api calls

qgroundcontrol.pro

@@ -569,7 +569,6 @@ HEADERS += \
     src/Settings/UnitsSettings.h \
     src/Settings/VideoSettings.h \
     src/Terrain.h \
-    src/TerrainCacheTileServer.h \
     src/TerrainTile.h \
     src/Vehicle/MAVLinkLogManager.h \
     src/VehicleSetup/JoystickConfigController.h \
@@ -758,7 +757,6 @@ SOURCES += \
     src/Settings/UnitsSettings.cc \
     src/Settings/VideoSettings.cc \
     src/Terrain.cc \
-    src/TerrainCacheTileServer.cc \
     src/TerrainTile.cc\
     src/Vehicle/MAVLinkLogManager.cc \
     src/VehicleSetup/JoystickConfigController.cc \

src/Terrain.cc

@@ -18,6 +18,8 @@
 #include <QJsonObject>
 #include <QJsonArray>
 
+QGC_LOGGING_CATEGORY(TerrainLog, "TerrainLog")
+
 ElevationProvider::ElevationProvider(QObject* parent)
     : QObject(parent)
 {
@@ -26,7 +28,37 @@ ElevationProvider::ElevationProvider(QObject* parent)
 
 bool ElevationProvider::queryTerrainData(const QList<QGeoCoordinate>& coordinates)
 {
-    if (_state != State::Idle || coordinates.length() == 0) {
+    if (coordinates.length() == 0) {
+        return false;
+    }
+
+    bool fallBackToOnline = false;
+    QList<float> altitudes;
+    foreach (QGeoCoordinate coordinate, coordinates) {
+        QString uniqueTileId = _uniqueTileId(coordinate);
+        _tilesMutex.lock();
+        if (!_tiles.contains(uniqueTileId)) {
+            _tilesMutex.unlock();
+            fallBackToOnline = true;
+            break;
+        } else {
+            if (_tiles[uniqueTileId].isIn(coordinate)) {
+                altitudes.push_back(_tiles[uniqueTileId].elevation(coordinate));
+            } else {
+                qCDebug(TerrainLog) << "Error: coordinate not in tile region";
+                altitudes.push_back(-1.0);
+            }
+        }
+        _tilesMutex.unlock();
+    }
+
+    if (!fallBackToOnline) {
+        qCDebug(TerrainLog) << "All altitudes taken from cached data";
+        emit terrainData(true, altitudes);
+        return true;
+    }
+
+    if (_state != State::Idle) {
         return false;
     }
 
@@ -59,6 +91,27 @@ bool ElevationProvider::queryTerrainData(const QList<QGeoCoordinate>& coordinate
     return true;
 }
 
+bool ElevationProvider::cacheTerrainTiles(const QList<QGeoCoordinate>& coordinates)
+{
+    if (coordinates.length() == 0) {
+        return false;
+    }
+
+    for (const auto& coordinate : coordinates) {
+        QString uniqueTileId = _uniqueTileId(coordinate);
+        _tilesMutex.lock();
+        if (_downloadQueue.contains(uniqueTileId) || _tiles.contains(uniqueTileId)) {
+            continue
+        }
+        _downloadQueue.append(uniqueTileId.replace("-", ","));
+        _tilesMutex.unlock();
+        qCDebug(TerrainLog) << "Adding tile to download queue: " << uniqueTileId;
+    }
+
+    _downloadTiles();
+    return true;
+}
+
 void ElevationProvider::_requestFinished()
 {
     QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());
@@ -71,7 +124,7 @@ void ElevationProvider::_requestFinished()
 
         QJsonParseError parseError;
         QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
-        qDebug() << responseJson;
+        qCDebug(TerrainLog) << "Received " <<  responseJson;
         emit terrainData(false, altitudes);
         return;
     }
@@ -96,3 +149,87 @@ void ElevationProvider::_requestFinished()
     }
     emit terrainData(false, altitudes);
 }
+
+void ElevationProvider::_requestFinishedTile()
+{
+    QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());
+    _state = State::Idle;
+
+    // When an error occurs we still end up here
+    if (reply->error() != QNetworkReply::NoError) {
+        QByteArray responseBytes = reply->readAll();
+
+        QJsonParseError parseError;
+        QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
+        qCDebug(TerrainLog) << "ERROR: Received " << responseJson;
+        // TODO: Handle error in downloading data
+        return;
+    }
+
+    QByteArray responseBytes = reply->readAll();
+
+    QJsonParseError parseError;
+    QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
+    if (parseError.error != QJsonParseError::NoError) {
+        // TODO: Handle error in downloading data
+        return;
+    }
+
+    TerrainTile* tile = new TerrainTile(responseJson);
+    if (tile->isValid()) {
+        _tilesMutex.lock();
+        if (!_tiles.contains(_uniqueTileId(tile->centerCoordinate()))) {
+            _tiles.insert(_uniqueTileId(tile->centerCoordinate()), *tile);
+        } else {
+            delete tile;
+        }
+        _tilesMutex.lock();
+    }
+
+    _downloadTiles();
+}
+
+void ElevationProvider::_downloadTiles(void)
+{
+    if (_state == State::Idle && _downloadQueue.count() > 0) {
+        QUrlQuery query;
+        _tilesMutex.lock();
+        qCDebug(TerrainLog) << "Starting download for " << _downloadQueue.first();
+        query.addQueryItem(QStringLiteral("points"), _downloadQueue.first());
+        _downloadQueue.pop_front();
+        _tilesMutex.unlock();
+        QUrl url(QStringLiteral("https://api.airmap.com/elevation/stage/srtm1/carpet"));
+        url.setQuery(query);
+
+        QNetworkRequest request(url);
+
+        QNetworkProxy tProxy;
+        tProxy.setType(QNetworkProxy::DefaultProxy);
+        _networkManager.setProxy(tProxy);
+
+        QNetworkReply* networkReply = _networkManager.get(request);
+        if (!networkReply) {
+            return false;
+        }
+
+        connect(networkReply, &QNetworkReply::finished, this, &ElevationProvider::_requestFinishedTile);
+
+        _state = State::Downloading;
+    }
+}
+
+QString ElevationProvider::_uniqueTileId(const QGeoCoordinate& coordinate)
+{
+    QGeoCoordinate southEast;
+    southEast.setLatitude(floor(coordinate.latitude()*40.0)/40.0);
+    southEast.setLongitude(floor(coordinate.longitude()*40.0)/40.0);
+    QGeoCoordinate northEast;
+    northEast.setLatitude(ceil(coordinate.latitude()*40.0)/40.0);
+    northEast.setLongitude(ceil(coordinate.longitude()*40.0)/40.0);
+
+    QString ret = QString::number(southEast.latitude(), 'f', 6) + "-" + QString::number(southEast.longitude(), 'f', 6) + "-" +
+                  QString::number(northEast.latitude(), 'f', 6) + "-" + QString::number(northEast.longitude(), 'f', 6);
+    qCDebug << "Computing unique tile id for " << coordinate << ret;
+
+    return ret;
+}

src/Terrain.h

@@ -9,11 +9,14 @@
 
 #pragma once
 
+#include "TerrainTile.h"
+#include "QGCLoggingCategory.h"
+
 #include <QObject>
 #include <QGeoCoordinate>
 #include <QNetworkAccessManager>
-
-#include "TerrainCacheTileServer.h"
+#include <QHash>
+#include <QMutex>
 
 /* usage example:
     ElevationProvider *p = new ElevationProvider();
@@ -25,6 +28,7 @@
     p->queryTerrainData(coordinates);
  */
 
+Q_DECLARE_LOGGING_CATEGORY(TerrainLog)
 
 class ElevationProvider : public QObject
 {
@@ -41,24 +45,34 @@ public:
     bool queryTerrainData(const QList<QGeoCoordinate>& coordinates);
 
     /**
+     * Cache all data in rectangular region given by south west and north east corner.
      *
-     *
-     *
+     * @param southWest
+     * @param northEast
      */
-    bool cacheTerrainData(const QGeoCoordinate& southWest, const QGeoCoordinate& northEast);
+    void cacheTerrainData(const QGeoCoordinate& southWest, const QGeoCoordinate& northEast);
 
 signals:
     void terrainData(bool success, QList<float> altitudes);
 
 private slots:
     void _requestFinished();
+    void _requestFinishedTile();
+
 private:
 
+    QString _uniqueTileId(const QGeoCoordinate& coordinate);
+    void    _downloadTiles(void);
+
     enum class State {
         Idle,
         Downloading,
     };
 
-    State                   _state = State::Idle;
-    QNetworkAccessManager   _networkManager;
+    State                       _state = State::Idle;
+    QNetworkAccessManager       _networkManager;
+
+    static QMutex                       _tilesMutex;
+    static QHash<QString, TerrainTile>  _tiles;
+    QStringList                         _downloadQueue;
 };

src/TerrainCacheTileServer.cc

@@ -1,6 +0,0 @@
-#include "TerrainCacheTileServer.h"
-
-TerrainCacheTileServer::TerrainCacheTileServer()
-{
-
-}

src/TerrainCacheTileServer.h

@@ -1,19 +0,0 @@
-#ifndef TERRAINCACHESERVER_H
-#define TERRAINCACHESERVER_H
-
-#include "TerrainTile.h"
-
-class TerrainCacheTileServer
-{
-public:
-    TerrainCacheTileServer();
-
-    bool cacheTerrainData(const QGeoCoordinate& southWest, const QGeoCoordinate& northEast);
-
-    bool cached(const QGeoCoordinate& coord);
-
-private:
-    QStringList             _downloadQueue;
-};
-
-#endif // TERRAINCACHESERVER_H

src/TerrainTile.cc

@@ -31,17 +31,17 @@ TerrainTile::~TerrainTile()
 {
 }
 
-TerrainTile::TerrainTile(QJsonDocument doc)
+TerrainTile::TerrainTile(QJsonDocument document)
     : _minElevation(-1.0)
     , _maxElevation(-1.0)
     , _avgElevation(-1.0)
     , _isValid(false)
 {
-    if (!doc.isObject()) {
+    if (!document.isObject()) {
         qCDebug(TerrainTileLog) << "Terrain tile json doc is no object";
         return;
     }
-    QJsonObject rootObject = doc.object();
+    QJsonObject rootObject = document.object();
 
     QString errorString;
     QList<JsonHelper::KeyValidateInfo> rootVersionKeyInfoList = {
@@ -123,7 +123,7 @@ TerrainTile::TerrainTile(QJsonDocument doc)
     _isValid = true;
 }
 
-bool TerrainTile::isIn(QGeoCoordinate coord)
+bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const
 {
     if (!_isValid) {
         qCDebug(TerrainTileLog) << "isIn requested, but tile not valid";
@@ -135,7 +135,7 @@ bool TerrainTile::isIn(QGeoCoordinate coord)
     return ret;
 }
 
-float TerrainTile::elevation(const QGeoCoordinate& coord)
+float TerrainTile::elevation(const QGeoCoordinate& coordinate) const
 {
     if (_isValid) {
         qCDebug << "elevation: " << coord << " , in sw " << _southWest << " , ne " << _northEast;

src/TerrainTile.h

@@ -18,9 +18,9 @@ public:
     /**
     * Constructor from json doc with elevation data (either from file or web)
     *
-    * @param json doc
+    * @param document
     */
-    TerrainTile(QJsonDocument doc);
+    TerrainTile(QJsonDocument document);
 
     /**
     * Check for whether a coordinate lies within this tile
@@ -28,14 +28,14 @@ public:
     * @param coordinate
     * @return true if within
     */
-    bool isIn(QGeoCoordinate coord);
+    bool isIn(const QGeoCoordinate& coordinate) const;
 
     /**
     * Check whether valid data is loaded
     *
     * @return true if data is valid
     */
-    bool isValid(void) { return _isValid; }
+    bool isValid(void) const { return _isValid; }
 
     /**
     * Evaluates the elevation at the given coordinate
@@ -43,28 +43,34 @@ public:
     * @param coordinate
     * @return elevation
     */
-    float elevation(const QGeoCoordinate& coord);
+    float elevation(const QGeoCoordinate& coordinate) const;
 
     /**
     * Accessor for the minimum elevation of the tile
     *
     * @return minimum elevation
     */
-    float minElevation(void) { return _minElevation; }
+    float minElevation(void) const { return _minElevation; }
 
     /**
     * Accessor for the maximum elevation of the tile
     *
     * @return maximum elevation
     */
-    float maxElevation(void) { return _maxElevation; }
+    float maxElevation(void) const { return _maxElevation; }
 
     /**
     * Accessor for the average elevation of the tile
     *
     * @return average elevation
     */
-    float avgElevation(void) { return _avgElevation; }
+    float avgElevation(void) const { return _avgElevation; }
+
+    /// tile grid size in lat and lon
+    static const int    _gridSize = TERRAIN_TILE_SIZE;
+
+    /// grid spacing in degree
+    static const float  _srtm1Increment = 1.0 / (60.0 * 60.0);
 
 private:
     QGeoCoordinate      _southWest;                                     /// South west corner of the tile
@@ -76,8 +82,6 @@ private:
 
     float               _data[TERRAIN_TILE_SIZE][TERRAIN_TILE_SIZE];    /// elevation data
     bool                _isValid;                                       /// data loaded is valid
-    static const int    _gridSize = TERRAIN_TILE_SIZE;                  /// tile grid size in lat and lon
-    static const float  _srtm1Increment = 1.0 / (60.0 * 60.0);          /// grid spacing in degree
 
     // Json keys
     static const char*  _jsonStatusKey;