SurveyComplexItem.h 7.95 KiB
/****************************************************************************
*
* (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.
*
****************************************************************************/
#pragma once
#include "TransectStyleComplexItem.h"
#include "MissionItem.h"
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)
class SurveyComplexItem : public TransectStyleComplexItem
{
Q_OBJECT
public:
/// @param vehicle Vehicle which this is being contructed for
/// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
/// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* flyAlternateTransects READ flyAlternateTransects CONSTANT)
Q_PROPERTY(Fact* splitConcavePolygons READ splitConcavePolygons CONSTANT)
Fact* gridAngle (void) { return &_gridAngleFact; }
Fact* flyAlternateTransects (void) { return &_flyAlternateTransectsFact; }
Fact* splitConcavePolygons (void) { return &_splitConcavePolygonsFact; }
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from ComplexMissionItem
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
QString mapVisualQML (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
// Overrides from TransectStyleComplexItem
void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final { return true; }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
double timeBetweenShots (void) final;
// Overrides from VisualMissionionItem
QString commandDescription (void) const final { return tr("Survey"); }
QString commandName (void) const final { return tr("Survey"); }
QString abbreviation (void) const final { return tr("S"); }
bool readyForSave (void) const final;
double additionalTimeDelay (void) const final;
// Must match json spec for GridEntryLocation
enum EntryLocation {
EntryLocationFirst,
EntryLocationTopLeft = EntryLocationFirst,
EntryLocationTopRight,
EntryLocationBottomLeft,
EntryLocationBottomRight,
EntryLocationLast = EntryLocationBottomRight
};
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
static const char* gridAngleName;
static const char* gridEntryLocationName; static const char* flyAlternateTransectsName;
static const char* splitConcavePolygonsName;
static const char* jsonV3ComplexItemTypeValue;
signals:
void refly90DegreesChanged(bool refly90Degrees);
private slots:
// Overrides from TransectStyleComplexItem
void _rebuildTransectsPhase1 (void) final;
void _recalcComplexDistance (void) final;
void _recalcCameraShots (void) final;
private:
enum CameraTriggerCode {
CameraTriggerNone,
CameraTriggerOn,
CameraTriggerOff,
CameraTriggerHoverAndCapture
};
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord);
bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly);
void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects);
qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3);
qreal _dp(QPointF pt1, QPointF pt2);
void _swapPoints(QList<QPointF>& points, int index1, int index2);
void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects);
void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects);
void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
bool _gridAngleIsNorthSouthTransects();
double _clampGridAngle90(double gridAngle);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
bool _imagesEverywhere(void) const;
bool _triggerCamera(void) const;
bool _hasTurnaround(void) const;
double _turnaroundDistance(void) const;
bool _hoverAndCaptureEnabled(void) const;
bool _loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version);
void _rebuildTransectsPhase1Worker(bool refly);
void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
/// Adds to the _transects array from one polygon
void _rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
// Decompose polygon into list of convex sub polygons
void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
// return true if vertex a can see vertex b
bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _gridAngleFact;
SettingsFact _flyAlternateTransectsFact;
SettingsFact _splitConcavePolygonsFact;
int _entryPoint;
static const char* _jsonGridAngleKey;
static const char* _jsonEntryPointKey;
static const char* _jsonFlyAlternateTransectsKey;
static const char* _jsonSplitConcavePolygonsKey;
static const char* _jsonV3GridObjectKey;
static const char* _jsonV3GridAltitudeKey;
static const char* _jsonV3GridAltitudeRelativeKey;
static const char* _jsonV3GridAngleKey;
static const char* _jsonV3GridSpacingKey;
static const char* _jsonV3EntryPointKey;
static const char* _jsonV3TurnaroundDistKey;
static const char* _jsonV3CameraTriggerDistanceKey;
static const char* _jsonV3CameraTriggerInTurnaroundKey;
static const char* _jsonV3HoverAndCaptureKey;
static const char* _jsonV3GroundResolutionKey;
static const char* _jsonV3FrontalOverlapKey;
static const char* _jsonV3SideOverlapKey;
static const char* _jsonV3CameraSensorWidthKey;
static const char* _jsonV3CameraSensorHeightKey;
static const char* _jsonV3CameraResolutionWidthKey;
static const char* _jsonV3CameraResolutionHeightKey;
static const char* _jsonV3CameraFocalLengthKey;
static const char* _jsonV3CameraMinTriggerIntervalKey;
static const char* _jsonV3ManualGridKey;
static const char* _jsonV3CameraObjectKey;
static const char* _jsonV3CameraNameKey;
static const char* _jsonV3CameraOrientationLandscapeKey;
static const char* _jsonV3FixedValueIsAltitudeKey;
static const char* _jsonV3Refly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 4;
};