From 4c53c984a1499ce23a4f5ff74ff697c2d391d2dd Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 31 Jan 2019 16:12:20 -0800 Subject: [PATCH] Rework complex distance, camera shot count calc for better back compat --- src/MissionManager/CorridorScanComplexItem.cc | 20 ++--- src/MissionManager/CorridorScanComplexItem.h | 3 +- src/MissionManager/SurveyComplexItem.cc | 78 ++++++++++++++----- src/MissionManager/SurveyComplexItem.h | 5 +- .../TransectStyleComplexItem.cc | 9 +-- src/MissionManager/TransectStyleComplexItem.h | 8 +- .../TransectStyleComplexItemTest.cc | 36 ++++++--- .../TransectStyleComplexItemTest.h | 8 +- 8 files changed, 112 insertions(+), 55 deletions(-) diff --git a/src/MissionManager/CorridorScanComplexItem.cc b/src/MissionManager/CorridorScanComplexItem.cc index 5dcc08b1d..2d165d16e 100644 --- a/src/MissionManager/CorridorScanComplexItem.cc +++ b/src/MissionManager/CorridorScanComplexItem.cc @@ -126,6 +126,12 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc _ignoreRecalc = false; + _recalcComplexDistance(); + if (_cameraShots == 0) { + // Shot count was possibly not available from plan file + _recalcCameraShots(); + } + return true; } @@ -459,14 +465,17 @@ void CorridorScanComplexItem::_rebuildTransectsPhase1(void) } } -void CorridorScanComplexItem::_rebuildTransectsPhase2(void) +void CorridorScanComplexItem::_recalcComplexDistance(void) { - // Calculate distance flown for complex item _complexDistance = 0; for (int i=0; i<_visualTransectPoints.count() - 1; i++) { _complexDistance += _visualTransectPoints[i].value().distanceTo(_visualTransectPoints[i+1].value()); } + emit complexDistanceChanged(); +} +void CorridorScanComplexItem::_recalcCameraShots(void) +{ double triggerDistance = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(); if (triggerDistance == 0) { _cameraShots = 0; @@ -478,14 +487,7 @@ void CorridorScanComplexItem::_rebuildTransectsPhase2(void) _cameraShots = singleTransectImageCount * _transectCount(); } } - - _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value() : QGeoCoordinate(); - _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value() : QGeoCoordinate(); - emit cameraShotsChanged(); - emit complexDistanceChanged(); - emit coordinateChanged(_coordinate); - emit exitCoordinateChanged(_exitCoordinate); } bool CorridorScanComplexItem::readyForSave(void) const diff --git a/src/MissionManager/CorridorScanComplexItem.h b/src/MissionManager/CorridorScanComplexItem.h index a5fe2cab8..674375e26 100644 --- a/src/MissionManager/CorridorScanComplexItem.h +++ b/src/MissionManager/CorridorScanComplexItem.h @@ -64,7 +64,8 @@ private slots: // Overrides from TransectStyleComplexItem void _rebuildTransectsPhase1 (void) final; - void _rebuildTransectsPhase2 (void) final; + void _recalcComplexDistance (void) final; + void _recalcCameraShots (void) final; private: int _transectCount (void) const; diff --git a/src/MissionManager/SurveyComplexItem.cc b/src/MissionManager/SurveyComplexItem.cc index 3c28cf1fc..e911ae4b3 100644 --- a/src/MissionManager/SurveyComplexItem.cc +++ b/src/MissionManager/SurveyComplexItem.cc @@ -144,6 +144,12 @@ bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumbe if (!_loadV4V5(complexObject, sequenceNumber, errorString, version)) { return false; } + + _recalcComplexDistance(); + if (_cameraShots == 0) { + // Shot count was possibly not available from plan file + _recalcCameraShots(); + } } else { // Must be v2 or v3 QJsonObject v3ComplexObject = complexObject; @@ -1385,42 +1391,78 @@ void SurveyComplexItem::_rebuildTransectsFromPolygon(bool refly, const QPolygonF qCDebug(SurveyComplexItemLog) << "_transects.size() " << _transects.size(); } -void SurveyComplexItem::_rebuildTransectsPhase2(void) +void SurveyComplexItem::_recalcComplexDistance(void) { - // Calculate distance flown for complex item _complexDistance = 0; for (int i=0; i<_visualTransectPoints.count() - 1; i++) { _complexDistance += _visualTransectPoints[i].value().distanceTo(_visualTransectPoints[i+1].value()); } + emit complexDistanceChanged(); +} - if (triggerDistance() == 0) { +void SurveyComplexItem::_recalcCameraShots(void) +{ + double triggerDistance = this->triggerDistance(); + + if (triggerDistance == 0) { _cameraShots = 0; } else { if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) { - _cameraShots = qCeil(_complexDistance / triggerDistance()); + _cameraShots = qCeil(_complexDistance / triggerDistance); } else { _cameraShots = 0; - for (const QList& transect: _transects) { - QGeoCoordinate firstCameraCoord, lastCameraCoord; - if (_hasTurnaround()) { - firstCameraCoord = transect[1].coord; - lastCameraCoord = transect[transect.count() - 2].coord; + + if (_loadedMissionItemsParent) { + // We have to do it the hard way based on the mission items themselves + if (hoverAndCaptureEnabled()) { + // Count the number of camera triggers in the mission items + for (const MissionItem* missionItem: _loadedMissionItems) { + _cameraShots += missionItem->command() == MAV_CMD_IMAGE_START_CAPTURE ? 1 : 0; + } } else { - firstCameraCoord = transect.first().coord; - lastCameraCoord = transect.last().coord; + bool waitingForTriggerStop = false; + QGeoCoordinate distanceStartCoord; + QGeoCoordinate distanceEndCoord; + for (const MissionItem* missionItem: _loadedMissionItems) { + if (missionItem->command() == MAV_CMD_NAV_WAYPOINT) { + if (waitingForTriggerStop) { + distanceEndCoord = QGeoCoordinate(missionItem->param5(), missionItem->param6()); + } else { + distanceStartCoord = QGeoCoordinate(missionItem->param5(), missionItem->param6()); + } + } else if (missionItem->command() == MAV_CMD_DO_SET_CAM_TRIGG_DIST) { + if (missionItem->param1() > 0) { + // Trigger start + waitingForTriggerStop = true; + } else { + // Trigger stop + waitingForTriggerStop = false; + _cameraShots += qCeil(distanceEndCoord.distanceTo(distanceStartCoord) / triggerDistance); + distanceStartCoord = QGeoCoordinate(); + distanceEndCoord = QGeoCoordinate(); + } + } + } + + } + } else { + // We have transects available, calc from those + for (const QList& transect: _transects) { + QGeoCoordinate firstCameraCoord, lastCameraCoord; + if (_hasTurnaround() && !hoverAndCaptureEnabled()) { + firstCameraCoord = transect[1].coord; + lastCameraCoord = transect[transect.count() - 2].coord; + } else { + firstCameraCoord = transect.first().coord; + lastCameraCoord = transect.last().coord; + } + _cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance); } - _cameraShots += qCeil(firstCameraCoord.distanceTo(lastCameraCoord) / triggerDistance()); } } } - _coordinate = _visualTransectPoints.count() ? _visualTransectPoints.first().value() : QGeoCoordinate(); - _exitCoordinate = _visualTransectPoints.count() ? _visualTransectPoints.last().value() : QGeoCoordinate(); - emit cameraShotsChanged(); - emit complexDistanceChanged(); - emit coordinateChanged(_coordinate); - emit exitCoordinateChanged(_exitCoordinate); } // FIXME: This same exact code is in Corridor Scan. Move to TransectStyleComplex? diff --git a/src/MissionManager/SurveyComplexItem.h b/src/MissionManager/SurveyComplexItem.h index 01248446c..06d36260b 100644 --- a/src/MissionManager/SurveyComplexItem.h +++ b/src/MissionManager/SurveyComplexItem.h @@ -77,8 +77,9 @@ signals: private slots: // Overrides from TransectStyleComplexItem - void _rebuildTransectsPhase1(void) final; - void _rebuildTransectsPhase2(void) final; + void _rebuildTransectsPhase1 (void) final; + void _recalcComplexDistance (void) final; + void _recalcCameraShots (void) final; private: enum CameraTriggerCode { diff --git a/src/MissionManager/TransectStyleComplexItem.cc b/src/MissionManager/TransectStyleComplexItem.cc index 764d1915e..2a1099a27 100644 --- a/src/MissionManager/TransectStyleComplexItem.cc +++ b/src/MissionManager/TransectStyleComplexItem.cc @@ -36,7 +36,6 @@ const char* TransectStyleComplexItem::_jsonVisualTransectPointsKey = "Vis const char* TransectStyleComplexItem::_jsonItemsKey = "Items"; const char* TransectStyleComplexItem::_jsonFollowTerrainKey = "FollowTerrain"; const char* TransectStyleComplexItem::_jsonCameraShotsKey = "CameraShots"; -const char* TransectStyleComplexItem::_jsonComplexDistanceKey = "ComplexDistance"; const int TransectStyleComplexItem::_terrainQueryTimeoutMsecs = 1000; @@ -142,7 +141,6 @@ void TransectStyleComplexItem::_save(QJsonObject& complexObject) innerObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool(); innerObject[_jsonFollowTerrainKey] = _followTerrain; innerObject[_jsonCameraShotsKey] = _cameraShots; - innerObject[_jsonComplexDistanceKey] = _complexDistance; if (_followTerrain) { innerObject[terrainAdjustToleranceName] = _terrainAdjustToleranceFact.rawValue().toDouble(); @@ -217,7 +215,6 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& { _jsonItemsKey, QJsonValue::Array, true }, { _jsonFollowTerrainKey, QJsonValue::Bool, true }, { _jsonCameraShotsKey, QJsonValue::Double, false }, // Not required since it was missing from initial implementation - { _jsonComplexDistanceKey, QJsonValue::Double, false }, // Not required since it was missing from initial implementation }; if (!JsonHelper::validateKeys(innerObject, innerKeyInfoList, errorString)) { return false; @@ -260,9 +257,6 @@ bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& if (innerObject.contains(_jsonCameraShotsKey)) { _cameraShots = innerObject[_jsonCameraShotsKey].toInt(); } - if (innerObject.contains(_jsonComplexDistanceKey)) { - _complexDistance = innerObject[_jsonComplexDistanceKey].toDouble(); - } if (_followTerrain) { QList followTerrainKeyInfoList = { @@ -409,7 +403,8 @@ void TransectStyleComplexItem::_rebuildTransects(void) emit coordinateChanged(_coordinate); emit exitCoordinateChanged(_exitCoordinate); - _rebuildTransectsPhase2(); + _recalcComplexDistance(); + _recalcCameraShots(); emit lastSequenceNumberChanged(lastSequenceNumber()); emit timeBetweenShotsChanged(); diff --git a/src/MissionManager/TransectStyleComplexItem.h b/src/MissionManager/TransectStyleComplexItem.h index c3ff764c5..977f1228e 100644 --- a/src/MissionManager/TransectStyleComplexItem.h +++ b/src/MissionManager/TransectStyleComplexItem.h @@ -129,9 +129,6 @@ signals: void followTerrainChanged (bool followTerrain); protected slots: - virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array - virtual void _rebuildTransectsPhase2 (void) = 0; ///< Adjust values associated with _transects array - void _setDirty (void); void _setIfDirty (bool dirty); void _updateCoordinateAltitudes (void); @@ -139,6 +136,10 @@ protected slots: void _rebuildTransects (void); protected: + virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array + virtual void _recalcComplexDistance (void) = 0; + virtual void _recalcCameraShots (void) = 0; + void _save (QJsonObject& saveObject); bool _load (const QJsonObject& complexObject, QString& errorString); void _setExitCoordinate (const QGeoCoordinate& coordinate); @@ -198,7 +199,6 @@ protected: static const char* _jsonItemsKey; static const char* _jsonFollowTerrainKey; static const char* _jsonCameraShotsKey; - static const char* _jsonComplexDistanceKey; static const int _terrainQueryTimeoutMsecs; diff --git a/src/MissionManager/TransectStyleComplexItemTest.cc b/src/MissionManager/TransectStyleComplexItemTest.cc index 97242c6e7..e2ccd5bd3 100644 --- a/src/MissionManager/TransectStyleComplexItemTest.cc +++ b/src/MissionManager/TransectStyleComplexItemTest.cc @@ -115,10 +115,12 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void) // lastSequenceNumberChanged signal _adjustSurveAreaPolygon(); QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called); - QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called); + QVERIFY(_transectStyleItem->recalcCameraShotsCalled); + QVERIFY(_transectStyleItem->recalcComplexDistanceCalled); QVERIFY(_multiSpy->checkSignalsByMask(coveredAreaChangedMask | lastSequenceNumberChangedMask)); _transectStyleItem->rebuildTransectsPhase1Called = false; - _transectStyleItem->rebuildTransectsPhase2Called = false; + _transectStyleItem->recalcCameraShotsCalled = false; + _transectStyleItem->recalcComplexDistanceCalled = false; _transectStyleItem->setDirty(false); _multiSpy->clearAllSignals(); @@ -136,30 +138,36 @@ void TransectStyleComplexItemTest::_testRebuildTransects(void) qDebug() << fact->name(); changeFactValue(fact); QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called); - QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called); + QVERIFY(_transectStyleItem->recalcCameraShotsCalled); + QVERIFY(_transectStyleItem->recalcComplexDistanceCalled); QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask)); _transectStyleItem->setDirty(false); _multiSpy->clearAllSignals(); _transectStyleItem->rebuildTransectsPhase1Called = false; - _transectStyleItem->rebuildTransectsPhase2Called = false; + _transectStyleItem->recalcCameraShotsCalled = false; + _transectStyleItem->recalcComplexDistanceCalled = false; } rgFacts.clear(); _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(false); _transectStyleItem->rebuildTransectsPhase1Called = false; - _transectStyleItem->rebuildTransectsPhase2Called = false; + _transectStyleItem->recalcCameraShotsCalled = false; + _transectStyleItem->recalcComplexDistanceCalled = false; changeFactValue(_transectStyleItem->cameraCalc()->imageDensity()); QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called); - QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called); + QVERIFY(_transectStyleItem->recalcCameraShotsCalled); + QVERIFY(_transectStyleItem->recalcComplexDistanceCalled); QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask)); _multiSpy->clearAllSignals(); _transectStyleItem->cameraCalc()->valueSetIsDistance()->setRawValue(true); _transectStyleItem->rebuildTransectsPhase1Called = false; - _transectStyleItem->rebuildTransectsPhase2Called = false; + _transectStyleItem->recalcCameraShotsCalled = false; + _transectStyleItem->recalcComplexDistanceCalled = false; changeFactValue(_transectStyleItem->cameraCalc()->distanceToSurface()); QVERIFY(_transectStyleItem->rebuildTransectsPhase1Called); - QVERIFY(_transectStyleItem->rebuildTransectsPhase2Called); + QVERIFY(_transectStyleItem->recalcCameraShotsCalled); + QVERIFY(_transectStyleItem->recalcComplexDistanceCalled); QVERIFY(_multiSpy->checkSignalsByMask(lastSequenceNumberChangedMask)); _multiSpy->clearAllSignals(); } @@ -219,7 +227,8 @@ void TransectStyleComplexItemTest::_testAltMode(void) TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent) : TransectStyleComplexItem (vehicle, false /* flyView */, QStringLiteral("UnitTestTransect"), parent) , rebuildTransectsPhase1Called (false) - , rebuildTransectsPhase2Called (false) + , recalcComplexDistanceCalled (false) + , recalcCameraShotsCalled (false) { } @@ -229,7 +238,12 @@ void TransectStyleItem::_rebuildTransectsPhase1(void) rebuildTransectsPhase1Called = true; } -void TransectStyleItem::_rebuildTransectsPhase2(void) +void TransectStyleItem::_recalcComplexDistance(void) { - rebuildTransectsPhase2Called = true; + recalcComplexDistanceCalled = true; +} + +void TransectStyleItem::_recalcCameraShots(void) +{ + recalcCameraShotsCalled = true; } diff --git a/src/MissionManager/TransectStyleComplexItemTest.h b/src/MissionManager/TransectStyleComplexItemTest.h index dac201cf7..c64796c9e 100644 --- a/src/MissionManager/TransectStyleComplexItemTest.h +++ b/src/MissionManager/TransectStyleComplexItemTest.h @@ -96,10 +96,12 @@ public: void applyNewAltitude (double newAltitude) final { Q_UNUSED(newAltitude); } bool rebuildTransectsPhase1Called; - bool rebuildTransectsPhase2Called; + bool recalcComplexDistanceCalled; + bool recalcCameraShotsCalled; private slots: // Overrides from TransectStyleComplexItem - void _rebuildTransectsPhase1(void) final; - void _rebuildTransectsPhase2(void) final; + void _rebuildTransectsPhase1 (void) final; + void _recalcComplexDistance (void) final; + void _recalcCameraShots (void) final; }; -- 2.22.0