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217 lines
12 KiB
217 lines
12 KiB
/**************************************************************************** |
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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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#include "TerrainQuery.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, bool flyView, QString settignsGroup, QObject* parent); |
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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(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT) |
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Q_PROPERTY(QVariantList visualTransectPoints READ visualTransectPoints NOTIFY visualTransectPointsChanged) |
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Q_PROPERTY(bool followTerrain READ followTerrain WRITE setFollowTerrain NOTIFY followTerrainChanged) |
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Q_PROPERTY(Fact* terrainAdjustTolerance READ terrainAdjustTolerance CONSTANT) |
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Q_PROPERTY(Fact* terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate CONSTANT) |
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Q_PROPERTY(Fact* terrainAdjustMaxClimbRate READ terrainAdjustMaxClimbRate CONSTANT) |
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QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; } |
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CameraCalc* cameraCalc (void) { return &_cameraCalc; } |
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QVariantList visualTransectPoints(void) { return _visualTransectPoints; } |
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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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Fact* terrainAdjustTolerance (void) { return &_terrainAdjustToleranceFact; } |
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Fact* terrainAdjustMaxDescentRate (void) { return &_terrainAdjustMaxDescentRateFact; } |
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Fact* terrainAdjustMaxClimbRate (void) { return &_terrainAdjustMaxClimbRateFact; } |
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const Fact* hoverAndCapture (void) const { return &_hoverAndCaptureFact; } |
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int cameraShots (void) const { return _cameraShots; } |
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double coveredArea (void) const; |
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bool hoverAndCaptureAllowed (void) const; |
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bool followTerrain (void) const { return _followTerrain; } |
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virtual double timeBetweenShots (void) { return 0; } // Most be overridden. Implementation here is needed for unit testing. |
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void setFollowTerrain(bool followTerrain); |
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double triggerDistance (void) const { return _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(); } |
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bool hoverAndCaptureEnabled (void) const { return hoverAndCapture()->rawValue().toBool(); } |
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bool triggerCamera (void) const { return triggerDistance() != 0; } |
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// Overrides from ComplexMissionItem |
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int lastSequenceNumber (void) const final; |
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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 _complexDistance; } |
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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& planItems) 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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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 readyForSave (void) const override; |
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QString commandDescription (void) const override { return tr("Transect"); } |
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QString commandName (void) const override { return tr("Transect"); } |
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QString abbreviation (void) const override { return tr("T"); } |
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bool coordinateHasRelativeAltitude (void) const final; |
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bool exitCoordinateHasRelativeAltitude (void) const final; |
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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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static const char* terrainAdjustToleranceName; |
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static const char* terrainAdjustMaxClimbRateName; |
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static const char* terrainAdjustMaxDescentRateName; |
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signals: |
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void cameraShotsChanged (void); |
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void timeBetweenShotsChanged (void); |
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void visualTransectPointsChanged (void); |
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void coveredAreaChanged (void); |
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void followTerrainChanged (bool followTerrain); |
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protected slots: |
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void _setDirty (void); |
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void _setIfDirty (bool dirty); |
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void _updateCoordinateAltitudes (void); |
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void _polyPathTerrainData (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo); |
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void _rebuildTransects (void); |
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protected: |
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virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array |
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virtual void _recalcComplexDistance (void) = 0; |
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virtual void _recalcCameraShots (void) = 0; |
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void _save (QJsonObject& saveObject); |
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bool _load (const QJsonObject& complexObject, bool forPresets, QString& errorString); |
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void _setExitCoordinate (const QGeoCoordinate& coordinate); |
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void _setCameraShots (int cameraShots); |
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double _triggerDistance (void) const; |
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bool _hasTurnaround (void) const; |
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double _turnaroundDistance (void) const; |
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int _sequenceNumber; |
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QGeoCoordinate _coordinate; |
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QGeoCoordinate _exitCoordinate; |
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QGCMapPolygon _surveyAreaPolygon; |
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enum CoordType { |
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CoordTypeInterior, ///< Interior waypoint for flight path only |
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CoordTypeInteriorHoverTrigger, ///< Interior waypoint for hover and capture trigger |
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CoordTypeInteriorTerrainAdded, ///< Interior waypoint added for terrain |
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CoordTypeSurveyEdge, ///< Waypoint at edge of survey polygon |
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CoordTypeTurnaround ///< Waypoint outside of survey polygon for turnaround |
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}; |
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typedef struct { |
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QGeoCoordinate coord; |
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CoordType coordType; |
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} CoordInfo_t; |
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QVariantList _visualTransectPoints; |
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QList<QList<CoordInfo_t>> _transects; |
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QList<QList<TerrainPathQuery::PathHeightInfo_t>> _transectsPathHeightInfo; |
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TerrainPolyPathQuery* _terrainPolyPathQuery; |
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QTimer _terrainQueryTimer; |
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bool _ignoreRecalc; |
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double _complexDistance; |
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int _cameraShots; |
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double _timeBetweenShots; |
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double _cruiseSpeed; |
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CameraCalc _cameraCalc; |
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bool _followTerrain; |
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QObject* _loadedMissionItemsParent; ///< Parent for all items in _loadedMissionItems for simpler delete |
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QList<MissionItem*> _loadedMissionItems; ///< Mission items loaded from plan file |
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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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SettingsFact _terrainAdjustToleranceFact; |
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SettingsFact _terrainAdjustMaxClimbRateFact; |
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SettingsFact _terrainAdjustMaxDescentRateFact; |
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static const char* _jsonCameraCalcKey; |
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static const char* _jsonTransectStyleComplexItemKey; |
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static const char* _jsonVisualTransectPointsKey; |
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static const char* _jsonItemsKey; |
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static const char* _jsonFollowTerrainKey; |
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static const char* _jsonCameraShotsKey; |
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static const int _terrainQueryTimeoutMsecs; |
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private slots: |
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void _reallyQueryTransectsPathHeightInfo(void); |
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void _followTerrainChanged (bool followTerrain); |
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private: |
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void _queryTransectsPathHeightInfo (void); |
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void _adjustTransectsForTerrain (void); |
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void _addInterstitialTerrainPoints (QList<CoordInfo_t>& transect, const QList<TerrainPathQuery::PathHeightInfo_t>& transectPathHeightInfo); |
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void _adjustForMaxRates (QList<CoordInfo_t>& transect); |
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void _adjustForTolerance (QList<CoordInfo_t>& transect); |
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double _altitudeBetweenCoords (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo); |
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int _maxPathHeight (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight); |
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};
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