Merge pull request #7364 from lichenyuneec/StructureScan_Distance

the battery and distance of structure scan always show 0

src/MissionManager/StructureScanComplexItem.cc

@@ -83,6 +83,9 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
 
     connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);
 
+    connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcScanDistance);
+    connect(&_flightPolygon,                        &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_recalcScanDistance);
+
     _recalcLayerInfo();
 
     if (!kmlOrShpFile.isEmpty()) {
@@ -93,14 +96,6 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyVie
     setDirty(false);
 }
 
-void StructureScanComplexItem::_setScanDistance(double scanDistance)
-{
-    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
-        _scanDistance = scanDistance;
-        emit complexDistanceChanged();
-    }
-}
-
 void StructureScanComplexItem::_setCameraShots(int cameraShots)
 {
     if (_cameraShots != cameraShots) {
@@ -519,6 +514,7 @@ void StructureScanComplexItem::_rebuildFlightPolygon(void)
     } else {
         _entryVertex = savedEntryVertex;
     }
+
     emit coordinateChanged(coordinate());
     emit exitCoordinateChanged(exitCoordinate());
 }
@@ -598,3 +594,26 @@ void StructureScanComplexItem::_signalTopBottomAltChanged(void)
     emit topFlightAltChanged();
     emit bottomFlightAltChanged();
 }
+
+void StructureScanComplexItem::_recalcScanDistance()
+{
+    double scanDistance = 0;
+    QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
+    for (int i=0; i<vertices.count() - 1; i++) {
+        scanDistance += vertices[i].distanceTo(vertices[i+1]);
+    }
+
+    scanDistance *= _layersFact.rawValue().toInt();
+
+    double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);
+    scanDistance += surfaceHeight;
+
+    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
+        _scanDistance = scanDistance;
+        emit complexDistanceChanged();
+    }
+
+    qCDebug(StructureScanComplexItemLog) << "StructureScanComplexItem--_recalcScanDistance layers: "
+                                  << _layersFact.rawValue().toInt() << " structure height: " << surfaceHeight
+                                  << " scanDistance: " << _scanDistance;
+}

src/MissionManager/StructureScanComplexItem.h

@@ -126,10 +126,10 @@ private slots:
     void _updateLastSequenceNumber  (void);
     void _updateGimbalPitch         (void);
     void _signalTopBottomAltChanged (void);
+    void _recalcScanDistance        (void);
 
 private:
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
-    void _setScanDistance(double scanDistance);
     void _setCameraShots(int cameraShots);
     double _triggerDistance(void) const;