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Unverified Commit 5e705032 authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6237 from DonLakeFlyer/CorridorTerrain 

Corridor Scan Terrain: Add support for max rates and tolerance
parents 32b4b1da 7973c6b3
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Showing with 465 additions and 287 deletions
src/MissionManager/CorridorScanComplexItem.h
View file @ 5e705032
......@@ -36,7 +36,6 @@ 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"); }
......@@ -56,8 +55,7 @@ public:
private slots:
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
void _rebuildCorridorPolygon (void);
// Overrides from TransectStyleComplexItem
void _rebuildTransectsPhase1 (void) final;
......@@ -65,7 +63,6 @@ private slots:
private:
int _transectCount (void) const;
void _rebuildCorridorPolygon (void);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
......
src/MissionManager/CorridorScanComplexItemTest.cc
View file @ 5e705032
......@@ -24,7 +24,12 @@ void CorridorScanComplexItemTest::init(void)
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_corridorItem = new CorridorScanComplexItem(_offlineVehicle, this);
// _corridorItem->setTurnaroundDist(0); // Unit test written for no turnaround distance
// vehicleSpeed need for terrain calcs
MissionController::MissionFlightStatus_t missionFlightStatus;
missionFlightStatus.vehicleSpeed = 5;
_corridorItem->setMissionFlightStatus(missionFlightStatus);
_setPolyline();
_corridorItem->setDirty(false);
......@@ -130,10 +135,27 @@ void CorridorScanComplexItemTest::_testEntryLocation(void)
}
#endif
void CorridorScanComplexItemTest::_waitForReadyForSave(void)
{
int loops = 0;
while (loops++ < 8) {
if (_corridorItem->readyForSave()) {
return;
}
QTest::qWait(500);
}
QVERIFY(false);
}
void CorridorScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
......@@ -141,7 +163,7 @@ void CorridorScanComplexItemTest::_testItemCount(void)
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
......@@ -153,11 +175,38 @@ void CorridorScanComplexItemTest::_testItemCount(void)
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
#if 0
// Terrain queries seem to take random amount of time so these don't work 100%
_corridorItem->setFollowTerrain(true);
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(0);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
_corridorItem->turnAroundDistance()->setRawValue(20);
_corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
_waitForReadyForSave();
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
items.clear();
#endif
}
void CorridorScanComplexItemTest::_testPathChanges(void)
......
src/MissionManager/CorridorScanComplexItemTest.h
View file @ 5e705032
......@@ -36,6 +36,7 @@ private slots:
private:
void _setPolyline(void);
void _waitForReadyForSave(void);
enum {
corridorPolygonPathChangedIndex = 0,
......
src/MissionManager/MissionController.h
View file @ 5e705032
......@@ -41,7 +41,7 @@ public:
MissionController(PlanMasterController* masterController, QObject* parent = NULL);
~MissionController();
typedef struct {
typedef struct _MissionFlightStatus_t {
double maxTelemetryDistance;
double totalDistance;
double totalTime;
......
src/MissionManager/SimpleMissionItem.cc
View file @ 5e705032
......@@ -125,6 +125,9 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool editMode, const Miss
if (editMode) {
_rebuildFacts();
}
// Signal coordinate changed to kick off terrain query
emit coordinateChanged(coordinate());
}
SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
......
src/MissionManager/TransectStyleComplexItem.h
View file @ 5e705032
......@@ -39,7 +39,7 @@ public:
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(QVariantList visualTransectPoints READ visualTransectPoints NOTIFY visualTransectPointsChanged)
Q_PROPERTY(bool followTerrain READ followTerrain WRITE setFollowTerrain NOTIFY followTerrainChanged)
Q_PROPERTY(Fact* terrainAdjustTolerance READ terrainAdjustTolerance CONSTANT)
......@@ -48,7 +48,7 @@ public:
QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; }
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
QVariantList transectPoints (void) { return _transectPoints; }
QVariantList visualTransectPoints(void) { return _visualTransectPoints; }
Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; }
Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; }
......@@ -69,7 +69,7 @@ public:
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const override = 0;
int lastSequenceNumber (void) const final;
QString mapVisualQML (void) const override = 0;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
......@@ -120,19 +120,19 @@ signals:
void cameraShotsChanged (void);
void timeBetweenShotsChanged (void);
void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
void transectPointsChanged (void);
void visualTransectPointsChanged (void);
void coveredAreaChanged (void);
void followTerrainChanged (bool followTerrain);
protected slots:
virtual void _rebuildTransectsPhase1 (void) = 0;
virtual void _rebuildTransectsPhase2 (void) = 0;
virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array
virtual void _rebuildTransectsPhase2 (void) = 0; ///< Adjust values associated with _transects array
void _setDirty (void);
void _setIfDirty (bool dirty);
void _updateCoordinateAltitudes (void);
void _signalLastSequenceNumberChanged (void);
void _polyPathTerrainData (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
void _rebuildTransects (void);
protected:
void _save (QJsonObject& saveObject);
......@@ -142,8 +142,6 @@ protected:
double _triggerDistance (void) const;
bool _hasTurnaround (void) const;
double _turnaroundDistance (void) const;
void _queryTransectsPathHeightInfo (void);
void _adjustTransectPointsForTerrain (void);
QString _settingsGroup;
int _sequenceNumber;
......@@ -152,10 +150,23 @@ protected:
QGeoCoordinate _exitCoordinate;
QGCMapPolygon _surveyAreaPolygon;
QVariantList _transectPoints;
QList<TerrainPathQuery::PathHeightInfo_t> _transectsPathHeightInfo;
TerrainPolyPathQuery* _terrainPolyPathQuery;
QTimer _terrainQueryTimer;
enum CoordType {
CoordTypeInterior,
CoordTypeInteriorTerrainAdded,
CoordTypeSurveyEdge,
CoordTypeTurnaround
};
typedef struct {
QGeoCoordinate coord;
CoordType coordType;
} CoordInfo_t;
QVariantList _visualTransectPoints;
QList<QList<CoordInfo_t>> _transects;
QList<QList<TerrainPathQuery::PathHeightInfo_t>> _transectsPathHeightInfo;
TerrainPolyPathQuery* _terrainPolyPathQuery;
QTimer _terrainQueryTimer;
bool _ignoreRecalc;
double _complexDistance;
......@@ -186,14 +197,16 @@ protected:
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);
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);
void _queryTransectsPathHeightInfo (void);
void _adjustTransectsForTerrain (void);
void _addInterstitialTerrainPoints (QList<CoordInfo_t>& transect, const QList<TerrainPathQuery::PathHeightInfo_t>& transectPathHeightInfo);
void _adjustForMaxRates (QList<CoordInfo_t>& transect);
void _adjustForTolerance (QList<CoordInfo_t>& transect);
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 @ 5e705032
......@@ -31,7 +31,7 @@ void TransectStyleComplexItemTest::init(void)
_rgSignals[cameraShotsChangedIndex] = SIGNAL(cameraShotsChanged());
_rgSignals[timeBetweenShotsChangedIndex] = SIGNAL(timeBetweenShotsChanged());
_rgSignals[cameraMinTriggerIntervalChangedIndex] = SIGNAL(cameraMinTriggerIntervalChanged(double));
_rgSignals[transectPointsChangedIndex] = SIGNAL(transectPointsChanged());
_rgSignals[visualTransectPointsChangedIndex] = SIGNAL(visualTransectPointsChanged());
_rgSignals[coveredAreaChangedIndex] = SIGNAL(coveredAreaChanged());
_rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_rgSignals[complexDistanceChangedIndex] = SIGNAL(complexDistanceChanged());
......
src/MissionManager/TransectStyleComplexItemTest.h
View file @ 5e705032
......@@ -42,7 +42,7 @@ private:
cameraShotsChangedIndex = 0,
timeBetweenShotsChangedIndex,
cameraMinTriggerIntervalChangedIndex,
transectPointsChangedIndex,
visualTransectPointsChangedIndex,
coveredAreaChangedIndex,
// These signals are from ComplexItem
dirtyChangedIndex,
......@@ -56,18 +56,18 @@ private:
enum {
// These signals are from TransectStyleComplexItem
cameraShotsChangedMask = 1 << cameraShotsChangedIndex,
timeBetweenShotsChangedMask = 1 << timeBetweenShotsChangedIndex,
cameraMinTriggerIntervalChangedMask = 1 << cameraMinTriggerIntervalChangedIndex,
transectPointsChangedMask = 1 << transectPointsChangedIndex,
coveredAreaChangedMask = 1 << coveredAreaChangedIndex,
cameraShotsChangedMask = 1 << cameraShotsChangedIndex,
timeBetweenShotsChangedMask = 1 << timeBetweenShotsChangedIndex,
cameraMinTriggerIntervalChangedMask = 1 << cameraMinTriggerIntervalChangedIndex,
visualTransectPointsChangedMask = 1 << visualTransectPointsChangedIndex,
coveredAreaChangedMask = 1 << coveredAreaChangedIndex,
// These signals are from ComplexItem
dirtyChangedMask = 1 << dirtyChangedIndex,
complexDistanceChangedMask = 1 << complexDistanceChangedIndex,
greatestDistanceToChangedMask = 1 << greatestDistanceToChangedIndex,
additionalTimeDelayChangedMask = 1 << additionalTimeDelayChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex,
complexDistanceChangedMask = 1 << complexDistanceChangedIndex,
greatestDistanceToChangedMask = 1 << greatestDistanceToChangedIndex,
additionalTimeDelayChangedMask = 1 << additionalTimeDelayChangedIndex,
// These signals are from VisualMissionItem
lastSequenceNumberChangedMask = 1 << lastSequenceNumberChangedIndex,
lastSequenceNumberChangedMask = 1 << lastSequenceNumberChangedIndex,
};
static const size_t _cSignals = maxSignalIndex;
......@@ -87,7 +87,6 @@ public:
TransectStyleItem(Vehicle* vehicle, QObject* parent = NULL);
// Overrides from ComplexMissionItem
int lastSequenceNumber (void) const final { return _sequenceNumber; }
QString mapVisualQML (void) const final { return QString(); }
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final { Q_UNUSED(complexObject); Q_UNUSED(sequenceNumber); Q_UNUSED(errorString); return false; }
......
src/MissionManager/VisualMissionItem.cc
View file @ 5e705032
......@@ -38,15 +38,7 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
, _lastLatTerrainQuery (0)
, _lastLonTerrainQuery (0)
{
// Don't get terrain altitude information for submarines or boards
if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
_updateTerrainTimer.setInterval(500);
_updateTerrainTimer.setSingleShot(true);
connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}
_commonInit();
}
VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
......@@ -63,8 +55,17 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
{
*this = other;
_commonInit();
}
void VisualMissionItem::_commonInit(void)
{
// Don't get terrain altitude information for submarines or boats
if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
_updateTerrainTimer.setInterval(500);
_updateTerrainTimer.setSingleShot(true);
connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
}
}
......
src/MissionManager/VisualMissionItem.h
View file @ 5e705032
......@@ -214,6 +214,8 @@ private slots:
void _terrainDataReceived (bool success, QList<double> heights);
private:
void _commonInit(void);
QTimer _updateTerrainTimer;
double _lastLatTerrainQuery;
double _lastLonTerrainQuery;
......
src/PlanView/CorridorScanMapVisual.qml
View file @ 5e705032
......@@ -119,7 +119,7 @@ Item {
MapPolyline {
line.color: "white"
line.width: 2
path: _missionItem.transectPoints
path: _missionItem.visualTransectPoints
}
}
}
src/Terrain/TerrainQuery.cc
View file @ 5e705032
......@@ -80,8 +80,8 @@ void TerrainAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, con
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;
url.setQuery(urlQuery);
QNetworkRequest request(url);
......@@ -133,7 +133,7 @@ void TerrainAirMapQuery::_requestFinished(void)
// Send back data
const QJsonValue& jsonData = rootObject["data"];
qCDebug(TerrainQueryLog) << "_requestFinished" << jsonData;
qCDebug(TerrainQueryLog) << "_requestFinished sucess";
switch (_queryMode) {
case QueryModeCoordinates:
emit _parseCoordinateData(jsonData);
......@@ -227,7 +227,6 @@ TerrainAtCoordinateBatchManager::TerrainAtCoordinateBatchManager(void)
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);
......@@ -255,14 +254,18 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
// Convert coordinates to point strings for json query
QList<QGeoCoordinate> coords;
int requestQueueAdded = 0;
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;
requestQueueAdded++;
if (coords.count() > 50) {
break;
}
}
_requestQueue.clear();
qCDebug(TerrainQueryLog) << "Built request: coordinate count" << coords.count();
_requestQueue = _requestQueue.mid(requestQueueAdded);
_terrainQuery.requestCoordinateHeights(coords);
_state = State::Downloading;
......
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