From 1f7fc4d212861eee5815304211c8532decac0404 Mon Sep 17 00:00:00 2001 From: Valentin Platzgummer Date: Mon, 28 Oct 2019 11:32:30 +0100 Subject: [PATCH] auto update improved, circular survey issue solved --- Paths/#airstrip.wima | 3485 +++---------------------- Paths/airstrip.wima | 2930 ++------------------- Paths/test.plan | 1842 +++++++++++++ src/Wima/CircularSurveyComplexItem.cc | 172 +- src/Wima/WimaPlaner.cc | 108 +- src/Wima/WimaPlaner.h | 29 +- src/WimaView/WimaToolBar.qml | 10 +- 7 files changed, 2636 insertions(+), 5940 deletions(-) create mode 100644 Paths/test.plan diff --git a/Paths/#airstrip.wima b/Paths/#airstrip.wima index eed6ac9f2..072f1d4d3 100644 --- a/Paths/#airstrip.wima +++ b/Paths/#airstrip.wima @@ -82,6 +82,70 @@ 149.16372962584202 ] ] + }, + { + "AreaType": "WimaArea", + "BorderPolygonOffset": 6, + "ShowBorderPolygon": 0, + "maxAltitude": 30, + "polygon": [ + [ + -35.36248285724683, + 149.1627701598158 + ], + [ + -35.36248285724683, + 149.16387294047428 + ], + 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b/src/Wima/CircularSurveyComplexItem.cc @@ -348,6 +348,13 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1() using namespace PolygonCalculus; using namespace PlanimetryCalculus; + // If the transects are getting rebuilt then any previously loaded mission items are now invalid + if (_loadedMissionItemsParent) { + _loadedMissionItems.clear(); + _loadedMissionItemsParent->deleteLater(); + _loadedMissionItemsParent = nullptr; + } + // check if input is valid if ( _surveyAreaPolygon.count() < 3) { @@ -410,119 +417,110 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1() } - QList convexPolygons; - decomposeToConvex(surveyPolygon, convexPolygons); - // generate transects - QList> fullPath; - for (int i = 0; i < convexPolygons.size(); i++) { - const QPolygonF &polygon = convexPolygons[i]; - double r = r_min; - - QList> currPolyPath; - while (r < r_max) { - Circle circle(r, origin); - QList intersectPoints; - QList typeList; - QList> neighbourList; - if (intersects(circle, polygon, intersectPoints, neighbourList, typeList)) { - - // intersection Points between circle and polygon, entering polygon - // when walking in counterclockwise direction along circle - QPointFList entryPoints; - // intersection Points between circle and polygon, leaving polygon - // when walking in counterclockwise direction along circle - QPointFList exitPoints; - // determine entryPoints and exit Points - for (int j = 0; j < intersectPoints.size(); j++) { - QList intersects = intersectPoints[j]; - - QPointF p1 = polygon[neighbourList[j].first]; - QPointF p2 = polygon[neighbourList[j].second]; - QLineF intersetLine(p1, p2); - double lineAngle = truncateAngle(angle(intersetLine)); - - for (QPointF ipt : intersects) { - double circleTangentAngle = truncateAngle(angle(ipt)+M_PI_2); - // compare line angle and circle tangent at intersection point - // to determine between exit and entry point - if ( !qFuzzyCompare(lineAngle, circleTangentAngle) - && !qFuzzyCompare(lineAngle, truncateAngle(circleTangentAngle + M_PI))) { - if (truncateAngle(lineAngle - circleTangentAngle) < M_PI) { - entryPoints.append(ipt); - } else { - exitPoints.append(ipt); - } + QList> transectPath; + double r = r_min; + + while (r < r_max) { + Circle circle(r, origin); + QList intersectPoints; + QList typeList; + QList> neighbourList; + if (intersects(circle, surveyPolygon, intersectPoints, neighbourList, typeList)) { + + // intersection Points between circle and polygon, entering polygon + // when walking in counterclockwise direction along circle + QPointFList entryPoints; + // intersection Points between circle and polygon, leaving polygon + // when walking in counterclockwise direction along circle + QPointFList exitPoints; + // determine entryPoints and exit Points + for (int j = 0; j < intersectPoints.size(); j++) { + QList intersects = intersectPoints[j]; + + QPointF p1 = surveyPolygon[neighbourList[j].first]; + QPointF p2 = surveyPolygon[neighbourList[j].second]; + QLineF intersetLine(p1, p2); + double lineAngle = truncateAngle(angle(intersetLine)); + + for (QPointF ipt : intersects) { + double circleTangentAngle = truncateAngle(angle(ipt)+M_PI_2); + // compare line angle and circle tangent at intersection point + // to determine between exit and entry point + if ( !qFuzzyCompare(lineAngle, circleTangentAngle) + && !qFuzzyCompare(lineAngle, truncateAngle(circleTangentAngle + M_PI))) { + if (truncateAngle(lineAngle - circleTangentAngle) < 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::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; - } + // 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::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; } + } - for (int k = 0; k < entryPoints.size(); k++) { - double alpha1 = angle(entryPoints[k]); - double alpha2 = angle(exitPoints[(k+offset) % entryPoints.size()]); + for (int k = 0; k < entryPoints.size(); k++) { + double alpha1 = angle(entryPoints[k]); + double alpha2 = angle(exitPoints[(k+offset) % entryPoints.size()]); - QList sectorPath = circle.approximateSektor(double(dalpha), alpha1, alpha2); - // use shortestPath() here if necessary, could be a problem if dr >> - if (sectorPath.size() > 0) - currPolyPath.append(sectorPath); - } - } else if (originInside) { - // circle fully inside polygon - QList sectorPath = circle.approximateSektor(double(dalpha), 0, 2*M_PI); + QList sectorPath = circle.approximateSektor(double(dalpha), alpha1, alpha2); // use shortestPath() here if necessary, could be a problem if dr >> - currPolyPath.append(sectorPath); + if (sectorPath.size() > 0) + transectPath.append(sectorPath); } - r += dr; - } - if (currPolyPath.size() > 0) { - fullPath.append(currPolyPath); + } else if (originInside) { + // circle fully inside polygon + QList sectorPath = circle.approximateSektor(double(dalpha), 0, 2*M_PI); + // use shortestPath() here if necessary, could be a problem if dr >> + transectPath.append(sectorPath); } - } - if (fullPath.size() == 0) + r += dr; + } + + if (transectPath.size() == 0) return; // remove short transects - for (int i = 0; i < fullPath.size(); i++) { - auto transect = fullPath[i]; + 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) - fullPath.removeAt(i--); + transectPath.removeAt(i--); } - if (fullPath.size() == 0) + if (transectPath.size() == 0) return; // optimize path to snake or zig-zag pattern bool isSnakePattern = _isSnakePath.rawValue().toBool(); - QList currentSection = fullPath.takeFirst(); + QList currentSection = transectPath.takeFirst(); if ( currentSection.isEmpty() ) return; QList> optiPath; // optimized path - while( !fullPath.empty() ) { + while( !transectPath.empty() ) { optiPath.append(currentSection); QPointF endVertex = currentSection.last(); double minDist = std::numeric_limits::infinity(); @@ -530,8 +528,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1() 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 < fullPath.size(); i++) { - auto iteratorPath = fullPath[i]; + for (int i = 0; i < transectPath.size(); i++) { + auto iteratorPath = transectPath[i]; double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first()); if ( dist < minDist ) { minDist = dist; @@ -545,7 +543,7 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1() reversePath = true; } } - currentSection = fullPath.takeAt(index); + currentSection = transectPath.takeAt(index); if (reversePath && isSnakePattern) { PolygonCalculus::reversePath(currentSection); } diff --git a/src/Wima/WimaPlaner.cc b/src/Wima/WimaPlaner.cc index 32fc9cf47..28c394c6f 100644 --- a/src/Wima/WimaPlaner.cc +++ b/src/Wima/WimaPlaner.cc @@ -13,15 +13,18 @@ WimaPlaner::WimaPlaner(QObject *parent) , _currentAreaIndex (-1) , _container (nullptr) , _joinedArea (this) + , _joinedAreaValid (false) , _measurementArea (this) , _serviceArea (this) , _corridor (this) , _circularSurvey (nullptr) , _surveyRefChanging (false) , _syncronizedWithController (false) + , _readyForSync (false) { connect(this, &WimaPlaner::currentPolygonIndexChanged, this, &WimaPlaner::recalcPolygonInteractivity); connect(&_updateTimer, &QTimer::timeout, this, &WimaPlaner::updateTimerSlot); + connect(this, &WimaPlaner::joinedAreaValidChanged, this, &WimaPlaner::updateMission); _updateTimer.setInterval(500); // 250 ms means: max update time 2*250 ms _updateTimer.start(); } @@ -87,6 +90,11 @@ bool WimaPlaner::syncronizedWithController() return _syncronizedWithController; } +bool WimaPlaner::readyForSync() +{ + return _readyForSync; +} + void WimaPlaner::removeArea(int index) { if(index >= 0 && index < _visualItems.count()){ @@ -189,17 +197,14 @@ void WimaPlaner::removeAll() bool WimaPlaner::updateMission() { - QString errorString; - #define debug 0 + setReadyForSync(false); - if ( !recalcJoinedArea(errorString)) { - qgcApp()->showMessage(tr(errorString.toLocal8Bit().data())); + if ( !_joinedAreaValid) { + if (_joinedAreaErrorString.size() > 0) + qgcApp()->showMessage(_joinedAreaErrorString); return false; } - #if debug - _visualItems.append(&_joinedArea); - #endif // extract old survey data QmlObjectListModel* missionItems = _missionController->visualItems(); @@ -234,6 +239,7 @@ bool WimaPlaner::updateMission() calcArrivalAndReturnPath(); + setReadyForSync(true); return true; } @@ -326,9 +332,7 @@ bool WimaPlaner::loadFromFile(const QString &filename) if (jsonArea.contains(WimaArea::areaTypeName) && jsonArea[WimaArea::areaTypeName].isString()) { if ( jsonArea[WimaArea::areaTypeName] == WimaMeasurementArea::WimaMeasurementAreaName) { - print(_measurementArea); bool success = _measurementArea.loadFromJson(jsonArea, errorString); - print(_measurementArea); if ( !success ) { qgcApp()->showMessage(errorMessage.arg(errorString)); @@ -425,8 +429,8 @@ bool WimaPlaner::loadFromFile(const QString &filename) _circularSurvey = missionItems->value(i); if (_circularSurvey != nullptr) { - if ( !recalcJoinedArea(errorString)) { - qgcApp()->showMessage(tr(errorString.toLocal8Bit().data())); + if ( !recalcJoinedArea()) { + qgcApp()->showMessage(_joinedAreaErrorString); return false; } @@ -449,6 +453,9 @@ bool WimaPlaner::loadFromFile(const QString &filename) qWarning("WimaPlaner::loadFromFile(): not able to remove temporary file."); } + _syncronizedWithController = false; + _readyForSync = false; + return true; } else if ( fileInfo.suffix() == AppSettings::planFileExtension ){ @@ -474,6 +481,8 @@ void WimaPlaner::recalcPolygonInteractivity(int index) bool WimaPlaner::calcArrivalAndReturnPath() { + setReadyForSync(false); + // extract old survey data QmlObjectListModel *missionItems = _missionController->visualItems(); @@ -540,8 +549,8 @@ bool WimaPlaner::calcArrivalAndReturnPath() QGeoCoordinate end = _circularSurvey->coordinate(); #ifdef QT_DEBUG - if (!_visualItems.contains(&_joinedArea)) - _visualItems.append(&_joinedArea); + //if (!_visualItems.contains(&_joinedArea)) + //_visualItems.append(&_joinedArea); #endif QList path; @@ -585,35 +594,39 @@ bool WimaPlaner::calcArrivalAndReturnPath() if (restorePlanViewIndex) _missionController->setCurrentPlanViewIndex(missionItems->indexOf(_circularSurvey), false); setSyncronizedWithControllerFalse(); + setReadyForSync(true); return true; } -bool WimaPlaner::recalcJoinedArea(QString &errorString) +bool WimaPlaner::recalcJoinedArea() { + _joinedAreaErrorString.clear(); + setJoinedAreaValid(false); // check if area paths form simple polygons if ( !_serviceArea.isSimplePolygon() ) { - errorString.append(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); + _joinedAreaErrorString.append(tr("Service area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); return false; } if ( !_corridor.isSimplePolygon() && _corridor.count() > 0) { - errorString.append(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); + _joinedAreaErrorString.append(tr("Corridor is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); return false; } if ( !_measurementArea.isSimplePolygon() ) { - errorString.append(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); + _joinedAreaErrorString.append(tr("Measurement area is self intersecting and thus not a simple polygon. Only simple polygons allowed.\n")); return false; } _joinedArea.setPath(_serviceArea.path()); _joinedArea.join(_corridor); if ( !_joinedArea.join(_measurementArea) ) { - errorString.append(tr("Not able to join areas. Service area and measurement" - " must have a overlapping section, or be connected through a corridor.")); + _joinedAreaErrorString.append(tr("Not able to join areas. Service area and measurement" + " must have a overlapping section, or be connected through a corridor.")); return false; // this happens if all areas are pairwise disjoint } // join service area, op area and corridor + setJoinedAreaValid(true); return true; } @@ -710,6 +723,24 @@ void WimaPlaner::setSyncronizedWithController(bool sync) } } +void WimaPlaner::setReadyForSync(bool ready) +{ + if( _readyForSync != ready) { + _readyForSync = ready; + + emit readyForSyncChanged(); + } +} + +void WimaPlaner::setJoinedAreaValid(bool valid) +{ + if (_joinedAreaValid != valid) { + _joinedAreaValid = valid; + + emit joinedAreaValidChanged(); + } +} + void WimaPlaner::updateTimerSlot() { // General operation of this function: @@ -728,10 +759,47 @@ void WimaPlaner::updateTimerSlot() } } + // measurementArea + if (_measurementAreaChanging) { + if (_measurementArea.path() == _lastMeasurementAreaPath) { // is it still changing? + recalcJoinedArea(); + _measurementAreaChanging = false; + } + } else { + if (_measurementArea.path() != _lastMeasurementAreaPath) // does it started changing? + _measurementAreaChanging = true; + } + + // corridor + if (_corridorChanging) { + if (_corridor.path() == _lastCorridorPath) { // is it still changing? + recalcJoinedArea(); + _corridorChanging = false; + } + } else { + if (_corridor.path() != _lastCorridorPath) // does it started changing? + _corridorChanging = true; + } + + // service area + if (_serviceAreaChanging) { + if (_serviceArea.path() == _lastServiceAreaPath) { // is it still changing? + recalcJoinedArea(); + _serviceAreaChanging = false; + } + } else { + if (_serviceArea.path() != _lastServiceAreaPath) // does it started changing? + _serviceAreaChanging = true; + } + // update old values if (_circularSurvey != nullptr) - _lastSurveyRefPoint = _circularSurvey->refPoint() ; + _lastSurveyRefPoint = _circularSurvey->refPoint(); + + _lastMeasurementAreaPath = _measurementArea.path(); + _lastCorridorPath = _corridor.path(); + _lastServiceAreaPath = _serviceArea.path(); } void WimaPlaner::setSyncronizedWithControllerFalse() diff --git a/src/Wima/WimaPlaner.h b/src/Wima/WimaPlaner.h index 6eac79eeb..de2d47215 100644 --- a/src/Wima/WimaPlaner.h +++ b/src/Wima/WimaPlaner.h @@ -60,6 +60,7 @@ public: Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT) Q_PROPERTY(WimaDataContainer* dataContainer READ dataContainer WRITE setDataContainer NOTIFY dataContainerChanged) Q_PROPERTY(bool syncronized READ syncronizedWithController NOTIFY syncronizedWithControllerChanged) + Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged) // Property accessors PlanMasterController* masterController (void) { return _masterController; } @@ -82,6 +83,7 @@ public: // Property acessors bool syncronizedWithController (); + bool readyForSync (); // Member Methodes Q_INVOKABLE bool addMeasurementArea(); @@ -122,18 +124,24 @@ signals: void currentFileChanged (); void dataContainerChanged (); void syncronizedWithControllerChanged (void); + void readyForSyncChanged (void); private slots: void recalcPolygonInteractivity (int index); bool calcArrivalAndReturnPath (void); - bool recalcJoinedArea (QString &errorString); + bool recalcJoinedArea (); // called by _updateTimer::timeout signal, updates different mission parts, if parameters (e.g. survey or areas) have changed void updateTimerSlot (); void setSyncronizedWithControllerFalse (void); +private: +signals: + void joinedAreaValidChanged(); private: // Member Functions WimaPlanData toPlanData(); - void setSyncronizedWithController(bool sync); + void setSyncronizedWithController (bool sync); + void setReadyForSync (bool ready); + void setJoinedAreaValid (bool valid); // Member Variables PlanMasterController *_masterController; @@ -143,6 +151,8 @@ private: WimaDataContainer *_container; // container for data exchange with WimaController QmlObjectListModel _visualItems; // contains all visible areas WimaJoinedArea _joinedArea; // joined area fromed by _measurementArea, _serviceArea, _corridor + QString _joinedAreaErrorString; // contains errors which appeared in recalcJoinedArea + bool _joinedAreaValid; WimaMeasurementArea _measurementArea; // measurement area WimaServiceArea _serviceArea; // area for supplying WimaCorridor _corridor; // corridor connecting _measurementArea and _serviceArea @@ -151,9 +161,18 @@ private: CircularSurveyComplexItem* _circularSurvey; // pointer to the CircularSurvey item in _missionController.visualItems() + // auto update QTimer _updateTimer; // on this timers timeout different mission parts will be updated, if parameters (e.g. survey or areas) have changed - QGeoCoordinate _lastSurveyRefPoint; - bool _surveyRefChanging; - + QGeoCoordinate _lastSurveyRefPoint; // stores the SurveyRefPoint of the previous timer call + bool _surveyRefChanging; // true if SurveyRefPoint is changing + QVariantList _lastMeasurementAreaPath; // stores the path of _measurementArea, at the time instance of the previous timer call + bool _measurementAreaChanging; // true if the path of the _measurementArea is changing + QVariantList _lastCorridorPath; // stores the path of _corridor, at the time instance of the previous timer call + bool _corridorChanging; // true if the path of the _corridor is changing + QVariantList _lastServiceAreaPath; // stores the path of _serviceArea, at the time instance of the previous timer call + bool _serviceAreaChanging; // true if the path of the _serviceArea is changing + + // sync stuff bool _syncronizedWithController; // true if planData is syncronized with wimaController + bool _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath }; diff --git a/src/WimaView/WimaToolBar.qml b/src/WimaView/WimaToolBar.qml index 0c8a6f729..eea88cf8a 100644 --- a/src/WimaView/WimaToolBar.qml +++ b/src/WimaView/WimaToolBar.qml @@ -287,15 +287,19 @@ Rectangle { anchors.verticalCenter: parent.verticalCenter text: qsTr("Sync WiMA") enabled: true - visible: true - onClicked: wimaPlaner.pushToContainer() + visible: wimaPlaner ? wimaPlaner.readyForSync : false + onClicked: { + if (wimaPlaner && wimaPlaner.readyForSync) { + wimaPlaner.pushToContainer() + } + } PropertyAnimation on opacity { easing.type: Easing.OutQuart from: 0.5 to: 1 loops: Animation.Infinite - running: !wimaPlaner.syncronized + running: wimaPlaner ? !wimaPlaner.syncronized && wimaPlaner.readyForSync : false alwaysRunToEnd: true duration: 2000 } -- 2.22.0