Merge pull request #5499 from HorusAeronaves/kml

Add basic KML functionality

qgroundcontrol.pro

@@ -501,6 +501,7 @@ HEADERS += \
     src/MissionManager/FixedWingLandingComplexItem.h \
     src/MissionManager/GeoFenceController.h \
     src/MissionManager/GeoFenceManager.h \
+    src/MissionManager/KML.h \
     src/MissionManager/MissionCommandList.h \
     src/MissionManager/MissionCommandTree.h \
     src/MissionManager/MissionCommandUIInfo.h \
@@ -685,6 +686,7 @@ SOURCES += \
     src/MissionManager/FixedWingLandingComplexItem.cc \
     src/MissionManager/GeoFenceController.cc \
     src/MissionManager/GeoFenceManager.cc \
+    src/MissionManager/KML.cc \
     src/MissionManager/MissionCommandList.cc \
     src/MissionManager/MissionCommandTree.cc \
     src/MissionManager/MissionCommandUIInfo.cc \

src/MissionManager/KML.cc

+/****************************************************************************
+ *
+ *   (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 "KML.h"
+
+#include <QDomDocument>
+#include <QStringList>
+
+const QString Kml::_version("version=\"1.0\"");
+const QString Kml::_encoding("encoding=\"UTF-8\"");
+const QString Kml::_opengis("http://www.opengis.net/kml/2.2");
+const QString Kml::_qgckml("QGC KML");
+
+Kml::Kml()
+{
+    //create header
+    createHeader();
+    //name
+    createTextElement(_docEle, "name", _qgckml);
+    //open
+    createTextElement(_docEle, "open", "1");
+    //create style
+    createStyles();
+}
+
+void Kml::points(const QStringList& points)
+{
+    //create placemark
+    QDomElement placemark = _domDocument.createElement("Placemark");
+    _docEle.appendChild(placemark);
+    createTextElement(placemark, "styleUrl", "yellowLineGreenPoly");
+    createTextElement(placemark, "name", "Absolute");
+    createTextElement(placemark, "visibility", "0");
+    createTextElement(placemark, "description", "Transparent purple line");
+
+    QStringList latLonAlt = points[0].split(",");
+    QStringList lookAtList({latLonAlt[0], latLonAlt[1], "0" \
+        , "-100", "45", "2500"});
+    createLookAt(placemark, lookAtList);
+
+    //Add linestring
+    QDomElement lineString = _domDocument.createElement("LineString");
+    placemark.appendChild(lineString);
+
+    //extruder
+    createTextElement(lineString, "extruder", "1");
+    createTextElement(lineString, "tessellate", "1");
+    createTextElement(lineString, "altitudeMode", "absolute");
+    QString coordinates;
+    for(const auto& point : points) {
+        coordinates += point + "\n";
+    }
+    createTextElement(lineString, "coordinates", coordinates);
+}
+
+void Kml::save(QDomDocument& document)
+{
+    document = _domDocument;
+}
+
+void Kml::createHeader()
+{
+    QDomProcessingInstruction header = _domDocument.createProcessingInstruction("xml", _version + " " + _encoding);
+    _domDocument.appendChild(header);
+    QDomElement kml = _domDocument.createElement("kml");
+    kml.setAttribute("xmlns", _opengis);
+    _docEle = _domDocument.createElement("Document");
+    kml.appendChild(_docEle);
+    _domDocument.appendChild(kml);
+}
+
+void Kml::createStyles()
+{
+    QDomElement style = _domDocument.createElement("Style");
+    style.setAttribute("id", "yellowLineGreenPoly");
+    createStyleLine(style, "7f00ffff", "4", "7f00ff00");
+    _docEle.appendChild(style);
+}
+
+void Kml::createLookAt(QDomElement& placemark, const QStringList &lookAtList)
+{
+    QDomElement lookAt = _domDocument.createElement("LookAt");
+    placemark.appendChild(lookAt);
+    createTextElement(lookAt, "longitude", lookAtList[0]);
+    createTextElement(lookAt, "latitude", lookAtList[1]);
+    createTextElement(lookAt, "altitude", lookAtList[2]);
+    createTextElement(lookAt, "heading", lookAtList[3]);
+    createTextElement(lookAt, "tilt", lookAtList[4]);
+    createTextElement(lookAt, "range", lookAtList[5]);
+}
+
+void Kml::createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement)
+{
+    // <elementName>textElement</elementName>
+    auto element = _domDocument.createElement(elementName);
+    element.appendChild(_domDocument.createTextNode(textElement));
+    domEle.appendChild(element);
+}
+
+void Kml::createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor)
+{
+    /*
+    <LineStyle>
+        <color>7f00ffff</color>
+        <width>4</width>
+    </LineStyle>
+    <PolyStyle>
+        <color>7f00ff00</color>
+    </PolyStyle>
+    */
+    auto lineStyle = _domDocument.createElement("LineStyle");
+    auto polyStyle = _domDocument.createElement("PolyStyle");
+    domEle.appendChild(lineStyle);
+    domEle.appendChild(polyStyle);
+    createTextElement(lineStyle, "color", lineColor);
+    createTextElement(lineStyle, "width", lineWidth);
+    createTextElement(polyStyle, "color", polyColor);
+}
+
+Kml::~Kml()
+{
+}

src/MissionManager/KML.h

+/****************************************************************************
+ *
+ *   (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.
+ *
+ ****************************************************************************/
+
+#ifndef KML_H
+#define KML_H
+
+#include <QDomDocument>
+#include <QDomElement>
+
+class Kml
+{
+
+public:
+    Kml();
+    ~Kml();
+
+    void points(const QStringList& points);
+    void polygon(const QStringList& points);
+    void save(QDomDocument& document);
+
+private:
+    void createHeader();
+    void createLookAt(QDomElement& placemark, const QStringList &lookAtList);
+    void createStyles();
+    void createStyleLine(QDomElement& domEle, const QString& lineColor, const QString& lineWidth, const QString& polyColor);
+    void createTextElement(QDomElement& domEle, const QString& elementName, const QString& textElement);
+
+    QDomDocument _domDocument;
+    QDomElement _docEle;
+    static const QString _encoding;
+    static const QString _opengis;
+    static const QString _qgckml;
+    static const QString _version;
+};
+
+#endif

src/MissionManager/MissionController.cc

@@ -8,6 +8,7 @@
  ****************************************************************************/
 
 
+#include "MissionCommandUIInfo.h"
 #include "MissionController.h"
 #include "MultiVehicleManager.h"
 #include "MissionManager.h"
@@ -25,6 +26,7 @@
 #include "MissionSettingsItem.h"
 #include "QGCQGeoCoordinate.h"
 #include "PlanMasterController.h"
+#include "KML.h"
 
 #ifndef __mobile__
 #include "MainWindow.h"
@@ -256,6 +258,44 @@ bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMission
     return endActionSet;
 }
 
+void MissionController::convertToKMLDocument(QDomDocument& document)
+{
+    QJsonObject missionJson;
+    QmlObjectListModel* visualItems = new QmlObjectListModel();
+    QList<MissionItem*> missionItens;
+    QString error;
+    save(missionJson);
+    _loadItemsFromJson(missionJson, visualItems, error);
+    _convertToMissionItems(visualItems, missionItens, this);
+
+    float altitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
+
+    QString coord;
+    QStringList coords;
+    // Drop home position
+    bool dropPoint = true;
+    for(const auto& item : missionItens) {
+        if(dropPoint) {
+            dropPoint = false;
+            continue;
+        }
+        const MissionCommandUIInfo* uiInfo = \
+            qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
+
+        if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
+            coord = QString::number(item->param6()) \
+                + "," \
+                + QString::number(item->param5()) \
+                + "," \
+                + QString::number(item->param7() + altitude);
+            coords.append(coord);
+        }
+    }
+    Kml kml;
+    kml.points(coords);
+    kml.save(document);
+}
+
 void MissionController::sendItemsToVehicle(Vehicle* vehicle, QmlObjectListModel* visualMissionItems)
 {
     if (vehicle) {

src/MissionManager/MissionController.h

@@ -26,6 +26,7 @@ class MissionSettingsItem;
 class AppSettings;
 class MissionManager;
 class SimpleMissionItem;
+class QDomDocument;
 
 Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
 
@@ -125,6 +126,9 @@ public:
     void managerVehicleChanged      (Vehicle* managerVehicle) final;
     bool showPlanFromManagerVehicle (void) final;
 
+    // Create KML file
+    void convertToKMLDocument(QDomDocument& document);
+
     // Property accessors
 
     QmlObjectListModel* visualItems             (void) { return _visualItems; }

src/MissionManager/PlanMasterController.cc

@@ -14,7 +14,9 @@
 #include "AppSettings.h"
 #include "JsonHelper.h"
 #include "MissionManager.h"
+#include "KML.h"
 
+#include <QDomDocument>
 #include <QJsonDocument>
 #include <QFileInfo>
 
@@ -372,6 +374,30 @@ void PlanMasterController::saveToFile(const QString& filename)
     }
 }
 
+void PlanMasterController::saveToKml(const QString& filename)
+{
+    if (filename.isEmpty()) {
+        return;
+    }
+
+    QString kmlFilename = filename;
+    if (!QFileInfo(filename).fileName().contains(".")) {
+        kmlFilename += QString(".%1").arg(kmlFileExtension());
+    }
+
+    QFile file(kmlFilename);
+
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
+        qgcApp()->showMessage(tr("KML save error %1 : %2").arg(filename).arg(file.errorString()));
+    } else {
+        QDomDocument domDocument;
+        _missionController.convertToKMLDocument(domDocument);
+        QTextStream stream(&file);
+        stream << domDocument.toString();
+        file.close();
+    }
+}
+
 void PlanMasterController::removeAll(void)
 {
     _missionController.removeAll();
@@ -417,6 +443,11 @@ QString PlanMasterController::fileExtension(void) const
     return AppSettings::planFileExtension;
 }
 
+QString PlanMasterController::kmlFileExtension(void) const
+{
+    return AppSettings::kmlFileExtension;
+}
+
 QStringList PlanMasterController::loadNameFilters(void) const
 {
     QStringList filters;
@@ -435,6 +466,14 @@ QStringList PlanMasterController::saveNameFilters(void) const
     return filters;
 }
 
+QStringList PlanMasterController::saveKmlFilters(void) const
+{
+    QStringList filters;
+
+    filters << tr("KML Files (*.%1)").arg(kmlFileExtension()) << tr("All Files (*.*)");
+    return filters;
+}
+
 void PlanMasterController::sendPlanToVehicle(Vehicle* vehicle, const QString& filename)
 {
     // Use a transient PlanMasterController to accomplish this

src/MissionManager/PlanMasterController.h

@@ -39,8 +39,11 @@ public:
     Q_PROPERTY(bool         syncInProgress      READ syncInProgress                     NOTIFY syncInProgressChanged)   ///< true: Information is currently being saved/sent, false: no active save/send in progress
     Q_PROPERTY(bool         dirty               READ dirty              WRITE setDirty  NOTIFY dirtyChanged)            ///< true: Unsaved/sent changes are present, false: no changes since last save/send
     Q_PROPERTY(QString      fileExtension       READ fileExtension                      CONSTANT)                       ///< File extension for missions
+    Q_PROPERTY(QString      kmlFileExtension    READ kmlFileExtension                   CONSTANT)
+    ///< kml file extension for missions
     Q_PROPERTY(QStringList  loadNameFilters     READ loadNameFilters                    CONSTANT)                       ///< File filter list loading plan files
     Q_PROPERTY(QStringList  saveNameFilters     READ saveNameFilters                    CONSTANT)                       ///< File filter list saving plan files
+    Q_PROPERTY(QStringList  saveKmlFilters      READ saveKmlFilters                     CONSTANT)                       ///< File filter list saving KML files
 
     /// Should be called immediately upon Component.onCompleted.
     ///     @param editMode true: controller being used in Plan view, false: controller being used in Fly view
@@ -58,6 +61,7 @@ public:
     Q_INVOKABLE void sendToVehicle(void);
     Q_INVOKABLE void loadFromFile(const QString& filename);
     Q_INVOKABLE void saveToFile(const QString& filename);
+    Q_INVOKABLE void saveToKml(const QString& filename);
     Q_INVOKABLE void removeAll(void);                       ///< Removes all from controller only, synce required to remove from vehicle
     Q_INVOKABLE void removeAllFromVehicle(void);            ///< Removes all from vehicle and controller
 
@@ -71,8 +75,10 @@ public:
     bool        dirty           (void) const;
     void        setDirty        (bool dirty);
     QString     fileExtension   (void) const;
+    QString     kmlFileExtension(void) const;
     QStringList loadNameFilters (void) const;
     QStringList saveNameFilters (void) const;
+    QStringList saveKmlFilters  (void) const;
 
     Vehicle* controllerVehicle(void) { return _controllerVehicle; }
     Vehicle* managerVehicle(void) { return _managerVehicle; }

src/PlanView/PlanView.qml

@@ -169,6 +169,7 @@ QGCView {
 
         function saveToSelectedFile() {
             fileDialog.title =          qsTr("Save Plan")
+            fileDialog.plan =           true
             fileDialog.selectExisting = false
             fileDialog.nameFilters =    masterController.saveNameFilters
             fileDialog.openForSave()
@@ -177,6 +178,14 @@ QGCView {
         function fitViewportToItems() {
             mapFitFunctions.fitMapViewportToMissionItems()
         }
+
+        function saveKmlToSelectedFile() {
+            fileDialog.title =          qsTr("Save KML")
+            fileDialog.plan =           false
+            fileDialog.selectExisting = false
+            fileDialog.nameFilters =    masterController.saveKmlFilters
+            fileDialog.openForSave()
+        }
     }
 
     Connections {
@@ -228,12 +237,13 @@ QGCView {
     QGCFileDialog {
         id:             fileDialog
         qgcView:        _qgcView
+        property var plan:           true
         folder:         QGroundControl.settingsManager.appSettings.missionSavePath
         fileExtension:  QGroundControl.settingsManager.appSettings.planFileExtension
         fileExtension2: QGroundControl.settingsManager.appSettings.missionFileExtension
 
         onAcceptedForSave: {
-            masterController.saveToFile(file)
+            plan ? masterController.saveToFile(file) : masterController.saveToKml(file)
             close()
         }
 
@@ -792,6 +802,16 @@ QGCView {
                         _qgcView.showDialog(removeAllPromptDialog, qsTr("Remove all"), _qgcView.showDialogDefaultWidth, StandardButton.Yes | StandardButton.No)
                     }
                 }
+
+                QGCButton {
+                    text:               qsTr("Save KML...")
+                    Layout.fillWidth:   true
+                    enabled:            !masterController.syncInProgress
+                    onClicked: {
+                        dropPanel.hide()
+                        masterController.saveKmlToSelectedFile()
+                    }
+                }
             }
         }
     }

src/Settings/AppSettings.cc

@@ -44,6 +44,7 @@ const char* AppSettings::waypointsFileExtension =   "waypoints";
 const char* AppSettings::fenceFileExtension =       "fence";
 const char* AppSettings::rallyPointFileExtension =  "rally";
 const char* AppSettings::telemetryFileExtension =   "tlog";
+const char* AppSettings::kmlFileExtension =         "kml";
 const char* AppSettings::logFileExtension =         "ulg";
 
 const char* AppSettings::parameterDirectory =       "Parameters";

src/Settings/AppSettings.h

@@ -52,6 +52,7 @@ public:
     Q_PROPERTY(QString waypointsFileExtension   MEMBER waypointsFileExtension   CONSTANT)
     Q_PROPERTY(QString parameterFileExtension   MEMBER parameterFileExtension   CONSTANT)
     Q_PROPERTY(QString telemetryFileExtension   MEMBER telemetryFileExtension   CONSTANT)
+    Q_PROPERTY(QString kmlFileExtension         MEMBER kmlFileExtension         CONSTANT)
     Q_PROPERTY(QString logFileExtension         MEMBER logFileExtension         CONSTANT)
 
     Fact* offlineEditingFirmwareType        (void);
@@ -115,6 +116,7 @@ public:
     static const char* fenceFileExtension;
     static const char* rallyPointFileExtension;
     static const char* telemetryFileExtension;
+    static const char* kmlFileExtension;
     static const char* logFileExtension;
 
     // Child directories of savePath for specific file types