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Merge pull request #4732 from DonLakeFlyer/SurveySettings 

Plan:Survey: All survey values are now SettingsFacts
QGC4.4
Don Gagne 8 years ago committed by GitHub
parent
54586b1245 e8e93b4fc2
commit
d3b5726d0e
6 changed files with 322 additions and 323 deletions
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  1. 2
      qgroundcontrol.qrc
  2. 113
      src/MissionEditor/SurveyItemEditor.qml
  3. 102
      src/MissionManager/Survey.FactMetaData.json
  4. 151
      src/MissionManager/Survey.SettingsGroup.json
  5. 151
      src/MissionManager/SurveyMissionItem.cc
  6. 126
      src/MissionManager/SurveyMissionItem.h

2
qgroundcontrol.qrc
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@ -189,11 +189,11 @@ @@ -189,11 +189,11 @@
<file alias="Vehicle/VibrationFact.json">src/Vehicle/VibrationFact.json</file>
<file alias="App.SettingsGroup.json">src/Settings/App.SettingsGroup.json</file>
<file alias="AutoConnect.SettingsGroup.json">src/Settings/AutoConnect.SettingsGroup.json</file>
<file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
<file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
<file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
<file alias="FWLandingPattern.FactMetaData.json">src/MissionManager/FWLandingPattern.FactMetaData.json</file>
<file alias="Survey.FactMetaData.json">src/MissionManager/Survey.FactMetaData.json</file>
<file alias="USBBoardInfo.json">src/comm/USBBoardInfo.json</file>
<file alias="Vehicle/TemperatureFact.json">src/Vehicle/TemperatureFact.json</file>
</qresource>

113
src/MissionEditor/SurveyItemEditor.qml
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@ -39,12 +39,16 @@ Rectangle { @@ -39,12 +39,16 @@ Rectangle {
_cameraList.push(_vehicle.cameraList[i].name)
}
gridTypeCombo.model = _cameraList
if (missionItem.manualGrid) {
if (missionItem.manualGrid.value) {
gridTypeCombo.currentIndex = _gridTypeManual
} else {
var index = gridTypeCombo.find(missionItem.camera)
var index = -1
for (index=0; index<_cameraList.length; index++) {
if (_cameraList[index] == missionItem.camera.value) {
break;
}
}
if (index == -1) {
console.log("Couldn't find camera", missionItem.camera)
gridTypeCombo.currentIndex = _gridTypeManual
} else {
gridTypeCombo.currentIndex = index
@ -73,13 +77,13 @@ Rectangle { @@ -73,13 +77,13 @@ Rectangle {
var gridSpacing
var cameraTriggerDistance
if (missionItem.fixedValueIsAltitude) {
if (missionItem.fixedValueIsAltitude.value) {
groundResolution = (altitude * sensorWidth * 100) / (imageWidth * focalLength)
} else {
altitude = (imageWidth * groundResolution * focalLength) / (sensorWidth * 100)
}
if (cameraOrientationLandscape.checked) {
if (missionItem.cameraOrientationLandscape.value) {
imageSizeSideGround = (imageWidth * groundResolution) / 100
imageSizeFrontGround = (imageHeight * groundResolution) / 100
} else {
@ -90,7 +94,7 @@ Rectangle { @@ -90,7 +94,7 @@ Rectangle {
gridSpacing = imageSizeSideGround * ( (100-sideOverlap) / 100 )
cameraTriggerDistance = imageSizeFrontGround * ( (100-frontalOverlap) / 100 )
if (missionItem.fixedValueIsAltitude) {
if (missionItem.fixedValueIsAltitude.value) {
missionItem.groundResolution.rawValue = groundResolution
} else {
missionItem.gridAltitude.rawValue = altitude
@ -99,48 +103,6 @@ Rectangle { @@ -99,48 +103,6 @@ Rectangle {
missionItem.cameraTriggerDistance.rawValue = cameraTriggerDistance
}
/*
function recalcFromMissionValues() {
var focalLength = missionItem.cameraFocalLength.rawValue
var sensorWidth = missionItem.cameraSensorWidth.rawValue
var sensorHeight = missionItem.cameraSensorHeight.rawValue
var imageWidth = missionItem.cameraResolutionWidth.rawValue
var imageHeight = missionItem.cameraResolutionHeight.rawValue
var altitude = missionItem.gridAltitude.rawValue
var gridSpacing = missionItem.gridSpacing.rawValue
var cameraTriggerDistance = missionItem.cameraTriggerDistance.rawValue
if (focalLength <= 0.0 || sensorWidth <= 0.0 || sensorHeight <= 0.0 || imageWidth < 0 || imageHeight < 0 || altitude < 0.0 || gridSpacing < 0.0 || cameraTriggerDistance < 0.0) {
missionItem.groundResolution.rawValue = 0
missionItem.sideOverlap = 0
missionItem.frontalOverlap = 0
return
}
var groundResolution
var imageSizeSideGround //size in side (non flying) direction of the image on the ground
var imageSizeFrontGround //size in front (flying) direction of the image on the ground
groundResolution = (altitude * sensorWidth * 100) / (imageWidth * focalLength)
if (cameraOrientationLandscape.checked) {
imageSizeSideGround = (imageWidth * gsd) / 100
imageSizeFrontGround = (imageHeight * gsd) / 100
} else {
imageSizeSideGround = (imageHeight * gsd) / 100
imageSizeFrontGround = (imageWidth * gsd) / 100
}
var sideOverlap = (imageSizeSideGround == 0 ? 0 : 100 - (gridSpacing*100 / imageSizeSideGround))
var frontOverlap = (imageSizeFrontGround == 0 ? 0 : 100 - (cameraTriggerDistance*100 / imageSizeFrontGround))
missionItem.groundResolution.rawValue = groundResolution
missionItem.sideOverlap.rawValue = sideOverlap
missionItem.frontalOverlap.rawValue = frontOverlap
}
*/
function polygonCaptureStarted() {
missionItem.clearPolygon()
}
@ -163,12 +125,6 @@ Rectangle { @@ -163,12 +125,6 @@ Rectangle {
Connections {
target: missionItem
onCameraValueChanged: {
if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && !_noCameraValueRecalc) {
recalcFromCameraValues()
}
}
onIsCurrentItemChanged: {
if (!missionItem.isCurrentItem) {
polygonEditor.cancelPolygonEdit()
@ -177,10 +133,20 @@ Rectangle { @@ -177,10 +133,20 @@ Rectangle {
}
Connections {
target: missionItem.camera
onValueChanged: {
if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && !_noCameraValueRecalc) {
recalcFromCameraValues()
}
}
}
Connections {
target: missionItem.gridAltitude
onValueChanged: {
if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && missionItem.fixedValueIsAltitude && !_noCameraValueRecalc) {
if (gridTypeCombo.currentIndex >= _gridTypeCustomCamera && missionItem.fixedValueIsAltitude.value && !_noCameraValueRecalc) {
recalcFromCameraValues()
}
}
@ -217,13 +183,13 @@ Rectangle { @@ -217,13 +183,13 @@ Rectangle {
onActivated: {
if (index == _gridTypeManual) {
missionItem.manualGrid = true
missionItem.manualGrid.value = true
} else if (index == _gridTypeCustomCamera) {
missionItem.manualGrid = false
missionItem.camera = gridTypeCombo.textAt(index)
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
} else {
missionItem.manualGrid = false
missionItem.camera = gridTypeCombo.textAt(index)
missionItem.manualGrid.value = false
missionItem.camera.value = gridTypeCombo.textAt(index)
_noCameraValueRecalc = true
var listIndex = index - _gridTypeCamera
missionItem.cameraSensorWidth.rawValue = _vehicleCameraList[listIndex].sensorWidth
@ -259,17 +225,19 @@ Rectangle { @@ -259,17 +225,19 @@ Rectangle {
anchors.horizontalCenter: parent.horizontalCenter
QGCRadioButton {
id: cameraOrientationLandscape
width: _editFieldWidth
text: "Landscape"
checked: true
checked: missionItem.cameraOrientationLandscape.value == 1
exclusiveGroup: cameraOrientationGroup
onClicked: missionItem.cameraOrientationLandscape.value = 1
}
QGCRadioButton {
id: cameraOrientationPortrait
text: "Portrait"
checked: missionItem.cameraOrientationLandscape.value == 0
exclusiveGroup: cameraOrientationGroup
onClicked: missionItem.cameraOrientationLandscape.value = 0
}
}
@ -428,9 +396,9 @@ Rectangle { @@ -428,9 +396,9 @@ Rectangle {
QGCRadioButton {
id: fixedAltitudeRadio
text: qsTr("Altitude:")
checked: missionItem.fixedValueIsAltitude
checked: missionItem.fixedValueIsAltitude.value
exclusiveGroup: fixedValueGroup
onClicked: missionItem.fixedValueIsAltitude = true
onClicked: missionItem.fixedValueIsAltitude.value = 1
Layout.fillWidth: true
anchors.verticalCenter: parent.verticalCenter
}
@ -451,9 +419,9 @@ Rectangle { @@ -451,9 +419,9 @@ Rectangle {
QGCRadioButton {
id: fixedGroundResolutionRadio
text: qsTr("Ground res:")
checked: !missionItem.fixedValueIsAltitude
checked: !missionItem.fixedValueIsAltitude.value
exclusiveGroup: fixedValueGroup
onClicked: missionItem.fixedValueIsAltitude = false
onClicked: missionItem.fixedValueIsAltitude.value = 0
Layout.fillWidth: true
anchors.verticalCenter: parent.verticalCenter
}
@ -491,11 +459,10 @@ Rectangle { @@ -491,11 +459,10 @@ Rectangle {
factList: [ missionItem.gridAngle, missionItem.gridSpacing, missionItem.gridAltitude, missionItem.turnaroundDist ]
}
QGCCheckBox {
FactCheckBox {
anchors.left: parent.left
text: qsTr("Relative altitude")
checked: missionItem.gridAltitudeRelative
onClicked: missionItem.gridAltitudeRelative = checked
fact: missionItem.gridAltitudeRelative
}
QGCLabel { text: qsTr("Camera") }
@ -512,19 +479,17 @@ Rectangle { @@ -512,19 +479,17 @@ Rectangle {
anchors.right: parent.right
spacing: _margin
QGCCheckBox {
id: cameraTrigger
FactCheckBox {
anchors.baseline: cameraTriggerDistanceField.baseline
text: qsTr("Trigger Distance:")
checked: missionItem.cameraTrigger
onClicked: missionItem.cameraTrigger = checked
fact: missionItem.cameraTrigger
}
FactTextField {
id: cameraTriggerDistanceField
Layout.fillWidth: true
fact: missionItem.cameraTriggerDistance
enabled: missionItem.cameraTrigger
enabled: missionItem.cameraTrigger.value
}
}
}

102
src/MissionManager/Survey.FactMetaData.json
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@ -1,102 +0,0 @@ @@ -1,102 +0,0 @@
[
{
"name": "Altitude",
"shortDescription": "Altitude for all waypoints within the grid.",
"type": "double",
"units": "m",
"decimalPlaces": 1
},
{
"name": "Grid angle",
"shortDescription": "Angle for parallel lines of grid.",
"type": "double",
"units": "deg",
"decimalPlaces": 1
},
{
"name": "Grid spacing",
"shortDescription": "Amount of spacing in between parallel grid lines.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m"
},
{
"name": "Turnaround dist",
"shortDescription": "Amount of additional distance to add outside the grid area for vehicle turnaround.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m"
},
{
"name": "Ground resolution",
"shortDescription": "Resolution of image in relationship to ground distance.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "cm/px"
},
{
"name": "Frontal overlap",
"shortDescription": "Amount of overlap between images in the forward facing direction.",
"type": "double",
"decimalPlaces": 0,
"max": 75,
"units": "%"
},
{
"name": "Side overlap",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 0,
"max": 75,
"units": "%"
},
{
"name": "Camera sensor width",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm"
},
{
"name": "Camera sensor height",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm"
},
{
"name": "Camera resolution width",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "uint32",
"min": 1,
"units": "px"
},
{
"name": "Camera resolution height",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "uint32",
"min": 1,
"units": "px"
},
{
"name": "Focal length",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 1,
"min": 1,
"units": "mm"
},
{
"name": "Camera trigger distance",
"shortDescription": "Distance between each triggering of the camera.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m"
}
]

151
src/MissionManager/Survey.SettingsGroup.json
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@ -0,0 +1,151 @@ @@ -0,0 +1,151 @@
[
{
"name": "ManualGrid",
"shortDescription": "Specify all parameters for grid generation.",
"type": "bool",
"defaultValue": 1
},
{
"name": "GridAltitude",
"shortDescription": "Altitude for all waypoints within the grid.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "GridAltitudeRelative",
"shortDescription": "Altitude for all waypoints within the grid is relative to home.",
"type": "bool",
"defaultValue": 1
},
{
"name": "GridAngle",
"shortDescription": "Angle for parallel lines of grid.",
"type": "double",
"units": "deg",
"decimalPlaces": 1,
"defaultValue": 0
},
{
"name": "GridSpacing",
"shortDescription": "Amount of spacing in between parallel grid lines.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m",
"defaultValue": 30
},
{
"name": "TurnaroundDist",
"shortDescription": "Amount of additional distance to add outside the grid area for vehicle turnaround.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 30
},
{
"name": "GroundResolution",
"shortDescription": "Resolution of image in relationship to ground distance.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "cm/px",
"defaultValue": 3
},
{
"name": "FrontalOverlap",
"shortDescription": "Amount of overlap between images in the forward facing direction.",
"type": "double",
"decimalPlaces": 0,
"max": 85,
"units": "%",
"defaultValue": 10
},
{
"name": "SideOverlap",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 0,
"max": 85,
"units": "%",
"defaultValue": 10
},
{
"name": "CameraSensorWidth",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 6.17
},
{
"name": "CameraSensorHeight",
"shortDescription": "Amount of overlap between images in the side facing direction.",
"type": "double",
"decimalPlaces": 2,
"min": 1,
"units": "mm",
"defaultValue": 4.55
},
{
"name": "CameraResolutionWidth",
"shortDescription": "Camera resolution width.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 4000
},
{
"name": "CameraResolutionHeight",
"shortDescription": "Camera resolution height.",
"type": "uint32",
"min": 1,
"units": "px",
"defaultValue": 3000
},
{
"name": "CameraFocalLength",
"shortDescription": "Focal length of camera lens.",
"type": "double",
"decimalPlaces": 1,
"min": 1,
"units": "mm",
"defaultValue": 4.5
},
{
"name": "CameraTrigger",
"shortDescription": "Trigger the camera based on distance.",
"type": "bool",
"defaultValue": 0
},
{
"name": "CameraTriggerDistance",
"shortDescription": "Distance between each triggering of the camera.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m",
"defaultValue": 25
},
{
"name": "CameraOrientationLandscape",
"shortDescription": "Camera on vehicle is in landscape orientation.",
"type": "bool",
"defaultValue": 1
},
{
"name": "FixedValueIsAltitude",
"shortDescription": "The altitude is kep constant while ground resolution changes.",
"type": "bool",
"defaultValue": 0
},
{
"name": "Camera",
"shortDescription": "Camera selected for Survey.",
"type": "string",
"defaultValue": ""
}
]

151
src/MissionManager/SurveyMissionItem.cc
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@ -43,82 +43,61 @@ const char* SurveyMissionItem::_jsonManualGridKey = "manualGrid" @@ -43,82 +43,61 @@ const char* SurveyMissionItem::_jsonManualGridKey = "manualGrid"
const char* SurveyMissionItem::_jsonCameraOrientationLandscapeKey = "orientationLandscape";
const char* SurveyMissionItem::_jsonFixedValueIsAltitudeKey = "fixedValueIsAltitude";
const char* SurveyMissionItem::_gridAltitudeFactName = "Altitude";
const char* SurveyMissionItem::_gridAngleFactName = "Grid angle";
const char* SurveyMissionItem::_gridSpacingFactName = "Grid spacing";
const char* SurveyMissionItem::_turnaroundDistFactName = "Turnaround dist";
const char* SurveyMissionItem::_cameraTriggerDistanceFactName = "Camera trigger distance";
const char* SurveyMissionItem::_groundResolutionFactName = "Ground resolution";
const char* SurveyMissionItem::_frontalOverlapFactName = "Frontal overlap";
const char* SurveyMissionItem::_sideOverlapFactName = "Side overlap";
const char* SurveyMissionItem::_cameraSensorWidthFactName = "Camera sensor width";
const char* SurveyMissionItem::_cameraSensorHeightFactName = "Camera sensor height";
const char* SurveyMissionItem::_cameraResolutionWidthFactName = "Camera resolution width";
const char* SurveyMissionItem::_cameraResolutionHeightFactName = "Camera resolution height";
const char* SurveyMissionItem::_cameraFocalLengthFactName = "Focal length";
QMap<QString, FactMetaData*> SurveyMissionItem::_metaDataMap;
const char* SurveyMissionItem::settingsGroup = "Survey";
const char* SurveyMissionItem::manualGridName = "ManualGrid";
const char* SurveyMissionItem::gridAltitudeName = "GridAltitude";
const char* SurveyMissionItem::gridAltitudeRelativeName = "GridAltitudeRelative";
const char* SurveyMissionItem::gridAngleName = "GridAngle";
const char* SurveyMissionItem::gridSpacingName = "GridSpacing";
const char* SurveyMissionItem::turnaroundDistName = "TurnaroundDist";
const char* SurveyMissionItem::cameraTriggerDistanceName = "CameraTriggerDistance";
const char* SurveyMissionItem::groundResolutionName = "GroundResolution";
const char* SurveyMissionItem::frontalOverlapName = "FrontalOverlap";
const char* SurveyMissionItem::sideOverlapName = "SideOverlap";
const char* SurveyMissionItem::cameraSensorWidthName = "CameraSensorWidth";
const char* SurveyMissionItem::cameraSensorHeightName = "CameraSensorHeight";
const char* SurveyMissionItem::cameraResolutionWidthName = "CameraResolutionWidth";
const char* SurveyMissionItem::cameraResolutionHeightName = "CameraResolutionHeight";
const char* SurveyMissionItem::cameraFocalLengthName = "CameraFocalLength";
const char* SurveyMissionItem::cameraTriggerName = "CameraTrigger";
const char* SurveyMissionItem::cameraOrientationLandscapeName = "CameraOrientationLandscape";
const char* SurveyMissionItem::fixedValueIsAltitudeName = "FixedValueIsAltitude";
const char* SurveyMissionItem::cameraName = "Camera";
SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
, _cameraTrigger(true)
, _gridAltitudeRelative(true)
, _manualGrid(true)
, _cameraOrientationLandscape(true)
, _fixedValueIsAltitude(false)
, _surveyDistance(0.0)
, _cameraShots(0)
, _coveredArea(0.0)
, _timeBetweenShots(0.0)
, _gridAltitudeFact (0, _gridAltitudeFactName, FactMetaData::valueTypeDouble)
, _gridAngleFact (0, _gridAngleFactName, FactMetaData::valueTypeDouble)
, _gridSpacingFact (0, _gridSpacingFactName, FactMetaData::valueTypeDouble)
, _turnaroundDistFact (0, _turnaroundDistFactName, FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact (0, _cameraTriggerDistanceFactName, FactMetaData::valueTypeDouble)
, _groundResolutionFact (0, _groundResolutionFactName, FactMetaData::valueTypeDouble)
, _frontalOverlapFact (0, _frontalOverlapFactName, FactMetaData::valueTypeDouble)
, _sideOverlapFact (0, _sideOverlapFactName, FactMetaData::valueTypeDouble)
, _cameraSensorWidthFact (0, _cameraSensorWidthFactName, FactMetaData::valueTypeDouble)
, _cameraSensorHeightFact (0, _cameraSensorHeightFactName, FactMetaData::valueTypeDouble)
, _cameraResolutionWidthFact (0, _cameraResolutionWidthFactName, FactMetaData::valueTypeUint32)
, _cameraResolutionHeightFact (0, _cameraResolutionHeightFactName, FactMetaData::valueTypeUint32)
, _cameraFocalLengthFact (0, _cameraFocalLengthFactName, FactMetaData::valueTypeDouble)
, _metaDataMap(FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
, _manualGridFact (settingsGroup, _metaDataMap[manualGridName])
, _gridAltitudeFact (settingsGroup, _metaDataMap[gridAltitudeName])
, _gridAltitudeRelativeFact (settingsGroup, _metaDataMap[gridAltitudeRelativeName])
, _gridAngleFact (settingsGroup, _metaDataMap[gridAngleName])
, _gridSpacingFact (settingsGroup, _metaDataMap[gridSpacingName])
, _turnaroundDistFact (settingsGroup, _metaDataMap[turnaroundDistName])
, _cameraTriggerFact (settingsGroup, _metaDataMap[cameraTriggerName])
, _cameraTriggerDistanceFact (settingsGroup, _metaDataMap[cameraTriggerDistanceName])
, _groundResolutionFact (settingsGroup, _metaDataMap[groundResolutionName])
, _frontalOverlapFact (settingsGroup, _metaDataMap[frontalOverlapName])
, _sideOverlapFact (settingsGroup, _metaDataMap[sideOverlapName])
, _cameraSensorWidthFact (settingsGroup, _metaDataMap[cameraSensorWidthName])
, _cameraSensorHeightFact (settingsGroup, _metaDataMap[cameraSensorHeightName])
, _cameraResolutionWidthFact (settingsGroup, _metaDataMap[cameraResolutionWidthName])
, _cameraResolutionHeightFact (settingsGroup, _metaDataMap[cameraResolutionHeightName])
, _cameraFocalLengthFact (settingsGroup, _metaDataMap[cameraFocalLengthName])
, _cameraOrientationLandscapeFact (settingsGroup, _metaDataMap[cameraOrientationLandscapeName])
, _fixedValueIsAltitudeFact (settingsGroup, _metaDataMap[fixedValueIsAltitudeName])
, _cameraFact (settingsGroup, _metaDataMap[cameraName])
{
_editorQml = "qrc:/qml/SurveyItemEditor.qml";
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.FactMetaData.json"), NULL /* metaDataParent */);
}
_gridAltitudeFact.setRawValue(50);
_gridSpacingFact.setRawValue(30);
_turnaroundDistFact.setRawValue((_vehicle && _vehicle->multiRotor()) ? 0 : 60);
_cameraTriggerDistanceFact.setRawValue(25);
_groundResolutionFact.setRawValue(3);
_frontalOverlapFact.setRawValue(10);
_sideOverlapFact.setRawValue(10);
_cameraSensorWidthFact.setRawValue(6.17);
_cameraSensorHeightFact.setRawValue(4.55);
_cameraResolutionWidthFact.setRawValue(4000);
_cameraResolutionHeightFact.setRawValue(3000);
_cameraFocalLengthFact.setRawValue(4.5);
_gridAltitudeFact.setMetaData(_metaDataMap[_gridAltitudeFactName]);
_gridAngleFact.setMetaData(_metaDataMap[_gridAngleFactName]);
_gridSpacingFact.setMetaData(_metaDataMap[_gridSpacingFactName]);
_turnaroundDistFact.setMetaData(_metaDataMap[_turnaroundDistFactName]);
_cameraTriggerDistanceFact.setMetaData(_metaDataMap[_cameraTriggerDistanceFactName]);
_groundResolutionFact.setMetaData(_metaDataMap[_groundResolutionFactName]);
_frontalOverlapFact.setMetaData(_metaDataMap[_frontalOverlapFactName]);
_sideOverlapFact.setMetaData(_metaDataMap[_sideOverlapFactName]);
_cameraSensorWidthFact.setMetaData(_metaDataMap[_cameraSensorWidthFactName]);
_cameraSensorHeightFact.setMetaData(_metaDataMap[_cameraSensorHeightFactName]);
_cameraResolutionWidthFact.setMetaData(_metaDataMap[_cameraResolutionWidthFactName]);
_cameraResolutionHeightFact.setMetaData(_metaDataMap[_cameraResolutionHeightFactName]);
_cameraFocalLengthFact.setMetaData(_metaDataMap[_cameraFocalLengthFactName]);
if (_vehicle->multiRotor()) {
_turnaroundDistFact.setRawValue(0);
}
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
@ -136,7 +115,7 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent) @@ -136,7 +115,7 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
connect(&_cameraResolutionHeightFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraFocalLengthFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(this, &SurveyMissionItem::cameraTriggerChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
connect(&_cameraTriggerFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraTriggerChanged);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
@ -222,7 +201,7 @@ int SurveyMissionItem::lastSequenceNumber(void) const @@ -222,7 +201,7 @@ int SurveyMissionItem::lastSequenceNumber(void) const
if (_gridPoints.count()) {
lastSeq += _gridPoints.count() - 1;
if (_cameraTrigger) {
if (_cameraTriggerFact.rawValue().toBool()) {
// Account for two trigger messages
lastSeq += 2;
}
@ -252,27 +231,27 @@ void SurveyMissionItem::save(QJsonObject& saveObject) const @@ -252,27 +231,27 @@ void SurveyMissionItem::save(QJsonObject& saveObject) const
saveObject[JsonHelper::jsonVersionKey] = 3;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_jsonCameraTriggerKey] = _cameraTrigger;
saveObject[_jsonManualGridKey] = _manualGrid;
saveObject[_jsonFixedValueIsAltitudeKey] = _fixedValueIsAltitude;
saveObject[_jsonCameraTriggerKey] = _cameraTriggerFact.rawValue().toBool();
saveObject[_jsonManualGridKey] = _manualGridFact.rawValue().toBool();
saveObject[_jsonFixedValueIsAltitudeKey] = _fixedValueIsAltitudeFact.rawValue().toBool();
if (_cameraTrigger) {
if (_cameraTriggerFact.rawValue().toBool()) {
saveObject[_jsonCameraTriggerDistanceKey] = _cameraTriggerDistanceFact.rawValue().toDouble();
}
QJsonObject gridObject;
gridObject[_jsonGridAltitudeKey] = _gridAltitudeFact.rawValue().toDouble();
gridObject[_jsonGridAltitudeRelativeKey] = _gridAltitudeRelative;
gridObject[_jsonGridAltitudeRelativeKey] = _gridAltitudeRelativeFact.rawValue().toBool();
gridObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
gridObject[_jsonGridSpacingKey] = _gridSpacingFact.rawValue().toDouble();
gridObject[_jsonTurnaroundDistKey] = _turnaroundDistFact.rawValue().toDouble();
saveObject[_jsonGridObjectKey] = gridObject;
if (!_manualGrid) {
if (!_manualGridFact.rawValue().toBool()) {
QJsonObject cameraObject;
cameraObject[_jsonCameraNameKey] = _camera;
cameraObject[_jsonCameraOrientationLandscapeKey] = _cameraOrientationLandscape;
cameraObject[_jsonCameraNameKey] = _cameraFact.rawValue().toString();
cameraObject[_jsonCameraOrientationLandscapeKey] = _cameraOrientationLandscapeFact.rawValue().toBool();
cameraObject[_jsonCameraSensorWidthKey] = _cameraSensorWidthFact.rawValue().toDouble();
cameraObject[_jsonCameraSensorHeightKey] = _cameraSensorHeightFact.rawValue().toDouble();
cameraObject[_jsonCameraResolutionWidthKey] = _cameraResolutionWidthFact.rawValue().toDouble();
@ -368,10 +347,10 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe @@ -368,10 +347,10 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
setSequenceNumber(sequenceNumber);
_manualGrid = v2Object[_jsonManualGridKey].toBool(true);
_cameraTrigger = v2Object[_jsonCameraTriggerKey].toBool(false);
_fixedValueIsAltitude = v2Object[_jsonFixedValueIsAltitudeKey].toBool(true);
_gridAltitudeRelative = v2Object[_jsonGridAltitudeRelativeKey].toBool(true);
_manualGridFact.setRawValue (v2Object[_jsonManualGridKey].toBool(true));
_cameraTriggerFact.setRawValue (v2Object[_jsonCameraTriggerKey].toBool(false));
_fixedValueIsAltitudeFact.setRawValue (v2Object[_jsonFixedValueIsAltitudeKey].toBool(true));
_gridAltitudeRelativeFact.setRawValue (v2Object[_jsonGridAltitudeRelativeKey].toBool(true));
QList<JsonHelper::KeyValidateInfo> gridKeyInfoList = {
{ _jsonGridAltitudeKey, QJsonValue::Double, true },
@ -389,7 +368,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe @@ -389,7 +368,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
_gridSpacingFact.setRawValue (gridObject[_jsonGridSpacingKey].toDouble());
_turnaroundDistFact.setRawValue (gridObject[_jsonTurnaroundDistKey].toDouble());
if (_cameraTrigger) {
if (_cameraTriggerFact.rawValue().toBool()) {
if (!v2Object.contains(_jsonCameraTriggerDistanceKey)) {
errorString = tr("%1 but %2 is missing").arg("cameraTrigger = true").arg("cameraTriggerDistance");
return false;
@ -397,7 +376,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe @@ -397,7 +376,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
_cameraTriggerDistanceFact.setRawValue(v2Object[_jsonCameraTriggerDistanceKey].toDouble());
}
if (!_manualGrid) {
if (!_manualGridFact.rawValue().toBool()) {
if (!v2Object.contains(_jsonCameraObjectKey)) {
errorString = tr("%1 but %2 object is missing").arg("manualGrid = false").arg("camera");
return false;
@ -428,8 +407,8 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe @@ -428,8 +407,8 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
return false;
}
_camera = cameraObject[_jsonCameraNameKey].toString();
_cameraOrientationLandscape = cameraObject[_jsonCameraOrientationLandscapeKey].toBool(true);
_cameraFact.setRawValue(cameraObject[_jsonCameraNameKey].toString());
_cameraOrientationLandscapeFact.setRawValue(cameraObject[_jsonCameraOrientationLandscapeKey].toBool(true));
_groundResolutionFact.setRawValue (cameraObject[_jsonGroundResolutionKey].toDouble());
_frontalOverlapFact.setRawValue (cameraObject[_jsonFrontalOverlapKey].toInt());
@ -781,7 +760,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const @@ -781,7 +760,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_NAV_WAYPOINT, // MAV_CMD
_gridAltitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, // MAV_FRAME
_gridAltitudeRelativeFact.rawValue().toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, // MAV_FRAME
0.0, 0.0, 0.0, 0.0, // param 1-4
coord.latitude(),
coord.longitude(),
@ -791,7 +770,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const @@ -791,7 +770,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
pMissionItems); // parent - allow delete on pMissionItems to delete everthing
pMissionItems->append(item);
if (_cameraTrigger && i == 0) {
if (_cameraTriggerFact.rawValue().toBool() && i == 0) {
// Turn on camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
@ -805,7 +784,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const @@ -805,7 +784,7 @@ QmlObjectListModel* SurveyMissionItem::getMissionItems(void) const
}
}
if (_cameraTrigger) {
if (_cameraTriggerFact.rawValue().toBool()) {
// Turn off camera
MissionItem* item = new MissionItem(seqNum++, // sequence number
MAV_CMD_DO_SET_CAM_TRIGG_DIST, // MAV_CMD
@ -832,7 +811,7 @@ void SurveyMissionItem::_cameraTriggerChanged(void) @@ -832,7 +811,7 @@ void SurveyMissionItem::_cameraTriggerChanged(void)
int SurveyMissionItem::cameraShots(void) const
{
return _cameraTrigger ? _cameraShots : 0;
return _cameraTriggerFact.rawValue().toBool() ? _cameraShots : 0;
}
void SurveyMissionItem::_cameraValueChanged(void)

126
src/MissionManager/SurveyMissionItem.h
Unescape View File

@ -13,7 +13,7 @@ @@ -13,7 +13,7 @@
#include "ComplexMissionItem.h"
#include "MissionItem.h"
#include "Fact.h"
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(SurveyMissionItemLog)
@ -26,11 +26,11 @@ public: @@ -26,11 +26,11 @@ public:
SurveyMissionItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* gridAltitude READ gridAltitude CONSTANT)
Q_PROPERTY(bool gridAltitudeRelative MEMBER _gridAltitudeRelative NOTIFY gridAltitudeRelativeChanged)
Q_PROPERTY(Fact* gridAltitudeRelative READ gridAltitudeRelative CONSTANT)
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* gridSpacing READ gridSpacing CONSTANT)
Q_PROPERTY(Fact* turnaroundDist READ turnaroundDist CONSTANT)
Q_PROPERTY(bool cameraTrigger MEMBER _cameraTrigger NOTIFY cameraTriggerChanged)
Q_PROPERTY(Fact* cameraTrigger READ cameraTrigger CONSTANT)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(Fact* groundResolution READ groundResolution CONSTANT)
Q_PROPERTY(Fact* frontalOverlap READ frontalOverlap CONSTANT)
@ -40,15 +40,16 @@ public: @@ -40,15 +40,16 @@ public:
Q_PROPERTY(Fact* cameraResolutionWidth READ cameraResolutionWidth CONSTANT)
Q_PROPERTY(Fact* cameraResolutionHeight READ cameraResolutionHeight CONSTANT)
Q_PROPERTY(Fact* cameraFocalLength READ cameraFocalLength CONSTANT)
Q_PROPERTY(Fact* fixedValueIsAltitude READ fixedValueIsAltitude CONSTANT)
Q_PROPERTY(Fact* cameraOrientationLandscape READ cameraOrientationLandscape CONSTANT)
Q_PROPERTY(Fact* manualGrid READ manualGrid CONSTANT)
Q_PROPERTY(Fact* camera READ camera CONSTANT)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(QVariantList polygonPath READ polygonPath NOTIFY polygonPathChanged)
Q_PROPERTY(QVariantList gridPoints READ gridPoints NOTIFY gridPointsChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(bool fixedValueIsAltitude MEMBER _fixedValueIsAltitude NOTIFY fixedValueIsAltitudeChanged)
Q_PROPERTY(bool cameraOrientationLandscape MEMBER _cameraOrientationLandscape NOTIFY cameraOrientationLandscapeChanged)
Q_PROPERTY(bool manualGrid MEMBER _manualGrid NOTIFY manualGridChanged)
Q_PROPERTY(QString camera MEMBER _camera NOTIFY cameraChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_INVOKABLE void clearPolygon(void);
Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
@ -57,10 +58,13 @@ public: @@ -57,10 +58,13 @@ public:
QVariantList polygonPath(void) { return _polygonPath; }
QVariantList gridPoints (void) { return _gridPoints; }
Fact* manualGrid (void) { return &_manualGridFact; }
Fact* gridAltitude (void) { return &_gridAltitudeFact; }
Fact* gridAltitudeRelative (void) { return &_gridAltitudeRelativeFact; }
Fact* gridAngle (void) { return &_gridAngleFact; }
Fact* gridSpacing (void) { return &_gridSpacingFact; }
Fact* turnaroundDist (void) { return &_turnaroundDistFact; }
Fact* cameraTrigger (void) { return &_cameraTriggerFact; }
Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
Fact* groundResolution (void) { return &_groundResolutionFact; }
Fact* frontalOverlap (void) { return &_frontalOverlapFact; }
@ -70,6 +74,9 @@ public: @@ -70,6 +74,9 @@ public:
Fact* cameraResolutionWidth (void) { return &_cameraResolutionWidthFact; }
Fact* cameraResolutionHeight (void) { return &_cameraResolutionHeightFact; }
Fact* cameraFocalLength (void) { return &_cameraFocalLengthFact; }
Fact* cameraOrientationLandscape(void) { return &_cameraOrientationLandscapeFact; }
Fact* fixedValueIsAltitude (void) { return &_fixedValueIsAltitudeFact; }
Fact* camera (void) { return &_cameraFact; }
int cameraShots(void) const;
double coveredArea(void) const { return _coveredArea; }
@ -100,8 +107,8 @@ public: @@ -100,8 +107,8 @@ public:
int sequenceNumber (void) const final { return _sequenceNumber; }
double flightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
bool coordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelative; }
bool exitCoordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelative; }
bool coordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
@ -112,22 +119,35 @@ public: @@ -112,22 +119,35 @@ public:
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
static const char* manualGridName;
static const char* gridAltitudeName;
static const char* gridAltitudeRelativeName;
static const char* gridAngleName;
static const char* gridSpacingName;
static const char* turnaroundDistName;
static const char* cameraTriggerDistanceName;
static const char* groundResolutionName;
static const char* frontalOverlapName;
static const char* sideOverlapName;
static const char* cameraSensorWidthName;
static const char* cameraSensorHeightName;
static const char* cameraResolutionWidthName;
static const char* cameraResolutionHeightName;
static const char* cameraFocalLengthName;
static const char* cameraTriggerName;
static const char* cameraOrientationLandscapeName;
static const char* fixedValueIsAltitudeName;
static const char* cameraName;
signals:
void polygonPathChanged (void);
void altitudeChanged (double altitude);
void gridAngleChanged (double gridAngle);
void gridPointsChanged (void);
void cameraTriggerChanged (bool cameraTrigger);
void gridAltitudeRelativeChanged (bool gridAltitudeRelative);
void cameraShotsChanged (int cameraShots);
void coveredAreaChanged (double coveredArea);
void cameraValueChanged (void);
void fixedValueIsAltitudeChanged (bool fixedValueIsAltitude);
void gridTypeChanged (QString gridType);
void cameraOrientationLandscapeChanged (bool cameraOrientationLandscape);
void cameraChanged (QString camera);
void manualGridChanged (bool manualGrid);
void timeBetweenShotsChanged (void);
void polygonPathChanged (void);
void gridPointsChanged (void);
void cameraShotsChanged (int cameraShots);
void coveredAreaChanged (double coveredArea);
void cameraValueChanged (void);
void gridTypeChanged (QString gridType);
void timeBetweenShotsChanged (void);
private slots:
void _cameraTriggerChanged(void);
@ -155,12 +175,6 @@ private: @@ -155,12 +175,6 @@ private:
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
double _altitude;
bool _cameraTrigger;
bool _gridAltitudeRelative;
bool _manualGrid;
QString _camera;
bool _cameraOrientationLandscape;
bool _fixedValueIsAltitude;
double _surveyDistance;
int _cameraShots;
@ -168,21 +182,27 @@ private: @@ -168,21 +182,27 @@ private:
double _timeBetweenShots;
double _cruiseSpeed;
Fact _gridAltitudeFact;
Fact _gridAngleFact;
Fact _gridSpacingFact;
Fact _turnaroundDistFact;
Fact _cameraTriggerDistanceFact;
Fact _groundResolutionFact;
Fact _frontalOverlapFact;
Fact _sideOverlapFact;
Fact _cameraSensorWidthFact;
Fact _cameraSensorHeightFact;
Fact _cameraResolutionWidthFact;
Fact _cameraResolutionHeightFact;
Fact _cameraFocalLengthFact;
static QMap<QString, FactMetaData*> _metaDataMap;
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _manualGridFact;
SettingsFact _gridAltitudeFact;
SettingsFact _gridAltitudeRelativeFact;
SettingsFact _gridAngleFact;
SettingsFact _gridSpacingFact;
SettingsFact _turnaroundDistFact;
SettingsFact _cameraTriggerFact;
SettingsFact _cameraTriggerDistanceFact;
SettingsFact _groundResolutionFact;
SettingsFact _frontalOverlapFact;
SettingsFact _sideOverlapFact;
SettingsFact _cameraSensorWidthFact;
SettingsFact _cameraSensorHeightFact;
SettingsFact _cameraResolutionWidthFact;
SettingsFact _cameraResolutionHeightFact;
SettingsFact _cameraFocalLengthFact;
SettingsFact _cameraOrientationLandscapeFact;
SettingsFact _fixedValueIsAltitudeFact;
SettingsFact _cameraFact;
static const char* _jsonPolygonObjectKey;
static const char* _jsonGridObjectKey;
@ -206,20 +226,6 @@ private: @@ -206,20 +226,6 @@ private:
static const char* _jsonCameraNameKey;
static const char* _jsonCameraOrientationLandscapeKey;
static const char* _jsonFixedValueIsAltitudeKey;
static const char* _gridAltitudeFactName;
static const char* _gridAngleFactName;
static const char* _gridSpacingFactName;
static const char* _turnaroundDistFactName;
static const char* _cameraTriggerDistanceFactName;
static const char* _groundResolutionFactName;
static const char* _frontalOverlapFactName;
static const char* _sideOverlapFactName;
static const char* _cameraSensorWidthFactName;
static const char* _cameraSensorHeightFactName;
static const char* _cameraResolutionWidthFactName;
static const char* _cameraResolutionHeightFactName;
static const char* _cameraFocalLengthFactName;
};
#endif

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