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Commit 1f7fc4d2 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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auto update improved, circular survey issue solved

parent aa921562
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Showing with 2636 additions and 5940 deletions
Paths/#airstrip.wima
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Paths/airstrip.wima
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Paths/test.plan 0 → 100644
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src/Wima/CircularSurveyComplexItem.cc
View file @ 1f7fc4d2
......@@ -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) {
......@@ -410,22 +417,16 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
}
QList<QPolygonF> convexPolygons;
decomposeToConvex(surveyPolygon, convexPolygons);
// generate transects
QList<QList<QPointF>> fullPath;
for (int i = 0; i < convexPolygons.size(); i++) {
const QPolygonF &polygon = convexPolygons[i];
QList<QList<QPointF>> transectPath;
double r = r_min;
QList<QList<QPointF>> currPolyPath;
while (r < r_max) {
Circle circle(r, origin);
QList<QPointFList> intersectPoints;
QList<IntersectType> typeList;
QList<QPair<int, int>> neighbourList;
if (intersects(circle, polygon, intersectPoints, neighbourList, typeList)) {
if (intersects(circle, surveyPolygon, intersectPoints, neighbourList, typeList)) {
// intersection Points between circle and polygon, entering polygon
// when walking in counterclockwise direction along circle
......@@ -437,8 +438,8 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
for (int j = 0; j < intersectPoints.size(); j++) {
QList<QPointF> intersects = intersectPoints[j];
QPointF p1 = polygon[neighbourList[j].first];
QPointF p2 = polygon[neighbourList[j].second];
QPointF p1 = surveyPolygon[neighbourList[j].first];
QPointF p2 = surveyPolygon[neighbourList[j].second];
QLineF intersetLine(p1, p2);
double lineAngle = truncateAngle(angle(intersetLine));
......@@ -484,45 +485,42 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
QList<QPointF> 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);
transectPath.append(sectorPath);
}
} else if (originInside) {
// circle fully inside polygon
QList<QPointF> sectorPath = circle.approximateSektor(double(dalpha), 0, 2*M_PI);
// use shortestPath() here if necessary, could be a problem if dr >>
currPolyPath.append(sectorPath);
transectPath.append(sectorPath);
}
r += dr;
}
if (currPolyPath.size() > 0) {
fullPath.append(currPolyPath);
}
}
if (fullPath.size() == 0)
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<QPointF> currentSection = fullPath.takeFirst();
QList<QPointF> currentSection = transectPath.takeFirst();
if ( currentSection.isEmpty() )
return;
QList<QList<QPointF>> optiPath; // optimized path
while( !fullPath.empty() ) {
while( !transectPath.empty() ) {
optiPath.append(currentSection);
QPointF endVertex = currentSection.last();
double minDist = std::numeric_limits<double>::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);
}
......
src/Wima/WimaPlaner.cc
View file @ 1f7fc4d2
......@@ -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<CircularSurveyComplexItem *>(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<QGeoCoordinate> 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"
_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()
......
src/Wima/WimaPlaner.h
View file @ 1f7fc4d2
......@@ -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
};
src/WimaView/WimaToolBar.qml
View file @ 1f7fc4d2
......@@ -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
}
......
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