\n        this.map.getView().fit(dataExtent, this.map.getSize());\r\n    }\r\n    else {\r\n      let dataExtent = this.displaySource.getExtent();\r\n      if (dataExtent)\r\n        this.map.getView().fit(dataExtent, this.map.getSize());\r\n    }\r\n  }\r\n\r\n  draw_inputs() {\r\n      if (this.areaPolygon)\r\n        this.draw_input_polygon(this.areaPolygon[0]);\r\n\r\n      if (this.wayPoints) {\r\n        for (let wayPoint of this.wayPoints) {\r\n          this.draw_input_point(wayPoint);\r\n        }\r\n\r\n        if (this.linesBetweenPoints)\r\n          this.redrawLinesBetweenPonts();\r\n      }\r\n\r\n      if (this.polygons) {\r\n        for (let polygon of this.polygons) {\r\n          this.draw_input_polygon(polygon);\r\n        }\r\n      }\r\n   }\r\n\r\n   redrawLinesBetweenPonts() {\r\n    this.displayLineSource.clear();\r\n    let lastPoint;\r\n    let allPoints = this.wayPoints;\r\n    for (let point of allPoints) {\r\n      if (!point || !lastPoint) {\r\n        lastPoint = point;\r\n        continue;\r\n      }\r\n      let points = [\r\n        [lastPoint.Lon, lastPoint.Lat], [point.Lon, point.Lat]\r\n      ];\r\n      let feature = new Feature({\r\n        geometry: new geom.LineString(points),\r\n      });\r\n      this.displayLineSource.addFeature(feature);\r\n      \r\n      lastPoint = point;\r\n    }\r\n  }\r\n\r\n  displayStyleFunction(feature) {\r\n    let styles = [];\r\n    if (feature.values_.rotation !== undefined && feature.values_.rotation !== null) {\r\n        styles.push(\r\n            new style.Style({\r\n                image: new style.Icon({\r\n                    src: this.getIconByPointType(feature?.pointType),\r\n                    rotateWithView: true,\r\n                    rotation: -feature.values_.rotation\r\n                }),\r\n            })\r\n        );\r\n    }\r\n    return styles;\r\n  };\r\n\r\n  displayLineStyleFunction(feature) {\r\n    let styles = [];\r\n\r\n        styles.push(\r\n            new style.Style({\r\n              stroke: new style.Stroke({\r\n                color: [250, 166, 34, 255],\r\n                width: 5,\r\n                lineDash: [10],\r\n                lineDashOffset: 30\r\n              })\r\n            })\r\n        );\r\n    return styles;\r\n}\r\n\r\n  draw_input_point(point) {\r\n    if (!point)\r\n      return;\r\n\r\n    let rotation = Math.atan2(point.VectorY, point.VectorX);\r\n    let feature = new Feature({\r\n        geometry: new geom.Point([point.Lon, point.Lat]),\r\n        rotation: rotation\r\n    });\r\n    feature.pointType = point.PointType;\r\n    this.displaySource.addFeature(feature);\r\n   }\r\n\r\n   draw_input_polygon(polygon) {\r\n    if (!polygon && polygon.length !== 1)\r\n      return;\r\n\r\n    let feature = new Feature({\r\n        geometry: new geom.Polygon(polygon.coordinates)\r\n    });\r\n    this.set_polygon_style(feature, polygon);\r\n    this.polygonSource.addFeature(feature);\r\n   }\r\n\r\n   set_polygon_style(feature, polygon) {\r\n    if (polygon.drawStateContext === drawState.AREAPOLYGON) {\r\n      //this.removeOldPolygon(this.state.drawState);\r\n      feature.setStyle(\r\n       new style.Style({\r\n         stroke: new style.Stroke({\r\n           color: [52, 168, 158, 255],\r\n           width: 2,\r\n         }),\r\n         fill: new style.Fill({\r\n           color: [190, 235, 214, 0.3]\r\n         })\r\n       }));\r\n   }\r\n   else {\r\n     feature.setStyle(\r\n       new style.Style({\r\n         stroke: new style.Stroke({\r\n           color: [86, 92, 94, 255],\r\n           width: 2,\r\n         }),\r\n         fill: new style.Fill({\r\n           color: [164, 163, 153, 0.3]\r\n         })\r\n       }));\r\n   }\r\n  }\r\n\r\n  draw_arc(start_point, end_point, circle, turn_direction, line_style = null, return_points = false, source) {\r\n    let translation = [circle[0], circle[1]]\r\n    let start_recalc = [start_point[0] - translation[0], start_point[1] - translation[1]]\r\n    let end_recalc = [end_point[0] - translation[0], end_point[1] - translation[1]]\r\n    let arg_start_recalc = this.calculate_argument(start_recalc)\r\n    let arg_end_recalc =  this.calculate_argument(end_recalc)\r\n    let turning_angle =  this.calc_turning_angle(turn_direction, arg_start_recalc, arg_end_recalc)\r\n    let radius =  this.calc_point_distance(circle, start_point)\r\n    let nmb_of_dots =  this.get_count_of_arc_points(radius, turning_angle)\r\n    let rot_angle_init = turning_angle / nmb_of_dots\r\n    let points =  this.get_arc_points(nmb_of_dots, rot_angle_init, start_point, circle)\r\n    if (return_points)\r\n        return points\r\n    if (points.length > 0) {\r\n        let featureLine = new Feature({\r\n            geometry: new geom.LineString(points)\r\n        });\r\n        if (line_style)\r\n          featureLine.setStyle(line_style);\r\n        source.addFeature(featureLine);\r\n    }\r\n  }\r\n  \r\n  draw_line(start_point, end_point, line_style, source) {\r\n    let points = [\r\n        [start_point[0], start_point[1]],\r\n        [end_point[0], end_point[1]],\r\n    ];\r\n  \r\n    let featureLine = new Feature({\r\n        geometry: new geom.LineString(points)\r\n    });\r\n    featureLine.setStyle(line_style);\r\n    source.addFeature(featureLine);      \r\n  }\r\n\r\n  // return angle from 0 to 2pi\r\n  calculate_argument(point)  {\r\n    let x = point[0]\r\n    let y = point[1]\r\n    if (x > 0 && y >= 0)\r\n      return Math.atan(y/x)\r\n    if (x === 0 && y >= 0)\r\n      return Math.PI/2\r\n    if (x < 0 && y > 0)\r\n      return Math.PI - Math.atan(y/(-x))\r\n    if (x < 0 && y === 0)\r\n      return Math.PI\r\n    if (x < 0 && y < 0)\r\n      return Math.atan(y/x) + Math.PI\r\n    if (x === 0 && y < 0)\r\n      return Math.PI*1.5\r\n    if (x > 0 && y < 0)\r\n      return 2*Math.PI - Math.atan((-y)/x)\r\n  }\r\n  \r\n  calc_point_distance(start, end) {\r\n    return Math.sqrt(Math.pow(start[0] - end[0], 2) + Math.pow(start[1] - end[1], 2))\r\n  }\r\n  \r\n  calc_turning_angle(turn_direction, arg_start_recalc, arg_end_recalc) {\r\n    if (turn_direction === 0) // turn right\r\n    {\r\n        if (arg_start_recalc <= arg_end_recalc)\r\n            return -(2 * Math.PI - (arg_end_recalc - arg_start_recalc))\r\n        else\r\n            return -(arg_start_recalc - arg_end_recalc)\r\n    }\r\n    else // turn left\r\n    {\r\n        if (arg_start_recalc <= arg_end_recalc)\r\n            return arg_end_recalc - arg_start_recalc\r\n        else\r\n            return 2 * Math.PI - (arg_start_recalc - arg_end_recalc)\r\n    }\r\n  }\r\n\r\n  skipPointIfDistanceToNextPointIsLessThan1cm(start_point, end_point) {\r\n      return Math.sqrt((start_point[0] - end_point[0])**2 + (start_point[1] - end_point[1])**2) < 0.01;\r\n  }\r\n\r\n  clearTrajectory() { this.vectorSource.clear(); this.sourceLine.clear(); }\r\n\r\n  draw_movement_route(movement_points, line_width) {\r\n    let line_style = new style.Style({\r\n      stroke: new style.Stroke({\r\n          color: 'rgba(255, 199, 5, 0.9)',\r\n          width: line_width\r\n      }),\r\n    })\r\n\r\n    this.sourceLine = new source.Vector();\r\n    this.vectorLine = new layer.Vector({\r\n        source: this.sourceLine\r\n    });\r\n\r\n    this.draw_movement(movement_points, movement_points.length, line_style, this.sourceLine)\r\n    this.map.addLayer(this.vectorLine);\r\n  }\r\n\r\n  draw_movement_route_to_point(toPointNo) {\r\n    //this.tryClearAnimation();\r\n    let firstCall = false;\r\n    this.tryClearRouteToPoint();\r\n    if (this.vectorLineToChosenPoint== null) {\r\n      this.sourceLineToChosenPoint = new source.Vector();\r\n      this.vectorLineToChosenPoint = new layer.Vector({\r\n          source: this.sourceLineToChosenPoint\r\n      });\r\n      firstCall = true;\r\n    }\r\n\r\n    //todo line_width\r\n    let line_to_chosen_point_style = new style.Style({\r\n      stroke: new style.Stroke({\r\n          color: 'rgba(255, 0, 0, 0.9)',\r\n          width: this.wheelDistance\r\n      }),\r\n    })\r\n\r\n    this.draw_movement(this.trajectoryPoints.points, toPointNo, line_to_chosen_point_style, this.sourceLineToChosenPoint);\r\n    if (firstCall)\r\n      this.map.addLayer(this.vectorLineToChosenPoint);\r\n\r\n    this.vectorLineToChosenPoint.setZIndex(upperZIndex);\r\n    if (this.movementLayer)\r\n      this.movementLayer.setZIndex(lowerZIndex);\r\n  }\r\n\r\n  tryClearRouteToPoint() {\r\n    if (this.vectorLineToChosenPoint != null) { \r\n      var features = this.vectorLineToChosenPoint.getSource().getFeatures();\r\n      features.forEach((feature) => {\r\n        this.vectorLineToChosenPoint.getSource().removeFeature(feature);\r\n      });\r\n    }\r\n  }\r\n\r\n  tryClearAnimation() {\r\n    this.animationSource.clear();\r\n  }\r\n  \r\n  draw_movement(movement_points, drawedPointsNo, style, source) {//style, points count, jaka hladina??\r\n    for (let i = 0; i < drawedPointsNo - 1; i++) {\r\n        let start_point = [movement_points[i][0], movement_points[i][1]]\r\n        let end_point = [movement_points[i + 1][0], movement_points[i + 1][1]]\r\n        if (this.skipPointIfDistanceToNextPointIsLessThan1cm(start_point, end_point))\r\n            continue;\r\n        if (movement_points[i][2] === -1) // go straight\r\n          this.draw_line(start_point, end_point, style, source)\r\n        else if (movement_points[i][2] === 0) // turn right\r\n          this.draw_arc(start_point, end_point, [movement_points[i][3], movement_points[i][4]], movement_points[i][2], style, false, source)\r\n        else // turn left\r\n          this.draw_arc(start_point, end_point, [movement_points[i][3], movement_points[i][4]], movement_points[i][2], style, false, source)\r\n    }\r\n  }\r\n\r\n  resetAnimation() {\r\n    if (this.animationSource)\r\n    {\r\n      this.skipAnimation = true;\r\n      this.animationSource.clear();\r\n    }\r\n  }\r\n\r\n  setAnimationSpeed(speedString) {\r\n    let speed = parseFloat(speedString)\r\n    if (isNaN(speed))\r\n      return;\r\n     let speed025 =  Math.round(speed / 0.25) * 0.25;\r\n\r\n      switch(speed025) {\r\n        case 3:\r\n          this.animationDelay = 0;\r\n          this.animationDelayEveryNTh = 3;\r\n          break;\r\n        case 2.75:\r\n          this.animationDelay = 1;\r\n          this.animationDelayEveryNTh = 3;\r\n            break;          \r\n        case 2.5:\r\n          this.animationDelay = 2;\r\n          this.animationDelayEveryNTh = 3;\r\n            break;\r\n        case 2.25:\r\n          this.animationDelay = 3;\r\n          this.animationDelayEveryNTh = 2;\r\n          break;                   \r\n        case 2:\r\n          this.animationDelay = 4;\r\n          this.animationDelayEveryNTh = 2;\r\n          break;\r\n        case 1.75:\r\n          this.animationDelay = 5;\r\n          this.animationDelayEveryNTh = 2;\r\n          break;          \r\n        case 1.5:\r\n          this.animationDelay = 4;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;\r\n        case 1.25:\r\n          this.animationDelay = 6;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;                  \r\n        case 1:\r\n          this.animationDelay = 12;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;\r\n        case 0.75:\r\n          this.animationDelay = 20;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;          \r\n        case 0.5:\r\n          this.animationDelay = 30;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;\r\n        case 0.25:\r\n          this.animationDelay = 90;\r\n          this.animationDelayEveryNTh = 1;\r\n          break;                  \r\n        default:\r\n          this.animationDelay = 0;\r\n          this.animationDelayEveryNTh = 1;\r\n      } \r\n    }     \r\n\r\n  async draw_movement_animation() {\r\n    this.tryClearRouteToPoint();\r\n    this.inAnimation = true;\r\n\r\n    if (this.animationSource)\r\n      this.animationSource.clear();\r\n    let movement_points = this.trajectoryPoints.points; \r\n    let line_width = this.wheelDistance;\r\n    let animationWasResumed = false;\r\n\r\n    var line_style = new style.Style({\r\n        stroke: new style.Stroke({\r\n            color: 'rgba(119, 13, 255, 0.5)',\r\n            width: line_width\r\n        }),\r\n    });\r\n\r\n    this.movementLayer = new layer.Vector({\r\n        source: this.animationSource,\r\n    });\r\n\r\n    this.movementLayer.setZIndex(upperZIndex);\r\n    if (this.vectorLineToChosenPoint)\r\n      this.vectorLineToChosenPoint.setZIndex(lowerZIndex);\r\n    this.map.addLayer(this.movementLayer);\r\n\r\n    for (let i = 0; i < movement_points.length; i++) {\r\n        let actualAnimationstep = this.animationStep;\r\n        let circleAnimationStep = this.animationStep/4;\r\n        if  (this?.props?.actualPointCallback)\r\n          this.props.actualPointCallback(i);\r\n        //last point was alredy drawn  \r\n        if (i === movement_points.length - 1) {\r\n          this.inAnimation = false;\r\n          return;\r\n        }\r\n\r\n        let start_point = [movement_points[i][0], movement_points[i][1]]\r\n        let end_point = [movement_points[i + 1][0], movement_points[i + 1][1]]\r\n        if (this.skipPointIfDistanceToNextPointIsLessThan1cm(start_point, end_point))\r\n            continue;\r\n\r\n        if (movement_points[i][2] === -1) //go straight\r\n        {\r\n            let vector = [movement_points[i + 1][0] - movement_points[i][0], movement_points[i + 1][1] - movement_points[i][1]]\r\n            let vector_norm = Math.sqrt(Math.pow(vector[0], 2) + Math.pow(vector[1], 2))\r\n            vector[0] /= vector_norm;\r\n            vector[1] /= vector_norm;\r\n            let actual_point = [movement_points[i][0], movement_points[i][1]];\r\n            for (let j = 0; j < Math.floor(this.calc_point_distance(movement_points[i], movement_points[i + 1]) / actualAnimationstep); j++) {\r\n              if (this.skipAnimation) {\r\n                this.resetAnimation();\r\n                this.skipAnimation = false;\r\n                this.inAnimation = false;\r\n                return;\r\n              }\r\n\r\n              while (this.pause) {\r\n                // code block to be executed\r\n                await this.resolveAfterMs(1000);\r\n                if (this.skipAnimation) {\r\n                  this.resetAnimation();\r\n                  this.skipAnimation = false;\r\n                  this.inAnimation = false;\r\n                  return;\r\n                }\r\n                if (!animationWasResumed)\r\n                  animationWasResumed = true;\r\n              }\r\n              //bod\r\n              if (animationWasResumed) {\r\n                animationWasResumed = false;\r\n                this.tryClearRouteToPoint();\r\n                this.movementLayer.setZIndex(upperZIndex);\r\n                //smazat caru            \r\n              }\r\n              //speedup animation with lowering delay frequency\r\n              if (j % this.animationDelayEveryNTh === 0)\r\n                await this.delay(this.animationDelay);\r\n              let nextPoint = [actual_point[0] + vector[0] * actualAnimationstep, actual_point[1] + vector[1] * actualAnimationstep];\r\n              let points = [\r\n                  [actual_point[0], actual_point[1]],\r\n                  nextPoint\r\n              ];\r\n              actual_point =nextPoint\r\n              let featureLine = new Feature({\r\n                  geometry: new geom.LineString(points)\r\n              });\r\n              featureLine.setStyle(line_style);\r\n              this.animationSource.addFeature(featureLine);\r\n            }\r\n            if (this.calc_point_distance(movement_points[i], movement_points[i + 1]) % actualAnimationstep !== 0) // do the rest of the last step\r\n            {\r\n                let calculatedStep = this.calc_point_distance(movement_points[i], movement_points[i + 1]) % actualAnimationstep;\r\n\r\n                await this.delay(this.AnimationDelay);         \r\n                let points = [\r\n                    [actual_point[0], actual_point[1]],\r\n                    [actual_point[0] + vector[0] * calculatedStep, actual_point[1] + vector[1] * calculatedStep],\r\n                ];\r\n                let featureLine = new Feature({\r\n                    geometry: new geom.LineString(points)\r\n                });\r\n                featureLine.setStyle(line_style);\r\n                this.animationSource.addFeature(featureLine);\r\n            }\r\n        }\r\n        else // turn left or right\r\n        {\r\n            let translation = [movement_points[i][3], movement_points[i][4]]\r\n            let start_recalc = [start_point[0] - translation[0], start_point[1] - translation[1]]\r\n            let end_recalc = [end_point[0] - translation[0], end_point[1] - translation[1]]\r\n            let arg_start_recalc = this.calculate_argument(start_recalc)\r\n            let arg_end_recalc = this.calculate_argument(end_recalc)\r\n            let turning_angle = this.calc_turning_angle(movement_points[i][2], arg_start_recalc, arg_end_recalc)\r\n            let radius_of_circle = this.calc_point_distance(translation, start_point);\r\n            let angle_step =0;\r\n            if (movement_points[i][2] === 0)\r\n                angle_step = -1 * circleAnimationStep / radius_of_circle\r\n            else\r\n                angle_step = circleAnimationStep / radius_of_circle\r\n            if ((angle_step < 2 * Math.PI) && (angle_step < Math.abs(turning_angle))) {\r\n                let actual_point_recalc = start_recalc\r\n                let rot_matrix = [[Math.cos(angle_step), -Math.sin(angle_step)], [Math.sin(angle_step), Math.cos(angle_step)]]\r\n                for (let j = 0; j < Math.floor(Math.abs(turning_angle) / Math.abs(angle_step)); j++) {\r\n                    if (this.skipAnimation) {\r\n                      this.resetAnimation();\r\n                      this.inAnimation = false;\r\n                      this.skipAnimation = false;\r\n                      return;\r\n                    }\r\n                    //speedup animation with lowering delay frequency\r\n                    if (j % this.animationDelayEveryNTh/2 === 0)\r\n                      await this.delay(this.AnimationDelay);\r\n\r\n                    let points = [\r\n                        [actual_point_recalc[0] + translation[0], actual_point_recalc[1] + translation[1]],\r\n                        [rot_matrix[0][0] * actual_point_recalc[0] + rot_matrix[0][1] * actual_point_recalc[1] + translation[0], rot_matrix[1][0] * actual_point_recalc[0] + rot_matrix[1][1] * actual_point_recalc[1] + translation[1]],\r\n                    ];\r\n                    actual_point_recalc = [rot_matrix[0][0] * actual_point_recalc[0] + rot_matrix[0][1] * actual_point_recalc[1], rot_matrix[1][0] * actual_point_recalc[0] + rot_matrix[1][1] * actual_point_recalc[1]]\r\n                    //never used actual_point = [actual_point_recalc[0] + translation[0], actual_point_recalc[1] + translation[1]]\r\n                    let featureLine = new Feature({\r\n                        geometry: new geom.LineString(points)\r\n                    });\r\n                    featureLine.setStyle(line_style);\r\n                    this.animationSource.addFeature(featureLine);\r\n                }\r\n                if (Math.abs(turning_angle) % Math.abs(angle_step) !== 0) // do rest of the last step\r\n                {\r\n                    angle_step = Math.abs(turning_angle) % Math.abs(angle_step)\r\n                    if (movement_points[i][2] === 0)\r\n                        angle_step = -angle_step\r\n                    let rot_matrix = [[Math.cos(angle_step), -Math.sin(angle_step)], [Math.sin(angle_step), Math.cos(angle_step)]]\r\n                    let points = [\r\n                        [actual_point_recalc[0] + translation[0], actual_point_recalc[1] + translation[1]],\r\n                        [rot_matrix[0][0] * actual_point_recalc[0] + rot_matrix[0][1] * actual_point_recalc[1] + translation[0], rot_matrix[1][0] * actual_point_recalc[0] + rot_matrix[1][1] * actual_point_recalc[1] + translation[1]],\r\n                    ];\r\n                    let featureLine = new Feature({\r\n                        geometry: new geom.LineString(points)\r\n                    });\r\n                    featureLine.setStyle(line_style);\r\n                    this.animationSource.addFeature(featureLine);\r\n                }\r\n            }\r\n        }\r\n    }\r\n    this.inAnimation = false;\r\n  }\r\n\r\n  resolveAfterMs(ms) {\r\n    return new Promise(resolve => {\r\n      setTimeout(() => {\r\n        resolve('resolved');\r\n      }, ms);\r\n    });\r\n  }\r\n\r\n  delay = ms => new Promise(res => setTimeout(setTimeout(res, ms), 0));\r\n  \r\n  get_arc_points(nmb_of_dots, rot_angle_init, start_point, circle) {\r\n    let translation = [circle[0], circle[1]]\r\n    let start_recalc = [start_point[0] - translation[0], start_point[1] - translation[1]]\r\n    let points = [];\r\n    for (let i = 0; i <= nmb_of_dots; i++) // draw arc\r\n    {\r\n        let rot_angle = i * rot_angle_init\r\n        let rot_matrix = [[Math.cos(rot_angle), -Math.sin(rot_angle)], [Math.sin(rot_angle), Math.cos(rot_angle)]]\r\n        let point = [rot_matrix[0][0] * start_recalc[0] + rot_matrix[0][1] * start_recalc[1], rot_matrix[1][0] * start_recalc[0] + rot_matrix[1][1] * start_recalc[1]]\r\n        point = [point[0] + translation[0], point[1] + translation[1]]\r\n        points.push(point);\r\n    }\r\n    return points\r\n  }\r\n  \r\n  get_count_of_arc_points(radius, angle) {\r\n    let percentage_step = 0.01\r\n    let length_of_arc = (2 * Math.PI * radius * angle) / (2 * Math.PI)\r\n    let step = percentage_step * length_of_arc\r\n    let count_of_points = Math.round(length_of_arc / step) + 1\r\n    return count_of_points\r\n  }\r\n\r\n  render() {\r\n    return (\r\n      <>\r\n        <div ref={this.mapRef} id=\"map\" style={{ width: '100%', height: '100%' }}></div>\r\n        <div ref={this.overlayRef}>Overlay</div>\r\n      </>\r\n    );\r\n  }\r\n\r\n  getIconByPointType(myPointType) {\r\n    if (!myPointType)\r\n        return '/arrow.png';\r\n\r\n    switch(myPointType) {\r\n      case pointType.START: {\r\n        return '/start-oriented.png';\r\n      }\r\n      case pointType.END: {\r\n        return '/end-oriented.png';\r\n      }\r\n      case pointType.UNORIENTED | pointType.TRANSIT: {\r\n        return '/point.png';\r\n      }\r\n      case pointType.TRANSIT: {\r\n        return '/point-oriented.png';\r\n      }\r\n      default:\r\n        return '/point-oriented.png';  \r\n    }\r\n  }\r\n}\r\n\r\nexport default ResultMap;\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n\r\n","import superagentPromise from 'superagent-promise';\r\nimport _superagent from 'superagent';\r\nimport {getDistance} from 'ol/sphere';\r\nimport * as olProj from 'ol/proj';\r\n\r\nconst superagent = superagentPromise(_superagent, global.Promise);\r\nconst responseBody = res => res.body;\r\n\r\nconst optimalTrajectoryRequests = {\r\n  //get data from redux\r\n  get: (\r\n          url,\r\n          captcha,\r\n          points, \r\n          length,\r\n          wheelDistance, \r\n          radiusMiddle,\r\n          positionOfRotationAxis,\r\n          positionOfGnsReceiver,\r\n          startLon,\r\n          startLat,\r\n          startVectX,\r\n          startVectY,\r\n          endLon,\r\n          endLat,\r\n          endVectX,\r\n          endVectY,\r\n          rowsDistance, \r\n          rowsAngle,\r\n          aroundPerimeter,\r\n    ) =>\r\n    superagent.get(`${url}`)\r\n    .query({captchaText:captcha})    \r\n    .query({ points:points})\r\n    .query({ length: length })\r\n    .query({ wheelDistance: wheelDistance })\r\n    .query({ radiusMiddle: radiusMiddle })\r\n    .query({ positionOfRotationAxis: positionOfRotationAxis })\r\n    .query({ positionOfGnsReceiver: positionOfGnsReceiver })\r\n    .query({ startLon: startLon })    \r\n    .query({ startLat: startLat })\r\n    .query({ startVectX: startVectX })\r\n    .query({ startVectY: startVectY })\r\n    .query({ endLon: endLon })\r\n    .query({ endLat: endLat })\r\n    .query({ endVectX: endVectX })\r\n    .query({ endVectY: endVectY })\r\n    .query({ lineDistance: rowsDistance })\r\n    .query({ lineAngle: rowsAngle })\r\n    .query({ aroundPerimeter: aroundPerimeter })\r\n    .withCredentials()\r\n        \r\n    .then(responseBody),\r\n};\r\n\r\nconst OptimalTrajectory = {\r\n  getTrajectoryPoints(rover, field) {\r\n     let startTransformed = distanceFromRefPoint1(field.start, field.start);\r\n     let endTransformed = distanceFromRefPoint1(field.end, field.start);\r\n     let startVectorTransformed = distanceFromRefPoint1({Lon: (field.start.Lon + field.start.VectorX), Lat: (field.start.Lat + field.start.VectorY)}, field.start);\r\n     let endVectorTransformed = distanceFromRefPoint1({Lon: field.end.Lon + field.end.VectorX, Lat:  field.end.Lat + field.end.VectorY}, field.end);\r\n\r\n     return optimalTrajectoryRequests.get(\r\n      '/api/TrajectoryPlanning/Points',\r\n      field.captcha,\r\n      JSON.stringify(pointsArrayToDistancesFromRefPoint(field.areaPolygon[0].coordinates[0], field.start)),\r\n      rover.length, \r\n      rover.wheelDistance, \r\n      rover.turningRadius,\r\n      rover.positionOfRotationAxis,\r\n      rover.positionOfGnsReceiver,\r\n      startTransformed.lonMeters,\r\n      startTransformed.latMeters,\r\n      startVectorTransformed.lonMeters,\r\n      startVectorTransformed.latMeters,\r\n      endTransformed.lonMeters,\r\n      endTransformed.latMeters,\r\n      endVectorTransformed.lonMeters,\r\n      endVectorTransformed.latMeters,\r\n      field.rowsDistance, \r\n      field.rowsAngle,\r\n      field.aroundPerimeter\r\n    )\r\n  }\r\n};\r\n\r\nconst pointsRequests = {\r\n  //get data from redux\r\n  get: (\r\n          url,\r\n          captcha,\r\n          points, \r\n          length,\r\n          wheelDistance, \r\n          radiusMiddle,\r\n          positionOfRotationAxis,\r\n          positionOfGnsReceiver,\r\n    ) =>\r\n    superagent.get(`${url}`)\r\n    .query({captchaText:captcha})    \r\n    .query({points:points})\r\n    .query({ length: length })\r\n    .query({ width: wheelDistance })//todo width\r\n    .query({ radiusMiddle: radiusMiddle })\r\n    .query({ positionOfRotationAxis: positionOfRotationAxis })\r\n    .query({ positionOfGnsReceiver: positionOfGnsReceiver })\r\n    .withCredentials()\r\n    .then(responseBody),\r\n};\r\n\r\nconst Points = {\r\n  getTrajectoryPoints: (trajectoryPoints,rover) => pointsRequests.get(\r\n      '/api/OptimalTrajectory/Points',\r\n      trajectoryPoints.captcha,\r\n      JSON.stringify(pointsToDistanceFromRefPointArray([...[trajectoryPoints.start],...trajectoryPoints.points,...[trajectoryPoints.end]]), trajectoryPoints.start),\r\n      rover.length, \r\n      rover.wheelDistance, \r\n      rover.turningRadius,\r\n      rover.positionOfRotationAxis,\r\n      rover.positionOfGnsReceiver\r\n    )\r\n};\r\n\r\nconst obstaclesRequests = {\r\n  //get data from redux\r\n  get: (\r\n          url,\r\n          captcha,\r\n          points, \r\n          obstacles, \r\n          length,\r\n          wheelDistance, \r\n          radiusMiddle,\r\n          positionOfRotationAxis,\r\n          positionOfGnsReceiver,\r\n          startLon,\r\n          startLat,\r\n          startVectX,\r\n          startVectY,\r\n          endLon,\r\n          endLat,\r\n          endVectX,\r\n          endVectY,\r\n          precision\r\n    ) =>\r\n    superagent.get(`${url}`)\r\n    .query({captchaText:captcha})    \r\n    .query({points:points})\r\n    .query({ obstacles:obstacles })\r\n    .query({ length: length })\r\n    .query({ wheelDistance: wheelDistance })\r\n    .query({ radiusMiddle: radiusMiddle })\r\n    .query({ positionOfRotationAxis: positionOfRotationAxis })\r\n    .query({ positionOfGnsReceiver: positionOfGnsReceiver })\r\n    .query({ startLon: startLon })    \r\n    .query({ startLat: startLat })\r\n    .query({ startVectX: startVectX })\r\n    .query({ startVectY: startVectY })\r\n    .query({ endLon: endLon })\r\n    .query({ endLat: endLat })\r\n    .query({ endVectX: endVectX })\r\n    .query({ endVectY: endVectY })   \r\n    .query({ precision: precision })\r\n    .withCredentials()\r\n    .then(responseBody),\r\n};\r\n\r\nconst Obstacles = {\r\n  getTrajectoryPoints(rover, obstacles) { \r\n\r\n    let startTransformed = distanceFromRefPoint1(obstacles.start, obstacles.start);\r\n    let endTransformed = distanceFromRefPoint1(obstacles.end, obstacles.start);\r\n    let startVectorTransformed = distanceFromRefPoint1({Lon: (obstacles.start.Lon + obstacles.start.VectorX), Lat: (obstacles.start.Lat + obstacles.start.VectorY)}, obstacles.start);\r\n    let endVectorTransformed = distanceFromRefPoint1({Lon: obstacles.end.Lon + obstacles.end.VectorX, Lat:  obstacles.end.Lat + obstacles.end.VectorY}, obstacles.end);\r\n        \r\n    return obstaclesRequests.get(\r\n      '/api/AvoidingObstacles/Points',\r\n      obstacles.captcha,\r\n      JSON.stringify(pointsArrayToDistancesFromRefPoint(obstacles.areaPolygon[0].coordinates[0], obstacles.start)),\r\n      JSON.stringify(obstaclesToDistanceFromRefPointArray(obstacles, obstacles.start)),\r\n      rover.length, \r\n      rover.wheelDistance, \r\n      rover.turningRadius,\r\n      rover.positionOfRotationAxis,\r\n      rover.positionOfGnsReceiver,\r\n      startTransformed.lonMeters,\r\n      startTransformed.latMeters,\r\n      startVectorTransformed.lonMeters,\r\n      startVectorTransformed.latMeters,\r\n      endTransformed.lonMeters,\r\n      endTransformed.latMeters,\r\n      endVectorTransformed.lonMeters,\r\n      endVectorTransformed.latMeters,\r\n      obstacles.precision \r\n    )\r\n  }\r\n};\r\n\r\nfunction obstaclesToDistanceFromRefPointArray(obstacles, refPoint) {\r\n  let pointsArray = [];\r\n  for (let obstacle of obstacles.obstacles) {\r\n    let transformedCoords = [];\r\n    for (let cooridinate of obstacle.coordinates[0]) {\r\n      let pointTransformed = distanceFromRefPoint1({Lon: cooridinate[0], Lat: cooridinate[1]}, refPoint);\r\n      transformedCoords.push([pointTransformed.lonMeters, pointTransformed.latMeters]);\r\n    }\r\n    pointsArray.push(transformedCoords);\r\n  }\r\n  return pointsArray;\r\n}\r\n\r\nfunction pointsToDistanceFromRefPointArray(points) {\r\n  let pointsArray = [];\r\n  if (!points || points.length === 0)\r\n    return [];\r\n\r\n  let startPoint = points[0];\r\n  for (let point of points) {\r\n    let pointTransformed = distanceFromRefPoint1(point, startPoint);\r\n    let vectorTransformed = distanceFromRefPoint1({Lon: point.Lon + point.VectorX, Lat: point.Lat + point.VectorY}, point)\r\n\r\n    pointsArray.push([\r\n      pointTransformed.lonMeters,\r\n      pointTransformed.latMeters,\r\n      vectorTransformed.lonMeters,\r\n      vectorTransformed.latMeters,\r\n    ]);\r\n  }\r\n  return pointsArray;\r\n}\r\n\r\nfunction distanceFromRefPoint1(value, refPoint) {\r\n  if (!value || !refPoint)\r\n    return null\r\n\r\n  let middleLon = ((value.Lon - refPoint.Lon)/2) + refPoint.Lon;\r\n  let refPontTransformedLat = olProj.transform([middleLon, refPoint.Lat], 'EPSG:3857', 'EPSG:4326');\r\n  let pointTransformedLat = olProj.transform([middleLon, value.Lat], 'EPSG:3857', 'EPSG:4326');\r\n\r\n  let middleLat = ((value.Lat - refPoint.Lat)/2) + refPoint.Lat;\r\n  let refPontTransformedLon = olProj.transform([refPoint.Lon, middleLat], 'EPSG:3857', 'EPSG:4326');\r\n  let pointTransformedLon = olProj.transform([value.Lon, middleLat], 'EPSG:3857', 'EPSG:4326');\r\n\r\n  let lonMeters =  getDistance(pointTransformedLon, refPontTransformedLon) * (pointTransformedLon[0] >= refPontTransformedLon[0] ? 1 : -1);\r\n  let latMeters =  getDistance(pointTransformedLat, refPontTransformedLat) * (pointTransformedLat[1] >= refPontTransformedLat[1] ? 1 : -1);\r\n  return {lonMeters: lonMeters, latMeters:latMeters}\r\n};\r\n\r\nfunction pointsArrayToDistancesFromRefPoint(array, refPoint) {\r\n  let transformedArray = [];\r\n\r\n  array.forEach(item => {\r\n    let transformedPoint = distanceFromRefPoint1({Lon:item[0], Lat:item[1]}, refPoint);\r\n    transformedArray.push([transformedPoint.lonMeters, transformedPoint.latMeters]);\r\n  });\r\n\r\n  return transformedArray;\r\n}\r\n\r\nconst isReadyRequests = {\r\n  get: (url\r\n    ) =>\r\n    superagent.get(`${url}`)\r\n    .timeout({\r\n      response: 500, \r\n      deadline: 500,\r\n    })\r\n    .then(responseBody),\r\n};\r\n\r\nconst IsReady = {\r\n  testRequests: () => isReadyRequests.get(\r\n    '/api/Home/IsReady', \r\n    )\r\n};\r\n\r\nexport {\r\n  OptimalTrajectory,\r\n  Points,\r\n  Obstacles, \r\n  IsReady\r\n};"],"sourceRoot":""}