DonLakeFlyer
7 years ago
13 changed files with 694 additions and 286 deletions
@ -0,0 +1,38 @@ |
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[ |
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{ |
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"name": "TurnAroundDistance", |
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"shortDescription": "Amount of additional distance to add outside the survey area for vehicle turn around.", |
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"type": "double", |
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"decimalPlaces": 2, |
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"min": 0, |
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"units": "m", |
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"defaultValue": 30 |
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}, |
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{ |
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"name": "TurnAroundDistanceMultiRotor", |
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"shortDescription": "Amount of additional distance to add outside the survey area for vehicle turn around.", |
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"type": "double", |
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"decimalPlaces": 2, |
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"min": 0, |
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"units": "m", |
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"defaultValue": 10 |
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}, |
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{ |
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"name": "CameraTriggerInTurnAround", |
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"shortDescription": "Camera continues taking images in turn arounds.", |
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"type": "bool", |
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"defaultValue": true |
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}, |
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{ |
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"name": "HoverAndCapture", |
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"shortDescription": "Stop and Hover at each image point before taking image", |
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"type": "bool", |
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"defaultValue": false |
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}, |
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{ |
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"name": "Refly90Degrees", |
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"shortDescription": "Refly the pattern at a 90 degree angle", |
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"type": "bool", |
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"defaultValue": false |
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} |
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] |
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@ -0,0 +1,204 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#include "TransectStyleComplexItem.h" |
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#include "JsonHelper.h" |
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#include "MissionController.h" |
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#include "QGCGeo.h" |
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#include "QGroundControlQmlGlobal.h" |
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#include "QGCQGeoCoordinate.h" |
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#include "SettingsManager.h" |
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#include "AppSettings.h" |
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#include "QGCQGeoCoordinate.h" |
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#include <QPolygonF> |
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QGC_LOGGING_CATEGORY(TransectStyleComplexItemLog, "TransectStyleComplexItemLog") |
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const char* TransectStyleComplexItem::turnAroundDistanceName = "TurnAroundDistance"; |
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const char* TransectStyleComplexItem::turnAroundDistanceMultiRotorName = "TurnAroundDistanceMultiRotor"; |
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const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName = "CameraTriggerInTurnAround"; |
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const char* TransectStyleComplexItem::hoverAndCaptureName = "HoverAndCapture"; |
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const char* TransectStyleComplexItem::refly90DegreesName = "Refly90Degrees"; |
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const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc"; |
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TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString settingsGroup, QObject* parent) |
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: ComplexMissionItem (vehicle, parent) |
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, _settingsGroup (settingsGroup) |
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, _sequenceNumber (0) |
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, _dirty (false) |
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, _ignoreRecalc (false) |
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, _scanDistance (0.0) |
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, _cameraShots (0) |
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, _cameraMinTriggerInterval (0) |
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, _cameraCalc (vehicle) |
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, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this)) |
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, _turnAroundDistanceFact (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName]) |
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, _cameraTriggerInTurnAroundFact(_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName]) |
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, _hoverAndCaptureFact (_settingsGroup, _metaDataMap[hoverAndCaptureName]) |
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, _refly90DegreesFact (_settingsGroup, _metaDataMap[refly90DegreesName]) |
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{ |
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connect(this, &TransectStyleComplexItem::altitudeRelativeChanged, this, &TransectStyleComplexItem::_setDirty); |
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connect(this, &TransectStyleComplexItem::altitudeRelativeChanged, this, &TransectStyleComplexItem::coordinateHasRelativeAltitudeChanged); |
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connect(this, &TransectStyleComplexItem::altitudeRelativeChanged, this, &TransectStyleComplexItem::exitCoordinateHasRelativeAltitudeChanged); |
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connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); |
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connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); |
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connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); |
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connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::coveredAreaChanged); |
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connect(this, &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged); |
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connect(this, &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); |
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} |
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void TransectStyleComplexItem::_setScanDistance(double scanDistance) |
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{ |
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if (!qFuzzyCompare(_scanDistance, scanDistance)) { |
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_scanDistance = scanDistance; |
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emit complexDistanceChanged(); |
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} |
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} |
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void TransectStyleComplexItem::_setCameraShots(int cameraShots) |
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{ |
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if (_cameraShots != cameraShots) { |
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_cameraShots = cameraShots; |
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emit cameraShotsChanged(); |
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} |
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} |
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void TransectStyleComplexItem::setDirty(bool dirty) |
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{ |
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if (_dirty != dirty) { |
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_dirty = dirty; |
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emit dirtyChanged(_dirty); |
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} |
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} |
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void TransectStyleComplexItem::_save(QJsonObject& complexObject) |
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{ |
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complexObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble(); |
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complexObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool(); |
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complexObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool(); |
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complexObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool(); |
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QJsonObject cameraCalcObject; |
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_cameraCalc.save(cameraCalcObject); |
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complexObject[_jsonCameraCalcKey] = cameraCalcObject; |
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} |
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void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber) |
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{ |
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if (_sequenceNumber != sequenceNumber) { |
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_sequenceNumber = sequenceNumber; |
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emit sequenceNumberChanged(sequenceNumber); |
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emit lastSequenceNumberChanged(lastSequenceNumber()); |
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} |
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} |
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bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString) |
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{ |
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QList<JsonHelper::KeyValidateInfo> keyInfoList = { |
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{ turnAroundDistanceName, QJsonValue::Double, true }, |
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{ cameraTriggerInTurnAroundName, QJsonValue::Bool, true }, |
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{ hoverAndCaptureName, QJsonValue::Bool, true }, |
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{ refly90DegreesName, QJsonValue::Bool, true }, |
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{ _jsonCameraCalcKey, QJsonValue::Object, true }, |
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}; |
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if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { |
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return false; |
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} |
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if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) { |
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return false; |
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} |
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_turnAroundDistanceFact.setRawValue (complexObject[turnAroundDistanceName].toDouble()); |
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_cameraTriggerInTurnAroundFact.setRawValue (complexObject[cameraTriggerInTurnAroundName].toBool()); |
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_hoverAndCaptureFact.setRawValue (complexObject[hoverAndCaptureName].toBool()); |
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_hoverAndCaptureFact.setRawValue (complexObject[refly90DegreesName].toBool()); |
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return true; |
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} |
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double TransectStyleComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const |
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{ |
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double greatestDistance = 0.0; |
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for (int i=0; i<_transectPoints.count(); i++) { |
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QGeoCoordinate vertex = _transectPoints[i].value<QGeoCoordinate>(); |
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double distance = vertex.distanceTo(other); |
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if (distance > greatestDistance) { |
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greatestDistance = distance; |
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} |
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} |
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return greatestDistance; |
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} |
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void TransectStyleComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus) |
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{ |
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ComplexMissionItem::setMissionFlightStatus(missionFlightStatus); |
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if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) { |
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_cruiseSpeed = missionFlightStatus.vehicleSpeed; |
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emit timeBetweenShotsChanged(); |
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} |
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} |
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void TransectStyleComplexItem::_setDirty(void) |
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{ |
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setDirty(true); |
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} |
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void TransectStyleComplexItem::applyNewAltitude(double newAltitude) |
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{ |
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Q_UNUSED(newAltitude); |
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// FIXME: NYI
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//_altitudeFact.setRawValue(newAltitude);
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} |
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double TransectStyleComplexItem::timeBetweenShots(void) |
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{ |
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return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed; |
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} |
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void TransectStyleComplexItem::_updateCoordinateAltitudes(void) |
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{ |
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emit coordinateChanged(coordinate()); |
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emit exitCoordinateChanged(exitCoordinate()); |
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} |
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void TransectStyleComplexItem::_signalLastSequenceNumberChanged(void) |
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{ |
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emit lastSequenceNumberChanged(lastSequenceNumber()); |
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} |
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double TransectStyleComplexItem::coveredArea(void) const |
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{ |
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return _surveyAreaPolygon.area(); |
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} |
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bool TransectStyleComplexItem::_hasTurnaround(void) const |
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{ |
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return _turnaroundDistance() > 0; |
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} |
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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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bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const |
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{ |
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return _vehicle->multiRotor() || _vehicle->vtol(); |
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} |
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@ -0,0 +1,153 @@ |
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/****************************************************************************
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include "ComplexMissionItem.h" |
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#include "MissionItem.h" |
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#include "SettingsFact.h" |
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#include "QGCLoggingCategory.h" |
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#include "QGCMapPolyline.h" |
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#include "QGCMapPolygon.h" |
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#include "CameraCalc.h" |
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Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog) |
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class TransectStyleComplexItem : public ComplexMissionItem |
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{ |
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Q_OBJECT |
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public: |
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TransectStyleComplexItem(Vehicle* vehicle, QString settignsGroup, QObject* parent = NULL); |
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Q_PROPERTY(QGCMapPolygon* surveyAreaPolygon READ surveyAreaPolygon CONSTANT) |
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Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) |
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Q_PROPERTY(Fact* turnAroundDistance READ turnAroundDistance CONSTANT) |
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Q_PROPERTY(Fact* cameraTriggerInTurnAround READ cameraTriggerInTurnAround CONSTANT) |
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Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT) |
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Q_PROPERTY(Fact* refly90Degrees READ refly90Degrees CONSTANT) |
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Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged) |
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Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged) |
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Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged) |
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Q_PROPERTY(double cameraMinTriggerInterval READ cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged) |
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Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT) |
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Q_PROPERTY(QVariantList transectPoints READ transectPoints NOTIFY transectPointsChanged) |
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QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; } |
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CameraCalc* cameraCalc (void) { return &_cameraCalc; } |
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QVariantList transectPoints (void) { return _transectPoints; } |
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Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; } |
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Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; } |
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Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; } |
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Fact* refly90Degrees (void) { return &_refly90DegreesFact; } |
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int cameraShots (void) const { return _cameraShots; } |
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double timeBetweenShots (void); |
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double coveredArea (void) const; |
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double cameraMinTriggerInterval(void) const { return _cameraMinTriggerInterval; } |
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bool hoverAndCaptureAllowed (void) const; |
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// Overrides from ComplexMissionItem
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int lastSequenceNumber (void) const override = 0; |
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QString mapVisualQML (void) const override = 0; |
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bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0; |
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double complexDistance (void) const final { return _scanDistance; } |
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double greatestDistanceTo (const QGeoCoordinate &other) const final; |
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// Overrides from VisualMissionItem
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void save (QJsonArray& missionItems) override = 0; |
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bool specifiesCoordinate (void) const override = 0; |
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void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) override = 0; |
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void applyNewAltitude (double newAltitude) override = 0; |
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bool dirty (void) const final { return _dirty; } |
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bool isSimpleItem (void) const final { return false; } |
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bool isStandaloneCoordinate (void) const final { return false; } |
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bool specifiesAltitudeOnly (void) const final { return false; } |
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QString commandDescription (void) const final { return tr("Corridor Scan"); } |
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QString commandName (void) const final { return tr("Corridor Scan"); } |
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QString abbreviation (void) const final { return "S"; } |
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QGeoCoordinate coordinate (void) const final { return _coordinate; } |
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QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; } |
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int sequenceNumber (void) const final { return _sequenceNumber; } |
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double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); } |
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void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final; |
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bool coordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; } |
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bool exitCoordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; } |
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bool exitCoordinateSameAsEntry (void) const final { return false; } |
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void setDirty (bool dirty) final; |
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void setCoordinate (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); } |
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void setSequenceNumber (int sequenceNumber) final; |
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static const char* turnAroundDistanceName; |
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static const char* turnAroundDistanceMultiRotorName; |
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static const char* cameraTriggerInTurnAroundName; |
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static const char* hoverAndCaptureName; |
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static const char* refly90DegreesName; |
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signals: |
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void cameraShotsChanged (void); |
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void timeBetweenShotsChanged (void); |
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void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval); |
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void altitudeRelativeChanged (bool altitudeRelative); |
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void transectPointsChanged (void); |
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void coveredAreaChanged (void); |
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protected slots: |
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virtual void _rebuildTransects (void) = 0; |
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void _setDirty (void); |
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void _updateCoordinateAltitudes (void); |
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void _signalLastSequenceNumberChanged (void); |
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protected: |
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void _save (QJsonObject& saveObject); |
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bool _load (const QJsonObject& complexObject, QString& errorString); |
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void _setExitCoordinate (const QGeoCoordinate& coordinate); |
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void _setScanDistance (double scanDistance); |
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void _setCameraShots (int cameraShots); |
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double _triggerDistance (void) const; |
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int _transectCount (void) const; |
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bool _hasTurnaround (void) const; |
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double _turnaroundDistance (void) const; |
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QString _settingsGroup; |
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int _sequenceNumber; |
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bool _dirty; |
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QGeoCoordinate _coordinate; |
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QGeoCoordinate _exitCoordinate; |
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QVariantList _transectPoints; |
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QGCMapPolygon _surveyAreaPolygon; |
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bool _ignoreRecalc; |
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double _scanDistance; |
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int _cameraShots; |
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double _timeBetweenShots; |
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double _cameraMinTriggerInterval; |
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double _cruiseSpeed; |
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CameraCalc _cameraCalc; |
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QMap<QString, FactMetaData*> _metaDataMap; |
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SettingsFact _turnAroundDistanceFact; |
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SettingsFact _cameraTriggerInTurnAroundFact; |
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SettingsFact _hoverAndCaptureFact; |
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SettingsFact _refly90DegreesFact; |
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|
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static const char* _jsonCameraCalcKey; |
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}; |
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Loading…
Reference in new issue