Merge pull request #5256 from DonLakeFlyer/EntryLocationChanges

Survey: Entry location changes

src/FirmwarePlugin/FirmwarePlugin.cc

@@ -350,17 +350,6 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
     if (_cameraList.size() == 0) {
         CameraMetaData* metaData;
 
-        metaData = new CameraMetaData(tr("Typhoon H CGO3+"),    // Camera name
-                                      6.264,                    // sensorWidth
-                                      4.698,                    // sensorHeight
-                                      4000,                     // imageWidth
-                                      3000,                     // imageHeight
-                                      14,                       // focalLength
-                                      true,                     // landscape orientation
-                                      true,                     // camera orientation is fixed
-                                      this);                    // parent
-        _cameraList.append(QVariant::fromValue(metaData));
-
         metaData = new CameraMetaData(tr("Sony ILCE-QX1"),  //http://www.sony.co.uk/electronics/interchangeable-lens-cameras/ilce-qx1-body-kit/specifications
                                       23.2,                 //http://www.sony.com/electronics/camera-lenses/sel16f28/specifications
                                       15.4,

src/MissionManager/Survey.SettingsGroup.json

@@ -160,7 +160,7 @@
     "name":             "GridEntryLocation",
     "shortDescription": "Location for entry point into survey area",
     "type":             "uint32",
-    "enumStrings":      "Top Left, Top Right, Bottom Left, Bottom Right",
+    "enumStrings":      "Position 1, Position 2, Position 3, Position 4",
     "enumValues":       "0,1,2,3",
     "defaultValue":     0
 }

src/MissionManager/SurveyMissionItem.h

@@ -129,6 +129,14 @@ public:
     void setTurnaroundDist  (double dist) { _turnaroundDistFact.setRawValue(dist); }
     void save               (QJsonArray&  missionItems) final;
 
+    // Must match json spec for GridEntryLocation
+    enum EntryLocation {
+        EntryLocationTopLeft,
+        EntryLocationTopRight,
+        EntryLocationBottomLeft,
+        EntryLocationBottomRight,
+    };
+
     static const char* jsonComplexItemTypeValue;
 
     static const char* settingsGroup;
@@ -178,14 +186,6 @@ private:
         CameraTriggerHoverAndCapture
     };
 
-    // Must match json spec for GridEntryLocation
-    enum EntryLocation {
-        EntryLocationTopLeft,
-        EntryLocationTopRight,
-        EntryLocationBottomLeft,
-        EntryLocationBottomRight,
-    };
-
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
     void _generateGrid(void);
     void _updateCoordinateAltitude(void);

src/MissionManager/SurveyMissionItemTest.cc

@@ -178,3 +178,74 @@ void SurveyMissionItemTest::_testCameraTrigger(void)
     QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq);
 #endif
 }
+
+// Clamp expected grid angle from 0<->180. We don't care about opposite angles like 90/270
+double SurveyMissionItemTest::_clampGridAngle180(double gridAngle)
+{
+    if (gridAngle >= 0.0) {
+        if (gridAngle == 360.0) {
+            gridAngle = 0.0;
+        } else if (gridAngle >= 180.0) {
+            gridAngle -= 180.0;
+        }
+    } else {
+        if (gridAngle < -180.0) {
+            gridAngle += 360.0;
+        } else {
+            gridAngle += 180.0;
+        }
+    }
+    return gridAngle;
+}
+
+void SurveyMissionItemTest::_testGridAngle(void)
+{
+    QGCMapPolygon* mapPolygon = _surveyItem->mapPolygon();
+
+    for (int i=0; i<_polyPoints.count(); i++) {
+        QGeoCoordinate& vertex = _polyPoints[i];
+        mapPolygon->appendVertex(vertex);
+    }
+
+    for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
+        _surveyItem->gridAngle()->setRawValue(gridAngle);
+
+        QVariantList gridPoints = _surveyItem->gridPoints();
+        QGeoCoordinate firstTransectEntry = gridPoints[0].value<QGeoCoordinate>();
+        QGeoCoordinate firstTransectExit = gridPoints[1].value<QGeoCoordinate>();
+        double azimuth = firstTransectEntry.azimuthTo(firstTransectExit);
+        //qDebug() << gridAngle << azimuth << _clampGridAngle180(gridAngle) << _clampGridAngle180(azimuth);
+        QCOMPARE((int)_clampGridAngle180(gridAngle), (int)_clampGridAngle180(azimuth));
+    }
+}
+
+void SurveyMissionItemTest::_testEntryLocation(void)
+{
+    QGCMapPolygon* mapPolygon = _surveyItem->mapPolygon();
+
+    for (int i=0; i<_polyPoints.count(); i++) {
+        QGeoCoordinate& vertex = _polyPoints[i];
+        mapPolygon->appendVertex(vertex);
+    }
+
+    for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
+        _surveyItem->gridAngle()->setRawValue(gridAngle);
+
+        QList<QGeoCoordinate> rgSeenEntryCoords;
+        QList<int> rgEntryLocation;
+        rgEntryLocation << SurveyMissionItem::EntryLocationTopLeft
+                        << SurveyMissionItem::EntryLocationTopRight
+                        << SurveyMissionItem::EntryLocationBottomLeft
+                        << SurveyMissionItem::EntryLocationBottomRight;
+
+        // Validate that each entry location is unique
+        for (int i=0; i<rgEntryLocation.count(); i++) {
+            int entryLocation = rgEntryLocation[i];
+
+            _surveyItem->gridEntryLocation()->setRawValue(entryLocation);
+            QVERIFY(!rgSeenEntryCoords.contains(_surveyItem->coordinate()));
+            rgSeenEntryCoords << _surveyItem->coordinate();
+        }
+        rgSeenEntryCoords.clear();
+    }
+}

src/MissionManager/SurveyMissionItemTest.h

@@ -34,8 +34,12 @@ private slots:
     void _testDirty(void);
     void _testCameraValueChanged(void);
     void _testCameraTrigger(void);
+    void _testGridAngle(void);
+    void _testEntryLocation(void);
 
 private:
+    double _clampGridAngle180(double gridAngle);
+
     enum {
         gridPointsChangedIndex = 0,
         cameraShotsChangedIndex,