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Commit f3ca1c29 authored by DonLakeFlyer's avatar DonLakeFlyer
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Add support for max rates and tolerance

parent 4c03e810
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src/MissionManager/CorridorScanComplexItem.cc
View file @ f3ca1c29
......@@ -48,33 +48,9 @@ CorridorScanComplexItem::CorridorScanComplexItem(Vehicle* vehicle, QObject* pare
connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &CorridorScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
connect(&_corridorPolyline, &QGCMapPolyline::dirtyChanged, this, &CorridorScanComplexItem::_polylineDirtyChanged);
connect(&_corridorPolyline, &QGCMapPolyline::countChanged, this, &CorridorScanComplexItem::_polylineCountChanged);
connect(&_corridorPolyline, &QGCMapPolyline::pathChanged, this, &CorridorScanComplexItem::_rebuildCorridor);
connect(&_corridorWidthFact, &Fact::valueChanged, this, &CorridorScanComplexItem::_rebuildCorridor);
_rebuildCorridor();
}
void CorridorScanComplexItem::_polylineCountChanged(int count)
{
Q_UNUSED(count);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
int CorridorScanComplexItem::lastSequenceNumber(void) const
{
int itemCount = _transectPoints.count(); // Each transpect point represents a waypoint item
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
// Only one camera start and on camera stop
itemCount += 2;
} else {
// Each transect will have a camera start and stop in it
itemCount += _transectCount() * 2;
}
return _sequenceNumber + itemCount - 1;
connect(&_corridorPolyline, &QGCMapPolyline::pathChanged, this, &CorridorScanComplexItem::_rebuildCorridorPolygon);
connect(&_corridorWidthFact, &Fact::valueChanged, this, &CorridorScanComplexItem::_rebuildCorridorPolygon);
}
void CorridorScanComplexItem::save(QJsonArray& planItems)
......@@ -147,7 +123,7 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc
_entryPoint = complexObject[_jsonEntryPointKey].toInt();
_rebuildCorridor();
_rebuildTransects();
_ignoreRecalc = false;
......@@ -183,58 +159,42 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
{
qCDebug(CorridorScanComplexItemLog) << "_buildAndAppendMissionItems";
// First adjust for terrain (this will set altitudes into _transectionPoints in all cases
_adjustTransectPointsForTerrain();
// Now build the mission items from the transect points
MissionItem* item;
int seqNum = _sequenceNumber;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
bool addTriggerAtBeginning = imagesEverywhere;
bool firstPoint = true;
bool entryPoint = true;
bool firstOverallPoint = true;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
foreach (const QVariant& transectPointVar, _transectPoints) {
QGeoCoordinate transectPoint = transectPointVar.value<QGeoCoordinate>();
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
mavFrame,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
transectPoint.latitude(),
transectPoint.longitude(),
qAbs(transectPoint.altitude()), // qAbs since negative value indicates survey edge
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
//qDebug() << "_buildAndAppendMissionItems";
foreach (const QList<TransectStyleComplexItem::CoordInfo_t>& transect, _transects) {
bool entryPoint = true;
//qDebug() << "start transect";
foreach (const CoordInfo_t& transectCoordInfo, transect) {
//qDebug() << transectCoordInfo.coordType;
if (firstPoint && addTriggerAtBeginning) {
// Start triggering
addTriggerAtBeginning = false;
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance
0, // shutter integration (ignore)
1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
MAV_CMD_NAV_WAYPOINT,
mavFrame,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
transectCoordInfo.coord.latitude(),
transectCoordInfo.coord.longitude(),
transectCoordInfo.coord.altitude(),
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
firstPoint = false;
if (transectPoint.altitude() < 0 && !imagesEverywhere) {
if (entryPoint) {
if (firstOverallPoint && addTriggerAtBeginning) {
// Start triggering
addTriggerAtBeginning = false;
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
......@@ -246,21 +206,39 @@ void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& i
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
// Stop triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
entryPoint = !entryPoint;
firstOverallPoint = false;
if (transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge && !imagesEverywhere) {
if (entryPoint) {
// Start of transect, start triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // trigger distance
0, // shutter integration (ignore)
1, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
// End of transect, stop triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
0, // stop triggering
0, // shutter integration (ignore)
0, // trigger immediately when starting
0, 0, 0, 0, // param 4-7 unused
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
entryPoint = !entryPoint;
}
}
}
......@@ -312,7 +290,7 @@ void CorridorScanComplexItem::rotateEntryPoint(void)
_entryPoint = 0;
}
_rebuildCorridor();
_rebuildTransects();
}
void CorridorScanComplexItem::_rebuildCorridorPolygon(void)
......@@ -349,7 +327,7 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
_loadedMissionItemsParent = NULL;
}
_transectPoints.clear();
_transects.clear();
_transectsPathHeightInfo.clear();
double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
......@@ -360,8 +338,9 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
if (_corridorPolyline.count() >= 2) {
// First build up the transects all going the same direction
QList<QList<QGeoCoordinate>> transects;
//qDebug() << "_rebuildTransectsPhase1";
for (int i=0; i<transectCount; i++) {
//qDebug() << "start transect";
double offsetDistance;
if (transectCount == 1) {
// Single transect is flown over scan line
......@@ -371,24 +350,44 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
offsetDistance = halfWidth - normalizedTransectPosition;
}
QList<QGeoCoordinate> transect = _corridorPolyline.offsetPolyline(offsetDistance);
transect[0].setAltitude(_surveyEdgeIndicator);
transect[1].setAltitude(_surveyEdgeIndicator);
// Turn transect into CoordInfo transect
QList<TransectStyleComplexItem::CoordInfo_t> transect;
QList<QGeoCoordinate> transectCoords = _corridorPolyline.offsetPolyline(offsetDistance);
for (int j=1; j<transectCoords.count() - 1; j++) {
TransectStyleComplexItem::CoordInfo_t coordInfo = { transectCoords[j], CoordTypeInterior };
transect.append(coordInfo);
}
TransectStyleComplexItem::CoordInfo_t coordInfo = { transectCoords.first(), CoordTypeSurveyEdge };
transect.prepend(coordInfo);
coordInfo = { transectCoords.last(), CoordTypeSurveyEdge };
transect.append(coordInfo);
// Extend the transect ends for turnaround
if (_hasTurnaround()) {
QGeoCoordinate extensionCoord;
// Extend the transect ends for turnaround
double azimuth = transect[0].azimuthTo(transect[1]);
extensionCoord = transect[0].atDistanceAndAzimuth(-_turnAroundDistanceFact.rawValue().toDouble(), azimuth);
extensionCoord.setAltitude(qQNaN());
transect.prepend(extensionCoord);
azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
extensionCoord = transect.last().atDistanceAndAzimuth(-_turnAroundDistanceFact.rawValue().toDouble(), azimuth);
extensionCoord.setAltitude(qQNaN());
transect.append(extensionCoord);
QGeoCoordinate turnaroundCoord;
double turnAroundDistance = _turnAroundDistanceFact.rawValue().toDouble();
double azimuth = transectCoords[0].azimuthTo(transectCoords[1]);
turnaroundCoord = transectCoords[0].atDistanceAndAzimuth(-turnAroundDistance, azimuth);
turnaroundCoord.setAltitude(qQNaN());
TransectStyleComplexItem::CoordInfo_t coordInfo = { turnaroundCoord, CoordTypeTurnaround };
transect.prepend(coordInfo);
azimuth = transectCoords.last().azimuthTo(transectCoords[transectCoords.count() - 2]);
turnaroundCoord = transectCoords.last().atDistanceAndAzimuth(-turnAroundDistance, azimuth);
turnaroundCoord.setAltitude(qQNaN());
coordInfo = { turnaroundCoord, CoordTypeTurnaround };
transect.append(coordInfo);
}
#if 0
qDebug() << "transect debug";
foreach (const TransectStyleComplexItem::CoordInfo_t& coordInfo, transect) {
qDebug() << coordInfo.coordType;
}
#endif
transects.append(transect);
_transects.append(transect);
normalizedTransectPosition += transectSpacing;
}
......@@ -419,30 +418,30 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
break;
}
if (reverseTransects) {
QList<QList<QGeoCoordinate>> reversedTransects;
foreach (const QList<QGeoCoordinate>& transect, transects) {
QList<QList<TransectStyleComplexItem::CoordInfo_t>> reversedTransects;
foreach (const QList<TransectStyleComplexItem::CoordInfo_t>& transect, _transects) {
reversedTransects.prepend(transect);
}
transects = reversedTransects;
_transects = reversedTransects;
}
if (reverseVertices) {
for (int i=0; i<transects.count(); i++) {
QList<QGeoCoordinate> reversedVertices;
foreach (const QGeoCoordinate& vertex, transects[i]) {
for (int i=0; i<_transects.count(); i++) {
QList<TransectStyleComplexItem::CoordInfo_t> reversedVertices;
foreach (const TransectStyleComplexItem::CoordInfo_t& vertex, _transects[i]) {
reversedVertices.prepend(vertex);
}
transects[i] = reversedVertices;
_transects[i] = reversedVertices;
}
}
// Convert the list of transects to grid points
// Adjust to lawnmower pattern
reverseVertices = false;
for (int i=0; i<transects.count(); i++) {
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];
QList<TransectStyleComplexItem::CoordInfo_t> transectVertices = _transects[i];
if (reverseVertices) {
reverseVertices = false;
QList<QGeoCoordinate> reversedVertices;
QList<TransectStyleComplexItem::CoordInfo_t> reversedVertices;
for (int j=transectVertices.count()-1; j>=0; j--) {
reversedVertices.append(transectVertices[j]);
}
......@@ -450,23 +449,17 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
} else {
reverseVertices = true;
}
for (int i=0; i<transectVertices.count(); i++) {
_transectPoints.append(QVariant::fromValue((transectVertices[i])));
}
normalizedTransectPosition += transectSpacing;
_transects[i] = transectVertices;
}
}
_queryTransectsPathHeightInfo();
}
void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
{
// Calculate distance flown for complex item
_complexDistance = 0;
for (int i=0; i<_transectPoints.count() - 2; i++) {
_complexDistance += _transectPoints[i].value<QGeoCoordinate>().distanceTo(_transectPoints[i+1].value<QGeoCoordinate>());
for (int i=0; i<_visualTransectPoints.count() - 2; i++) {
_complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
}
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
......@@ -476,23 +469,15 @@ void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
_cameraShots = singleTransectImageCount * _transectCount();
}
_coordinate = _transectPoints.count() ? _transectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
_exitCoordinate = _transectPoints.count() ? _transectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
_coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
_exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value<QGeoCoordinate>() : QGeoCoordinate();
emit transectPointsChanged();
emit cameraShotsChanged();
emit complexDistanceChanged();
emit coordinateChanged(_coordinate);
emit exitCoordinateChanged(_exitCoordinate);
}
void CorridorScanComplexItem::_rebuildCorridor(void)
{
_rebuildCorridorPolygon();
_rebuildTransectsPhase1();
_rebuildTransectsPhase2();
}
bool CorridorScanComplexItem::readyForSave(void) const
{
return TransectStyleComplexItem::readyForSave();
......
src/MissionManager/CorridorScanComplexItem.h
View file @ f3ca1c29
......@@ -36,7 +36,6 @@ public:
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
QString mapVisualQML (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
......@@ -56,8 +55,7 @@ public:
private slots:
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
void _rebuildCorridorPolygon (void);
// Overrides from TransectStyleComplexItem
void _rebuildTransectsPhase1 (void) final;
......@@ -65,7 +63,6 @@ private slots:
private:
int _transectCount (void) const;
void _rebuildCorridorPolygon (void);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
......
src/MissionManager/CorridorScanComplexItemTest.cc
View file @ f3ca1c29
......@@ -24,7 +24,12 @@ void CorridorScanComplexItemTest::init(void)
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_corridorItem = new CorridorScanComplexItem(_offlineVehicle, this);
// _corridorItem->setTurnaroundDist(0); // Unit test written for no turnaround distance
// vehicleSpeed need for terrain calcs
MissionController::MissionFlightStatus_t missionFlightStatus;
missionFlightStatus.vehicleSpeed = 5;
_corridorItem->setMissionFlightStatus(missionFlightStatus);
_setPolyline();
_corridorItem->setDirty(false);
......@@ -130,10 +135,27 @@ void CorridorScanComplexItemTest::_testEntryLocation(void)
}
#endif
void CorridorScanComplexItemTest::_waitForReadyForSave(void)
{
int loops = 0;
while (loops++ < 8) {
if (_corridorItem->readyForSave()) {
return;
}
QTest::qWait(500);
}
QVERIFY(false);
}
void CorridorScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
......@@ -141,7 +163,7 @@ void CorridorScanComplexItemTest::_testItemCount(void)
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
......@@ -153,8 +175,32 @@ void CorridorScanComplexItemTest::_testItemCount(void)
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->setFollowTerrain(true);
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
......
src/MissionManager/CorridorScanComplexItemTest.h
View file @ f3ca1c29
......@@ -36,6 +36,7 @@ private slots:
private:
void _setPolyline(void);
void _waitForReadyForSave(void);
enum {
corridorPolygonPathChangedIndex = 0,
......
src/MissionManager/MissionController.cc
View file @ f3ca1c29
......@@ -2006,3 +2006,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
emit currentPlanViewItemChanged();
}
}
MissionController::MissionFlightStatus_t::_MissionFlightStatus_t(void)
: cruiseSpeed (qQNaN())
, hoverSpeed (qQNaN())
, vehicleSpeed (qQNaN())
{
}
src/MissionManager/MissionController.h
View file @ f3ca1c29
......@@ -41,7 +41,7 @@ public:
MissionController(PlanMasterController* masterController, QObject* parent = NULL);
~MissionController();
typedef struct {
typedef struct _MissionFlightStatus_t {
double maxTelemetryDistance;
double totalDistance;
double totalTime;
......@@ -63,6 +63,8 @@ public:
double cruiseAmpsTotal; ///< Total cruise amps used
int batteryChangePoint; ///< -1 for not supported, 0 for not needed
int batteriesRequired; ///< -1 for not supported
_MissionFlightStatus_t(void);
} MissionFlightStatus_t;
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
......
src/MissionManager/SimpleMissionItem.cc
View file @ f3ca1c29
......@@ -125,6 +125,9 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool editMode, const Miss
if (editMode) {
_rebuildFacts();
}
// Signal coordinate changed to kick off terrain query
emit coordinateChanged(coordinate());
}
SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
......
src/MissionManager/TransectStyleComplexItem.h
View file @ f3ca1c29
......@@ -39,7 +39,7 @@ public:
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(double cameraMinTriggerInterval READ cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT)
Q_PROPERTY(QVariantList transectPoints READ transectPoints NOTIFY transectPointsChanged)
Q_PROPERTY(QVariantList visualTransectPoints READ visualTransectPoints NOTIFY visualTransectPointsChanged)
Q_PROPERTY(bool followTerrain READ followTerrain WRITE setFollowTerrain NOTIFY followTerrainChanged)
Q_PROPERTY(Fact* terrainAdjustTolerance READ terrainAdjustTolerance CONSTANT)
......@@ -48,7 +48,7 @@ public:
QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; }
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
QVariantList transectPoints (void) { return _transectPoints; }
QVariantList visualTransectPoints(void) { return _visualTransectPoints; }
Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; }
Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; }
......@@ -69,7 +69,7 @@ public:
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const override = 0;
int lastSequenceNumber (void) const final;
QString mapVisualQML (void) const override = 0;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
......@@ -120,19 +120,19 @@ signals:
void cameraShotsChanged (void);
void timeBetweenShotsChanged (void);
void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
void transectPointsChanged (void);
void visualTransectPointsChanged (void);
void coveredAreaChanged (void);
void followTerrainChanged (bool followTerrain);
protected slots:
virtual void _rebuildTransectsPhase1 (void) = 0;
virtual void _rebuildTransectsPhase2 (void) = 0;
virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array
virtual void _rebuildTransectsPhase2 (void) = 0; ///< Adjust values associated with _transects array
void _setDirty (void);
void _setIfDirty (bool dirty);
void _updateCoordinateAltitudes (void);
void _signalLastSequenceNumberChanged (void);
void _polyPathTerrainData (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
void _rebuildTransects (void);
protected:
void _save (QJsonObject& saveObject);
......@@ -142,8 +142,6 @@ protected:
double _triggerDistance (void) const;
bool _hasTurnaround (void) const;
double _turnaroundDistance (void) const;
void _queryTransectsPathHeightInfo (void);
void _adjustTransectPointsForTerrain (void);
QString _settingsGroup;
int _sequenceNumber;
......@@ -152,10 +150,23 @@ protected:
QGeoCoordinate _exitCoordinate;
QGCMapPolygon _surveyAreaPolygon;
QVariantList _transectPoints;
QList<TerrainPathQuery::PathHeightInfo_t> _transectsPathHeightInfo;
TerrainPolyPathQuery* _terrainPolyPathQuery;
QTimer _terrainQueryTimer;
enum CoordType {
CoordTypeInterior,
CoordTypeInteriorTerrainAdded,
CoordTypeSurveyEdge,
CoordTypeTurnaround
};
typedef struct {
QGeoCoordinate coord;
CoordType coordType;
} CoordInfo_t;
QVariantList _visualTransectPoints;
QList<QList<CoordInfo_t>> _transects;
QList<QList<TerrainPathQuery::PathHeightInfo_t>> _transectsPathHeightInfo;
TerrainPolyPathQuery* _terrainPolyPathQuery;
QTimer _terrainQueryTimer;
bool _ignoreRecalc;
double _complexDistance;
......@@ -186,14 +197,16 @@ protected:
static const char* _jsonFollowTerrainKey;
static const int _terrainQueryTimeoutMsecs;
static const double _surveyEdgeIndicator; ///< Altitude value in _transectPoints which indicates survey entry
private slots:
void _rebuildTransects (void);
void _reallyQueryTransectsPathHeightInfo (void);
void _reallyQueryTransectsPathHeightInfo(void);
private:
void _addInterstitialTransectsForTerrain (void);
double _altitudeBetweenCoords (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
int _maxPathHeight (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
void _queryTransectsPathHeightInfo (void);
void _adjustTransectsForTerrain (void);
void _addInterstitialTerrainPoints (QList<CoordInfo_t>& transect, const QList<TerrainPathQuery::PathHeightInfo_t>& transectPathHeightInfo);
void _adjustForMaxRates (QList<CoordInfo_t>& transect);
void _adjustForTolerance (QList<CoordInfo_t>& transect);
double _altitudeBetweenCoords (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
int _maxPathHeight (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
};
src/MissionManager/TransectStyleComplexItemTest.h
View file @ f3ca1c29
......@@ -87,7 +87,6 @@ public:
TransectStyleItem(Vehicle* vehicle, QObject* parent = NULL);
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const final { return _sequenceNumber; }
QString mapVisualQML (void) const final { return QString(); }
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final { Q_UNUSED(complexObject); Q_UNUSED(sequenceNumber); Q_UNUSED(errorString); return false; }
......
src/MissionManager/VisualMissionItem.cc
View file @ f3ca1c29
......@@ -38,15 +38,7 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
, _lastLatTerrainQuery (0)
, _lastLonTerrainQuery (0)
{
// Don't get terrain altitude information for submarines or boards
if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
_updateTerrainTimer.setInterval(500);
_updateTerrainTimer.setSingleShot(true);
connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}
_commonInit();
}
VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
......@@ -63,8 +55,17 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
{
*this = other;
_commonInit();
}
void VisualMissionItem::_commonInit(void)
{
// Don't get terrain altitude information for submarines or boats
if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
_updateTerrainTimer.setInterval(500);
_updateTerrainTimer.setSingleShot(true);
connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}
}
......
src/MissionManager/VisualMissionItem.h
View file @ f3ca1c29
......@@ -214,6 +214,8 @@ private slots:
void _terrainDataReceived (bool success, QList<double> heights);
private:
void _commonInit(void);
QTimer _updateTerrainTimer;
double _lastLatTerrainQuery;
double _lastLonTerrainQuery;
......
src/PlanView/CorridorScanMapVisual.qml
View file @ f3ca1c29
......@@ -119,7 +119,7 @@ Item {
MapPolyline {
line.color: "white"
line.width: 2
path: _missionItem.transectPoints
path: _missionItem.visualTransectPoints
}
}
}
src/Terrain/TerrainQuery.cc
View file @ f3ca1c29
......@@ -80,8 +80,8 @@ void TerrainAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, con
void TerrainAirMapQuery::_sendQuery(const QString& path, const QUrlQuery& urlQuery)
{
QUrl url(QStringLiteral("https://api.airmap.com/elevation/v1/ele") + path);
url.setQuery(urlQuery);
qCDebug(TerrainQueryLog) << "_sendQuery" << url;
url.setQuery(urlQuery);
QNetworkRequest request(url);
......@@ -133,7 +133,7 @@ void TerrainAirMapQuery::_requestFinished(void)
// Send back data
const QJsonValue& jsonData = rootObject["data"];
qCDebug(TerrainQueryLog) << "_requestFinished" << jsonData;
qCDebug(TerrainQueryLog) << "_requestFinished sucess";
switch (_queryMode) {
case QueryModeCoordinates:
emit _parseCoordinateData(jsonData);
......@@ -227,7 +227,6 @@ TerrainAtCoordinateBatchManager::TerrainAtCoordinateBatchManager(void)
void TerrainAtCoordinateBatchManager::addQuery(TerrainAtCoordinateQuery* terrainAtCoordinateQuery, const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() > 0) {
qCDebug(TerrainQueryLog) << "addQuery: TerrainAtCoordinateQuery:coordinates.count" << terrainAtCoordinateQuery << coordinates.count();
connect(terrainAtCoordinateQuery, &TerrainAtCoordinateQuery::destroyed, this, &TerrainAtCoordinateBatchManager::_queryObjectDestroyed);
QueuedRequestInfo_t queuedRequestInfo = { terrainAtCoordinateQuery, coordinates };
_requestQueue.append(queuedRequestInfo);
......@@ -255,14 +254,18 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
// Convert coordinates to point strings for json query
QList<QGeoCoordinate> coords;
int requestQueueAdded = 0;
foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
SentRequestInfo_t sentRequestInfo = { requestInfo.terrainAtCoordinateQuery, false, requestInfo.coordinates.count() };
qCDebug(TerrainQueryLog) << "Building request: coordinate count" << requestInfo.coordinates.count();
_sentRequests.append(sentRequestInfo);
coords += requestInfo.coordinates;
requestQueueAdded++;
if (coords.count() > 50) {
break;
}
}
_requestQueue.clear();
qCDebug(TerrainQueryLog) << "Built request: coordinate count" << coords.count();
_requestQueue = _requestQueue.mid(requestQueueAdded);
_terrainQuery.requestCoordinateHeights(coords);
_state = State::Downloading;
......
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