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KML support for Polygons

QGC4.4
DonLakeFlyer 7 years ago
parent
6e164c0618
commit
3c55e2b0f7
16 changed files with 327 additions and 10 deletions
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  1. 4
      UnitTest.qrc
  2. 80
      src/MissionManager/QGCMapPolygon.cc
  3. 4
      src/MissionManager/QGCMapPolygon.h
  4. 17
      src/MissionManager/QGCMapPolygonTest.cc
  5. 1
      src/MissionManager/QGCMapPolygonTest.h
  6. 28
      src/MissionManager/QGCMapPolygonVisuals.qml
  7. 47
      src/MissionManager/UnitTest/BadCoordinatesNode.kml
  8. 49
      src/MissionManager/UnitTest/BadXml.kml
  9. 48
      src/MissionManager/UnitTest/GoodPolygon.kml
  10. 38
      src/MissionManager/UnitTest/MissingPolygonNode.kml
  11. 3
      src/PlanView/FWLandingPatternMapVisual.qml
  12. 5
      src/PlanView/MissionItemMapVisual.qml
  13. 1
      src/PlanView/PlanView.qml
  14. 4
      src/PlanView/SimpleItemMapVisual.qml
  15. 5
      src/PlanView/StructureScanMapVisual.qml
  16. 3
      src/PlanView/SurveyMapVisual.qml

4
UnitTest.qrc
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@ -9,5 +9,9 @@ @@ -9,5 +9,9 @@
<file alias="MavCmdInfoVTOL.json">src/MissionManager/UnitTest/MavCmdInfoVTOL.json</file>
<file alias="MissionPlanner.waypoints">src/MissionManager/UnitTest/MissionPlanner.waypoints</file>
<file alias="OldFileFormat.mission">src/MissionManager/UnitTest/OldFileFormat.mission</file>
<file alias="GoodPolygon.kml">src/MissionManager/UnitTest/GoodPolygon.kml</file>
<file alias="MissingPolygonNode.kml">src/MissionManager/UnitTest/MissingPolygonNode.kml</file>
<file alias="BadXml.kml">src/MissionManager/UnitTest/BadXml.kml</file>
<file alias="BadCoordinatesNode.kml">src/MissionManager/UnitTest/BadCoordinatesNode.kml</file>
</qresource>
</RCC>

80
src/MissionManager/QGCMapPolygon.cc
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@ -11,11 +11,14 @@ @@ -11,11 +11,14 @@
#include "QGCGeo.h"
#include "JsonHelper.h"
#include "QGCQGeoCoordinate.h"
#include "QGCApplication.h"
#include <QGeoRectangle>
#include <QDebug>
#include <QJsonArray>
#include <QLineF>
#include <QFile>
#include <QDomDocument>
const char* QGCMapPolygon::jsonPolygonKey = "polygon";
@ -434,3 +437,80 @@ void QGCMapPolygon::offset(double distance) @@ -434,3 +437,80 @@ void QGCMapPolygon::offset(double distance)
appendVertex(rgNewPolygon[i]);
}
}
bool QGCMapPolygon::loadKMLFile(const QString& kmlFile)
{
QFile file(kmlFile);
if (!file.exists()) {
qgcApp()->showMessage(tr("File not found: %1").arg(kmlFile));
return false;
}
if (!file.open(QIODevice::ReadOnly)) {
qgcApp()->showMessage(tr("Unable to open file: %1 error: $%2").arg(kmlFile).arg(file.errorString()));
return false;
}
QDomDocument doc;
QString errorMessage;
int errorLine;
if (!doc.setContent(&file, &errorMessage, &errorLine)) {
qgcApp()->showMessage(tr("Unable to parse KML file: %1 error: %2 line: %3").arg(kmlFile).arg(errorMessage).arg(errorLine));
return false;
}
QDomNodeList rgNodes = doc.elementsByTagName("Polygon");
if (rgNodes.count() == 0) {
qgcApp()->showMessage(tr("Unable to find Polygon node in KML"));
return false;
}
QDomNode coordinatesNode = rgNodes.item(0).namedItem("outerBoundaryIs").namedItem("LinearRing").namedItem("coordinates");
if (coordinatesNode.isNull()) {
qgcApp()->showMessage(tr("Internal error: Unable to find coordinates node in KML"));
return false;
}
QString coordinatesString = coordinatesNode.toElement().text().simplified();
QStringList rgCoordinateStrings = coordinatesString.split(" ");
QList<QGeoCoordinate> rgCoords;
for (int i=0; i<rgCoordinateStrings.count()-1; i++) {
QString coordinateString = rgCoordinateStrings[i];
QStringList rgValueStrings = coordinateString.split(",");
QGeoCoordinate coord;
coord.setLongitude(rgValueStrings[0].toDouble());
coord.setLatitude(rgValueStrings[1].toDouble());
rgCoords.append(coord);
}
// Determine winding, reverse if needed
double sum = 0;
for (int i=0; i<rgCoords.count(); i++) {
QGeoCoordinate coord1 = rgCoords[i];
QGeoCoordinate coord2 = (i == rgCoords.count() - 1) ? rgCoords[0] : rgCoords[i+1];
sum += (coord2.longitude() - coord1.longitude()) * (coord2.latitude() + coord1.latitude());
}
bool reverse = sum < 0.0;
if (reverse) {
QList<QGeoCoordinate> rgReversed;
for (int i=0; i<rgCoords.count(); i++) {
rgReversed.prepend(rgCoords[i]);
}
rgCoords = rgReversed;
}
clear();
for (int i=0; i<rgCoords.count(); i++) {
appendVertex(rgCoords[i]);
}
return true;
}

4
src/MissionManager/QGCMapPolygon.h
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@ -55,6 +55,10 @@ public: @@ -55,6 +55,10 @@ public:
/// Offsets the current polygon edges by the specified distance in meters
Q_INVOKABLE void offset(double distance);
/// Loads a polygon from a KML file
/// @return true: success
Q_INVOKABLE bool loadKMLFile(const QString& kmlFile);
/// Returns the path in a list of QGeoCoordinate's format
QList<QGeoCoordinate> coordinateList(void) const;

17
src/MissionManager/QGCMapPolygonTest.cc
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@ -197,3 +197,20 @@ void QGCMapPolygonTest::_testVertexManipulation(void) @@ -197,3 +197,20 @@ void QGCMapPolygonTest::_testVertexManipulation(void)
QCOMPARE(polyList.count(), 0);
QCOMPARE(_pathModel->count(), 0);
}
void QGCMapPolygonTest::_testKMLLoad(void)
{
QVERIFY(_mapPolygon->loadKMLFile(QStringLiteral(":/unittest/GoodPolygon.kml")));
setExpectedMessageBox(QMessageBox::Ok);
QVERIFY(!_mapPolygon->loadKMLFile(QStringLiteral(":/unittest/BadXml.kml")));
checkExpectedMessageBox();
setExpectedMessageBox(QMessageBox::Ok);
QVERIFY(!_mapPolygon->loadKMLFile(QStringLiteral(":/unittest/MissingPolygonNode.kml")));
checkExpectedMessageBox();
setExpectedMessageBox(QMessageBox::Ok);
QVERIFY(!_mapPolygon->loadKMLFile(QStringLiteral(":/unittest/BadCoordinatesNode.kml")));
checkExpectedMessageBox();
}

1
src/MissionManager/QGCMapPolygonTest.h
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@ -29,6 +29,7 @@ protected: @@ -29,6 +29,7 @@ protected:
private slots:
void _testDirty(void);
void _testVertexManipulation(void);
void _testKMLLoad(void);
private:
enum {

28
src/MissionManager/QGCMapPolygonVisuals.qml
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@ -22,8 +22,9 @@ import QGroundControl.FlightMap 1.0 @@ -22,8 +22,9 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var mapControl ///< Map control to place item in
property var mapPolygon ///< QGCMapPolygon object
property var qgcView ///< QGCView for popping dialogs
property var mapControl ///< Map control to place item in
property var mapPolygon ///< QGCMapPolygon object
property bool interactive: mapPolygon.interactive
property color interiorColor: "transparent"
property real interiorOpacity: 1
@ -146,6 +147,10 @@ Item { @@ -146,6 +147,10 @@ Item {
setCircleRadius(center, radius)
}
function loadKMLFile() {
mapPolygon.loadKMLFile("/Users/Don/Downloads/polygon.kml")
}
onInteractiveChanged: {
if (interactive) {
addHandles()
@ -168,6 +173,21 @@ Item { @@ -168,6 +173,21 @@ Item {
QGCPalette { id: qgcPal }
QGCFileDialog {
id: kmlLoadDialog
qgcView: _root.qgcView
folder: QGroundControl.settingsManager.appSettings.missionSavePath
title: qsTr("Select KML File")
selectExisting: true
nameFilters: [ qsTr("KML files (*.kml)") ]
onAcceptedForLoad: {
mapPolygon.loadKMLFile(file)
close()
}
}
Component {
id: polygonComponent
@ -393,8 +413,8 @@ Item { @@ -393,8 +413,8 @@ Item {
}
MenuItem {
text: qsTr("Load KML...")
enabled: false
text: qsTr("Load KML...")
onTriggered: kmlLoadDialog.openForLoad()
}
}

47
src/MissionManager/UnitTest/BadCoordinatesNode.kml
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@ -0,0 +1,47 @@ @@ -0,0 +1,47 @@
Incorrectly formed XML test file
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Document>
<name>Polygon.kmz</name>
<Style id="s_ylw-pushpin_hl">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<Style id="s_ylw-pushpin">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<StyleMap id="m_ylw-pushpin">
<Pair>
<key>normal</key>
<styleUrl>#s_ylw-pushpin</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#s_ylw-pushpin_hl</styleUrl>
</Pair>
</StyleMap>
<Placemark>
<name>Untitled Polygon</name>
<styleUrl>#m_ylw-pushpin</styleUrl>
<Polygon>
<tessellate>1</tessellate>
<outerBoundaryIs>
<coordinates>
-122.1059149362712,47.65965281788451,0 -122.1044593196253,47.66002598220988,0 -122.1047336695092,47.66034166158975,0 -122.1061470943783,47.6599810708829,0 -122.1059149362712,47.65965281788451,0
</coordinates>
</outerBoundaryIs>
</Polygon>
</Placemark>
</Document>
</kml>

49
src/MissionManager/UnitTest/BadXml.kml
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@ -0,0 +1,49 @@ @@ -0,0 +1,49 @@
Incorrectly formed XML test file
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Document>
<name>Polygon.kmz</name>
<Style id="s_ylw-pushpin_hl">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<Style id="s_ylw-pushpin">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<StyleMap id="m_ylw-pushpin">
<Pair>
<key>normal</key>
<styleUrl>#s_ylw-pushpin</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#s_ylw-pushpin_hl</styleUrl>
</Pair>
</StyleMap>
<Placemark>
<name>Untitled Polygon</name>
<styleUrl>#m_ylw-pushpin</styleUrl>
<Polygon>
<tessellate>1</tessellate>
<outerBoundaryIs>
<LinearRing>
<coordinates>
-122.1059149362712,47.65965281788451,0 -122.1044593196253,47.66002598220988,0 -122.1047336695092,47.66034166158975,0 -122.1061470943783,47.6599810708829,0 -122.1059149362712,47.65965281788451,0
</coordinates>
</LinearRing>
</outerBoundaryIs>
</Polygon>
</Placemark>
</Document>
</kml>

48
src/MissionManager/UnitTest/GoodPolygon.kml
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@ -0,0 +1,48 @@ @@ -0,0 +1,48 @@
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Document>
<name>Polygon.kmz</name>
<Style id="s_ylw-pushpin_hl">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<Style id="s_ylw-pushpin">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<StyleMap id="m_ylw-pushpin">
<Pair>
<key>normal</key>
<styleUrl>#s_ylw-pushpin</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#s_ylw-pushpin_hl</styleUrl>
</Pair>
</StyleMap>
<Placemark>
<name>Untitled Polygon</name>
<styleUrl>#m_ylw-pushpin</styleUrl>
<Polygon>
<tessellate>1</tessellate>
<outerBoundaryIs>
<LinearRing>
<coordinates>
-122.1059149362712,47.65965281788451,0 -122.1044593196253,47.66002598220988,0 -122.1047336695092,47.66034166158975,0 -122.1061470943783,47.6599810708829,0 -122.1059149362712,47.65965281788451,0
</coordinates>
</LinearRing>
</outerBoundaryIs>
</Polygon>
</Placemark>
</Document>
</kml>

38
src/MissionManager/UnitTest/MissingPolygonNode.kml
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@ -0,0 +1,38 @@ @@ -0,0 +1,38 @@
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Document>
<name>Polygon.kmz</name>
<Style id="s_ylw-pushpin_hl">
<IconStyle>
<scale>1.3</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<Style id="s_ylw-pushpin">
<IconStyle>
<scale>1.1</scale>
<Icon>
<href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>
</Icon>
<hotSpot x="20" y="2" xunits="pixels" yunits="pixels"/>
</IconStyle>
</Style>
<StyleMap id="m_ylw-pushpin">
<Pair>
<key>normal</key>
<styleUrl>#s_ylw-pushpin</styleUrl>
</Pair>
<Pair>
<key>highlight</key>
<styleUrl>#s_ylw-pushpin_hl</styleUrl>
</Pair>
</StyleMap>
<Placemark>
<name>Untitled Polygon</name>
<styleUrl>#m_ylw-pushpin</styleUrl>
</Placemark>
</Document>
</kml>

3
src/PlanView/FWLandingPatternMapVisual.qml
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@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0 @@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var map ///< Map control to place item in
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
signal clicked(int sequenceNumber)

5
src/PlanView/MissionItemMapVisual.qml
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@ -21,7 +21,8 @@ import QGroundControl.Controls 1.0 @@ -21,7 +21,8 @@ import QGroundControl.Controls 1.0
Item {
id: _root
property var map ///< Map control to place item in
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
signal clicked(int sequenceNumber)
@ -33,7 +34,7 @@ Item { @@ -33,7 +34,7 @@ Item {
if (component.status === Component.Error) {
console.log("Error loading Qml: ", object.mapVisualQML, component.errorString())
}
_visualItem = component.createObject(map, { "map": _root.map })
_visualItem = component.createObject(map, { "map": _root.map, "qgcView": _root.qgcView })
_visualItem.clicked.connect(_root.clicked)
}
}

1
src/PlanView/PlanView.qml
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@ -346,6 +346,7 @@ QGCView { @@ -346,6 +346,7 @@ QGCView {
delegate: MissionItemMapVisual {
map: editorMap
qgcView: _qgcView
onClicked: _missionController.setCurrentPlanViewIndex(sequenceNumber, false)
visible: _editingLayer == _layerMission
}

4
src/PlanView/SimpleItemMapVisual.qml
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@ -21,7 +21,9 @@ import QGroundControl.FlightMap 1.0 @@ -21,7 +21,9 @@ import QGroundControl.FlightMap 1.0
/// Simple Mission Item visuals
Item {
id: _root
property var map ///< Map control to place item in
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
property var _missionItem: object
property var _itemVisual

5
src/PlanView/StructureScanMapVisual.qml
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@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0 @@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var map ///< Map control to place item in
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
property var _missionItem: object
property var _structurePolygon: object.structurePolygon
@ -85,6 +86,7 @@ Item { @@ -85,6 +86,7 @@ Item {
}
QGCMapPolygonVisuals {
qgcView: _root.qgcView
mapControl: map
mapPolygon: _structurePolygon
interactive: _missionItem.isCurrentItem
@ -95,6 +97,7 @@ Item { @@ -95,6 +97,7 @@ Item {
}
QGCMapPolygonVisuals {
qgcView: _root.qgcView
mapControl: map
mapPolygon: _flightPolygon
interactive: false

3
src/PlanView/SurveyMapVisual.qml
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@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0 @@ -22,7 +22,8 @@ import QGroundControl.FlightMap 1.0
Item {
id: _root
property var map ///< Map control to place item in
property var map ///< Map control to place item in
property var qgcView ///< QGCView to use for popping dialogs
property var _missionItem: object
property var _mapPolygon: object.mapPolygon

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