TransectStyleComplexItem.h.orig

/****************************************************************************
 *
 * (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.
 *
 ****************************************************************************/

#pragma once

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

Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog)

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class TransectStyleComplexItem : public ComplexMissionItem {
  Q_OBJECT

public:
  TransectStyleComplexItem(Vehicle *vehicle, bool flyView,
                           QString settignsGroup, QObject *parent);

  Q_PROPERTY(QGCMapPolygon *surveyAreaPolygon READ surveyAreaPolygon CONSTANT)
  Q_PROPERTY(CameraCalc *cameraCalc READ cameraCalc CONSTANT)
  Q_PROPERTY(Fact *turnAroundDistance READ turnAroundDistance CONSTANT)
  Q_PROPERTY(
      Fact *cameraTriggerInTurnAround READ cameraTriggerInTurnAround CONSTANT)
  Q_PROPERTY(Fact *hoverAndCapture READ hoverAndCapture CONSTANT)
  Q_PROPERTY(Fact *refly90Degrees READ refly90Degrees CONSTANT)

  Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
  Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY
                 timeBetweenShotsChanged)
  Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
  Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT)
  Q_PROPERTY(QVariantList visualTransectPoints READ visualTransectPoints NOTIFY
                 visualTransectPointsChanged)

  Q_PROPERTY(bool followTerrain READ followTerrain WRITE setFollowTerrain NOTIFY
                 followTerrainChanged)
  Q_PROPERTY(Fact *terrainAdjustTolerance READ terrainAdjustTolerance CONSTANT)
  Q_PROPERTY(Fact *terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate
                 CONSTANT)
  Q_PROPERTY(
      Fact *terrainAdjustMaxClimbRate READ terrainAdjustMaxClimbRate CONSTANT)

  QGCMapPolygon *surveyAreaPolygon(void) { return &_surveyAreaPolygon; }
  CameraCalc *cameraCalc(void) { return &_cameraCalc; }
  QVariantList visualTransectPoints(void) { return _visualTransectPoints; }

  Fact *turnAroundDistance(void) { return &_turnAroundDistanceFact; }
  Fact *cameraTriggerInTurnAround(void) {
    return &_cameraTriggerInTurnAroundFact;
  }
  Fact *hoverAndCapture(void) { return &_hoverAndCaptureFact; }
  Fact *refly90Degrees(void) { return &_refly90DegreesFact; }
  Fact *terrainAdjustTolerance(void) { return &_terrainAdjustToleranceFact; }
  Fact *terrainAdjustMaxDescentRate(void) {
    return &_terrainAdjustMaxDescentRateFact;
  }
  Fact *terrainAdjustMaxClimbRate(void) {
    return &_terrainAdjustMaxClimbRateFact;
  }

  const Fact *hoverAndCapture(void) const { return &_hoverAndCaptureFact; }

  int cameraShots(void) const { return _cameraShots; }
  double coveredArea(void) const;
  bool hoverAndCaptureAllowed(void) const;
  bool followTerrain(void) const { return _followTerrain; }

  virtual double timeBetweenShots(void) {
    return 0;
  } // Most be overridden. Implementation here is needed for unit testing.

  void setFollowTerrain(bool followTerrain);

  double triggerDistance(void) const {
    return _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble();
  }
  bool hoverAndCaptureEnabled(void) const {
    return hoverAndCapture()->rawValue().toBool();
  }
  bool triggerCamera(void) const { return triggerDistance() != 0; }

  // Overrides from ComplexMissionItem

  int lastSequenceNumber(void) const final;
  QString mapVisualQML(void) const override = 0;
  bool load(const QJsonObject &complexObject, int sequenceNumber,
            QString &errorString) override = 0;

  double complexDistance(void) const final { return _complexDistance; }
  double greatestDistanceTo(const QGeoCoordinate &other) const final;

  // Overrides from VisualMissionItem

  void save(QJsonArray &planItems) override = 0;
  bool specifiesCoordinate(void) const override = 0;
  void appendMissionItems(QList<MissionItem *> &items,
                          QObject *missionItemParent) override = 0;
  void applyNewAltitude(double newAltitude) override = 0;

  bool dirty(void) const final { return _dirty; }
  bool isSimpleItem(void) const final { return false; }
  bool isStandaloneCoordinate(void) const final { return false; }
  bool specifiesAltitudeOnly(void) const final { return false; }
  QGeoCoordinate coordinate(void) const final { return _coordinate; }
  QGeoCoordinate exitCoordinate(void) const final { return _exitCoordinate; }
  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 setMissionFlightStatus(const MissionController::MissionFlightStatus_t
                                  &missionFlightStatus) final;
  bool readyForSave(void) const override;
  QString commandDescription(void) const override { return tr("Transect"); }
  QString commandName(void) const override { return tr("Transect"); }
  QString abbreviation(void) const override { return tr("T"); }

  bool coordinateHasRelativeAltitude(void) const final;
  bool exitCoordinateHasRelativeAltitude(void) const final;
  bool exitCoordinateSameAsEntry(void) const final { return false; }

  void setDirty(bool dirty) final;
  void setCoordinate(const QGeoCoordinate &coordinate) final {
    Q_UNUSED(coordinate);
  }
  void setSequenceNumber(int sequenceNumber) final;

  static const char *turnAroundDistanceName;
  static const char *turnAroundDistanceMultiRotorName;
  static const char *cameraTriggerInTurnAroundName;
  static const char *hoverAndCaptureName;
  static const char *refly90DegreesName;
  static const char *terrainAdjustToleranceName;
  static const char *terrainAdjustMaxClimbRateName;
  static const char *terrainAdjustMaxDescentRateName;

signals:
  void cameraShotsChanged(void);
  void timeBetweenShotsChanged(void);
  void visualTransectPointsChanged(void);
  void coveredAreaChanged(void);
  void followTerrainChanged(bool followTerrain);
  void missionItemReady(void);
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class PlanMasterController;

class TransectStyleComplexItem : public ComplexMissionItem
{
    Q_OBJECT

public:
    TransectStyleComplexItem(PlanMasterController* masterController, bool flyView, QString settignsGroup, QObject* parent);

    Q_PROPERTY(QGCMapPolygon*   surveyAreaPolygon           READ surveyAreaPolygon                                  CONSTANT)
    Q_PROPERTY(CameraCalc*      cameraCalc                  READ cameraCalc                                         CONSTANT)
    Q_PROPERTY(Fact*            turnAroundDistance          READ turnAroundDistance                                 CONSTANT)
    Q_PROPERTY(Fact*            cameraTriggerInTurnAround   READ cameraTriggerInTurnAround                          CONSTANT)
    Q_PROPERTY(Fact*            hoverAndCapture             READ hoverAndCapture                                    CONSTANT)
    Q_PROPERTY(Fact*            refly90Degrees              READ refly90Degrees                                     CONSTANT)

    Q_PROPERTY(int              cameraShots                 READ cameraShots                                        NOTIFY cameraShotsChanged)
    Q_PROPERTY(double           timeBetweenShots            READ timeBetweenShots                                   NOTIFY timeBetweenShotsChanged)
    Q_PROPERTY(double           coveredArea                 READ coveredArea                                        NOTIFY coveredAreaChanged)
    Q_PROPERTY(bool             hoverAndCaptureAllowed      READ hoverAndCaptureAllowed                             CONSTANT)
    Q_PROPERTY(QVariantList     visualTransectPoints        READ visualTransectPoints                               NOTIFY visualTransectPointsChanged)

    Q_PROPERTY(bool             followTerrain               READ followTerrain              WRITE setFollowTerrain  NOTIFY followTerrainChanged)
    Q_PROPERTY(Fact*            terrainAdjustTolerance      READ terrainAdjustTolerance                             CONSTANT)
    Q_PROPERTY(Fact*            terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate                        CONSTANT)
    Q_PROPERTY(Fact*            terrainAdjustMaxClimbRate   READ terrainAdjustMaxClimbRate                          CONSTANT)

    QGCMapPolygon*  surveyAreaPolygon   (void) { return &_surveyAreaPolygon; }
    CameraCalc*     cameraCalc          (void) { return &_cameraCalc; }
    QVariantList    visualTransectPoints(void) { return _visualTransectPoints; }

    Fact* turnAroundDistance            (void) { return &_turnAroundDistanceFact; }
    Fact* cameraTriggerInTurnAround     (void) { return &_cameraTriggerInTurnAroundFact; }
    Fact* hoverAndCapture               (void) { return &_hoverAndCaptureFact; }
    Fact* refly90Degrees                (void) { return &_refly90DegreesFact; }
    Fact* terrainAdjustTolerance        (void) { return &_terrainAdjustToleranceFact; }
    Fact* terrainAdjustMaxDescentRate   (void) { return &_terrainAdjustMaxDescentRateFact; }
    Fact* terrainAdjustMaxClimbRate     (void) { return &_terrainAdjustMaxClimbRateFact; }

    const Fact* hoverAndCapture         (void) const { return &_hoverAndCaptureFact; }

    int             cameraShots             (void) const { return _cameraShots; }
    double          coveredArea             (void) const;
    bool            hoverAndCaptureAllowed  (void) const;
    bool            followTerrain           (void) const { return _followTerrain; }

    virtual double  timeBetweenShots        (void) { return 0; } // Most be overridden. Implementation here is needed for unit testing.

    void setFollowTerrain(bool followTerrain);

    double  triggerDistance         (void) const { return _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(); }
    bool    hoverAndCaptureEnabled  (void) const { return hoverAndCapture()->rawValue().toBool(); }
    bool    triggerCamera           (void) const { return triggerDistance() != 0; }

    // Used internally only by unit tests
    int _transectCount(void) const { return _transects.count(); }

    // Overrides from ComplexMissionItem
    int     lastSequenceNumber  (void) const final;
    QString mapVisualQML        (void) const override = 0;
    bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
    void    addKMLVisuals       (KMLPlanDomDocument& domDocument) final;
    double  complexDistance     (void) const final { return _complexDistance; }
    double  greatestDistanceTo  (const QGeoCoordinate &other) const final;

    // Overrides from VisualMissionItem
    void                save                        (QJsonArray&  planItems) override = 0;
    bool                specifiesCoordinate         (void) const override = 0;
    void                appendMissionItems          (QList<MissionItem*>& items, QObject* missionItemParent) final;
    void                applyNewAltitude            (double newAltitude) final;
    bool                dirty                       (void) const final { return _dirty; }
    bool                isSimpleItem                (void) const final { return false; }
    bool                isStandaloneCoordinate      (void) const final { return false; }
    bool                specifiesAltitudeOnly       (void) const final { return false; }
    QGeoCoordinate      coordinate                  (void) const final { return _coordinate; }
    QGeoCoordinate      exitCoordinate              (void) const final { return _exitCoordinate; }
    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                setMissionFlightStatus      (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
    ReadyForSaveState   readyForSaveState         (void) const override;
    QString             commandDescription          (void) const override { return tr("Transect"); }
    QString             commandName                 (void) const override { return tr("Transect"); }
    QString             abbreviation                (void) const override { return tr("T"); }
    bool                exitCoordinateSameAsEntry   (void) const final { return false; }
    void                setDirty                    (bool dirty) final;
    void                setCoordinate               (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
    void                setSequenceNumber           (int sequenceNumber) final;
    double              amslEntryAlt                (void) const final;
    double              amslExitAlt                 (void) const final;
    double              minAMSLAltitude             (void) const final { return _minAMSLAltitude; }
    double              maxAMSLAltitude             (void) const final { return _maxAMSLAltitude; }

    static const char* turnAroundDistanceName;
    static const char* turnAroundDistanceMultiRotorName;
    static const char* cameraTriggerInTurnAroundName;
    static const char* hoverAndCaptureName;
    static const char* refly90DegreesName;
    static const char* terrainAdjustToleranceName;
    static const char* terrainAdjustMaxClimbRateName;
    static const char* terrainAdjustMaxDescentRateName;

signals:
    void cameraShotsChanged             (void);
    void timeBetweenShotsChanged        (void);
    void visualTransectPointsChanged    (void);
    void coveredAreaChanged             (void);
    void followTerrainChanged           (bool followTerrain);
    void _updateFlightPathSegmentsSignal(void);
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protected slots:
  void _setDirty(void);
  void _setIfDirty(bool dirty);
  void _updateCoordinateAltitudes(void);
  void _polyPathTerrainData(
      bool success,
      const QList<TerrainPathQuery::PathHeightInfo_t> &rgPathHeightInfo);
  void _rebuildTransects(void);
  void _updateTransectAltitude(void);
  void _clearLoadedMissionItems(void);

protected:
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  virtual void
  _rebuildTransectsPhase1(void) = 0; ///< Rebuilds the _transects array
  virtual void _recalcComplexDistance(void) = 0;
  virtual void _recalcCameraShots(void) = 0;

  void _save(QJsonObject &saveObject);
  bool _load(const QJsonObject &complexObject, QString &errorString);
  void _setExitCoordinate(const QGeoCoordinate &coordinate);
  void _setCameraShots(int cameraShots);
  double _triggerDistance(void) const;
  bool _hasTurnaround(void) const;
  double _turnaroundDistance(void) const;

  int _sequenceNumber;
  QGeoCoordinate _coordinate;
  QGeoCoordinate _exitCoordinate;
  QGCMapPolygon _surveyAreaPolygon;

  enum CoordType {
    CoordTypeInterior,             ///< Interior waypoint for flight path only
    CoordTypeInteriorHoverTrigger, ///< Interior waypoint for hover and capture
                                   ///< trigger
    CoordTypeInteriorTerrainAdded, ///< Interior waypoint added for terrain
    CoordTypeSurveyEdge,           ///< Waypoint at edge of survey polygon
    CoordTypeTurnaround ///< Waypoint outside of survey polygon for turnaround
  };

  typedef struct {
    QGeoCoordinate coord;
    CoordType coordType;
  } CoordInfo_t;

  QVariantList _visualTransectPoints;
  using Transects = QList<QList<CoordInfo_t>>;
  Transects _transects;
  QList<QList<TerrainPathQuery::PathHeightInfo_t>> _transectsPathHeightInfo;
  TerrainPolyPathQuery *_terrainPolyPathQuery;
  QTimer _terrainQueryTimer;

  bool _ignoreRecalc;
  double _complexDistance;
  int _cameraShots;
  double _timeBetweenShots;
  double _cruiseSpeed;
  CameraCalc _cameraCalc;
  bool _followTerrain;

  QObject
      *_loadedMissionItemsParent; ///< Parent for all items in
                                  ///< _loadedMissionItems for simpler delete
  QList<MissionItem *>
      _loadedMissionItems; ///< Mission items loaded from plan file

  QMap<QString, FactMetaData *> _metaDataMap;

  SettingsFact _turnAroundDistanceFact;
  SettingsFact _cameraTriggerInTurnAroundFact;
  SettingsFact _hoverAndCaptureFact;
  SettingsFact _refly90DegreesFact;
  SettingsFact _terrainAdjustToleranceFact;
  SettingsFact _terrainAdjustMaxClimbRateFact;
  SettingsFact _terrainAdjustMaxDescentRateFact;

  static const char *_jsonCameraCalcKey;
  static const char *_jsonTransectStyleComplexItemKey;
  static const char *_jsonVisualTransectPointsKey;
  static const char *_jsonItemsKey;
  static const char *_jsonFollowTerrainKey;
  static const char *_jsonCameraShotsKey;

  static const int _terrainQueryTimeoutMsecs;

private slots:
  void _reallyQueryTransectsPathHeightInfo(void);
  void _followTerrainChanged(bool followTerrain);

protected:
  bool _transectsDirty;

private:
  void _queryTransectsPathHeightInfo(void);
  void _adjustTransectsForTerrain(void);
  void _addInterstitialTerrainPoints(
      QList<CoordInfo_t> &transect,
      const QList<TerrainPathQuery::PathHeightInfo_t> &transectPathHeightInfo);
  void _adjustForMaxRates(QList<CoordInfo_t> &transect);
  void _adjustForTolerance(QList<CoordInfo_t> &transect);
  double _altitudeBetweenCoords(const QGeoCoordinate &fromCoord,
                                const QGeoCoordinate &toCoord,
                                double percentTowardsTo);
  int _maxPathHeight(const TerrainPathQuery::PathHeightInfo_t &pathHeightInfo,
                     int fromIndex, int toIndex, double &maxHeight);
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    virtual void _rebuildTransectsPhase1    (void) = 0; ///< Rebuilds the _transects array
    virtual void _recalcCameraShots         (void) = 0;

    void    _save                           (QJsonObject& saveObject);
    bool    _load                           (const QJsonObject& complexObject, bool forPresets, QString& errorString);
    void    _setExitCoordinate              (const QGeoCoordinate& coordinate);
    void    _setCameraShots                 (int cameraShots);
    double  _triggerDistance                (void) const;
    bool    _hasTurnaround                  (void) const;
    double  _turnAroundDistance             (void) const;
    void    _appendWaypoint                 (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate);
    void    _appendSinglePhotoCapture       (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum);
    void    _appendConditionGate            (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate);
    void    _appendCameraTriggerDistance    (QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, float triggerDistance);
    void    _appendCameraTriggerDistanceUpdatePoint(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate, bool useConditionGate, float triggerDistance);
    void    _buildAndAppendMissionItems     (QList<MissionItem*>& items, QObject* missionItemParent);
    void    _appendLoadedMissionItems       (QList<MissionItem*>& items, QObject* missionItemParent);
    void    _recalcComplexDistance          (void);

    int                 _sequenceNumber = 0;
    QGeoCoordinate      _coordinate;
    QGeoCoordinate      _exitCoordinate;
    QGCMapPolygon       _surveyAreaPolygon;

    enum CoordType {
        CoordTypeInterior,              ///< Interior waypoint for flight path only
        CoordTypeInteriorHoverTrigger,  ///< Interior waypoint for hover and capture trigger
        CoordTypeInteriorTerrainAdded,  ///< Interior waypoint added for terrain
        CoordTypeSurveyEntry,           ///< Waypoint at entry edge of survey polygon
        CoordTypeSurveyExit,            ///< Waypoint at exit edge of survey polygon
        CoordTypeTurnaround,            ///< First turnaround waypoint
    };

    typedef struct {
        QGeoCoordinate  coord;
        CoordType       coordType;
    } CoordInfo_t;

    QVariantList                                        _visualTransectPoints;
    QList<QList<CoordInfo_t>>                           _transects;
    QList<QList<TerrainPathQuery::PathHeightInfo_t>>    _transectsPathHeightInfo;

    bool            _ignoreRecalc =     false;
    double          _complexDistance =  qQNaN();
    int             _cameraShots =      0;
    double          _timeBetweenShots = 0;
    double          _vehicleSpeed =     5;
    CameraCalc      _cameraCalc;
    bool            _followTerrain =    false;
    double          _minAMSLAltitude =  qQNaN();
    double          _maxAMSLAltitude =  qQNaN();

    QObject*            _loadedMissionItemsParent = nullptr;	///< Parent for all items in _loadedMissionItems for simpler delete
    QList<MissionItem*> _loadedMissionItems;                    ///< Mission items loaded from plan file

    QMap<QString, FactMetaData*> _metaDataMap;

    SettingsFact _turnAroundDistanceFact;
    SettingsFact _cameraTriggerInTurnAroundFact;
    SettingsFact _hoverAndCaptureFact;
    SettingsFact _refly90DegreesFact;
    SettingsFact _terrainAdjustToleranceFact;
    SettingsFact _terrainAdjustMaxClimbRateFact;
    SettingsFact _terrainAdjustMaxDescentRateFact;

    static const char* _jsonCameraCalcKey;
    static const char* _jsonTransectStyleComplexItemKey;
    static const char* _jsonVisualTransectPointsKey;
    static const char* _jsonItemsKey;
    static const char* _jsonTerrainFollowKey;
    static const char* _jsonTerrainFlightSpeed;
    static const char* _jsonCameraShotsKey;

    static const int _terrainQueryTimeoutMsecs=     1000;
    static const int _hoverAndCaptureDelaySeconds = 4;

private slots:
    void _reallyQueryTransectsPathHeightInfo        (void);
    void _followTerrainChanged                      (bool followTerrain);
    void _handleHoverAndCaptureEnabled              (QVariant enabled);
    void _updateFlightPathSegmentsDontCallDirectly  (void);
    void _segmentTerrainCollisionChanged            (bool terrainCollision) final;

private:
    void    _queryTransectsPathHeightInfo   (void);
    void    _adjustTransectsForTerrain      (void);
    void    _addInterstitialTerrainPoints   (QList<CoordInfo_t>& transect, const QList<TerrainPathQuery::PathHeightInfo_t>& transectPathHeightInfo);
    void    _adjustForMaxRates              (QList<CoordInfo_t>& transect);
    void    _adjustForTolerance             (QList<CoordInfo_t>& transect);
    double  _altitudeBetweenCoords          (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
    int     _maxPathHeight                  (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);

    TerrainPolyPathQuery*       _currentTerrainFollowQuery =            nullptr;
    QTimer                      _terrainQueryTimer;
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>>>>>>> upstream_merge
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>>>>>>> upstream_merge
};