SafeArea.cc

#include "SafeArea.h"

#include "QGCLoggingCategory.h"
#include "QGCQGeoCoordinate.h"

#include <QJsonObject>

QGC_LOGGING_CATEGORY(SafeAreaLog, "SafeAreaLog")

const char *SafeArea::safeAreaName = "Safe Area";
const char *SafeArea::depotLatitudeName = "DepotLatitude";
const char *SafeArea::depotLongitudeName = "DepotLongitude";
const char *SafeArea::depotAltitudeName = "DepotAltitude";

SafeArea::SafeArea(QObject *parent) : GeoArea(parent) { init(); }

SafeArea::SafeArea(const SafeArea &other, QObject *parent)
    : GeoArea(other, parent), _depot(other.depot()) {
  init();
}

SafeArea &SafeArea::operator=(const SafeArea &other) {
  GeoArea::operator=(other);
  this->setDepot(other.depot());
  return *this;
}

QString SafeArea::mapVisualQML() const {
  return "SafeAreaMapVisual.qml";
  // return "";
}

QString SafeArea::editorQML() const { return "SafeAreaEditor.qml"; }

SafeArea *SafeArea::clone(QObject *parent) const {
  return new SafeArea(*this, parent);
}

const QGeoCoordinate &SafeArea::depot() const { return _depot; }

QGeoCoordinate SafeArea::depotQml() const { return _depot; }

void SafeArea::putDepotInside() {
  if (!this->containsCoordinate(this->_depot) &&
      this->pathModel().count() > 0) {
    if (this->_depot.isValid()) {
      // Use nearest coordinate.
      auto minDist = std::numeric_limits<double>::infinity();
      int minIndex = 0;
      for (int idx = 0; idx < this->pathModel().count(); ++idx) {
        const QObject *obj = this->pathModel()[idx];
        const auto *vertex = qobject_cast<const QGCQGeoCoordinate *>(obj);
        if (vertex != nullptr) {
          auto d = vertex->coordinate().distanceTo(this->_depot);
          if (d < minDist) {
            minDist = d;
            minIndex = idx;
          }
        } else {
          qCCritical(SafeAreaLog) << "init(): nullptr catched!";
        }
      }
      this->setDepot(
          this->pathModel().value<QGCQGeoCoordinate *>(minIndex)->coordinate());
    } else {
      // Use first coordinate.
      this->setDepot(
          this->pathModel().value<QGCQGeoCoordinate *>(0)->coordinate());
    }
  }
}

bool SafeArea::setDepot(const QGeoCoordinate &newDepot) {
  if (_depot.latitude() != newDepot.latitude() ||
      _depot.longitude() != newDepot.longitude()) {
    if (this->covers(newDepot)) {
      _depot = newDepot;
      _depot.setAltitude(0);
      emit depotChanged();
      return true;
    }
  }
  return false;
}

void SafeArea::saveToJson(QJsonObject &json) {
  this->GeoArea::saveToJson(json);
  json[areaTypeName] = safeAreaName;
  json[depotLatitudeName] = _depot.latitude();
  json[depotLongitudeName] = _depot.longitude();
  json[depotAltitudeName] = _depot.altitude();
}

bool SafeArea::loadFromJson(const QJsonObject &json, QString &errorString) {
  bool retVal = false;
  if (this->GeoArea::loadFromJson(json, errorString)) {
    double lat = 0;
    if (json.contains(depotLatitudeName) &&
        json[depotLatitudeName].isDouble()) {
      lat = json[depotLatitudeName].toDouble();
      double lon = 0;
      if (json.contains(depotLongitudeName) &&
          json[depotLongitudeName].isDouble()) {
        lon = json[depotLongitudeName].toDouble();
        double alt = 0;
        if (json.contains(depotAltitudeName) &&
            json[depotAltitudeName].isDouble()) {
          alt = json[depotAltitudeName].toDouble();
          this->setDepot(QGeoCoordinate(lat, lon, alt));
          retVal = true;
        } else {
          errorString = "Not able to load depot altitude.";
        }
      } else {
        errorString = "Not able to load depot longitude.";
      }
    } else {
      errorString = "Not able to load depot latitude.";
    }
    retVal = true;
  }
  return retVal;
}

bool SafeArea::isCorrect() {
  if (GeoArea::isCorrect()) {
    if (this->_depot.isValid()) {
      if (this->covers(this->_depot)) {
        return true;
      } else {
        setErrorString(tr("Depot outside Safe Area"));
      }
    } else {
      qCritical(SafeAreaLog) << "Depot invalid " << _depot;
    }
  }
  return false;
}

void SafeArea::init() {
  this->setObjectName(safeAreaName);
  connect(this, &GeoArea::pathChanged, this, &SafeArea::putDepotInside);
}