Merge pull request #5837 from DonLakeFlyer/LoadKML

KML support for Polygons

UnitTest.qrc

@@ -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>

src/MissionManager/QGCMapPolygon.cc

@@ -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)
         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;
+}

src/MissionManager/QGCMapPolygon.h

@@ -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;
 

src/MissionManager/QGCMapPolygonTest.cc

@@ -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();
+}

src/MissionManager/QGCMapPolygonTest.h

@@ -29,6 +29,7 @@ protected:
 private slots:
     void _testDirty(void);
     void _testVertexManipulation(void);
+    void _testKMLLoad(void);
 
 private:
     enum {

src/MissionManager/QGCMapPolygonVisuals.qml

@@ -22,8 +22,9 @@ import QGroundControl.FlightMap     1.0
 Item {
     id: _root
 
-    property var    mapControl                          ///< Map control to place item in
+    property var    qgcView                                     ///< QGCView for popping dialogs
-    property var    mapPolygon                          ///< QGCMapPolygon object
+    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 {
         setCircleRadius(center, radius)
     }
 
+    function loadKMLFile() {
+        mapPolygon.loadKMLFile("/Users/Don/Downloads/polygon.kml")
+    }
+
     onInteractiveChanged: {
         if (interactive) {
             addHandles()
@@ -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 {
                 }
 
                 MenuItem {
-                    text:       qsTr("Load KML...")
+                    text:           qsTr("Load KML...")
-                    enabled:    false
+                    onTriggered:    kmlLoadDialog.openForLoad()
                 }
             }
 

src/MissionManager/UnitTest/BadCoordinatesNode.kml

@@ -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>

src/MissionManager/UnitTest/BadXml.kml

@@ -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>

src/MissionManager/UnitTest/GoodPolygon.kml

@@ -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>

src/MissionManager/UnitTest/MissingPolygonNode.kml

@@ -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>

src/PlanView/FWLandingPatternMapVisual.qml

@@ -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)
 

src/PlanView/MissionItemMapVisual.qml

@@ -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 {
             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)
         }
     }

src/PlanView/PlanView.qml

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

src/PlanView/SimpleItemMapVisual.qml

@@ -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

src/PlanView/StructureScanMapVisual.qml

@@ -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 {
     }
 
     QGCMapPolygonVisuals {
+        qgcView:            _root.qgcView
         mapControl:         map
         mapPolygon:         _structurePolygon
         interactive:        _missionItem.isCurrentItem
@@ -95,6 +97,7 @@ Item {
     }
 
     QGCMapPolygonVisuals {
+        qgcView:            _root.qgcView
         mapControl:         map
         mapPolygon:         _flightPolygon
         interactive:        false

src/PlanView/SurveyMapVisual.qml

@@ -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