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@ -37,8 +37,6 @@ const char* TransectStyleComplexItem::_jsonItemsKey = "Ite
@@ -37,8 +37,6 @@ const char* TransectStyleComplexItem::_jsonItemsKey = "Ite
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const char* TransectStyleComplexItem::_jsonFollowTerrainKey = "FollowTerrain"; |
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const char* TransectStyleComplexItem::_jsonCameraShotsKey = "CameraShots"; |
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const int TransectStyleComplexItem::_terrainQueryTimeoutMsecs = 1000; |
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TransectStyleComplexItem::TransectStyleComplexItem(PlanMasterController* masterController, bool flyView, QString settingsGroup, QObject* parent) |
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: ComplexMissionItem (masterController, flyView, parent) |
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, _sequenceNumber (0) |
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@ -337,10 +335,10 @@ double TransectStyleComplexItem::coveredArea(void) const
@@ -337,10 +335,10 @@ double TransectStyleComplexItem::coveredArea(void) const
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bool TransectStyleComplexItem::_hasTurnaround(void) const |
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{ |
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return _turnaroundDistance() > 0; |
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return _turnAroundDistance() > 0; |
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} |
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double TransectStyleComplexItem::_turnaroundDistance(void) const |
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double TransectStyleComplexItem::_turnAroundDistance(void) const |
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{ |
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return _turnAroundDistanceFact.rawValue().toDouble(); |
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} |
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@ -755,16 +753,26 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
@@ -755,16 +753,26 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
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int itemCount = 0; |
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for (const QList<CoordInfo_t>& rgCoordInfo: _transects) { |
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itemCount += rgCoordInfo.count() * (hoverAndCaptureEnabled() ? 2 : 1); |
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int commandsPerCoord = 1; // Waypoint command
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if (hoverAndCaptureEnabled()) { |
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commandsPerCoord++; // Camera trigger
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} |
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itemCount += rgCoordInfo.count() * commandsPerCoord; |
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if (hoverAndCaptureEnabled() && _turnAroundDistance() != 0) { |
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// The turnaround points do not have camera triggers on them
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itemCount -= 2; |
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} |
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} |
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if (!hoverAndCaptureEnabled() && triggerCamera()) { |
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if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) { |
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// One camera start/stop for beginning/end of entire survey
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itemCount += 2; |
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// One camera start for each transect
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itemCount += _transects.count(); |
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itemCount += _transects.count(); // One camera start for each transect entry
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itemCount++; // Single camera stop and the very end
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if (_turnAroundDistance() != 0) { |
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// If there are turnarounds then there is an additional camera start on the first turnaround
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itemCount++; |
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} |
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} else { |
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// Each transect will have a camera start and stop in it
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itemCount += _transects.count() * 2; |
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@ -797,7 +805,184 @@ void TransectStyleComplexItem::_followTerrainChanged(bool followTerrain)
@@ -797,7 +805,184 @@ void TransectStyleComplexItem::_followTerrainChanged(bool followTerrain)
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void TransectStyleComplexItem::_handleHoverAndCaptureEnabled(QVariant enabled) |
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{ |
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if (enabled.toBool() && _cameraTriggerInTurnAroundFact.rawValue().toBool()) { |
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qDebug() << "_handleHoverAndCaptureEnabled"; |
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_cameraTriggerInTurnAroundFact.setRawValue(false); |
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} |
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} |
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void TransectStyleComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) |
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{ |
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if (_loadedMissionItems.count()) { |
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// We have mission items from the loaded plan, use those
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_appendLoadedMissionItems(items, missionItemParent); |
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} else { |
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// Build the mission items on the fly
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_buildAndAppendMissionItems(items, missionItemParent); |
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} |
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} |
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void TransectStyleComplexItem::_appendWaypoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate) |
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{ |
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MissionItem* item = new MissionItem(seqNum++, |
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MAV_CMD_NAV_WAYPOINT, |
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mavFrame, |
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holdTime, |
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0.0, // No acceptance radius specified
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0.0, // Pass through waypoint
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std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
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coordinate.latitude(), |
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coordinate.longitude(), |
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coordinate.altitude(), |
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent); |
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items.append(item); |
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} |
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void TransectStyleComplexItem::_appendSinglePhotoCapture(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum) |
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{ |
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MissionItem* item = new MissionItem(seqNum++, |
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MAV_CMD_IMAGE_START_CAPTURE, |
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MAV_FRAME_MISSION, |
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0, // Reserved (Set to 0)
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0, // Interval (none)
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1, // Take 1 photo
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qQNaN(), qQNaN(), qQNaN(), qQNaN(), // param 4-7 reserved
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent); |
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items.append(item); |
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} |
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void TransectStyleComplexItem::_appendConditionGate(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate) |
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{ |
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MissionItem* item = new MissionItem(seqNum++, |
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MAV_CMD_CONDITION_GATE, |
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mavFrame, |
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0, // Gate is orthogonal to path
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0, // Ignore altitude
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0, 0, // Param 3-4 ignored
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coordinate.latitude(), |
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coordinate.longitude(), |
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0, // No altitude
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent); |
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items.append(item); |
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} |
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void TransectStyleComplexItem::_appendCameraTriggerDistance(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, float triggerDistance) |
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{ |
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MissionItem* item = new MissionItem(seqNum++, |
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MAV_CMD_DO_SET_CAM_TRIGG_DIST, |
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MAV_FRAME_MISSION, |
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triggerDistance, |
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0, // shutter integration (ignore)
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1, // 1 - trigger one image immediately, both and entry and exit to get full coverage
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0, 0, 0, 0, // param 4-7 unused
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true, // autoContinue
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false, // isCurrentItem
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missionItemParent); |
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items.append(item); |
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} |
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void TransectStyleComplexItem::_appendCameraTriggerDistanceUpdatePoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate, bool useConditionGate, float triggerDistance) |
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{ |
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if (useConditionGate) { |
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_appendConditionGate(items, missionItemParent, seqNum, mavFrame, coordinate); |
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} else { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, coordinate); |
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} |
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_appendCameraTriggerDistance(items, missionItemParent, seqNum, triggerDistance); |
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} |
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void TransectStyleComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) |
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{ |
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qCDebug(TransectStyleComplexItemLog) << "_buildAndAppendMissionItems"; |
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// Now build the mission items from the transect points
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int seqNum = _sequenceNumber; |
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bool imagesInTurnaround = _cameraTriggerInTurnAroundFact.rawValue().toBool(); |
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bool hasTurnarounds = _turnAroundDistance() != 0; |
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bool addTriggerAtBeginningEnd = !hoverAndCaptureEnabled() && imagesInTurnaround && triggerCamera(); |
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bool useConditionGate = _controllerVehicle->firmwarePlugin()->supportedMissionCommands().contains(MAV_CMD_CONDITION_GATE) && |
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triggerCamera() && |
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!hoverAndCaptureEnabled(); |
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MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT; |
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// Note: The code below is written to be understable as oppose to being compact and/or remove duplicate code
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int transectIndex = 0; |
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for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) { |
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bool entryTurnaround = true; |
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for (const CoordInfo_t& transectCoordInfo: transect) { |
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switch (transectCoordInfo.coordType) { |
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case CoordTypeTurnaround: |
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{ |
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bool firstEntryTurnaround = transectIndex == 0 && entryTurnaround; |
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bool lastExitTurnaround = transectIndex == _transects.count() - 1 && !entryTurnaround; |
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if (addTriggerAtBeginningEnd && (firstEntryTurnaround || lastExitTurnaround)) { |
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_appendCameraTriggerDistanceUpdatePoint(items, missionItemParent, seqNum, mavFrame, transectCoordInfo.coord, useConditionGate, firstEntryTurnaround ? triggerDistance() : 0); |
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} else { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, transectCoordInfo.coord); |
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} |
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entryTurnaround = false; |
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} |
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break; |
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case CoordTypeInterior: |
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case CoordTypeInteriorTerrainAdded: |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, transectCoordInfo.coord); |
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break; |
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case CoordTypeInteriorHoverTrigger: |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, _hoverAndCaptureDelaySeconds, transectCoordInfo.coord); |
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_appendSinglePhotoCapture(items, missionItemParent, seqNum); |
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break; |
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case CoordTypeSurveyEntry: |
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if (triggerCamera()) { |
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if (hoverAndCaptureEnabled()) { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, _hoverAndCaptureDelaySeconds, transectCoordInfo.coord); |
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_appendSinglePhotoCapture(items, missionItemParent, seqNum); |
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} else { |
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// We always add a trigger start to survey entry. Even for imagesInTurnaround = true. This allows you to resume a mission and refly a transect
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_appendCameraTriggerDistanceUpdatePoint(items, missionItemParent, seqNum, mavFrame, transectCoordInfo.coord, useConditionGate, triggerDistance()); |
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} |
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} else { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, transectCoordInfo.coord); |
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} |
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break; |
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case CoordTypeSurveyExit: |
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bool lastSurveyExit = transectIndex == _transects.count() - 1; |
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if (triggerCamera()) { |
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if (hoverAndCaptureEnabled()) { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, _hoverAndCaptureDelaySeconds, transectCoordInfo.coord); |
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_appendSinglePhotoCapture(items, missionItemParent, seqNum); |
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} else if (addTriggerAtBeginningEnd && !hasTurnarounds && lastSurveyExit) { |
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_appendCameraTriggerDistanceUpdatePoint(items, missionItemParent, seqNum, mavFrame, transectCoordInfo.coord, useConditionGate, 0 /* triggerDistance */); |
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} else if (imagesInTurnaround) { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, transectCoordInfo.coord); |
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} else { |
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// If we get this far it means the camera is triggering start/stop for each transect
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_appendCameraTriggerDistanceUpdatePoint(items, missionItemParent, seqNum, mavFrame, transectCoordInfo.coord, useConditionGate, 0 /* triggerDistance */); |
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} |
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} else { |
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_appendWaypoint(items, missionItemParent, seqNum, mavFrame, 0 /* holdTime */, transectCoordInfo.coord); |
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} |
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break; |
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} |
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} |
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transectIndex++; |
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} |
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} |
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void TransectStyleComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent) |
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{ |
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qCDebug(TransectStyleComplexItemLog) << "_appendLoadedMissionItems"; |
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int seqNum = _sequenceNumber; |
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for (const MissionItem* loadedMissionItem: _loadedMissionItems) { |
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MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent); |
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item->setSequenceNumber(seqNum++); |
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items.append(item); |
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} |
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} |
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Don Gagne
5 years ago
committed by
GitHub