Merge pull request #7202 from DonLakeFlyer/PlanLoad

Plan Load: Save camera shot count and complex distance in .plan file

src/MissionManager/CorridorScanComplexItem.cc

@@ -124,10 +124,14 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc
 
     _entryPoint = complexObject[_jsonEntryPointKey].toInt();
 
-    _rebuildTransects();
-
     _ignoreRecalc = false;
 
+    _recalcComplexDistance();
+    if (_cameraShots == 0) {
+        // Shot count was possibly not available from plan file
+        _recalcCameraShots();
+    }
+
     return true;
 }
 
@@ -461,14 +465,17 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
     }
 }
 
-void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
+void CorridorScanComplexItem::_recalcComplexDistance(void)
 {
-    // Calculate distance flown for complex item
     _complexDistance = 0;
     for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
         _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
     }
+    emit complexDistanceChanged();
+}
 
+void CorridorScanComplexItem::_recalcCameraShots(void)
+{
     double triggerDistance = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble();
     if (triggerDistance == 0) {
         _cameraShots = 0;
@@ -480,14 +487,7 @@ void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
             _cameraShots = singleTransectImageCount * _transectCount();
         }
     }
-
-    _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
-    _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
-
     emit cameraShotsChanged();
-    emit complexDistanceChanged();
-    emit coordinateChanged(_coordinate);
-    emit exitCoordinateChanged(_exitCoordinate);
 }
 
 bool CorridorScanComplexItem::readyForSave(void) const

src/MissionManager/CorridorScanComplexItem.h

@@ -65,7 +65,8 @@ private slots:
 
     // Overrides from TransectStyleComplexItem
     void _rebuildTransectsPhase1    (void) final;
-    void _rebuildTransectsPhase2    (void) final;
+    void _recalcComplexDistance     (void) final;
+    void _recalcCameraShots         (void) final;
 
 private:
     int _transectCount              (void) const;

src/MissionManager/SurveyComplexItem.cc

@@ -144,6 +144,12 @@ bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumbe
         if (!_loadV4V5(complexObject, sequenceNumber, errorString, version)) {
             return false;
         }
+
+        _recalcComplexDistance();
+        if (_cameraShots == 0) {
+            // Shot count was possibly not available from plan file
+            _recalcCameraShots();
+        }
     } else {
         // Must be v2 or v3
         QJsonObject v3ComplexObject = complexObject;
@@ -157,9 +163,10 @@ bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumbe
         if (!_loadV3(complexObject, sequenceNumber, errorString)) {
             return false;
         }
-    }
 
+        // V2/3 doesn't include individual items so we need to rebuild manually
         _rebuildTransects();
+    }
 
     return true;
 }
@@ -1384,42 +1391,78 @@ void SurveyComplexItem::_rebuildTransectsFromPolygon(bool refly, const QPolygonF
     qCDebug(SurveyComplexItemLog) << "_transects.size() " << _transects.size();
 }
 
-void SurveyComplexItem::_rebuildTransectsPhase2(void)
+void SurveyComplexItem::_recalcComplexDistance(void)
 {
-    // Calculate distance flown for complex item
     _complexDistance = 0;
     for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
         _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
     }
+    emit complexDistanceChanged();
+}
 
-    if (triggerDistance() == 0) {
+void SurveyComplexItem::_recalcCameraShots(void)
+{
+    double triggerDistance = this->triggerDistance();
+
+    if (triggerDistance == 0) {
         _cameraShots = 0;
     } else {
         if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
-            _cameraShots = qCeil(_complexDistance / triggerDistance());
+            _cameraShots = qCeil(_complexDistance / triggerDistance);
         } else {
             _cameraShots = 0;
+
+            if (_loadedMissionItemsParent) {
+                // We have to do it the hard way based on the mission items themselves
+                if (hoverAndCaptureEnabled()) {
+                    // Count the number of camera triggers in the mission items
+                    for (const MissionItem* missionItem: _loadedMissionItems) {
+                        _cameraShots += missionItem->command() == MAV_CMD_IMAGE_START_CAPTURE ? 1 : 0;
+                    }
+                } else {
+                    bool waitingForTriggerStop = false;
+                    QGeoCoordinate distanceStartCoord;
+                    QGeoCoordinate distanceEndCoord;
+                    for (const MissionItem* missionItem: _loadedMissionItems) {
+                        if (missionItem->command() == MAV_CMD_NAV_WAYPOINT) {
+                            if (waitingForTriggerStop) {
+                                distanceEndCoord = QGeoCoordinate(missionItem->param5(), missionItem->param6());
+                            } else {
+                                distanceStartCoord = QGeoCoordinate(missionItem->param5(), missionItem->param6());
+                            }
+                        } else if (missionItem->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) {
+                            if (missionItem->param1() > 0) {
+                                // Trigger start
+                                waitingForTriggerStop = true;
+                            } else {
+                                // Trigger stop
+                                waitingForTriggerStop = false;
+                                _cameraShots += qCeil(distanceEndCoord.distanceTo(distanceStartCoord) / triggerDistance);
+                                distanceStartCoord = QGeoCoordinate();
+                                distanceEndCoord = QGeoCoordinate();
+                            }
+                        }
+                    }
+
+                }
+            } else {
+                // We have transects available, calc from those
                 for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
                     QGeoCoordinate firstCameraCoord, lastCameraCoord;
-                if (_hasTurnaround()) {
+                    if (_hasTurnaround() && !hoverAndCaptureEnabled()) {
                         firstCameraCoord = transect[1].coord;
                         lastCameraCoord = transect[transect.count() - 2].coord;
                     } else {
                         firstCameraCoord = transect.first().coord;
                         lastCameraCoord = transect.last().coord;
                     }
-                _cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance());
+                    _cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance);
+                }
             }
         }
     }
-
-    _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
-    _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
 
     emit cameraShotsChanged();
-    emit complexDistanceChanged();
-    emit coordinateChanged(_coordinate);
-    emit exitCoordinateChanged(_exitCoordinate);
 }
 
 // FIXME: This same exact code is in Corridor Scan. Move to TransectStyleComplex?

src/MissionManager/SurveyComplexItem.h

@@ -78,8 +78,9 @@ signals:
 
 private slots:
     // Overrides from TransectStyleComplexItem
-    void _rebuildTransectsPhase1(void) final;
+    void _rebuildTransectsPhase1    (void) final;
-    void _rebuildTransectsPhase2(void) final;
+    void _recalcComplexDistance     (void) final;
+    void _recalcCameraShots         (void) final;
 
 private:
     enum CameraTriggerCode {

src/MissionManager/TransectStyleComplexItem.cc

@@ -35,6 +35,7 @@ const char* TransectStyleComplexItem::_jsonCameraCalcKey =                  "Cam
 const char* TransectStyleComplexItem::_jsonVisualTransectPointsKey =        "VisualTransectPoints";
 const char* TransectStyleComplexItem::_jsonItemsKey =                       "Items";
 const char* TransectStyleComplexItem::_jsonFollowTerrainKey =               "FollowTerrain";
+const char* TransectStyleComplexItem::_jsonCameraShotsKey =                 "CameraShots";
 
 const int   TransectStyleComplexItem::_terrainQueryTimeoutMsecs =           1000;
 
@@ -139,6 +140,7 @@ void TransectStyleComplexItem::_save(QJsonObject& complexObject)
     innerObject[hoverAndCaptureName] =              _hoverAndCaptureFact.rawValue().toBool();
     innerObject[refly90DegreesName] =               _refly90DegreesFact.rawValue().toBool();
     innerObject[_jsonFollowTerrainKey] =            _followTerrain;
+    innerObject[_jsonCameraShotsKey] =              _cameraShots;
 
     if (_followTerrain) {
         innerObject[terrainAdjustToleranceName] =       _terrainAdjustToleranceFact.rawValue().toDouble();
@@ -212,6 +214,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
         { _jsonVisualTransectPointsKey,     QJsonValue::Array,  true },
         { _jsonItemsKey,                    QJsonValue::Array,  true },
         { _jsonFollowTerrainKey,            QJsonValue::Bool,   true },
+        { _jsonCameraShotsKey,              QJsonValue::Double, false },    // Not required since it was missing from initial implementation
     };
     if (!JsonHelper::validateKeys(innerObject, innerKeyInfoList, errorString)) {
         return false;
@@ -249,6 +252,12 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString&
     _refly90DegreesFact.setRawValue             (innerObject[refly90DegreesName].toBool());
     _followTerrain = innerObject[_jsonFollowTerrainKey].toBool();
 
+    // These two keys where not included in initial implementation so they are optional. Without them the values will be
+    // incorrect when loaded though.
+    if (innerObject.contains(_jsonCameraShotsKey)) {
+        _cameraShots = innerObject[_jsonCameraShotsKey].toInt();
+    }
+
     if (_followTerrain) {
         QList<JsonHelper::KeyValidateInfo> followTerrainKeyInfoList = {
             { terrainAdjustToleranceName,       QJsonValue::Double, true },
@@ -394,7 +403,8 @@ void TransectStyleComplexItem::_rebuildTransects(void)
     emit coordinateChanged(_coordinate);
     emit exitCoordinateChanged(_exitCoordinate);
 
-    _rebuildTransectsPhase2();
+    _recalcComplexDistance();
+    _recalcCameraShots();
 
     emit lastSequenceNumberChanged(lastSequenceNumber());
     emit timeBetweenShotsChanged();

src/MissionManager/TransectStyleComplexItem.h

@@ -129,9 +129,6 @@ signals:
     void followTerrainChanged           (bool followTerrain);
 
 protected slots:
-    virtual void _rebuildTransectsPhase1    (void) = 0; ///< Rebuilds the _transects array
-    virtual void _rebuildTransectsPhase2    (void) = 0; ///< Adjust values associated with _transects array
-
     void _setDirty                          (void);
     void _setIfDirty                        (bool dirty);
     void _updateCoordinateAltitudes         (void);
@@ -139,6 +136,10 @@ protected slots:
     void _rebuildTransects                  (void);
 
 protected:
+    virtual void _rebuildTransectsPhase1    (void) = 0; ///< Rebuilds the _transects array
+    virtual void _recalcComplexDistance     (void) = 0;
+    virtual void _recalcCameraShots         (void) = 0;
+
     void    _save                           (QJsonObject& saveObject);
     bool    _load                           (const QJsonObject& complexObject, QString& errorString);
     void    _setExitCoordinate              (const QGeoCoordinate& coordinate);
@@ -197,6 +198,7 @@ protected:
     static const char* _jsonVisualTransectPointsKey;
     static const char* _jsonItemsKey;
     static const char* _jsonFollowTerrainKey;
+    static const char* _jsonCameraShotsKey;
 
     static const int _terrainQueryTimeoutMsecs;
 

src/MissionManager/TransectStyleComplexItemTest.cc

@@ -115,10 +115,12 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
     //  lastSequenceNumberChanged signal
     _adjustSurveAreaPolygon();
     QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
-    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+    QVERIFY(_transectStyleItem->recalcCameraShotsCalled);
+    QVERIFY(_transectStyleItem->recalcComplexDistanceCalled);
     QVERIFY(_multiSpy->checkSignalsByMask(coveredAreaChangedMask | lastSequenceNumberChangedMask));
     _transectStyleItem->rebuildTransectsPhase1Called = false;
-    _transectStyleItem->rebuildTransectsPhase2Called = false;
+    _transectStyleItem->recalcCameraShotsCalled = false;
+    _transectStyleItem->recalcComplexDistanceCalled = false;
     _transectStyleItem->setDirty(false);
     _multiSpy->clearAllSignals();
 
@@ -136,30 +138,36 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void)
         qDebug() << fact->name();
         changeFactValue(fact);
         QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
-        QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+        QVERIFY(_transectStyleItem->recalcCameraShotsCalled);
+        QVERIFY(_transectStyleItem->recalcComplexDistanceCalled);
         QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
         _transectStyleItem->setDirty(false);
         _multiSpy->clearAllSignals();
         _transectStyleItem->rebuildTransectsPhase1Called = false;
-        _transectStyleItem->rebuildTransectsPhase2Called = false;
+        _transectStyleItem->recalcCameraShotsCalled = false;
+        _transectStyleItem->recalcComplexDistanceCalled = false;
     }
     rgFacts.clear();
 
     _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(false);
     _transectStyleItem->rebuildTransectsPhase1Called = false;
-    _transectStyleItem->rebuildTransectsPhase2Called = false;
+    _transectStyleItem->recalcCameraShotsCalled = false;
+    _transectStyleItem->recalcComplexDistanceCalled = false;
     changeFactValue(_transectStyleItem->cameraCalc()->imageDensity());
     QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
-    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+    QVERIFY(_transectStyleItem->recalcCameraShotsCalled);
+    QVERIFY(_transectStyleItem->recalcComplexDistanceCalled);
     QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
     _multiSpy->clearAllSignals();
 
     _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(true);
     _transectStyleItem->rebuildTransectsPhase1Called = false;
-    _transectStyleItem->rebuildTransectsPhase2Called = false;
+    _transectStyleItem->recalcCameraShotsCalled = false;
+    _transectStyleItem->recalcComplexDistanceCalled = false;
     changeFactValue(_transectStyleItem->cameraCalc()->distanceToSurface());
     QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called);
-    QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called);
+    QVERIFY(_transectStyleItem->recalcCameraShotsCalled);
+    QVERIFY(_transectStyleItem->recalcComplexDistanceCalled);
     QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask));
     _multiSpy->clearAllSignals();
 }
@@ -219,7 +227,8 @@ void TransectStyleComplexItemTest::_testAltMode(void)
 TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
     : TransectStyleComplexItem      (vehicle, false /* flyView */, QStringLiteral("UnitTestTransect"), parent)
     , rebuildTransectsPhase1Called  (false)
-    , rebuildTransectsPhase2Called  (false)
+    , recalcComplexDistanceCalled   (false)
+    , recalcCameraShotsCalled       (false)
 {
 
 }
@@ -229,7 +238,12 @@ void TransectStyleItem::_rebuildTransectsPhase1(void)
     rebuildTransectsPhase1Called = true;
 }
 
-void TransectStyleItem::_rebuildTransectsPhase2(void)
+void TransectStyleItem::_recalcComplexDistance(void)
 {
-    rebuildTransectsPhase2Called = true;
+    recalcComplexDistanceCalled = true;
+}
+
+void TransectStyleItem::_recalcCameraShots(void)
+{
+    recalcCameraShotsCalled = true;
 }

src/MissionManager/TransectStyleComplexItemTest.h

@@ -97,10 +97,12 @@ public:
     double  additionalTimeDelay (void) const final { return 0; }
 
     bool rebuildTransectsPhase1Called;
-    bool rebuildTransectsPhase2Called;
+    bool recalcComplexDistanceCalled;
+    bool recalcCameraShotsCalled;
 
 private slots:
     // Overrides from TransectStyleComplexItem
-    void _rebuildTransectsPhase1(void) final;
+    void _rebuildTransectsPhase1    (void) final;
-    void _rebuildTransectsPhase2(void) final;
+    void _recalcComplexDistance     (void) final;
+    void _recalcCameraShots         (void) final;
 };