Merge pull request #5815 from DonLakeFlyer/StructureScan

Structure Scan persistence and mission creation

src/MissionManager/CameraCalc.h

@@ -22,8 +22,8 @@ public:
 
     Q_ENUMS(CameraSpecType)
 
-    Q_PROPERTY(CameraSpecType   cameraSpecType              MEMBER _cameraSpecType          NOTIFY cameraSpecTypeChanged)
-    Q_PROPERTY(QString          knownCameraName             MEMBER _knownCameraName         NOTIFY knownCameraNameChanged)
+    Q_PROPERTY(CameraSpecType   cameraSpecType              READ cameraSpecType     WRITE setCameraSpecType     NOTIFY cameraSpecTypeChanged)
+    Q_PROPERTY(QString          knownCameraName             READ knownCameraName    WRITE setKnownCameraName    NOTIFY knownCameraNameChanged)
     Q_PROPERTY(Fact*            valueSetIsDistance          READ valueSetIsDistance         CONSTANT)                       ///< true: distance specified, resolution calculated
     Q_PROPERTY(Fact*            distanceToSurface           READ distanceToSurface          CONSTANT)                       ///< Distance to surface for image foot print calculation
     Q_PROPERTY(Fact*            imageDensity                READ imageDensity               CONSTANT)                       ///< Image density on surface (cm/px)
@@ -42,6 +42,11 @@ public:
         CameraSpecKnown
     };
 
+    CameraSpecType cameraSpecType(void) const { return _cameraSpecType; }
+    QString knownCameraName(void) const { return _knownCameraName; }
+    void setCameraSpecType(CameraSpecType cameraSpecType);
+    void setKnownCameraName(QString knownCameraName);
+
     Fact* valueSetIsDistance        (void) { return &_valueSetIsDistanceFact; }
     Fact* distanceToSurface         (void) { return &_distanceToSurfaceFact; }
     Fact* imageDensity              (void) { return &_imageDensityFact; }
@@ -99,4 +104,6 @@ private:
     static const char* _sideOverlapName;
     static const char* _adjustedFootprintSideName;
     static const char* _adjustedFootprintFrontalName;
+    static const char* _jsonCameraSpecTypeKey;
+    static const char* _jsonKnownCameraNameKey;
 };

src/MissionManager/CameraSpec.h

@@ -17,22 +17,11 @@ class CameraSpec : public QObject
 
 public:
     CameraSpec(QObject* parent = NULL);
-    CameraSpec(const QString&   name,
-               double           sensorWidth,
-               double           sensorHeight,
-               double           imageWidth,
-               double           imageHeight,
-               double           focalLength,
-               bool             landscape,
-               bool             fixedOrientation,
-               double           minTriggerInterval,
-               QObject*         parent = NULL);
     CameraSpec(const CameraSpec& other, QObject* parent);
 
     const CameraSpec& operator=(const CameraSpec& other);
 
     // These properties are persisted to Json
-    Q_PROPERTY(Fact* name               READ name               CONSTANT)   ///< Camera name
     Q_PROPERTY(Fact* sensorWidth        READ sensorWidth        CONSTANT)   ///< Sensor size in millimeters
     Q_PROPERTY(Fact* sensorHeight       READ sensorHeight       CONSTANT)   ///< Sensor size in millimeters
     Q_PROPERTY(Fact* imageWidth         READ imageWidth         CONSTANT)   ///< Image size in pixels
@@ -42,7 +31,6 @@ public:
     Q_PROPERTY(Fact* fixedOrientation   READ fixedOrientation   CONSTANT)   ///< true: camera is in fixed orientation
     Q_PROPERTY(Fact* minTriggerInterval READ minTriggerInterval CONSTANT)   ///< Minimum time in seconds between each photo taken, 0 for not specified
 
-    Fact* name              (void) { return &_nameFact; }
     Fact* sensorWidth       (void) { return &_sensorWidthFact; }
     Fact* sensorHeight      (void) { return &_sensorHeightFact; }
     Fact* imageWidth        (void) { return &_imageWidthFact; }
@@ -68,7 +56,6 @@ private:
 
     QMap<QString, FactMetaData*> _metaDataMap;
 
-    Fact _nameFact;
     Fact _sensorWidthFact;
     Fact _sensorHeightFact;
     Fact _imageWidthFact;
@@ -78,7 +65,6 @@ private:
     Fact _fixedOrientationFact;
     Fact _minTriggerIntervalFact;
 
-    static const char* _nameName;
     static const char* _sensorWidthName;
     static const char* _sensorHeightName;
     static const char* _imageWidthName;
@@ -87,14 +73,4 @@ private:
     static const char* _landscapeName;
     static const char* _fixedOrientationName;
     static const char* _minTriggerIntervalName;
-
-    static const char* _jsonNameKey;
-    static const char* _jsonSensorWidthKey;
-    static const char* _jsonSensorHeightKey;
-    static const char* _jsonImageWidthKey;
-    static const char* _jsonImageHeightKey;
-    static const char* _jsonFocalLengthKey;
-    static const char* _jsonLandscapeKey;
-    static const char* _jsonFixedOrientationKey;
-    static const char* _jsonMinTriggerIntervalKey;
 };

src/MissionManager/MissionController.cc

@@ -19,6 +19,7 @@
 #include "SurveyMissionItem.h"
 #include "FixedWingLandingComplexItem.h"
 #include "StructureScanComplexItem.h"
+#include "StructureScanComplexItem.h"
 #include "JsonHelper.h"
 #include "ParameterManager.h"
 #include "QGroundControlQmlGlobal.h"
@@ -266,11 +267,15 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
 {
     QJsonObject missionJson;
     QmlObjectListModel* visualItems = new QmlObjectListModel();
-    QList<MissionItem*> missionItens;
+    QList<MissionItem*> missionItems;
     QString error;
     save(missionJson);
     _loadItemsFromJson(missionJson, visualItems, error);
-    _convertToMissionItems(visualItems, missionItens, this);
+    _convertToMissionItems(visualItems, missionItems, this);
+
+    if (missionItems.count() == 0) {
+        return;
+    }
 
     float altitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
 
@@ -278,7 +283,7 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
     QStringList coords;
     // Drop home position
     bool dropPoint = true;
-    for(const auto& item : missionItens) {
+    for(const auto& item : missionItems) {
         if(dropPoint) {
             dropPoint = false;
             continue;
@@ -657,6 +662,15 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
                 nextSequenceNumber = landingItem->lastSequenceNumber() + 1;
                 qCDebug(MissionControllerLog) << "FW Landing Pattern load complete: nextSequenceNumber" << nextSequenceNumber;
                 visualItems->append(landingItem);
+            } else if (complexItemType == StructureScanComplexItem::jsonComplexItemTypeValue) {
+                qCDebug(MissionControllerLog) << "Loading Structure Scan: nextSequenceNumber" << nextSequenceNumber;
+                StructureScanComplexItem* structureItem = new StructureScanComplexItem(_controllerVehicle, visualItems);
+                if (!structureItem->load(itemObject, nextSequenceNumber++, errorString)) {
+                    return false;
+                }
+                nextSequenceNumber = structureItem->lastSequenceNumber() + 1;
+                qCDebug(MissionControllerLog) << "Structure Scan load complete: nextSequenceNumber" << nextSequenceNumber;
+                visualItems->append(structureItem);
             } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
                 MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);

src/MissionManager/StructureScanComplexItem.h

@@ -129,6 +129,9 @@ private:
 
     static const char* _altitudeFactName;
     static const char* _layersFactName;
+
+    static const char* _jsonCameraCalcKey;
+    static const char* _jsonAltitudeRelativeKey;
 };
 
 #endif

src/PlanView/StructureScanEditor.qml

@@ -60,7 +60,7 @@ Rectangle {
         QGCLabel {
             anchors.left:   parent.left
             anchors.right:  parent.right
-            text:           qsTr("WARNING: WORK IN PROGRESS. DO NOT FLY. NO BUG REPORTS.")
+            text:           qsTr("WORK IN PROGRESS. CAREFUL!")
             wrapMode:       Text.WordWrap
             color:          qgcPal.warningText
         }

src/PlanView/StructureScanMapVisual.qml

@@ -91,7 +91,7 @@ Item {
         borderWidth:        1
         borderColor:        "black"
         interiorColor:      "green"
-        interiorOpacity:    0.5
+        interiorOpacity:    0.25
     }
 
     QGCMapPolygonVisuals {