QG4/src/MissionManager/TransectStyleComplexItem.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

#include "TransectStyleComplexItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
#include "QGroundControlQmlGlobal.h"
#include "QGCQGeoCoordinate.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "QGCQGeoCoordinate.h"

#include <QPolygonF>

QGC_LOGGING_CATEGORY(TransectStyleComplexItemLog, "TransectStyleComplexItemLog")

const char* TransectStyleComplexItem::turnAroundDistanceName =              "TurnAroundDistance";
const char* TransectStyleComplexItem::turnAroundDistanceMultiRotorName =    "TurnAroundDistanceMultiRotor";
const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName =       "CameraTriggerInTurnAround";
const char* TransectStyleComplexItem::hoverAndCaptureName =                 "HoverAndCapture";
const char* TransectStyleComplexItem::refly90DegreesName =                  "Refly90Degrees";

const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc";

TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString settingsGroup, QObject* parent)
    : ComplexMissionItem        (vehicle, parent)
    , _settingsGroup            (settingsGroup)
    , _sequenceNumber           (0)
    , _dirty                    (false)
    , _ignoreRecalc             (false)
    , _scanDistance             (0.0)
    , _cameraShots              (0)
    , _cameraMinTriggerInterval (0)
    , _cameraCalc               (vehicle)
    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
    , _turnAroundDistanceFact       (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
    , _cameraTriggerInTurnAroundFact(_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName])
    , _hoverAndCaptureFact          (_settingsGroup, _metaDataMap[hoverAndCaptureName])
    , _refly90DegreesFact           (_settingsGroup, _metaDataMap[refly90DegreesName])
{
    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::_rebuildTransects);
    connect(&_cameraTriggerInTurnAroundFact,            &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);
    connect(_cameraCalc.adjustedFootprintSide(),        &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);
    connect(_cameraCalc.adjustedFootprintFrontal(),     &Fact::valueChanged,            this, &TransectStyleComplexItem::_rebuildTransects);

    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(&_cameraTriggerInTurnAroundFact,            &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(_cameraCalc.adjustedFootprintSide(),        &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
    connect(_cameraCalc.adjustedFootprintFrontal(),     &Fact::valueChanged,            this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);

    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(&_cameraTriggerInTurnAroundFact,            &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(_cameraCalc.adjustedFootprintSide(),        &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);
    connect(_cameraCalc.adjustedFootprintFrontal(),     &Fact::valueChanged,            this, &TransectStyleComplexItem::cameraShotsChanged);

    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::complexDistanceChanged);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::complexDistanceChanged);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::complexDistanceChanged);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::complexDistanceChanged);

    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::greatestDistanceToChanged);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::greatestDistanceToChanged);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::greatestDistanceToChanged);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::greatestDistanceToChanged);

    connect(&_turnAroundDistanceFact,                   &Fact::valueChanged,            this, &TransectStyleComplexItem::_setDirty);
    connect(&_cameraTriggerInTurnAroundFact,            &Fact::valueChanged,            this, &TransectStyleComplexItem::_setDirty);
    connect(&_hoverAndCaptureFact,                      &Fact::valueChanged,            this, &TransectStyleComplexItem::_setDirty);
    connect(&_refly90DegreesFact,                       &Fact::valueChanged,            this, &TransectStyleComplexItem::_setDirty);
    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::_setDirty);

    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::dirtyChanged,   this, &TransectStyleComplexItem::_setIfDirty);
    connect(&_cameraCalc,                               &CameraCalc::dirtyChanged,      this, &TransectStyleComplexItem::_setIfDirty);

    connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::coveredAreaChanged);

    connect(this,                                       &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
    connect(this,                                       &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
}

void TransectStyleComplexItem::_setScanDistance(double scanDistance)
{
    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
        _scanDistance = scanDistance;
        emit complexDistanceChanged();
    }
}

void TransectStyleComplexItem::_setCameraShots(int cameraShots)
{
    if (_cameraShots != cameraShots) {
        _cameraShots = cameraShots;
        emit cameraShotsChanged();
    }
}

void TransectStyleComplexItem::setDirty(bool dirty)
{
    if (!dirty) {
        _surveyAreaPolygon.setDirty(false);
        _cameraCalc.setDirty(false);
    }
    if (_dirty != dirty) {
        _dirty = dirty;
        emit dirtyChanged(_dirty);
    }
}

void TransectStyleComplexItem::_save(QJsonObject& complexObject)
{
    complexObject[turnAroundDistanceName] =         _turnAroundDistanceFact.rawValue().toDouble();
    complexObject[cameraTriggerInTurnAroundName] =  _cameraTriggerInTurnAroundFact.rawValue().toBool();
    complexObject[hoverAndCaptureName] =            _hoverAndCaptureFact.rawValue().toBool();
    complexObject[refly90DegreesName] =             _refly90DegreesFact.rawValue().toBool();

    QJsonObject cameraCalcObject;
    _cameraCalc.save(cameraCalcObject);
    complexObject[_jsonCameraCalcKey] = cameraCalcObject;
}

void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
{
    if (_sequenceNumber != sequenceNumber) {
        _sequenceNumber = sequenceNumber;
        emit sequenceNumberChanged(sequenceNumber);
        emit lastSequenceNumberChanged(lastSequenceNumber());
    }
}

bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString)
{
    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { turnAroundDistanceName,           QJsonValue::Double, true },
        { cameraTriggerInTurnAroundName,    QJsonValue::Bool,   true },
        { hoverAndCaptureName,              QJsonValue::Bool,   true },
        { refly90DegreesName,               QJsonValue::Bool,   true },
        { _jsonCameraCalcKey,               QJsonValue::Object, true },
    };
    if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
        return false;
    }

    if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) {
        return false;
    }

    _turnAroundDistanceFact.setRawValue         (complexObject[turnAroundDistanceName].toDouble());
    _cameraTriggerInTurnAroundFact.setRawValue  (complexObject[cameraTriggerInTurnAroundName].toBool());
    _hoverAndCaptureFact.setRawValue            (complexObject[hoverAndCaptureName].toBool());
    _hoverAndCaptureFact.setRawValue            (complexObject[refly90DegreesName].toBool());

    return true;
}

double TransectStyleComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
    double greatestDistance = 0.0;
    for (int i=0; i<_transectPoints.count(); i++) {
        QGeoCoordinate vertex = _transectPoints[i].value<QGeoCoordinate>();
        double distance = vertex.distanceTo(other);
        if (distance > greatestDistance) {
            greatestDistance = distance;
        }
    }

    return greatestDistance;
}

void TransectStyleComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
    ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
    if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
        _cruiseSpeed = missionFlightStatus.vehicleSpeed;
        emit timeBetweenShotsChanged();
    }
}

void TransectStyleComplexItem::_setDirty(void)
{
    setDirty(true);
}

void TransectStyleComplexItem::_setIfDirty(bool dirty)
{
    if (dirty) {
        setDirty(true);
    }
}

void TransectStyleComplexItem::applyNewAltitude(double newAltitude)
{
    Q_UNUSED(newAltitude);
    // FIXME: NYI
    //_altitudeFact.setRawValue(newAltitude);
}

double TransectStyleComplexItem::timeBetweenShots(void)
{
    return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed;
}

void TransectStyleComplexItem::_updateCoordinateAltitudes(void)
{
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
}

void TransectStyleComplexItem::_signalLastSequenceNumberChanged(void)
{
    emit lastSequenceNumberChanged(lastSequenceNumber());
}

double TransectStyleComplexItem::coveredArea(void) const
{
    return _surveyAreaPolygon.area();
}

bool TransectStyleComplexItem::_hasTurnaround(void) const
{
    return _turnaroundDistance() > 0;
}

double TransectStyleComplexItem::_turnaroundDistance(void) const
{
    return _turnAroundDistanceFact.rawValue().toDouble();
}

bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const
{
    return _vehicle->multiRotor() || _vehicle->vtol();
}