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Commit 6fd60bb5 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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CircularSurvey concurr. update improved

parent 81a0bb81
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Showing with 628 additions and 487 deletions
libs/or-tools-src-ubuntu/include/ortools/constraint_solver/search_limit.pb.h
View file @ 6fd60bb5
// Generated by the protocol buffer compiler. DO NOT EDIT!
this->_calculating = false;
emit calculatingChanged();
// source: ortools/constraint_solver/search_limit.proto
#ifndef GOOGLE_PROTOBUF_INCLUDED_ortools_2fconstraint_5fsolver_2fsearch_5flimit_2eproto
......
qgroundcontrol.pro
View file @ 6fd60bb5
......@@ -413,6 +413,7 @@ FORMS += \
#
HEADERS += \
src/Wima/CSWorker.h \
src/Wima/CircularSurvey.h \
src/Wima/Geometry/GenericCircle.h \
src/Wima/Snake/clipper/clipper.hpp \
......@@ -502,6 +503,7 @@ HEADERS += \
src/comm/ros_bridge/include/topic_subscriber.h \
src/comm/utilities.h
SOURCES += \
src/Wima/CSWorker.cpp \
src/Wima/CircularSurvey.cc \
src/Wima/Snake/clipper/clipper.cpp \
src/Wima/Snake/snake.cpp \
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ 6fd60bb5
......@@ -92,9 +92,6 @@ Rectangle {
columns: 2
visible: transectsHeader.checked
QGCLabel { text: qsTr("Delta R") }
FactTextField {
fact: missionItem.deltaR
......@@ -131,12 +128,26 @@ Rectangle {
}
}
Column {
GridLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: transectsHeader.checked
QGCButton {
text: qsTr("Reverse")
onClicked: missionItem.reverse();
Layout.fillWidth: true
}
QGCButton {
text: qsTr("Reset Ref.")
onClicked: missionItem.resetReference();
Layout.fillWidth: true
}
QGCCheckBox {
id: relAlt
text: qsTr("Relative altitude")
......@@ -144,6 +155,8 @@ Rectangle {
enabled: missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
visible: QGroundControl.corePlugin.options.showMissionAbsoluteAltitude || (!missionItem.cameraCalc.distanceToSurfaceRelative && !missionItem.followTerrain)
onClicked: missionItem.cameraCalc.distanceToSurfaceRelative = checked
Layout.fillWidth: true
Layout.columnSpan: 2
Connections {
target: missionItem.cameraCalc
......@@ -151,96 +164,38 @@ Rectangle {
}
}
FactCheckBox {
text: qsTr("Reverse Path")
fact: missionItem.reverse
}
QGCButton {
text: qsTr("Reset Reference")
onClicked: missionItem.resetReference();
Layout.fillWidth: true
}
}
SectionHeader {
id: miscellaneousHeader
text: qsTr("Miscellaneous")
}
ColumnLayout {
Column{
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: miscellaneousHeader.checked
GridLayout {
Layout.fillWidth: true
columnSpacing: _margin
rowSpacing: _margin
columns: 2
QGCLabel { text: qsTr("Max Waypoints") }
FactTextField {
fact: missionItem.maxWaypoints
Layout.fillWidth: true
BusyIndicator{
id: indicator
anchors.horizontalCenter: parent.horizontalCenter
running: missionItem.calculating
onRunningChanged: {
if(running){
visible = true
} else {
timer.restart()
}
}
} // GridLayout
} // ColumnLayout
/*
// The following code causes seg. faults from time to time
SectionHeader {
id: terrainHeader
text: qsTr("Terrain")
checked: missionItem.followTerrain
}
Timer{
id: timer
interval: 2000
repeat: 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 {
Layout.fillWidth: true
columnSpacing: _margin
rowSpacing: _margin
columns: 2
visible: followsTerrainCheckBox.checked
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
onTriggered: {
if (indicator.running == false){
indicator.visible = false
}
}
}
}
}*/
/*SectionHeader {
id: statsHeader
text: qsTr("Statistics")
}*/
//TransectStyleComplexItemStats { }
}
} // Column
} // Rectangle
src/Wima/CSWorker.cpp 0 → 100644
View file @ 6fd60bb5
#include "CSWorker.h"
// Wima
#define CLIPPER_SCALE 10000
#include "clipper/clipper.hpp"
template <int k> ClipperLib::cInt get(ClipperLib::IntPoint &p);
#include "Geometry/GenericCircle.h"
// std
#include <chrono>
// Qt
#include <QDebug>
template <> ClipperLib::cInt get<0>(ClipperLib::IntPoint &p) { return p.X; }
template <> ClipperLib::cInt get<1>(ClipperLib::IntPoint &p) { return p.Y; }
CSWorker::CSWorker(QObject *parent)
: QThread(parent), _deltaR(2 * bu::si::meter),
_deltaAlpha(3 * bu::degree::degree), _minLength(10 * bu::si::meter),
_calculating(false), _stop(false), _restart(false) {}
CSWorker::~CSWorker() {
this->_stop = true;
Lock lk(this->_mutex);
this->_restart = true;
this->_cv.notify_one();
lk.unlock();
this->wait();
}
bool CSWorker::calculating() { return this->_calculating; }
void CSWorker::update(const QList<QGeoCoordinate> &polygon,
const QGeoCoordinate &origin, snake::Length deltaR,
snake::Length minLength, snake::Angle deltaAlpha) {
// Sample input.
Lock lk(this->_mutex);
this->_polygon = polygon;
this->_origin = origin;
this->_deltaR = deltaR;
this->_deltaAlpha = deltaAlpha;
this->_minLength = minLength;
lk.unlock();
if (!this->isRunning()) {
this->start();
} else {
Lock lk(this->_mutex);
this->_restart = true;
this->_cv.notify_one();
}
}
void CSWorker::run() {
qWarning() << "CSWorker::run(): thread start.";
while (!this->_stop) {
// Copy input.
Lock lk(this->_mutex);
const auto polygon = this->_polygon;
const auto origin = this->_origin;
const auto deltaR = this->_deltaR;
const auto deltaAlpha = this->_deltaAlpha;
const auto minLength = this->_minLength;
lk.unlock();
// Check preconitions
if (polygon.size() >= 3) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): calculation "
"started.";
#endif
#ifdef SHOW_CIRCULAR_SURVEY_TIME
const auto start = std::chrono::high_resolution_clock::now();
#endif
using namespace boost::units;
this->_calculating = true;
emit calculatingChanged();
// Convert geo polygon to ENU polygon.
snake::BoostPolygon polygonENU;
snake::BoostPoint originENU{0, 0};
snake::areaToEnu(origin, polygon, polygonENU);
std::string error;
// Check validity.
if (!bg::is_valid(polygonENU, error)) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"invalid polygon.";
qWarning() << error.c_str();
#endif
} else {
// Calculate polygon distances and angles.
std::vector<snake::Length> distances;
distances.reserve(polygonENU.outer().size());
std::vector<snake::Angle> angles;
angles.reserve(polygonENU.outer().size());
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run():";
#endif
for (const auto &p : polygonENU.outer()) {
snake::Length distance = bg::distance(originENU, p) * si::meter;
distances.push_back(distance);
snake::Angle alpha =
(std::atan2(p.get<1>(), p.get<0>())) * si::radian;
alpha =
alpha < 0 * si::radian ? alpha + 2 * M_PI * si::radian : alpha;
angles.push_back(alpha);
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "distances, angles, coordinates:";
qWarning() << to_string(distance).c_str();
qWarning() << to_string(snake::Degree(alpha)).c_str();
qWarning() << "x = " << p.get<0>() << "y = " << p.get<1>();
#endif
}
auto rMin = deltaR; // minimal circle radius
snake::Angle alpha1(0 * degree::degree);
snake::Angle alpha2(360 * degree::degree);
// Determine r_min by successive approximation
if (!bg::within(originENU, polygonENU)) {
rMin = bg::distance(originENU, polygonENU) * si::meter;
}
auto rMax =
(*std::max_element(distances.begin(),
distances.end())); // maximal circle radius
// Scale parameters and coordinates.
const auto rMinScaled =
ClipperLib::cInt(std::round(rMin.value() * CLIPPER_SCALE));
const auto deltaRScaled =
ClipperLib::cInt(std::round(deltaR.value() * CLIPPER_SCALE));
auto originScaled = ClipperLib::IntPoint{
ClipperLib::cInt(std::round(originENU.get<0>())),
ClipperLib::cInt(std::round(originENU.get<1>()))};
#ifdef SHOW_CIRCULAR_SURVEY_TIME
auto s1 = std::chrono::high_resolution_clock::now();
#endif
// Generate circle sectors.
auto rScaled = rMinScaled;
const auto nTran = long(std::ceil(((rMax - rMin) / deltaR).value()));
vector<ClipperLib::Path> sectors(nTran, ClipperLib::Path());
const auto nSectors =
long(std::round(((alpha2 - alpha1) / deltaAlpha).value()));
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): sector parameres:";
qWarning() << "alpha1: " << to_string(snake::Degree(alpha1)).c_str();
qWarning() << "alpha2: " << to_string(snake::Degree(alpha2)).c_str();
qWarning() << "n: "
<< to_string((alpha2 - alpha1) / deltaAlpha).c_str();
qWarning() << "nSectors: " << nSectors;
qWarning() << "rMin: " << to_string(rMin).c_str();
qWarning() << "rMax: " << to_string(rMax).c_str();
qWarning() << "nTran: " << nTran;
#endif
using ClipperCircle =
GenericCircle<ClipperLib::cInt, ClipperLib::IntPoint>;
for (auto &sector : sectors) {
ClipperCircle circle(rScaled, originScaled);
approximate(circle, nSectors, sector);
rScaled += deltaRScaled;
}
// Clip sectors to polygonENU.
ClipperLib::Path polygonClipper;
auto &outer = polygonENU.outer();
polygonClipper.reserve(outer.size() - 1);
for (auto it = outer.begin(); it < outer.end() - 1; ++it) {
auto x = ClipperLib::cInt(std::round(it->get<0>() * CLIPPER_SCALE));
auto y = ClipperLib::cInt(std::round(it->get<1>() * CLIPPER_SCALE));
polygonClipper.push_back(ClipperLib::IntPoint{x, y});
}
ClipperLib::Clipper clipper;
clipper.AddPath(polygonClipper, ClipperLib::ptClip, true);
clipper.AddPaths(sectors, ClipperLib::ptSubject, false);
ClipperLib::PolyTree transectsClipper;
clipper.Execute(ClipperLib::ctIntersection, transectsClipper,
ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// Extract transects from PolyTree and convert them to
// BoostLineString
snake::Transects transectsENU;
for (const auto &child : transectsClipper.Childs) {
snake::BoostLineString transect;
transect.reserve(child->Contour.size());
for (const auto &vertex : child->Contour) {
auto x = static_cast<double>(vertex.X) / CLIPPER_SCALE;
auto y = static_cast<double>(vertex.Y) / CLIPPER_SCALE;
transect.push_back(snake::BoostPoint(x, y));
}
transectsENU.push_back(transect);
}
// Join sectors which where slit due to clipping.
const double th = 0.01;
for (auto ito = transectsENU.begin(); ito < transectsENU.end(); ++ito) {
for (auto iti = ito + 1; iti < transectsENU.end(); ++iti) {
auto dist1 = bg::distance(ito->front(), iti->front());
if (dist1 < th) {
snake::BoostLineString temp;
for (auto it = iti->end() - 1; it >= iti->begin(); --it) {
temp.push_back(*it);
}
temp.insert(temp.end(), ito->begin(), ito->end());
*ito = temp;
transectsENU.erase(iti);
break;
}
auto dist2 = bg::distance(ito->front(), iti->back());
if (dist2 < th) {
snake::BoostLineString temp;
temp.insert(temp.end(), iti->begin(), iti->end());
temp.insert(temp.end(), ito->begin(), ito->end());
*ito = temp;
transectsENU.erase(iti);
break;
}
auto dist3 = bg::distance(ito->back(), iti->front());
if (dist3 < th) {
snake::BoostLineString temp;
temp.insert(temp.end(), ito->begin(), ito->end());
temp.insert(temp.end(), iti->begin(), iti->end());
*ito = temp;
transectsENU.erase(iti);
break;
}
auto dist4 = bg::distance(ito->back(), iti->back());
if (dist4 < th) {
snake::BoostLineString temp;
temp.insert(temp.end(), ito->begin(), ito->end());
for (auto it = iti->end() - 1; it >= iti->begin(); --it) {
temp.push_back(*it);
}
*ito = temp;
transectsENU.erase(iti);
break;
}
}
}
// Remove short transects
for (auto it = transectsENU.begin(); it < transectsENU.end();) {
if (bg::length(*it) < minLength.value()) {
it = transectsENU.erase(it);
} else {
++it;
}
}
// Move transect with min. distance to the front.
auto minDist = std::numeric_limits<double>::max();
auto minIt = transectsENU.begin();
bool reverse = false;
for (auto it = transectsENU.begin(); it < transectsENU.end(); ++it) {
auto distFront = bg::distance(originENU, it->front());
auto distBack = bg::distance(originENU, it->back());
if (distFront < minDist) {
minDist = distFront;
minIt = it;
reverse = false;
}
if (distBack < minDist) {
minDist = distBack;
minIt = it;
reverse = true;
}
}
// Swap and reverse (if necessary).
if (minIt != transectsENU.begin()) {
auto minTransect = *minIt;
if (reverse) {
snake::BoostLineString rev;
for (auto it = minTransect.end() - 1; it >= minTransect.begin();
--it) {
rev.push_back(*it);
}
minTransect = rev;
}
*minIt = *transectsENU.begin();
*transectsENU.begin() = minTransect;
}
#ifdef SHOW_CIRCULAR_SURVEY_TIME
qWarning() << "CSWorker::run(): transect gen. time: "
<< std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - s1)
.count()
<< " ms";
#endif
if (transectsENU.size() == 0) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"not able to generate transects.";
#endif
} else if (this->_restart) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"restart requested.";
#endif
} else {
// Prepare data for routing.
std::vector<snake::TransectInfo> transectsInfo;
snake::Route route;
const auto routingStart = std::chrono::high_resolution_clock::now();
const auto maxRoutingTime = std::chrono::minutes(1);
const auto routingEnd = routingStart + maxRoutingTime;
const auto &restart = this->_restart;
auto stopLambda = [&restart, routingEnd] {
bool expired =
std::chrono::high_resolution_clock::now() > routingEnd;
return restart || expired;
};
std::string errorString;
// Route transects;
bool success = snake::route(polygonENU, transectsENU, transectsInfo,
route, stopLambda, errorString);
if (!success && !this->_restart) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"routing failed.";
#endif
} else if (this->_restart) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"restart requested.";
#endif
} else {
// Remove return path.
const auto &info = transectsInfo.back();
const auto &lastTransect = transectsENU[info.index];
const auto &lastWaypoint =
info.reversed ? lastTransect.front() : lastTransect.back();
auto &wp = route.back();
while (wp != lastWaypoint) {
route.pop_back();
wp = route.back();
}
// Convert to geo coordinates and notify main thread.
auto pRoute = PtrRoute(new Route());
for (const auto &vertex : route) {
QGeoCoordinate c;
snake::fromENU(origin, vertex, c);
pRoute->append(c);
}
emit ready(pRoute);
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"concurrent update success.";
#endif
}
}
}
#ifdef SHOW_CIRCULAR_SURVEY_TIME
qWarning() << "CSWorker::run(): execution time: "
<< std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start)
.count()
<< " ms";
#endif
this->_calculating = false;
emit calculatingChanged();
}
#ifdef DEBUG_CIRCULAR_SURVEY
else {
qWarning() << "CSWorker::run(): preconditions failed.";
}
#endif
Lock lk2(this->_mutex);
if (!this->_restart) {
this->_cv.wait(lk2, [this] { return this->_restart.load(); });
}
this->_restart = false;
}
qWarning() << "CSWorker::run(): thread end.";
}
src/Wima/CSWorker.h 0 → 100644
View file @ 6fd60bb5
#pragma once
#include <QGeoCoordinate>
#include <QList>
#include <QSharedPointer>
#include <QThread>
#include "snake.h"
#include <atomic>
#include <condition_variable>
#include <mutex>
//!
//! \brief The CSWorker class
//! \note Don't call QThread::start, QThread::quit, etc. onyl use Worker
//! members!
class CSWorker : public QThread {
Q_OBJECT
using Lock = std::unique_lock<std::mutex>;
public:
using Route = QList<QGeoCoordinate>;
using PtrRoute = QSharedPointer<Route>;
CSWorker(QObject *parent = nullptr);
~CSWorker() override;
bool calculating();
public slots:
void update(const QList<QGeoCoordinate> &polygon,
const QGeoCoordinate &origin, snake::Length deltaR,
snake::Length minLength, snake::Angle deltaAlpha);
signals:
void ready(PtrRoute pTransects);
void calculatingChanged();
protected:
void run() override;
private:
mutable std::mutex _mutex;
mutable std::condition_variable _cv;
// Internal data
QList<QGeoCoordinate> _polygon;
QGeoCoordinate _origin;
snake::Length _deltaR;
snake::Angle _deltaAlpha;
snake::Length _minLength;
std::size_t _maxWaypoints;
// State
std::atomic_bool _calculating;
std::atomic_bool _stop;
std::atomic_bool _restart;
};
src/Wima/CircularSurvey.cc
View file @ 6fd60bb5
#include "CircularSurvey.h"
#include <QtConcurrentRun>
#include "CSWorker.h"
// QGC
#include "JsonHelper.h"
#include "QGCApplication.h"
#include <chrono>
#include "clipper/clipper.hpp"
// Wima
#include "snake.h"
#define CLIPPER_SCALE 10000
template <int k> ClipperLib::cInt get(ClipperLib::IntPoint &p);
#include "Geometry/GenericCircle.h"
#include "Geometry/GeoUtilities.h"
#include "Geometry/PlanimetryCalculus.h"
#include "Geometry/PolygonCalculus.h"
// boost
#include <boost/units/io.hpp>
#include <boost/units/systems/si.hpp>
template <> ClipperLib::cInt get<0>(ClipperLib::IntPoint &p) { return p.X; }
template <> ClipperLib::cInt get<1>(ClipperLib::IntPoint &p) { return p.Y; }
template <class Functor> class CommandRAII {
public:
CommandRAII(Functor f) : fun(f) {}
......@@ -36,8 +22,6 @@ const char *CircularSurvey::settingsGroup = "CircularSurvey";
const char *CircularSurvey::deltaRName = "DeltaR";
const char *CircularSurvey::deltaAlphaName = "DeltaAlpha";
const char *CircularSurvey::transectMinLengthName = "TransectMinLength";
const char *CircularSurvey::reverseName = "Reverse";
const char *CircularSurvey::maxWaypointsName = "MaxWaypoints";
const char *CircularSurvey::CircularSurveyName = "CircularSurvey";
const char *CircularSurvey::refPointLatitudeName = "ReferencePointLat";
const char *CircularSurvey::refPointLongitudeName = "ReferencePointLong";
......@@ -52,51 +36,40 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
_deltaR(settingsGroup, _metaDataMap[deltaRName]),
_deltaAlpha(settingsGroup, _metaDataMap[deltaAlphaName]),
_minLength(settingsGroup, _metaDataMap[transectMinLengthName]),
_reverse(settingsGroup, _metaDataMap[reverseName]),
_maxWaypoints(settingsGroup, _metaDataMap[maxWaypointsName]),
_isInitialized(false), _calculating(false), _cancle(false) {
_isInitialized(false), _pWorker(std::make_unique<CSWorker>()),
_needsStoring(false), _needsReversal(false) {
Q_UNUSED(kmlOrShpFile)
_editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
// Defer update if facts or ref. changes.
connect(&_deltaR, &Fact::valueChanged, this, &CircularSurvey::_deferUpdate);
// Connect facts.
connect(&_deltaR, &Fact::valueChanged, this,
&CircularSurvey::_rebuildTransects);
connect(&_deltaAlpha, &Fact::valueChanged, this,
&CircularSurvey::_deferUpdate);
&CircularSurvey::_rebuildTransects);
connect(&_minLength, &Fact::valueChanged, this,
&CircularSurvey::_deferUpdate);
connect(&_maxWaypoints, &Fact::valueChanged, [this] {
this->CircularSurvey::_deferUpdate();
qWarning() << "max waypoints implementaion missing";
});
connect(&_reverse, &Fact::valueChanged, [this] {
this->CircularSurvey::_deferUpdate();
qWarning() << "reverse implementaion missing";
});
&CircularSurvey::_rebuildTransects);
connect(this, &CircularSurvey::refPointChanged, this,
&CircularSurvey::_deferUpdate);
connect(&this->_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this,
&CircularSurvey::_deferUpdate);
// Setup Timer.
_timer.setSingleShot(true);
connect(&_timer, &QTimer::timeout, [this] { this->_rebuildTransects(); });
// Future watcher.
connect(&_watcher, &Watcher::finished, [this] {
this->_calculating = false;
emit calculatingChanged();
if (!_cancle) {
this->_transectsDirty = false;
} else {
_cancle = false;
}
this->_rebuildTransects();
});
&CircularSurvey::_rebuildTransects);
// Connect worker.
qRegisterMetaType<PtrRoute>("PtrRoute");
connect(this->_pWorker.get(), &CSWorker::ready, this,
&CircularSurvey::_setTransects);
connect(this->_pWorker.get(), &CSWorker::calculatingChanged, this,
&CircularSurvey::calculatingChanged);
this->_transectsDirty = false;
}
CircularSurvey::~CircularSurvey() {}
void CircularSurvey::resetReference() {
setRefPoint(_surveyAreaPolygon.center());
}
void CircularSurvey::reverse() {
this->_needsReversal = true;
this->_rebuildTransects();
}
void CircularSurvey::setRefPoint(const QGeoCoordinate &refPt) {
if (refPt != _referencePoint) {
_referencePoint = refPt;
......@@ -123,8 +96,8 @@ bool CircularSurvey::isInitialized() { return _isInitialized; }
bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
QString &errorString) {
// We need to pull version first to determine what validation/conversion needs
// to be performed
// We need to pull version first to determine what validation/conversion
// needs to be performed
QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
{JsonHelper::jsonVersionKey, QJsonValue::Double, true},
};
......@@ -145,7 +118,6 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
{deltaRName, QJsonValue::Double, true},
{deltaAlphaName, QJsonValue::Double, true},
{transectMinLengthName, QJsonValue::Double, true},
{reverseName, QJsonValue::Bool, true},
{refPointLatitudeName, QJsonValue::Double, true},
{refPointLongitudeName, QJsonValue::Double, true},
{refPointAltitudeName, QJsonValue::Double, true},
......@@ -160,11 +132,11 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (itemType != VisualMissionItem::jsonTypeComplexItemValue ||
complexType != CircularSurveyName) {
errorString =
tr("%1 does not support loading this complex mission item type: %2:%3")
.arg(qgcApp()->applicationName())
.arg(itemType)
.arg(complexType);
errorString = tr("%1 does not support loading this complex mission item "
"type: %2:%3")
.arg(qgcApp()->applicationName())
.arg(itemType)
.arg(complexType);
return false;
}
......@@ -189,7 +161,6 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
_referencePoint.setLongitude(complexObject[refPointLongitudeName].toDouble());
_referencePoint.setLatitude(complexObject[refPointLatitudeName].toDouble());
_referencePoint.setAltitude(complexObject[refPointAltitudeName].toDouble());
_reverse.setRawValue(complexObject[reverseName].toBool());
setIsInitialized(true);
_ignoreRecalc = false;
......@@ -220,7 +191,6 @@ void CircularSurvey::save(QJsonArray &planItems) {
saveObject[deltaRName] = _deltaR.rawValue().toDouble();
saveObject[deltaAlphaName] = _deltaAlpha.rawValue().toDouble();
saveObject[transectMinLengthName] = _minLength.rawValue().toDouble();
saveObject[reverseName] = _reverse.rawValue().toBool();
saveObject[refPointLongitudeName] = _referencePoint.longitude();
saveObject[refPointLatitudeName] = _referencePoint.latitude();
saveObject[refPointAltitudeName] = _referencePoint.altitude();
......@@ -279,8 +249,8 @@ void CircularSurvey::_buildAndAppendMissionItems(QList<MissionItem *> &items,
for (const CoordInfo_t &transectCoordInfo : transect) {
item = new MissionItem(
seqNum++, MAV_CMD_NAV_WAYPOINT, mavFrame,
0, // Hold time (delay for hover and capture to settle vehicle before
// image is taken)
0, // Hold time (delay for hover and capture to settle vehicle
// before image is taken)
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
......@@ -318,260 +288,43 @@ bool CircularSurvey::readyForSave() const {
double CircularSurvey::additionalTimeDelay() const { return 0; }
void CircularSurvey::_rebuildTransectsPhase1(void) {
if (_calculating)
return;
if (!_transectsDirty) {
auto pTransects = _watcher.result();
if (pTransects) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning()
<< "CircularSurvey::_rebuildTransectsPhase1(): storing transects.";
#endif
// If the transects are getting rebuilt then any previously loaded
// mission items are now invalid.
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = nullptr;
}
// Store new transects;
_transects = *pTransects;
if (this->_needsStoring) {
// If the transects are getting rebuilt then any previously loaded
// mission items are now invalid.
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = nullptr;
}
} else {
_transects.clear();
// Check preconitions
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning()
<< "CircularSurvey::_rebuildTransectsPhase1(): checking preconditions.";
#endif
if (_isInitialized && _surveyAreaPolygon.count() >= 3 &&
_deltaAlpha.rawValue() <= _deltaAlpha.rawMax() &&
_deltaAlpha.rawValue() >= _deltaAlpha.rawMin() &&
_deltaR.rawValue() <= _deltaR.rawMax() &&
_deltaR.rawValue() >= _deltaR.rawMin()) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning()
<< "CircularSurvey::_rebuildTransectsPhase1(): preconditions ok.";
#endif
using namespace boost::units;
_calculating = true;
emit calculatingChanged();
// Copy input.
const auto &polygon = this->_surveyAreaPolygon.coordinateList();
const auto &origin = this->_referencePoint;
const snake::Length deltaR(this->_deltaR.rawValue().toDouble() *
si::meter);
const snake::Angle deltaAlpha(this->_deltaAlpha.rawValue().toDouble() *
degree::degree);
const snake::Length minLength(this->_minLength.rawValue().toDouble() *
si::meter);
const auto maxWaypoints(this->_maxWaypoints.rawValue().toUInt());
auto future = QtConcurrent::run([polygon, origin, deltaAlpha, minLength,
maxWaypoints, deltaR] {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_rebuildTransectsPhase1(): calculation "
"started.";
#endif
#ifdef SHOW_CIRCULAR_SURVEY_TIME
auto start = std::chrono::high_resolution_clock::now();
auto onExit = [&start] {
qWarning() << "CircularSurvey: concurrent update execution time: "
<< std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start)
.count()
<< " ms";
};
CommandRAII<decltype(onExit)> commandRAII(onExit);
#endif
// Convert geo polygon to ENU polygon.
snake::BoostPolygon polygonENU;
snake::BoostPoint originENU{0, 0};
snake::areaToEnu(origin, polygon, polygonENU);
std::string error;
// Check validity.
if (!bg::is_valid(polygonENU, error)) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_rebuildTransectsPhase1(): "
"invalid polygon.";
qWarning() << error.c_str();
#endif
return PtrTransects();
} else {
// Calculate polygon distances and angles.
std::vector<snake::Length> distances;
distances.reserve(polygonENU.outer().size());
std::vector<snake::Angle> angles;
angles.reserve(polygonENU.outer().size());
for (const auto &p : polygonENU.outer()) {
snake::Length distance = bg::distance(originENU, p) * si::meter;
distances.push_back(distance);
snake::Angle alpha =
(std::atan2(p.get<1>(), p.get<0>())) * si::radian;
alpha =
alpha < 0 * si::radian ? alpha + 2 * M_PI * si::radian : alpha;
angles.push_back(alpha);
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "distances, angles, coordinates:";
qWarning() << to_string(distance).c_str();
qWarning() << to_string(snake::Degree(alpha)).c_str();
qWarning() << "x = " << p.get<0>() << "y = " << p.get<1>();
#endif
}
auto rMin = deltaR; // minimal circle radius
snake::Angle alpha1(0 * degree::degree);
snake::Angle alpha2(360 * degree::degree);
// Determine r_min by successive approximation
if (!bg::within(originENU, polygonENU)) {
rMin = bg::distance(originENU, polygonENU) * si::meter;
}
auto rMax =
(*std::max_element(distances.begin(),
distances.end())); // maximal circle radius
// Scale parameters and coordinates.
const auto rMinScaled =
ClipperLib::cInt(std::round(rMin.value() * CLIPPER_SCALE));
const auto deltaRScaled =
ClipperLib::cInt(std::round(deltaR.value() * CLIPPER_SCALE));
auto originScaled = ClipperLib::IntPoint{
ClipperLib::cInt(std::round(originENU.get<0>())),
ClipperLib::cInt(std::round(originENU.get<1>()))};
#ifdef SHOW_CIRCULAR_SURVEY_TIME
auto s1 = std::chrono::high_resolution_clock::now();
#endif
// Generate circle sectors.
auto rScaled = rMinScaled;
const auto nTran = long(std::ceil(((rMax - rMin) / deltaR).value()));
vector<ClipperLib::Path> sectors(nTran, ClipperLib::Path());
const auto nSectors =
long(std::round(((alpha2 - alpha1) / deltaAlpha).value()));
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "sector parameres:";
qWarning() << "alpha1: " << to_string(snake::Degree(alpha1)).c_str();
qWarning() << "alpha2: " << to_string(snake::Degree(alpha2)).c_str();
qWarning() << "n: "
<< to_string((alpha2 - alpha1) / deltaAlpha).c_str();
qWarning() << "nSectors: " << nSectors;
qWarning() << "rMin: " << to_string(rMin).c_str();
qWarning() << "rMax: " << to_string(rMax).c_str();
qWarning() << "nTran: " << nTran;
#endif
using ClipperCircle =
GenericCircle<ClipperLib::cInt, ClipperLib::IntPoint>;
for (auto &sector : sectors) {
ClipperCircle circle(rScaled, originScaled);
approximate(circle, nSectors, sector);
rScaled += deltaRScaled;
}
// Clip sectors to polygonENU.
ClipperLib::Path polygonClipper;
auto &outer = polygonENU.outer();
polygonClipper.reserve(outer.size() - 1);
for (auto it = outer.begin(); it < outer.end() - 1; ++it) {
auto x = ClipperLib::cInt(std::round(it->get<0>() * CLIPPER_SCALE));
auto y = ClipperLib::cInt(std::round(it->get<1>() * CLIPPER_SCALE));
polygonClipper.push_back(ClipperLib::IntPoint{x, y});
}
ClipperLib::Clipper clipper;
clipper.AddPath(polygonClipper, ClipperLib::ptClip, true);
clipper.AddPaths(sectors, ClipperLib::ptSubject, false);
ClipperLib::PolyTree transectsClipper;
clipper.Execute(ClipperLib::ctIntersection, transectsClipper,
ClipperLib::pftNonZero, ClipperLib::pftNonZero);
// Extract transects from PolyTree and convert them to
// BoostLineString
snake::Transects transectsENU;
for (const auto &child : transectsClipper.Childs) {
snake::BoostLineString transect;
transect.reserve(child->Contour.size());
for (const auto &vertex : child->Contour) {
auto x = static_cast<double>(vertex.X) / CLIPPER_SCALE;
auto y = static_cast<double>(vertex.Y) / CLIPPER_SCALE;
transect.push_back(snake::BoostPoint(x, y));
}
if (bg::length(transect) >= minLength.value()) {
transectsENU.push_back(transect);
}
}
// Join sectors which where slit due to clipping.
static_assert(false, "continue here.");
for (std::size_t i = 0; i < transectsENU.size() - 1; ++i) {
const auto &t1 = transectsENU[i];
for (std::size_t j = i + 1; j < transectsENU.size(); ++j) {
const auto &t2 = transectsENU[j];
}
}
#ifdef SHOW_CIRCULAR_SURVEY_TIME
qWarning() << "CircularSurvey: concurrent update transect gen. time: "
<< std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - s1)
.count()
<< " ms";
#endif
if (transectsENU.size() == 0) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_rebuildTransectsPhase1(): "
"not able to generate transects.";
#endif
return PtrTransects();
}
// Route transects;
std::vector<snake::TransectInfo> transectsInfo;
snake::Route route;
std::string errorString;
bool success = snake::route(polygonENU, transectsENU, transectsInfo,
route, errorString);
if (!success) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_rebuildTransectsPhase1(): "
"routing failed.";
#endif
return PtrTransects();
}
// Remove return path.
const auto &info = transectsInfo.back();
const auto &lastTransect = transectsENU[info.index];
const auto &lastWaypoint =
info.reversed ? lastTransect.front() : lastTransect.back();
auto &wp = route.back();
while (wp != lastWaypoint) {
route.pop_back();
wp = route.back();
}
// Convert to geo coordinates.
QList<CoordInfo_t> transectList;
transectList.reserve(route.size());
for (const auto &vertex : route) {
QGeoCoordinate c;
snake::fromENU(origin, vertex, c);
CoordInfo_t coordinfo = {c, CoordTypeInterior};
transectList.append(coordinfo);
}
PtrTransects pTransects(new Transects());
pTransects->append(transectList);
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_rebuildTransectsPhase1(): "
"concurrent update success.";
#endif
return pTransects;
}
}); // QtConcurrent::run()
_watcher.setFuture(future);
// Copy Transects.
QList<CoordInfo_t> list;
for (const auto c : *this->_pRoute) {
list.append(CoordInfo_t{c, CoordTypeInterior});
}
#ifdef DEBUG_CIRCULAR_SURVEY
else {
qWarning()
<< "CircularSurvey::_rebuildTransectsPhase1(): preconditions failed.";
this->_transects.append(list);
// Mark transect as stored;
this->_needsStoring = false;
} else if (this->_needsReversal) {
if (this->_transects.size() > 0) {
auto &t = this->_transects.front();
QList<CoordInfo_t> list;
list.reserve(t.size());
for (auto it = t.end() - 1; it >= t.begin(); --it) {
list.append(*it);
}
this->_transects.clear();
this->_transects.append(list);
}
#endif
this->_needsReversal = false;
} else {
this->_transects.clear();
auto polygon = this->_surveyAreaPolygon.coordinateList();
this->_pWorker->update(
polygon, this->_referencePoint,
this->_deltaR.rawValue().toDouble() * bu::si::meter,
this->_minLength.rawValue().toDouble() * bu::si::meter,
snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree));
}
}
......@@ -590,40 +343,27 @@ void CircularSurvey::_recalcComplexDistance() {
// no cameraShots in Circular Survey, add if desired
void CircularSurvey::_recalcCameraShots() { _cameraShots = 0; }
void CircularSurvey::_deferUpdate() {
if (!_calculating) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CircularSurvey::_deferUpdate(): defer update.";
#endif
_transectsDirty = true;
if (_timer.isActive()) {
_timer.stop();
}
_timer.start(100 /*ms*/);
} else {
_cancle = true;
}
void CircularSurvey::_setTransects(CircularSurvey::PtrRoute pRoute) {
this->_pRoute = pRoute;
this->_needsStoring = true;
this->_rebuildTransects();
}
Fact *CircularSurvey::transectMinLength() { return &_minLength; }
Fact *CircularSurvey::reverse() { return &_reverse; }
Fact *CircularSurvey::maxWaypoints() { return &_maxWaypoints; }
bool CircularSurvey::calculating() { return _calculating; }
bool CircularSurvey::calculating() { return this->_pWorker->calculating(); }
/*!
\class CircularSurveyComplexItem
\inmodule Wima
\brief The \c CircularSurveyComplexItem class provides a survey mission item
with circular transects around a point of interest.
\brief The \c CircularSurveyComplexItem class provides a survey mission
item with circular transects around a point of interest.
CircularSurveyComplexItem class provides a survey mission item with circular
transects around a point of interest. Within the \c Wima module it's used to
scan a defined area with constant angle (circular transects) to the base
station (point of interest).
CircularSurveyComplexItem class provides a survey mission item with
circular transects around a point of interest. Within the \c Wima module
it's used to scan a defined area with constant angle (circular transects)
to the base station (point of interest).
\sa WimaArea
*/
src/Wima/CircularSurvey.h
View file @ 6fd60bb5
......@@ -6,9 +6,14 @@
#include "SettingsFact.h"
#include "TransectStyleComplexItem.h"
class CSWorker;
class CircularSurvey : public TransectStyleComplexItem {
Q_OBJECT
public:
using Route = QList<QGeoCoordinate>;
using PtrRoute = QSharedPointer<Route>;
/// @param vehicle Vehicle which this is being contructed for
/// @param flyView true: Created for use in the Fly View, false: Created for
/// use in the Plan View
......@@ -16,19 +21,19 @@ public:
/// polygon
CircularSurvey(Vehicle *vehicle, bool flyView, const QString &kmlOrShpFile,
QObject *parent);
~CircularSurvey();
Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY
refPointChanged)
Q_PROPERTY(Fact *deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(Fact *reverse READ reverse CONSTANT)
Q_PROPERTY(Fact *maxWaypoints READ maxWaypoints CONSTANT)
Q_PROPERTY(bool isInitialized READ isInitialized WRITE setIsInitialized NOTIFY
isInitializedChanged)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
Q_INVOKABLE void resetReference(void);
Q_INVOKABLE void reverse(void);
// Property setters
void setRefPoint(const QGeoCoordinate &refPt);
......@@ -41,8 +46,6 @@ public:
Fact *deltaR();
Fact *deltaAlpha();
Fact *transectMinLength();
Fact *reverse();
Fact *maxWaypoints();
bool calculating();
// Is true if survey was automatically generated, prevents initialisation from
// gui.
......@@ -72,8 +75,6 @@ public:
static const char *deltaRName;
static const char *deltaAlphaName;
static const char *transectMinLengthName;
static const char *reverseName;
static const char *maxWaypointsName;
static const char *CircularSurveyName;
static const char *refPointLongitudeName;
static const char *refPointLatitudeName;
......@@ -89,7 +90,7 @@ private slots:
void _rebuildTransectsPhase1(void) final;
void _recalcComplexDistance(void) final;
void _recalcCameraShots(void) final;
void _deferUpdate();
void _setTransects(PtrRoute pRoute);
private:
void _appendLoadedMissionItems(QList<MissionItem *> &items,
......@@ -108,21 +109,14 @@ private:
// minimal transect lenght, transects are rejected if they are shorter than
// this value
SettingsFact _minLength;
// reverses the _transects path
SettingsFact _reverse;
// the maximum number of waypoints _transects (TransectStyleComplexItem) can
// contain (to avoid performance hits)
SettingsFact _maxWaypoints;
// Timer to defer recalc
QTimer _timer;
// indicates if the polygon and refpoint etc. are initialized, prevents
// reinitialisation from gui and execution of _rebuildTransectsPhase1 during
// init from gui
bool _isInitialized;
using PtrTransects = std::shared_ptr<Transects>;
using Watcher = QFutureWatcher<PtrTransects>;
Watcher _watcher;
bool _calculating;
bool _cancle;
using PtrWorker = std::shared_ptr<CSWorker>;
PtrWorker _pWorker;
PtrRoute _pRoute;
bool _needsStoring;
bool _needsReversal;
};
src/Wima/Snake/snake.cpp
View file @ 6fd60bb5
......@@ -781,8 +781,8 @@ void generateRoutingModel(const BoostLineString &vertices,
}
bool route(const BoostPolygon &area, const Transects &transects,
std::vector<TransectInfo> &transectInfo, Route &route,
string &errorString) {
std::vector<TransectInfo> &transectInfo, Route &r,
std::function<bool()> stop, string &errorString) {
//=======================================
// Route Transects using Google or-tools.
//=======================================
......@@ -819,9 +819,17 @@ bool route(const BoostPolygon &area, const Transects &transects,
vertices.push_back(vertex);
}
size_t n1 = vertices.size();
if (stop()) {
errorString = "User termination.";
return false;
}
// Generate routing model.
RoutingDataModel dataModel;
Matrix<double> connectionGraph(n1, n1);
if (stop()) {
errorString = "User termination.";
return false;
}
// Offset joined area.
BoostPolygon areaOffset;
offsetPolygon(area, areaOffset, detail::offsetConstant);
......@@ -835,6 +843,10 @@ bool route(const BoostPolygon &area, const Transects &transects,
cout << "Execution time _generateRoutingModel(): " << delta.count() << " ms"
<< endl;
#endif
if (stop()) {
errorString = "User termination.";
return false;
}
// Create Routing Index Manager.
RoutingIndexManager manager(dataModel.distanceMatrix.getN(),
......@@ -883,16 +895,13 @@ bool route(const BoostPolygon &area, const Transects &transects,
index += 1;
}
}
// Setting first solution heuristic.
RoutingSearchParameters searchParameters = DefaultRoutingSearchParameters();
// Set first solution heuristic.
auto searchParameters = DefaultRoutingSearchParameters();
searchParameters.set_first_solution_strategy(
FirstSolutionStrategy::PATH_CHEAPEST_ARC);
google::protobuf::Duration *tMax =
new google::protobuf::Duration(); // seconds
tMax->set_seconds(10);
searchParameters.set_allocated_time_limit(tMax);
// Set costume limit.
auto *limit = solver->MakeCustomLimit(stop);
routing.AddSearchMonitor(limit);
// Solve the problem.
#ifdef SNAKE_SHOW_TIME
start = std::chrono::high_resolution_clock::now();
......@@ -908,6 +917,9 @@ bool route(const BoostPolygon &area, const Transects &transects,
if (!solution || solution->Size() <= 1) {
errorString = "Not able to solve the routing problem.";
return false;
} else if (stop()) {
errorString = "User terminated.";
return false;
}
// Extract index list from solution.
......@@ -944,12 +956,12 @@ bool route(const BoostPolygon &area, const Transects &transects,
}
for (auto it = reversedTransect.begin();
it < reversedTransect.end() - 1; ++it) {
route.push_back(*it);
r.push_back(*it);
}
} else {
const auto &t = transects[info1.index];
for (auto it = t.begin(); it < t.end() - 1; ++it) {
route.push_back(*it);
r.push_back(*it);
}
}
} else {
......@@ -958,12 +970,19 @@ bool route(const BoostPolygon &area, const Transects &transects,
if (i != route_idx.size() - 2) {
idxList.pop_back();
}
idx2Vertex(idxList, route);
idx2Vertex(idxList, r);
}
}
return true;
}
bool route(const BoostPolygon &area, const Transects &transects,
std::vector<TransectInfo> &transectInfo, Route &r,
string &errorString) {
auto stop = [] { return false; };
return route(area, transects, transectInfo, r, stop, errorString);
}
} // namespace snake
bool boost::geometry::model::operator==(snake::BoostPoint p1,
......
src/Wima/Snake/snake.h
View file @ 6fd60bb5
#pragma once
#include <array>
#include <atomic>
#include <functional>
#include <memory>
#include <string>
#include <vector>
......@@ -185,8 +187,11 @@ struct TransectInfo {
bool reversed;
};
bool route(const BoostPolygon &area, const Transects &transects,
std::vector<TransectInfo> &transectInfo, Route &route,
std::vector<TransectInfo> &transectInfo, Route &r,
string &errorString);
bool route(const BoostPolygon &area, const Transects &transects,
std::vector<TransectInfo> &transectInfo, Route &r,
std::function<bool(void)> stop, string &errorString);
namespace detail {
const double offsetConstant =
......
src/Wima/WimaPlaner.cc
View file @ 6fd60bb5
......@@ -21,12 +21,13 @@ const char *WimaPlaner::areaItemsName = "AreaItems";
const char *WimaPlaner::missionItemsName = "MissionItems";
WimaPlaner::WimaPlaner(QObject *parent)
: QObject(parent), _currentAreaIndex(-1), _wimaBridge(nullptr),
_joinedArea(this), _joinedAreaValid(false), _measurementArea(this),
_serviceArea(this), _corridor(this), _TSComplexItem(nullptr),
_surveyRefChanging(false), _measurementAreaChanging(false),
_corridorChanging(false), _serviceAreaChanging(false),
_syncronizedWithController(false), _readyForSync(false) {
: QObject(parent), _masterController(nullptr), _missionController(nullptr),
_currentAreaIndex(-1), _wimaBridge(nullptr), _joinedArea(this),
_joinedAreaValid(false), _arrivalPathLength(0), _returnPathLength(0),
_TSComplexItem(nullptr), _surveyRefChanging(false),
_measurementAreaChanging(false), _corridorChanging(false),
_serviceAreaChanging(false), _syncronizedWithController(false),
_readyForSync(false) {
_lastMeasurementAreaPath = _measurementArea.path();
_lastServiceAreaPath = _serviceArea.path();
_lastCorridorPath = _corridor.path();
......
src/Wima/WimaPlaner.h
View file @ 6fd60bb5
......@@ -49,16 +49,16 @@ public:
Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged)
// Property accessors
PlanMasterController *masterController(void) { return _masterController; }
MissionController *missionController(void) { return _missionController; }
PlanMasterController *masterController(void);
MissionController *missionController(void);
QmlObjectListModel *visualItems(void);
int currentPolygonIndex(void) const { return _currentAreaIndex; }
QString currentFile(void) const { return _currentFile; }
int currentPolygonIndex(void) const;
QString currentFile(void) const;
QStringList loadNameFilters(void) const;
QStringList saveNameFilters(void) const;
QString fileExtension(void) const { return wimaFileExtension; }
QString fileExtension(void) const;
QGeoCoordinate joinedAreaCenter(void) const;
WimaBridge *wimaBridge(void) { return _wimaBridge; }
WimaBridge *wimaBridge(void);
// Property setters
void setMasterController(PlanMasterController *masterController);
......@@ -145,22 +145,22 @@ private:
PlanMasterController *_masterController;
MissionController *_missionController;
int _currentAreaIndex;
QString _currentFile; // file for saveing
WimaBridge *_wimaBridge; // container for data exchange with WimaController
QmlObjectListModel _visualItems; // contains all visible areas
WimaJoinedArea _joinedArea; // joined area fromed by _measurementArea,
// _serviceArea, _corridor
QString _currentFile;
// container for data exchange with WimaController
WimaBridge *_wimaBridge;
bool _joinedAreaValid;
WimaMeasurementArea _measurementArea; // measurement area
WimaServiceArea _serviceArea; // area for supplying
WimaCorridor
_corridor; // corridor connecting _measurementArea and _serviceArea
unsigned long
_arrivalPathLength; // the number waypoints the arrival path consists of
// (path from takeoff to first measurement point)
unsigned long
_returnPathLength; // the number waypoints the return path consists of
// (path from last measurement point to land)
WimaMeasurementArea _measurementArea;
WimaServiceArea _serviceArea;
WimaCorridor _corridor;
// contains all visible areas
QmlObjectListModel _visualItems;
// joined area fromed by _measurementArea, _serviceArea, _corridor
WimaJoinedArea _joinedArea;
// path from takeoff to first measurement point
unsigned long _arrivalPathLength;
// path from last measurement point to land
unsigned long _returnPathLength;
CircularSurvey *_TSComplexItem; // pointer to the CircularSurvey item in
// _missionController.visualItems()
......
src/WimaView/CircularSurveyMapVisual.qml
View file @ 6fd60bb5
......@@ -7,8 +7,6 @@
*
****************************************************************************/
// original file: SurveyMapVisual.qml
import QtQuick 2.3
import QtQuick.Controls 1.2
import QtLocation 5.3
......
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