SurveyComplexItem.cc 67.3 KB
Newer Older
1 2 3 4 5 6 7 8 9 10
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


11
#include "SurveyComplexItem.h"
12 13 14
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
15
#include "QGroundControlQmlGlobal.h"
16
#include "QGCQGeoCoordinate.h"
17 18
#include "SettingsManager.h"
#include "AppSettings.h"
19 20 21

#include <QPolygonF>

22 23
QGC_LOGGING_CATEGORY(SurveyComplexItemLog, "SurveyComplexItemLog")

24 25 26 27 28 29
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";
30
const char* SurveyComplexItem::flyAlternateTransectsName =  "FlyAlternateTransects";
31
const char* SurveyComplexItem::splitConcavePolygonsName =   "SplitConcavePolygons";
32 33

const char* SurveyComplexItem::_jsonGridAngleKey =          "angle";
DonLakeFlyer's avatar
DonLakeFlyer committed
34
const char* SurveyComplexItem::_jsonEntryPointKey =         "entryLocation";
35 36 37 38 39 40

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";
DonLakeFlyer's avatar
DonLakeFlyer committed
41
const char* SurveyComplexItem::_jsonV3EntryPointKey =                   "entryLocation";
42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
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";
61
const char* SurveyComplexItem::_jsonFlyAlternateTransectsKey =          "flyAlternateTransects";
62
const char* SurveyComplexItem::_jsonSplitConcavePolygonsKey =           "splitConcavePolygons";
63

64
SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
65
    : TransectStyleComplexItem  (vehicle, flyView, settingsGroup, parent)
66 67
    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/Survey.SettingsGroup.json"), this))
    , _gridAngleFact            (settingsGroup, _metaDataMap[gridAngleName])
68
    , _flyAlternateTransectsFact(settingsGroup, _metaDataMap[flyAlternateTransectsName])
69
    , _splitConcavePolygonsFact (settingsGroup, _metaDataMap[splitConcavePolygonsName])
DonLakeFlyer's avatar
DonLakeFlyer committed
70
    , _entryPoint               (EntryLocationTopLeft)
71
{
72 73
    _editorQml = "qrc:/qml/SurveyItemEditor.qml";

74
    // 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.
75
    // NULL check since object creation during unit testing passes NULL for vehicle
76
    if (_vehicle && _vehicle->multiRotor() && _turnAroundDistanceFact.rawValue().toDouble() == _turnAroundDistanceFact.rawDefaultValue().toDouble()) {
77
        // 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.
78
        _turnAroundDistanceFact.setRawValue(10);
79
    }
Don Gagne's avatar
Don Gagne committed
80

81 82 83
    // We override the altitude to the mission default
    if (_cameraCalc.isManualCamera() || !_cameraCalc.valueSetIsDistance()->rawValue().toBool()) {
        _cameraCalc.distanceToSurface()->setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
84 85
    }

86
    connect(&_gridAngleFact,            &Fact::valueChanged,                        this, &SurveyComplexItem::_setDirty);
87
    connect(&_flyAlternateTransectsFact,&Fact::valueChanged,                        this, &SurveyComplexItem::_setDirty);
88
    connect(&_splitConcavePolygonsFact, &Fact::valueChanged,                        this, &SurveyComplexItem::_setDirty);
89
    connect(this,                       &SurveyComplexItem::refly90DegreesChanged,  this, &SurveyComplexItem::_setDirty);
90

91
    connect(&_gridAngleFact,            &Fact::valueChanged,                        this, &SurveyComplexItem::_rebuildTransects);
92
    connect(&_flyAlternateTransectsFact,&Fact::valueChanged,                        this, &SurveyComplexItem::_rebuildTransects);
93
    connect(&_splitConcavePolygonsFact, &Fact::valueChanged,                        this, &SurveyComplexItem::_rebuildTransects);
94
    connect(this,                       &SurveyComplexItem::refly90DegreesChanged,  this, &SurveyComplexItem::_rebuildTransects);
95

96 97 98
    // FIXME: Shouldn't these be in TransectStyleComplexItem? They are also in CorridorScanComplexItem constructur
    connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &SurveyComplexItem::coordinateHasRelativeAltitudeChanged);
    connect(&_cameraCalc, &CameraCalc::distanceToSurfaceRelativeChanged, this, &SurveyComplexItem::exitCoordinateHasRelativeAltitudeChanged);
99

100 101
    if (!kmlOrShpFile.isEmpty()) {
        _surveyAreaPolygon.loadKMLOrSHPFile(kmlOrShpFile);
102 103 104
        _surveyAreaPolygon.setDirty(false);
    }
    setDirty(false);
105 106
}

107
void SurveyComplexItem::save(QJsonArray&  planItems)
108
{
109
    QJsonObject saveObject;
110

111
    _save(saveObject);
112

113
    saveObject[JsonHelper::jsonVersionKey] =                    5;
114 115 116
    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
    saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
    saveObject[_jsonGridAngleKey] =                             _gridAngleFact.rawValue().toDouble();
117
    saveObject[_jsonFlyAlternateTransectsKey] =                 _flyAlternateTransectsFact.rawValue().toBool();
118
    saveObject[_jsonSplitConcavePolygonsKey] =                  _splitConcavePolygonsFact.rawValue().toBool();
DonLakeFlyer's avatar
DonLakeFlyer committed
119
    saveObject[_jsonEntryPointKey] =                            _entryPoint;
120

121 122
    // Polygon shape
    _surveyAreaPolygon.saveToJson(saveObject);
123

124
    planItems.append(saveObject);
125 126
}

127
bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
128
{
129 130 131 132 133 134
    // 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;
135 136
    }

137
    int version = complexObject[JsonHelper::jsonVersionKey].toInt();
138
    if (version < 2 || version > 5) {
139 140
        errorString = tr("Survey items do not support version %1").arg(version);
        return false;
141
    }
142

143 144
    if (version == 4 || version == 5) {
        if (!_loadV4V5(complexObject, sequenceNumber, errorString, version)) {
145 146
            return false;
        }
147 148 149 150 151 152

        _recalcComplexDistance();
        if (_cameraShots == 0) {
            // Shot count was possibly not available from plan file
            _recalcCameraShots();
        }
153 154 155 156 157 158 159 160 161 162 163 164 165
    } 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;
        }
166

167 168 169
        // V2/3 doesn't include individual items so we need to rebuild manually
        _rebuildTransects();
    }
170

171
    return true;
172 173
}

174
bool SurveyComplexItem::_loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version)
175
{
176 177 178
    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
        { ComplexMissionItem::jsonComplexItemTypeKey,   QJsonValue::String, true },
179
        { _jsonEntryPointKey,                           QJsonValue::Double, true },
180
        { _jsonGridAngleKey,                            QJsonValue::Double, true },
181
        { _jsonFlyAlternateTransectsKey,                QJsonValue::Bool,   false },
182
    };
183 184 185 186 187 188

    if(version == 5) {
        JsonHelper::KeyValidateInfo jSplitPolygon = { _jsonSplitConcavePolygonsKey, QJsonValue::Bool, true };
        keyInfoList.append(jSplitPolygon);
    }

189 190
    if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
        return false;
191
    }
Don Gagne's avatar
Don Gagne committed
192

193 194 195 196
    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);
197 198
        return false;
    }
Don Gagne's avatar
Don Gagne committed
199

200 201 202 203 204 205
    _ignoreRecalc = true;

    setSequenceNumber(sequenceNumber);

    if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
        _surveyAreaPolygon.clear();
206 207
        return false;
    }
208 209 210 211

    if (!_load(complexObject, errorString)) {
        _ignoreRecalc = false;
        return false;
Don Gagne's avatar
Don Gagne committed
212
    }
213

214 215
    _gridAngleFact.setRawValue              (complexObject[_jsonGridAngleKey].toDouble());
    _flyAlternateTransectsFact.setRawValue  (complexObject[_jsonFlyAlternateTransectsKey].toBool(false));
216 217 218 219

    if(version == 5) {
        _splitConcavePolygonsFact.setRawValue   (complexObject[_jsonSplitConcavePolygonsKey].toBool(true));
    }
220

DonLakeFlyer's avatar
DonLakeFlyer committed
221
    _entryPoint = complexObject[_jsonEntryPointKey].toInt();
222 223 224 225 226 227 228 229

    _ignoreRecalc = false;

    return true;
}

bool SurveyComplexItem::_loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
Don Gagne's avatar
Don Gagne committed
230 231 232
    QList<JsonHelper::KeyValidateInfo> mainKeyInfoList = {
        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
        { ComplexMissionItem::jsonComplexItemTypeKey,   QJsonValue::String, true },
233
        { QGCMapPolygon::jsonPolygonKey,                QJsonValue::Array,  true },
234 235 236 237 238 239 240 241
        { _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
Don Gagne's avatar
Don Gagne committed
242
    };
243
    if (!JsonHelper::validateKeys(complexObject, mainKeyInfoList, errorString)) {
244 245
        return false;
    }
Don Gagne's avatar
Don Gagne committed
246

247 248 249
    QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
    QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
    if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonV3ComplexItemTypeValue) {
250
        errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType);
251 252 253
        return false;
    }

254 255
    _ignoreRecalc = true;

Don Gagne's avatar
Don Gagne committed
256
    setSequenceNumber(sequenceNumber);
257

258 259 260 261 262 263
    _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));
Don Gagne's avatar
Don Gagne committed
264

265
    bool manualGrid = complexObject[_jsonV3ManualGridKey].toBool(true);
266

Don Gagne's avatar
Don Gagne committed
267
    QList<JsonHelper::KeyValidateInfo> gridKeyInfoList = {
268 269 270 271
        { _jsonV3GridAltitudeKey,           QJsonValue::Double, true },
        { _jsonV3GridAltitudeRelativeKey,   QJsonValue::Bool,   true },
        { _jsonV3GridAngleKey,              QJsonValue::Double, true },
        { _jsonV3GridSpacingKey,            QJsonValue::Double, true },
DonLakeFlyer's avatar
DonLakeFlyer committed
272
        { _jsonEntryPointKey,      QJsonValue::Double, false },
273
        { _jsonV3TurnaroundDistKey,         QJsonValue::Double, true },
Don Gagne's avatar
Don Gagne committed
274
    };
275
    QJsonObject gridObject = complexObject[_jsonV3GridObjectKey].toObject();
Don Gagne's avatar
Don Gagne committed
276
    if (!JsonHelper::validateKeys(gridObject, gridKeyInfoList, errorString)) {
277
        _ignoreRecalc = false;
Don Gagne's avatar
Don Gagne committed
278 279
        return false;
    }
280 281 282 283

    _gridAngleFact.setRawValue          (gridObject[_jsonV3GridAngleKey].toDouble());
    _turnAroundDistanceFact.setRawValue (gridObject[_jsonV3TurnaroundDistKey].toDouble());

DonLakeFlyer's avatar
DonLakeFlyer committed
284 285
    if (gridObject.contains(_jsonEntryPointKey)) {
        _entryPoint = gridObject[_jsonEntryPointKey].toDouble();
DonLakeFlyer's avatar
DonLakeFlyer committed
286
    } else {
DonLakeFlyer's avatar
DonLakeFlyer committed
287
        _entryPoint = EntryLocationTopRight;
DonLakeFlyer's avatar
DonLakeFlyer committed
288
    }
Don Gagne's avatar
Don Gagne committed
289

290 291 292 293 294
    _cameraCalc.distanceToSurface()->setRawValue        (gridObject[_jsonV3GridAltitudeKey].toDouble());
    _cameraCalc.adjustedFootprintSide()->setRawValue    (gridObject[_jsonV3GridSpacingKey].toDouble());
    _cameraCalc.adjustedFootprintFrontal()->setRawValue (complexObject[_jsonV3CameraTriggerDistanceKey].toDouble());

    if (manualGrid) {
295
        _cameraCalc.cameraName()->setRawValue(_cameraCalc.manualCameraName());
296 297
    } else {
        if (!complexObject.contains(_jsonV3CameraObjectKey)) {
Don Gagne's avatar
Don Gagne committed
298
            errorString = tr("%1 but %2 object is missing").arg("manualGrid = false").arg("camera");
299
            _ignoreRecalc = false;
Don Gagne's avatar
Don Gagne committed
300 301 302
            return false;
        }

303
        QJsonObject cameraObject = complexObject[_jsonV3CameraObjectKey].toObject();
Don Gagne's avatar
Don Gagne committed
304

305 306 307
        // Older code had typo on "imageSideOverlap" incorrectly being "imageSizeOverlap"
        QString incorrectImageSideOverlap = "imageSizeOverlap";
        if (cameraObject.contains(incorrectImageSideOverlap)) {
308
            cameraObject[_jsonV3SideOverlapKey] = cameraObject[incorrectImageSideOverlap];
309 310 311
            cameraObject.remove(incorrectImageSideOverlap);
        }

Don Gagne's avatar
Don Gagne committed
312
        QList<JsonHelper::KeyValidateInfo> cameraKeyInfoList = {
313 314 315 316 317 318 319 320 321 322 323
            { _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 },
Don Gagne's avatar
Don Gagne committed
324
        };
Don Gagne's avatar
Don Gagne committed
325
        if (!JsonHelper::validateKeys(cameraObject, cameraKeyInfoList, errorString)) {
326
            _ignoreRecalc = false;
Don Gagne's avatar
Don Gagne committed
327 328 329
            return false;
        }

330
        _cameraCalc.cameraName()->setRawValue           (cameraObject[_jsonV3CameraNameKey].toString());
331 332 333 334 335 336 337 338 339 340 341
        _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);
Don Gagne's avatar
Don Gagne committed
342
    }
343 344

    // Polygon shape
345 346 347 348 349
    /// 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)
350 351 352
    if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
        _surveyAreaPolygon.clear();
        _ignoreRecalc = false;
353 354
        return false;
    }
355

356 357
    _ignoreRecalc = false;

358 359 360
    return true;
}

DonLakeFlyer's avatar
DonLakeFlyer committed
361
/// Reverse the order of the transects. First transect becomes last and so forth.
362
void SurveyComplexItem::_reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects)
DonLakeFlyer's avatar
DonLakeFlyer committed
363 364 365 366 367 368 369 370 371
{
    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.
372
void SurveyComplexItem::_reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects)
DonLakeFlyer's avatar
DonLakeFlyer committed
373 374 375 376 377 378 379 380 381 382 383
{
    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;
    }
}

DonLakeFlyer's avatar
DonLakeFlyer committed
384 385 386 387
/// 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
388
void SurveyComplexItem::_optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects)
389
{
390
    double rgTransectDistance[4];
DonLakeFlyer's avatar
DonLakeFlyer committed
391 392 393 394
    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);
395 396 397 398 399 400 401 402 403

    int shortestIndex = 0;
    double shortestDistance = rgTransectDistance[0];
    for (int i=1; i<3; i++) {
        if (rgTransectDistance[i] < shortestDistance) {
            shortestIndex = i;
            shortestDistance = rgTransectDistance[i];
        }
    }
404

405 406
    if (shortestIndex > 1) {
        // We need to reverse the order of segments
DonLakeFlyer's avatar
DonLakeFlyer committed
407
        _reverseTransectOrder(transects);
408 409 410
    }
    if (shortestIndex & 1) {
        // We need to reverse the points within each segment
DonLakeFlyer's avatar
DonLakeFlyer committed
411
        _reverseInternalTransectPoints(transects);
412 413
    }
}
414

415
qreal SurveyComplexItem::_ccw(QPointF pt1, QPointF pt2, QPointF pt3)
416 417 418 419
{
    return (pt2.x()-pt1.x())*(pt3.y()-pt1.y()) - (pt2.y()-pt1.y())*(pt3.x()-pt1.x());
}

420
qreal SurveyComplexItem::_dp(QPointF pt1, QPointF pt2)
421 422 423 424
{
    return (pt2.x()-pt1.x())/qSqrt((pt2.x()-pt1.x())*(pt2.x()-pt1.x()) + (pt2.y()-pt1.y())*(pt2.y()-pt1.y()));
}

425
void SurveyComplexItem::_swapPoints(QList<QPointF>& points, int index1, int index2)
426 427 428 429 430 431
{
    QPointF temp = points[index1];
    points[index1] = points[index2];
    points[index2] = temp;
}

DonLakeFlyer's avatar
DonLakeFlyer committed
432
/// Returns true if the current grid angle generates north/south oriented transects
433
bool SurveyComplexItem::_gridAngleIsNorthSouthTransects()
DonLakeFlyer's avatar
DonLakeFlyer committed
434 435 436 437 438 439
{
    // 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);
}

440
void SurveyComplexItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects)
DonLakeFlyer's avatar
DonLakeFlyer committed
441 442 443 444 445
{
    if (transects.count() == 0) {
        return;
    }

DonLakeFlyer's avatar
DonLakeFlyer committed
446 447
    bool reversePoints = false;
    bool reverseTransects = false;
DonLakeFlyer's avatar
DonLakeFlyer committed
448

DonLakeFlyer's avatar
DonLakeFlyer committed
449
    if (_entryPoint == EntryLocationBottomLeft || _entryPoint == EntryLocationBottomRight) {
DonLakeFlyer's avatar
DonLakeFlyer committed
450
        reversePoints = true;
DonLakeFlyer's avatar
DonLakeFlyer committed
451
    }
DonLakeFlyer's avatar
DonLakeFlyer committed
452
    if (_entryPoint == EntryLocationTopRight || _entryPoint == EntryLocationBottomRight) {
DonLakeFlyer's avatar
DonLakeFlyer committed
453
        reverseTransects = true;
DonLakeFlyer's avatar
DonLakeFlyer committed
454
    }
DonLakeFlyer's avatar
DonLakeFlyer committed
455

DonLakeFlyer's avatar
DonLakeFlyer committed
456
    if (reversePoints) {
457
        qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Reverse Points";
DonLakeFlyer's avatar
DonLakeFlyer committed
458 459 460
        _reverseInternalTransectPoints(transects);
    }
    if (reverseTransects) {
461
        qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Reverse Transects";
DonLakeFlyer's avatar
DonLakeFlyer committed
462
        _reverseTransectOrder(transects);
DonLakeFlyer's avatar
DonLakeFlyer committed
463
    }
DonLakeFlyer's avatar
DonLakeFlyer committed
464

DonLakeFlyer's avatar
DonLakeFlyer committed
465
    qCDebug(SurveyComplexItemLog) << "_adjustTransectsToEntryPointLocation Modified entry point:entryLocation" << transects.first().first() << _entryPoint;
DonLakeFlyer's avatar
DonLakeFlyer committed
466 467
}

468
QPointF SurveyComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
469 470
{
    QPointF rotated;
DonLakeFlyer's avatar
DonLakeFlyer committed
471
    double radians = (M_PI / 180.0) * -angle;
472 473 474 475 476 477 478

    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;
}

479
void SurveyComplexItem::_intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines)
480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535
{
    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];

        int foundCount = 0;
        if (line.intersect(topLine, &intersectPoint) == QLineF::BoundedIntersection) {
            intersectLine.setP1(intersectPoint);
            foundCount++;
        }
        if (line.intersect(rightLine, &intersectPoint) == QLineF::BoundedIntersection) {
            if (foundCount == 0) {
                intersectLine.setP1(intersectPoint);
            } else {
                if (foundCount != 1) {
                    qWarning() << "Found more than two intersecting points";
                }
                intersectLine.setP2(intersectPoint);
            }
            foundCount++;
        }
        if (line.intersect(bottomLine, &intersectPoint) == QLineF::BoundedIntersection) {
            if (foundCount == 0) {
                intersectLine.setP1(intersectPoint);
            } else {
                if (foundCount != 1) {
                    qWarning() << "Found more than two intersecting points";
                }
                intersectLine.setP2(intersectPoint);
            }
            foundCount++;
        }
        if (line.intersect(leftLine, &intersectPoint) == QLineF::BoundedIntersection) {
            if (foundCount == 0) {
                intersectLine.setP1(intersectPoint);
            } else {
                if (foundCount != 1) {
                    qWarning() << "Found more than two intersecting points";
                }
                intersectLine.setP2(intersectPoint);
            }
            foundCount++;
        }

        if (foundCount == 2) {
            resultLines += intersectLine;
        }
    }
}

536
void SurveyComplexItem::_intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines)
537
{
538
    resultLines.clear();
539

540 541
    for (int i=0; i<lineList.count(); i++) {
        const QLineF& line = lineList[i];
542
        QList<QPointF> intersections;
543

544
        // Intersect the line with all the polygon edges
545 546 547 548
        for (int j=0; j<polygon.count()-1; j++) {
            QPointF intersectPoint;
            QLineF polygonLine = QLineF(polygon[j], polygon[j+1]);
            if (line.intersect(polygonLine, &intersectPoint) == QLineF::BoundedIntersection) {
549 550 551
                if (!intersections.contains(intersectPoint)) {
                    intersections.append(intersectPoint);
                }
552 553 554
            }
        }

555 556 557 558 559 560 561 562 563 564
        // 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]);
565
                    \
566 567 568 569 570 571 572 573 574 575
                    double newMaxDistance = lineTest.length();
                    if (newMaxDistance > currentMaxDistance) {
                        firstPoint = intersections[i];
                        secondPoint = intersections[j];
                        currentMaxDistance = newMaxDistance;
                    }
                }
            }

            resultLines += QLineF(firstPoint, secondPoint);
576 577 578 579 580
        }
    }
}

/// Adjust the line segments such that they are all going the same direction with respect to going from P1->P2
581
void SurveyComplexItem::_adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines)
582
{
583
    qreal firstAngle = 0;
584 585 586 587
    for (int i=0; i<lineList.count(); i++) {
        const QLineF& line = lineList[i];
        QLineF adjustedLine;

588 589 590 591 592
        if (i == 0) {
            firstAngle = line.angle();
        }

        if (qAbs(line.angle() - firstAngle) > 1.0) {
593 594 595 596 597 598 599 600 601 602
            adjustedLine.setP1(line.p2());
            adjustedLine.setP2(line.p1());
        } else {
            adjustedLine = line;
        }

        resultLines += adjustedLine;
    }
}

603
double SurveyComplexItem::_clampGridAngle90(double gridAngle)
DonLakeFlyer's avatar
DonLakeFlyer committed
604 605 606 607 608 609 610 611 612 613
{
    // 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;
}

614
bool SurveyComplexItem::_nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord)
DonLakeFlyer's avatar
DonLakeFlyer committed
615 616 617 618 619 620 621 622 623 624
{
    if (pointIndex > transectPoints.count()) {
        qWarning() << "Bad grid generation";
        return false;
    }

    coord = transectPoints[pointIndex];
    return true;
}

625 626 627 628 629 630 631 632 633
void SurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
    qCDebug(SurveyComplexItemLog) << "_buildAndAppendMissionItems";

    // Now build the mission items from the transect points

    MissionItem* item;
    int seqNum =                    _sequenceNumber;
    bool imagesEverywhere =         _cameraTriggerInTurnAroundFact.rawValue().toBool();
DonLakeFlyer's avatar
DonLakeFlyer committed
634
    bool addTriggerAtBeginning =    !hoverAndCaptureEnabled() && imagesEverywhere;
635 636 637 638
    bool firstOverallPoint =        true;

    MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;

639
    for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
640
        bool transectEntry = true;
641

642
        for (const CoordInfo_t& transectCoordInfo: transect) {
643 644 645
            item = new MissionItem(seqNum++,
                                   MAV_CMD_NAV_WAYPOINT,
                                   mavFrame,
DonLakeFlyer's avatar
DonLakeFlyer committed
646 647 648 649 650
                                   hoverAndCaptureEnabled() ?
                                       _hoverAndCaptureDelaySeconds : 0,        // Hold time (delay for hover and capture to settle vehicle before image is taken)
                                   0.0,                                         // No acceptance radius specified
                                   0.0,                                         // Pass through waypoint
                                   std::numeric_limits<double>::quiet_NaN(),    // Yaw unchanged
651 652 653
                                   transectCoordInfo.coord.latitude(),
                                   transectCoordInfo.coord.longitude(),
                                   transectCoordInfo.coord.altitude(),
DonLakeFlyer's avatar
DonLakeFlyer committed
654 655
                                   true,                                        // autoContinue
                                   false,                                       // isCurrentItem
656 657
                                   missionItemParent);
            items.append(item);
DonLakeFlyer's avatar
DonLakeFlyer committed
658 659 660 661
            if (hoverAndCaptureEnabled()) {
                item = new MissionItem(seqNum++,
                                       MAV_CMD_IMAGE_START_CAPTURE,
                                       MAV_FRAME_MISSION,
662 663 664 665 666 667
                                       0,                                   // Reserved (Set to 0)
                                       0,                                   // Interval (none)
                                       1,                                   // Take 1 photo
                                       qQNaN(), qQNaN(), qQNaN(), qQNaN(),  // param 4-7 reserved
                                       true,                                // autoContinue
                                       false,                               // isCurrentItem
DonLakeFlyer's avatar
DonLakeFlyer committed
668 669 670
                                       missionItemParent);
                items.append(item);
            }
671 672 673 674 675 676 677

            if (firstOverallPoint && addTriggerAtBeginning) {
                // Start triggering
                addTriggerAtBeginning = false;
                item = new MissionItem(seqNum++,
                                       MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                       MAV_FRAME_MISSION,
DonLakeFlyer's avatar
DonLakeFlyer committed
678 679 680 681 682 683
                                       triggerDistance(),   // trigger distance
                                       0,                   // shutter integration (ignore)
                                       1,                   // trigger immediately when starting
                                       0, 0, 0, 0,          // param 4-7 unused
                                       true,                // autoContinue
                                       false,               // isCurrentItem
684 685 686 687 688
                                       missionItemParent);
                items.append(item);
            }
            firstOverallPoint = false;

689 690 691 692 693 694
            // Possibly add trigger start/stop to survey area entrance/exit
            if (triggerCamera() && !hoverAndCaptureEnabled() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
                if (transectEntry) {
                    // Start of transect, always start triggering. We do this even if we are taking images everywhere.
                    // This allows a restart of the mission in mid-air without losing images from the entire mission.
                    // At most you may lose part of a transect.
695 696 697
                    item = new MissionItem(seqNum++,
                                           MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                           MAV_FRAME_MISSION,
DonLakeFlyer's avatar
DonLakeFlyer committed
698 699 700 701 702 703
                                           triggerDistance(),   // trigger distance
                                           0,                   // shutter integration (ignore)
                                           1,                   // trigger immediately when starting
                                           0, 0, 0, 0,          // param 4-7 unused
                                           true,                // autoContinue
                                           false,               // isCurrentItem
704 705
                                           missionItemParent);
                    items.append(item);
706 707
                    transectEntry = false;
                } else if (!imagesEverywhere && !transectEntry){
708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724
                    // 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);
                }
            }
        }
    }

725
    if (triggerCamera() && !hoverAndCaptureEnabled() && imagesEverywhere) {
726 727 728 729 730 731 732 733 734 735 736 737 738 739 740
        // Stop triggering
        MissionItem* 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);
    }
}

741

742
bool SurveyComplexItem::_hasTurnaround(void) const
743
{
744
    return _turnaroundDistance() > 0;
745
}
DonLakeFlyer's avatar
DonLakeFlyer committed
746

747
double SurveyComplexItem::_turnaroundDistance(void) const
DonLakeFlyer's avatar
DonLakeFlyer committed
748
{
749
    return _turnAroundDistanceFact.rawValue().toDouble();
DonLakeFlyer's avatar
DonLakeFlyer committed
750 751
}

752
void SurveyComplexItem::_rebuildTransectsPhase1(void)
753
{
754
    bool split = splitConcavePolygons()->rawValue().toBool();
755 756 757 758 759
	if (split) {
		_rebuildTransectsPhase1WorkerSplitPolygons(false /* refly */);
	} else {
		_rebuildTransectsPhase1WorkerSinglePolygon(false /* refly */);
	}
760
    if (_refly90DegreesFact.rawValue().toBool()) {
761 762 763 764 765
    	if (split) {
    		_rebuildTransectsPhase1WorkerSplitPolygons(true /* refly */);
    	} else {
    		_rebuildTransectsPhase1WorkerSinglePolygon(true /* refly */);
    	}
766 767 768
    }
}

769 770 771 772 773 774 775 776 777 778
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();
779
        _loadedMissionItemsParent = nullptr;
780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884
    }

    // 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();

    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);
#else
    // 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;
885
    for (const QLineF& line : resultLines) {
886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936
        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
937
    for (const QList<QGeoCoordinate>& transect : transects) {
938 939 940 941 942 943 944 945 946 947 948 949 950 951
        QGeoCoordinate                                  coord;
        QList<TransectStyleComplexItem::CoordInfo_t>    coordInfoTransect;
        TransectStyleComplexItem::CoordInfo_t           coordInfo;

        coordInfo = { transect[0], CoordTypeSurveyEdge };
        coordInfoTransect.append(coordInfo);
        coordInfo = { transect[1], CoordTypeSurveyEdge };
        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) {
952
                int cInnerHoverPoints = static_cast<int>(floor(transectLength / triggerDistance()));
953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985
                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::_rebuildTransectsPhase1WorkerSplitPolygons(bool refly)
DonLakeFlyer's avatar
DonLakeFlyer committed
986
{
987 988 989 990 991 992 993 994
    if (_ignoreRecalc) {
        return;
    }

    // If the transects are getting rebuilt then any previously loaded mission items are now invalid
    if (_loadedMissionItemsParent) {
        _loadedMissionItems.clear();
        _loadedMissionItemsParent->deleteLater();
995
        _loadedMissionItemsParent = nullptr;
996 997
    }

998 999 1000 1001 1002
    // First pass will clear old transect data, refly will append to existing data
    if (!refly) {
        _transects.clear();
        _transectsPathHeightInfo.clear();
    }
1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025

    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();
    }

1026 1027 1028 1029 1030 1031 1032
    // convert into QPolygonF
    QPolygonF polygon;
    for (int i=0; i<polygonPoints.count(); i++) {
        qCDebug(SurveyComplexItemLog) << "Vertex" << polygonPoints[i];
        polygon << polygonPoints[i];
    }

1033
    // Create list of separate polygons
1034
    QList<QPolygonF> polygons{};
1035
    _PolygonDecomposeConvex(polygon, polygons);
1036 1037

    // iterate over polygons
1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1055
    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;
                }
            }

        }


1056
        // close polygon
1057
        *p << p->front();
1058 1059
        // build transects for this polygon
        // TODO figure out tangent origin
1060 1061
        // TODO improve selection of entry points
//        qCDebug(SurveyComplexItemLog) << "Transects from polynom p " << p;
1062
        _rebuildTransectsFromPolygon(refly, *p, tangentOrigin, vMatch);
1063
    }
1064 1065
}

1066
void SurveyComplexItem::_PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons)
1067
{
1068
	// this follows "Mark Keil's Algorithm" https://mpen.ca/406/keil
1069
    int decompSize = std::numeric_limits<int>::max();
1070
    if (polygon.size() < 3) return;
1071 1072 1073 1074
    if (polygon.size() == 3) {
        decomposedPolygons << polygon;
        return;
    }
1075 1076 1077 1078 1079 1080

    QList<QPolygonF> decomposedPolygonsMin{};

    for (auto vertex = polygon.begin(); vertex != polygon.end(); ++vertex)
    {
        // is vertex reflex?
1081
        bool vertexIsReflex = _VertexIsReflex(polygon, vertex);
1082 1083 1084 1085 1086

        if (!vertexIsReflex) continue;

        for (auto vertexOther = polygon.begin(); vertexOther != polygon.end(); ++vertexOther)
        {
1087 1088
            auto vertexBefore = vertex == polygon.begin() ? polygon.end() - 1 : vertex - 1;
            auto vertexAfter = vertex == polygon.end() - 1 ? polygon.begin() : vertex + 1;
1089
            if (vertexOther == vertex) continue;
1090 1091
            if (vertexAfter == vertexOther) continue;
            if (vertexBefore == vertexOther) continue;
1092 1093 1094 1095 1096
            bool canSee = _VertexCanSeeOther(polygon, vertex, vertexOther);
            if (!canSee) continue;

            QPolygonF polyLeft;
            auto v = vertex;
1097
            auto polyLeftContainsReflex = false;
1098
            while ( v != vertexOther) {
1099 1100 1101
                if (v != vertex && _VertexIsReflex(polygon, v)) {
                    polyLeftContainsReflex = true;
                }
1102 1103 1104 1105 1106
                polyLeft << *v;
                ++v;
                if (v == polygon.end()) v = polygon.begin();
            }
            polyLeft << *vertexOther;
1107
            auto polyLeftValid = !(polyLeftContainsReflex && polyLeft.size() == 3);
1108 1109 1110

            QPolygonF polyRight;
            v = vertexOther;
1111
            auto polyRightContainsReflex = false;
1112
            while ( v != vertex) {
1113 1114 1115
                if (v != vertex && _VertexIsReflex(polygon, v)) {
                    polyRightContainsReflex = true;
                }
1116 1117 1118 1119 1120
                polyRight << *v;
                ++v;
                if (v == polygon.end()) v = polygon.begin();
            }
            polyRight << *vertex;
1121 1122 1123 1124 1125 1126
            auto polyRightValid = !(polyRightContainsReflex && polyRight.size() == 3);

            if (!polyLeftValid || ! polyRightValid) {
//                decompSize = std::numeric_limits<int>::max();
                continue;
            }
1127 1128 1129 1130

            // recursion
            QList<QPolygonF> polyLeftDecomposed{};
            _PolygonDecomposeConvex(polyLeft, polyLeftDecomposed);
1131

1132 1133 1134 1135
            QList<QPolygonF> polyRightDecomposed{};
            _PolygonDecomposeConvex(polyRight, polyRightDecomposed);

            // compositon
1136 1137 1138 1139 1140 1141 1142 1143 1144
            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;
1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156
                decomposedPolygonsMin = polyLeftDecomposed + polyRightDecomposed;
            }
        }

    }

    // assemble output
    if (decomposedPolygonsMin.size() > 0) {
        decomposedPolygons << decomposedPolygonsMin;
    } else {
        decomposedPolygons << polygon;
    }
1157 1158

    return;
1159 1160
}

1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197
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{};
        auto intersects = lineAB.intersect(lineCD, &intersection);
        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;
            }
        }
1198

1199 1200 1201
    }

    return visible;
1202 1203
}

1204 1205 1206 1207 1208 1209 1210 1211 1212
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;

}


1213
void SurveyComplexItem::_rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint)
1214
{
1215 1216 1217 1218 1219 1220
    // Generate transects

    double gridAngle = _gridAngleFact.rawValue().toDouble();
    double gridSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();

    gridAngle = _clampGridAngle90(gridAngle);
1221
    gridAngle += refly ? 90 : 0;
1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283
    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);
#else
    // 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;
1284 1285 1286

    if (transitionPoint != nullptr) {
        QList<QGeoCoordinate>   transect;
1287
        QGeoCoordinate          coord;
1288 1289 1290 1291 1292 1293 1294
        convertNedToGeo(transitionPoint->y(), transitionPoint->x(), 0, tangentOrigin, &coord);
        transect.append(coord);
        transect.append(coord); //TODO
        transects.append(transect);
    }

    for (const QLineF& line: resultLines) {
1295
        QList<QGeoCoordinate>   transect;
1296
        QGeoCoordinate          coord;
1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307

        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);

1308 1309 1310 1311
    if (refly) {
        _optimizeTransectsForShortestDistance(_transects.last().last().coord, transects);
    }

1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326
    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;
    }

1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345
    // 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
1346
    for (const QList<QGeoCoordinate>& transect: transects) {
1347 1348 1349 1350 1351 1352 1353 1354 1355
        QGeoCoordinate                                  coord;
        QList<TransectStyleComplexItem::CoordInfo_t>    coordInfoTransect;
        TransectStyleComplexItem::CoordInfo_t           coordInfo;

        coordInfo = { transect[0], CoordTypeSurveyEdge };
        coordInfoTransect.append(coordInfo);
        coordInfo = { transect[1], CoordTypeSurveyEdge };
        coordInfoTransect.append(coordInfo);

DonLakeFlyer's avatar
DonLakeFlyer committed
1356 1357 1358 1359 1360
        // 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) {
1361
                int cInnerHoverPoints = static_cast<int>(floor(transectLength / triggerDistance()));
DonLakeFlyer's avatar
DonLakeFlyer committed
1362 1363 1364 1365 1366 1367 1368 1369
                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);
                }
            }
        }
1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390

        // 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);
    }
1391
    qCDebug(SurveyComplexItemLog) << "_transects.size() " << _transects.size();
DonLakeFlyer's avatar
DonLakeFlyer committed
1392 1393
}

1394
void SurveyComplexItem::_recalcComplexDistance(void)
DonLakeFlyer's avatar
DonLakeFlyer committed
1395
{
1396
    _complexDistance = 0;
1397
    for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
1398 1399
        _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
    }
1400 1401
    emit complexDistanceChanged();
}
1402

1403 1404 1405
void SurveyComplexItem::_recalcCameraShots(void)
{
    double triggerDistance = this->triggerDistance();
1406

1407
    if (triggerDistance == 0) {
1408
        _cameraShots = 0;
1409 1410
    } else {
        if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
1411
            _cameraShots = qCeil(_complexDistance / triggerDistance);
1412 1413
        } else {
            _cameraShots = 0;
1414 1415 1416 1417 1418 1419 1420 1421

            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;
                    }
1422
                } else {
1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459
                    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);
1460
                }
1461 1462
            }
        }
1463 1464 1465
    }

    emit cameraShotsChanged();
DonLakeFlyer's avatar
DonLakeFlyer committed
1466
}
DonLakeFlyer's avatar
DonLakeFlyer committed
1467

1468
// FIXME: This same exact code is in Corridor Scan. Move to TransectStyleComplex?
1469
void SurveyComplexItem::applyNewAltitude(double newAltitude)
DonLakeFlyer's avatar
DonLakeFlyer committed
1470
{
1471 1472 1473
    _cameraCalc.valueSetIsDistance()->setRawValue(true);
    _cameraCalc.distanceToSurface()->setRawValue(newAltitude);
    _cameraCalc.setDistanceToSurfaceRelative(true);
DonLakeFlyer's avatar
DonLakeFlyer committed
1474
}
1475

1476
bool SurveyComplexItem::readyForSave(void) const
1477
{
1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488
    return TransectStyleComplexItem::readyForSave();
}

void SurveyComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
    if (_loadedMissionItems.count()) {
        // We have mission items from the loaded plan, use those
        _appendLoadedMissionItems(items, missionItemParent);
    } else {
        // Build the mission items on the fly
        _buildAndAppendMissionItems(items, missionItemParent);
1489 1490
    }
}
1491

1492
void SurveyComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
1493
{
1494 1495 1496 1497
    qCDebug(SurveyComplexItemLog) << "_appendLoadedMissionItems";

    int seqNum = _sequenceNumber;

1498
    for (const MissionItem* loadedMissionItem: _loadedMissionItems) {
1499 1500 1501
        MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
        item->setSequenceNumber(seqNum++);
        items.append(item);
1502 1503
    }
}
1504

DonLakeFlyer's avatar
DonLakeFlyer committed
1505 1506 1507 1508 1509 1510 1511
void SurveyComplexItem::rotateEntryPoint(void)
{
    if (_entryPoint == EntryLocationLast) {
        _entryPoint = EntryLocationFirst;
    } else {
        _entryPoint++;
    }
1512

DonLakeFlyer's avatar
DonLakeFlyer committed
1513 1514 1515 1516
    _rebuildTransects();

    setDirty(true);
}
1517 1518 1519

double SurveyComplexItem::timeBetweenShots(void)
{
DonLakeFlyer's avatar
DonLakeFlyer committed
1520
    return _cruiseSpeed == 0 ? 0 : triggerDistance() / _cruiseSpeed;
1521
}
1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534

double SurveyComplexItem::additionalTimeDelay (void) const
{
    double hoverTime = 0;

    if (hoverAndCaptureEnabled()) {
        for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
            hoverTime += _hoverAndCaptureDelaySeconds * transect.count();
        }
    }

    return hoverTime;
}