CircularSurveyComplexItem.cc

#include "CircularSurveyComplexItem.h"
#include "JsonHelper.h"
#include "QGCApplication.h"
#include <chrono>


const char* CircularSurveyComplexItem::settingsGroup =              "CircularSurvey";
const char* CircularSurveyComplexItem::deltaRName =                 "DeltaR";
const char* CircularSurveyComplexItem::deltaAlphaName =             "DeltaAlpha";
const char* CircularSurveyComplexItem::transectMinLengthName =      "TransectMinLength";
const char* CircularSurveyComplexItem::isSnakePathName =            "IsSnakePath";
const char* CircularSurveyComplexItem::reverseName =                "Reverse";
const char* CircularSurveyComplexItem::maxWaypointsName =           "MaxWaypoints";


const char* CircularSurveyComplexItem::jsonComplexItemTypeValue     =   "circularSurvey";
const char* CircularSurveyComplexItem::jsonDeltaRKey                =   "deltaR";
const char* CircularSurveyComplexItem::jsonDeltaAlphaKey            =   "deltaAlpha";
const char* CircularSurveyComplexItem::jsonTransectMinLengthKey     =   "transectMinLength";
const char* CircularSurveyComplexItem::jsonIsSnakePathKey           =   "isSnakePath";
const char* CircularSurveyComplexItem::jsonReverseKey               =   "reverse";
const char* CircularSurveyComplexItem::jsonReferencePointLatKey     =   "referencePointLat";
const char* CircularSurveyComplexItem::jsonReferencePointLongKey    =   "referencePointLong";
const char* CircularSurveyComplexItem::jsonReferencePointAltKey     =   "referencePointAlt";

CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile, QObject *parent)
    :   TransectStyleComplexItem    (vehicle, flyView, settingsGroup, parent)
    ,   _referencePoint             (QGeoCoordinate(0, 0,0))
    ,   _metaDataMap                (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CircularSurvey.SettingsGroup.json"), this))
    ,   _deltaR                     (settingsGroup, _metaDataMap[deltaRName])
    ,   _deltaAlpha                 (settingsGroup, _metaDataMap[deltaAlphaName])
    ,   _transectMinLength          (settingsGroup, _metaDataMap[transectMinLengthName])
    ,   _isSnakePath                (settingsGroup, _metaDataMap[isSnakePathName])    
    ,   _reverse                    (settingsGroup, _metaDataMap[reverseName])
    ,   _maxWaypoints               (settingsGroup, _metaDataMap[maxWaypointsName])
    ,   _isInitialized              (false)
    ,   _reverseOnly                (false)
    ,   _updateCounter              (0)
{
    Q_UNUSED(kmlOrShpFile)
    _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
    connect(&_deltaR,               &Fact::valueChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    connect(&_deltaAlpha,           &Fact::valueChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    connect(&_transectMinLength,    &Fact::valueChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    connect(&_isSnakePath,          &Fact::valueChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    connect(&_maxWaypoints,         &Fact::valueChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    connect(&_reverse,              &Fact::valueChanged, this, &CircularSurveyComplexItem::_reverseTransects);
    connect(this,                   &CircularSurveyComplexItem::refPointChanged, this, &CircularSurveyComplexItem::_triggerSlowRecalc);
    //connect(&_cameraCalc.distanceToSurface(), &Fact::rawValueChanged, this->)

}

void CircularSurveyComplexItem::resetReference()
{
    setRefPoint(_surveyAreaPolygon.center());
}

void CircularSurveyComplexItem::comprehensiveUpdate()
{
    _triggerSlowRecalc();
}

void CircularSurveyComplexItem::setRefPoint(const QGeoCoordinate &refPt)
{
    if (refPt != _referencePoint){
        _referencePoint = refPt;

        emit refPointChanged();
    }
}

void CircularSurveyComplexItem::setIsInitialized(bool isInitialized)
{
    if (isInitialized != _isInitialized) {
        _isInitialized = isInitialized;

        emit isInitializedChanged();
    }
}

QGeoCoordinate CircularSurveyComplexItem::refPoint() const
{
    return _referencePoint;
}

Fact *CircularSurveyComplexItem::deltaR()
{
    return &_deltaR;
}

Fact *CircularSurveyComplexItem::deltaAlpha()
{
    return &_deltaAlpha;
}

bool CircularSurveyComplexItem::isInitialized()
{
    return _isInitialized;
}

bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
{
    // We need to pull version first to determine what validation/conversion needs to be performed
    QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
        { JsonHelper::jsonVersionKey, QJsonValue::Double, true },
    };
    if (!JsonHelper::validateKeys(complexObject, versionKeyInfoList, errorString)) {
        return false;
    }

    int version = complexObject[JsonHelper::jsonVersionKey].toInt();
    if (version != 1) {
        errorString = tr("Survey items do not support version %1").arg(version);
        return false;
    }

    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
        { ComplexMissionItem::jsonComplexItemTypeKey,   QJsonValue::String, true },
        { jsonDeltaRKey,                                QJsonValue::Double, true },
        { jsonDeltaAlphaKey,                            QJsonValue::Double, true },
        { jsonTransectMinLengthKey,                     QJsonValue::Double, true },
        { jsonIsSnakePathKey,                           QJsonValue::Bool,   true },
        { jsonReverseKey,                               QJsonValue::Bool,   true },
        { jsonReferencePointLatKey,                     QJsonValue::Double, true },
        { jsonReferencePointLongKey,                    QJsonValue::Double, true },
        { jsonReferencePointAltKey,                     QJsonValue::Double, true },
    };

    if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
        return false;
    }

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

    _ignoreRecalc = true;

    setSequenceNumber(sequenceNumber);

    if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
        _surveyAreaPolygon.clear();
        return false;
    }

    if (!_load(complexObject, errorString)) {
        _ignoreRecalc = false;
        return false;
    }

    _deltaR.setRawValue             (complexObject[jsonDeltaRKey].toDouble());
    _deltaAlpha.setRawValue         (complexObject[jsonDeltaAlphaKey].toDouble());
    _transectMinLength.setRawValue  (complexObject[jsonTransectMinLengthKey].toDouble());
    _referencePoint.setLongitude    (complexObject[jsonReferencePointLongKey].toDouble());
    _referencePoint.setLatitude     (complexObject[jsonReferencePointLatKey].toDouble());
    _referencePoint.setAltitude     (complexObject[jsonReferencePointAltKey].toDouble());
    _isSnakePath.setRawValue        (complexObject[jsonIsSnakePathKey].toBool());
    _reverse.setRawValue            (complexObject[jsonReverseKey].toBool());
    setIsInitialized(true);

    _ignoreRecalc = false;

    _recalcComplexDistance();
    if (_cameraShots == 0) {
        // Shot count was possibly not available from plan file
        _recalcCameraShots();
    }

    return true;
}

void CircularSurveyComplexItem::save(QJsonArray &planItems)
{
    QJsonObject saveObject;

    _save(saveObject);

    saveObject[JsonHelper::jsonVersionKey] =                    1;
    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
    saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;

    saveObject[jsonDeltaRKey]               = _deltaR.rawValue().toDouble();
    saveObject[jsonDeltaAlphaKey]           = _deltaAlpha.rawValue().toDouble();    
    saveObject[jsonTransectMinLengthKey]    = _transectMinLength.rawValue().toDouble();
    saveObject[jsonIsSnakePathKey]          = _isSnakePath.rawValue().toBool();
    saveObject[jsonReverseKey]              = _reverse.rawValue().toBool();
    saveObject[jsonReferencePointLongKey]   = _referencePoint.longitude();
    saveObject[jsonReferencePointLatKey]    = _referencePoint.latitude();
    saveObject[jsonReferencePointAltKey]    = _referencePoint.altitude();

    // Polygon shape
    _surveyAreaPolygon.saveToJson(saveObject);

    planItems.append(saveObject);
}

void CircularSurveyComplexItem::appendMissionItems(QList<MissionItem *> &items, QObject *missionItemParent)
{
    if (_transectsDirty)
        return;
    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);
    }
}

void CircularSurveyComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
    //qCDebug(SurveyComplexItemLog) << "_appendLoadedMissionItems";
    if (_transectsDirty)
        return;
    int seqNum = _sequenceNumber;

    for (const MissionItem* loadedMissionItem: _loadedMissionItems) {
        MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
        item->setSequenceNumber(seqNum++);
        items.append(item);
    }
}

void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
    // original code: SurveyComplexItem::_buildAndAppendMissionItems()
    //qCDebug(SurveyComplexItemLog) << "_buildAndAppendMissionItems";

    // Now build the mission items from the transect points

    if (_transectsDirty)
        return;

    MissionItem* item;
    int seqNum =                    _sequenceNumber;

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

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

        for (const CoordInfo_t& transectCoordInfo: transect) {
            item = new MissionItem(seqNum++,
                                   MAV_CMD_NAV_WAYPOINT,
                                   mavFrame,
                                   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
                                   transectCoordInfo.coord.latitude(),
                                   transectCoordInfo.coord.longitude(),
                                   transectCoordInfo.coord.altitude(),
                                   true,                                        // autoContinue
                                   false,                                       // isCurrentItem
                                   missionItemParent);
            items.append(item);
        }
    }
}

void CircularSurveyComplexItem::applyNewAltitude(double newAltitude)
{
    _cameraCalc.valueSetIsDistance()->setRawValue(true);
    _cameraCalc.distanceToSurface()->setRawValue(newAltitude);
    _cameraCalc.setDistanceToSurfaceRelative(true);
}

double CircularSurveyComplexItem::timeBetweenShots()
{
    return 1;
}

bool CircularSurveyComplexItem::readyForSave() const
{
    return TransectStyleComplexItem::readyForSave();
}

double CircularSurveyComplexItem::additionalTimeDelay() const
{
    return 0;
}
void CircularSurveyComplexItem::_rebuildTransectsPhase1(void){
    if (_doFastRecalc){
        _rebuildTransectsFast();
    } else {
        _rebuildTransectsSlow();
        _doFastRecalc = true;
    }
}

void CircularSurveyComplexItem::_rebuildTransectsFast()
{
    using namespace GeoUtilities;
    using namespace PolygonCalculus;
    using namespace PlanimetryCalculus;

    _transects.clear();
    _updateCounter++;

    QPolygonF surveyPolygon = toQPolygonF(toCartesian2D(_surveyAreaPolygon.coordinateList(), _referencePoint));
    if (!_rebuildTransectsInputCheck(surveyPolygon))
        return;

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

    QVector<QVector<QPointF>> transectPath;
    if(!_generateTransectPath(transectPath, surveyPolygon))
        return;

    /// optimize path to snake or zig-zag pattern
    bool isSnakePattern = _isSnakePath.rawValue().toBool();
    QVector<QPointF> currentSection = transectPath.takeFirst();
    if ( currentSection.isEmpty() )
        return;

    QVector<QPointF> optiPath; // optimized path
    while( !transectPath.empty() ) {
        optiPath.append(currentSection);
        QPointF endVertex = currentSection.last();
        double minDist = std::numeric_limits<double>::infinity();
        int index = 0;
        bool reversePath = false;

        // iterate over all paths in fullPath and assign the one with the shortest distance to endVertex to currentSection
        for (int i = 0; i < transectPath.size(); i++) {
            auto iteratorPath = transectPath[i];
            double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first());
            if ( dist < minDist ) {
                minDist = dist;
                index = i;
                reversePath = false;
            }
            dist = PlanimetryCalculus::distance(endVertex, iteratorPath.last());
            if (dist < minDist) {
                minDist = dist;
                index = i;
                reversePath = true;
            }
        }
        currentSection = transectPath.takeAt(index);
        if (reversePath && isSnakePattern) {
            PolygonCalculus::reversePath(currentSection);
        }
    }

    optiPath.append(currentSection); // append last section

    if (optiPath.size() > _maxWaypoints.rawValue().toInt())
        return;


    _rebuildTransectsToGeo(optiPath, _referencePoint);
    _transectsDirty = true;
    //_triggerSlowRecalcTimer.start(triggerTime);
    qDebug() << "CircularSurveyComplexItem::_rebuildTransectsPhase1(): calls: " << _updateCounter;
}


void CircularSurveyComplexItem::_rebuildTransectsSlow()
{
    using namespace GeoUtilities;
    using namespace PolygonCalculus;
    using namespace PlanimetryCalculus;

    if (_reverseOnly) { // reverse transects and return
        _reverseOnly = false;

        QList<QList<CoordInfo_t>>  transectsReverse;
        transectsReverse.reserve(_transects.size());
        for (auto list : _transects) {
            QList<CoordInfo_t> listReverse;
            for (auto coordinate : list)
                    listReverse.prepend(coordinate);

            transectsReverse.prepend(listReverse);
        }
        _transects = transectsReverse;

        return;
    }

    _transects.clear();

    QPolygonF surveyPolygon = toQPolygonF(toCartesian2D(_surveyAreaPolygon.coordinateList(), _referencePoint));    
    if (!_rebuildTransectsInputCheck(surveyPolygon))
        return;

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

    QVector<QVector<QPointF>> transectPath;
    if(!_generateTransectPath(transectPath, surveyPolygon))
        return;

    // optimize path to snake or zig-zag pattern
    const bool isSnakePathBool = _isSnakePath.rawValue().toBool();
    QVector<QPointF> currentSection = transectPath.takeFirst(); if ( currentSection.isEmpty() ) return;
    QVector<QPointF> optimizedPath(currentSection);
    bool reversePath = true; // controlls if currentSection gets reversed, has nothing todo with _reverseOnly
    while( !transectPath.empty() ) {
        QPointF endVertex = currentSection.last();
        double minDist = std::numeric_limits<double>::infinity();
        int index = 0;

        // iterate over all paths in fullPath and assign the one with the shortest distance to endVertex to currentSection
        QVector<QPointF> connectorPath;
        for (int i = 0; i < transectPath.size(); i++) {
            QVector<QPointF> iteratorPath = transectPath[i];
            QVector<QPointF> tempConnectorPath;
            bool retVal;

            if (reversePath  && isSnakePathBool) {
                 retVal = PolygonCalculus::shortestPath(surveyPolygon, endVertex, iteratorPath.last(), tempConnectorPath);
            } else {
                 retVal = PolygonCalculus::shortestPath(surveyPolygon, endVertex, iteratorPath.first(), tempConnectorPath);
            }

            if (!retVal)
                qWarning("CircularSurveyComplexItem::_rebuildTransectsPhase1: internal error; false shortestPath");

            double dist = 0;
            for (int i = 0; i < tempConnectorPath.size()-1; ++i)
                dist += PlanimetryCalculus::distance(tempConnectorPath[i], tempConnectorPath[i+1]);

            if (dist < minDist) {
                minDist = dist;
                index = i;
                connectorPath = tempConnectorPath;
            }
        }
        currentSection = transectPath.takeAt(index);
        if (reversePath && isSnakePathBool) {
            PolygonCalculus::reversePath(currentSection);
        }

        reversePath ^= true; // toggle

        optimizedPath.append(connectorPath);
        optimizedPath.append(currentSection);
    }
    if (optimizedPath.size() > _maxWaypoints.rawValue().toInt())
        return;

    _rebuildTransectsToGeo(optimizedPath, _referencePoint);

    _transectsDirty      = false;
    //_triggerSlowRecalcTimer.stop(); // stop any pending slow recalculations
    return;
}

void CircularSurveyComplexItem::_triggerSlowRecalc()
{
    _doFastRecalc = false;
    _rebuildTransects();
}

void CircularSurveyComplexItem::_recalcComplexDistance()
{
    _complexDistance = 0;
    if (_transectsDirty)
        return;
    for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
        _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
    }
    emit complexDistanceChanged();
}

// no cameraShots in Circular Survey, add if desired
void CircularSurveyComplexItem::_recalcCameraShots()
{
    _cameraShots = 0;
}

void CircularSurveyComplexItem::_reverseTransects()
{
    _reverseOnly = true;
    _triggerSlowRecalc();
}

bool CircularSurveyComplexItem::_shortestPath(const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> &shortestPath)
{
    using namespace GeoUtilities;
    using namespace PolygonCalculus;
    QVector<QPointF> path2D;

    bool retVal = PolygonCalculus::shortestPath(
                                   toQPolygonF(toCartesian2D(this->surveyAreaPolygon()->coordinateList(), /*origin*/ start)),
                                   /*start point*/ QPointF(0,0),
                                   /*destination*/ toCartesian2D(destination, start),
                                   /*shortest path*/ path2D);
    if (retVal)
        shortestPath.append(toGeo(path2D, /*origin*/ start));

    return  retVal;
}

bool CircularSurveyComplexItem::_generateTransectPath(QVector<QVector<QPointF> > &transectPath, const QPolygonF &surveyPolygon)
{
    using namespace PlanimetryCalculus;
    QVector<double> distances;
    for (const QPointF &p : surveyPolygon) distances.append(norm(p));

    // fetch input data
    double dalpha   = _deltaAlpha.rawValue().toDouble()/180.0*M_PI; // angle discretisation of circles
    double dr       = _deltaR.rawValue().toDouble(); // distance between circles
    double lmin     = _transectMinLength.rawValue().toDouble(); // minimal transect length
    double r_min    = dr; // minimal circle radius
    double r_max    = (*std::max_element(distances.begin(), distances.end())); // maximal circle radius
    unsigned int maxWaypoints = _maxWaypoints.rawValue().toUInt();

    QPointF origin(0, 0);
    IntersectType type;
    bool originInside = true;
    if (!contains(surveyPolygon, origin, type)) {
        QVector<double> angles;
        for (const QPointF &p : surveyPolygon) angles.append(truncateAngle(angle(p)));

        // determine r_min by successive approximation
        double r = r_min;
        while ( r < r_max) {
            Circle circle(r, origin);

            if (intersects(circle, surveyPolygon)) {
                r_min = r;
                break;
            }

            r += dr;
        }
        originInside = false;
    }

    double r = r_min;

    unsigned int waypointCounter = 0;
    while (r < r_max) {
        Circle circle(r, origin);
        QVector<QPointFVector> intersectPoints;
        QVector<IntersectType> typeList;
        QVector<QPair<int, int>> neighbourList;
        if (intersects(circle, surveyPolygon, intersectPoints, neighbourList, typeList)) {

            // intersection Points between circle and polygon, entering polygon
            // when walking in counterclockwise direction along circle
            QVector<QPointF> entryPoints;
            // intersection Points between circle and polygon, leaving polygon
            // when walking in counterclockwise direction along circle
            QVector<QPointF> exitPoints;
            // determine entryPoints and exit Points
            for (int j = 0; j < intersectPoints.size(); j++) {
                QVector<QPointF> intersects = intersectPoints[j]; // one pt = tangent, two pt = sekant

                QPointF p1 = surveyPolygon[neighbourList[j].first];
                QPointF p2 = surveyPolygon[neighbourList[j].second];
                QLineF intersetLine(p1, p2);
                double lineAngle = angle(intersetLine);

                for (QPointF ipt : intersects) {
                    double circleTangentAngle = angle(ipt)+M_PI_2;
                    if (   !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle))
                        && !qFuzzyIsNull(truncateAngle(lineAngle - circleTangentAngle - M_PI) ))
                        {
                        if (truncateAngle(circleTangentAngle - lineAngle)  > M_PI) {
                            entryPoints.append(ipt);
                        } else {
                            exitPoints.append(ipt);
                        }
                    }
                }
            }

            // sort
            std::sort(entryPoints.begin(), entryPoints.end(), [](QPointF p1, QPointF p2) {
               return angle(p1) < angle(p2);
            });
            std::sort(exitPoints.begin(), exitPoints.end(), [](QPointF p1, QPointF p2) {
               return angle(p1) < angle(p2);
            });

            // match entry and exit points
            int offset = 0;
            double minAngle = std::numeric_limits<double>::infinity();
            for (int k = 0; k < exitPoints.size(); k++) {
                QPointF pt = exitPoints[k];
                double alpha = truncateAngle(angle(pt) - angle(entryPoints[0]));
                if (minAngle > alpha) {
                    minAngle = alpha;
                    offset = k;
                }
            }

            // generate circle sectors
            for (int k = 0; k < entryPoints.size(); k++) {
                double alpha1 = angle(entryPoints[k]);
                double alpha2 = angle(exitPoints[(k+offset) % entryPoints.size()]);
                double dAlpha = truncateAngle(alpha2-alpha1);
                int numNodes = int(ceil(dAlpha/dalpha)) + 1;

                QVector<QPointF> sectorPath = circle.approximateSektor(numNodes, alpha1, alpha2);
                // use shortestPath() here if necessary, could be a problem if dr >>
                if (sectorPath.size() > 0) {
                    waypointCounter += uint(sectorPath.size());
                    if (waypointCounter > maxWaypoints )
                        return false;
                    transectPath.append(sectorPath);
                }
            }
        } else if (originInside) {
            // circle fully inside polygon
            int numNodes = int(ceil(2*M_PI/dalpha)) + 1;
            QVector<QPointF> sectorPath = circle.approximateSektor(numNodes, 0, 2*M_PI);
            // use shortestPath() here if necessary, could be a problem if dr >>
            waypointCounter += uint(sectorPath.size());
            if (waypointCounter > maxWaypoints )
                return false;
            transectPath.append(sectorPath);
        }
        r += dr;
     }

    if (transectPath.size() == 0)
        return false;;

    // remove short transects
    for (int i = 0; i < transectPath.size(); i++) {
        auto transect = transectPath[i];
        double len = 0;
        for (int j = 0; j < transect.size()-1; ++j) {
            len += PlanimetryCalculus::distance(transect[j], transect[j+1]);
        }

        if (len < lmin)
            transectPath.removeAt(i--);
    }
    if (transectPath.size() == 0)
        return false;

    return true;
}

bool CircularSurveyComplexItem::_rebuildTransectsInputCheck(QPolygonF &poly)
{
    // rebuild not necessary?
    if (!_isInitialized)
        return false;

    // check if input is valid
    if ( _surveyAreaPolygon.count() < 3)
        return false;

    // some more checks
    if (!PolygonCalculus::isSimplePolygon(poly))
        return false;

    // even more checks
    if (!PolygonCalculus::hasClockwiseWinding(poly))
        PolygonCalculus::reversePath(poly);

    // check if input is valid
    if (   _deltaAlpha.rawValue() > _deltaAlpha.rawMax()
           && _deltaAlpha.rawValue() < _deltaAlpha.rawMin())
        return false;
    if (   _deltaR.rawValue() > _deltaR.rawMax()
           && _deltaR.rawValue() < _deltaR.rawMin())
        return false;

    return true;
}

void CircularSurveyComplexItem::_rebuildTransectsToGeo(const QVector<QPointF> &path, const QGeoCoordinate &reference)
{
    using namespace GeoUtilities;

    QVector<QGeoCoordinate> geoPath = toGeo(path, reference);
    QList<CoordInfo_t> transectList;
    transectList.reserve(path.size());
    for ( const QGeoCoordinate &coordinate : geoPath) {
        CoordInfo_t coordinfo = {coordinate, CoordTypeInterior};
        transectList.append(coordinfo);
    }
    _transects.append(transectList);
}


Fact *CircularSurveyComplexItem::transectMinLength()
{
    return &_transectMinLength;
}

Fact *CircularSurveyComplexItem::isSnakePath()
{
    return &_isSnakePath;
}

Fact *CircularSurveyComplexItem::reverse()
{
    return &_reverse;
}

Fact *CircularSurveyComplexItem::maxWaypoints()
{
    return &_maxWaypoints;
}




/*!
    \class CircularSurveyComplexItem
    \inmodule Wima

    \brief The \c CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest.

    CircularSurveyComplexItem class provides a survey mission item with circular transects around a point of interest. Within the
    \c Wima module it's used to scan a defined area with constant angle (circular transects) to the base station (point of interest).

    \sa WimaArea
*/