circular and linera transect generators added

qgroundcontrol.pro

@@ -420,8 +420,7 @@ HEADERS += \
     src/Wima/RoutingThread.h \
     src/Wima/Snake/CircularGenerator.h \
     src/Wima/Snake/GeneratorBase.h \
-    src/Wima/Snake/GeneratorData.h \
-    src/Wima/Snake/StandardData.h \
+    src/Wima/Snake/LinearGenerator.h \
     src/Wima/Snake/clipper/clipper.hpp \
     src/Wima/Snake/mapbox/feature.hpp \
     src/Wima/Snake/mapbox/geometry.hpp \
@@ -516,7 +515,7 @@ SOURCES += \
     src/Wima/RoutingThread.cpp \
     src/Wima/Snake/CircularGenerator.cpp \
     src/Wima/Snake/GeneratorBase.cc \
-    src/Wima/Snake/StandardData.cpp \
+    src/Wima/Snake/LinearGenerator.cpp \
     src/Wima/Snake/clipper/clipper.cpp \
     src/Wima/Snake/snake.cpp \
     src/Wima/Geometry/GeoPoint3D.cpp \
@@ -1456,5 +1455,8 @@ contains (CONFIG, QGC_DISABLE_INSTALLER_SETUP) {
 }
 
 DISTFILES += \
+    src/Wima/Routing/json/CircularGenerator.SettingsGroup.json \
+    src/Wima/Snake/json/LinearGenerator.SettingsGroup.json \
+    src/Wima/json/CircularSurvey.SettingsGroup.json \
     src/WimaView/WimaMeasurementAreaEditor.qml \
     src/Settings/Wima.SettingsGroup.json

qgroundcontrol.qrc

@@ -287,6 +287,8 @@
         <file alias="WimaArea.SettingsGroup.json">src/Wima/Geometry/json/WimaArea.SettingsGroup.json</file>
         <file alias="WimaController.SettingsGroup.json">src/Wima/json/WimaController.SettingsGroup.json</file>
         <file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
+        <file alias="CircularGenerator.SettingsGroup.json">src/Wima/Snake/json/CircularGenerator.SettingsGroup.json</file>
+        <file alias="LinearGenerator.SettingsGroup.json">src/Wima/Snake/json/LinearGenerator.SettingsGroup.json</file>
     </qresource>
     <qresource prefix="/MockLink">
         <file alias="APMArduCopterMockLink.params">src/comm/APMArduCopterMockLink.params</file>

src/Wima/CircularSurvey.cc

@@ -9,6 +9,10 @@
 #define CLIPPER_SCALE 1000000
 #include "clipper/clipper.hpp"
 
+using namespace ClipperLib;
+template <> inline auto get<0>(const IntPoint &p) { return p.X; }
+template <> inline auto get<1>(const IntPoint &p) { return p.Y; }
+
 #include "Geometry/GenericCircle.h"
 #include "Snake/SnakeTile.h"
 
@@ -18,19 +22,6 @@
 
 QGC_LOGGING_CATEGORY(CircularSurveyLog, "CircularSurveyLog")
 
-using namespace ClipperLib;
-template <> auto get<0>(const IntPoint &p) { return p.X; }
-template <> auto get<1>(const IntPoint &p) { return p.Y; }
-
-template <class Functor> class CommandRAII {
-public:
-  CommandRAII(Functor f) : fun(f) {}
-  ~CommandRAII() { fun(); }
-
-private:
-  Functor fun;
-};
-
 template <typename T>
 constexpr typename std::underlying_type<T>::type integral(T value) {
   return static_cast<typename std::underlying_type<T>::type>(value);
@@ -456,7 +447,7 @@ void CircularSurvey::_updateWorker() {
 
   // Routing par.
   RoutingParameter par;
-  par.numSolutionsPerRun = 5;
+  par.numSolutions = 5;
   if (this->_numRuns.rawValue().toUInt() < 1) {
     disconnect(&this->_numRuns, &Fact::rawValueChanged, this,
                &CircularSurvey::_rebuildTransects);

src/Wima/RoutingThread.cpp

@@ -59,7 +59,7 @@ void RoutingThread::run() {
     lk.unlock();
     auto safeAreaENU = par.safeArea;
     auto numRuns = par.numRuns;
-    auto numSolutionsPerRun = par.numSolutionsPerRun;
+    auto numSolutionsPerRun = par.numSolutions;
 
     PtrRoutingData pRouteData(new RoutingData());
     auto &transectsENU = pRouteData->transects;

src/Wima/RoutingThread.h

@@ -17,9 +17,9 @@ struct RoutingData {
 };
 
 struct RoutingParameter {
-  RoutingParameter() : numSolutionsPerRun(1), numRuns(1) {}
+  RoutingParameter() : numSolutions(1), numRuns(1) {}
   snake::FPolygon safeArea;
-  std::size_t numSolutionsPerRun;
+  std::size_t numSolutions;
   std::size_t numRuns;
 };
 //!

src/Wima/Snake/CircularGenerator.h

 #include "GeneratorBase.h"
-#include "StandardData.h"
+
+#include <QGeoCoordinate>
 
 namespace routing {
 
 class CircularGenerator : public GeneratorBase {
   Q_OBJECT
 public:
-  CircularGenerator(QObject *parent = nullptr) override;
+  CircularGenerator(QObject *parent = nullptr);
+  CircularGenerator(Data d, QObject *parent = nullptr);
+
+  Q_PROPERTY(QGeoCoordinate reference READ reference WRITE setReference NOTIFY
+                 referenceChanged)
+  Q_PROPERTY(Fact *distance READ distance CONSTANT)
+  Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
+  Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
 
   virtual QString editorQML() override;
   virtual QString mapVisualQML() override;
@@ -14,7 +22,36 @@ public:
   virtual QString name() override;
   virtual QString abbreviation() override;
 
-  virtual bool get(const WimaPlanData &data, GeneratorBase &generator);
+  virtual bool get(Generator &generator) override;
+
+  QGeoCoordinate reference() const;
+  Fact *distance();
+  Fact *deltaAlpha();
+  Fact *minLength();
+
+  void setReference(const QGeoCoordinate &reference);
+  void resetReference();
+
+  static const char *settingsGroup;
+  static const char *distanceName;
+  static const char *deltaAlphaName;
+  static const char *minLengthName;
+
+signals:
+  void referenceChanged();
+
+protected:
+  virtual void establishConnections() override;
+  virtual void deleteConnections() override;
+
+private:
+  bool _connectionsEstablished;
+
+  QGeoCoordinate _reference;
+  QMap<QString, FactMetaData *> _metaDataMap;
+  SettingsFact _distance;
+  SettingsFact _deltaAlpha;
+  SettingsFact _minLength;
 };
 
 } // namespace routing

src/Wima/Snake/GeneratorBase.cc

@@ -2,12 +2,26 @@
 
 namespace routing {
 
-GeneratorBase::GeneratorBase(QObject *parent) : QObject(parent) {}
+GeneratorBase::GeneratorBase(QObject *parent)
+    : GeneratorBase(nullptr, parent) {}
 
-GeneratorBase::GeneratorBase(std::shared_ptr<GeneratorData> par,
-                             QObject *parent)
-    : QObject(parent) {}
+GeneratorBase::GeneratorBase(GeneratorBase::Data d, QObject *parent)
+    : QObject(parent), _d(d) {
+  establishConnections();
+}
 
 GeneratorBase::~GeneratorBase() {}
 
+GeneratorBase::Data GeneratorBase::data() const { return _d; }
+
+void GeneratorBase::setData(const Data &d) {
+  deleteConnections();
+  _d = d;
+  establishConnections();
+}
+
+void GeneratorBase::establishConnections() {}
+
+void GeneratorBase::deleteConnections() {}
+
 } // namespace routing

src/Wima/Snake/GeneratorBase.h

@@ -12,9 +12,11 @@ namespace routing {
 class GeneratorBase : public QObject {
   Q_OBJECT
 public:
+  using Data = std::shared_ptr<WimaPlanData>;
   using Generator = std::function<bool(snake::Transects &)>;
 
   explicit GeneratorBase(QObject *parent = nullptr);
+  explicit GeneratorBase(Data d, QObject *parent = nullptr);
   ~GeneratorBase();
 
   virtual QString editorQML() = 0;
@@ -23,10 +25,18 @@ public:
   virtual QString name() = 0;
   virtual QString abbreviation() = 0;
 
-  virtual bool get(const WimaPlanData &data, GeneratorBase &generator) = 0;
+  virtual bool get(Generator &generator) = 0;
+
+  Data data() const;
+  void setData(const Data &d);
 
 signals:
   void generatorChanged();
+
+protected:
+  virtual void establishConnections();
+  virtual void deleteConnections();
+  Data _d;
 };
 
 } // namespace routing

src/Wima/Snake/GeneratorData.h

-#pragma once
-
-#include <QObject>
-
-class GeneratorData : public QObject {
-  Q_OBJECT
-public:
-  explicit GeneratorData(QObject *parent = nullptr);
-};

src/Wima/Snake/LinearGenerator.h

+#include "GeneratorBase.h"
+
+#include <QGeoCoordinate>
+
+namespace routing {
+
+class LinearGenerator : public GeneratorBase {
+  Q_OBJECT
+public:
+  LinearGenerator(QObject *parent = nullptr);
+  LinearGenerator(Data d, QObject *parent = nullptr);
+
+  Q_PROPERTY(Fact *distance READ distance CONSTANT)
+  Q_PROPERTY(Fact *alpha READ alpha CONSTANT)
+  Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
+
+  virtual QString editorQML() override;
+  virtual QString mapVisualQML() override;
+
+  virtual QString name() override;
+  virtual QString abbreviation() override;
+
+  virtual bool get(Generator &generator) override;
+
+  Fact *distance();
+  Fact *alpha();
+  Fact *minLength();
+
+  static const char *settingsGroup;
+  static const char *distanceName;
+  static const char *alphaName;
+  static const char *minLengthName;
+
+protected:
+  virtual void establishConnections() override;
+  virtual void deleteConnections() override;
+
+private:
+  bool _connectionsEstablished;
+
+  QMap<QString, FactMetaData *> _metaDataMap;
+  SettingsFact _distance;
+  SettingsFact _alpha;
+  SettingsFact _minLength;
+};
+
+} // namespace routing

src/Wima/Snake/StandardData.cpp

-#include "StandardData.h"
-
-StandardParameter::StandardParameter() {}

src/Wima/Snake/StandardData.h

-#pragma once
-
-#include "GeneratorData.h"
-
-namespace routing {
-
-class StandardData : public GeneratorData {};
-
-} // namespace routing

src/Wima/Snake/json/CircularGenerator.SettingsGroup.json

+[
+{
+    "name":             "TransectDistance",
+    "shortDescription": "The distance between transects.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0.3,
+    "decimalPlaces":    1,
+    "defaultValue":     5.0
+},
+{
+    "name":             "DeltaAlpha",
+    "shortDescription": "Angle discretisation.",
+    "type":             "double",
+    "units":            "Deg",
+    "min":              0.3,
+    "max":              90,
+    "decimalPlaces":    1,
+    "defaultValue":     5.0
+},
+{
+    "name":             "MinLength",
+    "shortDescription": "The minimal transect length.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0.3,
+    "decimalPlaces":    1,
+    "defaultValue":     5.0
+}
+]

src/Wima/Snake/json/LinearGenerator.SettingsGroup.json

+[
+{
+    "name":             "TransectDistance",
+    "shortDescription": "The distance between transects.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0.3,
+    "decimalPlaces":    1,
+    "defaultValue":     5.0
+},
+{
+    "name":             "Alpha",
+    "shortDescription": "Transect angle.",
+    "type":             "double",
+    "units":            "Deg",
+    "min":              0,
+    "max":              180,
+    "decimalPlaces":    1,
+    "defaultValue":     0.0
+},
+{
+    "name":             "MinLength",
+    "shortDescription": "The minimal transect length.",
+    "type":             "double",
+    "units":            "m",
+    "min":              0.3,
+    "decimalPlaces":    1,
+    "defaultValue":     5.0
+}
+]

src/Wima/WimaController.cc

@@ -230,74 +230,53 @@ void WimaController::planDataChangedHandler() {
   _serviceArea = WimaServiceAreaData();
   _corridor = WimaCorridorData();
   _joinedArea = WimaJoinedAreaData();
+  _planDataValid = false;
 
   emit visualItemsChanged();
   emit missionItemsChanged();
   emit waypointPathChanged();
 
-  _planDataValid = false;
-
+  // Extract areas.
   auto planData = WimaBridge::instance()->planData();
-  // extract list with WimaAreas
-  QList<const WimaAreaData *> areaList = planData.areaList();
-
-  int areaCounter = 0;
-  const int numAreas = 4; // extract only numAreas Areas, if there are more
-                          // they are invalid and ignored
-  for (int i = 0; i < areaList.size(); i++) {
-    const WimaAreaData *areaData = areaList[i];
-
-    if (areaData->type() ==
-        WimaServiceAreaData::typeString) { // is it a service area?
-      _serviceArea = *qobject_cast<const WimaServiceAreaData *>(areaData);
-      areaCounter++;
-      _areas.append(&_serviceArea);
-
-      continue;
-    }
 
-    if (areaData->type() ==
-        WimaMeasurementAreaData::typeString) { // is it a measurement area?
-      _measurementArea =
-          *qobject_cast<const WimaMeasurementAreaData *>(areaData);
-      areaCounter++;
-      _areas.append(&_measurementArea);
+  // Measurement Area.
+  if (planData.measurementArea().coordinateList().size() >= 3) {
+    _measurementArea = planData.measurementArea();
+    _areas.append(&_measurementArea);
 
-      continue;
-    }
+    // Service Area.
+    if (planData.serviceArea().coordinateList().size() >= 3) {
+      _serviceArea = planData.serviceArea();
+      _areas.append(&_serviceArea);
 
-    if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
-      _corridor = *qobject_cast<const WimaCorridorData *>(areaData);
-      areaCounter++;
-      //_visualItems.append(&_corridor); // not needed
+      _WMSettings.setHomePosition(
+          QGeoCoordinate(_serviceArea.depot().latitude(),
+                         _serviceArea.depot().longitude(), 0));
 
-      continue;
-    }
+      // Joined Area.
+      if (planData.joinedArea().coordinateList().size() >= 3) {
+        _joinedArea = planData.joinedArea();
+        _areas.append(&_joinedArea);
 
-    if (areaData->type() ==
-        WimaJoinedAreaData::typeString) { // is it a corridor?
-      _joinedArea = *qobject_cast<const WimaJoinedAreaData *>(areaData);
-      areaCounter++;
-      _areas.append(&_joinedArea);
+        _planDataValid = true;
 
-      continue;
+        // Corridor.
+        if (planData.corridor().coordinateList().size() >= 3) {
+          _corridor = planData.corridor();
+        }
+      }
     }
-
-    if (areaCounter >= numAreas)
-      break;
   }
 
-  if (areaCounter != numAreas) {
-    Q_ASSERT(false);
-    return;
+  if (_planDataValid) {
+    emit visualItemsChanged();
+  } else {
+    _areas.clear();
+    _measurementArea = WimaMeasurementAreaData();
+    _serviceArea = WimaServiceAreaData();
+    _corridor = WimaCorridorData();
+    _joinedArea = WimaJoinedAreaData();
   }
-
-  emit visualItemsChanged();
-
-  _WMSettings.setHomePosition(QGeoCoordinate(
-      _serviceArea.depot().latitude(), _serviceArea.depot().longitude(), 0));
-
-  _planDataValid = true;
 }
 
 void WimaController::progressChangedHandler() {

src/Wima/WimaPlanData.cc

 #include "WimaPlanData.h"
 
-enum Signal {
-  measuremtAreaChanged,
-  serviceAreaChanged,
-  joinedAreaChanged,
-  corridorChanged,
-};
-
-WimaPlanData::WimaPlanData(QObject *parent)
-    : QObject(parent), _editing(false) {}
+WimaPlanData::WimaPlanData(QObject *parent) : QObject(parent) {}
 
 WimaPlanData::WimaPlanData(const WimaPlanData &other, QObject *parent)
-    : QObject(parent), _editing(false) {
+    : QObject(parent) {
   *this = other;
 }
 
 WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
-  this->_measurementArea = other._measurementArea;
-  this->_serviceArea = other._serviceArea;
-  this->_joinedArea = other._joinedArea;
-  this->_corridor = other._corridor;
+  this->set(other.measurementArea());
+  this->set(other.serviceArea());
+  this->set(other.joinedArea());
+  this->set(other.corridor());
 
   return *this;
 }
@@ -27,36 +19,44 @@ WimaPlanData &WimaPlanData::operator=(const WimaPlanData &other) {
 void WimaPlanData::set(const WimaJoinedAreaData &areaData) {
   if (_joinedArea != areaData) {
     _joinedArea = areaData;
-    emitJoinedAreaChanged();
+    emit joinedAreaChanged();
   }
 }
 
 void WimaPlanData::set(const WimaServiceAreaData &areaData) {
   if (_serviceArea != areaData) {
     _serviceArea = areaData;
-    emitServiceAreaChanged();
+    emit serviceAreaChanged();
   }
 }
 
 void WimaPlanData::set(const WimaCorridorData &areaData) {
   if (_corridor != areaData) {
     _corridor = areaData;
-    emitCorridorChanged();
+    emit corridorChanged();
   }
 }
 
 void WimaPlanData::set(const WimaMeasurementAreaData &areaData) {
   if (_measurementArea != areaData) {
     _measurementArea = areaData;
-    emitMeasurementAreaChanged();
+    emit measurementAreaChanged();
+
+    if (_measurementArea.coordinateList().size() > 0) {
+      setOrigin(_measurementArea.coordinateList().first());
+    } else {
+      setOrigin(QGeoCoordinate());
+    }
   }
 }
 
-void WimaPlanData::clear() {
-  _joinedArea = WimaJoinedAreaData();
-  _serviceArea = WimaServiceAreaData();
-  _corridor = WimaCorridorData();
-  _measurementArea = WimaMeasurementAreaData();
+void WimaPlanData::clear() { *this = WimaPlanData(); }
+
+QGeoCoordinate WimaPlanData::origin() { return _origin; }
+
+bool WimaPlanData::isValid() {
+  return _measurementArea.coordinateList().size() >= 3 &&
+         _serviceArea.coordinateList().size() >= 3 && _origin.isValid();
 }
 
 const WimaJoinedAreaData &WimaPlanData::joinedArea() const {
@@ -75,24 +75,14 @@ const WimaMeasurementAreaData &WimaPlanData::measurementArea() const {
   return this->_measurementArea;
 }
 
-void WimaPlanData::startEditing() {
-  if (!this->_editing) {
-    this->_editing = true;
-  }
-}
+WimaJoinedAreaData &WimaPlanData::joinedArea() { return this->_joinedArea; }
 
-void WimaPlanData::stopEditing() {
-  if (this->_editing) {
-    this->_editing = false;
-    for (auto &s : this->_queuedSignals) {
-      s.second();
-    }
-    this->_queuedSignals.clear();
-  }
-}
+WimaServiceAreaData &WimaPlanData::serviceArea() { return this->_serviceArea; }
+
+WimaCorridorData &WimaPlanData::corridor() { return this->_corridor; }
 
-WimaPlanData::Guard WimaPlanData::guard() {
-  return Guard(std::bind(&WimaPlanData::stopEditing, this));
+WimaMeasurementAreaData &WimaPlanData::measurementArea() {
+  return this->_measurementArea;
 }
 
 bool WimaPlanData::operator==(const WimaPlanData &other) const {
@@ -105,42 +95,9 @@ bool WimaPlanData::operator!=(const WimaPlanData &other) const {
   return !(*this == other);
 }
 
-void WimaPlanData::emitJoinedAreaChanged() {
-  if (!this->_editing) {
-    emit joinedAreaChanged();
-  } else {
-    this->_queuedSignals.insert(
-        std::make_pair(Signal::joinedAreaChanged,
-                       std::bind(&WimaPlanData::joinedAreaChanged, this)));
-  }
-}
-
-void WimaPlanData::emitMeasurementAreaChanged() {
-  if (!this->_editing) {
-    emit measurementAreaChanged();
-  } else {
-    this->_queuedSignals.insert(
-        std::make_pair(Signal::measuremtAreaChanged,
-                       std::bind(&WimaPlanData::measurementAreaChanged, this)));
-  }
-}
-
-void WimaPlanData::emitServiceAreaChanged() {
-  if (!this->_editing) {
-    emit serviceAreaChanged();
-  } else {
-    this->_queuedSignals.insert(
-        std::make_pair(Signal::serviceAreaChanged,
-                       std::bind(&WimaPlanData::serviceAreaChanged, this)));
-  }
-}
-
-void WimaPlanData::emitCorridorChanged() {
-  if (!this->_editing) {
-    emit corridorChanged();
-  } else {
-    this->_queuedSignals.insert(
-        std::make_pair(Signal::corridorChanged,
-                       std::bind(&WimaPlanData::corridorChanged, this)));
+void WimaPlanData::setOrigin(const QGeoCoordinate &origin) {
+  if (this->_origin != origin) {
+    this->_origin = origin;
+    emit originChanged();
   }
 }

src/Wima/WimaPlanData.h

 #pragma once
 
-#include <functional>
-#include <map>
-
 #include <QGeoCoordinate>
 #include <QObject>
 
@@ -16,15 +13,6 @@
 class WimaPlanData : public QObject {
   Q_OBJECT
 public:
-  class Guard {
-  public:
-    Guard(std::function<void(void)> fun) : fun_(fun) {}
-    ~Guard() { fun_(); }
-
-  private:
-    std::function<void(void)> fun_;
-  };
-
   WimaPlanData(QObject *parent = nullptr);
   WimaPlanData(const WimaPlanData &other, QObject *parent = nullptr);
   WimaPlanData &operator=(const WimaPlanData &other);
@@ -41,9 +29,13 @@ public:
   const WimaCorridorData &corridor() const;
   const WimaMeasurementAreaData &measurementArea() const;
 
-  void startEditing();
-  void stopEditing();
-  Guard guard();
+  WimaJoinedAreaData &joinedArea();
+  WimaServiceAreaData &serviceArea();
+  WimaCorridorData &corridor();
+  WimaMeasurementAreaData &measurementArea();
+
+  QGeoCoordinate origin();
+  bool isValid();
 
   bool operator==(const WimaPlanData &other) const;
   bool operator!=(const WimaPlanData &other) const;
@@ -53,19 +45,15 @@ signals:
   void serviceAreaChanged();
   void corridorChanged();
   void measurementAreaChanged();
+  void originChanged();
 
 private:
-  void emitJoinedAreaChanged();
-  void emitServiceAreaChanged();
-  void emitCorridorChanged();
-  void emitMeasurementAreaChanged();
+  void setOrigin(const QGeoCoordinate &origin);
 
   WimaJoinedAreaData _joinedArea;
   WimaServiceAreaData _serviceArea;
   WimaCorridorData _corridor;
   WimaMeasurementAreaData _measurementArea;
 
-  std::map<int, std::function<void(void)>> _queuedSignals;
-
-  bool _editing;
+  QGeoCoordinate _origin;
 };

src/Wima/WimaPlaner.cc

@@ -955,10 +955,10 @@ void WimaPlaner::setInteractive() {
 bool WimaPlaner::toPlanData(WimaPlanData &planData) {
 
   // store areas
-  planData.append(WimaMeasurementAreaData(_measurementArea));
-  planData.append(WimaServiceAreaData(_serviceArea));
-  planData.append(WimaCorridorData(_corridor));
-  planData.append(WimaJoinedAreaData(_joinedArea));
+  planData.set(WimaMeasurementAreaData(_measurementArea));
+  planData.set(WimaServiceAreaData(_serviceArea));
+  planData.set(WimaCorridorData(_corridor));
+  planData.set(WimaJoinedAreaData(_joinedArea));
   return true;
 }