12312

src/MissionManager/MissionController.cc

@@ -781,6 +781,15 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
                 nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
                 qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber;
                 visualItems->append(corridorItem);
+            } else if (complexItemType == CircularSurveyComplexItem::jsonComplexItemTypeValue) {
+                qCDebug(MissionControllerLog) << "Loading Circular Survey: nextSequenceNumber" << nextSequenceNumber;
+                CircularSurveyComplexItem* circularSurvey = new CircularSurveyComplexItem(_controllerVehicle, _flyView, QString() /* kmlFile */, visualItems);
+                if (!circularSurvey->load(itemObject, nextSequenceNumber++, errorString)) {
+                    return false;
+                }
+                nextSequenceNumber = circularSurvey->lastSequenceNumber() + 1;
+                qCDebug(MissionControllerLog) << "Circular Survey load complete: nextSequenceNumber" << nextSequenceNumber;
+                visualItems->append(circularSurvey);
             } else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
                 qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
                 MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, _flyView, visualItems);

src/PlanView/CircularSurveyItemEditor.qml

@@ -72,6 +72,13 @@ Rectangle {
             visible:        transectsHeader.checked
 
 
+            QGCLabel { text: qsTr("Altitude") }
+            FactTextField {
+                fact:                   missionItem.cameraCalc.distanceToSurface
+                Layout.fillWidth:       true
+                //onUpdated:              rSlider.value = missionItem.deltaR.value
+            }
+
             QGCLabel { text: qsTr("Delta R") }
             FactTextField {
                 fact:                   missionItem.deltaR

src/Wima/CircularSurveyComplexItem.cc

 #include "CircularSurveyComplexItem.h"
-
+#include "JsonHelper.h"
+#include "QGCApplication.h"
 
 const char* CircularSurveyComplexItem::settingsGroup =              "CircularSurvey";
 const char* CircularSurveyComplexItem::deltaRName =                 "DeltaR";
 const char* CircularSurveyComplexItem::deltaAlphaName =             "DeltaAlpha";
 
+const char* CircularSurveyComplexItem::jsonComplexItemTypeValue     =   "circularSurvey";
+const char* CircularSurveyComplexItem::jsonDeltaRKey                =   "deltaR";
+const char* CircularSurveyComplexItem::jsonDeltaAlphaKey            =   "deltaAlpha";
+const char* CircularSurveyComplexItem::jsonReferencePointLatKey     =   "referencePointLat";
+const char* CircularSurveyComplexItem::jsonReferencePointLongKey    =   "referencePointLong";
+const char* CircularSurveyComplexItem::jsonReferencePointAltKey     =   "referencePointAlt";
+
 CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile, QObject *parent)
     :   TransectStyleComplexItem    (vehicle, flyView, settingsGroup, parent)
     ,   _referencePoint             (QGeoCoordinate(0, 0,0))
@@ -69,22 +77,243 @@ bool CircularSurveyComplexItem::autoGenerated()
 
 bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
 {
-    return false;
+    // We need to pull version first to determine what validation/conversion needs to be performed
+    QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
+        { JsonHelper::jsonVersionKey, QJsonValue::Double, true },
+    };
+    if (!JsonHelper::validateKeys(complexObject, versionKeyInfoList, errorString)) {
+        return false;
+    }
+
+    int version = complexObject[JsonHelper::jsonVersionKey].toInt();
+    if (version != 1) {
+        errorString = tr("Survey items do not support version %1").arg(version);
+        return false;
+    }
+
+    QList<JsonHelper::KeyValidateInfo> keyInfoList = {
+        { VisualMissionItem::jsonTypeKey,               QJsonValue::String, true },
+        { ComplexMissionItem::jsonComplexItemTypeKey,   QJsonValue::String, true },
+        { jsonDeltaRKey,                                QJsonValue::Double, true },
+        { jsonDeltaAlphaKey,                            QJsonValue::Double, true },
+        { jsonReferencePointLatKey,                     QJsonValue::Double, true },
+        { jsonReferencePointLongKey,                     QJsonValue::Double, true },
+        { jsonReferencePointAltKey,                     QJsonValue::Double, true },
+    };
+
+
+    if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
+        return false;
+    }
+
+    QString itemType = complexObject[VisualMissionItem::jsonTypeKey].toString();
+    QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
+    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;
+    }
+
+    _ignoreRecalc = true;
+
+    setSequenceNumber(sequenceNumber);
+
+    if (!_surveyAreaPolygon.loadFromJson(complexObject, true /* required */, errorString)) {
+        _surveyAreaPolygon.clear();
+        return false;
+    }
+
+    if (!_load(complexObject, errorString)) {
+        _ignoreRecalc = false;
+        return false;
+    }
+
+    _deltaR.setRawValue             (complexObject[jsonDeltaRKey].toDouble());
+    _deltaAlpha.setRawValue         (complexObject[jsonDeltaAlphaKey].toDouble());
+    _referencePoint.setLongitude    (complexObject[jsonReferencePointLongKey].toDouble());
+    _referencePoint.setLatitude     (complexObject[jsonReferencePointLatKey].toDouble());
+    _referencePoint.setAltitude     (complexObject[jsonReferencePointAltKey].toDouble());
+    _autoGenerated = true;
+
+    _ignoreRecalc = false;
+
+    _recalcComplexDistance();
+    if (_cameraShots == 0) {
+        // Shot count was possibly not available from plan file
+        _recalcCameraShots();
+    }
+
+    return true;
 }
 
 void CircularSurveyComplexItem::save(QJsonArray &planItems)
 {
+    QJsonObject saveObject;
+
+    _save(saveObject);
+
+    saveObject[JsonHelper::jsonVersionKey] =                    1;
+    saveObject[VisualMissionItem::jsonTypeKey] =                VisualMissionItem::jsonTypeComplexItemValue;
+    saveObject[ComplexMissionItem::jsonComplexItemTypeKey] =    jsonComplexItemTypeValue;
 
+    saveObject[jsonDeltaRKey]               = _deltaR.rawValue().toDouble();
+    saveObject[jsonDeltaAlphaKey]           = _deltaAlpha.rawValue().toDouble();
+    saveObject[jsonReferencePointLongKey]   = _referencePoint.longitude();
+    saveObject[jsonReferencePointLatKey]    = _referencePoint.latitude();
+    saveObject[jsonReferencePointAltKey]    = _referencePoint.altitude();
+
+    // Polygon shape
+    _surveyAreaPolygon.saveToJson(saveObject);
+
+    planItems.append(saveObject);
 }
 
 void CircularSurveyComplexItem::appendMissionItems(QList<MissionItem *> &items, QObject *missionItemParent)
 {
+    if (_loadedMissionItems.count()) {
+        // We have mission items from the loaded plan, use those
+        _appendLoadedMissionItems(items, missionItemParent);
+    } else {
+        // Build the mission items on the fly
+        _buildAndAppendMissionItems(items, missionItemParent);
+    }
+}
+
+void CircularSurveyComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
+{
+    //qCDebug(SurveyComplexItemLog) << "_appendLoadedMissionItems";
 
+    int seqNum = _sequenceNumber;
+
+    for (const MissionItem* loadedMissionItem: _loadedMissionItems) {
+        MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
+        item->setSequenceNumber(seqNum++);
+        items.append(item);
+    }
 }
 
-void CircularSurveyComplexItem::applyNewAltitude(double newAltitude)
+void CircularSurveyComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
 {
+    // original code: SurveyComplexItem::_buildAndAppendMissionItems()
+    //qCDebug(SurveyComplexItemLog) << "_buildAndAppendMissionItems";
+
+    // Now build the mission items from the transect points
+
+    MissionItem* item;
+    int seqNum =                    _sequenceNumber;
+    // bool imagesEverywhere =         _cameraTriggerInTurnAroundFact.rawValue().toBool();
+    // bool addTriggerAtBeginning =    !hoverAndCaptureEnabled() && imagesEverywhere;
+    bool firstOverallPoint =        true;
+
+    MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
+
+    for (const QList<TransectStyleComplexItem::CoordInfo_t>& transect: _transects) {
+        //bool transectEntry = true;
+
+        for (const CoordInfo_t& transectCoordInfo: transect) {
+            item = new MissionItem(seqNum++,
+                                   MAV_CMD_NAV_WAYPOINT,
+                                   mavFrame,
+                                   0,                                           // Hold time (delay for hover and capture to settle vehicle before image is taken)
+                                   0.0,                                         // No acceptance radius specified
+                                   0.0,                                         // Pass through waypoint
+                                   std::numeric_limits<double>::quiet_NaN(),    // Yaw unchanged
+                                   transectCoordInfo.coord.latitude(),
+                                   transectCoordInfo.coord.longitude(),
+                                   transectCoordInfo.coord.altitude(),
+                                   true,                                        // autoContinue
+                                   false,                                       // isCurrentItem
+                                   missionItemParent);
+            items.append(item);
+            // implement capture if desired
+//            if (hoverAndCaptureEnabled()) {
+//                item = new MissionItem(seqNum++,
+//                                       MAV_CMD_IMAGE_START_CAPTURE,
+//                                       MAV_FRAME_MISSION,
+//                                       0,                                   // Reserved (Set to 0)
+//                                       0,                                   // Interval (none)
+//                                       1,                                   // Take 1 photo
+//                                       qQNaN(), qQNaN(), qQNaN(), qQNaN(),  // param 4-7 reserved
+//                                       true,                                // autoContinue
+//                                       false,                               // isCurrentItem
+//                                       missionItemParent);
+//                items.append(item);
+//            }
+
+//            if (firstOverallPoint && addTriggerAtBeginning) {
+//                // Start triggering
+//                addTriggerAtBeginning = false;
+//                item = new MissionItem(seqNum++,
+//                                       MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+//                                       MAV_FRAME_MISSION,
+//                                       triggerDistance(),   // 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);
+//            }
+            firstOverallPoint = false;
+
+//            // Possibly add trigger start/stop to survey area entrance/exit
+//            if (triggerCamera() && !hoverAndCaptureEnabled() && transectCoordInfo.coordType == TransectStyleComplexItem::CoordTypeSurveyEdge) {
+//                if (transectEntry) {
+//                    // Start of transect, always start triggering. We do this even if we are taking images everywhere.
+//                    // This allows a restart of the mission in mid-air without losing images from the entire mission.
+//                    // At most you may lose part of a transect.
+//                    item = new MissionItem(seqNum++,
+//                                           MAV_CMD_DO_SET_CAM_TRIGG_DIST,
+//                                           MAV_FRAME_MISSION,
+//                                           triggerDistance(),   // 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);
+//                    transectEntry = false;
+//                } else if (!imagesEverywhere && !transectEntry){
+//                    // End of transect, stop triggering
+//                    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);
+//                    items.append(item);
+//                }
+//            }
+        }
+    }
+
+    // implemetn photo capture if desired
+//    if (triggerCamera() && !hoverAndCaptureEnabled() && imagesEverywhere) {
+//        // Stop triggering
+//        MissionItem* 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);
+//        items.append(item);
+//    }
+}
 
+void CircularSurveyComplexItem::applyNewAltitude(double newAltitude)
+{
+    _cameraCalc.valueSetIsDistance()->setRawValue(true);
+    _cameraCalc.distanceToSurface()->setRawValue(newAltitude);
+    _cameraCalc.setDistanceToSurfaceRelative(true);
 }
 
 double CircularSurveyComplexItem::timeBetweenShots()
@@ -94,7 +323,7 @@ double CircularSurveyComplexItem::timeBetweenShots()
 
 bool CircularSurveyComplexItem::readyForSave() const
 {
-    return false;
+    return TransectStyleComplexItem::readyForSave();
 }
 
 double CircularSurveyComplexItem::additionalTimeDelay() const
@@ -301,12 +530,17 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
 
 void CircularSurveyComplexItem::_recalcComplexDistance()
 {
-
+    _complexDistance = 0;
+    for (int i=0; i<_visualTransectPoints.count() - 1; i++) {
+        _complexDistance += _visualTransectPoints[i].value<QGeoCoordinate>().distanceTo(_visualTransectPoints[i+1].value<QGeoCoordinate>());
+    }
+    emit complexDistanceChanged();
 }
 
+// no cameraShots in Circular Survey, add if desired
 void CircularSurveyComplexItem::_recalcCameraShots()
 {
-
+    _cameraShots = 0;
 }
 
 void CircularSurveyComplexItem::_updateItem()

src/Wima/CircularSurveyComplexItem.h

@@ -56,6 +56,13 @@ public:
     static const char* deltaRName;
     static const char* deltaAlphaName;
 
+    static const char* jsonComplexItemTypeValue;
+    static const char* jsonDeltaRKey;
+    static const char* jsonDeltaAlphaKey;
+    static const char* jsonReferencePointLongKey;
+    static const char* jsonReferencePointLatKey;
+    static const char* jsonReferencePointAltKey;
+
 signals:
     void refPointChanged();
     void autoGeneratedChanged();
@@ -70,6 +77,11 @@ private slots:
 signals:
 
 private:
+    void _appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
+    void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
+
+
+
     QGeoCoordinate _referencePoint; // center of the circular lanes, e.g. base station
 
     QMap<QString, FactMetaData*> _metaDataMap;

src/Wima/WimaPlaner.cc

@@ -497,9 +497,17 @@ bool WimaPlaner::loadFromFile(const QString &filename)
         emit currentFileChanged();
         //recalcJoinedArea();
 
-        // MissionItems4
+        // MissionItems
         // extrac MissionItems part
-        QJsonDocument missionJsonDoc = QJsonDocument(json[missionItemsName].toObject());
+
+//        bool ret = json.contains(missionItemsName);
+//        qWarning() << ret;
+
+        QJsonObject missionObject = json[missionItemsName].toObject();
+
+        //qWarning() << json[missionItemsName].type();
+
+        QJsonDocument missionJsonDoc = QJsonDocument(missionObject);
         // create temporary file with missionItems
         QFile temporaryFile;
         QString cropedFileName = filename.section("/",0,-2);
@@ -508,7 +516,8 @@ bool WimaPlaner::loadFromFile(const QString &filename)
         #endif
         QString temporaryFileName;
         for (int i = 0; ; i++) {
-            temporaryFileName = cropedFileName.append("/temp%1.%2").arg(i).arg(AppSettings::planFileExtension);
+            temporaryFileName = cropedFileName + QString("/temp%1.%2").arg(i).arg(AppSettings::planFileExtension);
+            // qWarning() << temporaryFileName;
 
             if ( !QFile::exists(temporaryFileName) ) {
                 temporaryFile.setFileName(temporaryFileName);
@@ -523,7 +532,9 @@ bool WimaPlaner::loadFromFile(const QString &filename)
             }
         }
 
+        // qWarning() << missionJsonDoc.toVariant().toString();
         temporaryFile.write(missionJsonDoc.toJson());
+        temporaryFile.close();
 
         // load from temporary file
         _masterController->loadFromFile(temporaryFileName);