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qgroundcontrol
Commit 5c72de31 authored by Andreas Bircher's avatar Andreas Bircher
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Merge branch 'feature/offlineElevationData' into feature/offlineElevationDataBinary 

Conflicts:
	src/Terrain.cc
	src/TerrainTile.cc
	src/TerrainTile.h
parents bdbe526f ac9fbc8a
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Showing with 1664 additions and 485 deletions
README.md
View file @ 5c72de31
......@@ -41,7 +41,7 @@ You **need to install Qt as described below** instead of using pre-built package
* Windows: Make sure to install VS 2015 32 bit package.
###### Install additional packages:
* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev libgstreamer1.0-0 gstreamer1.0-plugins-base libgstreamer-plugins-base1.0-dev gstreamer1.0*
* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev
* Fedora: sudo dnf install speech-dispatcher SDL2-devel SDL2 systemd-devel
* Arch Linux: pacman -Sy speech-dispatcher
* Windows: [USB Driver](http://www.pixhawk.org/firmware/downloads) to connect to Pixhawk/PX4Flow/3DR Radio
......
qgroundcontrol.pro
View file @ 5c72de31
......@@ -346,6 +346,7 @@ INCLUDEPATH += \
src/QtLocationPlugin \
src/QtLocationPlugin/QMLControl \
src/Settings \
src/Terrain \
src/VehicleSetup \
src/ViewWidgets \
src/Audio \
......@@ -586,7 +587,7 @@ HEADERS += \
src/Settings/SettingsManager.h \
src/Settings/UnitsSettings.h \
src/Settings/VideoSettings.h \
src/Terrain.h \
src/Terrain/TerrainQuery.h \
src/TerrainTile.h \
src/Vehicle/MAVLinkLogManager.h \
src/VehicleSetup/JoystickConfigController.h \
......@@ -779,7 +780,7 @@ SOURCES += \
src/Settings/SettingsManager.cc \
src/Settings/UnitsSettings.cc \
src/Settings/VideoSettings.cc \
src/Terrain.cc \
src/Terrain/TerrainQuery.cc \
src/TerrainTile.cc\
src/Vehicle/MAVLinkLogManager.cc \
src/VehicleSetup/JoystickConfigController.cc \
......
src/MissionManager/CorridorScanComplexItem.cc
View file @ 5c72de31
......@@ -23,7 +23,7 @@ QGC_LOGGING_CATEGORY(CorridorScanComplexItemLog, "CorridorScanComplexItemLog")
const char* CorridorScanComplexItem::settingsGroup = "CorridorScan";
const char* CorridorScanComplexItem::corridorWidthName = "CorridorWidth";
const char* CorridorScanComplexItem::_entryPointName = "EntryPoint";
const char* CorridorScanComplexItem::_jsonEntryPointKey = "EntryPoint";
const char* CorridorScanComplexItem::jsonComplexItemTypeValue = "CorridorScan";
......@@ -77,16 +77,17 @@ int CorridorScanComplexItem::lastSequenceNumber(void) const
return _sequenceNumber + itemCount - 1;
}
void CorridorScanComplexItem::save(QJsonArray& missionItems)
void CorridorScanComplexItem::save(QJsonArray& planItems)
{
QJsonObject saveObject;
saveObject[JsonHelper::jsonVersionKey] = 1;
_save(saveObject);
saveObject[JsonHelper::jsonVersionKey] = 2;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[corridorWidthName] = _corridorWidthFact.rawValue().toDouble();
saveObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
saveObject[_entryPointName] = _entryPoint;
saveObject[_jsonEntryPointKey] = _entryPoint;
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
......@@ -94,28 +95,29 @@ void CorridorScanComplexItem::save(QJsonArray& missionItems)
_corridorPolyline.saveToJson(saveObject);
_save(saveObject);
missionItems.append(saveObject);
planItems.append(saveObject);
}
bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
// We don't recalc while loading since all the information we need is specified in the file
_ignoreRecalc = true;
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ corridorWidthName, QJsonValue::Double, true },
{ turnAroundDistanceName, QJsonValue::Double, true },
{ _entryPointName, QJsonValue::Double, true },
{ _jsonEntryPointKey, QJsonValue::Double, true },
{ QGCMapPolyline::jsonPolylineKey, QJsonValue::Array, true },
{ _jsonCameraCalcKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
_ignoreRecalc = false;
return false;
}
if (!_corridorPolyline.loadFromJson(complexObject, true, errorString)) {
_ignoreRecalc = false;
return false;
}
......@@ -123,27 +125,32 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc
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);
_ignoreRecalc = false;
return false;
}
int version = complexObject[JsonHelper::jsonVersionKey].toInt();
if (version != 1) {
if (version != 2) {
errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
_ignoreRecalc = false;
return false;
}
setSequenceNumber(sequenceNumber);
if (!_load(complexObject, errorString)) {
_ignoreRecalc = false;
return false;
}
_corridorWidthFact.setRawValue (complexObject[corridorWidthName].toDouble());
_entryPoint = complexObject[_entryPointName].toInt();
_entryPoint = complexObject[_jsonEntryPointKey].toInt();
_rebuildCorridor();
_ignoreRecalc = false;
return true;
}
......@@ -159,64 +166,75 @@ int CorridorScanComplexItem::_transectCount(void) const
return fullWidth > 0.0 ? qCeil(fullWidth / transectSpacing) : 1;
}
void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
void CorridorScanComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
int pointIndex = 0;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
while (pointIndex < _transectPoints.count()) {
if (_hasTurnaround()) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
_cameraCalc.distanceToSurface()->rawValue().toDouble(), // Altitude
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
if (imagesEverywhere && pointIndex == 1) {
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // 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);
}
}
qCDebug(CorridorScanComplexItemLog) << "_appendLoadedMissionItems";
int seqNum = _sequenceNumber;
foreach (const MissionItem* loadedMissionItem, _loadedMissionItems) {
MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
item->setSequenceNumber(seqNum++);
items.append(item);
}
}
void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
qCDebug(CorridorScanComplexItemLog) << "_buildAndAppendMissionItems";
// First adjust for terrain (this will set altitudes into _transectionPoints in all cases
_adjustTransectPointsForTerrain();
// Now build the mission items from the transect points
MissionItem* item;
int seqNum = _sequenceNumber;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
bool addTriggerAtBeginning = imagesEverywhere;
bool firstPoint = true;
bool entryPoint = true;
MAV_FRAME mavFrame = followTerrain() || !_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL : MAV_FRAME_GLOBAL_RELATIVE_ALT;
foreach (const QVariant& transectPointVar, _transectPoints) {
QGeoCoordinate transectPoint = transectPointVar.value<QGeoCoordinate>();
item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
mavFrame,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
transectPoint.latitude(),
transectPoint.longitude(),
qAbs(transectPoint.altitude()), // qAbs since negative value indicates survey edge
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
bool addTrigger = imagesEverywhere ? false : true;
for (int i=0; i<_corridorPolyline.count(); i++) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
_cameraCalc.distanceToSurface()->rawValue().toDouble(), // Altitude
true, // autoContinue
false, // isCurrentItem
missionItemParent);
if (firstPoint && addTriggerAtBeginning) {
// Start triggering
addTriggerAtBeginning = false;
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(), // 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);
}
firstPoint = false;
if (addTrigger) {
addTrigger = false;
if (transectPoint.altitude() < 0 && !imagesEverywhere) {
if (entryPoint) {
// Start triggering
item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
......@@ -228,43 +246,26 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
false, // isCurrentItem
missionItemParent);
items.append(item);
} else {
// 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);
}
}
if (!imagesEverywhere) {
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);
}
if (_hasTurnaround()) {
QGeoCoordinate vertexCoord = _transectPoints[pointIndex++].value<QGeoCoordinate>();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_cameraCalc.distanceToSurfaceRelative() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
_cameraCalc.distanceToSurface()->rawValue().toDouble(), // Altitude
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
entryPoint = !entryPoint;
}
}
if (imagesEverywhere) {
// Stop triggering
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_SET_CAM_TRIGG_DIST,
MAV_FRAME_MISSION,
......@@ -279,6 +280,17 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
}
}
void CorridorScanComplexItem::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 CorridorScanComplexItem::applyNewAltitude(double newAltitude)
{
_cameraCalc.valueSetIsDistance()->setRawValue(true);
......@@ -324,10 +336,21 @@ void CorridorScanComplexItem::_rebuildCorridorPolygon(void)
}
}
void CorridorScanComplexItem::_rebuildTransects(void)
void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
{
if (_ignoreRecalc) {
return;
}
// If the transects are getting rebuilt then any previsouly loaded mission items are now invalid
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = NULL;
}
_transectPoints.clear();
_cameraShots = 0;
_transectsPathHeightInfo.clear();
double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
double fullWidth = _corridorWidthFact.rawValue().toDouble();
......@@ -336,13 +359,9 @@ void CorridorScanComplexItem::_rebuildTransects(void)
double normalizedTransectPosition = transectSpacing / 2.0;
if (_corridorPolyline.count() >= 2) {
int singleTransectImageCount = qCeil(_corridorPolyline.length() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
// First build up the transects all going the same direction
QList<QList<QGeoCoordinate>> transects;
for (int i=0; i<transectCount; i++) {
_cameraShots += singleTransectImageCount;
double offsetDistance;
if (transectCount == 1) {
// Single transect is flown over scan line
......@@ -353,15 +372,19 @@ void CorridorScanComplexItem::_rebuildTransects(void)
}
QList<QGeoCoordinate> transect = _corridorPolyline.offsetPolyline(offsetDistance);
transect[0].setAltitude(_surveyEdgeIndicator);
transect[1].setAltitude(_surveyEdgeIndicator);
if (_hasTurnaround()) {
QGeoCoordinate extensionCoord;
// Extend the transect ends for turnaround
double azimuth = transect[0].azimuthTo(transect[1]);
extensionCoord = transect[0].atDistanceAndAzimuth(-_turnAroundDistanceFact.rawValue().toDouble(), azimuth);
extensionCoord.setAltitude(qQNaN());
transect.prepend(extensionCoord);
azimuth = transect.last().azimuthTo(transect[transect.count() - 2]);
extensionCoord = transect.last().atDistanceAndAzimuth(-_turnAroundDistanceFact.rawValue().toDouble(), azimuth);
extensionCoord.setAltitude(qQNaN());
transect.append(extensionCoord);
}
......@@ -415,8 +438,6 @@ void CorridorScanComplexItem::_rebuildTransects(void)
// Convert the list of transects to grid points
reverseVertices = false;
for (int i=0; i<transects.count(); i++) {
_cameraShots += singleTransectImageCount;
// We must reverse the vertices for every other transect in order to make a lawnmower pattern
QList<QGeoCoordinate> transectVertices = transects[i];
if (reverseVertices) {
......@@ -437,14 +458,22 @@ void CorridorScanComplexItem::_rebuildTransects(void)
}
}
_queryTransectsPathHeightInfo();
}
void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
{
// Calculate distance flown for complex item
_complexDistance = 0;
for (int i=0; i<_transectPoints.count() - 2; i++) {
_complexDistance += _transectPoints[i].value<QGeoCoordinate>().distanceTo(_transectPoints[i+1].value<QGeoCoordinate>());
}
if (_cameraTriggerInTurnAroundFact.rawValue().toDouble()) {
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
_cameraShots = qCeil(_complexDistance / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
} else {
int singleTransectImageCount = qCeil(_corridorPolyline.length() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
_cameraShots = singleTransectImageCount * _transectCount();
}
_coordinate = _transectPoints.count() ? _transectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
......@@ -460,5 +489,11 @@ void CorridorScanComplexItem::_rebuildTransects(void)
void CorridorScanComplexItem::_rebuildCorridor(void)
{
_rebuildCorridorPolygon();
_rebuildTransects();
_rebuildTransectsPhase1();
_rebuildTransectsPhase2();
}
bool CorridorScanComplexItem::readyForSave(void) const
{
return TransectStyleComplexItem::readyForSave();
}
src/MissionManager/CorridorScanComplexItem.h
View file @ 5c72de31
......@@ -36,17 +36,18 @@ public:
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
QString mapVisualQML (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
QString mapVisualQML (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
// Overrides from TransectStyleComplexItem
void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
void save (QJsonArray& missionItems) final;
bool specifiesCoordinate (void) const final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
// Overrides from VisualMissionionItem
bool readyForSave (void) const;
static const char* jsonComplexItemTypeValue;
......@@ -54,17 +55,19 @@ public:
static const char* corridorWidthName;
private slots:
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
// Overrides from TransectStyleComplexItem
virtual void _rebuildTransects (void) final;
void _rebuildTransectsPhase1 (void) final;
void _rebuildTransectsPhase2 (void) final;
private:
int _transectCount (void) const;
void _rebuildCorridorPolygon(void);
int _transectCount (void) const;
void _rebuildCorridorPolygon (void);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
QGCMapPolyline _corridorPolyline;
QList<QList<QGeoCoordinate>> _transectSegments; ///< Internal transect segments including grid exit, turnaround and internal camera points
......@@ -75,5 +78,5 @@ private:
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _corridorWidthFact;
static const char* _entryPointName;
static const char* _jsonEntryPointKey;
};
src/MissionManager/CorridorScanComplexItemTest.cc
View file @ 5c72de31
......@@ -134,13 +134,26 @@ void CorridorScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
......
src/MissionManager/MissionController.cc
View file @ 5c72de31
......@@ -277,7 +277,7 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
return;
}
float altitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
float homeAltitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
QString coord;
QStringList coords;
......@@ -292,11 +292,12 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homeAltitude);
coord = QString::number(item->param6(),'f',7) \
+ "," \
+ QString::number(item->param5(),'f',7) \
+ "," \
+ QString::number(item->param7() + altitude,'f',2);
+ QString::number(amslAltitude,'f',2);
coords.append(coord);
}
}
......
src/MissionManager/TransectStyle.SettingsGroup.json
View file @ 5c72de31
......@@ -34,5 +34,32 @@
"shortDescription": "Refly the pattern at a 90 degree angle",
"type": "bool",
"defaultValue": false
},
{
"name": "TerrainAdjustTolerance",
"shortDescription": "TerrainAdjustTolerance",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 10
},
{
"name": "TerrainAdjustMaxClimbRate",
"shortDescription": "TerrainAdjustMaxClimbRate",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m/s",
"defaultValue": 0
},
{
"name": "TerrainAdjustMaxDescentRate",
"shortDescription": "TerrainAdjustMaxDescentRate",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m/s",
"defaultValue": 0
}
]
src/MissionManager/TransectStyleComplexItem.cc
View file @ 5c72de31
......@@ -26,28 +26,52 @@ const char* TransectStyleComplexItem::turnAroundDistanceMultiRotorName = "Tur
const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName = "CameraTriggerInTurnAround";
const char* TransectStyleComplexItem::hoverAndCaptureName = "HoverAndCapture";
const char* TransectStyleComplexItem::refly90DegreesName = "Refly90Degrees";
const char* TransectStyleComplexItem::terrainAdjustToleranceName = "TerrainAdjustTolerance";
const char* TransectStyleComplexItem::terrainAdjustMaxClimbRateName = "TerrainAdjustMaxClimbRate";
const char* TransectStyleComplexItem::terrainAdjustMaxDescentRateName = "TerrainAdjustMaxDescentRate";
const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* TransectStyleComplexItem::_jsonTransectStyleComplexItemKey = "TransectStyleComplexItem";
const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* TransectStyleComplexItem::_jsonTransectPointsKey = "TransectPoints";
const char* TransectStyleComplexItem::_jsonItemsKey = "Items";
const char* TransectStyleComplexItem::_jsonFollowTerrainKey = "FollowTerrain";
const int TransectStyleComplexItem::_terrainQueryTimeoutMsecs = 500;
const double TransectStyleComplexItem::_surveyEdgeIndicator = -10;
TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString settingsGroup, QObject* parent)
: ComplexMissionItem (vehicle, parent)
, _settingsGroup (settingsGroup)
, _sequenceNumber (0)
, _dirty (false)
, _ignoreRecalc (false)
, _complexDistance (0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
, _turnAroundDistanceFact (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
, _cameraTriggerInTurnAroundFact(_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName])
, _hoverAndCaptureFact (_settingsGroup, _metaDataMap[hoverAndCaptureName])
, _refly90DegreesFact (_settingsGroup, _metaDataMap[refly90DegreesName])
: ComplexMissionItem (vehicle, parent)
, _settingsGroup (settingsGroup)
, _sequenceNumber (0)
, _dirty (false)
, _terrainPolyPathQuery (NULL)
, _ignoreRecalc (false)
, _complexDistance (0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _followTerrain (false)
, _loadedMissionItemsParent (NULL)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
, _turnAroundDistanceFact (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
, _cameraTriggerInTurnAroundFact (_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName])
, _hoverAndCaptureFact (_settingsGroup, _metaDataMap[hoverAndCaptureName])
, _refly90DegreesFact (_settingsGroup, _metaDataMap[refly90DegreesName])
, _terrainAdjustToleranceFact (_settingsGroup, _metaDataMap[terrainAdjustToleranceName])
, _terrainAdjustMaxClimbRateFact (_settingsGroup, _metaDataMap[terrainAdjustMaxClimbRateName])
, _terrainAdjustMaxDescentRateFact (_settingsGroup, _metaDataMap[terrainAdjustMaxDescentRateName])
{
_terrainQueryTimer.setInterval(_terrainQueryTimeoutMsecs);
_terrainQueryTimer.setSingleShot(true);
connect(&_terrainQueryTimer, &QTimer::timeout, this, &TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo);
connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(this, &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_terrainAdjustMaxClimbRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_terrainAdjustMaxDescentRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_terrainAdjustToleranceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects);
......@@ -60,6 +84,10 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(this, &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(&_terrainAdjustMaxClimbRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(&_terrainAdjustMaxDescentRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(&_terrainAdjustToleranceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged);
connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
......@@ -75,6 +103,10 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(this, &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_terrainAdjustMaxClimbRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_terrainAdjustMaxDescentRateFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_terrainAdjustToleranceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::_setDirty);
connect(&_surveyAreaPolygon, &QGCMapPolygon::dirtyChanged, this, &TransectStyleComplexItem::_setIfDirty);
......@@ -108,14 +140,45 @@ void TransectStyleComplexItem::setDirty(bool dirty)
void TransectStyleComplexItem::_save(QJsonObject& complexObject)
{
complexObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
complexObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool();
complexObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool();
complexObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool();
QJsonObject innerObject;
innerObject[JsonHelper::jsonVersionKey] = 1;
innerObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
innerObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool();
innerObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool();
innerObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool();
innerObject[_jsonFollowTerrainKey] = _followTerrain;
if (_followTerrain) {
innerObject[terrainAdjustToleranceName] = _terrainAdjustToleranceFact.rawValue().toDouble();
innerObject[terrainAdjustMaxClimbRateName] = _terrainAdjustMaxClimbRateFact.rawValue().toDouble();
innerObject[terrainAdjustMaxDescentRateName] = _terrainAdjustMaxDescentRateFact.rawValue().toDouble();
}
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
complexObject[_jsonCameraCalcKey] = cameraCalcObject;
innerObject[_jsonCameraCalcKey] = cameraCalcObject;
QJsonValue transectPointsJson;
// Save transects polyline
JsonHelper::saveGeoCoordinateArray(_transectPoints, false /* writeAltitude */, transectPointsJson);
innerObject[_jsonTransectPointsKey] = transectPointsJson;
// Save the interal mission items
QJsonArray missionItemsJsonArray;
QObject* missionItemParent = new QObject();
QList<MissionItem*> missionItems;
appendMissionItems(missionItems, missionItemParent);
foreach (const MissionItem* missionItem, missionItems) {
QJsonObject missionItemJsonObject;
missionItem->save(missionItemJsonObject);
missionItemsJsonArray.append(missionItemJsonObject);
}
missionItemParent->deleteLater();
innerObject[_jsonItemsKey] = missionItemsJsonArray;
complexObject[_jsonTransectStyleComplexItemKey] = innerObject;
}
void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
......@@ -129,25 +192,84 @@ void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString)
{
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ _jsonTransectStyleComplexItemKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
}
// The TransectStyleComplexItem is a sub-object of the main complex item object
QJsonObject innerObject = complexObject[_jsonTransectStyleComplexItemKey].toObject();
if (innerObject.contains(JsonHelper::jsonVersionKey)) {
int version = innerObject[JsonHelper::jsonVersionKey].toInt();
if (version != 1) {
errorString = tr("TransectStyleComplexItem version %2 not supported").arg(version);
return false;
}
}
QList<JsonHelper::KeyValidateInfo> innerKeyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
{ turnAroundDistanceName, QJsonValue::Double, true },
{ cameraTriggerInTurnAroundName, QJsonValue::Bool, true },
{ hoverAndCaptureName, QJsonValue::Bool, true },
{ refly90DegreesName, QJsonValue::Bool, true },
{ _jsonCameraCalcKey, QJsonValue::Object, true },
{ _jsonTransectPointsKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
{ _jsonFollowTerrainKey, QJsonValue::Bool, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
if (!JsonHelper::validateKeys(innerObject, innerKeyInfoList, errorString)) {
return false;
}
if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) {
// Load transect points
if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonTransectPointsKey], false /* altitudeRequired */, _transectPoints, errorString)) {
return false;
}
_turnAroundDistanceFact.setRawValue (complexObject[turnAroundDistanceName].toDouble());
_cameraTriggerInTurnAroundFact.setRawValue (complexObject[cameraTriggerInTurnAroundName].toBool());
_hoverAndCaptureFact.setRawValue (complexObject[hoverAndCaptureName].toBool());
_hoverAndCaptureFact.setRawValue (complexObject[refly90DegreesName].toBool());
// Load generated mission items
_loadedMissionItemsParent = new QObject(this);
QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
foreach (const QJsonValue& missionItemJson, missionItemsJsonArray) {
MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent);
if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) {
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = NULL;
return false;
}
_loadedMissionItems.append(missionItem);
}
// Load CameraCalc data
if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) {
return false;
}
// Load TransectStyleComplexItem individual values
_turnAroundDistanceFact.setRawValue (innerObject[turnAroundDistanceName].toDouble());
_cameraTriggerInTurnAroundFact.setRawValue (innerObject[cameraTriggerInTurnAroundName].toBool());
_hoverAndCaptureFact.setRawValue (innerObject[hoverAndCaptureName].toBool());
_refly90DegreesFact.setRawValue (innerObject[refly90DegreesName].toBool());
_followTerrain = innerObject[_jsonFollowTerrainKey].toBool();
if (_followTerrain) {
QList<JsonHelper::KeyValidateInfo> followTerrainKeyInfoList = {
{ terrainAdjustToleranceName, QJsonValue::Double, true },
{ terrainAdjustMaxClimbRateName, QJsonValue::Double, true },
{ terrainAdjustMaxDescentRateName, QJsonValue::Double, true },
};
if (!JsonHelper::validateKeys(innerObject, followTerrainKeyInfoList, errorString)) {
return false;
}
_terrainAdjustToleranceFact.setRawValue (innerObject[terrainAdjustToleranceName].toDouble());
_terrainAdjustMaxClimbRateFact.setRawValue (innerObject[terrainAdjustMaxClimbRateName].toDouble());
_terrainAdjustMaxDescentRateFact.setRawValue (innerObject[terrainAdjustMaxDescentRateName].toDouble());
}
return true;
}
......@@ -230,3 +352,192 @@ bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const
return _vehicle->multiRotor() || _vehicle->vtol();
}
void TransectStyleComplexItem::_rebuildTransects(void)
{
_rebuildTransectsPhase1();
_rebuildTransectsPhase2();
}
void TransectStyleComplexItem::_queryTransectsPathHeightInfo(void)
{
_transectsPathHeightInfo.clear();
if (_terrainPolyPathQuery) {
// Toss previous query
_terrainPolyPathQuery->deleteLater();
_terrainPolyPathQuery = NULL;
}
if (_transectPoints.count() > 1) {
// We don't actually send the query until this timer times out. This way we only send
// the laset request if we get a bunch in a row.
_terrainQueryTimer.start();
}
}
void TransectStyleComplexItem::_reallyQueryTransectsPathHeightInfo(void)
{
if (_transectPoints.count() > 1) {
_terrainPolyPathQuery = new TerrainPolyPathQuery(this);
connect(_terrainPolyPathQuery, &TerrainPolyPathQuery::terrainData, this, &TransectStyleComplexItem::_polyPathTerrainData);
_terrainPolyPathQuery->requestData(_transectPoints);
}
}
void TransectStyleComplexItem::_polyPathTerrainData(bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo)
{
if (success) {
_transectsPathHeightInfo = rgPathHeightInfo;
} else {
_transectsPathHeightInfo.clear();
}
}
bool TransectStyleComplexItem::readyForSave(void) const
{
// Make sure we have the terrain data we need
return _transectPoints.count() > 1 ? _transectsPathHeightInfo.count() : false;
}
/// Add altitude values to the standard transect points (whether following terrain or not)
void TransectStyleComplexItem::_adjustTransectPointsForTerrain(void)
{
if (_followTerrain && !readyForSave()) {
qCWarning(TransectStyleComplexItemLog) << "_adjustTransectPointsForTerrain called when terrain data not ready";
qgcApp()->showMessage(tr("INTERNAL ERROR: TransectStyleComplexItem::_adjustTransectPointsForTerrain called when terrain data not ready. Plan will be incorrect."));
return;
}
double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
qDebug() << _transectPoints.count() << _transectsPathHeightInfo.count();
for (int i=0; i<_transectPoints.count() - 1; i++) {
QGeoCoordinate transectPoint = _transectPoints[i].value<QGeoCoordinate>();
bool surveyEdgeIndicator = transectPoint.altitude() == _surveyEdgeIndicator;
if (_followTerrain) {
transectPoint.setAltitude(_transectsPathHeightInfo[i].heights[0] + requestedAltitude);
} else {
transectPoint.setAltitude(requestedAltitude);
}
if (surveyEdgeIndicator) {
// Use to indicate survey edge
transectPoint.setAltitude(-transectPoint.altitude());
}
_transectPoints[i] = QVariant::fromValue(transectPoint);
}
// Take care of last point
QGeoCoordinate transectPoint = _transectPoints.last().value<QGeoCoordinate>();
bool surveyEdgeIndicator = transectPoint.altitude() == _surveyEdgeIndicator;
if (_followTerrain){
transectPoint.setAltitude(_transectsPathHeightInfo.last().heights.last() + requestedAltitude);
} else {
transectPoint.setAltitude(requestedAltitude);
}
if (surveyEdgeIndicator) {
// Use to indicate survey edge
transectPoint.setAltitude(-transectPoint.altitude());
}
_transectPoints[_transectPoints.count() - 1] = QVariant::fromValue(transectPoint);
_addInterstitialTransectsForTerrain();
}
/// Returns the altitude in between the two points on a line.
/// @param precentTowardsTo Example: .25 = twenty five percent along the distance of from to to
double TransectStyleComplexItem::_altitudeBetweenCoords(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo)
{
double fromAlt = qAbs(fromCoord.altitude());
double toAlt = qAbs(toCoord.altitude());
double altDiff = toAlt - fromAlt;
return fromAlt + (altDiff * percentTowardsTo);
}
/// Determine the maximum height within the PathHeightInfo
/// @param fromIndex First height index to consider
/// @param fromIndex Last height index to consider
/// @param[out] maxHeight Maximum height
/// @return index within PathHeightInfo_t.heights which contains maximum height, -1 no height data in between from and to indices
int TransectStyleComplexItem::_maxPathHeight(const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight)
{
maxHeight = qQNaN();
if (toIndex - fromIndex < 2) {
return -1;
}
fromIndex++;
toIndex--;
int maxIndex = fromIndex;
maxHeight = pathHeightInfo.heights[fromIndex];
for (int i=fromIndex; i<=toIndex; i++) {
if (pathHeightInfo.heights[i] > maxHeight) {
maxIndex = i;
maxHeight = pathHeightInfo.heights[i];
}
}
return maxIndex;
}
/// Add points in between existing points to account for terrain
void TransectStyleComplexItem::_addInterstitialTransectsForTerrain(void)
{
if (!_followTerrain) {
return;
}
double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
double tolerance = _terrainAdjustToleranceFact.rawValue().toDouble();
QList<QVariant> terrainAdjustedTransectPoints;
// Check for needed terrain adjust in between the transect points
for (int i=0; i<_transectPoints.count() - 1; i++) {
terrainAdjustedTransectPoints.append(_transectPoints[i]);
QGeoCoordinate fromCoord = _transectPoints[i].value<QGeoCoordinate>();
QGeoCoordinate toCoord = _transectPoints[i+1].value<QGeoCoordinate>();
const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = _transectsPathHeightInfo[i];
int cHeights = pathHeightInfo.heights.count();
int lastAddedHeightIndex = 0;
//qDebug() << "cHeights" << cHeights << pathHeightInfo.heights;
for (int pathHeightIndex=1; pathHeightIndex<pathHeightInfo.heights.count() - 2; pathHeightIndex++) {
double interstitialTerrainHeight = pathHeightInfo.heights[pathHeightIndex];
double percentTowardsTo = (1.0 / (cHeights - lastAddedHeightIndex)) * (pathHeightIndex - lastAddedHeightIndex);
double interstitialHeight = _altitudeBetweenCoords(fromCoord, toCoord, percentTowardsTo);
double interstitialDeltaOverTerrain = interstitialHeight - interstitialTerrainHeight;
double requestedDeltaOverTerrain = requestedAltitude;
//qDebug() << "interstitialDeltaOverTerrain:requestedDeltaOverTerrain" << interstitialDeltaOverTerrain << requestedDeltaOverTerrain;
if (qAbs(requestedDeltaOverTerrain - interstitialDeltaOverTerrain) > tolerance) {
// We need to add a new point to adjust for terrain
double azimuth = fromCoord.azimuthTo(toCoord);
double distance = fromCoord.distanceTo(toCoord);
QGeoCoordinate interstitialCoord = fromCoord.atDistanceAndAzimuth(distance * percentTowardsTo, azimuth);
interstitialCoord.setAltitude(interstitialTerrainHeight + requestedAltitude);
terrainAdjustedTransectPoints.append(QVariant::fromValue(interstitialCoord));
fromCoord = interstitialCoord;
lastAddedHeightIndex = pathHeightIndex;
//qDebug() << "Added index" << terrainAdjustedTransectPoints.count() - 1;
}
}
}
terrainAdjustedTransectPoints.append(_transectPoints.last());
_transectPoints = terrainAdjustedTransectPoints;
}
void TransectStyleComplexItem::setFollowTerrain(bool followTerrain)
{
if (followTerrain != _followTerrain) {
_followTerrain = followTerrain;
emit followTerrainChanged(followTerrain);
}
}
src/MissionManager/TransectStyleComplexItem.h
View file @ 5c72de31
......@@ -16,6 +16,7 @@
#include "QGCMapPolyline.h"
#include "QGCMapPolygon.h"
#include "CameraCalc.h"
#include "TerrainQuery.h"
Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog)
......@@ -26,34 +27,45 @@ class TransectStyleComplexItem : public ComplexMissionItem
public:
TransectStyleComplexItem(Vehicle* vehicle, QString settignsGroup, QObject* parent = NULL);
Q_PROPERTY(QGCMapPolygon* surveyAreaPolygon READ surveyAreaPolygon CONSTANT)
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* turnAroundDistance READ turnAroundDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerInTurnAround READ cameraTriggerInTurnAround CONSTANT)
Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT)
Q_PROPERTY(Fact* refly90Degrees READ refly90Degrees CONSTANT)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(double cameraMinTriggerInterval READ cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT)
Q_PROPERTY(QVariantList transectPoints READ transectPoints NOTIFY transectPointsChanged)
Q_PROPERTY(QGCMapPolygon* surveyAreaPolygon READ surveyAreaPolygon CONSTANT)
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(Fact* turnAroundDistance READ turnAroundDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerInTurnAround READ cameraTriggerInTurnAround CONSTANT)
Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT)
Q_PROPERTY(Fact* refly90Degrees READ refly90Degrees CONSTANT)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(double cameraMinTriggerInterval READ cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT)
Q_PROPERTY(QVariantList transectPoints READ transectPoints NOTIFY transectPointsChanged)
Q_PROPERTY(bool followTerrain READ followTerrain WRITE setFollowTerrain NOTIFY followTerrainChanged)
Q_PROPERTY(Fact* terrainAdjustTolerance READ terrainAdjustTolerance CONSTANT)
Q_PROPERTY(Fact* terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate CONSTANT)
Q_PROPERTY(Fact* terrainAdjustMaxClimbRate READ terrainAdjustMaxClimbRate CONSTANT)
QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; }
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
QVariantList transectPoints (void) { return _transectPoints; }
Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; }
Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; }
Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; }
Fact* refly90Degrees (void) { return &_refly90DegreesFact; }
Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; }
Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; }
Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; }
Fact* refly90Degrees (void) { return &_refly90DegreesFact; }
Fact* terrainAdjustTolerance (void) { return &_terrainAdjustToleranceFact; }
Fact* terrainAdjustMaxDescentRate (void) { return &_terrainAdjustMaxClimbRateFact; }
Fact* terrainAdjustMaxClimbRate (void) { return &_terrainAdjustMaxDescentRateFact; }
int cameraShots (void) const { return _cameraShots; }
double timeBetweenShots (void);
double coveredArea (void) const;
double cameraMinTriggerInterval(void) const { return _cameraMinTriggerInterval; }
bool hoverAndCaptureAllowed (void) const;
bool followTerrain (void) const { return _followTerrain; }
void setFollowTerrain(bool followTerrain);
// Overrides from ComplexMissionItem
......@@ -66,7 +78,7 @@ public:
// Overrides from VisualMissionItem
void save (QJsonArray& missionItems) override = 0;
void save (QJsonArray& planItems) override = 0;
bool specifiesCoordinate (void) const override = 0;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) override = 0;
void applyNewAltitude (double newAltitude) override = 0;
......@@ -85,6 +97,7 @@ public:
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
bool readyForSave (void) const override;
bool coordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; }
bool exitCoordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; }
......@@ -99,6 +112,9 @@ public:
static const char* cameraTriggerInTurnAroundName;
static const char* hoverAndCaptureName;
static const char* refly90DegreesName;
static const char* terrainAdjustToleranceName;
static const char* terrainAdjustMaxClimbRateName;
static const char* terrainAdjustMaxDescentRateName;
signals:
void cameraShotsChanged (void);
......@@ -106,33 +122,41 @@ signals:
void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
void transectPointsChanged (void);
void coveredAreaChanged (void);
void followTerrainChanged (bool followTerrain);
protected slots:
virtual void _rebuildTransects (void) = 0;
virtual void _rebuildTransectsPhase1 (void) = 0;
virtual void _rebuildTransectsPhase2 (void) = 0;
void _setDirty (void);
void _setIfDirty (bool dirty);
void _updateCoordinateAltitudes (void);
void _signalLastSequenceNumberChanged (void);
void _polyPathTerrainData (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
protected:
void _save (QJsonObject& saveObject);
bool _load (const QJsonObject& complexObject, QString& errorString);
void _setExitCoordinate (const QGeoCoordinate& coordinate);
void _setCameraShots (int cameraShots);
double _triggerDistance (void) const;
int _transectCount (void) const;
bool _hasTurnaround (void) const;
double _turnaroundDistance (void) const;
void _save (QJsonObject& saveObject);
bool _load (const QJsonObject& complexObject, QString& errorString);
void _setExitCoordinate (const QGeoCoordinate& coordinate);
void _setCameraShots (int cameraShots);
double _triggerDistance (void) const;
bool _hasTurnaround (void) const;
double _turnaroundDistance (void) const;
void _queryTransectsPathHeightInfo (void);
void _adjustTransectPointsForTerrain (void);
QString _settingsGroup;
int _sequenceNumber;
bool _dirty;
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
QVariantList _transectPoints;
QGCMapPolygon _surveyAreaPolygon;
QVariantList _transectPoints;
QList<TerrainPathQuery::PathHeightInfo_t> _transectsPathHeightInfo;
TerrainPolyPathQuery* _terrainPolyPathQuery;
QTimer _terrainQueryTimer;
bool _ignoreRecalc;
double _complexDistance;
int _cameraShots;
......@@ -140,6 +164,10 @@ protected:
double _cameraMinTriggerInterval;
double _cruiseSpeed;
CameraCalc _cameraCalc;
bool _followTerrain;
QObject* _loadedMissionItemsParent; ///< Parent for all items in _loadedMissionItems for simpler delete
QList<MissionItem*> _loadedMissionItems; ///< Mission items loaded from plan file
QMap<QString, FactMetaData*> _metaDataMap;
......@@ -147,6 +175,25 @@ protected:
SettingsFact _cameraTriggerInTurnAroundFact;
SettingsFact _hoverAndCaptureFact;
SettingsFact _refly90DegreesFact;
SettingsFact _terrainAdjustToleranceFact;
SettingsFact _terrainAdjustMaxClimbRateFact;
SettingsFact _terrainAdjustMaxDescentRateFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonTransectStyleComplexItemKey;
static const char* _jsonTransectPointsKey;
static const char* _jsonItemsKey;
static const char* _jsonFollowTerrainKey;
static const int _terrainQueryTimeoutMsecs;
static const double _surveyEdgeIndicator; ///< Altitude value in _transectPoints which indicates survey entry
private slots:
void _rebuildTransects (void);
void _reallyQueryTransectsPathHeightInfo (void);
private:
void _addInterstitialTransectsForTerrain (void);
double _altitudeBetweenCoords (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
int _maxPathHeight (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
};
src/MissionManager/TransectStyleComplexItemTest.cc
View file @ 5c72de31
......@@ -174,7 +174,12 @@ TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
}
void TransectStyleItem::_rebuildTransects(void)
void TransectStyleItem::_rebuildTransectsPhase1(void)
{
rebuildTransectsCalled = true;
}
void TransectStyleItem::_rebuildTransectsPhase2(void)
{
}
src/MissionManager/TransectStyleComplexItemTest.h
View file @ 5c72de31
......@@ -101,5 +101,6 @@ public:
private slots:
// Overrides from TransectStyleComplexItem
void _rebuildTransects (void) final;
void _rebuildTransectsPhase1(void) final;
void _rebuildTransectsPhase2(void) final;
};
src/MissionManager/VisualMissionItem.cc
View file @ 5c72de31
......@@ -15,7 +15,7 @@
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"
#include "Terrain.h"
#include "TerrainQuery.h"
const char* VisualMissionItem::jsonTypeKey = "type";
const char* VisualMissionItem::jsonTypeSimpleItemValue = "SimpleItem";
......@@ -172,18 +172,18 @@ void VisualMissionItem::_reallyUpdateTerrainAltitude(void)
if (coord.isValid() && (qIsNaN(_terrainAltitude) || !qFuzzyCompare(_lastLatTerrainQuery, coord.latitude()) || qFuzzyCompare(_lastLonTerrainQuery, coord.longitude()))) {
_lastLatTerrainQuery = coord.latitude();
_lastLonTerrainQuery = coord.longitude();
ElevationProvider* terrain = new ElevationProvider(this);
connect(terrain, &ElevationProvider::terrainData, this, &VisualMissionItem::_terrainDataReceived);
TerrainAtCoordinateQuery* terrain = new TerrainAtCoordinateQuery(this);
connect(terrain, &TerrainAtCoordinateQuery::terrainData, this, &VisualMissionItem::_terrainDataReceived);
QList<QGeoCoordinate> rgCoord;
rgCoord.append(coordinate());
terrain->queryTerrainData(rgCoord);
terrain->requestData(rgCoord);
}
}
void VisualMissionItem::_terrainDataReceived(bool success, QList<float> altitudes)
void VisualMissionItem::_terrainDataReceived(bool success, QList<double> heights)
{
if (success) {
_terrainAltitude = altitudes[0];
_terrainAltitude = heights[0];
emit terrainAltitudeChanged(_terrainAltitude);
sender()->deleteLater();
}
......
src/MissionManager/VisualMissionItem.h
View file @ 5c72de31
......@@ -211,7 +211,7 @@ protected:
private slots:
void _updateTerrainAltitude (void);
void _reallyUpdateTerrainAltitude (void);
void _terrainDataReceived (bool success, QList<float> altitudes);
void _terrainDataReceived (bool success, QList<double> heights);
private:
QTimer _updateTerrainTimer;
......
src/PlanView/CorridorScanEditor.qml
View file @ 5c72de31
......@@ -56,6 +56,11 @@ Rectangle {
anchors.right: parent.right
spacing: _margin
QGCLabel {
text: "WIP: Careful!"
color: qgcPal.warningText
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
......@@ -126,6 +131,59 @@ Rectangle {
onClicked: missionItem.rotateEntryPoint()
}
SectionHeader {
id: terrainHeader
text: qsTr("Terrain")
checked: false
}
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: terrainHeader.checked
QGCCheckBox {
id: followsTerrainCheckBox
text: qsTr("Vehicle follows terrain")
checked: missionItem.followTerrain
onClicked: missionItem.followTerrain = checked
}
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: followsTerrainCheckBox.checked
QGCLabel {
text: "WIP: Careful!"
color: qgcPal.warningText
Layout.columnSpan: 2
}
QGCLabel { text: qsTr("Tolerance") }
FactTextField {
fact: missionItem.terrainAdjustTolerance
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Climb Rate") }
FactTextField {
fact: missionItem.terrainAdjustMaxClimbRate
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Max Descent Rate") }
FactTextField {
fact: missionItem.terrainAdjustMaxDescentRate
Layout.fillWidth: true
}
}
}
SectionHeader {
id: statsHeader
text: qsTr("Statistics")
......
src/Terrain.cc deleted 100644 → 0
View file @ bdbe526f
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "Terrain.h"
#include "QGCMapEngine.h"
#include "QGeoMapReplyQGC.h"
#include <QUrl>
#include <QUrlQuery>
#include <QNetworkRequest>
#include <QNetworkProxy>
#include <QNetworkReply>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QTimer>
#include <QtLocation/private/qgeotilespec_p.h>
QGC_LOGGING_CATEGORY(ElevationProviderLog, "ElevationProviderLog")
Q_GLOBAL_STATIC(TerrainBatchManager, _terrainBatchManager)
TerrainBatchManager::TerrainBatchManager(void)
{
}
void TerrainBatchManager::addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() > 0) {
QList<float> altitudes;
if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
QueuedRequestInfo_t queuedRequestInfo = { elevationProvider, coordinates };
_requestQueue.append(queuedRequestInfo);
return;
}
qCDebug(ElevationProviderLog) << "All altitudes taken from cached data";
elevationProvider->_signalTerrainData(coordinates.count() == altitudes.count(), altitudes);
}
}
bool TerrainBatchManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<float>& altitudes)
{
foreach (const QGeoCoordinate& coordinate, coordinates) {
QString tileHash = _getTileHash(coordinate);
_tilesMutex.lock();
if (!_tiles.contains(tileHash)) {
qCDebug(ElevationProviderLog) << "Need to download tile " << tileHash;
// Schedule the fetch task
if (_state != State::Downloading) {
QNetworkRequest request = getQGCMapEngine()->urlFactory()->getTileURL(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1, &_networkManager);
QGeoTileSpec spec;
spec.setX(QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1));
spec.setY(QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1));
spec.setZoom(1);
spec.setMapId(UrlFactory::AirmapElevation);
QGeoTiledMapReplyQGC* reply = new QGeoTiledMapReplyQGC(&_networkManager, request, spec);
connect(reply, &QGeoTiledMapReplyQGC::finished, this, &TerrainBatchManager::_fetchedTile);
connect(reply, &QGeoTiledMapReplyQGC::aborted, this, &TerrainBatchManager::_fetchedTile);
_state = State::Downloading;
}
_tilesMutex.unlock();
return false;
} else {
if (_tiles[tileHash].isIn(coordinate)) {
altitudes.push_back(_tiles[tileHash].elevation(coordinate));
} else {
qCDebug(ElevationProviderLog) << "Error: coordinate not in tile region";
altitudes.push_back(-1.0);
}
}
_tilesMutex.unlock();
}
return true;
}
void TerrainBatchManager::_tileFailed(void)
{
QList<float> noAltitudes;
foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
requestInfo.elevationProvider->_signalTerrainData(false, noAltitudes);
}
_requestQueue.clear();
}
void TerrainBatchManager::_fetchedTile()
{
QGeoTiledMapReplyQGC* reply = qobject_cast<QGeoTiledMapReplyQGC*>(QObject::sender());
_state = State::Idle;
if (!reply) {
qCDebug(ElevationProviderLog) << "Elevation tile fetched but invalid reply data type.";
return;
}
// remove from download queue
QGeoTileSpec spec = reply->tileSpec();
QString hash = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, spec.x(), spec.y(), spec.zoom());
// handle potential errors
if (reply->error() != QGeoTiledMapReply::NoError) {
if (reply->error() == QGeoTiledMapReply::CommunicationError) {
qCDebug(ElevationProviderLog) << "Elevation tile fetching returned communication error. " << reply->errorString();
} else {
qCDebug(ElevationProviderLog) << "Elevation tile fetching returned error. " << reply->errorString();
}
_tileFailed();
reply->deleteLater();
return;
}
if (!reply->isFinished()) {
qCDebug(ElevationProviderLog) << "Error in fetching elevation tile. Not finished. " << reply->errorString();
_tileFailed();
reply->deleteLater();
return;
}
// parse received data and insert into hash table
QByteArray responseBytes = reply->mapImageData();
TerrainTile* terrainTile = new TerrainTile(responseBytes);
if (terrainTile->isValid()) {
_tilesMutex.lock();
if (!_tiles.contains(hash)) {
_tiles.insert(hash, *terrainTile);
} else {
delete terrainTile;
}
_tilesMutex.unlock();
} else {
qCDebug(ElevationProviderLog) << "Received invalid tile";
}
reply->deleteLater();
// now try to query the data again
for (int i = _requestQueue.count() - 1; i >= 0; i--) {
QList<float> altitudes;
if (_getAltitudesForCoordinates(_requestQueue[i].coordinates, altitudes)) {
_requestQueue[i].elevationProvider->_signalTerrainData(_requestQueue[i].coordinates.count() == altitudes.count(), altitudes);
_requestQueue.removeAt(i);
}
}
}
QString TerrainBatchManager::_getTileHash(const QGeoCoordinate& coordinate)
{
QString ret = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1);
qCDebug(ElevationProviderLog) << "Computing unique tile hash for " << coordinate << ret;
return ret;
}
ElevationProvider::ElevationProvider(QObject* parent)
: QObject(parent)
{
}
bool ElevationProvider::queryTerrainData(const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() == 0) {
return false;
}
_terrainBatchManager->addQuery(this, coordinates);
return false;
}
void ElevationProvider::_signalTerrainData(bool success, QList<float>& altitudes)
{
emit terrainData(success, altitudes);
}
src/Terrain.h deleted 100644 → 0
View file @ bdbe526f
/****************************************************************************
*
* (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "TerrainTile.h"
#include "QGCMapEngineData.h"
#include "QGCLoggingCategory.h"
#include <QObject>
#include <QGeoCoordinate>
#include <QNetworkAccessManager>
#include <QHash>
#include <QMutex>
#include <QtLocation/private/qgeotiledmapreply_p.h>
Q_DECLARE_LOGGING_CATEGORY(ElevationProviderLog)
class ElevationProvider;
/// Used internally by ElevationProvider to batch requests together
class TerrainBatchManager : public QObject {
Q_OBJECT
public:
TerrainBatchManager(void);
void addQuery(ElevationProvider* elevationProvider, const QList<QGeoCoordinate>& coordinates);
private slots:
void _fetchedTile (void); /// slot to handle fetched elevation tiles
private:
typedef struct {
ElevationProvider* elevationProvider;
QList<QGeoCoordinate> coordinates;
} QueuedRequestInfo_t;
enum class State {
Idle,
Downloading,
};
void _tileFailed(void);
bool _getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<float>& altitudes);
QString _getTileHash(const QGeoCoordinate& coordinate); /// Method to create a unique string for each tile
QList<QueuedRequestInfo_t> _requestQueue;
State _state = State::Idle;
QNetworkAccessManager _networkManager;
QMutex _tilesMutex;
QHash<QString, TerrainTile> _tiles;
};
class ElevationProvider : public QObject
{
Q_OBJECT
public:
ElevationProvider(QObject* parent = NULL);
/**
* Async elevation query for a list of lon,lat coordinates. When the query is done, the terrainData() signal
* is emitted. This call caches local elevation tables for faster lookup in the future.
* @param coordinates
* @return true on success
*/
bool queryTerrainData(const QList<QGeoCoordinate>& coordinates);
/// Internal method
void _signalTerrainData(bool success, QList<float>& altitudes);
signals:
/// signal returning requested elevation data
void terrainData(bool success, QList<float> altitudes);
};
src/Terrain/TerrainQuery.cc 0 → 100644
View file @ 5c72de31
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "TerrainQuery.h"
#include "QGCMapEngine.h"
#include "QGeoMapReplyQGC.h"
#include <QUrl>
#include <QUrlQuery>
#include <QNetworkRequest>
#include <QNetworkProxy>
#include <QNetworkReply>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QTimer>
#include <QtLocation/private/qgeotilespec_p.h>
QGC_LOGGING_CATEGORY(TerrainQueryLog, "TerrainQueryLog")
Q_GLOBAL_STATIC(TerrainAtCoordinateBatchManager, _TerrainAtCoordinateBatchManager)
Q_GLOBAL_STATIC(TerrainTileManager, _terrainTileManager)
TerrainAirMapQuery::TerrainAirMapQuery(QObject* parent)
: TerrainQueryInterface(parent)
{
}
void TerrainAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates)
{
QString points;
foreach (const QGeoCoordinate& coord, coordinates) {
points += QString::number(coord.latitude(), 'f', 10) + ","
+ QString::number(coord.longitude(), 'f', 10) + ",";
}
points = points.mid(0, points.length() - 1); // remove the last ',' from string
QUrlQuery query;
query.addQueryItem(QStringLiteral("points"), points);
_queryMode = QueryModeCoordinates;
_sendQuery(QString() /* path */, query);
}
void TerrainAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
{
QString points;
points += QString::number(fromCoord.latitude(), 'f', 10) + ","
+ QString::number(fromCoord.longitude(), 'f', 10) + ",";
points += QString::number(toCoord.latitude(), 'f', 10) + ","
+ QString::number(toCoord.longitude(), 'f', 10);
QUrlQuery query;
query.addQueryItem(QStringLiteral("points"), points);
_queryMode = QueryModePath;
_sendQuery(QStringLiteral("/path"), query);
}
void TerrainAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly)
{
QString points;
points += QString::number(swCoord.latitude(), 'f', 10) + ","
+ QString::number(swCoord.longitude(), 'f', 10) + ",";
points += QString::number(neCoord.latitude(), 'f', 10) + ","
+ QString::number(neCoord.longitude(), 'f', 10);
QUrlQuery query;
query.addQueryItem(QStringLiteral("points"), points);
_queryMode = QueryModeCarpet;
_carpetStatsOnly = statsOnly;
_sendQuery(QStringLiteral("/carpet"), query);
}
void TerrainAirMapQuery::_sendQuery(const QString& path, const QUrlQuery& urlQuery)
{
QUrl url(QStringLiteral("https://api.airmap.com/elevation/v1/ele") + path);
url.setQuery(urlQuery);
qCDebug(TerrainQueryLog) << "_sendQuery" << url;
QNetworkRequest request(url);
QNetworkProxy tProxy;
tProxy.setType(QNetworkProxy::DefaultProxy);
_networkManager.setProxy(tProxy);
QNetworkReply* networkReply = _networkManager.get(request);
if (!networkReply) {
qCDebug(TerrainQueryLog) << "QNetworkManager::Get did not return QNetworkReply";
_requestFailed();
return;
}
connect(networkReply, &QNetworkReply::finished, this, &TerrainAirMapQuery::_requestFinished);
}
void TerrainAirMapQuery::_requestFinished(void)
{
QNetworkReply* reply = qobject_cast<QNetworkReply*>(QObject::sender());
if (reply->error() != QNetworkReply::NoError) {
qCDebug(TerrainQueryLog) << "_requestFinished error:" << reply->error();
reply->deleteLater();
_requestFailed();
return;
}
QByteArray responseBytes = reply->readAll();
reply->deleteLater();
// Convert the response to Json
QJsonParseError parseError;
QJsonDocument responseJson = QJsonDocument::fromJson(responseBytes, &parseError);
if (parseError.error != QJsonParseError::NoError) {
qCDebug(TerrainQueryLog) << "_requestFinished unable to parse json:" << parseError.errorString();
_requestFailed();
return;
}
// Check airmap reponse status
QJsonObject rootObject = responseJson.object();
QString status = rootObject["status"].toString();
if (status != "success") {
qCDebug(TerrainQueryLog) << "_requestFinished status != success:" << status;
_requestFailed();
return;
}
// Send back data
const QJsonValue& jsonData = rootObject["data"];
qCDebug(TerrainQueryLog) << "_requestFinished" << jsonData;
switch (_queryMode) {
case QueryModeCoordinates:
emit _parseCoordinateData(jsonData);
break;
case QueryModePath:
emit _parsePathData(jsonData);
break;
case QueryModeCarpet:
emit _parseCarpetData(jsonData);
break;
}
}
void TerrainAirMapQuery::_requestFailed(void)
{
switch (_queryMode) {
case QueryModeCoordinates:
emit coordinateHeights(false /* success */, QList<double>() /* heights */);
break;
case QueryModePath:
emit pathHeights(false /* success */, qQNaN() /* latStep */, qQNaN() /* lonStep */, QList<double>() /* heights */);
break;
case QueryModeCarpet:
emit carpetHeights(false /* success */, qQNaN() /* minHeight */, qQNaN() /* maxHeight */, QList<QList<double>>() /* carpet */);
break;
}
}
void TerrainAirMapQuery::_parseCoordinateData(const QJsonValue& coordinateJson)
{
QList<double> heights;
const QJsonArray& dataArray = coordinateJson.toArray();
for (int i = 0; i < dataArray.count(); i++) {
heights.append(dataArray[i].toDouble());
}
emit coordinateHeights(true /* success */, heights);
}
void TerrainAirMapQuery::_parsePathData(const QJsonValue& pathJson)
{
QJsonObject jsonObject = pathJson.toArray()[0].toObject();
QJsonArray stepArray = jsonObject["step"].toArray();
QJsonArray profileArray = jsonObject["profile"].toArray();
double latStep = stepArray[0].toDouble();
double lonStep = stepArray[1].toDouble();
QList<double> heights;
foreach (const QJsonValue& profileValue, profileArray) {
heights.append(profileValue.toDouble());
}
emit pathHeights(true /* success */, latStep, lonStep, heights);
}
void TerrainAirMapQuery::_parseCarpetData(const QJsonValue& carpetJson)
{
QJsonObject jsonObject = carpetJson.toArray()[0].toObject();
QJsonObject statsObject = jsonObject["stats"].toObject();
double minHeight = statsObject["min"].toDouble();
double maxHeight = statsObject["min"].toDouble();
QList<QList<double>> carpet;
if (!_carpetStatsOnly) {
QJsonArray carpetArray = jsonObject["carpet"].toArray();
for (int i=0; i<carpetArray.count(); i++) {
QJsonArray rowArray = carpetArray[i].toArray();
carpet.append(QList<double>());
for (int j=0; j<rowArray.count(); j++) {
double height = rowArray[j].toDouble();
carpet.last().append(height);
}
}
}
emit carpetHeights(true /*success*/, minHeight, maxHeight, carpet);
}
TerrainOfflineAirMapQuery::TerrainOfflineAirMapQuery(QObject* parent)
: TerrainQueryInterface(parent)
{
}
void TerrainOfflineAirMapQuery::requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() == 0) {
return;
}
_terrainTileManager->addCoordinateQuery(this, coordinates);
}
void TerrainOfflineAirMapQuery::requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
{
_terrainTileManager->addPathQuery(this, fromCoord, toCoord);
}
void TerrainOfflineAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly)
{
// TODO
Q_UNUSED(swCoord);
Q_UNUSED(neCoord);
Q_UNUSED(statsOnly);
qWarning() << "Carpet queries are currently not supported from offline air map data";
}
void TerrainOfflineAirMapQuery::_signalCoordinateHeights(bool success, QList<double> heights)
{
emit coordinateHeights(success, heights);
}
void TerrainOfflineAirMapQuery::_signalPathHeights(bool success, double latStep, double lonStep, const QList<double>& heights)
{
emit pathHeights(success, latStep, lonStep, heights);
}
void TerrainOfflineAirMapQuery::_signalCarpetHeights(bool success, double minHeight, double maxHeight, const QList<QList<double>>& carpet)
{
emit carpetHeights(success, minHeight, maxHeight, carpet);
}
TerrainTileManager::TerrainTileManager(void)
{
}
void TerrainTileManager::addCoordinateQuery(TerrainOfflineAirMapQuery* terrainQueryInterface, const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() > 0) {
QList<double> altitudes;
if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModeCoordinates, coordinates };
_requestQueue.append(queuedRequestInfo);
return;
}
qCDebug(TerrainQueryLog) << "All altitudes taken from cached data";
terrainQueryInterface->_signalCoordinateHeights(coordinates.count() == altitudes.count(), altitudes);
}
}
void TerrainTileManager::addPathQuery(TerrainOfflineAirMapQuery* terrainQueryInterface, const QGeoCoordinate &startPoint, const QGeoCoordinate &endPoint)
{
QList<QGeoCoordinate> coordinates;
double lat = startPoint.latitude();
double lon = startPoint.longitude();
double latDiff = endPoint.latitude() - lat;
double lonDiff = endPoint.longitude() - lon;
double steps = ceil(endPoint.distanceTo(startPoint) / TerrainTile::terrainAltitudeSpacing);
for (double i = 0.0; i <= steps; i = i + 1) {
coordinates.append(QGeoCoordinate(lat + latDiff * i / steps, lon + lonDiff * i / steps));
}
QList<double> altitudes;
if (!_getAltitudesForCoordinates(coordinates, altitudes)) {
QueuedRequestInfo_t queuedRequestInfo = { terrainQueryInterface, QueryMode::QueryModePath, coordinates };
_requestQueue.append(queuedRequestInfo);
return;
}
qCDebug(TerrainQueryLog) << "All altitudes taken from cached data";
double stepLat = 0;
double stepLon = 0;
if (coordinates.count() > 1) {
stepLat = coordinates[1].latitude() - coordinates[0].latitude();
stepLon = coordinates[1].longitude() - coordinates[0].longitude();
}
terrainQueryInterface->_signalPathHeights(coordinates.count() == altitudes.count(), stepLat, stepLon, altitudes);
}
bool TerrainTileManager::_getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes)
{
foreach (const QGeoCoordinate& coordinate, coordinates) {
QString tileHash = _getTileHash(coordinate);
_tilesMutex.lock();
if (!_tiles.contains(tileHash)) {
qCDebug(TerrainQueryLog) << "Need to download tile " << tileHash;
// Schedule the fetch task
if (_state != State::Downloading) {
QNetworkRequest request = getQGCMapEngine()->urlFactory()->getTileURL(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1, &_networkManager);
QGeoTileSpec spec;
spec.setX(QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1));
spec.setY(QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1));
spec.setZoom(1);
spec.setMapId(UrlFactory::AirmapElevation);
QGeoTiledMapReplyQGC* reply = new QGeoTiledMapReplyQGC(&_networkManager, request, spec);
connect(reply, &QGeoTiledMapReplyQGC::finished, this, &TerrainTileManager::_fetchedTile);
connect(reply, &QGeoTiledMapReplyQGC::aborted, this, &TerrainTileManager::_fetchedTile);
_state = State::Downloading;
}
_tilesMutex.unlock();
return false;
} else {
if (_tiles[tileHash].isIn(coordinate)) {
altitudes.push_back(_tiles[tileHash].elevation(coordinate));
} else {
qCDebug(TerrainQueryLog) << "Error: coordinate not in tile region";
altitudes.push_back(-1.0);
}
}
_tilesMutex.unlock();
}
return true;
}
void TerrainTileManager::_tileFailed(void)
{
QList<double> noAltitudes;
foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
if (requestInfo.queryMode == QueryMode::QueryModeCoordinates) {
requestInfo.terrainQueryInterface->_signalCoordinateHeights(false, noAltitudes);
}
}
_requestQueue.clear();
}
void TerrainTileManager::_fetchedTile()
{
QGeoTiledMapReplyQGC* reply = qobject_cast<QGeoTiledMapReplyQGC*>(QObject::sender());
_state = State::Idle;
if (!reply) {
qCDebug(TerrainQueryLog) << "Elevation tile fetched but invalid reply data type.";
return;
}
// remove from download queue
QGeoTileSpec spec = reply->tileSpec();
QString hash = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, spec.x(), spec.y(), spec.zoom());
// handle potential errors
if (reply->error() != QGeoTiledMapReply::NoError) {
if (reply->error() == QGeoTiledMapReply::CommunicationError) {
qCDebug(TerrainQueryLog) << "Elevation tile fetching returned communication error. " << reply->errorString();
} else {
qCDebug(TerrainQueryLog) << "Elevation tile fetching returned error. " << reply->errorString();
}
_tileFailed();
reply->deleteLater();
return;
}
if (!reply->isFinished()) {
qCDebug(TerrainQueryLog) << "Error in fetching elevation tile. Not finished. " << reply->errorString();
_tileFailed();
reply->deleteLater();
return;
}
// parse received data and insert into hash table
QByteArray responseBytes = reply->mapImageData();
TerrainTile* terrainTile = new TerrainTile(responseBytes);
if (terrainTile->isValid()) {
_tilesMutex.lock();
if (!_tiles.contains(hash)) {
_tiles.insert(hash, *terrainTile);
} else {
delete terrainTile;
}
_tilesMutex.unlock();
} else {
qCDebug(TerrainQueryLog) << "Received invalid tile";
}
reply->deleteLater();
// now try to query the data again
for (int i = _requestQueue.count() - 1; i >= 0; i--) {
QList<double> altitudes;
if (_getAltitudesForCoordinates(_requestQueue[i].coordinates, altitudes)) {
if (_requestQueue[i].queryMode == QueryMode::QueryModeCoordinates) {
_requestQueue[i].terrainQueryInterface->_signalCoordinateHeights(_requestQueue[i].coordinates.count() == altitudes.count(), altitudes);
}
_requestQueue.removeAt(i);
}
}
}
QString TerrainTileManager::_getTileHash(const QGeoCoordinate& coordinate)
{
QString ret = QGCMapEngine::getTileHash(UrlFactory::AirmapElevation, QGCMapEngine::long2elevationTileX(coordinate.longitude(), 1), QGCMapEngine::lat2elevationTileY(coordinate.latitude(), 1), 1);
qCDebug(TerrainQueryLog) << "Computing unique tile hash for " << coordinate << ret;
return ret;
}
TerrainAtCoordinateBatchManager::TerrainAtCoordinateBatchManager(void)
{
_batchTimer.setSingleShot(true);
_batchTimer.setInterval(_batchTimeout);
connect(&_batchTimer, &QTimer::timeout, this, &TerrainAtCoordinateBatchManager::_sendNextBatch);
connect(&_terrainQuery, &TerrainQueryInterface::coordinateHeights, this, &TerrainAtCoordinateBatchManager::_coordinateHeights);
}
void TerrainAtCoordinateBatchManager::addQuery(TerrainAtCoordinateQuery* terrainAtCoordinateQuery, const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() > 0) {
qCDebug(TerrainQueryLog) << "addQuery: TerrainAtCoordinateQuery:coordinates.count" << terrainAtCoordinateQuery << coordinates.count();
connect(terrainAtCoordinateQuery, &TerrainAtCoordinateQuery::destroyed, this, &TerrainAtCoordinateBatchManager::_queryObjectDestroyed);
QueuedRequestInfo_t queuedRequestInfo = { terrainAtCoordinateQuery, coordinates };
_requestQueue.append(queuedRequestInfo);
if (!_batchTimer.isActive()) {
_batchTimer.start();
}
}
}
void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
{
qCDebug(TerrainQueryLog) << "_sendNextBatch _state:_requestQueue.count:_sentRequests.count" << _stateToString(_state) << _requestQueue.count() << _sentRequests.count();
if (_state != State::Idle) {
// Waiting for last download the complete, wait some more
_batchTimer.start();
return;
}
if (_requestQueue.count() == 0) {
return;
}
_sentRequests.clear();
// Convert coordinates to point strings for json query
QList<QGeoCoordinate> coords;
foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
SentRequestInfo_t sentRequestInfo = { requestInfo.terrainAtCoordinateQuery, false, requestInfo.coordinates.count() };
qCDebug(TerrainQueryLog) << "Building request: coordinate count" << requestInfo.coordinates.count();
_sentRequests.append(sentRequestInfo);
coords += requestInfo.coordinates;
}
_requestQueue.clear();
_state = State::Downloading;
_terrainQuery.requestCoordinateHeights(coords);
}
void TerrainAtCoordinateBatchManager::_batchFailed(void)
{
QList<double> noHeights;
foreach (const SentRequestInfo_t& sentRequestInfo, _sentRequests) {
if (!sentRequestInfo.queryObjectDestroyed) {
disconnect(sentRequestInfo.terrainAtCoordinateQuery, &TerrainAtCoordinateQuery::destroyed, this, &TerrainAtCoordinateBatchManager::_queryObjectDestroyed);
sentRequestInfo.terrainAtCoordinateQuery->_signalTerrainData(false, noHeights);
}
}
_sentRequests.clear();
}
void TerrainAtCoordinateBatchManager::_queryObjectDestroyed(QObject* terrainAtCoordinateQuery)
{
// Remove/Mark deleted objects queries from queues
qCDebug(TerrainQueryLog) << "_TerrainAtCoordinateQueryDestroyed TerrainAtCoordinateQuery" << terrainAtCoordinateQuery;
int i = 0;
while (i < _requestQueue.count()) {
const QueuedRequestInfo_t& requestInfo = _requestQueue[i];
if (requestInfo.terrainAtCoordinateQuery == terrainAtCoordinateQuery) {
qCDebug(TerrainQueryLog) << "Removing deleted provider from _requestQueue index:terrainAtCoordinateQuery" << i << requestInfo.terrainAtCoordinateQuery;
_requestQueue.removeAt(i);
} else {
i++;
}
}
for (int i=0; i<_sentRequests.count(); i++) {
SentRequestInfo_t& sentRequestInfo = _sentRequests[i];
if (sentRequestInfo.terrainAtCoordinateQuery == terrainAtCoordinateQuery) {
qCDebug(TerrainQueryLog) << "Zombieing deleted provider from _sentRequests index:terrainAtCoordinateQuery" << sentRequestInfo.terrainAtCoordinateQuery;
sentRequestInfo.queryObjectDestroyed = true;
}
}
}
QString TerrainAtCoordinateBatchManager::_stateToString(State state)
{
switch (state) {
case State::Idle:
return QStringLiteral("Idle");
case State::Downloading:
return QStringLiteral("Downloading");
}
return QStringLiteral("State unknown");
}
void TerrainAtCoordinateBatchManager::_coordinateHeights(bool success, QList<double> heights)
{
_state = State::Idle;
if (!success) {
_batchFailed();
return;
}
int currentIndex = 0;
foreach (const SentRequestInfo_t& sentRequestInfo, _sentRequests) {
if (!sentRequestInfo.queryObjectDestroyed) {
disconnect(sentRequestInfo.terrainAtCoordinateQuery, &TerrainAtCoordinateQuery::destroyed, this, &TerrainAtCoordinateBatchManager::_queryObjectDestroyed);
QList<double> requestAltitudes = heights.mid(currentIndex, sentRequestInfo.cCoord);
sentRequestInfo.terrainAtCoordinateQuery->_signalTerrainData(true, requestAltitudes);
currentIndex += sentRequestInfo.cCoord;
}
}
_sentRequests.clear();
}
TerrainAtCoordinateQuery::TerrainAtCoordinateQuery(QObject* parent)
: QObject(parent)
{
}
void TerrainAtCoordinateQuery::requestData(const QList<QGeoCoordinate>& coordinates)
{
if (coordinates.length() == 0) {
return;
}
_TerrainAtCoordinateBatchManager->addQuery(this, coordinates);
}
void TerrainAtCoordinateQuery::_signalTerrainData(bool success, QList<double>& heights)
{
emit terrainData(success, heights);
}
TerrainPathQuery::TerrainPathQuery(QObject* parent)
: QObject(parent)
{
qRegisterMetaType<PathHeightInfo_t>();
connect(&_terrainQuery, &TerrainQueryInterface::pathHeights, this, &TerrainPathQuery::_pathHeights);
}
void TerrainPathQuery::requestData(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord)
{
_terrainQuery.requestPathHeights(fromCoord, toCoord);
}
void TerrainPathQuery::_pathHeights(bool success, double latStep, double lonStep, const QList<double>& heights)
{
PathHeightInfo_t pathHeightInfo;
pathHeightInfo.latStep = latStep;
pathHeightInfo.lonStep = lonStep;
pathHeightInfo.heights = heights;
emit terrainData(success, pathHeightInfo);
}
TerrainPolyPathQuery::TerrainPolyPathQuery(QObject* parent)
: QObject (parent)
, _curIndex (0)
{
connect(&_pathQuery, &TerrainPathQuery::terrainData, this, &TerrainPolyPathQuery::_terrainDataReceived);
}
void TerrainPolyPathQuery::requestData(const QVariantList& polyPath)
{
QList<QGeoCoordinate> path;
foreach (const QVariant& geoVar, polyPath) {
path.append(geoVar.value<QGeoCoordinate>());
}
requestData(path);
}
void TerrainPolyPathQuery::requestData(const QList<QGeoCoordinate>& polyPath)
{
// Kick off first request
_rgCoords = polyPath;
_curIndex = 0;
_pathQuery.requestData(_rgCoords[0], _rgCoords[1]);
}
void TerrainPolyPathQuery::_terrainDataReceived(bool success, const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo)
{
if (!success) {
_rgPathHeightInfo.clear();
emit terrainData(false /* success */, _rgPathHeightInfo);
return;
}
_rgPathHeightInfo.append(pathHeightInfo);
if (++_curIndex >= _rgCoords.count() - 1) {
// We've finished all requests
emit terrainData(true /* success */, _rgPathHeightInfo);
} else {
_pathQuery.requestData(_rgCoords[_curIndex], _rgCoords[_curIndex+1]);
}
}
TerrainCarpetQuery::TerrainCarpetQuery(QObject* parent)
: QObject(parent)
{
connect(&_terrainQuery, &TerrainQueryInterface::carpetHeights, this, &TerrainCarpetQuery::terrainData);
}
void TerrainCarpetQuery::requestData(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly)
{
_terrainQuery.requestCarpetHeights(swCoord, neCoord, statsOnly);
}
src/Terrain/TerrainQuery.h 0 → 100644
View file @ 5c72de31
/****************************************************************************
*
* (c) 2017 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "TerrainTile.h"
#include "QGCMapEngineData.h"
#include "QGCLoggingCategory.h"
#include <QObject>
#include <QGeoCoordinate>
#include <QNetworkAccessManager>
#include <QNetworkReply>
#include <QTimer>
#include <QtLocation/private/qgeotiledmapreply_p.h>
Q_DECLARE_LOGGING_CATEGORY(TerrainQueryLog)
class TerrainAtCoordinateQuery;
/// Base class for offline/online terrain queries
class TerrainQueryInterface : public QObject
{
Q_OBJECT
public:
TerrainQueryInterface(QObject* parent) : QObject(parent) { }
/// Request terrain heights for specified coodinates.
/// Signals: coordinateHeights when data is available
virtual void requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates) = 0;
/// Requests terrain heights along the path specified by the two coordinates.
/// Signals: pathHeights
/// @param coordinates to query
virtual void requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) = 0;
/// Request terrain heights for the rectangular area specified.
/// Signals: carpetHeights when data is available
/// @param swCoord South-West bound of rectangular area to query
/// @param neCoord North-East bound of rectangular area to query
/// @param statsOnly true: Return only stats, no carpet data
virtual void requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly) = 0;
signals:
void coordinateHeights(bool success, QList<double> heights);
void pathHeights(bool success, double latStep, double lonStep, const QList<double>& heights);
void carpetHeights(bool success, double minHeight, double maxHeight, const QList<QList<double>>& carpet);
};
/// AirMap online implementation of terrain queries
class TerrainAirMapQuery : public TerrainQueryInterface {
Q_OBJECT
public:
TerrainAirMapQuery(QObject* parent = NULL);
// Overrides from TerrainQueryInterface
void requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates) final;
void requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) final;
void requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly) final;
private slots:
void _requestFinished(void);
private:
void _sendQuery (const QString& path, const QUrlQuery& urlQuery);
void _requestFailed (void);
void _parseCoordinateData (const QJsonValue& coordinateJson);
void _parsePathData (const QJsonValue& pathJson);
void _parseCarpetData (const QJsonValue& carpetJson);
enum QueryMode {
QueryModeCoordinates,
QueryModePath,
QueryModeCarpet
};
QNetworkAccessManager _networkManager;
QueryMode _queryMode;
bool _carpetStatsOnly;
};
/// AirMap online implementation of terrain queries
class TerrainOfflineAirMapQuery : public TerrainQueryInterface {
Q_OBJECT
public:
TerrainOfflineAirMapQuery(QObject* parent = NULL);
// Overrides from TerrainQueryInterface
void requestCoordinateHeights(const QList<QGeoCoordinate>& coordinates) final;
void requestPathHeights(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord) final;
void requestCarpetHeights(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly) final;
// Internal method
void _signalCoordinateHeights(bool success, QList<double> heights);
void _signalPathHeights(bool success, double latStep, double lonStep, const QList<double>& heights);
void _signalCarpetHeights(bool success, double minHeight, double maxHeight, const QList<QList<double>>& carpet);
bool _carpetStatsOnly;
};
/// Used internally by TerrainOfflineAirMapQuery to manage terrain tiles
class TerrainTileManager : public QObject {
Q_OBJECT
public:
TerrainTileManager(void);
void addCoordinateQuery (TerrainOfflineAirMapQuery* terrainQueryInterface, const QList<QGeoCoordinate>& coordinates);
void addPathQuery (TerrainOfflineAirMapQuery* terrainQueryInterface, const QGeoCoordinate& startPoint, const QGeoCoordinate& endPoint);
private slots:
void _fetchedTile (void); /// slot to handle fetched elevation tiles
private:
enum class State {
Idle,
Downloading,
};
enum QueryMode {
QueryModeCoordinates,
QueryModePath,
QueryModeCarpet
};
typedef struct {
TerrainOfflineAirMapQuery* terrainQueryInterface;
QueryMode queryMode;
QList<QGeoCoordinate> coordinates;
} QueuedRequestInfo_t;
void _tileFailed(void);
bool _getAltitudesForCoordinates(const QList<QGeoCoordinate>& coordinates, QList<double>& altitudes);
QString _getTileHash(const QGeoCoordinate& coordinate); /// Method to create a unique string for each tile
QList<QueuedRequestInfo_t> _requestQueue;
State _state = State::Idle;
QNetworkAccessManager _networkManager;
QMutex _tilesMutex;
QHash<QString, TerrainTile> _tiles;
};
/// Used internally by TerrainAtCoordinateQuery to batch coordinate requests together
class TerrainAtCoordinateBatchManager : public QObject {
Q_OBJECT
public:
TerrainAtCoordinateBatchManager(void);
void addQuery(TerrainAtCoordinateQuery* terrainAtCoordinateQuery, const QList<QGeoCoordinate>& coordinates);
private slots:
void _sendNextBatch (void);
void _queryObjectDestroyed (QObject* elevationProvider);
void _coordinateHeights (bool success, QList<double> heights);
private:
typedef struct {
TerrainAtCoordinateQuery* terrainAtCoordinateQuery;
QList<QGeoCoordinate> coordinates;
} QueuedRequestInfo_t;
typedef struct {
TerrainAtCoordinateQuery* terrainAtCoordinateQuery;
bool queryObjectDestroyed;
int cCoord;
} SentRequestInfo_t;
enum class State {
Idle,
Downloading,
};
void _batchFailed(void);
QString _stateToString(State state);
QList<QueuedRequestInfo_t> _requestQueue;
QList<SentRequestInfo_t> _sentRequests;
State _state = State::Idle;
const int _batchTimeout = 500;
QTimer _batchTimer;
TerrainAirMapQuery _terrainQuery;
};
/// NOTE: TerrainAtCoordinateQuery is not thread safe. All instances/calls to ElevationProvider must be on main thread.
class TerrainAtCoordinateQuery : public QObject
{
Q_OBJECT
public:
TerrainAtCoordinateQuery(QObject* parent = NULL);
/// Async terrain query for a list of lon,lat coordinates. When the query is done, the terrainData() signal
/// is emitted.
/// @param coordinates to query
void requestData(const QList<QGeoCoordinate>& coordinates);
// Internal method
void _signalTerrainData(bool success, QList<double>& heights);
signals:
void terrainData(bool success, QList<double> heights);
};
class TerrainPathQuery : public QObject
{
Q_OBJECT
public:
TerrainPathQuery(QObject* parent = NULL);
/// Async terrain query for terrain heights between two lat/lon coordinates. When the query is done, the terrainData() signal
/// is emitted.
/// @param coordinates to query
void requestData(const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord);
typedef struct {
double latStep; ///< Amount of latitudinal distance between each returned height
double lonStep; ///< Amount of longitudinal distance between each returned height
QList<double> heights; ///< Terrain heights along path
} PathHeightInfo_t;
signals:
/// Signalled when terrain data comes back from server
void terrainData(bool success, const PathHeightInfo_t& pathHeightInfo);
private slots:
void _pathHeights(bool success, double latStep, double lonStep, const QList<double>& heights);
private:
TerrainAirMapQuery _terrainQuery;
};
Q_DECLARE_METATYPE(TerrainPathQuery::PathHeightInfo_t)
class TerrainPolyPathQuery : public QObject
{
Q_OBJECT
public:
TerrainPolyPathQuery(QObject* parent = NULL);
/// Async terrain query for terrain heights for the paths between each specified QGeoCoordinate.
/// When the query is done, the terrainData() signal is emitted.
/// @param polyPath List of QGeoCoordinate
void requestData(const QVariantList& polyPath);
void requestData(const QList<QGeoCoordinate>& polyPath);
signals:
/// Signalled when terrain data comes back from server
void terrainData(bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
private slots:
void _terrainDataReceived(bool success, const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo);
private:
int _curIndex;
QList<QGeoCoordinate> _rgCoords;
QList<TerrainPathQuery::PathHeightInfo_t> _rgPathHeightInfo;
TerrainPathQuery _pathQuery;
};
class TerrainCarpetQuery : public QObject
{
Q_OBJECT
public:
TerrainCarpetQuery(QObject* parent = NULL);
/// Async terrain query for terrain information bounded by the specifed corners.
/// When the query is done, the terrainData() signal is emitted.
/// @param swCoord South-West bound of rectangular area to query
/// @param neCoord North-East bound of rectangular area to query
/// @param statsOnly true: Return only stats, no carpet data
void requestData(const QGeoCoordinate& swCoord, const QGeoCoordinate& neCoord, bool statsOnly);
signals:
/// Signalled when terrain data comes back from server
void terrainData(bool success, double minHeight, double maxHeight, const QList<QList<double>>& carpet);
private:
TerrainAirMapQuery _terrainQuery;
};
src/TerrainTile.cc
View file @ 5c72de31
......@@ -100,7 +100,7 @@ bool TerrainTile::isIn(const QGeoCoordinate& coordinate) const
return ret;
}
float TerrainTile::elevation(const QGeoCoordinate& coordinate) const
double TerrainTile::elevation(const QGeoCoordinate& coordinate) const
{
if (_isValid) {
qCDebug(TerrainTileLog) << "elevation: " << coordinate << " , in sw " << _southWest << " , ne " << _northEast;
......
src/TerrainTile.h
View file @ 5c72de31
......@@ -54,28 +54,28 @@ public:
* @param coordinate
* @return elevation
*/
float elevation(const QGeoCoordinate& coordinate) const;
double elevation(const QGeoCoordinate& coordinate) const;
/**
* Accessor for the minimum elevation of the tile
*
* @return minimum elevation
*/
float minElevation(void) const { return _minElevation; }
double minElevation(void) const { return _minElevation; }
/**
* Accessor for the maximum elevation of the tile
*
* @return maximum elevation
*/
float maxElevation(void) const { return _maxElevation; }
double maxElevation(void) const { return _maxElevation; }
/**
* Accessor for the average elevation of the tile
*
* @return average elevation
*/
float avgElevation(void) const { return _avgElevation; }
double avgElevation(void) const { return _avgElevation; }
/**
* Accessor for the center coordinate
......@@ -91,6 +91,9 @@ public:
*/
static QByteArray serialize(QByteArray input);
/// Approximate spacing of the elevation data measurement points
static constexpr double terrainAltitudeSpacing = 30.0;
private:
inline int _latToDataIndex(double latitude) const;
inline int _lonToDataIndex(double longitude) const;
......
src/VideoStreaming/README.md
View file @ 5c72de31
......@@ -40,6 +40,9 @@ list=$(apt-cache --names-only search ^gstreamer1.0-* | awk '{ print $1 }' | grep
```
sudo apt-get install $list
```
```
sudo apt-get install libgstreamer-plugins-base1.0-dev
```
The build system is setup to use pkgconfig and it will find the necessary headers and libraries automatically.
......
src/VideoStreaming/VideoStreaming.pri
View file @ 5c72de31
......@@ -181,24 +181,7 @@ VideoEnabled {
} else {
LinuxBuild|MacBuild|iOSBuild|WindowsBuild|AndroidBuild {
message("Skipping support for video streaming (GStreamer libraries not installed)")
MacBuild {
message(" You can download it from http://gstreamer.freedesktop.org/data/pkg/osx/")
message(" Select the devel package and install it (gstreamer-1.0-devel-1.x.x-x86_64.pkg)")
message(" It will be installed in /Libraries/Frameworks")
}
LinuxBuild {
message(" You can install it using apt-get")
message(" sudo apt-get install gstreamer1.0*")
}
WindowsBuild {
message(" You can download it from http://gstreamer.freedesktop.org/data/pkg/windows/")
message(" Select the devel AND runtime packages and install them (x86, not the 64-Bit)")
message(" It will be installed in C:/gstreamer. You need to update you PATH to point to the bin directory.")
}
AndroidBuild {
message(" You can download it from http://gstreamer.freedesktop.org/data/pkg/android/")
message(" Uncompress the archive into the qgc root source directory (same directory where qgroundcontrol.pro is found.")
}
message("Installation instructions here: https://github.com/mavlink/qgroundcontrol/blob/master/src/VideoStreaming/README.md")
} else {
message("Skipping support for video streaming (Unsupported platform)")
}
......
src/comm/MockLink.cc
View file @ 5c72de31
......@@ -35,9 +35,15 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
// Vehicle position is set close to default Gazebo vehicle location. This allows for multi-vehicle
// testing of a gazebo vehicle and a mocklink vehicle
double MockLink::_defaultVehicleLatitude = 47.397f;
double MockLink::_defaultVehicleLongitude = 8.5455f;
double MockLink::_defaultVehicleAltitude = 488.056f;
#if 1
double MockLink::_defaultVehicleLatitude = 47.397;
double MockLink::_defaultVehicleLongitude = 8.5455;
double MockLink::_defaultVehicleAltitude = 488.056;
#else
double MockLink::_defaultVehicleLatitude = 47.6333022928789;
double MockLink::_defaultVehicleLongitude = -122.08833157994995;
double MockLink::_defaultVehicleAltitude = 19.0;
#endif
int MockLink::_nextVehicleSystemId = 128;
const char* MockLink::_failParam = "COM_FLTMODE6";
......
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