Compute bounding cube instead of "box"

src/MissionManager/ComplexMissionItem.h

@@ -11,6 +11,7 @@
 #define ComplexMissionItem_H
 
 #include "VisualMissionItem.h"
+#include "QGCGeo.h"
 
 class ComplexMissionItem : public VisualMissionItem
 {
@@ -22,15 +23,14 @@ public:
     const ComplexMissionItem& operator=(const ComplexMissionItem& other);
 
     Q_PROPERTY(double   complexDistance     READ complexDistance    NOTIFY complexDistanceChanged)
-    Q_PROPERTY(QRectF   boundingBox         READ boundingBox        NOTIFY boundingBoxChanged)
 
     /// @return The distance covered the complex mission item in meters.
     /// Signals complexDistanceChanged
     virtual double complexDistance(void) const = 0;
 
-    /// @return The item bounding box (QRectf(West, Nort, East, South))
-    /// Signals boundingBoxChanged
-    virtual QRectF boundingBox(void) const { return QRectF(); }
+    /// @return The item bounding cube
+    /// Signals boundingCubeChanged
+    virtual QGCGeoBoundingCube boundingCube(void) const { return QGCGeoBoundingCube(); }
 
     /// @return Amount of additional time delay in seconds needed to fly the complex item
     virtual double additionalTimeDelay(void) const { return 0; }
@@ -53,7 +53,7 @@ public:
 
 signals:
     void complexDistanceChanged     (void);
-    void boundingBoxChanged         (void);
+    void boundingCubeChanged        (void);
     void greatestDistanceToChanged  (void);
     void additionalTimeDelayChanged (void);
 };

src/MissionManager/MissionController.cc

@@ -440,7 +440,7 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
 
     //-- Keep track of bounding box changes in complex items
     if(!newItem->isSimpleItem()) {
-        connect(newItem, &ComplexMissionItem::boundingBoxChanged, this, &MissionController::_complexBoundingBoxChanged);
+        connect(newItem, &ComplexMissionItem::boundingCubeChanged, this, &MissionController::_complexBoundingBoxChanged);
     }
     newItem->setSequenceNumber(sequenceNumber);
     _initVisualItem(newItem);
@@ -1997,11 +1997,13 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
 
 void MissionController::_updateTimeout()
 {
-    QRectF boundingBox;
+    QGCGeoBoundingCube boundingCube;
     double north = 0.0;
     double south = 180.0;
     double east  = 0.0;
     double west  = 360.0;
+    double minAlt = QGCGeoBoundingCube::MaxAlt;
+    double maxAlt = QGCGeoBoundingCube::MinAlt;
     for (int i = 1; i < _visualItems->count(); i++) {
         VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
         if(item->isSimpleItem()) {
@@ -2014,10 +2016,13 @@ void MissionController::_updateTimeout()
                 if(pSimpleItem->coordinate().isValid()) {
                     double lat = pSimpleItem->coordinate().latitude()  + 90.0;
                     double lon = pSimpleItem->coordinate().longitude() + 180.0;
+                    double alt = pSimpleItem->coordinate().altitude();
                     north = fmax(north, lat);
                     south = fmin(south, lat);
                     east  = fmax(east,  lon);
                     west  = fmin(west,  lon);
+                    minAlt = fmin(minAlt, alt);
+                    maxAlt = fmax(maxAlt, alt);
                 }
                 break;
                 default:
@@ -2027,20 +2032,24 @@ void MissionController::_updateTimeout()
         } else {
             ComplexMissionItem* pComplexItem = qobject_cast<ComplexMissionItem*>(item);
             if(pComplexItem) {
-                QRectF bb = pComplexItem->boundingBox();
-                if(!bb.isNull()) {
-                    north = fmax(north, bb.y()      + 90.0);
-                    south = fmin(south, bb.height() + 90.0);
-                    east  = fmax(east,  bb.x()     + 180.0);
-                    west  = fmin(west,  bb.width() + 180.0);
+                QGCGeoBoundingCube bc = pComplexItem->boundingCube();
+                if(bc.isValid()) {
+                    north  = fmax(north, bc.pointNW.latitude()  + 90.0);
+                    south  = fmin(south, bc.pointSE.latitude()  + 90.0);
+                    east   = fmax(east,  bc.pointNW.longitude() + 180.0);
+                    west   = fmin(west,  bc.pointSE.longitude() + 180.0);
+                    minAlt = fmin(minAlt, bc.pointNW.altitude());
+                    maxAlt = fmax(maxAlt, bc.pointSE.altitude());
                 }
             }
         }
     }
-    boundingBox = QRectF(east - 180.0, north - 90.0, west - 180.0, south - 90.0);
-    if(_boundingBox != boundingBox) {
-        _boundingBox = boundingBox;
-        qCDebug(MissionControllerLog) << "Bounding box:" << _boundingBox.y() << _boundingBox.x() << _boundingBox.height() << _boundingBox.width();
+    boundingCube = QGCGeoBoundingCube(
+        QGeoCoordinate(north - 90.0, west - 180.0, minAlt),
+        QGeoCoordinate(south - 90.0, east - 180.0, maxAlt));
+    if(_travelBoundingCube != boundingCube) {
+        _travelBoundingCube = boundingCube;
+        qCDebug(MissionControllerLog) << "Bounding cube:" << _travelBoundingCube.pointNW << _travelBoundingCube.pointSE;
     }
 }
 

src/MissionManager/MissionController.h

@@ -16,6 +16,7 @@
 #include "Vehicle.h"
 #include "QGCLoggingCategory.h"
 #include "MavlinkQmlSingleton.h"
+#include "QGCGeo.h"
 
 #include <QHash>
 
@@ -261,7 +262,7 @@ private:
     int                     _currentPlanViewIndex;
     VisualMissionItem*      _currentPlanViewItem;
     QTimer                  _updateTimer;
-    QRectF                  _boundingBox;
+    QGCGeoBoundingCube      _travelBoundingCube;
 
     static const char*  _settingsGroup;
 

src/MissionManager/SurveyMissionItem.cc

@@ -163,11 +163,11 @@ void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
     }
 }
 
-void SurveyMissionItem::_setBoundingBox(QRectF bb)
+void SurveyMissionItem::_setBoundingCube(QGCGeoBoundingCube bc)
 {
-    if (bb != _boundingBox) {
-        _boundingBox = bb;
-        emit boundingBoxChanged();
+    if (bc != _boundingCube) {
+        _boundingCube = bc;
+        emit boundingCubeChanged();
     }
 }
 
@@ -668,6 +668,28 @@ int SurveyMissionItem::_calcMissionCommandCount(QList<QList<QGeoCoordinate>>& tr
 
     return missionCommandCount;
 }
+
+void SurveyMissionItem::_calcBoundingCube()
+{
+    // Calc bounding cube
+    double north = 0.0;
+    double south = 180.0;
+    double east  = 0.0;
+    double west  = 360.0;
+    for (int i = 0; i < _simpleGridPoints.count(); i++) {
+        QGeoCoordinate coord = _simpleGridPoints[i].value<QGeoCoordinate>();
+        double lat = coord.latitude()  + 90.0;
+        double lon = coord.longitude() + 180.0;
+        north  = fmax(north, lat);
+        south  = fmin(south, lat);
+        east   = fmax(east,  lon);
+        west   = fmin(west,  lon);
+    }
+    _setBoundingCube(QGCGeoBoundingCube(
+        QGeoCoordinate(north - 90.0, west - 180.0, _gridAltitudeFact.rawValue().toDouble()),
+        QGeoCoordinate(south - 90.0, east - 180.0, _gridAltitudeFact.rawValue().toDouble())));
+}
+
 void SurveyMissionItem::_generateGrid(void)
 {
     if (_ignoreRecalc) {
@@ -733,28 +755,14 @@ void SurveyMissionItem::_generateGrid(void)
 
     // Calc survey distance
     double surveyDistance = 0.0;
-    for (int i=1; i<_simpleGridPoints.count(); i++) {
+    for (int i = 1; i < _simpleGridPoints.count(); i++) {
         QGeoCoordinate coord1 = _simpleGridPoints[i-1].value<QGeoCoordinate>();
         QGeoCoordinate coord2 = _simpleGridPoints[i].value<QGeoCoordinate>();
         surveyDistance += coord1.distanceTo(coord2);
     }
     _setSurveyDistance(surveyDistance);
-
-    // Calc bounding box
-    double north = 0.0;
-    double south = 180.0;
-    double east  = 0.0;
-    double west  = 360.0;
-    for (int i = 0; i < _simpleGridPoints.count(); i++) {
-        QGeoCoordinate coord = _simpleGridPoints[i].value<QGeoCoordinate>();
-        double lat = coord.latitude()  + 90.0;
-        double lon = coord.longitude() + 180.0;
-        north = fmax(north, lat);
-        south = fmin(south, lat);
-        east  = fmax(east,  lon);
-        west  = fmin(west,  lon);
-    }
-    _setBoundingBox(QRectF(east - 180.0, north - 90.0, west - 180.0, south - 90.0));
+    // Calc bounding cube
+    _calcBoundingCube();
 
     if (cameraShots == 0 && _triggerCamera()) {
         cameraShots = (int)floor(surveyDistance / _triggerDistance());
@@ -1315,6 +1323,7 @@ void SurveyMissionItem::applyNewAltitude(double newAltitude)
 {
     _fixedValueIsAltitudeFact.setRawValue(true);
     _gridAltitudeFact.setRawValue(newAltitude);
+    _calcBoundingCube();
 }
 
 void SurveyMissionItem::setRefly90Degrees(bool refly90Degrees)

src/MissionManager/SurveyMissionItem.h

@@ -96,7 +96,7 @@ public:
     // Overrides from ComplexMissionItem
 
     double              complexDistance     (void) const final { return _surveyDistance; }
-    QRectF              boundingBox         (void) const final { return _boundingBox; }
+    QGCGeoBoundingCube  boundingCube        (void) const final { return _boundingCube; }
     double              additionalTimeDelay (void) const final { return _additionalFlightDelaySeconds; }
     int                 lastSequenceNumber  (void) const final;
     bool                load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
@@ -200,7 +200,7 @@ private:
     void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
     void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
     void _setSurveyDistance(double surveyDistance);
-    void _setBoundingBox(QRectF bb);
+    void _setBoundingCube(QGCGeoBoundingCube bc);
     void _setCameraShots(int cameraShots);
     void _setCoveredArea(double coveredArea);
     void _cameraValueChanged(void);
@@ -226,6 +226,7 @@ private:
     bool _gridAngleIsNorthSouthTransects();
     double _clampGridAngle90(double gridAngle);
     int _calcMissionCommandCount(QList<QList<QGeoCoordinate>>& transectSegments);
+    void _calcBoundingCube();
 
     int                             _sequenceNumber;
     bool                            _dirty;
@@ -243,12 +244,12 @@ private:
 
     bool            _ignoreRecalc;
     double          _surveyDistance;
-    QRectF          _boundingBox;
     int             _cameraShots;
     double          _coveredArea;
     double          _timeBetweenShots;
     double          _cruiseSpeed;
 
+    QGCGeoBoundingCube _boundingCube;
     QMap<QString, FactMetaData*> _metaDataMap;
 
     SettingsFact    _manualGridFact;

src/QGCGeo.cc

@@ -102,3 +102,10 @@ void convertUTMToGeo(double easting, double northing, int zone, bool southhemi,
     coord.setLatitude(RadToDeg(latRadians));
     coord.setLongitude(RadToDeg(lonRadians));
 }
+
+double QGCGeoBoundingCube::MaxAlt    =  1000000.0;
+double QGCGeoBoundingCube::MinAlt    = -1000000.0;
+double QGCGeoBoundingCube::MaxNorth  =  90.0;
+double QGCGeoBoundingCube::MaxSouth  = -90.0;
+double QGCGeoBoundingCube::MaxWest   = -180.0;
+double QGCGeoBoundingCube::MaxEast   =  180.0;

src/QGCGeo.h

@@ -81,4 +81,46 @@ int convertGeoToUTM(const QGeoCoordinate& coord, double& easting, double& northi
 // The function does not return a value.
 void convertUTMToGeo(double easting, double northing, int zone, bool southhemi, QGeoCoordinate& coord);
 
+// A bounding cube
+class QGCGeoBoundingCube {
+public:
+    QGCGeoBoundingCube()
+        : pointNW(QGeoCoordinate(MaxSouth, MaxEast, MaxAlt))
+        , pointSE(QGeoCoordinate(MaxNorth, MaxWest, MinAlt))
+    {
+    }
+    QGCGeoBoundingCube(QGeoCoordinate p1, QGeoCoordinate p2)
+        : pointNW(p1)
+        , pointSE(p2)
+    {
+    }
+    QGeoCoordinate  pointNW;
+    QGeoCoordinate  pointSE;
+    inline bool operator ==(const QGCGeoBoundingCube& other)
+    {
+        return pointNW == other.pointNW && pointSE == other.pointSE;
+    }
+    inline bool operator !=(const QGCGeoBoundingCube& other)
+    {
+        return !(*this == other);
+    }
+    inline QGCGeoBoundingCube operator =(const QGCGeoBoundingCube& other)
+    {
+        pointNW = other.pointNW;
+        pointSE = other.pointSE;
+        return *this;
+    }
+    inline bool isValid()
+    {
+        return pointNW.isValid() && pointSE.isValid() && pointNW.latitude() != MaxSouth && pointSE.latitude() != MaxNorth && \
+               pointNW.longitude() != MaxEast && pointSE.longitude() != MaxWest && pointNW.altitude() < MaxAlt and pointSE.altitude() > MinAlt;
+    }
+    static double MaxAlt;
+    static double MinAlt;
+    static double MaxNorth;
+    static double MaxSouth;
+    static double MaxWest;
+    static double MaxEast;
+};
+
 #endif // QGCGEO_H