StructureScanComplexItem.cc 26.4 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
/****************************************************************************
 *
 *   (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.
 *
 ****************************************************************************/

#include "StructureScanComplexItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
#include "QGroundControlQmlGlobal.h"
#include "QGCQGeoCoordinate.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "QGCQGeoCoordinate.h"

#include <QPolygonF>

QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")

24
const char* StructureScanComplexItem::settingsGroup =               "StructureScan";
25
const char* StructureScanComplexItem::_entranceAltName =            "EntranceAltitude";
26
const char* StructureScanComplexItem::scanBottomAltName =           "ScanBottomAlt";
27 28
const char* StructureScanComplexItem::structureHeightName =         "StructureHeight";
const char* StructureScanComplexItem::layersName =                  "Layers";
29
const char* StructureScanComplexItem::gimbalPitchName =             "GimbalPitch";
30
const char* StructureScanComplexItem::startFromTopName =            "StartFromTop";
31

32 33
const char* StructureScanComplexItem::jsonComplexItemTypeValue =    "StructureScan";
const char* StructureScanComplexItem::_jsonCameraCalcKey =          "CameraCalc";
34

35
StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent)
36
    : ComplexMissionItem        (vehicle, flyView, parent)
37
    , _metaDataMap              (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */))
38 39 40 41 42
    , _sequenceNumber           (0)
    , _entryVertex              (0)
    , _ignoreRecalc             (false)
    , _scanDistance             (0.0)
    , _cameraShots              (0)
43
    , _cameraCalc               (vehicle, settingsGroup)
44
    , _scanBottomAltFact        (settingsGroup, _metaDataMap[scanBottomAltName])
45 46
    , _structureHeightFact      (settingsGroup, _metaDataMap[structureHeightName])
    , _layersFact               (settingsGroup, _metaDataMap[layersName])
47
    , _gimbalPitchFact          (settingsGroup, _metaDataMap[gimbalPitchName])
48
    , _startFromTopFact         (settingsGroup, _metaDataMap[startFromTopName])
49
    , _entranceAltFact          (settingsGroup, _metaDataMap[_entranceAltName])
50 51 52
{
    _editorQml = "qrc:/qml/StructureScanEditor.qml";

53
    _entranceAltFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
54

55 56 57 58 59
    connect(&_entranceAltFact,      &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
    connect(&_scanBottomAltFact,    &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
    connect(&_layersFact,           &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
    connect(&_gimbalPitchFact,      &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
    connect(&_startFromTopFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
60

61 62 63
    connect(&_startFromTopFact,     &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);
    connect(&_layersFact,           &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged);

DonLakeFlyer's avatar
DonLakeFlyer committed
64
    connect(&_structureHeightFact,                  &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
65
    connect(&_scanBottomAltFact,                    &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);
DonLakeFlyer's avatar
DonLakeFlyer committed
66 67
    connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged,    this, &StructureScanComplexItem::_recalcLayerInfo);

68
    connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
69

70 71 72
    connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged,   this, &StructureScanComplexItem::_polygonDirtyChanged);
    connect(&_structurePolygon, &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_rebuildFlightPolygon);

73 74 75
    connect(&_structurePolygon, &QGCMapPolygon::countChanged,   this, &StructureScanComplexItem::_updateLastSequenceNumber);
    connect(&_layersFact,       &Fact::valueChanged,            this, &StructureScanComplexItem::_updateLastSequenceNumber);

76 77
    connect(&_flightPolygon,    &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_flightPathChanged);

78
    connect(_cameraCalc.distanceToSurface(),    &Fact::valueChanged,                this, &StructureScanComplexItem::_rebuildFlightPolygon);
79 80 81 82

    connect(&_flightPolygon,                        &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_recalcCameraShots);
    connect(_cameraCalc.adjustedFootprintSide(),    &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
    connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcCameraShots);
DonLakeFlyer's avatar
DonLakeFlyer committed
83

84 85
    connect(&_cameraCalc, &CameraCalc::isManualCameraChanged, this, &StructureScanComplexItem::_updateGimbalPitch);

86
    connect(&_layersFact,                           &Fact::valueChanged,            this, &StructureScanComplexItem::_recalcScanDistance);
87
    connect(&_flightPolygon,                        &QGCMapPolygon::pathChanged,    this, &StructureScanComplexItem::_recalcScanDistance);
88

DonLakeFlyer's avatar
DonLakeFlyer committed
89
    _recalcLayerInfo();
90

91 92
    if (!kmlOrShpFile.isEmpty()) {
        _structurePolygon.loadKMLOrSHPFile(kmlOrShpFile);
93 94 95 96
        _structurePolygon.setDirty(false);
    }

    setDirty(false);
97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114
}

void StructureScanComplexItem::_setCameraShots(int cameraShots)
{
    if (_cameraShots != cameraShots) {
        _cameraShots = cameraShots;
        emit cameraShotsChanged(this->cameraShots());
    }
}

void StructureScanComplexItem::_clearInternal(void)
{
    setDirty(true);

    emit specifiesCoordinateChanged();
    emit lastSequenceNumberChanged(lastSequenceNumber());
}

115
void StructureScanComplexItem::_updateLastSequenceNumber(void)
116 117 118 119 120 121
{
    emit lastSequenceNumberChanged(lastSequenceNumber());
}

int StructureScanComplexItem::lastSequenceNumber(void) const
{
122 123 124 125 126
    // Each structure layer contains:
    //  1 waypoint for each polygon vertex + 1 to go back to first polygon vertex for each layer
    //  Two commands for camera trigger start/stop
    int layerItemCount = _flightPolygon.count() + 1 + 2;

127
    // Take into account the number of layers
128 129
    int multiLayerItemCount = layerItemCount * _layersFact.rawValue().toInt();

130 131 132
    // +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands
    // +2 for entrance/exit waypoints
    int itemCount = multiLayerItemCount + 2 + 2;
133 134

    return _sequenceNumber + itemCount - 1;
135 136 137 138 139 140 141 142 143 144 145 146 147 148
}

void StructureScanComplexItem::setDirty(bool dirty)
{
    if (_dirty != dirty) {
        _dirty = dirty;
        emit dirtyChanged(_dirty);
    }
}

void StructureScanComplexItem::save(QJsonArray&  missionItems)
{
    QJsonObject saveObject;

149
    // Header
150
    saveObject[JsonHelper::jsonVersionKey] =                    3;
151 152 153
    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
    saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;

154 155 156 157 158 159
    saveObject[_entranceAltName] =      _entranceAltFact.rawValue().toDouble();
    saveObject[scanBottomAltName] =     _scanBottomAltFact.rawValue().toDouble();
    saveObject[structureHeightName] =   _structureHeightFact.rawValue().toDouble();
    saveObject[layersName] =            _layersFact.rawValue().toDouble();
    saveObject[gimbalPitchName] =       _gimbalPitchFact.rawValue().toDouble();
    saveObject[startFromTopName] =      _startFromTopFact.rawValue().toBool();
160 161 162 163 164

    QJsonObject cameraCalcObject;
    _cameraCalc.save(cameraCalcObject);
    saveObject[_jsonCameraCalcKey] = cameraCalcObject;

165
    _structurePolygon.saveToJson(saveObject);
166 167 168 169 170 171 172 173 174 175 176 177 178 179 180

    missionItems.append(saveObject);
}

void StructureScanComplexItem::setSequenceNumber(int sequenceNumber)
{
    if (_sequenceNumber != sequenceNumber) {
        _sequenceNumber = sequenceNumber;
        emit sequenceNumberChanged(sequenceNumber);
        emit lastSequenceNumberChanged(lastSequenceNumber());
    }
}

bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
181
    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
182 183 184 185
        { JsonHelper::jsonVersionKey,                   QJsonValue::Double, true },
        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
        { ComplexMissionItem::jsonComplexItemTypeKey,   QJsonValue::String, true },
        { QGCMapPolygon::jsonPolygonKey,                QJsonValue::Array,  true },
186
        { scanBottomAltName,                            QJsonValue::Double, true },
187 188
        { structureHeightName,                          QJsonValue::Double, true },
        { layersName,                                   QJsonValue::Double, true },
189
        { _jsonCameraCalcKey,                           QJsonValue::Object, true },
190 191 192
        { _entranceAltName,                             QJsonValue::Double, true },
        { gimbalPitchName,                              QJsonValue::Double, true },
        { startFromTopName,                             QJsonValue::Bool,   true },
193
    };
194
    if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
195 196 197
        return false;
    }

198 199 200 201
    _structurePolygon.clear();

    QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
    QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
202 203 204 205 206
    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;
    }

207
    int version = complexObject[JsonHelper::jsonVersionKey].toInt();
208 209
    if (version != 3) {
        errorString = tr("%1 version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
210 211 212
        return false;
    }

213
    setSequenceNumber(sequenceNumber);
214

215
    // Load CameraCalc first since it will trigger camera name change which will trounce gimbal angles
Don Gagne's avatar
Don Gagne committed
216
    if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), false /* forPresets */, false /* cameraSpecInPreset */, errorString)) {
217 218 219
        return false;
    }

220 221 222 223 224 225
    _scanBottomAltFact.setRawValue      (complexObject[scanBottomAltName].toDouble());
    _layersFact.setRawValue             (complexObject[layersName].toDouble());
    _structureHeightFact.setRawValue    (complexObject[structureHeightName].toDouble());
    _startFromTopFact.setRawValue       (complexObject[startFromTopName].toBool());
    _entranceAltFact.setRawValue        (complexObject[startFromTopName].toDouble());
    _gimbalPitchFact.setRawValue        (complexObject[gimbalPitchName].toDouble());
226

227
    if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) {
228
        _structurePolygon.clear();
229 230 231 232 233 234
        return false;
    }

    return true;
}

235
void StructureScanComplexItem::_flightPathChanged(void)
236
{
237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260
    // Calc bounding cube
    double north = 0.0;
    double south = 180.0;
    double east  = 0.0;
    double west  = 360.0;
    double bottom = 100000.;
    double top = 0.;
    QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
    for (int i = 0; i < vertices.count(); i++) {
        QGeoCoordinate vertex = vertices[i];
        double lat = vertex.latitude()  + 90.0;
        double lon = vertex.longitude() + 180.0;
        north   = fmax(north, lat);
        south   = fmin(south, lat);
        east    = fmax(east,  lon);
        west    = fmin(west,  lon);
        bottom  = fmin(bottom, vertex.altitude());
        top     = fmax(top, vertex.altitude());
    }
    //-- Update bounding cube for airspace management control
    _setBoundingCube(QGCGeoBoundingCube(
        QGeoCoordinate(north - 90.0, west - 180.0, bottom),
        QGeoCoordinate(south - 90.0, east - 180.0, top)));

261 262 263 264 265 266 267 268
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
    emit greatestDistanceToChanged();
}

double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
    double greatestDistance = 0.0;
269
    QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
270 271 272 273 274 275 276 277 278 279 280 281 282 283

    for (int i=0; i<vertices.count(); i++) {
        QGeoCoordinate vertex = vertices[i];
        double distance = vertex.distanceTo(other);
        if (distance > greatestDistance) {
            greatestDistance = distance;
        }
    }

    return greatestDistance;
}

bool StructureScanComplexItem::specifiesCoordinate(void) const
{
284
    return _flightPolygon.count() > 2;
285 286 287 288
}

void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
289 290
    int     seqNum =        _sequenceNumber;
    bool    startFromTop =  _startFromTopFact.rawValue().toBool();
291
    double  startAltitude = (startFromTop ? _structureHeightFact.rawValue().toDouble() : _scanBottomAltFact.rawValue().toDouble());
292 293 294 295 296 297 298

    MissionItem* item = nullptr;

    // Entrance waypoint
    QGeoCoordinate entranceExitCoord = _flightPolygon.vertexCoordinate(_entryVertex);
    item = new MissionItem(seqNum++,
                           MAV_CMD_NAV_WAYPOINT,
299
                           MAV_FRAME_GLOBAL_RELATIVE_ALT,
300 301 302 303 304 305 306 307 308 309
                           0,                                          // No hold time
                           0.0,                                        // No acceptance radius specified
                           0.0,                                        // Pass through waypoint
                           std::numeric_limits<double>::quiet_NaN(),   // Yaw unchanged
                           entranceExitCoord.latitude(),
                           entranceExitCoord.longitude(),
                           _entranceAltFact.rawValue().toDouble(),
                           true,                                       // autoContinue
                           false,                                      // isCurrentItem
                           missionItemParent);
310
    items.append(item);
311

312 313 314 315 316 317 318 319 320 321 322 323 324
    // Point camera at structure
    item = new MissionItem(seqNum++,
                           MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET,
                           MAV_FRAME_MISSION,
                           0, 0, 0, 0,                             // param 1-4 not used
                           _gimbalPitchFact.rawValue().toDouble(),
                           0,                                      // Roll stays in standard orientation
                           90,                                     // 90 degreee yaw offset to point to structure
                           true,                                   // autoContinue
                           false,                                  // isCurrentItem
                           missionItemParent);
    items.append(item);

Don Gagne's avatar
Don Gagne committed
325 326 327 328 329 330 331 332 333
    // Set up for the first layer
    double  layerAltitude = startAltitude;
    double  halfLayerHeight = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
    if (startFromTop) {
        layerAltitude -= halfLayerHeight;
    } else {
        layerAltitude += halfLayerHeight;
    }

334
    for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
Don Gagne's avatar
Don Gagne committed
335
        bool addTriggerStart = true;
336

337 338 339 340 341 342 343 344
        bool done = false;
        int currentVertex = _entryVertex;
        int processedVertices = 0;
        do {
            QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(currentVertex);

            item = new MissionItem(seqNum++,
                                   MAV_CMD_NAV_WAYPOINT,
345
                                   MAV_FRAME_GLOBAL_RELATIVE_ALT,
346 347 348 349 350 351 352 353 354 355
                                   0,                                          // No hold time
                                   0.0,                                        // No acceptance radius specified
                                   0.0,                                        // Pass through waypoint
                                   std::numeric_limits<double>::quiet_NaN(),   // Yaw unchanged
                                   vertexCoord.latitude(),
                                   vertexCoord.longitude(),
                                   layerAltitude,
                                   true,                                       // autoContinue
                                   false,                                      // isCurrentItem
                                   missionItemParent);
356
            items.append(item);
357

358
            // Start camera triggering after first waypoint in layer
359 360 361 362 363 364 365 366 367 368 369 370 371 372
            if (addTriggerStart) {
                addTriggerStart = false;
                item = new MissionItem(seqNum++,
                                       MAV_CMD_DO_SET_CAM_TRIGG_DIST,
                                       MAV_FRAME_MISSION,
                                       _cameraCalc.adjustedFootprintSide()->rawValue().toDouble(),  // trigger distance
                                       0,                                                           // shutter integration (ignore)
                                       1,                                                           // trigger immediately when starting
                                       0, 0, 0, 0,                                                  // param 4-7 unused
                                       true,                                                        // autoContinue
                                       false,                                                       // isCurrentItem
                                       missionItemParent);
                items.append(item);
            }
373

374 375 376 377 378 379 380 381 382 383
            // Move to next vertext
            currentVertex++;
            if (currentVertex >= _flightPolygon.count()) {
                currentVertex = 0;
            }

            // Have we processed all the vertices
            processedVertices++;
            done = processedVertices == _flightPolygon.count() + 1;
        } while (!done);
384

385
        // Stop camera triggering after last waypoint in layer
386 387 388 389 390 391 392 393 394 395
        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);
396
        items.append(item);
397 398 399 400 401 402 403

        // Move to next layer altitude
        if (startFromTop) {
            layerAltitude -= halfLayerHeight * 2;
        } else {
            layerAltitude += halfLayerHeight * 2;
        }
404
    }
405

406
    // Return camera to neutral position
407 408 409 410 411 412 413 414
    item = new MissionItem(seqNum++,
                           MAV_CMD_DO_SET_ROI_NONE,
                           MAV_FRAME_MISSION,
                           0, 0, 0,0, 0, 0, 0,                 // param 1-7 not used
                           true,                               // autoContinue
                           false,                              // isCurrentItem
                           missionItemParent);
    items.append(item);
415 416 417 418

    // Exit waypoint
    item = new MissionItem(seqNum++,
                           MAV_CMD_NAV_WAYPOINT,
419
                           MAV_FRAME_GLOBAL_RELATIVE_ALT,
420 421 422 423 424 425 426 427 428 429 430 431
                           0,                                          // No hold time
                           0.0,                                        // No acceptance radius specified
                           0.0,                                        // Pass through waypoint
                           std::numeric_limits<double>::quiet_NaN(),   // Yaw unchanged
                           entranceExitCoord.latitude(),
                           entranceExitCoord.longitude(),
                           _entranceAltFact.rawValue().toDouble(),
                           true,                                       // autoContinue
                           false,                                      // isCurrentItem
                           missionItemParent);
    items.append(item);

432 433 434 435
}

int StructureScanComplexItem::cameraShots(void) const
{
436
    return _cameraShots;
437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454
}

void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
    ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
    if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
        _cruiseSpeed = missionFlightStatus.vehicleSpeed;
        emit timeBetweenShotsChanged();
    }
}

void StructureScanComplexItem::_setDirty(void)
{
    setDirty(true);
}

void StructureScanComplexItem::applyNewAltitude(double newAltitude)
{
455
    _entranceAltFact.setRawValue(newAltitude);
456 457 458 459 460 461 462 463 464
}

void StructureScanComplexItem::_polygonDirtyChanged(bool dirty)
{
    if (dirty) {
        setDirty(true);
    }
}

465
double StructureScanComplexItem::timeBetweenShots(void)
466
{
467
    return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed;
468 469 470 471
}

QGeoCoordinate StructureScanComplexItem::coordinate(void) const
{
472
    if (_flightPolygon.count() > 0) {
473 474 475
        QGeoCoordinate coord = _flightPolygon.vertexCoordinate(_entryVertex);
        coord.setAltitude(_entranceAltFact.rawValue().toDouble());
        return coord;
476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494
    } else {
        return QGeoCoordinate();
    }
}

QGeoCoordinate StructureScanComplexItem::exitCoordinate(void) const
{
    return coordinate();
}

void StructureScanComplexItem::_updateCoordinateAltitudes(void)
{
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
}

void StructureScanComplexItem::rotateEntryPoint(void)
{
    _entryVertex++;
495
    if (_entryVertex >= _flightPolygon.count()) {
496 497 498 499 500
        _entryVertex = 0;
    }
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
}
501 502 503

void StructureScanComplexItem::_rebuildFlightPolygon(void)
{
504 505 506 507 508
    // While this is happening all hell breaks loose signal-wise which can cause a bad vertex reference.
    // So we reset to a safe value first and then double check validity when putting it back
    int savedEntryVertex = _entryVertex;
    _entryVertex = 0;

509
    _flightPolygon = _structurePolygon;
510
    _flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble());
511 512 513 514 515 516

    if (savedEntryVertex >= _flightPolygon.count()) {
        _entryVertex = 0;
    } else {
        _entryVertex = savedEntryVertex;
    }
517

518 519
    emit coordinateChanged(coordinate());
    emit exitCoordinateChanged(exitCoordinate());
520
}
521 522 523

void StructureScanComplexItem::_recalcCameraShots(void)
{
524 525 526 527 528 529
    double triggerDistance = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
    if (triggerDistance == 0) {
        _setCameraShots(0);
        return;
    }

530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546
    if (_flightPolygon.count() < 3) {
        _setCameraShots(0);
        return;
    }

    // Determine the distance for each polygon traverse
    double distance = 0;
    for (int i=0; i<_flightPolygon.count(); i++) {
        QGeoCoordinate coord1 = _flightPolygon.vertexCoordinate(i);
        QGeoCoordinate coord2 = _flightPolygon.vertexCoordinate(i + 1 == _flightPolygon.count() ? 0 : i + 1);
        distance += coord1.distanceTo(coord2);
    }
    if (distance == 0.0) {
        _setCameraShots(0);
        return;
    }

547
    int cameraShots = static_cast<int>(distance / triggerDistance);
548 549
    _setCameraShots(cameraShots * _layersFact.rawValue().toInt());
}
550

551
void StructureScanComplexItem::_recalcLayerInfo(void)
552
{
553 554 555 556 557 558 559 560 561 562
    double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);

    // Layer count is calculated from surface and layer heights
    _layersFact.setRawValue(qMax(qCeil(surfaceHeight / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()), 1));
}

void StructureScanComplexItem::_updateGimbalPitch(void)
{
    if (!_cameraCalc.isManualCamera()) {
        _gimbalPitchFact.setRawValue(0);
563 564
    }
}
DonLakeFlyer's avatar
DonLakeFlyer committed
565

566
double StructureScanComplexItem::bottomFlightAlt(void)
DonLakeFlyer's avatar
DonLakeFlyer committed
567
{
568 569 570 571
    if (_startFromTopFact.rawValue().toBool()) {
        // Structure Height minus the topmost layers
        double  layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
        return _structureHeightFact.rawValue().toDouble() - layerIncrement;
DonLakeFlyer's avatar
DonLakeFlyer committed
572
    } else {
573 574 575
        // Bottom alt plus half the height of a layer
        double  layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
        return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
DonLakeFlyer's avatar
DonLakeFlyer committed
576 577
    }
}
578

579
double StructureScanComplexItem:: topFlightAlt(void)
580
{
581 582 583 584 585 586 587 588
    if (_startFromTopFact.rawValue().toBool()) {
        // Structure Height minus half the layer height
        double  layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0;
        return _structureHeightFact.rawValue().toDouble() - layerIncrement;
    } else {
        // Bottom alt plus all layers
        double  layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
        return _scanBottomAltFact.rawValue().toDouble() + layerIncrement;
589 590
    }
}
591

592
void StructureScanComplexItem::_signalTopBottomAltChanged(void)
593
{
594 595
    emit topFlightAltChanged();
    emit bottomFlightAltChanged();
596
}
597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615

void StructureScanComplexItem::_recalcScanDistance()
{
    double scanDistance = 0;
    QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
    for (int i=0; i<vertices.count() - 1; i++) {
        scanDistance += vertices[i].distanceTo(vertices[i+1]);
    }

    scanDistance *= _layersFact.rawValue().toInt();

    double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0);
    scanDistance += surfaceHeight;

    if (!qFuzzyCompare(_scanDistance, scanDistance)) {
        _scanDistance = scanDistance;
        emit complexDistanceChanged();
    }

616
    qCDebug(StructureScanComplexItemLog) << "StructureScanComplexItem--_recalcScanDistance layers: "
617 618 619
                                  << _layersFact.rawValue().toInt() << " structure height: " << surfaceHeight
                                  << " scanDistance: " << _scanDistance;
}