diff --git a/src/FactSystem/FactGroup.cc b/src/FactSystem/FactGroup.cc
index 517e948f4878ec8eb84efc76144d106b4a74d33c..436f9d0e0253aec84bc7711f7dfbfffddb2b0a7f 100644
--- a/src/FactSystem/FactGroup.cc
+++ b/src/FactSystem/FactGroup.cc
@@ -37,7 +37,7 @@ FactGroup::FactGroup(int updateRateMsecs, QObject* parent, bool ignoreCamelCase)
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
}
-void FactGroup::_loadFromJsonArray(const QJsonObject jsonArray)
+void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
{
QMap<QString, QString> defineMap;
_nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, defineMap, this);
diff --git a/src/FactSystem/FactGroup.h b/src/FactSystem/FactGroup.h
index f3b3981c6ea10f38ec3fb12c3689b3d7e23b775a..114fb44f4e0dfd82322082438f0528052a17411f 100644
--- a/src/FactSystem/FactGroup.h
+++ b/src/FactSystem/FactGroup.h
@@ -64,7 +64,7 @@ protected slots:
protected:
void _addFact (Fact* fact, const QString& name);
void _addFactGroup (FactGroup* factGroup, const QString& name);
- void _loadFromJsonArray (const QJsonObject jsonArray);
+ void _loadFromJsonArray (const QJsonArray jsonArray);
void _setTelemetryAvailable (bool telemetryAvailable);
int _updateRateMSecs; ///< Update rate for Fact::valueChanged signals, 0: immediate update
diff --git a/src/FactSystem/FactMetaData.cc b/src/FactSystem/FactMetaData.cc
index 0ac10c22edd477bb37e6de7124db84155ca09b42..7e1c95a8ac5fe54e58428c2dd3b4ccb65f0ab3e6 100644
--- a/src/FactSystem/FactMetaData.cc
+++ b/src/FactSystem/FactMetaData.cc
@@ -1448,7 +1448,7 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
return metaDataMap;
}
- QJsonObject factArray;
+ QJsonArray factArray;
QMap<QString /* define name */, QString /* define value */> defineMap;
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
@@ -1466,7 +1466,7 @@ QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonFile(const QString&
return createMapFromJsonArray(factArray, defineMap, metaDataParent);
}
-QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonObject jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent)
+QMap<QString, FactMetaData*> FactMetaData::createMapFromJsonArray(const QJsonArray jsonArray, QMap<QString, QString>& defineMap, QObject* metaDataParent)
{
QMap<QString, FactMetaData*> metaDataMap;
for (int i=0; i<jsonArray.count(); i++) {
@@ -1554,7 +1554,7 @@ bool FactMetaData::_parseValuesArray(const QJsonObject& jsonObject, QStringList&
{ _enumValuesArrayValueJsonKey, QJsonValue::Double, true },
};
- const QJsonObject& rgValueDescription = jsonObject[_enumValuesArrayJsonKey].toArray();
+ const QJsonArray& rgValueDescription = jsonObject[_enumValuesArrayJsonKey].toArray();
for (int i=0; i<rgValueDescription.count(); i++) {
if (rgValueDescription[i].type() != QJsonValue::Object) {
errorString = QStringLiteral("Value at index %1 in \"values\" array is not an object.").arg(i);
@@ -1589,7 +1589,7 @@ bool FactMetaData::_parseBitmaskArray(const QJsonObject& jsonObject, QStringList
{ _enumBitmaskArrayIndexJsonKey, QJsonValue::Double, true },
};
- const QJsonObject& rgValueDescription = jsonObject[_enumBitmaskArrayJsonKey].toArray();
+ const QJsonArray& rgValueDescription = jsonObject[_enumBitmaskArrayJsonKey].toArray();
for (int i=0; i<rgValueDescription.count(); i++) {
if (rgValueDescription[i].type() != QJsonValue::Object) {
errorString = QStringLiteral("Value at index %1 in \"values\" array is not an object.").arg(i);
diff --git a/src/FactSystem/FactMetaData.h b/src/FactSystem/FactMetaData.h
index 804cd59b498d1f195bfabdd9d167ff29cb98ffc3..bcc2f74bfafec7265255e403e3992b5b2e9ccf28 100644
--- a/src/FactSystem/FactMetaData.h
+++ b/src/FactSystem/FactMetaData.h
@@ -57,7 +57,7 @@ public:
typedef QMap<QString, QString> DefineMap_t;
static QMap<QString, FactMetaData*> createMapFromJsonFile(const QString& jsonFilename, QObject* metaDataParent);
- static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonObject jsonArray, DefineMap_t& defineMap, QObject* metaDataParent);
+ static QMap<QString, FactMetaData*> createMapFromJsonArray(const QJsonArray jsonArray, DefineMap_t& defineMap, QObject* metaDataParent);
static FactMetaData* createFromJsonObject(const QJsonObject& json, QMap<QString, QString>& defineMap, QObject* metaDataParent);
diff --git a/src/FactSystemFactGroup.cc b/src/FactSystemFactGroup.cc
new file mode 100644
index 0000000000000000000000000000000000000000..436f9d0e0253aec84bc7711f7dfbfffddb2b0a7f
--- /dev/null
+++ b/src/FactSystemFactGroup.cc
@@ -0,0 +1,194 @@
+/****************************************************************************
+ *
+ * (c) 2009-2020 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 "FactGroup.h"
+#include "JsonHelper.h"
+
+#include <QJsonDocument>
+#include <QJsonParseError>
+#include <QJsonArray>
+#include <QDebug>
+#include <QFile>
+#include <QQmlEngine>
+
+FactGroup::FactGroup(int updateRateMsecs, const QString& metaDataFile, QObject* parent, bool ignoreCamelCase)
+ : QObject(parent)
+ , _updateRateMSecs(updateRateMsecs)
+ , _ignoreCamelCase(ignoreCamelCase)
+{
+ _setupTimer();
+ _nameToFactMetaDataMap = FactMetaData::createMapFromJsonFile(metaDataFile, this);
+ QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+}
+
+FactGroup::FactGroup(int updateRateMsecs, QObject* parent, bool ignoreCamelCase)
+ : QObject(parent)
+ , _updateRateMSecs(updateRateMsecs)
+ , _ignoreCamelCase(ignoreCamelCase)
+{
+ _setupTimer();
+ QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
+}
+
+void FactGroup::_loadFromJsonArray(const QJsonArray jsonArray)
+{
+ QMap<QString, QString> defineMap;
+ _nameToFactMetaDataMap = FactMetaData::createMapFromJsonArray(jsonArray, defineMap, this);
+}
+
+void FactGroup::_setupTimer()
+{
+ if (_updateRateMSecs > 0) {
+ connect(&_updateTimer, &QTimer::timeout, this, &FactGroup::_updateAllValues);
+ _updateTimer.setSingleShot(false);
+ _updateTimer.setInterval(_updateRateMSecs);
+ _updateTimer.start();
+ }
+}
+
+bool FactGroup::factExists(const QString& name)
+{
+ if (name.contains(".")) {
+ QStringList parts = name.split(".");
+ if (parts.count() != 2) {
+ qWarning() << "Only single level of hierarchy supported";
+ return false;
+ }
+
+ FactGroup * factGroup = getFactGroup(parts[0]);
+ if (!factGroup) {
+ qWarning() << "Unknown FactGroup" << parts[0];
+ return false;
+ }
+
+ return factGroup->factExists(parts[1]);
+ }
+
+ QString camelCaseName = _ignoreCamelCase ? name : _camelCase(name);
+
+ return _nameToFactMap.contains(camelCaseName);
+}
+
+Fact* FactGroup::getFact(const QString& name)
+{
+ if (name.contains(".")) {
+ QStringList parts = name.split(".");
+ if (parts.count() != 2) {
+ qWarning() << "Only single level of hierarchy supported";
+ return nullptr;
+ }
+
+ FactGroup * factGroup = getFactGroup(parts[0]);
+ if (!factGroup) {
+ qWarning() << "Unknown FactGroup" << parts[0];
+ return nullptr;
+ }
+
+ return factGroup->getFact(parts[1]);
+ }
+
+ Fact* fact = nullptr;
+ QString camelCaseName = _ignoreCamelCase ? name : _camelCase(name);
+
+ if (_nameToFactMap.contains(camelCaseName)) {
+ fact = _nameToFactMap[camelCaseName];
+ QQmlEngine::setObjectOwnership(fact, QQmlEngine::CppOwnership);
+ } else {
+ qWarning() << "Unknown Fact" << camelCaseName;
+ }
+
+ return fact;
+}
+
+FactGroup* FactGroup::getFactGroup(const QString& name)
+{
+ FactGroup* factGroup = nullptr;
+ QString camelCaseName = _ignoreCamelCase ? name : _camelCase(name);
+
+ if (_nameToFactGroupMap.contains(camelCaseName)) {
+ factGroup = _nameToFactGroupMap[camelCaseName];
+ QQmlEngine::setObjectOwnership(factGroup, QQmlEngine::CppOwnership);
+ } else {
+ qWarning() << "Unknown FactGroup" << camelCaseName;
+ }
+
+ return factGroup;
+}
+
+void FactGroup::_addFact(Fact* fact, const QString& name)
+{
+ if (_nameToFactMap.contains(name)) {
+ qWarning() << "Duplicate Fact" << name;
+ return;
+ }
+
+ fact->setSendValueChangedSignals(_updateRateMSecs == 0);
+ if (_nameToFactMetaDataMap.contains(name)) {
+ fact->setMetaData(_nameToFactMetaDataMap[name], true /* setDefaultFromMetaData */);
+ }
+ _nameToFactMap[name] = fact;
+ _factNames.append(name);
+
+ emit factNamesChanged();
+}
+
+void FactGroup::_addFactGroup(FactGroup* factGroup, const QString& name)
+{
+ if (_nameToFactGroupMap.contains(name)) {
+ qWarning() << "Duplicate FactGroup" << name;
+ return;
+ }
+
+ _nameToFactGroupMap[name] = factGroup;
+
+ emit factGroupNamesChanged();
+}
+
+void FactGroup::_updateAllValues(void)
+{
+ for(Fact* fact: _nameToFactMap) {
+ fact->sendDeferredValueChangedSignal();
+ }
+}
+
+void FactGroup::setLiveUpdates(bool liveUpdates)
+{
+ if (_updateTimer.interval() == 0) {
+ return;
+ }
+
+ if (liveUpdates) {
+ _updateTimer.stop();
+ } else {
+ _updateTimer.start();
+ }
+ for(Fact* fact: _nameToFactMap) {
+ fact->setSendValueChangedSignals(liveUpdates);
+ }
+}
+
+
+QString FactGroup::_camelCase(const QString& text)
+{
+ return text[0].toLower() + text.right(text.length() - 1);
+}
+
+void FactGroup::handleMessage(Vehicle* /* vehicle */, mavlink_message_t& /* message */)
+{
+ // Default implementation does nothing
+}
+
+void FactGroup::_setTelemetryAvailable (bool telemetryAvailable)
+{
+ if (telemetryAvailable != _telemetryAvailable) {
+ _telemetryAvailable = telemetryAvailable;
+ emit telemetryAvailableChanged(_telemetryAvailable);
+ }
+}
diff --git a/src/JsonHelper.cc b/src/JsonHelper.cc
index d701185b66524fcd5b29e5e169b65272e40038d3..82579c829b7197a8d29e5bc6bfe48b6f18eb2f92 100644
--- a/src/JsonHelper.cc
+++ b/src/JsonHelper.cc
@@ -8,551 +8,518 @@
****************************************************************************/
#include "JsonHelper.h"
-#include "FactMetaData.h"
-#include "MissionCommandList.h"
-#include "QGCApplication.h"
#include "QGCQGeoCoordinate.h"
#include "QmlObjectListModel.h"
+#include "MissionCommandList.h"
+#include "FactMetaData.h"
+#include "QGCApplication.h"
-#include <QFile>
#include <QJsonArray>
#include <QJsonParseError>
#include <QObject>
#include <QRegularExpression>
#include <QRegularExpressionMatch>
+#include <QFile>
#include <QTranslator>
-const char *JsonHelper::jsonVersionKey = "version";
-const char *JsonHelper::jsonGroundStationKey = "groundStation";
-const char *JsonHelper::jsonGroundStationValue = "QGroundControl";
-const char *JsonHelper::jsonFileTypeKey = "fileType";
-const char *JsonHelper::_translateKeysKey = "translateKeys";
-const char *JsonHelper::_arrayIDKeysKey = "_arrayIDKeys";
-
-bool JsonHelper::validateRequiredKeys(const QJsonObject &jsonObject,
- const QStringList &keys,
- QString &errorString) {
- QString missingKeys;
-
- foreach (const QString &key, keys) {
- if (!jsonObject.contains(key)) {
- if (!missingKeys.isEmpty()) {
- missingKeys += QStringLiteral(", ");
- }
- missingKeys += key;
- }
- }
-
- if (missingKeys.count() != 0) {
- errorString = QObject::tr("The following required keys are missing: %1")
- .arg(missingKeys);
- return false;
- }
-
- return true;
+const char* JsonHelper::jsonVersionKey = "version";
+const char* JsonHelper::jsonGroundStationKey = "groundStation";
+const char* JsonHelper::jsonGroundStationValue = "QGroundControl";
+const char* JsonHelper::jsonFileTypeKey = "fileType";
+const char* JsonHelper::_translateKeysKey = "translateKeys";
+const char* JsonHelper::_arrayIDKeysKey = "_arrayIDKeys";
+
+bool JsonHelper::validateRequiredKeys(const QJsonObject& jsonObject, const QStringList& keys, QString& errorString)
+{
+ QString missingKeys;
+
+ foreach(const QString& key, keys) {
+ if (!jsonObject.contains(key)) {
+ if (!missingKeys.isEmpty()) {
+ missingKeys += QStringLiteral(", ");
+ }
+ missingKeys += key;
+ }
+ }
+
+ if (missingKeys.count() != 0) {
+ errorString = QObject::tr("The following required keys are missing: %1").arg(missingKeys);
+ return false;
+ }
+
+ return true;
}
-bool JsonHelper::_loadGeoCoordinate(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QGeoCoordinate &coordinate,
- QString &errorString, bool geoJsonFormat) {
- if (!jsonValue.isArray()) {
- errorString = QObject::tr("value for coordinate is not array");
- return false;
- }
-
- QJsonObject coordinateArray = jsonValue.toArray();
- int requiredCount = altitudeRequired ? 3 : 2;
- if (coordinateArray.count() != requiredCount) {
- errorString = QObject::tr("Coordinate array must contain %1 values")
- .arg(requiredCount);
- return false;
- }
-
- foreach (const QJsonValue &jsonValue, coordinateArray) {
- if (jsonValue.type() != QJsonValue::Double &&
- jsonValue.type() != QJsonValue::Null) {
- errorString =
- QObject::tr(
- "Coordinate array may only contain double values, found: %1")
- .arg(jsonValue.type());
- return false;
- }
- }
-
- if (geoJsonFormat) {
- coordinate = QGeoCoordinate(coordinateArray[1].toDouble(),
- coordinateArray[0].toDouble());
- } else {
- coordinate = QGeoCoordinate(possibleNaNJsonValue(coordinateArray[0]),
- possibleNaNJsonValue(coordinateArray[1]));
- }
- if (altitudeRequired) {
- coordinate.setAltitude(possibleNaNJsonValue(coordinateArray[2]));
- }
-
- return true;
+bool JsonHelper::_loadGeoCoordinate(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QGeoCoordinate& coordinate,
+ QString& errorString,
+ bool geoJsonFormat)
+{
+ if (!jsonValue.isArray()) {
+ errorString = QObject::tr("value for coordinate is not array");
+ return false;
+ }
+
+ QJsonArray coordinateArray = jsonValue.toArray();
+ int requiredCount = altitudeRequired ? 3 : 2;
+ if (coordinateArray.count() != requiredCount) {
+ errorString = QObject::tr("Coordinate array must contain %1 values").arg(requiredCount);
+ return false;
+ }
+
+ foreach(const QJsonValue& jsonValue, coordinateArray) {
+ if (jsonValue.type() != QJsonValue::Double && jsonValue.type() != QJsonValue::Null) {
+ errorString = QObject::tr("Coordinate array may only contain double values, found: %1").arg(jsonValue.type());
+ return false;
+ }
+ }
+
+ if (geoJsonFormat) {
+ coordinate = QGeoCoordinate(coordinateArray[1].toDouble(), coordinateArray[0].toDouble());
+ } else {
+ coordinate = QGeoCoordinate(possibleNaNJsonValue(coordinateArray[0]), possibleNaNJsonValue(coordinateArray[1]));
+ }
+ if (altitudeRequired) {
+ coordinate.setAltitude(possibleNaNJsonValue(coordinateArray[2]));
+ }
+
+ return true;
}
-void JsonHelper::_saveGeoCoordinate(const QGeoCoordinate &coordinate,
- bool writeAltitude, QJsonValue &jsonValue,
- bool geoJsonFormat) {
- QJsonObject coordinateArray;
-
- if (geoJsonFormat) {
- coordinateArray << coordinate.longitude() << coordinate.latitude();
- } else {
- coordinateArray << coordinate.latitude() << coordinate.longitude();
- }
- if (writeAltitude) {
- coordinateArray << coordinate.altitude();
- }
-
- jsonValue = QJsonValue(coordinateArray);
+void JsonHelper::_saveGeoCoordinate(const QGeoCoordinate& coordinate,
+ bool writeAltitude,
+ QJsonValue& jsonValue,
+ bool geoJsonFormat)
+{
+ QJsonArray coordinateArray;
+
+ if (geoJsonFormat) {
+ coordinateArray << coordinate.longitude() << coordinate.latitude();
+ } else {
+ coordinateArray << coordinate.latitude() << coordinate.longitude();
+ }
+ if (writeAltitude) {
+ coordinateArray << coordinate.altitude();
+ }
+
+ jsonValue = QJsonValue(coordinateArray);
}
-bool JsonHelper::loadGeoCoordinate(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QGeoCoordinate &coordinate,
- QString &errorString, bool geoJsonFormat) {
- return _loadGeoCoordinate(jsonValue, altitudeRequired, coordinate,
- errorString, geoJsonFormat);
+bool JsonHelper::loadGeoCoordinate(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QGeoCoordinate& coordinate,
+ QString& errorString,
+ bool geoJsonFormat)
+{
+ return _loadGeoCoordinate(jsonValue, altitudeRequired, coordinate, errorString, geoJsonFormat);
}
-void JsonHelper::saveGeoCoordinate(const QGeoCoordinate &coordinate,
- bool writeAltitude, QJsonValue &jsonValue) {
- _saveGeoCoordinate(coordinate, writeAltitude, jsonValue,
- false /* geoJsonFormat */);
+void JsonHelper::saveGeoCoordinate(const QGeoCoordinate& coordinate,
+ bool writeAltitude,
+ QJsonValue& jsonValue)
+{
+ _saveGeoCoordinate(coordinate, writeAltitude, jsonValue, false /* geoJsonFormat */);
}
-bool JsonHelper::loadGeoJsonCoordinate(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QGeoCoordinate &coordinate,
- QString &errorString) {
- return _loadGeoCoordinate(jsonValue, altitudeRequired, coordinate,
- errorString, true /* geoJsonFormat */);
+bool JsonHelper::loadGeoJsonCoordinate(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QGeoCoordinate& coordinate,
+ QString& errorString)
+{
+ return _loadGeoCoordinate(jsonValue, altitudeRequired, coordinate, errorString, true /* geoJsonFormat */);
}
-void JsonHelper::saveGeoJsonCoordinate(const QGeoCoordinate &coordinate,
- bool writeAltitude,
- QJsonValue &jsonValue) {
- _saveGeoCoordinate(coordinate, writeAltitude, jsonValue,
- true /* geoJsonFormat */);
+void JsonHelper::saveGeoJsonCoordinate(const QGeoCoordinate& coordinate,
+ bool writeAltitude,
+ QJsonValue& jsonValue)
+{
+ _saveGeoCoordinate(coordinate, writeAltitude, jsonValue, true /* geoJsonFormat */);
}
-bool JsonHelper::validateKeyTypes(const QJsonObject &jsonObject,
- const QStringList &keys,
- const QList<QJsonValue::Type> &types,
- QString &errorString) {
- for (int i = 0; i < types.count(); i++) {
- QString valueKey = keys[i];
- if (jsonObject.contains(valueKey)) {
- const QJsonValue &jsonValue = jsonObject[valueKey];
- if (jsonValue.type() == QJsonValue::Null &&
- types[i] == QJsonValue::Double) {
- // Null type signals a NaN on a double value
- continue;
- }
- if (jsonValue.type() != types[i]) {
- errorString =
- QObject::tr("Incorrect value type - key:type:expected %1:%2:%3")
- .arg(valueKey)
- .arg(_jsonValueTypeToString(jsonValue.type()))
- .arg(_jsonValueTypeToString(types[i]));
- return false;
- }
+bool JsonHelper::validateKeyTypes(const QJsonObject& jsonObject, const QStringList& keys, const QList<QJsonValue::Type>& types, QString& errorString)
+{
+ for (int i=0; i<types.count(); i++) {
+ QString valueKey = keys[i];
+ if (jsonObject.contains(valueKey)) {
+ const QJsonValue& jsonValue = jsonObject[valueKey];
+ if (jsonValue.type() == QJsonValue::Null && types[i] == QJsonValue::Double) {
+ // Null type signals a NaN on a double value
+ continue;
+ }
+ if (jsonValue.type() != types[i]) {
+ errorString = QObject::tr("Incorrect value type - key:type:expected %1:%2:%3").arg(valueKey).arg(_jsonValueTypeToString(jsonValue.type())).arg(_jsonValueTypeToString(types[i]));
+ return false;
+ }
+ }
}
- }
- return true;
+ return true;
}
-bool JsonHelper::isJsonFile(const QByteArray &bytes, QJsonDocument &jsonDoc,
- QString &errorString) {
- QJsonParseError parseError;
+bool JsonHelper::isJsonFile(const QByteArray& bytes, QJsonDocument& jsonDoc, QString& errorString)
+{
+ QJsonParseError parseError;
- jsonDoc = QJsonDocument::fromJson(bytes, &parseError);
+ jsonDoc = QJsonDocument::fromJson(bytes, &parseError);
- if (parseError.error == QJsonParseError::NoError) {
- return true;
- } else {
- int startPos = qMax(0, parseError.offset - 100);
- int length = qMin(bytes.count() - startPos, 200);
- qDebug() << QStringLiteral("Json read error '%1'")
- .arg(bytes.mid(startPos, length).constData());
- errorString = parseError.errorString();
- return false;
- }
+ if (parseError.error == QJsonParseError::NoError) {
+ return true;
+ } else {
+ int startPos = qMax(0, parseError.offset - 100);
+ int length = qMin(bytes.count() - startPos, 200);
+ qDebug() << QStringLiteral("Json read error '%1'").arg(bytes.mid(startPos, length).constData());
+ errorString = parseError.errorString();
+ return false;
+ }
}
-bool JsonHelper::isJsonFile(const QString &fileName, QJsonDocument &jsonDoc,
- QString &errorString) {
- QFile jsonFile(fileName);
- if (!jsonFile.open(QFile::ReadOnly)) {
- errorString = tr("File open failed: file:error %1 %2")
- .arg(jsonFile.fileName())
- .arg(jsonFile.errorString());
- return false;
- }
- QByteArray jsonBytes = jsonFile.readAll();
- jsonFile.close();
-
- return isJsonFile(jsonBytes, jsonDoc, errorString);
-}
+bool JsonHelper::isJsonFile(const QString& fileName, QJsonDocument& jsonDoc, QString& errorString)
+{
+ QFile jsonFile(fileName);
+ if (!jsonFile.open(QFile::ReadOnly)) {
+ errorString = tr("File open failed: file:error %1 %2").arg(jsonFile.fileName()).arg(jsonFile.errorString());
+ return false;
+ }
+ QByteArray jsonBytes = jsonFile.readAll();
+ jsonFile.close();
-bool JsonHelper::validateInternalQGCJsonFile(const QJsonObject &jsonObject,
- const QString &expectedFileType,
- int minSupportedVersion,
- int maxSupportedVersion,
- int &version,
- QString &errorString) {
- // Validate required keys
- QList<JsonHelper::KeyValidateInfo> requiredKeys = {
- {jsonFileTypeKey, QJsonValue::String, true},
- {jsonVersionKey, QJsonValue::Double, true},
- };
- if (!JsonHelper::validateKeys(jsonObject, requiredKeys, errorString)) {
- return false;
- }
-
- // Make sure file type is correct
- QString fileTypeValue = jsonObject[jsonFileTypeKey].toString();
- if (fileTypeValue != expectedFileType) {
- errorString = QObject::tr("Incorrect file type key expected:%1 actual:%2")
- .arg(expectedFileType)
- .arg(fileTypeValue);
- return false;
- }
-
- // Version check
- version = jsonObject[jsonVersionKey].toInt();
- if (version < minSupportedVersion) {
- errorString =
- QObject::tr("File version %1 is no longer supported").arg(version);
- return false;
- }
- if (version > maxSupportedVersion) {
- errorString =
- QObject::tr(
- "File version %1 is newer than current supported version %2")
- .arg(version)
- .arg(maxSupportedVersion);
- return false;
- }
-
- return true;
+ return isJsonFile(jsonBytes, jsonDoc, errorString);
}
-bool JsonHelper::validateExternalQGCJsonFile(const QJsonObject &jsonObject,
- const QString &expectedFileType,
- int minSupportedVersion,
- int maxSupportedVersion,
- int &version,
- QString &errorString) {
- // Validate required keys
- QList<JsonHelper::KeyValidateInfo> requiredKeys = {
- {jsonGroundStationKey, QJsonValue::String, true},
- };
- if (!JsonHelper::validateKeys(jsonObject, requiredKeys, errorString)) {
- return false;
- }
-
- return validateInternalQGCJsonFile(jsonObject, expectedFileType,
- minSupportedVersion, maxSupportedVersion,
- version, errorString);
+bool JsonHelper::validateInternalQGCJsonFile(const QJsonObject& jsonObject,
+ const QString& expectedFileType,
+ int minSupportedVersion,
+ int maxSupportedVersion,
+ int& version,
+ QString& errorString)
+{
+ // Validate required keys
+ QList<JsonHelper::KeyValidateInfo> requiredKeys = {
+ { jsonFileTypeKey, QJsonValue::String, true },
+ { jsonVersionKey, QJsonValue::Double, true },
+ };
+ if (!JsonHelper::validateKeys(jsonObject, requiredKeys, errorString)) {
+ return false;
+ }
+
+ // Make sure file type is correct
+ QString fileTypeValue = jsonObject[jsonFileTypeKey].toString();
+ if (fileTypeValue != expectedFileType) {
+ errorString = QObject::tr("Incorrect file type key expected:%1 actual:%2").arg(expectedFileType).arg(fileTypeValue);
+ return false;
+ }
+
+ // Version check
+ version = jsonObject[jsonVersionKey].toInt();
+ if (version < minSupportedVersion) {
+ errorString = QObject::tr("File version %1 is no longer supported").arg(version);
+ return false;
+ }
+ if (version > maxSupportedVersion) {
+ errorString = QObject::tr("File version %1 is newer than current supported version %2").arg(version).arg(maxSupportedVersion);
+ return false;
+ }
+
+ return true;
}
-QStringList JsonHelper::_addDefaultLocKeys(QJsonObject &jsonObject) {
- QString translateKeys;
- QString fileType = jsonObject[jsonFileTypeKey].toString();
- if (!fileType.isEmpty()) {
- if (fileType == MissionCommandList::qgcFileType) {
- if (jsonObject.contains(_translateKeysKey)) {
- translateKeys = jsonObject[_translateKeysKey].toString();
- } else {
- translateKeys = "label,enumStrings,friendlyName,description,category";
- jsonObject[_translateKeysKey] = translateKeys;
- }
- if (!jsonObject.contains(_arrayIDKeysKey)) {
- jsonObject[_arrayIDKeysKey] = "rawName,comment";
- }
- } else if (fileType == FactMetaData::qgcFileType) {
- if (jsonObject.contains(_translateKeysKey)) {
- translateKeys = jsonObject[_translateKeysKey].toString();
- } else {
- translateKeys = "shortDescription,longDescription,enumStrings";
- jsonObject[_translateKeysKey] =
- "shortDescription,longDescription,enumStrings";
- }
- if (!jsonObject.contains(_arrayIDKeysKey)) {
- jsonObject[_arrayIDKeysKey] = "name";
- }
- }
- }
- return translateKeys.split(",");
+bool JsonHelper::validateExternalQGCJsonFile(const QJsonObject& jsonObject,
+ const QString& expectedFileType,
+ int minSupportedVersion,
+ int maxSupportedVersion,
+ int& version,
+ QString& errorString)
+{
+ // Validate required keys
+ QList<JsonHelper::KeyValidateInfo> requiredKeys = {
+ { jsonGroundStationKey, QJsonValue::String, true },
+ };
+ if (!JsonHelper::validateKeys(jsonObject, requiredKeys, errorString)) {
+ return false;
+ }
+
+ return validateInternalQGCJsonFile(jsonObject, expectedFileType, minSupportedVersion, maxSupportedVersion, version, errorString);
}
-QJsonObject JsonHelper::_translateObject(QJsonObject &jsonObject,
- const QString &translateContext,
- const QStringList &translateKeys) {
- for (const QString &key : jsonObject.keys()) {
- if (jsonObject[key].isString()) {
- QString locString = jsonObject[key].toString();
- if (translateKeys.contains(key)) {
- QString disambiguation;
- QString disambiguationPrefix("#loc.disambiguation#");
-
- if (locString.startsWith(disambiguationPrefix)) {
- locString = locString.right(locString.length() -
- disambiguationPrefix.length());
- int commentEndIndex = locString.indexOf("#");
- if (commentEndIndex != -1) {
- disambiguation = locString.left(commentEndIndex);
- locString = locString.right(locString.length() -
- disambiguation.length() - 1);
- }
+QStringList JsonHelper::_addDefaultLocKeys(QJsonObject& jsonObject)
+{
+ QString translateKeys;
+ QString fileType = jsonObject[jsonFileTypeKey].toString();
+ if (!fileType.isEmpty()) {
+ if (fileType == MissionCommandList::qgcFileType) {
+ if (jsonObject.contains(_translateKeysKey)) {
+ translateKeys = jsonObject[_translateKeysKey].toString();
+ } else {
+ translateKeys = "label,enumStrings,friendlyName,description,category";
+ jsonObject[_translateKeysKey] = translateKeys;
+ }
+ if (!jsonObject.contains(_arrayIDKeysKey)) {
+ jsonObject[_arrayIDKeysKey] = "rawName,comment";
+ }
+ } else if (fileType == FactMetaData::qgcFileType) {
+ if (jsonObject.contains(_translateKeysKey)) {
+ translateKeys = jsonObject[_translateKeysKey].toString();
+ } else {
+ translateKeys = "shortDescription,longDescription,enumStrings";
+ jsonObject[_translateKeysKey] = "shortDescription,longDescription,enumStrings";
+ }
+ if (!jsonObject.contains(_arrayIDKeysKey)) {
+ jsonObject[_arrayIDKeysKey] = "name";
+ }
}
+ }
+ return translateKeys.split(",");
+}
- QString xlatString = qgcApp()->qgcJSONTranslator().translate(
- translateContext.toUtf8().constData(),
- locString.toUtf8().constData(),
- disambiguation.toUtf8().constData());
- if (!xlatString.isNull()) {
- jsonObject[key] = xlatString;
+QJsonObject JsonHelper::_translateObject(QJsonObject& jsonObject, const QString& translateContext, const QStringList& translateKeys)
+{
+ for (const QString& key: jsonObject.keys()) {
+ if (jsonObject[key].isString()) {
+ QString locString = jsonObject[key].toString();
+ if (translateKeys.contains(key)) {
+ QString disambiguation;
+ QString disambiguationPrefix("#loc.disambiguation#");
+
+ if (locString.startsWith(disambiguationPrefix)) {
+ locString = locString.right(locString.length() - disambiguationPrefix.length());
+ int commentEndIndex = locString.indexOf("#");
+ if (commentEndIndex != -1) {
+ disambiguation = locString.left(commentEndIndex);
+ locString = locString.right(locString.length() - disambiguation.length() - 1);
+ }
+ }
+
+ QString xlatString = qgcApp()->qgcJSONTranslator().translate(translateContext.toUtf8().constData(), locString.toUtf8().constData(), disambiguation.toUtf8().constData());
+ if (!xlatString.isNull()) {
+ jsonObject[key] = xlatString;
+ }
+ }
+ } else if (jsonObject[key].isArray()) {
+ QJsonArray childJsonArray = jsonObject[key].toArray();
+ jsonObject[key] = _translateArray(childJsonArray, translateContext, translateKeys);
+ } else if (jsonObject[key].isObject()) {
+ QJsonObject childJsonObject = jsonObject[key].toObject();
+ jsonObject[key] = _translateObject(childJsonObject, translateContext, translateKeys);
}
- }
- } else if (jsonObject[key].isArray()) {
- QJsonObject childJsonArray = jsonObject[key].toArray();
- jsonObject[key] =
- _translateArray(childJsonArray, translateContext, translateKeys);
- } else if (jsonObject[key].isObject()) {
- QJsonObject childJsonObject = jsonObject[key].toObject();
- jsonObject[key] =
- _translateObject(childJsonObject, translateContext, translateKeys);
- }
- }
-
- return jsonObject;
+ }
+
+ return jsonObject;
}
-QJsonObject JsonHelper::_translateArray(QJsonObject &jsonArray,
- const QString &translateContext,
- const QStringList &translateKeys) {
- for (int i = 0; i < jsonArray.count(); i++) {
- QJsonObject childJsonObject = jsonArray[i].toObject();
- jsonArray[i] =
- _translateObject(childJsonObject, translateContext, translateKeys);
- }
+QJsonArray JsonHelper::_translateArray(QJsonArray& jsonArray, const QString& translateContext, const QStringList& translateKeys)
+{
+ for (int i=0; i<jsonArray.count(); i++) {
+ QJsonObject childJsonObject = jsonArray[i].toObject();
+ jsonArray[i] = _translateObject(childJsonObject, translateContext, translateKeys);
+ }
- return jsonArray;
+ return jsonArray;
}
-QJsonObject JsonHelper::_translateRoot(QJsonObject &jsonObject,
- const QString &translateContext,
- const QStringList &translateKeys) {
- return _translateObject(jsonObject, translateContext, translateKeys);
+QJsonObject JsonHelper::_translateRoot(QJsonObject& jsonObject, const QString& translateContext, const QStringList& translateKeys)
+{
+ return _translateObject(jsonObject, translateContext, translateKeys);
}
-QJsonObject JsonHelper::openInternalQGCJsonFile(const QString &jsonFilename,
- const QString &expectedFileType,
- int minSupportedVersion,
- int maxSupportedVersion,
- int &version,
- QString &errorString) {
- QFile jsonFile(jsonFilename);
- if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
- errorString = tr("Unable to open file: '%1', error: %2")
- .arg(jsonFilename)
- .arg(jsonFile.errorString());
- return QJsonObject();
- }
-
- QByteArray bytes = jsonFile.readAll();
- jsonFile.close();
- QJsonParseError jsonParseError;
- QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
- if (jsonParseError.error != QJsonParseError::NoError) {
- errorString = tr("Unable to parse json file: %1 error: %2 offset: %3")
- .arg(jsonFilename)
- .arg(jsonParseError.errorString())
- .arg(jsonParseError.offset);
- return QJsonObject();
- }
-
- if (!doc.isObject()) {
- errorString = tr("Root of json file is not object: %1").arg(jsonFilename);
- return QJsonObject();
- }
-
- QJsonObject jsonObject = doc.object();
- bool success = validateInternalQGCJsonFile(
- jsonObject, expectedFileType, minSupportedVersion, maxSupportedVersion,
- version, errorString);
- if (!success) {
- errorString = tr("Json file: '%1'. %2").arg(jsonFilename).arg(errorString);
- return QJsonObject();
- }
-
- QStringList translateKeys = _addDefaultLocKeys(jsonObject);
- QString context = QFileInfo(jsonFile).fileName();
- return _translateRoot(jsonObject, context, translateKeys);
+QJsonObject JsonHelper::openInternalQGCJsonFile(const QString& jsonFilename,
+ const QString& expectedFileType,
+ int minSupportedVersion,
+ int maxSupportedVersion,
+ int &version,
+ QString& errorString)
+{
+ QFile jsonFile(jsonFilename);
+ if (!jsonFile.open(QIODevice::ReadOnly | QIODevice::Text)) {
+ errorString = tr("Unable to open file: '%1', error: %2").arg(jsonFilename).arg(jsonFile.errorString());
+ return QJsonObject();
+ }
+
+ QByteArray bytes = jsonFile.readAll();
+ jsonFile.close();
+ QJsonParseError jsonParseError;
+ QJsonDocument doc = QJsonDocument::fromJson(bytes, &jsonParseError);
+ if (jsonParseError.error != QJsonParseError::NoError) {
+ errorString = tr("Unable to parse json file: %1 error: %2 offset: %3").arg(jsonFilename).arg(jsonParseError.errorString()).arg(jsonParseError.offset);
+ return QJsonObject();
+ }
+
+ if (!doc.isObject()) {
+ errorString = tr("Root of json file is not object: %1").arg(jsonFilename);
+ return QJsonObject();
+ }
+
+ QJsonObject jsonObject = doc.object();
+ bool success = validateInternalQGCJsonFile(jsonObject, expectedFileType, minSupportedVersion, maxSupportedVersion, version, errorString);
+ if (!success) {
+ errorString = tr("Json file: '%1'. %2").arg(jsonFilename).arg(errorString);
+ return QJsonObject();
+ }
+
+ QStringList translateKeys = _addDefaultLocKeys(jsonObject);
+ QString context = QFileInfo(jsonFile).fileName();
+ return _translateRoot(jsonObject, context, translateKeys);
}
-void JsonHelper::saveQGCJsonFileHeader(QJsonObject &jsonObject,
- const QString &fileType, int version) {
- jsonObject[jsonGroundStationKey] = jsonGroundStationValue;
- jsonObject[jsonFileTypeKey] = fileType;
- jsonObject[jsonVersionKey] = version;
+void JsonHelper::saveQGCJsonFileHeader(QJsonObject& jsonObject,
+ const QString& fileType,
+ int version)
+{
+ jsonObject[jsonGroundStationKey] = jsonGroundStationValue;
+ jsonObject[jsonFileTypeKey] = fileType;
+ jsonObject[jsonVersionKey] = version;
}
-bool JsonHelper::loadGeoCoordinateArray(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QVariantList &rgVarPoints,
- QString &errorString) {
- if (!jsonValue.isArray()) {
- errorString = QObject::tr("value for coordinate array is not array");
- return false;
- }
- QJsonObject rgJsonPoints = jsonValue.toArray();
+bool JsonHelper::loadGeoCoordinateArray(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QVariantList& rgVarPoints,
+ QString& errorString)
+{
+ if (!jsonValue.isArray()) {
+ errorString = QObject::tr("value for coordinate array is not array");
+ return false;
+ }
+ QJsonArray rgJsonPoints = jsonValue.toArray();
- rgVarPoints.clear();
- for (int i = 0; i < rgJsonPoints.count(); i++) {
- QGeoCoordinate coordinate;
+ rgVarPoints.clear();
+ for (int i=0; i<rgJsonPoints.count(); i++) {
+ QGeoCoordinate coordinate;
- if (!JsonHelper::loadGeoCoordinate(rgJsonPoints[i], altitudeRequired,
- coordinate, errorString)) {
- return false;
+ if (!JsonHelper::loadGeoCoordinate(rgJsonPoints[i], altitudeRequired, coordinate, errorString)) {
+ return false;
+ }
+ rgVarPoints.append(QVariant::fromValue(coordinate));
}
- rgVarPoints.append(QVariant::fromValue(coordinate));
- }
- return true;
+ return true;
}
-bool JsonHelper::loadGeoCoordinateArray(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QList<QGeoCoordinate> &rgPoints,
- QString &errorString) {
- QVariantList rgVarPoints;
+bool JsonHelper::loadGeoCoordinateArray(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QList<QGeoCoordinate>& rgPoints,
+ QString& errorString)
+{
+ QVariantList rgVarPoints;
- if (!loadGeoCoordinateArray(jsonValue, altitudeRequired, rgVarPoints,
- errorString)) {
- return false;
- }
+ if (!loadGeoCoordinateArray(jsonValue, altitudeRequired, rgVarPoints, errorString)) {
+ return false;
+ }
- rgPoints.clear();
- for (int i = 0; i < rgVarPoints.count(); i++) {
- rgPoints.append(rgVarPoints[i].value<QGeoCoordinate>());
- }
+ rgPoints.clear();
+ for (int i=0; i<rgVarPoints.count(); i++) {
+ rgPoints.append(rgVarPoints[i].value<QGeoCoordinate>());
+ }
- return true;
+ return true;
}
-void JsonHelper::saveGeoCoordinateArray(const QVariantList &rgVarPoints,
- bool writeAltitude,
- QJsonValue &jsonValue) {
- QJsonObject rgJsonPoints;
+void JsonHelper::saveGeoCoordinateArray(const QVariantList& rgVarPoints,
+ bool writeAltitude,
+ QJsonValue& jsonValue)
+{
+ QJsonArray rgJsonPoints;
- // Add all points to the array
- for (int i = 0; i < rgVarPoints.count(); i++) {
- QJsonValue jsonPoint;
+ // Add all points to the array
+ for (int i=0; i<rgVarPoints.count(); i++) {
+ QJsonValue jsonPoint;
- JsonHelper::saveGeoCoordinate(rgVarPoints[i].value<QGeoCoordinate>(),
- writeAltitude, jsonPoint);
- rgJsonPoints.append(jsonPoint);
- }
+ JsonHelper::saveGeoCoordinate(rgVarPoints[i].value<QGeoCoordinate>(), writeAltitude, jsonPoint);
+ rgJsonPoints.append(jsonPoint);
+ }
- jsonValue = rgJsonPoints;
+ jsonValue = rgJsonPoints;
}
-void JsonHelper::saveGeoCoordinateArray(const QList<QGeoCoordinate> &rgPoints,
- bool writeAltitude,
- QJsonValue &jsonValue) {
- QVariantList rgVarPoints;
+void JsonHelper::saveGeoCoordinateArray(const QList<QGeoCoordinate>& rgPoints,
+ bool writeAltitude,
+ QJsonValue& jsonValue)
+{
+ QVariantList rgVarPoints;
- for (int i = 0; i < rgPoints.count(); i++) {
- rgVarPoints.append(QVariant::fromValue(rgPoints[i]));
- }
- return saveGeoCoordinateArray(rgVarPoints, writeAltitude, jsonValue);
+ for (int i=0; i<rgPoints.count(); i++) {
+ rgVarPoints.append(QVariant::fromValue(rgPoints[i]));
+ }
+ return saveGeoCoordinateArray(rgVarPoints, writeAltitude, jsonValue);
}
-bool JsonHelper::validateKeys(const QJsonObject &jsonObject,
- const QList<JsonHelper::KeyValidateInfo> &keyInfo,
- QString &errorString) {
- QStringList keyList;
- QList<QJsonValue::Type> typeList;
-
- for (int i = 0; i < keyInfo.count(); i++) {
- if (keyInfo[i].required) {
- keyList.append(keyInfo[i].key);
- }
- }
- if (!validateRequiredKeys(jsonObject, keyList, errorString)) {
- return false;
- }
-
- keyList.clear();
- for (int i = 0; i < keyInfo.count(); i++) {
- keyList.append(keyInfo[i].key);
- typeList.append(keyInfo[i].type);
- }
- return validateKeyTypes(jsonObject, keyList, typeList, errorString);
+bool JsonHelper::validateKeys(const QJsonObject& jsonObject, const QList<JsonHelper::KeyValidateInfo>& keyInfo, QString& errorString)
+{
+ QStringList keyList;
+ QList<QJsonValue::Type> typeList;
+
+ for (int i=0; i<keyInfo.count(); i++) {
+ if (keyInfo[i].required) {
+ keyList.append(keyInfo[i].key);
+ }
+ }
+ if (!validateRequiredKeys(jsonObject, keyList, errorString)) {
+ return false;
+ }
+
+ keyList.clear();
+ for (int i=0; i<keyInfo.count(); i++) {
+ keyList.append(keyInfo[i].key);
+ typeList.append(keyInfo[i].type);
+ }
+ return validateKeyTypes(jsonObject, keyList, typeList, errorString);
}
-QString JsonHelper::_jsonValueTypeToString(QJsonValue::Type type) {
- const struct {
- QJsonValue::Type type;
- const char *string;
- } rgTypeToString[] = {
- {QJsonValue::Null, "NULL"}, {QJsonValue::Bool, "Bool"},
- {QJsonValue::Double, "Double"}, {QJsonValue::String, "String"},
- {QJsonValue::Array, "Array"}, {QJsonValue::Object, "Object"},
- {QJsonValue::Undefined, "Undefined"},
- };
-
- for (size_t i = 0; i < sizeof(rgTypeToString) / sizeof(rgTypeToString[0]);
- i++) {
- if (type == rgTypeToString[i].type) {
- return rgTypeToString[i].string;
- }
- }
-
- return QObject::tr("Unknown type: %1").arg(type);
+QString JsonHelper::_jsonValueTypeToString(QJsonValue::Type type)
+{
+ const struct {
+ QJsonValue::Type type;
+ const char* string;
+ } rgTypeToString[] = {
+ { QJsonValue::Null, "NULL" },
+ { QJsonValue::Bool, "Bool" },
+ { QJsonValue::Double, "Double" },
+ { QJsonValue::String, "String" },
+ { QJsonValue::Array, "Array" },
+ { QJsonValue::Object, "Object" },
+ { QJsonValue::Undefined, "Undefined" },
+};
+
+ for (size_t i=0; i<sizeof(rgTypeToString)/sizeof(rgTypeToString[0]); i++) {
+ if (type == rgTypeToString[i].type) {
+ return rgTypeToString[i].string;
+ }
+ }
+
+ return QObject::tr("Unknown type: %1").arg(type);
}
-bool JsonHelper::loadPolygon(const QJsonObject &polygonArray,
- QmlObjectListModel &list, QObject *parent,
- QString &errorString) {
- for (int i = 0; i < polygonArray.count(); i++) {
- const QJsonValue &pointValue = polygonArray[i];
+bool JsonHelper::loadPolygon(const QJsonArray& polygonArray, QmlObjectListModel& list, QObject* parent, QString& errorString)
+{
+ for (int i=0; i<polygonArray.count(); i++) {
+ const QJsonValue& pointValue = polygonArray[i];
- QGeoCoordinate pointCoord;
- if (!JsonHelper::loadGeoCoordinate(pointValue, false /* altitudeRequired */,
- pointCoord, errorString, true)) {
- list.clearAndDeleteContents();
- return false;
+ QGeoCoordinate pointCoord;
+ if (!JsonHelper::loadGeoCoordinate(pointValue, false /* altitudeRequired */, pointCoord, errorString, true)) {
+ list.clearAndDeleteContents();
+ return false;
+ }
+ list.append(new QGCQGeoCoordinate(pointCoord, parent));
}
- list.append(new QGCQGeoCoordinate(pointCoord, parent));
- }
- return true;
+ return true;
}
-void JsonHelper::savePolygon(QmlObjectListModel &list,
- QJsonObject &polygonArray) {
- for (int i = 0; i < list.count(); i++) {
- QGeoCoordinate vertex = list.value<QGCQGeoCoordinate *>(i)->coordinate();
+void JsonHelper::savePolygon(QmlObjectListModel& list, QJsonArray& polygonArray)
+{
+ for (int i=0; i<list.count(); i++) {
+ QGeoCoordinate vertex = list.value<QGCQGeoCoordinate*>(i)->coordinate();
- QJsonValue jsonValue;
- JsonHelper::saveGeoCoordinate(vertex, false /* writeAltitude */, jsonValue);
- polygonArray.append(jsonValue);
- }
+ QJsonValue jsonValue;
+ JsonHelper::saveGeoCoordinate(vertex, false /* writeAltitude */, jsonValue);
+ polygonArray.append(jsonValue);
+ }
}
-double JsonHelper::possibleNaNJsonValue(const QJsonValue &value) {
- if (value.type() == QJsonValue::Null) {
- return std::numeric_limits<double>::quiet_NaN();
- } else {
- return value.toDouble();
- }
+double JsonHelper::possibleNaNJsonValue(const QJsonValue& value)
+{
+ if (value.type() == QJsonValue::Null) {
+ return std::numeric_limits<double>::quiet_NaN();
+ } else {
+ return value.toDouble();
+ }
}
diff --git a/src/JsonHelper.h b/src/JsonHelper.h
index f953ebe68d9918f0350984778a94bcc16cd434a3..74a9634ea9e5046dfcb8e926603d5013080451c5 100644
--- a/src/JsonHelper.h
+++ b/src/JsonHelper.h
@@ -9,10 +9,10 @@
#pragma once
-#include <QCoreApplication>
-#include <QGeoCoordinate>
#include <QJsonObject>
#include <QVariantList>
+#include <QGeoCoordinate>
+#include <QCoreApplication>
/// @file
/// @author Don Gagne <don@thegagnes.com>
@@ -21,193 +21,164 @@ class QmlObjectListModel;
/// @brief Json manipulation helper class.
/// Primarily used for parsing and processing Fact metadata.
-class JsonHelper {
- Q_DECLARE_TR_FUNCTIONS(JsonHelper)
+class JsonHelper
+{
+ Q_DECLARE_TR_FUNCTIONS(JsonHelper)
public:
- /// Determines is the specified file is a json file
- /// @return true: file is json, false: file is not json
- static bool isJsonFile(const QString &fileName, ///< filename
- QJsonDocument &jsonDoc, ///< returned json document
- QString &errorString); ///< error on parse failure
-
- /// Determines is the specified data is a json file
- /// @return true: file is json, false: file is not json
- static bool isJsonFile(const QByteArray &bytes, ///< json bytes
- QJsonDocument &jsonDoc, ///< returned json document
- QString &errorString); ///< error on parse failure
-
- /// Saves the standard file header the json object
- static void
- saveQGCJsonFileHeader(QJsonObject &jsonObject, ///< root json object
- const QString &fileType, ///< file type for file
- int version); ///< version number for file
-
- /// Validates the standard parts of an external QGC json file (Plan file,
- /// ...):
- /// jsonFileTypeKey - Required and checked to be equal to expectedFileType
- /// jsonVersionKey - Required and checked to be below
- /// supportedMajorVersion, supportedMinorVersion jsonGroundStationKey -
- /// Required and checked to be string type
- /// @return false: validation failed, errorString set
- static bool validateExternalQGCJsonFile(
- const QJsonObject &jsonObject, ///< json object to validate
- const QString &expectedFileType, ///< correct file type for file
- int minSupportedVersion, ///< minimum supported version
- int maxSupportedVersion, ///< maximum supported major version
- int &version, ///< returned file version
- QString &errorString); ///< returned error string if validation fails
-
- /// Validates the standard parts of a internal QGC json file (FactMetaData,
- /// ...):
- /// jsonFileTypeKey - Required and checked to be equal to expectedFileType
- /// jsonVersionKey - Required and checked to be below
- /// supportedMajorVersion, supportedMinorVersion jsonGroundStationKey -
- /// Required and checked to be string type
- /// @return false: validation failed, errorString set
- static bool validateInternalQGCJsonFile(
- const QJsonObject &jsonObject, ///< json object to validate
- const QString &expectedFileType, ///< correct file type for file
- int minSupportedVersion, ///< minimum supported version
- int maxSupportedVersion, ///< maximum supported major version
- int &version, ///< returned file version
- QString &errorString); ///< returned error string if validation fails
-
- // Opens, validates and translates an internal QGC json file.
- // @return Json root object for file. Empty QJsonObject if error.
- static QJsonObject openInternalQGCJsonFile(
- const QString &jsonFilename, ///< Json file to open
- const QString &expectedFileType, ///< correct file type for file
- int minSupportedVersion, ///< minimum supported version
- int maxSupportedVersion, ///< maximum supported major version
- int &version, ///< returned file version
- QString &errorString); ///< returned error string if validation fails
-
- /// Validates that the specified keys are in the object
- /// @return false: validation failed, errorString set
- static bool validateRequiredKeys(
- const QJsonObject &jsonObject, ///< json object to validate
- const QStringList &keys, ///< keys which are required to be present
- QString &errorString); ///< returned error string if validation fails
-
- /// Validates the types of specified keys are in the object
- /// @return false: validation failed, errorString set
- static bool validateKeyTypes(
- const QJsonObject &jsonObject, ///< json object to validate
- const QStringList &keys, ///< keys to validate
- const QList<QJsonValue::Type>
- &types, ///< required type for each key, QJsonValue::Null specifies
- ///< double with possible NaN
- QString &errorString); ///< returned error string if validation fails
-
- typedef struct {
- const char *key; ///< json key name
- QJsonValue::Type type; ///< required type for key, QJsonValue::Null
- ///< specifies double with possible NaN
- bool required; ///< true: key must be present
- } KeyValidateInfo;
-
- static bool validateKeys(const QJsonObject &jsonObject,
- const QList<KeyValidateInfo> &keyInfo,
- QString &errorString);
-
- /// Loads a QGeoCoordinate
- /// Stored as array [ lat, lon, alt ]
- /// @return false: validation failed
- static bool loadGeoCoordinate(
- const QJsonValue &jsonValue, ///< json value to load from
- bool altitudeRequired, ///< true: altitude must be specified
- QGeoCoordinate &coordinate, ///< returned QGeoCordinate
- QString &errorString, ///< returned error string if load failure
- bool geoJsonFormat =
- false); ///< if true, use [lon, lat], [lat, lon] otherwise
-
- /// Saves a QGeoCoordinate
- /// Stored as array [ lat, lon, alt ]
- static void saveGeoCoordinate(
- const QGeoCoordinate &coordinate, ///< QGeoCoordinate to save
- bool writeAltitude, ///< true: write altitude to json
- QJsonValue &jsonValue); ///< json value to save to
-
- /// Loads a QGeoCoordinate
- /// Stored as array [ lon, lat, alt ]
- /// @return false: validation failed
- static bool loadGeoJsonCoordinate(
- const QJsonValue &jsonValue, ///< json value to load from
- bool altitudeRequired, ///< true: altitude must be specified
- QGeoCoordinate &coordinate, ///< returned QGeoCordinate
- QString &errorString); ///< returned error string if load failure
-
- /// Saves a QGeoCoordinate
- /// Stored as array [ lon, lat, alt ]
- static void saveGeoJsonCoordinate(
- const QGeoCoordinate &coordinate, ///< QGeoCoordinate to save
- bool writeAltitude, ///< true: write altitude to json
- QJsonValue &jsonValue); ///< json value to save to
-
- /// Loads a polygon from an array
- static bool loadPolygon(
- const QJsonObject &polygonArray, ///< Array of coordinates
- QmlObjectListModel &list, ///< Empty list to add vertices to
- QObject *parent, ///< parent for newly allocated QGCQGeoCoordinates
- QString &errorString); ///< returned error string if load failure
-
- /// Loads a list of QGeoCoordinates from a json array
- /// @return false: validation failed
- static bool loadGeoCoordinateArray(
- const QJsonValue &jsonValue, ///< json value which contains points
- bool altitudeRequired, ///< true: altitude field must be specified
- QVariantList &rgVarPoints, ///< returned points
- QString &errorString); ///< returned error string if load failure
- static bool loadGeoCoordinateArray(
- const QJsonValue &jsonValue, ///< json value which contains points
- bool altitudeRequired, ///< true: altitude field must be specified
- QList<QGeoCoordinate> &rgPoints, ///< returned points
- QString &errorString); ///< returned error string if load failure
-
- /// Saves a list of QGeoCoordinates to a json array
- static void
- saveGeoCoordinateArray(const QVariantList &rgVarPoints, ///< points to save
- bool writeAltitude, ///< true: write altitide value
- QJsonValue &jsonValue); ///< json value to save to
- static void saveGeoCoordinateArray(
- const QList<QGeoCoordinate> &rgPoints, ///< points to save
- bool writeAltitude, ///< true: write altitide value
- QJsonValue &jsonValue); ///< json value to save to
-
- /// Saves a polygon to a json array
- static void
- savePolygon(QmlObjectListModel &list, ///< List which contains vertices
- QJsonObject &polygonArray); ///< Array to save into
-
- /// Returns NaN if the value is null, or if not, the double value
- static double possibleNaNJsonValue(const QJsonValue &value);
-
- static const char *jsonVersionKey;
- static const char *jsonGroundStationKey;
- static const char *jsonGroundStationValue;
- static const char *jsonFileTypeKey;
+ /// Determines is the specified file is a json file
+ /// @return true: file is json, false: file is not json
+ static bool isJsonFile(const QString& fileName, ///< filename
+ QJsonDocument& jsonDoc, ///< returned json document
+ QString& errorString); ///< error on parse failure
+
+ /// Determines is the specified data is a json file
+ /// @return true: file is json, false: file is not json
+ static bool isJsonFile(const QByteArray& bytes, ///< json bytes
+ QJsonDocument& jsonDoc, ///< returned json document
+ QString& errorString); ///< error on parse failure
+
+ /// Saves the standard file header the json object
+ static void saveQGCJsonFileHeader(QJsonObject& jsonObject, ///< root json object
+ const QString& fileType, ///< file type for file
+ int version); ///< version number for file
+
+ /// Validates the standard parts of an external QGC json file (Plan file, ...):
+ /// jsonFileTypeKey - Required and checked to be equal to expectedFileType
+ /// jsonVersionKey - Required and checked to be below supportedMajorVersion, supportedMinorVersion
+ /// jsonGroundStationKey - Required and checked to be string type
+ /// @return false: validation failed, errorString set
+ static bool validateExternalQGCJsonFile(const QJsonObject& jsonObject, ///< json object to validate
+ const QString& expectedFileType, ///< correct file type for file
+ int minSupportedVersion, ///< minimum supported version
+ int maxSupportedVersion, ///< maximum supported major version
+ int &version, ///< returned file version
+ QString& errorString); ///< returned error string if validation fails
+
+ /// Validates the standard parts of a internal QGC json file (FactMetaData, ...):
+ /// jsonFileTypeKey - Required and checked to be equal to expectedFileType
+ /// jsonVersionKey - Required and checked to be below supportedMajorVersion, supportedMinorVersion
+ /// jsonGroundStationKey - Required and checked to be string type
+ /// @return false: validation failed, errorString set
+ static bool validateInternalQGCJsonFile(const QJsonObject& jsonObject, ///< json object to validate
+ const QString& expectedFileType, ///< correct file type for file
+ int minSupportedVersion, ///< minimum supported version
+ int maxSupportedVersion, ///< maximum supported major version
+ int &version, ///< returned file version
+ QString& errorString); ///< returned error string if validation fails
+
+ // Opens, validates and translates an internal QGC json file.
+ // @return Json root object for file. Empty QJsonObject if error.
+ static QJsonObject openInternalQGCJsonFile(const QString& jsonFilename, ///< Json file to open
+ const QString& expectedFileType, ///< correct file type for file
+ int minSupportedVersion, ///< minimum supported version
+ int maxSupportedVersion, ///< maximum supported major version
+ int &version, ///< returned file version
+ QString& errorString); ///< returned error string if validation fails
+
+ /// Validates that the specified keys are in the object
+ /// @return false: validation failed, errorString set
+ static bool validateRequiredKeys(const QJsonObject& jsonObject, ///< json object to validate
+ const QStringList& keys, ///< keys which are required to be present
+ QString& errorString); ///< returned error string if validation fails
+
+ /// Validates the types of specified keys are in the object
+ /// @return false: validation failed, errorString set
+ static bool validateKeyTypes(const QJsonObject& jsonObject, ///< json object to validate
+ const QStringList& keys, ///< keys to validate
+ const QList<QJsonValue::Type>& types, ///< required type for each key, QJsonValue::Null specifies double with possible NaN
+ QString& errorString); ///< returned error string if validation fails
+
+ typedef struct {
+ const char* key; ///< json key name
+ QJsonValue::Type type; ///< required type for key, QJsonValue::Null specifies double with possible NaN
+ bool required; ///< true: key must be present
+ } KeyValidateInfo;
+
+ static bool validateKeys(const QJsonObject& jsonObject, const QList<KeyValidateInfo>& keyInfo, QString& errorString);
+
+ /// Loads a QGeoCoordinate
+ /// Stored as array [ lat, lon, alt ]
+ /// @return false: validation failed
+ static bool loadGeoCoordinate(const QJsonValue& jsonValue, ///< json value to load from
+ bool altitudeRequired, ///< true: altitude must be specified
+ QGeoCoordinate& coordinate, ///< returned QGeoCordinate
+ QString& errorString, ///< returned error string if load failure
+ bool geoJsonFormat = false); ///< if true, use [lon, lat], [lat, lon] otherwise
+
+ /// Saves a QGeoCoordinate
+ /// Stored as array [ lat, lon, alt ]
+ static void saveGeoCoordinate(const QGeoCoordinate& coordinate, ///< QGeoCoordinate to save
+ bool writeAltitude, ///< true: write altitude to json
+ QJsonValue& jsonValue); ///< json value to save to
+
+ /// Loads a QGeoCoordinate
+ /// Stored as array [ lon, lat, alt ]
+ /// @return false: validation failed
+ static bool loadGeoJsonCoordinate(const QJsonValue& jsonValue, ///< json value to load from
+ bool altitudeRequired, ///< true: altitude must be specified
+ QGeoCoordinate& coordinate, ///< returned QGeoCordinate
+ QString& errorString); ///< returned error string if load failure
+
+ /// Saves a QGeoCoordinate
+ /// Stored as array [ lon, lat, alt ]
+ static void saveGeoJsonCoordinate(const QGeoCoordinate& coordinate, ///< QGeoCoordinate to save
+ bool writeAltitude, ///< true: write altitude to json
+ QJsonValue& jsonValue); ///< json value to save to
+
+ /// Loads a polygon from an array
+ static bool loadPolygon(const QJsonArray& polygonArray, ///< Array of coordinates
+ QmlObjectListModel& list, ///< Empty list to add vertices to
+ QObject* parent, ///< parent for newly allocated QGCQGeoCoordinates
+ QString& errorString); ///< returned error string if load failure
+
+ /// Loads a list of QGeoCoordinates from a json array
+ /// @return false: validation failed
+ static bool loadGeoCoordinateArray(const QJsonValue& jsonValue, ///< json value which contains points
+ bool altitudeRequired, ///< true: altitude field must be specified
+ QVariantList& rgVarPoints, ///< returned points
+ QString& errorString); ///< returned error string if load failure
+ static bool loadGeoCoordinateArray(const QJsonValue& jsonValue, ///< json value which contains points
+ bool altitudeRequired, ///< true: altitude field must be specified
+ QList<QGeoCoordinate>& rgPoints, ///< returned points
+ QString& errorString); ///< returned error string if load failure
+
+ /// Saves a list of QGeoCoordinates to a json array
+ static void saveGeoCoordinateArray(const QVariantList& rgVarPoints, ///< points to save
+ bool writeAltitude, ///< true: write altitide value
+ QJsonValue& jsonValue); ///< json value to save to
+ static void saveGeoCoordinateArray(const QList<QGeoCoordinate>& rgPoints, ///< points to save
+ bool writeAltitude, ///< true: write altitide value
+ QJsonValue& jsonValue); ///< json value to save to
+
+ /// Saves a polygon to a json array
+ static void savePolygon(QmlObjectListModel& list, ///< List which contains vertices
+ QJsonArray& polygonArray); ///< Array to save into
+
+ /// Returns NaN if the value is null, or if not, the double value
+ static double possibleNaNJsonValue(const QJsonValue& value);
+
+ static const char* jsonVersionKey;
+ static const char* jsonGroundStationKey;
+ static const char* jsonGroundStationValue;
+ static const char* jsonFileTypeKey;
private:
- static QString _jsonValueTypeToString(QJsonValue::Type type);
- static bool _loadGeoCoordinate(const QJsonValue &jsonValue,
- bool altitudeRequired,
- QGeoCoordinate &coordinate,
- QString &errorString, bool geoJsonFormat);
- static void _saveGeoCoordinate(const QGeoCoordinate &coordinate,
- bool writeAltitude, QJsonValue &jsonValue,
- bool geoJsonFormat);
- static QStringList _addDefaultLocKeys(QJsonObject &jsonObject);
- static QJsonObject _translateRoot(QJsonObject &jsonObject,
- const QString &translateContext,
- const QStringList &translateKeys);
- static QJsonObject _translateObject(QJsonObject &jsonObject,
- const QString &translateContext,
- const QStringList &translateKeys);
- static QJsonObject _translateArray(QJsonObject &jsonArray,
- const QString &translateContext,
- const QStringList &translateKeys);
-
- static const char *_translateKeysKey;
- static const char *_arrayIDKeysKey;
+ static QString _jsonValueTypeToString(QJsonValue::Type type);
+ static bool _loadGeoCoordinate(const QJsonValue& jsonValue,
+ bool altitudeRequired,
+ QGeoCoordinate& coordinate,
+ QString& errorString,
+ bool geoJsonFormat);
+ static void _saveGeoCoordinate(const QGeoCoordinate& coordinate,
+ bool writeAltitude,
+ QJsonValue& jsonValue,
+ bool geoJsonFormat);
+ static QStringList _addDefaultLocKeys(QJsonObject& jsonObject);
+ static QJsonObject _translateRoot(QJsonObject& jsonObject, const QString& translateContext, const QStringList& translateKeys);
+ static QJsonObject _translateObject(QJsonObject& jsonObject, const QString& translateContext, const QStringList& translateKeys);
+ static QJsonArray _translateArray(QJsonArray& jsonArray, const QString& translateContext, const QStringList& translateKeys);
+
+ static const char* _translateKeysKey;
+ static const char* _arrayIDKeysKey;
};
diff --git a/src/MissionManager/CorridorScanComplexItem.cc b/src/MissionManager/CorridorScanComplexItem.cc
index 704922bbae1be8a90b9d74d82eab2bffae515cae..73836271ebe33788ca2cff3e898e263f74138e58 100644
--- a/src/MissionManager/CorridorScanComplexItem.cc
+++ b/src/MissionManager/CorridorScanComplexItem.cc
@@ -61,7 +61,7 @@ CorridorScanComplexItem::CorridorScanComplexItem(PlanMasterController* masterCon
setDirty(false);
}
-void CorridorScanComplexItem::save(QJsonObject& planItems)
+void CorridorScanComplexItem::save(QJsonArray& planItems)
{
QJsonObject saveObject;
diff --git a/src/MissionManager/CorridorScanComplexItem.h b/src/MissionManager/CorridorScanComplexItem.h
index f4537251cc26575b1dff9a7c886924092abcfbba..6eefc413e65fb685aa0ec20103f93ec6520a5360 100644
--- a/src/MissionManager/CorridorScanComplexItem.h
+++ b/src/MissionManager/CorridorScanComplexItem.h
@@ -37,7 +37,7 @@ public:
// Overrides from TransectStyleComplexItem
QString patternName (void) const final { return name; }
- void save (QJsonObject& planItems) final;
+ void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final;
double timeBetweenShots (void) final;
diff --git a/src/MissionManager/FWLandingPatternTest.cc b/src/MissionManager/FWLandingPatternTest.cc
index f86bebd05b65a2785b192003ae1a63dce21109b9..7e662dbf8fb1754aa88b80593ccec59987eca297 100644
--- a/src/MissionManager/FWLandingPatternTest.cc
+++ b/src/MissionManager/FWLandingPatternTest.cc
@@ -81,7 +81,7 @@ void FWLandingPatternTest::_testDirty(void)
void FWLandingPatternTest::_testSaveLoad(void)
{
- QJsonObject items;
+ QJsonArray items;
_fwItem->save(items);
diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc
index 2da97f59452f1eef0d5da1cac959da919d8d6e69..486647360f11e88f5f501d78cc83b6fa2aec7093 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.cc
+++ b/src/MissionManager/FixedWingLandingComplexItem.cc
@@ -60,7 +60,7 @@ FixedWingLandingComplexItem::FixedWingLandingComplexItem(PlanMasterController* m
setDirty(false);
}
-void FixedWingLandingComplexItem::save(QJsonObject& missionItems)
+void FixedWingLandingComplexItem::save(QJsonArray& missionItems)
{
QJsonObject saveObject = _save();
diff --git a/src/MissionManager/FixedWingLandingComplexItem.h b/src/MissionManager/FixedWingLandingComplexItem.h
index 812f62706bc2cc68d47e86b1263c7472bd6d0b3e..7316fa88e784a91b094963a21dec43caca9295bb 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.h
+++ b/src/MissionManager/FixedWingLandingComplexItem.h
@@ -44,7 +44,7 @@ public:
QString mapVisualQML (void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
- void save (QJsonObject& missionItems) final;
+ void save (QJsonArray& missionItems) final;
static const QString name;
diff --git a/src/MissionManager/GeoFenceController.cc b/src/MissionManager/GeoFenceController.cc
index db25fdc651e1db4b1f5e9d488158e88cacc3762d..4e3042d192e71e442a4add731916b7cdaa654d64 100644
--- a/src/MissionManager/GeoFenceController.cc
+++ b/src/MissionManager/GeoFenceController.cc
@@ -152,7 +152,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
return false;
}
- QJsonObject jsonPolygonArray = json[_jsonPolygonsKey].toArray();
+ QJsonArray jsonPolygonArray = json[_jsonPolygonsKey].toArray();
for (const QJsonValue jsonPolygonValue: jsonPolygonArray) {
if (jsonPolygonValue.type() != QJsonValue::Object) {
errorString = tr("GeoFence polygon not stored as object");
@@ -166,7 +166,7 @@ bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
_polygons.append(fencePolygon);
}
- QJsonObject jsonCircleArray = json[_jsonCirclesKey].toArray();
+ QJsonArray jsonCircleArray = json[_jsonCirclesKey].toArray();
for (const QJsonValue jsonCircleValue: jsonCircleArray) {
if (jsonCircleValue.type() != QJsonValue::Object) {
errorString = tr("GeoFence circle not stored as object");
@@ -200,7 +200,7 @@ void GeoFenceController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _jsonCurrentVersion;
- QJsonObject jsonPolygonArray;
+ QJsonArray jsonPolygonArray;
for (int i=0; i<_polygons.count(); i++) {
QJsonObject jsonPolygon;
QGCFencePolygon* fencePolygon = _polygons.value<QGCFencePolygon*>(i);
@@ -209,7 +209,7 @@ void GeoFenceController::save(QJsonObject& json)
}
json[_jsonPolygonsKey] = jsonPolygonArray;
- QJsonObject jsonCircleArray;
+ QJsonArray jsonCircleArray;
for (int i=0; i<_circles.count(); i++) {
QJsonObject jsonCircle;
QGCFenceCircle* fenceCircle = _circles.value<QGCFenceCircle*>(i);
diff --git a/src/MissionManager/LandingComplexItemTest.h b/src/MissionManager/LandingComplexItemTest.h
index 347f2bef4223a9f2e84589bebaf3e5b67061e48d..cf32f823049bd9f0b4eaf33ac6bc6b9d23c76df5 100644
--- a/src/MissionManager/LandingComplexItemTest.h
+++ b/src/MissionManager/LandingComplexItemTest.h
@@ -82,7 +82,7 @@ public:
QString mapVisualQML(void) const final { return QStringLiteral("FWLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
- void save (QJsonObject& /*missionItems*/) { };
+ void save (QJsonArray& /*missionItems*/) { };
static const QString name;
diff --git a/src/MissionManager/MissionCommandList.cc b/src/MissionManager/MissionCommandList.cc
index 0bc4b203f3b4afb5faaf95f45701b935e1fd7881..5ca37136c841ec346b05a9e8642153ff1dcf4fbb 100644
--- a/src/MissionManager/MissionCommandList.cc
+++ b/src/MissionManager/MissionCommandList.cc
@@ -55,7 +55,7 @@ void MissionCommandList::_loadMavCmdInfoJson(const QString& jsonFilename, bool b
}
// Iterate over MissionCommandUIInfo objects
- QJsonObject jsonArray = jsonValue.toArray();
+ QJsonArray jsonArray = jsonValue.toArray();
for(QJsonValue info: jsonArray) {
if (!info.isObject()) {
qWarning() << jsonFilename << "mavCmdArray should contain objects";
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index c5651b741ffec2644351b960af91068ba220a074..e69d87b7daa9fdba8bc740f663663f3579cbeaee 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -744,7 +744,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject &json,
// Read complex items
QList<SurveyComplexItem *> surveyItems;
- QJsonObject complexArray(json[_jsonComplexItemsKey].toArray());
+ QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
qCDebug(MissionControllerLog)
<< "Json load: complex item count" << complexArray.count();
for (int i = 0; i < complexArray.count(); i++) {
@@ -771,7 +771,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject &json,
int nextSimpleItemIndex = 0;
int nextComplexItemIndex = 0;
int nextSequenceNumber = 1; // Start with 1 since home is in 0
- QJsonObject itemArray(json[_jsonItemsKey].toArray());
+ QJsonArray itemArray(json[_jsonItemsKey].toArray());
MissionSettingsItem *settingsItem = _addMissionSettings(visualItems);
if (json.contains(_jsonPlannedHomePositionKey)) {
@@ -932,7 +932,7 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject &json,
// Read mission items
int nextSequenceNumber = 1; // Start with 1 since home is in 0
- const QJsonObject rgMissionItems(json[_jsonItemsKey].toArray());
+ const QJsonArray rgMissionItems(json[_jsonItemsKey].toArray());
for (int i = 0; i < rgMissionItems.count(); i++) {
// Convert to QJsonObject
const QJsonValue &itemValue = rgMissionItems[i];
@@ -1335,7 +1335,7 @@ void MissionController::save(QJsonObject &json) {
// Save the visual items
- QJsonObject rgJsonMissionItems;
+ QJsonArray rgJsonMissionItems;
for (int i = 0; i < _visualItems->count(); i++) {
VisualMissionItem *visualItem =
qobject_cast<VisualMissionItem *>(_visualItems->get(i));
diff --git a/src/MissionManager/MissionItem.cc b/src/MissionManager/MissionItem.cc
index f9bad15527af2ed831a8b8ae397fe847348e23b9..3fb185546a789fc3082e1ae09a802199e854b1f8 100644
--- a/src/MissionManager/MissionItem.cc
+++ b/src/MissionManager/MissionItem.cc
@@ -147,7 +147,7 @@ void MissionItem::save(QJsonObject &json) const {
json[_jsonAutoContinueKey] = autoContinue();
json[_jsonDoJumpIdKey] = _sequenceNumber;
- QJsonObject rgParams = {param1(), param2(), param3(), param4(),
+ QJsonArray rgParams = {param1(), param2(), param3(), param4(),
param5(), param6(), param7()};
json[_jsonParamsKey] = rgParams;
}
@@ -206,7 +206,7 @@ bool MissionItem::_convertJsonV1ToV2(const QJsonObject &json,
VisualMissionItem::jsonTypeSimpleItemValue;
}
- QJsonObject rgParams = {
+ QJsonArray rgParams = {
json[_jsonParam1Key].toDouble(), json[_jsonParam2Key].toDouble(),
json[_jsonParam3Key].toDouble(), json[_jsonParam4Key].toDouble()};
v2Json[_jsonParamsKey] = rgParams;
@@ -241,7 +241,7 @@ bool MissionItem::_convertJsonV2ToV3(QJsonObject &json, QString &errorString) {
return false;
}
- QJsonObject rgParam = json[_jsonParamsKey].toArray();
+ QJsonArray rgParam = json[_jsonParamsKey].toArray();
rgParam.append(coordinate.latitude());
rgParam.append(coordinate.longitude());
rgParam.append(coordinate.altitude());
@@ -283,7 +283,7 @@ bool MissionItem::load(const QJsonObject &json, int sequenceNumber,
return false;
}
- QJsonObject rgParams = convertedJson[_jsonParamsKey].toArray();
+ QJsonArray rgParams = convertedJson[_jsonParamsKey].toArray();
if (rgParams.count() != 7) {
errorString = tr("%1 key must contains 7 values").arg(_jsonParamsKey);
return false;
diff --git a/src/MissionManager/MissionItemTest.cc b/src/MissionManager/MissionItemTest.cc
index 45546e5507690bbb85858f1dee1a069d80d1a2fb..e2df716a21666becdf2a51b15481984dd8d41e91 100644
--- a/src/MissionManager/MissionItemTest.cc
+++ b/src/MissionManager/MissionItemTest.cc
@@ -342,7 +342,7 @@ void MissionItemTest::_testLoadFromJsonV2(void)
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
- QJsonObject badCoordinateArray;
+ QJsonArray badCoordinateArray;
badCoordinateArray << -10.0 << -20.0 ;
badObject = jsonObject;
badObject.remove("coordinate");
@@ -351,7 +351,7 @@ void MissionItemTest::_testLoadFromJsonV2(void)
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
- QJsonObject badCoordinateArray_second;
+ QJsonArray badCoordinateArray_second;
badCoordinateArray_second << -10.0 << -20.0 << true;
badObject = jsonObject;
badObject.remove("coordinate");
@@ -360,9 +360,9 @@ void MissionItemTest::_testLoadFromJsonV2(void)
QVERIFY(!errorString.isEmpty());
qDebug() << errorString;
- QJsonObject badCoordinateArray2;
+ QJsonArray badCoordinateArray2;
badCoordinateArray2 << 1 << 2;
- QJsonObject badCoordinateArray_third;
+ QJsonArray badCoordinateArray_third;
badCoordinateArray_third << -10.0 << -20.0 << badCoordinateArray2;
badObject = jsonObject;
badObject.remove("coordinate");
@@ -412,7 +412,7 @@ void MissionItemTest::_testLoadFromJsonV3(void)
// Incorrect param count
badObject = jsonObject;
- QJsonObject rgParam = badObject[MissionItem::_jsonParamsKey].toArray();
+ QJsonArray rgParam = badObject[MissionItem::_jsonParamsKey].toArray();
rgParam.removeFirst();
badObject[MissionItem::_jsonParamsKey] = rgParam;
QCOMPARE(missionItem.load(badObject, _seq, errorString), false);
@@ -450,7 +450,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
SimpleMissionItem simpleMissionItem(_masterController, false /* flyView */, false /* forLoad */, nullptr);
QString errorString;
- QJsonObject coordinateArray;
+ QJsonArray coordinateArray;
QJsonObject jsonObject;
coordinateArray << -10.0 << -20.0 <<-30.0;
@@ -460,7 +460,7 @@ void MissionItemTest::_testSimpleLoadFromJson(void)
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
- QJsonObject rgParams = { 10, 20, 30, 40 };
+ QJsonArray rgParams = { 10, 20, 30, 40 };
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
QVERIFY(simpleMissionItem.load(jsonObject, _seq, errorString));
@@ -489,7 +489,7 @@ void MissionItemTest::_testSaveToJson(void)
QJsonObject MissionItemTest::_createV1Json(void)
{
QJsonObject jsonObject;
- QJsonObject coordinateArray;
+ QJsonArray coordinateArray;
coordinateArray << -10.0 << -20.0 <<-30.0;
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
@@ -508,7 +508,7 @@ QJsonObject MissionItemTest::_createV1Json(void)
QJsonObject MissionItemTest::_createV2Json(void)
{
QJsonObject jsonObject;
- QJsonObject coordinateArray;
+ QJsonArray coordinateArray;
coordinateArray << -10.0 << -20.0 <<-30.0;
jsonObject.insert(MissionItem::_jsonAutoContinueKey, true);
@@ -517,7 +517,7 @@ QJsonObject MissionItemTest::_createV2Json(void)
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
jsonObject.insert(MissionItem::_jsonCoordinateKey, coordinateArray);
- QJsonObject rgParams = { 10, 20, 30, 40 };
+ QJsonArray rgParams = { 10, 20, 30, 40 };
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
return jsonObject;
@@ -533,10 +533,10 @@ QJsonObject MissionItemTest::_createV3Json(bool allNaNs)
jsonObject.insert(VisualMissionItem::jsonTypeKey, VisualMissionItem::jsonTypeSimpleItemValue);
if (allNaNs) {
- QJsonObject rgParams = { NAN, NAN, NAN, NAN, NAN, NAN, NAN };
+ QJsonArray rgParams = { NAN, NAN, NAN, NAN, NAN, NAN, NAN };
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
} else {
- QJsonObject rgParams = { 10, 20, 30, 40, -10, -20, -30 };
+ QJsonArray rgParams = { 10, 20, 30, 40, -10, -20, -30 };
jsonObject.insert(MissionItem::_jsonParamsKey, rgParams);
}
diff --git a/src/MissionManager/MissionSettingsItem.cc b/src/MissionManager/MissionSettingsItem.cc
index 326eb86c3193dac48bddd0a874825e91464fbb7f..fceba9d1d7c34b75a0e4ed6bd455d087d30c7e1d 100644
--- a/src/MissionManager/MissionSettingsItem.cc
+++ b/src/MissionManager/MissionSettingsItem.cc
@@ -88,7 +88,7 @@ void MissionSettingsItem::setDirty(bool dirty)
}
}
-void MissionSettingsItem::save(QJsonObject& missionItems)
+void MissionSettingsItem::save(QJsonArray& missionItems)
{
QList<MissionItem*> items;
diff --git a/src/MissionManager/MissionSettingsItem.h b/src/MissionManager/MissionSettingsItem.h
index 824dea40d4051553b51a613d072ef139d6a91617..921225c088c4d23b9745cec290db9032f7d27c07 100644
--- a/src/MissionManager/MissionSettingsItem.h
+++ b/src/MissionManager/MissionSettingsItem.h
@@ -87,7 +87,7 @@ public:
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final; // Should only be called if the end user is moving
void setSequenceNumber (int sequenceNumber) final;
- void save (QJsonObject& missionItems) final;
+ void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final { return _plannedHomePositionCoordinate.altitude(); }
double amslExitAlt (void) const final { return amslEntryAlt(); }
double minAMSLAltitude (void) const final { return amslEntryAlt(); }
diff --git a/src/MissionManager/RallyPointController.cc b/src/MissionManager/RallyPointController.cc
index 8faa00d0e0a9c3a983a907ce8329e9d128a38c39..77be144488159873bc98485c35761ee0fd28f067 100644
--- a/src/MissionManager/RallyPointController.cc
+++ b/src/MissionManager/RallyPointController.cc
@@ -128,7 +128,7 @@ void RallyPointController::save(QJsonObject& json)
{
json[JsonHelper::jsonVersionKey] = _jsonCurrentVersion;
- QJsonObject rgPoints;
+ QJsonArray rgPoints;
QJsonValue jsonPoint;
for (int i=0; i<_points.count(); i++) {
JsonHelper::saveGeoCoordinate(qobject_cast<RallyPoint*>(_points[i])->coordinate(), true /* writeAltitude */, jsonPoint);
diff --git a/src/MissionManager/SimpleMissionItem.cc b/src/MissionManager/SimpleMissionItem.cc
index 14f1eff3b2abe73c68faba13b1cb79ede4552725..a1b4c70e8af9efabeffd875f30691885bc03d8e4 100644
--- a/src/MissionManager/SimpleMissionItem.cc
+++ b/src/MissionManager/SimpleMissionItem.cc
@@ -260,7 +260,7 @@ SimpleMissionItem::~SimpleMissionItem()
{
}
-void SimpleMissionItem::save(QJsonObject& missionItems)
+void SimpleMissionItem::save(QJsonArray& missionItems)
{
QList<MissionItem*> items;
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 6fd358bfecf82f4a60defa74ed717f797ae7b00e..fd33ad4c341f66166dba827f99bc46882c87e6bc 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -127,7 +127,7 @@ public:
void setCoordinate (const QGeoCoordinate& coordinate) override;
void setSequenceNumber (int sequenceNumber) final;
int lastSequenceNumber (void) const final;
- void save (QJsonObject& missionItems) final;
+ void save (QJsonArray& missionItems) final;
signals:
void commandChanged (int command);
diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc
index 580f1c28829a480531cbec72b98d01d6f414c5ad..db9d933c0c2d28f05f539abe9138d96b00f5d71b 100644
--- a/src/MissionManager/StructureScanComplexItem.cc
+++ b/src/MissionManager/StructureScanComplexItem.cc
@@ -177,7 +177,7 @@ void StructureScanComplexItem::setDirty(bool dirty)
}
}
-void StructureScanComplexItem::save(QJsonObject& missionItems)
+void StructureScanComplexItem::save(QJsonArray& missionItems)
{
QJsonObject saveObject;
diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h
index 93916b8d17bf47e501e5ade32859da53cb169fbd..d99f4d9f7165efac1a08cc4788893d0fac22a26e 100644
--- a/src/MissionManager/StructureScanComplexItem.h
+++ b/src/MissionManager/StructureScanComplexItem.h
@@ -94,7 +94,7 @@ public:
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
- void save (QJsonObject& missionItems) final;
+ void save (QJsonArray& missionItems) final;
double amslEntryAlt (void) const final;
double amslExitAlt (void) const final { return amslEntryAlt(); };
double minAMSLAltitude (void) const final;
diff --git a/src/MissionManager/StructureScanComplexItemTest.cc b/src/MissionManager/StructureScanComplexItemTest.cc
index 5fd8e51535d3b524f5ecdfc85bc51fa3e1134e57..db3c06e9a50d399f031b429f6d1e8e93053f3d4f 100644
--- a/src/MissionManager/StructureScanComplexItemTest.cc
+++ b/src/MissionManager/StructureScanComplexItemTest.cc
@@ -110,7 +110,7 @@ void StructureScanComplexItemTest::_testSaveLoad(void)
{
_initItem();
- QJsonObject items;
+ QJsonArray items;
_structureScanItem->save(items);
QString errorString;
diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc
index c5e7621d24d3d84b957fa7c0978434b1f3156fd0..3096dab60bb3f865fe3d0baca48b10699d4c4ef5 100644
--- a/src/MissionManager/SurveyComplexItem.cc
+++ b/src/MissionManager/SurveyComplexItem.cc
@@ -7,15 +7,16 @@
*
****************************************************************************/
+
#include "SurveyComplexItem.h"
-#include "AppSettings.h"
#include "JsonHelper.h"
#include "MissionController.h"
-#include "PlanMasterController.h"
-#include "QGCApplication.h"
#include "QGCGeo.h"
#include "QGCQGeoCoordinate.h"
#include "SettingsManager.h"
+#include "AppSettings.h"
+#include "PlanMasterController.h"
+#include "QGCApplication.h"
#include <QPolygonF>
@@ -23,1625 +24,1417 @@ QGC_LOGGING_CATEGORY(SurveyComplexItemLog, "SurveyComplexItemLog")
const QString SurveyComplexItem::name(tr("Survey"));
-const char *SurveyComplexItem::jsonComplexItemTypeValue = "survey";
-const char *SurveyComplexItem::jsonV3ComplexItemTypeValue = "survey";
-
-const char *SurveyComplexItem::settingsGroup = "Survey";
-const char *SurveyComplexItem::gridAngleName = "GridAngle";
-const char *SurveyComplexItem::gridEntryLocationName = "GridEntryLocation";
-const char *SurveyComplexItem::flyAlternateTransectsName =
- "FlyAlternateTransects";
-const char *SurveyComplexItem::splitConcavePolygonsName =
- "SplitConcavePolygons";
-
-const char *SurveyComplexItem::_jsonGridAngleKey = "angle";
-const char *SurveyComplexItem::_jsonEntryPointKey = "entryLocation";
-
-const char *SurveyComplexItem::_jsonV3GridObjectKey = "grid";
-const char *SurveyComplexItem::_jsonV3GridAltitudeKey = "altitude";
-const char *SurveyComplexItem::_jsonV3GridAltitudeRelativeKey =
- "relativeAltitude";
-const char *SurveyComplexItem::_jsonV3GridAngleKey = "angle";
-const char *SurveyComplexItem::_jsonV3GridSpacingKey = "spacing";
-const char *SurveyComplexItem::_jsonV3EntryPointKey = "entryLocation";
-const char *SurveyComplexItem::_jsonV3TurnaroundDistKey = "turnAroundDistance";
-const char *SurveyComplexItem::_jsonV3CameraTriggerDistanceKey =
- "cameraTriggerDistance";
-const char *SurveyComplexItem::_jsonV3CameraTriggerInTurnaroundKey =
- "cameraTriggerInTurnaround";
-const char *SurveyComplexItem::_jsonV3HoverAndCaptureKey = "hoverAndCapture";
-const char *SurveyComplexItem::_jsonV3GroundResolutionKey = "groundResolution";
-const char *SurveyComplexItem::_jsonV3FrontalOverlapKey = "imageFrontalOverlap";
-const char *SurveyComplexItem::_jsonV3SideOverlapKey = "imageSideOverlap";
-const char *SurveyComplexItem::_jsonV3CameraSensorWidthKey = "sensorWidth";
-const char *SurveyComplexItem::_jsonV3CameraSensorHeightKey = "sensorHeight";
-const char *SurveyComplexItem::_jsonV3CameraResolutionWidthKey =
- "resolutionWidth";
-const char *SurveyComplexItem::_jsonV3CameraResolutionHeightKey =
- "resolutionHeight";
-const char *SurveyComplexItem::_jsonV3CameraFocalLengthKey = "focalLength";
-const char *SurveyComplexItem::_jsonV3CameraMinTriggerIntervalKey =
- "minTriggerInterval";
-const char *SurveyComplexItem::_jsonV3CameraObjectKey = "camera";
-const char *SurveyComplexItem::_jsonV3CameraNameKey = "name";
-const char *SurveyComplexItem::_jsonV3ManualGridKey = "manualGrid";
-const char *SurveyComplexItem::_jsonV3CameraOrientationLandscapeKey =
- "orientationLandscape";
-const char *SurveyComplexItem::_jsonV3FixedValueIsAltitudeKey =
- "fixedValueIsAltitude";
-const char *SurveyComplexItem::_jsonV3Refly90DegreesKey = "refly90Degrees";
-const char *SurveyComplexItem::_jsonFlyAlternateTransectsKey =
- "flyAlternateTransects";
-const char *SurveyComplexItem::_jsonSplitConcavePolygonsKey =
- "splitConcavePolygons";
-
-SurveyComplexItem::SurveyComplexItem(PlanMasterController *masterController,
- bool flyView, const QString &kmlOrShpFile,
- QObject *parent)
- : TransectStyleComplexItem(masterController, flyView, settingsGroup,
- parent),
- _metaDataMap(FactMetaData::createMapFromJsonFile(
- QStringLiteral(":/json/Survey.SettingsGroup.json"), this)),
- _gridAngleFact(settingsGroup, _metaDataMap[gridAngleName]),
- _flyAlternateTransectsFact(settingsGroup,
- _metaDataMap[flyAlternateTransectsName]),
- _splitConcavePolygonsFact(settingsGroup,
- _metaDataMap[splitConcavePolygonsName]),
- _entryPoint(EntryLocationTopLeft) {
- _editorQml = "qrc:/qml/SurveyItemEditor.qml";
-
- // If the user hasn't changed turnaround from the default (which is a fixed
- // wing default) and we are multi-rotor set the multi-rotor default. NULL
- // check since object creation during unit testing passes NULL for vehicle
- if (_controllerVehicle && _controllerVehicle->multiRotor() &&
- _turnAroundDistanceFact.rawValue().toDouble() ==
- _turnAroundDistanceFact.rawDefaultValue().toDouble()) {
- // Note this is set to 10 meters to work around a problem with PX4 Pro
- // turnaround behavior. Don't change unless firmware gets better as well.
- _turnAroundDistanceFact.setRawValue(10);
- }
-
- if (_controllerVehicle &&
- !(_controllerVehicle->fixedWing() || _controllerVehicle->vtol())) {
- // Only fixed wing flight paths support alternate transects
- _flyAlternateTransectsFact.setRawValue(false);
- }
-
- // We override the altitude to the mission default
- if (_cameraCalc.isManualCamera() ||
- !_cameraCalc.valueSetIsDistance()->rawValue().toBool()) {
- _cameraCalc.distanceToSurface()->setRawValue(
- qgcApp()
- ->toolbox()
- ->settingsManager()
- ->appSettings()
- ->defaultMissionItemAltitude()
- ->rawValue());
- }
-
- connect(&_gridAngleFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_setDirty);
- connect(&_flyAlternateTransectsFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_setDirty);
- connect(&_splitConcavePolygonsFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_setDirty);
- connect(this, &SurveyComplexItem::refly90DegreesChanged, this,
- &SurveyComplexItem::_setDirty);
-
- connect(&_gridAngleFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_rebuildTransects);
- connect(&_flyAlternateTransectsFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_rebuildTransects);
- connect(&_splitConcavePolygonsFact, &Fact::valueChanged, this,
- &SurveyComplexItem::_rebuildTransects);
- connect(this, &SurveyComplexItem::refly90DegreesChanged, this,
- &SurveyComplexItem::_rebuildTransects);
-
- connect(&_surveyAreaPolygon, &QGCMapPolygon::isValidChanged, this,
- &SurveyComplexItem::_updateWizardMode);
- connect(&_surveyAreaPolygon, &QGCMapPolygon::traceModeChanged, this,
- &SurveyComplexItem::_updateWizardMode);
-
- if (!kmlOrShpFile.isEmpty()) {
- _surveyAreaPolygon.loadKMLOrSHPFile(kmlOrShpFile);
- _surveyAreaPolygon.setDirty(false);
- }
- setDirty(false);
-}
+const char* SurveyComplexItem::jsonComplexItemTypeValue = "survey";
+const char* SurveyComplexItem::jsonV3ComplexItemTypeValue = "survey";
+
+const char* SurveyComplexItem::settingsGroup = "Survey";
+const char* SurveyComplexItem::gridAngleName = "GridAngle";
+const char* SurveyComplexItem::gridEntryLocationName = "GridEntryLocation";
+const char* SurveyComplexItem::flyAlternateTransectsName = "FlyAlternateTransects";
+const char* SurveyComplexItem::splitConcavePolygonsName = "SplitConcavePolygons";
+
+const char* SurveyComplexItem::_jsonGridAngleKey = "angle";
+const char* SurveyComplexItem::_jsonEntryPointKey = "entryLocation";
+
+const char* SurveyComplexItem::_jsonV3GridObjectKey = "grid";
+const char* SurveyComplexItem::_jsonV3GridAltitudeKey = "altitude";
+const char* SurveyComplexItem::_jsonV3GridAltitudeRelativeKey = "relativeAltitude";
+const char* SurveyComplexItem::_jsonV3GridAngleKey = "angle";
+const char* SurveyComplexItem::_jsonV3GridSpacingKey = "spacing";
+const char* SurveyComplexItem::_jsonV3EntryPointKey = "entryLocation";
+const char* SurveyComplexItem::_jsonV3TurnaroundDistKey = "turnAroundDistance";
+const char* SurveyComplexItem::_jsonV3CameraTriggerDistanceKey = "cameraTriggerDistance";
+const char* SurveyComplexItem::_jsonV3CameraTriggerInTurnaroundKey = "cameraTriggerInTurnaround";
+const char* SurveyComplexItem::_jsonV3HoverAndCaptureKey = "hoverAndCapture";
+const char* SurveyComplexItem::_jsonV3GroundResolutionKey = "groundResolution";
+const char* SurveyComplexItem::_jsonV3FrontalOverlapKey = "imageFrontalOverlap";
+const char* SurveyComplexItem::_jsonV3SideOverlapKey = "imageSideOverlap";
+const char* SurveyComplexItem::_jsonV3CameraSensorWidthKey = "sensorWidth";
+const char* SurveyComplexItem::_jsonV3CameraSensorHeightKey = "sensorHeight";
+const char* SurveyComplexItem::_jsonV3CameraResolutionWidthKey = "resolutionWidth";
+const char* SurveyComplexItem::_jsonV3CameraResolutionHeightKey = "resolutionHeight";
+const char* SurveyComplexItem::_jsonV3CameraFocalLengthKey = "focalLength";
+const char* SurveyComplexItem::_jsonV3CameraMinTriggerIntervalKey = "minTriggerInterval";
+const char* SurveyComplexItem::_jsonV3CameraObjectKey = "camera";
+const char* SurveyComplexItem::_jsonV3CameraNameKey = "name";
+const char* SurveyComplexItem::_jsonV3ManualGridKey = "manualGrid";
+const char* SurveyComplexItem::_jsonV3CameraOrientationLandscapeKey = "orientationLandscape";
+const char* SurveyComplexItem::_jsonV3FixedValueIsAltitudeKey = "fixedValueIsAltitude";
+const char* SurveyComplexItem::_jsonV3Refly90DegreesKey = "refly90Degrees";
+const char* SurveyComplexItem::_jsonFlyAlternateTransectsKey = "flyAlternateTransects";
+const char* SurveyComplexItem::_jsonSplitConcavePolygonsKey = "splitConcavePolygons";
+
+SurveyComplexItem::SurveyComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrShpFile, QObject* parent)
+ : TransectStyleComplexItem (masterController, flyView, settingsGroup, parent)
+ , _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
+ , _gridAngleFact (settingsGroup, _metaDataMap[gridAngleName])
+ , _flyAlternateTransectsFact(settingsGroup, _metaDataMap[flyAlternateTransectsName])
+ , _splitConcavePolygonsFact (settingsGroup, _metaDataMap[splitConcavePolygonsName])
+ , _entryPoint (EntryLocationTopLeft)
+{
+ _editorQml = "qrc:/qml/SurveyItemEditor.qml";
+
+ // If the user hasn't changed turnaround from the default (which is a fixed wing default) and we are multi-rotor set the multi-rotor default.
+ // NULL check since object creation during unit testing passes NULL for vehicle
+ if (_controllerVehicle && _controllerVehicle->multiRotor() && _turnAroundDistanceFact.rawValue().toDouble() == _turnAroundDistanceFact.rawDefaultValue().toDouble()) {
+ // Note this is set to 10 meters to work around a problem with PX4 Pro turnaround behavior. Don't change unless firmware gets better as well.
+ _turnAroundDistanceFact.setRawValue(10);
+ }
-void SurveyComplexItem::save(QJsonObject &planItems) {
- QJsonObject saveObject;
+ if (_controllerVehicle && !(_controllerVehicle->fixedWing() || _controllerVehicle->vtol())) {
+ // Only fixed wing flight paths support alternate transects
+ _flyAlternateTransectsFact.setRawValue(false);
+ }
+
+ // We override the altitude to the mission default
+ if (_cameraCalc.isManualCamera() || !_cameraCalc.valueSetIsDistance()->rawValue().toBool()) {
+ _cameraCalc.distanceToSurface()->setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
+ }
+
+ connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
+ connect(&_flyAlternateTransectsFact,&Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
+ connect(&_splitConcavePolygonsFact, &Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
+ connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_setDirty);
- _saveWorker(saveObject);
- planItems.append(saveObject);
+ connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects);
+ connect(&_flyAlternateTransectsFact,&Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects);
+ connect(&_splitConcavePolygonsFact, &Fact::valueChanged, this, &SurveyComplexItem::_rebuildTransects);
+ connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_rebuildTransects);
+
+ connect(&_surveyAreaPolygon, &QGCMapPolygon::isValidChanged, this, &SurveyComplexItem::_updateWizardMode);
+ connect(&_surveyAreaPolygon, &QGCMapPolygon::traceModeChanged, this, &SurveyComplexItem::_updateWizardMode);
+
+ if (!kmlOrShpFile.isEmpty()) {
+ _surveyAreaPolygon.loadKMLOrSHPFile(kmlOrShpFile);
+ _surveyAreaPolygon.setDirty(false);
+ }
+ setDirty(false);
}
-void SurveyComplexItem::savePreset(const QString &name) {
- QJsonObject saveObject;
+void SurveyComplexItem::save(QJsonArray& planItems)
+{
+ QJsonObject saveObject;
- _saveWorker(saveObject);
- _savePresetJson(name, saveObject);
+ _saveWorker(saveObject);
+ planItems.append(saveObject);
}
-void SurveyComplexItem::_saveWorker(QJsonObject &saveObject) {
- TransectStyleComplexItem::_save(saveObject);
-
- saveObject[JsonHelper::jsonVersionKey] = 5;
- saveObject[VisualMissionItem::jsonTypeKey] =
- VisualMissionItem::jsonTypeComplexItemValue;
- saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =
- jsonComplexItemTypeValue;
- saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
- saveObject[_jsonFlyAlternateTransectsKey] =
- _flyAlternateTransectsFact.rawValue().toBool();
- saveObject[_jsonSplitConcavePolygonsKey] =
- _splitConcavePolygonsFact.rawValue().toBool();
- saveObject[_jsonEntryPointKey] = _entryPoint;
-
- // Polygon shape
- _surveyAreaPolygon.saveToJson(saveObject);
+void SurveyComplexItem::savePreset(const QString& name)
+{
+ QJsonObject saveObject;
+
+ _saveWorker(saveObject);
+ _savePresetJson(name, saveObject);
}
-void SurveyComplexItem::loadPreset(const QString &name) {
- QString errorString;
-
- QJsonObject presetObject = _loadPresetJson(name);
- if (!_loadV4V5(presetObject, 0, errorString, 5, true /* forPresets */)) {
- qgcApp()->showAppMessage(
- QStringLiteral("Internal Error: Preset load failed. Name: %1 Error: %2")
- .arg(name)
- .arg(errorString));
- }
- _rebuildTransects();
+void SurveyComplexItem::_saveWorker(QJsonObject& saveObject)
+{
+ TransectStyleComplexItem::_save(saveObject);
+
+ saveObject[JsonHelper::jsonVersionKey] = 5;
+ saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
+ saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
+ saveObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
+ saveObject[_jsonFlyAlternateTransectsKey] = _flyAlternateTransectsFact.rawValue().toBool();
+ saveObject[_jsonSplitConcavePolygonsKey] = _splitConcavePolygonsFact.rawValue().toBool();
+ saveObject[_jsonEntryPointKey] = _entryPoint;
+
+ // Polygon shape
+ _surveyAreaPolygon.saveToJson(saveObject);
}
-bool SurveyComplexItem::load(const QJsonObject &complexObject,
- int sequenceNumber, QString &errorString) {
- // We need to pull version first to determine what validation/conversion needs
- // to be performed
- QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
- {JsonHelper::jsonVersionKey, QJsonValue::Double, true},
- };
- if (!JsonHelper::validateKeys(complexObject, versionKeyInfoList,
- errorString)) {
- return false;
- }
-
- int version = complexObject[JsonHelper::jsonVersionKey].toInt();
- if (version < 2 || version > 5) {
- errorString = tr("Survey items do not support version %1").arg(version);
- return false;
- }
-
- if (version == 4 || version == 5) {
- if (!_loadV4V5(complexObject, sequenceNumber, errorString, version,
- false /* forPresets */)) {
- 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;
- if (version == 2) {
- // Convert to v3
- if (v3ComplexObject.contains(VisualMissionItem::jsonTypeKey) &&
- v3ComplexObject[VisualMissionItem::jsonTypeKey].toString() ==
- QStringLiteral("survey")) {
- v3ComplexObject[VisualMissionItem::jsonTypeKey] =
- VisualMissionItem::jsonTypeComplexItemValue;
- v3ComplexObject[ComplexMissionItem::jsonComplexItemTypeKey] =
- jsonComplexItemTypeValue;
- }
- }
- if (!_loadV3(complexObject, sequenceNumber, errorString)) {
- return false;
- }
-
- // V2/3 doesn't include individual items so we need to rebuild manually
+void SurveyComplexItem::loadPreset(const QString& name)
+{
+ QString errorString;
+
+ QJsonObject presetObject = _loadPresetJson(name);
+ if (!_loadV4V5(presetObject, 0, errorString, 5, true /* forPresets */)) {
+ qgcApp()->showAppMessage(QStringLiteral("Internal Error: Preset load failed. Name: %1 Error: %2").arg(name).arg(errorString));
+ }
_rebuildTransects();
- }
+}
+
+bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
+{
+ // We need to pull version first to determine what validation/conversion needs to be performed
+ QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
+ { JsonHelper::jsonVersionKey, QJsonValue::Double, true },
+ };
+ if (!JsonHelper::validateKeys(complexObject, versionKeyInfoList, errorString)) {
+ return false;
+ }
+
+ int version = complexObject[JsonHelper::jsonVersionKey].toInt();
+ if (version < 2 || version > 5) {
+ errorString = tr("Survey items do not support version %1").arg(version);
+ return false;
+ }
+
+ if (version == 4 || version == 5) {
+ if (!_loadV4V5(complexObject, sequenceNumber, errorString, version, false /* forPresets */)) {
+ 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;
+ if (version == 2) {
+ // Convert to v3
+ if (v3ComplexObject.contains(VisualMissionItem::jsonTypeKey) && v3ComplexObject[VisualMissionItem::jsonTypeKey].toString() == QStringLiteral("survey")) {
+ v3ComplexObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
+ v3ComplexObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
+ }
+ }
+ if (!_loadV3(complexObject, sequenceNumber, errorString)) {
+ return false;
+ }
+
+ // V2/3 doesn't include individual items so we need to rebuild manually
+ _rebuildTransects();
+ }
- return true;
+ return true;
}
-bool SurveyComplexItem::_loadV4V5(const QJsonObject &complexObject,
- int sequenceNumber, QString &errorString,
- int version, bool forPresets) {
- QList<JsonHelper::KeyValidateInfo> keyInfoList = {
- {VisualMissionItem::jsonTypeKey, QJsonValue::String, true},
- {ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true},
- {_jsonEntryPointKey, QJsonValue::Double, true},
- {_jsonGridAngleKey, QJsonValue::Double, true},
- {_jsonFlyAlternateTransectsKey, QJsonValue::Bool, false},
- };
-
- if (version == 5) {
- JsonHelper::KeyValidateInfo jSplitPolygon = {_jsonSplitConcavePolygonsKey,
- QJsonValue::Bool, true};
- keyInfoList.append(jSplitPolygon);
- }
-
- if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
- return false;
- }
-
- QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
- QString complexType =
- complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
- if (itemType != VisualMissionItem::jsonTypeComplexItemValue ||
- complexType != jsonComplexItemTypeValue) {
- errorString =
- tr("%1 does not support loading this complex mission item type: %2:%3")
- .arg(qgcApp()->applicationName())
- .arg(itemType)
- .arg(complexType);
- return false;
- }
-
- _ignoreRecalc = !forPresets;
-
- if (!forPresets) {
- setSequenceNumber(sequenceNumber);
+bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version, bool forPresets)
+{
+ QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+ { VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
+ { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
+ { _jsonEntryPointKey, QJsonValue::Double, true },
+ { _jsonGridAngleKey, QJsonValue::Double, true },
+ { _jsonFlyAlternateTransectsKey, QJsonValue::Bool, false },
+ };
- if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */,
- errorString)) {
- _surveyAreaPolygon.clear();
- return false;
+ if(version == 5) {
+ JsonHelper::KeyValidateInfo jSplitPolygon = { _jsonSplitConcavePolygonsKey, QJsonValue::Bool, true };
+ keyInfoList.append(jSplitPolygon);
}
- }
- if (!TransectStyleComplexItem::_load(complexObject, forPresets,
- errorString)) {
- _ignoreRecalc = false;
- return false;
- }
+ if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
+ return false;
+ }
- _gridAngleFact.setRawValue(complexObject[_jsonGridAngleKey].toDouble());
- _flyAlternateTransectsFact.setRawValue(
- complexObject[_jsonFlyAlternateTransectsKey].toBool(false));
+ QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
+ QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
+ if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonComplexItemTypeValue) {
+ errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType);
+ return false;
+ }
- if (version == 5) {
- _splitConcavePolygonsFact.setRawValue(
- complexObject[_jsonSplitConcavePolygonsKey].toBool(true));
- }
+ _ignoreRecalc = !forPresets;
- _entryPoint = complexObject[_jsonEntryPointKey].toInt();
+ if (!forPresets) {
+ setSequenceNumber(sequenceNumber);
- _ignoreRecalc = false;
+ if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
+ _surveyAreaPolygon.clear();
+ return false;
+ }
+ }
- return true;
-}
+ if (!TransectStyleComplexItem::_load(complexObject, forPresets, errorString)) {
+ _ignoreRecalc = false;
+ return false;
+ }
+
+ _gridAngleFact.setRawValue (complexObject[_jsonGridAngleKey].toDouble());
+ _flyAlternateTransectsFact.setRawValue (complexObject[_jsonFlyAlternateTransectsKey].toBool(false));
+
+ if (version == 5) {
+ _splitConcavePolygonsFact.setRawValue (complexObject[_jsonSplitConcavePolygonsKey].toBool(true));
+ }
+
+ _entryPoint = complexObject[_jsonEntryPointKey].toInt();
-bool SurveyComplexItem::_loadV3(const QJsonObject &complexObject,
- int sequenceNumber, QString &errorString) {
- QList<JsonHelper::KeyValidateInfo> mainKeyInfoList = {
- {VisualMissionItem::jsonTypeKey, QJsonValue::String, true},
- {ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true},
- {QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true},
- {_jsonV3GridObjectKey, QJsonValue::Object, true},
- {_jsonV3CameraObjectKey, QJsonValue::Object, false},
- {_jsonV3CameraTriggerDistanceKey, QJsonValue::Double, true},
- {_jsonV3ManualGridKey, QJsonValue::Bool, true},
- {_jsonV3FixedValueIsAltitudeKey, QJsonValue::Bool, true},
- {_jsonV3HoverAndCaptureKey, QJsonValue::Bool, false},
- {_jsonV3Refly90DegreesKey, QJsonValue::Bool, false},
- {_jsonV3CameraTriggerInTurnaroundKey, QJsonValue::Bool,
- false}, // Should really be required, but it was missing from initial
- // code due to bug
- };
- if (!JsonHelper::validateKeys(complexObject, mainKeyInfoList, errorString)) {
- return false;
- }
-
- QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
- QString complexType =
- complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
- if (itemType != VisualMissionItem::jsonTypeComplexItemValue ||
- complexType != jsonV3ComplexItemTypeValue) {
- errorString =
- tr("%1 does not support loading this complex mission item type: %2:%3")
- .arg(qgcApp()->applicationName())
- .arg(itemType)
- .arg(complexType);
- return false;
- }
-
- _ignoreRecalc = true;
-
- setSequenceNumber(sequenceNumber);
-
- _hoverAndCaptureFact.setRawValue(
- complexObject[_jsonV3HoverAndCaptureKey].toBool(false));
- _refly90DegreesFact.setRawValue(
- complexObject[_jsonV3Refly90DegreesKey].toBool(false));
- _cameraTriggerInTurnAroundFact.setRawValue(
- complexObject[_jsonV3CameraTriggerInTurnaroundKey].toBool(true));
-
- _cameraCalc.valueSetIsDistance()->setRawValue(
- complexObject[_jsonV3FixedValueIsAltitudeKey].toBool(true));
- _cameraCalc.setDistanceToSurfaceRelative(
- complexObject[_jsonV3GridAltitudeRelativeKey].toBool(true));
-
- bool manualGrid = complexObject[_jsonV3ManualGridKey].toBool(true);
-
- QList<JsonHelper::KeyValidateInfo> gridKeyInfoList = {
- {_jsonV3GridAltitudeKey, QJsonValue::Double, true},
- {_jsonV3GridAltitudeRelativeKey, QJsonValue::Bool, true},
- {_jsonV3GridAngleKey, QJsonValue::Double, true},
- {_jsonV3GridSpacingKey, QJsonValue::Double, true},
- {_jsonEntryPointKey, QJsonValue::Double, false},
- {_jsonV3TurnaroundDistKey, QJsonValue::Double, true},
- };
- QJsonObject gridObject = complexObject[_jsonV3GridObjectKey].toObject();
- if (!JsonHelper::validateKeys(gridObject, gridKeyInfoList, errorString)) {
_ignoreRecalc = false;
- return false;
- }
-
- _gridAngleFact.setRawValue(gridObject[_jsonV3GridAngleKey].toDouble());
- _turnAroundDistanceFact.setRawValue(
- gridObject[_jsonV3TurnaroundDistKey].toDouble());
-
- if (gridObject.contains(_jsonEntryPointKey)) {
- _entryPoint = gridObject[_jsonEntryPointKey].toInt();
- } else {
- _entryPoint = EntryLocationTopRight;
- }
-
- _cameraCalc.distanceToSurface()->setRawValue(
- gridObject[_jsonV3GridAltitudeKey].toDouble());
- _cameraCalc.adjustedFootprintSide()->setRawValue(
- gridObject[_jsonV3GridSpacingKey].toDouble());
- _cameraCalc.adjustedFootprintFrontal()->setRawValue(
- complexObject[_jsonV3CameraTriggerDistanceKey].toDouble());
-
- if (manualGrid) {
- _cameraCalc.setCameraBrand(CameraCalc::canonicalManualCameraName());
- } else {
- if (!complexObject.contains(_jsonV3CameraObjectKey)) {
- errorString = tr("%1 but %2 object is missing")
- .arg("manualGrid = false")
- .arg("camera");
- _ignoreRecalc = false;
- return false;
- }
-
- QJsonObject cameraObject = complexObject[_jsonV3CameraObjectKey].toObject();
-
- // Older code had typo on "imageSideOverlap" incorrectly being
- // "imageSizeOverlap"
- QString incorrectImageSideOverlap = "imageSizeOverlap";
- if (cameraObject.contains(incorrectImageSideOverlap)) {
- cameraObject[_jsonV3SideOverlapKey] =
- cameraObject[incorrectImageSideOverlap];
- cameraObject.remove(incorrectImageSideOverlap);
- }
-
- QList<JsonHelper::KeyValidateInfo> cameraKeyInfoList = {
- {_jsonV3GroundResolutionKey, QJsonValue::Double, true},
- {_jsonV3FrontalOverlapKey, QJsonValue::Double, true},
- {_jsonV3SideOverlapKey, QJsonValue::Double, true},
- {_jsonV3CameraSensorWidthKey, QJsonValue::Double, true},
- {_jsonV3CameraSensorHeightKey, QJsonValue::Double, true},
- {_jsonV3CameraResolutionWidthKey, QJsonValue::Double, true},
- {_jsonV3CameraResolutionHeightKey, QJsonValue::Double, true},
- {_jsonV3CameraFocalLengthKey, QJsonValue::Double, true},
- {_jsonV3CameraNameKey, QJsonValue::String, true},
- {_jsonV3CameraOrientationLandscapeKey, QJsonValue::Bool, true},
- {_jsonV3CameraMinTriggerIntervalKey, QJsonValue::Double, false},
+
+ return true;
+}
+
+bool SurveyComplexItem::_loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
+{
+ QList<JsonHelper::KeyValidateInfo> mainKeyInfoList = {
+ { VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
+ { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
+ { QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
+ { _jsonV3GridObjectKey, QJsonValue::Object, true },
+ { _jsonV3CameraObjectKey, QJsonValue::Object, false },
+ { _jsonV3CameraTriggerDistanceKey, QJsonValue::Double, true },
+ { _jsonV3ManualGridKey, QJsonValue::Bool, true },
+ { _jsonV3FixedValueIsAltitudeKey, QJsonValue::Bool, true },
+ { _jsonV3HoverAndCaptureKey, QJsonValue::Bool, false },
+ { _jsonV3Refly90DegreesKey, QJsonValue::Bool, false },
+ { _jsonV3CameraTriggerInTurnaroundKey, QJsonValue::Bool, false }, // Should really be required, but it was missing from initial code due to bug
};
- if (!JsonHelper::validateKeys(cameraObject, cameraKeyInfoList,
- errorString)) {
- _ignoreRecalc = false;
- return false;
- }
-
- _cameraCalc.landscape()->setRawValue(
- cameraObject[_jsonV3CameraOrientationLandscapeKey].toBool(true));
- _cameraCalc.frontalOverlap()->setRawValue(
- cameraObject[_jsonV3FrontalOverlapKey].toInt());
- _cameraCalc.sideOverlap()->setRawValue(
- cameraObject[_jsonV3SideOverlapKey].toInt());
- _cameraCalc.sensorWidth()->setRawValue(
- cameraObject[_jsonV3CameraSensorWidthKey].toDouble());
- _cameraCalc.sensorHeight()->setRawValue(
- cameraObject[_jsonV3CameraSensorHeightKey].toDouble());
- _cameraCalc.focalLength()->setRawValue(
- cameraObject[_jsonV3CameraFocalLengthKey].toDouble());
- _cameraCalc.imageWidth()->setRawValue(
- cameraObject[_jsonV3CameraResolutionWidthKey].toInt());
- _cameraCalc.imageHeight()->setRawValue(
- cameraObject[_jsonV3CameraResolutionHeightKey].toInt());
- _cameraCalc.minTriggerInterval()->setRawValue(
- cameraObject[_jsonV3CameraMinTriggerIntervalKey].toDouble(0));
- _cameraCalc.imageDensity()->setRawValue(
- cameraObject[_jsonV3GroundResolutionKey].toDouble());
- _cameraCalc.fixedOrientation()->setRawValue(false);
- _cameraCalc._setCameraNameFromV3TransectLoad(
- cameraObject[_jsonV3CameraNameKey].toString());
- }
-
- // Polygon shape
- /// Load a polygon from json
- /// @param json Json object to load from
- /// @param required true: no polygon in object will generate error
- /// @param errorString Error string if return is false
- /// @return true: success, false: failure (errorString set)
- if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */,
- errorString)) {
- _surveyAreaPolygon.clear();
- _ignoreRecalc = false;
- return false;
- }
+ if (!JsonHelper::validateKeys(complexObject, mainKeyInfoList, errorString)) {
+ return false;
+ }
+
+ QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
+ QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
+ if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonV3ComplexItemTypeValue) {
+ errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType);
+ return false;
+ }
+
+ _ignoreRecalc = true;
+
+ setSequenceNumber(sequenceNumber);
+
+ _hoverAndCaptureFact.setRawValue (complexObject[_jsonV3HoverAndCaptureKey].toBool(false));
+ _refly90DegreesFact.setRawValue (complexObject[_jsonV3Refly90DegreesKey].toBool(false));
+ _cameraTriggerInTurnAroundFact.setRawValue (complexObject[_jsonV3CameraTriggerInTurnaroundKey].toBool(true));
+
+ _cameraCalc.valueSetIsDistance()->setRawValue (complexObject[_jsonV3FixedValueIsAltitudeKey].toBool(true));
+ _cameraCalc.setDistanceToSurfaceRelative (complexObject[_jsonV3GridAltitudeRelativeKey].toBool(true));
+
+ bool manualGrid = complexObject[_jsonV3ManualGridKey].toBool(true);
+
+ QList<JsonHelper::KeyValidateInfo> gridKeyInfoList = {
+ { _jsonV3GridAltitudeKey, QJsonValue::Double, true },
+ { _jsonV3GridAltitudeRelativeKey, QJsonValue::Bool, true },
+ { _jsonV3GridAngleKey, QJsonValue::Double, true },
+ { _jsonV3GridSpacingKey, QJsonValue::Double, true },
+ { _jsonEntryPointKey, QJsonValue::Double, false },
+ { _jsonV3TurnaroundDistKey, QJsonValue::Double, true },
+ };
+ QJsonObject gridObject = complexObject[_jsonV3GridObjectKey].toObject();
+ if (!JsonHelper::validateKeys(gridObject, gridKeyInfoList, errorString)) {
+ _ignoreRecalc = false;
+ return false;
+ }
+
+ _gridAngleFact.setRawValue (gridObject[_jsonV3GridAngleKey].toDouble());
+ _turnAroundDistanceFact.setRawValue (gridObject[_jsonV3TurnaroundDistKey].toDouble());
+
+ if (gridObject.contains(_jsonEntryPointKey)) {
+ _entryPoint = gridObject[_jsonEntryPointKey].toInt();
+ } else {
+ _entryPoint = EntryLocationTopRight;
+ }
+
+ _cameraCalc.distanceToSurface()->setRawValue (gridObject[_jsonV3GridAltitudeKey].toDouble());
+ _cameraCalc.adjustedFootprintSide()->setRawValue (gridObject[_jsonV3GridSpacingKey].toDouble());
+ _cameraCalc.adjustedFootprintFrontal()->setRawValue (complexObject[_jsonV3CameraTriggerDistanceKey].toDouble());
+
+ if (manualGrid) {
+ _cameraCalc.setCameraBrand(CameraCalc::canonicalManualCameraName());
+ } else {
+ if (!complexObject.contains(_jsonV3CameraObjectKey)) {
+ errorString = tr("%1 but %2 object is missing").arg("manualGrid = false").arg("camera");
+ _ignoreRecalc = false;
+ return false;
+ }
+
+ QJsonObject cameraObject = complexObject[_jsonV3CameraObjectKey].toObject();
+
+ // Older code had typo on "imageSideOverlap" incorrectly being "imageSizeOverlap"
+ QString incorrectImageSideOverlap = "imageSizeOverlap";
+ if (cameraObject.contains(incorrectImageSideOverlap)) {
+ cameraObject[_jsonV3SideOverlapKey] = cameraObject[incorrectImageSideOverlap];
+ cameraObject.remove(incorrectImageSideOverlap);
+ }
- _ignoreRecalc = false;
+ QList<JsonHelper::KeyValidateInfo> cameraKeyInfoList = {
+ { _jsonV3GroundResolutionKey, QJsonValue::Double, true },
+ { _jsonV3FrontalOverlapKey, QJsonValue::Double, true },
+ { _jsonV3SideOverlapKey, QJsonValue::Double, true },
+ { _jsonV3CameraSensorWidthKey, QJsonValue::Double, true },
+ { _jsonV3CameraSensorHeightKey, QJsonValue::Double, true },
+ { _jsonV3CameraResolutionWidthKey, QJsonValue::Double, true },
+ { _jsonV3CameraResolutionHeightKey, QJsonValue::Double, true },
+ { _jsonV3CameraFocalLengthKey, QJsonValue::Double, true },
+ { _jsonV3CameraNameKey, QJsonValue::String, true },
+ { _jsonV3CameraOrientationLandscapeKey, QJsonValue::Bool, true },
+ { _jsonV3CameraMinTriggerIntervalKey, QJsonValue::Double, false },
+ };
+ if (!JsonHelper::validateKeys(cameraObject, cameraKeyInfoList, errorString)) {
+ _ignoreRecalc = false;
+ return false;
+ }
+
+ _cameraCalc.landscape()->setRawValue (cameraObject[_jsonV3CameraOrientationLandscapeKey].toBool(true));
+ _cameraCalc.frontalOverlap()->setRawValue (cameraObject[_jsonV3FrontalOverlapKey].toInt());
+ _cameraCalc.sideOverlap()->setRawValue (cameraObject[_jsonV3SideOverlapKey].toInt());
+ _cameraCalc.sensorWidth()->setRawValue (cameraObject[_jsonV3CameraSensorWidthKey].toDouble());
+ _cameraCalc.sensorHeight()->setRawValue (cameraObject[_jsonV3CameraSensorHeightKey].toDouble());
+ _cameraCalc.focalLength()->setRawValue (cameraObject[_jsonV3CameraFocalLengthKey].toDouble());
+ _cameraCalc.imageWidth()->setRawValue (cameraObject[_jsonV3CameraResolutionWidthKey].toInt());
+ _cameraCalc.imageHeight()->setRawValue (cameraObject[_jsonV3CameraResolutionHeightKey].toInt());
+ _cameraCalc.minTriggerInterval()->setRawValue (cameraObject[_jsonV3CameraMinTriggerIntervalKey].toDouble(0));
+ _cameraCalc.imageDensity()->setRawValue (cameraObject[_jsonV3GroundResolutionKey].toDouble());
+ _cameraCalc.fixedOrientation()->setRawValue (false);
+ _cameraCalc._setCameraNameFromV3TransectLoad (cameraObject[_jsonV3CameraNameKey].toString());
+ }
+
+ // Polygon shape
+ /// Load a polygon from json
+ /// @param json Json object to load from
+ /// @param required true: no polygon in object will generate error
+ /// @param errorString Error string if return is false
+ /// @return true: success, false: failure (errorString set)
+ if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
+ _surveyAreaPolygon.clear();
+ _ignoreRecalc = false;
+ return false;
+ }
+
+ _ignoreRecalc = false;
- return true;
+ return true;
}
-/// Reverse the order of the transects. First transect becomes last and so
-/// forth.
-void SurveyComplexItem::_reverseTransectOrder(
- QList<QList<QGeoCoordinate>> &transects) {
- QList<QList<QGeoCoordinate>> rgReversedTransects;
- for (int i = transects.count() - 1; i >= 0; i--) {
- rgReversedTransects.append(transects[i]);
- }
- transects = rgReversedTransects;
+/// Reverse the order of the transects. First transect becomes last and so forth.
+void SurveyComplexItem::_reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects)
+{
+ QList<QList<QGeoCoordinate>> rgReversedTransects;
+ for (int i=transects.count() - 1; i>=0; i--) {
+ rgReversedTransects.append(transects[i]);
+ }
+ transects = rgReversedTransects;
}
-/// Reverse the order of all points withing each transect, First point becomes
-/// last and so forth.
-void SurveyComplexItem::_reverseInternalTransectPoints(
- QList<QList<QGeoCoordinate>> &transects) {
- for (int i = 0; i < transects.count(); i++) {
- QList<QGeoCoordinate> rgReversedCoords;
- QList<QGeoCoordinate> &rgOriginalCoords = transects[i];
- for (int j = rgOriginalCoords.count() - 1; j >= 0; j--) {
- rgReversedCoords.append(rgOriginalCoords[j]);
- }
- transects[i] = rgReversedCoords;
- }
+/// Reverse the order of all points withing each transect, First point becomes last and so forth.
+void SurveyComplexItem::_reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects)
+{
+ for (int i=0; i<transects.count(); i++) {
+ QList<QGeoCoordinate> rgReversedCoords;
+ QList<QGeoCoordinate>& rgOriginalCoords = transects[i];
+ for (int j=rgOriginalCoords.count()-1; j>=0; j--) {
+ rgReversedCoords.append(rgOriginalCoords[j]);
+ }
+ transects[i] = rgReversedCoords;
+ }
}
-/// Reorders the transects such that the first transect is the shortest distance
-/// to the specified coordinate and the first point within that transect is the
-/// shortest distance to the specified coordinate.
+/// Reorders the transects such that the first transect is the shortest distance to the specified coordinate
+/// and the first point within that transect is the shortest distance to the specified coordinate.
/// @param distanceCoord Coordinate to measure distance against
/// @param transects Transects to test and reorder
-void SurveyComplexItem::_optimizeTransectsForShortestDistance(
- const QGeoCoordinate &distanceCoord,
- QList<QList<QGeoCoordinate>> &transects) {
- double rgTransectDistance[4];
- rgTransectDistance[0] = transects.first().first().distanceTo(distanceCoord);
- rgTransectDistance[1] = transects.first().last().distanceTo(distanceCoord);
- rgTransectDistance[2] = transects.last().first().distanceTo(distanceCoord);
- rgTransectDistance[3] = transects.last().last().distanceTo(distanceCoord);
-
- int shortestIndex = 0;
- double shortestDistance = rgTransectDistance[0];
- for (int i = 1; i < 3; i++) {
- if (rgTransectDistance[i] < shortestDistance) {
- shortestIndex = i;
- shortestDistance = rgTransectDistance[i];
- }
- }
-
- if (shortestIndex > 1) {
- // We need to reverse the order of segments
- _reverseTransectOrder(transects);
- }
- if (shortestIndex & 1) {
- // We need to reverse the points within each segment
- _reverseInternalTransectPoints(transects);
- }
+void SurveyComplexItem::_optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects)
+{
+ double rgTransectDistance[4];
+ rgTransectDistance[0] = transects.first().first().distanceTo(distanceCoord);
+ rgTransectDistance[1] = transects.first().last().distanceTo(distanceCoord);
+ rgTransectDistance[2] = transects.last().first().distanceTo(distanceCoord);
+ rgTransectDistance[3] = transects.last().last().distanceTo(distanceCoord);
+
+ int shortestIndex = 0;
+ double shortestDistance = rgTransectDistance[0];
+ for (int i=1; i<3; i++) {
+ if (rgTransectDistance[i] < shortestDistance) {
+ shortestIndex = i;
+ shortestDistance = rgTransectDistance[i];
+ }
+ }
+
+ if (shortestIndex > 1) {
+ // We need to reverse the order of segments
+ _reverseTransectOrder(transects);
+ }
+ if (shortestIndex & 1) {
+ // We need to reverse the points within each segment
+ _reverseInternalTransectPoints(transects);
+ }
}
-qreal SurveyComplexItem::_ccw(QPointF pt1, QPointF pt2, QPointF pt3) {
- return (pt2.x() - pt1.x()) * (pt3.y() - pt1.y()) -
- (pt2.y() - pt1.y()) * (pt3.x() - pt1.x());
+qreal SurveyComplexItem::_ccw(QPointF pt1, QPointF pt2, QPointF pt3)
+{
+ return (pt2.x()-pt1.x())*(pt3.y()-pt1.y()) - (pt2.y()-pt1.y())*(pt3.x()-pt1.x());
}
-qreal SurveyComplexItem::_dp(QPointF pt1, QPointF pt2) {
- return (pt2.x() - pt1.x()) / qSqrt((pt2.x() - pt1.x()) * (pt2.x() - pt1.x()) +
- (pt2.y() - pt1.y()) * (pt2.y() - pt1.y()));
+qreal SurveyComplexItem::_dp(QPointF pt1, QPointF pt2)
+{
+ return (pt2.x()-pt1.x())/qSqrt((pt2.x()-pt1.x())*(pt2.x()-pt1.x()) + (pt2.y()-pt1.y())*(pt2.y()-pt1.y()));
}
-void SurveyComplexItem::_swapPoints(QList<QPointF> &points, int index1,
- int index2) {
- QPointF temp = points[index1];
- points[index1] = points[index2];
- points[index2] = temp;
+void SurveyComplexItem::_swapPoints(QList<QPointF>& points, int index1, int index2)
+{
+ QPointF temp = points[index1];
+ points[index1] = points[index2];
+ points[index2] = temp;
}
-/// Returns true if the current grid angle generates north/south oriented
-/// transects
-bool SurveyComplexItem::_gridAngleIsNorthSouthTransects() {
- // Grid angle ranges from -360<->360
- double gridAngle = qAbs(_gridAngleFact.rawValue().toDouble());
- return gridAngle < 45.0 || (gridAngle > 360.0 - 45.0) ||
- (gridAngle > 90.0 + 45.0 && gridAngle < 270.0 - 45.0);
+/// Returns true if the current grid angle generates north/south oriented transects
+bool SurveyComplexItem::_gridAngleIsNorthSouthTransects()
+{
+ // Grid angle ranges from -360<->360
+ double gridAngle = qAbs(_gridAngleFact.rawValue().toDouble());
+ return gridAngle < 45.0 || (gridAngle > 360.0 - 45.0) || (gridAngle > 90.0 + 45.0 && gridAngle < 270.0 - 45.0);
}
-void SurveyComplexItem::_adjustTransectsToEntryPointLocation(
- QList<QList<QGeoCoordinate>> &transects) {
- if (transects.count() == 0) {
- return;
- }
-
- bool reversePoints = false;
- bool reverseTransects = false;
-
- if (_entryPoint == EntryLocationBottomLeft ||
- _entryPoint == EntryLocationBottomRight) {
- reversePoints = true;
- }
- if (_entryPoint == EntryLocationTopRight ||
- _entryPoint == EntryLocationBottomRight) {
- reverseTransects = true;
- }
-
- if (reversePoints) {
- qCDebug(SurveyComplexItemLog)
- << "_adjustTransectsToEntryPointLocation Reverse Points";
- _reverseInternalTransectPoints(transects);
- }
- if (reverseTransects) {
- qCDebug(SurveyComplexItemLog)
- << "_adjustTransectsToEntryPointLocation Reverse Transects";
- _reverseTransectOrder(transects);
- }
-
- qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation "
- "Modified entry point:entryLocation"
- << transects.first().first() << _entryPoint;
+void SurveyComplexItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects)
+{
+ if (transects.count() == 0) {
+ return;
+ }
+
+ bool reversePoints = false;
+ bool reverseTransects = false;
+
+ if (_entryPoint == EntryLocationBottomLeft || _entryPoint == EntryLocationBottomRight) {
+ reversePoints = true;
+ }
+ if (_entryPoint == EntryLocationTopRight || _entryPoint == EntryLocationBottomRight) {
+ reverseTransects = true;
+ }
+
+ if (reversePoints) {
+ qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Reverse Points";
+ _reverseInternalTransectPoints(transects);
+ }
+ if (reverseTransects) {
+ qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Reverse Transects";
+ _reverseTransectOrder(transects);
+ }
+
+ qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Modified entry point:entryLocation" << transects.first().first() << _entryPoint;
}
-QPointF SurveyComplexItem::_rotatePoint(const QPointF &point,
- const QPointF &origin, double angle) {
- QPointF rotated;
- double radians = (M_PI / 180.0) * -angle;
+QPointF SurveyComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
+{
+ QPointF rotated;
+ double radians = (M_PI / 180.0) * -angle;
- rotated.setX(((point.x() - origin.x()) * cos(radians)) -
- ((point.y() - origin.y()) * sin(radians)) + origin.x());
- rotated.setY(((point.x() - origin.x()) * sin(radians)) +
- ((point.y() - origin.y()) * cos(radians)) + origin.y());
+ rotated.setX(((point.x() - origin.x()) * cos(radians)) - ((point.y() - origin.y()) * sin(radians)) + origin.x());
+ rotated.setY(((point.x() - origin.x()) * sin(radians)) + ((point.y() - origin.y()) * cos(radians)) + origin.y());
- return rotated;
+ return rotated;
}
-void SurveyComplexItem::_intersectLinesWithRect(const QList<QLineF> &lineList,
- const QRectF &boundRect,
- QList<QLineF> &resultLines) {
- QLineF topLine(boundRect.topLeft(), boundRect.topRight());
- QLineF bottomLine(boundRect.bottomLeft(), boundRect.bottomRight());
- QLineF leftLine(boundRect.topLeft(), boundRect.bottomLeft());
- QLineF rightLine(boundRect.topRight(), boundRect.bottomRight());
-
- for (int i = 0; i < lineList.count(); i++) {
- QPointF intersectPoint;
- QLineF intersectLine;
- const QLineF &line = lineList[i];
-
- auto isLineBoundedIntersect =
- [&line, &intersectPoint](const QLineF &linePosition) {
+void SurveyComplexItem::_intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines)
+{
+ QLineF topLine (boundRect.topLeft(), boundRect.topRight());
+ QLineF bottomLine (boundRect.bottomLeft(), boundRect.bottomRight());
+ QLineF leftLine (boundRect.topLeft(), boundRect.bottomLeft());
+ QLineF rightLine (boundRect.topRight(), boundRect.bottomRight());
+
+ for (int i=0; i<lineList.count(); i++) {
+ QPointF intersectPoint;
+ QLineF intersectLine;
+ const QLineF& line = lineList[i];
+
+ auto isLineBoundedIntersect = [&line, &intersectPoint](const QLineF& linePosition) {
#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
- return line.intersect(linePosition, &intersectPoint) ==
- QLineF::BoundedIntersection;
+ return line.intersect(linePosition, &intersectPoint) == QLineF::BoundedIntersection;
#else
- return line.intersects(linePosition, &intersectPoint) ==
- QLineF::BoundedIntersection;
+ return line.intersects(linePosition, &intersectPoint) == QLineF::BoundedIntersection;
#endif
};
- int foundCount = 0;
- if (isLineBoundedIntersect(topLine)) {
- intersectLine.setP1(intersectPoint);
- foundCount++;
- }
- if (isLineBoundedIntersect(rightLine)) {
- if (foundCount == 0) {
- intersectLine.setP1(intersectPoint);
- } else {
- if (foundCount != 1) {
- qWarning() << "Found more than two intersecting points";
+ int foundCount = 0;
+ if (isLineBoundedIntersect(topLine)) {
+ intersectLine.setP1(intersectPoint);
+ foundCount++;
}
- intersectLine.setP2(intersectPoint);
- }
- foundCount++;
- }
- if (isLineBoundedIntersect(bottomLine)) {
- if (foundCount == 0) {
- intersectLine.setP1(intersectPoint);
- } else {
- if (foundCount != 1) {
- qWarning() << "Found more than two intersecting points";
+ if (isLineBoundedIntersect(rightLine)) {
+ if (foundCount == 0) {
+ intersectLine.setP1(intersectPoint);
+ } else {
+ if (foundCount != 1) {
+ qWarning() << "Found more than two intersecting points";
+ }
+ intersectLine.setP2(intersectPoint);
+ }
+ foundCount++;
}
- intersectLine.setP2(intersectPoint);
- }
- foundCount++;
- }
- if (isLineBoundedIntersect(leftLine)) {
- if (foundCount == 0) {
- intersectLine.setP1(intersectPoint);
- } else {
- if (foundCount != 1) {
- qWarning() << "Found more than two intersecting points";
+ if (isLineBoundedIntersect(bottomLine)) {
+ if (foundCount == 0) {
+ intersectLine.setP1(intersectPoint);
+ } else {
+ if (foundCount != 1) {
+ qWarning() << "Found more than two intersecting points";
+ }
+ intersectLine.setP2(intersectPoint);
+ }
+ foundCount++;
+ }
+ if (isLineBoundedIntersect(leftLine)) {
+ if (foundCount == 0) {
+ intersectLine.setP1(intersectPoint);
+ } else {
+ if (foundCount != 1) {
+ qWarning() << "Found more than two intersecting points";
+ }
+ intersectLine.setP2(intersectPoint);
+ }
+ foundCount++;
}
- intersectLine.setP2(intersectPoint);
- }
- foundCount++;
- }
- if (foundCount == 2) {
- resultLines += intersectLine;
+ if (foundCount == 2) {
+ resultLines += intersectLine;
+ }
}
- }
}
-void SurveyComplexItem::_intersectLinesWithPolygon(
- const QList<QLineF> &lineList, const QPolygonF &polygon,
- QList<QLineF> &resultLines) {
- resultLines.clear();
+void SurveyComplexItem::_intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines)
+{
+ resultLines.clear();
- for (int i = 0; i < lineList.count(); i++) {
- const QLineF &line = lineList[i];
- QList<QPointF> intersections;
+ for (int i=0; i<lineList.count(); i++) {
+ const QLineF& line = lineList[i];
+ QList<QPointF> intersections;
- // Intersect the line with all the polygon edges
- for (int j = 0; j < polygon.count() - 1; j++) {
- QPointF intersectPoint;
- QLineF polygonLine = QLineF(polygon[j], polygon[j + 1]);
+ // Intersect the line with all the polygon edges
+ for (int j=0; j<polygon.count()-1; j++) {
+ QPointF intersectPoint;
+ QLineF polygonLine = QLineF(polygon[j], polygon[j+1]);
#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
- auto intersect = line.intersect(polygonLine, &intersectPoint);
+ auto intersect = line.intersect(polygonLine, &intersectPoint);
#else
- auto intersect = line.intersects(polygonLine, &intersectPoint);
+ auto intersect = line.intersects(polygonLine, &intersectPoint);
#endif
- if (intersect == QLineF::BoundedIntersection) {
- if (!intersections.contains(intersectPoint)) {
- intersections.append(intersectPoint);
- }
- }
- }
-
- // We now have one or more intersection points all along the same line. Find
- // the two which are furthest away from each other to form the transect.
- if (intersections.count() > 1) {
- QPointF firstPoint;
- QPointF secondPoint;
- double currentMaxDistance = 0;
-
- for (int i = 0; i < intersections.count(); i++) {
- for (int j = 0; j < intersections.count(); j++) {
- QLineF lineTest(intersections[i], intersections[j]);
-
- double newMaxDistance = lineTest.length();
- if (newMaxDistance > currentMaxDistance) {
- firstPoint = intersections[i];
- secondPoint = intersections[j];
- currentMaxDistance = newMaxDistance;
- }
+ if (intersect == QLineF::BoundedIntersection) {
+ if (!intersections.contains(intersectPoint)) {
+ intersections.append(intersectPoint);
+ }
+ }
}
- }
- resultLines += QLineF(firstPoint, secondPoint);
+ // We now have one or more intersection points all along the same line. Find the two
+ // which are furthest away from each other to form the transect.
+ if (intersections.count() > 1) {
+ QPointF firstPoint;
+ QPointF secondPoint;
+ double currentMaxDistance = 0;
+
+ for (int i=0; i<intersections.count(); i++) {
+ for (int j=0; j<intersections.count(); j++) {
+ QLineF lineTest(intersections[i], intersections[j]);
+ \
+ double newMaxDistance = lineTest.length();
+ if (newMaxDistance > currentMaxDistance) {
+ firstPoint = intersections[i];
+ secondPoint = intersections[j];
+ currentMaxDistance = newMaxDistance;
+ }
+ }
+ }
+
+ resultLines += QLineF(firstPoint, secondPoint);
+ }
}
- }
}
-/// Adjust the line segments such that they are all going the same direction
-/// with respect to going from P1->P2
-void SurveyComplexItem::_adjustLineDirection(const QList<QLineF> &lineList,
- QList<QLineF> &resultLines) {
- qreal firstAngle = 0;
- for (int i = 0; i < lineList.count(); i++) {
- const QLineF &line = lineList[i];
- QLineF adjustedLine;
+/// Adjust the line segments such that they are all going the same direction with respect to going from P1->P2
+void SurveyComplexItem::_adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines)
+{
+ qreal firstAngle = 0;
+ for (int i=0; i<lineList.count(); i++) {
+ const QLineF& line = lineList[i];
+ QLineF adjustedLine;
- if (i == 0) {
- firstAngle = line.angle();
- }
+ if (i == 0) {
+ firstAngle = line.angle();
+ }
- if (qAbs(line.angle() - firstAngle) > 1.0) {
- adjustedLine.setP1(line.p2());
- adjustedLine.setP2(line.p1());
- } else {
- adjustedLine = line;
- }
+ if (qAbs(line.angle() - firstAngle) > 1.0) {
+ adjustedLine.setP1(line.p2());
+ adjustedLine.setP2(line.p1());
+ } else {
+ adjustedLine = line;
+ }
- resultLines += adjustedLine;
- }
+ resultLines += adjustedLine;
+ }
}
-double SurveyComplexItem::_clampGridAngle90(double gridAngle) {
- // Clamp grid angle to -90<->90. This prevents transects from being rotated to
- // a reversed order.
- if (gridAngle > 90.0) {
- gridAngle -= 180.0;
- } else if (gridAngle < -90.0) {
- gridAngle += 180;
- }
- return gridAngle;
+double SurveyComplexItem::_clampGridAngle90(double gridAngle)
+{
+ // Clamp grid angle to -90<->90. This prevents transects from being rotated to a reversed order.
+ if (gridAngle > 90.0) {
+ gridAngle -= 180.0;
+ } else if (gridAngle < -90.0) {
+ gridAngle += 180;
+ }
+ return gridAngle;
}
-bool SurveyComplexItem::_nextTransectCoord(
- const QList<QGeoCoordinate> &transectPoints, int pointIndex,
- QGeoCoordinate &coord) {
- if (pointIndex > transectPoints.count()) {
- qWarning() << "Bad grid generation";
- return false;
- }
+bool SurveyComplexItem::_nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord)
+{
+ if (pointIndex > transectPoints.count()) {
+ qWarning() << "Bad grid generation";
+ return false;
+ }
- coord = transectPoints[pointIndex];
- return true;
+ coord = transectPoints[pointIndex];
+ return true;
}
-bool SurveyComplexItem::_hasTurnaround(void) const {
- return _turnAroundDistance() > 0;
+bool SurveyComplexItem::_hasTurnaround(void) const
+{
+ return _turnAroundDistance() > 0;
}
-double SurveyComplexItem::_turnaroundDistance(void) const {
- return _turnAroundDistanceFact.rawValue().toDouble();
+double SurveyComplexItem::_turnaroundDistance(void) const
+{
+ return _turnAroundDistanceFact.rawValue().toDouble();
}
-void SurveyComplexItem::_rebuildTransectsPhase1(void) {
- bool split = splitConcavePolygons()->rawValue().toBool();
- if (split) {
- _rebuildTransectsPhase1WorkerSplitPolygons(false /* refly */);
- } else {
- _rebuildTransectsPhase1WorkerSinglePolygon(false /* refly */);
- }
- if (_refly90DegreesFact.rawValue().toBool()) {
- if (split) {
- _rebuildTransectsPhase1WorkerSplitPolygons(true /* refly */);
- } else {
- _rebuildTransectsPhase1WorkerSinglePolygon(true /* refly */);
+void SurveyComplexItem::_rebuildTransectsPhase1(void)
+{
+ bool split = splitConcavePolygons()->rawValue().toBool();
+ if (split) {
+ _rebuildTransectsPhase1WorkerSplitPolygons(false /* refly */);
+ } else {
+ _rebuildTransectsPhase1WorkerSinglePolygon(false /* refly */);
+ }
+ if (_refly90DegreesFact.rawValue().toBool()) {
+ if (split) {
+ _rebuildTransectsPhase1WorkerSplitPolygons(true /* refly */);
+ } else {
+ _rebuildTransectsPhase1WorkerSinglePolygon(true /* refly */);
+ }
}
- }
}
-void SurveyComplexItem::_rebuildTransectsPhase1WorkerSinglePolygon(bool refly) {
- if (_ignoreRecalc) {
- return;
- }
-
- // If the transects are getting rebuilt then any previously loaded mission
- // items are now invalid
- if (_loadedMissionItemsParent) {
- _loadedMissionItems.clear();
- _loadedMissionItemsParent->deleteLater();
- _loadedMissionItemsParent = nullptr;
- }
-
- // First pass will clear old transect data, refly will append to existing data
- if (!refly) {
- _transects.clear();
- _transectsPathHeightInfo.clear();
- }
-
- if (_surveyAreaPolygon.count() < 3) {
- return;
- }
-
- // Convert polygon to NED
-
- QList<QPointF> polygonPoints;
- QGeoCoordinate tangentOrigin = _surveyAreaPolygon.pathModel()
- .value<QGCQGeoCoordinate *>(0)
- ->coordinate();
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 Convert polygon to NED - "
- "_surveyAreaPolygon.count():tangentOrigin"
- << _surveyAreaPolygon.count() << tangentOrigin;
- for (int i = 0; i < _surveyAreaPolygon.count(); i++) {
- double y, x, down;
- QGeoCoordinate vertex = _surveyAreaPolygon.pathModel()
- .value<QGCQGeoCoordinate *>(i)
- ->coordinate();
- if (i == 0) {
- // This avoids a nan calculation that comes out of convertGeoToNed
- x = y = 0;
- } else {
- convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
- }
- polygonPoints += QPointF(x, y);
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 vertex:x:y" << vertex
- << polygonPoints.last().x() << polygonPoints.last().y();
- }
-
- // Generate transects
-
- double gridAngle = _gridAngleFact.rawValue().toDouble();
- double gridSpacing =
- _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
- if (gridSpacing < 0.5) {
- // We can't let gridSpacing get too small otherwise we will end up with too
- // many transects. So we limit to 0.5 meter spacing as min and set to huge
- // value which will cause a single transect to be added.
- gridSpacing = 100000;
- }
-
- gridAngle = _clampGridAngle90(gridAngle);
- gridAngle += refly ? 90 : 0;
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 Clamped grid angle" << gridAngle;
-
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 gridSpacing:gridAngle:refly" << gridSpacing
- << gridAngle << refly;
-
- // Convert polygon to bounding rect
-
- qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Polygon";
- QPolygonF polygon;
- for (int i = 0; i < polygonPoints.count(); i++) {
- qCDebug(SurveyComplexItemLog) << "Vertex" << polygonPoints[i];
- polygon << polygonPoints[i];
- }
- polygon << polygonPoints[0];
- QRectF boundingRect = polygon.boundingRect();
- QPointF boundingCenter = boundingRect.center();
- qCDebug(SurveyComplexItemLog)
- << "Bounding rect" << boundingRect.topLeft().x()
- << boundingRect.topLeft().y() << boundingRect.bottomRight().x()
- << boundingRect.bottomRight().y();
-
- // Create set of rotated parallel lines within the expanded bounding rect.
- // Make the lines larger than the bounding box to guarantee intersection.
-
- QList<QLineF> lineList;
-
- // Transects are generated to be as long as the largest width/height of the
- // bounding rect plus some fudge factor. This way they will always be
- // guaranteed to intersect with a polygon edge no matter what angle they are
- // rotated to. They are initially generated with the transects flowing from
- // west to east and then points within the transect north to south.
- double maxWidth = qMax(boundingRect.width(), boundingRect.height()) + 2000.0;
- double halfWidth = maxWidth / 2.0;
- double transectX = boundingCenter.x() - halfWidth;
- double transectXMax = transectX + maxWidth;
- while (transectX < transectXMax) {
- double transectYTop = boundingCenter.y() - halfWidth;
- double transectYBottom = boundingCenter.y() + halfWidth;
-
- lineList += QLineF(_rotatePoint(QPointF(transectX, transectYTop),
- boundingCenter, gridAngle),
- _rotatePoint(QPointF(transectX, transectYBottom),
- boundingCenter, gridAngle));
- transectX += gridSpacing;
- }
-
- // Now intersect the lines with the polygon
- QList<QLineF> intersectLines;
+void SurveyComplexItem::_rebuildTransectsPhase1WorkerSinglePolygon(bool refly)
+{
+ if (_ignoreRecalc) {
+ return;
+ }
+
+ // If the transects are getting rebuilt then any previously loaded mission items are now invalid
+ if (_loadedMissionItemsParent) {
+ _loadedMissionItems.clear();
+ _loadedMissionItemsParent->deleteLater();
+ _loadedMissionItemsParent = nullptr;
+ }
+
+ // First pass will clear old transect data, refly will append to existing data
+ if (!refly) {
+ _transects.clear();
+ _transectsPathHeightInfo.clear();
+ }
+
+ if (_surveyAreaPolygon.count() < 3) {
+ return;
+ }
+
+ // Convert polygon to NED
+
+ QList<QPointF> polygonPoints;
+ QGeoCoordinate tangentOrigin = _surveyAreaPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Convert polygon to NED - _surveyAreaPolygon.count():tangentOrigin" << _surveyAreaPolygon.count() << tangentOrigin;
+ for (int i=0; i<_surveyAreaPolygon.count(); i++) {
+ double y, x, down;
+ QGeoCoordinate vertex = _surveyAreaPolygon.pathModel().value<QGCQGeoCoordinate*>(i)->coordinate();
+ if (i == 0) {
+ // This avoids a nan calculation that comes out of convertGeoToNed
+ x = y = 0;
+ } else {
+ convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
+ }
+ polygonPoints += QPointF(x, y);
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 vertex:x:y" << vertex << polygonPoints.last().x() << polygonPoints.last().y();
+ }
+
+ // Generate transects
+
+ double gridAngle = _gridAngleFact.rawValue().toDouble();
+ double gridSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
+ if (gridSpacing < 0.5) {
+ // We can't let gridSpacing get too small otherwise we will end up with too many transects.
+ // So we limit to 0.5 meter spacing as min and set to huge value which will cause a single
+ // transect to be added.
+ gridSpacing = 100000;
+ }
+
+ gridAngle = _clampGridAngle90(gridAngle);
+ gridAngle += refly ? 90 : 0;
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Clamped grid angle" << gridAngle;
+
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 gridSpacing:gridAngle:refly" << gridSpacing << gridAngle << refly;
+
+ // Convert polygon to bounding rect
+
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Polygon";
+ QPolygonF polygon;
+ for (int i=0; i<polygonPoints.count(); i++) {
+ qCDebug(SurveyComplexItemLog) << "Vertex" << polygonPoints[i];
+ polygon << polygonPoints[i];
+ }
+ polygon << polygonPoints[0];
+ QRectF boundingRect = polygon.boundingRect();
+ QPointF boundingCenter = boundingRect.center();
+ qCDebug(SurveyComplexItemLog) << "Bounding rect" << boundingRect.topLeft().x() << boundingRect.topLeft().y() << boundingRect.bottomRight().x() << boundingRect.bottomRight().y();
+
+ // Create set of rotated parallel lines within the expanded bounding rect. Make the lines larger than the
+ // bounding box to guarantee intersection.
+
+ QList<QLineF> lineList;
+
+ // Transects are generated to be as long as the largest width/height of the bounding rect plus some fudge factor.
+ // This way they will always be guaranteed to intersect with a polygon edge no matter what angle they are rotated to.
+ // They are initially generated with the transects flowing from west to east and then points within the transect north to south.
+ double maxWidth = qMax(boundingRect.width(), boundingRect.height()) + 2000.0;
+ double halfWidth = maxWidth / 2.0;
+ double transectX = boundingCenter.x() - halfWidth;
+ double transectXMax = transectX + maxWidth;
+ while (transectX < transectXMax) {
+ double transectYTop = boundingCenter.y() - halfWidth;
+ double transectYBottom = boundingCenter.y() + halfWidth;
+
+ lineList += QLineF(_rotatePoint(QPointF(transectX, transectYTop), boundingCenter, gridAngle), _rotatePoint(QPointF(transectX, transectYBottom), boundingCenter, gridAngle));
+ transectX += gridSpacing;
+ }
+
+ // Now intersect the lines with the polygon
+ QList<QLineF> intersectLines;
#if 1
- _intersectLinesWithPolygon(lineList, polygon, intersectLines);
+ _intersectLinesWithPolygon(lineList, polygon, intersectLines);
#else
- // This is handy for debugging grid problems, not for release
- intersectLines = lineList;
+ // This is handy for debugging grid problems, not for release
+ intersectLines = lineList;
#endif
- // Less than two transects intersected with the polygon:
- // Create a single transect which goes through the center of the polygon
- // Intersect it with the polygon
- if (intersectLines.count() < 2) {
- _surveyAreaPolygon.center();
- QLineF firstLine = lineList.first();
- QPointF lineCenter = firstLine.pointAt(0.5);
- QPointF centerOffset = boundingCenter - lineCenter;
- firstLine.translate(centerOffset);
- lineList.clear();
- lineList.append(firstLine);
- intersectLines = lineList;
- _intersectLinesWithPolygon(lineList, polygon, intersectLines);
- }
-
- // Make sure all lines are going the same direction. Polygon intersection
- // leads to lines which can be in varied directions depending on the order of
- // the intesecting sides.
- QList<QLineF> resultLines;
- _adjustLineDirection(intersectLines, resultLines);
-
- // Convert from NED to Geo
- QList<QList<QGeoCoordinate>> transects;
- for (const QLineF &line : resultLines) {
- QGeoCoordinate coord;
- QList<QGeoCoordinate> transect;
-
- convertNedToGeo(line.p1().y(), line.p1().x(), 0, tangentOrigin, &coord);
- transect.append(coord);
- convertNedToGeo(line.p2().y(), line.p2().x(), 0, tangentOrigin, &coord);
- transect.append(coord);
-
- transects.append(transect);
- }
-
- _adjustTransectsToEntryPointLocation(transects);
-
- if (refly) {
- _optimizeTransectsForShortestDistance(_transects.last().last().coord,
- transects);
- }
-
- if (_flyAlternateTransectsFact.rawValue().toBool()) {
- QList<QList<QGeoCoordinate>> alternatingTransects;
- for (int i = 0; i < transects.count(); i++) {
- if (!(i & 1)) {
- alternatingTransects.append(transects[i]);
- }
- }
- for (int i = transects.count() - 1; i > 0; i--) {
- if (i & 1) {
- alternatingTransects.append(transects[i]);
- }
- }
- transects = alternatingTransects;
- }
-
- // Adjust to lawnmower pattern
- bool reverseVertices = false;
- for (int i = 0; i < transects.count(); i++) {
- // We must reverse the vertices for every other transect in order to make a
- // lawnmower pattern
- QList<QGeoCoordinate> transectVertices = transects[i];
- if (reverseVertices) {
- reverseVertices = false;
- QList<QGeoCoordinate> reversedVertices;
- for (int j = transectVertices.count() - 1; j >= 0; j--) {
- reversedVertices.append(transectVertices[j]);
- }
- transectVertices = reversedVertices;
- } else {
- reverseVertices = true;
- }
- transects[i] = transectVertices;
- }
-
- // Convert to CoordInfo transects and append to _transects
- for (const QList<QGeoCoordinate> &transect : transects) {
- QGeoCoordinate coord;
- QList<TransectStyleComplexItem::CoordInfo_t> coordInfoTransect;
- TransectStyleComplexItem::CoordInfo_t coordInfo;
-
- coordInfo = {transect[0], CoordTypeSurveyEntry};
- coordInfoTransect.append(coordInfo);
- coordInfo = {transect[1], CoordTypeSurveyExit};
- coordInfoTransect.append(coordInfo);
-
- // For hover and capture we need points for each camera location within the
- // transect
- if (triggerCamera() && hoverAndCaptureEnabled()) {
- double transectLength = transect[0].distanceTo(transect[1]);
- double transectAzimuth = transect[0].azimuthTo(transect[1]);
- if (triggerDistance() < transectLength) {
- int cInnerHoverPoints =
- static_cast<int>(floor(transectLength / triggerDistance()));
- qCDebug(SurveyComplexItemLog)
- << "cInnerHoverPoints" << cInnerHoverPoints;
- for (int i = 0; i < cInnerHoverPoints; i++) {
- QGeoCoordinate hoverCoord = transect[0].atDistanceAndAzimuth(
- triggerDistance() * (i + 1), transectAzimuth);
- TransectStyleComplexItem::CoordInfo_t coordInfo = {
- hoverCoord, CoordTypeInteriorHoverTrigger};
- coordInfoTransect.insert(1 + i, coordInfo);
- }
- }
+ // Less than two transects intersected with the polygon:
+ // Create a single transect which goes through the center of the polygon
+ // Intersect it with the polygon
+ if (intersectLines.count() < 2) {
+ _surveyAreaPolygon.center();
+ QLineF firstLine = lineList.first();
+ QPointF lineCenter = firstLine.pointAt(0.5);
+ QPointF centerOffset = boundingCenter - lineCenter;
+ firstLine.translate(centerOffset);
+ lineList.clear();
+ lineList.append(firstLine);
+ intersectLines = lineList;
+ _intersectLinesWithPolygon(lineList, polygon, intersectLines);
}
- // Extend the transect ends for turnaround
- if (_hasTurnaround()) {
- QGeoCoordinate turnaroundCoord;
- double turnAroundDistance = _turnAroundDistanceFact.rawValue().toDouble();
+ // Make sure all lines are going the same direction. Polygon intersection leads to lines which
+ // can be in varied directions depending on the order of the intesecting sides.
+ QList<QLineF> resultLines;
+ _adjustLineDirection(intersectLines, resultLines);
- double azimuth = transect[0].azimuthTo(transect[1]);
- turnaroundCoord =
- transect[0].atDistanceAndAzimuth(-turnAroundDistance, azimuth);
- turnaroundCoord.setAltitude(qQNaN());
- TransectStyleComplexItem::CoordInfo_t coordInfo = {turnaroundCoord,
- CoordTypeTurnaround};
- coordInfoTransect.prepend(coordInfo);
+ // Convert from NED to Geo
+ QList<QList<QGeoCoordinate>> transects;
+ for (const QLineF& line : resultLines) {
+ QGeoCoordinate coord;
+ QList<QGeoCoordinate> transect;
- azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
- turnaroundCoord =
- transect.last().atDistanceAndAzimuth(-turnAroundDistance, azimuth);
- turnaroundCoord.setAltitude(qQNaN());
- coordInfo = {turnaroundCoord, CoordTypeTurnaround};
- coordInfoTransect.append(coordInfo);
+ convertNedToGeo(line.p1().y(), line.p1().x(), 0, tangentOrigin, &coord);
+ transect.append(coord);
+ convertNedToGeo(line.p2().y(), line.p2().x(), 0, tangentOrigin, &coord);
+ transect.append(coord);
+
+ transects.append(transect);
}
- _transects.append(coordInfoTransect);
- }
-}
+ _adjustTransectsToEntryPointLocation(transects);
-void SurveyComplexItem::_rebuildTransectsPhase1WorkerSplitPolygons(bool refly) {
- if (_ignoreRecalc) {
- return;
- }
-
- // If the transects are getting rebuilt then any previously loaded mission
- // items are now invalid
- if (_loadedMissionItemsParent) {
- _loadedMissionItems.clear();
- _loadedMissionItemsParent->deleteLater();
- _loadedMissionItemsParent = nullptr;
- }
-
- // First pass will clear old transect data, refly will append to existing data
- if (!refly) {
- _transects.clear();
- _transectsPathHeightInfo.clear();
- }
-
- if (_surveyAreaPolygon.count() < 3) {
- return;
- }
-
- // Convert polygon to NED
-
- QList<QPointF> polygonPoints;
- QGeoCoordinate tangentOrigin = _surveyAreaPolygon.pathModel()
- .value<QGCQGeoCoordinate *>(0)
- ->coordinate();
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 Convert polygon to NED - "
- "_surveyAreaPolygon.count():tangentOrigin"
- << _surveyAreaPolygon.count() << tangentOrigin;
- for (int i = 0; i < _surveyAreaPolygon.count(); i++) {
- double y, x, down;
- QGeoCoordinate vertex = _surveyAreaPolygon.pathModel()
- .value<QGCQGeoCoordinate *>(i)
- ->coordinate();
- if (i == 0) {
- // This avoids a nan calculation that comes out of convertGeoToNed
- x = y = 0;
- } else {
- convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
- }
- polygonPoints += QPointF(x, y);
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 vertex:x:y" << vertex
- << polygonPoints.last().x() << polygonPoints.last().y();
- }
-
- // convert into QPolygonF
- QPolygonF polygon;
- for (int i = 0; i < polygonPoints.count(); i++) {
- qCDebug(SurveyComplexItemLog) << "Vertex" << polygonPoints[i];
- polygon << polygonPoints[i];
- }
-
- // Create list of separate polygons
- QList<QPolygonF> polygons{};
- _PolygonDecomposeConvex(polygon, polygons);
-
- // iterate over polygons
- for (auto p = polygons.begin(); p != polygons.end(); ++p) {
- QPointF *vMatch = nullptr;
- // find matching vertex in previous polygon
- if (p != polygons.begin()) {
- auto pLast = p - 1;
- for (auto &i : *p) {
- for (auto &j : *pLast) {
- if (i == j) {
- vMatch = &i;
- break;
- }
- if (vMatch)
- break;
+ if (refly) {
+ _optimizeTransectsForShortestDistance(_transects.last().last().coord, transects);
+ }
+
+ if (_flyAlternateTransectsFact.rawValue().toBool()) {
+ QList<QList<QGeoCoordinate>> alternatingTransects;
+ for (int i=0; i<transects.count(); i++) {
+ if (!(i & 1)) {
+ alternatingTransects.append(transects[i]);
+ }
+ }
+ for (int i=transects.count()-1; i>0; i--) {
+ if (i & 1) {
+ alternatingTransects.append(transects[i]);
+ }
+ }
+ transects = alternatingTransects;
+ }
+
+ // Adjust to lawnmower pattern
+ bool reverseVertices = false;
+ for (int i=0; i<transects.count(); i++) {
+ // We must reverse the vertices for every other transect in order to make a lawnmower pattern
+ QList<QGeoCoordinate> transectVertices = transects[i];
+ if (reverseVertices) {
+ reverseVertices = false;
+ QList<QGeoCoordinate> reversedVertices;
+ for (int j=transectVertices.count()-1; j>=0; j--) {
+ reversedVertices.append(transectVertices[j]);
+ }
+ transectVertices = reversedVertices;
+ } else {
+ reverseVertices = true;
}
- }
+ transects[i] = transectVertices;
}
- // close polygon
- *p << p->front();
- // build transects for this polygon
- // TODO figure out tangent origin
- // TODO improve selection of entry points
- // qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
- _rebuildTransectsFromPolygon(refly, *p, tangentOrigin, vMatch);
- }
+ // Convert to CoordInfo transects and append to _transects
+ for (const QList<QGeoCoordinate>& transect : transects) {
+ QGeoCoordinate coord;
+ QList<TransectStyleComplexItem::CoordInfo_t> coordInfoTransect;
+ TransectStyleComplexItem::CoordInfo_t coordInfo;
+
+ coordInfo = { transect[0], CoordTypeSurveyEntry };
+ coordInfoTransect.append(coordInfo);
+ coordInfo = { transect[1], CoordTypeSurveyExit };
+ coordInfoTransect.append(coordInfo);
+
+ // For hover and capture we need points for each camera location within the transect
+ if (triggerCamera() && hoverAndCaptureEnabled()) {
+ double transectLength = transect[0].distanceTo(transect[1]);
+ double transectAzimuth = transect[0].azimuthTo(transect[1]);
+ if (triggerDistance() < transectLength) {
+ int cInnerHoverPoints = static_cast<int>(floor(transectLength / triggerDistance()));
+ qCDebug(SurveyComplexItemLog) << "cInnerHoverPoints" << cInnerHoverPoints;
+ for (int i=0; i<cInnerHoverPoints; i++) {
+ QGeoCoordinate hoverCoord = transect[0].atDistanceAndAzimuth(triggerDistance() * (i + 1), transectAzimuth);
+ TransectStyleComplexItem::CoordInfo_t coordInfo = { hoverCoord, CoordTypeInteriorHoverTrigger };
+ coordInfoTransect.insert(1 + i, coordInfo);
+ }
+ }
+ }
+
+ // Extend the transect ends for turnaround
+ if (_hasTurnaround()) {
+ QGeoCoordinate turnaroundCoord;
+ double turnAroundDistance = _turnAroundDistanceFact.rawValue().toDouble();
+
+ double azimuth = transect[0].azimuthTo(transect[1]);
+ turnaroundCoord = transect[0].atDistanceAndAzimuth(-turnAroundDistance, azimuth);
+ turnaroundCoord.setAltitude(qQNaN());
+ TransectStyleComplexItem::CoordInfo_t coordInfo = { turnaroundCoord, CoordTypeTurnaround };
+ coordInfoTransect.prepend(coordInfo);
+
+ azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
+ turnaroundCoord = transect.last().atDistanceAndAzimuth(-turnAroundDistance, azimuth);
+ turnaroundCoord.setAltitude(qQNaN());
+ coordInfo = { turnaroundCoord, CoordTypeTurnaround };
+ coordInfoTransect.append(coordInfo);
+ }
+
+ _transects.append(coordInfoTransect);
+ }
}
-void SurveyComplexItem::_PolygonDecomposeConvex(
- const QPolygonF &polygon, QList<QPolygonF> &decomposedPolygons) {
- // this follows "Mark Keil's Algorithm" https://mpen.ca/406/keil
- int decompSize = std::numeric_limits<int>::max();
- if (polygon.size() < 3)
- return;
- if (polygon.size() == 3) {
- decomposedPolygons << polygon;
- return;
- }
-
- QList<QPolygonF> decomposedPolygonsMin{};
-
- for (auto vertex = polygon.begin(); vertex != polygon.end(); ++vertex) {
- // is vertex reflex?
- bool vertexIsReflex = _VertexIsReflex(polygon, vertex);
-
- if (!vertexIsReflex)
- continue;
-
- for (auto vertexOther = polygon.begin(); vertexOther != polygon.end();
- ++vertexOther) {
- auto vertexBefore =
- vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
- auto vertexAfter =
- vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
- if (vertexOther == vertex)
- continue;
- if (vertexAfter == vertexOther)
- continue;
- if (vertexBefore == vertexOther)
- continue;
- bool canSee = _VertexCanSeeOther(polygon, vertex, vertexOther);
- if (!canSee)
- continue;
-
- QPolygonF polyLeft;
- auto v = vertex;
- auto polyLeftContainsReflex = false;
- while (v != vertexOther) {
- if (v != vertex && _VertexIsReflex(polygon, v)) {
- polyLeftContainsReflex = true;
+
+void SurveyComplexItem::_rebuildTransectsPhase1WorkerSplitPolygons(bool refly)
+{
+ if (_ignoreRecalc) {
+ return;
+ }
+
+ // If the transects are getting rebuilt then any previously loaded mission items are now invalid
+ if (_loadedMissionItemsParent) {
+ _loadedMissionItems.clear();
+ _loadedMissionItemsParent->deleteLater();
+ _loadedMissionItemsParent = nullptr;
+ }
+
+ // First pass will clear old transect data, refly will append to existing data
+ if (!refly) {
+ _transects.clear();
+ _transectsPathHeightInfo.clear();
+ }
+
+ if (_surveyAreaPolygon.count() < 3) {
+ return;
+ }
+
+ // Convert polygon to NED
+
+ QList<QPointF> polygonPoints;
+ QGeoCoordinate tangentOrigin = _surveyAreaPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Convert polygon to NED - _surveyAreaPolygon.count():tangentOrigin" << _surveyAreaPolygon.count() << tangentOrigin;
+ for (int i=0; i<_surveyAreaPolygon.count(); i++) {
+ double y, x, down;
+ QGeoCoordinate vertex = _surveyAreaPolygon.pathModel().value<QGCQGeoCoordinate*>(i)->coordinate();
+ if (i == 0) {
+ // This avoids a nan calculation that comes out of convertGeoToNed
+ x = y = 0;
+ } else {
+ convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
}
- polyLeft << *v;
- ++v;
- if (v == polygon.end())
- v = polygon.begin();
- }
- polyLeft << *vertexOther;
- auto polyLeftValid = !(polyLeftContainsReflex && polyLeft.size() == 3);
-
- QPolygonF polyRight;
- v = vertexOther;
- auto polyRightContainsReflex = false;
- while (v != vertex) {
- if (v != vertex && _VertexIsReflex(polygon, v)) {
- polyRightContainsReflex = true;
+ polygonPoints += QPointF(x, y);
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 vertex:x:y" << vertex << polygonPoints.last().x() << polygonPoints.last().y();
+ }
+
+ // convert into QPolygonF
+ QPolygonF polygon;
+ for (int i=0; i<polygonPoints.count(); i++) {
+ qCDebug(SurveyComplexItemLog) << "Vertex" << polygonPoints[i];
+ polygon << polygonPoints[i];
+ }
+
+ // Create list of separate polygons
+ QList<QPolygonF> polygons{};
+ _PolygonDecomposeConvex(polygon, polygons);
+
+ // iterate over polygons
+ for (auto p = polygons.begin(); p != polygons.end(); ++p) {
+ QPointF* vMatch = nullptr;
+ // find matching vertex in previous polygon
+ if (p != polygons.begin()) {
+ auto pLast = p - 1;
+ for (auto& i : *p) {
+ for (auto& j : *pLast) {
+ if (i == j) {
+ vMatch = &i;
+ break;
+ }
+ if (vMatch) break;
+ }
+ }
+
}
- polyRight << *v;
- ++v;
- if (v == polygon.end())
- v = polygon.begin();
- }
- polyRight << *vertex;
- auto polyRightValid = !(polyRightContainsReflex && polyRight.size() == 3);
-
- if (!polyLeftValid || !polyRightValid) {
- // decompSize = std::numeric_limits<int>::max();
- continue;
- }
-
- // recursion
- QList<QPolygonF> polyLeftDecomposed{};
- _PolygonDecomposeConvex(polyLeft, polyLeftDecomposed);
-
- QList<QPolygonF> polyRightDecomposed{};
- _PolygonDecomposeConvex(polyRight, polyRightDecomposed);
-
- // compositon
- auto subSize = polyLeftDecomposed.size() + polyRightDecomposed.size();
- if ((polyLeftContainsReflex && polyLeftDecomposed.size() == 1) ||
- (polyRightContainsReflex && polyRightDecomposed.size() == 1)) {
- // don't accept polygons that contian reflex vertices and were not split
- subSize = std::numeric_limits<int>::max();
- }
- if (subSize < decompSize) {
- decompSize = subSize;
- decomposedPolygonsMin = polyLeftDecomposed + polyRightDecomposed;
- }
- }
- }
-
- // assemble output
- if (decomposedPolygonsMin.size() > 0) {
- decomposedPolygons << decomposedPolygonsMin;
- } else {
- decomposedPolygons << polygon;
- }
-
- return;
+
+
+ // close polygon
+ *p << p->front();
+ // build transects for this polygon
+ // TODO figure out tangent origin
+ // TODO improve selection of entry points
+// qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
+ _rebuildTransectsFromPolygon(refly, *p, tangentOrigin, vMatch);
+ }
}
-bool SurveyComplexItem::_VertexCanSeeOther(const QPolygonF &polygon,
- const QPointF *vertexA,
- const QPointF *vertexB) {
- if (vertexA == vertexB)
- return false;
- auto vertexAAfter =
- vertexA + 1 == polygon.end() ? polygon.begin() : vertexA + 1;
- auto vertexABefore =
- vertexA == polygon.begin() ? polygon.end() - 1 : vertexA - 1;
- if (vertexAAfter == vertexB)
- return false;
- if (vertexABefore == vertexB)
- return false;
- // qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther false after first
- // checks ";
-
- bool visible = true;
- // auto diff = *vertexA - *vertexB;
- QLineF lineAB{*vertexA, *vertexB};
- auto distanceAB =
- lineAB.length(); // sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
-
- // qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther distanceAB " <<
- // distanceAB;
- for (auto vertexC = polygon.begin(); vertexC != polygon.end(); ++vertexC) {
- if (vertexC == vertexA)
- continue;
- if (vertexC == vertexB)
- continue;
- auto vertexD = vertexC + 1 == polygon.end() ? polygon.begin() : vertexC + 1;
- if (vertexD == vertexA)
- continue;
- if (vertexD == vertexB)
- continue;
- QLineF lineCD(*vertexC, *vertexD);
- QPointF intersection{};
+void SurveyComplexItem::_PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons)
+{
+ // this follows "Mark Keil's Algorithm" https://mpen.ca/406/keil
+ int decompSize = std::numeric_limits<int>::max();
+ if (polygon.size() < 3) return;
+ if (polygon.size() == 3) {
+ decomposedPolygons << polygon;
+ return;
+ }
+
+ QList<QPolygonF> decomposedPolygonsMin{};
+
+ for (auto vertex = polygon.begin(); vertex != polygon.end(); ++vertex)
+ {
+ // is vertex reflex?
+ bool vertexIsReflex = _VertexIsReflex(polygon, vertex);
+
+ if (!vertexIsReflex) continue;
+
+ for (auto vertexOther = polygon.begin(); vertexOther != polygon.end(); ++vertexOther)
+ {
+ auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
+ auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
+ if (vertexOther == vertex) continue;
+ if (vertexAfter == vertexOther) continue;
+ if (vertexBefore == vertexOther) continue;
+ bool canSee = _VertexCanSeeOther(polygon, vertex, vertexOther);
+ if (!canSee) continue;
+
+ QPolygonF polyLeft;
+ auto v = vertex;
+ auto polyLeftContainsReflex = false;
+ while ( v != vertexOther) {
+ if (v != vertex && _VertexIsReflex(polygon, v)) {
+ polyLeftContainsReflex = true;
+ }
+ polyLeft << *v;
+ ++v;
+ if (v == polygon.end()) v = polygon.begin();
+ }
+ polyLeft << *vertexOther;
+ auto polyLeftValid = !(polyLeftContainsReflex && polyLeft.size() == 3);
+
+ QPolygonF polyRight;
+ v = vertexOther;
+ auto polyRightContainsReflex = false;
+ while ( v != vertex) {
+ if (v != vertex && _VertexIsReflex(polygon, v)) {
+ polyRightContainsReflex = true;
+ }
+ polyRight << *v;
+ ++v;
+ if (v == polygon.end()) v = polygon.begin();
+ }
+ polyRight << *vertex;
+ auto polyRightValid = !(polyRightContainsReflex && polyRight.size() == 3);
+
+ if (!polyLeftValid || ! polyRightValid) {
+// decompSize = std::numeric_limits<int>::max();
+ continue;
+ }
+
+ // recursion
+ QList<QPolygonF> polyLeftDecomposed{};
+ _PolygonDecomposeConvex(polyLeft, polyLeftDecomposed);
+
+ QList<QPolygonF> polyRightDecomposed{};
+ _PolygonDecomposeConvex(polyRight, polyRightDecomposed);
+
+ // compositon
+ auto subSize = polyLeftDecomposed.size() + polyRightDecomposed.size();
+ if ((polyLeftContainsReflex && polyLeftDecomposed.size() == 1)
+ || (polyRightContainsReflex && polyRightDecomposed.size() == 1))
+ {
+ // don't accept polygons that contian reflex vertices and were not split
+ subSize = std::numeric_limits<int>::max();
+ }
+ if (subSize < decompSize) {
+ decompSize = subSize;
+ decomposedPolygonsMin = polyLeftDecomposed + polyRightDecomposed;
+ }
+ }
+
+ }
+
+ // assemble output
+ if (decomposedPolygonsMin.size() > 0) {
+ decomposedPolygons << decomposedPolygonsMin;
+ } else {
+ decomposedPolygons << polygon;
+ }
+
+ return;
+}
+
+bool SurveyComplexItem::_VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB) {
+ if (vertexA == vertexB) return false;
+ auto vertexAAfter = vertexA + 1 == polygon.end() ? polygon.begin() : vertexA + 1;
+ auto vertexABefore = vertexA == polygon.begin() ? polygon.end() - 1 : vertexA - 1;
+ if (vertexAAfter == vertexB) return false;
+ if (vertexABefore == vertexB) return false;
+// qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther false after first checks ";
+
+ bool visible = true;
+// auto diff = *vertexA - *vertexB;
+ QLineF lineAB{*vertexA, *vertexB};
+ auto distanceAB = lineAB.length();//sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
+
+// qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther distanceAB " << distanceAB;
+ for (auto vertexC = polygon.begin(); vertexC != polygon.end(); ++vertexC)
+ {
+ if (vertexC == vertexA) continue;
+ if (vertexC == vertexB) continue;
+ auto vertexD = vertexC + 1 == polygon.end() ? polygon.begin() : vertexC + 1;
+ if (vertexD == vertexA) continue;
+ if (vertexD == vertexB) continue;
+ QLineF lineCD(*vertexC, *vertexD);
+ QPointF intersection{};
#if QT_VERSION < QT_VERSION_CHECK(5, 14, 0)
- auto intersects = lineAB.intersect(lineCD, &intersection);
+ auto intersects = lineAB.intersect(lineCD, &intersection);
#else
- auto intersects = lineAB.intersects(lineCD, &intersection);
+ auto intersects = lineAB.intersects(lineCD, &intersection);
#endif
- if (intersects == QLineF::IntersectType::BoundedIntersection) {
- // auto diffIntersection = *vertexA - intersection;
- // auto distanceIntersection = sqrtf(diffIntersection.x() *
- // diffIntersection.x() +
- // diffIntersection.y()*diffIntersection.y());
- // qCDebug(SurveyComplexItemLog) << "*vertexA " << *vertexA <<
- // "*vertexB " << *vertexB << " intersection " <<
- // intersection;
-
- QLineF lineIntersection{*vertexA, intersection};
- auto distanceIntersection =
- lineIntersection
- .length(); // sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
- qCDebug(SurveyComplexItemLog)
- << "_VertexCanSeeOther distanceIntersection " << distanceIntersection;
- if (distanceIntersection < distanceAB) {
- visible = false;
- break;
- }
- }
- }
-
- return visible;
+ if (intersects == QLineF::IntersectType::BoundedIntersection) {
+// auto diffIntersection = *vertexA - intersection;
+// auto distanceIntersection = sqrtf(diffIntersection.x() * diffIntersection.x() + diffIntersection.y()*diffIntersection.y());
+// qCDebug(SurveyComplexItemLog) << "*vertexA " << *vertexA << "*vertexB " << *vertexB << " intersection " << intersection;
+
+ QLineF lineIntersection{*vertexA, intersection};
+ auto distanceIntersection = lineIntersection.length();//sqrtf(diff.x() * diff.x() + diff.y()*diff.y());
+ qCDebug(SurveyComplexItemLog) << "_VertexCanSeeOther distanceIntersection " << distanceIntersection;
+ if (distanceIntersection < distanceAB) {
+ visible = false;
+ break;
+ }
+ }
+
+ }
+
+ return visible;
}
-bool SurveyComplexItem::_VertexIsReflex(const QPolygonF &polygon,
- const QPointF *vertex) {
- auto vertexBefore =
- vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
- auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
- auto area = (((vertex->x() - vertexBefore->x()) *
- (vertexAfter->y() - vertexBefore->y())) -
- ((vertexAfter->x() - vertexBefore->x()) *
- (vertex->y() - vertexBefore->y())));
- return area > 0;
+bool SurveyComplexItem::_VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex) {
+ auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
+ auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
+ auto area = (((vertex->x() - vertexBefore->x())*(vertexAfter->y() - vertexBefore->y()))-((vertexAfter->x() - vertexBefore->x())*(vertex->y() - vertexBefore->y())));
+ return area > 0;
+
}
-void SurveyComplexItem::_rebuildTransectsFromPolygon(
- bool refly, const QPolygonF &polygon, const QGeoCoordinate &tangentOrigin,
- const QPointF *const transitionPoint) {
- // Generate transects
-
- double gridAngle = _gridAngleFact.rawValue().toDouble();
- double gridSpacing =
- _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
-
- gridAngle = _clampGridAngle90(gridAngle);
- gridAngle += refly ? 90 : 0;
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 Clamped grid angle" << gridAngle;
-
- qCDebug(SurveyComplexItemLog)
- << "_rebuildTransectsPhase1 gridSpacing:gridAngle:refly" << gridSpacing
- << gridAngle << refly;
-
- // Convert polygon to bounding rect
-
- qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Polygon";
- QRectF boundingRect = polygon.boundingRect();
- QPointF boundingCenter = boundingRect.center();
- qCDebug(SurveyComplexItemLog)
- << "Bounding rect" << boundingRect.topLeft().x()
- << boundingRect.topLeft().y() << boundingRect.bottomRight().x()
- << boundingRect.bottomRight().y();
-
- // Create set of rotated parallel lines within the expanded bounding rect.
- // Make the lines larger than the bounding box to guarantee intersection.
-
- QList<QLineF> lineList;
-
- // Transects are generated to be as long as the largest width/height of the
- // bounding rect plus some fudge factor. This way they will always be
- // guaranteed to intersect with a polygon edge no matter what angle they are
- // rotated to. They are initially generated with the transects flowing from
- // west to east and then points within the transect north to south.
- double maxWidth = qMax(boundingRect.width(), boundingRect.height()) + 2000.0;
- double halfWidth = maxWidth / 2.0;
- double transectX = boundingCenter.x() - halfWidth;
- double transectXMax = transectX + maxWidth;
- while (transectX < transectXMax) {
- double transectYTop = boundingCenter.y() - halfWidth;
- double transectYBottom = boundingCenter.y() + halfWidth;
-
- lineList += QLineF(_rotatePoint(QPointF(transectX, transectYTop),
- boundingCenter, gridAngle),
- _rotatePoint(QPointF(transectX, transectYBottom),
- boundingCenter, gridAngle));
- transectX += gridSpacing;
- }
-
- // Now intersect the lines with the polygon
- QList<QLineF> intersectLines;
+
+void SurveyComplexItem::_rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint)
+{
+ // Generate transects
+
+ double gridAngle = _gridAngleFact.rawValue().toDouble();
+ double gridSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
+
+ gridAngle = _clampGridAngle90(gridAngle);
+ gridAngle += refly ? 90 : 0;
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Clamped grid angle" << gridAngle;
+
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 gridSpacing:gridAngle:refly" << gridSpacing << gridAngle << refly;
+
+ // Convert polygon to bounding rect
+
+ qCDebug(SurveyComplexItemLog) << "_rebuildTransectsPhase1 Polygon";
+ QRectF boundingRect = polygon.boundingRect();
+ QPointF boundingCenter = boundingRect.center();
+ qCDebug(SurveyComplexItemLog) << "Bounding rect" << boundingRect.topLeft().x() << boundingRect.topLeft().y() << boundingRect.bottomRight().x() << boundingRect.bottomRight().y();
+
+ // Create set of rotated parallel lines within the expanded bounding rect. Make the lines larger than the
+ // bounding box to guarantee intersection.
+
+ QList<QLineF> lineList;
+
+ // Transects are generated to be as long as the largest width/height of the bounding rect plus some fudge factor.
+ // This way they will always be guaranteed to intersect with a polygon edge no matter what angle they are rotated to.
+ // They are initially generated with the transects flowing from west to east and then points within the transect north to south.
+ double maxWidth = qMax(boundingRect.width(), boundingRect.height()) + 2000.0;
+ double halfWidth = maxWidth / 2.0;
+ double transectX = boundingCenter.x() - halfWidth;
+ double transectXMax = transectX + maxWidth;
+ while (transectX < transectXMax) {
+ double transectYTop = boundingCenter.y() - halfWidth;
+ double transectYBottom = boundingCenter.y() + halfWidth;
+
+ lineList += QLineF(_rotatePoint(QPointF(transectX, transectYTop), boundingCenter, gridAngle), _rotatePoint(QPointF(transectX, transectYBottom), boundingCenter, gridAngle));
+ transectX += gridSpacing;
+ }
+
+ // Now intersect the lines with the polygon
+ QList<QLineF> intersectLines;
#if 1
- _intersectLinesWithPolygon(lineList, polygon, intersectLines);
+ _intersectLinesWithPolygon(lineList, polygon, intersectLines);
#else
- // This is handy for debugging grid problems, not for release
- intersectLines = lineList;
+ // This is handy for debugging grid problems, not for release
+ intersectLines = lineList;
#endif
- // Less than two transects intersected with the polygon:
- // Create a single transect which goes through the center of the polygon
- // Intersect it with the polygon
- if (intersectLines.count() < 2) {
- _surveyAreaPolygon.center();
- QLineF firstLine = lineList.first();
- QPointF lineCenter = firstLine.pointAt(0.5);
- QPointF centerOffset = boundingCenter - lineCenter;
- firstLine.translate(centerOffset);
- lineList.clear();
- lineList.append(firstLine);
- intersectLines = lineList;
- _intersectLinesWithPolygon(lineList, polygon, intersectLines);
- }
-
- // Make sure all lines are going the same direction. Polygon intersection
- // leads to lines which can be in varied directions depending on the order of
- // the intesecting sides.
- QList<QLineF> resultLines;
- _adjustLineDirection(intersectLines, resultLines);
-
- // Convert from NED to Geo
- QList<QList<QGeoCoordinate>> transects;
-
- if (transitionPoint != nullptr) {
- QList<QGeoCoordinate> transect;
- QGeoCoordinate coord;
- convertNedToGeo(transitionPoint->y(), transitionPoint->x(), 0,
- tangentOrigin, &coord);
- transect.append(coord);
- transect.append(coord); // TODO
- transects.append(transect);
- }
-
- for (const QLineF &line : resultLines) {
- QList<QGeoCoordinate> transect;
- QGeoCoordinate coord;
-
- convertNedToGeo(line.p1().y(), line.p1().x(), 0, tangentOrigin, &coord);
- transect.append(coord);
- convertNedToGeo(line.p2().y(), line.p2().x(), 0, tangentOrigin, &coord);
- transect.append(coord);
-
- transects.append(transect);
- }
-
- _adjustTransectsToEntryPointLocation(transects);
-
- if (refly) {
- _optimizeTransectsForShortestDistance(_transects.last().last().coord,
- transects);
- }
-
- if (_flyAlternateTransectsFact.rawValue().toBool()) {
- QList<QList<QGeoCoordinate>> alternatingTransects;
- for (int i = 0; i < transects.count(); i++) {
- if (!(i & 1)) {
- alternatingTransects.append(transects[i]);
- }
- }
- for (int i = transects.count() - 1; i > 0; i--) {
- if (i & 1) {
- alternatingTransects.append(transects[i]);
- }
- }
- transects = alternatingTransects;
- }
-
- // Adjust to lawnmower pattern
- bool reverseVertices = false;
- for (int i = 0; i < transects.count(); i++) {
- // We must reverse the vertices for every other transect in order to make a
- // lawnmower pattern
- QList<QGeoCoordinate> transectVertices = transects[i];
- if (reverseVertices) {
- reverseVertices = false;
- QList<QGeoCoordinate> reversedVertices;
- for (int j = transectVertices.count() - 1; j >= 0; j--) {
- reversedVertices.append(transectVertices[j]);
- }
- transectVertices = reversedVertices;
- } else {
- reverseVertices = true;
- }
- transects[i] = transectVertices;
- }
-
- // Convert to CoordInfo transects and append to _transects
- for (const QList<QGeoCoordinate> &transect : transects) {
- QGeoCoordinate coord;
- QList<TransectStyleComplexItem::CoordInfo_t> coordInfoTransect;
- TransectStyleComplexItem::CoordInfo_t coordInfo;
-
- coordInfo = {transect[0], CoordTypeSurveyEntry};
- coordInfoTransect.append(coordInfo);
- coordInfo = {transect[1], CoordTypeSurveyExit};
- coordInfoTransect.append(coordInfo);
-
- // For hover and capture we need points for each camera location within the
- // transect
- if (triggerCamera() && hoverAndCaptureEnabled()) {
- double transectLength = transect[0].distanceTo(transect[1]);
- double transectAzimuth = transect[0].azimuthTo(transect[1]);
- if (triggerDistance() < transectLength) {
- int cInnerHoverPoints =
- static_cast<int>(floor(transectLength / triggerDistance()));
- qCDebug(SurveyComplexItemLog)
- << "cInnerHoverPoints" << cInnerHoverPoints;
- for (int i = 0; i < cInnerHoverPoints; i++) {
- QGeoCoordinate hoverCoord = transect[0].atDistanceAndAzimuth(
- triggerDistance() * (i + 1), transectAzimuth);
- TransectStyleComplexItem::CoordInfo_t coordInfo = {
- hoverCoord, CoordTypeInteriorHoverTrigger};
- coordInfoTransect.insert(1 + i, coordInfo);
- }
- }
+ // Less than two transects intersected with the polygon:
+ // Create a single transect which goes through the center of the polygon
+ // Intersect it with the polygon
+ if (intersectLines.count() < 2) {
+ _surveyAreaPolygon.center();
+ QLineF firstLine = lineList.first();
+ QPointF lineCenter = firstLine.pointAt(0.5);
+ QPointF centerOffset = boundingCenter - lineCenter;
+ firstLine.translate(centerOffset);
+ lineList.clear();
+ lineList.append(firstLine);
+ intersectLines = lineList;
+ _intersectLinesWithPolygon(lineList, polygon, intersectLines);
}
- // Extend the transect ends for turnaround
- if (_hasTurnaround()) {
- QGeoCoordinate turnaroundCoord;
- double turnAroundDistance = _turnAroundDistanceFact.rawValue().toDouble();
+ // Make sure all lines are going the same direction. Polygon intersection leads to lines which
+ // can be in varied directions depending on the order of the intesecting sides.
+ QList<QLineF> resultLines;
+ _adjustLineDirection(intersectLines, resultLines);
+
+ // Convert from NED to Geo
+ QList<QList<QGeoCoordinate>> transects;
+
+ if (transitionPoint != nullptr) {
+ QList<QGeoCoordinate> transect;
+ QGeoCoordinate coord;
+ convertNedToGeo(transitionPoint->y(), transitionPoint->x(), 0, tangentOrigin, &coord);
+ transect.append(coord);
+ transect.append(coord); //TODO
+ transects.append(transect);
+ }
+
+ for (const QLineF& line: resultLines) {
+ QList<QGeoCoordinate> transect;
+ QGeoCoordinate coord;
- double azimuth = transect[0].azimuthTo(transect[1]);
- turnaroundCoord =
- transect[0].atDistanceAndAzimuth(-turnAroundDistance, azimuth);
- turnaroundCoord.setAltitude(qQNaN());
- TransectStyleComplexItem::CoordInfo_t coordInfo = {turnaroundCoord,
- CoordTypeTurnaround};
- coordInfoTransect.prepend(coordInfo);
+ convertNedToGeo(line.p1().y(), line.p1().x(), 0, tangentOrigin, &coord);
+ transect.append(coord);
+ convertNedToGeo(line.p2().y(), line.p2().x(), 0, tangentOrigin, &coord);
+ transect.append(coord);
- azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
- turnaroundCoord =
- transect.last().atDistanceAndAzimuth(-turnAroundDistance, azimuth);
- turnaroundCoord.setAltitude(qQNaN());
- coordInfo = {turnaroundCoord, CoordTypeTurnaround};
- coordInfoTransect.append(coordInfo);
+ transects.append(transect);
}
- _transects.append(coordInfoTransect);
- }
- qCDebug(SurveyComplexItemLog) << "_transects.size() " << _transects.size();
+ _adjustTransectsToEntryPointLocation(transects);
+
+ if (refly) {
+ _optimizeTransectsForShortestDistance(_transects.last().last().coord, transects);
+ }
+
+ if (_flyAlternateTransectsFact.rawValue().toBool()) {
+ QList<QList<QGeoCoordinate>> alternatingTransects;
+ for (int i=0; i<transects.count(); i++) {
+ if (!(i & 1)) {
+ alternatingTransects.append(transects[i]);
+ }
+ }
+ for (int i=transects.count()-1; i>0; i--) {
+ if (i & 1) {
+ alternatingTransects.append(transects[i]);
+ }
+ }
+ transects = alternatingTransects;
+ }
+
+ // Adjust to lawnmower pattern
+ bool reverseVertices = false;
+ for (int i=0; i<transects.count(); i++) {
+ // We must reverse the vertices for every other transect in order to make a lawnmower pattern
+ QList<QGeoCoordinate> transectVertices = transects[i];
+ if (reverseVertices) {
+ reverseVertices = false;
+ QList<QGeoCoordinate> reversedVertices;
+ for (int j=transectVertices.count()-1; j>=0; j--) {
+ reversedVertices.append(transectVertices[j]);
+ }
+ transectVertices = reversedVertices;
+ } else {
+ reverseVertices = true;
+ }
+ transects[i] = transectVertices;
+ }
+
+ // Convert to CoordInfo transects and append to _transects
+ for (const QList<QGeoCoordinate>& transect: transects) {
+ QGeoCoordinate coord;
+ QList<TransectStyleComplexItem::CoordInfo_t> coordInfoTransect;
+ TransectStyleComplexItem::CoordInfo_t coordInfo;
+
+ coordInfo = { transect[0], CoordTypeSurveyEntry };
+ coordInfoTransect.append(coordInfo);
+ coordInfo = { transect[1], CoordTypeSurveyExit };
+ coordInfoTransect.append(coordInfo);
+
+ // For hover and capture we need points for each camera location within the transect
+ if (triggerCamera() && hoverAndCaptureEnabled()) {
+ double transectLength = transect[0].distanceTo(transect[1]);
+ double transectAzimuth = transect[0].azimuthTo(transect[1]);
+ if (triggerDistance() < transectLength) {
+ int cInnerHoverPoints = static_cast<int>(floor(transectLength / triggerDistance()));
+ qCDebug(SurveyComplexItemLog) << "cInnerHoverPoints" << cInnerHoverPoints;
+ for (int i=0; i<cInnerHoverPoints; i++) {
+ QGeoCoordinate hoverCoord = transect[0].atDistanceAndAzimuth(triggerDistance() * (i + 1), transectAzimuth);
+ TransectStyleComplexItem::CoordInfo_t coordInfo = { hoverCoord, CoordTypeInteriorHoverTrigger };
+ coordInfoTransect.insert(1 + i, coordInfo);
+ }
+ }
+ }
+
+ // Extend the transect ends for turnaround
+ if (_hasTurnaround()) {
+ QGeoCoordinate turnaroundCoord;
+ double turnAroundDistance = _turnAroundDistanceFact.rawValue().toDouble();
+
+ double azimuth = transect[0].azimuthTo(transect[1]);
+ turnaroundCoord = transect[0].atDistanceAndAzimuth(-turnAroundDistance, azimuth);
+ turnaroundCoord.setAltitude(qQNaN());
+ TransectStyleComplexItem::CoordInfo_t coordInfo = { turnaroundCoord, CoordTypeTurnaround };
+ coordInfoTransect.prepend(coordInfo);
+
+ azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
+ turnaroundCoord = transect.last().atDistanceAndAzimuth(-turnAroundDistance, azimuth);
+ turnaroundCoord.setAltitude(qQNaN());
+ coordInfo = { turnaroundCoord, CoordTypeTurnaround };
+ coordInfoTransect.append(coordInfo);
+ }
+
+ _transects.append(coordInfoTransect);
+ }
+ qCDebug(SurveyComplexItemLog) << "_transects.size() " << _transects.size();
}
-void SurveyComplexItem::_recalcCameraShots(void) {
- double triggerDistance = this->triggerDistance();
+void SurveyComplexItem::_recalcCameraShots(void)
+{
+ double triggerDistance = this->triggerDistance();
- if (triggerDistance == 0) {
- _cameraShots = 0;
- } else {
- if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
- _cameraShots = qCeil(_complexDistance / triggerDistance);
+ if (triggerDistance == 0) {
+ _cameraShots = 0;
} 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;
- }
+ if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
+ _cameraShots = qCeil(_complexDistance / triggerDistance);
} 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();
- }
+ _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() && !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);
+ }
}
- }
}
- } else {
- // We have transects available, calc from those
- for (const QList<TransectStyleComplexItem::CoordInfo_t> &transect :
- _transects) {
- QGeoCoordinate firstCameraCoord, lastCameraCoord;
- 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);
- }
- }
}
- }
- emit cameraShotsChanged();
+ emit cameraShotsChanged();
}
-SurveyComplexItem::ReadyForSaveState
-SurveyComplexItem::readyForSaveState(void) const {
- return TransectStyleComplexItem::readyForSaveState();
+SurveyComplexItem::ReadyForSaveState SurveyComplexItem::readyForSaveState(void) const
+{
+ return TransectStyleComplexItem::readyForSaveState();
}
-void SurveyComplexItem::rotateEntryPoint(void) {
- if (_entryPoint == EntryLocationLast) {
- _entryPoint = EntryLocationFirst;
- } else {
- _entryPoint++;
- }
+void SurveyComplexItem::rotateEntryPoint(void)
+{
+ if (_entryPoint == EntryLocationLast) {
+ _entryPoint = EntryLocationFirst;
+ } else {
+ _entryPoint++;
+ }
- _rebuildTransects();
+ _rebuildTransects();
- setDirty(true);
+ setDirty(true);
}
-double SurveyComplexItem::timeBetweenShots(void) {
- return _vehicleSpeed == 0 ? 0 : triggerDistance() / _vehicleSpeed;
+double SurveyComplexItem::timeBetweenShots(void)
+{
+ return _vehicleSpeed == 0 ? 0 : triggerDistance() / _vehicleSpeed;
}
-double SurveyComplexItem::additionalTimeDelay(void) const {
- double hoverTime = 0;
+double SurveyComplexItem::additionalTimeDelay (void) const
+{
+ double hoverTime = 0;
- if (hoverAndCaptureEnabled()) {
- for (const QList<TransectStyleComplexItem::CoordInfo_t> &transect :
- _transects) {
- hoverTime += _hoverAndCaptureDelaySeconds * transect.count();
+ if (hoverAndCaptureEnabled()) {
+ for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
+ hoverTime += _hoverAndCaptureDelaySeconds * transect.count();
+ }
}
- }
- return hoverTime;
+ return hoverTime;
}
-void SurveyComplexItem::_updateWizardMode(void) {
- if (_surveyAreaPolygon.isValid() && !_surveyAreaPolygon.traceMode()) {
- setWizardMode(false);
- }
+void SurveyComplexItem::_updateWizardMode(void)
+{
+ if (_surveyAreaPolygon.isValid() && !_surveyAreaPolygon.traceMode()) {
+ setWizardMode(false);
+ }
}
diff --git a/src/MissionManager/SurveyComplexItem.h b/src/MissionManager/SurveyComplexItem.h
index 3ead3027f527e6c80a91291bb95a899e5d17e24b..78c103a1ab39a7b84a69e5d4ae63bf39014180a5 100644
--- a/src/MissionManager/SurveyComplexItem.h
+++ b/src/MissionManager/SurveyComplexItem.h
@@ -9,186 +9,163 @@
#pragma once
+#include "TransectStyleComplexItem.h"
#include "MissionItem.h"
-#include "QGCLoggingCategory.h"
#include "SettingsFact.h"
-#include "TransectStyleComplexItem.h"
+#include "QGCLoggingCategory.h"
Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)
class PlanMasterController;
-class SurveyComplexItem : public TransectStyleComplexItem {
- Q_OBJECT
+class SurveyComplexItem : public TransectStyleComplexItem
+{
+ Q_OBJECT
public:
- /// @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(PlanMasterController *masterController, 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
- QString patternName(void) const final { return name; }
- bool load(const QJsonObject &complexObject, int sequenceNumber,
- QString &errorString) final;
- QString mapVisualQML(void) const final {
- return QStringLiteral("SurveyMapVisual.qml");
- }
- QString presetsSettingsGroup(void) { return settingsGroup; }
- void savePreset(const QString &name);
- void loadPreset(const QString &name);
-
- // Overrides from TransectStyleComplexItem
- void save(QJsonObject &planItems) final;
- bool specifiesCoordinate(void) const final { return true; }
- 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"); }
- ReadyForSaveState readyForSaveState(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 QString name;
-
- 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;
+ /// @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(PlanMasterController* masterController, 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
+ QString patternName (void) const final { return name; }
+ bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
+ QString mapVisualQML (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
+ QString presetsSettingsGroup(void) { return settingsGroup; }
+ void savePreset (const QString& name);
+ void loadPreset (const QString& name);
+
+ // Overrides from TransectStyleComplexItem
+ void save (QJsonArray& planItems) final;
+ bool specifiesCoordinate (void) const final { return true; }
+ 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"); }
+ ReadyForSaveState readyForSaveState (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 QString name;
+
+ 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);
+ void refly90DegreesChanged(bool refly90Degrees);
private slots:
- void _updateWizardMode(void);
+ void _updateWizardMode (void);
- // Overrides from TransectStyleComplexItem
- void _rebuildTransectsPhase1(void) final;
- void _recalcCameraShots(void) final;
+ // Overrides from TransectStyleComplexItem
+ void _rebuildTransectsPhase1 (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);
- 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);
- 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, bool forPresets);
- void _saveWorker(QJsonObject &complexObject);
- 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;
+ 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);
+ 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);
+ 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, bool forPresets);
+ void _saveWorker(QJsonObject& complexObject);
+ 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;
};
diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc
index 504f28d2a4c8b766be7e882f452d26a93ce0b9a9..e85f9497038da3ab7b4d4689fef18a641dc5c1eb 100644
--- a/src/MissionManager/TransectStyleComplexItem.cc
+++ b/src/MissionManager/TransectStyleComplexItem.cc
@@ -171,7 +171,7 @@ void TransectStyleComplexItem::_save(QJsonObject& complexObject)
innerObject[_jsonVisualTransectPointsKey] = transectPointsJson;
// Save the interal mission items
- QJsonObject missionItemsJsonArray;
+ QJsonArray missionItemsJsonArray;
QObject* missionItemParent = new QObject();
QList<MissionItem*> missionItems;
appendMissionItems(missionItems, missionItemParent);
@@ -242,7 +242,7 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, bool forP
// Load generated mission items
_loadedMissionItemsParent = new QObject(this);
- QJsonObject missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
+ QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
for (const QJsonValue missionItemJson: missionItemsJsonArray) {
MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent);
if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) {
diff --git a/src/MissionManager/TransectStyleComplexItem.h b/src/MissionManager/TransectStyleComplexItem.h
index d44e4ffc8d39ce2a3d76f7beeead22d379e6d1ec..949c3bf3c4156471ef1e15a67123bb53c4e44e0c 100644
--- a/src/MissionManager/TransectStyleComplexItem.h
+++ b/src/MissionManager/TransectStyleComplexItem.h
@@ -86,7 +86,7 @@ public:
double greatestDistanceTo (const QGeoCoordinate &other) const final;
// Overrides from VisualMissionItem
- void save (QJsonObject& planItems) override = 0;
+ void save (QJsonArray& planItems) override = 0;
bool specifiesCoordinate (void) const override = 0;
virtual void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
virtual void applyNewAltitude (double newAltitude) final;
diff --git a/src/MissionManager/TransectStyleComplexItemTest.h b/src/MissionManager/TransectStyleComplexItemTest.h
index 054b78b755c894f0308bcb937777bacbc8bdbbc4..d430615f7de7c2fe0b2893fd7f9f3d8d27fd9bad 100644
--- a/src/MissionManager/TransectStyleComplexItemTest.h
+++ b/src/MissionManager/TransectStyleComplexItemTest.h
@@ -88,7 +88,7 @@ public:
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final { Q_UNUSED(complexObject); Q_UNUSED(sequenceNumber); Q_UNUSED(errorString); return false; }
// Overrides from VisualMissionItem
- void save (QJsonObject& missionItems) final { Q_UNUSED(missionItems); }
+ void save (QJsonArray& missionItems) final { Q_UNUSED(missionItems); }
bool specifiesCoordinate (void) const final { return true; }
double additionalTimeDelay (void) const final { return 0; }
diff --git a/src/MissionManager/VTOLLandingComplexItem.cc b/src/MissionManager/VTOLLandingComplexItem.cc
index 5ff8d850228fc237a7d37069663f42d744ab3871..808ccec96e67b46c87c943af9ca3c7e9651f944a 100644
--- a/src/MissionManager/VTOLLandingComplexItem.cc
+++ b/src/MissionManager/VTOLLandingComplexItem.cc
@@ -57,7 +57,7 @@ VTOLLandingComplexItem::VTOLLandingComplexItem(PlanMasterController* masterContr
setDirty(false);
}
-void VTOLLandingComplexItem::save(QJsonObject& missionItems)
+void VTOLLandingComplexItem::save(QJsonArray& missionItems)
{
QJsonObject saveObject = _save();
diff --git a/src/MissionManager/VTOLLandingComplexItem.h b/src/MissionManager/VTOLLandingComplexItem.h
index a604524bccc50e659a18e9ebce98e96d3b023341..f5a8afc8f3d4a6ed9ba78d72b29e4d557afd6373 100644
--- a/src/MissionManager/VTOLLandingComplexItem.h
+++ b/src/MissionManager/VTOLLandingComplexItem.h
@@ -35,7 +35,7 @@ public:
QString mapVisualQML (void) const final { return QStringLiteral("VTOLLandingPatternMapVisual.qml"); }
// Overrides from VisualMissionItem
- void save (QJsonObject& missionItems) final;
+ void save (QJsonArray& missionItems) final;
static const QString name;
diff --git a/src/MissionManager/VisualMissionItem.h b/src/MissionManager/VisualMissionItem.h
index 887a0410d554760efa71a43b3fb2317b1a1ecd5e..df0bac2172ebc25d90341d120aa109dee2b971de 100644
--- a/src/MissionManager/VisualMissionItem.h
+++ b/src/MissionManager/VisualMissionItem.h
@@ -177,7 +177,7 @@ public:
/// Save the item(s) in Json format
/// @param missionItems Current set of mission items, new items should be appended to the end
- virtual void save(QJsonObject& missionItems) = 0;
+ virtual void save(QJsonArray& missionItems) = 0;
/// @return The QML resource file which contains the control which visualizes the item on the map.
virtual QString mapVisualQML(void) const = 0;
diff --git a/src/QtLocationPlugin/QGeoCodeReplyQGC.cpp b/src/QtLocationPlugin/QGeoCodeReplyQGC.cpp
index b81ea9cd09d6d77c73618c3faf94a2d75b0a5cfe..1bf8cd3ed9b2dd728f85596a8019b167d26d2654 100644
--- a/src/QtLocationPlugin/QGeoCodeReplyQGC.cpp
+++ b/src/QtLocationPlugin/QGeoCodeReplyQGC.cpp
@@ -97,7 +97,7 @@ enum QGCGeoCodeType {
class JasonMonger {
public:
JasonMonger();
- QSet<int> json2QGCGeoCodeType(const QJsonObject &types);
+ QSet<int> json2QGCGeoCodeType(const QJsonArray &types);
private:
int _getCode(const QString &key);
QMap<QString, int> _m;
@@ -145,7 +145,7 @@ int JasonMonger::_getCode(const QString &key) {
return _m.value(key, GeoCodeTypeUnknown);
}
-QSet<int> JasonMonger::json2QGCGeoCodeType(const QJsonObject &types) {
+QSet<int> JasonMonger::json2QGCGeoCodeType(const QJsonArray &types) {
QSet<int> result;
for (int i=0; i<types.size(); ++i) {
result |= _getCode(types[i].toString());
@@ -204,7 +204,7 @@ void QGeoCodeReplyQGC::networkReplyFinished()
}
QList<QGeoLocation> locations;
- QJsonObject results = object.value(QStringLiteral("results")).toArray();
+ QJsonArray results = object.value(QStringLiteral("results")).toArray();
for (int i=0; i<results.size(); ++i) {
if (!results[i].isObject())
continue;
@@ -218,7 +218,7 @@ void QGeoCodeReplyQGC::networkReplyFinished()
if (geocode.contains(QStringLiteral("address_components"))) {
- QJsonObject ac = geocode.value(QStringLiteral("address_components")).toArray();
+ QJsonArray ac = geocode.value(QStringLiteral("address_components")).toArray();
for (int j=0; j<ac.size(); ++j) {
if (!ac[j].isObject())
diff --git a/src/Terrain/TerrainQuery.cc b/src/Terrain/TerrainQuery.cc
index 6a5e012867d91631fb68a4240fb3d48e70fca869..ae3f72c1ea90b16809843236df806ad7f3b7e303 100644
--- a/src/Terrain/TerrainQuery.cc
+++ b/src/Terrain/TerrainQuery.cc
@@ -223,7 +223,7 @@ void TerrainAirMapQuery::_requestFailed(void)
void TerrainAirMapQuery::_parseCoordinateData(const QJsonValue& coordinateJson)
{
QList<double> heights;
- const QJsonObject& dataArray = coordinateJson.toArray();
+ const QJsonArray& dataArray = coordinateJson.toArray();
for (int i = 0; i < dataArray.count(); i++) {
heights.append(dataArray[i].toDouble());
}
@@ -234,8 +234,8 @@ void TerrainAirMapQuery::_parseCoordinateData(const QJsonValue& coordinateJson)
void TerrainAirMapQuery::_parsePathData(const QJsonValue& pathJson)
{
QJsonObject jsonObject = pathJson.toArray()[0].toObject();
- QJsonObject stepArray = jsonObject["step"].toArray();
- QJsonObject profileArray = jsonObject["profile"].toArray();
+ QJsonArray stepArray = jsonObject["step"].toArray();
+ QJsonArray profileArray = jsonObject["profile"].toArray();
double latStep = stepArray[0].toDouble();
double lonStep = stepArray[1].toDouble();
@@ -258,10 +258,10 @@ void TerrainAirMapQuery::_parseCarpetData(const QJsonValue& carpetJson)
QList<QList<double>> carpet;
if (!_carpetStatsOnly) {
- QJsonObject carpetArray = jsonObject["carpet"].toArray();
+ QJsonArray carpetArray = jsonObject["carpet"].toArray();
for (int i=0; i<carpetArray.count(); i++) {
- QJsonObject rowArray = carpetArray[i].toArray();
+ QJsonArray rowArray = carpetArray[i].toArray();
carpet.append(QList<double>());
for (int j=0; j<rowArray.count(); j++) {
diff --git a/src/TerrainTile.cc b/src/TerrainTile.cc
index c415c75ec2ad806741744d7855f3b54c87b568be..df31eacc543b7b4cdc2af2bd4bfe63768c7957af 100644
--- a/src/TerrainTile.cc
+++ b/src/TerrainTile.cc
@@ -229,8 +229,8 @@ QByteArray TerrainTile::serialize(QByteArray input)
QByteArray emptyArray;
return emptyArray;
}
- const QJsonObject& swArray = boundsObject[_jsonSouthWestKey].toArray();
- const QJsonObject& neArray = boundsObject[_jsonNorthEastKey].toArray();
+ const QJsonArray& swArray = boundsObject[_jsonSouthWestKey].toArray();
+ const QJsonArray& neArray = boundsObject[_jsonNorthEastKey].toArray();
if (swArray.count() < 2 || neArray.count() < 2 ) {
qCDebug(TerrainTileLog) << "Incomplete bounding location";
QByteArray emptyArray;
@@ -251,7 +251,7 @@ QByteArray TerrainTile::serialize(QByteArray input)
}
// Carpet
- const QJsonObject& carpetArray = dataObject[_jsonCarpetKey].toArray();
+ const QJsonArray& carpetArray = dataObject[_jsonCarpetKey].toArray();
int gridSizeLat = carpetArray.count();
int gridSizeLon = carpetArray[0].toArray().count();
@@ -289,7 +289,7 @@ QByteArray TerrainTile::serialize(QByteArray input)
int valueIndex = 0;
for (int i = 0; i < gridSizeLat; i++) {
- const QJsonObject& row = carpetArray[i].toArray();
+ const QJsonArray& row = carpetArray[i].toArray();
if (row.count() < gridSizeLon) {
qCDebug(TerrainTileLog) << "Expected row array of " << gridSizeLon << ", instead got " << row.count();
QByteArray emptyArray;
diff --git a/src/Vehicle/CompInfoParam.cc b/src/Vehicle/CompInfoParam.cc
index f7ffbbf5e47df4bb69785206d3b0f2a1fa886cf7..9b56cd47585117566ada1be36868de83ba829dad 100644
--- a/src/Vehicle/CompInfoParam.cc
+++ b/src/Vehicle/CompInfoParam.cc
@@ -68,7 +68,7 @@ void CompInfoParam::setJson(const QString& metadataJsonFileName, const QString&
return;
}
- QJsonObject rgParameters = jsonObj[_jsonParametersKey].toArray();
+ QJsonArray rgParameters = jsonObj[_jsonParametersKey].toArray();
for (QJsonValue parameterValue: rgParameters) {
QMap<QString, QString> emptyDefineMap;
diff --git a/src/Vehicle/CompInfoVersion.cc b/src/Vehicle/CompInfoVersion.cc
index 06300facf2dfde211c92ccb2f1b1b6a4b9fa8361..f71243e415b95b97026d930a6c16ea646e2a0610 100644
--- a/src/Vehicle/CompInfoVersion.cc
+++ b/src/Vehicle/CompInfoVersion.cc
@@ -58,7 +58,7 @@ void CompInfoVersion::setJson(const QString& metadataJsonFileName, const QString
return;
}
- QJsonObject rgSupportedTypes = jsonObj[_jsonSupportedCompMetadataTypesKey].toArray();
+ QJsonArray rgSupportedTypes = jsonObj[_jsonSupportedCompMetadataTypesKey].toArray();
for (QJsonValue typeValue: rgSupportedTypes) {
_supportedTypes.append(static_cast<COMP_METADATA_TYPE>(typeValue.toInt()));
}
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index c628e4e8058620b1f85a459253be7c00c57cc5fb..5874560a661fd902369951369dfd373a48377845 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -877,7 +877,7 @@ void FirmwareUpgradeController::_px4ReleasesGithubDownloadComplete(QString /*rem
qCWarning(FirmwareUpgradeLog) << "px4 releases json document is not an array" << localFile;
return;
}
- QJsonObject releases = doc.array();
+ QJsonArray releases = doc.array();
// The first release marked prerelease=false is stable
// The first release marked prerelease=true is beta
@@ -941,7 +941,7 @@ void FirmwareUpgradeController::_ardupilotManifestDownloadComplete(QString remot
}
QJsonObject json = doc.object();
- QJsonObject rgFirmware = json[_manifestFirmwareJsonKey].toArray();
+ QJsonArray rgFirmware = json[_manifestFirmwareJsonKey].toArray();
for (int i=0; i<rgFirmware.count(); i++) {
const QJsonObject& firmwareJson = rgFirmware[i].toObject();
@@ -966,12 +966,12 @@ void FirmwareUpgradeController::_ardupilotManifestDownloadComplete(QString remot
firmwareInfo.version = firmwareJson[_manifestMavFirmwareVersionJsonKey].toString();
firmwareInfo.chibios = format == QStringLiteral("apj"); firmwareInfo.fmuv2 = platform.contains(QStringLiteral("fmuv2"));
- QJsonObject bootloaderArray = firmwareJson[_manifestBootloaderStrJsonKey].toArray();
+ QJsonArray bootloaderArray = firmwareJson[_manifestBootloaderStrJsonKey].toArray();
for (int j=0; j<bootloaderArray.count(); j++) {
firmwareInfo.rgBootloaderPortString.append(bootloaderArray[j].toString());
}
- QJsonObject usbidArray = firmwareJson[_manifestUSBIDJsonKey].toArray();
+ QJsonArray usbidArray = firmwareJson[_manifestUSBIDJsonKey].toArray();
for (int j=0; j<usbidArray.count(); j++) {
QStringList vidpid = usbidArray[j].toString().split('/');
QString vid = vidpid[0];
diff --git a/src/comm/QGCSerialPortInfo.cc b/src/comm/QGCSerialPortInfo.cc
index abe35af7a51badce3bb26bab9872b91523af3e18..94acb81f2bc44fda4721c8082261fe954cc734a4 100644
--- a/src/comm/QGCSerialPortInfo.cc
+++ b/src/comm/QGCSerialPortInfo.cc
@@ -110,7 +110,7 @@ void QGCSerialPortInfo::_loadJsonData(void)
{ _jsonNameKey, QJsonValue::String, true },
};
- QJsonObject rgBoardInfo = json[_jsonBoardInfoKey].toArray();
+ QJsonArray rgBoardInfo = json[_jsonBoardInfoKey].toArray();
for (int i=0; i<rgBoardInfo.count(); i++) {
const QJsonValue& jsonValue = rgBoardInfo[i];
if (!jsonValue.isObject()) {
@@ -146,7 +146,7 @@ void QGCSerialPortInfo::_loadJsonData(void)
{ _jsonAndroidOnlyKey, QJsonValue::Bool, false },
};
- QJsonObject rgBoardFallback = json[_jsonBoardDescriptionFallbackKey].toArray();
+ QJsonArray rgBoardFallback = json[_jsonBoardDescriptionFallbackKey].toArray();
for (int i=0; i<rgBoardFallback.count(); i++) {
const QJsonValue& jsonValue = rgBoardFallback[i];
if (!jsonValue.isObject()) {