StructureScanComplexItem.h

/****************************************************************************
 *
 * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#ifndef StructureScanComplexItem_H
#define StructureScanComplexItem_H

#include "ComplexMissionItem.h"
#include "MissionItem.h"
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
#include "QGCMapPolygon.h"
#include "CameraCalc.h"

Q_DECLARE_LOGGING_CATEGORY(StructureScanComplexItemLog)

class PlanMasterController;

class StructureScanComplexItem : public ComplexMissionItem
{
    Q_OBJECT

public:
    /// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
    /// @param kmlOrSHPFile Polygon comes from this file, empty for default polygon
    StructureScanComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrSHPFile, QObject* parent);

    Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                                 CONSTANT)
    Q_PROPERTY(Fact*            entranceAlt                 READ entranceAlt                                                CONSTANT)
    Q_PROPERTY(Fact*            structureHeight             READ structureHeight                                            CONSTANT)
    Q_PROPERTY(Fact*            scanBottomAlt               READ scanBottomAlt                                              CONSTANT)
    Q_PROPERTY(Fact*            layers                      READ layers                                                     CONSTANT)
    Q_PROPERTY(Fact*            gimbalPitch                 READ gimbalPitch                                                CONSTANT)
    Q_PROPERTY(Fact*            startFromTop                READ startFromTop                                               CONSTANT)
    Q_PROPERTY(double           bottomFlightAlt             READ bottomFlightAlt                                            NOTIFY bottomFlightAltChanged)
    Q_PROPERTY(double           topFlightAlt                READ topFlightAlt                                               NOTIFY topFlightAltChanged)
    Q_PROPERTY(int              cameraShots                 READ cameraShots                                                NOTIFY cameraShotsChanged)
    Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots                                           NOTIFY timeBetweenShotsChanged)
    Q_PROPERTY(QGCMapPolygon*   structurePolygon            READ structurePolygon                                           CONSTANT)
    Q_PROPERTY(QGCMapPolygon*   flightPolygon               READ flightPolygon                                              CONSTANT)

    CameraCalc* cameraCalc  (void) { return &_cameraCalc; }
    Fact* entranceAlt       (void) { return &_entranceAltFact; }
    Fact* scanBottomAlt     (void) { return &_scanBottomAltFact; }
    Fact* structureHeight   (void) { return &_structureHeightFact; }
    Fact* layers            (void) { return &_layersFact; }
    Fact* gimbalPitch       (void) { return &_gimbalPitchFact; }
    Fact* startFromTop      (void) { return &_startFromTopFact; }

    double          bottomFlightAlt         (void) const;
    double          topFlightAlt            (void) const;
    int             cameraShots             (void) const;
    double          timeBetweenShots        (void);
    QGCMapPolygon*  structurePolygon        (void) { return &_structurePolygon; }
    QGCMapPolygon*  flightPolygon           (void) { return &_flightPolygon; }

    Q_INVOKABLE void rotateEntryPoint(void);

    // Overrides from ComplexMissionItem
    QString patternName         (void) const final { return name; }
    double  complexDistance     (void) const final { return _scanDistance; }
    int     lastSequenceNumber  (void) const final;
    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
    double  greatestDistanceTo  (const QGeoCoordinate &other) const final;
    QString mapVisualQML        (void) const final { return QStringLiteral("StructureScanMapVisual.qml"); }

    // Overrides from VisualMissionItem
    bool                dirty                       (void) const final { return _dirty; }
    bool                isSimpleItem                (void) const final { return false; }
    bool                isStandaloneCoordinate      (void) const final { return false; }
    bool                specifiesCoordinate         (void) const final { return true; }
    bool                specifiesAltitudeOnly       (void) const final { return false; }
    QString             commandDescription          (void) const final { return tr("Structure Scan"); }
    QString             commandName                 (void) const final { return tr("Structure Scan"); }
    QString             abbreviation                (void) const final { return "S"; }
    QGeoCoordinate      coordinate                  (void) const final;
    QGeoCoordinate      exitCoordinate              (void) const final { return coordinate(); }
    int                 sequenceNumber              (void) const final { return _sequenceNumber; }
    double              specifiedFlightSpeed        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
    double              specifiedGimbalYaw          (void) final { return std::numeric_limits<double>::quiet_NaN(); }
    double              specifiedGimbalPitch        (void) final { return std::numeric_limits<double>::quiet_NaN(); }
    void                appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
    void                setMissionFlightStatus      (const MissionController::MissionFlightStatus_t& missionFlightStatus) final;
    void                applyNewAltitude            (double newAltitude) final;
    double              additionalTimeDelay         (void) const final { return 0; }
    ReadyForSaveState   readyForSaveState           (void) const final;
    bool                exitCoordinateSameAsEntry   (void) const final { return true; }
    void                setDirty                    (bool dirty) final;
    void                setCoordinate               (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
    void                setSequenceNumber           (int sequenceNumber) final;
    void                save                        (QJsonArray&  missionItems) final;
    double              amslEntryAlt                (void) const final;
    double              amslExitAlt                 (void) const final { return amslEntryAlt(); };
    double              minAMSLAltitude             (void) const final;
    double              maxAMSLAltitude             (void) const final;

    static const QString name;

    static const char* jsonComplexItemTypeValue;

    static const char* settingsGroup;
    static const char* scanBottomAltName;
    static const char* structureHeightName;
    static const char* layersName;
    static const char* gimbalPitchName;
    static const char* startFromTopName;

signals:
    void cameraShotsChanged             (int cameraShots);
    void timeBetweenShotsChanged        (void);
    void bottomFlightAltChanged         (void);
    void topFlightAltChanged            (void);
    void _updateFlightPathSegmentsSignal(void);

private slots:
    void _segmentTerrainCollisionChanged            (bool terrainCollision) final;
    void _setDirty                                  (void);
    void _polygonDirtyChanged                       (bool dirty);
    void _flightPathChanged                         (void);
    void _clearInternal                             (void);
    void _updateCoordinateAltitudes                 (void);
    void _rebuildFlightPolygon                      (void);
    void _recalcCameraShots                         (void);
    void _recalcLayerInfo                           (void);
    void _updateLastSequenceNumber                  (void);
    void _updateGimbalPitch                         (void);
    void _signalTopBottomAltChanged                 (void);
    void _recalcScanDistance                        (void);
    void _updateWizardMode                          (void);
    void _updateFlightPathSegmentsDontCallDirectly  (void);
    void _minAMSLAltChanged                         (void);
    void _maxAMSLAltChanged                         (void);

private:
    void    _setCameraShots                 (int cameraShots);
    double  _triggerDistance                (void) const;

    QMap<QString, FactMetaData*> _metaDataMap;

    int             _sequenceNumber;
    QGCMapPolygon   _structurePolygon;
    QGCMapPolygon   _flightPolygon;
    int             _entryVertex;       // Polygon vertex which is used as the mission entry point
    bool            _ignoreRecalc;
    double          _scanDistance;
    int             _cameraShots;
    double          _timeBetweenShots;
    double          _vehicleSpeed;
    CameraCalc      _cameraCalc;


    SettingsFact    _scanBottomAltFact;
    SettingsFact    _structureHeightFact;
    SettingsFact    _layersFact;
    SettingsFact    _gimbalPitchFact;
    SettingsFact    _startFromTopFact;
    SettingsFact    _entranceAltFact;

    static const char* _jsonCameraCalcKey;

    static const char* _entranceAltName; // This value cannot be overriden

    friend class StructureScanComplexItemTest;
};

#endif