123

ToDo.txt

-optimize circular survey
+(improve) optimisation circular survey
 profile survey
 add dijkstra to flight view
 
+add save and load to circular survey

src/PlanView/CircularSurveyItemEditor.qml

@@ -110,7 +110,7 @@ Rectangle {
                 Layout.columnSpan:      2
                 Layout.preferredHeight: ScreenTools.defaultFontPixelHeight * 1.5
                 onValueChanged:         missionItem.deltaAlpha.value = value
-                Component.onCompleted:  value = missionItem.deltaAlpha.defaultValue
+                Component.onCompleted:  value = missionItem.deltaAlpha.value
                 updateValueWhileDragging: true
             }
         }

src/Wima/CircularSurveyComplexItem.cc

@@ -247,43 +247,47 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
         }
     }
 
-//    // optimize path to lawn pattern
-//    if (fullPath.size() == 0)
-//        return;
-//    QList<QPointF> currentSection = fullPath.takeFirst();
-//    QList<QList<QPointF>> optiPath; // optimized path
-//    while( !fullPath.empty() ) {
-//        optiPath.append(currentSection);
-//        QPointF endVertex = currentSection.last();
-//        double minDist = std::numeric_limits<double>::infinity();
-//        int index = 0;
-//        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];
-//            double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first());
-//            if ( dist < minDist ) {
-//                minDist = dist;
-//                index = i;
-//            }
-//            dist = PlanimetryCalculus::distance(endVertex, iteratorPath.last());
-//            if (dist < minDist) {
-//                minDist = dist;
-//                index = i;
-//                reversePath = true;
-//            }
-//        }
-//        currentSection = fullPath.takeAt(index);
-//        if (reversePath) {
-//            PolygonCalculus::reversePath(currentSection);
-//        }
-//    }
+    // optimize path to lawn pattern
+    if (fullPath.size() == 0)
+        return;
+    QList<QPointF> currentSection = fullPath.takeFirst();
+    if ( currentSection.isEmpty() )
+        return;
+    QList<QList<QPointF>> optiPath; // optimized path
+    while( !fullPath.empty() ) {
+        optiPath.append(currentSection);
+        QPointF endVertex = currentSection.last();
+        double minDist = std::numeric_limits<double>::infinity();
+        int index = 0;
+        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];
+            double dist = PlanimetryCalculus::distance(endVertex, iteratorPath.first());
+            if ( dist < minDist ) {
+                minDist = dist;
+                index = i;
+            }
+            dist = PlanimetryCalculus::distance(endVertex, iteratorPath.last());
+            if (dist < minDist) {
+                minDist = dist;
+                index = i;
+                reversePath = true;
+            }
+        }
+        currentSection = fullPath.takeAt(index);
+        if (reversePath) {
+            PolygonCalculus::reversePath(currentSection);
+        }
+    }
+
+    optiPath.append(currentSection); // append last section
 
 
     // convert to CoordInfo_t
-//    for ( const QList<QPointF> &transect : optiPath) {
-    for ( const QList<QPointF> &transect : fullPath) {
+    for ( const QList<QPointF> &transect : optiPath) {
+//    for ( const QList<QPointF> &transect : fullPath) {
         QList<QGeoCoordinate> geoPath = toGeo(transect, _referencePoint);
         QList<CoordInfo_t> transectList;
         for ( const QGeoCoordinate &coordinate : geoPath) {

src/Wima/WimaPlaner.cc

@@ -299,8 +299,11 @@ bool WimaPlaner::updateMission()
     }
     QGeoCoordinate start = _serviceArea.center();
     QGeoCoordinate end = survey->coordinate();
+
+#ifdef QT_DEBUG
     if (!_visualItems.contains(&_joinedArea))
         _visualItems.append(&_joinedArea);
+#endif
 
     QList<QGeoCoordinate> path;
     if ( !calcShortestPath(start, end, path)) {

src/WimaView/CoordinateIndicator.qml

@@ -11,7 +11,7 @@ MapQuickItem {
 
     property int sequenceNumber
     property string label
-    //property bool visible
+    property bool checked
 
     signal clicked
 
@@ -21,7 +21,7 @@ MapQuickItem {
     sourceItem:
         MissionItemIndexLabel {
             id:             _label
-            checked:        _item.visible
+            checked:        _item.checked
             label:          _item.label
             index:          _item.sequenceNumber
             gimbalYaw:      0

src/WimaView/DragCoordinate.qml

@@ -22,11 +22,11 @@ import QGroundControl.FlightMap     1.0
 Item {
     id: _root
 
-    property var map        ///< Map control to place item in
-    property var qgcView    ///< QGCView to use for popping dialogs
-    //property var visible
-    property var coordinate
-    property int sequenceNumber
+    property var    map        ///< Map control to place item in
+    property var    qgcView    ///< QGCView to use for popping dialogs
+    property var    coordinate
+    property int    sequenceNumber
+    property bool   checked
 
     property var    _itemVisual
     property bool   _itemVisualShowing: false
@@ -66,7 +66,7 @@ Item {
 
     Component.onCompleted: {
         showItemVisuals()
-        if (visible && map.planView) {
+        if (checked && map.planView) {
             showDragArea()
         }
     }
@@ -76,8 +76,8 @@ Item {
         hideItemVisuals()
     }
 
-    onVisibleChanged: {
-        if (visible) {
+    onCheckedChanged: {
+        if (checked) {
             showDragArea()
         } else {
             hideDragArea()
@@ -102,7 +102,7 @@ Item {
 
         CoordinateIndicator {
             label:          "Reference"
-            visible:        _root.visible
+            checked:        _root.checked
             z:              QGroundControl.zOrderMapItems
             sequenceNumber: _root.sequenceNumber
             coordinate:     _root.coordinate

src/WimaView/SphericalSurveyMapVisual.qml

@@ -173,10 +173,11 @@ Item {
             map:        _root.map
             qgcView:    _root.qgcView
             z:              QGroundControl.zOrderMapItems
-            visible:    _missionItem.isCurrentItem
+            checked:    _missionItem.isCurrentItem
             coordinate: _missionItem.refPoint
 
-            onCoordinateChanged: _missionItem.refPoint = coordinate
+            onCoordinateChanged: _missionItem.refPoint = coordinate            
+            onClicked:  _root.clicked(_missionItem.sequenceNumber)
         }
     }
 }